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 1.62 2010/07/14 05:50:40 ehofman 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,
101 FGColumnVector3& n, FGColumnVector3& v) const {
102 double loc_cart[3] = { l(eX), l(eY), l(eZ) };
103 double contact[3], normal[3], vel[3], agl = 0;
104 mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
106 n = FGColumnVector3( normal[0], normal[1], normal[2] );
107 v = FGColumnVector3( vel[0], vel[1], vel[2] );
108 cont = FGColumnVector3( contact[0], contact[1], contact[2] );
112 FGJSBsim* mInterface;
115 /******************************************************************************/
117 FGJSBsim::FGJSBsim( double dt )
118 : FGInterface(dt), got_wire(false)
121 // Set up the debugging level
122 // FIXME: this will not respond to
125 // if flight is excluded, don't bother
126 if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
128 // do a rough-and-ready mapping to
129 // the levels documented in FGFDMExec.h
130 switch (logbuf::get_log_priority()) {
132 FGJSBBase::debug_lvl = 0x1f;
135 FGJSBBase::debug_lvl = 0x0f;
137 FGJSBBase::debug_lvl = 0x01;
141 FGJSBBase::debug_lvl = 0x00;
146 fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
148 // Register ground callback.
149 fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
151 Atmosphere = fdmex->GetAtmosphere();
152 FCS = fdmex->GetFCS();
153 MassBalance = fdmex->GetMassBalance();
154 Propulsion = fdmex->GetPropulsion();
155 Aircraft = fdmex->GetAircraft();
156 Propagate = fdmex->GetPropagate();
157 Auxiliary = fdmex->GetAuxiliary();
158 Inertial = fdmex->GetInertial();
159 Aerodynamics = fdmex->GetAerodynamics();
160 GroundReactions = fdmex->GetGroundReactions();
165 SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
167 SGPath engine_path( fgGetString("/sim/aircraft-dir") );
168 engine_path.append( "Engine" );
170 SGPath systems_path( fgGetString("/sim/aircraft-dir") );
171 systems_path.append( "Systems" );
173 // deprecate sim-time-sec for simulation/sim-time-sec
174 // remove alias with increased configuration file version number (2.1 or later)
175 SGPropertyNode * node = fgGetNode("/fdm/jsbsim/simulation/sim-time-sec");
176 fgGetNode("/fdm/jsbsim/sim-time-sec", true)->alias( node );
177 // end of sim-time-sec deprecation patch
181 result = fdmex->LoadModel( aircraft_path.str(),
184 fgGetString("/sim/aero"), false );
187 SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
189 SG_LOG( SG_FLIGHT, SG_INFO,
190 " aero does not exist (you may have mis-typed the name).");
194 SG_LOG( SG_FLIGHT, SG_INFO, "" );
195 SG_LOG( SG_FLIGHT, SG_INFO, "" );
196 SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
198 int Neng = Propulsion->GetNumEngines();
199 SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
201 if ( GroundReactions->GetNumGearUnits() <= 0 ) {
202 SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
203 << GroundReactions->GetNumGearUnits() );
204 SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
205 SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
206 SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
212 // Set initial fuel levels if provided.
213 for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
214 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
215 if (node->getChild("level-gal_us", 0, false) != 0) {
216 Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
218 node->setDoubleValue("level-lbs", Propulsion->GetTank(i)->GetContents());
219 node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
221 node->setDoubleValue("capacity-gal_us",
222 Propulsion->GetTank(i)->GetCapacity() / 6.6);
224 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
226 fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
227 fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
228 fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
229 fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
231 startup_trim = fgGetNode("/sim/presets/trim", true);
233 trimmed = fgGetNode("/fdm/trim/trimmed", true);
234 trimmed->setBoolValue(false);
236 pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
237 throttle_trim = fgGetNode("/fdm/trim/throttle", true );
238 aileron_trim = fgGetNode("/fdm/trim/aileron", true );
239 rudder_trim = fgGetNode("/fdm/trim/rudder", true );
241 stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
242 stall_warning->setDoubleValue(0);
245 flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
246 elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
248 =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
249 right_aileron_pos_pct
250 =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
251 rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
253 =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
254 spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
255 tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true);
256 wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-pos-norm",true);
258 elevator_pos_pct->setDoubleValue(0);
259 left_aileron_pos_pct->setDoubleValue(0);
260 right_aileron_pos_pct->setDoubleValue(0);
261 rudder_pos_pct->setDoubleValue(0);
262 flap_pos_pct->setDoubleValue(0);
263 speedbrake_pos_pct->setDoubleValue(0);
264 spoilers_pos_pct->setDoubleValue(0);
266 ab_brake_engaged = fgGetNode("/autopilot/autobrake/engaged", true);
267 ab_brake_left_pct = fgGetNode("/autopilot/autobrake/brake-left-output", true);
268 ab_brake_right_pct = fgGetNode("/autopilot/autobrake/brake-right-output", true);
270 temperature = fgGetNode("/environment/temperature-degc",true);
271 pressure = fgGetNode("/environment/pressure-inhg",true);
272 density = fgGetNode("/environment/density-slugft3",true);
273 turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
274 turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
276 wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
277 wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
278 wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
280 slaved = fgGetNode("/sim/slaved/enabled", true);
282 for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
283 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
284 Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
285 Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
288 hook_root_struct = FGColumnVector3(
289 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
290 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
291 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
296 /******************************************************************************/
297 FGJSBsim::~FGJSBsim(void)
302 /******************************************************************************/
304 // Initialize the JSBsim flight model, dt is the time increment for
305 // each subsequent iteration through the EOM
307 void FGJSBsim::init()
309 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
311 // Explicitly call the superclass's
312 // init method first.
314 if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
315 Atmosphere->UseExternal();
316 Atmosphere->SetExTemperature(
317 9.0/5.0*(temperature->getDoubleValue()+273.15) );
318 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
319 Atmosphere->SetExDensity(density->getDoubleValue());
320 Atmosphere->SetTurbType(FGAtmosphere::ttCulp);
321 Atmosphere->SetTurbGain(turbulence_gain->getDoubleValue());
322 Atmosphere->SetTurbRate(turbulence_rate->getDoubleValue());
325 Atmosphere->UseInternal();
328 fgic->SetVNorthFpsIC( -wind_from_north->getDoubleValue() );
329 fgic->SetVEastFpsIC( -wind_from_east->getDoubleValue() );
330 fgic->SetVDownFpsIC( -wind_from_down->getDoubleValue() );
332 //Atmosphere->SetExTemperature(get_Static_temperature());
333 //Atmosphere->SetExPressure(get_Static_pressure());
334 //Atmosphere->SetExDensity(get_Density());
335 SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
336 << ", " << fdmex->GetAtmosphere()->GetPressure()
337 << ", " << fdmex->GetAtmosphere()->GetDensity() );
339 // deprecate egt_degf for egt-degf to have consistent naming
340 // TODO: raise log-level to ALERT in summer 2010,
341 // remove alias in fall 2010,
342 // remove this code in winter 2010
343 for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
344 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
345 SGPropertyNode * egtn = node->getNode( "egt_degf" );
347 SG_LOG(SG_FLIGHT,SG_WARN,
348 "Aircraft uses deprecated node egt_degf. Please upgrade to egt-degf");
349 node->getNode("egt-degf", true)->alias( egtn );
352 // end of egt_degf deprecation patch
354 if (fgGetBool("/sim/presets/running")) {
355 for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
356 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
357 node->setBoolValue("running", true);
358 Propulsion->GetEngine(i)->SetRunning(true);
362 FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
367 fdmex->RunIC(); //loop JSBSim once w/o integrating
368 copy_from_JSBsim(); //update the bus
370 SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
372 switch(fgic->GetSpeedSet()) {
374 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
375 << Propagate->GetVel(FGJSBBase::eNorth) << ", "
376 << Propagate->GetVel(FGJSBBase::eEast) << ", "
377 << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
380 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
381 << Propagate->GetUVW(1) << ", "
382 << Propagate->GetUVW(2) << ", "
383 << Propagate->GetUVW(3) << " ft/s");
386 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
387 << Auxiliary->GetMach() );
391 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
392 << Auxiliary->GetVcalibratedKTS() << " knots" );
396 stall_warning->setDoubleValue(0);
398 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
399 << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
400 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
401 << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
402 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
403 << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
404 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
405 << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
406 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
407 << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
408 SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
409 << Propagate->GetAltitudeASL() << " feet" );
410 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
412 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
414 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
416 SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
417 globals->get_controls()->get_gear_down() );
420 /******************************************************************************/
422 // Run an iteration of the EOM (equations of motion)
424 void FGJSBsim::update( double dt )
427 if(!fgGetBool("/sim/crashed"))
428 fgSetBool("/sim/crashed", true);
435 int multiloop = _calc_multiloop(dt);
439 // Compute the radius of the aircraft. That is the radius of a ball
440 // where all gear units are in. At the moment it is at least 10ft ...
442 int n_gears = GroundReactions->GetNumGearUnits();
443 for (i=0; i<n_gears; ++i) {
444 FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
445 double r = bl.Magnitude();
450 // Compute the potential movement of this aircraft and query for the
451 // ground in this area.
452 double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
453 double alt, slr, lat, lon;
454 FGColumnVector3 cart = Auxiliary->GetLocationVRP();
455 if ( needTrim && startup_trim->getBoolValue() ) {
456 alt = fgic->GetAltitudeASLFtIC();
457 slr = fgic->GetSeaLevelRadiusFtIC();
458 lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
459 lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
460 cart = FGLocation(lon, lat, alt+slr);
462 double cart_pos[3] = { cart(1), cart(2), cart(3) };
463 double t0 = fdmex->GetSimTime();
464 bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
467 SG_LOG(SG_FLIGHT, SG_WARN,
468 "FGInterface is being called without scenery below the aircraft!");
470 alt = fgic->GetAltitudeASLFtIC();
471 SG_LOG(SG_FLIGHT, SG_WARN, "altitude = " << alt);
473 slr = fgic->GetSeaLevelRadiusFtIC();
474 SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = " << slr);
476 lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
477 SG_LOG(SG_FLIGHT, SG_WARN, "latitude = " << lat);
479 lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
480 SG_LOG(SG_FLIGHT, SG_WARN, "longitude = " << lon);
486 trimmed->setBoolValue(false);
489 if ( startup_trim->getBoolValue() ) {
490 double contact[3], d[3], agl;
491 get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
493 double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
494 + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
496 SG_LOG(SG_FLIGHT, SG_INFO,
497 "Ready to trim, terrain elevation is: "
498 << terrain_alt * SG_METER_TO_FEET );
500 fgic->SetTerrainElevationFtIC( terrain_alt );
503 fdmex->RunIC(); //apply any changes made through the set_ functions
508 for ( i=0; i < multiloop; i++ ) {
510 update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT());
513 FGJSBBase::Message* msg;
514 while (msg = fdmex->ProcessNextMessage()) {
515 // msg = fdmex->ProcessNextMessage();
517 case FGJSBBase::Message::eText:
518 if (msg->text == "Crash Detected: Simulation FREEZE.")
520 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
522 case FGJSBBase::Message::eBool:
523 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
525 case FGJSBBase::Message::eInteger:
526 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
528 case FGJSBBase::Message::eDouble:
529 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
532 SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
537 // translate JSBsim back to FG structure so that the
538 // autopilot (and the rest of the sim can use the updated values
542 /******************************************************************************/
544 // Convert from the FGInterface struct to the JSBsim generic_ struct
546 bool FGJSBsim::copy_to_JSBsim()
551 // copy control positions into the JSBsim structure
553 FCS->SetDaCmd( globals->get_controls()->get_aileron());
554 FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
555 FCS->SetDeCmd( globals->get_controls()->get_elevator());
556 FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
557 FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
558 FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
559 FCS->SetDsCmd( globals->get_controls()->get_rudder() );
560 FCS->SetDfCmd( globals->get_controls()->get_flaps() );
561 FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
562 FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
564 // Parking brake sets minimum braking
566 double parking_brake = globals->get_controls()->get_brake_parking();
567 double left_brake = globals->get_controls()->get_brake_left();
568 double right_brake = globals->get_controls()->get_brake_right();
570 if (ab_brake_engaged->getBoolValue()) {
571 left_brake = ab_brake_left_pct->getDoubleValue();
572 right_brake = ab_brake_right_pct->getDoubleValue();
575 FCS->SetLBrake(FMAX(left_brake, parking_brake));
576 FCS->SetRBrake(FMAX(right_brake, parking_brake));
579 FCS->SetCBrake( 0.0 );
580 // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
582 FCS->SetGearCmd( globals->get_controls()->get_gear_down());
583 for (i = 0; i < Propulsion->GetNumEngines(); i++) {
584 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
586 FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
587 FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
588 FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
589 FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
591 switch (Propulsion->GetEngine(i)->GetType()) {
592 case FGEngine::etPiston:
593 { // FGPiston code block
594 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
595 eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
597 } // end FGPiston code block
598 case FGEngine::etTurbine:
599 { // FGTurbine code block
600 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
601 eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
602 eng->SetReverse( globals->get_controls()->get_reverser(i) );
603 //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
604 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
605 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
607 } // end FGTurbine code block
608 case FGEngine::etRocket:
609 { // FGRocket code block
610 FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
612 } // end FGRocket code block
613 case FGEngine::etTurboprop:
614 { // FGTurboProp code block
615 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
616 eng->SetReverse( globals->get_controls()->get_reverser(i) );
617 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
618 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
620 eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
621 eng->SetCondition( globals->get_controls()->get_condition(i) );
623 } // end FGTurboProp code block
628 { // FGEngine code block
629 FGEngine* eng = Propulsion->GetEngine(i);
631 eng->SetStarter( globals->get_controls()->get_starter(i) );
632 eng->SetRunning( node->getBoolValue("running") );
633 } // end FGEngine code block
637 Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
639 Atmosphere->SetExTemperature(
640 9.0/5.0*(temperature->getDoubleValue()+273.15) );
641 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
642 Atmosphere->SetExDensity(density->getDoubleValue());
644 tmp = turbulence_gain->getDoubleValue();
645 //Atmosphere->SetTurbGain(tmp * tmp * 100.0);
647 tmp = turbulence_rate->getDoubleValue();
648 //Atmosphere->SetTurbRate(tmp);
650 Atmosphere->SetWindNED( -wind_from_north->getDoubleValue(),
651 -wind_from_east->getDoubleValue(),
652 -wind_from_down->getDoubleValue() );
653 // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
654 // << get_V_north_airmass() << ", "
655 // << get_V_east_airmass() << ", "
656 // << get_V_down_airmass() );
658 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
659 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
660 FGTank * tank = Propulsion->GetTank(i);
661 tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
662 // tank->SetContents(node->getDoubleValue("level-lbs"));
665 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
666 fdmex->SetChild(slaved->getBoolValue());
671 /******************************************************************************/
673 // Convert from the JSBsim generic_ struct to the FGInterface struct
675 bool FGJSBsim::copy_from_JSBsim()
679 _set_Inertias( MassBalance->GetMass(),
680 MassBalance->GetIxx(),
681 MassBalance->GetIyy(),
682 MassBalance->GetIzz(),
683 MassBalance->GetIxz() );
685 _set_CG_Position( MassBalance->GetXYZcg(1),
686 MassBalance->GetXYZcg(2),
687 MassBalance->GetXYZcg(3) );
689 _set_Accels_Body( Aircraft->GetBodyAccel(1),
690 Aircraft->GetBodyAccel(2),
691 Aircraft->GetBodyAccel(3) );
693 _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
695 Aircraft->GetNcg(3) );
697 _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
698 Auxiliary->GetPilotAccel(2),
699 Auxiliary->GetPilotAccel(3) );
701 _set_Nlf( Aircraft->GetNlf() );
705 _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
706 Propagate->GetVel(FGJSBBase::eEast),
707 Propagate->GetVel(FGJSBBase::eDown) );
709 _set_Velocities_Wind_Body( Propagate->GetUVW(1),
710 Propagate->GetUVW(2),
711 Propagate->GetUVW(3) );
713 // Make the HUD work ...
714 _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
715 Propagate->GetVel(FGJSBBase::eEast),
716 -Propagate->GetVel(FGJSBBase::eDown) );
718 _set_V_rel_wind( Auxiliary->GetVt() );
720 _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
722 _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
724 _set_V_ground_speed( Auxiliary->GetVground() );
726 _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
727 Propagate->GetPQR(FGJSBBase::eQ),
728 Propagate->GetPQR(FGJSBBase::eR) );
730 _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
731 Auxiliary->GetEulerRates(FGJSBBase::eTht),
732 Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
734 _set_Mach_number( Auxiliary->GetMach() );
736 // Positions of Visual Reference Point
737 FGLocation l = Auxiliary->GetLocationVRP();
738 _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
739 l.GetRadius() - get_Sea_level_radius() );
741 _set_Altitude_AGL( Propagate->GetDistanceAGL() );
743 double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
744 double contact[3], d[3], sd, t;
745 is_valid_m(&t, d, &sd);
746 get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, &sd);
748 = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
749 _set_Runway_altitude( rwrad - get_Sea_level_radius() );
752 _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
753 Propagate->GetEuler(FGJSBBase::eTht),
754 Propagate->GetEuler(FGJSBBase::ePsi) );
756 _set_Alpha( Auxiliary->Getalpha() );
757 _set_Beta( Auxiliary->Getbeta() );
760 _set_Gamma_vert_rad( Auxiliary->GetGamma() );
762 _set_Earth_position_angle( Inertial->GetEarthPositionAngle() );
764 _set_Climb_Rate( Propagate->Gethdot() );
766 const FGMatrix33& Tl2b = Propagate->GetTl2b();
767 for ( i = 1; i <= 3; i++ ) {
768 for ( j = 1; j <= 3; j++ ) {
769 _set_T_Local_to_Body( i, j, Tl2b(i,j) );
773 // Copy the engine values from JSBSim.
774 for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
775 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
776 SGPropertyNode * tnode = node->getChild("thruster", 0, true);
777 FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
779 switch (Propulsion->GetEngine(i)->GetType()) {
780 case FGEngine::etPiston:
781 { // FGPiston code block
782 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
783 node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
784 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
785 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
786 node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
787 // NOTE: mp-osi is not in ounces per square inch.
788 // This error is left for reasons of backwards compatibility with
789 // existing FlightGear sound and instrument configurations.
790 node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
791 node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
792 node->setDoubleValue("rpm", eng->getRPM());
793 } // end FGPiston code block
795 case FGEngine::etRocket:
796 { // FGRocket code block
797 FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
798 } // end FGRocket code block
800 case FGEngine::etTurbine:
801 { // FGTurbine code block
802 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
803 node->setDoubleValue("n1", eng->GetN1());
804 node->setDoubleValue("n2", eng->GetN2());
805 node->setDoubleValue("egt-degf", 32 + eng->GetEGT()*9/5);
806 node->setBoolValue("augmentation", eng->GetAugmentation());
807 node->setBoolValue("water-injection", eng->GetInjection());
808 node->setBoolValue("ignition", eng->GetIgnition());
809 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
810 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
811 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
812 node->setBoolValue("reversed", eng->GetReversed());
813 node->setBoolValue("cutoff", eng->GetCutoff());
814 node->setDoubleValue("epr", eng->GetEPR());
815 globals->get_controls()->set_reverser(i, eng->GetReversed() );
816 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
817 globals->get_controls()->set_water_injection(i, eng->GetInjection() );
818 globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
819 } // end FGTurbine code block
821 case FGEngine::etTurboprop:
822 { // FGTurboProp code block
823 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
824 node->setDoubleValue("n1", eng->GetN1());
825 //node->setDoubleValue("n2", eng->GetN2());
826 node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
827 node->setBoolValue("ignition", eng->GetIgnition());
828 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
829 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
830 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
831 node->setBoolValue("reversed", eng->GetReversed());
832 node->setBoolValue("cutoff", eng->GetCutoff());
833 node->setBoolValue("starting", eng->GetEngStarting());
834 node->setBoolValue("generator-power", eng->GetGeneratorPower());
835 node->setBoolValue("damaged", eng->GetCondition());
836 node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
837 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
838 // node->setBoolValue("onfire", eng->GetFire());
839 globals->get_controls()->set_reverser(i, eng->GetReversed() );
840 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
841 } // end FGTurboProp code block
843 case FGEngine::etElectric:
844 { // FGElectric code block
845 FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
846 node->setDoubleValue("rpm", eng->getRPM());
847 } // end FGElectric code block
849 case FGEngine::etUnknown:
853 { // FGEngine code block
854 FGEngine* eng = Propulsion->GetEngine(i);
855 node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
856 node->setDoubleValue("thrust_lb", thruster->GetThrust());
857 node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
858 node->setBoolValue("running", eng->GetRunning());
859 node->setBoolValue("starter", eng->GetStarter());
860 node->setBoolValue("cranking", eng->GetCranking());
861 globals->get_controls()->set_starter(i, eng->GetStarter() );
862 } // end FGEngine code block
864 switch (thruster->GetType()) {
865 case FGThruster::ttNozzle:
866 { // FGNozzle code block
867 FGNozzle* noz = (FGNozzle*)thruster;
868 } // end FGNozzle code block
870 case FGThruster::ttPropeller:
871 { // FGPropeller code block
872 FGPropeller* prop = (FGPropeller*)thruster;
873 tnode->setDoubleValue("rpm", thruster->GetRPM());
874 tnode->setDoubleValue("pitch", prop->GetPitch());
875 tnode->setDoubleValue("torque", prop->GetTorque());
876 tnode->setBoolValue("feathered", prop->GetFeather());
877 } // end FGPropeller code block
879 case FGThruster::ttRotor:
880 { // FGRotor code block
881 FGRotor* rotor = (FGRotor*)thruster;
882 } // end FGRotor code block
884 case FGThruster::ttDirect:
885 { // Direct code block
886 } // end Direct code block
892 // Copy the fuel levels from JSBSim if fuel
893 // freeze not enabled.
894 if ( ! Propulsion->GetFuelFreeze() ) {
895 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
896 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
897 FGTank* tank = Propulsion->GetTank(i);
898 double contents = tank->GetContents();
899 double temp = tank->GetTemperature_degC();
900 node->setDoubleValue("level-gal_us", contents/6.6);
901 node->setDoubleValue("level-lbs", contents);
902 if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
908 stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
910 elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
911 left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
912 right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
913 rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
914 flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
915 speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
916 spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
917 tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
918 wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
920 // force a sim crashed if crashed (altitude AGL < 0)
921 if (get_Altitude_AGL() < -100.0) {
922 fdmex->SuspendIntegration();
930 bool FGJSBsim::ToggleDataLogging(void)
932 // ToDo: handle this properly
933 fdmex->DisableOutput();
938 bool FGJSBsim::ToggleDataLogging(bool state)
941 fdmex->EnableOutput();
944 fdmex->DisableOutput();
951 void FGJSBsim::set_Latitude(double lat)
953 static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft");
955 double sea_level_radius_meters, lat_geoc;
957 // In case we're not trimming
958 FGInterface::set_Latitude(lat);
960 if ( altitude->getDoubleValue() > -9990 ) {
961 alt = altitude->getDoubleValue();
967 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
968 SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
970 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
971 &sea_level_radius_meters, &lat_geoc );
972 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
973 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
974 fgic->SetLatitudeRadIC( lat_geoc );
979 void FGJSBsim::set_Longitude(double lon)
981 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
983 // In case we're not trimming
984 FGInterface::set_Longitude(lon);
987 fgic->SetLongitudeRadIC( lon );
991 // Sets the altitude above sea level.
992 void FGJSBsim::set_Altitude(double alt)
994 static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
996 double sea_level_radius_meters,lat_geoc;
998 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
999 SG_LOG(SG_FLIGHT,SG_INFO, " lat (deg) = " << latitude->getDoubleValue() );
1001 // In case we're not trimming
1002 FGInterface::set_Altitude(alt);
1005 sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
1006 &sea_level_radius_meters, &lat_geoc);
1007 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
1008 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
1009 SG_LOG(SG_FLIGHT, SG_INFO,
1010 "Terrain elevation: " << FGInterface::get_Runway_altitude() * SG_METER_TO_FEET );
1011 fgic->SetLatitudeRadIC( lat_geoc );
1012 fgic->SetAltitudeASLFtIC(alt);
1016 void FGJSBsim::set_V_calibrated_kts(double vc)
1018 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
1020 // In case we're not trimming
1021 FGInterface::set_V_calibrated_kts(vc);
1024 fgic->SetVcalibratedKtsIC(vc);
1028 void FGJSBsim::set_Mach_number(double mach)
1030 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
1032 // In case we're not trimming
1033 FGInterface::set_Mach_number(mach);
1036 fgic->SetMachIC(mach);
1040 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
1042 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
1043 << north << ", " << east << ", " << down );
1045 // In case we're not trimming
1046 FGInterface::set_Velocities_Local(north, east, down);
1049 fgic->SetVNorthFpsIC(north);
1050 fgic->SetVEastFpsIC(east);
1051 fgic->SetVDownFpsIC(down);
1055 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
1057 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
1058 << u << ", " << v << ", " << w );
1060 // In case we're not trimming
1061 FGInterface::set_Velocities_Wind_Body(u, v, w);
1064 fgic->SetUBodyFpsIC(u);
1065 fgic->SetVBodyFpsIC(v);
1066 fgic->SetWBodyFpsIC(w);
1071 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1073 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1074 << phi << ", " << theta << ", " << psi );
1076 // In case we're not trimming
1077 FGInterface::set_Euler_Angles(phi, theta, psi);
1080 fgic->SetThetaRadIC(theta);
1081 fgic->SetPhiRadIC(phi);
1082 fgic->SetPsiRadIC(psi);
1087 void FGJSBsim::set_Climb_Rate( double roc)
1089 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1091 // In case we're not trimming
1092 FGInterface::set_Climb_Rate(roc);
1095 //since both climb rate and flight path angle are set in the FG
1096 //startup sequence, something is needed to keep one from cancelling
1098 if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
1099 fgic->SetClimbRateFpsIC(roc);
1104 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1106 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1109 if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1110 fgic->SetFlightPathAngleRadIC(gamma);
1115 void FGJSBsim::init_gear(void )
1117 FGGroundReactions* gr=fdmex->GetGroundReactions();
1118 int Ngear=GroundReactions->GetNumGearUnits();
1119 for (int i=0;i<Ngear;i++) {
1120 FGLGear *gear = gr->GetGearUnit(i);
1121 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1122 node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1123 node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1124 node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1125 node->setBoolValue("wow", gear->GetWOW());
1126 node->setDoubleValue("rollspeed-ms", gear->GetWheelRollVel()*0.3043);
1127 node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1128 node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1129 node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1130 node->setDoubleValue("compression-norm", gear->GetCompLen());
1131 node->setDoubleValue("compression-ft", gear->GetCompLen());
1132 if ( gear->GetSteerable() )
1133 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1137 void FGJSBsim::update_gear(void)
1139 FGGroundReactions* gr=fdmex->GetGroundReactions();
1140 int Ngear=GroundReactions->GetNumGearUnits();
1141 for (int i=0;i<Ngear;i++) {
1142 FGLGear *gear = gr->GetGearUnit(i);
1143 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1144 node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1145 node->getChild("rollspeed-ms", 0, true)->setDoubleValue(gear->GetWheelRollVel()*0.3043);
1146 node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1147 gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
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::do_trim(void)
1159 if ( fgGetBool("/sim/presets/onground") )
1161 fgtrim = new FGTrim(fdmex,tGround);
1163 fgtrim = new FGTrim(fdmex,tLongitudinal);
1166 if ( !fgtrim->DoTrim() ) {
1168 fgtrim->TrimStats();
1170 trimmed->setBoolValue(true);
1174 pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1175 throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1176 aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1177 rudder_trim->setDoubleValue( FCS->GetDrCmd() );
1179 globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1180 globals->get_controls()->set_elevator(FCS->GetDeCmd());
1181 globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
1182 FCS->GetThrottleCmd(0));
1184 globals->get_controls()->set_aileron(FCS->GetDaCmd());
1185 globals->get_controls()->set_rudder( FCS->GetDrCmd());
1187 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
1190 void FGJSBsim::update_ic(void)
1193 fgic->SetLatitudeRadIC(get_Lat_geocentric() );
1194 fgic->SetLongitudeRadIC( get_Longitude() );
1195 fgic->SetAltitudeASLFtIC( get_Altitude() );
1196 fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
1197 fgic->SetThetaRadIC( get_Theta() );
1198 fgic->SetPhiRadIC( get_Phi() );
1199 fgic->SetPsiRadIC( get_Psi() );
1200 fgic->SetClimbRateFpsIC( get_Climb_Rate() );
1205 FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
1206 double contact[3], double normal[3], double vel[3],
1209 double angularVel[3];
1210 const SGMaterial* material;
1211 simgear::BVHNode::Id id;
1212 if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
1213 angularVel, material, id))
1215 SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt));
1216 SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
1217 *agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt));
1221 inline static double dot3(const FGColumnVector3& a, const FGColumnVector3& b)
1223 return a(1) * b(1) + a(2) * b(2) + a(3) * b(3);
1226 inline static double sqr(double x)
1231 static double angle_diff(double a, double b)
1233 double diff = fabs(a - b);
1234 if (diff > 180) diff = 360 - diff;
1239 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)
1241 FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1242 double dist = dot3(tip, ground_normal_body);
1243 if (fabs(dist + E) < 0.0001) {
1244 sin_fis[*points] = sin_fi_guess;
1245 cos_fis[*points] = cos_fi_guess;
1246 fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1252 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)
1254 if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1255 double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1256 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1257 if (fabs(cos_fi_guess) > SG_EPSILON) {
1258 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1263 void FGJSBsim::update_external_forces(double t_off)
1265 const FGMatrix33& Tb2l = Propagate->GetTb2l();
1266 const FGMatrix33& Tl2b = Propagate->GetTl2b();
1267 const FGLocation& Location = Propagate->GetLocation();
1268 const FGMatrix33& Tec2l = Location.GetTec2l();
1270 double hook_area[4][3];
1272 FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1273 FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l * hook_root_body);
1274 hook_area[1][0] = hook_root(1);
1275 hook_area[1][1] = hook_root(2);
1276 hook_area[1][2] = hook_root(3);
1278 hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1279 double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1280 double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1281 double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1282 double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1283 double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1285 FGColumnVector3 hook_tip_body = hook_root_body;
1286 hook_tip_body(1) -= hook_length * cos_fi;
1287 hook_tip_body(3) += hook_length * sin_fi;
1290 double ground_normal[3];
1291 double ground_vel[3];
1295 bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal, ground_vel, &root_agl_ft);
1296 if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
1297 FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1298 FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1299 double D = -dot3(contact_body, ground_normal_body);
1301 // check hook tip agl against same ground plane
1302 double hook_tip_agl_ft = dot3(hook_tip_body, ground_normal_body) + D;
1303 if (hook_tip_agl_ft < 0) {
1305 // hook tip: hx - l cos, hy, hz + l sin
1306 // on ground: - n0 l cos + n2 l sin + E = 0
1308 double E = D + dot3(hook_root_body, ground_normal_body);
1310 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1311 // and rearrange to get a quadratic with coeffs:
1312 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1313 double b = 2 * E * ground_normal_body(3) * hook_length;
1314 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
1316 double disc = sqr(b) - 4 * a * c;
1318 double delta = sqrt(disc) / (2 * a);
1320 // allow 4 solutions for safety, should never happen
1326 double sin_fi_guess = -b / (2 * a) - delta;
1327 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1328 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1331 double diff1 = angle_diff(fi, fis[0]);
1332 double diff2 = angle_diff(fi, fis[1]);
1333 int point = diff1 < diff2 ? 0 : 1;
1335 sin_fi = sin_fis[point];
1336 cos_fi = cos_fis[point];
1337 hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1338 hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1344 FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() * hook_root_body));
1345 double wire_ends_ec[2][3];
1346 double wire_vel_ec[2][3];
1347 get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1348 FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1349 FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1350 FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1351 if (rel_vel.Magnitude() < 3) {
1354 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1356 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;
1357 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;
1358 FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1359 force_plane_normal.Normalize();
1360 cos_fi = dot3(force_plane_normal, FGColumnVector3(0, 0, 1));
1361 if (cos_fi < 0) cos_fi = -cos_fi;
1362 sin_fi = sqrt(1 - sqr(cos_fi));
1363 fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1365 fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1366 fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1367 fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1368 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1372 FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1374 hook_area[0][0] = hook_tip(1);
1375 hook_area[0][1] = hook_tip(2);
1376 hook_area[0][2] = hook_tip(3);
1379 // The previous positions.
1380 hook_area[2][0] = last_hook_root[0];
1381 hook_area[2][1] = last_hook_root[1];
1382 hook_area[2][2] = last_hook_root[2];
1383 hook_area[3][0] = last_hook_tip[0];
1384 hook_area[3][1] = last_hook_tip[1];
1385 hook_area[3][2] = last_hook_tip[2];
1387 // Check if we caught a wire.
1388 // Returns true if we caught one.
1389 if (caught_wire_ft(t_off, hook_area)) {
1394 // save actual position as old position ...
1395 last_hook_tip[0] = hook_area[0][0];
1396 last_hook_tip[1] = hook_area[0][1];
1397 last_hook_tip[2] = hook_area[0][2];
1398 last_hook_root[0] = hook_area[1][0];
1399 last_hook_root[1] = hook_area[1][1];
1400 last_hook_root[2] = hook_area[1][2];
1402 fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);