// 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 1.64 2010/10/31 04:49:25 jberndt Exp $
-#include <simgear/compiler.h>
-
-#ifdef SG_MATH_EXCEPTION_CLASH
-# include <math.h>
+#ifdef HAVE_CONFIG_H
+# include <config.h>
#endif
-#include STL_STRING
+#include <simgear/compiler.h>
+
+#include <stdio.h> // size_t
+#include <string>
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/misc/sg_path.hxx>
+#include <simgear/structure/commands.hxx>
-#include <Scenery/scenery.hxx>
+#include <FDM/flight.hxx>
-#include <Aircraft/aircraft.hxx>
-#include <Controls/controls.hxx>
+#include <Aircraft/controls.hxx>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
-#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/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/FGAtmosphere.h>
-#include <FDM/JSBSim/FGMassBalance.h>
-#include <FDM/JSBSim/FGAerodynamics.h>
-#include <FDM/JSBSim/FGLGear.h>
-#include <FDM/JSBSim/FGPropertyManager.h>
#include "JSBSim.hxx"
+#include <FDM/JSBSim/FGFDMExec.h>
+#include <FDM/JSBSim/FGJSBBase.h>
+#include <FDM/JSBSim/initialization/FGInitialCondition.h>
+#include <FDM/JSBSim/initialization/FGTrim.h>
+#include <FDM/JSBSim/models/FGModel.h>
+#include <FDM/JSBSim/models/FGAircraft.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>
+#include <FDM/JSBSim/models/propulsion/FGTurboProp.h>
+#include <FDM/JSBSim/models/propulsion/FGRocket.h>
+#include <FDM/JSBSim/models/propulsion/FGElectric.h>
+#include <FDM/JSBSim/models/propulsion/FGNozzle.h>
+#include <FDM/JSBSim/models/propulsion/FGPropeller.h>
+#include <FDM/JSBSim/models/propulsion/FGRotor.h>
+#include <FDM/JSBSim/models/propulsion/FGTank.h>
+#include <FDM/JSBSim/input_output/FGPropertyManager.h>
+#include <FDM/JSBSim/input_output/FGGroundCallback.h>
+
+using namespace JSBSim;
+
+static inline double
+FMAX (double a, double b)
+{
+ return a > b ? a : b;
+}
+
+class FGFSGroundCallback : public FGGroundCallback {
+public:
+ FGFSGroundCallback(FGJSBsim* ifc) : mInterface(ifc) {}
+ virtual ~FGFSGroundCallback() {}
+
+ /** 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),
+ SG_FEET_TO_METER*l(eZ) };
+ double lat, lon, alt;
+ sgCartToGeod( pt, &lat, &lon, &alt);
+ return alt * SG_METER_TO_FEET;
+ }
+
+ /** Compute the altitude above ground. */
+ virtual double GetAGLevel(double t, const FGLocation& l,
+ 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], 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:
+ FGJSBsim* mInterface;
+};
/******************************************************************************/
-FGJSBsim::FGJSBsim( double dt )
- : FGInterface(dt)
+FGJSBsim::FGJSBsim( double dt )
+ : FGInterface(dt), got_wire(false)
{
bool result;
-
+ // Set up the debugging level
+ // FIXME: this will not respond to
+ // runtime changes
+
+ // if flight is excluded, don't bother
+ if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
+
+ // do a rough-and-ready mapping to
+ // the levels documented in FGFDMExec.h
+ switch (logbuf::get_log_priority()) {
+ case SG_BULK:
+ FGJSBBase::debug_lvl = 0x1f;
+ break;
+ case SG_DEBUG:
+ FGJSBBase::debug_lvl = 0x0f;
+ case SG_INFO:
+ FGJSBBase::debug_lvl = 0x01;
+ break;
+ case SG_WARN:
+ case SG_ALERT:
+ FGJSBBase::debug_lvl = 0x00;
+ break;
+ }
+ }
+
fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
-
- State = fdmex->GetState();
+
+ // Register ground callback.
+ fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
+
Atmosphere = fdmex->GetAtmosphere();
FCS = fdmex->GetFCS();
MassBalance = fdmex->GetMassBalance();
Propulsion = fdmex->GetPropulsion();
Aircraft = fdmex->GetAircraft();
- Translation = fdmex->GetTranslation();
- Rotation = fdmex->GetRotation();
- Position = fdmex->GetPosition();
+ Propagate = fdmex->GetPropagate();
Auxiliary = fdmex->GetAuxiliary();
+ Inertial = fdmex->GetInertial();
Aerodynamics = fdmex->GetAerodynamics();
- GroundReactions = fdmex->GetGroundReactions();
-
-
- Atmosphere->UseInternal();
-
- fgic=new FGInitialCondition(fdmex);
+ 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" );
- set_delta_t( dt );
- 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(),
- fgGetString("/sim/aero") );
-
+ systems_path.str(),
+ 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.
+ // Set initial fuel levels if provided.
for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
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);
+ if (node->getChild("level-gal_us", 0, false) != 0) {
+ Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
+ } else {
+ 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());
+
fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
- startup_trim = fgGetNode("/sim/startup/trim", true);
+ startup_trim = fgGetNode("/sim/presets/trim", true);
trimmed = fgGetNode("/fdm/trim/trimmed", true);
trimmed->setBoolValue(false);
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/aero/alarms/stall-warning",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);
right_aileron_pos_pct
=fgGetNode("/surface-positions/right-aileron-pos-norm",true);
rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
-
-
+ 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);
right_aileron_pos_pct->setDoubleValue(0);
rudder_pos_pct->setDoubleValue(0);
flap_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);
+ 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);
+
+ slaved = fgGetNode("/sim/slaved/enabled", true);
+
+ for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
+ SGPropertyNode * node = fgGetNode("engines/engine", i, 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));
+ 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;
}
+
/******************************************************************************/
-FGJSBsim::~FGJSBsim(void) {
- if (fdmex != NULL) {
- delete fdmex; fdmex=NULL;
- delete fgic; fgic=NULL;
- }
+FGJSBsim::~FGJSBsim(void)
+{
+ delete fdmex;
}
/******************************************************************************/
// Initialize the JSBsim flight model, dt is the time increment for
// each subsequent iteration through the EOM
-void FGJSBsim::init() {
-
+void FGJSBsim::init()
+{
SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
-
+
// Explicitly call the superclass's
// init method first.
+
+ if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
+ Atmosphere->UseExternal();
+ Atmosphere->SetExTemperature(
+ 9.0/5.0*(temperature->getDoubleValue()+273.15) );
+ Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
+ Atmosphere->SetExDensity(density->getDoubleValue());
+ 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() );
+
+ //Atmosphere->SetExTemperature(get_Static_temperature());
+ //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()->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 (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();
- fdmex->RunIC(fgic); //loop JSBSim once w/o integrating
+ copy_to_JSBsim();
+ fdmex->RunIC(); //loop JSBSim once w/o integrating
copy_from_JSBsim(); //update the bus
SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
switch(fgic->GetSpeedSet()) {
case setned:
SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
- << Position->GetVn() << ", "
- << Position->GetVe() << ", "
- << Position->GetVd() << " ft/s");
+ << Propagate->GetVel(FGJSBBase::eNorth) << ", "
+ << Propagate->GetVel(FGJSBBase::eEast) << ", "
+ << Propagate->GetVel(FGJSBBase::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(FGJSBBase::ePhi)*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
- << Rotation->Gettht()*RADTODEG << " deg" );
+ << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
- << Rotation->Getpsi()*RADTODEG << " deg" );
+ << Propagate->GetEuler(FGJSBBase::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->GetAltitudeASL() << " 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() );
-
+}
-
+/******************************************************************************/
+
+void checkTied ( FGPropertyManager *node )
+{
+ int N = node->nChildren();
+ string name;
+
+ for (int i=0; i<N; i++) {
+ if (node->getChild(i)->nChildren() ) {
+ checkTied( (FGPropertyManager*)node->getChild(i) );
+ }
+ if ( node->getChild(i)->isTied() ) {
+ name = ((FGPropertyManager*)node->getChild(i))->GetFullyQualifiedName();
+ node->Untie(name);
+ }
+ }
+}
+
+/******************************************************************************/
+
+void FGJSBsim::unbind()
+{
+ SGPropertyNode* instance = globals->get_props()->getNode("/fdm/jsbsim");
+ checkTied((FGPropertyManager*)instance);
+ FGInterface::unbind();
}
/******************************************************************************/
// Run an iteration of the EOM (equations of motion)
-void
-FGJSBsim::update( int multiloop ) {
+void FGJSBsim::update( double dt )
+{
+ if(crashed) {
+ if(!fgGetBool("/sim/crashed"))
+ fgSetBool("/sim/crashed", true);
+ return;
+ }
+
+ if (is_suspended())
+ return;
+
+ int multiloop = _calc_multiloop(dt);
int i;
- // double save_alt = 0.0;
+ // Compute the radius of the aircraft. That is the radius of a ball
+ // where all gear units are in. At the moment it is at least 10ft ...
+ double acrad = 10.0;
+ int n_gears = GroundReactions->GetNumGearUnits();
+ for (i=0; i<n_gears; ++i) {
+ FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
+ double r = bl.Magnitude();
+ if (acrad < r)
+ acrad = r;
+ }
+
+ // Compute the potential movement of this aircraft and query for the
+ // ground in this area.
+ double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
+ double alt, slr, lat, lon;
+ FGLocation cart = Auxiliary->GetLocationVRP();
+ if ( needTrim && startup_trim->getBoolValue() ) {
+ 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) };
+ 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!");
+
+ 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;
+ }
copy_to_JSBsim();
trimmed->setBoolValue(false);
-
-
if ( needTrim ) {
if ( startup_trim->getBoolValue() ) {
+ double contact[3], d[3], vel[3], agl;
+ get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
+ d, vel, 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: "
- << scenery.get_cur_elev() * SG_METER_TO_FEET );
- fgic->SetTerrainAltitudeFtIC( scenery.get_cur_elev() * SG_METER_TO_FEET );
+ "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 {
- fdmex->RunIC(fgic); //apply any changes made through the set_ functions
+ fdmex->RunIC(); //apply any changes made through the set_ functions
}
- needTrim = false;
- }
-
+ needTrim = false;
+ }
+
for ( i=0; i < multiloop; i++ ) {
- fdmex->Run();
+ fdmex->Run();
+ update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT());
}
FGJSBBase::Message* msg;
- while (fdmex->ReadMessage()) {
- 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:
// Convert from the FGInterface struct to the JSBsim generic_ struct
-bool FGJSBsim::copy_to_JSBsim() {
+bool FGJSBsim::copy_to_JSBsim()
+{
+ double tmp;
unsigned int i;
// copy control positions into the JSBsim structure
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( 0.0 ); //speedbrakes
- FCS->SetDspCmd( 0.0 ); //spoilers
- FCS->SetLBrake( globals->get_controls()->get_brake( 0 ) );
- FCS->SetRBrake( globals->get_controls()->get_brake( 1 ) );
- FCS->SetCBrake( globals->get_controls()->get_brake( 2 ) );
+ 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.
+ double parking_brake = globals->get_controls()->get_brake_parking();
+ 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) );
+
FCS->SetGearCmd( globals->get_controls()->get_gear_down());
for (i = 0; i < Propulsion->GetNumEngines(); i++) {
- FGEngine * eng = Propulsion->GetEngine(i);
SGPropertyNode * node = fgGetNode("engines/engine", i, true);
+
FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
- Propulsion->GetThruster(i)->SetRPM(node->getDoubleValue("rpm"));
- eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
+ FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
+
+ switch (Propulsion->GetEngine(i)->GetType()) {
+ case FGEngine::etPiston:
+ { // FGPiston code block
+ FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
+ eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
+ break;
+ } // end FGPiston code block
+ 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 FGTurbine code block
+ case FGEngine::etRocket:
+ { // FGRocket code block
+ FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
+ break;
+ } // end FGRocket code block
+ case FGEngine::etTurboprop:
+ { // FGTurboProp code block
+ FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
+ eng->SetReverse( globals->get_controls()->get_reverser(i) );
+ 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) );
+ break;
+ } // end FGTurboProp code block
+ default:
+ break;
+ }
+
+ { // FGEngine code block
+ FGEngine* eng = Propulsion->GetEngine(i);
+
eng->SetStarter( globals->get_controls()->get_starter(i) );
+ eng->SetRunning( node->getBoolValue("running") );
+ } // end FGEngine code block
}
- _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
- Position->SetSeaLevelRadius( get_Sea_level_radius() );
- Position->SetRunwayRadius( get_Runway_altitude()
- + get_Sea_level_radius() );
- Atmosphere->SetExTemperature(get_Static_temperature());
- Atmosphere->SetExPressure(get_Static_pressure());
- Atmosphere->SetExDensity(get_Density());
- Atmosphere->SetWindNED(get_V_north_airmass(),
- get_V_east_airmass(),
- get_V_down_airmass());
+ Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
+
+ Atmosphere->SetExTemperature(
+ 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->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"));
}
+ Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
+ fdmex->SetChild(slaved->getBoolValue());
+
return true;
}
// Convert from the JSBsim generic_ struct to the FGInterface struct
-bool FGJSBsim::copy_from_JSBsim() {
+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_Body( Aircraft->GetBodyAccel()(1),
- Aircraft->GetBodyAccel()(2),
- Aircraft->GetBodyAccel()(3) );
-
- //_set_Accels_CG_Body( Aircraft->GetBodyAccel()(1),
- // Aircraft->GetBodyAccel()(2),
- // Aircraft->GetBodyAccel()(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) );
+ _set_Accels_Body( Aircraft->GetBodyAccel(1),
+ Aircraft->GetBodyAccel(2),
+ Aircraft->GetBodyAccel(3) );
- // _set_Accels_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739,
- // Auxiliary->GetNpilot(2)/32.1739,
- // Auxiliary->GetNpilot(3)/32.1739 );
+ _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) );
_set_Nlf( Aircraft->GetNlf() );
// Velocities
- _set_Velocities_Local( Position->GetVn(),
- Position->GetVe(),
- Position->GetVd() );
+ _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
+ Propagate->GetVel(FGJSBBase::eEast),
+ Propagate->GetVel(FGJSBBase::eDown) );
- _set_Velocities_Wind_Body( Translation->GetUVW(1),
- Translation->GetUVW(2),
- Translation->GetUVW(3) );
+ _set_Velocities_Wind_Body( Propagate->GetUVW(1),
+ Propagate->GetUVW(2),
+ Propagate->GetUVW(3) );
- _set_V_rel_wind( Translation->GetVt() );
+ // Make the HUD work ...
+ _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
+ Propagate->GetVel(FGJSBBase::eEast),
+ -Propagate->GetVel(FGJSBBase::eDown) );
- _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
+ _set_V_rel_wind( Auxiliary->GetVt() );
- // _set_V_calibrated( Auxiliary->GetVcalibratedFPS() );
+ _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(FGJSBBase::eP),
+ Propagate->GetPQR(FGJSBBase::eQ),
+ Propagate->GetPQR(FGJSBBase::eR) );
- _set_Geocentric_Rates(Position->GetLatitudeDot(),
- Position->GetLongitudeDot(),
- Position->Gethdot() );
+ _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
+ Auxiliary->GetEulerRates(FGJSBBase::eTht),
+ Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
- _set_Mach_number( Translation->GetMach() );
+ _set_Mach_number( Auxiliary->GetMach() );
- // Positions
- _updateGeocentricPosition( Position->GetLatitude(),
- Position->GetLongitude(),
- Position->Geth() );
+ // Positions of Visual Reference Point
+ FGLocation l = Auxiliary->GetLocationVRP();
+ _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
+ l.GetRadius() - get_Sea_level_radius() );
- _set_Altitude_AGL( Position->GetDistanceAGL() );
-
- _set_Euler_Angles( Rotation->Getphi(),
- Rotation->Gettht(),
- Rotation->Getpsi() );
+ _set_Altitude_AGL( Propagate->GetDistanceAGL() );
+ {
+ 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, d, &sd);
+ double rwrad
+ = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
+ _set_Runway_altitude( rwrad - get_Sea_level_radius() );
+ }
- _set_Alpha( Translation->Getalpha() );
- _set_Beta( Translation->Getbeta() );
+ _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
+ Propagate->GetEuler(FGJSBBase::eTht),
+ Propagate->GetEuler(FGJSBBase::ePsi) );
+ _set_Alpha( Auxiliary->Getalpha() );
+ _set_Beta( Auxiliary->Getbeta() );
- _set_Gamma_vert_rad( Position->GetGamma() );
- // set_Gamma_horiz_rad( Gamma_horiz_rad );
- _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
+ _set_Gamma_vert_rad( Auxiliary->GetGamma() );
- _set_Climb_Rate( Position->Gethdot() );
+ _set_Earth_position_angle( Inertial->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) );
}
}
- // Copy the engine values from JSBSim.
- for( i=0; i < Propulsion->GetNumEngines(); i++ ) {
+ // Copy the engine values from JSBSim.
+ for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
SGPropertyNode * node = fgGetNode("engines/engine", i, true);
- FGEngine * eng = Propulsion->GetEngine(i);
- FGThruster * thrust = Propulsion->GetThruster(i);
+ SGPropertyNode * tnode = node->getChild("thruster", 0, true);
+ FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
+
+ switch (Propulsion->GetEngine(i)->GetType()) {
+ case FGEngine::etPiston:
+ { // FGPiston code block
+ FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
+ node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
+ 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
+ break;
+ case FGEngine::etRocket:
+ { // FGRocket code block
+ FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
+ } // end FGRocket code block
+ break;
+ 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 FGTurbine code block
+ break;
+ case FGEngine::etTurboprop:
+ { // FGTurboProp code block
+ FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
+ 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->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->setBoolValue("starting", eng->GetEngStarting());
+ node->setBoolValue("generator-power", eng->GetGeneratorPower());
+ node->setBoolValue("damaged", eng->GetCondition());
+ node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
+ node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
+// node->setBoolValue("onfire", eng->GetFire());
+ globals->get_controls()->set_reverser(i, eng->GetReversed() );
+ globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
+ } // end FGTurboProp 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;
+ case FGEngine::etUnknown:
+ break;
+ }
- node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
- node->setDoubleValue("rpm", thrust->GetRPM());
- node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
+ { // FGEngine code block
+ FGEngine* eng = Propulsion->GetEngine(i);
node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
- node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
- node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
- node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
+ node->setDoubleValue("thrust_lb", thruster->GetThrust());
+ node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
node->setBoolValue("running", eng->GetRunning());
+ node->setBoolValue("starter", eng->GetStarter());
node->setBoolValue("cranking", eng->GetCranking());
- }
+ globals->get_controls()->set_starter(i, eng->GetStarter() );
+ } // end FGEngine code block
+
+ switch (thruster->GetType()) {
+ case FGThruster::ttNozzle:
+ { // FGNozzle code block
+ FGNozzle* noz = (FGNozzle*)thruster;
+ } // end FGNozzle code block
+ break;
+ case FGThruster::ttPropeller:
+ { // FGPropeller code block
+ FGPropeller* prop = (FGPropeller*)thruster;
+ tnode->setDoubleValue("rpm", thruster->GetRPM());
+ tnode->setDoubleValue("pitch", prop->GetPitch());
+ tnode->setDoubleValue("torque", prop->GetTorque());
+ tnode->setBoolValue("feathered", prop->GetFeather());
+ } // end FGPropeller code block
+ break;
+ case FGThruster::ttRotor:
+ { // FGRotor code block
+ FGRotor* rotor = (FGRotor*)thruster;
+ } // end FGRotor code block
+ break;
+ case FGThruster::ttDirect:
+ { // Direct code block
+ } // end Direct code block
+ break;
+ }
- static const SGPropertyNode *fuel_freeze
- = fgGetNode("/sim/freeze/fuel");
+ }
- // Copy the fuel levels from JSBSim if fuel
- // freeze not enabled.
- if ( ! fuel_freeze->getBoolValue() ) {
- for (i = 0; i < Propulsion->GetNumTanks(); i++) {
- SGPropertyNode * node
- = fgGetNode("/consumables/fuel/tank", i, true);
- double contents = Propulsion->GetTank(i)->GetContents();
- node->setDoubleValue("level-gal_us", contents/6.6);
- // node->setDoubleValue("level-lb", contents);
- }
+ // Copy the fuel levels from JSBSim if fuel
+ // freeze not enabled.
+ if ( ! Propulsion->GetFuelFreeze() ) {
+ for (i = 0; i < Propulsion->GetNumTanks(); i++) {
+ SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
+ 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-lbs", contents);
+ if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
+ }
}
update_gear();
-
- stall_warning->setDoubleValue( Aircraft->GetStallWarn() );
-
- /* elevator_pos_deg->setDoubleValue( FCS->GetDePos()*SG_RADIANS_TO_DEGREES );
- left_aileron_pos_deg->setDoubleValue( FCS->GetDaLPos()*SG_RADIANS_TO_DEGREES );
- right_aileron_pos_deg->setDoubleValue( FCS->GetDaRPos()*SG_RADIANS_TO_DEGREES );
- rudder_pos_deg->setDoubleValue( -1*FCS->GetDrPos()*SG_RADIANS_TO_DEGREES );
- flap_pos_deg->setDoubleValue( FCS->GetDfPos() ); */
-
+ 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) );
- rudder_pos_pct->setDoubleValue( FCS->GetDrPos(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) );
+ tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
+ wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
+
+ // force a sim crashed if crashed (altitude AGL < 0)
+ if (get_Altitude_AGL() < -100.0) {
+ fdmex->SuspendIntegration();
+ crashed = true;
+ }
-
return true;
}
-bool FGJSBsim::ToggleDataLogging(void) {
- return fdmex->GetOutput()->Toggle();
+
+bool FGJSBsim::ToggleDataLogging(void)
+{
+ // ToDo: handle this properly
+ fdmex->DisableOutput();
+ return false;
}
-bool FGJSBsim::ToggleDataLogging(bool state) {
+bool FGJSBsim::ToggleDataLogging(bool state)
+{
if (state) {
- fdmex->GetOutput()->Enable();
+ fdmex->EnableOutput();
return true;
} else {
- fdmex->GetOutput()->Disable();
+ fdmex->DisableOutput();
return false;
}
}
//Positions
-void FGJSBsim::set_Latitude(double lat) {
- static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
+void FGJSBsim::set_Latitude(double lat)
+{
+ static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft");
double alt;
double sea_level_radius_meters, lat_geoc;
-
+
+ // 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 );
- _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
- fgic->SetTerrainAltitudeFtIC( scenery.get_cur_elev() * SG_METER_TO_FEET );
+ fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
fgic->SetLatitudeRadIC( lat_geoc );
needTrim=true;
}
-void FGJSBsim::set_Longitude(double lon) {
+void FGJSBsim::set_Longitude(double lon)
+{
SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
+
+ // In case we're not trimming
+ FGInterface::set_Longitude(lon);
+
update_ic();
fgic->SetLongitudeRadIC( lon );
- _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
- fgic->SetTerrainAltitudeFtIC( scenery.get_cur_elev() * SG_METER_TO_FEET );
needTrim=true;
}
-void FGJSBsim::set_Altitude(double alt) {
- static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
+// Sets the altitude above sea level.
+void FGJSBsim::set_Altitude(double alt)
+{
+ static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
double sea_level_radius_meters,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);
+
update_ic();
sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
&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 );
- _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
- fgic->SetTerrainAltitudeFtIC( scenery.get_cur_elev() * SG_METER_TO_FEET );
SG_LOG(SG_FLIGHT, SG_INFO,
- "Terrain altitude: " << scenery.get_cur_elev() * 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;
}
-void FGJSBsim::set_V_calibrated_kts(double vc) {
+void FGJSBsim::set_V_calibrated_kts(double vc)
+{
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
-
+
+ // In case we're not trimming
+ FGInterface::set_V_calibrated_kts(vc);
+
update_ic();
fgic->SetVcalibratedKtsIC(vc);
needTrim=true;
}
-void FGJSBsim::set_Mach_number(double mach) {
+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);
+
update_ic();
fgic->SetMachIC(mach);
needTrim=true;
}
-void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
+void FGJSBsim::set_Velocities_Local( double north, double east, double down )
+{
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);
+
update_ic();
- fgic->SetVnorthFpsIC(north);
- fgic->SetVeastFpsIC(east);
- fgic->SetVdownFpsIC(down);
+ fgic->SetVNorthFpsIC(north);
+ fgic->SetVEastFpsIC(east);
+ fgic->SetVDownFpsIC(down);
needTrim=true;
}
-void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){
+void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
+{
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);
+
update_ic();
fgic->SetUBodyFpsIC(u);
fgic->SetVBodyFpsIC(v);
}
//Euler angles
-void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
+void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
+{
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);
+
update_ic();
- fgic->SetPitchAngleRadIC(theta);
- fgic->SetRollAngleRadIC(phi);
- fgic->SetTrueHeadingRadIC(psi);
+ fgic->SetThetaRadIC(theta);
+ fgic->SetPhiRadIC(phi);
+ fgic->SetPsiRadIC(psi);
needTrim=true;
}
//Flight Path
-void FGJSBsim::set_Climb_Rate( double roc) {
+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);
+
update_ic();
//since both climb rate and flight path angle are set in the FG
//startup sequence, something is needed to keep one from cancelling
//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) {
+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;
}
-void FGJSBsim::set_Static_pressure(double p) {
- SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_pressure: " << p );
-
- update_ic();
- Atmosphere->SetExPressure(p);
- if(Atmosphere->External() == true)
- needTrim=true;
-}
-
-void FGJSBsim::set_Static_temperature(double T) {
- SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_temperature: " << T );
-
- Atmosphere->SetExTemperature(T);
- if(Atmosphere->External() == true)
- needTrim=true;
-}
-
-
-void FGJSBsim::set_Density(double rho) {
- SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Density: " << rho );
-
- Atmosphere->SetExDensity(rho);
- if(Atmosphere->External() == true)
- needTrim=true;
-}
-
-void FGJSBsim::set_Velocities_Local_Airmass (double wnorth,
- double weast,
- double wdown ) {
- //SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local_Airmass: "
- // << wnorth << ", " << weast << ", " << wdown );
-
- _set_Velocities_Local_Airmass( wnorth, weast, wdown );
- fgic->SetWindNEDFpsIC( wnorth, weast, wdown );
- if(Atmosphere->External() == true)
- needTrim=true;
-}
-
-void FGJSBsim::init_gear(void ) {
-
+void FGJSBsim::init_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->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("position-norm", FCS->GetGearPos());
- }
-}
-
-void FGJSBsim::update_gear(void) {
-
+ 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->setDoubleValue("rollspeed-ms", gear->GetWheelRollVel()*0.3043);
+ node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
+ 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());
+ }
+}
+
+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("position-norm", 0, true)
- ->setDoubleValue(FCS->GetGearPos());
- }
+ node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
+ 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());
+ }
+}
+
+void FGJSBsim::do_trim(void)
+{
+ FGTrim *fgtrim;
+
+ if ( fgGetBool("/sim/presets/onground") )
+ {
+ fgtrim = new FGTrim(fdmex,tGround);
+ } else {
+ fgtrim = new FGTrim(fdmex,tLongitudinal);
+ }
+
+ if ( !fgtrim->DoTrim() ) {
+ fgtrim->Report();
+ fgtrim->TrimStats();
+ } else {
+ trimmed->setBoolValue(true);
+ }
+ delete fgtrim;
+
+ pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
+ throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
+ aileron_trim->setDoubleValue( FCS->GetDaCmd() );
+ rudder_trim->setDoubleValue( FCS->GetDrCmd() );
+
+ 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));
+
+ globals->get_controls()->set_aileron(FCS->GetDaCmd());
+ 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->SetAltitudeASLFtIC( get_Altitude() );
+ fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
+ fgic->SetThetaRadIC( get_Theta() );
+ fgic->SetPhiRadIC( get_Phi() );
+ fgic->SetPsiRadIC( get_Psi() );
+ fgic->SetClimbRateFpsIC( get_Climb_Rate() );
+ }
+}
+
+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)++;
+ }
}
-void FGJSBsim::do_trim(void) {
- FGTrim *fgtrim;
- if(fgic->GetVcalibratedKtsIC() < 10 ) {
- fgic->SetVcalibratedKtsIC(0.0);
- fgtrim=new FGTrim(fdmex,fgic,tGround);
+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 {
- fgtrim=new FGTrim(fdmex,fgic,tLongitudinal);
+ 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"));
}
- if( !fgtrim->DoTrim() ) {
- fgtrim->Report();
- fgtrim->TrimStats();
- } else {
- trimmed->setBoolValue(true);
+ }
+
+ 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;
}
- State->ReportState();
- delete fgtrim;
- pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
- throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
- aileron_trim->setDoubleValue( FCS->GetDaCmd() );
- rudder_trim->setDoubleValue( FCS->GetDrCmd() );
-
- 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));
-
- globals->get_controls()->set_aileron(FCS->GetDaCmd());
- 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->SetClimbRateFpsIC( get_Climb_Rate() );
- }
+ // 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