// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
-// $Id: JSBSim.cxx,v 1.62 2010/07/14 05:50:40 ehofman Exp $
+// $Id: JSBSim.cxx,v 1.64 2010/10/31 04:49:25 jberndt Exp $
#ifdef HAVE_CONFIG_H
#endif
#include <simgear/compiler.h>
+#include <simgear/sg_inlines.h>
#include <stdio.h> // size_t
#include <string>
/** Compute the altitude above ground. */
virtual double GetAGLevel(double t, const FGLocation& l,
- FGLocation& cont,
- FGColumnVector3& n, FGColumnVector3& v) const {
+ FGLocation& cont, FGColumnVector3& n,
+ FGColumnVector3& v, FGColumnVector3& w) const {
double loc_cart[3] = { l(eX), l(eY), l(eZ) };
- double contact[3], normal[3], vel[3], agl = 0;
+ double contact[3], normal[3], vel[3], angularVel[3], agl = 0;
mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
- vel, &agl);
+ vel, angularVel, &agl);
n = FGColumnVector3( normal[0], normal[1], normal[2] );
v = FGColumnVector3( vel[0], vel[1], vel[2] );
+ w = FGColumnVector3( angularVel[0], angularVel[1], angularVel[2] );
cont = FGColumnVector3( contact[0], contact[1], contact[2] );
return agl;
}
// Set initial fuel levels if provided.
for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
+ double d;
SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
- if (node->getChild("level-gal_us", 0, false) != 0) {
- Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
+ FGTank* tank = Propulsion->GetTank(i);
+
+ d = node->getNode( "density-ppg", true )->getDoubleValue();
+ if( d > 0.0 ) {
+ tank->SetDensity( d );
+ } else {
+ node->getNode( "density-ppg", true )->setDoubleValue( SG_MAX2<double>(tank->GetDensity(), 0.1) );
+ }
+
+ d = node->getNode( "level-lbs", true )->getDoubleValue();
+ if( d > 0.0 ) {
+ tank->SetContents( d );
} else {
- node->setDoubleValue("level-lbs", Propulsion->GetTank(i)->GetContents());
- node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
+ node->getNode( "level-lbs", true )->setDoubleValue( tank->GetContents() );
}
- node->setDoubleValue("capacity-gal_us",
- Propulsion->GetTank(i)->GetCapacity() / 6.6);
+ /* Capacity is read-only in FGTank and can't be overwritten from FlightGear */
+ node->getNode("capacity-gal_us", true )->setDoubleValue( tank->GetCapacityGallons() );
}
Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
+ last_hook_tip[0] = 0; last_hook_tip[1] = 0; last_hook_tip[2] = 0;
+ last_hook_root[0] = 0; last_hook_root[1] = 0; last_hook_root[2] = 0;
crashed = false;
}
/******************************************************************************/
+void FGJSBsim::unbind()
+{
+ fdmex->Unbind();
+ FGInterface::unbind();
+}
+
+/******************************************************************************/
+
// Run an iteration of the EOM (equations of motion)
void FGJSBsim::update( double dt )
// ground in this area.
double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
double alt, slr, lat, lon;
- FGColumnVector3 cart = Auxiliary->GetLocationVRP();
+ FGLocation cart = Auxiliary->GetLocationVRP();
if ( needTrim && startup_trim->getBoolValue() ) {
alt = fgic->GetAltitudeASLFtIC();
slr = fgic->GetSeaLevelRadiusFtIC();
if ( needTrim ) {
if ( startup_trim->getBoolValue() ) {
- double contact[3], d[3], agl;
+ double contact[3], d[3], vel[3], agl;
get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
- d, d, &agl);
+ d, vel, d, &agl);
double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
+ contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
"Ready to trim, terrain elevation is: "
<< terrain_alt * SG_METER_TO_FEET );
+ if (fgGetBool("/sim/presets/onground")) {
+ FGColumnVector3 gndVelNED = cart.GetTec2l()
+ * FGColumnVector3(vel[0], vel[1], vel[2]);
+ fgic->SetVNorthFpsIC(gndVelNED(1));
+ fgic->SetVEastFpsIC(gndVelNED(2));
+ fgic->SetVDownFpsIC(gndVelNED(3));
+ }
fgic->SetTerrainElevationFtIC( terrain_alt );
do_trim();
} else {
}
FGJSBBase::Message* msg;
- while (msg = fdmex->ProcessNextMessage()) {
+ while ((msg = fdmex->ProcessNextMessage()) != NULL) {
// msg = fdmex->ProcessNextMessage();
switch (msg->type) {
case FGJSBBase::Message::eText:
} // end FGTurbine code block
case FGEngine::etRocket:
{ // FGRocket code block
- FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
+// FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
break;
} // end FGRocket code block
case FGEngine::etTurboprop:
for (i = 0; i < Propulsion->GetNumTanks(); i++) {
SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
FGTank * tank = Propulsion->GetTank(i);
- tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
-// tank->SetContents(node->getDoubleValue("level-lbs"));
+ double fuelDensity = node->getDoubleValue("density-ppg");
+
+ if (fuelDensity < 0.1)
+ fuelDensity = 6.0; // Use average fuel value
+
+ tank->SetDensity(fuelDensity);
+ tank->SetContents(node->getDoubleValue("level-lbs"));
}
Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
double contact[3], d[3], sd, t;
is_valid_m(&t, d, &sd);
- get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, &sd);
+ get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, d, &sd);
double rwrad
= FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
_set_Runway_altitude( rwrad - get_Sea_level_radius() );
break;
case FGEngine::etRocket:
{ // FGRocket code block
- FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
+// FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
} // end FGRocket code block
break;
case FGEngine::etTurbine:
node->setDoubleValue("egt-degf", 32 + eng->GetEGT()*9/5);
node->setBoolValue("augmentation", eng->GetAugmentation());
node->setBoolValue("water-injection", eng->GetInjection());
- node->setBoolValue("ignition", eng->GetIgnition());
+ node->setBoolValue("ignition", eng->GetIgnition() != 0);
node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
node->setDoubleValue("n1", eng->GetN1());
//node->setDoubleValue("n2", eng->GetN2());
node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
- node->setBoolValue("ignition", eng->GetIgnition());
+ node->setBoolValue("ignition", eng->GetIgnition() != 0);
node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
node->setBoolValue("cutoff", eng->GetCutoff());
node->setBoolValue("starting", eng->GetEngStarting());
node->setBoolValue("generator-power", eng->GetGeneratorPower());
- node->setBoolValue("damaged", eng->GetCondition());
+ node->setBoolValue("damaged", eng->GetCondition() != 0);
node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
// node->setBoolValue("onfire", eng->GetFire());
switch (thruster->GetType()) {
case FGThruster::ttNozzle:
{ // FGNozzle code block
- FGNozzle* noz = (FGNozzle*)thruster;
+// FGNozzle* noz = (FGNozzle*)thruster;
} // end FGNozzle code block
break;
case FGThruster::ttPropeller:
break;
case FGThruster::ttRotor:
{ // FGRotor code block
- FGRotor* rotor = (FGRotor*)thruster;
+// FGRotor* rotor = (FGRotor*)thruster;
} // end FGRotor code block
break;
case FGThruster::ttDirect:
FGTank* tank = Propulsion->GetTank(i);
double contents = tank->GetContents();
double temp = tank->GetTemperature_degC();
- node->setDoubleValue("level-gal_us", contents/6.6);
+ double fuelDensity = tank->GetDensity();
+
+ if (fuelDensity < 0.1)
+ fuelDensity = 6.0; // Use average fuel value
+
+ node->setDoubleValue("density-ppg" , fuelDensity);
node->setDoubleValue("level-lbs", contents);
if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
}
globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
globals->get_controls()->set_elevator(FCS->GetDeCmd());
- globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
- FCS->GetThrottleCmd(0));
+ for( unsigned i = 0; i < Propulsion->GetNumEngines(); i++ )
+ globals->get_controls()->set_throttle(i, FCS->GetThrottleCmd(i));
globals->get_controls()->set_aileron(FCS->GetDaCmd());
globals->get_controls()->set_rudder( FCS->GetDrCmd());
bool
FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
double contact[3], double normal[3], double vel[3],
- double *agl)
+ double angularVel[3], double *agl)
{
- double angularVel[3];
const SGMaterial* material;
simgear::BVHNode::Id id;
if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
double contact[3];
double ground_normal[3];
double ground_vel[3];
+ double ground_angular_vel[3];
double root_agl_ft;
if (!got_wire) {
- bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal, ground_vel, &root_agl_ft);
+ bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal,
+ ground_vel, ground_angular_vel, &root_agl_ft);
if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
projects / flightgear.git / blobdiff