src/Main/fg_init.cxx

   1 // fg_init.cxx -- Flight Gear top level initialization routines
   2 //
   3 // Written by Curtis Olson, started August 1997.
   4 //
   5 // Copyright (C) 1997  Curtis L. Olson  - curt@infoplane.com
   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 //
  22 // $Id$
  23
  24
  25 #ifdef HAVE_CONFIG_H
  26 #  include <config.h>
  27 #endif
  28
  29 // For BC 5.01 this must be included before OpenGL includes.
  30 #ifdef FG_MATH_EXCEPTION_CLASH
  31 #  include <math.h>
  32 #endif
  33
  34 #include <GL/glut.h>
  35 #include <simgear/xgl/xgl.h>
  36
  37 #include <stdio.h>
  38 #include <stdlib.h>
  39
  40 // work around a stdc++ lib bug in some versions of linux, but doesn't
  41 // seem to hurt to have this here for all versions of Linux.
  42 #ifdef linux
  43 #  define _G_NO_EXTERN_TEMPLATES
  44 #endif
  45
  46 #include <simgear/compiler.h>
  47
  48 #include STL_STRING
  49
  50 #include <simgear/constants.h>
  51 #include <simgear/debug/logstream.hxx>
  52 #include <simgear/math/point3d.hxx>
  53 #include <simgear/math/polar3d.hxx>
  54 #include <simgear/math/sg_geodesy.hxx>
  55 #include <simgear/misc/fgpath.hxx>
  56 #include <simgear/timing/sg_time.hxx>
  57
  58 #include <Aircraft/aircraft.hxx>
  59 #include <Airports/runways.hxx>
  60 #include <Airports/simple.hxx>
  61 #include <Autopilot/auto_gui.hxx>
  62 #include <Autopilot/newauto.hxx>
  63 #include <Cockpit/cockpit.hxx>
  64 #include <Cockpit/radiostack.hxx>
  65 #include <Cockpit/panel.hxx>
  66 #include <Cockpit/panel_io.hxx>
  67 #include <FDM/Balloon.h>
  68 #include <FDM/External.hxx>
  69 #include <FDM/JSBSim.hxx>
  70 #include <FDM/LaRCsim.hxx>
  71 #include <FDM/MagicCarpet.hxx>
  72 #include <Include/general.hxx>
  73 #include <Joystick/joystick.hxx>
  74 #include <Objects/matlib.hxx>
  75 #include <Navaids/fixlist.hxx>
  76 #include <Navaids/ilslist.hxx>
  77 #include <Navaids/navlist.hxx>
  78 #include <Scenery/scenery.hxx>
  79 #include <Scenery/tilemgr.hxx>
  80 #include <Time/event.hxx>
  81 #include <Time/light.hxx>
  82 #include <Time/sunpos.hxx>
  83 #include <Time/moonpos.hxx>
  84 #include <Time/tmp.hxx>
  85
  86 #ifndef FG_OLD_WEATHER
  87 #  include <WeatherCM/FGLocalWeatherDatabase.h>
  88 #else
  89 #  include <Weather/weather.hxx>
  90 #endif
  91
  92 #include "fg_init.hxx"
  93 #include "fg_io.hxx"
  94 #include "globals.hxx"
  95 #include "options.hxx"
  96 #include "views.hxx"
  97 #include "bfi.hxx"
  98
  99 #if defined(FX) && defined(XMESA)
 100 #include <GL/xmesa.h>
 101 #endif
 102
 103 FG_USING_STD(string);
 104
 105 extern const char *default_root;
 106
 107
 108 // Read in configuration (file and command line)
 109 bool fgInitConfig ( int argc, char **argv ) {
 110     // Attempt to locate and parse a config file
 111     // First check fg_root
 112     FGPath config( current_options.get_fg_root() );
 113     config.append( "system.fgfsrc" );
 114     current_options.parse_config_file( config.str() );
 115
 116     // Next check home directory
 117     char* envp = ::getenv( "HOME" );
 118     if ( envp != NULL ) {
 119         config.set( envp );
 120         config.append( ".fgfsrc" );
 121         current_options.parse_config_file( config.str() );
 122     }
 123
 124     // Parse remaining command line options
 125     // These will override anything specified in a config file
 126     if ( current_options.parse_command_line(argc, argv) !=
 127          fgOPTIONS::FG_OPTIONS_OK )
 128     {
 129         // Something must have gone horribly wrong with the command
 130         // line parsing or maybe the user just requested help ... :-)
 131         current_options.usage();
 132         FG_LOG( FG_GENERAL, FG_ALERT, "\nExiting ...");
 133         return false;
 134     }
 135
 136    return true;
 137 }
 138
 139
 140 // Set current_options lon/lat given an airport id
 141 bool fgSetPosFromAirportID( const string& id ) {
 142     FGAirport a;
 143     double lon, lat;
 144
 145     if ( id.length() ) {
 146         // set initial position from airport id
 147
 148         FGPath path( current_options.get_fg_root() );
 149         path.append( "Airports" );
 150         path.append( "simple.mk4" );
 151         FGAirports airports( path.c_str() );
 152
 153         FG_LOG( FG_GENERAL, FG_INFO,
 154                 "Attempting to set starting position from airport code "
 155                 << id );
 156
 157         // FGPath inpath( current_options.get_fg_root() );
 158         // inpath.append( "Airports" );
 159         // inpath.append( "apt_simple" );
 160         // airports.load( inpath.c_str() );
 161
 162         // FGPath outpath( current_options.get_fg_root() );
 163         // outpath.append( "Airports" );
 164         // outpath.append( "simple.gdbm" );
 165         // airports.dump_gdbm( outpath.c_str() );
 166
 167         if ( ! airports.search( id, &a ) ) {
 168             FG_LOG( FG_GENERAL, FG_ALERT,
 169                     "Failed to find " << id << " in database." );
 170             return false;
 171         } else {
 172             current_options.set_lon( a.longitude );
 173             current_options.set_lat( a.latitude );
 174             current_properties.setDoubleValue("/position/longitude",
 175                                               a.longitude);
 176             current_properties.setDoubleValue("/position/latitude",
 177                                               a.latitude);
 178         }
 179     } else {
 180         return false;
 181     }
 182
 183     FG_LOG( FG_GENERAL, FG_INFO,
 184             "Position for " << id << " is ("
 185             << a.longitude << ", "
 186             << a.latitude << ")" );
 187
 188     return true;
 189 }
 190
 191
 192 // Set current_options lon/lat given an airport id and heading (degrees)
 193 bool fgSetPosFromAirportIDandHdg( const string& id, double tgt_hdg ) {
 194     FGRunway r;
 195     FGRunway found_r;
 196     double found_dir;
 197
 198     if ( id.length() ) {
 199         // set initial position from runway and heading
 200
 201         FGPath path( current_options.get_fg_root() );
 202         path.append( "Airports" );
 203         path.append( "runways.mk4" );
 204         FGRunways runways( path.c_str() );
 205
 206         FG_LOG( FG_GENERAL, FG_INFO,
 207                 "Attempting to set starting position from runway code "
 208                 << id << " heading " << tgt_hdg );
 209
 210         // FGPath inpath( current_options.get_fg_root() );
 211         // inpath.append( "Airports" );
 212         // inpath.append( "apt_simple" );
 213         // airports.load( inpath.c_str() );
 214
 215         // FGPath outpath( current_options.get_fg_root() );
 216         // outpath.append( "Airports" );
 217         // outpath.append( "simple.gdbm" );
 218         // airports.dump_gdbm( outpath.c_str() );
 219
 220         if ( ! runways.search( id, &r ) ) {
 221             FG_LOG( FG_GENERAL, FG_ALERT,
 222                     "Failed to find " << id << " in database." );
 223             return false;
 224         }
 225
 226         double diff;
 227         double min_diff = 360.0;
 228
 229         while ( r.id == id ) {
 230             // forward direction
 231             diff = tgt_hdg - r.heading;
 232             while ( diff < -180.0 ) { diff += 360.0; }
 233             while ( diff >  180.0 ) { diff -= 360.0; }
 234             diff = fabs(diff);
 235             FG_LOG( FG_GENERAL, FG_INFO,
 236                     "Runway " << r.rwy_no << " heading = " << r.heading <<
 237                     " diff = " << diff );
 238             if ( diff < min_diff ) {
 239                 min_diff = diff;
 240                 found_r = r;
 241                 found_dir = 0;
 242             }
 243
 244             // reverse direction
 245             diff = tgt_hdg - r.heading - 180.0;
 246             while ( diff < -180.0 ) { diff += 360.0; }
 247             while ( diff >  180.0 ) { diff -= 360.0; }
 248             diff = fabs(diff);
 249             FG_LOG( FG_GENERAL, FG_INFO,
 250                     "Runway -" << r.rwy_no << " heading = " <<
 251                     r.heading + 180.0 <<
 252                     " diff = " << diff );
 253             if ( diff < min_diff ) {
 254                 min_diff = diff;
 255                 found_r = r;
 256                 found_dir = 180.0;
 257             }
 258
 259             runways.next( &r );
 260         }
 261
 262         FG_LOG( FG_GENERAL, FG_INFO, "closest runway = " << found_r.rwy_no
 263                 << " + " << found_dir );
 264
 265     } else {
 266         return false;
 267     }
 268
 269     double heading = found_r.heading + found_dir;
 270     while ( heading >= 360.0 ) { heading -= 360.0; }
 271
 272     double lat2, lon2, az2;
 273     double azimuth = found_r.heading + found_dir + 180.0;
 274     while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 275
 276     FG_LOG( FG_GENERAL, FG_INFO,
 277             "runway =  " << found_r.lon << ", " << found_r.lat
 278             << " length = " << found_r.length * FEET_TO_METER * 0.5
 279             << " heading = " << azimuth );
 280     geo_direct_wgs_84 ( 0, found_r.lat, found_r.lon,
 281                         azimuth, found_r.length * FEET_TO_METER * 0.5 - 5.0,
 282                         &lat2, &lon2, &az2 );
 283     current_options.set_lon( lon2 );
 284     current_options.set_lat( lat2 );
 285     current_options.set_heading( heading );
 286     current_properties.setDoubleValue("/position/longitude", lon2);
 287     current_properties.setDoubleValue("/position/latitude", lat2);
 288     current_properties.setDoubleValue("/orientation/heading", heading);
 289
 290     FG_LOG( FG_GENERAL, FG_INFO,
 291             "Position for " << id << " is ("
 292             << lon2 << ", "
 293             << lat2 << ") new heading is "
 294             << heading );
 295
 296     return true;
 297 }
 298
 299
 300 // Set initial position and orientation
 301 bool fgInitPosition( void ) {
 302     FGInterface *f = current_aircraft.fdm_state;
 303     string id = current_options.get_airport_id();
 304
 305     // set initial position from default or command line coordinates
 306     f->set_Longitude( current_options.get_lon() * DEG_TO_RAD );
 307     f->set_Latitude( current_options.get_lat() * DEG_TO_RAD );
 308
 309     if ( scenery.cur_elev > current_options.get_altitude() - 1) {
 310         current_options.set_altitude( scenery.cur_elev + 1 );
 311     }
 312
 313     FG_LOG( FG_GENERAL, FG_INFO,
 314             "starting altitude is = " << current_options.get_altitude() );
 315
 316     f->set_Altitude( current_options.get_altitude() * METER_TO_FEET );
 317     fgFDMSetGroundElevation( current_options.get_flight_model(),
 318                              f->get_Altitude() * FEET_TO_METER );
 319
 320     FG_LOG( FG_GENERAL, FG_INFO,
 321             "Initial position is: ("
 322             << (f->get_Longitude() * RAD_TO_DEG) << ", "
 323             << (f->get_Latitude() * RAD_TO_DEG) << ", "
 324             << (f->get_Altitude() * FEET_TO_METER) << ")" );
 325
 326     return true;
 327 }
 328
 329
 330 // General house keeping initializations
 331 bool fgInitGeneral( void ) {
 332     string root;
 333
 334 #if defined(FX) && defined(XMESA)
 335     char *mesa_win_state;
 336 #endif
 337
 338     FG_LOG( FG_GENERAL, FG_INFO, "General Initialization" );
 339     FG_LOG( FG_GENERAL, FG_INFO, "======= ==============" );
 340
 341     root = current_options.get_fg_root();
 342     if ( ! root.length() ) {
 343         // No root path set? Then bail ...
 344         FG_LOG( FG_GENERAL, FG_ALERT,
 345                 "Cannot continue without environment variable FG_ROOT"
 346                 << "being defined." );
 347         exit(-1);
 348     }
 349     FG_LOG( FG_GENERAL, FG_INFO, "FG_ROOT = " << '"' << root << '"' << endl );
 350
 351 #if defined(FX) && defined(XMESA)
 352     // initialize full screen flag
 353     global_fullscreen = false;
 354     if ( strstr ( general.get_glRenderer(), "Glide" ) ) {
 355         // Test for the MESA_GLX_FX env variable
 356         if ( (mesa_win_state = getenv( "MESA_GLX_FX" )) != NULL) {
 357             // test if we are fullscreen mesa/glide
 358             if ( (mesa_win_state[0] == 'f') ||
 359                  (mesa_win_state[0] == 'F') ) {
 360                 global_fullscreen = true;
 361             }
 362         }
 363     }
 364 #endif
 365
 366     return true;
 367 }
 368
 369
 370 // This is the top level init routine which calls all the other
 371 // initialization routines.  If you are adding a subsystem to flight
 372 // gear, its initialization call should located in this routine.
 373 // Returns non-zero if a problem encountered.
 374 bool fgInitSubsystems( void ) {
 375     fgLIGHT *l = &cur_light_params;
 376
 377     FG_LOG( FG_GENERAL, FG_INFO, "Initialize Subsystems");
 378     FG_LOG( FG_GENERAL, FG_INFO, "========== ==========");
 379
 380     // Initialize the material property lib
 381     FGPath mpath( current_options.get_fg_root() );
 382     mpath.append( "materials" );
 383     if ( material_lib.load( mpath.str() ) ) {
 384     } else {
 385         FG_LOG( FG_GENERAL, FG_ALERT, "Error loading material lib!" );
 386         exit(-1);
 387     }
 388
 389     // Initialize the Scenery Management subsystem
 390     if ( fgSceneryInit() ) {
 391         // Material lib initialized ok.
 392     } else {
 393         FG_LOG( FG_GENERAL, FG_ALERT, "Error in Scenery initialization!" );
 394         exit(-1);
 395     }
 396
 397     if ( global_tile_mgr.init() ) {
 398         // Load the local scenery data
 399         global_tile_mgr.update( current_options.get_lon(),
 400                                 current_options.get_lat() );
 401     } else {
 402         FG_LOG( FG_GENERAL, FG_ALERT, "Error in Tile Manager initialization!" );
 403         exit(-1);
 404     }
 405
 406     FG_LOG( FG_GENERAL, FG_DEBUG,
 407             "Current terrain elevation after tile mgr init " <<
 408             scenery.cur_elev );
 409
 410     if ( current_options.get_flight_model() == FGInterface::FG_LARCSIM ) {
 411         cur_fdm_state = new FGLaRCsim;
 412     } else if ( current_options.get_flight_model() == FGInterface::FG_JSBSIM ) {
 413         cur_fdm_state = new FGJSBsim;
 414     } else if ( current_options.get_flight_model() ==
 415                 FGInterface::FG_BALLOONSIM ) {
 416         cur_fdm_state = new FGBalloonSim;
 417     } else if ( current_options.get_flight_model() ==
 418                 FGInterface::FG_MAGICCARPET ) {
 419         cur_fdm_state = new FGMagicCarpet;
 420     } else if ( current_options.get_flight_model() ==
 421                 FGInterface::FG_EXTERNAL ) {
 422         cur_fdm_state = new FGExternal;
 423     } else {
 424         FG_LOG( FG_GENERAL, FG_ALERT,
 425                 "No flight model, can't init aircraft" );
 426         exit(-1);
 427     }
 428
 429     // allocates structures so must happen before any of the flight
 430     // model or control parameters are set
 431     fgAircraftInit();   // In the future this might not be the case.
 432
 433     // set the initial position
 434     fgInitPosition();
 435
 436     // Calculate ground elevation at starting point (we didn't have
 437     // tmp_abs_view_pos calculated when fgTileMgrUpdate() was called above
 438     //
 439     // calculalate a cartesian point somewhere along the line between
 440     // the center of the earth and our view position.  Doesn't have to
 441     // be the exact elevation (this is good because we don't know it
 442     // yet :-)
 443
 444     // now handled inside of the fgTileMgrUpdate()
 445
 446     /*
 447     geod_pos = Point3D( cur_fdm_state->get_Longitude(), cur_fdm_state->get_Latitude(), 0.0);
 448     tmp_abs_view_pos = sgGeodToCart(geod_pos);
 449
 450     FG_LOG( FG_GENERAL, FG_DEBUG,
 451             "Initial abs_view_pos = " << tmp_abs_view_pos );
 452     scenery.cur_elev =
 453         fgTileMgrCurElev( cur_fdm_state->get_Longitude(), cur_fdm_state->get_Latitude(),
 454                           tmp_abs_view_pos );
 455     FG_LOG( FG_GENERAL, FG_DEBUG,
 456             "Altitude after update " << scenery.cur_elev );
 457     */
 458
 459     fgFDMSetGroundElevation( current_options.get_flight_model(),
 460                              scenery.cur_elev );
 461
 462     // Reset our altitude if we are below ground
 463     FG_LOG( FG_GENERAL, FG_DEBUG, "Current altitude = " << cur_fdm_state->get_Altitude() );
 464     FG_LOG( FG_GENERAL, FG_DEBUG, "Current runway altitude = " <<
 465             cur_fdm_state->get_Runway_altitude() );
 466
 467     if ( cur_fdm_state->get_Altitude() < cur_fdm_state->get_Runway_altitude() + 3.758099) {
 468         cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() + 3.758099 );
 469     }
 470
 471     FG_LOG( FG_GENERAL, FG_INFO,
 472             "Updated position (after elevation adj): ("
 473             << (cur_fdm_state->get_Latitude() * RAD_TO_DEG) << ", "
 474             << (cur_fdm_state->get_Longitude() * RAD_TO_DEG) << ", "
 475             << (cur_fdm_state->get_Altitude() * FEET_TO_METER) << ")" );
 476
 477     // We need to calculate a few more values here that would normally
 478     // be calculated by the FDM so that the current_view.UpdateViewMath()
 479     // routine doesn't get hosed.
 480
 481     double sea_level_radius_meters;
 482     double lat_geoc;
 483     // Set the FG variables first
 484     sgGeodToGeoc( cur_fdm_state->get_Latitude(), cur_fdm_state->get_Altitude(),
 485                   &sea_level_radius_meters, &lat_geoc);
 486     cur_fdm_state->set_Geocentric_Position( lat_geoc, cur_fdm_state->get_Longitude(),
 487                                 cur_fdm_state->get_Altitude() +
 488                                 (sea_level_radius_meters * METER_TO_FEET) );
 489     cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters * METER_TO_FEET );
 490
 491     cur_fdm_state->set_sin_cos_longitude(cur_fdm_state->get_Longitude());
 492     cur_fdm_state->set_sin_cos_latitude(cur_fdm_state->get_Latitude());
 493
 494     cur_fdm_state->set_sin_lat_geocentric(sin(lat_geoc));
 495     cur_fdm_state->set_cos_lat_geocentric(cos(lat_geoc));
 496
 497     // The following section sets up the flight model EOM parameters
 498     // and should really be read in from one or more files.
 499
 500     // Initial Velocity
 501     cur_fdm_state->set_Velocities_Local( current_options.get_uBody(),
 502                              current_options.get_vBody(),
 503                              current_options.get_wBody());
 504
 505     // Initial Orientation
 506     cur_fdm_state->set_Euler_Angles( current_options.get_roll() * DEG_TO_RAD,
 507                          current_options.get_pitch() * DEG_TO_RAD,
 508                          current_options.get_heading() * DEG_TO_RAD );
 509
 510     // Initial Angular Body rates
 511     cur_fdm_state->set_Omega_Body( 7.206685E-05, 0.0, 9.492658E-05 );
 512
 513     cur_fdm_state->set_Earth_position_angle( 0.0 );
 514
 515     // Mass properties and geometry values
 516     cur_fdm_state->set_Inertias( 8.547270E+01,
 517                      1.048000E+03, 3.000000E+03, 3.530000E+03, 0.000000E+00 );
 518
 519     // CG position w.r.t. ref. point
 520     cur_fdm_state->set_CG_Position( 0.0, 0.0, 0.0 );
 521
 522     // Initialize the event manager
 523     global_events.Init();
 524
 525     // Output event stats every 60 seconds
 526     global_events.Register( "fgEVENT_MGR::PrintStats()",
 527                             fgMethodCallback<fgEVENT_MGR>( &global_events,
 528                                                    &fgEVENT_MGR::PrintStats),
 529                             fgEVENT::FG_EVENT_READY, 60000 );
 530
 531     // Initialize view parameters
 532     FG_LOG( FG_GENERAL, FG_DEBUG, "Before current_view.init()");
 533     current_view.Init();
 534     pilot_view.Init();
 535     FG_LOG( FG_GENERAL, FG_DEBUG, "After current_view.init()");
 536     current_view.UpdateViewMath(*cur_fdm_state);
 537     pilot_view.UpdateViewMath(*cur_fdm_state);
 538     FG_LOG( FG_GENERAL, FG_DEBUG, "  abs_view_pos = " << current_view.get_abs_view_pos());
 539     // current_view.UpdateWorldToEye(f);
 540
 541     // Initialize the planetary subsystem
 542     // global_events.Register( "fgPlanetsInit()", fgPlanetsInit,
 543     //                      fgEVENT::FG_EVENT_READY, 600000);
 544
 545     // Initialize the sun's position
 546     // global_events.Register( "fgSunInit()", fgSunInit,
 547     //                      fgEVENT::FG_EVENT_READY, 30000 );
 548
 549     // Intialize the moon's position
 550     // global_events.Register( "fgMoonInit()", fgMoonInit,
 551     //                      fgEVENT::FG_EVENT_READY, 600000 );
 552
 553     // fgUpdateSunPos() needs a few position and view parameters set
 554     // so it can calculate local relative sun angle and a few other
 555     // things for correctly orienting the sky.
 556     fgUpdateSunPos();
 557     fgUpdateMoonPos();
 558     global_events.Register( "fgUpdateSunPos()", fgUpdateSunPos,
 559                             fgEVENT::FG_EVENT_READY, 60000);
 560     global_events.Register( "fgUpdateMoonPos()", fgUpdateMoonPos,
 561                             fgEVENT::FG_EVENT_READY, 60000);
 562
 563     // Initialize Lighting interpolation tables
 564     l->Init();
 565
 566     // update the lighting parameters (based on sun angle)
 567     global_events.Register( "fgLight::Update()",
 568                             fgMethodCallback<fgLIGHT>( &cur_light_params,
 569                                                        &fgLIGHT::Update),
 570                             fgEVENT::FG_EVENT_READY, 30000 );
 571     // update the current timezone each 30 minutes
 572     global_events.Register( "fgUpdateLocalTime()", fgUpdateLocalTime,
 573                             fgEVENT::FG_EVENT_READY, 1800000);
 574
 575     // Initialize the weather modeling subsystem
 576 #ifndef FG_OLD_WEATHER
 577     // Initialize the WeatherDatabase
 578     FG_LOG(FG_GENERAL, FG_INFO, "Creating LocalWeatherDatabase");
 579     sgVec3 position;
 580     sgSetVec3( position, current_aircraft.fdm_state->get_Latitude(),
 581                current_aircraft.fdm_state->get_Longitude(),
 582                current_aircraft.fdm_state->get_Altitude() * FEET_TO_METER );
 583     FGLocalWeatherDatabase::theFGLocalWeatherDatabase =
 584         new FGLocalWeatherDatabase( position, current_options.get_fg_root() );
 585     // cout << theFGLocalWeatherDatabase << endl;
 586     // cout << "visibility = "
 587     //      << theFGLocalWeatherDatabase->getWeatherVisibility() << endl;
 588
 589     WeatherDatabase = FGLocalWeatherDatabase::theFGLocalWeatherDatabase;
 590
 591     // register the periodic update of the weather
 592     global_events.Register( "weather update", fgUpdateWeatherDatabase,
 593                             fgEVENT::FG_EVENT_READY, 30000);
 594 #else
 595     current_weather.Init();
 596 #endif
 597
 598     // Initialize vor/ndb/ils/fix list management and query systems
 599     FG_LOG(FG_GENERAL, FG_INFO, "Loading Navaids");
 600
 601     FG_LOG(FG_GENERAL, FG_INFO, "  VOR/NDB");
 602     current_navlist = new FGNavList;
 603     FGPath p_nav( current_options.get_fg_root() );
 604     p_nav.append( "Navaids/default.nav" );
 605     current_navlist->init( p_nav );
 606
 607     FG_LOG(FG_GENERAL, FG_INFO, "  ILS");
 608     current_ilslist = new FGILSList;
 609     FGPath p_ils( current_options.get_fg_root() );
 610     p_ils.append( "Navaids/default.ils" );
 611     current_ilslist->init( p_ils );
 612
 613     FG_LOG(FG_GENERAL, FG_INFO, "  Fixes");
 614     current_fixlist = new FGFixList;
 615     FGPath p_fix( current_options.get_fg_root() );
 616     p_fix.append( "Navaids/default.fix" );
 617     current_fixlist->init( p_fix );
 618
 619     // Initialize the underlying radio stack model
 620     current_radiostack = new FGRadioStack;
 621
 622 //     current_radiostack->set_nav1_freq( 117.30 );
 623 //     current_radiostack->set_nav1_alt_freq( 110.30 );
 624 //     current_radiostack->set_nav1_sel_radial( 119.0 );
 625
 626 //     current_radiostack->set_nav2_freq( 111.80 );
 627 //     current_radiostack->set_nav2_alt_freq( 115.70 );
 628 //     current_radiostack->set_nav2_sel_radial( 029.0 );
 629
 630 //     current_radiostack->set_adf_freq( 266.0 );
 631
 632 #if 0
 633     // This block of settings are Alex's defaults for San Diego
 634     current_radiostack->set_nav1_freq( 111.70 );
 635     current_radiostack->set_nav1_alt_freq( 115.30 );
 636     current_radiostack->set_nav1_sel_radial( 280.0 );
 637     current_radiostack->set_nav2_freq( 117.80 );
 638     current_radiostack->set_nav2_alt_freq( 114.00 );
 639     current_radiostack->set_nav2_sel_radial( 68.0 );
 640     current_radiostack->set_adf_freq( 210.0 );
 641     // End of Alex's custom settings
 642 #endif
 643
 644     current_radiostack->search( cur_fdm_state->get_Longitude(),
 645                                 cur_fdm_state->get_Latitude(),
 646                                 cur_fdm_state->get_Altitude() * FEET_TO_METER );
 647
 648     current_radiostack->update( cur_fdm_state->get_Longitude(),
 649                                 cur_fdm_state->get_Latitude(),
 650                                 cur_fdm_state->get_Altitude() * FEET_TO_METER );
 651
 652     // Search radio database once per second
 653     global_events.Register( "fgRadioSearch()", fgRadioSearch,
 654                             fgEVENT::FG_EVENT_READY, 1000);
 655
 656
 657     // Initialize the Cockpit subsystem
 658     if( fgCockpitInit( &current_aircraft )) {
 659         // Cockpit initialized ok.
 660     } else {
 661         FG_LOG( FG_GENERAL, FG_ALERT, "Error in Cockpit initialization!" );
 662         exit(-1);
 663     }
 664
 665     // Initialize the flight model subsystem data structures base on
 666     // above values
 667
 668     // fgFDMInit( current_options.get_flight_model(), cur_fdm_state,
 669     //            1.0 / current_options.get_model_hz() );
 670     cur_fdm_state->init( 1.0 / current_options.get_model_hz() );
 671
 672     // I'm just sticking this here for now, it should probably move
 673     // eventually
 674     scenery.cur_elev = cur_fdm_state->get_Runway_altitude() * FEET_TO_METER;
 675
 676     if ( cur_fdm_state->get_Altitude() < cur_fdm_state->get_Runway_altitude() + 3.758099) {
 677         cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() + 3.758099 );
 678     }
 679
 680     FG_LOG( FG_GENERAL, FG_INFO,
 681             "Updated position (after elevation adj): ("
 682             << (cur_fdm_state->get_Latitude() * RAD_TO_DEG) << ", "
 683             << (cur_fdm_state->get_Longitude() * RAD_TO_DEG) << ", "
 684             << (cur_fdm_state->get_Altitude() * FEET_TO_METER) << ")" );
 685     // end of thing that I just stuck in that I should probably move
 686
 687     // Joystick support
 688     if ( fgJoystickInit() ) {
 689         // Joystick initialized ok.
 690     } else {
 691         FG_LOG( FG_GENERAL, FG_ALERT, "Error in Joystick initialization!" );
 692     }
 693
 694     // Autopilot init
 695     current_autopilot = new FGAutopilot;
 696     current_autopilot->init();
 697
 698     // initialize the gui parts of the autopilot
 699     NewTgtAirportInit();
 700     fgAPAdjustInit() ;
 701     NewHeadingInit();
 702     NewAltitudeInit();
 703
 704     // Initialize I/O channels
 705 #if ! defined( macintosh )
 706     fgIOInit();
 707 #endif
 708
 709     // Initialize the 2D panel.
 710     string panel_path =
 711         current_properties.getStringValue("/sim/panel/path",
 712                                           "Panels/Default/default.xml");
 713     current_panel = fgReadPanel(panel_path);
 714     if (current_panel == 0) {
 715         FG_LOG(FG_INPUT, FG_ALERT,
 716                "Error reading new panel from " << panel_path);
 717     }
 718     FG_LOG(FG_INPUT, FG_INFO, "Loaded new panel from " << panel_path);
 719
 720     // Initialize the BFI
 721     FGBFI::init();
 722
 723     FG_LOG( FG_GENERAL, FG_INFO, endl);
 724
 725     return true;
 726 }
 727
 728
 729 void fgReInitSubsystems( void )
 730 {
 731     bool freeze = globals->get_freeze();
 732     if( !freeze )
 733         globals->set_freeze( true );
 734
 735     if( global_tile_mgr.init() ) {
 736         // Load the local scenery data
 737         global_tile_mgr.update( current_options.get_lon(),
 738                                 current_options.get_lat() );
 739     } else {
 740         FG_LOG( FG_GENERAL, FG_ALERT, "Error in Tile Manager initialization!" );
 741                 exit(-1);
 742     }
 743
 744     // cout << "current scenery elev = " << scenery.cur_elev << endl;
 745
 746     fgInitPosition();
 747     fgFDMSetGroundElevation( current_options.get_flight_model(),
 748                              scenery.cur_elev );
 749
 750     // Reset our altitude if we are below ground
 751     FG_LOG( FG_GENERAL, FG_DEBUG, "Current altitude = " << cur_fdm_state->get_Altitude() );
 752     FG_LOG( FG_GENERAL, FG_DEBUG, "Current runway altitude = " <<
 753             cur_fdm_state->get_Runway_altitude() );
 754
 755     if ( cur_fdm_state->get_Altitude() < cur_fdm_state->get_Runway_altitude() + 3.758099) {
 756         cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() + 3.758099 );
 757     }
 758     double sea_level_radius_meters;
 759     double lat_geoc;
 760     // Set the FG variables first
 761     sgGeodToGeoc( cur_fdm_state->get_Latitude(), cur_fdm_state->get_Altitude(),
 762                   &sea_level_radius_meters, &lat_geoc);
 763     cur_fdm_state->set_Geocentric_Position( lat_geoc, cur_fdm_state->get_Longitude(),
 764                                 cur_fdm_state->get_Altitude() +
 765                                 (sea_level_radius_meters * METER_TO_FEET) );
 766     cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters * METER_TO_FEET );
 767
 768     cur_fdm_state->set_sin_cos_longitude(cur_fdm_state->get_Longitude());
 769     cur_fdm_state->set_sin_cos_latitude(cur_fdm_state->get_Latitude());
 770
 771     cur_fdm_state->set_sin_lat_geocentric(sin(lat_geoc));
 772     cur_fdm_state->set_cos_lat_geocentric(cos(lat_geoc));
 773
 774     // The following section sets up the flight model EOM parameters
 775     // and should really be read in from one or more files.
 776
 777     // Initial Velocity
 778     cur_fdm_state->set_Velocities_Local( current_options.get_uBody(),
 779                              current_options.get_vBody(),
 780                              current_options.get_wBody());
 781
 782     // Initial Orientation
 783     cur_fdm_state->set_Euler_Angles( current_options.get_roll() * DEG_TO_RAD,
 784                          current_options.get_pitch() * DEG_TO_RAD,
 785                          current_options.get_heading() * DEG_TO_RAD );
 786
 787     // Initial Angular Body rates
 788     cur_fdm_state->set_Omega_Body( 7.206685E-05, 0.0, 9.492658E-05 );
 789
 790     cur_fdm_state->set_Earth_position_angle( 0.0 );
 791
 792     // Mass properties and geometry values
 793     cur_fdm_state->set_Inertias( 8.547270E+01,
 794                      1.048000E+03, 3.000000E+03, 3.530000E+03, 0.000000E+00 );
 795
 796     // CG position w.r.t. ref. point
 797     cur_fdm_state->set_CG_Position( 0.0, 0.0, 0.0 );
 798
 799     // Initialize view parameters
 800     current_view.set_view_offset( 0.0 );
 801     current_view.set_goal_view_offset( 0.0 );
 802     pilot_view.set_view_offset( 0.0 );
 803     pilot_view.set_goal_view_offset( 0.0 );
 804
 805     FG_LOG( FG_GENERAL, FG_DEBUG, "After current_view.init()");
 806     current_view.UpdateViewMath(*cur_fdm_state);
 807     pilot_view.UpdateViewMath(*cur_fdm_state);
 808     FG_LOG( FG_GENERAL, FG_DEBUG, "  abs_view_pos = " << current_view.get_abs_view_pos());
 809
 810     // fgFDMInit( current_options.get_flight_model(), cur_fdm_state,
 811     //            1.0 / current_options.get_model_hz() );
 812     cur_fdm_state->init( 1.0 / current_options.get_model_hz() );
 813
 814     scenery.cur_elev = cur_fdm_state->get_Runway_altitude() * FEET_TO_METER;
 815
 816     if ( cur_fdm_state->get_Altitude() < cur_fdm_state->get_Runway_altitude() + 3.758099) {
 817         cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() + 3.758099 );
 818     }
 819
 820     controls.reset_all();
 821     current_autopilot->reset();
 822
 823     if( !freeze )
 824         globals->set_freeze( false );
 825 }