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",
89 fdmex->GetFCS()->GetPitchTrimCmd());
90 fgSetDouble("/fdm/trim/throttle",
91 fdmex->GetFCS()->GetThrottleCmd(0)/100.0);
92 fgSetDouble("/fdm/trim/aileron",
93 fdmex->GetFCS()->GetDaCmd());
94 fgSetDouble("/fdm/trim/rudder",
95 fdmex->GetFCS()->GetDrCmd());
97 trimmed = fgGetValue("/fdm/trim/trimmed",true);
98 trimmed->setBoolValue(false);
102 /******************************************************************************/
103 FGJSBsim::~FGJSBsim(void) {
110 /******************************************************************************/
112 // Initialize the JSBsim flight model, dt is the time increment for
113 // each subsequent iteration through the EOM
115 void FGJSBsim::init() {
119 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
122 SGPath aircraft_path( globals->get_fg_root() );
123 aircraft_path.append( "Aircraft" );
125 SGPath engine_path( globals->get_fg_root() );
126 engine_path.append( "Engine" );
128 fdmex->GetState()->Setdt( get_delta_t() );
130 result = fdmex->LoadModel( aircraft_path.str(),
132 fgGetString("/sim/aircraft") );
135 SG_LOG( SG_FLIGHT, SG_INFO, " loaded aircraft " << fgGetString("/sim/aircraft") );
137 SG_LOG( SG_FLIGHT, SG_INFO, " aircraft "
138 << fgGetString("/sim/aircraft")
139 << " does not exist" );
144 fdmex->GetAtmosphere()->UseInternal();
146 SG_LOG( SG_FLIGHT, SG_INFO, " Initializing JSBSim with:" );
147 switch(fgic->GetSpeedSet()) {
149 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
150 << fdmex->GetPosition()->GetVn()
151 << ", " << fdmex->GetPosition()->GetVe()
152 << ", " << fdmex->GetPosition()->GetVd()
156 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
157 << fdmex->GetTranslation()->GetUVW()(1)
158 << ", " << fdmex->GetTranslation()->GetUVW()(2)
159 << ", " << fdmex->GetTranslation()->GetUVW()(3)
163 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
164 << fdmex->GetTranslation()->GetMach() );
168 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
169 << fdmex->GetAuxiliary()->GetVcalibratedKTS() << " knots" );
173 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
174 << fdmex->GetRotation()->Getphi()*RADTODEG << " deg");
175 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
176 << fdmex->GetRotation()->Gettht()*RADTODEG << " deg" );
177 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
178 << fdmex->GetRotation()->Getpsi()*RADTODEG << " deg" );
179 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
180 << fdmex->GetPosition()->GetLatitude() << " deg" );
181 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
182 << fdmex->GetPosition()->GetLongitude() << " deg" );
185 /* SG_LOG( SG_FLIGHT, SG_DEBUG, " FGJSBSim::get_Altitude(): " << get_Altitude() );
186 SG_LOG( SG_FLIGHT, SG_DEBUG, " FGJSBSim::get_Sea_level_radius(): " << get_Sea_level_radius() );
187 SG_LOG( SG_FLIGHT, SG_DEBUG, " scenery.cur_radius*SG_METER_TO_FEET: "
188 << scenery.cur_radius*SG_METER_TO_FEET );
189 SG_LOG( SG_FLIGHT, SG_DEBUG, " Calculated Terrain ASL: " << endl
190 << " " << "scenery.cur_radius*SG_METER_TO_FEET -get_Sea_level_radius()= "
191 << scenery.cur_radius*SG_METER_TO_FEET - get_Sea_level_radius() );
193 SG_LOG( SG_FLIGHT, SG_DEBUG, " Calculated Aircraft AGL: " << endl
194 << " " << "get_Altitude() + get_Sea_level_radius() - scenery.cur_radius*SG_METER_TO_FEET= "
195 << get_Altitude() + get_Sea_level_radius()- scenery.cur_radius*SG_METER_TO_FEET );
196 SG_LOG( SG_FLIGHT, SG_DEBUG, " fgGetDouble("/position/altitude"): "
197 << fgGetDouble("/position/altitude") );
198 SG_LOG( SG_FLIGHT, SG_DEBUG, " FGBFI::getAltitude(): "
199 << FGBFI::getAltitude() ); */
202 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
204 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
206 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
209 /******************************************************************************/
211 // Run an iteration of the EOM (equations of motion)
213 bool FGJSBsim::update( int multiloop ) {
217 double save_alt = 0.0;
222 trimmed->setBoolValue(false);
224 if(needTrim && fgGetBool("/sim/startup/trim")) {
225 //fgic->SetSeaLevelRadiusFtIC( get_Sea_level_radius() );
226 //fgic->SetTerrainAltitudeFtIC( scenery.cur_elev * SG_METER_TO_FEET );
228 if(fgic->GetVcalibratedKtsIC() < 10 ) {
229 fgic->SetVcalibratedKtsIC(0.0);
230 fgtrim=new FGTrim(fdmex,fgic,tGround);
232 fgtrim=new FGTrim(fdmex,fgic,tLongitudinal);
234 if(!fgtrim->DoTrim()) {
238 trimmed->setBoolValue(true);
240 fgtrim->ReportState();
245 fgSetDouble("/fdm/trim/pitch-trim",
246 fdmex->GetFCS()->GetPitchTrimCmd());
247 fgSetDouble("/fdm/trim/throttle",
248 fdmex->GetFCS()->GetThrottleCmd(0)/100.0);
249 fgSetDouble("/fdm/trim/aileron",
250 fdmex->GetFCS()->GetDaCmd());
251 fgSetDouble("/fdm/trim/rudder",
252 fdmex->GetFCS()->GetDrCmd());
254 controls.set_elevator_trim(fdmex->GetFCS()->GetPitchTrimCmd());
255 controls.set_elevator(fdmex->GetFCS()->GetDeCmd());
256 controls.set_throttle(FGControls::ALL_ENGINES,
257 fdmex->GetFCS()->GetThrottleCmd(0)/100.0);
258 controls.set_aileron(fdmex->GetFCS()->GetDaCmd());
259 controls.set_rudder(fdmex->GetFCS()->GetDrCmd());
261 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
264 for( i=0; i<get_num_engines(); i++ ) {
265 get_engine(i)->set_RPM( controls.get_throttle(i)*2700 );
266 get_engine(i)->set_Throttle( controls.get_throttle(i) );
270 for ( i = 0; i < multiloop; i++ ) {
274 // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
275 // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
277 // translate JSBsim back to FG structure so that the
278 // autopilot (and the rest of the sim can use the updated values
284 // but lets restore our original bogus altitude when we are done
288 //climb rate now set from FDM in copy_from_x()
292 /******************************************************************************/
294 // Convert from the FGInterface struct to the JSBsim generic_ struct
296 bool FGJSBsim::copy_to_JSBsim() {
297 // copy control positions into the JSBsim structure
299 fdmex->GetFCS()->SetDaCmd( controls.get_aileron());
300 fdmex->GetFCS()->SetDeCmd( controls.get_elevator());
301 fdmex->GetFCS()->SetPitchTrimCmd(controls.get_elevator_trim());
302 fdmex->GetFCS()->SetDrCmd( -1*controls.get_rudder());
303 fdmex->GetFCS()->SetDfCmd( controls.get_flaps() );
304 fdmex->GetFCS()->SetDsbCmd( 0.0 ); //speedbrakes
305 fdmex->GetFCS()->SetDspCmd( 0.0 ); //spoilers
306 fdmex->GetFCS()->SetThrottleCmd( FGControls::ALL_ENGINES,
307 controls.get_throttle( 0 ) * 100.0 );
309 fdmex->GetFCS()->SetLBrake( controls.get_brake( 0 ) );
310 fdmex->GetFCS()->SetRBrake( controls.get_brake( 1 ) );
311 fdmex->GetFCS()->SetCBrake( controls.get_brake( 2 ) );
313 fdmex->GetPosition()->SetSeaLevelRadius( get_Sea_level_radius() );
314 fdmex->GetPosition()->SetRunwayRadius( scenery.cur_elev*SG_METER_TO_FEET
315 + get_Sea_level_radius() );
317 fdmex->GetAtmosphere()->SetExTemperature(get_Static_temperature());
318 fdmex->GetAtmosphere()->SetExPressure(get_Static_pressure());
319 fdmex->GetAtmosphere()->SetExDensity(get_Density());
320 fdmex->GetAtmosphere()->SetWindNED(get_V_north_airmass(),
321 get_V_east_airmass(),
322 get_V_down_airmass());
327 /******************************************************************************/
329 // Convert from the JSBsim generic_ struct to the FGInterface struct
331 bool FGJSBsim::copy_from_JSBsim() {
334 _set_Inertias( fdmex->GetAircraft()->GetMass(),
335 fdmex->GetAircraft()->GetIxx(),
336 fdmex->GetAircraft()->GetIyy(),
337 fdmex->GetAircraft()->GetIzz(),
338 fdmex->GetAircraft()->GetIxz() );
340 _set_CG_Position( fdmex->GetAircraft()->GetXYZcg()(1),
341 fdmex->GetAircraft()->GetXYZcg()(2),
342 fdmex->GetAircraft()->GetXYZcg()(3) );
344 _set_Accels_Body( fdmex->GetTranslation()->GetUVWdot()(1),
345 fdmex->GetTranslation()->GetUVWdot()(2),
346 fdmex->GetTranslation()->GetUVWdot()(3) );
348 _set_Accels_CG_Body( fdmex->GetTranslation()->GetUVWdot()(1),
349 fdmex->GetTranslation()->GetUVWdot()(2),
350 fdmex->GetTranslation()->GetUVWdot()(3) );
352 //_set_Accels_CG_Body_N ( fdmex->GetTranslation()->GetNcg()(1),
353 // fdmex->GetTranslation()->GetNcg()(2),
354 // fdmex->GetTranslation()->GetNcg()(3) );
356 _set_Accels_Pilot_Body( fdmex->GetAuxiliary()->GetPilotAccel()(1),
357 fdmex->GetAuxiliary()->GetPilotAccel()(2),
358 fdmex->GetAuxiliary()->GetPilotAccel()(3) );
360 //_set_Accels_Pilot_Body_N( fdmex->GetAuxiliary()->GetNpilot()(1),
361 // fdmex->GetAuxiliary()->GetNpilot()(2),
362 // fdmex->GetAuxiliary()->GetNpilot()(3) );
364 _set_Nlf( fdmex->GetAircraft()->GetNlf() );
368 _set_Velocities_Local( fdmex->GetPosition()->GetVn(),
369 fdmex->GetPosition()->GetVe(),
370 fdmex->GetPosition()->GetVd() );
372 _set_Velocities_Wind_Body( fdmex->GetTranslation()->GetUVW()(1),
373 fdmex->GetTranslation()->GetUVW()(2),
374 fdmex->GetTranslation()->GetUVW()(3) );
376 _set_V_rel_wind( fdmex->GetTranslation()->GetVt() );
378 _set_V_equiv_kts( fdmex->GetAuxiliary()->GetVequivalentKTS() );
380 // _set_V_calibrated( fdmex->GetAuxiliary()->GetVcalibratedFPS() );
382 _set_V_calibrated_kts( fdmex->GetAuxiliary()->GetVcalibratedKTS() );
384 _set_V_ground_speed( fdmex->GetPosition()->GetVground() );
386 _set_Omega_Body( fdmex->GetRotation()->GetPQR()(1),
387 fdmex->GetRotation()->GetPQR()(2),
388 fdmex->GetRotation()->GetPQR()(3) );
390 _set_Euler_Rates( fdmex->GetRotation()->GetEulerRates()(1),
391 fdmex->GetRotation()->GetEulerRates()(2),
392 fdmex->GetRotation()->GetEulerRates()(3) );
394 _set_Geocentric_Rates(fdmex->GetPosition()->GetLatitudeDot(),
395 fdmex->GetPosition()->GetLongitudeDot(),
396 fdmex->GetPosition()->Gethdot() );
398 _set_Mach_number( fdmex->GetTranslation()->GetMach() );
401 _updatePosition( fdmex->GetPosition()->GetLatitude(),
402 fdmex->GetPosition()->GetLongitude(),
403 fdmex->GetPosition()->Geth() );
405 _set_Euler_Angles( fdmex->GetRotation()->Getphi(),
406 fdmex->GetRotation()->Gettht(),
407 fdmex->GetRotation()->Getpsi() );
409 _set_Alpha( fdmex->GetTranslation()->Getalpha() );
410 _set_Beta( fdmex->GetTranslation()->Getbeta() );
413 _set_Gamma_vert_rad( fdmex->GetPosition()->GetGamma() );
414 // set_Gamma_horiz_rad( Gamma_horiz_rad );
416 _set_Earth_position_angle( fdmex->GetAuxiliary()->GetEarthPositionAngle() );
418 _set_Climb_Rate( fdmex->GetPosition()->Gethdot() );
421 for ( i = 1; i <= 3; i++ ) {
422 for ( j = 1; j <= 3; j++ ) {
423 _set_T_Local_to_Body( i, j, fdmex->GetState()->GetTl2b()(i,j) );
429 void FGJSBsim::snap_shot(void) {
430 fgic->SetLatitudeRadIC(get_Lat_geocentric() );
431 fgic->SetLongitudeRadIC( get_Longitude() );
432 fgic->SetAltitudeFtIC( get_Altitude() );
433 fgic->SetTerrainAltitudeFtIC( get_Runway_altitude() );
434 fgic->SetVtrueFpsIC( get_V_rel_wind() );
435 fgic->SetPitchAngleRadIC( get_Theta() );
436 fgic->SetRollAngleRadIC( get_Phi() );
437 fgic->SetTrueHeadingRadIC( get_Psi() );
438 fgic->SetClimbRateFpsIC( get_Climb_Rate() );
443 void FGJSBsim::set_Latitude(double lat) {
444 double sea_level_radius_meters,lat_geoc;
446 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
449 sgGeodToGeoc( lat, get_Altitude() , &sea_level_radius_meters, &lat_geoc);
450 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
451 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
452 fgic->SetLatitudeRadIC( lat_geoc );
453 fdmex->RunIC(fgic); //loop JSBSim once
454 copy_from_JSBsim(); //update the bus
458 void FGJSBsim::set_Longitude(double lon) {
460 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
463 fgic->SetLongitudeRadIC(lon);
464 fdmex->RunIC(fgic); //loop JSBSim once
465 copy_from_JSBsim(); //update the bus
469 void FGJSBsim::set_Altitude(double alt) {
470 double sea_level_radius_meters,lat_geoc;
472 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
475 sgGeodToGeoc( get_Latitude(), alt , &sea_level_radius_meters, &lat_geoc);
476 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
477 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
478 fgic->SetLatitudeRadIC( lat_geoc );
479 fgic->SetAltitudeFtIC(alt);
480 fdmex->RunIC(fgic); //loop JSBSim once
481 copy_from_JSBsim(); //update the bus
485 void FGJSBsim::set_V_calibrated_kts(double vc) {
486 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
489 fgic->SetVcalibratedKtsIC(vc);
490 fdmex->RunIC(fgic); //loop JSBSim once
491 copy_from_JSBsim(); //update the bus
495 void FGJSBsim::set_Mach_number(double mach) {
496 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
499 fgic->SetMachIC(mach);
500 fdmex->RunIC(fgic); //loop JSBSim once
501 copy_from_JSBsim(); //update the bus
505 void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
506 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
507 << north << ", " << east << ", " << down );
510 fgic->SetVnorthFpsIC(north);
511 fgic->SetVeastFpsIC(east);
512 fgic->SetVdownFpsIC(down);
513 fdmex->RunIC(fgic); //loop JSBSim once
514 copy_from_JSBsim(); //update the bus
518 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){
519 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
520 << u << ", " << v << ", " << w );
523 fgic->SetUBodyFpsIC(u);
524 fgic->SetVBodyFpsIC(v);
525 fgic->SetWBodyFpsIC(w);
526 fdmex->RunIC(fgic); //loop JSBSim once
527 copy_from_JSBsim(); //update the bus
532 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
533 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
534 << phi << ", " << theta << ", " << psi );
537 fgic->SetPitchAngleRadIC(theta);
538 fgic->SetRollAngleRadIC(phi);
539 fgic->SetTrueHeadingRadIC(psi);
540 fdmex->RunIC(fgic); //loop JSBSim once
541 copy_from_JSBsim(); //update the bus
546 void FGJSBsim::set_Climb_Rate( double roc) {
547 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
550 fgic->SetClimbRateFpsIC(roc);
551 fdmex->RunIC(fgic); //loop JSBSim once
552 copy_from_JSBsim(); //update the bus
556 void FGJSBsim::set_Gamma_vert_rad( double gamma) {
557 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
560 fgic->SetFlightPathAngleRadIC(gamma);
561 fdmex->RunIC(fgic); //loop JSBSim once
562 copy_from_JSBsim(); //update the bus
567 void FGJSBsim::set_Sea_level_radius(double slr) {
568 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Sea_level_radius: " << slr );
571 fgic->SetSeaLevelRadiusFtIC(slr);
572 fdmex->RunIC(fgic); //loop JSBSim once
573 copy_from_JSBsim(); //update the bus
577 void FGJSBsim::set_Runway_altitude(double ralt) {
578 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Runway_altitude: " << ralt );
581 _set_Runway_altitude( ralt );
582 fgic->SetTerrainAltitudeFtIC( ralt );
583 fdmex->RunIC(fgic); //loop JSBSim once
584 copy_from_JSBsim(); //update the bus
588 void FGJSBsim::set_Static_pressure(double p) {
589 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_pressure: " << p );
592 fdmex->GetAtmosphere()->SetExPressure(p);
593 if(fdmex->GetAtmosphere()->External() == true)
597 void FGJSBsim::set_Static_temperature(double T) {
598 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_temperature: " << T );
601 fdmex->GetAtmosphere()->SetExTemperature(T);
602 if(fdmex->GetAtmosphere()->External() == true)
607 void FGJSBsim::set_Density(double rho) {
608 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Density: " << rho );
611 fdmex->GetAtmosphere()->SetExDensity(rho);
612 if(fdmex->GetAtmosphere()->External() == true)
617 void FGJSBsim::set_Velocities_Local_Airmass (double wnorth,
620 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local_Airmass: "
621 << wnorth << ", " << weast << ", " << wdown );
624 fdmex->GetAtmosphere()->SetWindNED(wnorth, weast, wdown );
625 if(fdmex->GetAtmosphere()->External() == true)