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