#include <simgear/compiler.h>
+#include <stdio.h> // size_t
#ifdef SG_MATH_EXCEPTION_CLASH
# include <math.h>
#endif
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/misc/sg_path.hxx>
+#include <simgear/structure/commands.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/FGPropagate.h>
#include <FDM/JSBSim/FGState.h>
-#include <FDM/JSBSim/FGTranslation.h>
#include <FDM/JSBSim/FGAuxiliary.h>
#include <FDM/JSBSim/FGInitialCondition.h>
#include <FDM/JSBSim/FGTrim.h>
#include <FDM/JSBSim/FGAerodynamics.h>
#include <FDM/JSBSim/FGLGear.h>
#include <FDM/JSBSim/FGPropertyManager.h>
+#include <FDM/JSBSim/FGEngine.h>
+#include <FDM/JSBSim/FGPiston.h>
+#include <FDM/JSBSim/FGGroundCallback.h>
+#include <FDM/JSBSim/FGTurbine.h>
+#include <FDM/JSBSim/FGRocket.h>
+#include <FDM/JSBSim/FGElectric.h>
+#include <FDM/JSBSim/FGNozzle.h>
+#include <FDM/JSBSim/FGPropeller.h>
+#include <FDM/JSBSim/FGRotor.h>
+#include <FDM/JSBSim/FGTank.h>
#include "JSBSim.hxx"
static inline double
return a > b ? a : b;
}
+class FGFSGroundCallback : public FGGroundCallback {
+public:
+ FGFSGroundCallback(FGInterface* ifc) : mInterface(ifc) {}
+ virtual ~FGFSGroundCallback() {}
+
+ /** Get the altitude above sea level depenent 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) 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] );
+ cont = FGColumnVector3( contact[0], contact[1], contact[2] );
+ return agl;
+ }
+private:
+ FGInterface* mInterface;
+};
/******************************************************************************/
-FGJSBsim::FGJSBsim( double dt )
+FGJSBsim::FGJSBsim( double dt )
: FGInterface(dt)
{
bool result;
-
+ // Set up the debugging level
+ // FIXME: this will not respond to
+ // runtime changes
+
+ // 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;
+ }
+ }
+
+ reset_on_crash = fgGetBool("/sim/reset-on-crash", false);
+ crashed = false;
+ fgSetBool("/sim/crashed", false);
+
fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
-
+
+ // Register ground callback.
+ fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
+
State = fdmex->GetState();
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();
Aerodynamics = fdmex->GetAerodynamics();
- GroundReactions = fdmex->GetGroundReactions();
-
+ GroundReactions = fdmex->GetGroundReactions();
+
fgic=fdmex->GetIC();
needTrim=true;
-
- SGPath aircraft_path( globals->get_fg_root() );
- aircraft_path.append( "Aircraft" );
- SGPath engine_path( globals->get_fg_root() );
+ SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
+
+ SGPath engine_path( fgGetString("/sim/aircraft-dir") );
engine_path.append( "Engine" );
State->Setdt( dt );
result = fdmex->LoadModel( aircraft_path.str(),
engine_path.str(),
- fgGetString("/sim/aero") );
-
+ fgGetString("/sim/aero"), false );
+
if (result) {
SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
} else {
int Neng = Propulsion->GetNumEngines();
SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
-
+
if ( GroundReactions->GetNumGearUnits() <= 0 ) {
SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
<< GroundReactions->GetNumGearUnits() );
SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
- SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
- SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
- exit(-1);
+ SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
+ SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
+ exit(-1);
}
-
-
+
init_gear();
- // Set initial fuel levels if provided.
+ // 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-lb", Propulsion->GetTank(i)->GetContents());
+ node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
+ }
}
-
+ Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
+
fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
throttle_trim = fgGetNode("/fdm/trim/throttle", true );
aileron_trim = fgGetNode("/fdm/trim/aileron", true );
rudder_trim = fgGetNode("/fdm/trim/rudder", true );
-
+
stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
stall_warning->setDoubleValue(0);
-
+
flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
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);
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);
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);
-
+ 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());
+ }
}
+
/******************************************************************************/
-FGJSBsim::~FGJSBsim(void) {
- delete fdmex;
+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()
+{
+ 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);
+
} else {
Atmosphere->UseInternal();
}
#endif
-
+
fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
//Atmosphere->SetExPressure(get_Static_pressure());
//Atmosphere->SetExDensity(get_Density());
SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
- << ", " << fdmex->GetAtmosphere()->GetPressure()
+ << ", " << fdmex->GetAtmosphere()->GetPressure()
<< ", " << fdmex->GetAtmosphere()->GetDensity() );
+ if (fgGetBool("/sim/presets/running")) {
+ for (int i=0; i < Propulsion->GetNumEngines(); i++) {
+ SGPropertyNode * node = fgGetNode("engines/engine", i, true);
+ node->setBoolValue("running", true);
+ Propulsion->GetEngine(i)->SetRunning(true);
+ }
+ }
+
common_init();
- copy_to_JSBsim();
-
- fdmex->RunIC(); //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(eNorth) << ", "
+ << Propagate->GetVel(eEast) << ", "
+ << Propagate->GetVel(eDown) << " ft/s");
break;
case setuvw:
SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
- << Translation->GetUVW(1) << ", "
- << Translation->GetUVW(2) << ", "
- << Translation->GetUVW(3) << " ft/s");
+ << Propagate->GetUVW(1) << ", "
+ << Propagate->GetUVW(2) << ", "
+ << Propagate->GetUVW(3) << " ft/s");
break;
case setmach:
SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
- << Translation->GetMach() );
+ << Auxiliary->GetMach() );
break;
case setvc:
default:
<< Auxiliary->GetVcalibratedKTS() << " knots" );
break;
}
-
+
stall_warning->setDoubleValue(0);
-
+
SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
- << Rotation->Getphi()*RADTODEG << " deg" );
+ << Propagate->GetEuler(ePhi)*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
- << Rotation->Gettht()*RADTODEG << " deg" );
+ << Propagate->GetEuler(eTht)*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
- << Rotation->Getpsi()*RADTODEG << " deg" );
+ << Propagate->GetEuler(ePsi)*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
- << Position->GetLatitude() << " deg" );
+ << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
- << Position->GetLongitude() << " deg" );
+ << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
- << Position->Geth() << " feet" );
+ << Propagate->Geth() << " feet" );
SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
-
- SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
- globals->get_controls()->get_gear_down() );
-
-
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
+ globals->get_controls()->get_gear_down() );
}
/******************************************************************************/
// Run an iteration of the EOM (equations of motion)
-void
-FGJSBsim::update( double dt ) {
-
+void FGJSBsim::update( double dt )
+{
if (is_suspended())
return;
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;
+ FGColumnVector3 cart = Auxiliary->GetLocationVRP();
+ if ( needTrim && startup_trim->getBoolValue() ) {
+ alt = fgic->GetAltitudeFtIC();
+ 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,
+ groundCacheRadius );
+ if (!cache_ok) {
+ SG_LOG(SG_FLIGHT, SG_WARN,
+ "FGInterface is being called without scenery below the aircraft!");
+ cout << "altitude = " << alt << endl;
+ cout << "sea level radius = " << slr << endl;
+ cout << "latitude = " << lat << endl;
+ cout << "longitude = " << lon << endl;
+ //return;
+ }
copy_to_JSBsim();
trimmed->setBoolValue(false);
-
+
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 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: "
- << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
- fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
+ "Ready to trim, terrain altitude is: "
+ << terrain_alt * SG_METER_TO_FEET );
+
+ fgic->SetTerrainAltitudeFtIC( terrain_alt );
do_trim();
} else {
fdmex->RunIC(); //apply any changes made through the set_ functions
}
- needTrim = false;
- }
-
+ needTrim = false;
+ }
+
for ( i=0; i < multiloop; i++ ) {
- fdmex->Run();
+ fdmex->Run();
}
FGJSBBase::Message* msg;
// translate JSBsim back to FG structure so that the
// autopilot (and the rest of the sim can use the updated values
copy_from_JSBsim();
+
+ // crashed (altitude AGL < 0)
+ if (get_Altitude_AGL() < 0.0) {
+ crash_message = "Attempted to fly under ground.";
+ crash_handler();
+ }
}
/******************************************************************************/
// 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
-
- // Parking brake sets minimum braking
- // level for mains.
- double parking_brake = globals->get_controls()->get_parking_brake();
- FCS->SetLBrake(FMAX(globals->get_controls()->get_brake(0), parking_brake));
- FCS->SetRBrake(FMAX(globals->get_controls()->get_brake(1), parking_brake));
- FCS->SetCBrake( globals->get_controls()->get_brake( 2 ) );
+ // FIXME: make that get_steering work
+// FCS->SetDsCmd( globals->get_controls()->get_steering()/80.0 );
+ FCS->SetDsCmd( globals->get_controls()->get_rudder() );
+ FCS->SetDfCmd( globals->get_controls()->get_flaps() );
+ FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
+ FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
+
+ // Parking brake sets minimum braking
+ // level for mains.
+ 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));
+ 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) );
+
+ 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
+ }
+
+ { // 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( cur_fdm_state->get_Runway_altitude() );
- Position->SetSeaLevelRadius( get_Sea_level_radius() );
- Position->SetRunwayRadius( get_Runway_altitude()
- + get_Sea_level_radius() );
+
+ 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() );
tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
// tank->SetContents(node->getDoubleValue("level-lb"));
}
+ SGPropertyNode* node = fgGetNode("/systems/refuel", true);
+ Propulsion->SetRefuel(node->getDoubleValue("contact"));
+ Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
return true;
}
// 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_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739,
- // Auxiliary->GetNpilot(2)/32.1739,
- // Auxiliary->GetNpilot(3)/32.1739 );
+ _set_Accels_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_Nlf( Aircraft->GetNlf() );
// Velocities
- _set_Velocities_Local( Position->GetVn(),
- Position->GetVe(),
- Position->GetVd() );
+ _set_Velocities_Local( Propagate->GetVel(eNorth),
+ Propagate->GetVel(eEast),
+ Propagate->GetVel(eDown) );
- _set_Velocities_Wind_Body( 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(eNorth),
+ Propagate->GetVel(eEast),
+ -Propagate->GetVel(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_Euler_Rates( Rotation->GetEulerRates(1),
- Rotation->GetEulerRates(2),
- Rotation->GetEulerRates(3) );
-
- _set_Geocentric_Rates(Position->GetLatitudeDot(),
- Position->GetLongitudeDot(),
- Position->Gethdot() );
-
- _set_Mach_number( Translation->GetMach() );
-
- // Positions
- _updateGeocentricPosition( Position->GetLatitude(),
- Position->GetLongitude(),
- Position->Geth() );
-
- _set_Altitude_AGL( Position->GetDistanceAGL() );
+ _set_V_ground_speed( Auxiliary->GetVground() );
+
+ _set_Omega_Body( Propagate->GetPQR(eP),
+ Propagate->GetPQR(eQ),
+ Propagate->GetPQR(eR) );
+
+ _set_Euler_Rates( Auxiliary->GetEulerRates(ePhi),
+ Auxiliary->GetEulerRates(eTht),
+ Auxiliary->GetEulerRates(ePsi) );
+
+ _set_Mach_number( Auxiliary->GetMach() );
+
+ // Positions of Visual Reference Point
+ FGLocation l = Auxiliary->GetLocationVRP();
+ _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
+ l.GetRadius() - get_Sea_level_radius() );
+
+ _set_Altitude_AGL( Propagate->GetDistanceAGL() );
+ {
+ double loc_cart[3] = { l(eX), l(eY), l(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);
+ double rwrad
+ = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
+ _set_Runway_altitude( rwrad - get_Sea_level_radius() );
+ }
- _set_Euler_Angles( Rotation->Getphi(),
- Rotation->Gettht(),
- Rotation->Getpsi() );
+ _set_Euler_Angles( Propagate->GetEuler(ePhi),
+ Propagate->GetEuler(eTht),
+ Propagate->GetEuler(ePsi) );
- _set_Alpha( Translation->Getalpha() );
- _set_Beta( Translation->Getbeta() );
+ _set_Alpha( Auxiliary->Getalpha() );
+ _set_Beta( Auxiliary->Getbeta() );
- _set_Gamma_vert_rad( Position->GetGamma() );
- // set_Gamma_horiz_rad( Gamma_horiz_rad );
+ _set_Gamma_vert_rad( Auxiliary->GetGamma() );
_set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
- _set_Climb_Rate( Position->Gethdot() );
-
+ _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);
+ char buf[30];
+ sprintf(buf, "engines/engine[%d]/thruster", i);
+ SGPropertyNode * tnode = fgGetNode(buf, 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());
+ 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::etElectric:
+ { // FGElectric code block
+ FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
+ node->setDoubleValue("rpm", eng->getRPM());
+ } // end FGElectric code block
+ 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());
+ } // 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-lb", contents);
+ if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
+ }
}
update_gear();
-
+
stall_warning->setDoubleValue( Aerodynamics->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() ); */
-
-
+
elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
- right_aileron_pos_pct->setDoubleValue( -1*FCS->GetDaLPos(ofNorm) );
+ right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
+ speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
+ spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
-
return true;
}
-bool FGJSBsim::ToggleDataLogging(void) {
+
+bool FGJSBsim::ToggleDataLogging(void)
+{
return fdmex->GetOutput()->Toggle();
}
-bool FGJSBsim::ToggleDataLogging(bool state) {
+bool FGJSBsim::ToggleDataLogging(bool state)
+{
if (state) {
fdmex->GetOutput()->Enable();
return true;
//Positions
-void FGJSBsim::set_Latitude(double lat) {
+void FGJSBsim::set_Latitude(double lat)
+{
static const SGPropertyNode *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( cur_fdm_state->get_Runway_altitude() );
- fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
+ 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( cur_fdm_state->get_Runway_altitude() );
- fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
needTrim=true;
}
-void FGJSBsim::set_Altitude(double alt) {
+void FGJSBsim::set_Altitude(double alt)
+{
static const SGPropertyNode *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( cur_fdm_state->get_Runway_altitude() );
- fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
SG_LOG(SG_FLIGHT, SG_INFO,
"Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
fgic->SetLatitudeRadIC( lat_geoc );
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);
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);
}
//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::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("xoffset-in", gear->GetBodyLocation()(1));
+ node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
+ node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
+ node->setBoolValue("wow", gear->GetWOW());
+ node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
node->setDoubleValue("position-norm", FCS->GetGearPos());
- }
+ node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
+ node->setDoubleValue("compression-norm", gear->GetCompLen());
+ if ( gear->GetSteerable() )
+ node->setDoubleValue("steering-norm", gear->GetSteerNorm());
+ }
}
-void FGJSBsim::update_gear(void) {
-
+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("position-norm", 0, true)->setDoubleValue(FCS->GetGearPos());
+ gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
+ node->setDoubleValue("compression-norm", gear->GetCompLen());
+ if ( gear->GetSteerable() )
+ node->setDoubleValue("steering-norm", gear->GetSteerNorm());
+ }
}
-void FGJSBsim::do_trim(void) {
+void FGJSBsim::do_trim(void)
+{
+ FGTrim *fgtrim;
+
+ if ( fgGetBool("/sim/presets/onground") )
+ {
+ fgic->SetVcalibratedKtsIC(0.0);
+ fgtrim = new FGTrim(fdmex,tGround);
+ } else {
+ fgtrim = new FGTrim(fdmex,tLongitudinal);
+ }
+
+ if ( !fgtrim->DoTrim() ) {
+ fgtrim->Report();
+ fgtrim->TrimStats();
+ } else {
+ trimmed->setBoolValue(true);
+ }
+ if (FGJSBBase::debug_lvl > 0)
+ 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" );
+}
- FGTrim *fgtrim;
- if( fgGetBool("/sim/presets/onground") ) {
- fgic->SetVcalibratedKtsIC(0.0);
- fgtrim=new FGTrim(fdmex,tGround);
- } else {
- fgtrim=new FGTrim(fdmex,tLongitudinal);
- }
- if( !fgtrim->DoTrim() ) {
- fgtrim->Report();
- fgtrim->TrimStats();
- } else {
- trimmed->setBoolValue(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() );
+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() );
- }
+ }
}
+void FGJSBsim::crash_handler(void)
+{
+ if (crashed) return; // we already crashed
+ crashed = true;
+ fgSetBool("/sim/crashed", true);
+ SG_LOG( SG_FLIGHT, SG_WARN, " Crash: " << crash_message );
+ if (reset_on_crash) {
+ SGPropertyNode* node = fgGetNode("/sim/presets", true);
+ globals->get_commands()->execute("old-reinit-dialog", node);
+ } else {
+ fgSetBool("/sim/freeze/master", true);
+ fgSetBool("/sim/freeze/clock", true);
+ }
+}
projects / flightgear.git / blobdiff