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));
297 /******************************************************************************/
298 FGJSBsim::~FGJSBsim(void)
303 /******************************************************************************/
305 // Initialize the JSBsim flight model, dt is the time increment for
306 // each subsequent iteration through the EOM
308 void FGJSBsim::init()
310 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
312 // Explicitly call the superclass's
313 // init method first.
315 if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
316 Atmosphere->UseExternal();
317 Atmosphere->SetExTemperature(
318 9.0/5.0*(temperature->getDoubleValue()+273.15) );
319 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
320 Atmosphere->SetExDensity(density->getDoubleValue());
321 Atmosphere->SetTurbType(FGAtmosphere::ttCulp);
322 Atmosphere->SetTurbGain(turbulence_gain->getDoubleValue());
323 Atmosphere->SetTurbRate(turbulence_rate->getDoubleValue());
326 Atmosphere->UseInternal();
329 fgic->SetVNorthFpsIC( -wind_from_north->getDoubleValue() );
330 fgic->SetVEastFpsIC( -wind_from_east->getDoubleValue() );
331 fgic->SetVDownFpsIC( -wind_from_down->getDoubleValue() );
333 //Atmosphere->SetExTemperature(get_Static_temperature());
334 //Atmosphere->SetExPressure(get_Static_pressure());
335 //Atmosphere->SetExDensity(get_Density());
336 SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
337 << ", " << fdmex->GetAtmosphere()->GetPressure()
338 << ", " << fdmex->GetAtmosphere()->GetDensity() );
340 // deprecate egt_degf for egt-degf to have consistent naming
341 // TODO: raise log-level to ALERT in summer 2010,
342 // remove alias in fall 2010,
343 // remove this code in winter 2010
344 for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
345 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
346 SGPropertyNode * egtn = node->getNode( "egt_degf" );
348 SG_LOG(SG_FLIGHT,SG_WARN,
349 "Aircraft uses deprecated node egt_degf. Please upgrade to egt-degf");
350 node->getNode("egt-degf", true)->alias( egtn );
353 // end of egt_degf deprecation patch
355 if (fgGetBool("/sim/presets/running")) {
356 for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
357 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
358 node->setBoolValue("running", true);
359 Propulsion->GetEngine(i)->SetRunning(true);
363 FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
368 fdmex->RunIC(); //loop JSBSim once w/o integrating
369 copy_from_JSBsim(); //update the bus
371 SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
373 switch(fgic->GetSpeedSet()) {
375 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
376 << Propagate->GetVel(FGJSBBase::eNorth) << ", "
377 << Propagate->GetVel(FGJSBBase::eEast) << ", "
378 << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
381 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
382 << Propagate->GetUVW(1) << ", "
383 << Propagate->GetUVW(2) << ", "
384 << Propagate->GetUVW(3) << " ft/s");
387 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
388 << Auxiliary->GetMach() );
392 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
393 << Auxiliary->GetVcalibratedKTS() << " knots" );
397 stall_warning->setDoubleValue(0);
399 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
400 << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
401 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
402 << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
403 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
404 << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
405 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
406 << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
407 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
408 << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
409 SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
410 << Propagate->GetAltitudeASL() << " feet" );
411 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
413 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
415 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
417 SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
418 globals->get_controls()->get_gear_down() );
421 /******************************************************************************/
423 // Run an iteration of the EOM (equations of motion)
425 void FGJSBsim::update( double dt )
428 if(!fgGetBool("/sim/crashed"))
429 fgSetBool("/sim/crashed", true);
436 int multiloop = _calc_multiloop(dt);
440 // Compute the radius of the aircraft. That is the radius of a ball
441 // where all gear units are in. At the moment it is at least 10ft ...
443 int n_gears = GroundReactions->GetNumGearUnits();
444 for (i=0; i<n_gears; ++i) {
445 FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
446 double r = bl.Magnitude();
451 // Compute the potential movement of this aircraft and query for the
452 // ground in this area.
453 double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
454 double alt, slr, lat, lon;
455 FGLocation cart = Auxiliary->GetLocationVRP();
456 if ( needTrim && startup_trim->getBoolValue() ) {
457 alt = fgic->GetAltitudeASLFtIC();
458 slr = fgic->GetSeaLevelRadiusFtIC();
459 lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
460 lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
461 cart = FGLocation(lon, lat, alt+slr);
463 double cart_pos[3] = { cart(1), cart(2), cart(3) };
464 double t0 = fdmex->GetSimTime();
465 bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
468 SG_LOG(SG_FLIGHT, SG_WARN,
469 "FGInterface is being called without scenery below the aircraft!");
471 alt = fgic->GetAltitudeASLFtIC();
472 SG_LOG(SG_FLIGHT, SG_WARN, "altitude = " << alt);
474 slr = fgic->GetSeaLevelRadiusFtIC();
475 SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = " << slr);
477 lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
478 SG_LOG(SG_FLIGHT, SG_WARN, "latitude = " << lat);
480 lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
481 SG_LOG(SG_FLIGHT, SG_WARN, "longitude = " << lon);
487 trimmed->setBoolValue(false);
490 if ( startup_trim->getBoolValue() ) {
491 double contact[3], d[3], vel[3], agl;
492 get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
494 double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
495 + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
497 SG_LOG(SG_FLIGHT, SG_INFO,
498 "Ready to trim, terrain elevation is: "
499 << terrain_alt * SG_METER_TO_FEET );
501 if (fgGetBool("/sim/presets/onground")) {
502 FGColumnVector3 gndVelNED = cart.GetTec2l()
503 * FGColumnVector3(vel[0], vel[1], vel[2]);
504 fgic->SetVNorthFpsIC(gndVelNED(1));
505 fgic->SetVEastFpsIC(gndVelNED(2));
506 fgic->SetVDownFpsIC(gndVelNED(3));
508 fgic->SetTerrainElevationFtIC( terrain_alt );
511 fdmex->RunIC(); //apply any changes made through the set_ functions
516 for ( i=0; i < multiloop; i++ ) {
518 update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT());
521 FGJSBBase::Message* msg;
522 while (msg = fdmex->ProcessNextMessage()) {
523 // msg = fdmex->ProcessNextMessage();
525 case FGJSBBase::Message::eText:
526 if (msg->text == "Crash Detected: Simulation FREEZE.")
528 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
530 case FGJSBBase::Message::eBool:
531 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
533 case FGJSBBase::Message::eInteger:
534 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
536 case FGJSBBase::Message::eDouble:
537 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
540 SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
545 // translate JSBsim back to FG structure so that the
546 // autopilot (and the rest of the sim can use the updated values
550 /******************************************************************************/
552 // Convert from the FGInterface struct to the JSBsim generic_ struct
554 bool FGJSBsim::copy_to_JSBsim()
559 // copy control positions into the JSBsim structure
561 FCS->SetDaCmd( globals->get_controls()->get_aileron());
562 FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
563 FCS->SetDeCmd( globals->get_controls()->get_elevator());
564 FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
565 FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
566 FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
567 FCS->SetDsCmd( globals->get_controls()->get_rudder() );
568 FCS->SetDfCmd( globals->get_controls()->get_flaps() );
569 FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
570 FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
572 // Parking brake sets minimum braking
574 double parking_brake = globals->get_controls()->get_brake_parking();
575 double left_brake = globals->get_controls()->get_brake_left();
576 double right_brake = globals->get_controls()->get_brake_right();
578 if (ab_brake_engaged->getBoolValue()) {
579 left_brake = ab_brake_left_pct->getDoubleValue();
580 right_brake = ab_brake_right_pct->getDoubleValue();
583 FCS->SetLBrake(FMAX(left_brake, parking_brake));
584 FCS->SetRBrake(FMAX(right_brake, parking_brake));
587 FCS->SetCBrake( 0.0 );
588 // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
590 FCS->SetGearCmd( globals->get_controls()->get_gear_down());
591 for (i = 0; i < Propulsion->GetNumEngines(); i++) {
592 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
594 FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
595 FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
596 FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
597 FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
599 switch (Propulsion->GetEngine(i)->GetType()) {
600 case FGEngine::etPiston:
601 { // FGPiston code block
602 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
603 eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
605 } // end FGPiston code block
606 case FGEngine::etTurbine:
607 { // FGTurbine code block
608 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
609 eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
610 eng->SetReverse( globals->get_controls()->get_reverser(i) );
611 //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
612 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
613 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
615 } // end FGTurbine code block
616 case FGEngine::etRocket:
617 { // FGRocket code block
618 FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
620 } // end FGRocket code block
621 case FGEngine::etTurboprop:
622 { // FGTurboProp code block
623 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
624 eng->SetReverse( globals->get_controls()->get_reverser(i) );
625 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
626 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
628 eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
629 eng->SetCondition( globals->get_controls()->get_condition(i) );
631 } // end FGTurboProp code block
636 { // FGEngine code block
637 FGEngine* eng = Propulsion->GetEngine(i);
639 eng->SetStarter( globals->get_controls()->get_starter(i) );
640 eng->SetRunning( node->getBoolValue("running") );
641 } // end FGEngine code block
645 Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
647 Atmosphere->SetExTemperature(
648 9.0/5.0*(temperature->getDoubleValue()+273.15) );
649 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
650 Atmosphere->SetExDensity(density->getDoubleValue());
652 tmp = turbulence_gain->getDoubleValue();
653 //Atmosphere->SetTurbGain(tmp * tmp * 100.0);
655 tmp = turbulence_rate->getDoubleValue();
656 //Atmosphere->SetTurbRate(tmp);
658 Atmosphere->SetWindNED( -wind_from_north->getDoubleValue(),
659 -wind_from_east->getDoubleValue(),
660 -wind_from_down->getDoubleValue() );
661 // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
662 // << get_V_north_airmass() << ", "
663 // << get_V_east_airmass() << ", "
664 // << get_V_down_airmass() );
666 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
667 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
668 FGTank * tank = Propulsion->GetTank(i);
669 tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
670 // tank->SetContents(node->getDoubleValue("level-lbs"));
673 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
674 fdmex->SetChild(slaved->getBoolValue());
679 /******************************************************************************/
681 // Convert from the JSBsim generic_ struct to the FGInterface struct
683 bool FGJSBsim::copy_from_JSBsim()
687 _set_Inertias( MassBalance->GetMass(),
688 MassBalance->GetIxx(),
689 MassBalance->GetIyy(),
690 MassBalance->GetIzz(),
691 MassBalance->GetIxz() );
693 _set_CG_Position( MassBalance->GetXYZcg(1),
694 MassBalance->GetXYZcg(2),
695 MassBalance->GetXYZcg(3) );
697 _set_Accels_Body( Aircraft->GetBodyAccel(1),
698 Aircraft->GetBodyAccel(2),
699 Aircraft->GetBodyAccel(3) );
701 _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
703 Aircraft->GetNcg(3) );
705 _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
706 Auxiliary->GetPilotAccel(2),
707 Auxiliary->GetPilotAccel(3) );
709 _set_Nlf( Aircraft->GetNlf() );
713 _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
714 Propagate->GetVel(FGJSBBase::eEast),
715 Propagate->GetVel(FGJSBBase::eDown) );
717 _set_Velocities_Wind_Body( Propagate->GetUVW(1),
718 Propagate->GetUVW(2),
719 Propagate->GetUVW(3) );
721 // Make the HUD work ...
722 _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
723 Propagate->GetVel(FGJSBBase::eEast),
724 -Propagate->GetVel(FGJSBBase::eDown) );
726 _set_V_rel_wind( Auxiliary->GetVt() );
728 _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
730 _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
732 _set_V_ground_speed( Auxiliary->GetVground() );
734 _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
735 Propagate->GetPQR(FGJSBBase::eQ),
736 Propagate->GetPQR(FGJSBBase::eR) );
738 _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
739 Auxiliary->GetEulerRates(FGJSBBase::eTht),
740 Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
742 _set_Mach_number( Auxiliary->GetMach() );
744 // Positions of Visual Reference Point
745 FGLocation l = Auxiliary->GetLocationVRP();
746 _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
747 l.GetRadius() - get_Sea_level_radius() );
749 _set_Altitude_AGL( Propagate->GetDistanceAGL() );
751 double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
752 double contact[3], d[3], sd, t;
753 is_valid_m(&t, d, &sd);
754 get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, d, &sd);
756 = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
757 _set_Runway_altitude( rwrad - get_Sea_level_radius() );
760 _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
761 Propagate->GetEuler(FGJSBBase::eTht),
762 Propagate->GetEuler(FGJSBBase::ePsi) );
764 _set_Alpha( Auxiliary->Getalpha() );
765 _set_Beta( Auxiliary->Getbeta() );
768 _set_Gamma_vert_rad( Auxiliary->GetGamma() );
770 _set_Earth_position_angle( Inertial->GetEarthPositionAngle() );
772 _set_Climb_Rate( Propagate->Gethdot() );
774 const FGMatrix33& Tl2b = Propagate->GetTl2b();
775 for ( i = 1; i <= 3; i++ ) {
776 for ( j = 1; j <= 3; j++ ) {
777 _set_T_Local_to_Body( i, j, Tl2b(i,j) );
781 // Copy the engine values from JSBSim.
782 for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
783 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
784 SGPropertyNode * tnode = node->getChild("thruster", 0, true);
785 FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
787 switch (Propulsion->GetEngine(i)->GetType()) {
788 case FGEngine::etPiston:
789 { // FGPiston code block
790 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
791 node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
792 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
793 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
794 node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
795 // NOTE: mp-osi is not in ounces per square inch.
796 // This error is left for reasons of backwards compatibility with
797 // existing FlightGear sound and instrument configurations.
798 node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
799 node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
800 node->setDoubleValue("rpm", eng->getRPM());
801 } // end FGPiston code block
803 case FGEngine::etRocket:
804 { // FGRocket code block
805 FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
806 } // end FGRocket code block
808 case FGEngine::etTurbine:
809 { // FGTurbine code block
810 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
811 node->setDoubleValue("n1", eng->GetN1());
812 node->setDoubleValue("n2", eng->GetN2());
813 node->setDoubleValue("egt-degf", 32 + eng->GetEGT()*9/5);
814 node->setBoolValue("augmentation", eng->GetAugmentation());
815 node->setBoolValue("water-injection", eng->GetInjection());
816 node->setBoolValue("ignition", eng->GetIgnition());
817 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
818 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
819 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
820 node->setBoolValue("reversed", eng->GetReversed());
821 node->setBoolValue("cutoff", eng->GetCutoff());
822 node->setDoubleValue("epr", eng->GetEPR());
823 globals->get_controls()->set_reverser(i, eng->GetReversed() );
824 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
825 globals->get_controls()->set_water_injection(i, eng->GetInjection() );
826 globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
827 } // end FGTurbine code block
829 case FGEngine::etTurboprop:
830 { // FGTurboProp code block
831 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
832 node->setDoubleValue("n1", eng->GetN1());
833 //node->setDoubleValue("n2", eng->GetN2());
834 node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
835 node->setBoolValue("ignition", eng->GetIgnition());
836 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
837 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
838 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
839 node->setBoolValue("reversed", eng->GetReversed());
840 node->setBoolValue("cutoff", eng->GetCutoff());
841 node->setBoolValue("starting", eng->GetEngStarting());
842 node->setBoolValue("generator-power", eng->GetGeneratorPower());
843 node->setBoolValue("damaged", eng->GetCondition());
844 node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
845 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
846 // node->setBoolValue("onfire", eng->GetFire());
847 globals->get_controls()->set_reverser(i, eng->GetReversed() );
848 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
849 } // end FGTurboProp code block
851 case FGEngine::etElectric:
852 { // FGElectric code block
853 FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
854 node->setDoubleValue("rpm", eng->getRPM());
855 } // end FGElectric code block
857 case FGEngine::etUnknown:
861 { // FGEngine code block
862 FGEngine* eng = Propulsion->GetEngine(i);
863 node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
864 node->setDoubleValue("thrust_lb", thruster->GetThrust());
865 node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
866 node->setBoolValue("running", eng->GetRunning());
867 node->setBoolValue("starter", eng->GetStarter());
868 node->setBoolValue("cranking", eng->GetCranking());
869 globals->get_controls()->set_starter(i, eng->GetStarter() );
870 } // end FGEngine code block
872 switch (thruster->GetType()) {
873 case FGThruster::ttNozzle:
874 { // FGNozzle code block
875 FGNozzle* noz = (FGNozzle*)thruster;
876 } // end FGNozzle code block
878 case FGThruster::ttPropeller:
879 { // FGPropeller code block
880 FGPropeller* prop = (FGPropeller*)thruster;
881 tnode->setDoubleValue("rpm", thruster->GetRPM());
882 tnode->setDoubleValue("pitch", prop->GetPitch());
883 tnode->setDoubleValue("torque", prop->GetTorque());
884 tnode->setBoolValue("feathered", prop->GetFeather());
885 } // end FGPropeller code block
887 case FGThruster::ttRotor:
888 { // FGRotor code block
889 FGRotor* rotor = (FGRotor*)thruster;
890 } // end FGRotor code block
892 case FGThruster::ttDirect:
893 { // Direct code block
894 } // end Direct code block
900 // Copy the fuel levels from JSBSim if fuel
901 // freeze not enabled.
902 if ( ! Propulsion->GetFuelFreeze() ) {
903 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
904 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
905 FGTank* tank = Propulsion->GetTank(i);
906 double contents = tank->GetContents();
907 double temp = tank->GetTemperature_degC();
908 node->setDoubleValue("level-gal_us", contents/6.6);
909 node->setDoubleValue("level-lbs", contents);
910 if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
916 stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
918 elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
919 left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
920 right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
921 rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
922 flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
923 speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
924 spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
925 tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
926 wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
928 // force a sim crashed if crashed (altitude AGL < 0)
929 if (get_Altitude_AGL() < -100.0) {
930 fdmex->SuspendIntegration();
938 bool FGJSBsim::ToggleDataLogging(void)
940 // ToDo: handle this properly
941 fdmex->DisableOutput();
946 bool FGJSBsim::ToggleDataLogging(bool state)
949 fdmex->EnableOutput();
952 fdmex->DisableOutput();
959 void FGJSBsim::set_Latitude(double lat)
961 static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft");
963 double sea_level_radius_meters, lat_geoc;
965 // In case we're not trimming
966 FGInterface::set_Latitude(lat);
968 if ( altitude->getDoubleValue() > -9990 ) {
969 alt = altitude->getDoubleValue();
975 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
976 SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
978 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
979 &sea_level_radius_meters, &lat_geoc );
980 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
981 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
982 fgic->SetLatitudeRadIC( lat_geoc );
987 void FGJSBsim::set_Longitude(double lon)
989 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
991 // In case we're not trimming
992 FGInterface::set_Longitude(lon);
995 fgic->SetLongitudeRadIC( lon );
999 // Sets the altitude above sea level.
1000 void FGJSBsim::set_Altitude(double alt)
1002 static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
1004 double sea_level_radius_meters,lat_geoc;
1006 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
1007 SG_LOG(SG_FLIGHT,SG_INFO, " lat (deg) = " << latitude->getDoubleValue() );
1009 // In case we're not trimming
1010 FGInterface::set_Altitude(alt);
1013 sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
1014 &sea_level_radius_meters, &lat_geoc);
1015 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
1016 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
1017 SG_LOG(SG_FLIGHT, SG_INFO,
1018 "Terrain elevation: " << FGInterface::get_Runway_altitude() * SG_METER_TO_FEET );
1019 fgic->SetLatitudeRadIC( lat_geoc );
1020 fgic->SetAltitudeASLFtIC(alt);
1024 void FGJSBsim::set_V_calibrated_kts(double vc)
1026 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
1028 // In case we're not trimming
1029 FGInterface::set_V_calibrated_kts(vc);
1032 fgic->SetVcalibratedKtsIC(vc);
1036 void FGJSBsim::set_Mach_number(double mach)
1038 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
1040 // In case we're not trimming
1041 FGInterface::set_Mach_number(mach);
1044 fgic->SetMachIC(mach);
1048 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
1050 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
1051 << north << ", " << east << ", " << down );
1053 // In case we're not trimming
1054 FGInterface::set_Velocities_Local(north, east, down);
1057 fgic->SetVNorthFpsIC(north);
1058 fgic->SetVEastFpsIC(east);
1059 fgic->SetVDownFpsIC(down);
1063 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
1065 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
1066 << u << ", " << v << ", " << w );
1068 // In case we're not trimming
1069 FGInterface::set_Velocities_Wind_Body(u, v, w);
1072 fgic->SetUBodyFpsIC(u);
1073 fgic->SetVBodyFpsIC(v);
1074 fgic->SetWBodyFpsIC(w);
1079 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1081 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1082 << phi << ", " << theta << ", " << psi );
1084 // In case we're not trimming
1085 FGInterface::set_Euler_Angles(phi, theta, psi);
1088 fgic->SetThetaRadIC(theta);
1089 fgic->SetPhiRadIC(phi);
1090 fgic->SetPsiRadIC(psi);
1095 void FGJSBsim::set_Climb_Rate( double roc)
1097 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1099 // In case we're not trimming
1100 FGInterface::set_Climb_Rate(roc);
1103 //since both climb rate and flight path angle are set in the FG
1104 //startup sequence, something is needed to keep one from cancelling
1106 if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
1107 fgic->SetClimbRateFpsIC(roc);
1112 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1114 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1117 if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1118 fgic->SetFlightPathAngleRadIC(gamma);
1123 void FGJSBsim::init_gear(void )
1125 FGGroundReactions* gr=fdmex->GetGroundReactions();
1126 int Ngear=GroundReactions->GetNumGearUnits();
1127 for (int i=0;i<Ngear;i++) {
1128 FGLGear *gear = gr->GetGearUnit(i);
1129 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1130 node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1131 node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1132 node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1133 node->setBoolValue("wow", gear->GetWOW());
1134 node->setDoubleValue("rollspeed-ms", gear->GetWheelRollVel()*0.3043);
1135 node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1136 node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1137 node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1138 node->setDoubleValue("compression-norm", gear->GetCompLen());
1139 node->setDoubleValue("compression-ft", gear->GetCompLen());
1140 if ( gear->GetSteerable() )
1141 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1145 void FGJSBsim::update_gear(void)
1147 FGGroundReactions* gr=fdmex->GetGroundReactions();
1148 int Ngear=GroundReactions->GetNumGearUnits();
1149 for (int i=0;i<Ngear;i++) {
1150 FGLGear *gear = gr->GetGearUnit(i);
1151 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1152 node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1153 node->getChild("rollspeed-ms", 0, true)->setDoubleValue(gear->GetWheelRollVel()*0.3043);
1154 node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1155 gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1156 node->setDoubleValue("compression-norm", gear->GetCompLen());
1157 node->setDoubleValue("compression-ft", gear->GetCompLen());
1158 if ( gear->GetSteerable() )
1159 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1163 void FGJSBsim::do_trim(void)
1167 if ( fgGetBool("/sim/presets/onground") )
1169 fgtrim = new FGTrim(fdmex,tGround);
1171 fgtrim = new FGTrim(fdmex,tLongitudinal);
1174 if ( !fgtrim->DoTrim() ) {
1176 fgtrim->TrimStats();
1178 trimmed->setBoolValue(true);
1182 pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1183 throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1184 aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1185 rudder_trim->setDoubleValue( FCS->GetDrCmd() );
1187 globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1188 globals->get_controls()->set_elevator(FCS->GetDeCmd());
1189 globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
1190 FCS->GetThrottleCmd(0));
1192 globals->get_controls()->set_aileron(FCS->GetDaCmd());
1193 globals->get_controls()->set_rudder( FCS->GetDrCmd());
1195 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
1198 void FGJSBsim::update_ic(void)
1201 fgic->SetLatitudeRadIC(get_Lat_geocentric() );
1202 fgic->SetLongitudeRadIC( get_Longitude() );
1203 fgic->SetAltitudeASLFtIC( get_Altitude() );
1204 fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
1205 fgic->SetThetaRadIC( get_Theta() );
1206 fgic->SetPhiRadIC( get_Phi() );
1207 fgic->SetPsiRadIC( get_Psi() );
1208 fgic->SetClimbRateFpsIC( get_Climb_Rate() );
1213 FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
1214 double contact[3], double normal[3], double vel[3],
1215 double angularVel[3], double *agl)
1217 const SGMaterial* material;
1218 simgear::BVHNode::Id id;
1219 if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
1220 angularVel, material, id))
1222 SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt));
1223 SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
1224 *agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt));
1228 inline static double dot3(const FGColumnVector3& a, const FGColumnVector3& b)
1230 return a(1) * b(1) + a(2) * b(2) + a(3) * b(3);
1233 inline static double sqr(double x)
1238 static double angle_diff(double a, double b)
1240 double diff = fabs(a - b);
1241 if (diff > 180) diff = 360 - diff;
1246 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)
1248 FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1249 double dist = dot3(tip, ground_normal_body);
1250 if (fabs(dist + E) < 0.0001) {
1251 sin_fis[*points] = sin_fi_guess;
1252 cos_fis[*points] = cos_fi_guess;
1253 fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1259 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)
1261 if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1262 double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1263 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1264 if (fabs(cos_fi_guess) > SG_EPSILON) {
1265 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1270 void FGJSBsim::update_external_forces(double t_off)
1272 const FGMatrix33& Tb2l = Propagate->GetTb2l();
1273 const FGMatrix33& Tl2b = Propagate->GetTl2b();
1274 const FGLocation& Location = Propagate->GetLocation();
1275 const FGMatrix33& Tec2l = Location.GetTec2l();
1277 double hook_area[4][3];
1279 FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1280 FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l * hook_root_body);
1281 hook_area[1][0] = hook_root(1);
1282 hook_area[1][1] = hook_root(2);
1283 hook_area[1][2] = hook_root(3);
1285 hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1286 double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1287 double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1288 double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1289 double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1290 double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1292 FGColumnVector3 hook_tip_body = hook_root_body;
1293 hook_tip_body(1) -= hook_length * cos_fi;
1294 hook_tip_body(3) += hook_length * sin_fi;
1297 double ground_normal[3];
1298 double ground_vel[3];
1299 double ground_angular_vel[3];
1303 bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal,
1304 ground_vel, ground_angular_vel, &root_agl_ft);
1305 if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
1306 FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1307 FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1308 double D = -dot3(contact_body, ground_normal_body);
1310 // check hook tip agl against same ground plane
1311 double hook_tip_agl_ft = dot3(hook_tip_body, ground_normal_body) + D;
1312 if (hook_tip_agl_ft < 0) {
1314 // hook tip: hx - l cos, hy, hz + l sin
1315 // on ground: - n0 l cos + n2 l sin + E = 0
1317 double E = D + dot3(hook_root_body, ground_normal_body);
1319 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1320 // and rearrange to get a quadratic with coeffs:
1321 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1322 double b = 2 * E * ground_normal_body(3) * hook_length;
1323 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
1325 double disc = sqr(b) - 4 * a * c;
1327 double delta = sqrt(disc) / (2 * a);
1329 // allow 4 solutions for safety, should never happen
1335 double sin_fi_guess = -b / (2 * a) - delta;
1336 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1337 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1340 double diff1 = angle_diff(fi, fis[0]);
1341 double diff2 = angle_diff(fi, fis[1]);
1342 int point = diff1 < diff2 ? 0 : 1;
1344 sin_fi = sin_fis[point];
1345 cos_fi = cos_fis[point];
1346 hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1347 hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1353 FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() * hook_root_body));
1354 double wire_ends_ec[2][3];
1355 double wire_vel_ec[2][3];
1356 get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1357 FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1358 FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1359 FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1360 if (rel_vel.Magnitude() < 3) {
1363 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1365 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;
1366 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;
1367 FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1368 force_plane_normal.Normalize();
1369 cos_fi = dot3(force_plane_normal, FGColumnVector3(0, 0, 1));
1370 if (cos_fi < 0) cos_fi = -cos_fi;
1371 sin_fi = sqrt(1 - sqr(cos_fi));
1372 fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1374 fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1375 fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1376 fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1377 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1381 FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1383 hook_area[0][0] = hook_tip(1);
1384 hook_area[0][1] = hook_tip(2);
1385 hook_area[0][2] = hook_tip(3);
1388 // The previous positions.
1389 hook_area[2][0] = last_hook_root[0];
1390 hook_area[2][1] = last_hook_root[1];
1391 hook_area[2][2] = last_hook_root[2];
1392 hook_area[3][0] = last_hook_tip[0];
1393 hook_area[3][1] = last_hook_tip[1];
1394 hook_area[3][2] = last_hook_tip[2];
1396 // Check if we caught a wire.
1397 // Returns true if we caught one.
1398 if (caught_wire_ft(t_off, hook_area)) {
1403 // save actual position as old position ...
1404 last_hook_tip[0] = hook_area[0][0];
1405 last_hook_tip[1] = hook_area[0][1];
1406 last_hook_tip[2] = hook_area[0][2];
1407 last_hook_root[0] = hook_area[1][0];
1408 last_hook_root[1] = hook_area[1][1];
1409 last_hook_root[2] = hook_area[1][2];
1411 fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);