X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2FJSBSim.cxx;h=0eb21888e30cf6c994f3a3a8fcafe5ed32cb45af;hb=96a902a2eb6e4a64cd4b225eb68fd85c07901903;hp=612424629aa053d9098a421695ed052c88925563;hpb=ae5c29e68588064dfa0dbddbd196191f14fdea91;p=flightgear.git

diff --git a/src/FDM/JSBSim/JSBSim.cxx b/src/FDM/JSBSim/JSBSim.cxx
index 612424629..0eb21888e 100644
--- a/src/FDM/JSBSim/JSBSim.cxx
+++ b/src/FDM/JSBSim/JSBSim.cxx
@@ -18,7 +18,7 @@
 // along with this program; if not, write to the Free Software
 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
 //
-// $Id: JSBSim.cxx,v 1.63 2010/10/07 03:45:40 jberndt Exp $
+// $Id: JSBSim.cxx,v 1.64 2010/10/31 04:49:25 jberndt Exp $
 
 
 #ifdef HAVE_CONFIG_H
@@ -26,6 +26,7 @@
 #endif
 
 #include <simgear/compiler.h>
+#include <simgear/sg_inlines.h>
 
 #include <stdio.h>    //    size_t
 #include <string>
@@ -212,15 +213,25 @@ FGJSBsim::FGJSBsim( double dt )
 
     // Set initial fuel levels if provided.
     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
+      double d;
       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
-      if (node->getChild("level-gal_us", 0, false) != 0) {
-        Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
+      FGTank* tank = Propulsion->GetTank(i);
+
+      d = node->getNode( "density-ppg", true )->getDoubleValue();
+      if( d > 0.0 ) {
+        tank->SetDensity( d );
+      } else {
+        node->getNode( "density-ppg", true )->setDoubleValue( SG_MAX2<double>(tank->GetDensity(), 0.1) );
+      }
+
+      d = node->getNode( "level-lbs", true )->getDoubleValue();
+      if( d > 0.0 ) {
+        tank->SetContents( d );
       } else {
-        node->setDoubleValue("level-lbs", Propulsion->GetTank(i)->GetContents());
-        node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
+        node->getNode( "level-lbs", true )->setDoubleValue( tank->GetContents() );
       }
-      node->setDoubleValue("capacity-gal_us",
-                           Propulsion->GetTank(i)->GetCapacity() / 6.6);
+      /* Capacity is read-only in FGTank and can't be overwritten from FlightGear */
+      node->getNode("capacity-gal_us", true )->setDoubleValue( tank->GetCapacityGallons() );
     }
     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
 
@@ -290,6 +301,8 @@ FGJSBsim::FGJSBsim( double dt )
         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
+    last_hook_tip[0] = 0; last_hook_tip[1] = 0; last_hook_tip[2] = 0;
+    last_hook_root[0] = 0; last_hook_root[1] = 0; last_hook_root[2] = 0;
 
     crashed = false;
 }
@@ -420,6 +433,14 @@ void FGJSBsim::init()
 
 /******************************************************************************/
 
+void FGJSBsim::unbind()
+{
+  fdmex->Unbind();
+  FGInterface::unbind();
+}
+
+/******************************************************************************/
+
 // Run an iteration of the EOM (equations of motion)
 
 void FGJSBsim::update( double dt )
@@ -452,7 +473,7 @@ void FGJSBsim::update( double dt )
     // ground in this area.
     double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
     double alt, slr, lat, lon;
-    FGColumnVector3 cart = Auxiliary->GetLocationVRP();
+    FGLocation cart = Auxiliary->GetLocationVRP();
     if ( needTrim && startup_trim->getBoolValue() ) {
       alt = fgic->GetAltitudeASLFtIC();
       slr = fgic->GetSeaLevelRadiusFtIC();
@@ -488,9 +509,9 @@ void FGJSBsim::update( double dt )
 
     if ( needTrim ) {
       if ( startup_trim->getBoolValue() ) {
-        double contact[3], d[3], agl;
+        double contact[3], d[3], vel[3], agl;
         get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
-                   d, d, d, &agl);
+                   d, vel, d, &agl);
         double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
              + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
 
@@ -498,6 +519,13 @@ void FGJSBsim::update( double dt )
           "Ready to trim, terrain elevation is: "
             << terrain_alt * SG_METER_TO_FEET );
 
+        if (fgGetBool("/sim/presets/onground")) {
+          FGColumnVector3 gndVelNED = cart.GetTec2l()
+                                    * FGColumnVector3(vel[0], vel[1], vel[2]);
+          fgic->SetVNorthFpsIC(gndVelNED(1));
+          fgic->SetVEastFpsIC(gndVelNED(2));
+          fgic->SetVDownFpsIC(gndVelNED(3));
+        }
         fgic->SetTerrainElevationFtIC( terrain_alt );
         do_trim();
       } else {
@@ -512,7 +540,7 @@ void FGJSBsim::update( double dt )
     }
 
     FGJSBBase::Message* msg;
-    while (msg = fdmex->ProcessNextMessage()) {
+    while ((msg = fdmex->ProcessNextMessage()) != NULL) {
 //      msg = fdmex->ProcessNextMessage();
       switch (msg->type) {
       case FGJSBBase::Message::eText:
@@ -608,7 +636,7 @@ bool FGJSBsim::copy_to_JSBsim()
         } // end FGTurbine code block
       case FGEngine::etRocket:
         { // FGRocket code block
-        FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
+//        FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
         break;
         } // end FGRocket code block
       case FGEngine::etTurboprop:
@@ -659,8 +687,13 @@ bool FGJSBsim::copy_to_JSBsim()
     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
       FGTank * tank = Propulsion->GetTank(i);
-      tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
-//       tank->SetContents(node->getDoubleValue("level-lbs"));
+      double fuelDensity = node->getDoubleValue("density-ppg");
+
+      if (fuelDensity < 0.1)
+        fuelDensity = 6.0; // Use average fuel value
+
+      tank->SetDensity(fuelDensity);
+      tank->SetContents(node->getDoubleValue("level-lbs"));
     }
 
     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
@@ -795,7 +828,7 @@ bool FGJSBsim::copy_from_JSBsim()
         break;
       case FGEngine::etRocket:
         { // FGRocket code block
-        FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
+//        FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
         } // end FGRocket code block
         break;
       case FGEngine::etTurbine:
@@ -806,7 +839,7 @@ bool FGJSBsim::copy_from_JSBsim()
         node->setDoubleValue("egt-degf", 32 + eng->GetEGT()*9/5);
         node->setBoolValue("augmentation", eng->GetAugmentation());
         node->setBoolValue("water-injection", eng->GetInjection());
-        node->setBoolValue("ignition", eng->GetIgnition());
+        node->setBoolValue("ignition", eng->GetIgnition() != 0);
         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
@@ -825,7 +858,7 @@ bool FGJSBsim::copy_from_JSBsim()
         node->setDoubleValue("n1", eng->GetN1());
         //node->setDoubleValue("n2", eng->GetN2());
         node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
-        node->setBoolValue("ignition", eng->GetIgnition());
+        node->setBoolValue("ignition", eng->GetIgnition() != 0);
         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
@@ -833,7 +866,7 @@ bool FGJSBsim::copy_from_JSBsim()
         node->setBoolValue("cutoff", eng->GetCutoff());
         node->setBoolValue("starting", eng->GetEngStarting());
         node->setBoolValue("generator-power", eng->GetGeneratorPower());
-        node->setBoolValue("damaged", eng->GetCondition());
+        node->setBoolValue("damaged", eng->GetCondition() != 0);
         node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 //        node->setBoolValue("onfire", eng->GetFire());
@@ -865,7 +898,7 @@ bool FGJSBsim::copy_from_JSBsim()
       switch (thruster->GetType()) {
       case FGThruster::ttNozzle:
         { // FGNozzle code block
-        FGNozzle* noz = (FGNozzle*)thruster;
+//        FGNozzle* noz = (FGNozzle*)thruster;
         } // end FGNozzle code block
         break;
       case FGThruster::ttPropeller:
@@ -879,7 +912,7 @@ bool FGJSBsim::copy_from_JSBsim()
         break;
       case FGThruster::ttRotor:
         { // FGRotor code block
-        FGRotor* rotor = (FGRotor*)thruster;
+//        FGRotor* rotor = (FGRotor*)thruster;
         } // end FGRotor code block
         break;
       case FGThruster::ttDirect:
@@ -898,7 +931,12 @@ bool FGJSBsim::copy_from_JSBsim()
         FGTank* tank = Propulsion->GetTank(i);
         double contents = tank->GetContents();
         double temp = tank->GetTemperature_degC();
-        node->setDoubleValue("level-gal_us", contents/6.6);
+        double fuelDensity = tank->GetDensity();
+
+        if (fuelDensity < 0.1)
+          fuelDensity = 6.0; // Use average fuel value
+
+        node->setDoubleValue("density-ppg" , fuelDensity);
         node->setDoubleValue("level-lbs", contents);
         if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
       }
@@ -1179,8 +1217,8 @@ void FGJSBsim::do_trim(void)
 
   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( unsigned i = 0; i < Propulsion->GetNumEngines(); i++ )
+    globals->get_controls()->set_throttle(i, FCS->GetThrottleCmd(i));
 
   globals->get_controls()->set_aileron(FCS->GetDaCmd());
   globals->get_controls()->set_rudder( FCS->GetDrCmd());