X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2FJSBSim.cxx;h=a73844073a5a5ba0a2bdd8ee6526137bf729e2e0;hb=4da0760edd971fe6462c6fbab889618ef60a68ed;hp=15daa8e22953ae67fbe69e106f4d254df3b738c1;hpb=6fcd9f967bf659cc0dcf7288fc82a111e3eaee24;p=flightgear.git diff --git a/src/FDM/JSBSim/JSBSim.cxx b/src/FDM/JSBSim/JSBSim.cxx index 15daa8e22..a73844073 100644 --- a/src/FDM/JSBSim/JSBSim.cxx +++ b/src/FDM/JSBSim/JSBSim.cxx @@ -5,20 +5,20 @@ // 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 +// modify it under the terms of the GNU Lesser 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. +// Lesser General Public License for more details. // -// You should have received a copy of the GNU General Public License +// You should have received a copy of the GNU Lesser General Public License // along with this program; if not, write to the Free Software // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. // -// $Id$ +// $Id: JSBSim.cxx,v 1.64 2010/10/31 04:49:25 jberndt Exp $ #ifdef HAVE_CONFIG_H @@ -26,6 +26,7 @@ #endif #include +#include #include // size_t #include @@ -38,7 +39,6 @@ #include -#include #include #include
#include
@@ -46,7 +46,6 @@ #include "JSBSim.hxx" #include #include -#include #include #include #include @@ -59,6 +58,10 @@ #include #include #include +#include +#include +#include +#include #include #include #include @@ -97,27 +100,73 @@ public: /** Compute the altitude above ground. */ virtual double GetAGLevel(double t, const FGLocation& l, - FGLocation& cont, - FGColumnVector3& n, FGColumnVector3& v) const { + FGLocation& cont, FGColumnVector3& n, + FGColumnVector3& v, FGColumnVector3& w) const { double loc_cart[3] = { l(eX), l(eY), l(eZ) }; - double contact[3], normal[3], vel[3], agl = 0; + double contact[3], normal[3], vel[3], angularVel[3], agl = 0; mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal, - vel, &agl); - n = FGColumnVector3( -normal[0], -normal[1], -normal[2] ); + vel, angularVel, &agl); + n = FGColumnVector3( normal[0], normal[1], normal[2] ); v = FGColumnVector3( vel[0], vel[1], vel[2] ); + w = FGColumnVector3( angularVel[0], angularVel[1], angularVel[2] ); cont = FGColumnVector3( contact[0], contact[1], contact[2] ); return agl; } + + virtual double GetTerrainGeoCentRadius(double t, const FGLocation& l) const { + double loc_cart[3] = { l(eX), l(eY), l(eZ) }; + double contact[3], normal[3], vel[3], angularVel[3], agl = 0; + mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal, + vel, angularVel, &agl); + return sqrt(contact[0]*contact[0]+contact[1]*contact[1]+contact[2]*contact[2]); + } + + virtual double GetSeaLevelRadius(const FGLocation& l) const { + double seaLevelRadius, latGeoc; + + sgGeodToGeoc(l.GetGeodLatitudeRad(), l.GetGeodAltitude(), + &seaLevelRadius, &latGeoc); + + return seaLevelRadius * SG_METER_TO_FEET; + } + + virtual void SetTerrainGeoCentRadius(double radius) {} + virtual void SetSeaLevelRadius(double radius) {} private: FGJSBsim* mInterface; }; +// FG uses a squared normalized magnitude for turbulence +// this lookup table maps fg's severity levels +// none(0), light(1/3), moderate(2/3) and severe(3/3) +// to the POE table indexes 0, 3, 4 and 7 +class FGTurbulenceSeverityTable : public FGTable { +public: + FGTurbulenceSeverityTable() : FGTable(4) { + *this << (0.0/9.0) << 0.0; + *this << (1.0/9.0) << 3.0; + *this << (4.0/9.0) << 4.0; + *this << (9.0/9.0) << 7.0; + } +}; + /******************************************************************************/ +std::map FGJSBsim::TURBULENCE_TYPE_NAMES; + +static FGTurbulenceSeverityTable TurbulenceSeverityTable; FGJSBsim::FGJSBsim( double dt ) : FGInterface(dt), got_wire(false) { bool result; + if( TURBULENCE_TYPE_NAMES.empty() ) { + TURBULENCE_TYPE_NAMES["ttNone"] = FGWinds::ttNone; + TURBULENCE_TYPE_NAMES["ttStandard"] = FGWinds::ttStandard; + TURBULENCE_TYPE_NAMES["ttCulp"] = FGWinds::ttCulp; + TURBULENCE_TYPE_NAMES["ttMilspec"] = FGWinds::ttMilspec; + TURBULENCE_TYPE_NAMES["ttTustin"] = FGWinds::ttTustin; + } + // Set up the debugging level // FIXME: this will not respond to // runtime changes @@ -148,17 +197,18 @@ FGJSBsim::FGJSBsim( double dt ) // Register ground callback. fdmex->SetGroundCallback( new FGFSGroundCallback(this) ); - State = fdmex->GetState(); Atmosphere = fdmex->GetAtmosphere(); + Winds = fdmex->GetWinds(); FCS = fdmex->GetFCS(); MassBalance = fdmex->GetMassBalance(); Propulsion = fdmex->GetPropulsion(); Aircraft = fdmex->GetAircraft(); - Propagate = fdmex->GetPropagate(); + Propagate = fdmex->GetPropagate(); Auxiliary = fdmex->GetAuxiliary(); Inertial = fdmex->GetInertial(); Aerodynamics = fdmex->GetAerodynamics(); GroundReactions = fdmex->GetGroundReactions(); + Accelerations = fdmex->GetAccelerations(); fgic=fdmex->GetIC(); needTrim=true; @@ -171,7 +221,13 @@ FGJSBsim::FGJSBsim( double dt ) SGPath systems_path( fgGetString("/sim/aircraft-dir") ); systems_path.append( "Systems" ); - State->Setdt( dt ); +// deprecate sim-time-sec for simulation/sim-time-sec +// remove alias with increased configuration file version number (2.1 or later) + SGPropertyNode * node = fgGetNode("/fdm/jsbsim/simulation/sim-time-sec"); + fgGetNode("/fdm/jsbsim/sim-time-sec", true)->alias( node ); +// end of sim-time-sec deprecation patch + + fdmex->Setdt( dt ); result = fdmex->LoadModel( aircraft_path.str(), engine_path.str(), @@ -206,15 +262,25 @@ 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(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()); @@ -264,9 +330,11 @@ FGJSBsim::FGJSBsim( double dt ) temperature = fgGetNode("/environment/temperature-degc",true); pressure = fgGetNode("/environment/pressure-inhg",true); - density = fgGetNode("/environment/density-slugft3",true); + pressureSL = fgGetNode("/environment/pressure-sea-level-inhg",true); + ground_wind = fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt",true); turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true); turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true); + turbulence_model = fgGetNode("/environment/params/jsbsim-turbulence-model",true); wind_from_north= fgGetNode("/environment/wind-from-north-fps",true); wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true); @@ -284,6 +352,8 @@ 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; } @@ -301,52 +371,72 @@ FGJSBsim::~FGJSBsim(void) void FGJSBsim::init() { - double tmp; - SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" ); // Explicitly call the superclass's // init method first. if (fgGetBool("/environment/params/control-fdm-atmosphere")) { - Atmosphere->UseExternal(); - Atmosphere->SetExTemperature( - 9.0/5.0*(temperature->getDoubleValue()+273.15) ); - Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566); - Atmosphere->SetExDensity(density->getDoubleValue()); - Atmosphere->SetTurbType(FGAtmosphere::ttCulp); - Atmosphere->SetTurbGain(turbulence_gain->getDoubleValue()); - Atmosphere->SetTurbRate(turbulence_rate->getDoubleValue()); - - } else { - Atmosphere->UseInternal(); + Atmosphere->SetTemperature(temperature->getDoubleValue(), get_Altitude(), FGAtmosphere::eCelsius); + Atmosphere->SetPressureSL(pressureSL->getDoubleValue(), FGAtmosphere::eInchesHg); + // initialize to no turbulence, these values get set in the update loop + Winds->SetTurbType(FGWinds::ttNone); + Winds->SetTurbGain(0.0); + Winds->SetTurbRate(0.0); + Winds->SetWindspeed20ft(0.0); + Winds->SetProbabilityOfExceedence(0.0); } - fgic->SetVNorthFpsIC( -wind_from_north->getDoubleValue() ); - fgic->SetVEastFpsIC( -wind_from_east->getDoubleValue() ); - fgic->SetVDownFpsIC( -wind_from_down->getDoubleValue() ); + fgic->SetWindNEDFpsIC( -wind_from_north->getDoubleValue(), + -wind_from_east->getDoubleValue(), + -wind_from_down->getDoubleValue() ); - //Atmosphere->SetExTemperature(get_Static_temperature()); - //Atmosphere->SetExPressure(get_Static_pressure()); - //Atmosphere->SetExDensity(get_Density()); - SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature() - << ", " << fdmex->GetAtmosphere()->GetPressure() - << ", " << fdmex->GetAtmosphere()->GetDensity() ); - - if (fgGetBool("/sim/presets/running")) { - for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) { - SGPropertyNode * node = fgGetNode("engines/engine", i, true); - node->setBoolValue("running", true); - Propulsion->GetEngine(i)->SetRunning(true); - } - } + SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << Atmosphere->GetTemperature() + << ", " << Atmosphere->GetPressure() + << ", " << Atmosphere->GetDensity() ); FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() ); + needTrim = startup_trim->getBoolValue(); common_init(); copy_to_JSBsim(); fdmex->RunIC(); //loop JSBSim once w/o integrating + if (fgGetBool("/sim/presets/running")) { + Propulsion->InitRunning(-1); + for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) { + FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i); + globals->get_controls()->set_magnetos(i, eng->GetMagnetos()); + globals->get_controls()->set_mixture(i, FCS->GetMixtureCmd(i)); + } + } + + if ( needTrim ) { + FGLocation cart(fgic->GetLongitudeRadIC(), fgic->GetLatitudeRadIC(), + get_Sea_level_radius() + fgic->GetAltitudeASLFtIC()); + double cart_pos[3], contact[3], d[3], vel[3], agl; + update_ground_cache(cart, cart_pos, 0.01); + + get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact, + d, vel, d, &agl); + double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1] + + contact[2]*contact[2]) - get_Sea_level_radius(); + + SG_LOG(SG_FLIGHT, SG_INFO, "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(); + needTrim = false; + } + copy_from_JSBsim(); //update the bus SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" ); @@ -401,6 +491,14 @@ void FGJSBsim::init() /******************************************************************************/ +void FGJSBsim::unbind() +{ + fdmex->Unbind(); + FGInterface::unbind(); +} + +/******************************************************************************/ + // Run an iteration of the EOM (equations of motion) void FGJSBsim::update( double dt ) @@ -415,85 +513,22 @@ void FGJSBsim::update( double dt ) return; int multiloop = _calc_multiloop(dt); + FGLocation cart = Auxiliary->GetLocationVRP(); + double cart_pos[3]; - int i; - - // Compute the radius of the aircraft. That is the radius of a ball - // where all gear units are in. At the moment it is at least 10ft ... - double acrad = 10.0; - int n_gears = GroundReactions->GetNumGearUnits(); - for (i=0; iGetGearUnit(i)->GetBodyLocation(); - double r = bl.Magnitude(); - if (acrad < r) - acrad = r; - } - - // Compute the potential movement of this aircraft and query for the - // ground in this area. - double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude(); - double alt, slr, lat, lon; - FGColumnVector3 cart = Auxiliary->GetLocationVRP(); - if ( needTrim && startup_trim->getBoolValue() ) { - alt = fgic->GetAltitudeASLFtIC(); - slr = fgic->GetSeaLevelRadiusFtIC(); - lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS; - lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS; - cart = FGLocation(lon, lat, alt+slr); - } - double cart_pos[3] = { cart(1), cart(2), cart(3) }; - double t0 = State->Getsim_time(); - bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos, - groundCacheRadius ); - if (!cache_ok) { - SG_LOG(SG_FLIGHT, SG_WARN, - "FGInterface is being called without scenery below the aircraft!"); - - alt = fgic->GetAltitudeASLFtIC(); - SG_LOG(SG_FLIGHT, SG_WARN, "altitude = " << alt); - - slr = fgic->GetSeaLevelRadiusFtIC(); - SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = " << slr); - - lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS; - SG_LOG(SG_FLIGHT, SG_WARN, "latitude = " << lat); - - lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS; - SG_LOG(SG_FLIGHT, SG_WARN, "longitude = " << lon); - //return; - } + update_ground_cache(cart, cart_pos, dt); copy_to_JSBsim(); trimmed->setBoolValue(false); - if ( needTrim ) { - if ( startup_trim->getBoolValue() ) { - double contact[3], d[3], agl; - get_agl_ft(State->Getsim_time(), cart_pos, SG_METER_TO_FEET*2, contact, - d, d, &agl); - double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1] - + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC(); - - SG_LOG(SG_FLIGHT, SG_INFO, - "Ready to trim, terrain elevation is: " - << terrain_alt * SG_METER_TO_FEET ); - - fgic->SetTerrainElevationFtIC( terrain_alt ); - do_trim(); - } else { - fdmex->RunIC(); //apply any changes made through the set_ functions - } - needTrim = false; - } - - for ( i=0; i < multiloop; i++ ) { + for ( int i=0; i < multiloop; i++ ) { fdmex->Run(); - update_external_forces(State->Getsim_time() + i * State->Getdt()); + update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT()); } FGJSBBase::Message* msg; - while (msg = fdmex->ProcessNextMessage()) { + while ((msg = fdmex->ProcessNextMessage()) != NULL) { // msg = fdmex->ProcessNextMessage(); switch (msg->type) { case FGJSBBase::Message::eText: @@ -523,11 +558,26 @@ void FGJSBsim::update( double dt ) /******************************************************************************/ +void FGJSBsim::suspend() +{ + fdmex->Hold(); + SGSubsystem::suspend(); +} + +/******************************************************************************/ + +void FGJSBsim::resume() +{ + fdmex->Resume(); + SGSubsystem::resume(); +} + +/******************************************************************************/ + // Convert from the FGInterface struct to the JSBsim generic_ struct bool FGJSBsim::copy_to_JSBsim() { - double tmp; unsigned int i; // copy control positions into the JSBsim structure @@ -589,7 +639,7 @@ 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: @@ -615,23 +665,37 @@ bool FGJSBsim::copy_to_JSBsim() } // end FGEngine code block } + Atmosphere->SetTemperature(temperature->getDoubleValue(), get_Altitude(), FGAtmosphere::eCelsius); + Atmosphere->SetPressureSL(pressureSL->getDoubleValue(), FGAtmosphere::eInchesHg); - Propagate->SetSeaLevelRadius( get_Sea_level_radius() ); - - Atmosphere->SetExTemperature( - 9.0/5.0*(temperature->getDoubleValue()+273.15) ); - Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566); - Atmosphere->SetExDensity(density->getDoubleValue()); - - tmp = turbulence_gain->getDoubleValue(); - //Atmosphere->SetTurbGain(tmp * tmp * 100.0); + Winds->SetTurbType((FGWinds::tType)TURBULENCE_TYPE_NAMES[turbulence_model->getStringValue()]); + switch( Winds->GetTurbType() ) { + case FGWinds::ttStandard: + case FGWinds::ttCulp: { + double tmp = turbulence_gain->getDoubleValue(); + Winds->SetTurbGain(tmp * tmp * 100.0); + Winds->SetTurbRate(turbulence_rate->getDoubleValue()); + break; + } + case FGWinds::ttMilspec: + case FGWinds::ttTustin: { + // milspec turbulence: 3=light, 4=moderate, 6=severe turbulence + // turbulence_gain normalized: 0: none, 1/3: light, 2/3: moderate, 3/3: severe + double tmp = turbulence_gain->getDoubleValue(); + Winds->SetProbabilityOfExceedence( + SGMiscd::roundToInt(TurbulenceSeverityTable.GetValue( tmp ) ) + ); + Winds->SetWindspeed20ft(ground_wind->getDoubleValue()); + break; + } - tmp = turbulence_rate->getDoubleValue(); - //Atmosphere->SetTurbRate(tmp); + default: + break; + } - Atmosphere->SetWindNED( -wind_from_north->getDoubleValue(), - -wind_from_east->getDoubleValue(), - -wind_from_down->getDoubleValue() ); + Winds->SetWindNED( -wind_from_north->getDoubleValue(), + -wind_from_east->getDoubleValue(), + -wind_from_down->getDoubleValue() ); // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: " // << get_V_north_airmass() << ", " // << get_V_east_airmass() << ", " @@ -640,8 +704,13 @@ 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()); @@ -668,19 +737,19 @@ bool FGJSBsim::copy_from_JSBsim() MassBalance->GetXYZcg(2), MassBalance->GetXYZcg(3) ); - _set_Accels_Body( Aircraft->GetBodyAccel(1), - Aircraft->GetBodyAccel(2), - Aircraft->GetBodyAccel(3) ); + _set_Accels_Body( Accelerations->GetBodyAccel(1), + Accelerations->GetBodyAccel(2), + Accelerations->GetBodyAccel(3) ); - _set_Accels_CG_Body_N ( Aircraft->GetNcg(1), - Aircraft->GetNcg(2), - Aircraft->GetNcg(3) ); + _set_Accels_CG_Body_N ( Auxiliary->GetNcg(1), + Auxiliary->GetNcg(2), + Auxiliary->GetNcg(3) ); _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1), Auxiliary->GetPilotAccel(2), Auxiliary->GetPilotAccel(3) ); - _set_Nlf( Aircraft->GetNlf() ); + _set_Nlf( Auxiliary->GetNlf() ); // Velocities @@ -717,15 +786,15 @@ bool FGJSBsim::copy_from_JSBsim() // Positions of Visual Reference Point FGLocation l = Auxiliary->GetLocationVRP(); - _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(), - l.GetRadius() - get_Sea_level_radius() ); + _updatePosition(SGGeoc::fromRadFt( l.GetLongitude(), l.GetLatitude(), + l.GetRadius() )); _set_Altitude_AGL( Propagate->GetDistanceAGL() ); { double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) }; double contact[3], d[3], sd, t; is_valid_m(&t, d, &sd); - get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, &sd); + get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, d, &sd); double rwrad = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude(); _set_Runway_altitude( rwrad - get_Sea_level_radius() ); @@ -741,7 +810,7 @@ bool FGJSBsim::copy_from_JSBsim() _set_Gamma_vert_rad( Auxiliary->GetGamma() ); - _set_Earth_position_angle( Inertial->GetEarthPositionAngle() ); + _set_Earth_position_angle( Propagate->GetEarthPositionAngle() ); _set_Climb_Rate( Propagate->Gethdot() ); @@ -776,7 +845,7 @@ 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: @@ -784,10 +853,10 @@ bool FGJSBsim::copy_from_JSBsim() FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i); node->setDoubleValue("n1", eng->GetN1()); node->setDoubleValue("n2", eng->GetN2()); - node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5); + 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()); @@ -806,7 +875,7 @@ 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()); @@ -814,7 +883,7 @@ 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()); @@ -828,6 +897,8 @@ bool FGJSBsim::copy_from_JSBsim() node->setDoubleValue("rpm", eng->getRPM()); } // end FGElectric code block break; + case FGEngine::etUnknown: + break; } { // FGEngine code block @@ -844,7 +915,7 @@ 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: @@ -858,7 +929,7 @@ 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: @@ -877,7 +948,12 @@ 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); } @@ -899,7 +975,7 @@ bool FGJSBsim::copy_from_JSBsim() // force a sim crashed if crashed (altitude AGL < 0) if (get_Altitude_AGL() < -100.0) { - State->SuspendIntegration(); + fdmex->SuspendIntegration(); crashed = true; } @@ -930,166 +1006,206 @@ bool FGJSBsim::ToggleDataLogging(bool state) //Positions void FGJSBsim::set_Latitude(double lat) { - static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft"); - double alt; - double sea_level_radius_meters, lat_geoc; + static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft"); + double alt = altitude->getDoubleValue(); + double sea_level_radius_meters, lat_geoc; - // In case we're not trimming - FGInterface::set_Latitude(lat); + if ( alt < -9990 ) alt = 0.0; - if ( altitude->getDoubleValue() > -9990 ) { - alt = altitude->getDoubleValue(); - } else { - alt = 0.0; - } + 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 ); - update_ic(); - SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat ); - SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt ); + double sea_level_radius_ft = sea_level_radius_meters * SG_METER_TO_FEET; + _set_Sea_level_radius( sea_level_radius_ft ); - 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 ); + if (needTrim) { + fgic->SetSeaLevelRadiusFtIC( sea_level_radius_ft ); fgic->SetLatitudeRadIC( lat_geoc ); - needTrim=true; + } + else + Propagate->SetLatitude(lat_geoc); + + FGInterface::set_Latitude(lat); } void FGJSBsim::set_Longitude(double lon) { - SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon ); + SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon ); - // In case we're not trimming - FGInterface::set_Longitude(lon); + if (needTrim) + fgic->SetLongitudeRadIC(lon); + else + Propagate->SetLongitude(lon); - update_ic(); - fgic->SetLongitudeRadIC( lon ); - needTrim=true; + FGInterface::set_Longitude(lon); } // Sets the altitude above sea level. void FGJSBsim::set_Altitude(double alt) { - static SGConstPropertyNode_ptr 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() ); + SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt ); - // In case we're not trimming - FGInterface::set_Altitude(alt); - - update_ic(); - 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 ); - SG_LOG(SG_FLIGHT, SG_INFO, - "Terrain elevation: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET ); - fgic->SetLatitudeRadIC( lat_geoc ); + if (needTrim) fgic->SetAltitudeASLFtIC(alt); - needTrim=true; + else + Propagate->SetAltitudeASL(alt); + + FGInterface::set_Altitude(alt); } void FGJSBsim::set_V_calibrated_kts(double vc) { SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc ); - // In case we're not trimming - FGInterface::set_V_calibrated_kts(vc); - - update_ic(); + if (needTrim) fgic->SetVcalibratedKtsIC(vc); - needTrim=true; + else { + double p=pressure->getDoubleValue(); + double psl=fdmex->GetAtmosphere()->GetPressureSL(); + double rhosl=fdmex->GetAtmosphere()->GetDensitySL(); + double mach = FGJSBBase::MachFromVcalibrated(vc, p, psl, rhosl); + double temp = 1.8*(temperature->getDoubleValue()+273.15); + double soundSpeed = sqrt(1.4*1716.0*temp); + FGColumnVector3 vUVW = Propagate->GetUVW(); + vUVW.Normalize(); + vUVW *= mach * soundSpeed; + Propagate->SetUVW(1, vUVW(1)); + Propagate->SetUVW(2, vUVW(2)); + Propagate->SetUVW(3, vUVW(3)); + } + + FGInterface::set_V_calibrated_kts(vc); } void FGJSBsim::set_Mach_number(double mach) { - SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach ); + SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach ); - // In case we're not trimming - FGInterface::set_Mach_number(mach); - - update_ic(); + if (needTrim) fgic->SetMachIC(mach); - needTrim=true; + else { + double temp = 1.8*(temperature->getDoubleValue()+273.15); + double soundSpeed = sqrt(1.4*1716.0*temp); + FGColumnVector3 vUVW = Propagate->GetUVW(); + vUVW.Normalize(); + vUVW *= mach * soundSpeed; + Propagate->SetUVW(1, vUVW(1)); + Propagate->SetUVW(2, vUVW(2)); + Propagate->SetUVW(3, vUVW(3)); + } + + FGInterface::set_Mach_number(mach); } void FGJSBsim::set_Velocities_Local( double north, double east, double down ) { - SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: " - << north << ", " << east << ", " << down ); + SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: " + << north << ", " << east << ", " << down ); - // In case we're not trimming - FGInterface::set_Velocities_Local(north, east, down); - - update_ic(); + if (needTrim) { fgic->SetVNorthFpsIC(north); fgic->SetVEastFpsIC(east); fgic->SetVDownFpsIC(down); - needTrim=true; + } + else { + FGColumnVector3 vNED(north, east, down); + FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED; + Propagate->SetUVW(1, vUVW(1)); + Propagate->SetUVW(2, vUVW(2)); + Propagate->SetUVW(3, vUVW(3)); + } + + FGInterface::set_Velocities_Local(north, east, down); } 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 ); - - // In case we're not trimming - FGInterface::set_Velocities_Wind_Body(u, v, w); + SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: " + << u << ", " << v << ", " << w ); - update_ic(); + if (needTrim) { fgic->SetUBodyFpsIC(u); fgic->SetVBodyFpsIC(v); fgic->SetWBodyFpsIC(w); - needTrim=true; + } + else { + Propagate->SetUVW(1, u); + Propagate->SetUVW(2, v); + Propagate->SetUVW(3, w); + } + + FGInterface::set_Velocities_Wind_Body(u, v, w); } //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 ); + SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: " + << phi << ", " << theta << ", " << psi ); - // In case we're not trimming - FGInterface::set_Euler_Angles(phi, theta, psi); - - update_ic(); + if (needTrim) { fgic->SetThetaRadIC(theta); fgic->SetPhiRadIC(phi); fgic->SetPsiRadIC(psi); - needTrim=true; + } + else { + FGQuaternion quat(phi, theta, psi); + FGMatrix33 Tl2b = quat.GetT(); + FGMatrix33 Ti2b = Tl2b*Propagate->GetTi2l(); + FGQuaternion Qi = Ti2b.GetQuaternion(); + Propagate->SetInertialOrientation(Qi); + } + + FGInterface::set_Euler_Angles(phi, theta, psi); } //Flight Path void FGJSBsim::set_Climb_Rate( double roc) { - SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc ); - - // In case we're not trimming - FGInterface::set_Climb_Rate(roc); + SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc ); - update_ic(); - //since both climb rate and flight path angle are set in the FG - //startup sequence, something is needed to keep one from cancelling - //out the other. - if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) { + //since both climb rate and flight path angle are set in the FG + //startup sequence, something is needed to keep one from cancelling + //out the other. + if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) { + if (needTrim) fgic->SetClimbRateFpsIC(roc); + else { + FGColumnVector3 vNED = Propagate->GetVel(); + vNED(FGJSBBase::eDown) = -roc; + FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED; + Propagate->SetUVW(1, vUVW(1)); + Propagate->SetUVW(2, vUVW(2)); + Propagate->SetUVW(3, vUVW(3)); } - needTrim=true; + + FGInterface::set_Climb_Rate(roc); + } } void FGJSBsim::set_Gamma_vert_rad( double gamma) { - SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma ); + SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma ); - update_ic(); - if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) { + if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) { + if (needTrim) fgic->SetFlightPathAngleRadIC(gamma); + else { + FGColumnVector3 vNED = Propagate->GetVel(); + double vt = vNED.Magnitude(); + vNED(FGJSBBase::eDown) = -vt * sin(gamma); + FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED; + Propagate->SetUVW(1, vUVW(1)); + Propagate->SetUVW(2, vUVW(2)); + Propagate->SetUVW(3, vUVW(3)); } - needTrim=true; + + FGInterface::set_Gamma_vert_rad(gamma); + } } void FGJSBsim::init_gear(void ) @@ -1140,7 +1256,7 @@ void FGJSBsim::do_trim(void) { fgtrim = new FGTrim(fdmex,tGround); } else { - fgtrim = new FGTrim(fdmex,tLongitudinal); + fgtrim = new FGTrim(fdmex,tFull); } if ( !fgtrim->DoTrim() ) { @@ -1149,47 +1265,71 @@ void FGJSBsim::do_trim(void) } else { trimmed->setBoolValue(true); } -// if (FGJSBBase::debug_lvl > 0) -// 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() ); + 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( 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()); + globals->get_controls()->set_rudder( -FCS->GetDrCmd()); SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" ); } -void FGJSBsim::update_ic(void) +bool FGJSBsim::update_ground_cache(FGLocation cart, double* cart_pos, double dt) { - if ( !needTrim ) { - fgic->SetLatitudeRadIC(get_Lat_geocentric() ); - fgic->SetLongitudeRadIC( get_Longitude() ); - fgic->SetAltitudeASLFtIC( get_Altitude() ); - fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() ); - fgic->SetThetaRadIC( get_Theta() ); - fgic->SetPhiRadIC( get_Phi() ); - fgic->SetPsiRadIC( get_Psi() ); - fgic->SetClimbRateFpsIC( get_Climb_Rate() ); - } + // Compute the radius of the aircraft. That is the radius of a ball + // where all gear units are in. At the moment it is at least 10ft ... + double acrad = 10.0; + int n_gears = GroundReactions->GetNumGearUnits(); + for (int i=0; iGetGearUnit(i)->GetBodyLocation(); + double r = bl.Magnitude(); + if (acrad < r) + acrad = r; + } + + // Compute the potential movement of this aircraft and query for the + // ground in this area. + double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude(); + cart_pos[0] = cart(1); + cart_pos[1] = cart(2); + cart_pos[2] = cart(3); + double t0 = fdmex->GetSimTime(); + bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos, + groundCacheRadius ); + if (!cache_ok) { + SG_LOG(SG_FLIGHT, SG_WARN, + "FGInterface is being called without scenery below the aircraft!"); + + SG_LOG(SG_FLIGHT, SG_WARN, "altitude = " + << fgic->GetAltitudeASLFtIC()); + + SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = " + << get_Sea_level_radius()); + + SG_LOG(SG_FLIGHT, SG_WARN, "latitude = " + << fgic->GetLatitudeRadIC()); + + SG_LOG(SG_FLIGHT, SG_WARN, "longitude = " + << fgic->GetLongitudeRadIC()); + } + + return cache_ok; } bool FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off, double contact[3], double normal[3], double vel[3], - double *agl) + double angularVel[3], double *agl) { - double angularVel[3]; const SGMaterial* material; simgear::BVHNode::Id id; if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel, @@ -1201,11 +1341,6 @@ FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off, return true; } -inline static double dot3(const FGColumnVector3& a, const FGColumnVector3& b) -{ - return a(1) * b(1) + a(2) * b(2) + a(3) * b(3); -} - inline static double sqr(double x) { return x * x; @@ -1222,7 +1357,7 @@ static double angle_diff(double a, double b) static void check_hook_solution(const FGColumnVector3& ground_normal_body, double E, double hook_length, double sin_fi_guess, double cos_fi_guess, double* sin_fis, double* cos_fis, double* fis, int* points) { FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess); - double dist = dot3(tip, ground_normal_body); + double dist = DotProduct(tip, ground_normal_body); if (fabs(dist + E) < 0.0001) { sin_fis[*points] = sin_fi_guess; cos_fis[*points] = cos_fi_guess; @@ -1268,28 +1403,29 @@ void FGJSBsim::update_external_forces(double t_off) FGColumnVector3 hook_tip_body = hook_root_body; hook_tip_body(1) -= hook_length * cos_fi; hook_tip_body(3) += hook_length * sin_fi; - bool hook_tip_valid = true; double contact[3]; double ground_normal[3]; double ground_vel[3]; + double ground_angular_vel[3]; double root_agl_ft; if (!got_wire) { - bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal, ground_vel, &root_agl_ft); + bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal, + ground_vel, ground_angular_vel, &root_agl_ft); if (got && root_agl_ft > 0 && root_agl_ft < hook_length) { FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2])); FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2])); - double D = -dot3(contact_body, ground_normal_body); + double D = -DotProduct(contact_body, ground_normal_body); // check hook tip agl against same ground plane - double hook_tip_agl_ft = dot3(hook_tip_body, ground_normal_body) + D; + double hook_tip_agl_ft = DotProduct(hook_tip_body, ground_normal_body) + D; if (hook_tip_agl_ft < 0) { // hook tip: hx - l cos, hy, hz + l sin // on ground: - n0 l cos + n2 l sin + E = 0 - double E = D + dot3(hook_root_body, ground_normal_body); + double E = D + DotProduct(hook_root_body, ground_normal_body); // substitue x = sin fi, cos fi = sqrt(1 - x * x) // and rearrange to get a quadratic with coeffs: @@ -1341,7 +1477,7 @@ void FGJSBsim::update_external_forces(double t_off) FGColumnVector3 wire_end2_body = Tl2b * Location.LocationToLocal(FGColumnVector3(wire_ends_ec[1][0], wire_ends_ec[1][1], wire_ends_ec[1][2])) - hook_root_body; FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body; force_plane_normal.Normalize(); - cos_fi = dot3(force_plane_normal, FGColumnVector3(0, 0, 1)); + cos_fi = DotProduct(force_plane_normal, FGColumnVector3(0, 0, 1)); if (cos_fi < 0) cos_fi = -cos_fi; sin_fi = sqrt(1 - sqr(cos_fi)); fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;