X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2FJSBSim.cxx;h=e8a96c0185854c8b858813a4bdce6ce424226d3d;hb=674a295896a1e56d605f39874262d6f146a586a3;hp=a13821d82b716a2a0c7f99b4f89544bb65437a21;hpb=3cb45f498990d75b18e962af8f2b9bf09d09e45c;p=flightgear.git diff --git a/src/FDM/JSBSim/JSBSim.cxx b/src/FDM/JSBSim/JSBSim.cxx index a13821d82..e8a96c018 100644 --- a/src/FDM/JSBSim/JSBSim.cxx +++ b/src/FDM/JSBSim/JSBSim.cxx @@ -5,20 +5,20 @@ // Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org // // This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License as +// modify it under the terms of the GNU Lesser General Public License as // published by the Free Software Foundation; either version 2 of the // License, or (at your option) any later version. // // This program is distributed in the hope that it will be useful, but // WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU -// General Public License for more details. +// Lesser General Public License for more details. // -// You should have received a copy of the GNU General Public License +// You should have received a copy of the GNU Lesser General Public License // along with this program; if not, write to the Free Software // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. // -// $Id$ +// $Id: JSBSim.cxx,v 1.64 2010/10/31 04:49:25 jberndt Exp $ #ifdef HAVE_CONFIG_H @@ -38,7 +38,6 @@ #include -#include #include #include
#include
@@ -46,7 +45,6 @@ #include "JSBSim.hxx" #include #include -#include #include #include #include @@ -59,6 +57,8 @@ #include #include #include +#include +#include #include #include #include @@ -82,10 +82,10 @@ FMAX (double a, double b) class FGFSGroundCallback : public FGGroundCallback { public: - FGFSGroundCallback(FGInterface* ifc) : mInterface(ifc) {} + 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), @@ -97,20 +97,20 @@ 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], lc, ff, agl; - int groundtype; - mInterface->get_agl_ft(t, loc_cart, contact, normal, vel, - &groundtype, &lc, &ff, &agl); - n = l.GetTec2l()*FGColumnVector3( normal[0], normal[1], normal[2] ); - v = l.GetTec2l()*FGColumnVector3( vel[0], vel[1], vel[2] ); + 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: - FGInterface* mInterface; + FGJSBsim* mInterface; }; /******************************************************************************/ @@ -149,7 +149,6 @@ FGJSBsim::FGJSBsim( double dt ) // Register ground callback. fdmex->SetGroundCallback( new FGFSGroundCallback(this) ); - State = fdmex->GetState(); Atmosphere = fdmex->GetAtmosphere(); FCS = fdmex->GetFCS(); MassBalance = fdmex->GetMassBalance(); @@ -172,7 +171,13 @@ FGJSBsim::FGJSBsim( double dt ) SGPath systems_path( fgGetString("/sim/aircraft-dir") ); systems_path.append( "Systems" ); - State->Setdt( dt ); +// deprecate sim-time-sec for simulation/sim-time-sec +// remove alias with increased configuration file version number (2.1 or later) + SGPropertyNode * node = fgGetNode("/fdm/jsbsim/simulation/sim-time-sec"); + fgGetNode("/fdm/jsbsim/sim-time-sec", true)->alias( node ); +// end of sim-time-sec deprecation patch + + fdmex->Setdt( dt ); result = fdmex->LoadModel( aircraft_path.str(), engine_path.str(), @@ -211,7 +216,7 @@ FGJSBsim::FGJSBsim( double dt ) if (node->getChild("level-gal_us", 0, false) != 0) { Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6); } else { - node->setDoubleValue("level-lb", Propulsion->GetTank(i)->GetContents()); + node->setDoubleValue("level-lbs", Propulsion->GetTank(i)->GetContents()); node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6); } node->setDoubleValue("capacity-gal_us", @@ -259,6 +264,10 @@ FGJSBsim::FGJSBsim( double dt ) speedbrake_pos_pct->setDoubleValue(0); spoilers_pos_pct->setDoubleValue(0); + ab_brake_engaged = fgGetNode("/autopilot/autobrake/engaged", true); + ab_brake_left_pct = fgGetNode("/autopilot/autobrake/brake-left-output", true); + ab_brake_right_pct = fgGetNode("/autopilot/autobrake/brake-right-output", true); + temperature = fgGetNode("/environment/temperature-degc",true); pressure = fgGetNode("/environment/pressure-inhg",true); density = fgGetNode("/environment/density-slugft3",true); @@ -282,10 +291,6 @@ FGJSBsim::FGJSBsim( double dt ) 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(); - crashed = false; } @@ -302,8 +307,6 @@ FGJSBsim::~FGJSBsim(void) void FGJSBsim::init() { - double tmp; - SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" ); // Explicitly call the superclass's @@ -323,9 +326,9 @@ 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()); @@ -334,8 +337,23 @@ 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); @@ -389,7 +407,7 @@ 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" ); @@ -434,28 +452,33 @@ 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; } @@ -465,18 +488,24 @@ void FGJSBsim::update( double dt ) if ( needTrim ) { if ( startup_trim->getBoolValue() ) { - double contact[3], dummy[3], lc, ff, agl; - int groundtype; - get_agl_ft(State->Getsim_time(), cart_pos, contact, - dummy, dummy, &groundtype, &lc, &ff, &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 @@ -486,12 +515,12 @@ 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()) { +// msg = fdmex->ProcessNextMessage(); switch (msg->type) { case FGJSBBase::Message::eText: if (msg->text == "Crash Detected: Simulation FREEZE.") @@ -543,8 +572,18 @@ 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) ); @@ -590,6 +629,8 @@ bool FGJSBsim::copy_to_JSBsim() eng->SetCondition( globals->get_controls()->get_condition(i) ); break; } // end FGTurboProp code block + default: + break; } { // FGEngine code block @@ -614,9 +655,9 @@ 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() << ", " @@ -626,11 +667,11 @@ 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->SetSlave(slaved->getBoolValue()); + fdmex->SetChild(slaved->getBoolValue()); return true; } @@ -709,9 +750,8 @@ 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; - int id; is_valid_m(&t, d, &sd); - get_agl_ft(t, loc_cart, contact, d, d, &id, &sd, &sd, &sd); + get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, d, &sd); double rwrad = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude(); _set_Runway_altitude( rwrad - get_Sea_level_radius() ); @@ -741,9 +781,7 @@ bool FGJSBsim::copy_from_JSBsim() // Copy the engine values from JSBSim. for ( i=0; i < Propulsion->GetNumEngines(); i++ ) { SGPropertyNode * node = fgGetNode("engines/engine", i, true); - char buf[30]; - sprintf(buf, "engines/engine[%d]/thruster", i); - SGPropertyNode * tnode = fgGetNode(buf, true); + SGPropertyNode * tnode = node->getChild("thruster", 0, true); FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster(); switch (Propulsion->GetEngine(i)->GetType()) { @@ -772,7 +810,7 @@ bool FGJSBsim::copy_from_JSBsim() FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i); node->setDoubleValue("n1", eng->GetN1()); node->setDoubleValue("n2", eng->GetN2()); - node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5); + node->setDoubleValue("egt-degf", 32 + eng->GetEGT()*9/5); node->setBoolValue("augmentation", eng->GetAugmentation()); node->setBoolValue("water-injection", eng->GetInjection()); node->setBoolValue("ignition", eng->GetIgnition()); @@ -816,6 +854,8 @@ bool FGJSBsim::copy_from_JSBsim() node->setDoubleValue("rpm", eng->getRPM()); } // end FGElectric code block break; + case FGEngine::etUnknown: + break; } { // FGEngine code block @@ -866,7 +906,7 @@ bool FGJSBsim::copy_from_JSBsim() double contents = tank->GetContents(); double temp = tank->GetTemperature_degC(); node->setDoubleValue("level-gal_us", contents/6.6); - node->setDoubleValue("level-lb", contents); + node->setDoubleValue("level-lbs", contents); if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp); } } @@ -887,7 +927,7 @@ 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; } @@ -956,6 +996,7 @@ void FGJSBsim::set_Longitude(double lon) needTrim=true; } +// Sets the altitude above sea level. void FGJSBsim::set_Altitude(double alt) { static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg"); @@ -974,9 +1015,9 @@ 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); + fgic->SetAltitudeASLFtIC(alt); needTrim=true; } @@ -1090,6 +1131,7 @@ 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()); @@ -1108,6 +1150,7 @@ 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()); @@ -1134,9 +1177,6 @@ void FGJSBsim::do_trim(void) } else { trimmed->setBoolValue(true); } -// if (FGJSBBase::debug_lvl > 0) -// State->ReportState(); - delete fgtrim; pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() ); @@ -1160,7 +1200,7 @@ 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() ); @@ -1169,6 +1209,22 @@ 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 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); @@ -1236,17 +1292,16 @@ 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]; - int ground_type; - const SGMaterial* ground_material; + 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_type, &ground_material, &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]));