cygwin32 fixes by norman vine.

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

diff --git a/src/FDM/JSBSim.cxx b/src/FDM/JSBSim.cxx
index fb6eafccaca0a1e6d8bf6ba399cb8510c92acebf..06462438eb225f9a19951447e0ec9e6c949ea624 100644 (file)
--- a/src/FDM/JSBSim.cxx
+++ b/src/FDM/JSBSim.cxx
@@ -21,7 +21,7 @@
 // $Id$
 
 
-#include <Include/compiler.h>
+#include <simgear/compiler.h>
 
 #ifdef FG_MATH_EXCEPTION_CLASH
 #  include <math.h>
@@ -29,13 +29,14 @@
 
 #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>
@@ -44,6 +45,8 @@
 #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"
 
@@ -67,27 +70,29 @@ int FGJSBsim::init( double dt ) {
     FG_LOG( FG_FLIGHT, FG_INFO, "  loaded aircraft" << 
            current_options.get_aircraft() );
 
-//    FDMExec.GetState()->Reset(aircraft_path.str(), "Reset00");
+    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(),
-      get_Phi(),
-      get_Theta(),
-      get_Psi(),
+      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 );
@@ -114,13 +119,13 @@ int FGJSBsim::update( int multiloop ) {
     }
 
     // copy control positions into the JSBsim structure
-    FDMExec.GetFCS()->SetDa( controls.get_aileron());
-    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());
-    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 ) );
 
@@ -175,9 +180,9 @@ int FGJSBsim::copy_to_JSBsim() {
 int FGJSBsim::copy_from_JSBsim() {
 
     // Velocities
-    set_Velocities_Local( FDMExec.GetPosition()->GetVn(), 
-                           FDMExec.GetPosition()->GetVe(), 
-                           FDMExec.GetPosition()->GetVd() );
+    // 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 );
     // set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
@@ -194,18 +199,23 @@ int FGJSBsim::copy_from_JSBsim() {
     // set_V_ground_speed( V_ground_speed );
     // set_V_equiv( V_equiv );
 
-    /* ***FIXME*** */ set_V_equiv_kts( FDMExec.GetState()->GetVt() );
-    // set_V_calibrated( V_calibrated );
-    // set_V_calibrated_kts( V_calibrated_kts );
+    set_V_equiv_kts( FDMExec.GetAuxiliary()->GetVequivalentKTS() );
+    //set_V_calibrated( FDMExec.GetAuxiliary()->GetVcalibratedFPS() );
+    set_V_calibrated_kts( FDMExec.GetAuxiliary()->GetVcalibratedKTS() );
 
-    set_Omega_Body( FDMExec.GetRotation()->GetP(), 
-                     FDMExec.GetRotation()->GetQ(), 
-                     FDMExec.GetRotation()->GetR() );
+    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( Phi_dot, Theta_dot, Psi_dot );
+
+    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();
@@ -226,9 +236,9 @@ int FGJSBsim::copy_from_JSBsim() {
     set_Geocentric_Position( lat_geoc, lon, 
                               sl_radius2 * METER_TO_FEET + alt );
     set_Geodetic_Position( lat_geod, lon, alt );
-    set_Euler_Angles( FDMExec.GetRotation()->Getphi(), 
-                       FDMExec.GetRotation()->Gettht(),
-                       FDMExec.GetRotation()->Getpsi() );
+    set_Euler_Angles( FDMExec.GetRotation()->Getphi(),
+                     FDMExec.GetRotation()->Gettht(),
+                     FDMExec.GetRotation()->Getpsi() );
 
     // Miscellaneous quantities
     // set_T_Local_to_Body(T_local_to_body_m);