// $Id$
-#include <Include/compiler.h>
+#include <simgear/compiler.h>
#ifdef FG_MATH_EXCEPTION_CLASH
# include <math.h>
#include STL_STRING
+#include <simgear/constants.h>
+#include <simgear/debug/logstream.hxx>
+#include <simgear/math/fg_geodesy.hxx>
+#include <simgear/misc/fgpath.hxx>
+
#include <Aircraft/aircraft.hxx>
#include <Controls/controls.hxx>
-#include <Debug/logstream.hxx>
-#include <Include/fg_constants.h>
#include <Main/options.hxx>
-#include <Math/fg_geodesy.hxx>
-#include <Misc/fgpath.hxx>
#include <FDM/JSBsim/FGFDMExec.h>
#include <FDM/JSBsim/FGAircraft.h>
#include <FDM/JSBsim/FGRotation.h>
#include <FDM/JSBsim/FGState.h>
#include <FDM/JSBsim/FGTranslation.h>
+#include <FDM/JSBsim/FGAuxiliary.h>
+#include <FDM/JSBsim/FGDefs.h>
#include "JSBsim.hxx"
-// The default aircraft
-FGFDMExec FDMExec;
-
-
// Initialize the JSBsim flight model, dt is the time increment for
// each subsequent iteration through the EOM
-int fgJSBsimInit(double dt, FGInterface& f) {
- FG_LOG( FG_FLIGHT, FG_INFO, "Starting initializing JSBsim" );
+int FGJSBsim::init( double dt ) {
+ FG_LOG( FG_FLIGHT, FG_INFO, "Starting and initializing JSBsim" );
FG_LOG( FG_FLIGHT, FG_INFO, " created FDMExec" );
FGPath engine_path( current_options.get_fg_root() );
engine_path.append( "Engine" );
- FDMExec.GetAircraft()->LoadAircraft(aircraft_path.str(),
- engine_path.str(), "X15");
- FG_LOG( FG_FLIGHT, FG_INFO, " loaded aircraft" );
-
-// FDMExec.GetState()->Reset(aircraft_path.str(), "Reset00");
+ FDMExec.GetAircraft()->LoadAircraft( aircraft_path.str(),
+ engine_path.str(),
+ current_options.get_aircraft() );
+ FG_LOG( FG_FLIGHT, FG_INFO, " loaded aircraft" <<
+ current_options.get_aircraft() );
+
+ FG_LOG( FG_FLIGHT, FG_INFO, "Initializing JSBsim with:" );
+ FG_LOG( FG_FLIGHT, FG_INFO, " U: " << current_options.get_uBody() );
+ FG_LOG( FG_FLIGHT, FG_INFO, " V: " <<current_options.get_vBody() );
+ FG_LOG( FG_FLIGHT, FG_INFO, " W: " <<current_options.get_wBody() );
+ FG_LOG( FG_FLIGHT, FG_INFO, " phi: " <<get_Phi() );
+ FG_LOG( FG_FLIGHT, FG_INFO, "theta: " << get_Theta() );
+ FG_LOG( FG_FLIGHT, FG_INFO, " psi: " << get_Psi() );
+ FG_LOG( FG_FLIGHT, FG_INFO, " lat: " << get_Latitude() );
+ FG_LOG( FG_FLIGHT, FG_INFO, " lon: " << get_Longitude() );
+ FG_LOG( FG_FLIGHT, FG_INFO, " alt: " << get_Altitude() );
FDMExec.GetState()->Initialize(
current_options.get_uBody(),
current_options.get_vBody(),
current_options.get_wBody(),
- f.get_Phi(),
- f.get_Theta(),
- f.get_Psi(),
- f.get_Latitude(),
- f.get_Longitude(),
- f.get_Altitude()
+ get_Phi() * DEGTORAD,
+ get_Theta() * DEGTORAD,
+ get_Psi() * DEGTORAD,
+ get_Latitude(),
+ get_Longitude(),
+ get_Altitude()
);
-// FDMExec.GetState()->Setlatitude(f.get_Latitude());
-// FDMExec.GetState()->Setlongitude(f.get_Longitude());
-// FDMExec.GetState()->Seth(f.get_Altitude());
-// FDMExec.GetRotation()->Setphi(f.get_Phi());
-// FDMExec.GetRotation()->Settht(f.get_Theta());
-// FDMExec.GetRotation()->Setpsi(f.get_Psi());
-
FG_LOG( FG_FLIGHT, FG_INFO, " loaded initial conditions" );
- FDMExec.GetState()->Setdt(dt);
+ FDMExec.GetState()->Setdt( dt );
FG_LOG( FG_FLIGHT, FG_INFO, " set dt" );
FG_LOG( FG_FLIGHT, FG_INFO, "Finished initializing JSBsim" );
+ copy_from_JSBsim();
+
return 1;
}
// Run an iteration of the EOM (equations of motion)
-int fgJSBsimUpdate(FGInterface& f, int multiloop) {
+int FGJSBsim::update( int multiloop ) {
double save_alt = 0.0;
+ double time_step = (1.0 / current_options.get_model_hz()) * multiloop;
+ double start_elev = get_Altitude();
// lets try to avoid really screwing up the JSBsim model
- if ( f.get_Altitude() < -9000 ) {
- save_alt = f.get_Altitude();
- f.set_Altitude( 0.0 );
+ if ( get_Altitude() < -9000 ) {
+ save_alt = get_Altitude();
+ set_Altitude( 0.0 );
}
// copy control positions into the JSBsim structure
- FDMExec.GetFCS()->SetDa( controls.get_aileron() / 10.0 );
- FDMExec.GetFCS()->SetDe( controls.get_elevator()
+ FDMExec.GetFCS()->SetDaCmd( controls.get_aileron());
+ FDMExec.GetFCS()->SetDeCmd( controls.get_elevator()
+ controls.get_elevator_trim() );
- FDMExec.GetFCS()->SetDr( controls.get_rudder() / 10.0 );
- FDMExec.GetFCS()->SetDf( 0.0 );
- FDMExec.GetFCS()->SetDs( 0.0 );
- FDMExec.GetFCS()->SetThrottle( FGControls::ALL_ENGINES,
+ FDMExec.GetFCS()->SetDrCmd( controls.get_rudder());
+ FDMExec.GetFCS()->SetDfCmd( 0.0 );
+ // FDMExec.GetFCS()->SetDsCmd( 0.0 );
+ FDMExec.GetFCS()->SetThrottleCmd( FGControls::ALL_ENGINES,
controls.get_throttle( 0 ) * 100.0 );
// FCS->SetBrake( controls.get_brake( 0 ) );
// Inform JSBsim of the local terrain altitude
- // Runway_altitude = f.get_Runway_altitude();
+ // Runway_altitude = get_Runway_altitude();
// old -- FGInterface_2_JSBsim() not needed except for Init()
// translate FG to JSBsim structure
// autopilot (and the rest of the sim can use the updated
// values
- fgJSBsim_2_FGInterface(f);
+ copy_from_JSBsim();
// but lets restore our original bogus altitude when we are done
if ( save_alt < -9000.0 ) {
- f.set_Altitude( save_alt );
+ set_Altitude( save_alt );
+ }
+
+ double end_elev = get_Altitude();
+ if ( time_step > 0.0 ) {
+ // feet per second
+ set_Climb_Rate( (end_elev - start_elev) / time_step );
}
return 1;
// Convert from the FGInterface struct to the JSBsim generic_ struct
-int FGInterface_2_JSBsim (FGInterface& f) {
-
+int FGJSBsim::copy_to_JSBsim() {
return 1;
}
// Convert from the JSBsim generic_ struct to the FGInterface struct
-int fgJSBsim_2_FGInterface (FGInterface& f) {
+int FGJSBsim::copy_from_JSBsim() {
// Velocities
- f.set_Velocities_Local( FDMExec.GetPosition()->GetVn(),
- FDMExec.GetPosition()->GetVe(),
- FDMExec.GetPosition()->GetVd() );
- // f.set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
+ // set_Velocities_Local( FDMExec.GetPosition()->GetVn(),
+ // FDMExec.GetPosition()->GetVe(),
+ // FDMExec.GetPosition()->GetVd() );
+ // set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
// V_down_rel_ground );
- // f.set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
+ // set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
// V_down_airmass );
- // f.set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
+ // set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
// V_east_rel_airmass, V_down_rel_airmass );
- // f.set_Velocities_Gust( U_gust, V_gust, W_gust );
- // f.set_Velocities_Wind_Body( U_body, V_body, W_body );
-
- // f.set_V_rel_wind( V_rel_wind );
- // f.set_V_true_kts( V_true_kts );
- // f.set_V_rel_ground( V_rel_ground );
- // f.set_V_inertial( V_inertial );
- // f.set_V_ground_speed( V_ground_speed );
- // f.set_V_equiv( V_equiv );
-
- /* ***FIXME*** */ f.set_V_equiv_kts( FDMExec.GetState()->GetVt() );
- // f.set_V_calibrated( V_calibrated );
- // f.set_V_calibrated_kts( V_calibrated_kts );
-
- f.set_Omega_Body( FDMExec.GetRotation()->GetP(),
- FDMExec.GetRotation()->GetQ(),
- FDMExec.GetRotation()->GetR() );
- // f.set_Omega_Local( P_local, Q_local, R_local );
- // f.set_Omega_Total( P_total, Q_total, R_total );
-
- // f.set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
- // ***FIXME*** f.set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
+ // set_Velocities_Gust( U_gust, V_gust, W_gust );
+ // set_Velocities_Wind_Body( U_body, V_body, W_body );
+
+ // set_V_rel_wind( V_rel_wind );
+ // set_V_true_kts( V_true_kts );
+ // set_V_rel_ground( V_rel_ground );
+ // set_V_inertial( V_inertial );
+ // set_V_ground_speed( V_ground_speed );
+ // set_V_equiv( V_equiv );
+
+ set_V_equiv_kts( FDMExec.GetAuxiliary()->GetVequivalentKTS() );
+ //set_V_calibrated( FDMExec.GetAuxiliary()->GetVcalibratedFPS() );
+ set_V_calibrated_kts( FDMExec.GetAuxiliary()->GetVcalibratedKTS() );
+
+ set_Omega_Body( FDMExec.GetState()->GetParameter(FG_ROLLRATE),
+ FDMExec.GetState()->GetParameter(FG_PITCHRATE),
+ FDMExec.GetState()->GetParameter(FG_YAWRATE) );
+ // set_Omega_Local( P_local, Q_local, R_local );
+ // set_Omega_Total( P_total, Q_total, R_total );
+
+ set_Euler_Rates( FDMExec.GetRotation()->Getphi(),
+ FDMExec.GetRotation()->Gettht(),
+ FDMExec.GetRotation()->Getpsi() );
+
+ // ***FIXME*** set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
+
+ set_Mach_number( FDMExec.GetState()->GetMach());
// Positions
double lat_geoc = FDMExec.GetState()->Getlatitude();
<< " sl_radius2 = " << sl_radius2 * METER_TO_FEET
<< " Equator = " << EQUATORIAL_RADIUS_FT );
- f.set_Geocentric_Position( lat_geoc, lon,
+ set_Geocentric_Position( lat_geoc, lon,
sl_radius2 * METER_TO_FEET + alt );
- f.set_Geodetic_Position( lat_geod, lon, alt );
- f.set_Euler_Angles( FDMExec.GetRotation()->Getphi(),
- FDMExec.GetRotation()->Gettht(),
- FDMExec.GetRotation()->Getpsi() );
+ set_Geodetic_Position( lat_geod, lon, alt );
+ set_Euler_Angles( FDMExec.GetRotation()->Getphi(),
+ FDMExec.GetRotation()->Gettht(),
+ FDMExec.GetRotation()->Getpsi() );
// Miscellaneous quantities
- // f.set_T_Local_to_Body(T_local_to_body_m);
- // f.set_Gravity( Gravity );
- // f.set_Centrifugal_relief( Centrifugal_relief );
-
- f.set_Alpha( FDMExec.GetTranslation()->Getalpha() );
- f.set_Beta( FDMExec.GetTranslation()->Getbeta() );
- // f.set_Alpha_dot( Alpha_dot );
- // f.set_Beta_dot( Beta_dot );
-
- // f.set_Cos_alpha( Cos_alpha );
- // f.set_Sin_alpha( Sin_alpha );
- // f.set_Cos_beta( Cos_beta );
- // f.set_Sin_beta( Sin_beta );
-
- // f.set_Cos_phi( Cos_phi );
- // f.set_Sin_phi( Sin_phi );
- // f.set_Cos_theta( Cos_theta );
- // f.set_Sin_theta( Sin_theta );
- // f.set_Cos_psi( Cos_psi );
- // f.set_Sin_psi( Sin_psi );
-
- // ***ATTENDTOME*** f.set_Gamma_vert_rad( Gamma_vert_rad );
- // f.set_Gamma_horiz_rad( Gamma_horiz_rad );
-
- // f.set_Sigma( Sigma );
- // f.set_Density( Density );
- // f.set_V_sound( V_sound );
- // f.set_Mach_number( Mach_number );
-
- // f.set_Static_pressure( Static_pressure );
- // f.set_Total_pressure( Total_pressure );
- // f.set_Impact_pressure( Impact_pressure );
- // f.set_Dynamic_pressure( Dynamic_pressure );
-
- // f.set_Static_temperature( Static_temperature );
- // f.set_Total_temperature( Total_temperature );
-
- /* **FIXME*** */ f.set_Sea_level_radius( sl_radius2 * METER_TO_FEET );
- /* **FIXME*** */ f.set_Earth_position_angle( 0.0 );
-
- /* ***FIXME*** */ f.set_Runway_altitude( 0.0 );
- // f.set_Runway_latitude( Runway_latitude );
- // f.set_Runway_longitude( Runway_longitude );
- // f.set_Runway_heading( Runway_heading );
- // f.set_Radius_to_rwy( Radius_to_rwy );
-
- // f.set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
- // f.set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
- // f.set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
+ // set_T_Local_to_Body(T_local_to_body_m);
+ // set_Gravity( Gravity );
+ // set_Centrifugal_relief( Centrifugal_relief );
+
+ set_Alpha( FDMExec.GetTranslation()->Getalpha() );
+ set_Beta( FDMExec.GetTranslation()->Getbeta() );
+ // set_Alpha_dot( Alpha_dot );
+ // set_Beta_dot( Beta_dot );
+
+ // set_Cos_alpha( Cos_alpha );
+ // set_Sin_alpha( Sin_alpha );
+ // set_Cos_beta( Cos_beta );
+ // set_Sin_beta( Sin_beta );
+
+ // set_Cos_phi( Cos_phi );
+ // set_Sin_phi( Sin_phi );
+ // set_Cos_theta( Cos_theta );
+ // set_Sin_theta( Sin_theta );
+ // set_Cos_psi( Cos_psi );
+ // set_Sin_psi( Sin_psi );
+
+ // ***ATTENDTOME*** set_Gamma_vert_rad( Gamma_vert_rad );
+ // set_Gamma_horiz_rad( Gamma_horiz_rad );
+
+ // set_Sigma( Sigma );
+ // set_Density( Density );
+ // set_V_sound( V_sound );
+ // set_Mach_number( Mach_number );
+
+ // set_Static_pressure( Static_pressure );
+ // set_Total_pressure( Total_pressure );
+ // set_Impact_pressure( Impact_pressure );
+ // set_Dynamic_pressure( Dynamic_pressure );
+
+ // set_Static_temperature( Static_temperature );
+ // set_Total_temperature( Total_temperature );
+
+ /* **FIXME*** */ set_Sea_level_radius( sl_radius2 * METER_TO_FEET );
+ /* **FIXME*** */ set_Earth_position_angle( 0.0 );
+
+ /* ***FIXME*** */ set_Runway_altitude( 0.0 );
+ // set_Runway_latitude( Runway_latitude );
+ // set_Runway_longitude( Runway_longitude );
+ // set_Runway_heading( Runway_heading );
+ // set_Radius_to_rwy( Radius_to_rwy );
+
+ // set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
+ // set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
+ // set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
// D_pilot_above_rwy );
- // f.set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
+ // set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
- f.set_sin_lat_geocentric( lat_geoc );
- f.set_cos_lat_geocentric( lat_geoc );
- f.set_sin_cos_longitude( lon );
- f.set_sin_cos_latitude( lat_geod );
+ set_sin_lat_geocentric( lat_geoc );
+ set_cos_lat_geocentric( lat_geoc );
+ set_sin_cos_longitude( lon );
+ set_sin_cos_latitude( lat_geod );
- return 0;
+ return 1;
}
projects / flightgear.git / blobdiff