X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2FJSBSim.cxx;h=a73844073a5a5ba0a2bdd8ee6526137bf729e2e0;hb=4da0760edd971fe6462c6fbab889618ef60a68ed;hp=54ed598726b30714f28fdc7726e6263808bbaaf9;hpb=0d0b5c616c26012100aa6e6493447d086645b918;p=flightgear.git diff --git a/src/FDM/JSBSim/JSBSim.cxx b/src/FDM/JSBSim/JSBSim.cxx index 54ed59872..a73844073 100644 --- a/src/FDM/JSBSim/JSBSim.cxx +++ b/src/FDM/JSBSim/JSBSim.cxx @@ -60,6 +60,8 @@ #include #include #include +#include +#include #include #include #include @@ -110,6 +112,26 @@ public: 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; }; @@ -138,12 +160,11 @@ FGJSBsim::FGJSBsim( double dt ) { bool result; if( TURBULENCE_TYPE_NAMES.empty() ) { - TURBULENCE_TYPE_NAMES["ttNone"] = FGAtmosphere::ttNone; - TURBULENCE_TYPE_NAMES["ttStandard"] = FGAtmosphere::ttStandard; - TURBULENCE_TYPE_NAMES["ttBerndt"] = FGAtmosphere::ttBerndt; - TURBULENCE_TYPE_NAMES["ttCulp"] = FGAtmosphere::ttCulp; - TURBULENCE_TYPE_NAMES["ttMilspec"] = FGAtmosphere::ttMilspec; - TURBULENCE_TYPE_NAMES["ttTustin"] = FGAtmosphere::ttTustin; + 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 @@ -177,6 +198,7 @@ FGJSBsim::FGJSBsim( double dt ) fdmex->SetGroundCallback( new FGFSGroundCallback(this) ); Atmosphere = fdmex->GetAtmosphere(); + Winds = fdmex->GetWinds(); FCS = fdmex->GetFCS(); MassBalance = fdmex->GetMassBalance(); Propulsion = fdmex->GetPropulsion(); @@ -186,6 +208,7 @@ FGJSBsim::FGJSBsim( double dt ) Inertial = fdmex->GetInertial(); Aerodynamics = fdmex->GetAerodynamics(); GroundReactions = fdmex->GetGroundReactions(); + Accelerations = fdmex->GetAccelerations(); fgic=fdmex->GetIC(); needTrim=true; @@ -307,7 +330,7 @@ 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); @@ -354,47 +377,27 @@ void FGJSBsim::init() // 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->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 - Atmosphere->SetTurbType(FGAtmosphere::ttNone); - Atmosphere->SetTurbGain(0.0); - Atmosphere->SetTurbRate(0.0); - Atmosphere->SetWindspeed20ft(0.0); - Atmosphere->SetProbabilityOfExceedence(0.0); - } else { - Atmosphere->UseInternal(); + Winds->SetTurbType(FGWinds::ttNone); + Winds->SetTurbGain(0.0); + Winds->SetTurbRate(0.0); + Winds->SetWindspeed20ft(0.0); + Winds->SetProbabilityOfExceedence(0.0); } 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() ); - -// deprecate egt_degf for egt-degf to have consistent naming -// TODO: remove this by end of 2011 - for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) { - SGPropertyNode * node = fgGetNode("engines/engine", i, true); - SGPropertyNode * egtn = node->getNode( "egt_degf" ); - if( egtn != NULL ) { - SG_LOG(SG_FLIGHT,SG_ALERT, - "Aircraft uses deprecated node egt_degf. Please upgrade to egt-degf"); - node->getNode("egt-degf", true)->alias( egtn ); - } - } -// end of egt_degf deprecation patch + 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(); @@ -407,6 +410,33 @@ void FGJSBsim::init() 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:" ); @@ -483,88 +513,18 @@ void FGJSBsim::update( double dt ) return; int multiloop = _calc_multiloop(dt); - - 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; FGLocation 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 = 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!"); - - 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; - } + double cart_pos[3]; + + update_ground_cache(cart, cart_pos, dt); copy_to_JSBsim(); trimmed->setBoolValue(false); - if ( needTrim ) { - if ( startup_trim->getBoolValue() ) { - double contact[3], d[3], vel[3], agl; - 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]) - fgic->GetSeaLevelRadiusFtIC(); - - 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(); - } 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(fdmex->GetSimTime() + i * fdmex->GetDeltaT()); + update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT()); } FGJSBBase::Message* msg; @@ -705,33 +665,27 @@ 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()); - - Atmosphere->SetTurbType((FGAtmosphere::tType)TURBULENCE_TYPE_NAMES[turbulence_model->getStringValue()]); - switch( Atmosphere->GetTurbType() ) { - case FGAtmosphere::ttStandard: - case FGAtmosphere::ttCulp: - case FGAtmosphere::ttBerndt: { + Winds->SetTurbType((FGWinds::tType)TURBULENCE_TYPE_NAMES[turbulence_model->getStringValue()]); + switch( Winds->GetTurbType() ) { + case FGWinds::ttStandard: + case FGWinds::ttCulp: { double tmp = turbulence_gain->getDoubleValue(); - Atmosphere->SetTurbGain(tmp * tmp * 100.0); - Atmosphere->SetTurbRate(turbulence_rate->getDoubleValue()); + Winds->SetTurbGain(tmp * tmp * 100.0); + Winds->SetTurbRate(turbulence_rate->getDoubleValue()); break; } - case FGAtmosphere::ttMilspec: - case FGAtmosphere::ttTustin: { + 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(); - Atmosphere->SetProbabilityOfExceedence( + Winds->SetProbabilityOfExceedence( SGMiscd::roundToInt(TurbulenceSeverityTable.GetValue( tmp ) ) ); - Atmosphere->SetWindspeed20ft(ground_wind->getDoubleValue()); + Winds->SetWindspeed20ft(ground_wind->getDoubleValue()); break; } @@ -739,9 +693,9 @@ bool FGJSBsim::copy_to_JSBsim() 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() << ", " @@ -783,19 +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 @@ -832,8 +786,8 @@ 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() ); { @@ -856,7 +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() ); @@ -1052,186 +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 ); - update_ic(); - 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 ); - 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 ); + double sea_level_radius_ft = sea_level_radius_meters * SG_METER_TO_FEET; + _set_Sea_level_radius( sea_level_radius_ft ); + + if (needTrim) { + fgic->SetSeaLevelRadiusFtIC( sea_level_radius_ft ); fgic->SetLatitudeRadIC( lat_geoc ); + } + else + Propagate->SetLatitude(lat_geoc); - if (!fdmex->Holding()) - needTrim=true; + 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 ); - - if (!fdmex->Holding()) - 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() ); - - // In case we're not trimming - FGInterface::set_Altitude(alt); + SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::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: " << FGInterface::get_Runway_altitude() * SG_METER_TO_FEET ); - fgic->SetLatitudeRadIC( lat_geoc ); + if (needTrim) fgic->SetAltitudeASLFtIC(alt); + else + Propagate->SetAltitudeASL(alt); - if (!fdmex->Holding()) - needTrim=true; + 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); + 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)); + } - if (!fdmex->Holding()) - needTrim=true; + 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); + 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)); + } - if (!fdmex->Holding()) - needTrim=true; + 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); + } + 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)); + } - if (!fdmex->Holding()) - needTrim=true; + 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); + } + else { + Propagate->SetUVW(1, u); + Propagate->SetUVW(2, v); + Propagate->SetUVW(3, w); + } - if (!fdmex->Holding()) - needTrim=true; + 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 ); - - // In case we're not trimming - FGInterface::set_Euler_Angles(phi, theta, psi); + SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: " + << phi << ", " << theta << ", " << psi ); - update_ic(); + if (needTrim) { fgic->SetThetaRadIC(theta); fgic->SetPhiRadIC(phi); fgic->SetPsiRadIC(psi); + } + else { + FGQuaternion quat(phi, theta, psi); + FGMatrix33 Tl2b = quat.GetT(); + FGMatrix33 Ti2b = Tl2b*Propagate->GetTi2l(); + FGQuaternion Qi = Ti2b.GetQuaternion(); + Propagate->SetInertialOrientation(Qi); + } - if (!fdmex->Holding()) - needTrim=true; + 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 ); + SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc ); - // In case we're not trimming - FGInterface::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)); } - if (!fdmex->Holding()) - 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)); } - if (!fdmex->Holding()) - needTrim=true; + FGInterface::set_Gamma_vert_rad(gamma); + } } void FGJSBsim::init_gear(void ) @@ -1309,18 +1283,46 @@ void FGJSBsim::do_trim(void) 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 @@ -1339,11 +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; @@ -1360,7 +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; @@ -1419,16 +1416,16 @@ void FGJSBsim::update_external_forces(double t_off) 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: @@ -1480,7 +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;