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 #ifdef HAVE_CONFIG_H
  25 #  include <config.h>
  26 #endif
  27
  28 #include <simgear/compiler.h>
  29
  30 #include <stdio.h>    //    size_t
  31 #include <string>
  32
  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>
  38
  39 #include <FDM/flight.hxx>
  40
  41 #include <Aircraft/aircraft.hxx>
  42 #include <Aircraft/controls.hxx>
  43 #include <Main/globals.hxx>
  44 #include <Main/fg_props.hxx>
  45
  46 #include "JSBSim.hxx"
  47 #include <FDM/JSBSim/FGFDMExec.h>
  48 #include <FDM/JSBSim/FGJSBBase.h>
  49 #include <FDM/JSBSim/FGState.h>
  50 #include <FDM/JSBSim/initialization/FGInitialCondition.h>
  51 #include <FDM/JSBSim/initialization/FGTrim.h>
  52 #include <FDM/JSBSim/models/FGModel.h>
  53 #include <FDM/JSBSim/models/FGAircraft.h>
  54 #include <FDM/JSBSim/models/FGFCS.h>
  55 #include <FDM/JSBSim/models/FGPropagate.h>
  56 #include <FDM/JSBSim/models/FGAuxiliary.h>
  57 #include <FDM/JSBSim/models/FGInertial.h>
  58 #include <FDM/JSBSim/models/FGAtmosphere.h>
  59 #include <FDM/JSBSim/models/FGMassBalance.h>
  60 #include <FDM/JSBSim/models/FGAerodynamics.h>
  61 #include <FDM/JSBSim/models/FGLGear.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>
  74
  75 using namespace JSBSim;
  76
  77 static inline double
  78 FMAX (double a, double b)
  79 {
  80   return a > b ? a : b;
  81 }
  82
  83 class FGFSGroundCallback : public FGGroundCallback {
  84 public:
  85   FGFSGroundCallback(FGJSBsim* ifc) : mInterface(ifc) {}
  86   virtual ~FGFSGroundCallback() {}
  87
  88   /** Get the altitude above sea level depenent 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) };
  93     double lat, lon, alt;
  94     sgCartToGeod( pt, &lat, &lon, &alt);
  95     return alt * SG_METER_TO_FEET;
  96   }
  97
  98   /** Compute the altitude above ground. */
  99   virtual double GetAGLevel(double t, const FGLocation& l,
 100                             FGLocation& cont,
 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,
 105                            vel, &agl);
 106     n = l.GetTec2l()*FGColumnVector3( normal[0], normal[1], normal[2] );
 107     v = l.GetTec2l()*FGColumnVector3( vel[0], vel[1], vel[2] );
 108     cont = FGColumnVector3( contact[0], contact[1], contact[2] );
 109     return agl;
 110   }
 111 private:
 112   FGJSBsim* mInterface;
 113 };
 114
 115 /******************************************************************************/
 116
 117 FGJSBsim::FGJSBsim( double dt )
 118   : FGInterface(dt), got_wire(false)
 119 {
 120     bool result;
 121                                 // Set up the debugging level
 122                                 // FIXME: this will not respond to
 123                                 // runtime changes
 124
 125                                 // if flight is excluded, don't bother
 126     if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
 127
 128                                 // do a rough-and-ready mapping to
 129                                 // the levels documented in FGFDMExec.h
 130         switch (logbuf::get_log_priority()) {
 131         case SG_BULK:
 132             FGJSBBase::debug_lvl = 0x1f;
 133             break;
 134         case SG_DEBUG:
 135             FGJSBBase::debug_lvl = 0x0f;
 136         case SG_INFO:
 137             FGJSBBase::debug_lvl = 0x01;
 138             break;
 139         case SG_WARN:
 140         case SG_ALERT:
 141             FGJSBBase::debug_lvl = 0x00;
 142             break;
 143         }
 144     }
 145
 146     fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
 147
 148     // Register ground callback.
 149     fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
 150
 151     State           = fdmex->GetState();
 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();
 162
 163     fgic=fdmex->GetIC();
 164     needTrim=true;
 165
 166     SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
 167
 168     SGPath engine_path( fgGetString("/sim/aircraft-dir") );
 169     engine_path.append( "Engine" );
 170
 171     SGPath systems_path( fgGetString("/sim/aircraft-dir") );
 172     systems_path.append( "Systems" );
 173
 174     State->Setdt( dt );
 175
 176     result = fdmex->LoadModel( aircraft_path.str(),
 177                                engine_path.str(),
 178                                systems_path.str(),
 179                                fgGetString("/sim/aero"), false );
 180
 181     if (result) {
 182       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
 183     } else {
 184       SG_LOG( SG_FLIGHT, SG_INFO,
 185               "  aero does not exist (you may have mis-typed the name).");
 186       throw(-1);
 187     }
 188
 189     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 190     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 191     SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
 192
 193     int Neng = Propulsion->GetNumEngines();
 194     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
 195
 196     if ( GroundReactions->GetNumGearUnits() <= 0 ) {
 197         SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
 198                 << GroundReactions->GetNumGearUnits() );
 199         SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
 200         SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
 201         SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
 202         exit(-1);
 203     }
 204
 205     init_gear();
 206
 207     // Set initial fuel levels if provided.
 208     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
 209       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 210       if (node->getChild("level-gal_us", 0, false) != 0) {
 211         Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 212       } else {
 213         node->setDoubleValue("level-lbs", Propulsion->GetTank(i)->GetContents());
 214         node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
 215       }
 216       node->setDoubleValue("capacity-gal_us",
 217                            Propulsion->GetTank(i)->GetCapacity() / 6.6);
 218     }
 219     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
 220
 221     fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
 222     fgSetDouble("/fdm/trim/throttle",   FCS->GetThrottleCmd(0));
 223     fgSetDouble("/fdm/trim/aileron",    FCS->GetDaCmd());
 224     fgSetDouble("/fdm/trim/rudder",     FCS->GetDrCmd());
 225
 226     startup_trim = fgGetNode("/sim/presets/trim", true);
 227
 228     trimmed = fgGetNode("/fdm/trim/trimmed", true);
 229     trimmed->setBoolValue(false);
 230
 231     pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
 232     throttle_trim = fgGetNode("/fdm/trim/throttle", true );
 233     aileron_trim = fgGetNode("/fdm/trim/aileron", true );
 234     rudder_trim = fgGetNode("/fdm/trim/rudder", true );
 235
 236     stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
 237     stall_warning->setDoubleValue(0);
 238
 239
 240     flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
 241     elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
 242     left_aileron_pos_pct
 243         =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
 244     right_aileron_pos_pct
 245         =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
 246     rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
 247     speedbrake_pos_pct
 248         =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
 249     spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
 250     tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true);
 251     wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-pos-norm",true);
 252
 253     elevator_pos_pct->setDoubleValue(0);
 254     left_aileron_pos_pct->setDoubleValue(0);
 255     right_aileron_pos_pct->setDoubleValue(0);
 256     rudder_pos_pct->setDoubleValue(0);
 257     flap_pos_pct->setDoubleValue(0);
 258     speedbrake_pos_pct->setDoubleValue(0);
 259     spoilers_pos_pct->setDoubleValue(0);
 260
 261     temperature = fgGetNode("/environment/temperature-degc",true);
 262     pressure = fgGetNode("/environment/pressure-inhg",true);
 263     density = fgGetNode("/environment/density-slugft3",true);
 264     turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
 265     turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
 266
 267     wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
 268     wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
 269     wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
 270
 271     slaved = fgGetNode("/sim/slaved/enabled", true);
 272
 273     for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
 274       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 275       Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
 276                      Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
 277     }
 278
 279     hook_root_struct = FGColumnVector3(
 280         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
 281         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
 282         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
 283
 284     // Untie the write-state-file property to avoid creating an initfile.xml
 285     // file on each reset.
 286     fgGetNode("/fdm/jsbsim/simulation/write-state-file")->untie();
 287
 288     crashed = false;
 289 }
 290
 291 /******************************************************************************/
 292 FGJSBsim::~FGJSBsim(void)
 293 {
 294   delete fdmex;
 295 }
 296
 297 /******************************************************************************/
 298
 299 // Initialize the JSBsim flight model, dt is the time increment for
 300 // each subsequent iteration through the EOM
 301
 302 void FGJSBsim::init()
 303 {
 304     double tmp;
 305
 306     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 307
 308     // Explicitly call the superclass's
 309     // init method first.
 310
 311     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
 312       Atmosphere->UseExternal();
 313       Atmosphere->SetExTemperature(
 314                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 315       Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 316       Atmosphere->SetExDensity(density->getDoubleValue());
 317       Atmosphere->SetTurbType(FGAtmosphere::ttCulp);
 318       Atmosphere->SetTurbGain(turbulence_gain->getDoubleValue());
 319       Atmosphere->SetTurbRate(turbulence_rate->getDoubleValue());
 320
 321     } else {
 322       Atmosphere->UseInternal();
 323     }
 324
 325     fgic->SetVNorthFpsIC( wind_from_north->getDoubleValue() );
 326     fgic->SetVEastFpsIC( wind_from_east->getDoubleValue() );
 327     fgic->SetVDownFpsIC( wind_from_down->getDoubleValue() );
 328
 329     //Atmosphere->SetExTemperature(get_Static_temperature());
 330     //Atmosphere->SetExPressure(get_Static_pressure());
 331     //Atmosphere->SetExDensity(get_Density());
 332     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
 333      << ", " << fdmex->GetAtmosphere()->GetPressure()
 334      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 335
 336     if (fgGetBool("/sim/presets/running")) {
 337           for (int i=0; i < Propulsion->GetNumEngines(); i++) {
 338             SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 339             node->setBoolValue("running", true);
 340             Propulsion->GetEngine(i)->SetRunning(true);
 341           }
 342     }
 343
 344     FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
 345
 346     common_init();
 347
 348     copy_to_JSBsim();
 349     fdmex->RunIC();     //loop JSBSim once w/o integrating
 350     copy_from_JSBsim(); //update the bus
 351
 352     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 353
 354     switch(fgic->GetSpeedSet()) {
 355     case setned:
 356         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 357                << Propagate->GetVel(FGJSBBase::eNorth) << ", "
 358                << Propagate->GetVel(FGJSBBase::eEast) << ", "
 359                << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
 360     break;
 361     case setuvw:
 362         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 363                << Propagate->GetUVW(1) << ", "
 364                << Propagate->GetUVW(2) << ", "
 365                << Propagate->GetUVW(3) << " ft/s");
 366     break;
 367     case setmach:
 368         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 369                << Auxiliary->GetMach() );
 370     break;
 371     case setvc:
 372     default:
 373         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 374                << Auxiliary->GetVcalibratedKTS() << " knots" );
 375     break;
 376     }
 377
 378     stall_warning->setDoubleValue(0);
 379
 380     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 381             << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
 382     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 383             << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
 384     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 385             << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
 386     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 387             << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
 388     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 389             << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
 390     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 391             << Propagate->Geth() << " feet" );
 392     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 393
 394     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 395
 396     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 397
 398     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 399                                   globals->get_controls()->get_gear_down() );
 400 }
 401
 402 /******************************************************************************/
 403
 404 // Run an iteration of the EOM (equations of motion)
 405
 406 void FGJSBsim::update( double dt )
 407 {
 408     if(crashed) {
 409       if(!fgGetBool("/sim/crashed"))
 410         fgSetBool("/sim/crashed", true);
 411       return;
 412     }
 413
 414     if (is_suspended())
 415       return;
 416
 417     int multiloop = _calc_multiloop(dt);
 418
 419     int i;
 420
 421     // Compute the radius of the aircraft. That is the radius of a ball
 422     // where all gear units are in. At the moment it is at least 10ft ...
 423     double acrad = 10.0;
 424     int n_gears = GroundReactions->GetNumGearUnits();
 425     for (i=0; i<n_gears; ++i) {
 426       FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
 427       double r = bl.Magnitude();
 428       if (acrad < r)
 429         acrad = r;
 430     }
 431
 432     // Compute the potential movement of this aircraft and query for the
 433     // ground in this area.
 434     double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
 435     double alt, slr, lat, lon;
 436     FGColumnVector3 cart = Auxiliary->GetLocationVRP();
 437     if ( needTrim && startup_trim->getBoolValue() ) {
 438       alt = fgic->GetAltitudeFtIC();
 439       slr = fgic->GetSeaLevelRadiusFtIC();
 440       lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 441       lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 442       cart = FGLocation(lon, lat, alt+slr);
 443     }
 444     double cart_pos[3] = { cart(1), cart(2), cart(3) };
 445     double t0 = State->Getsim_time();
 446     bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
 447                                              groundCacheRadius );
 448     if (!cache_ok) {
 449       SG_LOG(SG_FLIGHT, SG_WARN,
 450              "FGInterface is being called without scenery below the aircraft!");
 451       SG_LOG(SG_FLIGHT, SG_WARN,
 452              "altitude         = " << alt);
 453       SG_LOG(SG_FLIGHT, SG_WARN,
 454             "sea level radius = " << slr);
 455       SG_LOG(SG_FLIGHT, SG_WARN,
 456             "latitude         = " << lat);
 457       SG_LOG(SG_FLIGHT, SG_WARN,
 458             "longitude        = " << lon);
 459       //return;
 460     }
 461
 462     copy_to_JSBsim();
 463
 464     trimmed->setBoolValue(false);
 465
 466     if ( needTrim ) {
 467       if ( startup_trim->getBoolValue() ) {
 468         double contact[3], d[3], agl;
 469         get_agl_ft(State->Getsim_time(), cart_pos, SG_METER_TO_FEET*2, contact,
 470                    d, d, &agl);
 471         double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
 472              + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
 473
 474         SG_LOG(SG_FLIGHT, SG_INFO,
 475           "Ready to trim, terrain altitude is: "
 476             << terrain_alt * SG_METER_TO_FEET );
 477
 478         fgic->SetTerrainAltitudeFtIC( terrain_alt );
 479         do_trim();
 480       } else {
 481         fdmex->RunIC();  //apply any changes made through the set_ functions
 482       }
 483       needTrim = false;
 484     }
 485
 486     for ( i=0; i < multiloop; i++ ) {
 487       fdmex->Run();
 488       update_external_forces(State->Getsim_time() + i * State->Getdt());
 489     }
 490
 491     FGJSBBase::Message* msg;
 492     while (fdmex->SomeMessages()) {
 493       msg = fdmex->ProcessMessage();
 494       switch (msg->type) {
 495       case FGJSBBase::Message::eText:
 496         if (msg->text == "Crash Detected: Simulation FREEZE.")
 497           crashed = true;
 498         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 499         break;
 500       case FGJSBBase::Message::eBool:
 501         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 502         break;
 503       case FGJSBBase::Message::eInteger:
 504         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 505         break;
 506       case FGJSBBase::Message::eDouble:
 507         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 508         break;
 509       default:
 510         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 511         break;
 512       }
 513     }
 514
 515     // translate JSBsim back to FG structure so that the
 516     // autopilot (and the rest of the sim can use the updated values
 517     copy_from_JSBsim();
 518 }
 519
 520 /******************************************************************************/
 521
 522 // Convert from the FGInterface struct to the JSBsim generic_ struct
 523
 524 bool FGJSBsim::copy_to_JSBsim()
 525 {
 526     double tmp;
 527     unsigned int i;
 528
 529     // copy control positions into the JSBsim structure
 530
 531     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 532     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 533     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 534     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 535     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 536     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 537     FCS->SetDsCmd( globals->get_controls()->get_rudder() );
 538     FCS->SetDfCmd( globals->get_controls()->get_flaps() );
 539     FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
 540     FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
 541
 542         // Parking brake sets minimum braking
 543         // level for mains.
 544     double parking_brake = globals->get_controls()->get_brake_parking();
 545     FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
 546     FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
 547     FCS->SetCBrake( 0.0 );
 548     // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
 549
 550     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 551     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 552       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 553
 554       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 555       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 556       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 557       FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
 558
 559       switch (Propulsion->GetEngine(i)->GetType()) {
 560       case FGEngine::etPiston:
 561         { // FGPiston code block
 562         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 563         eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 564         break;
 565         } // end FGPiston code block
 566       case FGEngine::etTurbine:
 567         { // FGTurbine code block
 568         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 569         eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
 570         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 571         //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
 572         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 573         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 574         break;
 575         } // end FGTurbine code block
 576       case FGEngine::etRocket:
 577         { // FGRocket code block
 578         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 579         break;
 580         } // end FGRocket code block
 581       case FGEngine::etTurboprop:
 582         { // FGTurboProp code block
 583         FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
 584         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 585         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 586         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 587
 588         eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
 589         eng->SetCondition( globals->get_controls()->get_condition(i) );
 590         break;
 591         } // end FGTurboProp code block
 592       }
 593
 594       { // FGEngine code block
 595       FGEngine* eng = Propulsion->GetEngine(i);
 596
 597       eng->SetStarter( globals->get_controls()->get_starter(i) );
 598       eng->SetRunning( node->getBoolValue("running") );
 599       } // end FGEngine code block
 600     }
 601
 602
 603     Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
 604
 605     Atmosphere->SetExTemperature(
 606                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 607     Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 608     Atmosphere->SetExDensity(density->getDoubleValue());
 609
 610     tmp = turbulence_gain->getDoubleValue();
 611     //Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 612
 613     tmp = turbulence_rate->getDoubleValue();
 614     //Atmosphere->SetTurbRate(tmp);
 615
 616     Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
 617                             wind_from_east->getDoubleValue(),
 618                             wind_from_down->getDoubleValue() );
 619 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 620 //                  << get_V_north_airmass() << ", "
 621 //                  << get_V_east_airmass()  << ", "
 622 //                  << get_V_down_airmass() );
 623
 624     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 625       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 626       FGTank * tank = Propulsion->GetTank(i);
 627       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 628 //       tank->SetContents(node->getDoubleValue("level-lbs"));
 629     }
 630
 631     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
 632     fdmex->SetSlave(slaved->getBoolValue());
 633
 634     return true;
 635 }
 636
 637 /******************************************************************************/
 638
 639 // Convert from the JSBsim generic_ struct to the FGInterface struct
 640
 641 bool FGJSBsim::copy_from_JSBsim()
 642 {
 643     unsigned int i, j;
 644 /*
 645     _set_Inertias( MassBalance->GetMass(),
 646                    MassBalance->GetIxx(),
 647                    MassBalance->GetIyy(),
 648                    MassBalance->GetIzz(),
 649                    MassBalance->GetIxz() );
 650 */
 651     _set_CG_Position( MassBalance->GetXYZcg(1),
 652                       MassBalance->GetXYZcg(2),
 653                       MassBalance->GetXYZcg(3) );
 654
 655     _set_Accels_Body( Aircraft->GetBodyAccel(1),
 656                       Aircraft->GetBodyAccel(2),
 657                       Aircraft->GetBodyAccel(3) );
 658
 659     _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
 660                             Aircraft->GetNcg(2),
 661                             Aircraft->GetNcg(3) );
 662
 663     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
 664                             Auxiliary->GetPilotAccel(2),
 665                             Auxiliary->GetPilotAccel(3) );
 666
 667     _set_Nlf( Aircraft->GetNlf() );
 668
 669     // Velocities
 670
 671     _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
 672                            Propagate->GetVel(FGJSBBase::eEast),
 673                            Propagate->GetVel(FGJSBBase::eDown) );
 674
 675     _set_Velocities_Wind_Body( Propagate->GetUVW(1),
 676                                Propagate->GetUVW(2),
 677                                Propagate->GetUVW(3) );
 678
 679     // Make the HUD work ...
 680     _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
 681                             Propagate->GetVel(FGJSBBase::eEast),
 682                             -Propagate->GetVel(FGJSBBase::eDown) );
 683
 684     _set_V_rel_wind( Auxiliary->GetVt() );
 685
 686     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 687
 688     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 689
 690     _set_V_ground_speed( Auxiliary->GetVground() );
 691
 692     _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
 693                      Propagate->GetPQR(FGJSBBase::eQ),
 694                      Propagate->GetPQR(FGJSBBase::eR) );
 695
 696     _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
 697                       Auxiliary->GetEulerRates(FGJSBBase::eTht),
 698                       Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
 699
 700     _set_Mach_number( Auxiliary->GetMach() );
 701
 702     // Positions of Visual Reference Point
 703     FGLocation l = Auxiliary->GetLocationVRP();
 704     _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
 705                                l.GetRadius() - get_Sea_level_radius() );
 706
 707     _set_Altitude_AGL( Propagate->GetDistanceAGL() );
 708     {
 709       double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
 710       double contact[3], d[3], sd, t;
 711       is_valid_m(&t, d, &sd);
 712       get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, &sd);
 713       double rwrad
 714         = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
 715       _set_Runway_altitude( rwrad - get_Sea_level_radius() );
 716     }
 717
 718     _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
 719                        Propagate->GetEuler(FGJSBBase::eTht),
 720                        Propagate->GetEuler(FGJSBBase::ePsi) );
 721
 722     _set_Alpha( Auxiliary->Getalpha() );
 723     _set_Beta( Auxiliary->Getbeta() );
 724
 725
 726     _set_Gamma_vert_rad( Auxiliary->GetGamma() );
 727
 728     _set_Earth_position_angle( Inertial->GetEarthPositionAngle() );
 729
 730     _set_Climb_Rate( Propagate->Gethdot() );
 731
 732     const FGMatrix33& Tl2b = Propagate->GetTl2b();
 733     for ( i = 1; i <= 3; i++ ) {
 734         for ( j = 1; j <= 3; j++ ) {
 735             _set_T_Local_to_Body( i, j, Tl2b(i,j) );
 736         }
 737     }
 738
 739     // Copy the engine values from JSBSim.
 740     for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 741       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 742       char buf[30];
 743       sprintf(buf, "engines/engine[%d]/thruster", i);
 744       SGPropertyNode * tnode = fgGetNode(buf, true);
 745       FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
 746
 747       switch (Propulsion->GetEngine(i)->GetType()) {
 748       case FGEngine::etPiston:
 749         { // FGPiston code block
 750         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 751         node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 752         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 753         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 754         node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 755         // NOTE: mp-osi is not in ounces per square inch.
 756         // This error is left for reasons of backwards compatibility with
 757         // existing FlightGear sound and instrument configurations.
 758         node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
 759         node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 760         node->setDoubleValue("rpm", eng->getRPM());
 761         } // end FGPiston code block
 762         break;
 763       case FGEngine::etRocket:
 764         { // FGRocket code block
 765         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 766         } // end FGRocket code block
 767         break;
 768       case FGEngine::etTurbine:
 769         { // FGTurbine code block
 770         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 771         node->setDoubleValue("n1", eng->GetN1());
 772         node->setDoubleValue("n2", eng->GetN2());
 773         node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
 774         node->setBoolValue("augmentation", eng->GetAugmentation());
 775         node->setBoolValue("water-injection", eng->GetInjection());
 776         node->setBoolValue("ignition", eng->GetIgnition());
 777         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 778         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 779         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 780         node->setBoolValue("reversed", eng->GetReversed());
 781         node->setBoolValue("cutoff", eng->GetCutoff());
 782         node->setDoubleValue("epr", eng->GetEPR());
 783         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 784         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 785         globals->get_controls()->set_water_injection(i, eng->GetInjection() );
 786         globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
 787         } // end FGTurbine code block
 788         break;
 789       case FGEngine::etTurboprop:
 790         { // FGTurboProp code block
 791         FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
 792         node->setDoubleValue("n1", eng->GetN1());
 793         //node->setDoubleValue("n2", eng->GetN2());
 794         node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
 795         node->setBoolValue("ignition", eng->GetIgnition());
 796         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 797         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 798         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 799         node->setBoolValue("reversed", eng->GetReversed());
 800         node->setBoolValue("cutoff", eng->GetCutoff());
 801         node->setBoolValue("starting", eng->GetEngStarting());
 802         node->setBoolValue("generator-power", eng->GetGeneratorPower());
 803         node->setBoolValue("damaged", eng->GetCondition());
 804         node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
 805         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 806 //        node->setBoolValue("onfire", eng->GetFire());
 807         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 808         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 809         } // end FGTurboProp code block
 810         break;
 811       case FGEngine::etElectric:
 812         { // FGElectric code block
 813         FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
 814         node->setDoubleValue("rpm", eng->getRPM());
 815         } // end FGElectric code block
 816         break;
 817       }
 818
 819       { // FGEngine code block
 820       FGEngine* eng = Propulsion->GetEngine(i);
 821       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 822       node->setDoubleValue("thrust_lb", thruster->GetThrust());
 823       node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
 824       node->setBoolValue("running", eng->GetRunning());
 825       node->setBoolValue("starter", eng->GetStarter());
 826       node->setBoolValue("cranking", eng->GetCranking());
 827       globals->get_controls()->set_starter(i, eng->GetStarter() );
 828       } // end FGEngine code block
 829
 830       switch (thruster->GetType()) {
 831       case FGThruster::ttNozzle:
 832         { // FGNozzle code block
 833         FGNozzle* noz = (FGNozzle*)thruster;
 834         } // end FGNozzle code block
 835         break;
 836       case FGThruster::ttPropeller:
 837         { // FGPropeller code block
 838         FGPropeller* prop = (FGPropeller*)thruster;
 839         tnode->setDoubleValue("rpm", thruster->GetRPM());
 840         tnode->setDoubleValue("pitch", prop->GetPitch());
 841         tnode->setDoubleValue("torque", prop->GetTorque());
 842         tnode->setBoolValue("feathered", prop->GetFeather());
 843         } // end FGPropeller code block
 844         break;
 845       case FGThruster::ttRotor:
 846         { // FGRotor code block
 847         FGRotor* rotor = (FGRotor*)thruster;
 848         } // end FGRotor code block
 849         break;
 850       case FGThruster::ttDirect:
 851         { // Direct code block
 852         } // end Direct code block
 853         break;
 854       }
 855
 856     }
 857
 858     // Copy the fuel levels from JSBSim if fuel
 859     // freeze not enabled.
 860     if ( ! Propulsion->GetFuelFreeze() ) {
 861       for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 862         SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 863         FGTank* tank = Propulsion->GetTank(i);
 864         double contents = tank->GetContents();
 865         double temp = tank->GetTemperature_degC();
 866         node->setDoubleValue("level-gal_us", contents/6.6);
 867         node->setDoubleValue("level-lbs", contents);
 868         if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
 869       }
 870     }
 871
 872     update_gear();
 873
 874     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
 875
 876     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 877     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 878     right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
 879     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
 880     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 881     speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
 882     spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
 883     tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
 884     wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
 885
 886     // force a sim crashed if crashed (altitude AGL < 0)
 887     if (get_Altitude_AGL() < -100.0) {
 888          State->SuspendIntegration();
 889          crashed = true;
 890     }
 891
 892     return true;
 893 }
 894
 895
 896 bool FGJSBsim::ToggleDataLogging(void)
 897 {
 898   // ToDo: handle this properly
 899   fdmex->DisableOutput();
 900   return false;
 901 }
 902
 903
 904 bool FGJSBsim::ToggleDataLogging(bool state)
 905 {
 906     if (state) {
 907       fdmex->EnableOutput();
 908       return true;
 909     } else {
 910       fdmex->DisableOutput();
 911       return false;
 912     }
 913 }
 914
 915
 916 //Positions
 917 void FGJSBsim::set_Latitude(double lat)
 918 {
 919     static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft");
 920     double alt;
 921     double sea_level_radius_meters, lat_geoc;
 922
 923     // In case we're not trimming
 924     FGInterface::set_Latitude(lat);
 925
 926     if ( altitude->getDoubleValue() > -9990 ) {
 927       alt = altitude->getDoubleValue();
 928     } else {
 929       alt = 0.0;
 930     }
 931
 932     update_ic();
 933     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 934     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 935
 936     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
 937                       &sea_level_radius_meters, &lat_geoc );
 938     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 939     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 940     fgic->SetLatitudeRadIC( lat_geoc );
 941     needTrim=true;
 942 }
 943
 944
 945 void FGJSBsim::set_Longitude(double lon)
 946 {
 947     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 948
 949     // In case we're not trimming
 950     FGInterface::set_Longitude(lon);
 951
 952     update_ic();
 953     fgic->SetLongitudeRadIC( lon );
 954     needTrim=true;
 955 }
 956
 957 void FGJSBsim::set_Altitude(double alt)
 958 {
 959     static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
 960
 961     double sea_level_radius_meters,lat_geoc;
 962
 963     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
 964     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
 965
 966     // In case we're not trimming
 967     FGInterface::set_Altitude(alt);
 968
 969     update_ic();
 970     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
 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     SG_LOG(SG_FLIGHT, SG_INFO,
 975           "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 976     fgic->SetLatitudeRadIC( lat_geoc );
 977     fgic->SetAltitudeFtIC(alt);
 978     needTrim=true;
 979 }
 980
 981 void FGJSBsim::set_V_calibrated_kts(double vc)
 982 {
 983     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
 984
 985     // In case we're not trimming
 986     FGInterface::set_V_calibrated_kts(vc);
 987
 988     update_ic();
 989     fgic->SetVcalibratedKtsIC(vc);
 990     needTrim=true;
 991 }
 992
 993 void FGJSBsim::set_Mach_number(double mach)
 994 {
 995     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
 996
 997     // In case we're not trimming
 998     FGInterface::set_Mach_number(mach);
 999
1000     update_ic();
1001     fgic->SetMachIC(mach);
1002     needTrim=true;
1003 }
1004
1005 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
1006 {
1007     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
1008        << north << ", " <<  east << ", " << down );
1009
1010     // In case we're not trimming
1011     FGInterface::set_Velocities_Local(north, east, down);
1012
1013     update_ic();
1014     fgic->SetVNorthFpsIC(north);
1015     fgic->SetVEastFpsIC(east);
1016     fgic->SetVDownFpsIC(down);
1017     needTrim=true;
1018 }
1019
1020 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
1021 {
1022     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
1023        << u << ", " <<  v << ", " <<  w );
1024
1025     // In case we're not trimming
1026     FGInterface::set_Velocities_Wind_Body(u, v, w);
1027
1028     update_ic();
1029     fgic->SetUBodyFpsIC(u);
1030     fgic->SetVBodyFpsIC(v);
1031     fgic->SetWBodyFpsIC(w);
1032     needTrim=true;
1033 }
1034
1035 //Euler angles
1036 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1037 {
1038     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1039        << phi << ", " << theta << ", " << psi );
1040
1041     // In case we're not trimming
1042     FGInterface::set_Euler_Angles(phi, theta, psi);
1043
1044     update_ic();
1045     fgic->SetThetaRadIC(theta);
1046     fgic->SetPhiRadIC(phi);
1047     fgic->SetPsiRadIC(psi);
1048     needTrim=true;
1049 }
1050
1051 //Flight Path
1052 void FGJSBsim::set_Climb_Rate( double roc)
1053 {
1054     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1055
1056     // In case we're not trimming
1057     FGInterface::set_Climb_Rate(roc);
1058
1059     update_ic();
1060     //since both climb rate and flight path angle are set in the FG
1061     //startup sequence, something is needed to keep one from cancelling
1062     //out the other.
1063     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
1064       fgic->SetClimbRateFpsIC(roc);
1065     }
1066     needTrim=true;
1067 }
1068
1069 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1070 {
1071     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1072
1073     update_ic();
1074     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1075       fgic->SetFlightPathAngleRadIC(gamma);
1076     }
1077     needTrim=true;
1078 }
1079
1080 void FGJSBsim::init_gear(void )
1081 {
1082     FGGroundReactions* gr=fdmex->GetGroundReactions();
1083     int Ngear=GroundReactions->GetNumGearUnits();
1084     for (int i=0;i<Ngear;i++) {
1085       FGLGear *gear = gr->GetGearUnit(i);
1086       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1087       node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1088       node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1089       node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1090       node->setBoolValue("wow", gear->GetWOW());
1091       node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1092       node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1093       node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1094       node->setDoubleValue("compression-norm", gear->GetCompLen());
1095       node->setDoubleValue("compression-ft", gear->GetCompLen());
1096       if ( gear->GetSteerable() )
1097         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1098     }
1099 }
1100
1101 void FGJSBsim::update_gear(void)
1102 {
1103     FGGroundReactions* gr=fdmex->GetGroundReactions();
1104     int Ngear=GroundReactions->GetNumGearUnits();
1105     for (int i=0;i<Ngear;i++) {
1106       FGLGear *gear = gr->GetGearUnit(i);
1107       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1108       node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1109       node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1110       gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1111       node->setDoubleValue("compression-norm", gear->GetCompLen());
1112       node->setDoubleValue("compression-ft", gear->GetCompLen());
1113       if ( gear->GetSteerable() )
1114         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1115     }
1116 }
1117
1118 void FGJSBsim::do_trim(void)
1119 {
1120   FGTrim *fgtrim;
1121
1122   if ( fgGetBool("/sim/presets/onground") )
1123   {
1124     fgtrim = new FGTrim(fdmex,tGround);
1125   } else {
1126     fgtrim = new FGTrim(fdmex,tLongitudinal);
1127   }
1128
1129   if ( !fgtrim->DoTrim() ) {
1130     fgtrim->Report();
1131     fgtrim->TrimStats();
1132   } else {
1133     trimmed->setBoolValue(true);
1134   }
1135 //  if (FGJSBBase::debug_lvl > 0)
1136 //      State->ReportState();
1137
1138   delete fgtrim;
1139
1140   pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1141   throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1142   aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1143   rudder_trim->setDoubleValue( FCS->GetDrCmd() );
1144
1145   globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1146   globals->get_controls()->set_elevator(FCS->GetDeCmd());
1147   globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
1148   FCS->GetThrottleCmd(0));
1149
1150   globals->get_controls()->set_aileron(FCS->GetDaCmd());
1151   globals->get_controls()->set_rudder( FCS->GetDrCmd());
1152
1153   SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
1154 }
1155
1156 void FGJSBsim::update_ic(void)
1157 {
1158    if ( !needTrim ) {
1159      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
1160      fgic->SetLongitudeRadIC( get_Longitude() );
1161      fgic->SetAltitudeFtIC( get_Altitude() );
1162      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
1163      fgic->SetThetaRadIC( get_Theta() );
1164      fgic->SetPhiRadIC( get_Phi() );
1165      fgic->SetPsiRadIC( get_Psi() );
1166      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
1167    }
1168 }
1169
1170 bool
1171 FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
1172                      double contact[3], double normal[3], double vel[3],
1173                      double *agl)
1174 {
1175    double angularVel[3];
1176    const SGMaterial* material;
1177    simgear::BVHNode::Id id;
1178    if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
1179                                 angularVel, material, id))
1180        return false;
1181    SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt));
1182    SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
1183    *agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt));
1184    return true;
1185 }
1186
1187 inline static double dot3(const FGColumnVector3& a, const FGColumnVector3& b)
1188 {
1189     return a(1) * b(1) + a(2) * b(2) + a(3) * b(3);
1190 }
1191
1192 inline static double sqr(double x)
1193 {
1194     return x * x;
1195 }
1196
1197 static double angle_diff(double a, double b)
1198 {
1199     double diff = fabs(a - b);
1200     if (diff > 180) diff = 360 - diff;
1201
1202     return diff;
1203 }
1204
1205 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)
1206 {
1207     FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1208     double dist = dot3(tip, ground_normal_body);
1209     if (fabs(dist + E) < 0.0001) {
1210         sin_fis[*points] = sin_fi_guess;
1211         cos_fis[*points] = cos_fi_guess;
1212         fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1213         (*points)++;
1214     }
1215 }
1216
1217
1218 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)
1219 {
1220     if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1221         double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1222         check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1223         if (fabs(cos_fi_guess) > SG_EPSILON) {
1224             check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1225         }
1226     }
1227 }
1228
1229 void FGJSBsim::update_external_forces(double t_off)
1230 {
1231     const FGMatrix33& Tb2l = Propagate->GetTb2l();
1232     const FGMatrix33& Tl2b = Propagate->GetTl2b();
1233     const FGLocation& Location = Propagate->GetLocation();
1234     const FGMatrix33& Tec2l = Location.GetTec2l();
1235
1236     double hook_area[4][3];
1237
1238     FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1239     FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l *   hook_root_body);
1240     hook_area[1][0] = hook_root(1);
1241     hook_area[1][1] = hook_root(2);
1242     hook_area[1][2] = hook_root(3);
1243
1244     hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1245     double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1246     double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1247     double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1248     double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1249     double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1250
1251     FGColumnVector3 hook_tip_body = hook_root_body;
1252     hook_tip_body(1) -= hook_length * cos_fi;
1253     hook_tip_body(3) += hook_length * sin_fi;
1254     bool hook_tip_valid = true;
1255
1256     double contact[3];
1257     double ground_normal[3];
1258     double ground_vel[3];
1259     double root_agl_ft;
1260
1261     if (!got_wire) {
1262         bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal, ground_vel, &root_agl_ft);
1263         if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
1264             FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1265             FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1266             double D = -dot3(contact_body, ground_normal_body);
1267
1268             // check hook tip agl against same ground plane
1269             double hook_tip_agl_ft = dot3(hook_tip_body, ground_normal_body) + D;
1270             if (hook_tip_agl_ft < 0) {
1271
1272                 // hook tip: hx - l cos, hy, hz + l sin
1273                 // on ground:  - n0 l cos + n2 l sin + E = 0
1274
1275                 double E = D + dot3(hook_root_body, ground_normal_body);
1276
1277                 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1278                 // and rearrange to get a quadratic with coeffs:
1279                 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1280                 double b = 2 * E * ground_normal_body(3) * hook_length;
1281                 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
1282
1283                 double disc = sqr(b) - 4 * a * c;
1284                 if (disc >= 0) {
1285                     double delta = sqrt(disc) / (2 * a);
1286
1287                     // allow 4 solutions for safety, should never happen
1288                     double sin_fis[4];
1289                     double cos_fis[4];
1290                     double fis[4];
1291                     int points = 0;
1292
1293                     double sin_fi_guess = -b / (2 * a) - delta;
1294                     check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1295                     check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1296
1297                     if (points == 2) {
1298                         double diff1 = angle_diff(fi, fis[0]);
1299                         double diff2 = angle_diff(fi, fis[1]);
1300                         int point = diff1 < diff2 ? 0 : 1;
1301                         fi = fis[point];
1302                         sin_fi = sin_fis[point];
1303                         cos_fi = cos_fis[point];
1304                         hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1305                         hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1306                     }
1307                 }
1308             }
1309         }
1310     } else {
1311         FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() *  hook_root_body));
1312         double wire_ends_ec[2][3];
1313         double wire_vel_ec[2][3];
1314         get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1315         FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1316         FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1317         FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1318         if (rel_vel.Magnitude() < 3) {
1319             got_wire = false;
1320             release_wire();
1321             fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1322         } else {
1323             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;
1324             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;
1325             FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1326             force_plane_normal.Normalize();
1327             cos_fi = dot3(force_plane_normal, FGColumnVector3(0, 0, 1));
1328             if (cos_fi < 0) cos_fi = -cos_fi;
1329             sin_fi = sqrt(1 - sqr(cos_fi));
1330             fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1331
1332             fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1333             fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1334             fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1335             fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1336         }
1337     }
1338
1339     FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1340
1341     hook_area[0][0] = hook_tip(1);
1342     hook_area[0][1] = hook_tip(2);
1343     hook_area[0][2] = hook_tip(3);
1344
1345     if (!got_wire) {
1346         // The previous positions.
1347         hook_area[2][0] = last_hook_root[0];
1348         hook_area[2][1] = last_hook_root[1];
1349         hook_area[2][2] = last_hook_root[2];
1350         hook_area[3][0] = last_hook_tip[0];
1351         hook_area[3][1] = last_hook_tip[1];
1352         hook_area[3][2] = last_hook_tip[2];
1353
1354         // Check if we caught a wire.
1355         // Returns true if we caught one.
1356         if (caught_wire_ft(t_off, hook_area)) {
1357                 got_wire = true;
1358         }
1359     }
1360
1361     // save actual position as old position ...
1362     last_hook_tip[0] = hook_area[0][0];
1363     last_hook_tip[1] = hook_area[0][1];
1364     last_hook_tip[2] = hook_area[0][2];
1365     last_hook_root[0] = hook_area[1][0];
1366     last_hook_root[1] = hook_area[1][1];
1367     last_hook_root[2] = hook_area[1][2];
1368
1369     fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);
1370 }
1371