// Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
//
// This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
+// modify it under the terms of the GNU Lesser General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-// General Public License for more details.
+// Lesser General Public License for more details.
//
-// You should have received a copy of the GNU General Public License
+// You should have received a copy of the GNU Lesser General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
-// $Id$
+// $Id: JSBSim.cxx,v 1.63 2010/10/07 03:45:40 jberndt Exp $
#ifdef HAVE_CONFIG_H
#include <simgear/compiler.h>
-#include <stdio.h> // size_t
-#ifdef SG_MATH_EXCEPTION_CLASH
-# include <math.h>
-#endif
-
-#include STL_STRING
+#include <stdio.h> // size_t
+#include <string>
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <FDM/flight.hxx>
-#include <Aircraft/aircraft.hxx>
#include <Aircraft/controls.hxx>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
#include "JSBSim.hxx"
#include <FDM/JSBSim/FGFDMExec.h>
#include <FDM/JSBSim/FGJSBBase.h>
-#include <FDM/JSBSim/FGState.h>
#include <FDM/JSBSim/initialization/FGInitialCondition.h>
#include <FDM/JSBSim/initialization/FGTrim.h>
#include <FDM/JSBSim/models/FGModel.h>
#include <FDM/JSBSim/models/FGFCS.h>
#include <FDM/JSBSim/models/FGPropagate.h>
#include <FDM/JSBSim/models/FGAuxiliary.h>
+#include <FDM/JSBSim/models/FGInertial.h>
#include <FDM/JSBSim/models/FGAtmosphere.h>
#include <FDM/JSBSim/models/FGMassBalance.h>
#include <FDM/JSBSim/models/FGAerodynamics.h>
#include <FDM/JSBSim/models/FGLGear.h>
+#include <FDM/JSBSim/models/FGGroundReactions.h>
+#include <FDM/JSBSim/models/FGPropulsion.h>
#include <FDM/JSBSim/models/propulsion/FGEngine.h>
#include <FDM/JSBSim/models/propulsion/FGPiston.h>
#include <FDM/JSBSim/models/propulsion/FGTurbine.h>
class FGFSGroundCallback : public FGGroundCallback {
public:
- FGFSGroundCallback(FGInterface* ifc) : mInterface(ifc) {}
+ FGFSGroundCallback(FGJSBsim* ifc) : mInterface(ifc) {}
virtual ~FGFSGroundCallback() {}
- /** Get the altitude above sea level depenent on the location. */
+ /** Get the altitude above sea level dependent on the location. */
virtual double GetAltitude(const FGLocation& l) const {
double pt[3] = { SG_FEET_TO_METER*l(eX),
SG_FEET_TO_METER*l(eY),
/** 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], lc, ff, agl;
- int groundtype;
- mInterface->get_agl_ft(t, loc_cart, contact, normal, vel,
- &groundtype, &lc, &ff, &agl);
- n = l.GetTec2l()*FGColumnVector3( normal[0], normal[1], normal[2] );
- v = l.GetTec2l()*FGColumnVector3( vel[0], vel[1], vel[2] );
+ 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, 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;
}
private:
- FGInterface* mInterface;
+ FGJSBsim* mInterface;
};
/******************************************************************************/
FGJSBsim::FGJSBsim( double dt )
- : FGInterface(dt)
+ : FGInterface(dt), got_wire(false)
{
bool result;
// Set up the debugging level
// Register ground callback.
fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
- State = fdmex->GetState();
Atmosphere = fdmex->GetAtmosphere();
FCS = fdmex->GetFCS();
MassBalance = fdmex->GetMassBalance();
Aircraft = fdmex->GetAircraft();
Propagate = fdmex->GetPropagate();
Auxiliary = fdmex->GetAuxiliary();
+ Inertial = fdmex->GetInertial();
Aerodynamics = fdmex->GetAerodynamics();
GroundReactions = fdmex->GetGroundReactions();
SGPath engine_path( fgGetString("/sim/aircraft-dir") );
engine_path.append( "Engine" );
- State->Setdt( dt );
+
+ SGPath systems_path( fgGetString("/sim/aircraft-dir") );
+ systems_path.append( "Systems" );
+
+// deprecate sim-time-sec for simulation/sim-time-sec
+// remove alias with increased configuration file version number (2.1 or later)
+ SGPropertyNode * node = fgGetNode("/fdm/jsbsim/simulation/sim-time-sec");
+ fgGetNode("/fdm/jsbsim/sim-time-sec", true)->alias( node );
+// end of sim-time-sec deprecation patch
+
+ fdmex->Setdt( dt );
result = fdmex->LoadModel( aircraft_path.str(),
engine_path.str(),
+ systems_path.str(),
fgGetString("/sim/aero"), false );
if (result) {
if (node->getChild("level-gal_us", 0, false) != 0) {
Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
} else {
- node->setDoubleValue("level-lb", Propulsion->GetTank(i)->GetContents());
+ node->setDoubleValue("level-lbs", Propulsion->GetTank(i)->GetContents());
node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
}
+ node->setDoubleValue("capacity-gal_us",
+ Propulsion->GetTank(i)->GetCapacity() / 6.6);
}
Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
speedbrake_pos_pct
=fgGetNode("/surface-positions/speedbrake-pos-norm",true);
spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
+ tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true);
+ wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-pos-norm",true);
elevator_pos_pct->setDoubleValue(0);
left_aileron_pos_pct->setDoubleValue(0);
speedbrake_pos_pct->setDoubleValue(0);
spoilers_pos_pct->setDoubleValue(0);
+ ab_brake_engaged = fgGetNode("/autopilot/autobrake/engaged", true);
+ ab_brake_left_pct = fgGetNode("/autopilot/autobrake/brake-left-output", true);
+ ab_brake_right_pct = fgGetNode("/autopilot/autobrake/brake-right-output", true);
+
temperature = fgGetNode("/environment/temperature-degc",true);
pressure = fgGetNode("/environment/pressure-inhg",true);
density = fgGetNode("/environment/density-slugft3",true);
Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
}
+
+ hook_root_struct = FGColumnVector3(
+ 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));
+
+ crashed = false;
}
/******************************************************************************/
void FGJSBsim::init()
{
- double tmp;
-
SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
// Explicitly call the superclass's
9.0/5.0*(temperature->getDoubleValue()+273.15) );
Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
Atmosphere->SetExDensity(density->getDoubleValue());
-
- tmp = turbulence_gain->getDoubleValue();
- Atmosphere->SetTurbGain(tmp * tmp * 100.0);
-
- tmp = turbulence_rate->getDoubleValue();
- Atmosphere->SetTurbRate(tmp);
+ Atmosphere->SetTurbType(FGAtmosphere::ttCulp);
+ Atmosphere->SetTurbGain(turbulence_gain->getDoubleValue());
+ Atmosphere->SetTurbRate(turbulence_rate->getDoubleValue());
} else {
Atmosphere->UseInternal();
}
- fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
- fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
- fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
+ fgic->SetVNorthFpsIC( -wind_from_north->getDoubleValue() );
+ fgic->SetVEastFpsIC( -wind_from_east->getDoubleValue() );
+ fgic->SetVDownFpsIC( -wind_from_down->getDoubleValue() );
//Atmosphere->SetExTemperature(get_Static_temperature());
//Atmosphere->SetExPressure(get_Static_pressure());
<< ", " << fdmex->GetAtmosphere()->GetPressure()
<< ", " << fdmex->GetAtmosphere()->GetDensity() );
+// deprecate egt_degf for egt-degf to have consistent naming
+// TODO: raise log-level to ALERT in summer 2010,
+// remove alias in fall 2010,
+// remove this code in winter 2010
+ for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
+ SGPropertyNode * node = fgGetNode("engines/engine", i, true);
+ SGPropertyNode * egtn = node->getNode( "egt_degf" );
+ if( egtn != NULL ) {
+ SG_LOG(SG_FLIGHT,SG_WARN,
+ "Aircraft uses deprecated node egt_degf. Please upgrade to egt-degf");
+ node->getNode("egt-degf", true)->alias( egtn );
+ }
+ }
+// end of egt_degf deprecation patch
+
if (fgGetBool("/sim/presets/running")) {
- for (int i=0; i < Propulsion->GetNumEngines(); i++) {
+ for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
SGPropertyNode * node = fgGetNode("engines/engine", i, true);
node->setBoolValue("running", true);
Propulsion->GetEngine(i)->SetRunning(true);
}
}
+ FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
+
common_init();
copy_to_JSBsim();
SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
<< Propagate->GetLocation().GetLongitudeDeg() << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
- << Propagate->Geth() << " feet" );
+ << Propagate->GetAltitudeASL() << " feet" );
SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
void FGJSBsim::update( double dt )
{
+ if(crashed) {
+ if(!fgGetBool("/sim/crashed"))
+ fgSetBool("/sim/crashed", true);
+ return;
+ }
+
if (is_suspended())
return;
double alt, slr, lat, lon;
FGColumnVector3 cart = Auxiliary->GetLocationVRP();
if ( needTrim && startup_trim->getBoolValue() ) {
- alt = fgic->GetAltitudeFtIC();
+ alt = fgic->GetAltitudeASLFtIC();
slr = fgic->GetSeaLevelRadiusFtIC();
lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
cart = FGLocation(lon, lat, alt+slr);
}
double cart_pos[3] = { cart(1), cart(2), cart(3) };
- bool cache_ok = prepare_ground_cache_ft( State->Getsim_time(), cart_pos,
+ double t0 = fdmex->GetSimTime();
+ bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
groundCacheRadius );
if (!cache_ok) {
SG_LOG(SG_FLIGHT, SG_WARN,
"FGInterface is being called without scenery below the aircraft!");
- SG_LOG(SG_FLIGHT, SG_WARN,
- "altitude = " << alt);
- SG_LOG(SG_FLIGHT, SG_WARN,
- "sea level radius = " << slr);
- SG_LOG(SG_FLIGHT, SG_WARN,
- "latitude = " << lat);
- SG_LOG(SG_FLIGHT, SG_WARN,
- "longitude = " << lon);
+
+ alt = fgic->GetAltitudeASLFtIC();
+ SG_LOG(SG_FLIGHT, SG_WARN, "altitude = " << alt);
+
+ slr = fgic->GetSeaLevelRadiusFtIC();
+ SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = " << slr);
+
+ lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
+ SG_LOG(SG_FLIGHT, SG_WARN, "latitude = " << lat);
+
+ lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
+ SG_LOG(SG_FLIGHT, SG_WARN, "longitude = " << lon);
//return;
}
if ( needTrim ) {
if ( startup_trim->getBoolValue() ) {
- double contact[3], dummy[3], lc, ff, agl;
- int groundtype;
- get_agl_ft(State->Getsim_time(), cart_pos, contact,
- dummy, dummy, &groundtype, &lc, &ff, &agl);
+ double contact[3], d[3], agl;
+ get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
+ d, d, d, &agl);
double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
+ contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
SG_LOG(SG_FLIGHT, SG_INFO,
- "Ready to trim, terrain altitude is: "
+ "Ready to trim, terrain elevation is: "
<< terrain_alt * SG_METER_TO_FEET );
- fgic->SetTerrainAltitudeFtIC( terrain_alt );
+ fgic->SetTerrainElevationFtIC( terrain_alt );
do_trim();
} else {
fdmex->RunIC(); //apply any changes made through the set_ functions
for ( i=0; i < multiloop; i++ ) {
fdmex->Run();
+ update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT());
}
FGJSBBase::Message* msg;
- while (fdmex->SomeMessages()) {
- msg = fdmex->ProcessMessage();
+ while (msg = fdmex->ProcessNextMessage()) {
+// msg = fdmex->ProcessNextMessage();
switch (msg->type) {
case FGJSBBase::Message::eText:
+ if (msg->text == "Crash Detected: Simulation FREEZE.")
+ crashed = true;
SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
break;
case FGJSBBase::Message::eBool:
FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
- // 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() );
// Parking brake sets minimum braking
// level for mains.
double parking_brake = globals->get_controls()->get_brake_parking();
- FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
- FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
+ double left_brake = globals->get_controls()->get_brake_left();
+ double right_brake = globals->get_controls()->get_brake_right();
+
+ if (ab_brake_engaged->getBoolValue()) {
+ left_brake = ab_brake_left_pct->getDoubleValue();
+ right_brake = ab_brake_right_pct->getDoubleValue();
+ }
+
+ FCS->SetLBrake(FMAX(left_brake, parking_brake));
+ FCS->SetRBrake(FMAX(right_brake, parking_brake));
+
+
FCS->SetCBrake( 0.0 );
// FCS->SetCBrake( globals->get_controls()->get_brake(2) );
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->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;
eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
eng->SetIgnition( globals->get_controls()->get_ignition(i) );
- eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
- eng->SetCondition( globals->get_controls()->get_condition(i) );
+ eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
+ eng->SetCondition( globals->get_controls()->get_condition(i) );
break;
} // end FGTurboProp code block
+ default:
+ break;
}
{ // FGEngine code block
Atmosphere->SetExDensity(density->getDoubleValue());
tmp = turbulence_gain->getDoubleValue();
- Atmosphere->SetTurbGain(tmp * tmp * 100.0);
+ //Atmosphere->SetTurbGain(tmp * tmp * 100.0);
tmp = turbulence_rate->getDoubleValue();
- Atmosphere->SetTurbRate(tmp);
+ //Atmosphere->SetTurbRate(tmp);
- Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
- wind_from_east->getDoubleValue(),
- wind_from_down->getDoubleValue() );
+ Atmosphere->SetWindNED( -wind_from_north->getDoubleValue(),
+ -wind_from_east->getDoubleValue(),
+ -wind_from_down->getDoubleValue() );
// SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
// << get_V_north_airmass() << ", "
// << get_V_east_airmass() << ", "
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-lb"));
+// tank->SetContents(node->getDoubleValue("level-lbs"));
}
- SGPropertyNode* node = fgGetNode("/systems/refuel", true);
- Propulsion->SetRefuel(node->getDoubleValue("contact"));
+
Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
- fdmex->SetSlave(slaved->getBoolValue());
+ fdmex->SetChild(slaved->getBoolValue());
return true;
}
{
double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
double contact[3], d[3], sd, t;
- int id;
is_valid_m(&t, d, &sd);
- get_agl_ft(t, loc_cart, contact, d, d, &id, &sd, &sd, &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() );
_set_Gamma_vert_rad( Auxiliary->GetGamma() );
- _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
+ _set_Earth_position_angle( Inertial->GetEarthPositionAngle() );
_set_Climb_Rate( Propagate->Gethdot() );
// Copy the engine values from JSBSim.
for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
SGPropertyNode * node = fgGetNode("engines/engine", i, true);
- char buf[30];
- sprintf(buf, "engines/engine[%d]/thruster", i);
- SGPropertyNode * tnode = fgGetNode(buf, true);
+ SGPropertyNode * tnode = node->getChild("thruster", 0, true);
FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
switch (Propulsion->GetEngine(i)->GetType()) {
node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
+ // NOTE: mp-osi is not in ounces per square inch.
+ // This error is left for reasons of backwards compatibility with
+ // existing FlightGear sound and instrument configurations.
+ node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
node->setDoubleValue("rpm", eng->getRPM());
} // end FGPiston 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->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("rpm", eng->getRPM());
} // end FGElectric code block
break;
+ case FGEngine::etUnknown:
+ break;
}
{ // FGEngine code block
double contents = tank->GetContents();
double temp = tank->GetTemperature_degC();
node->setDoubleValue("level-gal_us", contents/6.6);
- node->setDoubleValue("level-lb", contents);
+ node->setDoubleValue("level-lbs", contents);
if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
}
}
flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
+ tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
+ wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
- // force a sim reset if crashed (altitude AGL < 0)
+ // force a sim crashed if crashed (altitude AGL < 0)
if (get_Altitude_AGL() < -100.0) {
- fgSetBool("/sim/crashed", true);
- SGPropertyNode* node = fgGetNode("/sim/presets", true);
- globals->get_commands()->execute("old-reinit-dialog", node);
+ fdmex->SuspendIntegration();
+ crashed = true;
}
return true;
needTrim=true;
}
+// Sets the altitude above sea level.
void FGJSBsim::set_Altitude(double alt)
{
static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
_set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
SG_LOG(SG_FLIGHT, SG_INFO,
- "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
+ "Terrain elevation: " << FGInterface::get_Runway_altitude() * SG_METER_TO_FEET );
fgic->SetLatitudeRadIC( lat_geoc );
- fgic->SetAltitudeFtIC(alt);
+ fgic->SetAltitudeASLFtIC(alt);
needTrim=true;
}
FGInterface::set_Velocities_Local(north, east, down);
update_ic();
- fgic->SetVnorthFpsIC(north);
- fgic->SetVeastFpsIC(east);
- fgic->SetVdownFpsIC(down);
+ fgic->SetVNorthFpsIC(north);
+ fgic->SetVEastFpsIC(east);
+ fgic->SetVDownFpsIC(down);
needTrim=true;
}
node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
node->setBoolValue("wow", gear->GetWOW());
+ node->setDoubleValue("rollspeed-ms", gear->GetWheelRollVel()*0.3043);
node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
- node->setDoubleValue("position-norm", FCS->GetGearPos());
+ node->setDoubleValue("position-norm", gear->GetGearUnitPos());
node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
node->setDoubleValue("compression-norm", gear->GetCompLen());
+ node->setDoubleValue("compression-ft", gear->GetCompLen());
if ( gear->GetSteerable() )
node->setDoubleValue("steering-norm", gear->GetSteerNorm());
}
FGLGear *gear = gr->GetGearUnit(i);
SGPropertyNode * node = fgGetNode("gear/gear", i, true);
node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
- node->getChild("position-norm", 0, true)->setDoubleValue(FCS->GetGearPos());
+ node->getChild("rollspeed-ms", 0, true)->setDoubleValue(gear->GetWheelRollVel()*0.3043);
+ node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
node->setDoubleValue("compression-norm", gear->GetCompLen());
+ node->setDoubleValue("compression-ft", gear->GetCompLen());
if ( gear->GetSteerable() )
node->setDoubleValue("steering-norm", gear->GetSteerNorm());
}
if ( fgGetBool("/sim/presets/onground") )
{
- fgic->SetVcalibratedKtsIC(0.0);
fgtrim = new FGTrim(fdmex,tGround);
} else {
fgtrim = new FGTrim(fdmex,tLongitudinal);
} else {
trimmed->setBoolValue(true);
}
-#if 0
- if (FGJSBBase::debug_lvl > 0)
- State->ReportState(); /* FIXME: Function not implemented */
-#endif
-
delete fgtrim;
pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
if ( !needTrim ) {
fgic->SetLatitudeRadIC(get_Lat_geocentric() );
fgic->SetLongitudeRadIC( get_Longitude() );
- fgic->SetAltitudeFtIC( get_Altitude() );
+ fgic->SetAltitudeASLFtIC( get_Altitude() );
fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
fgic->SetThetaRadIC( get_Theta() );
fgic->SetPhiRadIC( get_Phi() );
}
}
+bool
+FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
+ double contact[3], double normal[3], double vel[3],
+ double angularVel[3], double *agl)
+{
+ const SGMaterial* material;
+ simgear::BVHNode::Id id;
+ if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
+ angularVel, material, id))
+ return false;
+ SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt));
+ SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
+ *agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt));
+ return true;
+}
+
+inline static double dot3(const FGColumnVector3& a, const FGColumnVector3& b)
+{
+ return a(1) * b(1) + a(2) * b(2) + a(3) * b(3);
+}
+
+inline static double sqr(double x)
+{
+ return x * x;
+}
+
+static double angle_diff(double a, double b)
+{
+ double diff = fabs(a - b);
+ if (diff > 180) diff = 360 - diff;
+
+ return diff;
+}
+
+static void check_hook_solution(const FGColumnVector3& ground_normal_body, double E, double hook_length, double sin_fi_guess, double cos_fi_guess, double* sin_fis, double* cos_fis, double* fis, int* points)
+{
+ FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
+ double dist = dot3(tip, ground_normal_body);
+ if (fabs(dist + E) < 0.0001) {
+ sin_fis[*points] = sin_fi_guess;
+ cos_fis[*points] = cos_fi_guess;
+ fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
+ (*points)++;
+ }
+}
+
+
+static void check_hook_solution(const FGColumnVector3& ground_normal_body, double E, double hook_length, double sin_fi_guess, double* sin_fis, double* cos_fis, double* fis, int* points)
+{
+ if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
+ double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
+ check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
+ if (fabs(cos_fi_guess) > SG_EPSILON) {
+ check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
+ }
+ }
+}
+
+void FGJSBsim::update_external_forces(double t_off)
+{
+ const FGMatrix33& Tb2l = Propagate->GetTb2l();
+ const FGMatrix33& Tl2b = Propagate->GetTl2b();
+ const FGLocation& Location = Propagate->GetLocation();
+ const FGMatrix33& Tec2l = Location.GetTec2l();
+
+ double hook_area[4][3];
+
+ FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
+ FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l * hook_root_body);
+ hook_area[1][0] = hook_root(1);
+ hook_area[1][1] = hook_root(2);
+ hook_area[1][2] = hook_root(3);
+
+ hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
+ double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
+ double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
+ double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
+ double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
+ double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
+
+ FGColumnVector3 hook_tip_body = hook_root_body;
+ hook_tip_body(1) -= hook_length * cos_fi;
+ hook_tip_body(3) += hook_length * sin_fi;
+
+ 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, 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]));
+ double D = -dot3(contact_body, ground_normal_body);
+
+ // check hook tip agl against same ground plane
+ double hook_tip_agl_ft = dot3(hook_tip_body, ground_normal_body) + D;
+ if (hook_tip_agl_ft < 0) {
+
+ // hook tip: hx - l cos, hy, hz + l sin
+ // on ground: - n0 l cos + n2 l sin + E = 0
+
+ double E = D + dot3(hook_root_body, ground_normal_body);
+
+ // substitue x = sin fi, cos fi = sqrt(1 - x * x)
+ // and rearrange to get a quadratic with coeffs:
+ double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
+ double b = 2 * E * ground_normal_body(3) * hook_length;
+ double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
+
+ double disc = sqr(b) - 4 * a * c;
+ if (disc >= 0) {
+ double delta = sqrt(disc) / (2 * a);
+
+ // allow 4 solutions for safety, should never happen
+ double sin_fis[4];
+ double cos_fis[4];
+ double fis[4];
+ int points = 0;
+
+ double sin_fi_guess = -b / (2 * a) - delta;
+ check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
+ check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
+
+ if (points == 2) {
+ double diff1 = angle_diff(fi, fis[0]);
+ double diff2 = angle_diff(fi, fis[1]);
+ int point = diff1 < diff2 ? 0 : 1;
+ fi = fis[point];
+ sin_fi = sin_fis[point];
+ cos_fi = cos_fis[point];
+ hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
+ hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
+ }
+ }
+ }
+ }
+ } else {
+ FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() * hook_root_body));
+ double wire_ends_ec[2][3];
+ double wire_vel_ec[2][3];
+ get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
+ FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
+ FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
+ FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
+ if (rel_vel.Magnitude() < 3) {
+ got_wire = false;
+ release_wire();
+ fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
+ } else {
+ FGColumnVector3 wire_end1_body = Tl2b * Location.LocationToLocal(FGColumnVector3(wire_ends_ec[0][0], wire_ends_ec[0][1], wire_ends_ec[0][2])) - hook_root_body;
+ FGColumnVector3 wire_end2_body = Tl2b * Location.LocationToLocal(FGColumnVector3(wire_ends_ec[1][0], wire_ends_ec[1][1], wire_ends_ec[1][2])) - hook_root_body;
+ FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
+ force_plane_normal.Normalize();
+ cos_fi = dot3(force_plane_normal, FGColumnVector3(0, 0, 1));
+ if (cos_fi < 0) cos_fi = -cos_fi;
+ sin_fi = sqrt(1 - sqr(cos_fi));
+ fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
+
+ fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
+ fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
+ fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
+ fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
+ }
+ }
+
+ FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
+
+ hook_area[0][0] = hook_tip(1);
+ hook_area[0][1] = hook_tip(2);
+ hook_area[0][2] = hook_tip(3);
+
+ if (!got_wire) {
+ // The previous positions.
+ hook_area[2][0] = last_hook_root[0];
+ hook_area[2][1] = last_hook_root[1];
+ hook_area[2][2] = last_hook_root[2];
+ hook_area[3][0] = last_hook_tip[0];
+ hook_area[3][1] = last_hook_tip[1];
+ hook_area[3][2] = last_hook_tip[2];
+
+ // Check if we caught a wire.
+ // Returns true if we caught one.
+ if (caught_wire_ft(t_off, hook_area)) {
+ got_wire = true;
+ }
+ }
+
+ // save actual position as old position ...
+ last_hook_tip[0] = hook_area[0][0];
+ last_hook_tip[1] = hook_area[0][1];
+ last_hook_tip[2] = hook_area[0][2];
+ last_hook_root[0] = hook_area[1][0];
+ last_hook_root[1] = hook_area[1][1];
+ last_hook_root[2] = hook_area[1][2];
+
+ fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);
+}
+
projects / flightgear.git / blobdiff