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 #ifdef SG_MATH_EXCEPTION_CLASH
  32 #  include <math.h>
  33 #endif
  34
  35 #include STL_STRING
  36
  37 #include <simgear/constants.h>
  38 #include <simgear/debug/logstream.hxx>
  39 #include <simgear/math/sg_geodesy.hxx>
  40 #include <simgear/misc/sg_path.hxx>
  41 #include <simgear/structure/commands.hxx>
  42
  43 #include <FDM/flight.hxx>
  44
  45 #include <Aircraft/aircraft.hxx>
  46 #include <Aircraft/controls.hxx>
  47 #include <Main/globals.hxx>
  48 #include <Main/fg_props.hxx>
  49
  50 #include "JSBSim.hxx"
  51 #include <FDM/JSBSim/FGFDMExec.h>
  52 #include <FDM/JSBSim/FGJSBBase.h>
  53 #include <FDM/JSBSim/FGState.h>
  54 #include <FDM/JSBSim/initialization/FGInitialCondition.h>
  55 #include <FDM/JSBSim/initialization/FGTrim.h>
  56 #include <FDM/JSBSim/models/FGModel.h>
  57 #include <FDM/JSBSim/models/FGAircraft.h>
  58 #include <FDM/JSBSim/models/FGFCS.h>
  59 #include <FDM/JSBSim/models/FGPropagate.h>
  60 #include <FDM/JSBSim/models/FGAuxiliary.h>
  61 #include <FDM/JSBSim/models/FGAtmosphere.h>
  62 #include <FDM/JSBSim/models/FGMassBalance.h>
  63 #include <FDM/JSBSim/models/FGAerodynamics.h>
  64 #include <FDM/JSBSim/models/FGLGear.h>
  65 #include <FDM/JSBSim/models/propulsion/FGEngine.h>
  66 #include <FDM/JSBSim/models/propulsion/FGPiston.h>
  67 #include <FDM/JSBSim/models/propulsion/FGTurbine.h>
  68 #include <FDM/JSBSim/models/propulsion/FGTurboProp.h>
  69 #include <FDM/JSBSim/models/propulsion/FGRocket.h>
  70 #include <FDM/JSBSim/models/propulsion/FGElectric.h>
  71 #include <FDM/JSBSim/models/propulsion/FGNozzle.h>
  72 #include <FDM/JSBSim/models/propulsion/FGPropeller.h>
  73 #include <FDM/JSBSim/models/propulsion/FGRotor.h>
  74 #include <FDM/JSBSim/models/propulsion/FGTank.h>
  75 #include <FDM/JSBSim/input_output/FGPropertyManager.h>
  76 #include <FDM/JSBSim/input_output/FGGroundCallback.h>
  77
  78 using namespace JSBSim;
  79
  80 static inline double
  81 FMAX (double a, double b)
  82 {
  83   return a > b ? a : b;
  84 }
  85
  86 class FGFSGroundCallback : public FGGroundCallback {
  87 public:
  88   FGFSGroundCallback(FGInterface* ifc) : mInterface(ifc) {}
  89   virtual ~FGFSGroundCallback() {}
  90
  91   /** Get the altitude above sea level depenent on the location. */
  92   virtual double GetAltitude(const FGLocation& l) const {
  93     double pt[3] = { SG_FEET_TO_METER*l(eX),
  94                      SG_FEET_TO_METER*l(eY),
  95                      SG_FEET_TO_METER*l(eZ) };
  96     double lat, lon, alt;
  97     sgCartToGeod( pt, &lat, &lon, &alt);
  98     return alt * SG_METER_TO_FEET;
  99   }
 100
 101   /** Compute the altitude above ground. */
 102   virtual double GetAGLevel(double t, const FGLocation& l,
 103                             FGLocation& cont,
 104                             FGColumnVector3& n, FGColumnVector3& v) const {
 105     double loc_cart[3] = { l(eX), l(eY), l(eZ) };
 106     double contact[3], normal[3], vel[3], lc, ff, agl;
 107     int groundtype;
 108     mInterface->get_agl_ft(t, loc_cart, contact, normal, vel,
 109                            &groundtype, &lc, &ff, &agl);
 110     n = l.GetTec2l()*FGColumnVector3( normal[0], normal[1], normal[2] );
 111     v = l.GetTec2l()*FGColumnVector3( vel[0], vel[1], vel[2] );
 112     cont = FGColumnVector3( contact[0], contact[1], contact[2] );
 113     return agl;
 114   }
 115 private:
 116   FGInterface* mInterface;
 117 };
 118
 119 /******************************************************************************/
 120
 121 FGJSBsim::FGJSBsim( double dt )
 122   : FGInterface(dt)
 123 {
 124     bool result;
 125                                 // Set up the debugging level
 126                                 // FIXME: this will not respond to
 127                                 // runtime changes
 128
 129                                 // if flight is excluded, don't bother
 130     if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
 131
 132                                 // do a rough-and-ready mapping to
 133                                 // the levels documented in FGFDMExec.h
 134         switch (logbuf::get_log_priority()) {
 135         case SG_BULK:
 136             FGJSBBase::debug_lvl = 0x1f;
 137             break;
 138         case SG_DEBUG:
 139             FGJSBBase::debug_lvl = 0x0f;
 140         case SG_INFO:
 141             FGJSBBase::debug_lvl = 0x01;
 142             break;
 143         case SG_WARN:
 144         case SG_ALERT:
 145             FGJSBBase::debug_lvl = 0x00;
 146             break;
 147         }
 148     }
 149
 150     fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
 151
 152     // Register ground callback.
 153     fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
 154
 155     State           = fdmex->GetState();
 156     Atmosphere      = fdmex->GetAtmosphere();
 157     FCS             = fdmex->GetFCS();
 158     MassBalance     = fdmex->GetMassBalance();
 159     Propulsion      = fdmex->GetPropulsion();
 160     Aircraft        = fdmex->GetAircraft();
 161     Propagate        = fdmex->GetPropagate();
 162     Auxiliary       = fdmex->GetAuxiliary();
 163     Aerodynamics    = fdmex->GetAerodynamics();
 164     GroundReactions = fdmex->GetGroundReactions();
 165
 166     fgic=fdmex->GetIC();
 167     needTrim=true;
 168
 169     SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
 170
 171     SGPath engine_path( fgGetString("/sim/aircraft-dir") );
 172     engine_path.append( "Engine" );
 173     State->Setdt( dt );
 174
 175     result = fdmex->LoadModel( aircraft_path.str(),
 176                                engine_path.str(),
 177                                fgGetString("/sim/aero"), false );
 178
 179     if (result) {
 180       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
 181     } else {
 182       SG_LOG( SG_FLIGHT, SG_INFO,
 183               "  aero does not exist (you may have mis-typed the name).");
 184       throw(-1);
 185     }
 186
 187     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 188     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 189     SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
 190
 191     int Neng = Propulsion->GetNumEngines();
 192     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
 193
 194     if ( GroundReactions->GetNumGearUnits() <= 0 ) {
 195         SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
 196                 << GroundReactions->GetNumGearUnits() );
 197         SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
 198         SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
 199         SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
 200         exit(-1);
 201     }
 202
 203     init_gear();
 204
 205     // Set initial fuel levels if provided.
 206     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
 207       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 208       if (node->getChild("level-gal_us", 0, false) != 0) {
 209         Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 210       } else {
 211         node->setDoubleValue("level-lb", Propulsion->GetTank(i)->GetContents());
 212         node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
 213       }
 214     }
 215     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
 216
 217     fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
 218     fgSetDouble("/fdm/trim/throttle",   FCS->GetThrottleCmd(0));
 219     fgSetDouble("/fdm/trim/aileron",    FCS->GetDaCmd());
 220     fgSetDouble("/fdm/trim/rudder",     FCS->GetDrCmd());
 221
 222     startup_trim = fgGetNode("/sim/presets/trim", true);
 223
 224     trimmed = fgGetNode("/fdm/trim/trimmed", true);
 225     trimmed->setBoolValue(false);
 226
 227     pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
 228     throttle_trim = fgGetNode("/fdm/trim/throttle", true );
 229     aileron_trim = fgGetNode("/fdm/trim/aileron", true );
 230     rudder_trim = fgGetNode("/fdm/trim/rudder", true );
 231
 232     stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
 233     stall_warning->setDoubleValue(0);
 234
 235
 236     flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
 237     elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
 238     left_aileron_pos_pct
 239         =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
 240     right_aileron_pos_pct
 241         =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
 242     rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
 243     speedbrake_pos_pct
 244         =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
 245     spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
 246
 247     elevator_pos_pct->setDoubleValue(0);
 248     left_aileron_pos_pct->setDoubleValue(0);
 249     right_aileron_pos_pct->setDoubleValue(0);
 250     rudder_pos_pct->setDoubleValue(0);
 251     flap_pos_pct->setDoubleValue(0);
 252     speedbrake_pos_pct->setDoubleValue(0);
 253     spoilers_pos_pct->setDoubleValue(0);
 254
 255     temperature = fgGetNode("/environment/temperature-degc",true);
 256     pressure = fgGetNode("/environment/pressure-inhg",true);
 257     density = fgGetNode("/environment/density-slugft3",true);
 258     turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
 259     turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
 260
 261     wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
 262     wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
 263     wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
 264
 265     slaved = fgGetNode("/sim/slaved/enabled", true);
 266
 267     for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
 268       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 269       Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
 270                      Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
 271     }
 272 }
 273
 274 /******************************************************************************/
 275 FGJSBsim::~FGJSBsim(void)
 276 {
 277   delete fdmex;
 278 }
 279
 280 /******************************************************************************/
 281
 282 // Initialize the JSBsim flight model, dt is the time increment for
 283 // each subsequent iteration through the EOM
 284
 285 void FGJSBsim::init()
 286 {
 287     double tmp;
 288
 289     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 290
 291     // Explicitly call the superclass's
 292     // init method first.
 293
 294     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
 295       Atmosphere->UseExternal();
 296       Atmosphere->SetExTemperature(
 297                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 298       Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 299       Atmosphere->SetExDensity(density->getDoubleValue());
 300
 301       tmp = turbulence_gain->getDoubleValue();
 302       Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 303
 304       tmp = turbulence_rate->getDoubleValue();
 305       Atmosphere->SetTurbRate(tmp);
 306
 307     } else {
 308       Atmosphere->UseInternal();
 309     }
 310
 311     fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
 312     fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
 313     fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
 314
 315     //Atmosphere->SetExTemperature(get_Static_temperature());
 316     //Atmosphere->SetExPressure(get_Static_pressure());
 317     //Atmosphere->SetExDensity(get_Density());
 318     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
 319      << ", " << fdmex->GetAtmosphere()->GetPressure()
 320      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 321
 322     if (fgGetBool("/sim/presets/running")) {
 323           for (int i=0; i < Propulsion->GetNumEngines(); i++) {
 324             SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 325             node->setBoolValue("running", true);
 326             Propulsion->GetEngine(i)->SetRunning(true);
 327           }
 328     }
 329
 330     common_init();
 331
 332     copy_to_JSBsim();
 333     fdmex->RunIC();     //loop JSBSim once w/o integrating
 334     copy_from_JSBsim(); //update the bus
 335
 336     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 337
 338     switch(fgic->GetSpeedSet()) {
 339     case setned:
 340         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 341                << Propagate->GetVel(FGJSBBase::eNorth) << ", "
 342                << Propagate->GetVel(FGJSBBase::eEast) << ", "
 343                << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
 344     break;
 345     case setuvw:
 346         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 347                << Propagate->GetUVW(1) << ", "
 348                << Propagate->GetUVW(2) << ", "
 349                << Propagate->GetUVW(3) << " ft/s");
 350     break;
 351     case setmach:
 352         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 353                << Auxiliary->GetMach() );
 354     break;
 355     case setvc:
 356     default:
 357         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 358                << Auxiliary->GetVcalibratedKTS() << " knots" );
 359     break;
 360     }
 361
 362     stall_warning->setDoubleValue(0);
 363
 364     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 365             << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
 366     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 367             << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
 368     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 369             << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
 370     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 371             << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
 372     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 373             << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
 374     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 375             << Propagate->Geth() << " feet" );
 376     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 377
 378     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 379
 380     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 381
 382     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 383                                   globals->get_controls()->get_gear_down() );
 384 }
 385
 386 /******************************************************************************/
 387
 388 // Run an iteration of the EOM (equations of motion)
 389
 390 void FGJSBsim::update( double dt )
 391 {
 392     if (is_suspended())
 393       return;
 394
 395     int multiloop = _calc_multiloop(dt);
 396
 397     int i;
 398
 399     // Compute the radius of the aircraft. That is the radius of a ball
 400     // where all gear units are in. At the moment it is at least 10ft ...
 401     double acrad = 10.0;
 402     int n_gears = GroundReactions->GetNumGearUnits();
 403     for (i=0; i<n_gears; ++i) {
 404       FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
 405       double r = bl.Magnitude();
 406       if (acrad < r)
 407         acrad = r;
 408     }
 409
 410     // Compute the potential movement of this aircraft and query for the
 411     // ground in this area.
 412     double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
 413     double alt, slr, lat, lon;
 414     FGColumnVector3 cart = Auxiliary->GetLocationVRP();
 415     if ( needTrim && startup_trim->getBoolValue() ) {
 416       alt = fgic->GetAltitudeFtIC();
 417       slr = fgic->GetSeaLevelRadiusFtIC();
 418       lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 419       lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 420       cart = FGLocation(lon, lat, alt+slr);
 421     }
 422     double cart_pos[3] = { cart(1), cart(2), cart(3) };
 423     bool cache_ok = prepare_ground_cache_ft( State->Getsim_time(), cart_pos,
 424                                              groundCacheRadius );
 425     if (!cache_ok) {
 426       SG_LOG(SG_FLIGHT, SG_WARN,
 427              "FGInterface is being called without scenery below the aircraft!");
 428       cout << "altitude         = " << alt << endl;
 429       cout << "sea level radius = " << slr << endl;
 430       cout << "latitude         = " << lat << endl;
 431       cout << "longitude        = " << lon << endl;
 432       //return;
 433     }
 434
 435     copy_to_JSBsim();
 436
 437     trimmed->setBoolValue(false);
 438
 439     if ( needTrim ) {
 440       if ( startup_trim->getBoolValue() ) {
 441         double contact[3], dummy[3], lc, ff, agl;
 442         int groundtype;
 443         get_agl_ft(State->Getsim_time(), cart_pos, contact,
 444                    dummy, dummy, &groundtype, &lc, &ff, &agl);
 445         double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
 446              + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
 447
 448         SG_LOG(SG_FLIGHT, SG_INFO,
 449           "Ready to trim, terrain altitude is: "
 450             << terrain_alt * SG_METER_TO_FEET );
 451
 452         fgic->SetTerrainAltitudeFtIC( terrain_alt );
 453         do_trim();
 454       } else {
 455         fdmex->RunIC();  //apply any changes made through the set_ functions
 456       }
 457       needTrim = false;
 458     }
 459
 460     for ( i=0; i < multiloop; i++ ) {
 461       fdmex->Run();
 462     }
 463
 464     FGJSBBase::Message* msg;
 465     while (fdmex->ReadMessage()) {
 466       msg = fdmex->ProcessMessage();
 467       switch (msg->type) {
 468       case FGJSBBase::Message::eText:
 469         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 470         break;
 471       case FGJSBBase::Message::eBool:
 472         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 473         break;
 474       case FGJSBBase::Message::eInteger:
 475         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 476         break;
 477       case FGJSBBase::Message::eDouble:
 478         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 479         break;
 480       default:
 481         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 482         break;
 483       }
 484     }
 485
 486     // translate JSBsim back to FG structure so that the
 487     // autopilot (and the rest of the sim can use the updated values
 488     copy_from_JSBsim();
 489 }
 490
 491 /******************************************************************************/
 492
 493 // Convert from the FGInterface struct to the JSBsim generic_ struct
 494
 495 bool FGJSBsim::copy_to_JSBsim()
 496 {
 497     double tmp;
 498     unsigned int i;
 499
 500     // copy control positions into the JSBsim structure
 501
 502     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 503     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 504     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 505     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 506     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 507     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 508     // FIXME: make that get_steering work
 509 //     FCS->SetDsCmd( globals->get_controls()->get_steering()/80.0 );
 510     FCS->SetDsCmd( globals->get_controls()->get_rudder() );
 511     FCS->SetDfCmd( globals->get_controls()->get_flaps() );
 512     FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
 513     FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
 514
 515         // Parking brake sets minimum braking
 516         // level for mains.
 517     double parking_brake = globals->get_controls()->get_brake_parking();
 518     FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
 519     FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
 520     FCS->SetCBrake( 0.0 );
 521     // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
 522
 523     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 524     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 525       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 526
 527       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 528       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 529       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 530       FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
 531
 532       switch (Propulsion->GetEngine(i)->GetType()) {
 533       case FGEngine::etPiston:
 534         { // FGPiston code block
 535         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 536         eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 537         break;
 538         } // end FGPiston code block
 539       case FGEngine::etTurbine:
 540         { // FGTurbine code block
 541         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 542         eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
 543         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 544         eng->SetInjection( globals->get_controls()->get_water_injection(i) );
 545         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 546         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 547         break;
 548         } // end FGTurbine code block
 549       case FGEngine::etRocket:
 550         { // FGRocket code block
 551         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 552         break;
 553         } // end FGRocket code block
 554       case FGEngine::etTurboprop:
 555         { // FGTurboProp code block
 556         FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
 557         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 558         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 559         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 560
 561                 eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
 562                 eng->SetCondition( globals->get_controls()->get_condition(i) );
 563         break;
 564         } // end FGTurboProp code block
 565       }
 566
 567       { // FGEngine code block
 568       FGEngine* eng = Propulsion->GetEngine(i);
 569
 570       eng->SetStarter( globals->get_controls()->get_starter(i) );
 571       eng->SetRunning( node->getBoolValue("running") );
 572       } // end FGEngine code block
 573     }
 574
 575
 576     Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
 577
 578     Atmosphere->SetExTemperature(
 579                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 580     Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 581     Atmosphere->SetExDensity(density->getDoubleValue());
 582
 583     tmp = turbulence_gain->getDoubleValue();
 584     Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 585
 586     tmp = turbulence_rate->getDoubleValue();
 587     Atmosphere->SetTurbRate(tmp);
 588
 589     Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
 590                             wind_from_east->getDoubleValue(),
 591                             wind_from_down->getDoubleValue() );
 592 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 593 //                  << get_V_north_airmass() << ", "
 594 //                  << get_V_east_airmass()  << ", "
 595 //                  << get_V_down_airmass() );
 596
 597     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 598       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 599       FGTank * tank = Propulsion->GetTank(i);
 600       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 601 //       tank->SetContents(node->getDoubleValue("level-lb"));
 602     }
 603     SGPropertyNode* node = fgGetNode("/systems/refuel", true);
 604     Propulsion->SetRefuel(node->getDoubleValue("contact"));
 605     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
 606     fdmex->SetSlave(slaved->getBoolValue());
 607
 608     return true;
 609 }
 610
 611 /******************************************************************************/
 612
 613 // Convert from the JSBsim generic_ struct to the FGInterface struct
 614
 615 bool FGJSBsim::copy_from_JSBsim()
 616 {
 617     unsigned int i, j;
 618 /*
 619     _set_Inertias( MassBalance->GetMass(),
 620                    MassBalance->GetIxx(),
 621                    MassBalance->GetIyy(),
 622                    MassBalance->GetIzz(),
 623                    MassBalance->GetIxz() );
 624 */
 625     _set_CG_Position( MassBalance->GetXYZcg(1),
 626                       MassBalance->GetXYZcg(2),
 627                       MassBalance->GetXYZcg(3) );
 628
 629     _set_Accels_Body( Aircraft->GetBodyAccel(1),
 630                       Aircraft->GetBodyAccel(2),
 631                       Aircraft->GetBodyAccel(3) );
 632
 633     _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
 634                             Aircraft->GetNcg(2),
 635                             Aircraft->GetNcg(3) );
 636
 637     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
 638                             Auxiliary->GetPilotAccel(2),
 639                             Auxiliary->GetPilotAccel(3) );
 640
 641     _set_Nlf( Aircraft->GetNlf() );
 642
 643     // Velocities
 644
 645     _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
 646                            Propagate->GetVel(FGJSBBase::eEast),
 647                            Propagate->GetVel(FGJSBBase::eDown) );
 648
 649     _set_Velocities_Wind_Body( Propagate->GetUVW(1),
 650                                Propagate->GetUVW(2),
 651                                Propagate->GetUVW(3) );
 652
 653     // Make the HUD work ...
 654     _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
 655                             Propagate->GetVel(FGJSBBase::eEast),
 656                             -Propagate->GetVel(FGJSBBase::eDown) );
 657
 658     _set_V_rel_wind( Auxiliary->GetVt() );
 659
 660     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 661
 662     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 663
 664     _set_V_ground_speed( Auxiliary->GetVground() );
 665
 666     _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
 667                      Propagate->GetPQR(FGJSBBase::eQ),
 668                      Propagate->GetPQR(FGJSBBase::eR) );
 669
 670     _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
 671                       Auxiliary->GetEulerRates(FGJSBBase::eTht),
 672                       Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
 673
 674     _set_Mach_number( Auxiliary->GetMach() );
 675
 676     // Positions of Visual Reference Point
 677     FGLocation l = Auxiliary->GetLocationVRP();
 678     _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
 679                                l.GetRadius() - get_Sea_level_radius() );
 680
 681     _set_Altitude_AGL( Propagate->GetDistanceAGL() );
 682     {
 683       double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
 684       double contact[3], d[3], sd, t;
 685       int id;
 686       is_valid_m(&t, d, &sd);
 687       get_agl_ft(t, loc_cart, contact, d, d, &id, &sd, &sd, &sd);
 688       double rwrad
 689         = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
 690       _set_Runway_altitude( rwrad - get_Sea_level_radius() );
 691     }
 692
 693     _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
 694                        Propagate->GetEuler(FGJSBBase::eTht),
 695                        Propagate->GetEuler(FGJSBBase::ePsi) );
 696
 697     _set_Alpha( Auxiliary->Getalpha() );
 698     _set_Beta( Auxiliary->Getbeta() );
 699
 700
 701     _set_Gamma_vert_rad( Auxiliary->GetGamma() );
 702
 703     _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
 704
 705     _set_Climb_Rate( Propagate->Gethdot() );
 706
 707     const FGMatrix33& Tl2b = Propagate->GetTl2b();
 708     for ( i = 1; i <= 3; i++ ) {
 709         for ( j = 1; j <= 3; j++ ) {
 710             _set_T_Local_to_Body( i, j, Tl2b(i,j) );
 711         }
 712     }
 713
 714     // Copy the engine values from JSBSim.
 715     for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 716       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 717       char buf[30];
 718       sprintf(buf, "engines/engine[%d]/thruster", i);
 719       SGPropertyNode * tnode = fgGetNode(buf, true);
 720       FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
 721
 722       switch (Propulsion->GetEngine(i)->GetType()) {
 723       case FGEngine::etPiston:
 724         { // FGPiston code block
 725         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 726         node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 727         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 728         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 729         node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 730         node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 731         node->setDoubleValue("rpm", eng->getRPM());
 732         } // end FGPiston code block
 733         break;
 734       case FGEngine::etRocket:
 735         { // FGRocket code block
 736         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 737         } // end FGRocket code block
 738         break;
 739       case FGEngine::etTurbine:
 740         { // FGTurbine code block
 741         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 742         node->setDoubleValue("n1", eng->GetN1());
 743         node->setDoubleValue("n2", eng->GetN2());
 744         node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
 745         node->setBoolValue("augmentation", eng->GetAugmentation());
 746         node->setBoolValue("water-injection", eng->GetInjection());
 747         node->setBoolValue("ignition", eng->GetIgnition());
 748         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 749         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 750         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 751         node->setBoolValue("reversed", eng->GetReversed());
 752         node->setBoolValue("cutoff", eng->GetCutoff());
 753         node->setDoubleValue("epr", eng->GetEPR());
 754         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 755         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 756         globals->get_controls()->set_water_injection(i, eng->GetInjection() );
 757         globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
 758         } // end FGTurbine code block
 759         break;
 760       case FGEngine::etTurboprop:
 761         { // FGTurboProp code block
 762         FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
 763         node->setDoubleValue("n1", eng->GetN1());
 764         //node->setDoubleValue("n2", eng->GetN2());
 765         node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
 766         node->setBoolValue("ignition", eng->GetIgnition());
 767         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 768         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 769         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 770         node->setBoolValue("reversed", eng->GetReversed());
 771         node->setBoolValue("cutoff", eng->GetCutoff());
 772         node->setBoolValue("starting", eng->GetEngStarting());
 773         node->setBoolValue("generator-power", eng->GetGeneratorPower());
 774         node->setBoolValue("damaged", eng->GetCondition());
 775         node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
 776         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 777 //        node->setBoolValue("onfire", eng->GetFire());
 778         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 779         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 780         } // end FGTurboProp code block
 781         break;
 782       case FGEngine::etElectric:
 783         { // FGElectric code block
 784         FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
 785         node->setDoubleValue("rpm", eng->getRPM());
 786         } // end FGElectric code block
 787         break;
 788       }
 789
 790       { // FGEngine code block
 791       FGEngine* eng = Propulsion->GetEngine(i);
 792       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 793       node->setDoubleValue("thrust_lb", thruster->GetThrust());
 794       node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
 795       node->setBoolValue("running", eng->GetRunning());
 796       node->setBoolValue("starter", eng->GetStarter());
 797       node->setBoolValue("cranking", eng->GetCranking());
 798       globals->get_controls()->set_starter(i, eng->GetStarter() );
 799       } // end FGEngine code block
 800
 801       switch (thruster->GetType()) {
 802       case FGThruster::ttNozzle:
 803         { // FGNozzle code block
 804         FGNozzle* noz = (FGNozzle*)thruster;
 805         } // end FGNozzle code block
 806         break;
 807       case FGThruster::ttPropeller:
 808         { // FGPropeller code block
 809         FGPropeller* prop = (FGPropeller*)thruster;
 810         tnode->setDoubleValue("rpm", thruster->GetRPM());
 811         tnode->setDoubleValue("pitch", prop->GetPitch());
 812         tnode->setDoubleValue("torque", prop->GetTorque());
 813         tnode->setBoolValue("feathered", prop->GetFeather());
 814         } // end FGPropeller code block
 815         break;
 816       case FGThruster::ttRotor:
 817         { // FGRotor code block
 818         FGRotor* rotor = (FGRotor*)thruster;
 819         } // end FGRotor code block
 820         break;
 821       case FGThruster::ttDirect:
 822         { // Direct code block
 823         } // end Direct code block
 824         break;
 825       }
 826
 827     }
 828
 829     // Copy the fuel levels from JSBSim if fuel
 830     // freeze not enabled.
 831     if ( ! Propulsion->GetFuelFreeze() ) {
 832       for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 833         SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 834         FGTank* tank = Propulsion->GetTank(i);
 835         double contents = tank->GetContents();
 836         double temp = tank->GetTemperature_degC();
 837         node->setDoubleValue("level-gal_us", contents/6.6);
 838         node->setDoubleValue("level-lb", contents);
 839         if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
 840       }
 841     }
 842
 843     update_gear();
 844
 845     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
 846
 847     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 848     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 849     right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
 850     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
 851     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 852     speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
 853     spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
 854
 855     // force a sim reset if crashed (altitude AGL < 0)
 856     if (get_Altitude_AGL() < -100.0) {
 857          fgSetBool("/sim/crashed", true);
 858          SGPropertyNode* node = fgGetNode("/sim/presets", true);
 859          globals->get_commands()->execute("old-reinit-dialog", node);
 860     }
 861
 862     return true;
 863 }
 864
 865
 866 bool FGJSBsim::ToggleDataLogging(void)
 867 {
 868   // ToDo: handle this properly
 869   fdmex->DisableOutput();
 870   return false;
 871 }
 872
 873
 874 bool FGJSBsim::ToggleDataLogging(bool state)
 875 {
 876     if (state) {
 877       fdmex->EnableOutput();
 878       return true;
 879     } else {
 880       fdmex->DisableOutput();
 881       return false;
 882     }
 883 }
 884
 885
 886 //Positions
 887 void FGJSBsim::set_Latitude(double lat)
 888 {
 889     static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft");
 890     double alt;
 891     double sea_level_radius_meters, lat_geoc;
 892
 893     // In case we're not trimming
 894     FGInterface::set_Latitude(lat);
 895
 896     if ( altitude->getDoubleValue() > -9990 ) {
 897       alt = altitude->getDoubleValue();
 898     } else {
 899       alt = 0.0;
 900     }
 901
 902     update_ic();
 903     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 904     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 905
 906     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
 907                       &sea_level_radius_meters, &lat_geoc );
 908     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 909     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 910     fgic->SetLatitudeRadIC( lat_geoc );
 911     needTrim=true;
 912 }
 913
 914
 915 void FGJSBsim::set_Longitude(double lon)
 916 {
 917     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 918
 919     // In case we're not trimming
 920     FGInterface::set_Longitude(lon);
 921
 922     update_ic();
 923     fgic->SetLongitudeRadIC( lon );
 924     needTrim=true;
 925 }
 926
 927 void FGJSBsim::set_Altitude(double alt)
 928 {
 929     static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
 930
 931     double sea_level_radius_meters,lat_geoc;
 932
 933     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
 934     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
 935
 936     // In case we're not trimming
 937     FGInterface::set_Altitude(alt);
 938
 939     update_ic();
 940     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
 941                   &sea_level_radius_meters, &lat_geoc);
 942     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 943     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
 944     SG_LOG(SG_FLIGHT, SG_INFO,
 945           "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 946     fgic->SetLatitudeRadIC( lat_geoc );
 947     fgic->SetAltitudeFtIC(alt);
 948     needTrim=true;
 949 }
 950
 951 void FGJSBsim::set_V_calibrated_kts(double vc)
 952 {
 953     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
 954
 955     // In case we're not trimming
 956     FGInterface::set_V_calibrated_kts(vc);
 957
 958     update_ic();
 959     fgic->SetVcalibratedKtsIC(vc);
 960     needTrim=true;
 961 }
 962
 963 void FGJSBsim::set_Mach_number(double mach)
 964 {
 965     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
 966
 967     // In case we're not trimming
 968     FGInterface::set_Mach_number(mach);
 969
 970     update_ic();
 971     fgic->SetMachIC(mach);
 972     needTrim=true;
 973 }
 974
 975 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
 976 {
 977     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
 978        << north << ", " <<  east << ", " << down );
 979
 980     // In case we're not trimming
 981     FGInterface::set_Velocities_Local(north, east, down);
 982
 983     update_ic();
 984     fgic->SetVnorthFpsIC(north);
 985     fgic->SetVeastFpsIC(east);
 986     fgic->SetVdownFpsIC(down);
 987     needTrim=true;
 988 }
 989
 990 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
 991 {
 992     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
 993        << u << ", " <<  v << ", " <<  w );
 994
 995     // In case we're not trimming
 996     FGInterface::set_Velocities_Wind_Body(u, v, w);
 997
 998     update_ic();
 999     fgic->SetUBodyFpsIC(u);
1000     fgic->SetVBodyFpsIC(v);
1001     fgic->SetWBodyFpsIC(w);
1002     needTrim=true;
1003 }
1004
1005 //Euler angles
1006 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1007 {
1008     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1009        << phi << ", " << theta << ", " << psi );
1010
1011     // In case we're not trimming
1012     FGInterface::set_Euler_Angles(phi, theta, psi);
1013
1014     update_ic();
1015     fgic->SetThetaRadIC(theta);
1016     fgic->SetPhiRadIC(phi);
1017     fgic->SetPsiRadIC(psi);
1018     needTrim=true;
1019 }
1020
1021 //Flight Path
1022 void FGJSBsim::set_Climb_Rate( double roc)
1023 {
1024     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1025
1026     // In case we're not trimming
1027     FGInterface::set_Climb_Rate(roc);
1028
1029     update_ic();
1030     //since both climb rate and flight path angle are set in the FG
1031     //startup sequence, something is needed to keep one from cancelling
1032     //out the other.
1033     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
1034       fgic->SetClimbRateFpsIC(roc);
1035     }
1036     needTrim=true;
1037 }
1038
1039 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1040 {
1041     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1042
1043     update_ic();
1044     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1045       fgic->SetFlightPathAngleRadIC(gamma);
1046     }
1047     needTrim=true;
1048 }
1049
1050 void FGJSBsim::init_gear(void )
1051 {
1052     FGGroundReactions* gr=fdmex->GetGroundReactions();
1053     int Ngear=GroundReactions->GetNumGearUnits();
1054     for (int i=0;i<Ngear;i++) {
1055       FGLGear *gear = gr->GetGearUnit(i);
1056       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1057       node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1058       node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1059       node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1060       node->setBoolValue("wow", gear->GetWOW());
1061       node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1062       node->setDoubleValue("position-norm", FCS->GetGearPos());
1063       node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1064       node->setDoubleValue("compression-norm", gear->GetCompLen());
1065       if ( gear->GetSteerable() )
1066         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1067     }
1068 }
1069
1070 void FGJSBsim::update_gear(void)
1071 {
1072     FGGroundReactions* gr=fdmex->GetGroundReactions();
1073     int Ngear=GroundReactions->GetNumGearUnits();
1074     for (int i=0;i<Ngear;i++) {
1075       FGLGear *gear = gr->GetGearUnit(i);
1076       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1077       node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1078       node->getChild("position-norm", 0, true)->setDoubleValue(FCS->GetGearPos());
1079       gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1080       node->setDoubleValue("compression-norm", gear->GetCompLen());
1081       if ( gear->GetSteerable() )
1082         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1083     }
1084 }
1085
1086 void FGJSBsim::do_trim(void)
1087 {
1088   FGTrim *fgtrim;
1089
1090   if ( fgGetBool("/sim/presets/onground") )
1091   {
1092     fgic->SetVcalibratedKtsIC(0.0);
1093     fgtrim = new FGTrim(fdmex,tGround);
1094   } else {
1095     fgtrim = new FGTrim(fdmex,tLongitudinal);
1096   }
1097
1098   if ( !fgtrim->DoTrim() ) {
1099     fgtrim->Report();
1100     fgtrim->TrimStats();
1101   } else {
1102     trimmed->setBoolValue(true);
1103   }
1104   if (FGJSBBase::debug_lvl > 0)
1105       State->ReportState();
1106
1107   delete fgtrim;
1108
1109   pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1110   throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1111   aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1112   rudder_trim->setDoubleValue( FCS->GetDrCmd() );
1113
1114   globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1115   globals->get_controls()->set_elevator(FCS->GetDeCmd());
1116   globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
1117   FCS->GetThrottleCmd(0));
1118
1119   globals->get_controls()->set_aileron(FCS->GetDaCmd());
1120   globals->get_controls()->set_rudder( FCS->GetDrCmd());
1121
1122   SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
1123 }
1124
1125 void FGJSBsim::update_ic(void)
1126 {
1127    if ( !needTrim ) {
1128      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
1129      fgic->SetLongitudeRadIC( get_Longitude() );
1130      fgic->SetAltitudeFtIC( get_Altitude() );
1131      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
1132      fgic->SetThetaRadIC( get_Theta() );
1133      fgic->SetPhiRadIC( get_Phi() );
1134      fgic->SetPsiRadIC( get_Psi() );
1135      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
1136    }
1137 }
1138