-// JSBsim.hxx -- interface to the "JSBsim" flight model
-//
-// Written by Curtis Olson, started February 1999.
-//
-// Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
-//
-// This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-// General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-//
-// $Id$
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ Header: JSBSim.hxx
+ Author: Curtis L. Olson
+ Maintained by: Tony Peden, Curt Olson
+ Date started: 02/01/1999
-#ifndef _JSBSIM_HXX
-#define _JSBSIM_HXX
+------ Copyright (C) 1999 - 2000 Curtis L. Olson (curt@flightgear.org) ------
-#include <FDM/JSBsim/FGFDMExec.h>
-#undef MAX_ENGINES
+ This program is free software; you can redistribute it and/or
+ modify it under the terms of the GNU General Public License as
+ published by the Free Software Foundation; either version 2 of the
+ License, or (at your option) any later version.
-#include <Aircraft/aircraft.hxx>
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-class FGJSBsim: public FGInterface {
+HISTORY
+--------------------------------------------------------------------------------
+02/01/1999 CLO Created
+Additional log messages stored in CVS
- // The aircraft for this instance
- FGFDMExec FDMExec;
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+SENTRY
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-public:
+#ifndef _JSBSIM_HXX
+#define _JSBSIM_HXX
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+INCLUDES
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
- // copy FDM state to LaRCsim structures
- int copy_to_JSBsim();
+#undef MAX_ENGINES
+#include <Aircraft/aircraft.hxx>
- // copy FDM state from LaRCsim structures
- int copy_from_JSBsim();
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DEFINITIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#define ID_JSBSIMXX "$Header JSBSim.hxx,v 1.4 2000/10/22 14:02:16 jsb Exp $"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+FORWARD DECLARATIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#include <simgear/misc/props.hxx>
+
+#include <FDM/JSBSim/FGFDMExec.h>
+
+class FGState;
+class FGAtmosphere;
+class FGFCS;
+class FGPropulsion;
+class FGMassBalance;
+class FGAerodynamics;
+class FGInertial;
+class FGAircraft;
+class FGTranslation;
+class FGRotation;
+class FGPosition;
+class FGAuxiliary;
+class FGOutput;
+class FGInitialCondition;
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DOCUMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/** FGFS / JSBSim interface (aka "The Bus").
+ This class provides for an interface between FlightGear and its data
+ structures and JSBSim and its data structures. This is the class which is
+ used to command JSBSim when integrated with FlightGear. See the
+ documentation for main for direction on running JSBSim apart from FlightGear.
+ @author Curtis L. Olson (original)
+ @author Tony Peden (Maintained and refined)
+ @version $Id$
+ @see main in file JSBSim.cpp (use main() wrapper for standalone usage)
+*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DECLARATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
- // reset flight params to a specific position
- int init( double dt );
+class FGJSBsim: public FGInterface {
- // update position based on inputs, positions, velocities, etc.
- int update( int multiloop );
+public:
+ /// Constructor
+ FGJSBsim::FGJSBsim( double dt );
+ /// Destructor
+ FGJSBsim::~FGJSBsim();
+
+ /// copy FDM state to LaRCsim structures
+ bool copy_to_JSBsim();
+
+ /// copy FDM state from LaRCsim structures
+ bool copy_from_JSBsim();
+
+ /// Reset flight params to a specific position
+ void init();
+
+ /// @name Position Parameter Set
+ //@{
+ /** Set geocentric latitude
+ @param lat latitude in radians measured from the 0 meridian where
+ the westerly direction is positive and east is negative */
+ void set_Latitude(double lat); // geocentric
+
+ /** Set longitude
+ @param lon longitude in radians measured from the equator where
+ the northerly direction is positive and south is negative */
+ void set_Longitude(double lon);
+
+ /** Set altitude
+ Note: this triggers a recalculation of AGL altitude
+ @param alt altitude in feet */
+ void set_Altitude(double alt); // triggers re-calc of AGL altitude
+ //@}
+
+ //void set_AltitudeAGL(double altagl); // and vice-versa
+
+ /// @name Velocity Parameter Set
+ //@{
+ /** Sets calibrated airspeed
+ Setting this will trigger a recalc of the other velocity terms.
+ @param vc Calibrated airspeed in ft/sec */
+ void set_V_calibrated_kts(double vc);
+
+ /** Sets Mach number.
+ Setting this will trigger a recalc of the other velocity terms.
+ @param mach Mach number */
+ void set_Mach_number(double mach);
+
+ /** Sets velocity in N-E-D coordinates.
+ Setting this will trigger a recalc of the other velocity terms.
+ @param north velocity northward in ft/sec
+ @param east velocity eastward in ft/sec
+ @param down velocity downward in ft/sec */
+ void set_Velocities_Local( double north, double east, double down );
+
+ /** Sets aircraft velocity in stability frame.
+ Setting this will trigger a recalc of the other velocity terms.
+ @param u X velocity in ft/sec
+ @param v Y velocity in ft/sec
+ @param w Z velocity in ft/sec */
+ void set_Velocities_Wind_Body( double u, double v, double w);
+ //@}
+
+ /** Euler Angle Parameter Set
+ @param phi roll angle in radians
+ @param theta pitch angle in radians
+ @param psi heading angle in radians */
+ void set_Euler_Angles( double phi, double theta, double psi );
+
+ /// @name Flight Path Parameter Set
+ //@{
+ /** Sets rate of climb
+ @param roc Rate of climb in ft/sec */
+ void set_Climb_Rate( double roc);
+
+ /** Sets the flight path angle in radians
+ @param gamma flight path angle in radians. */
+ void set_Gamma_vert_rad( double gamma);
+ //@}
+
+ /// @name Earth Parameter Set
+ //@{
+ /** Sets the sea level radius in feet.
+ @param slr Sea Level Radius in feet */
+ void set_Sea_level_radius(double slr);
+
+ /** Sets the runway altitude in feet above sea level.
+ @param ralt Runway altitude in feet above sea level. */
+ void set_Runway_altitude(double ralt);
+ //@}
+
+ /// @name Atmospheric Parameter Set
+ //@{
+ /** Sets the atmospheric static pressure
+ @param p pressure in psf */
+ void set_Static_pressure(double p);
+
+ /** Sets the atmospheric temperature
+ @param T temperature in degrees rankine */
+ void set_Static_temperature(double T);
+
+ /** Sets the atmospheric density.
+ @param rho air density slugs/cubic foot */
+ void set_Density(double rho);
+
+ /** Sets the velocity of the local airmass for wind modeling.
+ @param wnorth velocity north in fps
+ @param weast velocity east in fps
+ @param wdown velocity down in fps*/
+ void set_Velocities_Local_Airmass (double wnorth,
+ double weast,
+ double wdown );
+ //@}
+
+ /** Update the position based on inputs, positions, velocities, etc.
+ @param multiloop number of times to loop through the FDM
+ @return true if successful */
+ bool update( int multiloop );
+ bool ToggleDataLogging(bool state);
+ bool ToggleDataLogging(void);
+
+private:
+ FGFDMExec *fdmex;
+ FGInitialCondition *fgic;
+ bool needTrim;
+
+ FGState* State;
+ FGAtmosphere* Atmosphere;
+ FGFCS* FCS;
+ FGPropulsion* Propulsion;
+ FGMassBalance* MassBalance;
+ FGAircraft* Aircraft;
+ FGTranslation* Translation;
+ FGRotation* Rotation;
+ FGPosition* Position;
+ FGAuxiliary* Auxiliary;
+ FGAerodynamics* Aerodynamics;
+
+ int runcount;
+ float trim_elev;
+ float trim_throttle;
+
+ SGPropertyNode *startup_trim;
+ SGPropertyNode *trimmed;
+ SGPropertyNode *pitch_trim;
+ SGPropertyNode *throttle_trim;
+ SGPropertyNode *aileron_trim;
+ SGPropertyNode *rudder_trim;
+
+ void snap_shot(void);
};
projects / flightgear.git / blobdiff