1 // JSBsim.cxx -- interface to the JSBsim flight model
3 // Written by Curtis Olson, started February 1999.
5 // Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU Lesser General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // Lesser General Public License for more details.
17 // You should have received a copy of the GNU Lesser General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
21 // $Id: JSBSim.cxx,v 1.64 2010/10/31 04:49:25 jberndt Exp $
28 #include <simgear/compiler.h>
29 #include <simgear/sg_inlines.h>
31 #include <stdio.h> // size_t
34 #include <simgear/constants.h>
35 #include <simgear/debug/logstream.hxx>
36 #include <simgear/math/sg_geodesy.hxx>
37 #include <simgear/misc/sg_path.hxx>
38 #include <simgear/structure/commands.hxx>
40 #include <FDM/flight.hxx>
42 #include <Aircraft/controls.hxx>
43 #include <Main/globals.hxx>
44 #include <Main/fg_props.hxx>
47 #include <FDM/JSBSim/FGFDMExec.h>
48 #include <FDM/JSBSim/FGJSBBase.h>
49 #include <FDM/JSBSim/initialization/FGInitialCondition.h>
50 #include <FDM/JSBSim/initialization/FGTrim.h>
51 #include <FDM/JSBSim/models/FGModel.h>
52 #include <FDM/JSBSim/models/FGAircraft.h>
53 #include <FDM/JSBSim/models/FGFCS.h>
54 #include <FDM/JSBSim/models/FGPropagate.h>
55 #include <FDM/JSBSim/models/FGAuxiliary.h>
56 #include <FDM/JSBSim/models/FGInertial.h>
57 #include <FDM/JSBSim/models/FGAtmosphere.h>
58 #include <FDM/JSBSim/models/FGMassBalance.h>
59 #include <FDM/JSBSim/models/FGAerodynamics.h>
60 #include <FDM/JSBSim/models/FGLGear.h>
61 #include <FDM/JSBSim/models/FGGroundReactions.h>
62 #include <FDM/JSBSim/models/FGPropulsion.h>
63 #include <FDM/JSBSim/models/propulsion/FGEngine.h>
64 #include <FDM/JSBSim/models/propulsion/FGPiston.h>
65 #include <FDM/JSBSim/models/propulsion/FGTurbine.h>
66 #include <FDM/JSBSim/models/propulsion/FGTurboProp.h>
67 #include <FDM/JSBSim/models/propulsion/FGRocket.h>
68 #include <FDM/JSBSim/models/propulsion/FGElectric.h>
69 #include <FDM/JSBSim/models/propulsion/FGNozzle.h>
70 #include <FDM/JSBSim/models/propulsion/FGPropeller.h>
71 #include <FDM/JSBSim/models/propulsion/FGRotor.h>
72 #include <FDM/JSBSim/models/propulsion/FGTank.h>
73 #include <FDM/JSBSim/input_output/FGPropertyManager.h>
74 #include <FDM/JSBSim/input_output/FGGroundCallback.h>
76 using namespace JSBSim;
79 FMAX (double a, double b)
84 class FGFSGroundCallback : public FGGroundCallback {
86 FGFSGroundCallback(FGJSBsim* ifc) : mInterface(ifc) {}
87 virtual ~FGFSGroundCallback() {}
89 /** Get the altitude above sea level dependent on the location. */
90 virtual double GetAltitude(const FGLocation& l) const {
91 double pt[3] = { SG_FEET_TO_METER*l(eX),
92 SG_FEET_TO_METER*l(eY),
93 SG_FEET_TO_METER*l(eZ) };
95 sgCartToGeod( pt, &lat, &lon, &alt);
96 return alt * SG_METER_TO_FEET;
99 /** Compute the altitude above ground. */
100 virtual double GetAGLevel(double t, const FGLocation& l,
101 FGLocation& cont, FGColumnVector3& n,
102 FGColumnVector3& v, FGColumnVector3& w) const {
103 double loc_cart[3] = { l(eX), l(eY), l(eZ) };
104 double contact[3], normal[3], vel[3], angularVel[3], agl = 0;
105 mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
106 vel, angularVel, &agl);
107 n = FGColumnVector3( normal[0], normal[1], normal[2] );
108 v = FGColumnVector3( vel[0], vel[1], vel[2] );
109 w = FGColumnVector3( angularVel[0], angularVel[1], angularVel[2] );
110 cont = FGColumnVector3( contact[0], contact[1], contact[2] );
114 FGJSBsim* mInterface;
117 /******************************************************************************/
119 FGJSBsim::FGJSBsim( double dt )
120 : FGInterface(dt), got_wire(false)
123 // Set up the debugging level
124 // FIXME: this will not respond to
127 // if flight is excluded, don't bother
128 if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
130 // do a rough-and-ready mapping to
131 // the levels documented in FGFDMExec.h
132 switch (logbuf::get_log_priority()) {
134 FGJSBBase::debug_lvl = 0x1f;
137 FGJSBBase::debug_lvl = 0x0f;
139 FGJSBBase::debug_lvl = 0x01;
143 FGJSBBase::debug_lvl = 0x00;
148 fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
150 // Register ground callback.
151 fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
153 Atmosphere = fdmex->GetAtmosphere();
154 FCS = fdmex->GetFCS();
155 MassBalance = fdmex->GetMassBalance();
156 Propulsion = fdmex->GetPropulsion();
157 Aircraft = fdmex->GetAircraft();
158 Propagate = fdmex->GetPropagate();
159 Auxiliary = fdmex->GetAuxiliary();
160 Inertial = fdmex->GetInertial();
161 Aerodynamics = fdmex->GetAerodynamics();
162 GroundReactions = fdmex->GetGroundReactions();
167 SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
169 SGPath engine_path( fgGetString("/sim/aircraft-dir") );
170 engine_path.append( "Engine" );
172 SGPath systems_path( fgGetString("/sim/aircraft-dir") );
173 systems_path.append( "Systems" );
175 // deprecate sim-time-sec for simulation/sim-time-sec
176 // remove alias with increased configuration file version number (2.1 or later)
177 SGPropertyNode * node = fgGetNode("/fdm/jsbsim/simulation/sim-time-sec");
178 fgGetNode("/fdm/jsbsim/sim-time-sec", true)->alias( node );
179 // end of sim-time-sec deprecation patch
183 result = fdmex->LoadModel( aircraft_path.str(),
186 fgGetString("/sim/aero"), false );
189 SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
191 SG_LOG( SG_FLIGHT, SG_INFO,
192 " aero does not exist (you may have mis-typed the name).");
196 SG_LOG( SG_FLIGHT, SG_INFO, "" );
197 SG_LOG( SG_FLIGHT, SG_INFO, "" );
198 SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
200 int Neng = Propulsion->GetNumEngines();
201 SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
203 if ( GroundReactions->GetNumGearUnits() <= 0 ) {
204 SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
205 << GroundReactions->GetNumGearUnits() );
206 SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
207 SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
208 SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
214 // Set initial fuel levels if provided.
215 for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
217 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
218 FGTank* tank = Propulsion->GetTank(i);
220 d = node->getNode( "density-ppg", true )->getDoubleValue();
222 tank->SetDensity( d );
224 node->getNode( "density-ppg", true )->setDoubleValue( SG_MAX2<double>(tank->GetDensity(), 0.1) );
227 d = node->getNode( "level-lbs", true )->getDoubleValue();
229 tank->SetContents( d );
231 node->getNode( "level-lbs", true )->setDoubleValue( tank->GetContents() );
233 /* Capacity is read-only in FGTank and can't be overwritten from FlightGear */
234 node->getNode("capacity-gal_us", true )->setDoubleValue( tank->GetCapacityGallons() );
236 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
238 fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
239 fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
240 fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
241 fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
243 startup_trim = fgGetNode("/sim/presets/trim", true);
245 trimmed = fgGetNode("/fdm/trim/trimmed", true);
246 trimmed->setBoolValue(false);
248 pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
249 throttle_trim = fgGetNode("/fdm/trim/throttle", true );
250 aileron_trim = fgGetNode("/fdm/trim/aileron", true );
251 rudder_trim = fgGetNode("/fdm/trim/rudder", true );
253 stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
254 stall_warning->setDoubleValue(0);
257 flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
258 elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
260 =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
261 right_aileron_pos_pct
262 =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
263 rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
265 =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
266 spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
267 tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true);
268 wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-pos-norm",true);
270 elevator_pos_pct->setDoubleValue(0);
271 left_aileron_pos_pct->setDoubleValue(0);
272 right_aileron_pos_pct->setDoubleValue(0);
273 rudder_pos_pct->setDoubleValue(0);
274 flap_pos_pct->setDoubleValue(0);
275 speedbrake_pos_pct->setDoubleValue(0);
276 spoilers_pos_pct->setDoubleValue(0);
278 ab_brake_engaged = fgGetNode("/autopilot/autobrake/engaged", true);
279 ab_brake_left_pct = fgGetNode("/autopilot/autobrake/brake-left-output", true);
280 ab_brake_right_pct = fgGetNode("/autopilot/autobrake/brake-right-output", true);
282 temperature = fgGetNode("/environment/temperature-degc",true);
283 pressure = fgGetNode("/environment/pressure-inhg",true);
284 density = fgGetNode("/environment/density-slugft3",true);
285 turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
286 turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
288 wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
289 wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
290 wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
292 slaved = fgGetNode("/sim/slaved/enabled", true);
294 for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
295 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
296 Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
297 Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
300 hook_root_struct = FGColumnVector3(
301 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
302 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
303 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
304 last_hook_tip[0] = 0; last_hook_tip[1] = 0; last_hook_tip[2] = 0;
305 last_hook_root[0] = 0; last_hook_root[1] = 0; last_hook_root[2] = 0;
310 /******************************************************************************/
311 FGJSBsim::~FGJSBsim(void)
316 /******************************************************************************/
318 // Initialize the JSBsim flight model, dt is the time increment for
319 // each subsequent iteration through the EOM
321 void FGJSBsim::init()
323 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
325 // Explicitly call the superclass's
326 // init method first.
328 if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
329 Atmosphere->UseExternal();
330 Atmosphere->SetExTemperature(
331 9.0/5.0*(temperature->getDoubleValue()+273.15) );
332 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
333 Atmosphere->SetExDensity(density->getDoubleValue());
334 Atmosphere->SetTurbType(FGAtmosphere::ttCulp);
335 Atmosphere->SetTurbGain(turbulence_gain->getDoubleValue());
336 Atmosphere->SetTurbRate(turbulence_rate->getDoubleValue());
339 Atmosphere->UseInternal();
342 fgic->SetVNorthFpsIC( -wind_from_north->getDoubleValue() );
343 fgic->SetVEastFpsIC( -wind_from_east->getDoubleValue() );
344 fgic->SetVDownFpsIC( -wind_from_down->getDoubleValue() );
346 //Atmosphere->SetExTemperature(get_Static_temperature());
347 //Atmosphere->SetExPressure(get_Static_pressure());
348 //Atmosphere->SetExDensity(get_Density());
349 SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
350 << ", " << fdmex->GetAtmosphere()->GetPressure()
351 << ", " << fdmex->GetAtmosphere()->GetDensity() );
353 // deprecate egt_degf for egt-degf to have consistent naming
354 // TODO: raise log-level to ALERT in summer 2010,
355 // remove alias in fall 2010,
356 // remove this code in winter 2010
357 for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
358 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
359 SGPropertyNode * egtn = node->getNode( "egt_degf" );
361 SG_LOG(SG_FLIGHT,SG_WARN,
362 "Aircraft uses deprecated node egt_degf. Please upgrade to egt-degf");
363 node->getNode("egt-degf", true)->alias( egtn );
366 // end of egt_degf deprecation patch
368 if (fgGetBool("/sim/presets/running")) {
369 for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
370 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
371 node->setBoolValue("running", true);
372 Propulsion->GetEngine(i)->SetRunning(true);
376 FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
381 fdmex->RunIC(); //loop JSBSim once w/o integrating
382 copy_from_JSBsim(); //update the bus
384 SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
386 switch(fgic->GetSpeedSet()) {
388 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
389 << Propagate->GetVel(FGJSBBase::eNorth) << ", "
390 << Propagate->GetVel(FGJSBBase::eEast) << ", "
391 << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
394 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
395 << Propagate->GetUVW(1) << ", "
396 << Propagate->GetUVW(2) << ", "
397 << Propagate->GetUVW(3) << " ft/s");
400 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
401 << Auxiliary->GetMach() );
405 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
406 << Auxiliary->GetVcalibratedKTS() << " knots" );
410 stall_warning->setDoubleValue(0);
412 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
413 << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
414 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
415 << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
416 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
417 << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
418 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
419 << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
420 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
421 << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
422 SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
423 << Propagate->GetAltitudeASL() << " feet" );
424 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
426 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
428 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
430 SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
431 globals->get_controls()->get_gear_down() );
434 /******************************************************************************/
436 void FGJSBsim::unbind()
439 FGInterface::unbind();
442 /******************************************************************************/
444 // Run an iteration of the EOM (equations of motion)
446 void FGJSBsim::update( double dt )
449 if(!fgGetBool("/sim/crashed"))
450 fgSetBool("/sim/crashed", true);
457 int multiloop = _calc_multiloop(dt);
461 // Compute the radius of the aircraft. That is the radius of a ball
462 // where all gear units are in. At the moment it is at least 10ft ...
464 int n_gears = GroundReactions->GetNumGearUnits();
465 for (i=0; i<n_gears; ++i) {
466 FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
467 double r = bl.Magnitude();
472 // Compute the potential movement of this aircraft and query for the
473 // ground in this area.
474 double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
475 double alt, slr, lat, lon;
476 FGLocation cart = Auxiliary->GetLocationVRP();
477 if ( needTrim && startup_trim->getBoolValue() ) {
478 alt = fgic->GetAltitudeASLFtIC();
479 slr = fgic->GetSeaLevelRadiusFtIC();
480 lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
481 lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
482 cart = FGLocation(lon, lat, alt+slr);
484 double cart_pos[3] = { cart(1), cart(2), cart(3) };
485 double t0 = fdmex->GetSimTime();
486 bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
489 SG_LOG(SG_FLIGHT, SG_WARN,
490 "FGInterface is being called without scenery below the aircraft!");
492 alt = fgic->GetAltitudeASLFtIC();
493 SG_LOG(SG_FLIGHT, SG_WARN, "altitude = " << alt);
495 slr = fgic->GetSeaLevelRadiusFtIC();
496 SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = " << slr);
498 lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
499 SG_LOG(SG_FLIGHT, SG_WARN, "latitude = " << lat);
501 lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
502 SG_LOG(SG_FLIGHT, SG_WARN, "longitude = " << lon);
508 trimmed->setBoolValue(false);
511 if ( startup_trim->getBoolValue() ) {
512 double contact[3], d[3], vel[3], agl;
513 get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
515 double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
516 + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
518 SG_LOG(SG_FLIGHT, SG_INFO,
519 "Ready to trim, terrain elevation is: "
520 << terrain_alt * SG_METER_TO_FEET );
522 if (fgGetBool("/sim/presets/onground")) {
523 FGColumnVector3 gndVelNED = cart.GetTec2l()
524 * FGColumnVector3(vel[0], vel[1], vel[2]);
525 fgic->SetVNorthFpsIC(gndVelNED(1));
526 fgic->SetVEastFpsIC(gndVelNED(2));
527 fgic->SetVDownFpsIC(gndVelNED(3));
529 fgic->SetTerrainElevationFtIC( terrain_alt );
532 fdmex->RunIC(); //apply any changes made through the set_ functions
537 for ( i=0; i < multiloop; i++ ) {
539 update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT());
542 FGJSBBase::Message* msg;
543 while ((msg = fdmex->ProcessNextMessage()) != NULL) {
544 // msg = fdmex->ProcessNextMessage();
546 case FGJSBBase::Message::eText:
547 if (msg->text == "Crash Detected: Simulation FREEZE.")
549 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
551 case FGJSBBase::Message::eBool:
552 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
554 case FGJSBBase::Message::eInteger:
555 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
557 case FGJSBBase::Message::eDouble:
558 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
561 SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
566 // translate JSBsim back to FG structure so that the
567 // autopilot (and the rest of the sim can use the updated values
571 /******************************************************************************/
573 void FGJSBsim::suspend()
576 SGSubsystem::suspend();
579 /******************************************************************************/
581 void FGJSBsim::resume()
584 SGSubsystem::resume();
587 /******************************************************************************/
589 // Convert from the FGInterface struct to the JSBsim generic_ struct
591 bool FGJSBsim::copy_to_JSBsim()
596 // copy control positions into the JSBsim structure
598 FCS->SetDaCmd( globals->get_controls()->get_aileron());
599 FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
600 FCS->SetDeCmd( globals->get_controls()->get_elevator());
601 FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
602 FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
603 FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
604 FCS->SetDsCmd( globals->get_controls()->get_rudder() );
605 FCS->SetDfCmd( globals->get_controls()->get_flaps() );
606 FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
607 FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
609 // Parking brake sets minimum braking
611 double parking_brake = globals->get_controls()->get_brake_parking();
612 double left_brake = globals->get_controls()->get_brake_left();
613 double right_brake = globals->get_controls()->get_brake_right();
615 if (ab_brake_engaged->getBoolValue()) {
616 left_brake = ab_brake_left_pct->getDoubleValue();
617 right_brake = ab_brake_right_pct->getDoubleValue();
620 FCS->SetLBrake(FMAX(left_brake, parking_brake));
621 FCS->SetRBrake(FMAX(right_brake, parking_brake));
624 FCS->SetCBrake( 0.0 );
625 // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
627 FCS->SetGearCmd( globals->get_controls()->get_gear_down());
628 for (i = 0; i < Propulsion->GetNumEngines(); i++) {
629 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
631 FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
632 FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
633 FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
634 FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
636 switch (Propulsion->GetEngine(i)->GetType()) {
637 case FGEngine::etPiston:
638 { // FGPiston code block
639 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
640 eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
642 } // end FGPiston code block
643 case FGEngine::etTurbine:
644 { // FGTurbine code block
645 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
646 eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
647 eng->SetReverse( globals->get_controls()->get_reverser(i) );
648 //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
649 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
650 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
652 } // end FGTurbine code block
653 case FGEngine::etRocket:
654 { // FGRocket code block
655 // FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
657 } // end FGRocket code block
658 case FGEngine::etTurboprop:
659 { // FGTurboProp code block
660 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
661 eng->SetReverse( globals->get_controls()->get_reverser(i) );
662 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
663 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
665 eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
666 eng->SetCondition( globals->get_controls()->get_condition(i) );
668 } // end FGTurboProp code block
673 { // FGEngine code block
674 FGEngine* eng = Propulsion->GetEngine(i);
676 eng->SetStarter( globals->get_controls()->get_starter(i) );
677 eng->SetRunning( node->getBoolValue("running") );
678 } // end FGEngine code block
682 Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
684 Atmosphere->SetExTemperature(
685 9.0/5.0*(temperature->getDoubleValue()+273.15) );
686 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
687 Atmosphere->SetExDensity(density->getDoubleValue());
689 tmp = turbulence_gain->getDoubleValue();
690 //Atmosphere->SetTurbGain(tmp * tmp * 100.0);
692 tmp = turbulence_rate->getDoubleValue();
693 //Atmosphere->SetTurbRate(tmp);
695 Atmosphere->SetWindNED( -wind_from_north->getDoubleValue(),
696 -wind_from_east->getDoubleValue(),
697 -wind_from_down->getDoubleValue() );
698 // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
699 // << get_V_north_airmass() << ", "
700 // << get_V_east_airmass() << ", "
701 // << get_V_down_airmass() );
703 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
704 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
705 FGTank * tank = Propulsion->GetTank(i);
706 double fuelDensity = node->getDoubleValue("density-ppg");
708 if (fuelDensity < 0.1)
709 fuelDensity = 6.0; // Use average fuel value
711 tank->SetDensity(fuelDensity);
712 tank->SetContents(node->getDoubleValue("level-lbs"));
715 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
716 fdmex->SetChild(slaved->getBoolValue());
721 /******************************************************************************/
723 // Convert from the JSBsim generic_ struct to the FGInterface struct
725 bool FGJSBsim::copy_from_JSBsim()
729 _set_Inertias( MassBalance->GetMass(),
730 MassBalance->GetIxx(),
731 MassBalance->GetIyy(),
732 MassBalance->GetIzz(),
733 MassBalance->GetIxz() );
735 _set_CG_Position( MassBalance->GetXYZcg(1),
736 MassBalance->GetXYZcg(2),
737 MassBalance->GetXYZcg(3) );
739 _set_Accels_Body( Aircraft->GetBodyAccel(1),
740 Aircraft->GetBodyAccel(2),
741 Aircraft->GetBodyAccel(3) );
743 _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
745 Aircraft->GetNcg(3) );
747 _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
748 Auxiliary->GetPilotAccel(2),
749 Auxiliary->GetPilotAccel(3) );
751 _set_Nlf( Aircraft->GetNlf() );
755 _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
756 Propagate->GetVel(FGJSBBase::eEast),
757 Propagate->GetVel(FGJSBBase::eDown) );
759 _set_Velocities_Wind_Body( Propagate->GetUVW(1),
760 Propagate->GetUVW(2),
761 Propagate->GetUVW(3) );
763 // Make the HUD work ...
764 _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
765 Propagate->GetVel(FGJSBBase::eEast),
766 -Propagate->GetVel(FGJSBBase::eDown) );
768 _set_V_rel_wind( Auxiliary->GetVt() );
770 _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
772 _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
774 _set_V_ground_speed( Auxiliary->GetVground() );
776 _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
777 Propagate->GetPQR(FGJSBBase::eQ),
778 Propagate->GetPQR(FGJSBBase::eR) );
780 _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
781 Auxiliary->GetEulerRates(FGJSBBase::eTht),
782 Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
784 _set_Mach_number( Auxiliary->GetMach() );
786 // Positions of Visual Reference Point
787 FGLocation l = Auxiliary->GetLocationVRP();
788 _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
789 l.GetRadius() - get_Sea_level_radius() );
791 _set_Altitude_AGL( Propagate->GetDistanceAGL() );
793 double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
794 double contact[3], d[3], sd, t;
795 is_valid_m(&t, d, &sd);
796 get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, d, &sd);
798 = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
799 _set_Runway_altitude( rwrad - get_Sea_level_radius() );
802 _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
803 Propagate->GetEuler(FGJSBBase::eTht),
804 Propagate->GetEuler(FGJSBBase::ePsi) );
806 _set_Alpha( Auxiliary->Getalpha() );
807 _set_Beta( Auxiliary->Getbeta() );
810 _set_Gamma_vert_rad( Auxiliary->GetGamma() );
812 _set_Earth_position_angle( Inertial->GetEarthPositionAngle() );
814 _set_Climb_Rate( Propagate->Gethdot() );
816 const FGMatrix33& Tl2b = Propagate->GetTl2b();
817 for ( i = 1; i <= 3; i++ ) {
818 for ( j = 1; j <= 3; j++ ) {
819 _set_T_Local_to_Body( i, j, Tl2b(i,j) );
823 // Copy the engine values from JSBSim.
824 for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
825 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
826 SGPropertyNode * tnode = node->getChild("thruster", 0, true);
827 FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
829 switch (Propulsion->GetEngine(i)->GetType()) {
830 case FGEngine::etPiston:
831 { // FGPiston code block
832 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
833 node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
834 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
835 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
836 node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
837 // NOTE: mp-osi is not in ounces per square inch.
838 // This error is left for reasons of backwards compatibility with
839 // existing FlightGear sound and instrument configurations.
840 node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
841 node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
842 node->setDoubleValue("rpm", eng->getRPM());
843 } // end FGPiston code block
845 case FGEngine::etRocket:
846 { // FGRocket code block
847 // FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
848 } // end FGRocket code block
850 case FGEngine::etTurbine:
851 { // FGTurbine code block
852 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
853 node->setDoubleValue("n1", eng->GetN1());
854 node->setDoubleValue("n2", eng->GetN2());
855 node->setDoubleValue("egt-degf", 32 + eng->GetEGT()*9/5);
856 node->setBoolValue("augmentation", eng->GetAugmentation());
857 node->setBoolValue("water-injection", eng->GetInjection());
858 node->setBoolValue("ignition", eng->GetIgnition() != 0);
859 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
860 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
861 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
862 node->setBoolValue("reversed", eng->GetReversed());
863 node->setBoolValue("cutoff", eng->GetCutoff());
864 node->setDoubleValue("epr", eng->GetEPR());
865 globals->get_controls()->set_reverser(i, eng->GetReversed() );
866 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
867 globals->get_controls()->set_water_injection(i, eng->GetInjection() );
868 globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
869 } // end FGTurbine code block
871 case FGEngine::etTurboprop:
872 { // FGTurboProp code block
873 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
874 node->setDoubleValue("n1", eng->GetN1());
875 //node->setDoubleValue("n2", eng->GetN2());
876 node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
877 node->setBoolValue("ignition", eng->GetIgnition() != 0);
878 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
879 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
880 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
881 node->setBoolValue("reversed", eng->GetReversed());
882 node->setBoolValue("cutoff", eng->GetCutoff());
883 node->setBoolValue("starting", eng->GetEngStarting());
884 node->setBoolValue("generator-power", eng->GetGeneratorPower());
885 node->setBoolValue("damaged", eng->GetCondition() != 0);
886 node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
887 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
888 // node->setBoolValue("onfire", eng->GetFire());
889 globals->get_controls()->set_reverser(i, eng->GetReversed() );
890 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
891 } // end FGTurboProp code block
893 case FGEngine::etElectric:
894 { // FGElectric code block
895 FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
896 node->setDoubleValue("rpm", eng->getRPM());
897 } // end FGElectric code block
899 case FGEngine::etUnknown:
903 { // FGEngine code block
904 FGEngine* eng = Propulsion->GetEngine(i);
905 node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
906 node->setDoubleValue("thrust_lb", thruster->GetThrust());
907 node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
908 node->setBoolValue("running", eng->GetRunning());
909 node->setBoolValue("starter", eng->GetStarter());
910 node->setBoolValue("cranking", eng->GetCranking());
911 globals->get_controls()->set_starter(i, eng->GetStarter() );
912 } // end FGEngine code block
914 switch (thruster->GetType()) {
915 case FGThruster::ttNozzle:
916 { // FGNozzle code block
917 // FGNozzle* noz = (FGNozzle*)thruster;
918 } // end FGNozzle code block
920 case FGThruster::ttPropeller:
921 { // FGPropeller code block
922 FGPropeller* prop = (FGPropeller*)thruster;
923 tnode->setDoubleValue("rpm", thruster->GetRPM());
924 tnode->setDoubleValue("pitch", prop->GetPitch());
925 tnode->setDoubleValue("torque", prop->GetTorque());
926 tnode->setBoolValue("feathered", prop->GetFeather());
927 } // end FGPropeller code block
929 case FGThruster::ttRotor:
930 { // FGRotor code block
931 // FGRotor* rotor = (FGRotor*)thruster;
932 } // end FGRotor code block
934 case FGThruster::ttDirect:
935 { // Direct code block
936 } // end Direct code block
942 // Copy the fuel levels from JSBSim if fuel
943 // freeze not enabled.
944 if ( ! Propulsion->GetFuelFreeze() ) {
945 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
946 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
947 FGTank* tank = Propulsion->GetTank(i);
948 double contents = tank->GetContents();
949 double temp = tank->GetTemperature_degC();
950 double fuelDensity = tank->GetDensity();
952 if (fuelDensity < 0.1)
953 fuelDensity = 6.0; // Use average fuel value
955 node->setDoubleValue("density-ppg" , fuelDensity);
956 node->setDoubleValue("level-lbs", contents);
957 if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
963 stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
965 elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
966 left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
967 right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
968 rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
969 flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
970 speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
971 spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
972 tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
973 wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
975 // force a sim crashed if crashed (altitude AGL < 0)
976 if (get_Altitude_AGL() < -100.0) {
977 fdmex->SuspendIntegration();
985 bool FGJSBsim::ToggleDataLogging(void)
987 // ToDo: handle this properly
988 fdmex->DisableOutput();
993 bool FGJSBsim::ToggleDataLogging(bool state)
996 fdmex->EnableOutput();
999 fdmex->DisableOutput();
1006 void FGJSBsim::set_Latitude(double lat)
1008 static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft");
1010 double sea_level_radius_meters, lat_geoc;
1012 // In case we're not trimming
1013 FGInterface::set_Latitude(lat);
1015 if ( altitude->getDoubleValue() > -9990 ) {
1016 alt = altitude->getDoubleValue();
1022 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
1023 SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
1025 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
1026 &sea_level_radius_meters, &lat_geoc );
1027 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
1028 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
1029 fgic->SetLatitudeRadIC( lat_geoc );
1031 if (!fdmex->Holding())
1036 void FGJSBsim::set_Longitude(double lon)
1038 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
1040 // In case we're not trimming
1041 FGInterface::set_Longitude(lon);
1044 fgic->SetLongitudeRadIC( lon );
1046 if (!fdmex->Holding())
1050 // Sets the altitude above sea level.
1051 void FGJSBsim::set_Altitude(double alt)
1053 static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
1055 double sea_level_radius_meters,lat_geoc;
1057 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
1058 SG_LOG(SG_FLIGHT,SG_INFO, " lat (deg) = " << latitude->getDoubleValue() );
1060 // In case we're not trimming
1061 FGInterface::set_Altitude(alt);
1064 sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
1065 &sea_level_radius_meters, &lat_geoc);
1066 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
1067 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
1068 SG_LOG(SG_FLIGHT, SG_INFO,
1069 "Terrain elevation: " << FGInterface::get_Runway_altitude() * SG_METER_TO_FEET );
1070 fgic->SetLatitudeRadIC( lat_geoc );
1071 fgic->SetAltitudeASLFtIC(alt);
1073 if (!fdmex->Holding())
1077 void FGJSBsim::set_V_calibrated_kts(double vc)
1079 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
1081 // In case we're not trimming
1082 FGInterface::set_V_calibrated_kts(vc);
1085 fgic->SetVcalibratedKtsIC(vc);
1087 if (!fdmex->Holding())
1091 void FGJSBsim::set_Mach_number(double mach)
1093 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
1095 // In case we're not trimming
1096 FGInterface::set_Mach_number(mach);
1099 fgic->SetMachIC(mach);
1101 if (!fdmex->Holding())
1105 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
1107 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
1108 << north << ", " << east << ", " << down );
1110 // In case we're not trimming
1111 FGInterface::set_Velocities_Local(north, east, down);
1114 fgic->SetVNorthFpsIC(north);
1115 fgic->SetVEastFpsIC(east);
1116 fgic->SetVDownFpsIC(down);
1118 if (!fdmex->Holding())
1122 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
1124 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
1125 << u << ", " << v << ", " << w );
1127 // In case we're not trimming
1128 FGInterface::set_Velocities_Wind_Body(u, v, w);
1131 fgic->SetUBodyFpsIC(u);
1132 fgic->SetVBodyFpsIC(v);
1133 fgic->SetWBodyFpsIC(w);
1135 if (!fdmex->Holding())
1140 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1142 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1143 << phi << ", " << theta << ", " << psi );
1145 // In case we're not trimming
1146 FGInterface::set_Euler_Angles(phi, theta, psi);
1149 fgic->SetThetaRadIC(theta);
1150 fgic->SetPhiRadIC(phi);
1151 fgic->SetPsiRadIC(psi);
1153 if (!fdmex->Holding())
1158 void FGJSBsim::set_Climb_Rate( double roc)
1160 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1162 // In case we're not trimming
1163 FGInterface::set_Climb_Rate(roc);
1166 //since both climb rate and flight path angle are set in the FG
1167 //startup sequence, something is needed to keep one from cancelling
1169 if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
1170 fgic->SetClimbRateFpsIC(roc);
1173 if (!fdmex->Holding())
1177 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1179 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1182 if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1183 fgic->SetFlightPathAngleRadIC(gamma);
1186 if (!fdmex->Holding())
1190 void FGJSBsim::init_gear(void )
1192 FGGroundReactions* gr=fdmex->GetGroundReactions();
1193 int Ngear=GroundReactions->GetNumGearUnits();
1194 for (int i=0;i<Ngear;i++) {
1195 FGLGear *gear = gr->GetGearUnit(i);
1196 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1197 node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1198 node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1199 node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1200 node->setBoolValue("wow", gear->GetWOW());
1201 node->setDoubleValue("rollspeed-ms", gear->GetWheelRollVel()*0.3043);
1202 node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1203 node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1204 node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1205 node->setDoubleValue("compression-norm", gear->GetCompLen());
1206 node->setDoubleValue("compression-ft", gear->GetCompLen());
1207 if ( gear->GetSteerable() )
1208 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1212 void FGJSBsim::update_gear(void)
1214 FGGroundReactions* gr=fdmex->GetGroundReactions();
1215 int Ngear=GroundReactions->GetNumGearUnits();
1216 for (int i=0;i<Ngear;i++) {
1217 FGLGear *gear = gr->GetGearUnit(i);
1218 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1219 node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1220 node->getChild("rollspeed-ms", 0, true)->setDoubleValue(gear->GetWheelRollVel()*0.3043);
1221 node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1222 gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1223 node->setDoubleValue("compression-norm", gear->GetCompLen());
1224 node->setDoubleValue("compression-ft", gear->GetCompLen());
1225 if ( gear->GetSteerable() )
1226 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1230 void FGJSBsim::do_trim(void)
1234 if ( fgGetBool("/sim/presets/onground") )
1236 fgtrim = new FGTrim(fdmex,tGround);
1238 fgtrim = new FGTrim(fdmex,tLongitudinal);
1241 if ( !fgtrim->DoTrim() ) {
1243 fgtrim->TrimStats();
1245 trimmed->setBoolValue(true);
1249 pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1250 throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1251 aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1252 rudder_trim->setDoubleValue( FCS->GetDrCmd() );
1254 globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1255 globals->get_controls()->set_elevator(FCS->GetDeCmd());
1256 for( unsigned i = 0; i < Propulsion->GetNumEngines(); i++ )
1257 globals->get_controls()->set_throttle(i, FCS->GetThrottleCmd(i));
1259 globals->get_controls()->set_aileron(FCS->GetDaCmd());
1260 globals->get_controls()->set_rudder( FCS->GetDrCmd());
1262 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
1265 void FGJSBsim::update_ic(void)
1268 fgic->SetLatitudeRadIC(get_Lat_geocentric() );
1269 fgic->SetLongitudeRadIC( get_Longitude() );
1270 fgic->SetAltitudeASLFtIC( get_Altitude() );
1271 fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
1272 fgic->SetThetaRadIC( get_Theta() );
1273 fgic->SetPhiRadIC( get_Phi() );
1274 fgic->SetPsiRadIC( get_Psi() );
1275 fgic->SetClimbRateFpsIC( get_Climb_Rate() );
1280 FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
1281 double contact[3], double normal[3], double vel[3],
1282 double angularVel[3], double *agl)
1284 const SGMaterial* material;
1285 simgear::BVHNode::Id id;
1286 if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
1287 angularVel, material, id))
1289 SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt));
1290 SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
1291 *agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt));
1295 inline static double dot3(const FGColumnVector3& a, const FGColumnVector3& b)
1297 return a(1) * b(1) + a(2) * b(2) + a(3) * b(3);
1300 inline static double sqr(double x)
1305 static double angle_diff(double a, double b)
1307 double diff = fabs(a - b);
1308 if (diff > 180) diff = 360 - diff;
1313 static void check_hook_solution(const FGColumnVector3& ground_normal_body, double E, double hook_length, double sin_fi_guess, double cos_fi_guess, double* sin_fis, double* cos_fis, double* fis, int* points)
1315 FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1316 double dist = dot3(tip, ground_normal_body);
1317 if (fabs(dist + E) < 0.0001) {
1318 sin_fis[*points] = sin_fi_guess;
1319 cos_fis[*points] = cos_fi_guess;
1320 fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1326 static void check_hook_solution(const FGColumnVector3& ground_normal_body, double E, double hook_length, double sin_fi_guess, double* sin_fis, double* cos_fis, double* fis, int* points)
1328 if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1329 double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1330 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1331 if (fabs(cos_fi_guess) > SG_EPSILON) {
1332 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1337 void FGJSBsim::update_external_forces(double t_off)
1339 const FGMatrix33& Tb2l = Propagate->GetTb2l();
1340 const FGMatrix33& Tl2b = Propagate->GetTl2b();
1341 const FGLocation& Location = Propagate->GetLocation();
1342 const FGMatrix33& Tec2l = Location.GetTec2l();
1344 double hook_area[4][3];
1346 FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1347 FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l * hook_root_body);
1348 hook_area[1][0] = hook_root(1);
1349 hook_area[1][1] = hook_root(2);
1350 hook_area[1][2] = hook_root(3);
1352 hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1353 double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1354 double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1355 double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1356 double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1357 double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1359 FGColumnVector3 hook_tip_body = hook_root_body;
1360 hook_tip_body(1) -= hook_length * cos_fi;
1361 hook_tip_body(3) += hook_length * sin_fi;
1364 double ground_normal[3];
1365 double ground_vel[3];
1366 double ground_angular_vel[3];
1370 bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal,
1371 ground_vel, ground_angular_vel, &root_agl_ft);
1372 if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
1373 FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1374 FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1375 double D = -dot3(contact_body, ground_normal_body);
1377 // check hook tip agl against same ground plane
1378 double hook_tip_agl_ft = dot3(hook_tip_body, ground_normal_body) + D;
1379 if (hook_tip_agl_ft < 0) {
1381 // hook tip: hx - l cos, hy, hz + l sin
1382 // on ground: - n0 l cos + n2 l sin + E = 0
1384 double E = D + dot3(hook_root_body, ground_normal_body);
1386 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1387 // and rearrange to get a quadratic with coeffs:
1388 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1389 double b = 2 * E * ground_normal_body(3) * hook_length;
1390 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
1392 double disc = sqr(b) - 4 * a * c;
1394 double delta = sqrt(disc) / (2 * a);
1396 // allow 4 solutions for safety, should never happen
1402 double sin_fi_guess = -b / (2 * a) - delta;
1403 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1404 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1407 double diff1 = angle_diff(fi, fis[0]);
1408 double diff2 = angle_diff(fi, fis[1]);
1409 int point = diff1 < diff2 ? 0 : 1;
1411 sin_fi = sin_fis[point];
1412 cos_fi = cos_fis[point];
1413 hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1414 hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1420 FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() * hook_root_body));
1421 double wire_ends_ec[2][3];
1422 double wire_vel_ec[2][3];
1423 get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1424 FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1425 FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1426 FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1427 if (rel_vel.Magnitude() < 3) {
1430 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1432 FGColumnVector3 wire_end1_body = Tl2b * Location.LocationToLocal(FGColumnVector3(wire_ends_ec[0][0], wire_ends_ec[0][1], wire_ends_ec[0][2])) - hook_root_body;
1433 FGColumnVector3 wire_end2_body = Tl2b * Location.LocationToLocal(FGColumnVector3(wire_ends_ec[1][0], wire_ends_ec[1][1], wire_ends_ec[1][2])) - hook_root_body;
1434 FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1435 force_plane_normal.Normalize();
1436 cos_fi = dot3(force_plane_normal, FGColumnVector3(0, 0, 1));
1437 if (cos_fi < 0) cos_fi = -cos_fi;
1438 sin_fi = sqrt(1 - sqr(cos_fi));
1439 fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1441 fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1442 fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1443 fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1444 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1448 FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1450 hook_area[0][0] = hook_tip(1);
1451 hook_area[0][1] = hook_tip(2);
1452 hook_area[0][2] = hook_tip(3);
1455 // The previous positions.
1456 hook_area[2][0] = last_hook_root[0];
1457 hook_area[2][1] = last_hook_root[1];
1458 hook_area[2][2] = last_hook_root[2];
1459 hook_area[3][0] = last_hook_tip[0];
1460 hook_area[3][1] = last_hook_tip[1];
1461 hook_area[3][2] = last_hook_tip[2];
1463 // Check if we caught a wire.
1464 // Returns true if we caught one.
1465 if (caught_wire_ft(t_off, hook_area)) {
1470 // save actual position as old position ...
1471 last_hook_tip[0] = hook_area[0][0];
1472 last_hook_tip[1] = hook_area[0][1];
1473 last_hook_tip[2] = hook_area[0][2];
1474 last_hook_root[0] = hook_area[1][0];
1475 last_hook_root[1] = hook_area[1][1];
1476 last_hook_root[2] = hook_area[1][2];
1478 fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);