#include STL_STRING
-#include <simgear/logstream.hxx>
#include <simgear/constants.h>
-#include <simgear/fg_geodesy.hxx>
-#include <simgear/fgpath.hxx>
+#include <simgear/debug/logstream.hxx>
+#include <simgear/math/fg_geodesy.hxx>
+#include <simgear/misc/fgpath.hxx>
+
+#include <Scenery/scenery.hxx>
#include <Aircraft/aircraft.hxx>
#include <Controls/controls.hxx>
#include <FDM/JSBsim/FGTranslation.h>
#include <FDM/JSBsim/FGAuxiliary.h>
#include <FDM/JSBsim/FGDefs.h>
+#include <FDM/JSBsim/FGInitialCondition.h>
+#include <FDM/JSBsim/FGTrimLong.h>
+#include <FDM/JSBsim/FGAtmosphere.h>
#include "JSBsim.hxx"
+/******************************************************************************/
// Initialize the JSBsim flight model, dt is the time increment for
// each subsequent iteration through the EOM
+
int FGJSBsim::init( double dt ) {
- FG_LOG( FG_FLIGHT, FG_INFO, "Starting and initializing JSBsim" );
-
- FG_LOG( FG_FLIGHT, FG_INFO, " created FDMExec" );
-
- FGPath aircraft_path( current_options.get_fg_root() );
- aircraft_path.append( "Aircraft" );
-
- FGPath engine_path( current_options.get_fg_root() );
- engine_path.append( "Engine" );
-
- 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(),
- get_Phi() * DEGTORAD,
- get_Theta() * DEGTORAD,
- get_Psi() * DEGTORAD,
- get_Latitude(),
- get_Longitude(),
- get_Altitude()
- );
-
- FG_LOG( FG_FLIGHT, FG_INFO, " loaded initial conditions" );
-
- 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 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 ( get_Altitude() < -9000 ) {
- save_alt = get_Altitude();
- set_Altitude( 0.0 );
- }
-
- // copy control positions into the JSBsim structure
- FDMExec.GetFCS()->SetDa( controls.get_aileron());
- FDMExec.GetFCS()->SetDe( 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,
- controls.get_throttle( 0 ) * 100.0 );
- // FCS->SetBrake( controls.get_brake( 0 ) );
-
- // Inform JSBsim of the local terrain altitude
- // Runway_altitude = get_Runway_altitude();
-
- // old -- FGInterface_2_JSBsim() not needed except for Init()
- // translate FG to JSBsim structure
- // FGInterface_2_JSBsim(f);
- // printf("FG_Altitude = %.2f\n", FG_Altitude * 0.3048);
- // printf("Altitude = %.2f\n", Altitude * 0.3048);
- // printf("Radius to Vehicle = %.2f\n", Radius_to_vehicle * 0.3048);
-
- /* FDMExec.GetState()->Setsim_time(State->Getsim_time()
- + State->Getdt() * multiloop); */
-
- for ( int i = 0; i < multiloop; i++ ) {
- FDMExec.Run();
- }
-
- // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
- // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
+
+ FG_LOG( FG_FLIGHT, FG_INFO, "Starting and initializing JSBsim" );
+ FG_LOG( FG_FLIGHT, FG_INFO, " created FDMExec" );
+
+ FGPath aircraft_path( current_options.get_fg_root() );
+ aircraft_path.append( "Aircraft" );
+
+ FGPath engine_path( current_options.get_fg_root() );
+ engine_path.append( "Engine" );
+
+ FDMExec.GetState()->Setdt( dt );
+
+ 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() );
+
+ FDMExec.GetAtmosphere()->UseInternal();
+
+ FG_LOG( FG_FLIGHT, FG_INFO, " Initializing JSBsim with:" );
+
+ FGInitialCondition *fgic = new FGInitialCondition(&FDMExec);
+ fgic->SetAltitudeFtIC(get_Altitude());
+ if((current_options.get_mach() < 0) && (current_options.get_vc() < 0 )) {
+ fgic->SetUBodyFpsIC(current_options.get_uBody());
+ fgic->SetVBodyFpsIC(current_options.get_vBody());
+ fgic->SetWBodyFpsIC(current_options.get_wBody());
+ FG_LOG(FG_FLIGHT,FG_INFO, " u,v,w= " << current_options.get_uBody()
+ << ", " << current_options.get_vBody()
+ << ", " << current_options.get_wBody());
+ } else if (current_options.get_vc() < 0) {
+ fgic->SetMachIC(current_options.get_mach());
+ FG_LOG(FG_FLIGHT,FG_INFO, " mach: " << current_options.get_mach() );
+ } else {
+ fgic->SetVcalibratedKtsIC(current_options.get_vc());
+ FG_LOG(FG_FLIGHT,FG_INFO, " vc: " << current_options.get_vc() );
+ //this should cover the case in which no speed switches are used
+ //current_options.get_vc() will return zero by default
+ }
+
+
+ fgic->SetRollAngleRadIC(get_Phi());
+ fgic->SetPitchAngleRadIC(get_Theta());
+ fgic->SetHeadingRadIC(get_Psi());
+ fgic->SetLatitudeRadIC(get_Latitude());
+ fgic->SetLongitudeRadIC(get_Longitude());
+
+ FDMExec.GetPosition()->SetRunwayRadius(scenery.cur_radius);
+
+ 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() );
+
+ //must check > 0, != 0 will give bad result if --notrim set
+ if(current_options.get_trim_mode() == true) {
+ FG_LOG( FG_FLIGHT, FG_INFO, " Starting trim..." );
+ FGTrimLong *fgtrim=new FGTrimLong(&FDMExec,fgic);
+ fgtrim->DoTrim();
+ fgtrim->Report();
+ fgtrim->TrimStats();
+ fgtrim->ReportState();
+
+ controls.set_elevator_trim(FDMExec.GetFCS()->GetPitchTrimCmd());
+ controls.set_throttle(FGControls::ALL_ENGINES,FDMExec.GetFCS()->GetThrottleCmd(0)/100);
- // translate JSBsim back to FG structure so that the
- // autopilot (and the rest of the sim can use the updated
- // values
+ delete fgtrim;
+ FG_LOG( FG_FLIGHT, FG_INFO, " Trim complete." );
+ } else {
+ FG_LOG( FG_FLIGHT, FG_INFO, " Initializing without trim" );
+ FDMExec.GetState()->Initialize(fgic);
+
+ }
+
+ delete fgic;
- copy_from_JSBsim();
+ FG_LOG( FG_FLIGHT, FG_INFO, " loaded initial conditions" );
- // but lets restore our original bogus altitude when we are done
- if ( save_alt < -9000.0 ) {
- set_Altitude( save_alt );
- }
+ FG_LOG( FG_FLIGHT, FG_INFO, " set dt" );
- double end_elev = get_Altitude();
- if ( time_step > 0.0 ) {
- // feet per second
- set_Climb_Rate( (end_elev - start_elev) / time_step );
- }
+ FG_LOG( FG_FLIGHT, FG_INFO, "Finished initializing JSBsim" );
- return 1;
+ copy_from_JSBsim();
+
+ return 1;
}
+/******************************************************************************/
+
+// Run an iteration of the EOM (equations of motion)
+
+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 ( get_Altitude() < -9000 ) {
+ save_alt = get_Altitude();
+ set_Altitude( 0.0 );
+ }
+
+ // copy control positions into the JSBsim structure
+
+ FDMExec.GetFCS()->SetDaCmd( controls.get_aileron());
+ FDMExec.GetFCS()->SetDeCmd( controls.get_elevator());
+ FDMExec.GetFCS()->SetPitchTrimCmd(controls.get_elevator_trim());
+ FDMExec.GetFCS()->SetDrCmd( controls.get_rudder());
+ FDMExec.GetFCS()->SetDfCmd( controls.get_flaps() );
+ FDMExec.GetFCS()->SetDsbCmd( 0.0 );
+ FDMExec.GetFCS()->SetDspCmd( 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; uncommented 5/3/00
+ // FDMExec.GetPosition()->SetRunwayElevation(get_Runway_altitude()); // seems to work
+ FDMExec.GetPosition()->SetRunwayRadius(scenery.cur_radius);
+
+ FDMExec.GetAtmosphere()->SetExTemperature(get_Static_temperature());
+ FDMExec.GetAtmosphere()->SetExPressure(get_Static_pressure());
+ FDMExec.GetAtmosphere()->SetExDensity(get_Density());
+ FDMExec.GetAtmosphere()->SetWindNED(get_V_north_airmass(),
+ get_V_east_airmass(),
+ get_V_down_airmass());
+
+ for ( int i = 0; i < multiloop; i++ ) {
+ FDMExec.Run();
+ }
+
+ // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
+ // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
+
+ // translate JSBsim back to FG structure so that the
+ // autopilot (and the rest of the sim can use the updated values
+
+ copy_from_JSBsim();
+
+ // but lets restore our original bogus altitude when we are done
+
+ if ( save_alt < -9000.0 ) {
+ 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 FGJSBsim::copy_to_JSBsim() {
- return 1;
+ return 1;
}
+/******************************************************************************/
// Convert from the JSBsim generic_ struct to the FGInterface struct
+
int FGJSBsim::copy_from_JSBsim() {
- // Velocities
- 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,
- // V_down_airmass );
- // set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
- // V_east_rel_airmass, V_down_rel_airmass );
- // 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.GetRotation()->GetP(),
- FDMExec.GetRotation()->GetQ(),
- FDMExec.GetRotation()->GetR() );
- // 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 );
- // ***FIXME*** set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
-
- set_Mach_number( FDMExec.GetState()->GetMach());
-
- // Positions
- double lat_geoc = FDMExec.GetState()->Getlatitude();
- double lon = FDMExec.GetState()->Getlongitude();
- double alt = FDMExec.GetState()->Geth();
- double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
- fgGeocToGeod( lat_geoc, EQUATORIAL_RADIUS_M + alt * FEET_TO_METER,
- &lat_geod, &tmp_alt, &sl_radius1 );
- fgGeodToGeoc( lat_geod, alt * FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
-
- FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << lon << " lat_geod = " << lat_geod
- << " lat_geoc = " << lat_geoc
- << " alt = " << alt << " tmp_alt = " << tmp_alt * METER_TO_FEET
- << " sl_radius1 = " << sl_radius1 * METER_TO_FEET
- << " sl_radius2 = " << sl_radius2 * METER_TO_FEET
- << " Equator = " << EQUATORIAL_RADIUS_FT );
-
- 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() );
-
- // Miscellaneous quantities
- // 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 );
- // set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
-
- set_sin_lat_geocentric( lat_geoc );
- set_cos_lat_geocentric( lat_geoc );
- set_sin_cos_longitude( lon );
- set_sin_cos_latitude( lat_geod );
-
- return 1;
+ // Velocities
+
+ set_Velocities_Local( FDMExec.GetPosition()->GetVn(),
+ FDMExec.GetPosition()->GetVe(),
+ FDMExec.GetPosition()->GetVd() );
+
+ 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_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.GetTranslation()->GetMach());
+
+ // Positions
+
+ double lat_geoc = FDMExec.GetPosition()->GetLatitude();
+ double lon = FDMExec.GetPosition()->GetLongitude();
+ double alt = FDMExec.GetPosition()->Geth();
+ double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
+
+ fgGeocToGeod( lat_geoc, EQUATORIAL_RADIUS_M + alt * FEET_TO_METER,
+ &lat_geod, &tmp_alt, &sl_radius1 );
+ fgGeodToGeoc( lat_geod, alt * FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
+
+ FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << lon << " lat_geod = " << lat_geod
+ << " lat_geoc = " << lat_geoc
+ << " alt = " << alt << " tmp_alt = " << tmp_alt * METER_TO_FEET
+ << " sl_radius1 = " << sl_radius1 * METER_TO_FEET
+ << " sl_radius2 = " << sl_radius2 * METER_TO_FEET
+ << " Equator = " << EQUATORIAL_RADIUS_FT );
+
+ 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_Alpha( FDMExec.GetTranslation()->Getalpha() );
+ set_Beta( FDMExec.GetTranslation()->Getbeta() );
+
+ set_Gamma_vert_rad( FDMExec.GetPosition()->GetGamma() );
+ // set_Gamma_horiz_rad( Gamma_horiz_rad );
+
+ /* **FIXME*** */ set_Sea_level_radius( sl_radius2 * METER_TO_FEET );
+ /* **FIXME*** */ set_Earth_position_angle( 0.0 );
+
+ // /* ***FIXME*** */ set_Runway_altitude( 0.0 );
+
+ set_sin_lat_geocentric( lat_geoc );
+ set_cos_lat_geocentric( lat_geoc );
+ set_sin_cos_longitude( lon );
+ set_sin_cos_latitude( lat_geod );
+
+ return 1;
}
+/******************************************************************************/
projects / flightgear.git / blobdiff