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>
30 #include <stdio.h> // size_t
33 #include <simgear/constants.h>
34 #include <simgear/debug/logstream.hxx>
35 #include <simgear/math/sg_geodesy.hxx>
36 #include <simgear/misc/sg_path.hxx>
37 #include <simgear/structure/commands.hxx>
39 #include <FDM/flight.hxx>
41 #include <Aircraft/controls.hxx>
42 #include <Main/globals.hxx>
43 #include <Main/fg_props.hxx>
46 #include <FDM/JSBSim/FGFDMExec.h>
47 #include <FDM/JSBSim/FGJSBBase.h>
48 #include <FDM/JSBSim/initialization/FGInitialCondition.h>
49 #include <FDM/JSBSim/initialization/FGTrim.h>
50 #include <FDM/JSBSim/models/FGModel.h>
51 #include <FDM/JSBSim/models/FGAircraft.h>
52 #include <FDM/JSBSim/models/FGFCS.h>
53 #include <FDM/JSBSim/models/FGPropagate.h>
54 #include <FDM/JSBSim/models/FGAuxiliary.h>
55 #include <FDM/JSBSim/models/FGInertial.h>
56 #include <FDM/JSBSim/models/FGAtmosphere.h>
57 #include <FDM/JSBSim/models/FGMassBalance.h>
58 #include <FDM/JSBSim/models/FGAerodynamics.h>
59 #include <FDM/JSBSim/models/FGLGear.h>
60 #include <FDM/JSBSim/models/FGGroundReactions.h>
61 #include <FDM/JSBSim/models/FGPropulsion.h>
62 #include <FDM/JSBSim/models/propulsion/FGEngine.h>
63 #include <FDM/JSBSim/models/propulsion/FGPiston.h>
64 #include <FDM/JSBSim/models/propulsion/FGTurbine.h>
65 #include <FDM/JSBSim/models/propulsion/FGTurboProp.h>
66 #include <FDM/JSBSim/models/propulsion/FGRocket.h>
67 #include <FDM/JSBSim/models/propulsion/FGElectric.h>
68 #include <FDM/JSBSim/models/propulsion/FGNozzle.h>
69 #include <FDM/JSBSim/models/propulsion/FGPropeller.h>
70 #include <FDM/JSBSim/models/propulsion/FGRotor.h>
71 #include <FDM/JSBSim/models/propulsion/FGTank.h>
72 #include <FDM/JSBSim/input_output/FGPropertyManager.h>
73 #include <FDM/JSBSim/input_output/FGGroundCallback.h>
75 using namespace JSBSim;
78 FMAX (double a, double b)
83 class FGFSGroundCallback : public FGGroundCallback {
85 FGFSGroundCallback(FGJSBsim* ifc) : mInterface(ifc) {}
86 virtual ~FGFSGroundCallback() {}
88 /** Get the altitude above sea level dependent on the location. */
89 virtual double GetAltitude(const FGLocation& l) const {
90 double pt[3] = { SG_FEET_TO_METER*l(eX),
91 SG_FEET_TO_METER*l(eY),
92 SG_FEET_TO_METER*l(eZ) };
94 sgCartToGeod( pt, &lat, &lon, &alt);
95 return alt * SG_METER_TO_FEET;
98 /** Compute the altitude above ground. */
99 virtual double GetAGLevel(double t, const FGLocation& l,
100 FGLocation& cont, FGColumnVector3& n,
101 FGColumnVector3& v, FGColumnVector3& w) const {
102 double loc_cart[3] = { l(eX), l(eY), l(eZ) };
103 double contact[3], normal[3], vel[3], angularVel[3], agl = 0;
104 mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
105 vel, angularVel, &agl);
106 n = FGColumnVector3( normal[0], normal[1], normal[2] );
107 v = FGColumnVector3( vel[0], vel[1], vel[2] );
108 w = FGColumnVector3( angularVel[0], angularVel[1], angularVel[2] );
109 cont = FGColumnVector3( contact[0], contact[1], contact[2] );
113 FGJSBsim* mInterface;
116 /******************************************************************************/
118 FGJSBsim::FGJSBsim( double dt )
119 : FGInterface(dt), got_wire(false)
122 // Set up the debugging level
123 // FIXME: this will not respond to
126 // if flight is excluded, don't bother
127 if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
129 // do a rough-and-ready mapping to
130 // the levels documented in FGFDMExec.h
131 switch (logbuf::get_log_priority()) {
133 FGJSBBase::debug_lvl = 0x1f;
136 FGJSBBase::debug_lvl = 0x0f;
138 FGJSBBase::debug_lvl = 0x01;
142 FGJSBBase::debug_lvl = 0x00;
147 fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
149 // Register ground callback.
150 fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
152 Atmosphere = fdmex->GetAtmosphere();
153 FCS = fdmex->GetFCS();
154 MassBalance = fdmex->GetMassBalance();
155 Propulsion = fdmex->GetPropulsion();
156 Aircraft = fdmex->GetAircraft();
157 Propagate = fdmex->GetPropagate();
158 Auxiliary = fdmex->GetAuxiliary();
159 Inertial = fdmex->GetInertial();
160 Aerodynamics = fdmex->GetAerodynamics();
161 GroundReactions = fdmex->GetGroundReactions();
166 SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
168 SGPath engine_path( fgGetString("/sim/aircraft-dir") );
169 engine_path.append( "Engine" );
171 SGPath systems_path( fgGetString("/sim/aircraft-dir") );
172 systems_path.append( "Systems" );
174 // deprecate sim-time-sec for simulation/sim-time-sec
175 // remove alias with increased configuration file version number (2.1 or later)
176 SGPropertyNode * node = fgGetNode("/fdm/jsbsim/simulation/sim-time-sec");
177 fgGetNode("/fdm/jsbsim/sim-time-sec", true)->alias( node );
178 // end of sim-time-sec deprecation patch
182 result = fdmex->LoadModel( aircraft_path.str(),
185 fgGetString("/sim/aero"), false );
188 SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
190 SG_LOG( SG_FLIGHT, SG_INFO,
191 " aero does not exist (you may have mis-typed the name).");
195 SG_LOG( SG_FLIGHT, SG_INFO, "" );
196 SG_LOG( SG_FLIGHT, SG_INFO, "" );
197 SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
199 int Neng = Propulsion->GetNumEngines();
200 SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
202 if ( GroundReactions->GetNumGearUnits() <= 0 ) {
203 SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
204 << GroundReactions->GetNumGearUnits() );
205 SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
206 SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
207 SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
213 // Set initial fuel levels if provided.
214 for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
215 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
216 if (node->getChild("level-gal_us", 0, false) != 0) {
217 Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
219 node->setDoubleValue("level-lbs", Propulsion->GetTank(i)->GetContents());
220 node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
222 node->setDoubleValue("capacity-gal_us",
223 Propulsion->GetTank(i)->GetCapacity() / 6.6);
225 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
227 fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
228 fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
229 fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
230 fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
232 startup_trim = fgGetNode("/sim/presets/trim", true);
234 trimmed = fgGetNode("/fdm/trim/trimmed", true);
235 trimmed->setBoolValue(false);
237 pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
238 throttle_trim = fgGetNode("/fdm/trim/throttle", true );
239 aileron_trim = fgGetNode("/fdm/trim/aileron", true );
240 rudder_trim = fgGetNode("/fdm/trim/rudder", true );
242 stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
243 stall_warning->setDoubleValue(0);
246 flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
247 elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
249 =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
250 right_aileron_pos_pct
251 =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
252 rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
254 =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
255 spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
256 tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true);
257 wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-pos-norm",true);
259 elevator_pos_pct->setDoubleValue(0);
260 left_aileron_pos_pct->setDoubleValue(0);
261 right_aileron_pos_pct->setDoubleValue(0);
262 rudder_pos_pct->setDoubleValue(0);
263 flap_pos_pct->setDoubleValue(0);
264 speedbrake_pos_pct->setDoubleValue(0);
265 spoilers_pos_pct->setDoubleValue(0);
267 ab_brake_engaged = fgGetNode("/autopilot/autobrake/engaged", true);
268 ab_brake_left_pct = fgGetNode("/autopilot/autobrake/brake-left-output", true);
269 ab_brake_right_pct = fgGetNode("/autopilot/autobrake/brake-right-output", true);
271 temperature = fgGetNode("/environment/temperature-degc",true);
272 pressure = fgGetNode("/environment/pressure-inhg",true);
273 density = fgGetNode("/environment/density-slugft3",true);
274 turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
275 turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
277 wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
278 wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
279 wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
281 slaved = fgGetNode("/sim/slaved/enabled", true);
283 for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
284 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
285 Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
286 Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
289 hook_root_struct = FGColumnVector3(
290 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
291 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
292 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
293 last_hook_tip[0] = 0; last_hook_tip[1] = 0; last_hook_tip[2] = 0;
294 last_hook_root[0] = 0; last_hook_root[1] = 0; last_hook_root[2] = 0;
299 /******************************************************************************/
300 FGJSBsim::~FGJSBsim(void)
305 /******************************************************************************/
307 // Initialize the JSBsim flight model, dt is the time increment for
308 // each subsequent iteration through the EOM
310 void FGJSBsim::init()
312 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
314 // Explicitly call the superclass's
315 // init method first.
317 if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
318 Atmosphere->UseExternal();
319 Atmosphere->SetExTemperature(
320 9.0/5.0*(temperature->getDoubleValue()+273.15) );
321 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
322 Atmosphere->SetExDensity(density->getDoubleValue());
323 Atmosphere->SetTurbType(FGAtmosphere::ttCulp);
324 Atmosphere->SetTurbGain(turbulence_gain->getDoubleValue());
325 Atmosphere->SetTurbRate(turbulence_rate->getDoubleValue());
328 Atmosphere->UseInternal();
331 fgic->SetVNorthFpsIC( -wind_from_north->getDoubleValue() );
332 fgic->SetVEastFpsIC( -wind_from_east->getDoubleValue() );
333 fgic->SetVDownFpsIC( -wind_from_down->getDoubleValue() );
335 //Atmosphere->SetExTemperature(get_Static_temperature());
336 //Atmosphere->SetExPressure(get_Static_pressure());
337 //Atmosphere->SetExDensity(get_Density());
338 SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
339 << ", " << fdmex->GetAtmosphere()->GetPressure()
340 << ", " << fdmex->GetAtmosphere()->GetDensity() );
342 // deprecate egt_degf for egt-degf to have consistent naming
343 // TODO: raise log-level to ALERT in summer 2010,
344 // remove alias in fall 2010,
345 // remove this code in winter 2010
346 for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
347 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
348 SGPropertyNode * egtn = node->getNode( "egt_degf" );
350 SG_LOG(SG_FLIGHT,SG_WARN,
351 "Aircraft uses deprecated node egt_degf. Please upgrade to egt-degf");
352 node->getNode("egt-degf", true)->alias( egtn );
355 // end of egt_degf deprecation patch
357 if (fgGetBool("/sim/presets/running")) {
358 for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
359 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
360 node->setBoolValue("running", true);
361 Propulsion->GetEngine(i)->SetRunning(true);
365 FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
370 fdmex->RunIC(); //loop JSBSim once w/o integrating
371 copy_from_JSBsim(); //update the bus
373 SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
375 switch(fgic->GetSpeedSet()) {
377 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
378 << Propagate->GetVel(FGJSBBase::eNorth) << ", "
379 << Propagate->GetVel(FGJSBBase::eEast) << ", "
380 << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
383 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
384 << Propagate->GetUVW(1) << ", "
385 << Propagate->GetUVW(2) << ", "
386 << Propagate->GetUVW(3) << " ft/s");
389 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
390 << Auxiliary->GetMach() );
394 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
395 << Auxiliary->GetVcalibratedKTS() << " knots" );
399 stall_warning->setDoubleValue(0);
401 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
402 << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
403 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
404 << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
405 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
406 << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
407 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
408 << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
409 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
410 << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
411 SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
412 << Propagate->GetAltitudeASL() << " feet" );
413 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
415 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
417 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
419 SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
420 globals->get_controls()->get_gear_down() );
423 /******************************************************************************/
425 void FGJSBsim::unbind()
428 FGInterface::unbind();
431 /******************************************************************************/
433 // Run an iteration of the EOM (equations of motion)
435 void FGJSBsim::update( double dt )
438 if(!fgGetBool("/sim/crashed"))
439 fgSetBool("/sim/crashed", true);
446 int multiloop = _calc_multiloop(dt);
450 // Compute the radius of the aircraft. That is the radius of a ball
451 // where all gear units are in. At the moment it is at least 10ft ...
453 int n_gears = GroundReactions->GetNumGearUnits();
454 for (i=0; i<n_gears; ++i) {
455 FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
456 double r = bl.Magnitude();
461 // Compute the potential movement of this aircraft and query for the
462 // ground in this area.
463 double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
464 double alt, slr, lat, lon;
465 FGLocation cart = Auxiliary->GetLocationVRP();
466 if ( needTrim && startup_trim->getBoolValue() ) {
467 alt = fgic->GetAltitudeASLFtIC();
468 slr = fgic->GetSeaLevelRadiusFtIC();
469 lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
470 lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
471 cart = FGLocation(lon, lat, alt+slr);
473 double cart_pos[3] = { cart(1), cart(2), cart(3) };
474 double t0 = fdmex->GetSimTime();
475 bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
478 SG_LOG(SG_FLIGHT, SG_WARN,
479 "FGInterface is being called without scenery below the aircraft!");
481 alt = fgic->GetAltitudeASLFtIC();
482 SG_LOG(SG_FLIGHT, SG_WARN, "altitude = " << alt);
484 slr = fgic->GetSeaLevelRadiusFtIC();
485 SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = " << slr);
487 lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
488 SG_LOG(SG_FLIGHT, SG_WARN, "latitude = " << lat);
490 lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
491 SG_LOG(SG_FLIGHT, SG_WARN, "longitude = " << lon);
497 trimmed->setBoolValue(false);
500 if ( startup_trim->getBoolValue() ) {
501 double contact[3], d[3], vel[3], agl;
502 get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
504 double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
505 + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
507 SG_LOG(SG_FLIGHT, SG_INFO,
508 "Ready to trim, terrain elevation is: "
509 << terrain_alt * SG_METER_TO_FEET );
511 if (fgGetBool("/sim/presets/onground")) {
512 FGColumnVector3 gndVelNED = cart.GetTec2l()
513 * FGColumnVector3(vel[0], vel[1], vel[2]);
514 fgic->SetVNorthFpsIC(gndVelNED(1));
515 fgic->SetVEastFpsIC(gndVelNED(2));
516 fgic->SetVDownFpsIC(gndVelNED(3));
518 fgic->SetTerrainElevationFtIC( terrain_alt );
521 fdmex->RunIC(); //apply any changes made through the set_ functions
526 for ( i=0; i < multiloop; i++ ) {
528 update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT());
531 FGJSBBase::Message* msg;
532 while (msg = fdmex->ProcessNextMessage()) {
533 // msg = fdmex->ProcessNextMessage();
535 case FGJSBBase::Message::eText:
536 if (msg->text == "Crash Detected: Simulation FREEZE.")
538 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
540 case FGJSBBase::Message::eBool:
541 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
543 case FGJSBBase::Message::eInteger:
544 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
546 case FGJSBBase::Message::eDouble:
547 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
550 SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
555 // translate JSBsim back to FG structure so that the
556 // autopilot (and the rest of the sim can use the updated values
560 /******************************************************************************/
562 // Convert from the FGInterface struct to the JSBsim generic_ struct
564 bool FGJSBsim::copy_to_JSBsim()
569 // copy control positions into the JSBsim structure
571 FCS->SetDaCmd( globals->get_controls()->get_aileron());
572 FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
573 FCS->SetDeCmd( globals->get_controls()->get_elevator());
574 FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
575 FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
576 FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
577 FCS->SetDsCmd( globals->get_controls()->get_rudder() );
578 FCS->SetDfCmd( globals->get_controls()->get_flaps() );
579 FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
580 FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
582 // Parking brake sets minimum braking
584 double parking_brake = globals->get_controls()->get_brake_parking();
585 double left_brake = globals->get_controls()->get_brake_left();
586 double right_brake = globals->get_controls()->get_brake_right();
588 if (ab_brake_engaged->getBoolValue()) {
589 left_brake = ab_brake_left_pct->getDoubleValue();
590 right_brake = ab_brake_right_pct->getDoubleValue();
593 FCS->SetLBrake(FMAX(left_brake, parking_brake));
594 FCS->SetRBrake(FMAX(right_brake, parking_brake));
597 FCS->SetCBrake( 0.0 );
598 // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
600 FCS->SetGearCmd( globals->get_controls()->get_gear_down());
601 for (i = 0; i < Propulsion->GetNumEngines(); i++) {
602 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
604 FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
605 FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
606 FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
607 FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
609 switch (Propulsion->GetEngine(i)->GetType()) {
610 case FGEngine::etPiston:
611 { // FGPiston code block
612 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
613 eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
615 } // end FGPiston code block
616 case FGEngine::etTurbine:
617 { // FGTurbine code block
618 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
619 eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
620 eng->SetReverse( globals->get_controls()->get_reverser(i) );
621 //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
622 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
623 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
625 } // end FGTurbine code block
626 case FGEngine::etRocket:
627 { // FGRocket code block
628 FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
630 } // end FGRocket code block
631 case FGEngine::etTurboprop:
632 { // FGTurboProp code block
633 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
634 eng->SetReverse( globals->get_controls()->get_reverser(i) );
635 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
636 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
638 eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
639 eng->SetCondition( globals->get_controls()->get_condition(i) );
641 } // end FGTurboProp code block
646 { // FGEngine code block
647 FGEngine* eng = Propulsion->GetEngine(i);
649 eng->SetStarter( globals->get_controls()->get_starter(i) );
650 eng->SetRunning( node->getBoolValue("running") );
651 } // end FGEngine code block
655 Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
657 Atmosphere->SetExTemperature(
658 9.0/5.0*(temperature->getDoubleValue()+273.15) );
659 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
660 Atmosphere->SetExDensity(density->getDoubleValue());
662 tmp = turbulence_gain->getDoubleValue();
663 //Atmosphere->SetTurbGain(tmp * tmp * 100.0);
665 tmp = turbulence_rate->getDoubleValue();
666 //Atmosphere->SetTurbRate(tmp);
668 Atmosphere->SetWindNED( -wind_from_north->getDoubleValue(),
669 -wind_from_east->getDoubleValue(),
670 -wind_from_down->getDoubleValue() );
671 // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
672 // << get_V_north_airmass() << ", "
673 // << get_V_east_airmass() << ", "
674 // << get_V_down_airmass() );
676 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
677 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
678 FGTank * tank = Propulsion->GetTank(i);
679 tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
680 // tank->SetContents(node->getDoubleValue("level-lbs"));
683 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
684 fdmex->SetChild(slaved->getBoolValue());
689 /******************************************************************************/
691 // Convert from the JSBsim generic_ struct to the FGInterface struct
693 bool FGJSBsim::copy_from_JSBsim()
697 _set_Inertias( MassBalance->GetMass(),
698 MassBalance->GetIxx(),
699 MassBalance->GetIyy(),
700 MassBalance->GetIzz(),
701 MassBalance->GetIxz() );
703 _set_CG_Position( MassBalance->GetXYZcg(1),
704 MassBalance->GetXYZcg(2),
705 MassBalance->GetXYZcg(3) );
707 _set_Accels_Body( Aircraft->GetBodyAccel(1),
708 Aircraft->GetBodyAccel(2),
709 Aircraft->GetBodyAccel(3) );
711 _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
713 Aircraft->GetNcg(3) );
715 _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
716 Auxiliary->GetPilotAccel(2),
717 Auxiliary->GetPilotAccel(3) );
719 _set_Nlf( Aircraft->GetNlf() );
723 _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
724 Propagate->GetVel(FGJSBBase::eEast),
725 Propagate->GetVel(FGJSBBase::eDown) );
727 _set_Velocities_Wind_Body( Propagate->GetUVW(1),
728 Propagate->GetUVW(2),
729 Propagate->GetUVW(3) );
731 // Make the HUD work ...
732 _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
733 Propagate->GetVel(FGJSBBase::eEast),
734 -Propagate->GetVel(FGJSBBase::eDown) );
736 _set_V_rel_wind( Auxiliary->GetVt() );
738 _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
740 _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
742 _set_V_ground_speed( Auxiliary->GetVground() );
744 _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
745 Propagate->GetPQR(FGJSBBase::eQ),
746 Propagate->GetPQR(FGJSBBase::eR) );
748 _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
749 Auxiliary->GetEulerRates(FGJSBBase::eTht),
750 Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
752 _set_Mach_number( Auxiliary->GetMach() );
754 // Positions of Visual Reference Point
755 FGLocation l = Auxiliary->GetLocationVRP();
756 _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
757 l.GetRadius() - get_Sea_level_radius() );
759 _set_Altitude_AGL( Propagate->GetDistanceAGL() );
761 double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
762 double contact[3], d[3], sd, t;
763 is_valid_m(&t, d, &sd);
764 get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, d, &sd);
766 = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
767 _set_Runway_altitude( rwrad - get_Sea_level_radius() );
770 _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
771 Propagate->GetEuler(FGJSBBase::eTht),
772 Propagate->GetEuler(FGJSBBase::ePsi) );
774 _set_Alpha( Auxiliary->Getalpha() );
775 _set_Beta( Auxiliary->Getbeta() );
778 _set_Gamma_vert_rad( Auxiliary->GetGamma() );
780 _set_Earth_position_angle( Inertial->GetEarthPositionAngle() );
782 _set_Climb_Rate( Propagate->Gethdot() );
784 const FGMatrix33& Tl2b = Propagate->GetTl2b();
785 for ( i = 1; i <= 3; i++ ) {
786 for ( j = 1; j <= 3; j++ ) {
787 _set_T_Local_to_Body( i, j, Tl2b(i,j) );
791 // Copy the engine values from JSBSim.
792 for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
793 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
794 SGPropertyNode * tnode = node->getChild("thruster", 0, true);
795 FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
797 switch (Propulsion->GetEngine(i)->GetType()) {
798 case FGEngine::etPiston:
799 { // FGPiston code block
800 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
801 node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
802 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
803 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
804 node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
805 // NOTE: mp-osi is not in ounces per square inch.
806 // This error is left for reasons of backwards compatibility with
807 // existing FlightGear sound and instrument configurations.
808 node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
809 node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
810 node->setDoubleValue("rpm", eng->getRPM());
811 } // end FGPiston code block
813 case FGEngine::etRocket:
814 { // FGRocket code block
815 FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
816 } // end FGRocket code block
818 case FGEngine::etTurbine:
819 { // FGTurbine code block
820 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
821 node->setDoubleValue("n1", eng->GetN1());
822 node->setDoubleValue("n2", eng->GetN2());
823 node->setDoubleValue("egt-degf", 32 + eng->GetEGT()*9/5);
824 node->setBoolValue("augmentation", eng->GetAugmentation());
825 node->setBoolValue("water-injection", eng->GetInjection());
826 node->setBoolValue("ignition", eng->GetIgnition());
827 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
828 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
829 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
830 node->setBoolValue("reversed", eng->GetReversed());
831 node->setBoolValue("cutoff", eng->GetCutoff());
832 node->setDoubleValue("epr", eng->GetEPR());
833 globals->get_controls()->set_reverser(i, eng->GetReversed() );
834 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
835 globals->get_controls()->set_water_injection(i, eng->GetInjection() );
836 globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
837 } // end FGTurbine code block
839 case FGEngine::etTurboprop:
840 { // FGTurboProp code block
841 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
842 node->setDoubleValue("n1", eng->GetN1());
843 //node->setDoubleValue("n2", eng->GetN2());
844 node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
845 node->setBoolValue("ignition", eng->GetIgnition());
846 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
847 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
848 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
849 node->setBoolValue("reversed", eng->GetReversed());
850 node->setBoolValue("cutoff", eng->GetCutoff());
851 node->setBoolValue("starting", eng->GetEngStarting());
852 node->setBoolValue("generator-power", eng->GetGeneratorPower());
853 node->setBoolValue("damaged", eng->GetCondition());
854 node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
855 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
856 // node->setBoolValue("onfire", eng->GetFire());
857 globals->get_controls()->set_reverser(i, eng->GetReversed() );
858 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
859 } // end FGTurboProp code block
861 case FGEngine::etElectric:
862 { // FGElectric code block
863 FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
864 node->setDoubleValue("rpm", eng->getRPM());
865 } // end FGElectric code block
867 case FGEngine::etUnknown:
871 { // FGEngine code block
872 FGEngine* eng = Propulsion->GetEngine(i);
873 node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
874 node->setDoubleValue("thrust_lb", thruster->GetThrust());
875 node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
876 node->setBoolValue("running", eng->GetRunning());
877 node->setBoolValue("starter", eng->GetStarter());
878 node->setBoolValue("cranking", eng->GetCranking());
879 globals->get_controls()->set_starter(i, eng->GetStarter() );
880 } // end FGEngine code block
882 switch (thruster->GetType()) {
883 case FGThruster::ttNozzle:
884 { // FGNozzle code block
885 FGNozzle* noz = (FGNozzle*)thruster;
886 } // end FGNozzle code block
888 case FGThruster::ttPropeller:
889 { // FGPropeller code block
890 FGPropeller* prop = (FGPropeller*)thruster;
891 tnode->setDoubleValue("rpm", thruster->GetRPM());
892 tnode->setDoubleValue("pitch", prop->GetPitch());
893 tnode->setDoubleValue("torque", prop->GetTorque());
894 tnode->setBoolValue("feathered", prop->GetFeather());
895 } // end FGPropeller code block
897 case FGThruster::ttRotor:
898 { // FGRotor code block
899 FGRotor* rotor = (FGRotor*)thruster;
900 } // end FGRotor code block
902 case FGThruster::ttDirect:
903 { // Direct code block
904 } // end Direct code block
910 // Copy the fuel levels from JSBSim if fuel
911 // freeze not enabled.
912 if ( ! Propulsion->GetFuelFreeze() ) {
913 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
914 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
915 FGTank* tank = Propulsion->GetTank(i);
916 double contents = tank->GetContents();
917 double temp = tank->GetTemperature_degC();
918 node->setDoubleValue("level-gal_us", contents/6.6);
919 node->setDoubleValue("level-lbs", contents);
920 if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
926 stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
928 elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
929 left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
930 right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
931 rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
932 flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
933 speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
934 spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
935 tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
936 wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
938 // force a sim crashed if crashed (altitude AGL < 0)
939 if (get_Altitude_AGL() < -100.0) {
940 fdmex->SuspendIntegration();
948 bool FGJSBsim::ToggleDataLogging(void)
950 // ToDo: handle this properly
951 fdmex->DisableOutput();
956 bool FGJSBsim::ToggleDataLogging(bool state)
959 fdmex->EnableOutput();
962 fdmex->DisableOutput();
969 void FGJSBsim::set_Latitude(double lat)
971 static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft");
973 double sea_level_radius_meters, lat_geoc;
975 // In case we're not trimming
976 FGInterface::set_Latitude(lat);
978 if ( altitude->getDoubleValue() > -9990 ) {
979 alt = altitude->getDoubleValue();
985 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
986 SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
988 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
989 &sea_level_radius_meters, &lat_geoc );
990 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
991 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
992 fgic->SetLatitudeRadIC( lat_geoc );
997 void FGJSBsim::set_Longitude(double lon)
999 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
1001 // In case we're not trimming
1002 FGInterface::set_Longitude(lon);
1005 fgic->SetLongitudeRadIC( lon );
1009 // Sets the altitude above sea level.
1010 void FGJSBsim::set_Altitude(double alt)
1012 static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
1014 double sea_level_radius_meters,lat_geoc;
1016 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
1017 SG_LOG(SG_FLIGHT,SG_INFO, " lat (deg) = " << latitude->getDoubleValue() );
1019 // In case we're not trimming
1020 FGInterface::set_Altitude(alt);
1023 sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
1024 &sea_level_radius_meters, &lat_geoc);
1025 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
1026 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
1027 SG_LOG(SG_FLIGHT, SG_INFO,
1028 "Terrain elevation: " << FGInterface::get_Runway_altitude() * SG_METER_TO_FEET );
1029 fgic->SetLatitudeRadIC( lat_geoc );
1030 fgic->SetAltitudeASLFtIC(alt);
1034 void FGJSBsim::set_V_calibrated_kts(double vc)
1036 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
1038 // In case we're not trimming
1039 FGInterface::set_V_calibrated_kts(vc);
1042 fgic->SetVcalibratedKtsIC(vc);
1046 void FGJSBsim::set_Mach_number(double mach)
1048 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
1050 // In case we're not trimming
1051 FGInterface::set_Mach_number(mach);
1054 fgic->SetMachIC(mach);
1058 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
1060 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
1061 << north << ", " << east << ", " << down );
1063 // In case we're not trimming
1064 FGInterface::set_Velocities_Local(north, east, down);
1067 fgic->SetVNorthFpsIC(north);
1068 fgic->SetVEastFpsIC(east);
1069 fgic->SetVDownFpsIC(down);
1073 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
1075 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
1076 << u << ", " << v << ", " << w );
1078 // In case we're not trimming
1079 FGInterface::set_Velocities_Wind_Body(u, v, w);
1082 fgic->SetUBodyFpsIC(u);
1083 fgic->SetVBodyFpsIC(v);
1084 fgic->SetWBodyFpsIC(w);
1089 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1091 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1092 << phi << ", " << theta << ", " << psi );
1094 // In case we're not trimming
1095 FGInterface::set_Euler_Angles(phi, theta, psi);
1098 fgic->SetThetaRadIC(theta);
1099 fgic->SetPhiRadIC(phi);
1100 fgic->SetPsiRadIC(psi);
1105 void FGJSBsim::set_Climb_Rate( double roc)
1107 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1109 // In case we're not trimming
1110 FGInterface::set_Climb_Rate(roc);
1113 //since both climb rate and flight path angle are set in the FG
1114 //startup sequence, something is needed to keep one from cancelling
1116 if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
1117 fgic->SetClimbRateFpsIC(roc);
1122 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1124 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1127 if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1128 fgic->SetFlightPathAngleRadIC(gamma);
1133 void FGJSBsim::init_gear(void )
1135 FGGroundReactions* gr=fdmex->GetGroundReactions();
1136 int Ngear=GroundReactions->GetNumGearUnits();
1137 for (int i=0;i<Ngear;i++) {
1138 FGLGear *gear = gr->GetGearUnit(i);
1139 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1140 node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1141 node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1142 node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1143 node->setBoolValue("wow", gear->GetWOW());
1144 node->setDoubleValue("rollspeed-ms", gear->GetWheelRollVel()*0.3043);
1145 node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1146 node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1147 node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1148 node->setDoubleValue("compression-norm", gear->GetCompLen());
1149 node->setDoubleValue("compression-ft", gear->GetCompLen());
1150 if ( gear->GetSteerable() )
1151 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1155 void FGJSBsim::update_gear(void)
1157 FGGroundReactions* gr=fdmex->GetGroundReactions();
1158 int Ngear=GroundReactions->GetNumGearUnits();
1159 for (int i=0;i<Ngear;i++) {
1160 FGLGear *gear = gr->GetGearUnit(i);
1161 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1162 node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1163 node->getChild("rollspeed-ms", 0, true)->setDoubleValue(gear->GetWheelRollVel()*0.3043);
1164 node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1165 gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1166 node->setDoubleValue("compression-norm", gear->GetCompLen());
1167 node->setDoubleValue("compression-ft", gear->GetCompLen());
1168 if ( gear->GetSteerable() )
1169 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1173 void FGJSBsim::do_trim(void)
1177 if ( fgGetBool("/sim/presets/onground") )
1179 fgtrim = new FGTrim(fdmex,tGround);
1181 fgtrim = new FGTrim(fdmex,tLongitudinal);
1184 if ( !fgtrim->DoTrim() ) {
1186 fgtrim->TrimStats();
1188 trimmed->setBoolValue(true);
1192 pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1193 throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1194 aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1195 rudder_trim->setDoubleValue( FCS->GetDrCmd() );
1197 globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1198 globals->get_controls()->set_elevator(FCS->GetDeCmd());
1199 globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
1200 FCS->GetThrottleCmd(0));
1202 globals->get_controls()->set_aileron(FCS->GetDaCmd());
1203 globals->get_controls()->set_rudder( FCS->GetDrCmd());
1205 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
1208 void FGJSBsim::update_ic(void)
1211 fgic->SetLatitudeRadIC(get_Lat_geocentric() );
1212 fgic->SetLongitudeRadIC( get_Longitude() );
1213 fgic->SetAltitudeASLFtIC( get_Altitude() );
1214 fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
1215 fgic->SetThetaRadIC( get_Theta() );
1216 fgic->SetPhiRadIC( get_Phi() );
1217 fgic->SetPsiRadIC( get_Psi() );
1218 fgic->SetClimbRateFpsIC( get_Climb_Rate() );
1223 FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
1224 double contact[3], double normal[3], double vel[3],
1225 double angularVel[3], double *agl)
1227 const SGMaterial* material;
1228 simgear::BVHNode::Id id;
1229 if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
1230 angularVel, material, id))
1232 SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt));
1233 SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
1234 *agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt));
1238 inline static double dot3(const FGColumnVector3& a, const FGColumnVector3& b)
1240 return a(1) * b(1) + a(2) * b(2) + a(3) * b(3);
1243 inline static double sqr(double x)
1248 static double angle_diff(double a, double b)
1250 double diff = fabs(a - b);
1251 if (diff > 180) diff = 360 - diff;
1256 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)
1258 FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1259 double dist = dot3(tip, ground_normal_body);
1260 if (fabs(dist + E) < 0.0001) {
1261 sin_fis[*points] = sin_fi_guess;
1262 cos_fis[*points] = cos_fi_guess;
1263 fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1269 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)
1271 if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1272 double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1273 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1274 if (fabs(cos_fi_guess) > SG_EPSILON) {
1275 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1280 void FGJSBsim::update_external_forces(double t_off)
1282 const FGMatrix33& Tb2l = Propagate->GetTb2l();
1283 const FGMatrix33& Tl2b = Propagate->GetTl2b();
1284 const FGLocation& Location = Propagate->GetLocation();
1285 const FGMatrix33& Tec2l = Location.GetTec2l();
1287 double hook_area[4][3];
1289 FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1290 FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l * hook_root_body);
1291 hook_area[1][0] = hook_root(1);
1292 hook_area[1][1] = hook_root(2);
1293 hook_area[1][2] = hook_root(3);
1295 hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1296 double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1297 double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1298 double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1299 double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1300 double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1302 FGColumnVector3 hook_tip_body = hook_root_body;
1303 hook_tip_body(1) -= hook_length * cos_fi;
1304 hook_tip_body(3) += hook_length * sin_fi;
1307 double ground_normal[3];
1308 double ground_vel[3];
1309 double ground_angular_vel[3];
1313 bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal,
1314 ground_vel, ground_angular_vel, &root_agl_ft);
1315 if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
1316 FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1317 FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1318 double D = -dot3(contact_body, ground_normal_body);
1320 // check hook tip agl against same ground plane
1321 double hook_tip_agl_ft = dot3(hook_tip_body, ground_normal_body) + D;
1322 if (hook_tip_agl_ft < 0) {
1324 // hook tip: hx - l cos, hy, hz + l sin
1325 // on ground: - n0 l cos + n2 l sin + E = 0
1327 double E = D + dot3(hook_root_body, ground_normal_body);
1329 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1330 // and rearrange to get a quadratic with coeffs:
1331 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1332 double b = 2 * E * ground_normal_body(3) * hook_length;
1333 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
1335 double disc = sqr(b) - 4 * a * c;
1337 double delta = sqrt(disc) / (2 * a);
1339 // allow 4 solutions for safety, should never happen
1345 double sin_fi_guess = -b / (2 * a) - delta;
1346 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1347 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1350 double diff1 = angle_diff(fi, fis[0]);
1351 double diff2 = angle_diff(fi, fis[1]);
1352 int point = diff1 < diff2 ? 0 : 1;
1354 sin_fi = sin_fis[point];
1355 cos_fi = cos_fis[point];
1356 hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1357 hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1363 FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() * hook_root_body));
1364 double wire_ends_ec[2][3];
1365 double wire_vel_ec[2][3];
1366 get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1367 FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1368 FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1369 FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1370 if (rel_vel.Magnitude() < 3) {
1373 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1375 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;
1376 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;
1377 FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1378 force_plane_normal.Normalize();
1379 cos_fi = dot3(force_plane_normal, FGColumnVector3(0, 0, 1));
1380 if (cos_fi < 0) cos_fi = -cos_fi;
1381 sin_fi = sqrt(1 - sqr(cos_fi));
1382 fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1384 fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1385 fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1386 fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1387 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1391 FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1393 hook_area[0][0] = hook_tip(1);
1394 hook_area[0][1] = hook_tip(2);
1395 hook_area[0][2] = hook_tip(3);
1398 // The previous positions.
1399 hook_area[2][0] = last_hook_root[0];
1400 hook_area[2][1] = last_hook_root[1];
1401 hook_area[2][2] = last_hook_root[2];
1402 hook_area[3][0] = last_hook_tip[0];
1403 hook_area[3][1] = last_hook_tip[1];
1404 hook_area[3][2] = last_hook_tip[2];
1406 // Check if we caught a wire.
1407 // Returns true if we caught one.
1408 if (caught_wire_ft(t_off, hook_area)) {
1413 // save actual position as old position ...
1414 last_hook_tip[0] = hook_area[0][0];
1415 last_hook_tip[1] = hook_area[0][1];
1416 last_hook_tip[2] = hook_area[0][2];
1417 last_hook_root[0] = hook_area[1][0];
1418 last_hook_root[1] = hook_area[1][1];
1419 last_hook_root[2] = hook_area[1][2];
1421 fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);