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.
162 root = "\\FlightGear";
163 #elif defined( macintosh )
170 SG_LOG(SG_INPUT, SG_INFO, "fg_root = " << root );
171 globals->set_fg_root(root);
177 // Read in configuration (file and command line)
178 bool fgInitConfig ( int argc, char **argv ) {
180 // First, set some sane default values
183 // Read global preferences from $FG_ROOT/preferences.xml
184 SGPath props_path(globals->get_fg_root());
185 props_path.append("preferences.xml");
186 SG_LOG(SG_INPUT, SG_INFO, "Reading global preferences");
187 if (!readProperties(props_path.str(), globals->get_props())) {
188 SG_LOG(SG_INPUT, SG_ALERT, "Failed to read global preferences from "
189 << props_path.str());
191 SG_LOG(SG_INPUT, SG_INFO, "Finished Reading global preferences");
194 // Attempt to locate and parse the various config files in order
195 // from least precidence to greatest precidence
197 // Check for $fg_root/system.fgfsrc
198 SGPath config( globals->get_fg_root() );
199 config.append( "system.fgfsrc" );
200 fgParseOptions(config.str());
203 #if defined( unix ) || defined( __CYGWIN__ )
204 // Check for $fg_root/system.fgfsrc.hostname
205 gethostname( name, 256 );
206 config.concat( "." );
207 config.concat( name );
208 fgParseOptions(config.str());
211 // Check for ~/.fgfsrc
212 char* envp = ::getenv( "HOME" );
213 if ( envp != NULL ) {
215 config.append( ".fgfsrc" );
216 fgParseOptions(config.str());
219 #if defined( unix ) || defined( __CYGWIN__ )
220 // Check for ~/.fgfsrc.hostname
221 gethostname( name, 256 );
222 config.concat( "." );
223 config.concat( name );
224 fgParseOptions(config.str());
227 // Parse remaining command line options
228 // These will override anything specified in a config file
229 fgParseOptions(argc, argv);
235 // find basic airport location info from airport database
236 bool fgFindAirportID( const string& id, FGAirport *a ) {
238 SGPath path( globals->get_fg_root() );
239 path.append( "Airports" );
240 path.append( "simple.mk4" );
241 FGAirports airports( path.c_str() );
243 SG_LOG( SG_GENERAL, SG_INFO, "Searching for airport code = " << id );
245 if ( ! airports.search( id, a ) ) {
246 SG_LOG( SG_GENERAL, SG_ALERT,
247 "Failed to find " << id << " in " << path.str() );
254 SG_LOG( SG_GENERAL, SG_INFO,
255 "Position for " << id << " is ("
256 << a->longitude << ", "
257 << a->latitude << ")" );
263 // Set current_options lon/lat given an airport id
264 bool fgSetPosFromAirportID( const string& id ) {
268 SG_LOG( SG_GENERAL, SG_INFO,
269 "Attempting to set starting position from airport code " << id );
271 if ( fgFindAirportID( id, &a ) ) {
272 fgSetDouble("/position/longitude", a.longitude );
273 fgSetDouble("/position/latitude", a.latitude );
274 SG_LOG( SG_GENERAL, SG_INFO,
275 "Position for " << id << " is ("
276 << a.longitude << ", "
277 << a.latitude << ")" );
287 // Set current_options lon/lat given an airport id and heading (degrees)
288 bool fgSetPosFromAirportIDandHdg( const string& id, double tgt_hdg ) {
291 double found_dir = 0.0;
294 // set initial position from runway and heading
296 SGPath path( globals->get_fg_root() );
297 path.append( "Airports" );
298 path.append( "runways.mk4" );
299 FGRunways runways( path.c_str() );
301 SG_LOG( SG_GENERAL, SG_INFO,
302 "Attempting to set starting position from runway code "
303 << id << " heading " << tgt_hdg );
305 // SGPath inpath( globals->get_fg_root() );
306 // inpath.append( "Airports" );
307 // inpath.append( "apt_simple" );
308 // airports.load( inpath.c_str() );
310 // SGPath outpath( globals->get_fg_root() );
311 // outpath.append( "Airports" );
312 // outpath.append( "simple.gdbm" );
313 // airports.dump_gdbm( outpath.c_str() );
315 if ( ! runways.search( id, &r ) ) {
316 SG_LOG( SG_GENERAL, SG_ALERT,
317 "Failed to find " << id << " in database." );
322 double min_diff = 360.0;
324 while ( r.id == id ) {
326 diff = tgt_hdg - r.heading;
327 while ( diff < -180.0 ) { diff += 360.0; }
328 while ( diff > 180.0 ) { diff -= 360.0; }
330 SG_LOG( SG_GENERAL, SG_INFO,
331 "Runway " << r.rwy_no << " heading = " << r.heading <<
332 " diff = " << diff );
333 if ( diff < min_diff ) {
340 diff = tgt_hdg - r.heading - 180.0;
341 while ( diff < -180.0 ) { diff += 360.0; }
342 while ( diff > 180.0 ) { diff -= 360.0; }
344 SG_LOG( SG_GENERAL, SG_INFO,
345 "Runway -" << r.rwy_no << " heading = " <<
347 " diff = " << diff );
348 if ( diff < min_diff ) {
357 SG_LOG( SG_GENERAL, SG_INFO, "closest runway = " << found_r.rwy_no
358 << " + " << found_dir );
364 double heading = found_r.heading + found_dir;
365 while ( heading >= 360.0 ) { heading -= 360.0; }
367 double lat2, lon2, az2;
368 double azimuth = found_r.heading + found_dir + 180.0;
369 while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
371 SG_LOG( SG_GENERAL, SG_INFO,
372 "runway = " << found_r.lon << ", " << found_r.lat
373 << " length = " << found_r.length * SG_FEET_TO_METER * 0.5
374 << " heading = " << azimuth );
376 geo_direct_wgs_84 ( 0, found_r.lat, found_r.lon,
377 azimuth, found_r.length * SG_FEET_TO_METER * 0.5 - 5.0,
378 &lat2, &lon2, &az2 );
380 if ( fabs( fgGetDouble("/sim/startup/offset-distance") ) > SG_EPSILON ) {
382 double odist = fgGetDouble("/sim/startup/offset-distance");
383 odist *= SG_NM_TO_METER;
384 double oaz = azimuth;
385 if ( fabs(fgGetDouble("/sim/startup/offset-azimuth")) > SG_EPSILON ) {
386 oaz = fgGetDouble("/sim/startup/offset-azimuth") + 180;
388 while ( oaz >= 360.0 ) { oaz -= 360.0; }
389 geo_direct_wgs_84 ( 0, lat2, lon2, oaz, odist, &olat, &olon, &az2 );
393 fgSetDouble("/position/longitude", lon2 );
394 fgSetDouble("/position/latitude", lat2 );
395 fgSetDouble("/orientation/heading", heading );
397 SG_LOG( SG_GENERAL, SG_INFO,
398 "Position for " << id << " is ("
400 << lat2 << ") new heading is "
407 // Set initial position and orientation
408 bool fgInitPosition( void ) {
409 FGInterface *f = current_aircraft.fdm_state;
410 string id = fgGetString("/sim/startup/airport-id");
412 // set initial position from default or command line coordinates
413 f->set_Longitude( fgGetDouble("/position/longitude") * SGD_DEGREES_TO_RADIANS );
414 f->set_Latitude( fgGetDouble("/position/latitude") * SGD_DEGREES_TO_RADIANS );
416 SG_LOG( SG_GENERAL, SG_INFO,
417 "scenery.cur_elev = " << scenery.cur_elev );
418 SG_LOG( SG_GENERAL, SG_INFO,
419 "/position/altitude = " << fgGetDouble("/position/altitude") );
421 // if we requested on ground startups
422 if ( fgGetBool( "/sim/startup/onground" ) ) {
423 fgSetDouble( "/position/altitude", (scenery.cur_elev + 1)
427 // if requested altitude is below ground level
428 if ( scenery.cur_elev >
429 fgGetDouble("/position/altitude") * METERS_TO_FEET - 1) {
430 fgSetDouble("/position/altitude",
431 (scenery.cur_elev + 1) * METERS_TO_FEET );
434 SG_LOG( SG_GENERAL, SG_INFO,
435 "starting altitude is = " <<
436 fgGetDouble("/position/altitude") );
438 f->set_Altitude( fgGetDouble("/position/altitude") );
439 SG_LOG( SG_GENERAL, SG_INFO,
440 "Initial position is: ("
441 << (f->get_Longitude() * SGD_RADIANS_TO_DEGREES) << ", "
442 << (f->get_Latitude() * SGD_RADIANS_TO_DEGREES) << ", "
443 << (f->get_Altitude() * SG_FEET_TO_METER) << ")" );
449 // General house keeping initializations
450 bool fgInitGeneral( void ) {
453 #if defined(FX) && defined(XMESA)
454 char *mesa_win_state;
457 SG_LOG( SG_GENERAL, SG_INFO, "General Initialization" );
458 SG_LOG( SG_GENERAL, SG_INFO, "======= ==============" );
460 root = globals->get_fg_root();
461 if ( ! root.length() ) {
462 // No root path set? Then bail ...
463 SG_LOG( SG_GENERAL, SG_ALERT,
464 "Cannot continue without environment variable FG_ROOT"
465 << "being defined." );
468 SG_LOG( SG_GENERAL, SG_INFO, "FG_ROOT = " << '"' << root << '"' << endl );
470 #if defined(FX) && defined(XMESA)
471 // initialize full screen flag
472 global_fullscreen = false;
473 if ( strstr ( general.get_glRenderer(), "Glide" ) ) {
474 // Test for the MESA_GLX_FX env variable
475 if ( (mesa_win_state = getenv( "MESA_GLX_FX" )) != NULL) {
476 // test if we are fullscreen mesa/glide
477 if ( (mesa_win_state[0] == 'f') ||
478 (mesa_win_state[0] == 'F') ) {
479 global_fullscreen = true;
489 // set initial aircraft speed
491 fgVelocityInit( void )
493 if (!fgHasValue("/sim/startup/speed-set")) {
494 current_aircraft.fdm_state->set_V_calibrated_kts(0.0);
498 const string speedset = fgGetString("/sim/startup/speed-set");
499 if (speedset == "knots" || speedset == "KNOTS") {
500 current_aircraft.fdm_state
501 ->set_V_calibrated_kts(fgGetDouble("/velocities/airspeed"));
502 } else if (speedset == "mach" || speedset == "MACH") {
503 current_aircraft.fdm_state
504 ->set_Mach_number(fgGetDouble("/velocities/mach"));
505 } else if (speedset == "UVW" || speedset == "uvw") {
506 current_aircraft.fdm_state
507 ->set_Velocities_Wind_Body(fgGetDouble("/velocities/uBody"),
508 fgGetDouble("/velocities/vBody"),
509 fgGetDouble("/velocities/wBody"));
510 } else if (speedset == "NED" || speedset == "ned") {
511 current_aircraft.fdm_state
512 ->set_Velocities_Local(fgGetDouble("/velocities/speed-north"),
513 fgGetDouble("/velocities/speed-east"),
514 fgGetDouble("/velocities/speed-down"));
516 SG_LOG(SG_GENERAL, SG_ALERT,
517 "Unrecognized value for /sim/startup/speed-set: " << speedset);
518 current_aircraft.fdm_state->set_V_calibrated_kts(0.0);
523 // This is the top level init routine which calls all the other
524 // initialization routines. If you are adding a subsystem to flight
525 // gear, its initialization call should located in this routine.
526 // Returns non-zero if a problem encountered.
527 bool fgInitSubsystems( void ) {
528 fgLIGHT *l = &cur_light_params;
530 SG_LOG( SG_GENERAL, SG_INFO, "Initialize Subsystems");
531 SG_LOG( SG_GENERAL, SG_INFO, "========== ==========");
533 // Initialize the material property lib
534 SGPath mpath( globals->get_fg_root() );
535 mpath.append( "materials" );
536 if ( material_lib.load( mpath.str() ) ) {
538 SG_LOG( SG_GENERAL, SG_ALERT, "Error loading material lib!" );
542 // Initialize the Scenery Management subsystem
543 if ( fgSceneryInit() ) {
544 // Material lib initialized ok.
546 SG_LOG( SG_GENERAL, SG_ALERT, "Error in Scenery initialization!" );
550 if ( global_tile_mgr.init() ) {
551 // Load the local scenery data
552 global_tile_mgr.update( fgGetDouble("/position/longitude"),
553 fgGetDouble("/position/latitude") );
555 SG_LOG( SG_GENERAL, SG_ALERT, "Error in Tile Manager initialization!" );
559 SG_LOG( SG_GENERAL, SG_DEBUG,
560 "Current terrain elevation after tile mgr init " <<
563 double dt = 1.0 / fgGetInt("/sim/model-hz");
564 // cout << "dt = " << dt << endl;
566 aircraft_dir = fgGetString("/sim/aircraft-dir");
567 const string &model = fgGetString("/sim/flight-model");
568 if (model == "larcsim") {
569 cur_fdm_state = new FGLaRCsim( dt );
570 } else if (model == "jsb") {
571 cur_fdm_state = new FGJSBsim( dt );
572 } else if (model == "ada") {
573 cur_fdm_state = new FGADA( dt );
574 } else if (model == "balloon") {
575 cur_fdm_state = new FGBalloonSim( dt );
576 } else if (model == "magic") {
577 cur_fdm_state = new FGMagicCarpet( dt );
578 } else if (model == "external") {
579 cur_fdm_state = new FGExternal( dt );
581 SG_LOG(SG_GENERAL, SG_ALERT,
582 "Unrecognized flight model '" << model
583 << ", can't init aircraft");
586 cur_fdm_state->stamp();
587 cur_fdm_state->set_remainder( 0 );
589 // allocates structures so must happen before any of the flight
590 // model or control parameters are set
591 fgAircraftInit(); // In the future this might not be the case.
593 fgFDMSetGroundElevation( fgGetString("/sim/flight-model"),
596 // set the initial position
599 // Calculate ground elevation at starting point (we didn't have
600 // tmp_abs_view_pos calculated when fgTileMgrUpdate() was called above
602 // calculalate a cartesian point somewhere along the line between
603 // the center of the earth and our view position. Doesn't have to
604 // be the exact elevation (this is good because we don't know it
607 // now handled inside of the fgTileMgrUpdate()
609 // Reset our altitude if we are below ground
610 SG_LOG( SG_GENERAL, SG_DEBUG, "Current altitude = "
611 << cur_fdm_state->get_Altitude() );
612 SG_LOG( SG_GENERAL, SG_DEBUG, "Current runway altitude = " <<
613 cur_fdm_state->get_Runway_altitude() );
615 if ( cur_fdm_state->get_Altitude() < cur_fdm_state->get_Runway_altitude() +
617 cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() +
621 SG_LOG( SG_GENERAL, SG_INFO,
622 "Updated position (after elevation adj): ("
623 << (cur_fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES) << ", "
624 << (cur_fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES) << ", "
625 << (cur_fdm_state->get_Altitude() * SG_FEET_TO_METER) << ")" );
627 // We need to calculate a few sea_level_radius here so we can pass
628 // the correct value to the view class
629 double sea_level_radius_meters;
631 sgGeodToGeoc( cur_fdm_state->get_Latitude(),
632 cur_fdm_state->get_Altitude(),
633 &sea_level_radius_meters, &lat_geoc);
634 cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters *
637 // The following section sets up the flight model EOM parameters
638 // and should really be read in from one or more files.
643 // Initial Orientation
645 // set_Euler_Angles( fgGetDouble("/orientation/roll") * SGD_DEGREES_TO_RADIANS,
646 // fgGetDouble("/orientation/pitch") * SGD_DEGREES_TO_RADIANS,
647 // fgGetDouble("/orientation/heading") * SGD_DEGREES_TO_RADIANS );
649 // Initialize the event manager
650 global_events.Init();
652 // Output event stats every 60 seconds
653 global_events.Register( "fgEVENT_MGR::PrintStats()",
654 fgMethodCallback<fgEVENT_MGR>( &global_events,
655 &fgEVENT_MGR::PrintStats),
656 fgEVENT::FG_EVENT_READY, 60000 );
658 // Initialize win_ratio parameters
659 for ( int i = 0; i < globals->get_viewmgr()->size(); ++i ) {
660 globals->get_viewmgr()->get_view(i)->
661 set_win_ratio( fgGetInt("/sim/startup/xsize") /
662 fgGetInt("/sim/startup/ysize") );
665 // Initialize pilot view
666 FGViewerRPH *pilot_view =
667 (FGViewerRPH *)globals->get_viewmgr()->get_view( 0 );
669 pilot_view->set_geod_view_pos( cur_fdm_state->get_Longitude(),
670 cur_fdm_state->get_Lat_geocentric(),
671 cur_fdm_state->get_Altitude() *
673 pilot_view->set_sea_level_radius( cur_fdm_state->get_Sea_level_radius() *
675 pilot_view->set_rph( cur_fdm_state->get_Phi(),
676 cur_fdm_state->get_Theta(),
677 cur_fdm_state->get_Psi() );
679 // set current view to 0 (first) which is our main pilot view
680 globals->set_current_view( pilot_view );
682 SG_LOG( SG_GENERAL, SG_DEBUG, " abs_view_pos = "
683 << globals->get_current_view()->get_abs_view_pos());
685 // fgUpdateSunPos() needs a few position and view parameters set
686 // so it can calculate local relative sun angle and a few other
687 // things for correctly orienting the sky.
690 global_events.Register( "fgUpdateSunPos()", fgUpdateSunPos,
691 fgEVENT::FG_EVENT_READY, 60000);
692 global_events.Register( "fgUpdateMoonPos()", fgUpdateMoonPos,
693 fgEVENT::FG_EVENT_READY, 60000);
695 // Initialize Lighting interpolation tables
698 // update the lighting parameters (based on sun angle)
699 global_events.Register( "fgLight::Update()",
700 fgMethodCallback<fgLIGHT>( &cur_light_params,
702 fgEVENT::FG_EVENT_READY, 30000 );
703 // update the current timezone each 30 minutes
704 global_events.Register( "fgUpdateLocalTime()", fgUpdateLocalTime,
705 fgEVENT::FG_EVENT_READY, 1800000);
707 // Initialize the weather modeling subsystem
708 #ifndef FG_OLD_WEATHER
709 // Initialize the WeatherDatabase
710 SG_LOG(SG_GENERAL, SG_INFO, "Creating LocalWeatherDatabase");
712 sgSetVec3( position, current_aircraft.fdm_state->get_Latitude(),
713 current_aircraft.fdm_state->get_Longitude(),
714 current_aircraft.fdm_state->get_Altitude() * SG_FEET_TO_METER );
715 FGLocalWeatherDatabase::theFGLocalWeatherDatabase =
716 new FGLocalWeatherDatabase( position,
717 globals->get_fg_root() );
718 // cout << theFGLocalWeatherDatabase << endl;
719 // cout << "visibility = "
720 // << theFGLocalWeatherDatabase->getWeatherVisibility() << endl;
722 WeatherDatabase = FGLocalWeatherDatabase::theFGLocalWeatherDatabase;
724 double init_vis = fgGetDouble("/environment/visibility");
725 if ( init_vis > 0 ) {
726 WeatherDatabase->setWeatherVisibility( init_vis );
729 // register the periodic update of the weather
730 global_events.Register( "weather update", fgUpdateWeatherDatabase,
731 fgEVENT::FG_EVENT_READY, 30000);
733 current_weather.Init();
736 // Initialize vor/ndb/ils/fix list management and query systems
737 SG_LOG(SG_GENERAL, SG_INFO, "Loading Navaids");
739 SG_LOG(SG_GENERAL, SG_INFO, " VOR/NDB");
740 current_navlist = new FGNavList;
741 SGPath p_nav( globals->get_fg_root() );
742 p_nav.append( "Navaids/default.nav" );
743 current_navlist->init( p_nav );
745 SG_LOG(SG_GENERAL, SG_INFO, " ILS and Marker Beacons");
746 current_beacons = new FGMarkerBeacons;
747 current_beacons->init();
748 current_ilslist = new FGILSList;
749 SGPath p_ils( globals->get_fg_root() );
750 p_ils.append( "Navaids/default.ils" );
751 current_ilslist->init( p_ils );
753 SG_LOG(SG_GENERAL, SG_INFO, " Fixes");
754 current_fixlist = new FGFixList;
755 SGPath p_fix( globals->get_fg_root() );
756 p_fix.append( "Navaids/default.fix" );
757 current_fixlist->init( p_fix );
759 // Radio stack subsystem.
760 current_radiostack = new FGRadioStack;
761 current_radiostack->init();
762 current_radiostack->bind();
764 // Initialize the Cockpit subsystem
765 if( fgCockpitInit( ¤t_aircraft )) {
766 // Cockpit initialized ok.
768 SG_LOG( SG_GENERAL, SG_ALERT, "Error in Cockpit initialization!" );
772 // Initialize the flight model subsystem data structures base on
775 cur_fdm_state->init();
776 cur_fdm_state->bind();
777 // if ( cur_fdm_state->init( 1.0 / fgGetInt("/sim/model-hz") ) ) {
778 // // fdm init successful
780 // SG_LOG( SG_GENERAL, SG_ALERT, "FDM init() failed! Cannot continue." );
784 // *ABCD* I'm just sticking this here for now, it should probably
786 scenery.cur_elev = cur_fdm_state->get_Runway_altitude() * SG_FEET_TO_METER;
788 if ( cur_fdm_state->get_Altitude() <
789 cur_fdm_state->get_Runway_altitude() + 3.758099)
791 cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() +
795 SG_LOG( SG_GENERAL, SG_INFO,
796 "Updated position (after elevation adj): ("
797 << (cur_fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES) << ", "
798 << (cur_fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES) << ", "
799 << (cur_fdm_state->get_Altitude() * SG_FEET_TO_METER) << ")" );
800 // *ABCD* end of thing that I just stuck in that I should probably
804 if ( ! fgJoystickInit() ) {
805 SG_LOG( SG_GENERAL, SG_ALERT, "Error in Joystick initialization!" );
809 current_autopilot = new FGAutopilot;
810 current_autopilot->init();
812 // initialize the gui parts of the autopilot
818 // Initialize I/O channels
819 #if ! defined( macintosh )
823 // Initialize the 2D panel.
824 string panel_path = fgGetString("/sim/panel/path",
825 "Panels/Default/default.xml");
826 current_panel = fgReadPanel(panel_path);
827 if (current_panel == 0) {
828 SG_LOG( SG_INPUT, SG_ALERT,
829 "Error reading new panel from " << panel_path );
831 SG_LOG( SG_INPUT, SG_INFO, "Loaded new panel from " << panel_path );
832 current_panel->init();
833 current_panel->bind();
836 // Initialize the BFI
842 SG_LOG( SG_GENERAL, SG_INFO, endl);
844 // Save the initial state for future
846 globals->saveInitialState();
852 void fgReInitSubsystems( void )
854 SG_LOG( SG_GENERAL, SG_INFO,
855 "/position/altitude = " << fgGetDouble("/position/altitude") );
857 bool freeze = globals->get_freeze();
859 globals->set_freeze( true );
861 // Initialize the Scenery Management subsystem
862 if ( ! fgSceneryInit() ) {
863 SG_LOG( SG_GENERAL, SG_ALERT, "Error in Scenery initialization!" );
867 if( global_tile_mgr.init() ) {
868 // Load the local scenery data
869 global_tile_mgr.update( fgGetDouble("/position/longitude"),
870 fgGetDouble("/position/latitude") );
872 SG_LOG( SG_GENERAL, SG_ALERT, "Error in Tile Manager initialization!" );
876 // cout << "current scenery elev = " << scenery.cur_elev << endl;
878 fgFDMSetGroundElevation( fgGetString("/sim/flight-model"),
882 // Reset our altitude if we are below ground
883 SG_LOG( SG_GENERAL, SG_DEBUG, "Current altitude = "
884 << cur_fdm_state->get_Altitude() );
885 SG_LOG( SG_GENERAL, SG_DEBUG, "Current runway altitude = "
886 << cur_fdm_state->get_Runway_altitude() );
888 if ( cur_fdm_state->get_Altitude() <
889 cur_fdm_state->get_Runway_altitude() + 3.758099)
891 cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() +
894 double sea_level_radius_meters;
896 sgGeodToGeoc( cur_fdm_state->get_Latitude(), cur_fdm_state->get_Altitude(),
897 &sea_level_radius_meters, &lat_geoc);
898 cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters *
901 // The following section sets up the flight model EOM parameters
902 // and should really be read in from one or more files.
907 // Initial Orientation
909 // set_Euler_Angles( fgGetDouble("/orientation/roll") * SGD_DEGREES_TO_RADIANS,
910 // fgGetDouble("/orientation/pitch") * SGD_DEGREES_TO_RADIANS,
911 // fgGetDouble("/orientation/heading") * SGD_DEGREES_TO_RADIANS );
913 // Initialize view parameters
914 FGViewerRPH *pilot_view =
915 (FGViewerRPH *)globals->get_viewmgr()->get_view( 0 );
917 pilot_view->set_view_offset( 0.0 );
918 pilot_view->set_goal_view_offset( 0.0 );
920 pilot_view->set_geod_view_pos( cur_fdm_state->get_Longitude(),
921 cur_fdm_state->get_Lat_geocentric(),
922 cur_fdm_state->get_Altitude() *
924 pilot_view->set_sea_level_radius( cur_fdm_state->get_Sea_level_radius() *
926 pilot_view->set_rph( cur_fdm_state->get_Phi(),
927 cur_fdm_state->get_Theta(),
928 cur_fdm_state->get_Psi() );
930 // set current view to 0 (first) which is our main pilot view
931 globals->set_current_view( pilot_view );
933 SG_LOG( SG_GENERAL, SG_DEBUG, " abs_view_pos = "
934 << globals->get_current_view()->get_abs_view_pos());
936 cur_fdm_state->init();
937 // cur_fdm_state->bind();
938 // cur_fdm_state->init( 1.0 / fgGetInt("/sim/model-hz") );
940 scenery.cur_elev = cur_fdm_state->get_Runway_altitude() * SG_FEET_TO_METER;
942 if ( cur_fdm_state->get_Altitude() <
943 cur_fdm_state->get_Runway_altitude() + 3.758099)
945 cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() +
949 controls.reset_all();
950 current_autopilot->reset();
953 globals->set_freeze( false );