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