X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2FJSBSim.cxx;h=e2d98b673d2fd2bf68b9c278eb2601b176ba7743;hb=e16f772e54216b0088ca9cb3f3b0fb062be8bfdb;hp=83a8eac66713144068da5fbf3b7582bf28878e68;hpb=55a978f2a82e0f21735aea2307a5a278dd3a8aed;p=flightgear.git

diff --git a/src/FDM/JSBSim/JSBSim.cxx b/src/FDM/JSBSim/JSBSim.cxx
index 83a8eac66..e2d98b673 100644
--- a/src/FDM/JSBSim/JSBSim.cxx
+++ b/src/FDM/JSBSim/JSBSim.cxx
@@ -5,20 +5,20 @@
 // Copyright (C) 1999  Curtis L. Olson  - curt@flightgear.org
 //
 // This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
+// modify it under the terms of the GNU Lesser General Public License as
 // published by the Free Software Foundation; either version 2 of the
 // License, or (at your option) any later version.
 //
 // This program is distributed in the hope that it will be useful, but
 // WITHOUT ANY WARRANTY; without even the implied warranty of
 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Public License for more details.
+// Lesser General Public License for more details.
 //
-// You should have received a copy of the GNU General Public License
+// You should have received a copy of the GNU Lesser General Public License
 // along with this program; if not, write to the Free Software
 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
 //
-// $Id$
+// $Id: JSBSim.cxx,v 1.64 2010/10/31 04:49:25 jberndt Exp $
 
 
 #ifdef HAVE_CONFIG_H
@@ -26,6 +26,7 @@
 #endif
 
 #include <simgear/compiler.h>
+#include <simgear/sg_inlines.h>
 
 #include <stdio.h>    //    size_t
 #include <string>
@@ -38,7 +39,6 @@
 
 #include <FDM/flight.hxx>
 
-#include <Aircraft/aircraft.hxx>
 #include <Aircraft/controls.hxx>
 #include <Main/globals.hxx>
 #include <Main/fg_props.hxx>
@@ -46,7 +46,6 @@
 #include "JSBSim.hxx"
 #include <FDM/JSBSim/FGFDMExec.h>
 #include <FDM/JSBSim/FGJSBBase.h>
-#include <FDM/JSBSim/FGState.h>
 #include <FDM/JSBSim/initialization/FGInitialCondition.h>
 #include <FDM/JSBSim/initialization/FGTrim.h>
 #include <FDM/JSBSim/models/FGModel.h>
@@ -59,6 +58,8 @@
 #include <FDM/JSBSim/models/FGMassBalance.h>
 #include <FDM/JSBSim/models/FGAerodynamics.h>
 #include <FDM/JSBSim/models/FGLGear.h>
+#include <FDM/JSBSim/models/FGGroundReactions.h>
+#include <FDM/JSBSim/models/FGPropulsion.h>
 #include <FDM/JSBSim/models/propulsion/FGEngine.h>
 #include <FDM/JSBSim/models/propulsion/FGPiston.h>
 #include <FDM/JSBSim/models/propulsion/FGTurbine.h>
@@ -85,7 +86,7 @@ public:
   FGFSGroundCallback(FGJSBsim* ifc) : mInterface(ifc) {}
   virtual ~FGFSGroundCallback() {}
 
-  /** Get the altitude above sea level depenent on the location. */
+  /** 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),
@@ -97,14 +98,15 @@ public:
 
   /** Compute the altitude above ground. */
   virtual double GetAGLevel(double t, const FGLocation& l,
-                            FGLocation& cont,
-                            FGColumnVector3& n, FGColumnVector3& v) const {
+                            FGLocation& cont, FGColumnVector3& n,
+                            FGColumnVector3& v, FGColumnVector3& w) const {
     double loc_cart[3] = { l(eX), l(eY), l(eZ) };
-    double contact[3], normal[3], vel[3], agl = 0;
+    double contact[3], normal[3], vel[3], angularVel[3], agl = 0;
     mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
-                           vel, &agl);
-    n = l.GetTec2l()*FGColumnVector3( normal[0], normal[1], normal[2] );
-    v = l.GetTec2l()*FGColumnVector3( vel[0], vel[1], vel[2] );
+                           vel, angularVel, &agl);
+    n = FGColumnVector3( normal[0], normal[1], normal[2] );
+    v = FGColumnVector3( vel[0], vel[1], vel[2] );
+    w = FGColumnVector3( angularVel[0], angularVel[1], angularVel[2] );
     cont = FGColumnVector3( contact[0], contact[1], contact[2] );
     return agl;
   }
@@ -148,7 +150,6 @@ FGJSBsim::FGJSBsim( double dt )
     // Register ground callback.
     fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
 
-    State           = fdmex->GetState();
     Atmosphere      = fdmex->GetAtmosphere();
     FCS             = fdmex->GetFCS();
     MassBalance     = fdmex->GetMassBalance();
@@ -171,7 +172,13 @@ FGJSBsim::FGJSBsim( double dt )
     SGPath systems_path( fgGetString("/sim/aircraft-dir") );
     systems_path.append( "Systems" );
 
-    State->Setdt( dt );
+// deprecate sim-time-sec for simulation/sim-time-sec
+// remove alias with increased configuration file version number (2.1 or later)
+    SGPropertyNode * node = fgGetNode("/fdm/jsbsim/simulation/sim-time-sec");
+    fgGetNode("/fdm/jsbsim/sim-time-sec", true)->alias( node );
+// end of sim-time-sec deprecation patch
+
+    fdmex->Setdt( dt );
 
     result = fdmex->LoadModel( aircraft_path.str(),
                                engine_path.str(),
@@ -206,15 +213,25 @@ FGJSBsim::FGJSBsim( double dt )
 
     // Set initial fuel levels if provided.
     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
+      double d;
       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
-      if (node->getChild("level-gal_us", 0, false) != 0) {
-        Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
+      FGTank* tank = Propulsion->GetTank(i);
+
+      d = node->getNode( "density-ppg", true )->getDoubleValue();
+      if( d > 0.0 ) {
+        tank->SetDensity( d );
+      } else {
+        node->getNode( "density-ppg", true )->setDoubleValue( SG_MAX2<double>(tank->GetDensity(), 0.1) );
+      }
+
+      d = node->getNode( "level-lbs", true )->getDoubleValue();
+      if( d > 0.0 ) {
+        tank->SetContents( d );
       } else {
-        node->setDoubleValue("level-lbs", Propulsion->GetTank(i)->GetContents());
-        node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
+        node->getNode( "level-lbs", true )->setDoubleValue( tank->GetContents() );
       }
-      node->setDoubleValue("capacity-gal_us",
-                           Propulsion->GetTank(i)->GetCapacity() / 6.6);
+      /* Capacity is read-only in FGTank and can't be overwritten from FlightGear */
+      node->getNode("capacity-gal_us", true )->setDoubleValue( tank->GetCapacityGallons() );
     }
     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
 
@@ -258,6 +275,10 @@ FGJSBsim::FGJSBsim( double dt )
     speedbrake_pos_pct->setDoubleValue(0);
     spoilers_pos_pct->setDoubleValue(0);
 
+    ab_brake_engaged = fgGetNode("/autopilot/autobrake/engaged", true);
+    ab_brake_left_pct = fgGetNode("/autopilot/autobrake/brake-left-output", true);
+    ab_brake_right_pct = fgGetNode("/autopilot/autobrake/brake-right-output", true);
+    
     temperature = fgGetNode("/environment/temperature-degc",true);
     pressure = fgGetNode("/environment/pressure-inhg",true);
     density = fgGetNode("/environment/density-slugft3",true);
@@ -280,10 +301,8 @@ FGJSBsim::FGJSBsim( double dt )
         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
-
-    // Untie the write-state-file property to avoid creating an initfile.xml
-    // file on each reset.
-    fgGetNode("/fdm/jsbsim/simulation/write-state-file")->untie();
+    last_hook_tip[0] = 0; last_hook_tip[1] = 0; last_hook_tip[2] = 0;
+    last_hook_root[0] = 0; last_hook_root[1] = 0; last_hook_root[2] = 0;
 
     crashed = false;
 }
@@ -301,8 +320,6 @@ FGJSBsim::~FGJSBsim(void)
 
 void FGJSBsim::init()
 {
-    double tmp;
-
     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 
     // Explicitly call the superclass's
@@ -322,9 +339,9 @@ void FGJSBsim::init()
       Atmosphere->UseInternal();
     }
 
-    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());
@@ -333,8 +350,23 @@ void FGJSBsim::init()
      << ", " << fdmex->GetAtmosphere()->GetPressure()
      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 
+// deprecate egt_degf for egt-degf to have consistent naming
+// TODO: raise log-level to ALERT in summer 2010, 
+// remove alias in fall 2010, 
+// remove this code in winter 2010
+    for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
+      SGPropertyNode * node = fgGetNode("engines/engine", i, true);
+      SGPropertyNode * egtn = node->getNode( "egt_degf" );
+      if( egtn != NULL ) {
+        SG_LOG(SG_FLIGHT,SG_WARN,
+               "Aircraft uses deprecated node egt_degf. Please upgrade to egt-degf");
+        node->getNode("egt-degf", true)->alias( egtn );
+      }
+    }
+// end of egt_degf deprecation patch
+
     if (fgGetBool("/sim/presets/running")) {
-          for (int i=0; i < Propulsion->GetNumEngines(); i++) {
+          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);
@@ -388,7 +420,7 @@ void FGJSBsim::init()
     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" );
@@ -401,6 +433,14 @@ void FGJSBsim::init()
 
 /******************************************************************************/
 
+void FGJSBsim::unbind()
+{
+  fdmex->Unbind();
+  FGInterface::unbind();
+}
+
+/******************************************************************************/
+
 // Run an iteration of the EOM (equations of motion)
 
 void FGJSBsim::update( double dt )
@@ -433,28 +473,33 @@ void FGJSBsim::update( double dt )
     // ground in this area.
     double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
     double alt, slr, lat, lon;
-    FGColumnVector3 cart = Auxiliary->GetLocationVRP();
+    FGLocation cart = Auxiliary->GetLocationVRP();
     if ( needTrim && startup_trim->getBoolValue() ) {
-      alt = fgic->GetAltitudeFtIC();
+      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) };
-    bool cache_ok = prepare_ground_cache_ft( State->Getsim_time(), cart_pos,
+    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         = " << alt);
-      SG_LOG(SG_FLIGHT, SG_WARN,
-            "sea level radius = " << slr);
-      SG_LOG(SG_FLIGHT, SG_WARN,
-            "latitude         = " << lat);
-      SG_LOG(SG_FLIGHT, SG_WARN,
-            "longitude        = " << lon);
+
+      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;
     }
 
@@ -464,17 +509,24 @@ void FGJSBsim::update( double dt )
 
     if ( needTrim ) {
       if ( startup_trim->getBoolValue() ) {
-        double contact[3], d[3], agl;
-        get_agl_ft(State->Getsim_time(), cart_pos, SG_METER_TO_FEET*2, contact,
-                   d, d, &agl);
+        double contact[3], d[3], vel[3], agl;
+        get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
+                   d, vel, d, &agl);
         double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
              + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
 
         SG_LOG(SG_FLIGHT, SG_INFO,
-          "Ready to trim, terrain altitude is: "
+          "Ready to trim, terrain elevation is: "
             << terrain_alt * SG_METER_TO_FEET );
 
-        fgic->SetTerrainAltitudeFtIC( terrain_alt );
+        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
@@ -484,12 +536,12 @@ void FGJSBsim::update( double dt )
 
     for ( i=0; i < multiloop; i++ ) {
       fdmex->Run();
-      update_external_forces(State->Getsim_time() + i * State->Getdt());      
+      update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT());      
     }
 
     FGJSBBase::Message* msg;
-    while (fdmex->SomeMessages()) {
-      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.")
@@ -518,6 +570,22 @@ 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()
@@ -541,8 +609,18 @@ bool FGJSBsim::copy_to_JSBsim()
         // Parking brake sets minimum braking
         // level for mains.
     double parking_brake = globals->get_controls()->get_brake_parking();
-    FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
-    FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
+    double left_brake = globals->get_controls()->get_brake_left();
+    double right_brake = globals->get_controls()->get_brake_right();
+    
+    if (ab_brake_engaged->getBoolValue()) {
+      left_brake = ab_brake_left_pct->getDoubleValue();
+      right_brake = ab_brake_right_pct->getDoubleValue(); 
+    }
+    
+    FCS->SetLBrake(FMAX(left_brake, parking_brake));
+    FCS->SetRBrake(FMAX(right_brake, parking_brake));
+    
+    
     FCS->SetCBrake( 0.0 );
     // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
 
@@ -574,7 +652,7 @@ bool FGJSBsim::copy_to_JSBsim()
         } // end FGTurbine code block
       case FGEngine::etRocket:
         { // FGRocket code block
-        FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
+//        FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
         break;
         } // end FGRocket code block
       case FGEngine::etTurboprop:
@@ -588,6 +666,8 @@ bool FGJSBsim::copy_to_JSBsim()
         eng->SetCondition( globals->get_controls()->get_condition(i) );
         break;
         } // end FGTurboProp code block
+      default:
+        break;
       }
 
       { // FGEngine code block
@@ -612,9 +692,9 @@ bool FGJSBsim::copy_to_JSBsim()
     tmp = turbulence_rate->getDoubleValue();
     //Atmosphere->SetTurbRate(tmp);
 
-    Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
-                            wind_from_east->getDoubleValue(),
-                            wind_from_down->getDoubleValue() );
+    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()  << ", "
@@ -623,12 +703,17 @@ 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-lbs"));
+      double fuelDensity = node->getDoubleValue("density-ppg");
+
+      if (fuelDensity < 0.1)
+        fuelDensity = 6.0; // Use average fuel value
+
+      tank->SetDensity(fuelDensity);
+      tank->SetContents(node->getDoubleValue("level-lbs"));
     }
 
     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
-    fdmex->SetSlave(slaved->getBoolValue());
+    fdmex->SetChild(slaved->getBoolValue());
 
     return true;
 }
@@ -708,7 +793,7 @@ bool FGJSBsim::copy_from_JSBsim()
       double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
       double contact[3], d[3], sd, t;
       is_valid_m(&t, d, &sd);
-      get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, &sd);
+      get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, d, &sd);
       double rwrad
         = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
       _set_Runway_altitude( rwrad - get_Sea_level_radius() );
@@ -738,9 +823,7 @@ 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()) {
@@ -761,7 +844,7 @@ bool FGJSBsim::copy_from_JSBsim()
         break;
       case FGEngine::etRocket:
         { // FGRocket code block
-        FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
+//        FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
         } // end FGRocket code block
         break;
       case FGEngine::etTurbine:
@@ -769,10 +852,10 @@ 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());
@@ -791,7 +874,7 @@ bool FGJSBsim::copy_from_JSBsim()
         node->setDoubleValue("n1", eng->GetN1());
         //node->setDoubleValue("n2", eng->GetN2());
         node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
-        node->setBoolValue("ignition", eng->GetIgnition());
+        node->setBoolValue("ignition", eng->GetIgnition() != 0);
         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
@@ -799,7 +882,7 @@ bool FGJSBsim::copy_from_JSBsim()
         node->setBoolValue("cutoff", eng->GetCutoff());
         node->setBoolValue("starting", eng->GetEngStarting());
         node->setBoolValue("generator-power", eng->GetGeneratorPower());
-        node->setBoolValue("damaged", eng->GetCondition());
+        node->setBoolValue("damaged", eng->GetCondition() != 0);
         node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 //        node->setBoolValue("onfire", eng->GetFire());
@@ -813,6 +896,8 @@ bool FGJSBsim::copy_from_JSBsim()
         node->setDoubleValue("rpm", eng->getRPM());
         } // end FGElectric code block
         break;
+      case FGEngine::etUnknown:
+        break;
       }
 
       { // FGEngine code block
@@ -829,7 +914,7 @@ 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:
@@ -843,7 +928,7 @@ bool FGJSBsim::copy_from_JSBsim()
         break;
       case FGThruster::ttRotor:
         { // FGRotor code block
-        FGRotor* rotor = (FGRotor*)thruster;
+//        FGRotor* rotor = (FGRotor*)thruster;
         } // end FGRotor code block
         break;
       case FGThruster::ttDirect:
@@ -862,7 +947,12 @@ bool FGJSBsim::copy_from_JSBsim()
         FGTank* tank = Propulsion->GetTank(i);
         double contents = tank->GetContents();
         double temp = tank->GetTemperature_degC();
-        node->setDoubleValue("level-gal_us", contents/6.6);
+        double fuelDensity = tank->GetDensity();
+
+        if (fuelDensity < 0.1)
+          fuelDensity = 6.0; // Use average fuel value
+
+        node->setDoubleValue("density-ppg" , fuelDensity);
         node->setDoubleValue("level-lbs", contents);
         if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
       }
@@ -884,7 +974,7 @@ bool FGJSBsim::copy_from_JSBsim()
 
     // force a sim crashed if crashed (altitude AGL < 0)
     if (get_Altitude_AGL() < -100.0) {
-         State->SuspendIntegration();
+         fdmex->SuspendIntegration();
          crashed = true;
     }
 
@@ -937,7 +1027,9 @@ void FGJSBsim::set_Latitude(double lat)
     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
     fgic->SetLatitudeRadIC( lat_geoc );
-    needTrim=true;
+
+    if (!fdmex->Holding())
+      needTrim=true;
 }
 
 
@@ -950,9 +1042,12 @@ void FGJSBsim::set_Longitude(double lon)
 
     update_ic();
     fgic->SetLongitudeRadIC( lon );
-    needTrim=true;
+
+    if (!fdmex->Holding())
+      needTrim=true;
 }
 
+// Sets the altitude above sea level.
 void FGJSBsim::set_Altitude(double alt)
 {
     static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
@@ -971,10 +1066,12 @@ void FGJSBsim::set_Altitude(double alt)
     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
     SG_LOG(SG_FLIGHT, SG_INFO,
-          "Terrain 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);
-    needTrim=true;
+    fgic->SetAltitudeASLFtIC(alt);
+
+    if (!fdmex->Holding())
+      needTrim=true;
 }
 
 void FGJSBsim::set_V_calibrated_kts(double vc)
@@ -986,7 +1083,9 @@ void FGJSBsim::set_V_calibrated_kts(double vc)
 
     update_ic();
     fgic->SetVcalibratedKtsIC(vc);
-    needTrim=true;
+
+    if (!fdmex->Holding())
+      needTrim=true;
 }
 
 void FGJSBsim::set_Mach_number(double mach)
@@ -998,7 +1097,9 @@ void FGJSBsim::set_Mach_number(double mach)
 
     update_ic();
     fgic->SetMachIC(mach);
-    needTrim=true;
+
+    if (!fdmex->Holding())
+      needTrim=true;
 }
 
 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
@@ -1013,7 +1114,9 @@ void FGJSBsim::set_Velocities_Local( double north, double east, double down )
     fgic->SetVNorthFpsIC(north);
     fgic->SetVEastFpsIC(east);
     fgic->SetVDownFpsIC(down);
-    needTrim=true;
+
+    if (!fdmex->Holding())
+      needTrim=true;
 }
 
 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
@@ -1028,7 +1131,9 @@ void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
     fgic->SetUBodyFpsIC(u);
     fgic->SetVBodyFpsIC(v);
     fgic->SetWBodyFpsIC(w);
-    needTrim=true;
+
+    if (!fdmex->Holding())
+      needTrim=true;
 }
 
 //Euler angles
@@ -1044,7 +1149,9 @@ void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
     fgic->SetThetaRadIC(theta);
     fgic->SetPhiRadIC(phi);
     fgic->SetPsiRadIC(psi);
-    needTrim=true;
+
+    if (!fdmex->Holding())
+      needTrim=true;
 }
 
 //Flight Path
@@ -1062,7 +1169,9 @@ void FGJSBsim::set_Climb_Rate( double roc)
     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
       fgic->SetClimbRateFpsIC(roc);
     }
-    needTrim=true;
+
+    if (!fdmex->Holding())
+      needTrim=true;
 }
 
 void FGJSBsim::set_Gamma_vert_rad( double gamma)
@@ -1073,7 +1182,9 @@ void FGJSBsim::set_Gamma_vert_rad( double gamma)
     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
       fgic->SetFlightPathAngleRadIC(gamma);
     }
-    needTrim=true;
+
+    if (!fdmex->Holding())
+      needTrim=true;
 }
 
 void FGJSBsim::init_gear(void )
@@ -1087,6 +1198,7 @@ void FGJSBsim::init_gear(void )
       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());
@@ -1105,6 +1217,7 @@ void FGJSBsim::update_gear(void)
       FGLGear *gear = gr->GetGearUnit(i);
       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
       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());
@@ -1131,9 +1244,6 @@ void FGJSBsim::do_trim(void)
   } else {
     trimmed->setBoolValue(true);
   }
-//  if (FGJSBBase::debug_lvl > 0)
-//      State->ReportState();
-
   delete fgtrim;
 
   pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
@@ -1143,8 +1253,8 @@ void FGJSBsim::do_trim(void)
 
   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());
@@ -1157,7 +1267,7 @@ void FGJSBsim::update_ic(void)
    if ( !needTrim ) {
      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
      fgic->SetLongitudeRadIC( get_Longitude() );
-     fgic->SetAltitudeFtIC( get_Altitude() );
+     fgic->SetAltitudeASLFtIC( get_Altitude() );
      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
      fgic->SetThetaRadIC( get_Theta() );
      fgic->SetPhiRadIC( get_Phi() );
@@ -1169,9 +1279,8 @@ void FGJSBsim::update_ic(void)
 bool
 FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
                      double contact[3], double normal[3], double vel[3],
-                     double *agl)
+                     double angularVel[3], double *agl)
 {
-   double angularVel[3];
    const SGMaterial* material;
    simgear::BVHNode::Id id;
    if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
@@ -1250,15 +1359,16 @@ void FGJSBsim::update_external_forces(double t_off)
     FGColumnVector3 hook_tip_body = hook_root_body;
     hook_tip_body(1) -= hook_length * cos_fi;
     hook_tip_body(3) += hook_length * sin_fi;    
-    bool hook_tip_valid = true;
     
     double contact[3];
     double ground_normal[3];
     double ground_vel[3];
+    double ground_angular_vel[3];
     double root_agl_ft;
 
     if (!got_wire) {
-        bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal, ground_vel, &root_agl_ft);
+        bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal,
+                              ground_vel, ground_angular_vel, &root_agl_ft);
         if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
             FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
             FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));