#include <simgear/compiler.h>
-#ifdef FG_MATH_EXCEPTION_CLASH
+#ifdef SG_MATH_EXCEPTION_CLASH
# include <math.h>
#endif
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
-#include <simgear/math/fg_geodesy.hxx>
-#include <simgear/misc/fgpath.hxx>
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/misc/sg_path.hxx>
#include <Scenery/scenery.hxx>
#include <Aircraft/aircraft.hxx>
#include <Controls/controls.hxx>
-#include <Main/options.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/FGState.h>
-#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"
+#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/FGState.h>
+#include <FDM/JSBSim/FGTranslation.h>
+#include <FDM/JSBSim/FGAuxiliary.h>
+#include <FDM/JSBSim/FGDefs.h>
+#include <FDM/JSBSim/FGInitialCondition.h>
+#include <FDM/JSBSim/FGTrim.h>
+#include <FDM/JSBSim/FGAtmosphere.h>
+#include <FDM/JSBSim/FGMassBalance.h>
+#include <FDM/JSBSim/FGAerodynamics.h>
+#include "JSBSim.hxx"
/******************************************************************************/
-// Initialize the JSBsim flight model, dt is the time increment for
-// each subsequent iteration through the EOM
+FGJSBsim::FGJSBsim( double dt )
+ : FGInterface(dt)
+{
+ bool result;
+
+ fdmex=new FGFDMExec;
+
+ 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();
+ Auxiliary = fdmex->GetAuxiliary();
+ Aerodynamics = fdmex->GetAerodynamics();
+
+ Atmosphere->UseInternal();
+
+ fgic=new FGInitialCondition(fdmex);
+ needTrim=true;
+
+ SGPath aircraft_path( globals->get_fg_root() );
+ aircraft_path.append( "Aircraft" );
+
+ SGPath engine_path( globals->get_fg_root() );
+ engine_path.append( "Engine" );
+ set_delta_t( dt );
+ State->Setdt( dt );
+
+ result = fdmex->LoadModel( aircraft_path.str(),
+ engine_path.str(),
+ fgGetString("/sim/aircraft") );
+
-int FGJSBsim::init( double dt ) {
-
- bool result;
-
- 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 );
-
- result = FDMExec.GetAircraft()->LoadAircraft( aircraft_path.str(),
- engine_path.str(),
- current_options.get_aircraft() );
-
- if (result) {
- FG_LOG( FG_FLIGHT, FG_INFO, " loaded aircraft" << current_options.get_aircraft() );
- } else {
- FG_LOG( FG_FLIGHT, FG_INFO, " aircraft" << current_options.get_aircraft()
- << " does not exist");
- return 0;
- }
-
- 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->SetLatitudeRadIC(get_Lat_geocentric());
- fgic->SetLongitudeRadIC(get_Longitude());
-
- FDMExec.GetPosition()->SetRunwayRadius(scenery.cur_radius*METER_TO_FEET);
- FDMExec.GetPosition()->SetSeaLevelRadius(get_Sea_level_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() > 0) {
- 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()->GetDeCmd());
- controls.set_throttle(FGControls::ALL_ENGINES,FDMExec.GetFCS()->GetThrottleCmd(0)/100);
- //the trimming routine only knows how to get 1 value for throttle
+ if (result) {
+ SG_LOG( SG_FLIGHT, SG_INFO, " loaded aircraft.");
+ } else {
+ SG_LOG( SG_FLIGHT, SG_INFO,
+ " aircraft does not exist (you may have mis-typed the name).");
+ throw(-1);
+ }
+ int Neng = Propulsion->GetNumEngines();
+ SG_LOG(SG_FLIGHT,SG_INFO, "Neng: " << Neng );
- delete fgtrim;
- FG_LOG( FG_FLIGHT, FG_INFO, " Trim complete." );
- } else {
- FG_LOG( FG_FLIGHT, FG_INFO, " Initializing without trim" );
- FDMExec.GetState()->Initialize(fgic);
+ for(int i=0;i<Neng;i++) {
+ add_engine( FGEngInterface() );
+ }
+
+ fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
+ fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
+ fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
+ fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
- }
+ startup_trim = fgGetNode("/sim/startup/trim", true);
- delete fgic;
+ trimmed = fgGetNode("/fdm/trim/trimmed", true);
+ trimmed->setBoolValue(false);
- FG_LOG( FG_FLIGHT, FG_INFO, " loaded initial conditions" );
+ pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
+ throttle_trim = fgGetNode("/fdm/trim/throttle", true );
+ aileron_trim = fgGetNode("/fdm/trim/aileron", true );
+ rudder_trim = fgGetNode("/fdm/trim/rudder", true );
+}
- FG_LOG( FG_FLIGHT, FG_INFO, " set dt" );
+/******************************************************************************/
+FGJSBsim::~FGJSBsim(void) {
+ if (fdmex != NULL) {
+ delete fdmex; fdmex=NULL;
+ delete fgic; fgic=NULL;
+ }
+}
- FG_LOG( FG_FLIGHT, FG_INFO, "Finished initializing JSBsim" );
+/******************************************************************************/
- copy_from_JSBsim();
+// Initialize the JSBsim flight model, dt is the time increment for
+// each subsequent iteration through the EOM
- return 1;
+void FGJSBsim::init() {
+
+ SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
+
+ // Explicitly call the superclass's
+ // init method first.
+ FGInterface::init();
+
+ SG_LOG( SG_FLIGHT, SG_INFO, " Initializing JSBSim with:" );
+
+ switch(fgic->GetSpeedSet()) {
+ case setned:
+ SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
+ << Position->GetVn() << ", "
+ << Position->GetVe() << ", "
+ << Position->GetVd() << " 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");
+ break;
+ case setmach:
+ SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
+ << Translation->GetMach() );
+ break;
+ case setvc:
+ default:
+ SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
+ << Auxiliary->GetVcalibratedKTS() << " knots" );
+ break;
+ }
+
+ SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
+ << Rotation->Getphi()*RADTODEG << " deg");
+ SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
+ << Rotation->Gettht()*RADTODEG << " deg" );
+ SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
+ << Rotation->Getpsi()*RADTODEG << " deg" );
+ SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
+ << Position->GetLatitude() << " deg" );
+ SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
+ << Position->GetLongitude() << " deg" );
+
+ 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" );
}
/******************************************************************************/
// 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
+bool FGJSBsim::update( int multiloop ) {
- 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 );
+ int i;
- // FCS->SetBrake( controls.get_brake( 0 ) );
+ double save_alt = 0.0;
- // 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*METER_TO_FEET);
- FDMExec.GetPosition()->SetSeaLevelRadius(get_Sea_level_radius());
+ copy_to_JSBsim();
- 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());
+ trimmed->setBoolValue(false);
- for ( int i = 0; i < multiloop; i++ ) {
- FDMExec.Run();
- }
+ if ( needTrim && startup_trim->getBoolValue() ) {
- // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
- // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
+ //fgic->SetSeaLevelRadiusFtIC( get_Sea_level_radius() );
+ //fgic->SetTerrainAltitudeFtIC( scenery.cur_elev * SG_METER_TO_FEET );
- // translate JSBsim back to FG structure so that the
- // autopilot (and the rest of the sim can use the updated values
+ FGTrim *fgtrim;
+ if(fgic->GetVcalibratedKtsIC() < 10 ) {
+ fgic->SetVcalibratedKtsIC(0.0);
+ fgtrim=new FGTrim(fdmex,fgic,tGround);
+ } else {
+ fgtrim=new FGTrim(fdmex,fgic,tLongitudinal);
+ }
+ if(!fgtrim->DoTrim()) {
+ fgtrim->Report();
+ fgtrim->TrimStats();
+ } else {
+ trimmed->setBoolValue(true);
+ }
+ fgtrim->ReportState();
+ delete fgtrim;
- copy_from_JSBsim();
+ needTrim=false;
- // but lets restore our original bogus altitude when we are done
+ pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
+ throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
+ aileron_trim->setDoubleValue( FCS->GetDaCmd() );
+ rudder_trim->setDoubleValue( FCS->GetDrCmd() );
- if ( save_alt < -9000.0 ) {
- set_Altitude( save_alt );
- }
+ 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));
- double end_elev = get_Altitude();
- if ( time_step > 0.0 ) {
- // feet per second
- set_Climb_Rate( (end_elev - start_elev) / time_step );
- }
-
- return 1;
+ globals->get_controls()->set_aileron(FCS->GetDaCmd());
+ globals->get_controls()->set_rudder( FCS->GetDrCmd());
+
+ SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
+ }
+
+ for( i=0; i<get_num_engines(); i++ ) {
+ get_engine(i)->set_RPM( Propulsion->GetThruster(i)->GetRPM() );
+ get_engine(i)->set_Throttle( globals->get_controls()->get_throttle(i) );
+ }
+
+ for ( i=0; i < multiloop; i++ ) {
+ fdmex->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();
+ return true;
}
/******************************************************************************/
// Convert from the FGInterface struct to the JSBsim generic_ struct
-int FGJSBsim::copy_to_JSBsim() {
- return 1;
+bool FGJSBsim::copy_to_JSBsim() {
+ // copy control positions into the JSBsim structure
+
+ FCS->SetDaCmd( globals->get_controls()->get_aileron());
+ FCS->SetDeCmd( globals->get_controls()->get_elevator());
+ FCS->SetPitchTrimCmd(globals->get_controls()->get_elevator_trim());
+ FCS->SetDrCmd( -globals->get_controls()->get_rudder());
+ FCS->SetDfCmd( globals->get_controls()->get_flaps() );
+ FCS->SetDsbCmd( 0.0 ); //speedbrakes
+ FCS->SetDspCmd( 0.0 ); //spoilers
+ FCS->SetLBrake( globals->get_controls()->get_brake( 0 ) );
+ FCS->SetRBrake( globals->get_controls()->get_brake( 1 ) );
+ FCS->SetCBrake( globals->get_controls()->get_brake( 2 ) );
+ for (int i = 0; i < get_num_engines(); i++) {
+ FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
+ }
+
+ Position->SetSeaLevelRadius( get_Sea_level_radius() );
+ Position->SetRunwayRadius( scenery.cur_elev*SG_METER_TO_FEET
+ + get_Sea_level_radius() );
+
+ Atmosphere->SetExTemperature(get_Static_temperature());
+ Atmosphere->SetExPressure(get_Static_pressure());
+ Atmosphere->SetExDensity(get_Density());
+ Atmosphere->SetWindNED(get_V_north_airmass(),
+ get_V_east_airmass(),
+ get_V_down_airmass());
+// SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
+// << get_V_north_airmass() << ", "
+// << get_V_east_airmass() << ", "
+// << get_V_down_airmass() );
+
+ return true;
}
/******************************************************************************/
// Convert from the JSBsim generic_ struct to the FGInterface struct
-int 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( Translation->GetUVWdot(1),
+ Translation->GetUVWdot(2),
+ Translation->GetUVWdot(3) );
- // Velocities
+ _set_Accels_CG_Body( Translation->GetUVWdot(1),
+ Translation->GetUVWdot(2),
+ Translation->GetUVWdot(3) );
- set_Velocities_Local( FDMExec.GetPosition()->GetVn(),
- FDMExec.GetPosition()->GetVe(),
- FDMExec.GetPosition()->GetVd() );
+ //_set_Accels_CG_Body_N ( Translation->GetNcg(1),
+ // Translation->GetNcg(2),
+ // Translation->GetNcg(3) );
+ //
+ _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
+ Auxiliary->GetPilotAccel(2),
+ Auxiliary->GetPilotAccel(3) );
- set_V_equiv_kts( FDMExec.GetAuxiliary()->GetVequivalentKTS() );
+ //_set_Accels_Pilot_Body_N( Auxiliary->GetNpilot(1),
+ // Auxiliary->GetNpilot(2),
+ // Auxiliary->GetNpilot(3) );
- //set_V_calibrated( FDMExec.GetAuxiliary()->GetVcalibratedFPS() );
+ _set_Nlf( Aerodynamics->GetNlf() );
- set_V_calibrated_kts( FDMExec.GetAuxiliary()->GetVcalibratedKTS() );
+ // Velocities
- set_Omega_Body( FDMExec.GetState()->GetParameter(FG_ROLLRATE),
- FDMExec.GetState()->GetParameter(FG_PITCHRATE),
- FDMExec.GetState()->GetParameter(FG_YAWRATE) );
+ _set_Velocities_Local( Position->GetVn(),
+ Position->GetVe(),
+ Position->GetVd() );
- set_Euler_Rates( FDMExec.GetRotation()->Getphi(),
- FDMExec.GetRotation()->Gettht(),
- FDMExec.GetRotation()->Getpsi() );
+ _set_Velocities_Wind_Body( Translation->GetUVW(1),
+ Translation->GetUVW(2),
+ Translation->GetUVW(3) );
- // ***FIXME*** set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
+ _set_V_rel_wind( Translation->GetVt() );
- set_Mach_number( FDMExec.GetTranslation()->GetMach());
+ _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
- // Positions
+ // _set_V_calibrated( Auxiliary->GetVcalibratedFPS() );
- 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;
+ _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
- 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 );
+ _set_V_ground_speed( Position->GetVground() );
- 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_Omega_Body( Rotation->GetPQR(1),
+ Rotation->GetPQR(2),
+ Rotation->GetPQR(3) );
- 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_Rates( Rotation->GetEulerRates(1),
+ Rotation->GetEulerRates(2),
+ Rotation->GetEulerRates(3) );
- set_Alpha( FDMExec.GetTranslation()->Getalpha() );
- set_Beta( FDMExec.GetTranslation()->Getbeta() );
+ _set_Geocentric_Rates(Position->GetLatitudeDot(),
+ Position->GetLongitudeDot(),
+ Position->Gethdot() );
- set_Gamma_vert_rad( FDMExec.GetPosition()->GetGamma() );
- // set_Gamma_horiz_rad( Gamma_horiz_rad );
+ _set_Mach_number( Translation->GetMach() );
- /* **FIXME*** */ set_Sea_level_radius( sl_radius2 * METER_TO_FEET );
- /* **FIXME*** */ set_Earth_position_angle( 0.0 );
+ // Positions
+ _updatePosition( Position->GetLatitude(),
+ Position->GetLongitude(),
+ Position->Geth() );
- // /* ***FIXME*** */ set_Runway_altitude( 0.0 );
+ _set_Altitude_AGL( Position->GetDistanceAGL() );
- set_sin_lat_geocentric( lat_geoc );
- set_cos_lat_geocentric( lat_geoc );
- set_sin_cos_longitude( lon );
- set_sin_cos_latitude( lat_geod );
+ _set_Euler_Angles( Rotation->Getphi(),
+ Rotation->Gettht(),
+ Rotation->Getpsi() );
- return 1;
+ _set_Alpha( Translation->Getalpha() );
+ _set_Beta( Translation->Getbeta() );
+
+
+ _set_Gamma_vert_rad( Position->GetGamma() );
+ // set_Gamma_horiz_rad( Gamma_horiz_rad );
+
+ _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
+
+ _set_Climb_Rate( Position->Gethdot() );
+
+
+ for ( i = 1; i <= 3; i++ ) {
+ for ( j = 1; j <= 3; j++ ) {
+ _set_T_Local_to_Body( i, j, State->GetTl2b(i,j) );
+ }
+ }
+ return true;
}
-/******************************************************************************/
+void FGJSBsim::snap_shot(void) {
+ fgic->SetLatitudeRadIC(get_Lat_geocentric() );
+ fgic->SetLongitudeRadIC( get_Longitude() );
+ fgic->SetAltitudeFtIC( get_Altitude() );
+ fgic->SetTerrainAltitudeFtIC( get_Runway_altitude() );
+ fgic->SetVtrueFpsIC( get_V_rel_wind() );
+ fgic->SetPitchAngleRadIC( get_Theta() );
+ fgic->SetRollAngleRadIC( get_Phi() );
+ fgic->SetTrueHeadingRadIC( get_Psi() );
+ fgic->SetClimbRateFpsIC( get_Climb_Rate() );
+}
+
+
+bool FGJSBsim::ToggleDataLogging(void) {
+ return fdmex->GetOutput()->Toggle();
+}
+
+
+bool FGJSBsim::ToggleDataLogging(bool state) {
+ if (state) {
+ fdmex->GetOutput()->Enable();
+ return true;
+ } else {
+ fdmex->GetOutput()->Disable();
+ return false;
+ }
+}
+
+
+//Positions
+void FGJSBsim::set_Latitude(double lat) {
+ double sea_level_radius_meters,lat_geoc;
+
+ SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
+
+ snap_shot();
+ sgGeodToGeoc( lat, get_Altitude() , &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 );
+ fgic->SetLatitudeRadIC( lat_geoc );
+ fdmex->RunIC(fgic); //loop JSBSim once
+ copy_from_JSBsim(); //update the bus
+ needTrim=true;
+}
+
+void FGJSBsim::set_Longitude(double lon) {
+
+ SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
+
+ snap_shot();
+ fgic->SetLongitudeRadIC(lon);
+ fdmex->RunIC(fgic); //loop JSBSim once
+ copy_from_JSBsim(); //update the bus
+ needTrim=true;
+}
+
+void FGJSBsim::set_Altitude(double alt) {
+ double sea_level_radius_meters,lat_geoc;
+
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
+
+ snap_shot();
+ sgGeodToGeoc( get_Latitude(), 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 );
+ fgic->SetLatitudeRadIC( lat_geoc );
+ fgic->SetAltitudeFtIC(alt);
+ fdmex->RunIC(fgic); //loop JSBSim once
+ copy_from_JSBsim(); //update the bus
+ needTrim=true;
+}
+
+void FGJSBsim::set_V_calibrated_kts(double vc) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
+
+ snap_shot();
+ fgic->SetVcalibratedKtsIC(vc);
+ fdmex->RunIC(fgic); //loop JSBSim once
+ copy_from_JSBsim(); //update the bus
+ needTrim=true;
+}
+
+void FGJSBsim::set_Mach_number(double mach) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
+
+ snap_shot();
+ fgic->SetMachIC(mach);
+ fdmex->RunIC(fgic); //loop JSBSim once
+ copy_from_JSBsim(); //update the bus
+ needTrim=true;
+}
+
+void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
+ << north << ", " << east << ", " << down );
+
+ snap_shot();
+ fgic->SetVnorthFpsIC(north);
+ fgic->SetVeastFpsIC(east);
+ fgic->SetVdownFpsIC(down);
+ fdmex->RunIC(fgic); //loop JSBSim once
+ copy_from_JSBsim(); //update the bus
+ needTrim=true;
+}
+
+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 );
+
+ snap_shot();
+ fgic->SetUBodyFpsIC(u);
+ fgic->SetVBodyFpsIC(v);
+ fgic->SetWBodyFpsIC(w);
+ fdmex->RunIC(fgic); //loop JSBSim once
+ copy_from_JSBsim(); //update the bus
+ needTrim=true;
+}
+
+//Euler angles
+void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
+ << phi << ", " << theta << ", " << psi );
+
+ snap_shot();
+ fgic->SetPitchAngleRadIC(theta);
+ fgic->SetRollAngleRadIC(phi);
+ fgic->SetTrueHeadingRadIC(psi);
+ fdmex->RunIC(fgic); //loop JSBSim once
+ copy_from_JSBsim(); //update the bus
+ needTrim=true;
+}
+
+//Flight Path
+void FGJSBsim::set_Climb_Rate( double roc) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
+
+ snap_shot();
+ fgic->SetClimbRateFpsIC(roc);
+ fdmex->RunIC(fgic); //loop JSBSim once
+ copy_from_JSBsim(); //update the bus
+ needTrim=true;
+}
+
+void FGJSBsim::set_Gamma_vert_rad( double gamma) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
+
+ snap_shot();
+ fgic->SetFlightPathAngleRadIC(gamma);
+ fdmex->RunIC(fgic); //loop JSBSim once
+ copy_from_JSBsim(); //update the bus
+ needTrim=true;
+}
+
+//Earth
+void FGJSBsim::set_Sea_level_radius(double slr) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Sea_level_radius: " << slr );
+
+ snap_shot();
+ fgic->SetSeaLevelRadiusFtIC(slr);
+ fdmex->RunIC(fgic); //loop JSBSim once
+ copy_from_JSBsim(); //update the bus
+ needTrim=true;
+}
+
+void FGJSBsim::set_Runway_altitude(double ralt) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Runway_altitude: " << ralt );
+
+ snap_shot();
+ _set_Runway_altitude( ralt );
+ fgic->SetTerrainAltitudeFtIC( ralt );
+ fdmex->RunIC(fgic); //loop JSBSim once
+ copy_from_JSBsim(); //update the bus
+ needTrim=true;
+}
+
+void FGJSBsim::set_Static_pressure(double p) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_pressure: " << p );
+
+ snap_shot();
+ Atmosphere->SetExPressure(p);
+ if(Atmosphere->External() == true)
+ needTrim=true;
+}
+
+void FGJSBsim::set_Static_temperature(double T) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_temperature: " << T );
+
+ snap_shot();
+ Atmosphere->SetExTemperature(T);
+ if(Atmosphere->External() == true)
+ needTrim=true;
+}
+
+
+void FGJSBsim::set_Density(double rho) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Density: " << rho );
+
+ snap_shot();
+ Atmosphere->SetExDensity(rho);
+ if(Atmosphere->External() == true)
+ needTrim=true;
+}
+
+
+void FGJSBsim::set_Velocities_Local_Airmass (double wnorth,
+ double weast,
+ double wdown ) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local_Airmass: "
+ << wnorth << ", " << weast << ", " << wdown );
+
+ _set_Velocities_Local_Airmass( wnorth, weast, wdown );
+ snap_shot();
+ Atmosphere->SetWindNED(wnorth, weast, wdown );
+ if(Atmosphere->External() == true)
+ needTrim=true;
+}
projects / flightgear.git / blobdiff