src/FDM/JSBSim/JSBSim.cxx

   1 // JSBsim.cxx -- interface to the JSBsim flight model
   2 //
   3 // Written by Curtis Olson, started February 1999.
   4 //
   5 // Copyright (C) 1999  Curtis L. Olson  - curt@flightgear.org
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU 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.
  11 //
  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 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU 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.
  20 //
  21 // $Id$
  22
  23
  24 #include <simgear/compiler.h>
  25
  26 #ifdef SG_MATH_EXCEPTION_CLASH
  27 #  include <math.h>
  28 #endif
  29
  30 #include STL_STRING
  31
  32 #include <simgear/constants.h>
  33 #include <simgear/debug/logstream.hxx>
  34 #include <simgear/math/sg_geodesy.hxx>
  35 #include <simgear/misc/sg_path.hxx>
  36
  37 #include <Scenery/scenery.hxx>
  38
  39 #include <Aircraft/aircraft.hxx>
  40 #include <Controls/controls.hxx>
  41 #include <Main/globals.hxx>
  42 #include <Main/fg_props.hxx>
  43
  44 #include <FDM/JSBSim/FGFDMExec.h>
  45 #include <FDM/JSBSim/FGAircraft.h>
  46 #include <FDM/JSBSim/FGFCS.h>
  47 #include <FDM/JSBSim/FGPosition.h>
  48 #include <FDM/JSBSim/FGRotation.h>
  49 #include <FDM/JSBSim/FGState.h>
  50 #include <FDM/JSBSim/FGTranslation.h>
  51 #include <FDM/JSBSim/FGAuxiliary.h>
  52 #include <FDM/JSBSim/FGInitialCondition.h>
  53 #include <FDM/JSBSim/FGTrim.h>
  54 #include <FDM/JSBSim/FGAtmosphere.h>
  55 #include <FDM/JSBSim/FGMassBalance.h>
  56 #include <FDM/JSBSim/FGAerodynamics.h>
  57 #include <FDM/JSBSim/FGLGear.h>
  58 #include <FDM/JSBSim/FGPropertyManager.h>
  59 #include "JSBSim.hxx"
  60
  61 static inline double
  62 FMAX (double a, double b)
  63 {
  64   return a > b ? a : b;
  65 }
  66
  67
  68 /******************************************************************************/
  69
  70 FGJSBsim::FGJSBsim( double dt )
  71   : FGInterface(dt)
  72 {
  73     bool result;
  74
  75     fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
  76
  77     State           = fdmex->GetState();
  78     Atmosphere      = fdmex->GetAtmosphere();
  79     FCS             = fdmex->GetFCS();
  80     MassBalance     = fdmex->GetMassBalance();
  81     Propulsion      = fdmex->GetPropulsion();
  82     Aircraft        = fdmex->GetAircraft();
  83     Translation     = fdmex->GetTranslation();
  84     Rotation        = fdmex->GetRotation();
  85     Position        = fdmex->GetPosition();
  86     Auxiliary       = fdmex->GetAuxiliary();
  87     Aerodynamics    = fdmex->GetAerodynamics();
  88     GroundReactions = fdmex->GetGroundReactions();
  89
  90 #ifdef FG_WEATHERCM
  91     Atmosphere->UseInternal();
  92 #else
  93     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
  94       Atmosphere->UseExternal();
  95       Atmosphere->SetExTemperature(get_Static_temperature());
  96       Atmosphere->SetExPressure(get_Static_pressure());
  97       Atmosphere->SetExDensity(get_Density());
  98     } else {
  99       Atmosphere->UseInternal();
 100     }
 101 #endif
 102
 103     fgic=new FGInitialCondition(fdmex);
 104     needTrim=true;
 105
 106     SGPath aircraft_path( globals->get_fg_root() );
 107     aircraft_path.append( "Aircraft" );
 108
 109     SGPath engine_path( globals->get_fg_root() );
 110     engine_path.append( "Engine" );
 111     State->Setdt( dt );
 112
 113     result = fdmex->LoadModel( aircraft_path.str(),
 114                                engine_path.str(),
 115                                fgGetString("/sim/aero") );
 116
 117     if (result) {
 118       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
 119     } else {
 120       SG_LOG( SG_FLIGHT, SG_INFO,
 121               "  aero does not exist (you may have mis-typed the name).");
 122       throw(-1);
 123     }
 124
 125     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 126     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 127     SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
 128
 129     int Neng = Propulsion->GetNumEngines();
 130     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
 131
 132     if ( GroundReactions->GetNumGearUnits() <= 0 ) {
 133         SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
 134                 << GroundReactions->GetNumGearUnits() );
 135         SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
 136          SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
 137          SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
 138          exit(-1);
 139     }
 140
 141
 142     init_gear();
 143
 144                                 // Set initial fuel levels if provided.
 145     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
 146       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 147       if (node->getChild("level-gal_us", 0, false) != 0)
 148         Propulsion->GetTank(i)
 149           ->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 150     }
 151
 152     fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
 153     fgSetDouble("/fdm/trim/throttle",   FCS->GetThrottleCmd(0));
 154     fgSetDouble("/fdm/trim/aileron",    FCS->GetDaCmd());
 155     fgSetDouble("/fdm/trim/rudder",     FCS->GetDrCmd());
 156
 157     startup_trim = fgGetNode("/sim/startup/trim", true);
 158
 159     trimmed = fgGetNode("/fdm/trim/trimmed", true);
 160     trimmed->setBoolValue(false);
 161
 162     pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
 163     throttle_trim = fgGetNode("/fdm/trim/throttle", true );
 164     aileron_trim = fgGetNode("/fdm/trim/aileron", true );
 165     rudder_trim = fgGetNode("/fdm/trim/rudder", true );
 166
 167
 168     stall_warning = fgGetNode("/sim/aero/alarms/stall-warning",true);
 169     stall_warning->setDoubleValue(0);
 170
 171
 172     flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
 173     elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
 174     left_aileron_pos_pct
 175         =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
 176     right_aileron_pos_pct
 177         =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
 178     rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
 179
 180
 181
 182     elevator_pos_pct->setDoubleValue(0);
 183     left_aileron_pos_pct->setDoubleValue(0);
 184     right_aileron_pos_pct->setDoubleValue(0);
 185     rudder_pos_pct->setDoubleValue(0);
 186     flap_pos_pct->setDoubleValue(0);
 187
 188
 189 }
 190 /******************************************************************************/
 191 FGJSBsim::~FGJSBsim(void) {
 192     if (fdmex != NULL) {
 193         delete fdmex; fdmex=NULL;
 194         delete fgic; fgic=NULL;
 195     }
 196 }
 197
 198 /******************************************************************************/
 199
 200 // Initialize the JSBsim flight model, dt is the time increment for
 201 // each subsequent iteration through the EOM
 202
 203 void FGJSBsim::init() {
 204
 205     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 206
 207     // Explicitly call the superclass's
 208     // init method first.
 209     common_init();
 210     copy_to_JSBsim();
 211
 212     fdmex->RunIC(fgic); //loop JSBSim once w/o integrating
 213     copy_from_JSBsim(); //update the bus
 214
 215     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 216
 217     switch(fgic->GetSpeedSet()) {
 218     case setned:
 219         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 220                << Position->GetVn() << ", "
 221                << Position->GetVe() << ", "
 222                << Position->GetVd() << " ft/s");
 223     break;
 224     case setuvw:
 225         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 226                << Translation->GetUVW(1) << ", "
 227                << Translation->GetUVW(2) << ", "
 228                << Translation->GetUVW(3) << " ft/s");
 229     break;
 230     case setmach:
 231         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 232                << Translation->GetMach() );
 233     break;
 234     case setvc:
 235     default:
 236         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 237                << Auxiliary->GetVcalibratedKTS() << " knots" );
 238     break;
 239     }
 240
 241     stall_warning->setDoubleValue(0);
 242
 243     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 244             <<  Rotation->Getphi()*RADTODEG << " deg" );
 245     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 246             << Rotation->Gettht()*RADTODEG << " deg" );
 247     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 248             << Rotation->Getpsi()*RADTODEG << " deg" );
 249     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 250             << Position->GetLatitude() << " deg" );
 251     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 252             << Position->GetLongitude() << " deg" );
 253     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 254         << Position->Geth() << " feet" );
 255     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 256
 257     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 258
 259     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 260
 261     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 262                                   globals->get_controls()->get_gear_down() );
 263
 264
 265
 266 }
 267
 268 /******************************************************************************/
 269
 270 // Run an iteration of the EOM (equations of motion)
 271
 272 void
 273 FGJSBsim::update( double dt ) {
 274
 275     if (is_suspended())
 276       return;
 277
 278     int multiloop = _calc_multiloop(dt);
 279
 280     int i;
 281
 282     // double save_alt = 0.0;
 283
 284     copy_to_JSBsim();
 285
 286     trimmed->setBoolValue(false);
 287
 288
 289
 290     if ( needTrim ) {
 291       if ( startup_trim->getBoolValue() ) {
 292         SG_LOG(SG_FLIGHT, SG_INFO,
 293           "Ready to trim, terrain altitude is: "
 294             << globals->get_scenery()->get_cur_elev() * SG_METER_TO_FEET );
 295         fgic->SetTerrainAltitudeFtIC( globals->get_scenery()->get_cur_elev()
 296                                       * SG_METER_TO_FEET );
 297         do_trim();
 298       } else {
 299         fdmex->RunIC(fgic);  //apply any changes made through the set_ functions
 300       }
 301       needTrim = false;
 302     }
 303
 304     for ( i=0; i < multiloop; i++ ) {
 305         fdmex->Run();
 306     }
 307
 308     FGJSBBase::Message* msg;
 309     while (fdmex->ReadMessage()) {
 310       msg = fdmex->ProcessMessage();
 311       switch (msg->type) {
 312       case FGJSBBase::Message::eText:
 313         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 314         break;
 315       case FGJSBBase::Message::eBool:
 316         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 317         break;
 318       case FGJSBBase::Message::eInteger:
 319         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 320         break;
 321       case FGJSBBase::Message::eDouble:
 322         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 323         break;
 324       default:
 325         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 326         break;
 327       }
 328     }
 329
 330     // translate JSBsim back to FG structure so that the
 331     // autopilot (and the rest of the sim can use the updated values
 332     copy_from_JSBsim();
 333 }
 334
 335 /******************************************************************************/
 336
 337 // Convert from the FGInterface struct to the JSBsim generic_ struct
 338
 339 bool FGJSBsim::copy_to_JSBsim() {
 340     unsigned int i;
 341
 342     // copy control positions into the JSBsim structure
 343
 344     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 345     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 346     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 347     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 348     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 349     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 350     FCS->SetDfCmd(  globals->get_controls()->get_flaps() );
 351     FCS->SetDsbCmd( 0.0 ); //speedbrakes
 352     FCS->SetDspCmd( 0.0 ); //spoilers
 353
 354                                 // Parking brake sets minimum braking
 355                                 // level for mains.
 356     double parking_brake = globals->get_controls()->get_parking_brake();
 357     FCS->SetLBrake(FMAX(globals->get_controls()->get_brake(0), parking_brake));
 358     FCS->SetRBrake(FMAX(globals->get_controls()->get_brake(1), parking_brake));
 359     FCS->SetCBrake( globals->get_controls()->get_brake( 2 ) );
 360
 361     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 362     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 363       FGEngine * eng = Propulsion->GetEngine(i);
 364       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 365       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 366       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 367       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 368       Propulsion->GetThruster(i)->SetRPM(node->getDoubleValue("rpm"));
 369       eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 370       eng->SetStarter( globals->get_controls()->get_starter(i) );
 371     }
 372
 373     _set_Runway_altitude( globals->get_scenery()->get_cur_elev()
 374                           * SG_METER_TO_FEET );
 375     Position->SetSeaLevelRadius( get_Sea_level_radius() );
 376     Position->SetRunwayRadius( get_Runway_altitude()
 377                                + get_Sea_level_radius() );
 378
 379     Atmosphere->SetExTemperature(get_Static_temperature());
 380     Atmosphere->SetExPressure(get_Static_pressure());
 381     Atmosphere->SetExDensity(get_Density());
 382     Atmosphere->SetWindNED(get_V_north_airmass(),
 383                            get_V_east_airmass(),
 384                            get_V_down_airmass());
 385 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 386 //                  << get_V_north_airmass() << ", "
 387 //                  << get_V_east_airmass()  << ", "
 388 //                  << get_V_down_airmass() );
 389
 390     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 391       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 392       FGTank * tank = Propulsion->GetTank(i);
 393       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 394 //       tank->SetContents(node->getDoubleValue("level-lb"));
 395     }
 396
 397     return true;
 398 }
 399
 400 /******************************************************************************/
 401
 402 // Convert from the JSBsim generic_ struct to the FGInterface struct
 403
 404 bool FGJSBsim::copy_from_JSBsim() {
 405     unsigned int i, j;
 406
 407     _set_Inertias( MassBalance->GetMass(),
 408                    MassBalance->GetIxx(),
 409                    MassBalance->GetIyy(),
 410                    MassBalance->GetIzz(),
 411                    MassBalance->GetIxz() );
 412
 413     _set_CG_Position( MassBalance->GetXYZcg(1),
 414                       MassBalance->GetXYZcg(2),
 415                       MassBalance->GetXYZcg(3) );
 416
 417     _set_Accels_Body( Aircraft->GetBodyAccel()(1),
 418                       Aircraft->GetBodyAccel()(2),
 419                       Aircraft->GetBodyAccel()(3) );
 420
 421     //_set_Accels_CG_Body( Aircraft->GetBodyAccel()(1),
 422     //                     Aircraft->GetBodyAccel()(2),
 423     //                     Aircraft->GetBodyAccel()(3) );
 424     //
 425     _set_Accels_CG_Body_N ( Aircraft->GetNcg()(1),
 426                             Aircraft->GetNcg()(2),
 427                             Aircraft->GetNcg()(3) );
 428
 429     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel()(1),
 430                             Auxiliary->GetPilotAccel()(2),
 431                             Auxiliary->GetPilotAccel()(3) );
 432
 433    // _set_Accels_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739,
 434    //                           Auxiliary->GetNpilot(2)/32.1739,
 435    //                           Auxiliary->GetNpilot(3)/32.1739 );
 436
 437     _set_Nlf( Aircraft->GetNlf() );
 438
 439     // Velocities
 440
 441     _set_Velocities_Local( Position->GetVn(),
 442                            Position->GetVe(),
 443                            Position->GetVd() );
 444
 445     _set_Velocities_Wind_Body( Translation->GetUVW(1),
 446                                Translation->GetUVW(2),
 447                                Translation->GetUVW(3) );
 448
 449     _set_V_rel_wind( Translation->GetVt() );
 450
 451     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 452
 453     // _set_V_calibrated( Auxiliary->GetVcalibratedFPS() );
 454
 455     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 456
 457     _set_V_ground_speed( Position->GetVground() );
 458
 459     _set_Omega_Body( Rotation->GetPQR(1),
 460                      Rotation->GetPQR(2),
 461                      Rotation->GetPQR(3) );
 462
 463     _set_Euler_Rates( Rotation->GetEulerRates(1),
 464                       Rotation->GetEulerRates(2),
 465                       Rotation->GetEulerRates(3) );
 466
 467     _set_Geocentric_Rates(Position->GetLatitudeDot(),
 468                           Position->GetLongitudeDot(),
 469                           Position->Gethdot() );
 470
 471     _set_Mach_number( Translation->GetMach() );
 472
 473     // Positions
 474     _updateGeocentricPosition( Position->GetLatitude(),
 475                                Position->GetLongitude(),
 476                                Position->Geth() );
 477
 478     _set_Altitude_AGL( Position->GetDistanceAGL() );
 479
 480     _set_Euler_Angles( Rotation->Getphi(),
 481                        Rotation->Gettht(),
 482                        Rotation->Getpsi() );
 483
 484     _set_Alpha( Translation->Getalpha() );
 485     _set_Beta( Translation->Getbeta() );
 486
 487
 488     _set_Gamma_vert_rad( Position->GetGamma() );
 489     // set_Gamma_horiz_rad( Gamma_horiz_rad );
 490
 491     _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
 492
 493     _set_Climb_Rate( Position->Gethdot() );
 494
 495
 496     for ( i = 1; i <= 3; i++ ) {
 497         for ( j = 1; j <= 3; j++ ) {
 498             _set_T_Local_to_Body( i, j, State->GetTl2b(i,j) );
 499         }
 500     }
 501
 502                                 // Copy the engine values from JSBSim.
 503     for( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 504       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 505       FGEngine * eng = Propulsion->GetEngine(i);
 506       FGThruster * thrust = Propulsion->GetThruster(i);
 507
 508       node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 509       node->setDoubleValue("rpm", thrust->GetRPM());
 510       node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 511       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 512       node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 513       node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 514       node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 515       node->setBoolValue("running", eng->GetRunning());
 516       node->setBoolValue("cranking", eng->GetCranking());
 517     }
 518
 519     static const SGPropertyNode *fuel_freeze
 520         = fgGetNode("/sim/freeze/fuel");
 521
 522                                 // Copy the fuel levels from JSBSim if fuel
 523                                 // freeze not enabled.
 524     if ( ! fuel_freeze->getBoolValue() ) {
 525         for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 526             SGPropertyNode * node
 527                 = fgGetNode("/consumables/fuel/tank", i, true);
 528             double contents = Propulsion->GetTank(i)->GetContents();
 529             node->setDoubleValue("level-gal_us", contents/6.6);
 530             // node->setDoubleValue("level-lb", contents);
 531         }
 532     }
 533
 534     update_gear();
 535
 536     stall_warning->setDoubleValue( Aircraft->GetStallWarn() );
 537
 538     /* elevator_pos_deg->setDoubleValue( FCS->GetDePos()*SG_RADIANS_TO_DEGREES );
 539     left_aileron_pos_deg->setDoubleValue( FCS->GetDaLPos()*SG_RADIANS_TO_DEGREES );
 540     right_aileron_pos_deg->setDoubleValue( FCS->GetDaRPos()*SG_RADIANS_TO_DEGREES );
 541     rudder_pos_deg->setDoubleValue( -1*FCS->GetDrPos()*SG_RADIANS_TO_DEGREES );
 542     flap_pos_deg->setDoubleValue( FCS->GetDfPos() ); */
 543
 544
 545     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 546     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 547     right_aileron_pos_pct->setDoubleValue( -1*FCS->GetDaLPos(ofNorm) );
 548     rudder_pos_pct->setDoubleValue( FCS->GetDrPos(ofNorm) );
 549     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 550
 551
 552     return true;
 553 }
 554
 555 bool FGJSBsim::ToggleDataLogging(void) {
 556     return fdmex->GetOutput()->Toggle();
 557 }
 558
 559
 560 bool FGJSBsim::ToggleDataLogging(bool state) {
 561     if (state) {
 562       fdmex->GetOutput()->Enable();
 563       return true;
 564     } else {
 565       fdmex->GetOutput()->Disable();
 566       return false;
 567     }
 568 }
 569
 570
 571 //Positions
 572 void FGJSBsim::set_Latitude(double lat) {
 573     static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
 574     double alt;
 575     double sea_level_radius_meters, lat_geoc;
 576
 577     if ( altitude->getDoubleValue() > -9990 ) {
 578       alt = altitude->getDoubleValue();
 579     } else {
 580       alt = 0.0;
 581     }
 582
 583     update_ic();
 584     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 585     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 586
 587     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
 588                       &sea_level_radius_meters, &lat_geoc );
 589     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 590     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 591     _set_Runway_altitude( globals->get_scenery()->get_cur_elev()
 592                           * SG_METER_TO_FEET  );
 593     fgic->SetTerrainAltitudeFtIC( globals->get_scenery()->get_cur_elev()
 594                                   * SG_METER_TO_FEET  );
 595     fgic->SetLatitudeRadIC( lat_geoc );
 596     needTrim=true;
 597 }
 598
 599 void FGJSBsim::set_Longitude(double lon) {
 600
 601     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 602     update_ic();
 603     fgic->SetLongitudeRadIC( lon );
 604     _set_Runway_altitude( globals->get_scenery()->get_cur_elev()
 605                           * SG_METER_TO_FEET  );
 606     fgic->SetTerrainAltitudeFtIC( globals->get_scenery()->get_cur_elev()
 607                                   * SG_METER_TO_FEET  );
 608     needTrim=true;
 609 }
 610
 611 void FGJSBsim::set_Altitude(double alt) {
 612     static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
 613
 614     double sea_level_radius_meters,lat_geoc;
 615
 616     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
 617     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
 618
 619     update_ic();
 620     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
 621                   &sea_level_radius_meters, &lat_geoc);
 622     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 623     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
 624     _set_Runway_altitude( globals->get_scenery()->get_cur_elev()
 625                           * SG_METER_TO_FEET  );
 626     fgic->SetTerrainAltitudeFtIC( globals->get_scenery()->get_cur_elev()
 627                                   * SG_METER_TO_FEET  );
 628     SG_LOG(SG_FLIGHT, SG_INFO,
 629           "Terrain altitude: " << globals->get_scenery()->get_cur_elev()
 630            * SG_METER_TO_FEET );
 631     fgic->SetLatitudeRadIC( lat_geoc );
 632     fgic->SetAltitudeFtIC(alt);
 633     needTrim=true;
 634 }
 635
 636 void FGJSBsim::set_V_calibrated_kts(double vc) {
 637     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
 638
 639     update_ic();
 640     fgic->SetVcalibratedKtsIC(vc);
 641     needTrim=true;
 642 }
 643
 644 void FGJSBsim::set_Mach_number(double mach) {
 645     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
 646
 647     update_ic();
 648     fgic->SetMachIC(mach);
 649     needTrim=true;
 650 }
 651
 652 void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
 653     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
 654        << north << ", " <<  east << ", " << down );
 655
 656     update_ic();
 657     fgic->SetVnorthFpsIC(north);
 658     fgic->SetVeastFpsIC(east);
 659     fgic->SetVdownFpsIC(down);
 660     needTrim=true;
 661 }
 662
 663 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){
 664     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
 665        << u << ", " <<  v << ", " <<  w );
 666
 667     update_ic();
 668     fgic->SetUBodyFpsIC(u);
 669     fgic->SetVBodyFpsIC(v);
 670     fgic->SetWBodyFpsIC(w);
 671     needTrim=true;
 672 }
 673
 674 //Euler angles
 675 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
 676     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
 677        << phi << ", " << theta << ", " << psi );
 678
 679     update_ic();
 680     fgic->SetPitchAngleRadIC(theta);
 681     fgic->SetRollAngleRadIC(phi);
 682     fgic->SetTrueHeadingRadIC(psi);
 683     needTrim=true;
 684 }
 685
 686 //Flight Path
 687 void FGJSBsim::set_Climb_Rate( double roc) {
 688     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
 689
 690     update_ic();
 691     //since both climb rate and flight path angle are set in the FG
 692     //startup sequence, something is needed to keep one from cancelling
 693     //out the other.
 694     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
 695       fgic->SetClimbRateFpsIC(roc);
 696     }
 697     needTrim=true;
 698 }
 699
 700 void FGJSBsim::set_Gamma_vert_rad( double gamma) {
 701     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
 702
 703     update_ic();
 704     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
 705       fgic->SetFlightPathAngleRadIC(gamma);
 706     }
 707     needTrim=true;
 708 }
 709
 710 // void FGJSBsim::set_Static_pressure(double p) {
 711 //     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_pressure: " << p );
 712
 713 //     update_ic();
 714 //     Atmosphere->SetExPressure(p);
 715 //     if(Atmosphere->External() == true)
 716 //       needTrim=true;
 717 // }
 718
 719 // void FGJSBsim::set_Static_temperature(double T) {
 720 //     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_temperature: " << T );
 721
 722 //     Atmosphere->SetExTemperature(T);
 723 //     if(Atmosphere->External() == true)
 724 //       needTrim=true;
 725 // }
 726
 727
 728 // void FGJSBsim::set_Density(double rho) {
 729 //     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Density: " << rho );
 730
 731 //     Atmosphere->SetExDensity(rho);
 732 //     if(Atmosphere->External() == true)
 733 //       needTrim=true;
 734 // }
 735
 736 void FGJSBsim::set_Velocities_Local_Airmass (double wnorth,
 737                          double weast,
 738                          double wdown ) {
 739     //SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local_Airmass: "
 740     //   << wnorth << ", " << weast << ", " << wdown );
 741
 742     _set_Velocities_Local_Airmass( wnorth, weast, wdown );
 743     fgic->SetWindNEDFpsIC( wnorth, weast, wdown );
 744     if(Atmosphere->External() == true)
 745         needTrim=true;
 746 }
 747
 748 void FGJSBsim::init_gear(void ) {
 749
 750     FGGroundReactions* gr=fdmex->GetGroundReactions();
 751     int Ngear=GroundReactions->GetNumGearUnits();
 752     for (int i=0;i<Ngear;i++) {
 753       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 754       node->setDoubleValue("xoffset-in",
 755                            gr->GetGearUnit(i)->GetBodyLocation()(1));
 756       node->setDoubleValue("yoffset-in",
 757                            gr->GetGearUnit(i)->GetBodyLocation()(2));
 758       node->setDoubleValue("zoffset-in",
 759                            gr->GetGearUnit(i)->GetBodyLocation()(3));
 760       node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW());
 761       node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0);
 762       node->setDoubleValue("position-norm", FCS->GetGearPos());
 763     }
 764 }
 765
 766 void FGJSBsim::update_gear(void) {
 767
 768     FGGroundReactions* gr=fdmex->GetGroundReactions();
 769     int Ngear=GroundReactions->GetNumGearUnits();
 770     for (int i=0;i<Ngear;i++) {
 771       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 772       node->getChild("wow", 0, true)
 773         ->setBoolValue(gr->GetGearUnit(i)->GetWOW());
 774       node->getChild("position-norm", 0, true)
 775         ->setDoubleValue(FCS->GetGearPos());
 776     }
 777 }
 778
 779 void FGJSBsim::do_trim(void) {
 780
 781         FGTrim *fgtrim;
 782         if(fgic->GetVcalibratedKtsIC() < 10 ) {
 783             fgic->SetVcalibratedKtsIC(0.0);
 784             fgtrim=new FGTrim(fdmex,fgic,tGround);
 785         } else {
 786             fgtrim=new FGTrim(fdmex,fgic,tLongitudinal);
 787         }
 788         if( !fgtrim->DoTrim() ) {
 789             fgtrim->Report();
 790             fgtrim->TrimStats();
 791         } else {
 792             trimmed->setBoolValue(true);
 793         }
 794         State->ReportState();
 795         delete fgtrim;
 796         pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
 797         throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
 798         aileron_trim->setDoubleValue( FCS->GetDaCmd() );
 799         rudder_trim->setDoubleValue( FCS->GetDrCmd() );
 800
 801         globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
 802         globals->get_controls()->set_elevator(FCS->GetDeCmd());
 803         globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
 804                                               FCS->GetThrottleCmd(0));
 805
 806         globals->get_controls()->set_aileron(FCS->GetDaCmd());
 807         globals->get_controls()->set_rudder( FCS->GetDrCmd());
 808
 809         SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
 810 }
 811
 812 void FGJSBsim::update_ic(void) {
 813    if( !needTrim ) {
 814      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
 815      fgic->SetLongitudeRadIC( get_Longitude() );
 816      fgic->SetAltitudeFtIC( get_Altitude() );
 817      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
 818      fgic->SetPitchAngleRadIC( get_Theta() );
 819      fgic->SetRollAngleRadIC( get_Phi() );
 820      fgic->SetTrueHeadingRadIC( get_Psi() );
 821      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
 822    }
 823 }