X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2FJSBSim.cxx;h=ae53988be8b5b6a06a90d38881a8999d30a6e83c;hb=4da0760edd971fe6462c6fbab889618ef60a68ed;hp=ff1f163c0d37a7055ca1b923e480987e47fce598;hpb=5c685b34de6f51c35f8ade29f539cc1b18e1b92f;p=flightgear.git diff --git a/src/FDM/JSBSim/JSBSim.cxx b/src/FDM/JSBSim/JSBSim.cxx index ff1f163c0..a73844073 100644 --- a/src/FDM/JSBSim/JSBSim.cxx +++ b/src/FDM/JSBSim/JSBSim.cxx @@ -5,20 +5,20 @@ // Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org // // This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License as +// modify it under the terms of the GNU Lesser General Public License as // published by the Free Software Foundation; either version 2 of the // License, or (at your option) any later version. // // This program is distributed in the hope that it will be useful, but // WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU -// General Public License for more details. +// Lesser General Public License for more details. // -// You should have received a copy of the GNU General Public License +// You should have received a copy of the GNU Lesser General Public License // along with this program; if not, write to the Free Software // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. // -// $Id$ +// $Id: JSBSim.cxx,v 1.64 2010/10/31 04:49:25 jberndt Exp $ #ifdef HAVE_CONFIG_H @@ -26,49 +26,56 @@ #endif #include +#include -#include // size_t -#ifdef SG_MATH_EXCEPTION_CLASH -# include -#endif - -#include STL_STRING +#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 -#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 +#include +#include + +using namespace JSBSim; static inline double FMAX (double a, double b) @@ -76,13 +83,89 @@ 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; + } + + virtual double GetTerrainGeoCentRadius(double t, const FGLocation& l) const { + double loc_cart[3] = { l(eX), l(eY), l(eZ) }; + double contact[3], normal[3], vel[3], angularVel[3], agl = 0; + mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal, + vel, angularVel, &agl); + return sqrt(contact[0]*contact[0]+contact[1]*contact[1]+contact[2]*contact[2]); + } + + virtual double GetSeaLevelRadius(const FGLocation& l) const { + double seaLevelRadius, latGeoc; + + sgGeodToGeoc(l.GetGeodLatitudeRad(), l.GetGeodAltitude(), + &seaLevelRadius, &latGeoc); + + return seaLevelRadius * SG_METER_TO_FEET; + } + + virtual void SetTerrainGeoCentRadius(double radius) {} + virtual void SetSeaLevelRadius(double radius) {} +private: + FGJSBsim* mInterface; +}; + +// FG uses a squared normalized magnitude for turbulence +// this lookup table maps fg's severity levels +// none(0), light(1/3), moderate(2/3) and severe(3/3) +// to the POE table indexes 0, 3, 4 and 7 +class FGTurbulenceSeverityTable : public FGTable { +public: + FGTurbulenceSeverityTable() : FGTable(4) { + *this << (0.0/9.0) << 0.0; + *this << (1.0/9.0) << 3.0; + *this << (4.0/9.0) << 4.0; + *this << (9.0/9.0) << 7.0; + } +}; /******************************************************************************/ +std::map FGJSBsim::TURBULENCE_TYPE_NAMES; + +static FGTurbulenceSeverityTable TurbulenceSeverityTable; FGJSBsim::FGJSBsim( double dt ) - : FGInterface(dt) + : FGInterface(dt), got_wire(false) { bool result; + if( TURBULENCE_TYPE_NAMES.empty() ) { + TURBULENCE_TYPE_NAMES["ttNone"] = FGWinds::ttNone; + TURBULENCE_TYPE_NAMES["ttStandard"] = FGWinds::ttStandard; + TURBULENCE_TYPE_NAMES["ttCulp"] = FGWinds::ttCulp; + TURBULENCE_TYPE_NAMES["ttMilspec"] = FGWinds::ttMilspec; + TURBULENCE_TYPE_NAMES["ttTustin"] = FGWinds::ttTustin; + } // Set up the debugging level // FIXME: this will not respond to @@ -111,16 +194,21 @@ FGJSBsim::FGJSBsim( double dt ) fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() ); - State = fdmex->GetState(); + // Register ground callback. + fdmex->SetGroundCallback( new FGFSGroundCallback(this) ); + Atmosphere = fdmex->GetAtmosphere(); + Winds = fdmex->GetWinds(); FCS = fdmex->GetFCS(); MassBalance = fdmex->GetMassBalance(); Propulsion = fdmex->GetPropulsion(); Aircraft = fdmex->GetAircraft(); - Propagate = fdmex->GetPropagate(); + Propagate = fdmex->GetPropagate(); Auxiliary = fdmex->GetAuxiliary(); + Inertial = fdmex->GetInertial(); Aerodynamics = fdmex->GetAerodynamics(); GroundReactions = fdmex->GetGroundReactions(); + Accelerations = fdmex->GetAccelerations(); fgic=fdmex->GetIC(); needTrim=true; @@ -129,10 +217,21 @@ FGJSBsim::FGJSBsim( double dt ) 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(), + systems_path.str(), fgGetString("/sim/aero"), false ); if (result) { @@ -163,14 +262,27 @@ FGJSBsim::FGJSBsim( double dt ) // Set initial fuel levels if provided. for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) { + double d; SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true); - if (node->getChild("level-gal_us", 0, false) != 0) { - Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6); + FGTank* tank = Propulsion->GetTank(i); + + d = node->getNode( "density-ppg", true )->getDoubleValue(); + if( d > 0.0 ) { + tank->SetDensity( d ); } else { - node->setDoubleValue("level-lb", Propulsion->GetTank(i)->GetContents()); - node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6); + node->getNode( "density-ppg", true )->setDoubleValue( SG_MAX2(tank->GetDensity(), 0.1) ); } + + d = node->getNode( "level-lbs", true )->getDoubleValue(); + if( d > 0.0 ) { + tank->SetContents( d ); + } else { + node->getNode( "level-lbs", true )->setDoubleValue( tank->GetContents() ); + } + /* Capacity is read-only in FGTank and can't be overwritten from FlightGear */ + node->getNode("capacity-gal_us", true )->setDoubleValue( tank->GetCapacityGallons() ); } + Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue()); fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd()); fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0)); @@ -201,6 +313,8 @@ FGJSBsim::FGJSBsim( double dt ) 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); @@ -210,21 +324,38 @@ 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); + pressureSL = fgGetNode("/environment/pressure-sea-level-inhg",true); + ground_wind = fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt",true); turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true); turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true); + turbulence_model = fgGetNode("/environment/params/jsbsim-turbulence-model",true); wind_from_north= fgGetNode("/environment/wind-from-north-fps",true); wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true); 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; } /******************************************************************************/ @@ -240,49 +371,72 @@ FGJSBsim::~FGJSBsim(void) void FGJSBsim::init() { - double tmp; - SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" ); // Explicitly call the superclass's // init method first. -#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()); - - tmp = turbulence_gain->getDoubleValue(); - Atmosphere->SetTurbGain(tmp * tmp * 100.0); - - tmp = turbulence_rate->getDoubleValue(); - Atmosphere->SetTurbRate(tmp); - - } else { - Atmosphere->UseInternal(); + Atmosphere->SetTemperature(temperature->getDoubleValue(), get_Altitude(), FGAtmosphere::eCelsius); + Atmosphere->SetPressureSL(pressureSL->getDoubleValue(), FGAtmosphere::eInchesHg); + // initialize to no turbulence, these values get set in the update loop + Winds->SetTurbType(FGWinds::ttNone); + Winds->SetTurbGain(0.0); + Winds->SetTurbRate(0.0); + Winds->SetWindspeed20ft(0.0); + Winds->SetProbabilityOfExceedence(0.0); } -#endif - fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() ); - fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() ); - fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() ); + fgic->SetWindNEDFpsIC( -wind_from_north->getDoubleValue(), + -wind_from_east->getDoubleValue(), + -wind_from_down->getDoubleValue() ); + + SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << Atmosphere->GetTemperature() + << ", " << Atmosphere->GetPressure() + << ", " << Atmosphere->GetDensity() ); - //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() ); + FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() ); + needTrim = startup_trim->getBoolValue(); common_init(); copy_to_JSBsim(); fdmex->RunIC(); //loop JSBSim once w/o integrating + if (fgGetBool("/sim/presets/running")) { + Propulsion->InitRunning(-1); + for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) { + FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i); + globals->get_controls()->set_magnetos(i, eng->GetMagnetos()); + globals->get_controls()->set_mixture(i, FCS->GetMixtureCmd(i)); + } + } + + if ( needTrim ) { + FGLocation cart(fgic->GetLongitudeRadIC(), fgic->GetLatitudeRadIC(), + get_Sea_level_radius() + fgic->GetAltitudeASLFtIC()); + double cart_pos[3], contact[3], d[3], vel[3], agl; + update_ground_cache(cart, cart_pos, 0.01); + + get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact, + d, vel, d, &agl); + double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1] + + contact[2]*contact[2]) - get_Sea_level_radius(); + + SG_LOG(SG_FLIGHT, SG_INFO, "Ready to trim, terrain elevation is: " + << terrain_alt * SG_METER_TO_FEET ); + + if (fgGetBool("/sim/presets/onground")) { + FGColumnVector3 gndVelNED = cart.GetTec2l() + * FGColumnVector3(vel[0], vel[1], vel[2]); + fgic->SetVNorthFpsIC(gndVelNED(1)); + fgic->SetVEastFpsIC(gndVelNED(2)); + fgic->SetVDownFpsIC(gndVelNED(3)); + } + fgic->SetTerrainElevationFtIC( terrain_alt ); + do_trim(); + needTrim = false; + } + copy_from_JSBsim(); //update the bus SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" ); @@ -290,9 +444,9 @@ void FGJSBsim::init() switch(fgic->GetSpeedSet()) { case setned: SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= " - << Propagate->GetVel(eNorth) << ", " - << Propagate->GetVel(eEast) << ", " - << Propagate->GetVel(eDown) << " 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= " @@ -314,17 +468,17 @@ void FGJSBsim::init() stall_warning->setDoubleValue(0); SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: " - << Propagate->Getphi()*RADTODEG << " deg" ); + << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" ); SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: " - << Propagate->Gettht()*RADTODEG << " deg" ); + << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" ); SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: " - << Propagate->Getpsi()*RADTODEG << " deg" ); + << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" ); SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: " << Propagate->GetLocation().GetLatitudeDeg() << " deg" ); SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: " << Propagate->GetLocation().GetLongitudeDeg() << " deg" ); SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: " - << Propagate->Geth() << " feet" ); + << Propagate->GetAltitudeASL() << " feet" ); SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" ); SG_LOG( SG_FLIGHT, SG_INFO, " set dt" ); @@ -337,45 +491,49 @@ void FGJSBsim::init() /******************************************************************************/ +void FGJSBsim::unbind() +{ + fdmex->Unbind(); + FGInterface::unbind(); +} + +/******************************************************************************/ + // Run an iteration of the EOM (equations of motion) void FGJSBsim::update( double dt ) { + if(crashed) { + if(!fgGetBool("/sim/crashed")) + fgSetBool("/sim/crashed", true); + return; + } + if (is_suspended()) return; int multiloop = _calc_multiloop(dt); + FGLocation cart = Auxiliary->GetLocationVRP(); + double cart_pos[3]; - int i; - - // double save_alt = 0.0; + update_ground_cache(cart, cart_pos, dt); copy_to_JSBsim(); trimmed->setBoolValue(false); - if ( needTrim ) { - if ( startup_trim->getBoolValue() ) { - 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() ); - 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()); } FGJSBBase::Message* msg; - while (fdmex->ReadMessage()) { - msg = fdmex->ProcessMessage(); + while ((msg = fdmex->ProcessNextMessage()) != NULL) { +// 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: @@ -400,11 +558,26 @@ void FGJSBsim::update( double dt ) /******************************************************************************/ +void FGJSBsim::suspend() +{ + fdmex->Hold(); + SGSubsystem::suspend(); +} + +/******************************************************************************/ + +void FGJSBsim::resume() +{ + fdmex->Resume(); + SGSubsystem::resume(); +} + +/******************************************************************************/ + // Convert from the FGInterface struct to the JSBsim generic_ struct bool FGJSBsim::copy_to_JSBsim() { - double tmp; unsigned int i; // copy control positions into the JSBsim structure @@ -415,15 +588,26 @@ 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->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(); - 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) ); @@ -434,6 +618,7 @@ bool FGJSBsim::copy_to_JSBsim() 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)); + FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i)); switch (Propulsion->GetEngine(i)->GetType()) { case FGEngine::etPiston: @@ -447,16 +632,29 @@ bool FGJSBsim::copy_to_JSBsim() 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->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); +// 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 @@ -467,26 +665,37 @@ bool FGJSBsim::copy_to_JSBsim() } // end FGEngine code block } - - _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() ); - Propagate->SetSeaLevelRadius( get_Sea_level_radius() ); - Propagate->SetRunwayRadius( get_Runway_altitude() - + get_Sea_level_radius() ); + Atmosphere->SetTemperature(temperature->getDoubleValue(), get_Altitude(), FGAtmosphere::eCelsius); + Atmosphere->SetPressureSL(pressureSL->getDoubleValue(), FGAtmosphere::eInchesHg); - Atmosphere->SetExTemperature( - 9.0/5.0*(temperature->getDoubleValue()+273.15) ); - Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566); - Atmosphere->SetExDensity(density->getDoubleValue()); - - tmp = turbulence_gain->getDoubleValue(); - Atmosphere->SetTurbGain(tmp * tmp * 100.0); + Winds->SetTurbType((FGWinds::tType)TURBULENCE_TYPE_NAMES[turbulence_model->getStringValue()]); + switch( Winds->GetTurbType() ) { + case FGWinds::ttStandard: + case FGWinds::ttCulp: { + double tmp = turbulence_gain->getDoubleValue(); + Winds->SetTurbGain(tmp * tmp * 100.0); + Winds->SetTurbRate(turbulence_rate->getDoubleValue()); + break; + } + case FGWinds::ttMilspec: + case FGWinds::ttTustin: { + // milspec turbulence: 3=light, 4=moderate, 6=severe turbulence + // turbulence_gain normalized: 0: none, 1/3: light, 2/3: moderate, 3/3: severe + double tmp = turbulence_gain->getDoubleValue(); + Winds->SetProbabilityOfExceedence( + SGMiscd::roundToInt(TurbulenceSeverityTable.GetValue( tmp ) ) + ); + Winds->SetWindspeed20ft(ground_wind->getDoubleValue()); + break; + } - tmp = turbulence_rate->getDoubleValue(); - Atmosphere->SetTurbRate(tmp); + default: + break; + } - Atmosphere->SetWindNED( wind_from_north->getDoubleValue(), - wind_from_east->getDoubleValue(), - wind_from_down->getDoubleValue() ); + Winds->SetWindNED( -wind_from_north->getDoubleValue(), + -wind_from_east->getDoubleValue(), + -wind_from_down->getDoubleValue() ); // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: " // << get_V_north_airmass() << ", " // << get_V_east_airmass() << ", " @@ -495,11 +704,17 @@ bool FGJSBsim::copy_to_JSBsim() for (i = 0; i < Propulsion->GetNumTanks(); i++) { SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true); FGTank * tank = Propulsion->GetTank(i); - tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6); -// tank->SetContents(node->getDoubleValue("level-lb")); + double fuelDensity = node->getDoubleValue("density-ppg"); + + if (fuelDensity < 0.1) + fuelDensity = 6.0; // Use average fuel value + + tank->SetDensity(fuelDensity); + tank->SetContents(node->getDoubleValue("level-lbs")); } - SGPropertyNode* node = fgGetNode("/systems/refuel", true); - Propulsion->SetRefuel(node->getDoubleValue("contact")); + + Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue()); + fdmex->SetChild(slaved->getBoolValue()); return true; } @@ -522,34 +737,34 @@ 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 - _set_Velocities_Local( Propagate->GetVel(eNorth), - Propagate->GetVel(eEast), - Propagate->GetVel(eDown) ); + _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth), + Propagate->GetVel(FGJSBBase::eEast), + Propagate->GetVel(FGJSBBase::eDown) ); _set_Velocities_Wind_Body( Propagate->GetUVW(1), Propagate->GetUVW(2), Propagate->GetUVW(3) ); // Make the HUD work ... - _set_Velocities_Ground( Propagate->GetVel(eNorth), - Propagate->GetVel(eEast), - -Propagate->GetVel(eDown) ); + _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth), + Propagate->GetVel(FGJSBBase::eEast), + -Propagate->GetVel(FGJSBBase::eDown) ); _set_V_rel_wind( Auxiliary->GetVt() ); @@ -559,26 +774,35 @@ bool FGJSBsim::copy_from_JSBsim() _set_V_ground_speed( Auxiliary->GetVground() ); - _set_Omega_Body( Propagate->GetPQR(eP), - Propagate->GetPQR(eQ), - Propagate->GetPQR(eR) ); + _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP), + Propagate->GetPQR(FGJSBBase::eQ), + Propagate->GetPQR(FGJSBBase::eR) ); - _set_Euler_Rates( Auxiliary->GetEulerRates(ePhi), - Auxiliary->GetEulerRates(eTht), - Auxiliary->GetEulerRates(ePsi) ); + _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi), + Auxiliary->GetEulerRates(FGJSBBase::eTht), + Auxiliary->GetEulerRates(FGJSBBase::ePsi) ); _set_Mach_number( Auxiliary->GetMach() ); // Positions of Visual Reference Point - _updateGeocentricPosition( Auxiliary->GetLocationVRP().GetLatitude(), - Auxiliary->GetLocationVRP().GetLongitude(), - Auxiliary->GethVRP() ); + FGLocation l = Auxiliary->GetLocationVRP(); + _updatePosition(SGGeoc::fromRadFt( l.GetLongitude(), l.GetLatitude(), + l.GetRadius() )); _set_Altitude_AGL( Propagate->GetDistanceAGL() ); + { + double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) }; + double contact[3], d[3], sd, t; + is_valid_m(&t, d, &sd); + get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, d, &sd); + double rwrad + = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude(); + _set_Runway_altitude( rwrad - get_Sea_level_radius() ); + } - _set_Euler_Angles( Propagate->Getphi(), - Propagate->Gettht(), - Propagate->Getpsi() ); + _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi), + Propagate->GetEuler(FGJSBBase::eTht), + Propagate->GetEuler(FGJSBBase::ePsi) ); _set_Alpha( Auxiliary->Getalpha() ); _set_Beta( Auxiliary->Getbeta() ); @@ -586,7 +810,7 @@ bool FGJSBsim::copy_from_JSBsim() _set_Gamma_vert_rad( Auxiliary->GetGamma() ); - _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() ); + _set_Earth_position_angle( Propagate->GetEarthPositionAngle() ); _set_Climb_Rate( Propagate->Gethdot() ); @@ -600,9 +824,7 @@ 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()) { @@ -613,13 +835,17 @@ bool FGJSBsim::copy_from_JSBsim() 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); +// FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i); } // end FGRocket code block break; case FGEngine::etTurbine: @@ -627,10 +853,10 @@ bool FGJSBsim::copy_from_JSBsim() FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i); node->setDoubleValue("n1", eng->GetN1()); node->setDoubleValue("n2", eng->GetN2()); - node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5); + node->setDoubleValue("egt-degf", 32 + eng->GetEGT()*9/5); node->setBoolValue("augmentation", eng->GetAugmentation()); node->setBoolValue("water-injection", eng->GetInjection()); - node->setBoolValue("ignition", eng->GetIgnition()); + node->setBoolValue("ignition", eng->GetIgnition() != 0); node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle()); node->setDoubleValue("inlet-pos-norm", eng->GetInlet()); node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi()); @@ -643,12 +869,36 @@ bool FGJSBsim::copy_from_JSBsim() 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() != 0); + 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() != 0); + 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; } { // FGEngine code block @@ -665,7 +915,7 @@ bool FGJSBsim::copy_from_JSBsim() switch (thruster->GetType()) { case FGThruster::ttNozzle: { // FGNozzle code block - FGNozzle* noz = (FGNozzle*)thruster; +// FGNozzle* noz = (FGNozzle*)thruster; } // end FGNozzle code block break; case FGThruster::ttPropeller: @@ -674,11 +924,12 @@ bool FGJSBsim::copy_from_JSBsim() 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; +// FGRotor* rotor = (FGRotor*)thruster; } // end FGRotor code block break; case FGThruster::ttDirect: @@ -689,18 +940,21 @@ bool FGJSBsim::copy_from_JSBsim() } - static const SGPropertyNode *fuel_freeze = fgGetNode("/sim/freeze/fuel"); - // Copy the fuel levels from JSBSim if fuel // freeze not enabled. - if ( ! fuel_freeze->getBoolValue() ) { + 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-lb", contents); + double fuelDensity = tank->GetDensity(); + + if (fuelDensity < 0.1) + fuelDensity = 6.0; // Use average fuel value + + node->setDoubleValue("density-ppg" , fuelDensity); + node->setDoubleValue("level-lbs", contents); if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp); } } @@ -716,6 +970,14 @@ bool FGJSBsim::copy_from_JSBsim() 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; } @@ -723,17 +985,19 @@ bool FGJSBsim::copy_from_JSBsim() bool FGJSBsim::ToggleDataLogging(void) { - return fdmex->GetOutput()->Toggle(); + // ToDo: handle this properly + fdmex->DisableOutput(); + return false; } bool FGJSBsim::ToggleDataLogging(bool state) { if (state) { - fdmex->GetOutput()->Enable(); + fdmex->EnableOutput(); return true; } else { - fdmex->GetOutput()->Disable(); + fdmex->DisableOutput(); return false; } } @@ -742,171 +1006,206 @@ bool FGJSBsim::ToggleDataLogging(bool state) //Positions void FGJSBsim::set_Latitude(double lat) { - static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft"); - double alt; - double sea_level_radius_meters, lat_geoc; + static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft"); + double alt = altitude->getDoubleValue(); + double sea_level_radius_meters, lat_geoc; - // In case we're not trimming - FGInterface::set_Latitude(lat); + if ( alt < -9990 ) alt = 0.0; - if ( altitude->getDoubleValue() > -9990 ) { - alt = altitude->getDoubleValue(); - } else { - alt = 0.0; - } + SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat ); + SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt ); + + sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, + &sea_level_radius_meters, &lat_geoc ); - update_ic(); - SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat ); - SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt ); + double sea_level_radius_ft = sea_level_radius_meters * SG_METER_TO_FEET; + _set_Sea_level_radius( sea_level_radius_ft ); - sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, - &sea_level_radius_meters, &lat_geoc ); - _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET ); - fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET ); - _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() ); - fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() ); + if (needTrim) { + fgic->SetSeaLevelRadiusFtIC( sea_level_radius_ft ); fgic->SetLatitudeRadIC( lat_geoc ); - needTrim=true; + } + else + Propagate->SetLatitude(lat_geoc); + + FGInterface::set_Latitude(lat); } void FGJSBsim::set_Longitude(double lon) { - SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon ); + SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon ); - // In case we're not trimming - FGInterface::set_Longitude(lon); + if (needTrim) + fgic->SetLongitudeRadIC(lon); + else + Propagate->SetLongitude(lon); - update_ic(); - fgic->SetLongitudeRadIC( lon ); - _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() ); - fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() ); - needTrim=true; + FGInterface::set_Longitude(lon); } +// Sets the altitude above sea level. void FGJSBsim::set_Altitude(double alt) { - static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg"); - - double sea_level_radius_meters,lat_geoc; - - SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt ); - SG_LOG(SG_FLIGHT,SG_INFO, " lat (deg) = " << latitude->getDoubleValue() ); + SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt ); - // In case we're not trimming - FGInterface::set_Altitude(alt); + if (needTrim) + fgic->SetAltitudeASLFtIC(alt); + else + Propagate->SetAltitudeASL(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 ); - fgic->SetLatitudeRadIC( lat_geoc ); - fgic->SetAltitudeFtIC(alt); - 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); - needTrim=true; + else { + double p=pressure->getDoubleValue(); + double psl=fdmex->GetAtmosphere()->GetPressureSL(); + double rhosl=fdmex->GetAtmosphere()->GetDensitySL(); + double mach = FGJSBBase::MachFromVcalibrated(vc, p, psl, rhosl); + double temp = 1.8*(temperature->getDoubleValue()+273.15); + double soundSpeed = sqrt(1.4*1716.0*temp); + FGColumnVector3 vUVW = Propagate->GetUVW(); + vUVW.Normalize(); + vUVW *= mach * soundSpeed; + Propagate->SetUVW(1, vUVW(1)); + Propagate->SetUVW(2, vUVW(2)); + Propagate->SetUVW(3, vUVW(3)); + } + + FGInterface::set_V_calibrated_kts(vc); } void FGJSBsim::set_Mach_number(double mach) { - SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach ); + SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach ); - // In case we're not trimming - FGInterface::set_Mach_number(mach); - - update_ic(); + if (needTrim) fgic->SetMachIC(mach); - needTrim=true; + else { + double temp = 1.8*(temperature->getDoubleValue()+273.15); + double soundSpeed = sqrt(1.4*1716.0*temp); + FGColumnVector3 vUVW = Propagate->GetUVW(); + vUVW.Normalize(); + vUVW *= mach * soundSpeed; + Propagate->SetUVW(1, vUVW(1)); + Propagate->SetUVW(2, vUVW(2)); + Propagate->SetUVW(3, vUVW(3)); + } + + FGInterface::set_Mach_number(mach); } void FGJSBsim::set_Velocities_Local( double north, double east, double down ) { - SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: " - << north << ", " << east << ", " << down ); + SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: " + << north << ", " << east << ", " << down ); - // In case we're not trimming - FGInterface::set_Velocities_Local(north, east, down); + 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)); + } - update_ic(); - fgic->SetVnorthFpsIC(north); - fgic->SetVeastFpsIC(east); - fgic->SetVdownFpsIC(down); - 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); - needTrim=true; + } + else { + Propagate->SetUVW(1, u); + Propagate->SetUVW(2, v); + Propagate->SetUVW(3, w); + } + + FGInterface::set_Velocities_Wind_Body(u, v, w); } //Euler angles void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) { - SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: " - << phi << ", " << theta << ", " << psi ); + SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: " + << phi << ", " << theta << ", " << psi ); - // In case we're not trimming - FGInterface::set_Euler_Angles(phi, theta, psi); + 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); + } - update_ic(); - fgic->SetPitchAngleRadIC(theta); - fgic->SetRollAngleRadIC(phi); - fgic->SetTrueHeadingRadIC(psi); - 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 ); - - // In case we're not trimming - FGInterface::set_Climb_Rate(roc); + SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc ); - update_ic(); - //since both climb rate and flight path angle are set in the FG - //startup sequence, something is needed to keep one from cancelling - //out the other. - if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) { + //since both climb rate and flight path angle are set in the FG + //startup sequence, something is needed to keep one from cancelling + //out the other. + if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) { + if (needTrim) fgic->SetClimbRateFpsIC(roc); + else { + FGColumnVector3 vNED = Propagate->GetVel(); + vNED(FGJSBBase::eDown) = -roc; + FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED; + Propagate->SetUVW(1, vUVW(1)); + Propagate->SetUVW(2, vUVW(2)); + Propagate->SetUVW(3, vUVW(3)); } - needTrim=true; + + FGInterface::set_Climb_Rate(roc); + } } void FGJSBsim::set_Gamma_vert_rad( double gamma) { - SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma ); + SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma ); - update_ic(); - if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) { + if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) { + if (needTrim) fgic->SetFlightPathAngleRadIC(gamma); + else { + FGColumnVector3 vNED = Propagate->GetVel(); + double vt = vNED.Magnitude(); + vNED(FGJSBBase::eDown) = -vt * sin(gamma); + FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED; + Propagate->SetUVW(1, vUVW(1)); + Propagate->SetUVW(2, vUVW(2)); + Propagate->SetUVW(3, vUVW(3)); } - needTrim=true; + + FGInterface::set_Gamma_vert_rad(gamma); + } } void FGJSBsim::init_gear(void ) @@ -914,17 +1213,20 @@ 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()); - node->setDoubleValue("tire-pressure-norm", gr->GetGearUnit(i)->GetTirePressure()); + 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()); } } @@ -933,10 +1235,16 @@ 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()); - gr->GetGearUnit(i)->SetTirePressure(node->getDoubleValue("tire-pressure-norm")); + 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()); } } @@ -946,10 +1254,9 @@ void FGJSBsim::do_trim(void) if ( fgGetBool("/sim/presets/onground") ) { - fgic->SetVcalibratedKtsIC(0.0); fgtrim = new FGTrim(fdmex,tGround); } else { - fgtrim = new FGTrim(fdmex,tLongitudinal); + fgtrim = new FGTrim(fdmex,tFull); } if ( !fgtrim->DoTrim() ) { @@ -958,38 +1265,260 @@ void FGJSBsim::do_trim(void) } else { trimmed->setBoolValue(true); } - if (FGJSBBase::debug_lvl > 0) - State->ReportState(); - delete fgtrim; pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() ); throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) ); aileron_trim->setDoubleValue( FCS->GetDaCmd() ); - rudder_trim->setDoubleValue( FCS->GetDrCmd() ); + rudder_trim->setDoubleValue( -FCS->GetDrCmd() ); globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd()); globals->get_controls()->set_elevator(FCS->GetDeCmd()); - globals->get_controls()->set_throttle(FGControls::ALL_ENGINES, - FCS->GetThrottleCmd(0)); + for( unsigned i = 0; i < Propulsion->GetNumEngines(); i++ ) + globals->get_controls()->set_throttle(i, FCS->GetThrottleCmd(i)); globals->get_controls()->set_aileron(FCS->GetDaCmd()); - globals->get_controls()->set_rudder( FCS->GetDrCmd()); + globals->get_controls()->set_rudder( -FCS->GetDrCmd()); SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" ); } -void FGJSBsim::update_ic(void) +bool FGJSBsim::update_ground_cache(FGLocation cart, double* cart_pos, double dt) +{ + // Compute the radius of the aircraft. That is the radius of a ball + // where all gear units are in. At the moment it is at least 10ft ... + double acrad = 10.0; + int n_gears = GroundReactions->GetNumGearUnits(); + for (int i=0; iGetGearUnit(i)->GetBodyLocation(); + double r = bl.Magnitude(); + if (acrad < r) + acrad = r; + } + + // Compute the potential movement of this aircraft and query for the + // ground in this area. + double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude(); + cart_pos[0] = cart(1); + cart_pos[1] = cart(2); + cart_pos[2] = cart(3); + double t0 = fdmex->GetSimTime(); + bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos, + groundCacheRadius ); + if (!cache_ok) { + SG_LOG(SG_FLIGHT, SG_WARN, + "FGInterface is being called without scenery below the aircraft!"); + + SG_LOG(SG_FLIGHT, SG_WARN, "altitude = " + << fgic->GetAltitudeASLFtIC()); + + SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = " + << get_Sea_level_radius()); + + SG_LOG(SG_FLIGHT, SG_WARN, "latitude = " + << fgic->GetLatitudeRadIC()); + + SG_LOG(SG_FLIGHT, SG_WARN, "longitude = " + << fgic->GetLongitudeRadIC()); + } + + return cache_ok; +} + +bool +FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off, + double contact[3], double normal[3], double vel[3], + double 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 sqr(double x) { - 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() ); - } + 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 = DotProduct(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); + } + } +} + +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 = -DotProduct(contact_body, ground_normal_body); + + // check hook tip agl against same ground plane + 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 + 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: + 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 { + 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 = 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; + + 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")); + } + } + + 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; + } + } + + // 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); }