#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
-#include <simgear/math/fg_geodesy.hxx>
+#include <simgear/math/sg_geodesy.hxx>
#include <simgear/misc/fgpath.hxx>
#include <Scenery/scenery.hxx>
#include <Aircraft/aircraft.hxx>
#include <Controls/controls.hxx>
-#include <Main/options.hxx>
+#include <Main/globals.hxx>
#include <FDM/JSBSim/FGFDMExec.h>
#include <FDM/JSBSim/FGAircraft.h>
#include <FDM/JSBSim/FGAuxiliary.h>
#include <FDM/JSBSim/FGDefs.h>
#include <FDM/JSBSim/FGInitialCondition.h>
-#include <FDM/JSBSim/FGTrimLong.h>
+#include <FDM/JSBSim/FGTrim.h>
#include <FDM/JSBSim/FGAtmosphere.h>
#include "JSBSim.hxx"
/******************************************************************************/
+FGJSBsim::FGJSBsim(void) {
+ bool result;
+
+ fdmex=new FGFDMExec;
+ fgic=new FGInitialCondition(fdmex);
+ needTrim=true;
+
+ FGPath aircraft_path( globals->get_options()->get_fg_root() );
+ aircraft_path.append( "Aircraft" );
+
+ FGPath engine_path( globals->get_options()->get_fg_root() );
+ engine_path.append( "Engine" );
+ float dt = 1.0 / globals->get_options()->get_model_hz();
+ fdmex->GetState()->Setdt( dt );
+
+ result = fdmex->LoadModel( aircraft_path.str(),
+ engine_path.str(),
+ globals->get_options()->get_aircraft() );
+ int Neng=fdmex->GetAircraft()->GetNumEngines();
+ FG_LOG(FG_FLIGHT,FG_INFO, "Neng: " << Neng );
+ for(int i=0;i<Neng;i++) {
+ add_engine( FGEngInterface() );
+ }
+
+}
+
+/******************************************************************************/
+FGJSBsim::~FGJSBsim(void) {
+ if(fdmex != NULL) {
+ delete fdmex;
+ delete fgic;
+ }
+}
+
+/******************************************************************************/
+
// Initialize the JSBsim flight model, dt is the time increment for
// each subsequent iteration through the EOM
-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) {
- FDMExec.RunIC(fgic);
- 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);
- //the trimming routine only knows how to get 1 value for throttle
+bool FGJSBsim::init( double dt ) {
-
- delete fgtrim;
- FG_LOG( FG_FLIGHT, FG_INFO, " Trim complete." );
- } else {
- FG_LOG( FG_FLIGHT, FG_INFO, " Initializing without trim" );
- FDMExec.GetState()->Initialize(fgic);
+ bool result;
- }
+ FG_LOG( FG_FLIGHT, FG_INFO, "Starting and initializing JSBsim" );
- delete fgic;
+#if 0
+ FGPath aircraft_path( globals->get_options()->get_fg_root() );
+ aircraft_path.append( "Aircraft" );
- FG_LOG( FG_FLIGHT, FG_INFO, " loaded initial conditions" );
+ FGPath engine_path( globals->get_options()->get_fg_root() );
+ engine_path.append( "Engine" );
- FG_LOG( FG_FLIGHT, FG_INFO, " set dt" );
+ fdmex->GetState()->Setdt( dt );
- FG_LOG( FG_FLIGHT, FG_INFO, "Finished initializing JSBSim" );
+ result = fdmex->LoadModel( aircraft_path.str(),
+ engine_path.str(),
+ globals->get_options()->get_aircraft() );
+#endif
- copy_from_JSBsim();
-
+ if (result) {
+ FG_LOG( FG_FLIGHT, FG_INFO, " loaded aircraft " << globals->get_options()->get_aircraft() );
+ } else {
+ FG_LOG( FG_FLIGHT, FG_INFO, " aircraft "
+ << globals->get_options()->get_aircraft()
+ << " does not exist" );
+ return false;
+ }
+
+ fdmex->GetAtmosphere()->UseInternal();
- return 1;
-}
-
-/******************************************************************************/
+ FG_LOG( FG_FLIGHT, FG_INFO, " Initializing JSBSim with:" );
+ switch(fgic->GetSpeedSet()) {
+ case setned:
+ FG_LOG(FG_FLIGHT,FG_INFO, " Vn,Ve,Vd= "
+ << fdmex->GetPosition()->GetVn()
+ << ", " << fdmex->GetPosition()->GetVe()
+ << ", " << fdmex->GetPosition()->GetVd()
+ << " ft/s");
+ break;
+ case setuvw:
+ FG_LOG(FG_FLIGHT,FG_INFO, " U,V,W= "
+ << fdmex->GetTranslation()->GetUVW()(1)
+ << ", " << fdmex->GetTranslation()->GetUVW()(2)
+ << ", " << fdmex->GetTranslation()->GetUVW()(3)
+ << " ft/s");
+ break;
+ case setmach:
+ FG_LOG(FG_FLIGHT,FG_INFO, " Mach: "
+ << fdmex->GetTranslation()->GetMach() );
+ break;
+ case setvc:
+ default:
+ FG_LOG(FG_FLIGHT,FG_INFO, " Indicated Airspeed: "
+ << fdmex->GetAuxiliary()->GetVcalibratedKTS() << " knots" );
+
+ }
-// Run an iteration of the EOM (equations of motion)
+ //FG_LOG( FG_FLIGHT, FG_INFO, " gamma: " << globals->get_options()->get_Gamma());
+ FG_LOG( FG_FLIGHT, FG_INFO, " Bank Angle: "
+ << fdmex->GetRotation()->Getphi()*RADTODEG << " deg");
+ FG_LOG( FG_FLIGHT, FG_INFO, " Pitch Angle: "
+ << fdmex->GetRotation()->Gettht()*RADTODEG << " deg" );
+ FG_LOG( FG_FLIGHT, FG_INFO, " True Heading: "
+ << fdmex->GetRotation()->Getpsi()*RADTODEG << " deg" );
+ FG_LOG( FG_FLIGHT, FG_INFO, " Latitude: "
+ << fdmex->GetPosition()->GetLatitude() << " deg" );
+ FG_LOG( FG_FLIGHT, FG_INFO, " Longitude: "
+ << fdmex->GetPosition()->GetLongitude() << " deg" );
+
+ // for debug only
+ /* FG_LOG( FG_FLIGHT, FG_DEBUG, " FGJSBSim::get_Altitude(): " << get_Altitude() );
+ FG_LOG( FG_FLIGHT, FG_DEBUG, " FGJSBSim::get_Sea_level_radius(): " << get_Sea_level_radius() );
+ FG_LOG( FG_FLIGHT, FG_DEBUG, " scenery.cur_radius*METER_TO_FEET: "
+ << scenery.cur_radius*METER_TO_FEET );
+ FG_LOG( FG_FLIGHT, FG_DEBUG, " Calculated Terrain ASL: " << endl
+ << " " << "scenery.cur_radius*METER_TO_FEET -get_Sea_level_radius()= "
+ << scenery.cur_radius*METER_TO_FEET - get_Sea_level_radius() );
-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();
+ FG_LOG( FG_FLIGHT, FG_DEBUG, " Calculated Aircraft AGL: " << endl
+ << " " << "get_Altitude() + get_Sea_level_radius() - scenery.cur_radius*METER_TO_FEET= "
+ << get_Altitude() + get_Sea_level_radius()- scenery.cur_radius*METER_TO_FEET );
+ FG_LOG( FG_FLIGHT, FG_DEBUG, " globals->get_options()->get_altitude(): "
+ << globals->get_options()->get_altitude() );
+ FG_LOG( FG_FLIGHT, FG_DEBUG, " FGBFI::getAltitude(): "
+ << FGBFI::getAltitude() ); */
- // 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
+ FG_LOG( FG_FLIGHT, FG_INFO, " loaded initial conditions" );
- 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 ); //speedbrakes
- FDMExec.GetFCS()->SetDspCmd( 0.0 ); //spoilers
- FDMExec.GetFCS()->SetThrottleCmd( FGControls::ALL_ENGINES,
- controls.get_throttle( 0 ) * 100.0 );
+ FG_LOG( FG_FLIGHT, FG_INFO, " set dt" );
- // FCS->SetBrake( controls.get_brake( 0 ) );
+ FG_LOG( FG_FLIGHT, FG_INFO, "Finished initializing JSBSim" );
- // 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());
+ return true;
+}
- 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();
- }
+// Run an iteration of the EOM (equations of motion)
- // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
- // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
+bool FGJSBsim::update( int multiloop ) {
+
+ int i;
+
+ double save_alt = 0.0;
+
+
+ // lets try to avoid really screwing up the JSBsim model
+ if ( get_Altitude() < -9000 ) {
+ save_alt = get_Altitude();
+ set_Altitude( 0.0 );
+ }
- // translate JSBsim back to FG structure so that the
- // autopilot (and the rest of the sim can use the updated values
+ if(needTrim && (globals->get_options()->get_trim_mode() > 0)) {
+ 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();
+ }
+ fgtrim->ReportState();
+ delete fgtrim;
+
+ needTrim=false;
+
+
+ controls.set_elevator_trim(fdmex->GetFCS()->GetPitchTrimCmd());
+ controls.set_elevator(fdmex->GetFCS()->GetDeCmd());
+ controls.set_throttle(FGControls::ALL_ENGINES,
+ fdmex->GetFCS()->GetThrottleCmd(0)/100.0);
+ controls.set_aileron(fdmex->GetFCS()->GetDaCmd());
+ controls.set_rudder(fdmex->GetFCS()->GetDrCmd());
+
+ FG_LOG( FG_FLIGHT, FG_INFO, " Trim complete" );
+ }
+
+ for( i=0; i<get_num_engines(); i++ ) {
+ get_engine(i)->set_RPM( controls.get_throttle(i)*2700 );
+ get_engine(i)->set_Throttle( controls.get_throttle(i) );
+ }
+ copy_to_JSBsim();
+
+ for ( int i = 0; i < multiloop; i++ ) {
+ fdmex->Run();
+ }
- copy_from_JSBsim();
+ // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
+ // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
- // but lets restore our original bogus altitude when we are done
+ // translate JSBsim back to FG structure so that the
+ // autopilot (and the rest of the sim can use the updated values
- if ( save_alt < -9000.0 ) {
- set_Altitude( save_alt );
- }
+ copy_from_JSBsim();
+
+
- double end_elev = get_Altitude();
- //if ( time_step > 0.0 ) {
- // feet per second
- // set_Climb_Rate( (end_elev - start_elev) / time_step );
- //}
+ // but lets restore our original bogus altitude when we are done
- return 1;
+ if ( save_alt < -9000.0 ) {
+ set_Altitude( save_alt );
+ }
+
+ //climb rate now set from FDM in copy_from_x()
+ 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
+
+ fdmex->GetFCS()->SetDaCmd( controls.get_aileron());
+ fdmex->GetFCS()->SetDeCmd( controls.get_elevator());
+ fdmex->GetFCS()->SetPitchTrimCmd(controls.get_elevator_trim());
+ fdmex->GetFCS()->SetDrCmd( -1*controls.get_rudder());
+ fdmex->GetFCS()->SetDfCmd( controls.get_flaps() );
+ fdmex->GetFCS()->SetDsbCmd( 0.0 ); //speedbrakes
+ fdmex->GetFCS()->SetDspCmd( 0.0 ); //spoilers
+ fdmex->GetFCS()->SetThrottleCmd( FGControls::ALL_ENGINES,
+ controls.get_throttle( 0 ) * 100.0 );
+
+ fdmex->GetFCS()->SetLBrake( controls.get_brake( 0 ) );
+ fdmex->GetFCS()->SetRBrake( controls.get_brake( 1 ) );
+ fdmex->GetFCS()->SetCBrake( controls.get_brake( 2 ) );
+
+ fdmex->GetPosition()->SetRunwayRadius(scenery.cur_radius*METER_TO_FEET);
+ fdmex->GetPosition()->SetSeaLevelRadius(get_Sea_level_radius());
+
+ fdmex->GetAtmosphere()->SetExTemperature(get_Static_temperature());
+ fdmex->GetAtmosphere()->SetExPressure(get_Static_pressure());
+ fdmex->GetAtmosphere()->SetExDensity(get_Density());
+ fdmex->GetAtmosphere()->SetWindNED(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() {
-
- set_Inertias( FDMExec.GetAircraft()->GetMass(),
- FDMExec.GetAircraft()->GetIxx(),
- FDMExec.GetAircraft()->GetIyy(),
- FDMExec.GetAircraft()->GetIzz(),
- FDMExec.GetAircraft()->GetIxz() );
+bool FGJSBsim::copy_from_JSBsim() {
+ unsigned i, j;
- set_CG_Position ( FDMExec.GetAircraft()->GetXYZcg()(1),
- FDMExec.GetAircraft()->GetXYZcg()(2),
- FDMExec.GetAircraft()->GetXYZcg()(3) );
+ _set_Inertias( fdmex->GetAircraft()->GetMass(),
+ fdmex->GetAircraft()->GetIxx(),
+ fdmex->GetAircraft()->GetIyy(),
+ fdmex->GetAircraft()->GetIzz(),
+ fdmex->GetAircraft()->GetIxz() );
+ _set_CG_Position( fdmex->GetAircraft()->GetXYZcg()(1),
+ fdmex->GetAircraft()->GetXYZcg()(2),
+ fdmex->GetAircraft()->GetXYZcg()(3) );
- set_Accels_Local( FDMExec.GetPosition()->GetVelDot()(1),
- FDMExec.GetPosition()->GetVelDot()(2),
- FDMExec.GetPosition()->GetVelDot()(3) );
-
- set_Accels_Body ( FDMExec.GetTranslation()->GetUVWdot()(1),
- FDMExec.GetTranslation()->GetUVWdot()(2),
- FDMExec.GetTranslation()->GetUVWdot()(3) );
+ _set_Accels_Body( fdmex->GetTranslation()->GetUVWdot()(1),
+ fdmex->GetTranslation()->GetUVWdot()(2),
+ fdmex->GetTranslation()->GetUVWdot()(3) );
- set_Accels_CG_Body ( FDMExec.GetTranslation()->GetUVWdot()(1),
- FDMExec.GetTranslation()->GetUVWdot()(2),
- FDMExec.GetTranslation()->GetUVWdot()(3) );
+ _set_Accels_CG_Body( fdmex->GetTranslation()->GetUVWdot()(1),
+ fdmex->GetTranslation()->GetUVWdot()(2),
+ fdmex->GetTranslation()->GetUVWdot()(3) );
- //set_Accels_CG_Body_N ( FDMExec.GetTranslation()->GetNcg()(1),
- // FDMExec.GetTranslation()->GetNcg()(2),
- // FDMExec.GetTranslation()->GetNcg()(3) );
- //
+ //_set_Accels_CG_Body_N ( fdmex->GetTranslation()->GetNcg()(1),
+ // fdmex->GetTranslation()->GetNcg()(2),
+ // fdmex->GetTranslation()->GetNcg()(3) );
+ //
+ _set_Accels_Pilot_Body( fdmex->GetAuxiliary()->GetPilotAccel()(1),
+ fdmex->GetAuxiliary()->GetPilotAccel()(2),
+ fdmex->GetAuxiliary()->GetPilotAccel()(3) );
- set_Accels_Pilot_Body( FDMExec.GetAuxiliary()->GetPilotAccel()(1),
- FDMExec.GetAuxiliary()->GetPilotAccel()(2),
- FDMExec.GetAuxiliary()->GetPilotAccel()(3) );
+ //_set_Accels_Pilot_Body_N( fdmex->GetAuxiliary()->GetNpilot()(1),
+ // fdmex->GetAuxiliary()->GetNpilot()(2),
+ // fdmex->GetAuxiliary()->GetNpilot()(3) );
- //set_Accels_Pilot_Body_N( FDMExec.GetAuxiliary()->GetNpilot()(1),
- // FDMExec.GetAuxiliary()->GetNpilot()(2),
- // FDMExec.GetAuxiliary()->GetNpilot()(3) );
+ _set_Nlf( fdmex->GetAircraft()->GetNlf() );
-
-
- set_Nlf( FDMExec.GetAircraft()->GetNlf());
-
-
-
- // Velocities
+ // Velocities
- set_Velocities_Local( FDMExec.GetPosition()->GetVn(),
- FDMExec.GetPosition()->GetVe(),
- FDMExec.GetPosition()->GetVd() );
+ _set_Velocities_Local( fdmex->GetPosition()->GetVn(),
+ fdmex->GetPosition()->GetVe(),
+ fdmex->GetPosition()->GetVd() );
- set_Velocities_Wind_Body( FDMExec.GetTranslation()->GetUVW()(1),
- FDMExec.GetTranslation()->GetUVW()(2),
- FDMExec.GetTranslation()->GetUVW()(3) );
-
- set_V_equiv_kts( FDMExec.GetAuxiliary()->GetVequivalentKTS() );
+ _set_Velocities_Wind_Body( fdmex->GetTranslation()->GetUVW()(1),
+ fdmex->GetTranslation()->GetUVW()(2),
+ fdmex->GetTranslation()->GetUVW()(3) );
+
+ _set_V_rel_wind( fdmex->GetTranslation()->GetVt() );
+
+ _set_V_equiv_kts( fdmex->GetAuxiliary()->GetVequivalentKTS() );
- //set_V_calibrated( FDMExec.GetAuxiliary()->GetVcalibratedFPS() );
+ // _set_V_calibrated( fdmex->GetAuxiliary()->GetVcalibratedFPS() );
- set_V_calibrated_kts( FDMExec.GetAuxiliary()->GetVcalibratedKTS() );
+ _set_V_calibrated_kts( fdmex->GetAuxiliary()->GetVcalibratedKTS() );
- set_V_ground_speed ( FDMExec.GetPosition()->GetVground() );
-
- set_Omega_Body( FDMExec.GetState()->GetParameter(FG_ROLLRATE),
- FDMExec.GetState()->GetParameter(FG_PITCHRATE),
- FDMExec.GetState()->GetParameter(FG_YAWRATE) );
-
- set_Euler_Rates( FDMExec.GetRotation()->GetEulerRates()(1),
- FDMExec.GetRotation()->GetEulerRates()(2),
- FDMExec.GetRotation()->GetEulerRates()(3) );
-
- set_Geocentric_Rates( FDMExec.GetPosition()->GetLatitudeDot(),
- FDMExec.GetPosition()->GetLongitudeDot(),
- FDMExec.GetPosition()->Gethdot() );
-
- 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() );
-
- for(int i=0; i<3; i++ ) {
- for (int j=0; j<3; j++ ) {
- set_T_Local_to_Body(i,j,FDMExec.GetState()->GetTl2b()(i,j));
- }
- }
+ _set_V_ground_speed( fdmex->GetPosition()->GetVground() );
- set_Alpha( FDMExec.GetTranslation()->Getalpha() );
- set_Beta( FDMExec.GetTranslation()->Getbeta() );
-
- set_Cos_phi( FDMExec.GetRotation()->GetCosphi() );
- //set_Sin_phi ( FDMExec.GetRotation()->GetSinpphi() );
-
- set_Cos_theta( FDMExec.GetRotation()->GetCostht() );
- //set_Sin_theta ( FDMExec.GetRotation()->GetSintht() );
-
- //set_Cos_psi( FDMExec.GetRotation()->GetCospsi() );
- //set_Sin_psi ( FDMExec.GetRotation()->GetSinpsi() );
-
- set_Gamma_vert_rad( FDMExec.GetPosition()->GetGamma() );
- // set_Gamma_horiz_rad( Gamma_horiz_rad );
+ _set_Omega_Body( fdmex->GetRotation()->GetPQR()(1),
+ fdmex->GetRotation()->GetPQR()(2),
+ fdmex->GetRotation()->GetPQR()(3) );
+ _set_Euler_Rates( fdmex->GetRotation()->GetEulerRates()(1),
+ fdmex->GetRotation()->GetEulerRates()(2),
+ fdmex->GetRotation()->GetEulerRates()(3) );
- set_Density( FDMExec.GetAtmosphere()->GetDensity() );
- set_Static_pressure( FDMExec.GetAtmosphere()->GetPressure() );
- set_Static_temperature ( FDMExec.GetAtmosphere()->GetTemperature() );
-
- set_Earth_position_angle( FDMExec.GetAuxiliary()->GetEarthPositionAngle() );
-
- /* **FIXME*** */ set_Sea_level_radius( sl_radius2 * METER_TO_FEET );
- /* **FIXME*** */ set_Earth_position_angle( 0.0 );
+ _set_Geocentric_Rates(fdmex->GetPosition()->GetLatitudeDot(),
+ fdmex->GetPosition()->GetLongitudeDot(),
+ fdmex->GetPosition()->Gethdot() );
+
+ _set_Mach_number( fdmex->GetTranslation()->GetMach() );
+
+ // Positions
+ _updatePosition( fdmex->GetPosition()->GetLatitude(),
+ fdmex->GetPosition()->GetLongitude(),
+ fdmex->GetPosition()->Geth() );
+
+ _set_Euler_Angles( fdmex->GetRotation()->Getphi(),
+ fdmex->GetRotation()->Gettht(),
+ fdmex->GetRotation()->Getpsi() );
- // /* ***FIXME*** */ set_Runway_altitude( 0.0 );
+ _set_Alpha( fdmex->GetTranslation()->Getalpha() );
+ _set_Beta( fdmex->GetTranslation()->Getbeta() );
- set_sin_lat_geocentric( lat_geoc );
- set_cos_lat_geocentric( lat_geoc );
- set_sin_cos_longitude( lon );
- set_sin_cos_latitude( lat_geod );
+
+ _set_Gamma_vert_rad( fdmex->GetPosition()->GetGamma() );
+ // set_Gamma_horiz_rad( Gamma_horiz_rad );
+
+ _set_Earth_position_angle( fdmex->GetAuxiliary()->GetEarthPositionAngle() );
+
+ _set_Climb_Rate( fdmex->GetPosition()->Gethdot() );
+
+
+ for ( i = 1; i <= 3; i++ ) {
+ for ( j = 1; j <= 3; j++ ) {
+ _set_T_Local_to_Body( i, j, fdmex->GetState()->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() );
+}
+
+
+//Positions
+void FGJSBsim::set_Latitude(double lat) {
+ double sea_level_radius_meters,lat_geoc;
+
+ FG_LOG(FG_FLIGHT,FG_INFO,"FGJSBsim::set_Latitude: " << lat );
+
+ snap_shot();
+ sgGeodToGeoc( lat, get_Altitude() , &sea_level_radius_meters, &lat_geoc);
+ fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * 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) {
+
+ FG_LOG(FG_FLIGHT,FG_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;
+
+ FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Altitude: " << alt );
+
+ snap_shot();
+ sgGeodToGeoc( get_Latitude(), alt , &sea_level_radius_meters, &lat_geoc);
+ fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * 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) {
+ FG_LOG(FG_FLIGHT,FG_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) {
+ FG_LOG(FG_FLIGHT,FG_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 ){
+ FG_LOG(FG_FLIGHT,FG_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){
+ FG_LOG(FG_FLIGHT,FG_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 ) {
+ FG_LOG(FG_FLIGHT,FG_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) {
+ FG_LOG(FG_FLIGHT,FG_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) {
+ FG_LOG(FG_FLIGHT,FG_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) {
+ FG_LOG(FG_FLIGHT,FG_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) {
+ FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Runway_altitude: " << ralt );
+
+ snap_shot();
+ _set_Runway_altitude( ralt );
+ fdmex->RunIC(fgic); //loop JSBSim once
+ copy_from_JSBsim(); //update the bus
+ needTrim=true;
+}
+
+void FGJSBsim::set_Static_pressure(double p) {
+ FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Static_pressure: " << p );
+
+ snap_shot();
+ fdmex->GetAtmosphere()->SetExPressure(p);
+ if(fdmex->GetAtmosphere()->External() == true)
+ needTrim=true;
+}
- set_Climb_Rate(FDMExec.GetPosition()->Gethdot());
+void FGJSBsim::set_Static_temperature(double T) {
+ FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Static_temperature: " << T );
+
+ snap_shot();
+ fdmex->GetAtmosphere()->SetExTemperature(T);
+ if(fdmex->GetAtmosphere()->External() == true)
+ needTrim=true;
+}
+
- return 1;
+void FGJSBsim::set_Density(double rho) {
+ FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Density: " << rho );
+
+ snap_shot();
+ fdmex->GetAtmosphere()->SetExDensity(rho);
+ if(fdmex->GetAtmosphere()->External() == true)
+ needTrim=true;
}
+
+
+void FGJSBsim::set_Velocities_Local_Airmass (double wnorth,
+ double weast,
+ double wdown ) {
+ FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Velocities_Local_Airmass: "
+ << wnorth << ", " << weast << ", " << wdown );
+
+ snap_shot();
+ fdmex->GetAtmosphere()->SetWindNED(wnorth, weast, wdown );
+ if(fdmex->GetAtmosphere()->External() == true)
+ needTrim=true;
+}
projects / flightgear.git / blobdiff