#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>
{
bool result;
- fdmex=new FGFDMExec;
+ 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();
+ 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();
+ GroundReactions = fdmex->GetGroundReactions();
+
Atmosphere->UseInternal();
engine_path.str(),
fgGetString("/sim/aircraft") );
-
if (result) {
SG_LOG( SG_FLIGHT, SG_INFO, " loaded aircraft.");
} else {
throw(-1);
}
+ SG_LOG( SG_FLIGHT, SG_INFO, "" );
+ SG_LOG( SG_FLIGHT, SG_INFO, "" );
+ SG_LOG( SG_FLIGHT, SG_INFO, "After loading aircraft definition file ..." );
+
int Neng = Propulsion->GetNumEngines();
- SG_LOG(SG_FLIGHT,SG_INFO, "Neng: " << Neng );
-
+ SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
for(int i=0;i<Neng;i++) {
add_engine( FGEngInterface() );
}
+ if ( GroundReactions->GetNumGearUnits() <= 0 ) {
+ SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
+ << GroundReactions->GetNumGearUnits() );
+ SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
+ SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
+ SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
+ exit(-1);
+ }
+
+
+ init_gear();
+
fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
throttle_trim = fgGetNode("/fdm/trim/throttle", true );
aileron_trim = fgGetNode("/fdm/trim/aileron", true );
rudder_trim = fgGetNode("/fdm/trim/rudder", true );
+
+
+ stall_warning = fgGetNode("/sim/aircraft/alarms/stall-warning",true);
+ stall_warning->setDoubleValue(0);
}
/******************************************************************************/
// Explicitly call the superclass's
// init method first.
- FGInterface::init();
+ common_init();
+
+ fdmex->GetState()->Initialize(fgic);
+ fdmex->RunIC(fgic); //loop JSBSim once w/o integrating
+ // fdmex->Run(); //loop JSBSim once
+ copy_from_JSBsim(); //update the bus
- SG_LOG( SG_FLIGHT, SG_INFO, " Initializing JSBSim with:" );
+ SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
switch(fgic->GetSpeedSet()) {
case setned:
<< Auxiliary->GetVcalibratedKTS() << " knots" );
break;
}
-
+
+ stall_warning->setBoolValue(false);
+
SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
- << Rotation->Getphi()*RADTODEG << " deg");
+ << Rotation->Getphi()*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
- << Rotation->Gettht()*RADTODEG << " deg" );
+ << Rotation->Gettht()*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
- << Rotation->Getpsi()*RADTODEG << " deg" );
+ << Rotation->Getpsi()*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
- << Position->GetLatitude() << " deg" );
+ << Position->GetLatitude() << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
- << Position->GetLongitude() << " deg" );
-
+ << Position->GetLongitude() << " deg" );
+ SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
+ << Position->Geth() << " feet" );
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" );
+
+
+
}
/******************************************************************************/
trimmed->setBoolValue(false);
- if ( needTrim && startup_trim->getBoolValue() ) {
-
- //fgic->SetSeaLevelRadiusFtIC( get_Sea_level_radius() );
- //fgic->SetTerrainAltitudeFtIC( scenery.cur_elev * SG_METER_TO_FEET );
-
- 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;
-
- needTrim=false;
+ if ( needTrim ) {
+ if ( startup_trim->getBoolValue() ) {
+ do_trim();
+ } else {
+ fdmex->RunIC(fgic); //apply any changes made through the set_ functions
+ }
+ needTrim = false;
+ }
+
+ for( i=0; i<get_num_engines(); i++ ) {
+ FGEngInterface * e = get_engine(i);
+ FGEngine * eng = Propulsion->GetEngine(i);
+ FGThruster * thrust = Propulsion->GetThruster(i);
+ eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
+ eng->SetStarter( globals->get_controls()->get_starter(i) );
+ e->set_Throttle( globals->get_controls()->get_throttle(i) );
+ }
- pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
- throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
- aileron_trim->setDoubleValue( FCS->GetDaCmd() );
- rudder_trim->setDoubleValue( FCS->GetDrCmd() );
- 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));
+ for ( i=0; i < multiloop; i++ ) {
+ fdmex->Run();
+ }
- globals->get_controls()->set_aileron(FCS->GetDaCmd());
- globals->get_controls()->set_rudder( FCS->GetDrCmd());
-
- SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
+ struct FGJSBBase::Message* msg;
+ while (fdmex->ReadMessage()) {
+ msg = fdmex->ProcessMessage();
+ switch (msg->type) {
+ case FGJSBBase::Message::eText:
+ cout << msg->messageId << ": " << msg->text << endl;
+ break;
+ case FGJSBBase::Message::eBool:
+ cout << msg->messageId << ": " << msg->text << " " << msg->bVal << endl;
+ break;
+ case FGJSBBase::Message::eInteger:
+ cout << msg->messageId << ": " << msg->text << " " << msg->iVal << endl;
+ break;
+ case FGJSBBase::Message::eDouble:
+ cout << msg->messageId << ": " << msg->text << " " << msg->dVal << endl;
+ break;
+ default:
+ cerr << "Unrecognized message type." << endl;
+ break;
+ }
}
-
+
for( i=0; i<get_num_engines(); i++ ) {
FGEngInterface * e = get_engine(i);
FGEngine * eng = Propulsion->GetEngine(i);
e->set_EGT( eng->getExhaustGasTemp_degF() );
e->set_CHT( eng->getCylinderHeadTemp_degF() );
e->set_Oil_Temp( eng->getOilTemp_degF() );
- e->set_Throttle( globals->get_controls()->get_throttle(i) );
- }
-
- for ( i=0; i < multiloop; i++ ) {
- fdmex->Run();
+ e->set_Running_Flag( eng->GetRunning() );
+ e->set_Cranking_Flag( eng->GetCranking() );
}
- // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
- // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
-
+
+ update_gear();
+
+ stall_warning->setDoubleValue( Aircraft->GetStallWarn() );
+
// 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;
}
}
Position->SetSeaLevelRadius( get_Sea_level_radius() );
- Position->SetRunwayRadius( scenery.cur_elev*SG_METER_TO_FEET
+ Position->SetRunwayRadius( scenery.get_cur_elev()*SG_METER_TO_FEET
+ get_Sea_level_radius() );
Atmosphere->SetExTemperature(get_Static_temperature());
MassBalance->GetXYZcg(2),
MassBalance->GetXYZcg(3) );
- _set_Accels_Body( Translation->GetUVWdot(1),
- Translation->GetUVWdot(2),
- Translation->GetUVWdot(3) );
+ _set_Accels_Body( Aircraft->GetBodyAccel()(1),
+ Aircraft->GetBodyAccel()(2),
+ Aircraft->GetBodyAccel()(3) );
- _set_Accels_CG_Body( Translation->GetUVWdot(1),
- Translation->GetUVWdot(2),
- Translation->GetUVWdot(3) );
-
- //_set_Accels_CG_Body_N ( Translation->GetNcg(1),
- // Translation->GetNcg(2),
- // Translation->GetNcg(3) );
+ //_set_Accels_CG_Body( Aircraft->GetBodyAccel()(1),
+ // Aircraft->GetBodyAccel()(2),
+ // Aircraft->GetBodyAccel()(3) );
//
- _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
- Auxiliary->GetPilotAccel(2),
- Auxiliary->GetPilotAccel(3) );
+ _set_Accels_CG_Body_N ( Aircraft->GetNcg()(1),
+ Aircraft->GetNcg()(2),
+ Aircraft->GetNcg()(3) );
+
+ _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel()(1),
+ Auxiliary->GetPilotAccel()(2),
+ Auxiliary->GetPilotAccel()(3) );
- //_set_Accels_Pilot_Body_N( Auxiliary->GetNpilot(1),
- // Auxiliary->GetNpilot(2),
- // Auxiliary->GetNpilot(3) );
+ // _set_Accels_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739,
+ // Auxiliary->GetNpilot(2)/32.1739,
+ // Auxiliary->GetNpilot(3)/32.1739 );
_set_Nlf( Aerodynamics->GetNlf() );
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();
}
//Positions
void FGJSBsim::set_Latitude(double lat) {
- double sea_level_radius_meters,lat_geoc;
+ static const SGPropertyNode *altitude
+ = fgGetNode("/position/altitude-ft");
+ double alt;
+ if ( altitude->getDoubleValue() > -9990 ) {
+ alt = altitude->getDoubleValue();
+ } else {
+ alt = 0.0;
+ }
+
+ double sea_level_radius_meters, lat_geoc;
SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
+ SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
- snap_shot();
- sgGeodToGeoc( lat, get_Altitude() , &sea_level_radius_meters, &lat_geoc);
+ sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
+ &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;
}
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
+ fgic->SetLongitudeRadIC( lon );
needTrim=true;
}
void FGJSBsim::set_Altitude(double alt) {
+ static const SGPropertyNode *latitude
+ = fgGetNode("/position/latitude-deg");
+
double sea_level_radius_meters,lat_geoc;
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
+ SG_LOG(SG_FLIGHT,SG_INFO, " lat (deg) = " << latitude->getDoubleValue() );
- snap_shot();
- sgGeodToGeoc( get_Latitude(), alt , &sea_level_radius_meters, &lat_geoc);
+ sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, 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;
}
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;
}
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;
}
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;
}
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;
}
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 ) {
<< wnorth << ", " << weast << ", " << wdown );
_set_Velocities_Local_Airmass( wnorth, weast, wdown );
- snap_shot();
Atmosphere->SetWindNED(wnorth, weast, wdown );
if(Atmosphere->External() == true)
needTrim=true;
}
+void FGJSBsim::init_gear(void ) {
+
+ FGGearInterface *gear;
+ FGGroundReactions* gr=fdmex->GetGroundReactions();
+ int Ngear=GroundReactions->GetNumGearUnits();
+ for (int i=0;i<Ngear;i++) {
+ add_gear_unit( FGGearInterface() );
+ gear=get_gear_unit(i);
+ gear->SetX( gr->GetGearUnit(i)->GetBodyLocation()(1) );
+ gear->SetY( gr->GetGearUnit(i)->GetBodyLocation()(2) );
+ gear->SetZ( gr->GetGearUnit(i)->GetBodyLocation()(3) );
+ gear->SetWoW( gr->GetGearUnit(i)->GetWOW() );
+ if ( gr->GetGearUnit(i)->GetBrakeGroup() > 0 ) {
+ gear->SetBrake(true);
+ }
+ if ( gr->GetGearUp() ) {
+ gear->SetPosition( 0.0 );
+ }
+ }
+}
+
+void FGJSBsim::update_gear(void) {
+
+ FGGearInterface* gear;
+ FGGroundReactions* gr=fdmex->GetGroundReactions();
+ int Ngear=GroundReactions->GetNumGearUnits();
+ for (int i=0;i<Ngear;i++) {
+ gear=get_gear_unit(i);
+ gear->SetWoW( gr->GetGearUnit(i)->GetWOW() );
+ if ( gr->GetGearUp() ) {
+ gear->SetPosition( 0.0 );
+ }
+ }
+}
+
+void FGJSBsim::do_trim(void) {
+
+ 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);
+ }
+ State->ReportState();
+ delete fgtrim;
+ pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
+ throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
+ aileron_trim->setDoubleValue( FCS->GetDaCmd() );
+ rudder_trim->setDoubleValue( FCS->GetDrCmd() );
+
+ 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));
+
+ globals->get_controls()->set_aileron(FCS->GetDaCmd());
+ globals->get_controls()->set_rudder( FCS->GetDrCmd());
+
+ SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
+}
projects / flightgear.git / blobdiff