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 /// Unbind properties
116 /// Suspend integration
119 /// Resume integration
122 /// @name Position Parameter Set
124 /** Set geocentric latitude
125 @param lat latitude in radians measured from the 0 meridian where
126 the westerly direction is positive and east is negative */
127 void set_Latitude(double lat); // geocentric
130 @param lon longitude in radians measured from the equator where
131 the northerly direction is positive and south is negative */
132 void set_Longitude(double lon);
135 Note: this triggers a recalculation of AGL altitude
136 @param alt altitude in feet */
137 void set_Altitude(double alt); // triggers re-calc of AGL altitude
140 //void set_AltitudeAGL(double altagl); // and vice-versa
142 /// @name Velocity Parameter Set
144 /** Sets calibrated airspeed
145 Setting this will trigger a recalc of the other velocity terms.
146 @param vc Calibrated airspeed in ft/sec */
147 void set_V_calibrated_kts(double vc);
149 /** Sets Mach number.
150 Setting this will trigger a recalc of the other velocity terms.
151 @param mach Mach number */
152 void set_Mach_number(double mach);
154 /** Sets velocity in N-E-D coordinates.
155 Setting this will trigger a recalc of the other velocity terms.
156 @param north velocity northward in ft/sec
157 @param east velocity eastward in ft/sec
158 @param down velocity downward in ft/sec */
159 void set_Velocities_Local( double north, double east, double down );
161 /** Sets aircraft velocity in stability frame.
162 Setting this will trigger a recalc of the other velocity terms.
163 @param u X velocity in ft/sec
164 @param v Y velocity in ft/sec
165 @param w Z velocity in ft/sec */
166 void set_Velocities_Wind_Body( double u, double v, double w);
169 /** Euler Angle Parameter Set
170 @param phi roll angle in radians
171 @param theta pitch angle in radians
172 @param psi heading angle in radians */
173 void set_Euler_Angles( double phi, double theta, double psi );
175 /// @name Flight Path Parameter Set
177 /** Sets rate of climb
178 @param roc Rate of climb in ft/sec */
179 void set_Climb_Rate( double roc);
181 /** Sets the flight path angle in radians
182 @param gamma flight path angle in radians. */
183 void set_Gamma_vert_rad( double gamma);
187 /// @name Atmospheric Parameter Set
189 /** Sets the atmospheric static pressure
190 @param p pressure in psf */
191 // void set_Static_pressure(double p);
193 /** Sets the atmospheric temperature
194 @param T temperature in degrees rankine */
195 // void set_Static_temperature(double T);
197 /** Sets the atmospheric density.
198 @param rho air density slugs/cubic foot */
199 // void set_Density(double rho);
201 /** Sets the velocity of the local airmass for wind modeling.
202 @param wnorth velocity north in fps
203 @param weast velocity east in fps
204 @param wdown velocity down in fps*/
205 /// @name Position Parameter Update
209 /** Update the position based on inputs, positions, velocities, etc.
210 @param dt delta time in seconds. */
211 void update(double dt);
212 bool ToggleDataLogging(bool state);
213 bool ToggleDataLogging(void);
215 void update_ic(void);
217 bool get_agl_ft(double t, const double pt[3], double alt_off,
218 double contact[3], double normal[3], double vel[3],
219 double angularVel[3], double *agl);
221 JSBSim::FGFDMExec *fdmex;
222 JSBSim::FGInitialCondition *fgic;
225 JSBSim::FGAtmosphere* Atmosphere;
227 JSBSim::FGPropulsion* Propulsion;
228 JSBSim::FGMassBalance* MassBalance;
229 JSBSim::FGAircraft* Aircraft;
230 JSBSim::FGPropagate* Propagate;
231 JSBSim::FGAuxiliary* Auxiliary;
232 JSBSim::FGAerodynamics* Aerodynamics;
233 JSBSim::FGGroundReactions* GroundReactions;
234 JSBSim::FGInertial* Inertial;
238 double trim_throttle;
240 SGPropertyNode_ptr startup_trim;
241 SGPropertyNode_ptr trimmed;
242 SGPropertyNode_ptr pitch_trim;
243 SGPropertyNode_ptr throttle_trim;
244 SGPropertyNode_ptr aileron_trim;
245 SGPropertyNode_ptr rudder_trim;
246 SGPropertyNode_ptr stall_warning;
248 /* SGPropertyNode_ptr elevator_pos_deg;
249 SGPropertyNode_ptr left_aileron_pos_deg;
250 SGPropertyNode_ptr right_aileron_pos_deg;
251 SGPropertyNode_ptr rudder_pos_deg;
252 SGPropertyNode_ptr flap_pos_deg; */
255 SGPropertyNode_ptr elevator_pos_pct;
256 SGPropertyNode_ptr left_aileron_pos_pct;
257 SGPropertyNode_ptr right_aileron_pos_pct;
258 SGPropertyNode_ptr rudder_pos_pct;
259 SGPropertyNode_ptr flap_pos_pct;
260 SGPropertyNode_ptr speedbrake_pos_pct;
261 SGPropertyNode_ptr spoilers_pos_pct;
263 SGPropertyNode_ptr ab_brake_engaged;
264 SGPropertyNode_ptr ab_brake_left_pct;
265 SGPropertyNode_ptr ab_brake_right_pct;
267 SGPropertyNode_ptr gear_pos_pct;
268 SGPropertyNode_ptr wing_fold_pos_pct;
269 SGPropertyNode_ptr tailhook_pos_pct;
271 SGPropertyNode_ptr temperature;
272 SGPropertyNode_ptr pressure;
273 SGPropertyNode_ptr density;
274 SGPropertyNode_ptr ground_wind;
275 SGPropertyNode_ptr turbulence_gain;
276 SGPropertyNode_ptr turbulence_rate;
277 SGPropertyNode_ptr turbulence_model;
279 SGPropertyNode_ptr wind_from_north;
280 SGPropertyNode_ptr wind_from_east;
281 SGPropertyNode_ptr wind_from_down;
283 SGPropertyNode_ptr slaved;
285 static std::map<std::string,int> TURBULENCE_TYPE_NAMES;
287 double last_hook_tip[3];
288 double last_hook_root[3];
289 JSBSim::FGColumnVector3 hook_root_struct;
295 void init_gear(void);
296 void update_gear(void);
298 void update_external_forces(double t_off);
302 #endif // _JSBSIM_HXX