#include <FDM/JSBSim/FGFDMExec.h>
#include <FDM/JSBSim/FGAircraft.h>
#include <FDM/JSBSim/FGFCS.h>
-#include <FDM/JSBSim/FGPosition.h>
-#include <FDM/JSBSim/FGRotation.h>
+#include <FDM/JSBSim/FGPropagate.h>
#include <FDM/JSBSim/FGState.h>
-#include <FDM/JSBSim/FGTranslation.h>
#include <FDM/JSBSim/FGAuxiliary.h>
#include <FDM/JSBSim/FGInitialCondition.h>
#include <FDM/JSBSim/FGTrim.h>
#include <FDM/JSBSim/FGLGear.h>
#include <FDM/JSBSim/FGPropertyManager.h>
#include <FDM/JSBSim/FGEngine.h>
+#include <FDM/JSBSim/FGPiston.h>
+#include <FDM/JSBSim/FGTurbine.h>
+#include <FDM/JSBSim/FGRocket.h>
+#include <FDM/JSBSim/FGElectric.h>
+#include <FDM/JSBSim/FGNozzle.h>
+#include <FDM/JSBSim/FGPropeller.h>
#include <FDM/JSBSim/FGRotor.h>
+#include <FDM/JSBSim/FGTank.h>
#include "JSBSim.hxx"
static inline double
/******************************************************************************/
-FGJSBsim::FGJSBsim( double dt )
+FGJSBsim::FGJSBsim( double dt )
: FGInterface(dt)
{
bool result;
-
+
// Set up the debugging level
// FIXME: this will not respond to
// runtime changes
MassBalance = fdmex->GetMassBalance();
Propulsion = fdmex->GetPropulsion();
Aircraft = fdmex->GetAircraft();
- Translation = fdmex->GetTranslation();
- Rotation = fdmex->GetRotation();
- Position = fdmex->GetPosition();
+ Propagate = fdmex->GetPropagate();
Auxiliary = fdmex->GetAuxiliary();
Aerodynamics = fdmex->GetAerodynamics();
- GroundReactions = fdmex->GetGroundReactions();
-
+ GroundReactions = fdmex->GetGroundReactions();
+
fgic=fdmex->GetIC();
needTrim=true;
-
- SGPath aircraft_path( globals->get_fg_root() );
- aircraft_path.append( "Aircraft" );
- SGPath engine_path( globals->get_fg_root() );
+ SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
+
+ SGPath engine_path( fgGetString("/sim/aircraft-dir") );
engine_path.append( "Engine" );
State->Setdt( dt );
result = fdmex->LoadModel( aircraft_path.str(),
engine_path.str(),
- fgGetString("/sim/aero") );
-
+ fgGetString("/sim/aero"), false );
+
if (result) {
SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
} else {
int Neng = Propulsion->GetNumEngines();
SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
-
+
if ( GroundReactions->GetNumGearUnits() <= 0 ) {
SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
<< GroundReactions->GetNumGearUnits() );
SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
- SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
- SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
- exit(-1);
+ SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
+ SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
+ exit(-1);
}
-
-
+
init_gear();
// Set initial fuel levels if provided.
node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
}
}
+ Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
throttle_trim = fgGetNode("/fdm/trim/throttle", true );
aileron_trim = fgGetNode("/fdm/trim/aileron", true );
rudder_trim = fgGetNode("/fdm/trim/rudder", true );
-
+
stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
stall_warning->setDoubleValue(0);
-
+
flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
speedbrake_pos_pct
=fgGetNode("/surface-positions/speedbrake-pos-norm",true);
spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
-
+
elevator_pos_pct->setDoubleValue(0);
left_aileron_pos_pct->setDoubleValue(0);
right_aileron_pos_pct->setDoubleValue(0);
density = fgGetNode("/environment/density-slugft3",true);
turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
-
+
wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
SGPropertyNode * node = fgGetNode("engines/engine", i, true);
- Propulsion->GetThruster(i)->SetRPM(node->getDoubleValue("rpm") /
- Propulsion->GetThruster(i)->GetGearRatio());
+ Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
+ Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
}
}
void FGJSBsim::init()
{
double tmp;
-
+
SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
// Explicitly call the superclass's
Atmosphere->UseInternal();
}
#endif
-
+
fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
//Atmosphere->SetExPressure(get_Static_pressure());
//Atmosphere->SetExDensity(get_Density());
SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
- << ", " << fdmex->GetAtmosphere()->GetPressure()
+ << ", " << fdmex->GetAtmosphere()->GetPressure()
<< ", " << fdmex->GetAtmosphere()->GetDensity() );
common_init();
switch(fgic->GetSpeedSet()) {
case setned:
SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
- << Position->GetVn() << ", "
- << Position->GetVe() << ", "
- << Position->GetVd() << " ft/s");
+ << Propagate->GetVel(eNorth) << ", "
+ << Propagate->GetVel(eEast) << ", "
+ << Propagate->GetVel(eDown) << " ft/s");
break;
case setuvw:
SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
- << Translation->GetUVW(1) << ", "
- << Translation->GetUVW(2) << ", "
- << Translation->GetUVW(3) << " ft/s");
+ << Propagate->GetUVW(1) << ", "
+ << Propagate->GetUVW(2) << ", "
+ << Propagate->GetUVW(3) << " ft/s");
break;
case setmach:
SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
- << Translation->GetMach() );
+ << Auxiliary->GetMach() );
break;
case setvc:
default:
<< Auxiliary->GetVcalibratedKTS() << " knots" );
break;
}
-
+
stall_warning->setDoubleValue(0);
-
+
SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
- << Rotation->Getphi()*RADTODEG << " deg" );
+ << Propagate->GetEuler(ePhi)*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
- << Rotation->Gettht()*RADTODEG << " deg" );
+ << Propagate->GetEuler(eTht)*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
- << Rotation->Getpsi()*RADTODEG << " deg" );
+ << Propagate->GetEuler(ePsi)*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
- << Position->GetLatitude() << " deg" );
+ << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
- << Position->GetLongitude() << " deg" );
+ << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
- << Position->Geth() << " feet" );
+ << Propagate->Geth() << " feet" );
SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
-
- SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
+
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
globals->get_controls()->get_gear_down() );
}
copy_to_JSBsim();
trimmed->setBoolValue(false);
-
+
if ( needTrim ) {
if ( startup_trim->getBoolValue() ) {
SG_LOG(SG_FLIGHT, SG_INFO,
- "Ready to trim, terrain altitude is: "
+ "Ready to trim, terrain altitude is: "
<< cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
do_trim();
} else {
fdmex->RunIC(); //apply any changes made through the set_ functions
}
- needTrim = false;
- }
-
+ needTrim = false;
+ }
+
for ( i=0; i < multiloop; i++ ) {
fdmex->Run();
}
FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
- FCS->SetDfCmd( globals->get_controls()->get_flaps() );
- FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
- FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
+ // FIXME: make that get_steering work
+// FCS->SetDsCmd( globals->get_controls()->get_steering()/80.0 );
+ FCS->SetDsCmd( globals->get_controls()->get_rudder() );
+ FCS->SetDfCmd( globals->get_controls()->get_flaps() );
+ FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
+ FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
// Parking brake sets minimum braking
// level for mains.
eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
break;
} // end FGPiston code block
- case FGEngine::etSimTurbine:
- { // FGSimTurbine code block
- FGSimTurbine* eng = (FGSimTurbine*)Propulsion->GetEngine(i);
+ case FGEngine::etTurbine:
+ { // FGTurbine code block
+ FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
eng->SetReverse( globals->get_controls()->get_reverser(i) );
eng->SetInjection( globals->get_controls()->get_water_injection(i) );
eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
eng->SetIgnition( globals->get_controls()->get_ignition(i) );
break;
- } // end FGSimTurbine code block
+ } // end FGTurbine code block
case FGEngine::etRocket:
{ // FGRocket code block
FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
} // end FGEngine code block
}
+
_set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
- Position->SetSeaLevelRadius( get_Sea_level_radius() );
- Position->SetRunwayRadius( get_Runway_altitude()
+ Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
+ Propagate->SetRunwayRadius( get_Runway_altitude()
+ get_Sea_level_radius() );
Atmosphere->SetExTemperature(
tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
// tank->SetContents(node->getDoubleValue("level-lb"));
}
-
+ SGPropertyNode* node = fgGetNode("/systems/refuel", true);
+ Propulsion->SetRefuel(node->getDoubleValue("contact"));
+ Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
+
return true;
}
bool FGJSBsim::copy_from_JSBsim()
{
unsigned int i, j;
-
+/*
_set_Inertias( MassBalance->GetMass(),
MassBalance->GetIxx(),
MassBalance->GetIyy(),
MassBalance->GetIzz(),
MassBalance->GetIxz() );
-
+*/
_set_CG_Position( MassBalance->GetXYZcg(1),
MassBalance->GetXYZcg(2),
MassBalance->GetXYZcg(3) );
_set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
Aircraft->GetNcg(2),
Aircraft->GetNcg(3) );
-
+
_set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
Auxiliary->GetPilotAccel(2),
Auxiliary->GetPilotAccel(3) );
// Velocities
- _set_Velocities_Local( Position->GetVn(),
- Position->GetVe(),
- Position->GetVd() );
+ _set_Velocities_Local( Propagate->GetVel(eNorth),
+ Propagate->GetVel(eEast),
+ Propagate->GetVel(eDown) );
+
+ _set_Velocities_Wind_Body( Propagate->GetUVW(1),
+ Propagate->GetUVW(2),
+ Propagate->GetUVW(3) );
- _set_Velocities_Wind_Body( Translation->GetUVW(1),
- Translation->GetUVW(2),
- Translation->GetUVW(3) );
+ // Make the HUD work ...
+ _set_Velocities_Ground( Propagate->GetVel(eNorth),
+ Propagate->GetVel(eEast),
+ -Propagate->GetVel(eDown) );
- _set_V_rel_wind( Translation->GetVt() );
+ _set_V_rel_wind( Auxiliary->GetVt() );
_set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
_set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
- _set_V_ground_speed( Position->GetVground() );
-
- _set_Omega_Body( Rotation->GetPQR(1),
- Rotation->GetPQR(2),
- Rotation->GetPQR(3) );
+ _set_V_ground_speed( Auxiliary->GetVground() );
- _set_Euler_Rates( Rotation->GetEulerRates(1),
- Rotation->GetEulerRates(2),
- Rotation->GetEulerRates(3) );
+ _set_Omega_Body( Propagate->GetPQR(eP),
+ Propagate->GetPQR(eQ),
+ Propagate->GetPQR(eR) );
- _set_Geocentric_Rates(Position->GetLatitudeDot(),
- Position->GetLongitudeDot(),
- Position->Gethdot() );
+ _set_Euler_Rates( Auxiliary->GetEulerRates(ePhi),
+ Auxiliary->GetEulerRates(eTht),
+ Auxiliary->GetEulerRates(ePsi) );
- _set_Mach_number( Translation->GetMach() );
-
- // Positions
- _updateGeocentricPosition( Position->GetLatitude(),
- Position->GetLongitude(),
- Position->Geth() );
+ _set_Mach_number( Auxiliary->GetMach() );
// Positions of Visual Reference Point
-/*
- _updateGeocentricPosition( Position->GetLatitudeVRP(),
- Position->GetLongitudeVRP(),
- Position->GethVRP() );
-*/
- _set_Altitude_AGL( Position->GetDistanceAGL() );
+ _updateGeocentricPosition( Auxiliary->GetLocationVRP().GetLatitude(),
+ Auxiliary->GetLocationVRP().GetLongitude(),
+ Auxiliary->GethVRP() );
- _set_Euler_Angles( Rotation->Getphi(),
- Rotation->Gettht(),
- Rotation->Getpsi() );
+ _set_Altitude_AGL( Propagate->GetDistanceAGL() );
- _set_Alpha( Translation->Getalpha() );
- _set_Beta( Translation->Getbeta() );
+ _set_Euler_Angles( Propagate->GetEuler(ePhi),
+ Propagate->GetEuler(eTht),
+ Propagate->GetEuler(ePsi) );
+ _set_Alpha( Auxiliary->Getalpha() );
+ _set_Beta( Auxiliary->Getbeta() );
- _set_Gamma_vert_rad( Position->GetGamma() );
- _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
+ _set_Gamma_vert_rad( Auxiliary->GetGamma() );
- _set_Climb_Rate( Position->Gethdot() );
+ _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
+ _set_Climb_Rate( Propagate->Gethdot() );
+ const FGMatrix33& Tl2b = Propagate->GetTl2b();
for ( i = 1; i <= 3; i++ ) {
for ( j = 1; j <= 3; j++ ) {
- _set_T_Local_to_Body( i, j, State->GetTl2b(i,j) );
+ _set_T_Local_to_Body( i, j, Tl2b(i,j) );
}
}
char buf[30];
sprintf(buf, "engines/engine[%d]/thruster", i);
SGPropertyNode * tnode = fgGetNode(buf, true);
- FGThruster * thruster = Propulsion->GetThruster(i);
+ FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
switch (Propulsion->GetEngine(i)->GetType()) {
case FGEngine::etPiston:
FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
} // end FGRocket code block
break;
- case FGEngine::etSimTurbine:
- { // FGSimTurbine code block
- FGSimTurbine* eng = (FGSimTurbine*)Propulsion->GetEngine(i);
- node->setDoubleValue("N1", eng->GetN1());
- node->setDoubleValue("N2", eng->GetN2());
- node->setDoubleValue("EGT_degC", eng->GetEGT());
+ case FGEngine::etTurbine:
+ { // FGTurbine code block
+ FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
+ node->setDoubleValue("n1", eng->GetN1());
+ node->setDoubleValue("n2", eng->GetN2());
+ 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->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
+ node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
node->setBoolValue("reversed", eng->GetReversed());
node->setBoolValue("cutoff", eng->GetCutoff());
+ node->setDoubleValue("epr", eng->GetEPR());
globals->get_controls()->set_reverser(i, eng->GetReversed() );
globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
globals->get_controls()->set_water_injection(i, eng->GetInjection() );
globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
- } // end FGSimTurbine code block
+ } // end FGTurbine code block
+ break;
+ case FGEngine::etElectric:
+ { // FGElectric code block
+ FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
+ node->setDoubleValue("rpm", eng->getRPM());
+ } // end FGElectric code block
break;
}
FGPropeller* prop = (FGPropeller*)thruster;
tnode->setDoubleValue("rpm", thruster->GetRPM());
tnode->setDoubleValue("pitch", prop->GetPitch());
- tnode->setDoubleValue("torque", prop->GetTorque());
+ tnode->setDoubleValue("torque", prop->GetTorque());
} // end FGPropeller code block
break;
case FGThruster::ttRotor:
}
- static const SGPropertyNode *fuel_freeze = fgGetNode("/sim/freeze/fuel");
-
// Copy the fuel levels from JSBSim if fuel
// freeze not enabled.
- if ( ! fuel_freeze->getBoolValue() ) {
+ if ( ! Propulsion->GetFuelFreeze() ) {
for (i = 0; i < Propulsion->GetNumTanks(); i++) {
SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
- double contents = Propulsion->GetTank(i)->GetContents();
+ FGTank* tank = Propulsion->GetTank(i);
+ double contents = tank->GetContents();
+ double temp = tank->GetTemperature_degC();
node->setDoubleValue("level-gal_us", contents/6.6);
node->setDoubleValue("level-lb", contents);
- // node->setDoubleValue("temperature_degC",
+ if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
}
}
update_gear();
-
+
stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
-
+
elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
- right_aileron_pos_pct->setDoubleValue( -1*FCS->GetDaLPos(ofNorm) );
+ right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
-
+
return true;
}
// In case we're not trimming
FGInterface::set_Latitude(lat);
-
+
if ( altitude->getDoubleValue() > -9990 ) {
alt = altitude->getDoubleValue();
} else {
alt = 0.0;
}
-
+
update_ic();
SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
- sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
+ sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
&sea_level_radius_meters, &lat_geoc );
_set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
- fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
+ fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
_set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
fgic->SetLatitudeRadIC( lat_geoc );
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
SG_LOG(SG_FLIGHT,SG_INFO, " lat (deg) = " << latitude->getDoubleValue() );
-
+
// In case we're not trimming
FGInterface::set_Altitude(alt);
void FGJSBsim::set_Mach_number(double mach)
{
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
-
+
// In case we're not trimming
FGInterface::set_Mach_number(mach);
{
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
<< north << ", " << east << ", " << down );
-
+
// In case we're not trimming
FGInterface::set_Velocities_Local(north, east, down);
{
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
<< u << ", " << v << ", " << w );
-
+
// In case we're not trimming
FGInterface::set_Velocities_Wind_Body(u, v, w);
{
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
<< phi << ", " << theta << ", " << psi );
-
+
// In case we're not trimming
FGInterface::set_Euler_Angles(phi, theta, psi);
void FGJSBsim::set_Climb_Rate( double roc)
{
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
-
+
// In case we're not trimming
FGInterface::set_Climb_Rate(roc);
//out the other.
if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
fgic->SetClimbRateFpsIC(roc);
- }
+ }
needTrim=true;
}
void FGJSBsim::set_Gamma_vert_rad( double gamma)
{
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
-
+
update_ic();
if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
fgic->SetFlightPathAngleRadIC(gamma);
- }
+ }
needTrim=true;
}
FGGroundReactions* gr=fdmex->GetGroundReactions();
int Ngear=GroundReactions->GetNumGearUnits();
for (int i=0;i<Ngear;i++) {
+ FGLGear *gear = gr->GetGearUnit(i);
SGPropertyNode * node = fgGetNode("gear/gear", i, true);
- node->setDoubleValue("xoffset-in",
- gr->GetGearUnit(i)->GetBodyLocation()(1));
- node->setDoubleValue("yoffset-in",
- gr->GetGearUnit(i)->GetBodyLocation()(2));
- node->setDoubleValue("zoffset-in",
- gr->GetGearUnit(i)->GetBodyLocation()(3));
- node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW());
- node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0);
+ node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
+ node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
+ node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
+ node->setBoolValue("wow", gear->GetWOW());
+ node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
node->setDoubleValue("position-norm", FCS->GetGearPos());
- node->setDoubleValue("tire-pressure-norm", gr->GetGearUnit(i)->GetTirePressure());
- }
+ node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
+ if ( gear->GetSteerable() )
+ node->setDoubleValue("steering-norm", gear->GetSteerNorm());
+ }
}
void FGJSBsim::update_gear(void)
FGGroundReactions* gr=fdmex->GetGroundReactions();
int Ngear=GroundReactions->GetNumGearUnits();
for (int i=0;i<Ngear;i++) {
+ FGLGear *gear = gr->GetGearUnit(i);
SGPropertyNode * node = fgGetNode("gear/gear", i, true);
- node->getChild("wow", 0, true)->setBoolValue(gr->GetGearUnit(i)->GetWOW());
+ node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
node->getChild("position-norm", 0, true)->setDoubleValue(FCS->GetGearPos());
- gr->GetGearUnit(i)->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
- }
+ gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
+ if ( gear->GetSteerable() )
+ node->setDoubleValue("steering-norm", gear->GetSteerNorm());
+ }
}
void FGJSBsim::do_trim(void)
globals->get_controls()->set_rudder( FCS->GetDrCmd());
SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
-}
+}
void FGJSBsim::update_ic(void)
{
if ( !needTrim ) {
- fgic->SetLatitudeRadIC(get_Lat_geocentric() );
- fgic->SetLongitudeRadIC( get_Longitude() );
- fgic->SetAltitudeFtIC( get_Altitude() );
- fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
- fgic->SetPitchAngleRadIC( get_Theta() );
- fgic->SetRollAngleRadIC( get_Phi() );
- fgic->SetTrueHeadingRadIC( get_Psi() );
+ fgic->SetLatitudeRadIC(get_Lat_geocentric() );
+ fgic->SetLongitudeRadIC( get_Longitude() );
+ fgic->SetAltitudeFtIC( get_Altitude() );
+ fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
+ fgic->SetPitchAngleRadIC( get_Theta() );
+ fgic->SetRollAngleRadIC( get_Phi() );
+ fgic->SetTrueHeadingRadIC( get_Psi() );
fgic->SetClimbRateFpsIC( get_Climb_Rate() );
- }
+ }
}