#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
-#include <simgear/misc/fgpath.hxx>
+#include <simgear/misc/sg_path.hxx>
#include <Scenery/scenery.hxx>
#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"
/******************************************************************************/
-FGJSBsim::FGJSBsim( double dt ) {
+FGJSBsim::FGJSBsim( double dt )
+ : FGInterface(dt)
+{
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();
+ GroundReactions = fdmex->GetGroundReactions();
+
+
+ Atmosphere->UseInternal();
+
fgic=new FGInitialCondition(fdmex);
needTrim=true;
- FGPath aircraft_path( globals->get_fg_root() );
+ SGPath aircraft_path( globals->get_fg_root() );
aircraft_path.append( "Aircraft" );
- FGPath engine_path( globals->get_fg_root() );
+ SGPath engine_path( globals->get_fg_root() );
engine_path.append( "Engine" );
set_delta_t( dt );
- fdmex->GetState()->Setdt( dt );
+ State->Setdt( dt );
result = fdmex->LoadModel( aircraft_path.str(),
- engine_path.str(),
- fgGetString("/sim/aircraft") );
- int Neng=fdmex->GetAircraft()->GetNumEngines();
- FG_LOG(FG_FLIGHT,FG_INFO, "Neng: " << Neng );
+ 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);
+ }
+
+ 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, "num engines = " << Neng );
for(int i=0;i<Neng;i++) {
- add_engine( FGEngInterface() );
+ 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);
+
+ 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;
- delete fgic;
+ if (fdmex != NULL) {
+ delete fdmex; fdmex=NULL;
+ delete fgic; fgic=NULL;
}
}
// each subsequent iteration through the EOM
void FGJSBsim::init() {
+
+ SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
+
+ // Explicitly call the superclass's
+ // init method first.
+ common_init();
- bool result;
-
- FG_LOG( FG_FLIGHT, FG_INFO, "Starting and initializing JSBsim" );
-
-#if 0
- FGPath aircraft_path( globals->get_fg_root() );
- aircraft_path.append( "Aircraft" );
-
- FGPath engine_path( globals->get_fg_root() );
- engine_path.append( "Engine" );
-
- fdmex->GetState()->Setdt( get_delta_t() );
-
- result = fdmex->LoadModel( aircraft_path.str(),
- engine_path.str(),
- fgGetString("/sim/aircraft") );
+ fdmex->GetState()->Initialize(fgic);
+ fdmex->RunIC(fgic); //loop JSBSim once w/o integrating
+ // fdmex->Run(); //loop JSBSim once
+ copy_from_JSBsim(); //update the bus
- if (result) {
- FG_LOG( FG_FLIGHT, FG_INFO, " loaded aircraft " << fgGetString("/sim/aircraft") );
- } else {
- FG_LOG( FG_FLIGHT, FG_INFO, " aircraft "
- << fgGetString("/sim/aircraft")
- << " does not exist" );
- exit(-1);
- }
-#endif
+ SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
- fdmex->GetAtmosphere()->UseInternal();
-
- 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;
+ SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
+ << Position->GetVn() << ", "
+ << Position->GetVe() << ", "
+ << Position->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;
+ SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
+ << Translation->GetUVW(1) << ", "
+ << Translation->GetUVW(2) << ", "
+ << Translation->GetUVW(3) << " ft/s");
+ break;
case setmach:
- FG_LOG(FG_FLIGHT,FG_INFO, " Mach: "
- << fdmex->GetTranslation()->GetMach() );
- break;
+ SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
+ << Translation->GetMach() );
+ break;
case setvc:
default:
- FG_LOG(FG_FLIGHT,FG_INFO, " Indicated Airspeed: "
- << fdmex->GetAuxiliary()->GetVcalibratedKTS() << " knots" );
-
+ 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" );
+
- 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*SG_METER_TO_FEET: "
- << scenery.cur_radius*SG_METER_TO_FEET );
- FG_LOG( FG_FLIGHT, FG_DEBUG, " Calculated Terrain ASL: " << endl
- << " " << "scenery.cur_radius*SG_METER_TO_FEET -get_Sea_level_radius()= "
- << scenery.cur_radius*SG_METER_TO_FEET - get_Sea_level_radius() );
-
- FG_LOG( FG_FLIGHT, FG_DEBUG, " Calculated Aircraft AGL: " << endl
- << " " << "get_Altitude() + get_Sea_level_radius() - scenery.cur_radius*SG_METER_TO_FEET= "
- << get_Altitude() + get_Sea_level_radius()- scenery.cur_radius*SG_METER_TO_FEET );
- FG_LOG( FG_FLIGHT, FG_DEBUG, " fgGetDouble("/position/altitude"): "
- << fgGetDouble("/position/altitude") );
- FG_LOG( FG_FLIGHT, FG_DEBUG, " FGBFI::getAltitude(): "
- << FGBFI::getAltitude() ); */
-
-
- FG_LOG( FG_FLIGHT, FG_INFO, " loaded initial conditions" );
-
- FG_LOG( FG_FLIGHT, FG_INFO, " set dt" );
-
- FG_LOG( FG_FLIGHT, FG_INFO, "Finished initializing JSBSim" );
+
}
/******************************************************************************/
// Run an iteration of the EOM (equations of motion)
bool FGJSBsim::update( int multiloop ) {
-
+
int i;
-
+
double save_alt = 0.0;
-
copy_to_JSBsim();
+
+ trimmed->setBoolValue(false);
+
+ if ( needTrim ) {
+ if ( startup_trim->getBoolValue() ) {
+ do_trim();
+ } else {
+ fdmex->RunIC(fgic); //apply any changes made through the set_ functions
+ }
+ needTrim = false;
+ }
- if(needTrim && fgGetBool("/sim/startup/trim")) {
- //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();
- }
- 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) );
+ 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) );
}
-
-
- for ( i = 0; i < multiloop; i++ ) {
- fdmex->Run();
+
+
+ for ( i=0; i < multiloop; i++ ) {
+ fdmex->Run();
+ }
+
+ 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;
+ }
}
- // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
- // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
+ 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();
-
-
-
- // but lets restore our original bogus altitude when we are done
-
-
-
- //climb rate now set from FDM in copy_from_x()
return true;
}
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()->SetSeaLevelRadius( get_Sea_level_radius() );
- fdmex->GetPosition()->SetRunwayRadius( scenery.cur_elev*SG_METER_TO_FEET
- + 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());
+ 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));
+ }
+
+ 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 i, j;
-
- _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_Body( fdmex->GetTranslation()->GetUVWdot()(1),
- fdmex->GetTranslation()->GetUVWdot()(2),
- fdmex->GetTranslation()->GetUVWdot()(3) );
-
- _set_Accels_CG_Body( fdmex->GetTranslation()->GetUVWdot()(1),
- fdmex->GetTranslation()->GetUVWdot()(2),
- fdmex->GetTranslation()->GetUVWdot()(3) );
-
- //_set_Accels_CG_Body_N ( fdmex->GetTranslation()->GetNcg()(1),
- // fdmex->GetTranslation()->GetNcg()(2),
- // fdmex->GetTranslation()->GetNcg()(3) );
+ 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_Pilot_Body( fdmex->GetAuxiliary()->GetPilotAccel()(1),
- fdmex->GetAuxiliary()->GetPilotAccel()(2),
- fdmex->GetAuxiliary()->GetPilotAccel()(3) );
-
- //_set_Accels_Pilot_Body_N( fdmex->GetAuxiliary()->GetNpilot()(1),
- // fdmex->GetAuxiliary()->GetNpilot()(2),
- // fdmex->GetAuxiliary()->GetNpilot()(3) );
-
- _set_Nlf( fdmex->GetAircraft()->GetNlf() );
-
+ _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->GetPilotAccel()(1)/32.1739,
+ // Auxiliary->GetNpilot(2)/32.1739,
+ // Auxiliary->GetNpilot(3)/32.1739 );
+
+ _set_Nlf( Aerodynamics->GetNlf() );
+
// Velocities
- _set_Velocities_Local( fdmex->GetPosition()->GetVn(),
- fdmex->GetPosition()->GetVe(),
- fdmex->GetPosition()->GetVd() );
+ _set_Velocities_Local( Position->GetVn(),
+ Position->GetVe(),
+ Position->GetVd() );
- _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_Velocities_Wind_Body( Translation->GetUVW(1),
+ Translation->GetUVW(2),
+ Translation->GetUVW(3) );
- // _set_V_calibrated( fdmex->GetAuxiliary()->GetVcalibratedFPS() );
+ _set_V_rel_wind( Translation->GetVt() );
- _set_V_calibrated_kts( fdmex->GetAuxiliary()->GetVcalibratedKTS() );
-
- _set_V_ground_speed( fdmex->GetPosition()->GetVground() );
+ _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
+
+ // _set_V_calibrated( Auxiliary->GetVcalibratedFPS() );
- _set_Omega_Body( fdmex->GetRotation()->GetPQR()(1),
- fdmex->GetRotation()->GetPQR()(2),
- fdmex->GetRotation()->GetPQR()(3) );
+ _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
- _set_Euler_Rates( fdmex->GetRotation()->GetEulerRates()(1),
- fdmex->GetRotation()->GetEulerRates()(2),
- fdmex->GetRotation()->GetEulerRates()(3) );
+ _set_V_ground_speed( Position->GetVground() );
- _set_Geocentric_Rates(fdmex->GetPosition()->GetLatitudeDot(),
- fdmex->GetPosition()->GetLongitudeDot(),
- fdmex->GetPosition()->Gethdot() );
+ _set_Omega_Body( Rotation->GetPQR(1),
+ Rotation->GetPQR(2),
+ Rotation->GetPQR(3) );
- _set_Mach_number( fdmex->GetTranslation()->GetMach() );
+ _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( fdmex->GetPosition()->GetLatitude(),
- fdmex->GetPosition()->GetLongitude(),
- fdmex->GetPosition()->Geth() );
-
- _set_Euler_Angles( fdmex->GetRotation()->Getphi(),
- fdmex->GetRotation()->Gettht(),
- fdmex->GetRotation()->Getpsi() );
+ _updatePosition( Position->GetLatitude(),
+ Position->GetLongitude(),
+ Position->Geth() );
- _set_Alpha( fdmex->GetTranslation()->Getalpha() );
- _set_Beta( fdmex->GetTranslation()->Getbeta() );
+ _set_Altitude_AGL( Position->GetDistanceAGL() );
-
- _set_Gamma_vert_rad( fdmex->GetPosition()->GetGamma() );
+ _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( fdmex->GetAuxiliary()->GetEarthPositionAngle() );
+ _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
+
+ _set_Climb_Rate( Position->Gethdot() );
- _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) );
- }
+ 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;
-
- FG_LOG(FG_FLIGHT,FG_INFO,"FGJSBsim::set_Latitude: " << 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;
+
+ 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 );
- 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) {
-
- 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
+
+ SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
+
+ 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;
-
- FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Altitude: " << alt );
-
- snap_shot();
- sgGeodToGeoc( get_Latitude(), alt , &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);
- 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();
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
+
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();
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
+
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();
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
+ << north << ", " << east << ", " << down );
+
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();
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
+ << u << ", " << v << ", " << w );
+
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
+//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();
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
+ << phi << ", " << theta << ", " << psi );
+
fgic->SetPitchAngleRadIC(theta);
fgic->SetRollAngleRadIC(phi);
fgic->SetTrueHeadingRadIC(psi);
- fdmex->RunIC(fgic); //loop JSBSim once
- copy_from_JSBsim(); //update the bus
- needTrim=true;
-}
+ needTrim=true;
+}
//Flight Path
void FGJSBsim::set_Climb_Rate( double roc) {
- FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
-
- snap_shot();
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
+
fgic->SetClimbRateFpsIC(roc);
- fdmex->RunIC(fgic); //loop JSBSim once
- copy_from_JSBsim(); //update the bus
- needTrim=true;
-}
+ needTrim=true;
+}
void FGJSBsim::set_Gamma_vert_rad( double gamma) {
- FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
-
- snap_shot();
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
+
fgic->SetFlightPathAngleRadIC(gamma);
- fdmex->RunIC(fgic); //loop JSBSim once
- copy_from_JSBsim(); //update the bus
- needTrim=true;
-}
+ 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();
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Sea_level_radius: " << slr );
+
fgic->SetSeaLevelRadiusFtIC(slr);
- fdmex->RunIC(fgic); //loop JSBSim once
- copy_from_JSBsim(); //update the bus
- needTrim=true;
-}
+ needTrim=true;
+}
void FGJSBsim::set_Runway_altitude(double ralt) {
- FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Runway_altitude: " << ralt );
-
- snap_shot();
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Runway_altitude: " << ralt );
+
_set_Runway_altitude( ralt );
fgic->SetTerrainAltitudeFtIC( ralt );
- fdmex->RunIC(fgic); //loop JSBSim once
- copy_from_JSBsim(); //update the bus
- needTrim=true;
-}
+ 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;
+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) {
- FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Static_temperature: " << T );
+
+void FGJSBsim::set_Static_temperature(double T) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_temperature: " << T );
- snap_shot();
- fdmex->GetAtmosphere()->SetExTemperature(T);
- if(fdmex->GetAtmosphere()->External() == true)
- needTrim=true;
+ Atmosphere->SetExTemperature(T);
+ if(Atmosphere->External() == true)
+ needTrim=true;
}
void FGJSBsim::set_Density(double rho) {
- FG_LOG(FG_FLIGHT,FG_INFO, "FGJSBsim::set_Density: " << rho );
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Density: " << rho );
- snap_shot();
- fdmex->GetAtmosphere()->SetExDensity(rho);
- if(fdmex->GetAtmosphere()->External() == true)
- needTrim=true;
+ Atmosphere->SetExDensity(rho);
+ if(Atmosphere->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 );
+ double weast,
+ double wdown ) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local_Airmass: "
+ << wnorth << ", " << weast << ", " << wdown );
- snap_shot();
- fdmex->GetAtmosphere()->SetWindNED(wnorth, weast, wdown );
- if(fdmex->GetAtmosphere()->External() == true)
+ _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