Merge branch 'next' of http://git.gitorious.org/fg/flightgear into next

[flightgear.git] / src / FDM / JSBSim / JSBSim.cxx

diff --git a/src/FDM/JSBSim/JSBSim.cxx b/src/FDM/JSBSim/JSBSim.cxx
index 612424629aa053d9098a421695ed052c88925563..c6f19333645d2ea828249888173fa4b5c32b35d3 100644 (file)
--- a/src/FDM/JSBSim/JSBSim.cxx
+++ b/src/FDM/JSBSim/JSBSim.cxx
@@ -18,7 +18,7 @@
 // along with this program; if not, write to the Free Software
 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
 //
-// $Id: JSBSim.cxx,v 1.63 2010/10/07 03:45:40 jberndt Exp $
+// $Id: JSBSim.cxx,v 1.64 2010/10/31 04:49:25 jberndt Exp $
 
 
 #ifdef HAVE_CONFIG_H
@@ -212,15 +212,17 @@ FGJSBsim::FGJSBsim( double dt )
 
     // Set initial fuel levels if provided.
     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
+      double d;
       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
-      if (node->getChild("level-gal_us", 0, false) != 0) {
-        Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
-      } 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);
+      FGTank* tank = Propulsion->GetTank(i);
+
+      d = node->getNode( "density-ppg", true )->getDoubleValue();
+      if( d > 0.0 )
+        tank->SetDensity( d );
+
+      d = node->getNode( "level-lbs", true )->getDoubleValue();
+      if( d > 0.0 )
+        tank->SetContents( d );
     }
     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
 
@@ -290,6 +292,8 @@ FGJSBsim::FGJSBsim( double dt )
         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;
 }
@@ -420,6 +424,14 @@ void FGJSBsim::init()
 
 /******************************************************************************/
 
+void FGJSBsim::unbind()
+{
+  fdmex->Unbind();
+  FGInterface::unbind();
+}
+
+/******************************************************************************/
+
 // Run an iteration of the EOM (equations of motion)
 
 void FGJSBsim::update( double dt )
@@ -452,7 +464,7 @@ void FGJSBsim::update( double dt )
     // ground in this area.
     double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
     double alt, slr, lat, lon;
-    FGColumnVector3 cart = Auxiliary->GetLocationVRP();
+    FGLocation cart = Auxiliary->GetLocationVRP();
     if ( needTrim && startup_trim->getBoolValue() ) {
       alt = fgic->GetAltitudeASLFtIC();
       slr = fgic->GetSeaLevelRadiusFtIC();
@@ -488,9 +500,9 @@ void FGJSBsim::update( double dt )
 
     if ( needTrim ) {
       if ( startup_trim->getBoolValue() ) {
-        double contact[3], d[3], agl;
+        double contact[3], d[3], vel[3], agl;
         get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
-                   d, d, d, &agl);
+                   d, vel, d, &agl);
         double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
              + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
 
@@ -498,6 +510,13 @@ void FGJSBsim::update( double dt )
           "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 {
@@ -659,8 +678,13 @@ bool FGJSBsim::copy_to_JSBsim()
     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
       FGTank * tank = Propulsion->GetTank(i);
-      tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
-//       tank->SetContents(node->getDoubleValue("level-lbs"));
+      double fuelDensity = node->getDoubleValue("density-ppg");
+
+      if (fuelDensity < 0.1)
+        fuelDensity = 6.0; // Use average fuel value
+
+      tank->SetDensity(fuelDensity);
+      tank->SetContents(node->getDoubleValue("level-lbs"));
     }
 
     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
@@ -898,7 +922,12 @@ bool FGJSBsim::copy_from_JSBsim()
         FGTank* tank = Propulsion->GetTank(i);
         double contents = tank->GetContents();
         double temp = tank->GetTemperature_degC();
-        node->setDoubleValue("level-gal_us", contents/6.6);
+        double fuelDensity = tank->GetDensity();
+
+        if (fuelDensity < 0.1)
+          fuelDensity = 6.0; // Use average fuel value
+
+        node->setDoubleValue("density-ppg" , fuelDensity);
         node->setDoubleValue("level-lbs", contents);
         if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
       }