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() {
112 // Explicitly call the superclass's
113 // init method first.
118 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
120 fdmex->GetAtmosphere()->UseInternal();
122 SG_LOG( SG_FLIGHT, SG_INFO, " Initializing JSBSim with:" );
123 switch(fgic->GetSpeedSet()) {
125 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
126 << fdmex->GetPosition()->GetVn()
127 << ", " << fdmex->GetPosition()->GetVe()
128 << ", " << fdmex->GetPosition()->GetVd()
132 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
133 << fdmex->GetTranslation()->GetUVW()(1)
134 << ", " << fdmex->GetTranslation()->GetUVW()(2)
135 << ", " << fdmex->GetTranslation()->GetUVW()(3)
139 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
140 << fdmex->GetTranslation()->GetMach() );
144 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
145 << fdmex->GetAuxiliary()->GetVcalibratedKTS() << " knots" );
149 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
150 << fdmex->GetRotation()->Getphi()*RADTODEG << " deg");
151 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
152 << fdmex->GetRotation()->Gettht()*RADTODEG << " deg" );
153 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
154 << fdmex->GetRotation()->Getpsi()*RADTODEG << " deg" );
155 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
156 << fdmex->GetPosition()->GetLatitude() << " deg" );
157 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
158 << fdmex->GetPosition()->GetLongitude() << " deg" );
160 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
162 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
164 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
167 /******************************************************************************/
169 // Run an iteration of the EOM (equations of motion)
171 bool FGJSBsim::update( int multiloop ) {
175 double save_alt = 0.0;
180 trimmed->setBoolValue(false);
182 if(needTrim && fgGetBool("/sim/startup/trim")) {
183 //fgic->SetSeaLevelRadiusFtIC( get_Sea_level_radius() );
184 //fgic->SetTerrainAltitudeFtIC( scenery.cur_elev * SG_METER_TO_FEET );
186 if(fgic->GetVcalibratedKtsIC() < 10 ) {
187 fgic->SetVcalibratedKtsIC(0.0);
188 fgtrim=new FGTrim(fdmex,fgic,tGround);
190 fgtrim=new FGTrim(fdmex,fgic,tLongitudinal);
192 if(!fgtrim->DoTrim()) {
196 trimmed->setBoolValue(true);
198 fgtrim->ReportState();
203 fgSetDouble("/fdm/trim/pitch-trim", fdmex->GetFCS()->GetPitchTrimCmd());
204 fgSetDouble("/fdm/trim/throttle", fdmex->GetFCS()->GetThrottleCmd(0));
205 fgSetDouble("/fdm/trim/aileron", fdmex->GetFCS()->GetDaCmd());
206 fgSetDouble("/fdm/trim/rudder", fdmex->GetFCS()->GetDrCmd());
208 controls.set_elevator_trim(fdmex->GetFCS()->GetPitchTrimCmd());
209 controls.set_elevator(fdmex->GetFCS()->GetDeCmd());
210 controls.set_throttle(FGControls::ALL_ENGINES,
211 fdmex->GetFCS()->GetThrottleCmd(0));
213 controls.set_aileron(fdmex->GetFCS()->GetDaCmd());
214 controls.set_rudder(fdmex->GetFCS()->GetDrCmd());
216 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
219 for( i=0; i<get_num_engines(); i++ ) {
220 get_engine(i)->set_RPM( controls.get_throttle(i)*2700 );
221 get_engine(i)->set_Throttle( controls.get_throttle(i) );
225 for ( i = 0; i < multiloop; i++ ) {
229 // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
230 // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
232 // translate JSBsim back to FG structure so that the
233 // autopilot (and the rest of the sim can use the updated values
239 // but lets restore our original bogus altitude when we are done
243 //climb rate now set from FDM in copy_from_x()
247 /******************************************************************************/
249 // Convert from the FGInterface struct to the JSBsim generic_ struct
251 bool FGJSBsim::copy_to_JSBsim() {
252 // copy control positions into the JSBsim structure
254 fdmex->GetFCS()->SetDaCmd( controls.get_aileron());
255 fdmex->GetFCS()->SetDeCmd( controls.get_elevator());
256 fdmex->GetFCS()->SetPitchTrimCmd(controls.get_elevator_trim());
257 fdmex->GetFCS()->SetDrCmd( -1*controls.get_rudder());
258 fdmex->GetFCS()->SetDfCmd( controls.get_flaps() );
259 fdmex->GetFCS()->SetDsbCmd( 0.0 ); //speedbrakes
260 fdmex->GetFCS()->SetDspCmd( 0.0 ); //spoilers
261 fdmex->GetFCS()->SetThrottleCmd( FGControls::ALL_ENGINES,
262 controls.get_throttle( 0 ));
263 fdmex->GetFCS()->SetLBrake( controls.get_brake( 0 ) );
264 fdmex->GetFCS()->SetRBrake( controls.get_brake( 1 ) );
265 fdmex->GetFCS()->SetCBrake( controls.get_brake( 2 ) );
267 fdmex->GetPosition()->SetSeaLevelRadius( get_Sea_level_radius() );
268 fdmex->GetPosition()->SetRunwayRadius( scenery.cur_elev*SG_METER_TO_FEET
269 + get_Sea_level_radius() );
271 fdmex->GetAtmosphere()->SetExTemperature(get_Static_temperature());
272 fdmex->GetAtmosphere()->SetExPressure(get_Static_pressure());
273 fdmex->GetAtmosphere()->SetExDensity(get_Density());
274 fdmex->GetAtmosphere()->SetWindNED(get_V_north_airmass(),
275 get_V_east_airmass(),
276 get_V_down_airmass());
281 /******************************************************************************/
283 // Convert from the JSBsim generic_ struct to the FGInterface struct
285 bool FGJSBsim::copy_from_JSBsim() {
288 _set_Inertias( fdmex->GetAircraft()->GetMass(),
289 fdmex->GetAircraft()->GetIxx(),
290 fdmex->GetAircraft()->GetIyy(),
291 fdmex->GetAircraft()->GetIzz(),
292 fdmex->GetAircraft()->GetIxz() );
294 _set_CG_Position( fdmex->GetAircraft()->GetXYZcg()(1),
295 fdmex->GetAircraft()->GetXYZcg()(2),
296 fdmex->GetAircraft()->GetXYZcg()(3) );
298 _set_Accels_Body( fdmex->GetTranslation()->GetUVWdot()(1),
299 fdmex->GetTranslation()->GetUVWdot()(2),
300 fdmex->GetTranslation()->GetUVWdot()(3) );
302 _set_Accels_CG_Body( fdmex->GetTranslation()->GetUVWdot()(1),
303 fdmex->GetTranslation()->GetUVWdot()(2),
304 fdmex->GetTranslation()->GetUVWdot()(3) );
306 //_set_Accels_CG_Body_N ( fdmex->GetTranslation()->GetNcg()(1),
307 // fdmex->GetTranslation()->GetNcg()(2),
308 // fdmex->GetTranslation()->GetNcg()(3) );
310 _set_Accels_Pilot_Body( fdmex->GetAuxiliary()->GetPilotAccel()(1),
311 fdmex->GetAuxiliary()->GetPilotAccel()(2),
312 fdmex->GetAuxiliary()->GetPilotAccel()(3) );
314 //_set_Accels_Pilot_Body_N( fdmex->GetAuxiliary()->GetNpilot()(1),
315 // fdmex->GetAuxiliary()->GetNpilot()(2),
316 // fdmex->GetAuxiliary()->GetNpilot()(3) );
318 _set_Nlf( fdmex->GetAircraft()->GetNlf() );
322 _set_Velocities_Local( fdmex->GetPosition()->GetVn(),
323 fdmex->GetPosition()->GetVe(),
324 fdmex->GetPosition()->GetVd() );
326 _set_Velocities_Wind_Body( fdmex->GetTranslation()->GetUVW()(1),
327 fdmex->GetTranslation()->GetUVW()(2),
328 fdmex->GetTranslation()->GetUVW()(3) );
330 _set_V_rel_wind( fdmex->GetTranslation()->GetVt() );
332 _set_V_equiv_kts( fdmex->GetAuxiliary()->GetVequivalentKTS() );
334 // _set_V_calibrated( fdmex->GetAuxiliary()->GetVcalibratedFPS() );
336 _set_V_calibrated_kts( fdmex->GetAuxiliary()->GetVcalibratedKTS() );
338 _set_V_ground_speed( fdmex->GetPosition()->GetVground() );
340 _set_Omega_Body( fdmex->GetRotation()->GetPQR()(1),
341 fdmex->GetRotation()->GetPQR()(2),
342 fdmex->GetRotation()->GetPQR()(3) );
344 _set_Euler_Rates( fdmex->GetRotation()->GetEulerRates()(1),
345 fdmex->GetRotation()->GetEulerRates()(2),
346 fdmex->GetRotation()->GetEulerRates()(3) );
348 _set_Geocentric_Rates(fdmex->GetPosition()->GetLatitudeDot(),
349 fdmex->GetPosition()->GetLongitudeDot(),
350 fdmex->GetPosition()->Gethdot() );
352 _set_Mach_number( fdmex->GetTranslation()->GetMach() );
355 _updatePosition( fdmex->GetPosition()->GetLatitude(),
356 fdmex->GetPosition()->GetLongitude(),
357 fdmex->GetPosition()->Geth() );
359 _set_Euler_Angles( fdmex->GetRotation()->Getphi(),
360 fdmex->GetRotation()->Gettht(),
361 fdmex->GetRotation()->Getpsi() );
363 _set_Alpha( fdmex->GetTranslation()->Getalpha() );
364 _set_Beta( fdmex->GetTranslation()->Getbeta() );
367 _set_Gamma_vert_rad( fdmex->GetPosition()->GetGamma() );
368 // set_Gamma_horiz_rad( Gamma_horiz_rad );
370 _set_Earth_position_angle( fdmex->GetAuxiliary()->GetEarthPositionAngle() );
372 _set_Climb_Rate( fdmex->GetPosition()->Gethdot() );
375 for ( i = 1; i <= 3; i++ ) {
376 for ( j = 1; j <= 3; j++ ) {
377 _set_T_Local_to_Body( i, j, fdmex->GetState()->GetTl2b()(i,j) );
383 void FGJSBsim::snap_shot(void) {
384 fgic->SetLatitudeRadIC(get_Lat_geocentric() );
385 fgic->SetLongitudeRadIC( get_Longitude() );
386 fgic->SetAltitudeFtIC( get_Altitude() );
387 fgic->SetTerrainAltitudeFtIC( get_Runway_altitude() );
388 fgic->SetVtrueFpsIC( get_V_rel_wind() );
389 fgic->SetPitchAngleRadIC( get_Theta() );
390 fgic->SetRollAngleRadIC( get_Phi() );
391 fgic->SetTrueHeadingRadIC( get_Psi() );
392 fgic->SetClimbRateFpsIC( get_Climb_Rate() );
396 bool FGJSBsim::ToggleDataLogging(void) {
397 return fdmex->GetOutput()->Toggle();
401 bool FGJSBsim::ToggleDataLogging(bool state) {
403 fdmex->GetOutput()->Enable();
406 fdmex->GetOutput()->Disable();
413 void FGJSBsim::set_Latitude(double lat) {
414 double sea_level_radius_meters,lat_geoc;
416 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
419 sgGeodToGeoc( lat, get_Altitude() , &sea_level_radius_meters, &lat_geoc);
420 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
421 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
422 fgic->SetLatitudeRadIC( lat_geoc );
423 fdmex->RunIC(fgic); //loop JSBSim once
424 copy_from_JSBsim(); //update the bus
428 void FGJSBsim::set_Longitude(double lon) {
430 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
433 fgic->SetLongitudeRadIC(lon);
434 fdmex->RunIC(fgic); //loop JSBSim once
435 copy_from_JSBsim(); //update the bus
439 void FGJSBsim::set_Altitude(double alt) {
440 double sea_level_radius_meters,lat_geoc;
442 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
445 sgGeodToGeoc( get_Latitude(), alt , &sea_level_radius_meters, &lat_geoc);
446 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
447 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
448 fgic->SetLatitudeRadIC( lat_geoc );
449 fgic->SetAltitudeFtIC(alt);
450 fdmex->RunIC(fgic); //loop JSBSim once
451 copy_from_JSBsim(); //update the bus
455 void FGJSBsim::set_V_calibrated_kts(double vc) {
456 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
459 fgic->SetVcalibratedKtsIC(vc);
460 fdmex->RunIC(fgic); //loop JSBSim once
461 copy_from_JSBsim(); //update the bus
465 void FGJSBsim::set_Mach_number(double mach) {
466 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
469 fgic->SetMachIC(mach);
470 fdmex->RunIC(fgic); //loop JSBSim once
471 copy_from_JSBsim(); //update the bus
475 void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
476 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
477 << north << ", " << east << ", " << down );
480 fgic->SetVnorthFpsIC(north);
481 fgic->SetVeastFpsIC(east);
482 fgic->SetVdownFpsIC(down);
483 fdmex->RunIC(fgic); //loop JSBSim once
484 copy_from_JSBsim(); //update the bus
488 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){
489 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
490 << u << ", " << v << ", " << w );
493 fgic->SetUBodyFpsIC(u);
494 fgic->SetVBodyFpsIC(v);
495 fgic->SetWBodyFpsIC(w);
496 fdmex->RunIC(fgic); //loop JSBSim once
497 copy_from_JSBsim(); //update the bus
502 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
503 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
504 << phi << ", " << theta << ", " << psi );
507 fgic->SetPitchAngleRadIC(theta);
508 fgic->SetRollAngleRadIC(phi);
509 fgic->SetTrueHeadingRadIC(psi);
510 fdmex->RunIC(fgic); //loop JSBSim once
511 copy_from_JSBsim(); //update the bus
516 void FGJSBsim::set_Climb_Rate( double roc) {
517 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
520 fgic->SetClimbRateFpsIC(roc);
521 fdmex->RunIC(fgic); //loop JSBSim once
522 copy_from_JSBsim(); //update the bus
526 void FGJSBsim::set_Gamma_vert_rad( double gamma) {
527 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
530 fgic->SetFlightPathAngleRadIC(gamma);
531 fdmex->RunIC(fgic); //loop JSBSim once
532 copy_from_JSBsim(); //update the bus
537 void FGJSBsim::set_Sea_level_radius(double slr) {
538 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Sea_level_radius: " << slr );
541 fgic->SetSeaLevelRadiusFtIC(slr);
542 fdmex->RunIC(fgic); //loop JSBSim once
543 copy_from_JSBsim(); //update the bus
547 void FGJSBsim::set_Runway_altitude(double ralt) {
548 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Runway_altitude: " << ralt );
551 _set_Runway_altitude( ralt );
552 fgic->SetTerrainAltitudeFtIC( ralt );
553 fdmex->RunIC(fgic); //loop JSBSim once
554 copy_from_JSBsim(); //update the bus
558 void FGJSBsim::set_Static_pressure(double p) {
559 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_pressure: " << p );
562 fdmex->GetAtmosphere()->SetExPressure(p);
563 if(fdmex->GetAtmosphere()->External() == true)
567 void FGJSBsim::set_Static_temperature(double T) {
568 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_temperature: " << T );
571 fdmex->GetAtmosphere()->SetExTemperature(T);
572 if(fdmex->GetAtmosphere()->External() == true)
577 void FGJSBsim::set_Density(double rho) {
578 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Density: " << rho );
581 fdmex->GetAtmosphere()->SetExDensity(rho);
582 if(fdmex->GetAtmosphere()->External() == true)
587 void FGJSBsim::set_Velocities_Local_Airmass (double wnorth,
590 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local_Airmass: "
591 << wnorth << ", " << weast << ", " << wdown );
594 fdmex->GetAtmosphere()->SetWindNED(wnorth, weast, wdown );
595 if(fdmex->GetAtmosphere()->External() == true)