src/FDM/JSBSim.cxx

   1 // JSBsim.cxx -- interface to the JSBsim flight model
   2 //
   3 // Written by Curtis Olson, started February 1999.
   4 //
   5 // Copyright (C) 1999  Curtis L. Olson  - curt@flightgear.org
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  11 //
  12 // This program is distributed in the hope that it will be useful, but
  13 // WITHOUT ANY WARRANTY; without even the implied warranty of
  14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  15 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  20 //
  21 // $Id$
  22
  23
  24 #include <simgear/compiler.h>
  25
  26 #ifdef SG_MATH_EXCEPTION_CLASH
  27 #  include <math.h>
  28 #endif
  29
  30 #include STL_STRING
  31
  32 #include <simgear/constants.h>
  33 #include <simgear/debug/logstream.hxx>
  34 #include <simgear/math/sg_geodesy.hxx>
  35 #include <simgear/misc/sg_path.hxx>
  36
  37 #include <Scenery/scenery.hxx>
  38
  39 #include <Aircraft/aircraft.hxx>
  40 #include <Controls/controls.hxx>
  41 #include <Main/globals.hxx>
  42 #include <Main/fg_props.hxx>
  43
  44 #include <FDM/JSBSim/FGFDMExec.h>
  45 #include <FDM/JSBSim/FGAircraft.h>
  46 #include <FDM/JSBSim/FGFCS.h>
  47 #include <FDM/JSBSim/FGPosition.h>
  48 #include <FDM/JSBSim/FGRotation.h>
  49 #include <FDM/JSBSim/FGState.h>
  50 #include <FDM/JSBSim/FGTranslation.h>
  51 #include <FDM/JSBSim/FGAuxiliary.h>
  52 #include <FDM/JSBSim/FGInitialCondition.h>
  53 #include <FDM/JSBSim/FGTrim.h>
  54 #include <FDM/JSBSim/FGAtmosphere.h>
  55 #include <FDM/JSBSim/FGMassBalance.h>
  56 #include <FDM/JSBSim/FGAerodynamics.h>
  57 #include <FDM/JSBSim/FGLGear.h>
  58 #include "JSBSim.hxx"
  59
  60 /******************************************************************************/
  61
  62 FGJSBsim::FGJSBsim( double dt )
  63   : FGInterface(dt)
  64 {
  65     bool result;
  66
  67     fdmex = new FGFDMExec;
  68
  69     State           = fdmex->GetState();
  70     Atmosphere      = fdmex->GetAtmosphere();
  71     FCS             = fdmex->GetFCS();
  72     MassBalance     = fdmex->GetMassBalance();
  73     Propulsion      = fdmex->GetPropulsion();
  74     Aircraft        = fdmex->GetAircraft();
  75     Translation     = fdmex->GetTranslation();
  76     Rotation        = fdmex->GetRotation();
  77     Position        = fdmex->GetPosition();
  78     Auxiliary       = fdmex->GetAuxiliary();
  79     Aerodynamics    = fdmex->GetAerodynamics();
  80     GroundReactions = fdmex->GetGroundReactions();
  81
  82
  83     Atmosphere->UseInternal();
  84
  85     fgic=new FGInitialCondition(fdmex);
  86     needTrim=true;
  87
  88     SGPath aircraft_path( globals->get_fg_root() );
  89     aircraft_path.append( "Aircraft" );
  90
  91     SGPath engine_path( globals->get_fg_root() );
  92     engine_path.append( "Engine" );
  93     set_delta_t( dt );
  94     State->Setdt( dt );
  95
  96     result = fdmex->LoadModel( aircraft_path.str(),
  97                                engine_path.str(),
  98                                fgGetString("/sim/aero") );
  99
 100     if (result) {
 101       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
 102     } else {
 103       SG_LOG( SG_FLIGHT, SG_INFO,
 104               "  aero does not exist (you may have mis-typed the name).");
 105       throw(-1);
 106     }
 107
 108     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 109     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 110     SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
 111
 112     int Neng = Propulsion->GetNumEngines();
 113     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
 114
 115     if ( GroundReactions->GetNumGearUnits() <= 0 ) {
 116         SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
 117                 << GroundReactions->GetNumGearUnits() );
 118         SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
 119          SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
 120          SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
 121          exit(-1);
 122     }
 123
 124
 125     init_gear();
 126
 127                                 // Set initial fuel levels if provided.
 128     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
 129       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 130       if (node->getChild("level-gal_us", 0, false) != 0)
 131         Propulsion->GetTank(i)
 132           ->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 133     }
 134
 135     fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
 136     fgSetDouble("/fdm/trim/throttle",   FCS->GetThrottleCmd(0));
 137     fgSetDouble("/fdm/trim/aileron",    FCS->GetDaCmd());
 138     fgSetDouble("/fdm/trim/rudder",     FCS->GetDrCmd());
 139
 140     startup_trim = fgGetNode("/sim/startup/trim", true);
 141
 142     trimmed = fgGetNode("/fdm/trim/trimmed", true);
 143     trimmed->setBoolValue(false);
 144
 145     pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
 146     throttle_trim = fgGetNode("/fdm/trim/throttle", true );
 147     aileron_trim = fgGetNode("/fdm/trim/aileron", true );
 148     rudder_trim = fgGetNode("/fdm/trim/rudder", true );
 149
 150
 151     stall_warning = fgGetNode("/sim/aero/alarms/stall-warning",true);
 152     stall_warning->setDoubleValue(0);
 153 }
 154
 155 /******************************************************************************/
 156 FGJSBsim::~FGJSBsim(void) {
 157     if (fdmex != NULL) {
 158         delete fdmex; fdmex=NULL;
 159         delete fgic; fgic=NULL;
 160     }
 161 }
 162
 163 /******************************************************************************/
 164
 165 // Initialize the JSBsim flight model, dt is the time increment for
 166 // each subsequent iteration through the EOM
 167
 168 void FGJSBsim::init() {
 169
 170     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 171
 172     // Explicitly call the superclass's
 173     // init method first.
 174     common_init();
 175
 176     fdmex->GetState()->Initialize(fgic);
 177     fdmex->RunIC(fgic); //loop JSBSim once w/o integrating
 178     // fdmex->Run();       //loop JSBSim once
 179     copy_from_JSBsim(); //update the bus
 180
 181     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 182
 183     switch(fgic->GetSpeedSet()) {
 184     case setned:
 185         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 186                << Position->GetVn() << ", "
 187                << Position->GetVe() << ", "
 188                << Position->GetVd() << " ft/s");
 189     break;
 190     case setuvw:
 191         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 192                << Translation->GetUVW(1) << ", "
 193                << Translation->GetUVW(2) << ", "
 194                << Translation->GetUVW(3) << " ft/s");
 195     break;
 196     case setmach:
 197         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 198                << Translation->GetMach() );
 199     break;
 200     case setvc:
 201     default:
 202         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 203                << Auxiliary->GetVcalibratedKTS() << " knots" );
 204     break;
 205     }
 206
 207     stall_warning->setDoubleValue(0);
 208
 209     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 210             <<  Rotation->Getphi()*RADTODEG << " deg" );
 211     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 212             << Rotation->Gettht()*RADTODEG << " deg" );
 213     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 214             << Rotation->Getpsi()*RADTODEG << " deg" );
 215     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 216             << Position->GetLatitude() << " deg" );
 217     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 218             << Position->GetLongitude() << " deg" );
 219     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 220         << Position->Geth() << " feet" );
 221     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 222
 223     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 224
 225     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 226
 227     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 228                                   globals->get_controls()->get_gear_down() );
 229
 230
 231
 232 }
 233
 234 /******************************************************************************/
 235
 236 // Run an iteration of the EOM (equations of motion)
 237
 238 void
 239 FGJSBsim::update( int multiloop ) {
 240
 241     int i;
 242
 243     // double save_alt = 0.0;
 244
 245     copy_to_JSBsim();
 246
 247     trimmed->setBoolValue(false);
 248
 249     if ( needTrim ) {
 250       if ( startup_trim->getBoolValue() ) {
 251         do_trim();
 252       } else {
 253         fdmex->RunIC(fgic);  //apply any changes made through the set_ functions
 254       }
 255       needTrim = false;
 256     }
 257
 258     for ( i=0; i < multiloop; i++ ) {
 259         fdmex->Run();
 260     }
 261
 262     FGJSBBase::Message* msg;
 263     while (fdmex->ReadMessage()) {
 264       msg = fdmex->ProcessMessage();
 265       switch (msg->type) {
 266       case FGJSBBase::Message::eText:
 267         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 268         break;
 269       case FGJSBBase::Message::eBool:
 270         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 271         break;
 272       case FGJSBBase::Message::eInteger:
 273         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 274         break;
 275       case FGJSBBase::Message::eDouble:
 276         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 277         break;
 278       default:
 279         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 280         break;
 281       }
 282     }
 283
 284     // translate JSBsim back to FG structure so that the
 285     // autopilot (and the rest of the sim can use the updated values
 286     copy_from_JSBsim();
 287 }
 288
 289 /******************************************************************************/
 290
 291 // Convert from the FGInterface struct to the JSBsim generic_ struct
 292
 293 bool FGJSBsim::copy_to_JSBsim() {
 294     unsigned int i;
 295
 296     // copy control positions into the JSBsim structure
 297
 298     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 299     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 300     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 301     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 302     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 303     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 304     FCS->SetDfCmd(  globals->get_controls()->get_flaps() );
 305     FCS->SetDsbCmd( 0.0 ); //speedbrakes
 306     FCS->SetDspCmd( 0.0 ); //spoilers
 307     FCS->SetLBrake( globals->get_controls()->get_brake( 0 ) );
 308     FCS->SetRBrake( globals->get_controls()->get_brake( 1 ) );
 309     FCS->SetCBrake( globals->get_controls()->get_brake( 2 ) );
 310     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 311     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 312       FGEngine * eng = Propulsion->GetEngine(i);
 313       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 314       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 315       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 316       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 317       Propulsion->GetThruster(i)->SetRPM(node->getDoubleValue("rpm"));
 318       eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 319       eng->SetStarter( globals->get_controls()->get_starter(i) );
 320     }
 321
 322     Position->SetSeaLevelRadius( get_Sea_level_radius() );
 323     Position->SetRunwayRadius( scenery.get_cur_elev()*SG_METER_TO_FEET
 324                                + get_Sea_level_radius() );
 325
 326     Atmosphere->SetExTemperature(get_Static_temperature());
 327     Atmosphere->SetExPressure(get_Static_pressure());
 328     Atmosphere->SetExDensity(get_Density());
 329     Atmosphere->SetWindNED(get_V_north_airmass(),
 330                            get_V_east_airmass(),
 331                            get_V_down_airmass());
 332 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 333 //                  << get_V_north_airmass() << ", "
 334 //                  << get_V_east_airmass()  << ", "
 335 //                  << get_V_down_airmass() );
 336
 337     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 338       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 339       FGTank * tank = Propulsion->GetTank(i);
 340       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 341 //       tank->SetContents(node->getDoubleValue("level-lb"));
 342     }
 343
 344     return true;
 345 }
 346
 347 /******************************************************************************/
 348
 349 // Convert from the JSBsim generic_ struct to the FGInterface struct
 350
 351 bool FGJSBsim::copy_from_JSBsim() {
 352     unsigned int i, j;
 353
 354     _set_Inertias( MassBalance->GetMass(),
 355                    MassBalance->GetIxx(),
 356                    MassBalance->GetIyy(),
 357                    MassBalance->GetIzz(),
 358                    MassBalance->GetIxz() );
 359
 360     _set_CG_Position( MassBalance->GetXYZcg(1),
 361                       MassBalance->GetXYZcg(2),
 362                       MassBalance->GetXYZcg(3) );
 363
 364     _set_Accels_Body( Aircraft->GetBodyAccel()(1),
 365                       Aircraft->GetBodyAccel()(2),
 366                       Aircraft->GetBodyAccel()(3) );
 367
 368     //_set_Accels_CG_Body( Aircraft->GetBodyAccel()(1),
 369     //                     Aircraft->GetBodyAccel()(2),
 370     //                     Aircraft->GetBodyAccel()(3) );
 371     //
 372     _set_Accels_CG_Body_N ( Aircraft->GetNcg()(1),
 373                             Aircraft->GetNcg()(2),
 374                             Aircraft->GetNcg()(3) );
 375
 376     _set_Accels_Pilot_Body( Auxiliary->GetNpilot()(1),
 377                             Auxiliary->GetNpilot()(2),
 378                             Auxiliary->GetNpilot()(3) );
 379
 380    // _set_Accels_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739,
 381    //                           Auxiliary->GetNpilot(2)/32.1739,
 382    //                           Auxiliary->GetNpilot(3)/32.1739 );
 383
 384     _set_Nlf( Aircraft->GetNlf() );
 385
 386     // Velocities
 387
 388     _set_Velocities_Local( Position->GetVn(),
 389                            Position->GetVe(),
 390                            Position->GetVd() );
 391
 392     _set_Velocities_Wind_Body( Translation->GetUVW(1),
 393                                Translation->GetUVW(2),
 394                                Translation->GetUVW(3) );
 395
 396     _set_V_rel_wind( Translation->GetVt() );
 397
 398     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 399
 400     // _set_V_calibrated( Auxiliary->GetVcalibratedFPS() );
 401
 402     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 403
 404     _set_V_ground_speed( Position->GetVground() );
 405
 406     _set_Omega_Body( Rotation->GetPQR(1),
 407                      Rotation->GetPQR(2),
 408                      Rotation->GetPQR(3) );
 409
 410     _set_Euler_Rates( Rotation->GetEulerRates(1),
 411                       Rotation->GetEulerRates(2),
 412                       Rotation->GetEulerRates(3) );
 413
 414     _set_Geocentric_Rates(Position->GetLatitudeDot(),
 415                           Position->GetLongitudeDot(),
 416                           Position->Gethdot() );
 417
 418     _set_Mach_number( Translation->GetMach() );
 419
 420     // Positions
 421     _updateGeocentricPosition( Position->GetLatitude(),
 422                                Position->GetLongitude(),
 423                                Position->Geth() );
 424
 425     _set_Altitude_AGL( Position->GetDistanceAGL() );
 426
 427     _set_Euler_Angles( Rotation->Getphi(),
 428                        Rotation->Gettht(),
 429                        Rotation->Getpsi() );
 430
 431     _set_Alpha( Translation->Getalpha() );
 432     _set_Beta( Translation->Getbeta() );
 433
 434
 435     _set_Gamma_vert_rad( Position->GetGamma() );
 436     // set_Gamma_horiz_rad( Gamma_horiz_rad );
 437
 438     _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
 439
 440     _set_Climb_Rate( Position->Gethdot() );
 441
 442
 443     for ( i = 1; i <= 3; i++ ) {
 444         for ( j = 1; j <= 3; j++ ) {
 445             _set_T_Local_to_Body( i, j, State->GetTl2b(i,j) );
 446         }
 447     }
 448
 449                                 // Copy the engine values from JSBSim.
 450     for( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 451       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 452       FGEngine * eng = Propulsion->GetEngine(i);
 453       FGThruster * thrust = Propulsion->GetThruster(i);
 454
 455       node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 456       node->setDoubleValue("rpm", thrust->GetRPM());
 457       node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 458       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 459       node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 460       node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 461       node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 462       node->setBoolValue("running", eng->GetRunning());
 463       node->setBoolValue("cranking", eng->GetCranking());
 464     }
 465
 466     static const SGPropertyNode *fuel_freeze
 467         = fgGetNode("/sim/freeze/fuel");
 468
 469                                 // Copy the fuel levels from JSBSim if fuel
 470                                 // freeze not enabled.
 471     if ( ! fuel_freeze->getBoolValue() ) {
 472         for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 473             SGPropertyNode * node
 474                 = fgGetNode("/consumables/fuel/tank", i, true);
 475             double contents = Propulsion->GetTank(i)->GetContents();
 476             node->setDoubleValue("level-gal_us", contents/6.6);
 477             // node->setDoubleValue("level-lb", contents);
 478         }
 479     }
 480
 481     update_gear();
 482
 483     stall_warning->setDoubleValue( Aircraft->GetStallWarn() );
 484
 485     return true;
 486 }
 487
 488 bool FGJSBsim::ToggleDataLogging(void) {
 489     return fdmex->GetOutput()->Toggle();
 490 }
 491
 492
 493 bool FGJSBsim::ToggleDataLogging(bool state) {
 494     if (state) {
 495       fdmex->GetOutput()->Enable();
 496       return true;
 497     } else {
 498       fdmex->GetOutput()->Disable();
 499       return false;
 500     }
 501 }
 502
 503
 504 //Positions
 505 void FGJSBsim::set_Latitude(double lat) {
 506     static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
 507     double alt;
 508     if ( altitude->getDoubleValue() > -9990 ) {
 509       alt = altitude->getDoubleValue();
 510     } else {
 511       alt = 0.0;
 512     }
 513
 514     double sea_level_radius_meters, lat_geoc;
 515
 516     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 517     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 518
 519     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sea_level_radius_meters, &lat_geoc );
 520
 521     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 522     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 523     fgic->SetLatitudeRadIC( lat_geoc );
 524     needTrim=true;
 525 }
 526
 527 void FGJSBsim::set_Longitude(double lon) {
 528
 529     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 530
 531     fgic->SetLongitudeRadIC( lon );
 532     needTrim=true;
 533 }
 534
 535 void FGJSBsim::set_Altitude(double alt) {
 536     static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
 537
 538     double sea_level_radius_meters,lat_geoc;
 539
 540     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
 541     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
 542
 543     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
 544       &sea_level_radius_meters, &lat_geoc);
 545     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 546     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
 547     fgic->SetLatitudeRadIC( lat_geoc );
 548     fgic->SetAltitudeFtIC(alt);
 549     needTrim=true;
 550 }
 551
 552 void FGJSBsim::set_V_calibrated_kts(double vc) {
 553     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
 554
 555     fgic->SetVcalibratedKtsIC(vc);
 556     needTrim=true;
 557 }
 558
 559 void FGJSBsim::set_Mach_number(double mach) {
 560     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
 561
 562     fgic->SetMachIC(mach);
 563     needTrim=true;
 564 }
 565
 566 void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
 567     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
 568        << north << ", " <<  east << ", " << down );
 569
 570     fgic->SetVnorthFpsIC(north);
 571     fgic->SetVeastFpsIC(east);
 572     fgic->SetVdownFpsIC(down);
 573     needTrim=true;
 574 }
 575
 576 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){
 577     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
 578        << u << ", " <<  v << ", " <<  w );
 579
 580     fgic->SetUBodyFpsIC(u);
 581     fgic->SetVBodyFpsIC(v);
 582     fgic->SetWBodyFpsIC(w);
 583     needTrim=true;
 584 }
 585
 586 //Euler angles
 587 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
 588     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
 589        << phi << ", " << theta << ", " << psi );
 590
 591     fgic->SetPitchAngleRadIC(theta);
 592     fgic->SetRollAngleRadIC(phi);
 593     fgic->SetTrueHeadingRadIC(psi);
 594     needTrim=true;
 595 }
 596
 597 //Flight Path
 598 void FGJSBsim::set_Climb_Rate( double roc) {
 599     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
 600
 601     fgic->SetClimbRateFpsIC(roc);
 602     needTrim=true;
 603 }
 604
 605 void FGJSBsim::set_Gamma_vert_rad( double gamma) {
 606     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
 607
 608     fgic->SetFlightPathAngleRadIC(gamma);
 609     needTrim=true;
 610 }
 611
 612 //Earth
 613 void FGJSBsim::set_Sea_level_radius(double slr) {
 614     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Sea_level_radius: " << slr );
 615
 616     fgic->SetSeaLevelRadiusFtIC(slr);
 617     needTrim=true;
 618 }
 619
 620 void FGJSBsim::set_Runway_altitude(double ralt) {
 621     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Runway_altitude: " << ralt );
 622
 623     _set_Runway_altitude( ralt );
 624     fgic->SetTerrainAltitudeFtIC( ralt );
 625     needTrim=true;
 626 }
 627
 628 void FGJSBsim::set_Static_pressure(double p) {
 629     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_pressure: " << p );
 630
 631     Atmosphere->SetExPressure(p);
 632     if(Atmosphere->External() == true)
 633     needTrim=true;
 634 }
 635
 636 void FGJSBsim::set_Static_temperature(double T) {
 637     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_temperature: " << T );
 638
 639     Atmosphere->SetExTemperature(T);
 640     if(Atmosphere->External() == true)
 641     needTrim=true;
 642 }
 643
 644
 645 void FGJSBsim::set_Density(double rho) {
 646     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Density: " << rho );
 647
 648     Atmosphere->SetExDensity(rho);
 649     if(Atmosphere->External() == true)
 650     needTrim=true;
 651 }
 652
 653 void FGJSBsim::set_Velocities_Local_Airmass (double wnorth,
 654                          double weast,
 655                          double wdown ) {
 656     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local_Airmass: "
 657        << wnorth << ", " << weast << ", " << wdown );
 658
 659     _set_Velocities_Local_Airmass( wnorth, weast, wdown );
 660     Atmosphere->SetWindNED(wnorth, weast, wdown );
 661     if(Atmosphere->External() == true)
 662         needTrim=true;
 663 }
 664
 665 void FGJSBsim::init_gear(void ) {
 666
 667     FGGroundReactions* gr=fdmex->GetGroundReactions();
 668     int Ngear=GroundReactions->GetNumGearUnits();
 669     for (int i=0;i<Ngear;i++) {
 670       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 671       node->setDoubleValue("xoffset-in",
 672                            gr->GetGearUnit(i)->GetBodyLocation()(1));
 673       node->setDoubleValue("yoffset-in",
 674                            gr->GetGearUnit(i)->GetBodyLocation()(2));
 675       node->setDoubleValue("zoffset-in",
 676                            gr->GetGearUnit(i)->GetBodyLocation()(3));
 677       node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW());
 678       node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0);
 679       node->setDoubleValue("position", FCS->GetGearPos());
 680     }
 681 }
 682
 683 void FGJSBsim::update_gear(void) {
 684
 685     FGGroundReactions* gr=fdmex->GetGroundReactions();
 686     int Ngear=GroundReactions->GetNumGearUnits();
 687     for (int i=0;i<Ngear;i++) {
 688       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 689       node->getChild("wow", 0, true)
 690         ->setBoolValue(gr->GetGearUnit(i)->GetWOW());
 691       node->getChild("position", 0, true)
 692         ->setDoubleValue(FCS->GetGearPos());
 693     }
 694 }
 695
 696 void FGJSBsim::do_trim(void) {
 697
 698         FGTrim *fgtrim;
 699         if(fgic->GetVcalibratedKtsIC() < 10 ) {
 700             fgic->SetVcalibratedKtsIC(0.0);
 701             fgtrim=new FGTrim(fdmex,fgic,tGround);
 702         } else {
 703             fgtrim=new FGTrim(fdmex,fgic,tLongitudinal);
 704         }
 705         if( !fgtrim->DoTrim() ) {
 706             fgtrim->Report();
 707             fgtrim->TrimStats();
 708         } else {
 709             trimmed->setBoolValue(true);
 710         }
 711         State->ReportState();
 712         delete fgtrim;
 713         pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
 714         throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
 715         aileron_trim->setDoubleValue( FCS->GetDaCmd() );
 716         rudder_trim->setDoubleValue( FCS->GetDrCmd() );
 717
 718         globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
 719         globals->get_controls()->set_elevator(FCS->GetDeCmd());
 720         globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
 721                                               FCS->GetThrottleCmd(0));
 722
 723         globals->get_controls()->set_aileron(FCS->GetDaCmd());
 724         globals->get_controls()->set_rudder( FCS->GetDrCmd());
 725
 726         SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
 727 }