X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2FJSBSim.cxx;h=aaa08ef87bfb2e461a8e7d4bd45afa0c8272b432;hb=287cc74965e11ff3888117a9d9b88ed2bdbb9252;hp=ffaf8543e1eb46c7a2581117b2eeb2ee5b1112e5;hpb=eb05a298e9a9a830b23b6337d812dafa48d39bba;p=flightgear.git diff --git a/src/FDM/JSBSim/JSBSim.cxx b/src/FDM/JSBSim/JSBSim.cxx index ffaf8543e..a9e9be771 100644 --- a/src/FDM/JSBSim/JSBSim.cxx +++ b/src/FDM/JSBSim/JSBSim.cxx @@ -5,58 +5,74 @@ // 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 $ -#include - -#ifdef SG_MATH_EXCEPTION_CLASH -# include +#ifdef HAVE_CONFIG_H +# include #endif -#include STL_STRING +#include + +#include // size_t +#include #include #include #include #include +#include #include -#include -#include +#include #include
#include
-#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include #include "JSBSim.hxx" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace JSBSim; static inline double FMAX (double a, double b) @@ -64,43 +80,110 @@ FMAX (double a, double b) return a > b ? a : b; } +class FGFSGroundCallback : public FGGroundCallback { +public: + FGFSGroundCallback(FGJSBsim* ifc) : mInterface(ifc) {} + virtual ~FGFSGroundCallback() {} + + /** Get the altitude above sea level dependent on the location. */ + virtual double GetAltitude(const FGLocation& l) const { + double pt[3] = { SG_FEET_TO_METER*l(eX), + SG_FEET_TO_METER*l(eY), + SG_FEET_TO_METER*l(eZ) }; + double lat, lon, alt; + sgCartToGeod( pt, &lat, &lon, &alt); + return alt * SG_METER_TO_FEET; + } + + /** Compute the altitude above ground. */ + virtual double GetAGLevel(double t, const FGLocation& l, + 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], angularVel[3], agl = 0; + mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal, + 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; + } +private: + FGJSBsim* mInterface; +}; /******************************************************************************/ -FGJSBsim::FGJSBsim( double dt ) - : FGInterface(dt) +FGJSBsim::FGJSBsim( double dt ) + : FGInterface(dt), got_wire(false) { bool result; - + // Set up the debugging level + // FIXME: this will not respond to + // runtime changes + + // if flight is excluded, don't bother + if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) { + + // do a rough-and-ready mapping to + // the levels documented in FGFDMExec.h + switch (logbuf::get_log_priority()) { + case SG_BULK: + FGJSBBase::debug_lvl = 0x1f; + break; + case SG_DEBUG: + FGJSBBase::debug_lvl = 0x0f; + case SG_INFO: + FGJSBBase::debug_lvl = 0x01; + break; + case SG_WARN: + case SG_ALERT: + FGJSBBase::debug_lvl = 0x00; + break; + } + } + fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() ); - - State = fdmex->GetState(); + + // Register ground callback. + fdmex->SetGroundCallback( new FGFSGroundCallback(this) ); + Atmosphere = fdmex->GetAtmosphere(); FCS = fdmex->GetFCS(); MassBalance = fdmex->GetMassBalance(); Propulsion = fdmex->GetPropulsion(); Aircraft = fdmex->GetAircraft(); - Translation = fdmex->GetTranslation(); - Rotation = fdmex->GetRotation(); - Position = fdmex->GetPosition(); + Propagate = fdmex->GetPropagate(); Auxiliary = fdmex->GetAuxiliary(); + Inertial = fdmex->GetInertial(); Aerodynamics = fdmex->GetAerodynamics(); - GroundReactions = fdmex->GetGroundReactions(); - + GroundReactions = fdmex->GetGroundReactions(); + fgic=fdmex->GetIC(); needTrim=true; - - SGPath aircraft_path( globals->get_fg_root() ); - aircraft_path.append( "Aircraft" ); - SGPath engine_path( globals->get_fg_root() ); + SGPath aircraft_path( fgGetString("/sim/aircraft-dir") ); + + SGPath engine_path( fgGetString("/sim/aircraft-dir") ); engine_path.append( "Engine" ); - State->Setdt( dt ); + + SGPath systems_path( fgGetString("/sim/aircraft-dir") ); + systems_path.append( "Systems" ); + +// 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(), - fgGetString("/sim/aero") ); - + systems_path.str(), + fgGetString("/sim/aero"), false ); + if (result) { SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero."); } else { @@ -115,33 +198,38 @@ FGJSBsim::FGJSBsim( double dt ) int Neng = Propulsion->GetNumEngines(); SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng ); - + if ( GroundReactions->GetNumGearUnits() <= 0 ) { SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = " << GroundReactions->GetNumGearUnits() ); SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming"); - SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump."); - SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!"); - exit(-1); + SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump."); + SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!"); + exit(-1); } - - + init_gear(); - // Set initial fuel levels if provided. + // Set initial fuel levels if provided. for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) { 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); + if (node->getChild("level-gal_us", 0, false) != 0) { + Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6); + } else { + node->setDoubleValue("level-lbs", Propulsion->GetTank(i)->GetContents()); + node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6); + } + node->setDoubleValue("capacity-gal_us", + Propulsion->GetTank(i)->GetCapacity() / 6.6); } - + Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue()); + fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd()); fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0)); fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd()); fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd()); - startup_trim = fgGetNode("/sim/startup/trim", true); + startup_trim = fgGetNode("/sim/presets/trim", true); trimmed = fgGetNode("/fdm/trim/trimmed", true); trimmed->setBoolValue(false); @@ -150,11 +238,10 @@ FGJSBsim::FGJSBsim( double dt ) throttle_trim = fgGetNode("/fdm/trim/throttle", true ); aileron_trim = fgGetNode("/fdm/trim/aileron", true ); rudder_trim = fgGetNode("/fdm/trim/rudder", true ); - - - stall_warning = fgGetNode("/sim/aero/alarms/stall-warning",true); + + stall_warning = fgGetNode("/sim/alarms/stall-warning",true); stall_warning->setDoubleValue(0); - + flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true); elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true); @@ -163,28 +250,56 @@ FGJSBsim::FGJSBsim( double dt ) right_aileron_pos_pct =fgGetNode("/surface-positions/right-aileron-pos-norm",true); rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true); - - + speedbrake_pos_pct + =fgGetNode("/surface-positions/speedbrake-pos-norm",true); + spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true); + tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true); + wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-pos-norm",true); elevator_pos_pct->setDoubleValue(0); left_aileron_pos_pct->setDoubleValue(0); right_aileron_pos_pct->setDoubleValue(0); rudder_pos_pct->setDoubleValue(0); flap_pos_pct->setDoubleValue(0); + 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); - + turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true); + turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true); + wind_from_north= fgGetNode("/environment/wind-from-north-fps",true); wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true); wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true); - + slaved = fgGetNode("/sim/slaved/enabled", true); + + for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) { + SGPropertyNode * node = fgGetNode("engines/engine", i, true); + Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") / + Propulsion->GetEngine(i)->GetThruster()->GetGearRatio()); + } + + hook_root_struct = FGColumnVector3( + 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; } + /******************************************************************************/ -FGJSBsim::~FGJSBsim(void) { - delete fdmex; +FGJSBsim::~FGJSBsim(void) +{ + delete fdmex; } /******************************************************************************/ @@ -192,43 +307,67 @@ FGJSBsim::~FGJSBsim(void) { // Initialize the JSBsim flight model, dt is the time increment for // each subsequent iteration through the EOM -void FGJSBsim::init() { - +void FGJSBsim::init() +{ SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" ); // Explicitly call the superclass's // init method first. -#ifdef FG_WEATHERCM - Atmosphere->UseInternal(); -#else 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(); } -#endif - - fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() ); - fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() ); - fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() ); + + fgic->SetVNorthFpsIC( -wind_from_north->getDoubleValue() ); + fgic->SetVEastFpsIC( -wind_from_east->getDoubleValue() ); + fgic->SetVDownFpsIC( -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()->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); + node->setBoolValue("running", true); + Propulsion->GetEngine(i)->SetRunning(true); + } + } + + FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() ); + common_init(); - copy_to_JSBsim(); - - fdmex->RunIC(); //loop JSBSim once w/o integrating + copy_to_JSBsim(); + fdmex->RunIC(); //loop JSBSim once w/o integrating copy_from_JSBsim(); //update the bus SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" ); @@ -236,19 +375,19 @@ void FGJSBsim::init() { switch(fgic->GetSpeedSet()) { case setned: SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= " - << Position->GetVn() << ", " - << Position->GetVe() << ", " - << Position->GetVd() << " ft/s"); + << Propagate->GetVel(FGJSBBase::eNorth) << ", " + << Propagate->GetVel(FGJSBBase::eEast) << ", " + << Propagate->GetVel(FGJSBBase::eDown) << " ft/s"); break; case setuvw: SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= " - << Translation->GetUVW(1) << ", " - << Translation->GetUVW(2) << ", " - << Translation->GetUVW(3) << " ft/s"); + << Propagate->GetUVW(1) << ", " + << Propagate->GetUVW(2) << ", " + << Propagate->GetUVW(3) << " ft/s"); break; case setmach: SG_LOG(SG_FLIGHT,SG_INFO, " Mach: " - << Translation->GetMach() ); + << Auxiliary->GetMach() ); break; case setvc: default: @@ -256,40 +395,69 @@ void FGJSBsim::init() { << Auxiliary->GetVcalibratedKTS() << " knots" ); break; } - + stall_warning->setDoubleValue(0); - + SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: " - << Rotation->Getphi()*RADTODEG << " deg" ); + << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" ); SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: " - << Rotation->Gettht()*RADTODEG << " deg" ); + << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" ); SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: " - << Rotation->Getpsi()*RADTODEG << " deg" ); + << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" ); SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: " - << Position->GetLatitude() << " deg" ); + << Propagate->GetLocation().GetLatitudeDeg() << " deg" ); SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: " - << Position->GetLongitude() << " deg" ); + << Propagate->GetLocation().GetLongitudeDeg() << " deg" ); SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: " - << Position->Geth() << " feet" ); + << Propagate->GetAltitudeASL() << " feet" ); SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" ); SG_LOG( SG_FLIGHT, SG_INFO, " set dt" ); SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" ); - - SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " << + + SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " << globals->get_controls()->get_gear_down() ); - +} - +/******************************************************************************/ + +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 ) { +void FGJSBsim::update( double dt ) +{ + if(crashed) { + if(!fgGetBool("/sim/crashed")) + fgSetBool("/sim/crashed", true); + return; + } if (is_suspended()) return; @@ -298,34 +466,94 @@ FGJSBsim::update( double dt ) { int i; - // double save_alt = 0.0; + // 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; + } 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 altitude is: " - << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET ); - fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() ); + "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; - } - + needTrim = false; + } + for ( i=0; i < multiloop; i++ ) { - fdmex->Run(); + fdmex->Run(); + update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT()); } FGJSBBase::Message* msg; - while (fdmex->ReadMessage()) { - msg = fdmex->ProcessMessage(); + while (msg = fdmex->ProcessNextMessage()) { +// msg = fdmex->ProcessNextMessage(); switch (msg->type) { case FGJSBBase::Message::eText: + if (msg->text == "Crash Detected: Simulation FREEZE.") + crashed = true; SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text ); break; case FGJSBBase::Message::eBool: @@ -352,7 +580,9 @@ FGJSBsim::update( double dt ) { // Convert from the FGInterface struct to the JSBsim generic_ struct -bool FGJSBsim::copy_to_JSBsim() { +bool FGJSBsim::copy_to_JSBsim() +{ + double tmp; unsigned int i; // copy control positions into the JSBsim structure @@ -363,42 +593,100 @@ bool FGJSBsim::copy_to_JSBsim() { FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() ); FCS->SetDrCmd( -globals->get_controls()->get_rudder() ); FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() ); - FCS->SetDfCmd( globals->get_controls()->get_flaps() ); - FCS->SetDsbCmd( 0.0 ); //speedbrakes - FCS->SetDspCmd( 0.0 ); //spoilers - - // Parking brake sets minimum braking - // level for mains. - double parking_brake = globals->get_controls()->get_parking_brake(); - FCS->SetLBrake(FMAX(globals->get_controls()->get_brake(0), parking_brake)); - FCS->SetRBrake(FMAX(globals->get_controls()->get_brake(1), parking_brake)); - FCS->SetCBrake( globals->get_controls()->get_brake( 2 ) ); + FCS->SetDsCmd( globals->get_controls()->get_rudder() ); + FCS->SetDfCmd( globals->get_controls()->get_flaps() ); + FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() ); + FCS->SetDspCmd( globals->get_controls()->get_spoilers() ); + + // Parking brake sets minimum braking + // level for mains. + double parking_brake = globals->get_controls()->get_brake_parking(); + 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) ); FCS->SetGearCmd( globals->get_controls()->get_gear_down()); for (i = 0; i < Propulsion->GetNumEngines(); i++) { - FGEngine * eng = Propulsion->GetEngine(i); SGPropertyNode * node = fgGetNode("engines/engine", i, true); + FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i)); FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i)); FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i)); - Propulsion->GetThruster(i)->SetRPM(node->getDoubleValue("rpm")); - eng->SetMagnetos( globals->get_controls()->get_magnetos(i) ); + FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i)); + + switch (Propulsion->GetEngine(i)->GetType()) { + case FGEngine::etPiston: + { // FGPiston code block + FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i); + eng->SetMagnetos( globals->get_controls()->get_magnetos(i) ); + break; + } // end FGPiston code block + case FGEngine::etTurbine: + { // FGTurbine code block + FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i); + eng->SetAugmentation( globals->get_controls()->get_augmentation(i) ); + eng->SetReverse( globals->get_controls()->get_reverser(i) ); + //eng->SetInjection( globals->get_controls()->get_water_injection(i) ); + eng->SetCutoff( globals->get_controls()->get_cutoff(i) ); + eng->SetIgnition( globals->get_controls()->get_ignition(i) ); + break; + } // end FGTurbine code block + case FGEngine::etRocket: + { // FGRocket code block + FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i); + break; + } // end FGRocket code block + case FGEngine::etTurboprop: + { // FGTurboProp code block + FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i); + eng->SetReverse( globals->get_controls()->get_reverser(i) ); + eng->SetCutoff( globals->get_controls()->get_cutoff(i) ); + eng->SetIgnition( globals->get_controls()->get_ignition(i) ); + + eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) ); + eng->SetCondition( globals->get_controls()->get_condition(i) ); + break; + } // end FGTurboProp code block + default: + break; + } + + { // FGEngine code block + FGEngine* eng = Propulsion->GetEngine(i); + eng->SetStarter( globals->get_controls()->get_starter(i) ); + eng->SetRunning( node->getBoolValue("running") ); + } // end FGEngine code block } - _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() ); - Position->SetSeaLevelRadius( get_Sea_level_radius() ); - Position->SetRunwayRadius( get_Runway_altitude() - + get_Sea_level_radius() ); + + 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->SetWindNED( wind_from_north->getDoubleValue(), - wind_from_east->getDoubleValue(), - wind_from_down->getDoubleValue() ); + tmp = turbulence_gain->getDoubleValue(); + //Atmosphere->SetTurbGain(tmp * tmp * 100.0); + + tmp = turbulence_rate->getDoubleValue(); + //Atmosphere->SetTurbRate(tmp); + + Atmosphere->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() << ", " @@ -408,9 +696,12 @@ bool FGJSBsim::copy_to_JSBsim() { 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-lb")); +// tank->SetContents(node->getDoubleValue("level-lbs")); } + Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue()); + fdmex->SetChild(slaved->getBoolValue()); + return true; } @@ -418,262 +709,394 @@ bool FGJSBsim::copy_to_JSBsim() { // Convert from the JSBsim generic_ struct to the FGInterface struct -bool FGJSBsim::copy_from_JSBsim() { +bool FGJSBsim::copy_from_JSBsim() +{ unsigned int i, j; - +/* _set_Inertias( MassBalance->GetMass(), MassBalance->GetIxx(), MassBalance->GetIyy(), MassBalance->GetIzz(), MassBalance->GetIxz() ); - +*/ _set_CG_Position( MassBalance->GetXYZcg(1), MassBalance->GetXYZcg(2), MassBalance->GetXYZcg(3) ); - _set_Accels_Body( Aircraft->GetBodyAccel()(1), - Aircraft->GetBodyAccel()(2), - Aircraft->GetBodyAccel()(3) ); - - //_set_Accels_CG_Body( Aircraft->GetBodyAccel()(1), - // Aircraft->GetBodyAccel()(2), - // Aircraft->GetBodyAccel()(3) ); - // - _set_Accels_CG_Body_N ( Aircraft->GetNcg()(1), - Aircraft->GetNcg()(2), - Aircraft->GetNcg()(3) ); - - _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel()(1), - Auxiliary->GetPilotAccel()(2), - Auxiliary->GetPilotAccel()(3) ); + _set_Accels_Body( Aircraft->GetBodyAccel(1), + Aircraft->GetBodyAccel(2), + Aircraft->GetBodyAccel(3) ); + + _set_Accels_CG_Body_N ( Aircraft->GetNcg(1), + Aircraft->GetNcg(2), + Aircraft->GetNcg(3) ); - // _set_Accels_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739, - // Auxiliary->GetNpilot(2)/32.1739, - // Auxiliary->GetNpilot(3)/32.1739 ); + _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1), + Auxiliary->GetPilotAccel(2), + Auxiliary->GetPilotAccel(3) ); _set_Nlf( Aircraft->GetNlf() ); // Velocities - _set_Velocities_Local( Position->GetVn(), - Position->GetVe(), - Position->GetVd() ); + _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth), + Propagate->GetVel(FGJSBBase::eEast), + Propagate->GetVel(FGJSBBase::eDown) ); - _set_Velocities_Wind_Body( Translation->GetUVW(1), - Translation->GetUVW(2), - Translation->GetUVW(3) ); + _set_Velocities_Wind_Body( Propagate->GetUVW(1), + Propagate->GetUVW(2), + Propagate->GetUVW(3) ); - _set_V_rel_wind( Translation->GetVt() ); + // Make the HUD work ... + _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth), + Propagate->GetVel(FGJSBBase::eEast), + -Propagate->GetVel(FGJSBBase::eDown) ); - _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() ); + _set_V_rel_wind( Auxiliary->GetVt() ); - // _set_V_calibrated( Auxiliary->GetVcalibratedFPS() ); + _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() ); _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() ); - _set_V_ground_speed( Position->GetVground() ); - - _set_Omega_Body( Rotation->GetPQR(1), - Rotation->GetPQR(2), - Rotation->GetPQR(3) ); + _set_V_ground_speed( Auxiliary->GetVground() ); - _set_Euler_Rates( Rotation->GetEulerRates(1), - Rotation->GetEulerRates(2), - Rotation->GetEulerRates(3) ); + _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP), + Propagate->GetPQR(FGJSBBase::eQ), + Propagate->GetPQR(FGJSBBase::eR) ); - _set_Geocentric_Rates(Position->GetLatitudeDot(), - Position->GetLongitudeDot(), - Position->Gethdot() ); + _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi), + Auxiliary->GetEulerRates(FGJSBBase::eTht), + Auxiliary->GetEulerRates(FGJSBBase::ePsi) ); - _set_Mach_number( Translation->GetMach() ); + _set_Mach_number( Auxiliary->GetMach() ); - // Positions - _updateGeocentricPosition( Position->GetLatitude(), - Position->GetLongitude(), - Position->Geth() ); + // Positions of Visual Reference Point + FGLocation l = Auxiliary->GetLocationVRP(); + _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(), + l.GetRadius() - get_Sea_level_radius() ); - _set_Altitude_AGL( Position->GetDistanceAGL() ); - - _set_Euler_Angles( Rotation->Getphi(), - Rotation->Gettht(), - Rotation->Getpsi() ); + _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, d, &sd); + double rwrad + = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude(); + _set_Runway_altitude( rwrad - get_Sea_level_radius() ); + } - _set_Alpha( Translation->Getalpha() ); - _set_Beta( Translation->Getbeta() ); + _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi), + Propagate->GetEuler(FGJSBBase::eTht), + Propagate->GetEuler(FGJSBBase::ePsi) ); + _set_Alpha( Auxiliary->Getalpha() ); + _set_Beta( Auxiliary->Getbeta() ); - _set_Gamma_vert_rad( Position->GetGamma() ); - // set_Gamma_horiz_rad( Gamma_horiz_rad ); - _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() ); + _set_Gamma_vert_rad( Auxiliary->GetGamma() ); - _set_Climb_Rate( Position->Gethdot() ); + _set_Earth_position_angle( Inertial->GetEarthPositionAngle() ); + _set_Climb_Rate( Propagate->Gethdot() ); + const FGMatrix33& Tl2b = Propagate->GetTl2b(); for ( i = 1; i <= 3; i++ ) { for ( j = 1; j <= 3; j++ ) { - _set_T_Local_to_Body( i, j, State->GetTl2b(i,j) ); + _set_T_Local_to_Body( i, j, Tl2b(i,j) ); } } - // Copy the engine values from JSBSim. - for( i=0; i < Propulsion->GetNumEngines(); i++ ) { + // Copy the engine values from JSBSim. + for ( i=0; i < Propulsion->GetNumEngines(); i++ ) { SGPropertyNode * node = fgGetNode("engines/engine", i, true); - FGEngine * eng = Propulsion->GetEngine(i); - FGThruster * thrust = Propulsion->GetThruster(i); + SGPropertyNode * tnode = node->getChild("thruster", 0, true); + FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster(); + + switch (Propulsion->GetEngine(i)->GetType()) { + case FGEngine::etPiston: + { // FGPiston code block + FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i); + node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF()); + node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF()); + node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi()); + node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg()); + // NOTE: mp-osi is not in ounces per square inch. + // This error is left for reasons of backwards compatibility with + // existing FlightGear sound and instrument configurations. + node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg()); + node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF()); + node->setDoubleValue("rpm", eng->getRPM()); + } // end FGPiston code block + break; + case FGEngine::etRocket: + { // FGRocket code block + FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i); + } // end FGRocket code block + break; + case FGEngine::etTurbine: + { // FGTurbine code block + 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->setBoolValue("augmentation", eng->GetAugmentation()); + node->setBoolValue("water-injection", eng->GetInjection()); + node->setBoolValue("ignition", eng->GetIgnition()); + node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle()); + node->setDoubleValue("inlet-pos-norm", eng->GetInlet()); + node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi()); + node->setBoolValue("reversed", eng->GetReversed()); + node->setBoolValue("cutoff", eng->GetCutoff()); + node->setDoubleValue("epr", eng->GetEPR()); + globals->get_controls()->set_reverser(i, eng->GetReversed() ); + globals->get_controls()->set_cutoff(i, eng->GetCutoff() ); + globals->get_controls()->set_water_injection(i, eng->GetInjection() ); + globals->get_controls()->set_augmentation(i, eng->GetAugmentation() ); + } // end FGTurbine code block + break; + case FGEngine::etTurboprop: + { // FGTurboProp code block + FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i); + 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->setDoubleValue("nozzle-pos-norm", eng->GetNozzle()); + node->setDoubleValue("inlet-pos-norm", eng->GetInlet()); + node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi()); + node->setBoolValue("reversed", eng->GetReversed()); + node->setBoolValue("cutoff", eng->GetCutoff()); + node->setBoolValue("starting", eng->GetEngStarting()); + node->setBoolValue("generator-power", eng->GetGeneratorPower()); + node->setBoolValue("damaged", eng->GetCondition()); + node->setBoolValue("ielu-intervent", eng->GetIeluIntervent()); + node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF()); +// node->setBoolValue("onfire", eng->GetFire()); + globals->get_controls()->set_reverser(i, eng->GetReversed() ); + globals->get_controls()->set_cutoff(i, eng->GetCutoff() ); + } // end FGTurboProp code block + break; + case FGEngine::etElectric: + { // FGElectric code block + FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i); + node->setDoubleValue("rpm", eng->getRPM()); + } // end FGElectric code block + break; + case FGEngine::etUnknown: + break; + } - node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg()); - node->setDoubleValue("rpm", thrust->GetRPM()); - node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF()); + { // FGEngine code block + FGEngine* eng = Propulsion->GetEngine(i); node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph()); - node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF()); - node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF()); - node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi()); + node->setDoubleValue("thrust_lb", thruster->GetThrust()); + node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph()); node->setBoolValue("running", eng->GetRunning()); + node->setBoolValue("starter", eng->GetStarter()); node->setBoolValue("cranking", eng->GetCranking()); - } + globals->get_controls()->set_starter(i, eng->GetStarter() ); + } // end FGEngine code block + + switch (thruster->GetType()) { + case FGThruster::ttNozzle: + { // FGNozzle code block + FGNozzle* noz = (FGNozzle*)thruster; + } // end FGNozzle code block + break; + case FGThruster::ttPropeller: + { // FGPropeller code block + FGPropeller* prop = (FGPropeller*)thruster; + tnode->setDoubleValue("rpm", thruster->GetRPM()); + tnode->setDoubleValue("pitch", prop->GetPitch()); + tnode->setDoubleValue("torque", prop->GetTorque()); + tnode->setBoolValue("feathered", prop->GetFeather()); + } // end FGPropeller code block + break; + case FGThruster::ttRotor: + { // FGRotor code block + FGRotor* rotor = (FGRotor*)thruster; + } // end FGRotor code block + break; + case FGThruster::ttDirect: + { // Direct code block + } // end Direct code block + break; + } - static const SGPropertyNode *fuel_freeze - = fgGetNode("/sim/freeze/fuel"); + } - // Copy the fuel levels from JSBSim if fuel - // freeze not enabled. - if ( ! fuel_freeze->getBoolValue() ) { - for (i = 0; i < Propulsion->GetNumTanks(); i++) { - SGPropertyNode * node - = fgGetNode("/consumables/fuel/tank", i, true); - double contents = Propulsion->GetTank(i)->GetContents(); - node->setDoubleValue("level-gal_us", contents/6.6); - // node->setDoubleValue("level-lb", contents); - } + // Copy the fuel levels from JSBSim if fuel + // freeze not enabled. + if ( ! Propulsion->GetFuelFreeze() ) { + for (i = 0; i < Propulsion->GetNumTanks(); i++) { + SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true); + FGTank* tank = Propulsion->GetTank(i); + double contents = tank->GetContents(); + double temp = tank->GetTemperature_degC(); + node->setDoubleValue("level-gal_us", contents/6.6); + node->setDoubleValue("level-lbs", contents); + if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp); + } } update_gear(); - + stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() ); - - /* elevator_pos_deg->setDoubleValue( FCS->GetDePos()*SG_RADIANS_TO_DEGREES ); - left_aileron_pos_deg->setDoubleValue( FCS->GetDaLPos()*SG_RADIANS_TO_DEGREES ); - right_aileron_pos_deg->setDoubleValue( FCS->GetDaRPos()*SG_RADIANS_TO_DEGREES ); - rudder_pos_deg->setDoubleValue( -1*FCS->GetDrPos()*SG_RADIANS_TO_DEGREES ); - flap_pos_deg->setDoubleValue( FCS->GetDfPos() ); */ - elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) ); left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) ); - right_aileron_pos_pct->setDoubleValue( -1*FCS->GetDaLPos(ofNorm) ); + right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) ); rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) ); flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) ); + speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) ); + spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) ); + tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() ); + wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() ); + + // force a sim crashed if crashed (altitude AGL < 0) + if (get_Altitude_AGL() < -100.0) { + fdmex->SuspendIntegration(); + crashed = true; + } - return true; } -bool FGJSBsim::ToggleDataLogging(void) { - return fdmex->GetOutput()->Toggle(); + +bool FGJSBsim::ToggleDataLogging(void) +{ + // ToDo: handle this properly + fdmex->DisableOutput(); + return false; } -bool FGJSBsim::ToggleDataLogging(bool state) { +bool FGJSBsim::ToggleDataLogging(bool state) +{ if (state) { - fdmex->GetOutput()->Enable(); + fdmex->EnableOutput(); return true; } else { - fdmex->GetOutput()->Disable(); + fdmex->DisableOutput(); return false; } } //Positions -void FGJSBsim::set_Latitude(double lat) { - static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft"); +void FGJSBsim::set_Latitude(double lat) +{ + static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft"); double alt; double sea_level_radius_meters, lat_geoc; - + + // In case we're not trimming + FGInterface::set_Latitude(lat); + if ( altitude->getDoubleValue() > -9990 ) { alt = altitude->getDoubleValue(); } else { alt = 0.0; } - + 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, + 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 ); - _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() ); - fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() ); + fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET ); fgic->SetLatitudeRadIC( lat_geoc ); needTrim=true; } -void FGJSBsim::set_Longitude(double lon) { +void FGJSBsim::set_Longitude(double lon) +{ SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon ); + + // In case we're not trimming + FGInterface::set_Longitude(lon); + update_ic(); fgic->SetLongitudeRadIC( lon ); - _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() ); - fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() ); needTrim=true; } -void FGJSBsim::set_Altitude(double alt) { - static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg"); +// 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); + 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 ); - _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() ); - fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() ); SG_LOG(SG_FLIGHT, SG_INFO, - "Terrain altitude: " << 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->SetAltitudeFtIC(alt); + fgic->SetAltitudeASLFtIC(alt); needTrim=true; } -void FGJSBsim::set_V_calibrated_kts(double vc) { +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(); fgic->SetVcalibratedKtsIC(vc); needTrim=true; } -void FGJSBsim::set_Mach_number(double mach) { +void FGJSBsim::set_Mach_number(double 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(); fgic->SetMachIC(mach); needTrim=true; } -void FGJSBsim::set_Velocities_Local( double north, double east, double down ){ +void FGJSBsim::set_Velocities_Local( double north, double east, double 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(); - fgic->SetVnorthFpsIC(north); - fgic->SetVeastFpsIC(east); - fgic->SetVdownFpsIC(down); + fgic->SetVNorthFpsIC(north); + fgic->SetVEastFpsIC(east); + fgic->SetVDownFpsIC(down); needTrim=true; } -void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){ +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); + update_ic(); fgic->SetUBodyFpsIC(u); fgic->SetVBodyFpsIC(v); @@ -682,114 +1105,338 @@ void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){ } //Euler angles -void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) { +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); + update_ic(); - fgic->SetPitchAngleRadIC(theta); - fgic->SetRollAngleRadIC(phi); - fgic->SetTrueHeadingRadIC(psi); + fgic->SetThetaRadIC(theta); + fgic->SetPhiRadIC(phi); + fgic->SetPsiRadIC(psi); needTrim=true; } //Flight Path -void FGJSBsim::set_Climb_Rate( double roc) { +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); + 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) ) { fgic->SetClimbRateFpsIC(roc); - } + } needTrim=true; } -void FGJSBsim::set_Gamma_vert_rad( double gamma) { +void FGJSBsim::set_Gamma_vert_rad( double gamma) +{ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma ); - + update_ic(); if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) { fgic->SetFlightPathAngleRadIC(gamma); - } + } needTrim=true; } -void FGJSBsim::init_gear(void ) { - +void FGJSBsim::init_gear(void ) +{ FGGroundReactions* gr=fdmex->GetGroundReactions(); int Ngear=GroundReactions->GetNumGearUnits(); for (int i=0;iGetGearUnit(i); SGPropertyNode * node = fgGetNode("gear/gear", i, true); - node->setDoubleValue("xoffset-in", - gr->GetGearUnit(i)->GetBodyLocation()(1)); - node->setDoubleValue("yoffset-in", - gr->GetGearUnit(i)->GetBodyLocation()(2)); - node->setDoubleValue("zoffset-in", - gr->GetGearUnit(i)->GetBodyLocation()(3)); - node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW()); - node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0); - node->setDoubleValue("position-norm", FCS->GetGearPos()); - } -} - -void FGJSBsim::update_gear(void) { - + node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1)); + node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2)); + node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3)); + node->setBoolValue("wow", gear->GetWOW()); + node->setDoubleValue("rollspeed-ms", gear->GetWheelRollVel()*0.3043); + node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0); + node->setDoubleValue("position-norm", gear->GetGearUnitPos()); + node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure()); + node->setDoubleValue("compression-norm", gear->GetCompLen()); + node->setDoubleValue("compression-ft", gear->GetCompLen()); + if ( gear->GetSteerable() ) + node->setDoubleValue("steering-norm", gear->GetSteerNorm()); + } +} + +void FGJSBsim::update_gear(void) +{ FGGroundReactions* gr=fdmex->GetGroundReactions(); int Ngear=GroundReactions->GetNumGearUnits(); for (int i=0;iGetGearUnit(i); SGPropertyNode * node = fgGetNode("gear/gear", i, true); - node->getChild("wow", 0, true) - ->setBoolValue(gr->GetGearUnit(i)->GetWOW()); - node->getChild("position-norm", 0, true) - ->setDoubleValue(FCS->GetGearPos()); - } + node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW()); + node->getChild("rollspeed-ms", 0, true)->setDoubleValue(gear->GetWheelRollVel()*0.3043); + node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos()); + gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm")); + node->setDoubleValue("compression-norm", gear->GetCompLen()); + node->setDoubleValue("compression-ft", gear->GetCompLen()); + if ( gear->GetSteerable() ) + node->setDoubleValue("steering-norm", gear->GetSteerNorm()); + } +} + +void FGJSBsim::do_trim(void) +{ + FGTrim *fgtrim; + + if ( fgGetBool("/sim/presets/onground") ) + { + fgtrim = new FGTrim(fdmex,tGround); + } else { + fgtrim = new FGTrim(fdmex,tLongitudinal); + } + + if ( !fgtrim->DoTrim() ) { + fgtrim->Report(); + fgtrim->TrimStats(); + } else { + trimmed->setBoolValue(true); + } + delete fgtrim; + + pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() ); + throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) ); + aileron_trim->setDoubleValue( FCS->GetDaCmd() ); + 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)); + + globals->get_controls()->set_aileron(FCS->GetDaCmd()); + globals->get_controls()->set_rudder( FCS->GetDrCmd()); + + SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" ); +} + +void FGJSBsim::update_ic(void) +{ + 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() ); + } +} + +bool +FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off, + double contact[3], double normal[3], double vel[3], + double angularVel[3], double *agl) +{ + const SGMaterial* material; + simgear::BVHNode::Id id; + if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel, + angularVel, material, id)) + return false; + SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt)); + SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt); + *agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt)); + 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); } -void FGJSBsim::do_trim(void) { +inline static double sqr(double x) +{ + return x * x; +} + +static double angle_diff(double a, double b) +{ + double diff = fabs(a - b); + if (diff > 180) diff = 360 - diff; + + return diff; +} + +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); + if (fabs(dist + E) < 0.0001) { + sin_fis[*points] = sin_fi_guess; + cos_fis[*points] = cos_fi_guess; + fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES; + (*points)++; + } +} + + +static void check_hook_solution(const FGColumnVector3& ground_normal_body, double E, double hook_length, double sin_fi_guess, double* sin_fis, double* cos_fis, double* fis, int* points) +{ + if (sin_fi_guess >= -1 && sin_fi_guess <= 1) { + double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess)); + check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points); + if (fabs(cos_fi_guess) > SG_EPSILON) { + check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points); + } + } +} - FGTrim *fgtrim; - if( fgGetBool("/sim/startup/onground") ) { - fgic->SetVcalibratedKtsIC(0.0); - fgtrim=new FGTrim(fdmex,tGround); +void FGJSBsim::update_external_forces(double t_off) +{ + const FGMatrix33& Tb2l = Propagate->GetTb2l(); + const FGMatrix33& Tl2b = Propagate->GetTl2b(); + const FGLocation& Location = Propagate->GetLocation(); + const FGMatrix33& Tec2l = Location.GetTec2l(); + + double hook_area[4][3]; + + FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct); + FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l * hook_root_body); + hook_area[1][0] = hook_root(1); + hook_area[1][1] = hook_root(2); + hook_area[1][2] = hook_root(3); + + hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75); + double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18); + double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30); + double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min; + double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS); + double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS); + + FGColumnVector3 hook_tip_body = hook_root_body; + hook_tip_body(1) -= hook_length * cos_fi; + hook_tip_body(3) += hook_length * sin_fi; + + 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, 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); + + // check hook tip agl against same ground plane + double hook_tip_agl_ft = dot3(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); + + // substitue x = sin fi, cos fi = sqrt(1 - x * x) + // and rearrange to get a quadratic with coeffs: + double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3))); + double b = 2 * E * ground_normal_body(3) * hook_length; + double c = sqr(E) - sqr(ground_normal_body(1) * hook_length); + + double disc = sqr(b) - 4 * a * c; + if (disc >= 0) { + double delta = sqrt(disc) / (2 * a); + + // allow 4 solutions for safety, should never happen + double sin_fis[4]; + double cos_fis[4]; + double fis[4]; + int points = 0; + + double sin_fi_guess = -b / (2 * a) - delta; + check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points); + check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points); + + if (points == 2) { + double diff1 = angle_diff(fi, fis[0]); + double diff2 = angle_diff(fi, fis[1]); + int point = diff1 < diff2 ? 0 : 1; + fi = fis[point]; + sin_fi = sin_fis[point]; + cos_fi = cos_fis[point]; + hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi; + hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi; + } + } + } + } + } else { + FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() * hook_root_body)); + double wire_ends_ec[2][3]; + double wire_vel_ec[2][3]; + get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec); + FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]); + FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]); + FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2; + if (rel_vel.Magnitude() < 3) { + got_wire = false; + release_wire(); + fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0); } else { - fgtrim=new FGTrim(fdmex,tLongitudinal); + FGColumnVector3 wire_end1_body = Tl2b * Location.LocationToLocal(FGColumnVector3(wire_ends_ec[0][0], wire_ends_ec[0][1], wire_ends_ec[0][2])) - hook_root_body; + 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)); + 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; + + fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi); + fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0); + fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi); + fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force")); } - if( !fgtrim->DoTrim() ) { - fgtrim->Report(); - fgtrim->TrimStats(); - } else { - trimmed->setBoolValue(true); + } + + FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body); + + hook_area[0][0] = hook_tip(1); + hook_area[0][1] = hook_tip(2); + hook_area[0][2] = hook_tip(3); + + if (!got_wire) { + // The previous positions. + hook_area[2][0] = last_hook_root[0]; + hook_area[2][1] = last_hook_root[1]; + hook_area[2][2] = last_hook_root[2]; + hook_area[3][0] = last_hook_tip[0]; + hook_area[3][1] = last_hook_tip[1]; + hook_area[3][2] = last_hook_tip[2]; + + // Check if we caught a wire. + // Returns true if we caught one. + if (caught_wire_ft(t_off, hook_area)) { + got_wire = true; } - 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() ); - - 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)); - - globals->get_controls()->set_aileron(FCS->GetDaCmd()); - globals->get_controls()->set_rudder( FCS->GetDrCmd()); + } - SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" ); -} - -void FGJSBsim::update_ic(void) { - if( !needTrim ) { - fgic->SetLatitudeRadIC(get_Lat_geocentric() ); - fgic->SetLongitudeRadIC( get_Longitude() ); - fgic->SetAltitudeFtIC( get_Altitude() ); - fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() ); - fgic->SetPitchAngleRadIC( get_Theta() ); - fgic->SetRollAngleRadIC( get_Phi() ); - fgic->SetTrueHeadingRadIC( get_Psi() ); - fgic->SetClimbRateFpsIC( get_Climb_Rate() ); - } + // save actual position as old position ... + last_hook_tip[0] = hook_area[0][0]; + last_hook_tip[1] = hook_area[0][1]; + last_hook_tip[2] = hook_area[0][2]; + last_hook_root[0] = hook_area[1][0]; + last_hook_root[1] = hook_area[1][1]; + last_hook_root[2] = hook_area[1][2]; + + fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi); } +