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 FG_MATH_EXCEPTION_CLASH
35 #include <simgear/xgl/xgl.h>
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.
43 # define _G_NO_EXTERN_TEMPLATES
46 #include <simgear/compiler.h>
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>
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/ADA.hxx>
68 #include <FDM/Balloon.h>
69 #include <FDM/External.hxx>
70 #include <FDM/JSBSim.hxx>
71 #include <FDM/LaRCsim.hxx>
72 #include <FDM/MagicCarpet.hxx>
73 #include <Include/general.hxx>
74 #include <Joystick/joystick.hxx>
75 #include <Objects/matlib.hxx>
76 #include <Navaids/fixlist.hxx>
77 #include <Navaids/ilslist.hxx>
78 #include <Navaids/navlist.hxx>
79 #include <Scenery/scenery.hxx>
80 #include <Scenery/tilemgr.hxx>
81 #include <Time/event.hxx>
82 #include <Time/light.hxx>
83 #include <Time/sunpos.hxx>
84 #include <Time/moonpos.hxx>
85 #include <Time/tmp.hxx>
87 #ifndef FG_OLD_WEATHER
88 # include <WeatherCM/FGLocalWeatherDatabase.h>
90 # include <Weather/weather.hxx>
93 #include "fg_init.hxx"
95 #include "globals.hxx"
98 #if defined(FX) && defined(XMESA)
102 FG_USING_STD(string);
104 extern const char *default_root;
107 // Read in configuration (file and command line) and just set fg_root
108 bool fgInitFGRoot ( int argc, char **argv ) {
109 // Attempt to locate and parse a config file
110 // First check fg_root
111 FGPath config( globals->get_options()->get_fg_root() );
112 config.append( "system.fgfsrc" );
113 globals->get_options()->scan_config_file_for_root( config.str() );
115 // Next check home directory
116 char* envp = ::getenv( "HOME" );
117 if ( envp != NULL ) {
119 config.append( ".fgfsrc" );
120 globals->get_options()->scan_config_file_for_root( config.str() );
123 // Parse remaining command line options
124 // These will override anything specified in a config file
125 globals->get_options()->scan_command_line_for_root(argc, argv);
131 // Read in configuration (file and command line)
132 bool fgInitConfig ( int argc, char **argv ) {
133 // Attempt to locate and parse a config file
134 // First check fg_root
135 FGPath config( globals->get_options()->get_fg_root() );
136 config.append( "system.fgfsrc" );
137 globals->get_options()->parse_config_file( config.str() );
139 // Next check home directory
140 char* envp = ::getenv( "HOME" );
141 if ( envp != NULL ) {
143 config.append( ".fgfsrc" );
144 globals->get_options()->parse_config_file( config.str() );
147 // Parse remaining command line options
148 // These will override anything specified in a config file
149 if ( globals->get_options()->parse_command_line(argc, argv) !=
150 FGOptions::FG_OPTIONS_OK )
152 // Something must have gone horribly wrong with the command
153 // line parsing or maybe the user just requested help ... :-)
154 globals->get_options()->usage();
155 FG_LOG( FG_GENERAL, FG_ALERT, "\nExiting ...");
163 // find basic airport location info from airport database
164 bool fgFindAirportID( const string& id, FGAirport *a ) {
166 FGPath path( globals->get_options()->get_fg_root() );
167 path.append( "Airports" );
168 path.append( "simple.mk4" );
169 FGAirports airports( path.c_str() );
171 FG_LOG( FG_GENERAL, FG_INFO, "Searching for airport code = " << id );
173 if ( ! airports.search( id, a ) ) {
174 FG_LOG( FG_GENERAL, FG_ALERT,
175 "Failed to find " << id << " in " << path.str() );
182 FG_LOG( FG_GENERAL, FG_INFO,
183 "Position for " << id << " is ("
184 << a->longitude << ", "
185 << a->latitude << ")" );
191 // Set current_options lon/lat given an airport id
192 bool fgSetPosFromAirportID( const string& id ) {
196 FG_LOG( FG_GENERAL, FG_INFO,
197 "Attempting to set starting position from airport code " << id );
199 if ( fgFindAirportID( id, &a ) ) {
200 globals->get_options()->set_lon( a.longitude );
201 globals->get_options()->set_lat( a.latitude );
202 globals->get_props()->setDoubleValue("/position/longitude",
204 globals->get_props()->setDoubleValue("/position/latitude",
207 FG_LOG( FG_GENERAL, FG_INFO,
208 "Position for " << id << " is ("
209 << a.longitude << ", "
210 << a.latitude << ")" );
220 // Set current_options lon/lat given an airport id and heading (degrees)
221 bool fgSetPosFromAirportIDandHdg( const string& id, double tgt_hdg ) {
224 double found_dir = 0.0;
227 // set initial position from runway and heading
229 FGPath path( globals->get_options()->get_fg_root() );
230 path.append( "Airports" );
231 path.append( "runways.mk4" );
232 FGRunways runways( path.c_str() );
234 FG_LOG( FG_GENERAL, FG_INFO,
235 "Attempting to set starting position from runway code "
236 << id << " heading " << tgt_hdg );
238 // FGPath inpath( globals->get_options()->get_fg_root() );
239 // inpath.append( "Airports" );
240 // inpath.append( "apt_simple" );
241 // airports.load( inpath.c_str() );
243 // FGPath outpath( globals->get_options()->get_fg_root() );
244 // outpath.append( "Airports" );
245 // outpath.append( "simple.gdbm" );
246 // airports.dump_gdbm( outpath.c_str() );
248 if ( ! runways.search( id, &r ) ) {
249 FG_LOG( FG_GENERAL, FG_ALERT,
250 "Failed to find " << id << " in database." );
255 double min_diff = 360.0;
257 while ( r.id == id ) {
259 diff = tgt_hdg - r.heading;
260 while ( diff < -180.0 ) { diff += 360.0; }
261 while ( diff > 180.0 ) { diff -= 360.0; }
263 FG_LOG( FG_GENERAL, FG_INFO,
264 "Runway " << r.rwy_no << " heading = " << r.heading <<
265 " diff = " << diff );
266 if ( diff < min_diff ) {
273 diff = tgt_hdg - r.heading - 180.0;
274 while ( diff < -180.0 ) { diff += 360.0; }
275 while ( diff > 180.0 ) { diff -= 360.0; }
277 FG_LOG( FG_GENERAL, FG_INFO,
278 "Runway -" << r.rwy_no << " heading = " <<
280 " diff = " << diff );
281 if ( diff < min_diff ) {
290 FG_LOG( FG_GENERAL, FG_INFO, "closest runway = " << found_r.rwy_no
291 << " + " << found_dir );
297 double heading = found_r.heading + found_dir;
298 while ( heading >= 360.0 ) { heading -= 360.0; }
300 double lat2, lon2, az2;
301 double azimuth = found_r.heading + found_dir + 180.0;
302 while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
304 FG_LOG( FG_GENERAL, FG_INFO,
305 "runway = " << found_r.lon << ", " << found_r.lat
306 << " length = " << found_r.length * FEET_TO_METER * 0.5
307 << " heading = " << azimuth );
308 geo_direct_wgs_84 ( 0, found_r.lat, found_r.lon,
309 azimuth, found_r.length * FEET_TO_METER * 0.5 - 5.0,
310 &lat2, &lon2, &az2 );
311 globals->get_options()->set_lon( lon2 );
312 globals->get_options()->set_lat( lat2 );
313 globals->get_options()->set_heading( heading );
314 globals->get_props()->setDoubleValue("/position/longitude", lon2);
315 globals->get_props()->setDoubleValue("/position/latitude", lat2);
316 globals->get_props()->setDoubleValue("/orientation/heading", heading);
318 FG_LOG( FG_GENERAL, FG_INFO,
319 "Position for " << id << " is ("
321 << lat2 << ") new heading is "
328 // Set initial position and orientation
329 bool fgInitPosition( void ) {
330 FGInterface *f = current_aircraft.fdm_state;
331 string id = globals->get_options()->get_airport_id();
333 // set initial position from default or command line coordinates
334 f->set_Longitude( globals->get_options()->get_lon() * DEG_TO_RAD );
335 f->set_Latitude( globals->get_options()->get_lat() * DEG_TO_RAD );
337 if ( scenery.cur_elev > globals->get_options()->get_altitude() - 1) {
338 globals->get_options()->set_altitude( scenery.cur_elev + 1 );
341 FG_LOG( FG_GENERAL, FG_INFO,
342 "starting altitude is = " << globals->get_options()->get_altitude() );
344 f->set_Altitude( globals->get_options()->get_altitude() * METER_TO_FEET );
345 // fgFDMSetGroundElevation( globals->get_options()->get_flight_model(),
346 // f->get_Altitude() * FEET_TO_METER );
349 globals->get_props()->setDoubleValue("/position/longitude",
350 f->get_Longitude() * RAD_TO_DEG);
351 globals->get_props()->setDoubleValue("/position/latitude",
352 f->get_Latitude() * RAD_TO_DEG);
353 globals->get_props()->setDoubleValue("/position/altitude",
354 f->get_Altitude() * RAD_TO_DEG);
357 FG_LOG( FG_GENERAL, FG_INFO,
358 "Initial position is: ("
359 << (f->get_Longitude() * RAD_TO_DEG) << ", "
360 << (f->get_Latitude() * RAD_TO_DEG) << ", "
361 << (f->get_Altitude() * FEET_TO_METER) << ")" );
367 // General house keeping initializations
368 bool fgInitGeneral( void ) {
371 #if defined(FX) && defined(XMESA)
372 char *mesa_win_state;
375 FG_LOG( FG_GENERAL, FG_INFO, "General Initialization" );
376 FG_LOG( FG_GENERAL, FG_INFO, "======= ==============" );
378 root = globals->get_options()->get_fg_root();
379 if ( ! root.length() ) {
380 // No root path set? Then bail ...
381 FG_LOG( FG_GENERAL, FG_ALERT,
382 "Cannot continue without environment variable FG_ROOT"
383 << "being defined." );
386 FG_LOG( FG_GENERAL, FG_INFO, "FG_ROOT = " << '"' << root << '"' << endl );
388 #if defined(FX) && defined(XMESA)
389 // initialize full screen flag
390 global_fullscreen = false;
391 if ( strstr ( general.get_glRenderer(), "Glide" ) ) {
392 // Test for the MESA_GLX_FX env variable
393 if ( (mesa_win_state = getenv( "MESA_GLX_FX" )) != NULL) {
394 // test if we are fullscreen mesa/glide
395 if ( (mesa_win_state[0] == 'f') ||
396 (mesa_win_state[0] == 'F') ) {
397 global_fullscreen = true;
407 // set initial aircraft speed
408 bool fgVelocityInit( void ) {
409 switch(globals->get_options()->get_speedset()) {
410 case FGOptions::FG_VC:
411 current_aircraft.fdm_state->set_V_calibrated_kts(
412 globals->get_options()->get_vc() );
414 case FGOptions::FG_MACH:
415 current_aircraft.fdm_state->set_Mach_number(
416 globals->get_options()->get_mach() );
418 case FGOptions::FG_VTUVW:
419 current_aircraft.fdm_state->set_Velocities_Wind_Body(
420 globals->get_options()->get_uBody(),
421 globals->get_options()->get_vBody(),
422 globals->get_options()->get_wBody() );
424 case FGOptions::FG_VTNED:
425 current_aircraft.fdm_state->set_Velocities_Local(
426 globals->get_options()->get_vNorth(),
427 globals->get_options()->get_vEast(),
428 globals->get_options()->get_vDown() );
431 current_aircraft.fdm_state->set_V_calibrated_kts( 0.0 );
437 // This is the top level init routine which calls all the other
438 // initialization routines. If you are adding a subsystem to flight
439 // gear, its initialization call should located in this routine.
440 // Returns non-zero if a problem encountered.
441 bool fgInitSubsystems( void ) {
442 fgLIGHT *l = &cur_light_params;
444 FG_LOG( FG_GENERAL, FG_INFO, "Initialize Subsystems");
445 FG_LOG( FG_GENERAL, FG_INFO, "========== ==========");
447 // Initialize the material property lib
448 FGPath mpath( globals->get_options()->get_fg_root() );
449 mpath.append( "materials" );
450 if ( material_lib.load( mpath.str() ) ) {
452 FG_LOG( FG_GENERAL, FG_ALERT, "Error loading material lib!" );
456 // Initialize the Scenery Management subsystem
457 if ( fgSceneryInit() ) {
458 // Material lib initialized ok.
460 FG_LOG( FG_GENERAL, FG_ALERT, "Error in Scenery initialization!" );
464 if ( global_tile_mgr.init() ) {
465 // Load the local scenery data
466 global_tile_mgr.update( globals->get_options()->get_lon(),
467 globals->get_options()->get_lat() );
469 FG_LOG( FG_GENERAL, FG_ALERT, "Error in Tile Manager initialization!" );
473 FG_LOG( FG_GENERAL, FG_DEBUG,
474 "Current terrain elevation after tile mgr init " <<
477 if ( globals->get_options()->get_flight_model() == FGInterface::FG_LARCSIM ) {
478 cur_fdm_state = new FGLaRCsim;
479 } else if ( globals->get_options()->get_flight_model() == FGInterface::FG_JSBSIM ) {
480 cur_fdm_state = new FGJSBsim;
481 } else if ( globals->get_options()->get_flight_model() == FGInterface::FG_ADA ) {
482 cur_fdm_state = new FGADA;
483 } else if ( globals->get_options()->get_flight_model() ==
484 FGInterface::FG_BALLOONSIM ) {
485 cur_fdm_state = new FGBalloonSim;
486 } else if ( globals->get_options()->get_flight_model() ==
487 FGInterface::FG_MAGICCARPET ) {
488 cur_fdm_state = new FGMagicCarpet;
489 } else if ( globals->get_options()->get_flight_model() ==
490 FGInterface::FG_EXTERNAL ) {
491 cur_fdm_state = new FGExternal;
493 FG_LOG( FG_GENERAL, FG_ALERT,
494 "No flight model, can't init aircraft" );
498 // allocates structures so must happen before any of the flight
499 // model or control parameters are set
500 fgAircraftInit(); // In the future this might not be the case.
502 fgFDMSetGroundElevation( globals->get_options()->get_flight_model(),
505 // set the initial position
508 // Calculate ground elevation at starting point (we didn't have
509 // tmp_abs_view_pos calculated when fgTileMgrUpdate() was called above
511 // calculalate a cartesian point somewhere along the line between
512 // the center of the earth and our view position. Doesn't have to
513 // be the exact elevation (this is good because we don't know it
516 // now handled inside of the fgTileMgrUpdate()
518 // Reset our altitude if we are below ground
519 FG_LOG( FG_GENERAL, FG_DEBUG, "Current altitude = "
520 << cur_fdm_state->get_Altitude() );
521 FG_LOG( FG_GENERAL, FG_DEBUG, "Current runway altitude = " <<
522 cur_fdm_state->get_Runway_altitude() );
524 if ( cur_fdm_state->get_Altitude() < cur_fdm_state->get_Runway_altitude() +
526 cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() +
530 FG_LOG( FG_GENERAL, FG_INFO,
531 "Updated position (after elevation adj): ("
532 << (cur_fdm_state->get_Latitude() * RAD_TO_DEG) << ", "
533 << (cur_fdm_state->get_Longitude() * RAD_TO_DEG) << ", "
534 << (cur_fdm_state->get_Altitude() * FEET_TO_METER) << ")" );
536 // We need to calculate a few sea_level_radius here so we can pass
537 // the correct value to the view class
538 double sea_level_radius_meters;
540 sgGeodToGeoc( cur_fdm_state->get_Latitude(),
541 cur_fdm_state->get_Altitude(),
542 &sea_level_radius_meters, &lat_geoc);
543 cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters *
546 // The following section sets up the flight model EOM parameters
547 // and should really be read in from one or more files.
552 // Initial Orientation
554 set_Euler_Angles( globals->get_options()->get_roll() * DEG_TO_RAD,
555 globals->get_options()->get_pitch() * DEG_TO_RAD,
556 globals->get_options()->get_heading() * DEG_TO_RAD );
558 // Initialize the event manager
559 global_events.Init();
561 // Output event stats every 60 seconds
562 global_events.Register( "fgEVENT_MGR::PrintStats()",
563 fgMethodCallback<fgEVENT_MGR>( &global_events,
564 &fgEVENT_MGR::PrintStats),
565 fgEVENT::FG_EVENT_READY, 60000 );
567 // Initialize win_ratio parameters
568 for ( int i = 0; i < globals->get_viewmgr()->size(); ++i ) {
569 globals->get_viewmgr()->get_view(i)->
570 set_win_ratio( globals->get_options()->get_xsize() /
571 globals->get_options()->get_ysize() );
574 // Initialize pilot view
575 FGViewerRPH *pilot_view =
576 (FGViewerRPH *)globals->get_viewmgr()->get_view( 0 );
578 pilot_view->set_geod_view_pos( cur_fdm_state->get_Longitude(),
579 cur_fdm_state->get_Lat_geocentric(),
580 cur_fdm_state->get_Altitude() *
582 pilot_view->set_sea_level_radius( cur_fdm_state->get_Sea_level_radius() *
584 pilot_view->set_rph( cur_fdm_state->get_Phi(),
585 cur_fdm_state->get_Theta(),
586 cur_fdm_state->get_Psi() );
588 // set current view to 0 (first) which is our main pilot view
589 globals->set_current_view( pilot_view );
591 FG_LOG( FG_GENERAL, FG_DEBUG, " abs_view_pos = "
592 << globals->get_current_view()->get_abs_view_pos());
594 // fgUpdateSunPos() needs a few position and view parameters set
595 // so it can calculate local relative sun angle and a few other
596 // things for correctly orienting the sky.
599 global_events.Register( "fgUpdateSunPos()", fgUpdateSunPos,
600 fgEVENT::FG_EVENT_READY, 60000);
601 global_events.Register( "fgUpdateMoonPos()", fgUpdateMoonPos,
602 fgEVENT::FG_EVENT_READY, 60000);
604 // Initialize Lighting interpolation tables
607 // update the lighting parameters (based on sun angle)
608 global_events.Register( "fgLight::Update()",
609 fgMethodCallback<fgLIGHT>( &cur_light_params,
611 fgEVENT::FG_EVENT_READY, 30000 );
612 // update the current timezone each 30 minutes
613 global_events.Register( "fgUpdateLocalTime()", fgUpdateLocalTime,
614 fgEVENT::FG_EVENT_READY, 1800000);
616 // Initialize the weather modeling subsystem
617 #ifndef FG_OLD_WEATHER
618 // Initialize the WeatherDatabase
619 FG_LOG(FG_GENERAL, FG_INFO, "Creating LocalWeatherDatabase");
621 sgSetVec3( position, current_aircraft.fdm_state->get_Latitude(),
622 current_aircraft.fdm_state->get_Longitude(),
623 current_aircraft.fdm_state->get_Altitude() * FEET_TO_METER );
624 FGLocalWeatherDatabase::theFGLocalWeatherDatabase =
625 new FGLocalWeatherDatabase( position,
626 globals->get_options()->get_fg_root() );
627 // cout << theFGLocalWeatherDatabase << endl;
628 // cout << "visibility = "
629 // << theFGLocalWeatherDatabase->getWeatherVisibility() << endl;
631 WeatherDatabase = FGLocalWeatherDatabase::theFGLocalWeatherDatabase;
633 double init_vis = globals->get_options()->get_default_visibility();
634 if ( init_vis > 0 ) {
635 WeatherDatabase->setWeatherVisibility( init_vis );
638 // register the periodic update of the weather
639 global_events.Register( "weather update", fgUpdateWeatherDatabase,
640 fgEVENT::FG_EVENT_READY, 30000);
642 current_weather.Init();
645 // Initialize vor/ndb/ils/fix list management and query systems
646 FG_LOG(FG_GENERAL, FG_INFO, "Loading Navaids");
648 FG_LOG(FG_GENERAL, FG_INFO, " VOR/NDB");
649 current_navlist = new FGNavList;
650 FGPath p_nav( globals->get_options()->get_fg_root() );
651 p_nav.append( "Navaids/default.nav" );
652 current_navlist->init( p_nav );
654 FG_LOG(FG_GENERAL, FG_INFO, " ILS");
655 current_ilslist = new FGILSList;
656 FGPath p_ils( globals->get_options()->get_fg_root() );
657 p_ils.append( "Navaids/default.ils" );
658 current_ilslist->init( p_ils );
660 FG_LOG(FG_GENERAL, FG_INFO, " Fixes");
661 current_fixlist = new FGFixList;
662 FGPath p_fix( globals->get_options()->get_fg_root() );
663 p_fix.append( "Navaids/default.fix" );
664 current_fixlist->init( p_fix );
666 // Initialize the underlying radio stack model
667 current_radiostack = new FGRadioStack;
669 current_radiostack->search( cur_fdm_state->get_Longitude(),
670 cur_fdm_state->get_Latitude(),
671 cur_fdm_state->get_Altitude() * FEET_TO_METER );
673 current_radiostack->update( cur_fdm_state->get_Longitude(),
674 cur_fdm_state->get_Latitude(),
675 cur_fdm_state->get_Altitude() * FEET_TO_METER );
677 // Search radio database once per second
678 global_events.Register( "fgRadioSearch()", fgRadioSearch,
679 fgEVENT::FG_EVENT_READY, 1000);
682 // Initialize the Cockpit subsystem
683 if( fgCockpitInit( ¤t_aircraft )) {
684 // Cockpit initialized ok.
686 FG_LOG( FG_GENERAL, FG_ALERT, "Error in Cockpit initialization!" );
690 // Initialize the flight model subsystem data structures base on
693 if ( cur_fdm_state->init( 1.0 / globals->get_options()->get_model_hz() ) ) {
694 // fdm init successful
696 FG_LOG( FG_GENERAL, FG_ALERT, "FDM init() failed! Cannot continue." );
700 // *ABCD* I'm just sticking this here for now, it should probably
702 scenery.cur_elev = cur_fdm_state->get_Runway_altitude() * FEET_TO_METER;
704 if ( cur_fdm_state->get_Altitude() <
705 cur_fdm_state->get_Runway_altitude() + 3.758099)
707 cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() +
711 FG_LOG( FG_GENERAL, FG_INFO,
712 "Updated position (after elevation adj): ("
713 << (cur_fdm_state->get_Latitude() * RAD_TO_DEG) << ", "
714 << (cur_fdm_state->get_Longitude() * RAD_TO_DEG) << ", "
715 << (cur_fdm_state->get_Altitude() * FEET_TO_METER) << ")" );
716 // *ABCD* end of thing that I just stuck in that I should probably
720 if ( ! fgJoystickInit() ) {
721 FG_LOG( FG_GENERAL, FG_ALERT, "Error in Joystick initialization!" );
725 current_autopilot = new FGAutopilot;
726 current_autopilot->init();
728 // initialize the gui parts of the autopilot
734 // Initialize I/O channels
735 #if ! defined( macintosh )
739 // Initialize the 2D panel.
741 globals->get_props()->getStringValue("/sim/panel/path",
742 "Panels/Default/default.xml");
743 current_panel = fgReadPanel(panel_path);
744 if (current_panel == 0) {
745 FG_LOG( FG_INPUT, FG_ALERT,
746 "Error reading new panel from " << panel_path );
748 FG_LOG( FG_INPUT, FG_INFO, "Loaded new panel from " << panel_path );
751 // Initialize the BFI
754 FG_LOG( FG_GENERAL, FG_INFO, endl);
760 void fgReInitSubsystems( void )
762 bool freeze = globals->get_freeze();
764 globals->set_freeze( true );
766 if( global_tile_mgr.init() ) {
767 // Load the local scenery data
768 global_tile_mgr.update( globals->get_options()->get_lon(),
769 globals->get_options()->get_lat() );
771 FG_LOG( FG_GENERAL, FG_ALERT, "Error in Tile Manager initialization!" );
775 // cout << "current scenery elev = " << scenery.cur_elev << endl;
778 fgFDMSetGroundElevation( globals->get_options()->get_flight_model(),
781 // Reset our altitude if we are below ground
782 FG_LOG( FG_GENERAL, FG_DEBUG, "Current altitude = "
783 << cur_fdm_state->get_Altitude() );
784 FG_LOG( FG_GENERAL, FG_DEBUG, "Current runway altitude = "
785 << cur_fdm_state->get_Runway_altitude() );
787 if ( cur_fdm_state->get_Altitude() <
788 cur_fdm_state->get_Runway_altitude() + 3.758099)
790 cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() +
793 double sea_level_radius_meters;
795 sgGeodToGeoc( cur_fdm_state->get_Latitude(), cur_fdm_state->get_Altitude(),
796 &sea_level_radius_meters, &lat_geoc);
797 cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters *
800 // The following section sets up the flight model EOM parameters
801 // and should really be read in from one or more files.
806 // Initial Orientation
808 set_Euler_Angles( globals->get_options()->get_roll() * DEG_TO_RAD,
809 globals->get_options()->get_pitch() * DEG_TO_RAD,
810 globals->get_options()->get_heading() * DEG_TO_RAD );
812 // Initialize view parameters
813 FGViewerRPH *pilot_view =
814 (FGViewerRPH *)globals->get_viewmgr()->get_view( 0 );
816 pilot_view->set_view_offset( 0.0 );
817 pilot_view->set_goal_view_offset( 0.0 );
819 pilot_view->set_geod_view_pos( cur_fdm_state->get_Longitude(),
820 cur_fdm_state->get_Lat_geocentric(),
821 cur_fdm_state->get_Altitude() *
823 pilot_view->set_sea_level_radius( cur_fdm_state->get_Sea_level_radius() *
825 pilot_view->set_rph( cur_fdm_state->get_Phi(),
826 cur_fdm_state->get_Theta(),
827 cur_fdm_state->get_Psi() );
829 // set current view to 0 (first) which is our main pilot view
830 globals->set_current_view( pilot_view );
832 FG_LOG( FG_GENERAL, FG_DEBUG, " abs_view_pos = "
833 << globals->get_current_view()->get_abs_view_pos());
835 cur_fdm_state->init( 1.0 / globals->get_options()->get_model_hz() );
837 scenery.cur_elev = cur_fdm_state->get_Runway_altitude() * FEET_TO_METER;
839 if ( cur_fdm_state->get_Altitude() <
840 cur_fdm_state->get_Runway_altitude() + 3.758099)
842 cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() +
846 controls.reset_all();
847 current_autopilot->reset();
850 globals->set_freeze( false );