1 // fg_init.cxx -- Flight Gear top level initialization routines
3 // Written by Curtis Olson, started August 1997.
5 // Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
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.
29 // For BC 5.01 this must be included before OpenGL includes.
30 #ifdef SG_MATH_EXCEPTION_CLASH
35 #include <simgear/xgl/xgl.h>
41 #if defined( unix ) || defined( __CYGWIN__ )
42 # include <unistd.h> // for gethostname()
45 // work around a stdc++ lib bug in some versions of linux, but doesn't
46 // seem to hurt to have this here for all versions of Linux.
48 # define _G_NO_EXTERN_TEMPLATES
51 #include <simgear/compiler.h>
55 #include <simgear/constants.h>
56 #include <simgear/debug/logstream.hxx>
57 #include <simgear/math/point3d.hxx>
58 #include <simgear/math/polar3d.hxx>
59 #include <simgear/math/sg_geodesy.hxx>
60 #include <simgear/misc/sg_path.hxx>
61 #include <simgear/timing/sg_time.hxx>
63 #include <Aircraft/aircraft.hxx>
64 #include <FDM/UIUCModel/uiuc_aircraftdir.h>
65 #include <Airports/runways.hxx>
66 #include <Airports/simple.hxx>
67 #include <Autopilot/auto_gui.hxx>
68 #include <Autopilot/newauto.hxx>
69 #include <Cockpit/cockpit.hxx>
70 #include <Cockpit/radiostack.hxx>
71 #include <Cockpit/panel.hxx>
72 #include <Cockpit/panel_io.hxx>
73 #include <FDM/ADA.hxx>
74 #include <FDM/Balloon.h>
75 #include <FDM/External.hxx>
76 #include <FDM/JSBSim.hxx>
77 #include <FDM/LaRCsim.hxx>
78 #include <FDM/MagicCarpet.hxx>
79 #include <Include/general.hxx>
80 #include <Joystick/joystick.hxx>
81 #include <Objects/matlib.hxx>
82 #include <Navaids/fixlist.hxx>
83 #include <Navaids/ilslist.hxx>
84 #include <Navaids/mkrbeacons.hxx>
85 #include <Navaids/navlist.hxx>
86 #include <Scenery/scenery.hxx>
87 #include <Scenery/tilemgr.hxx>
88 #include <Time/event.hxx>
89 #include <Time/light.hxx>
90 #include <Time/sunpos.hxx>
91 #include <Time/moonpos.hxx>
92 #include <Time/tmp.hxx>
94 #ifndef FG_OLD_WEATHER
95 # include <WeatherCM/FGLocalWeatherDatabase.h>
97 # include <Weather/weather.hxx>
100 #include "fg_init.hxx"
102 #include "options.hxx"
103 #include "globals.hxx"
106 #if defined(FX) && defined(XMESA)
107 #include <GL/xmesa.h>
110 SG_USING_STD(string);
112 extern const char *default_root;
115 // Read in configuration (file and command line) and just set fg_root
116 bool fgInitFGRoot ( int argc, char **argv ) {
120 // First parse command line options looking for fg-root, this will
121 // override anything specified in a config file
122 root = fgScanForRoot(argc, argv);
124 #if defined( unix ) || defined( __CYGWIN__ )
125 // Next check home directory for .fgfsrc.hostname file
127 envp = ::getenv( "HOME" );
128 if ( envp != NULL ) {
129 SGPath config( envp );
130 config.append( ".fgfsrc" );
132 gethostname( name, 256 );
133 config.concat( "." );
134 config.concat( name );
135 root = fgScanForRoot(config.str());
140 // Next check home directory for .fgfsrc file
142 envp = ::getenv( "HOME" );
143 if ( envp != NULL ) {
144 SGPath config( envp );
145 config.append( ".fgfsrc" );
146 root = fgScanForRoot(config.str());
150 // Next check if fg-root is set as an env variable
152 envp = ::getenv( "FG_ROOT" );
153 if ( envp != NULL ) {
158 // Otherwise, default to a random compiled-in location if we can't
159 // find fg-root any other way.
161 #if defined( __CYGWIN__ )
162 root = "/FlightGear";
163 #elif defined( WIN32 )
164 root = "\\FlightGear";
165 #elif defined( macintosh )
172 SG_LOG(SG_INPUT, SG_INFO, "fg_root = " << root );
173 globals->set_fg_root(root);
179 // Read in configuration (file and command line)
180 bool fgInitConfig ( int argc, char **argv ) {
182 // First, set some sane default values
185 // Read global preferences from $FG_ROOT/preferences.xml
186 SGPath props_path(globals->get_fg_root());
187 props_path.append("preferences.xml");
188 SG_LOG(SG_INPUT, SG_INFO, "Reading global preferences");
189 if (!readProperties(props_path.str(), globals->get_props())) {
190 SG_LOG(SG_INPUT, SG_ALERT, "Failed to read global preferences from "
191 << props_path.str());
193 SG_LOG(SG_INPUT, SG_INFO, "Finished Reading global preferences");
196 // Attempt to locate and parse the various config files in order
197 // from least precidence to greatest precidence
199 // Check for $fg_root/system.fgfsrc
200 SGPath config( globals->get_fg_root() );
201 config.append( "system.fgfsrc" );
202 fgParseOptions(config.str());
205 #if defined( unix ) || defined( __CYGWIN__ )
206 // Check for $fg_root/system.fgfsrc.hostname
207 gethostname( name, 256 );
208 config.concat( "." );
209 config.concat( name );
210 fgParseOptions(config.str());
213 // Check for ~/.fgfsrc
214 char* envp = ::getenv( "HOME" );
215 if ( envp != NULL ) {
217 config.append( ".fgfsrc" );
218 fgParseOptions(config.str());
221 #if defined( unix ) || defined( __CYGWIN__ )
222 // Check for ~/.fgfsrc.hostname
223 gethostname( name, 256 );
224 config.concat( "." );
225 config.concat( name );
226 fgParseOptions(config.str());
229 // Parse remaining command line options
230 // These will override anything specified in a config file
231 fgParseOptions(argc, argv);
237 // find basic airport location info from airport database
238 bool fgFindAirportID( const string& id, FGAirport *a ) {
240 SGPath path( globals->get_fg_root() );
241 path.append( "Airports" );
242 path.append( "simple.mk4" );
243 FGAirports airports( path.c_str() );
245 SG_LOG( SG_GENERAL, SG_INFO, "Searching for airport code = " << id );
247 if ( ! airports.search( id, a ) ) {
248 SG_LOG( SG_GENERAL, SG_ALERT,
249 "Failed to find " << id << " in " << path.str() );
256 SG_LOG( SG_GENERAL, SG_INFO,
257 "Position for " << id << " is ("
258 << a->longitude << ", "
259 << a->latitude << ")" );
265 // Set current_options lon/lat given an airport id
266 bool fgSetPosFromAirportID( const string& id ) {
270 SG_LOG( SG_GENERAL, SG_INFO,
271 "Attempting to set starting position from airport code " << id );
273 if ( fgFindAirportID( id, &a ) ) {
274 fgSetDouble("/position/longitude", a.longitude );
275 fgSetDouble("/position/latitude", a.latitude );
276 SG_LOG( SG_GENERAL, SG_INFO,
277 "Position for " << id << " is ("
278 << a.longitude << ", "
279 << a.latitude << ")" );
289 // Set current_options lon/lat given an airport id and heading (degrees)
290 bool fgSetPosFromAirportIDandHdg( const string& id, double tgt_hdg ) {
293 double found_dir = 0.0;
296 // set initial position from runway and heading
298 SGPath path( globals->get_fg_root() );
299 path.append( "Airports" );
300 path.append( "runways.mk4" );
301 FGRunways runways( path.c_str() );
303 SG_LOG( SG_GENERAL, SG_INFO,
304 "Attempting to set starting position from runway code "
305 << id << " heading " << tgt_hdg );
307 // SGPath inpath( globals->get_fg_root() );
308 // inpath.append( "Airports" );
309 // inpath.append( "apt_simple" );
310 // airports.load( inpath.c_str() );
312 // SGPath outpath( globals->get_fg_root() );
313 // outpath.append( "Airports" );
314 // outpath.append( "simple.gdbm" );
315 // airports.dump_gdbm( outpath.c_str() );
317 if ( ! runways.search( id, &r ) ) {
318 SG_LOG( SG_GENERAL, SG_ALERT,
319 "Failed to find " << id << " in database." );
324 double min_diff = 360.0;
326 while ( r.id == id ) {
328 diff = tgt_hdg - r.heading;
329 while ( diff < -180.0 ) { diff += 360.0; }
330 while ( diff > 180.0 ) { diff -= 360.0; }
332 SG_LOG( SG_GENERAL, SG_INFO,
333 "Runway " << r.rwy_no << " heading = " << r.heading <<
334 " diff = " << diff );
335 if ( diff < min_diff ) {
342 diff = tgt_hdg - r.heading - 180.0;
343 while ( diff < -180.0 ) { diff += 360.0; }
344 while ( diff > 180.0 ) { diff -= 360.0; }
346 SG_LOG( SG_GENERAL, SG_INFO,
347 "Runway -" << r.rwy_no << " heading = " <<
349 " diff = " << diff );
350 if ( diff < min_diff ) {
359 SG_LOG( SG_GENERAL, SG_INFO, "closest runway = " << found_r.rwy_no
360 << " + " << found_dir );
366 double heading = found_r.heading + found_dir;
367 while ( heading >= 360.0 ) { heading -= 360.0; }
369 double lat2, lon2, az2;
370 double azimuth = found_r.heading + found_dir + 180.0;
371 while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
373 SG_LOG( SG_GENERAL, SG_INFO,
374 "runway = " << found_r.lon << ", " << found_r.lat
375 << " length = " << found_r.length * SG_FEET_TO_METER * 0.5
376 << " heading = " << azimuth );
378 geo_direct_wgs_84 ( 0, found_r.lat, found_r.lon,
379 azimuth, found_r.length * SG_FEET_TO_METER * 0.5 - 5.0,
380 &lat2, &lon2, &az2 );
382 if ( fabs( fgGetDouble("/sim/startup/offset-distance") ) > SG_EPSILON ) {
384 double odist = fgGetDouble("/sim/startup/offset-distance");
385 odist *= SG_NM_TO_METER;
386 double oaz = azimuth;
387 if ( fabs(fgGetDouble("/sim/startup/offset-azimuth")) > SG_EPSILON ) {
388 oaz = fgGetDouble("/sim/startup/offset-azimuth") + 180;
390 while ( oaz >= 360.0 ) { oaz -= 360.0; }
391 geo_direct_wgs_84 ( 0, lat2, lon2, oaz, odist, &olat, &olon, &az2 );
395 fgSetDouble("/position/longitude", lon2 );
396 fgSetDouble("/position/latitude", lat2 );
397 fgSetDouble("/orientation/heading", heading );
399 SG_LOG( SG_GENERAL, SG_INFO,
400 "Position for " << id << " is ("
402 << lat2 << ") new heading is "
409 // General house keeping initializations
410 bool fgInitGeneral( void ) {
413 #if defined(FX) && defined(XMESA)
414 char *mesa_win_state;
417 SG_LOG( SG_GENERAL, SG_INFO, "General Initialization" );
418 SG_LOG( SG_GENERAL, SG_INFO, "======= ==============" );
420 root = globals->get_fg_root();
421 if ( ! root.length() ) {
422 // No root path set? Then bail ...
423 SG_LOG( SG_GENERAL, SG_ALERT,
424 "Cannot continue without environment variable FG_ROOT"
425 << "being defined." );
428 SG_LOG( SG_GENERAL, SG_INFO, "FG_ROOT = " << '"' << root << '"' << endl );
430 #if defined(FX) && defined(XMESA)
431 // initialize full screen flag
432 global_fullscreen = false;
433 if ( strstr ( general.get_glRenderer(), "Glide" ) ) {
434 // Test for the MESA_GLX_FX env variable
435 if ( (mesa_win_state = getenv( "MESA_GLX_FX" )) != NULL) {
436 // test if we are fullscreen mesa/glide
437 if ( (mesa_win_state[0] == 'f') ||
438 (mesa_win_state[0] == 'F') ) {
439 global_fullscreen = true;
449 // This is the top level init routine which calls all the other
450 // initialization routines. If you are adding a subsystem to flight
451 // gear, its initialization call should located in this routine.
452 // Returns non-zero if a problem encountered.
453 bool fgInitSubsystems( void ) {
454 fgLIGHT *l = &cur_light_params;
456 SG_LOG( SG_GENERAL, SG_INFO, "Initialize Subsystems");
457 SG_LOG( SG_GENERAL, SG_INFO, "========== ==========");
460 ////////////////////////////////////////////////////////////////////
461 // Initialize the material property subsystem.
462 ////////////////////////////////////////////////////////////////////
464 SGPath mpath( globals->get_fg_root() );
465 mpath.append( "materials" );
466 if ( material_lib.load( mpath.str() ) ) {
468 SG_LOG( SG_GENERAL, SG_ALERT, "Error loading material lib!" );
473 ////////////////////////////////////////////////////////////////////
474 // Initialize the scenery management subsystem.
475 ////////////////////////////////////////////////////////////////////
477 if ( fgSceneryInit() ) {
478 // Material lib initialized ok.
480 SG_LOG( SG_GENERAL, SG_ALERT, "Error in Scenery initialization!" );
484 if ( global_tile_mgr.init() ) {
485 // Load the local scenery data
486 global_tile_mgr.update( fgGetDouble("/position/longitude"),
487 fgGetDouble("/position/latitude") );
489 SG_LOG( SG_GENERAL, SG_ALERT, "Error in Tile Manager initialization!" );
493 SG_LOG( SG_GENERAL, SG_DEBUG,
494 "Current terrain elevation after tile mgr init " <<
498 ////////////////////////////////////////////////////////////////////
499 // Initialize the flight model subsystem.
500 ////////////////////////////////////////////////////////////////////
502 double dt = 1.0 / fgGetInt("/sim/model-hz");
503 // cout << "dt = " << dt << endl;
505 aircraft_dir = fgGetString("/sim/aircraft-dir");
506 const string &model = fgGetString("/sim/flight-model");
507 if (model == "larcsim") {
508 cur_fdm_state = new FGLaRCsim( dt );
509 } else if (model == "jsb") {
510 cur_fdm_state = new FGJSBsim( dt );
511 } else if (model == "ada") {
512 cur_fdm_state = new FGADA( dt );
513 } else if (model == "balloon") {
514 cur_fdm_state = new FGBalloonSim( dt );
515 } else if (model == "magic") {
516 cur_fdm_state = new FGMagicCarpet( dt );
517 } else if (model == "external") {
518 cur_fdm_state = new FGExternal( dt );
520 SG_LOG(SG_GENERAL, SG_ALERT,
521 "Unrecognized flight model '" << model
522 << ", can't init aircraft");
525 cur_fdm_state->init();
526 cur_fdm_state->bind();
528 // allocates structures so must happen before any of the flight
529 // model or control parameters are set
530 fgAircraftInit(); // In the future this might not be the case.
533 ////////////////////////////////////////////////////////////////////
534 // Initialize the event manager subsystem.
535 ////////////////////////////////////////////////////////////////////
537 global_events.Init();
539 // Output event stats every 60 seconds
540 global_events.Register( "fgEVENT_MGR::PrintStats()",
541 fgMethodCallback<fgEVENT_MGR>( &global_events,
542 &fgEVENT_MGR::PrintStats),
543 fgEVENT::FG_EVENT_READY, 60000 );
546 ////////////////////////////////////////////////////////////////////
547 // Initialize the view manager subsystem.
548 ////////////////////////////////////////////////////////////////////
550 // Initialize win_ratio parameters
551 for ( int i = 0; i < globals->get_viewmgr()->size(); ++i ) {
552 globals->get_viewmgr()->get_view(i)->
553 set_win_ratio( fgGetInt("/sim/startup/xsize") /
554 fgGetInt("/sim/startup/ysize") );
557 // Initialize pilot view
558 FGViewerRPH *pilot_view =
559 (FGViewerRPH *)globals->get_viewmgr()->get_view( 0 );
561 pilot_view->set_geod_view_pos( cur_fdm_state->get_Longitude(),
562 cur_fdm_state->get_Lat_geocentric(),
563 cur_fdm_state->get_Altitude() *
565 pilot_view->set_sea_level_radius( cur_fdm_state->get_Sea_level_radius() *
567 pilot_view->set_rph( cur_fdm_state->get_Phi(),
568 cur_fdm_state->get_Theta(),
569 cur_fdm_state->get_Psi() );
571 // set current view to 0 (first) which is our main pilot view
572 globals->set_current_view( pilot_view );
574 SG_LOG( SG_GENERAL, SG_DEBUG, " abs_view_pos = "
575 << globals->get_current_view()->get_abs_view_pos());
578 ////////////////////////////////////////////////////////////////////
579 // Initialize the lighting subsystem.
580 ////////////////////////////////////////////////////////////////////
582 // fgUpdateSunPos() needs a few position and view parameters set
583 // so it can calculate local relative sun angle and a few other
584 // things for correctly orienting the sky.
587 global_events.Register( "fgUpdateSunPos()", fgUpdateSunPos,
588 fgEVENT::FG_EVENT_READY, 60000);
589 global_events.Register( "fgUpdateMoonPos()", fgUpdateMoonPos,
590 fgEVENT::FG_EVENT_READY, 60000);
592 // Initialize Lighting interpolation tables
595 // update the lighting parameters (based on sun angle)
596 global_events.Register( "fgLight::Update()",
597 fgMethodCallback<fgLIGHT>( &cur_light_params,
599 fgEVENT::FG_EVENT_READY, 30000 );
602 ////////////////////////////////////////////////////////////////////
603 // Initialize the local time subsystem.
604 ////////////////////////////////////////////////////////////////////
606 // update the current timezone each 30 minutes
607 global_events.Register( "fgUpdateLocalTime()", fgUpdateLocalTime,
608 fgEVENT::FG_EVENT_READY, 1800000);
611 ////////////////////////////////////////////////////////////////////
612 // Initialize the weather subsystem.
613 ////////////////////////////////////////////////////////////////////
615 // Initialize the weather modeling subsystem
616 #ifndef FG_OLD_WEATHER
617 // Initialize the WeatherDatabase
618 SG_LOG(SG_GENERAL, SG_INFO, "Creating LocalWeatherDatabase");
620 sgSetVec3( position, current_aircraft.fdm_state->get_Latitude(),
621 current_aircraft.fdm_state->get_Longitude(),
622 current_aircraft.fdm_state->get_Altitude() * SG_FEET_TO_METER );
623 FGLocalWeatherDatabase::theFGLocalWeatherDatabase =
624 new FGLocalWeatherDatabase( position,
625 globals->get_fg_root() );
626 // cout << theFGLocalWeatherDatabase << endl;
627 // cout << "visibility = "
628 // << theFGLocalWeatherDatabase->getWeatherVisibility() << endl;
630 WeatherDatabase = FGLocalWeatherDatabase::theFGLocalWeatherDatabase;
632 double init_vis = fgGetDouble("/environment/visibility");
633 if ( init_vis > 0 ) {
634 WeatherDatabase->setWeatherVisibility( init_vis );
637 // register the periodic update of the weather
638 global_events.Register( "weather update", fgUpdateWeatherDatabase,
639 fgEVENT::FG_EVENT_READY, 30000);
641 current_weather.Init();
644 ////////////////////////////////////////////////////////////////////
645 // Initialize vor/ndb/ils/fix list management and query systems
646 ////////////////////////////////////////////////////////////////////
648 SG_LOG(SG_GENERAL, SG_INFO, "Loading Navaids");
650 SG_LOG(SG_GENERAL, SG_INFO, " VOR/NDB");
651 current_navlist = new FGNavList;
652 SGPath p_nav( globals->get_fg_root() );
653 p_nav.append( "Navaids/default.nav" );
654 current_navlist->init( p_nav );
656 SG_LOG(SG_GENERAL, SG_INFO, " ILS and Marker Beacons");
657 current_beacons = new FGMarkerBeacons;
658 current_beacons->init();
659 current_ilslist = new FGILSList;
660 SGPath p_ils( globals->get_fg_root() );
661 p_ils.append( "Navaids/default.ils" );
662 current_ilslist->init( p_ils );
664 SG_LOG(SG_GENERAL, SG_INFO, " Fixes");
665 current_fixlist = new FGFixList;
666 SGPath p_fix( globals->get_fg_root() );
667 p_fix.append( "Navaids/default.fix" );
668 current_fixlist->init( p_fix );
671 ////////////////////////////////////////////////////////////////////
672 // Initialize the radio stack subsystem.
673 ////////////////////////////////////////////////////////////////////
675 // A textbook example of how FGSubsystem
677 current_radiostack = new FGRadioStack;
678 current_radiostack->init();
679 current_radiostack->bind();
682 ////////////////////////////////////////////////////////////////////
683 // Initialize the cockpit subsystem
684 ////////////////////////////////////////////////////////////////////
686 if( fgCockpitInit( ¤t_aircraft )) {
687 // Cockpit initialized ok.
689 SG_LOG( SG_GENERAL, SG_ALERT, "Error in Cockpit initialization!" );
694 ////////////////////////////////////////////////////////////////////
695 // Initialize the joystick subsystem.
696 ////////////////////////////////////////////////////////////////////
698 if ( ! fgJoystickInit() ) {
699 SG_LOG( SG_GENERAL, SG_ALERT, "Error in Joystick initialization!" );
703 ////////////////////////////////////////////////////////////////////
704 // Initialize the autopilot subsystem.
705 ////////////////////////////////////////////////////////////////////
707 current_autopilot = new FGAutopilot;
708 current_autopilot->init();
710 // initialize the gui parts of the autopilot
717 ////////////////////////////////////////////////////////////////////
718 // Initialize I/O subsystem.
719 ////////////////////////////////////////////////////////////////////
721 #if ! defined( macintosh )
725 // Initialize the 2D panel.
726 string panel_path = fgGetString("/sim/panel/path",
727 "Panels/Default/default.xml");
728 current_panel = fgReadPanel(panel_path);
729 if (current_panel == 0) {
730 SG_LOG( SG_INPUT, SG_ALERT,
731 "Error reading new panel from " << panel_path );
733 SG_LOG( SG_INPUT, SG_INFO, "Loaded new panel from " << panel_path );
734 current_panel->init();
735 current_panel->bind();
739 ////////////////////////////////////////////////////////////////////
740 // Initialize the BFI.
741 ////////////////////////////////////////////////////////////////////
746 ////////////////////////////////////////////////////////////////////
747 // Initialize the controls subsystem.
748 ////////////////////////////////////////////////////////////////////
754 ////////////////////////////////////////////////////////////////////////
755 // End of subsystem initialization.
756 ////////////////////////////////////////////////////////////////////
758 SG_LOG( SG_GENERAL, SG_INFO, endl);
760 // Save the initial state for future
762 globals->saveInitialState();
768 void fgReInitSubsystems( void )
770 SG_LOG( SG_GENERAL, SG_INFO,
771 "/position/altitude = " << fgGetDouble("/position/altitude") );
773 bool freeze = globals->get_freeze();
775 globals->set_freeze( true );
777 // Initialize the Scenery Management subsystem
778 if ( ! fgSceneryInit() ) {
779 SG_LOG( SG_GENERAL, SG_ALERT, "Error in Scenery initialization!" );
783 if( global_tile_mgr.init() ) {
784 // Load the local scenery data
785 global_tile_mgr.update( fgGetDouble("/position/longitude"),
786 fgGetDouble("/position/latitude") );
788 SG_LOG( SG_GENERAL, SG_ALERT, "Error in Tile Manager initialization!" );
792 // Initialize view parameters
793 FGViewerRPH *pilot_view =
794 (FGViewerRPH *)globals->get_viewmgr()->get_view( 0 );
796 pilot_view->set_view_offset( 0.0 );
797 pilot_view->set_goal_view_offset( 0.0 );
799 pilot_view->set_geod_view_pos( cur_fdm_state->get_Longitude(),
800 cur_fdm_state->get_Lat_geocentric(),
801 cur_fdm_state->get_Altitude() *
803 pilot_view->set_sea_level_radius( cur_fdm_state->get_Sea_level_radius() *
805 pilot_view->set_rph( cur_fdm_state->get_Phi(),
806 cur_fdm_state->get_Theta(),
807 cur_fdm_state->get_Psi() );
809 // set current view to 0 (first) which is our main pilot view
810 globals->set_current_view( pilot_view );
812 SG_LOG( SG_GENERAL, SG_DEBUG, " abs_view_pos = "
813 << globals->get_current_view()->get_abs_view_pos());
815 cur_fdm_state->init();
817 controls.reset_all();
818 current_autopilot->reset();
822 cur_light_params.Update();
826 globals->set_freeze( false );