// 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 $
#ifdef HAVE_CONFIG_H
#include <FDM/flight.hxx>
-#include <Aircraft/aircraft.hxx>
#include <Aircraft/controls.hxx>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
#include "JSBSim.hxx"
#include <FDM/JSBSim/FGFDMExec.h>
#include <FDM/JSBSim/FGJSBBase.h>
-#include <FDM/JSBSim/FGState.h>
#include <FDM/JSBSim/initialization/FGInitialCondition.h>
#include <FDM/JSBSim/initialization/FGTrim.h>
#include <FDM/JSBSim/models/FGModel.h>
#include <FDM/JSBSim/models/FGMassBalance.h>
#include <FDM/JSBSim/models/FGAerodynamics.h>
#include <FDM/JSBSim/models/FGLGear.h>
+#include <FDM/JSBSim/models/FGGroundReactions.h>
+#include <FDM/JSBSim/models/FGPropulsion.h>
#include <FDM/JSBSim/models/propulsion/FGEngine.h>
#include <FDM/JSBSim/models/propulsion/FGPiston.h>
#include <FDM/JSBSim/models/propulsion/FGTurbine.h>
class FGFSGroundCallback : public FGGroundCallback {
public:
- FGFSGroundCallback(FGInterface* ifc) : mInterface(ifc) {}
+ FGFSGroundCallback(FGJSBsim* ifc) : mInterface(ifc) {}
virtual ~FGFSGroundCallback() {}
- /** Get the altitude above sea level depenent on the location. */
+ /** Get the altitude above sea level dependent on the location. */
virtual double GetAltitude(const FGLocation& l) const {
double pt[3] = { SG_FEET_TO_METER*l(eX),
SG_FEET_TO_METER*l(eY),
/** Compute the altitude above ground. */
virtual double GetAGLevel(double t, const FGLocation& l,
- FGLocation& cont,
- FGColumnVector3& n, FGColumnVector3& v) const {
+ FGLocation& cont, FGColumnVector3& n,
+ FGColumnVector3& v, FGColumnVector3& w) const {
double loc_cart[3] = { l(eX), l(eY), l(eZ) };
- double contact[3], normal[3], vel[3], lc, ff, agl;
- int groundtype;
- mInterface->get_agl_ft(t, loc_cart, contact, normal, vel,
- &groundtype, &lc, &ff, &agl);
- n = l.GetTec2l()*FGColumnVector3( normal[0], normal[1], normal[2] );
- v = l.GetTec2l()*FGColumnVector3( vel[0], vel[1], vel[2] );
+ double contact[3], normal[3], vel[3], angularVel[3], agl = 0;
+ mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
+ vel, angularVel, &agl);
+ n = FGColumnVector3( normal[0], normal[1], normal[2] );
+ v = FGColumnVector3( vel[0], vel[1], vel[2] );
+ w = FGColumnVector3( angularVel[0], angularVel[1], angularVel[2] );
cont = FGColumnVector3( contact[0], contact[1], contact[2] );
return agl;
}
private:
- FGInterface* mInterface;
+ FGJSBsim* mInterface;
};
/******************************************************************************/
// Register ground callback.
fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
- State = fdmex->GetState();
Atmosphere = fdmex->GetAtmosphere();
FCS = fdmex->GetFCS();
MassBalance = fdmex->GetMassBalance();
SGPath systems_path( fgGetString("/sim/aircraft-dir") );
systems_path.append( "Systems" );
- State->Setdt( dt );
+// 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(),
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);
fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
- // Untie the write-state-file property to avoid creating an initfile.xml
- // file on each reset.
- fgGetNode("/fdm/jsbsim/simulation/write-state-file")->untie();
-
crashed = false;
}
void FGJSBsim::init()
{
- double tmp;
-
SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
// Explicitly call the superclass's
Atmosphere->UseInternal();
}
- fgic->SetVNorthFpsIC( wind_from_north->getDoubleValue() );
- fgic->SetVEastFpsIC( wind_from_east->getDoubleValue() );
- fgic->SetVDownFpsIC( wind_from_down->getDoubleValue() );
+ fgic->SetVNorthFpsIC( -wind_from_north->getDoubleValue() );
+ fgic->SetVEastFpsIC( -wind_from_east->getDoubleValue() );
+ fgic->SetVDownFpsIC( -wind_from_down->getDoubleValue() );
//Atmosphere->SetExTemperature(get_Static_temperature());
//Atmosphere->SetExPressure(get_Static_pressure());
<< ", " << fdmex->GetAtmosphere()->GetPressure()
<< ", " << fdmex->GetAtmosphere()->GetDensity() );
+// deprecate egt_degf for egt-degf to have consistent naming
+// TODO: raise log-level to ALERT in summer 2010,
+// remove alias in fall 2010,
+// remove this code in winter 2010
+ for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
+ SGPropertyNode * node = fgGetNode("engines/engine", i, true);
+ SGPropertyNode * egtn = node->getNode( "egt_degf" );
+ if( egtn != NULL ) {
+ SG_LOG(SG_FLIGHT,SG_WARN,
+ "Aircraft uses deprecated node egt_degf. Please upgrade to egt-degf");
+ node->getNode("egt-degf", true)->alias( egtn );
+ }
+ }
+// end of egt_degf deprecation patch
+
if (fgGetBool("/sim/presets/running")) {
- for (int i=0; i < Propulsion->GetNumEngines(); i++) {
+ for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
SGPropertyNode * node = fgGetNode("engines/engine", i, true);
node->setBoolValue("running", true);
Propulsion->GetEngine(i)->SetRunning(true);
SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
<< Propagate->GetLocation().GetLongitudeDeg() << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
- << Propagate->Geth() << " feet" );
+ << Propagate->GetAltitudeASL() << " feet" );
SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
// 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->GetAltitudeFtIC();
+ alt = fgic->GetAltitudeASLFtIC();
slr = fgic->GetSeaLevelRadiusFtIC();
lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
cart = FGLocation(lon, lat, alt+slr);
}
double cart_pos[3] = { cart(1), cart(2), cart(3) };
- bool cache_ok = prepare_ground_cache_ft( State->Getsim_time(), cart_pos,
+ double t0 = fdmex->GetSimTime();
+ bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
groundCacheRadius );
if (!cache_ok) {
SG_LOG(SG_FLIGHT, SG_WARN,
"FGInterface is being called without scenery below the aircraft!");
- SG_LOG(SG_FLIGHT, SG_WARN,
- "altitude = " << alt);
- SG_LOG(SG_FLIGHT, SG_WARN,
- "sea level radius = " << slr);
- SG_LOG(SG_FLIGHT, SG_WARN,
- "latitude = " << lat);
- SG_LOG(SG_FLIGHT, SG_WARN,
- "longitude = " << lon);
+
+ alt = fgic->GetAltitudeASLFtIC();
+ SG_LOG(SG_FLIGHT, SG_WARN, "altitude = " << alt);
+
+ slr = fgic->GetSeaLevelRadiusFtIC();
+ SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = " << slr);
+
+ lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
+ SG_LOG(SG_FLIGHT, SG_WARN, "latitude = " << lat);
+
+ lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
+ SG_LOG(SG_FLIGHT, SG_WARN, "longitude = " << lon);
//return;
}
if ( needTrim ) {
if ( startup_trim->getBoolValue() ) {
- double contact[3], dummy[3], lc, ff, agl;
- int groundtype;
- get_agl_ft(State->Getsim_time(), cart_pos, contact,
- dummy, dummy, &groundtype, &lc, &ff, &agl);
+ double contact[3], d[3], 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: "
+ "Ready to trim, terrain elevation is: "
<< terrain_alt * SG_METER_TO_FEET );
- fgic->SetTerrainAltitudeFtIC( terrain_alt );
+ 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(); //apply any changes made through the set_ functions
for ( i=0; i < multiloop; i++ ) {
fdmex->Run();
- update_external_forces(State->Getsim_time() + i * State->Getdt());
+ update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT());
}
FGJSBBase::Message* msg;
- while (fdmex->SomeMessages()) {
- msg = fdmex->ProcessMessage();
+ while (msg = fdmex->ProcessNextMessage()) {
+// msg = fdmex->ProcessNextMessage();
switch (msg->type) {
case FGJSBBase::Message::eText:
if (msg->text == "Crash Detected: Simulation FREEZE.")
// Parking brake sets minimum braking
// level for mains.
double parking_brake = globals->get_controls()->get_brake_parking();
- FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
- FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
+ double left_brake = globals->get_controls()->get_brake_left();
+ double right_brake = globals->get_controls()->get_brake_right();
+
+ if (ab_brake_engaged->getBoolValue()) {
+ left_brake = ab_brake_left_pct->getDoubleValue();
+ right_brake = ab_brake_right_pct->getDoubleValue();
+ }
+
+ FCS->SetLBrake(FMAX(left_brake, parking_brake));
+ FCS->SetRBrake(FMAX(right_brake, parking_brake));
+
+
FCS->SetCBrake( 0.0 );
// FCS->SetCBrake( globals->get_controls()->get_brake(2) );
eng->SetCondition( globals->get_controls()->get_condition(i) );
break;
} // end FGTurboProp code block
+ default:
+ break;
}
{ // FGEngine code block
tmp = turbulence_rate->getDoubleValue();
//Atmosphere->SetTurbRate(tmp);
- Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
- wind_from_east->getDoubleValue(),
- wind_from_down->getDoubleValue() );
+ Atmosphere->SetWindNED( -wind_from_north->getDoubleValue(),
+ -wind_from_east->getDoubleValue(),
+ -wind_from_down->getDoubleValue() );
// SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
// << get_V_north_airmass() << ", "
// << get_V_east_airmass() << ", "
}
Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
- fdmex->SetSlave(slaved->getBoolValue());
+ fdmex->SetChild(slaved->getBoolValue());
return true;
}
{
double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
double contact[3], d[3], sd, t;
- int id;
is_valid_m(&t, d, &sd);
- get_agl_ft(t, loc_cart, contact, d, d, &id, &sd, &sd, &sd);
+ get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, d, &sd);
double rwrad
= FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
_set_Runway_altitude( rwrad - get_Sea_level_radius() );
// Copy the engine values from JSBSim.
for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
SGPropertyNode * node = fgGetNode("engines/engine", i, true);
- char buf[30];
- sprintf(buf, "engines/engine[%d]/thruster", i);
- SGPropertyNode * tnode = fgGetNode(buf, true);
+ SGPropertyNode * tnode = node->getChild("thruster", 0, true);
FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
switch (Propulsion->GetEngine(i)->GetType()) {
FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
node->setDoubleValue("n1", eng->GetN1());
node->setDoubleValue("n2", eng->GetN2());
- node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
+ node->setDoubleValue("egt-degf", 32 + eng->GetEGT()*9/5);
node->setBoolValue("augmentation", eng->GetAugmentation());
node->setBoolValue("water-injection", eng->GetInjection());
node->setBoolValue("ignition", eng->GetIgnition());
node->setDoubleValue("rpm", eng->getRPM());
} // end FGElectric code block
break;
+ case FGEngine::etUnknown:
+ break;
}
{ // FGEngine code block
// force a sim crashed if crashed (altitude AGL < 0)
if (get_Altitude_AGL() < -100.0) {
- State->SuspendIntegration();
+ fdmex->SuspendIntegration();
crashed = true;
}
needTrim=true;
}
+// Sets the altitude above sea level.
void FGJSBsim::set_Altitude(double alt)
{
static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
_set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
SG_LOG(SG_FLIGHT, SG_INFO,
- "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
+ "Terrain elevation: " << FGInterface::get_Runway_altitude() * SG_METER_TO_FEET );
fgic->SetLatitudeRadIC( lat_geoc );
- fgic->SetAltitudeFtIC(alt);
+ fgic->SetAltitudeASLFtIC(alt);
needTrim=true;
}
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());
FGLGear *gear = gr->GetGearUnit(i);
SGPropertyNode * node = fgGetNode("gear/gear", i, true);
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());
} else {
trimmed->setBoolValue(true);
}
-// if (FGJSBBase::debug_lvl > 0)
-// State->ReportState();
-
delete fgtrim;
pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
if ( !needTrim ) {
fgic->SetLatitudeRadIC(get_Lat_geocentric() );
fgic->SetLongitudeRadIC( get_Longitude() );
- fgic->SetAltitudeFtIC( get_Altitude() );
+ fgic->SetAltitudeASLFtIC( get_Altitude() );
fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
fgic->SetThetaRadIC( get_Theta() );
fgic->SetPhiRadIC( get_Phi() );
}
}
+bool
+FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
+ double contact[3], double normal[3], double vel[3],
+ double angularVel[3], double *agl)
+{
+ const SGMaterial* material;
+ simgear::BVHNode::Id id;
+ if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
+ angularVel, material, id))
+ return false;
+ SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt));
+ SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
+ *agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt));
+ return true;
+}
+
inline static double dot3(const FGColumnVector3& a, const FGColumnVector3& b)
{
return a(1) * b(1) + a(2) * b(2) + a(3) * b(3);
FGColumnVector3 hook_tip_body = hook_root_body;
hook_tip_body(1) -= hook_length * cos_fi;
hook_tip_body(3) += hook_length * sin_fi;
- bool hook_tip_valid = true;
double contact[3];
double ground_normal[3];
double ground_vel[3];
- int ground_type;
- const SGMaterial* ground_material;
+ 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_type, &ground_material, &root_agl_ft);
+ 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]));
projects / flightgear.git / blobdiff