1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
4 Author: Curtis L. Olson
5 Maintained by: Tony Peden, Curt Olson
6 Date started: 02/01/1999
8 ------ Copyright (C) 1999 - 2000 Curtis L. Olson (curt@flightgear.org) ------
10 This program is free software; you can redistribute it and/or
11 modify it under the terms of the GNU Lesser General Public License as
12 published by the Free Software Foundation; either version 2 of the
13 License, or (at your option) any later version.
15 This program is distributed in the hope that it will be useful, but
16 WITHOUT ANY WARRANTY; without even the implied warranty of
17 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
18 Lesser General Public License for more details.
20 You should have received a copy of the GNU Lesser General Public License
21 along with this program; if not, write to the Free Software
22 Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
25 --------------------------------------------------------------------------------
26 02/01/1999 CLO Created
27 Additional log messages stored in CVS
29 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
31 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
36 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
41 #include "math/FGColumnVector3.h"
43 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
45 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
47 #define ID_JSBSIMXX "$Header JSBSim.hxx,v 1.4 2000/10/22 14:02:16 jsb Exp $"
49 #define METERS_TO_FEET 3.2808398950
50 #define RADTODEG 57.2957795
52 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
54 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
56 #include <simgear/props/props.hxx>
58 #include <FDM/JSBSim/FGFDMExec.h>
71 class FGInitialCondition;
74 // Adding it here will cause a namespace clash in FlightGear -EMH-
75 // using namespace JSBSim;
77 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
79 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
81 /** FGFS / JSBSim interface (aka "The Bus").
82 This class provides for an interface between FlightGear and its data
83 structures and JSBSim and its data structures. This is the class which is
84 used to command JSBSim when integrated with FlightGear. See the
85 documentation for main for direction on running JSBSim apart from FlightGear.
86 @author Curtis L. Olson (original)
87 @author Tony Peden (Maintained and refined)
88 @version $Id: JSBSim.hxx,v 1.15 2010/10/07 03:45:40 jberndt Exp $
89 @see main in file JSBSim.cpp (use main() wrapper for standalone usage)
92 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
94 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
96 class FGJSBsim: public FGInterface {
100 FGJSBsim( double dt );
104 /// copy FDM state to LaRCsim structures
105 bool copy_to_JSBsim();
107 /// copy FDM state from LaRCsim structures
108 bool copy_from_JSBsim();
110 /// Reset flight params to a specific position
113 /// @name Position Parameter Set
115 /** Set geocentric latitude
116 @param lat latitude in radians measured from the 0 meridian where
117 the westerly direction is positive and east is negative */
118 void set_Latitude(double lat); // geocentric
121 @param lon longitude in radians measured from the equator where
122 the northerly direction is positive and south is negative */
123 void set_Longitude(double lon);
126 Note: this triggers a recalculation of AGL altitude
127 @param alt altitude in feet */
128 void set_Altitude(double alt); // triggers re-calc of AGL altitude
131 //void set_AltitudeAGL(double altagl); // and vice-versa
133 /// @name Velocity Parameter Set
135 /** Sets calibrated airspeed
136 Setting this will trigger a recalc of the other velocity terms.
137 @param vc Calibrated airspeed in ft/sec */
138 void set_V_calibrated_kts(double vc);
140 /** Sets Mach number.
141 Setting this will trigger a recalc of the other velocity terms.
142 @param mach Mach number */
143 void set_Mach_number(double mach);
145 /** Sets velocity in N-E-D coordinates.
146 Setting this will trigger a recalc of the other velocity terms.
147 @param north velocity northward in ft/sec
148 @param east velocity eastward in ft/sec
149 @param down velocity downward in ft/sec */
150 void set_Velocities_Local( double north, double east, double down );
152 /** Sets aircraft velocity in stability frame.
153 Setting this will trigger a recalc of the other velocity terms.
154 @param u X velocity in ft/sec
155 @param v Y velocity in ft/sec
156 @param w Z velocity in ft/sec */
157 void set_Velocities_Wind_Body( double u, double v, double w);
160 /** Euler Angle Parameter Set
161 @param phi roll angle in radians
162 @param theta pitch angle in radians
163 @param psi heading angle in radians */
164 void set_Euler_Angles( double phi, double theta, double psi );
166 /// @name Flight Path Parameter Set
168 /** Sets rate of climb
169 @param roc Rate of climb in ft/sec */
170 void set_Climb_Rate( double roc);
172 /** Sets the flight path angle in radians
173 @param gamma flight path angle in radians. */
174 void set_Gamma_vert_rad( double gamma);
178 /// @name Atmospheric Parameter Set
180 /** Sets the atmospheric static pressure
181 @param p pressure in psf */
182 // void set_Static_pressure(double p);
184 /** Sets the atmospheric temperature
185 @param T temperature in degrees rankine */
186 // void set_Static_temperature(double T);
188 /** Sets the atmospheric density.
189 @param rho air density slugs/cubic foot */
190 // void set_Density(double rho);
192 /** Sets the velocity of the local airmass for wind modeling.
193 @param wnorth velocity north in fps
194 @param weast velocity east in fps
195 @param wdown velocity down in fps*/
196 /// @name Position Parameter Update
200 /** Update the position based on inputs, positions, velocities, etc.
201 @param dt delta time in seconds. */
202 void update(double dt);
203 bool ToggleDataLogging(bool state);
204 bool ToggleDataLogging(void);
206 void update_ic(void);
208 bool get_agl_ft(double t, const double pt[3], double alt_off,
209 double contact[3], double normal[3], double vel[3],
210 double angularVel[3], double *agl);
212 JSBSim::FGFDMExec *fdmex;
213 JSBSim::FGInitialCondition *fgic;
216 JSBSim::FGAtmosphere* Atmosphere;
218 JSBSim::FGPropulsion* Propulsion;
219 JSBSim::FGMassBalance* MassBalance;
220 JSBSim::FGAircraft* Aircraft;
221 JSBSim::FGPropagate* Propagate;
222 JSBSim::FGAuxiliary* Auxiliary;
223 JSBSim::FGAerodynamics* Aerodynamics;
224 JSBSim::FGGroundReactions* GroundReactions;
225 JSBSim::FGInertial* Inertial;
229 double trim_throttle;
231 SGPropertyNode_ptr startup_trim;
232 SGPropertyNode_ptr trimmed;
233 SGPropertyNode_ptr pitch_trim;
234 SGPropertyNode_ptr throttle_trim;
235 SGPropertyNode_ptr aileron_trim;
236 SGPropertyNode_ptr rudder_trim;
237 SGPropertyNode_ptr stall_warning;
239 /* SGPropertyNode_ptr elevator_pos_deg;
240 SGPropertyNode_ptr left_aileron_pos_deg;
241 SGPropertyNode_ptr right_aileron_pos_deg;
242 SGPropertyNode_ptr rudder_pos_deg;
243 SGPropertyNode_ptr flap_pos_deg; */
246 SGPropertyNode_ptr elevator_pos_pct;
247 SGPropertyNode_ptr left_aileron_pos_pct;
248 SGPropertyNode_ptr right_aileron_pos_pct;
249 SGPropertyNode_ptr rudder_pos_pct;
250 SGPropertyNode_ptr flap_pos_pct;
251 SGPropertyNode_ptr speedbrake_pos_pct;
252 SGPropertyNode_ptr spoilers_pos_pct;
254 SGPropertyNode_ptr ab_brake_engaged;
255 SGPropertyNode_ptr ab_brake_left_pct;
256 SGPropertyNode_ptr ab_brake_right_pct;
258 SGPropertyNode_ptr gear_pos_pct;
259 SGPropertyNode_ptr wing_fold_pos_pct;
260 SGPropertyNode_ptr tailhook_pos_pct;
262 SGPropertyNode_ptr temperature;
263 SGPropertyNode_ptr pressure;
264 SGPropertyNode_ptr density;
265 SGPropertyNode_ptr turbulence_gain;
266 SGPropertyNode_ptr turbulence_rate;
268 SGPropertyNode_ptr wind_from_north;
269 SGPropertyNode_ptr wind_from_east;
270 SGPropertyNode_ptr wind_from_down;
272 SGPropertyNode_ptr slaved;
274 double last_hook_tip[3];
275 double last_hook_root[3];
276 JSBSim::FGColumnVector3 hook_root_struct;
282 void init_gear(void);
283 void update_gear(void);
285 void update_external_forces(double t_off);
290 #endif // _JSBSIM_HXX