X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2FJSBSim.cxx;h=a9e9be77199dc8f50fdd0a220c39eb0d96f7a331;hb=287cc74965e11ff3888117a9d9b88ed2bdbb9252;hp=abab0414d8bdc47ad526d6b6ced11bad9c0e4d41;hpb=5ee9cd1fcc7ea1bfb97b1a5ce9433d620e6bab6e;p=flightgear.git diff --git a/src/FDM/JSBSim/JSBSim.cxx b/src/FDM/JSBSim/JSBSim.cxx index abab0414d..a9e9be771 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 @@ -38,7 +38,6 @@ #include -#include #include #include
#include
@@ -46,7 +45,6 @@ #include "JSBSim.hxx" #include #include -#include #include #include #include @@ -59,6 +57,8 @@ #include #include #include +#include +#include #include #include #include @@ -97,14 +97,15 @@ 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; } @@ -148,7 +149,6 @@ FGJSBsim::FGJSBsim( double dt ) // Register ground callback. fdmex->SetGroundCallback( new FGFSGroundCallback(this) ); - State = fdmex->GetState(); Atmosphere = fdmex->GetAtmosphere(); FCS = fdmex->GetFCS(); MassBalance = fdmex->GetMassBalance(); @@ -171,7 +171,13 @@ 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(), @@ -258,6 +264,10 @@ FGJSBsim::FGJSBsim( double dt ) speedbrake_pos_pct->setDoubleValue(0); spoilers_pos_pct->setDoubleValue(0); + ab_brake_engaged = fgGetNode("/autopilot/autobrake/engaged", true); + ab_brake_left_pct = fgGetNode("/autopilot/autobrake/brake-left-output", true); + ab_brake_right_pct = fgGetNode("/autopilot/autobrake/brake-right-output", true); + temperature = fgGetNode("/environment/temperature-degc",true); pressure = fgGetNode("/environment/pressure-inhg",true); density = fgGetNode("/environment/density-slugft3",true); @@ -280,6 +290,8 @@ 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; } @@ -297,8 +309,6 @@ FGJSBsim::~FGJSBsim(void) void FGJSBsim::init() { - double tmp; - SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" ); // Explicitly call the superclass's @@ -329,6 +339,21 @@ void FGJSBsim::init() << ", " << fdmex->GetAtmosphere()->GetPressure() << ", " << fdmex->GetAtmosphere()->GetDensity() ); +// deprecate egt_degf for egt-degf to have consistent naming +// TODO: raise log-level to ALERT in summer 2010, +// remove alias in fall 2010, +// remove this code in winter 2010 + 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_WARN, + "Aircraft uses deprecated node egt_degf. Please upgrade to egt-degf"); + node->getNode("egt-degf", true)->alias( egtn ); + } + } +// end of egt_degf deprecation patch + if (fgGetBool("/sim/presets/running")) { for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) { SGPropertyNode * node = fgGetNode("engines/engine", i, true); @@ -397,6 +422,33 @@ void FGJSBsim::init() /******************************************************************************/ +void checkTied ( FGPropertyManager *node ) +{ + int N = node->nChildren(); + string name; + + for (int i=0; igetChild(i)->nChildren() ) { + checkTied( (FGPropertyManager*)node->getChild(i) ); + } + if ( node->getChild(i)->isTied() ) { + name = ((FGPropertyManager*)node->getChild(i))->GetFullyQualifiedName(); + node->Untie(name); + } + } +} + +/******************************************************************************/ + +void FGJSBsim::unbind() +{ + SGPropertyNode* instance = globals->get_props()->getNode("/fdm/jsbsim"); + checkTied((FGPropertyManager*)instance); + FGInterface::unbind(); +} + +/******************************************************************************/ + // Run an iteration of the EOM (equations of motion) void FGJSBsim::update( double dt ) @@ -429,7 +481,7 @@ 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(); @@ -438,7 +490,7 @@ void FGJSBsim::update( double dt ) cart = FGLocation(lon, lat, alt+slr); } double cart_pos[3] = { cart(1), cart(2), cart(3) }; - double t0 = State->Getsim_time(); + double t0 = fdmex->GetSimTime(); bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos, groundCacheRadius ); if (!cache_ok) { @@ -465,9 +517,9 @@ void FGJSBsim::update( double dt ) 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 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(); @@ -475,6 +527,13 @@ 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 { @@ -485,7 +544,7 @@ void FGJSBsim::update( double dt ) for ( 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; @@ -542,8 +601,18 @@ bool FGJSBsim::copy_to_JSBsim() // Parking brake sets minimum braking // level for mains. double parking_brake = globals->get_controls()->get_brake_parking(); - FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake)); - FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake)); + double left_brake = globals->get_controls()->get_brake_left(); + double right_brake = globals->get_controls()->get_brake_right(); + + if (ab_brake_engaged->getBoolValue()) { + left_brake = ab_brake_left_pct->getDoubleValue(); + right_brake = ab_brake_right_pct->getDoubleValue(); + } + + FCS->SetLBrake(FMAX(left_brake, parking_brake)); + FCS->SetRBrake(FMAX(right_brake, parking_brake)); + + FCS->SetCBrake( 0.0 ); // FCS->SetCBrake( globals->get_controls()->get_brake(2) ); @@ -711,7 +780,7 @@ bool FGJSBsim::copy_from_JSBsim() 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() ); @@ -741,9 +810,7 @@ bool FGJSBsim::copy_from_JSBsim() // Copy the engine values from JSBSim. for ( i=0; i < Propulsion->GetNumEngines(); i++ ) { SGPropertyNode * node = fgGetNode("engines/engine", i, true); - char buf[30]; - sprintf(buf, "engines/engine[%d]/thruster", i); - SGPropertyNode * tnode = fgGetNode(buf, true); + SGPropertyNode * tnode = node->getChild("thruster", 0, true); FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster(); switch (Propulsion->GetEngine(i)->GetType()) { @@ -772,7 +839,7 @@ 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()); @@ -816,6 +883,8 @@ bool FGJSBsim::copy_from_JSBsim() node->setDoubleValue("rpm", eng->getRPM()); } // end FGElectric code block break; + case FGEngine::etUnknown: + break; } { // FGEngine code block @@ -887,7 +956,7 @@ 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; } @@ -975,7 +1044,7 @@ void FGJSBsim::set_Altitude(double alt) _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 ); + "Terrain elevation: " << FGInterface::get_Runway_altitude() * SG_METER_TO_FEET ); fgic->SetLatitudeRadIC( lat_geoc ); fgic->SetAltitudeASLFtIC(alt); needTrim=true; @@ -1137,9 +1206,6 @@ void FGJSBsim::do_trim(void) } else { trimmed->setBoolValue(true); } -// if (FGJSBBase::debug_lvl > 0) -// State->ReportState(); - delete fgtrim; pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() ); @@ -1175,9 +1241,8 @@ void FGJSBsim::update_ic(void) 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, @@ -1256,15 +1321,16 @@ 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]));