// $Id$
-#include <Include/compiler.h>
+#include <simgear/compiler.h>
-#ifdef FG_MATH_EXCEPTION_CLASH
+#ifdef SG_MATH_EXCEPTION_CLASH
# include <math.h>
#endif
#include STL_STRING
+#include <simgear/constants.h>
+#include <simgear/debug/logstream.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 <Debug/logstream.hxx>
-#include <Include/fg_constants.h>
-#include <Main/options.hxx>
-#include <Math/fg_geodesy.hxx>
-#include <Misc/fgpath.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/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"
+
+/******************************************************************************/
+
+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();
+ GroundReactions = fdmex->GetGroundReactions();
+
+
+ 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") );
+
+ 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);
+ }
-#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>
+ SG_LOG( SG_FLIGHT, SG_INFO, "" );
+ SG_LOG( SG_FLIGHT, SG_INFO, "" );
+ SG_LOG( SG_FLIGHT, SG_INFO, "After loading aircraft definition file ..." );
-#include "JSBsim.hxx"
+ int Neng = Propulsion->GetNumEngines();
+ 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());
+ fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
+ startup_trim = fgGetNode("/sim/startup/trim", true);
-// The default aircraft
-FGFDMExec FDMExec;
+ trimmed = fgGetNode("/fdm/trim/trimmed", true);
+ trimmed->setBoolValue(false);
+ 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 );
+
+
+ stall_warning = fgGetNode("/sim/aircraft/alarms/stall-warning",true);
+ stall_warning->setDoubleValue(0);
+}
+
+/******************************************************************************/
+FGJSBsim::~FGJSBsim(void) {
+ if (fdmex != NULL) {
+ delete fdmex; fdmex=NULL;
+ delete fgic; fgic=NULL;
+ }
+}
+
+/******************************************************************************/
// Initialize the JSBsim flight model, dt is the time increment for
// each subsequent iteration through the EOM
-int fgJSBsimInit(double dt, FGInterface& f) {
- FG_LOG( FG_FLIGHT, FG_INFO, "Starting initializing JSBsim" );
- FG_LOG( FG_FLIGHT, FG_INFO, " created FDMExec" );
+void FGJSBsim::init() {
+
+ SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
+
+ // Explicitly call the superclass's
+ // init method first.
+ 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, " Initialized 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;
+ }
+
+ stall_warning->setBoolValue(false);
+
+ 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, " 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" );
+
- 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(), "X15");
- FG_LOG( FG_FLIGHT, FG_INFO, " loaded aircraft" );
+// Run an iteration of the EOM (equations of motion)
-// FDMExec.GetState()->Reset(aircraft_path.str(), "Reset00");
+bool FGJSBsim::update( int multiloop ) {
- FDMExec.GetState()->Initialize(
- current_options.get_uBody(),
- current_options.get_vBody(),
- current_options.get_wBody(),
- f.get_Phi(),
- f.get_Theta(),
- f.get_Psi(),
- f.get_Latitude(),
- f.get_Longitude(),
- f.get_Altitude()
- );
+ int i;
-// 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());
+ double save_alt = 0.0;
- FG_LOG( FG_FLIGHT, FG_INFO, " loaded initial conditions" );
+ copy_to_JSBsim();
- FDMExec.GetState()->Setdt(dt);
- FG_LOG( FG_FLIGHT, FG_INFO, " set dt" );
+ trimmed->setBoolValue(false);
- FG_LOG( FG_FLIGHT, FG_INFO, "Finished initializing JSBsim" );
+ 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) );
+ }
- return 1;
-}
+ for ( i=0; i < multiloop; i++ ) {
+ fdmex->Run();
+ }
-// Run an iteration of the EOM (equations of motion)
-int fgJSBsimUpdate(FGInterface& f, int multiloop) {
- double save_alt = 0.0;
+ 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;
+ }
+ }
- // lets try to avoid really screwing up the JSBsim model
- if ( f.get_Altitude() < -9000 ) {
- save_alt = f.get_Altitude();
- f.set_Altitude( 0.0 );
+ for( i=0; i<get_num_engines(); i++ ) {
+ FGEngInterface * e = get_engine(i);
+ FGEngine * eng = Propulsion->GetEngine(i);
+ FGThruster * thrust = Propulsion->GetThruster(i);
+ e->set_Manifold_Pressure( eng->getManifoldPressure_inHg() );
+ e->set_RPM( thrust->GetRPM() );
+ e->set_EGT( eng->getExhaustGasTemp_degF() );
+ e->set_CHT( eng->getCylinderHeadTemp_degF() );
+ e->set_Oil_Temp( eng->getOilTemp_degF() );
+ e->set_Running_Flag( eng->GetRunning() );
+ e->set_Cranking_Flag( eng->GetCranking() );
}
+
+ 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;
+}
+
+/******************************************************************************/
+
+// Convert from the FGInterface struct to the JSBsim generic_ struct
+
+bool FGJSBsim::copy_to_JSBsim() {
// copy control positions into the JSBsim structure
- FDMExec.GetFCS()->SetDa( controls.get_aileron() / 10.0 );
- FDMExec.GetFCS()->SetDe( controls.get_elevator()
- + controls.get_elevator_trim() );
- FDMExec.GetFCS()->SetDr( controls.get_rudder() / 10.0 );
- 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 = f.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();
+
+ 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));
+ FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
}
- // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
- // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
+ Position->SetSeaLevelRadius( get_Sea_level_radius() );
+ Position->SetRunwayRadius( scenery.get_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
+
+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( Aircraft->GetBodyAccel()(1),
+ Aircraft->GetBodyAccel()(2),
+ Aircraft->GetBodyAccel()(3) );
+
+ //_set_Accels_CG_Body( Aircraft->GetBodyAccel()(1),
+ // Aircraft->GetBodyAccel()(2),
+ // Aircraft->GetBodyAccel()(3) );
+ //
+ _set_Accels_CG_Body_N ( Aircraft->GetNcg()(1),
+ Aircraft->GetNcg()(2),
+ Aircraft->GetNcg()(3) );
- // translate JSBsim back to FG structure so that the
- // autopilot (and the rest of the sim can use the updated
- // values
+ _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel()(1),
+ Auxiliary->GetPilotAccel()(2),
+ Auxiliary->GetPilotAccel()(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() );
+
+ // Velocities
+
+ _set_Velocities_Local( Position->GetVn(),
+ Position->GetVe(),
+ Position->GetVd() );
+
+ _set_Velocities_Wind_Body( Translation->GetUVW(1),
+ Translation->GetUVW(2),
+ Translation->GetUVW(3) );
+
+ _set_V_rel_wind( Translation->GetVt() );
- fgJSBsim_2_FGInterface(f);
+ _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
- // but lets restore our original bogus altitude when we are done
- if ( save_alt < -9000.0 ) {
- f.set_Altitude( save_alt );
+ // _set_V_calibrated( Auxiliary->GetVcalibratedFPS() );
+
+ _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
+
+ _set_V_ground_speed( Position->GetVground() );
+
+ _set_Omega_Body( Rotation->GetPQR(1),
+ Rotation->GetPQR(2),
+ Rotation->GetPQR(3) );
+
+ _set_Euler_Rates( Rotation->GetEulerRates(1),
+ Rotation->GetEulerRates(2),
+ Rotation->GetEulerRates(3) );
+
+ _set_Geocentric_Rates(Position->GetLatitudeDot(),
+ Position->GetLongitudeDot(),
+ Position->Gethdot() );
+
+ _set_Mach_number( Translation->GetMach() );
+
+ // Positions
+ _updatePosition( Position->GetLatitude(),
+ Position->GetLongitude(),
+ Position->Geth() );
+
+ _set_Altitude_AGL( Position->GetDistanceAGL() );
+
+ _set_Euler_Angles( Rotation->Getphi(),
+ Rotation->Gettht(),
+ Rotation->Getpsi() );
+
+ _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;
+}
- return 1;
+bool FGJSBsim::ToggleDataLogging(void) {
+ return fdmex->GetOutput()->Toggle();
}
-// Convert from the FGInterface struct to the JSBsim generic_ struct
-int FGInterface_2_JSBsim (FGInterface& f) {
+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) {
+ 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;
- return 1;
+ SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
+ SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
+
+ 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 );
+ needTrim=true;
}
+void FGJSBsim::set_Longitude(double lon) {
-// Convert from the JSBsim generic_ struct to the FGInterface struct
-int fgJSBsim_2_FGInterface (FGInterface& f) {
+ SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
- // Velocities
- f.set_Velocities_Local( FDMExec.GetPosition()->GetVn(),
- FDMExec.GetPosition()->GetVe(),
- FDMExec.GetPosition()->GetVd() );
- // f.set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
- // V_down_rel_ground );
- // f.set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
- // V_down_airmass );
- // f.set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
- // V_east_rel_airmass, V_down_rel_airmass );
- // f.set_Velocities_Gust( U_gust, V_gust, W_gust );
- // f.set_Velocities_Wind_Body( U_body, V_body, W_body );
-
- // f.set_V_rel_wind( V_rel_wind );
- // f.set_V_true_kts( V_true_kts );
- // f.set_V_rel_ground( V_rel_ground );
- // f.set_V_inertial( V_inertial );
- // f.set_V_ground_speed( V_ground_speed );
- // f.set_V_equiv( V_equiv );
-
- /* ***FIXME*** */ f.set_V_equiv_kts( FDMExec.GetState()->GetVt() );
- // f.set_V_calibrated( V_calibrated );
- // f.set_V_calibrated_kts( V_calibrated_kts );
-
- f.set_Omega_Body( FDMExec.GetRotation()->GetP(),
- FDMExec.GetRotation()->GetQ(),
- FDMExec.GetRotation()->GetR() );
- // f.set_Omega_Local( P_local, Q_local, R_local );
- // f.set_Omega_Total( P_total, Q_total, R_total );
+ 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() );
+
+ 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);
+ needTrim=true;
+}
+
+void FGJSBsim::set_V_calibrated_kts(double vc) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
+
+ fgic->SetVcalibratedKtsIC(vc);
+ needTrim=true;
+}
+
+void FGJSBsim::set_Mach_number(double mach) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
+
+ fgic->SetMachIC(mach);
+ 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 );
+
+ fgic->SetVnorthFpsIC(north);
+ fgic->SetVeastFpsIC(east);
+ fgic->SetVdownFpsIC(down);
+ 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 );
+
+ fgic->SetUBodyFpsIC(u);
+ fgic->SetVBodyFpsIC(v);
+ fgic->SetWBodyFpsIC(w);
+ 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 );
+
+ fgic->SetPitchAngleRadIC(theta);
+ fgic->SetRollAngleRadIC(phi);
+ fgic->SetTrueHeadingRadIC(psi);
+ needTrim=true;
+}
+
+//Flight Path
+void FGJSBsim::set_Climb_Rate( double roc) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
+
+ fgic->SetClimbRateFpsIC(roc);
+ needTrim=true;
+}
+
+void FGJSBsim::set_Gamma_vert_rad( double gamma) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
+
+ fgic->SetFlightPathAngleRadIC(gamma);
+ needTrim=true;
+}
+
+//Earth
+void FGJSBsim::set_Sea_level_radius(double slr) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Sea_level_radius: " << slr );
+
+ fgic->SetSeaLevelRadiusFtIC(slr);
+ needTrim=true;
+}
+
+void FGJSBsim::set_Runway_altitude(double ralt) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Runway_altitude: " << ralt );
+
+ _set_Runway_altitude( ralt );
+ fgic->SetTerrainAltitudeFtIC( ralt );
+ needTrim=true;
+}
+
+void FGJSBsim::set_Static_pressure(double p) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_pressure: " << p );
+
+ 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 );
- // f.set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
- // ***FIXME*** f.set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
+ Atmosphere->SetExTemperature(T);
+ if(Atmosphere->External() == true)
+ needTrim=true;
+}
+
- // 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 );
-
- f.set_Geocentric_Position( lat_geoc, lon,
- sl_radius2 * METER_TO_FEET + alt );
- f.set_Geodetic_Position( lat_geod, lon, alt );
- f.set_Euler_Angles( FDMExec.GetRotation()->Getphi(),
- FDMExec.GetRotation()->Gettht(),
- FDMExec.GetRotation()->Getpsi() );
-
- // Miscellaneous quantities
- // f.set_T_Local_to_Body(T_local_to_body_m);
- // f.set_Gravity( Gravity );
- // f.set_Centrifugal_relief( Centrifugal_relief );
-
- f.set_Alpha( FDMExec.GetTranslation()->Getalpha() );
- f.set_Beta( FDMExec.GetTranslation()->Getbeta() );
- // f.set_Alpha_dot( Alpha_dot );
- // f.set_Beta_dot( Beta_dot );
-
- // f.set_Cos_alpha( Cos_alpha );
- // f.set_Sin_alpha( Sin_alpha );
- // f.set_Cos_beta( Cos_beta );
- // f.set_Sin_beta( Sin_beta );
-
- // f.set_Cos_phi( Cos_phi );
- // f.set_Sin_phi( Sin_phi );
- // f.set_Cos_theta( Cos_theta );
- // f.set_Sin_theta( Sin_theta );
- // f.set_Cos_psi( Cos_psi );
- // f.set_Sin_psi( Sin_psi );
-
- // ***ATTENDTOME*** f.set_Gamma_vert_rad( Gamma_vert_rad );
- // f.set_Gamma_horiz_rad( Gamma_horiz_rad );
-
- // f.set_Sigma( Sigma );
- // f.set_Density( Density );
- // f.set_V_sound( V_sound );
- // f.set_Mach_number( Mach_number );
-
- // f.set_Static_pressure( Static_pressure );
- // f.set_Total_pressure( Total_pressure );
- // f.set_Impact_pressure( Impact_pressure );
- // f.set_Dynamic_pressure( Dynamic_pressure );
-
- // f.set_Static_temperature( Static_temperature );
- // f.set_Total_temperature( Total_temperature );
-
- /* **FIXME*** */ f.set_Sea_level_radius( sl_radius2 * METER_TO_FEET );
- /* **FIXME*** */ f.set_Earth_position_angle( 0.0 );
-
- /* ***FIXME*** */ f.set_Runway_altitude( 0.0 );
- // f.set_Runway_latitude( Runway_latitude );
- // f.set_Runway_longitude( Runway_longitude );
- // f.set_Runway_heading( Runway_heading );
- // f.set_Radius_to_rwy( Radius_to_rwy );
-
- // f.set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
- // f.set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
- // f.set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
- // D_pilot_above_rwy );
- // f.set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
-
- f.set_sin_lat_geocentric( lat_geoc );
- f.set_cos_lat_geocentric( lat_geoc );
- f.set_sin_cos_longitude( lon );
- f.set_sin_cos_latitude( lat_geod );
-
- return 0;
+void FGJSBsim::set_Density(double rho) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Density: " << rho );
+
+ 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 );
+ 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