1 // JSBsim.cxx -- interface to the JSBsim flight model
3 // Written by Curtis Olson, started February 1999.
5 // Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
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.
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.
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.
24 #include <simgear/compiler.h>
26 #ifdef SG_MATH_EXCEPTION_CLASH
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>
37 #include <Scenery/scenery.hxx>
39 #include <Aircraft/aircraft.hxx>
40 #include <Controls/controls.hxx>
41 #include <Main/globals.hxx>
42 #include <Main/fg_props.hxx>
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/FGDefs.h>
53 #include <FDM/JSBSim/FGInitialCondition.h>
54 #include <FDM/JSBSim/FGTrim.h>
55 #include <FDM/JSBSim/FGAtmosphere.h>
59 /******************************************************************************/
61 FGJSBsim::FGJSBsim( double dt )
67 fgic=new FGInitialCondition(fdmex);
70 SGPath aircraft_path( globals->get_fg_root() );
71 aircraft_path.append( "Aircraft" );
73 SGPath engine_path( globals->get_fg_root() );
74 engine_path.append( "Engine" );
76 fdmex->GetState()->Setdt( dt );
78 result = fdmex->LoadModel( aircraft_path.str(),
80 fgGetString("/sim/aircraft") );
81 int Neng=fdmex->GetPropulsion()->GetNumEngines();
82 // int Neng=fdmex->GetAircraft()->GetNumEngines();
83 SG_LOG(SG_FLIGHT,SG_INFO, "Neng: " << Neng );
84 for(int i=0;i<Neng;i++) {
85 add_engine( FGEngInterface() );
88 fgSetDouble("/fdm/trim/pitch-trim", fdmex->GetFCS()->GetPitchTrimCmd());
89 fgSetDouble("/fdm/trim/throttle", fdmex->GetFCS()->GetThrottleCmd(0));
90 fgSetDouble("/fdm/trim/aileron", fdmex->GetFCS()->GetDaCmd());
91 fgSetDouble("/fdm/trim/rudder", fdmex->GetFCS()->GetDrCmd());
93 trimmed = fgGetValue("/fdm/trim/trimmed",true);
94 trimmed->setBoolValue(false);
98 /******************************************************************************/
99 FGJSBsim::~FGJSBsim(void) {
106 /******************************************************************************/
108 // Initialize the JSBsim flight model, dt is the time increment for
109 // each subsequent iteration through the EOM
111 void FGJSBsim::init() {
115 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
118 SGPath aircraft_path( globals->get_fg_root() );
119 aircraft_path.append( "Aircraft" );
121 SGPath engine_path( globals->get_fg_root() );
122 engine_path.append( "Engine" );
124 fdmex->GetState()->Setdt( get_delta_t() );
126 result = fdmex->LoadModel( aircraft_path.str(),
128 fgGetString("/sim/aircraft") );
131 SG_LOG( SG_FLIGHT, SG_INFO, " loaded aircraft " << fgGetString("/sim/aircraft") );
133 SG_LOG( SG_FLIGHT, SG_INFO, " aircraft "
134 << fgGetString("/sim/aircraft")
135 << " does not exist" );
140 fdmex->GetAtmosphere()->UseInternal();
142 SG_LOG( SG_FLIGHT, SG_INFO, " Initializing JSBSim with:" );
143 switch(fgic->GetSpeedSet()) {
145 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
146 << fdmex->GetPosition()->GetVn()
147 << ", " << fdmex->GetPosition()->GetVe()
148 << ", " << fdmex->GetPosition()->GetVd()
152 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
153 << fdmex->GetTranslation()->GetUVW()(1)
154 << ", " << fdmex->GetTranslation()->GetUVW()(2)
155 << ", " << fdmex->GetTranslation()->GetUVW()(3)
159 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
160 << fdmex->GetTranslation()->GetMach() );
164 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
165 << fdmex->GetAuxiliary()->GetVcalibratedKTS() << " knots" );
169 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
170 << fdmex->GetRotation()->Getphi()*RADTODEG << " deg");
171 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
172 << fdmex->GetRotation()->Gettht()*RADTODEG << " deg" );
173 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
174 << fdmex->GetRotation()->Getpsi()*RADTODEG << " deg" );
175 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
176 << fdmex->GetPosition()->GetLatitude() << " deg" );
177 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
178 << fdmex->GetPosition()->GetLongitude() << " deg" );
181 /* SG_LOG( SG_FLIGHT, SG_DEBUG, " FGJSBSim::get_Altitude(): " << get_Altitude() );
182 SG_LOG( SG_FLIGHT, SG_DEBUG, " FGJSBSim::get_Sea_level_radius(): " << get_Sea_level_radius() );
183 SG_LOG( SG_FLIGHT, SG_DEBUG, " scenery.cur_radius*SG_METER_TO_FEET: "
184 << scenery.cur_radius*SG_METER_TO_FEET );
185 SG_LOG( SG_FLIGHT, SG_DEBUG, " Calculated Terrain ASL: " << endl
186 << " " << "scenery.cur_radius*SG_METER_TO_FEET -get_Sea_level_radius()= "
187 << scenery.cur_radius*SG_METER_TO_FEET - get_Sea_level_radius() );
189 SG_LOG( SG_FLIGHT, SG_DEBUG, " Calculated Aircraft AGL: " << endl
190 << " " << "get_Altitude() + get_Sea_level_radius() - scenery.cur_radius*SG_METER_TO_FEET= "
191 << get_Altitude() + get_Sea_level_radius()- scenery.cur_radius*SG_METER_TO_FEET );
192 SG_LOG( SG_FLIGHT, SG_DEBUG, " fgGetDouble("/position/altitude"): "
193 << fgGetDouble("/position/altitude") );
194 SG_LOG( SG_FLIGHT, SG_DEBUG, " FGBFI::getAltitude(): "
195 << FGBFI::getAltitude() ); */
198 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
200 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
202 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
205 /******************************************************************************/
207 // Run an iteration of the EOM (equations of motion)
209 bool FGJSBsim::update( int multiloop ) {
213 double save_alt = 0.0;
218 trimmed->setBoolValue(false);
220 if(needTrim && fgGetBool("/sim/startup/trim")) {
221 //fgic->SetSeaLevelRadiusFtIC( get_Sea_level_radius() );
222 //fgic->SetTerrainAltitudeFtIC( scenery.cur_elev * SG_METER_TO_FEET );
224 if(fgic->GetVcalibratedKtsIC() < 10 ) {
225 fgic->SetVcalibratedKtsIC(0.0);
226 fgtrim=new FGTrim(fdmex,fgic,tGround);
228 fgtrim=new FGTrim(fdmex,fgic,tLongitudinal);
230 if(!fgtrim->DoTrim()) {
234 trimmed->setBoolValue(true);
236 fgtrim->ReportState();
241 fgSetDouble("/fdm/trim/pitch-trim", fdmex->GetFCS()->GetPitchTrimCmd());
242 fgSetDouble("/fdm/trim/throttle", fdmex->GetFCS()->GetThrottleCmd(0));
243 fgSetDouble("/fdm/trim/aileron", fdmex->GetFCS()->GetDaCmd());
244 fgSetDouble("/fdm/trim/rudder", fdmex->GetFCS()->GetDrCmd());
246 controls.set_elevator_trim(fdmex->GetFCS()->GetPitchTrimCmd());
247 controls.set_elevator(fdmex->GetFCS()->GetDeCmd());
248 controls.set_throttle(FGControls::ALL_ENGINES,
249 fdmex->GetFCS()->GetThrottleCmd(0));
251 controls.set_aileron(fdmex->GetFCS()->GetDaCmd());
252 controls.set_rudder(fdmex->GetFCS()->GetDrCmd());
254 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
257 for( i=0; i<get_num_engines(); i++ ) {
258 get_engine(i)->set_RPM( controls.get_throttle(i)*2700 );
259 get_engine(i)->set_Throttle( controls.get_throttle(i) );
263 for ( i = 0; i < multiloop; i++ ) {
267 // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
268 // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
270 // translate JSBsim back to FG structure so that the
271 // autopilot (and the rest of the sim can use the updated values
277 // but lets restore our original bogus altitude when we are done
281 //climb rate now set from FDM in copy_from_x()
285 /******************************************************************************/
287 // Convert from the FGInterface struct to the JSBsim generic_ struct
289 bool FGJSBsim::copy_to_JSBsim() {
290 // copy control positions into the JSBsim structure
292 fdmex->GetFCS()->SetDaCmd( controls.get_aileron());
293 fdmex->GetFCS()->SetDeCmd( controls.get_elevator());
294 fdmex->GetFCS()->SetPitchTrimCmd(controls.get_elevator_trim());
295 fdmex->GetFCS()->SetDrCmd( -1*controls.get_rudder());
296 fdmex->GetFCS()->SetDfCmd( controls.get_flaps() );
297 fdmex->GetFCS()->SetDsbCmd( 0.0 ); //speedbrakes
298 fdmex->GetFCS()->SetDspCmd( 0.0 ); //spoilers
299 fdmex->GetFCS()->SetThrottleCmd( FGControls::ALL_ENGINES,
300 controls.get_throttle( 0 ));
301 fdmex->GetFCS()->SetLBrake( controls.get_brake( 0 ) );
302 fdmex->GetFCS()->SetRBrake( controls.get_brake( 1 ) );
303 fdmex->GetFCS()->SetCBrake( controls.get_brake( 2 ) );
305 fdmex->GetPosition()->SetSeaLevelRadius( get_Sea_level_radius() );
306 fdmex->GetPosition()->SetRunwayRadius( scenery.cur_elev*SG_METER_TO_FEET
307 + get_Sea_level_radius() );
309 fdmex->GetAtmosphere()->SetExTemperature(get_Static_temperature());
310 fdmex->GetAtmosphere()->SetExPressure(get_Static_pressure());
311 fdmex->GetAtmosphere()->SetExDensity(get_Density());
312 fdmex->GetAtmosphere()->SetWindNED(get_V_north_airmass(),
313 get_V_east_airmass(),
314 get_V_down_airmass());
319 /******************************************************************************/
321 // Convert from the JSBsim generic_ struct to the FGInterface struct
323 bool FGJSBsim::copy_from_JSBsim() {
326 _set_Inertias( fdmex->GetAircraft()->GetMass(),
327 fdmex->GetAircraft()->GetIxx(),
328 fdmex->GetAircraft()->GetIyy(),
329 fdmex->GetAircraft()->GetIzz(),
330 fdmex->GetAircraft()->GetIxz() );
332 _set_CG_Position( fdmex->GetAircraft()->GetXYZcg()(1),
333 fdmex->GetAircraft()->GetXYZcg()(2),
334 fdmex->GetAircraft()->GetXYZcg()(3) );
336 _set_Accels_Body( fdmex->GetTranslation()->GetUVWdot()(1),
337 fdmex->GetTranslation()->GetUVWdot()(2),
338 fdmex->GetTranslation()->GetUVWdot()(3) );
340 _set_Accels_CG_Body( fdmex->GetTranslation()->GetUVWdot()(1),
341 fdmex->GetTranslation()->GetUVWdot()(2),
342 fdmex->GetTranslation()->GetUVWdot()(3) );
344 //_set_Accels_CG_Body_N ( fdmex->GetTranslation()->GetNcg()(1),
345 // fdmex->GetTranslation()->GetNcg()(2),
346 // fdmex->GetTranslation()->GetNcg()(3) );
348 _set_Accels_Pilot_Body( fdmex->GetAuxiliary()->GetPilotAccel()(1),
349 fdmex->GetAuxiliary()->GetPilotAccel()(2),
350 fdmex->GetAuxiliary()->GetPilotAccel()(3) );
352 //_set_Accels_Pilot_Body_N( fdmex->GetAuxiliary()->GetNpilot()(1),
353 // fdmex->GetAuxiliary()->GetNpilot()(2),
354 // fdmex->GetAuxiliary()->GetNpilot()(3) );
356 _set_Nlf( fdmex->GetAircraft()->GetNlf() );
360 _set_Velocities_Local( fdmex->GetPosition()->GetVn(),
361 fdmex->GetPosition()->GetVe(),
362 fdmex->GetPosition()->GetVd() );
364 _set_Velocities_Wind_Body( fdmex->GetTranslation()->GetUVW()(1),
365 fdmex->GetTranslation()->GetUVW()(2),
366 fdmex->GetTranslation()->GetUVW()(3) );
368 _set_V_rel_wind( fdmex->GetTranslation()->GetVt() );
370 _set_V_equiv_kts( fdmex->GetAuxiliary()->GetVequivalentKTS() );
372 // _set_V_calibrated( fdmex->GetAuxiliary()->GetVcalibratedFPS() );
374 _set_V_calibrated_kts( fdmex->GetAuxiliary()->GetVcalibratedKTS() );
376 _set_V_ground_speed( fdmex->GetPosition()->GetVground() );
378 _set_Omega_Body( fdmex->GetRotation()->GetPQR()(1),
379 fdmex->GetRotation()->GetPQR()(2),
380 fdmex->GetRotation()->GetPQR()(3) );
382 _set_Euler_Rates( fdmex->GetRotation()->GetEulerRates()(1),
383 fdmex->GetRotation()->GetEulerRates()(2),
384 fdmex->GetRotation()->GetEulerRates()(3) );
386 _set_Geocentric_Rates(fdmex->GetPosition()->GetLatitudeDot(),
387 fdmex->GetPosition()->GetLongitudeDot(),
388 fdmex->GetPosition()->Gethdot() );
390 _set_Mach_number( fdmex->GetTranslation()->GetMach() );
393 _updatePosition( fdmex->GetPosition()->GetLatitude(),
394 fdmex->GetPosition()->GetLongitude(),
395 fdmex->GetPosition()->Geth() );
397 _set_Euler_Angles( fdmex->GetRotation()->Getphi(),
398 fdmex->GetRotation()->Gettht(),
399 fdmex->GetRotation()->Getpsi() );
401 _set_Alpha( fdmex->GetTranslation()->Getalpha() );
402 _set_Beta( fdmex->GetTranslation()->Getbeta() );
405 _set_Gamma_vert_rad( fdmex->GetPosition()->GetGamma() );
406 // set_Gamma_horiz_rad( Gamma_horiz_rad );
408 _set_Earth_position_angle( fdmex->GetAuxiliary()->GetEarthPositionAngle() );
410 _set_Climb_Rate( fdmex->GetPosition()->Gethdot() );
413 for ( i = 1; i <= 3; i++ ) {
414 for ( j = 1; j <= 3; j++ ) {
415 _set_T_Local_to_Body( i, j, fdmex->GetState()->GetTl2b()(i,j) );
421 void FGJSBsim::snap_shot(void) {
422 fgic->SetLatitudeRadIC(get_Lat_geocentric() );
423 fgic->SetLongitudeRadIC( get_Longitude() );
424 fgic->SetAltitudeFtIC( get_Altitude() );
425 fgic->SetTerrainAltitudeFtIC( get_Runway_altitude() );
426 fgic->SetVtrueFpsIC( get_V_rel_wind() );
427 fgic->SetPitchAngleRadIC( get_Theta() );
428 fgic->SetRollAngleRadIC( get_Phi() );
429 fgic->SetTrueHeadingRadIC( get_Psi() );
430 fgic->SetClimbRateFpsIC( get_Climb_Rate() );
435 void FGJSBsim::set_Latitude(double lat) {
436 double sea_level_radius_meters,lat_geoc;
438 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
441 sgGeodToGeoc( lat, get_Altitude() , &sea_level_radius_meters, &lat_geoc);
442 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
443 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
444 fgic->SetLatitudeRadIC( lat_geoc );
445 fdmex->RunIC(fgic); //loop JSBSim once
446 copy_from_JSBsim(); //update the bus
450 void FGJSBsim::set_Longitude(double lon) {
452 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
455 fgic->SetLongitudeRadIC(lon);
456 fdmex->RunIC(fgic); //loop JSBSim once
457 copy_from_JSBsim(); //update the bus
461 void FGJSBsim::set_Altitude(double alt) {
462 double sea_level_radius_meters,lat_geoc;
464 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
467 sgGeodToGeoc( get_Latitude(), alt , &sea_level_radius_meters, &lat_geoc);
468 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
469 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
470 fgic->SetLatitudeRadIC( lat_geoc );
471 fgic->SetAltitudeFtIC(alt);
472 fdmex->RunIC(fgic); //loop JSBSim once
473 copy_from_JSBsim(); //update the bus
477 void FGJSBsim::set_V_calibrated_kts(double vc) {
478 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
481 fgic->SetVcalibratedKtsIC(vc);
482 fdmex->RunIC(fgic); //loop JSBSim once
483 copy_from_JSBsim(); //update the bus
487 void FGJSBsim::set_Mach_number(double mach) {
488 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
491 fgic->SetMachIC(mach);
492 fdmex->RunIC(fgic); //loop JSBSim once
493 copy_from_JSBsim(); //update the bus
497 void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
498 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
499 << north << ", " << east << ", " << down );
502 fgic->SetVnorthFpsIC(north);
503 fgic->SetVeastFpsIC(east);
504 fgic->SetVdownFpsIC(down);
505 fdmex->RunIC(fgic); //loop JSBSim once
506 copy_from_JSBsim(); //update the bus
510 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){
511 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
512 << u << ", " << v << ", " << w );
515 fgic->SetUBodyFpsIC(u);
516 fgic->SetVBodyFpsIC(v);
517 fgic->SetWBodyFpsIC(w);
518 fdmex->RunIC(fgic); //loop JSBSim once
519 copy_from_JSBsim(); //update the bus
524 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
525 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
526 << phi << ", " << theta << ", " << psi );
529 fgic->SetPitchAngleRadIC(theta);
530 fgic->SetRollAngleRadIC(phi);
531 fgic->SetTrueHeadingRadIC(psi);
532 fdmex->RunIC(fgic); //loop JSBSim once
533 copy_from_JSBsim(); //update the bus
538 void FGJSBsim::set_Climb_Rate( double roc) {
539 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
542 fgic->SetClimbRateFpsIC(roc);
543 fdmex->RunIC(fgic); //loop JSBSim once
544 copy_from_JSBsim(); //update the bus
548 void FGJSBsim::set_Gamma_vert_rad( double gamma) {
549 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
552 fgic->SetFlightPathAngleRadIC(gamma);
553 fdmex->RunIC(fgic); //loop JSBSim once
554 copy_from_JSBsim(); //update the bus
559 void FGJSBsim::set_Sea_level_radius(double slr) {
560 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Sea_level_radius: " << slr );
563 fgic->SetSeaLevelRadiusFtIC(slr);
564 fdmex->RunIC(fgic); //loop JSBSim once
565 copy_from_JSBsim(); //update the bus
569 void FGJSBsim::set_Runway_altitude(double ralt) {
570 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Runway_altitude: " << ralt );
573 _set_Runway_altitude( ralt );
574 fgic->SetTerrainAltitudeFtIC( ralt );
575 fdmex->RunIC(fgic); //loop JSBSim once
576 copy_from_JSBsim(); //update the bus
580 void FGJSBsim::set_Static_pressure(double p) {
581 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_pressure: " << p );
584 fdmex->GetAtmosphere()->SetExPressure(p);
585 if(fdmex->GetAtmosphere()->External() == true)
589 void FGJSBsim::set_Static_temperature(double T) {
590 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_temperature: " << T );
593 fdmex->GetAtmosphere()->SetExTemperature(T);
594 if(fdmex->GetAtmosphere()->External() == true)
599 void FGJSBsim::set_Density(double rho) {
600 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Density: " << rho );
603 fdmex->GetAtmosphere()->SetExDensity(rho);
604 if(fdmex->GetAtmosphere()->External() == true)
609 void FGJSBsim::set_Velocities_Local_Airmass (double wnorth,
612 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local_Airmass: "
613 << wnorth << ", " << weast << ", " << wdown );
616 fdmex->GetAtmosphere()->SetWindNED(wnorth, weast, wdown );
617 if(fdmex->GetAtmosphere()->External() == true)