Bertrand Coconnier: bug fix for #184, JSBSim: command line arguments

1. The atmospheric properties of FG are not yet initialized when
JSBSim is initialized.
-> patch is quite basic and there may exist smarter ways to initialize
properly the environment before the FDM.
2. The Euler angles were initialized after the velocities.
3. The glide slope and rate of climb were ignored. Fixes all FDMs (YASim,
UIUC, JSBSim, etc.)
4. Some properties were instructed to re-use their previous value while
they should not.
5. Some bugs existed in JSBSim trim code. -> This bug has already been
fixed in JSBSim but the corresponding patch has not yet been applied to FG.

diff --git a/src/Environment/environment_mgr.cxx b/src/Environment/environment_mgr.cxx
index e4803902987ffbe03b3f819cd0bbf7e2048ed714..42023ea8458484588ee9974df7013748c5b03677 100644 (file)
--- a/src/Environment/environment_mgr.cxx
+++ b/src/Environment/environment_mgr.cxx
@@ -97,6 +97,13 @@ FGEnvironmentMgr::init ()
   SG_LOG( SG_GENERAL, SG_INFO, "Initializing environment subsystem");
   SGSubsystemGroup::init();
   fgClouds->Init();
+
+  // Initialize the longitude, latitude and altitude to the initial position
+  // of the aircraft so that the atmospheric properties (pressure, temperature
+  // and density) can be initialized accordingly.
+  _altitudeNode->setDoubleValue(fgGetDouble("/sim/presets/altitude-ft"));
+  _longitude_n->setDoubleValue(fgGetDouble("/sim/presets/longitude-deg"));
+  _latitude_n->setDoubleValue(fgGetDouble("/sim/presets/latitude-deg"));
 }
 
 void

diff --git a/src/FDM/JSBSim/JSBSim.cxx b/src/FDM/JSBSim/JSBSim.cxx
index 806401cf9654f80587ff61cb2c28222b47a21a6e..54ed598726b30714f28fdc7726e6263808bbaaf9 100644 (file)
--- a/src/FDM/JSBSim/JSBSim.cxx
+++ b/src/FDM/JSBSim/JSBSim.cxx
@@ -181,7 +181,7 @@ FGJSBsim::FGJSBsim( double dt )
     MassBalance     = fdmex->GetMassBalance();
     Propulsion      = fdmex->GetPropulsion();
     Aircraft        = fdmex->GetAircraft();
-    Propagate        = fdmex->GetPropagate();
+    Propagate       = fdmex->GetPropagate();
     Auxiliary       = fdmex->GetAuxiliary();
     Inertial        = fdmex->GetInertial();
     Aerodynamics    = fdmex->GetAerodynamics();
@@ -369,9 +369,9 @@ void FGJSBsim::init()
       Atmosphere->UseInternal();
     }
 
-    fgic->SetVNorthFpsIC( -wind_from_north->getDoubleValue() );
-    fgic->SetVEastFpsIC( -wind_from_east->getDoubleValue() );
-    fgic->SetVDownFpsIC( -wind_from_down->getDoubleValue() );
+    fgic->SetWindNEDFpsIC( -wind_from_north->getDoubleValue(),
+                           -wind_from_east->getDoubleValue(),
+                           -wind_from_down->getDoubleValue() );
 
     //Atmosphere->SetExTemperature(get_Static_temperature());
     //Atmosphere->SetExPressure(get_Static_pressure());
@@ -393,20 +393,20 @@ void FGJSBsim::init()
     }
 // end of egt_degf deprecation patch
 
-    if (fgGetBool("/sim/presets/running")) {
-          for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
-            SGPropertyNode * node = fgGetNode("engines/engine", i, true);
-            node->setBoolValue("running", true);
-            Propulsion->GetEngine(i)->SetRunning(true);
-          }
-    }
-
     FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
 
     common_init();
 
     copy_to_JSBsim();
     fdmex->RunIC();     //loop JSBSim once w/o integrating
+    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));
+      }
+    }
     copy_from_JSBsim(); //update the bus
 
     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
@@ -1282,7 +1282,7 @@ void FGJSBsim::do_trim(void)
   {
     fgtrim = new FGTrim(fdmex,tGround);
   } else {
-    fgtrim = new FGTrim(fdmex,tLongitudinal);
+    fgtrim = new FGTrim(fdmex,tFull);
   }
 
   if ( !fgtrim->DoTrim() ) {
@@ -1296,7 +1296,7 @@ void FGJSBsim::do_trim(void)
   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());
@@ -1304,7 +1304,7 @@ void FGJSBsim::do_trim(void)
     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" );
 }

diff --git a/src/FDM/JSBSim/initialization/FGInitialCondition.cpp b/src/FDM/JSBSim/initialization/FGInitialCondition.cpp
index 0dbcf88ce978c39df8fb44afdbb72faeb0cec23b..00a3840f1a0ba95aa0aadff53bb01d0f9d5aeb90 100644 (file)
--- a/src/FDM/JSBSim/initialization/FGInitialCondition.cpp
+++ b/src/FDM/JSBSim/initialization/FGInitialCondition.cpp
@@ -61,7 +61,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id: FGInitialCondition.cpp,v 1.59 2011/04/03 13:18:51 bcoconni Exp $";
+static const char *IdSrc = "$Id: FGInitialCondition.cpp,v 1.61 2011/05/20 00:47:03 bcoconni Exp $";
 static const char *IdHdr = ID_INITIALCONDITION;
 
 //******************************************************************************
@@ -112,7 +112,7 @@ void FGInitialCondition::ResetIC(double u0, double v0, double w0,
   FGQuaternion Quat(phi, theta, psi);
   Quat.Normalize();
   Tl2b = Quat.GetT();
-  Tb2l = Quat.GetTInv();
+  Tb2l = Tl2b.Transposed();
 
   vUVW_NED = Tb2l * FGColumnVector3(u0, v0, w0);
   vt = vUVW_NED.Magnitude();
@@ -322,20 +322,18 @@ void FGInitialCondition::SetClimbRateFpsIC(double hdot)
 
   FGColumnVector3 _vt_NED = Tb2l * Tw2b * FGColumnVector3(vt, 0., 0.);
   FGColumnVector3 _WIND_NED = _vt_NED - vUVW_NED;
-  double hdot0 = _vt_NED(eW);
+  double hdot0 = -_vt_NED(eW);
 
   if (fabs(hdot0) < vt) {
     double scale = sqrt((vt*vt-hdot*hdot)/(vt*vt-hdot0*hdot0));
     _vt_NED(eU) *= scale;
     _vt_NED(eV) *= scale;
   }
-  _vt_NED(eW) = hdot;
+  _vt_NED(eW) = -hdot;
   vUVW_NED = _vt_NED - _WIND_NED;
 
-  // The AoA is not modified here but the function SetAlphaRadIC is updating the
-  // same angles than SetClimbRateFpsIC needs to update.
-  // TODO : create a subroutine that only shares the relevant code.
-  SetAlphaRadIC(alpha);
+  // Updating the angles theta and beta to keep the true airspeed amplitude
+  calcThetaBeta(alpha, _vt_NED);
 }
 
 //******************************************************************************
@@ -346,13 +344,22 @@ void FGInitialCondition::SetClimbRateFpsIC(double hdot)
 void FGInitialCondition::SetAlphaRadIC(double alfa)
 {
   FGColumnVector3 _vt_NED = Tb2l * Tw2b * FGColumnVector3(vt, 0., 0.);
+  calcThetaBeta(alfa, _vt_NED);
+}
+
+//******************************************************************************
+// When the AoA is modified, we need to update the angles theta and beta to
+// keep the true airspeed amplitude, the climb rate and the heading unchanged.
+// Beta will be modified if the aircraft roll angle is not null.
 
+void FGInitialCondition::calcThetaBeta(double alfa, const FGColumnVector3& _vt_NED)
+{
   double calpha = cos(alfa), salpha = sin(alfa);
   double cpsi = cos(psi), spsi = sin(psi);
   double cphi = cos(phi), sphi = sin(phi);
   FGMatrix33 Tpsi( cpsi, spsi, 0.,
-                    -spsi, cpsi, 0.,
-                       0.,   0., 1.);
+                  -spsi, cpsi, 0.,
+                     0.,   0., 1.);
   FGMatrix33 Tphi(1.,   0.,   0.,
                   0., cphi, sphi,
                   0.,-sphi, cphi);
@@ -398,11 +405,11 @@ void FGInitialCondition::SetAlphaRadIC(double alfa)
   Tl2b = Quat.GetT();
   Tb2l = Quat.GetTInv();
 
-  FGColumnVector3 v2 = Talpha * Quat.GetT() * _vt_NED;
+  FGColumnVector3 v2 = Talpha * Tl2b * _vt_NED;
 
   alpha = alfa;
   beta = atan2(v2(eV), v2(eU));
-  double cbeta=0.0, sbeta=0.0;
+  double cbeta=1.0, sbeta=0.0;
   if (vt != 0.0) {
     cbeta = v2(eU) / vt;
     sbeta = v2(eV) / vt;
@@ -687,6 +694,8 @@ void FGInitialCondition::SetAltitudeASLFtIC(double alt)
   double ve0 = vt * sqrt(rho/rhoSL);
 
   altitudeASL=alt;
+  position.SetRadius(alt + sea_level_radius);
+
   temperature = fdmex->GetAtmosphere()->GetTemperature(altitudeASL);
   soundSpeed = sqrt(SHRatio*Reng*temperature);
   rho = fdmex->GetAtmosphere()->GetDensity(altitudeASL);
@@ -703,8 +712,6 @@ void FGInitialCondition::SetAltitudeASLFtIC(double alt)
     default: // Make the compiler stop complaining about missing enums
       break;
   }
-
-  position.SetRadius(alt + sea_level_radius);
 }
 
 //******************************************************************************

diff --git a/src/FDM/JSBSim/initialization/FGInitialCondition.h b/src/FDM/JSBSim/initialization/FGInitialCondition.h
index 308122450d8ac019903e2e6b1727a3a48ada4829..e110ebbb32386002f35cfc9901a1bd639685288c 100644 (file)
--- a/src/FDM/JSBSim/initialization/FGInitialCondition.h
+++ b/src/FDM/JSBSim/initialization/FGInitialCondition.h
@@ -54,7 +54,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_INITIALCONDITION "$Id: FGInitialCondition.h,v 1.26 2011/01/16 16:10:59 bcoconni Exp $"
+#define ID_INITIALCONDITION "$Id: FGInitialCondition.h,v 1.27 2011/05/20 00:47:03 bcoconni Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -213,7 +213,7 @@ CLASS DOCUMENTATION
    @property ic/r-rad_sec (read/write) Yaw rate initial condition in radians/second
 
    @author Tony Peden
-   @version "$Id: FGInitialCondition.h,v 1.26 2011/01/16 16:10:59 bcoconni Exp $"
+   @version "$Id: FGInitialCondition.h,v 1.27 2011/05/20 00:47:03 bcoconni Exp $"
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -666,6 +666,7 @@ private:
   double getMachFromVcas(double vcas);
   double calcVcas(double Mach) const;
   void calcAeroAngles(const FGColumnVector3& _vt_BODY);
+  void calcThetaBeta(double alfa, const FGColumnVector3& _vt_NED);
   void bind(void);
   void Debug(int from);
 

diff --git a/src/FDM/flight.cxx b/src/FDM/flight.cxx
index d501d1507cd72a0d25d6305f2247ccd628af5969..431605a9f9957713c977c6857376578e6580e7d4 100644 (file)
--- a/src/FDM/flight.cxx
+++ b/src/FDM/flight.cxx
@@ -179,6 +179,15 @@ FGInterface::common_init ()
     double slr = SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v);
     _set_Sea_level_radius( slr * SG_METER_TO_FEET );
 
+    // Set initial Euler angles
+    SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
+    set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
+                        * SGD_DEGREES_TO_RADIANS,
+                      fgGetDouble("/sim/presets/pitch-deg")
+                        * SGD_DEGREES_TO_RADIANS,
+                      fgGetDouble("/sim/presets/heading-deg")
+                        * SGD_DEGREES_TO_RADIANS );
+
     // Set initial velocities
     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
     if ( !fgHasNode("/sim/presets/speed-set") ) {
@@ -207,14 +216,11 @@ FGInterface::common_init ()
         }
     }
 
-    // Set initial Euler angles
-    SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
-    set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
-                        * SGD_DEGREES_TO_RADIANS,
-                      fgGetDouble("/sim/presets/pitch-deg")
-                        * SGD_DEGREES_TO_RADIANS,
-                      fgGetDouble("/sim/presets/heading-deg")
-                        * SGD_DEGREES_TO_RADIANS );
+    if ( fgHasNode("/sim/presets/glideslope-deg") )
+        set_Gamma_vert_rad( fgGetDouble("/sim/presets/glideslope-deg")
+                              * SGD_DEGREES_TO_RADIANS );
+    else if ( fgHasNode( "/velocities/vertical-speed-fps") )
+        set_Climb_Rate( fgGetDouble("/velocities/vertical-speed-fps") );
 
     SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
 }
@@ -251,7 +257,7 @@ FGInterface::bind ()
         false);
   fgSetArchivable("/position/altitude-ft");
   fgTie("/position/altitude-agl-ft", this,
-        &FGInterface::get_Altitude_AGL, &FGInterface::set_AltitudeAGL);
+        &FGInterface::get_Altitude_AGL, &FGInterface::set_AltitudeAGL, false);
   fgSetArchivable("/position/ground-elev-ft");
   fgTie("/position/ground-elev-ft", this,
         &FGInterface::get_Runway_altitude); // read-only
@@ -263,7 +269,7 @@ FGInterface::bind ()
   fgSetArchivable("/position/sea-level-radius-ft");
   fgTie("/position/sea-level-radius-ft", this,
         &FGInterface::get_Sea_level_radius,
-        &FGInterface::_set_Sea_level_radius);
+        &FGInterface::_set_Sea_level_radius, false);
 
                                // Orientation
   fgTie("/orientation/roll-deg", this,
@@ -279,24 +285,27 @@ FGInterface::bind ()
        &FGInterface::set_Psi_deg, false);
   fgSetArchivable("/orientation/heading-deg");
   fgTie("/orientation/track-deg", this,
-       &FGInterface::get_Track);
+       &FGInterface::get_Track); // read-only
 
   // Body-axis "euler rates" (rotation speed, but in a funny
   // representation).
   fgTie("/orientation/roll-rate-degps", this,
-       &FGInterface::get_Phi_dot_degps, &FGInterface::set_Phi_dot_degps);
+       &FGInterface::get_Phi_dot_degps,
+       &FGInterface::set_Phi_dot_degps, false);
   fgTie("/orientation/pitch-rate-degps", this,
-       &FGInterface::get_Theta_dot_degps, &FGInterface::set_Theta_dot_degps);
+       &FGInterface::get_Theta_dot_degps,
+       &FGInterface::set_Theta_dot_degps, false);
   fgTie("/orientation/yaw-rate-degps", this,
-       &FGInterface::get_Psi_dot_degps, &FGInterface::set_Psi_dot_degps);
+       &FGInterface::get_Psi_dot_degps,
+       &FGInterface::set_Psi_dot_degps, false);
 
-  fgTie("/orientation/p-body", this, &FGInterface::get_P_body);
-  fgTie("/orientation/q-body", this, &FGInterface::get_Q_body);
-  fgTie("/orientation/r-body", this, &FGInterface::get_R_body);
+  fgTie("/orientation/p-body", this, &FGInterface::get_P_body); // read-only
+  fgTie("/orientation/q-body", this, &FGInterface::get_Q_body); // read-only
+  fgTie("/orientation/r-body", this, &FGInterface::get_R_body); // read-only
   
                                 // Ground speed knots
   fgTie("/velocities/groundspeed-kt", this,
-        &FGInterface::get_V_ground_speed_kt);
+        &FGInterface::get_V_ground_speed_kt); // read-only
 
                                // Calibrated airspeed
   fgTie("/velocities/airspeed-kt", this,
@@ -305,7 +314,7 @@ FGInterface::bind ()
        false);
 
     fgTie("/velocities/equivalent-kt", this,
-        &FGInterface::get_V_equiv_kts);
+        &FGInterface::get_V_equiv_kts); // read-only
 
                                // Mach number
   fgTie("/velocities/mach", this,
@@ -338,11 +347,11 @@ FGInterface::bind ()
        &FGInterface::get_V_down, &FGInterface::set_V_down, false);
 
   fgTie("/velocities/north-relground-fps", this,
-    &FGInterface::get_V_north_rel_ground);
+    &FGInterface::get_V_north_rel_ground); // read-only
   fgTie("/velocities/east-relground-fps", this,
-    &FGInterface::get_V_east_rel_ground);
+    &FGInterface::get_V_east_rel_ground); // read-only
   fgTie("/velocities/down-relground-fps", this,
-    &FGInterface::get_V_down_rel_ground);
+    &FGInterface::get_V_down_rel_ground); // read-only
 
 
                                // Relative wind
@@ -367,36 +376,37 @@ FGInterface::bind ()
                                // Climb and slip (read-only)
   fgTie("/velocities/vertical-speed-fps", this,
        &FGInterface::get_Climb_Rate,
-  &FGInterface::set_Climb_Rate ); 
+        &FGInterface::set_Climb_Rate, false );
   fgTie("/velocities/glideslope", this,
   &FGInterface::get_Gamma_vert_rad,
-  &FGInterface::set_Gamma_vert_rad );
+  &FGInterface::set_Gamma_vert_rad, false );
   fgTie("/orientation/side-slip-rad", this,
-       &FGInterface::get_Beta, &FGInterface::_set_Beta);
+       &FGInterface::get_Beta, &FGInterface::_set_Beta, false);
   fgTie("/orientation/side-slip-deg", this,
   &FGInterface::get_Beta_deg); // read-only
   fgTie("/orientation/alpha-deg", this,
-  &FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg); // read-only
+  &FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg, false);
   fgTie("/accelerations/nlf", this,
   &FGInterface::get_Nlf); // read-only
 
                                 // NED accelerations
   fgTie("/accelerations/ned/north-accel-fps_sec",
-        this, &FGInterface::get_V_dot_north);
+        this, &FGInterface::get_V_dot_north); // read-only
   fgTie("/accelerations/ned/east-accel-fps_sec",
-        this, &FGInterface::get_V_dot_east);
+        this, &FGInterface::get_V_dot_east); // read-only
   fgTie("/accelerations/ned/down-accel-fps_sec",
-        this, &FGInterface::get_V_dot_down);
+        this, &FGInterface::get_V_dot_down); // read-only
 
                                 // Pilot accelerations
   fgTie("/accelerations/pilot/x-accel-fps_sec",
-        this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot);
+        this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot, false);
   fgTie("/accelerations/pilot/y-accel-fps_sec",
-        this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot);
+        this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot, false);
   fgTie("/accelerations/pilot/z-accel-fps_sec",
-        this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot);
+        this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot, false);
         
-  fgTie("/accelerations/n-z-cg-fps_sec", this, &FGInterface::get_N_Z_cg);
+  fgTie("/accelerations/n-z-cg-fps_sec",
+        this, &FGInterface::get_N_Z_cg); // read-only
 
 }