--- /dev/null
+// JSBsim.cxx -- interface to the JSBsim flight model
+//
+// Written by Curtis Olson, started February 1999.
+//
+// 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
+// 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.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+//
+// $Id$
+
+
+#include <simgear/compiler.h>
+
+#ifdef SG_MATH_EXCEPTION_CLASH
+# include <math.h>
+#endif
+
+#include STL_STRING
+
+#include <simgear/constants.h>
+#include <simgear/debug/logstream.hxx>
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/misc/sg_path.hxx>
+
+#include <Scenery/scenery.hxx>
+
+#include <Aircraft/aircraft.hxx>
+#include <Controls/controls.hxx>
+#include <Main/globals.hxx>
+#include <Main/fg_props.hxx>
+
+#include <FDM/JSBSim/FGFDMExec.h>
+#include <FDM/JSBSim/FGAircraft.h>
+#include <FDM/JSBSim/FGFCS.h>
+#include <FDM/JSBSim/FGPosition.h>
+#include <FDM/JSBSim/FGRotation.h>
+#include <FDM/JSBSim/FGState.h>
+#include <FDM/JSBSim/FGTranslation.h>
+#include <FDM/JSBSim/FGAuxiliary.h>
+#include <FDM/JSBSim/FGInitialCondition.h>
+#include <FDM/JSBSim/FGTrim.h>
+#include <FDM/JSBSim/FGAtmosphere.h>
+#include <FDM/JSBSim/FGMassBalance.h>
+#include <FDM/JSBSim/FGAerodynamics.h>
+#include <FDM/JSBSim/FGLGear.h>
+#include "JSBSim.hxx"
+
+/******************************************************************************/
+
+FGJSBsim::FGJSBsim( double dt )
+ : FGInterface(dt)
+{
+ bool result;
+
+ fdmex = new FGFDMExec;
+
+ State = fdmex->GetState();
+ Atmosphere = fdmex->GetAtmosphere();
+ FCS = fdmex->GetFCS();
+ MassBalance = fdmex->GetMassBalance();
+ Propulsion = fdmex->GetPropulsion();
+ Aircraft = fdmex->GetAircraft();
+ Translation = fdmex->GetTranslation();
+ Rotation = fdmex->GetRotation();
+ Position = fdmex->GetPosition();
+ Auxiliary = fdmex->GetAuxiliary();
+ Aerodynamics = fdmex->GetAerodynamics();
+ GroundReactions = fdmex->GetGroundReactions();
+
+
+ Atmosphere->UseInternal();
+
+ fgic=new FGInitialCondition(fdmex);
+ needTrim=true;
+
+ SGPath aircraft_path( globals->get_fg_root() );
+ aircraft_path.append( "Aircraft" );
+
+ SGPath engine_path( globals->get_fg_root() );
+ engine_path.append( "Engine" );
+ set_delta_t( dt );
+ State->Setdt( dt );
+
+ result = fdmex->LoadModel( aircraft_path.str(),
+ engine_path.str(),
+ fgGetString("/sim/aero") );
+
+ if (result) {
+ SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
+ } else {
+ SG_LOG( SG_FLIGHT, SG_INFO,
+ " aero does not exist (you may have mis-typed the name).");
+ throw(-1);
+ }
+
+ SG_LOG( SG_FLIGHT, SG_INFO, "" );
+ SG_LOG( SG_FLIGHT, SG_INFO, "" );
+ SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
+
+ int Neng = Propulsion->GetNumEngines();
+ SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
+
+ if ( GroundReactions->GetNumGearUnits() <= 0 ) {
+ SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
+ << GroundReactions->GetNumGearUnits() );
+ SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
+ SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
+ SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
+ exit(-1);
+ }
+
+
+ init_gear();
+
+ // Set initial fuel levels if provided.
+ for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
+ SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
+ if (node->getChild("level-gal_us", 0, false) != 0)
+ Propulsion->GetTank(i)
+ ->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
+ }
+
+ fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
+ fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
+ fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
+ fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
+
+ startup_trim = fgGetNode("/sim/startup/trim", true);
+
+ trimmed = fgGetNode("/fdm/trim/trimmed", true);
+ trimmed->setBoolValue(false);
+
+ pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
+ throttle_trim = fgGetNode("/fdm/trim/throttle", true );
+ aileron_trim = fgGetNode("/fdm/trim/aileron", true );
+ rudder_trim = fgGetNode("/fdm/trim/rudder", true );
+
+
+ stall_warning = fgGetNode("/sim/aero/alarms/stall-warning",true);
+ stall_warning->setDoubleValue(0);
+}
+
+/******************************************************************************/
+FGJSBsim::~FGJSBsim(void) {
+ if (fdmex != NULL) {
+ delete fdmex; fdmex=NULL;
+ delete fgic; fgic=NULL;
+ }
+}
+
+/******************************************************************************/
+
+// Initialize the JSBsim flight model, dt is the time increment for
+// each subsequent iteration through the EOM
+
+void FGJSBsim::init() {
+
+ SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
+
+ // Explicitly call the superclass's
+ // init method first.
+ common_init();
+ copy_to_JSBsim();
+
+ fdmex->RunIC(fgic); //loop JSBSim once w/o integrating
+ copy_from_JSBsim(); //update the bus
+
+ SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
+
+ switch(fgic->GetSpeedSet()) {
+ case setned:
+ SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
+ << Position->GetVn() << ", "
+ << Position->GetVe() << ", "
+ << Position->GetVd() << " ft/s");
+ break;
+ case setuvw:
+ SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
+ << Translation->GetUVW(1) << ", "
+ << Translation->GetUVW(2) << ", "
+ << Translation->GetUVW(3) << " ft/s");
+ break;
+ case setmach:
+ SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
+ << Translation->GetMach() );
+ break;
+ case setvc:
+ default:
+ SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
+ << Auxiliary->GetVcalibratedKTS() << " knots" );
+ break;
+ }
+
+ stall_warning->setDoubleValue(0);
+
+ SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
+ << Rotation->Getphi()*RADTODEG << " deg" );
+ SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
+ << Rotation->Gettht()*RADTODEG << " deg" );
+ SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
+ << Rotation->Getpsi()*RADTODEG << " deg" );
+ SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
+ << Position->GetLatitude() << " deg" );
+ SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
+ << Position->GetLongitude() << " deg" );
+ SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
+ << Position->Geth() << " feet" );
+ SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
+
+ SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
+
+ SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
+
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
+ globals->get_controls()->get_gear_down() );
+
+
+
+}
+
+/******************************************************************************/
+
+// Run an iteration of the EOM (equations of motion)
+
+void
+FGJSBsim::update( int multiloop ) {
+
+ int i;
+
+ // double save_alt = 0.0;
+
+ copy_to_JSBsim();
+
+ trimmed->setBoolValue(false);
+
+ if ( needTrim ) {
+ if ( startup_trim->getBoolValue() ) {
+ SG_LOG(SG_FLIGHT, SG_INFO,
+ "Ready to trim, terrain altitude is: "
+ << scenery.get_cur_elev() * SG_METER_TO_FEET );
+ SG_LOG( SG_FLIGHT, SG_INFO, "position = "
+ << fgGetDouble("/position/longitude-deg") << ", "
+ << fgGetDouble("/position/latitude-deg") );
+ fgic->SetTerrainAltitudeFtIC( scenery.get_cur_elev() * SG_METER_TO_FEET );
+ do_trim();
+ } else {
+ fdmex->RunIC(fgic); //apply any changes made through the set_ functions
+ }
+ needTrim = false;
+ }
+
+ for ( i=0; i < multiloop; i++ ) {
+ fdmex->Run();
+ }
+
+ FGJSBBase::Message* msg;
+ while (fdmex->ReadMessage()) {
+ msg = fdmex->ProcessMessage();
+ switch (msg->type) {
+ case FGJSBBase::Message::eText:
+ SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
+ break;
+ case FGJSBBase::Message::eBool:
+ SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
+ break;
+ case FGJSBBase::Message::eInteger:
+ SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
+ break;
+ case FGJSBBase::Message::eDouble:
+ SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
+ break;
+ default:
+ SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
+ break;
+ }
+ }
+
+ // translate JSBsim back to FG structure so that the
+ // autopilot (and the rest of the sim can use the updated values
+ copy_from_JSBsim();
+}
+
+/******************************************************************************/
+
+// Convert from the FGInterface struct to the JSBsim generic_ struct
+
+bool FGJSBsim::copy_to_JSBsim() {
+ unsigned int i;
+
+ // copy control positions into the JSBsim structure
+
+ FCS->SetDaCmd( globals->get_controls()->get_aileron());
+ FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
+ FCS->SetDeCmd( globals->get_controls()->get_elevator());
+ FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
+ FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
+ FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
+ FCS->SetDfCmd( globals->get_controls()->get_flaps() );
+ FCS->SetDsbCmd( 0.0 ); //speedbrakes
+ FCS->SetDspCmd( 0.0 ); //spoilers
+ FCS->SetLBrake( globals->get_controls()->get_brake( 0 ) );
+ FCS->SetRBrake( globals->get_controls()->get_brake( 1 ) );
+ FCS->SetCBrake( globals->get_controls()->get_brake( 2 ) );
+ FCS->SetGearCmd( globals->get_controls()->get_gear_down());
+ for (i = 0; i < Propulsion->GetNumEngines(); i++) {
+ FGEngine * eng = Propulsion->GetEngine(i);
+ SGPropertyNode * node = fgGetNode("engines/engine", i, true);
+ FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
+ FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
+ FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
+ Propulsion->GetThruster(i)->SetRPM(node->getDoubleValue("rpm"));
+ eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
+ eng->SetStarter( globals->get_controls()->get_starter(i) );
+ }
+
+ _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
+ Position->SetSeaLevelRadius( get_Sea_level_radius() );
+ Position->SetRunwayRadius( get_Runway_altitude()
+ + get_Sea_level_radius() );
+
+ Atmosphere->SetExTemperature(get_Static_temperature());
+ Atmosphere->SetExPressure(get_Static_pressure());
+ Atmosphere->SetExDensity(get_Density());
+ Atmosphere->SetWindNED(get_V_north_airmass(),
+ get_V_east_airmass(),
+ get_V_down_airmass());
+// SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
+// << get_V_north_airmass() << ", "
+// << get_V_east_airmass() << ", "
+// << get_V_down_airmass() );
+
+ 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"));
+ }
+
+ return true;
+}
+
+/******************************************************************************/
+
+// Convert from the JSBsim generic_ struct to the FGInterface struct
+
+bool FGJSBsim::copy_from_JSBsim() {
+ unsigned int i, j;
+
+ _set_Inertias( MassBalance->GetMass(),
+ MassBalance->GetIxx(),
+ MassBalance->GetIyy(),
+ MassBalance->GetIzz(),
+ MassBalance->GetIxz() );
+
+ _set_CG_Position( MassBalance->GetXYZcg(1),
+ MassBalance->GetXYZcg(2),
+ MassBalance->GetXYZcg(3) );
+
+ _set_Accels_Body( Aircraft->GetBodyAccel()(1),
+ Aircraft->GetBodyAccel()(2),
+ Aircraft->GetBodyAccel()(3) );
+
+ //_set_Accels_CG_Body( Aircraft->GetBodyAccel()(1),
+ // Aircraft->GetBodyAccel()(2),
+ // Aircraft->GetBodyAccel()(3) );
+ //
+ _set_Accels_CG_Body_N ( Aircraft->GetNcg()(1),
+ Aircraft->GetNcg()(2),
+ Aircraft->GetNcg()(3) );
+
+ _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel()(1),
+ Auxiliary->GetPilotAccel()(2),
+ Auxiliary->GetPilotAccel()(3) );
+
+ // _set_Accels_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739,
+ // Auxiliary->GetNpilot(2)/32.1739,
+ // Auxiliary->GetNpilot(3)/32.1739 );
+
+ _set_Nlf( Aircraft->GetNlf() );
+
+ // Velocities
+
+ _set_Velocities_Local( Position->GetVn(),
+ Position->GetVe(),
+ Position->GetVd() );
+
+ _set_Velocities_Wind_Body( Translation->GetUVW(1),
+ Translation->GetUVW(2),
+ Translation->GetUVW(3) );
+
+ _set_V_rel_wind( Translation->GetVt() );
+
+ _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
+
+ // _set_V_calibrated( Auxiliary->GetVcalibratedFPS() );
+
+ _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
+
+ _set_V_ground_speed( Position->GetVground() );
+
+ _set_Omega_Body( Rotation->GetPQR(1),
+ Rotation->GetPQR(2),
+ Rotation->GetPQR(3) );
+
+ _set_Euler_Rates( Rotation->GetEulerRates(1),
+ Rotation->GetEulerRates(2),
+ Rotation->GetEulerRates(3) );
+
+ _set_Geocentric_Rates(Position->GetLatitudeDot(),
+ Position->GetLongitudeDot(),
+ Position->Gethdot() );
+
+ _set_Mach_number( Translation->GetMach() );
+
+ // Positions
+ _updateGeocentricPosition( Position->GetLatitude(),
+ Position->GetLongitude(),
+ Position->Geth() );
+
+ _set_Altitude_AGL( Position->GetDistanceAGL() );
+
+ _set_Euler_Angles( Rotation->Getphi(),
+ Rotation->Gettht(),
+ Rotation->Getpsi() );
+
+ _set_Alpha( Translation->Getalpha() );
+ _set_Beta( Translation->Getbeta() );
+
+
+ _set_Gamma_vert_rad( Position->GetGamma() );
+ // set_Gamma_horiz_rad( Gamma_horiz_rad );
+
+ _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
+
+ _set_Climb_Rate( Position->Gethdot() );
+
+
+ for ( i = 1; i <= 3; i++ ) {
+ for ( j = 1; j <= 3; j++ ) {
+ _set_T_Local_to_Body( i, j, State->GetTl2b(i,j) );
+ }
+ }
+
+ // Copy the engine values from JSBSim.
+ for( i=0; i < Propulsion->GetNumEngines(); i++ ) {
+ SGPropertyNode * node = fgGetNode("engines/engine", i, true);
+ FGEngine * eng = Propulsion->GetEngine(i);
+ FGThruster * thrust = Propulsion->GetThruster(i);
+
+ node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
+ node->setDoubleValue("rpm", thrust->GetRPM());
+ node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
+ node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
+ node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
+ node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
+ node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
+ node->setBoolValue("running", eng->GetRunning());
+ node->setBoolValue("cranking", eng->GetCranking());
+ }
+
+ static const SGPropertyNode *fuel_freeze
+ = fgGetNode("/sim/freeze/fuel");
+
+ // Copy the fuel levels from JSBSim if fuel
+ // freeze not enabled.
+ if ( ! fuel_freeze->getBoolValue() ) {
+ for (i = 0; i < Propulsion->GetNumTanks(); i++) {
+ SGPropertyNode * node
+ = fgGetNode("/consumables/fuel/tank", i, true);
+ double contents = Propulsion->GetTank(i)->GetContents();
+ node->setDoubleValue("level-gal_us", contents/6.6);
+ // node->setDoubleValue("level-lb", contents);
+ }
+ }
+
+ update_gear();
+
+ stall_warning->setDoubleValue( Aircraft->GetStallWarn() );
+
+ return true;
+}
+
+bool FGJSBsim::ToggleDataLogging(void) {
+ return fdmex->GetOutput()->Toggle();
+}
+
+
+bool FGJSBsim::ToggleDataLogging(bool state) {
+ if (state) {
+ fdmex->GetOutput()->Enable();
+ return true;
+ } else {
+ fdmex->GetOutput()->Disable();
+ return false;
+ }
+}
+
+
+//Positions
+void FGJSBsim::set_Latitude(double lat) {
+ static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
+ double alt;
+ double sea_level_radius_meters, lat_geoc;
+
+ if ( altitude->getDoubleValue() > -9990 ) {
+ alt = altitude->getDoubleValue();
+ } else {
+ alt = 0.0;
+ }
+
+ update_ic();
+ SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
+ SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
+
+ sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
+ &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( scenery.get_cur_elev() * SG_METER_TO_FEET );
+ fgic->SetTerrainAltitudeFtIC( scenery.get_cur_elev() * SG_METER_TO_FEET );
+ fgic->SetLatitudeRadIC( lat_geoc );
+ needTrim=true;
+}
+
+void FGJSBsim::set_Longitude(double lon) {
+
+ SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
+ update_ic();
+ fgic->SetLongitudeRadIC( lon );
+ _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
+ fgic->SetTerrainAltitudeFtIC( scenery.get_cur_elev() * SG_METER_TO_FEET );
+ needTrim=true;
+}
+
+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() );
+
+ 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( scenery.get_cur_elev() * SG_METER_TO_FEET );
+ fgic->SetTerrainAltitudeFtIC( scenery.get_cur_elev() * SG_METER_TO_FEET );
+ SG_LOG(SG_FLIGHT, SG_INFO,
+ "Terrain altitude: " << scenery.get_cur_elev() * SG_METER_TO_FEET );
+ SG_LOG( SG_FLIGHT, SG_INFO, "position = "
+ << fgGetDouble("/position/longitude-deg") << ", "
+ << fgGetDouble("/position/latitude-deg") );
+ fgic->SetLatitudeRadIC( lat_geoc );
+ fgic->SetAltitudeFtIC(alt);
+ needTrim=true;
+}
+
+void FGJSBsim::set_V_calibrated_kts(double vc) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
+
+ update_ic();
+ fgic->SetVcalibratedKtsIC(vc);
+ needTrim=true;
+}
+
+void FGJSBsim::set_Mach_number(double mach) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
+
+ update_ic();
+ fgic->SetMachIC(mach);
+ needTrim=true;
+}
+
+void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
+ << north << ", " << east << ", " << down );
+
+ update_ic();
+ fgic->SetVnorthFpsIC(north);
+ fgic->SetVeastFpsIC(east);
+ fgic->SetVdownFpsIC(down);
+ needTrim=true;
+}
+
+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 );
+
+ update_ic();
+ fgic->SetUBodyFpsIC(u);
+ fgic->SetVBodyFpsIC(v);
+ fgic->SetWBodyFpsIC(w);
+ needTrim=true;
+}
+
+//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 );
+
+ update_ic();
+ fgic->SetPitchAngleRadIC(theta);
+ fgic->SetRollAngleRadIC(phi);
+ fgic->SetTrueHeadingRadIC(psi);
+ needTrim=true;
+}
+
+//Flight Path
+void FGJSBsim::set_Climb_Rate( double 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) ) {
+ fgic->SetClimbRateFpsIC(roc);
+ }
+ needTrim=true;
+}
+
+void FGJSBsim::set_Gamma_vert_rad( double gamma) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
+
+ update_ic();
+ if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
+ fgic->SetFlightPathAngleRadIC(gamma);
+ }
+ needTrim=true;
+}
+
+void FGJSBsim::set_Static_pressure(double p) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_pressure: " << p );
+
+ update_ic();
+ Atmosphere->SetExPressure(p);
+ if(Atmosphere->External() == true)
+ needTrim=true;
+}
+
+void FGJSBsim::set_Static_temperature(double T) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_temperature: " << T );
+
+ Atmosphere->SetExTemperature(T);
+ if(Atmosphere->External() == true)
+ needTrim=true;
+}
+
+
+void FGJSBsim::set_Density(double rho) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Density: " << rho );
+
+ Atmosphere->SetExDensity(rho);
+ if(Atmosphere->External() == true)
+ needTrim=true;
+}
+
+void FGJSBsim::set_Velocities_Local_Airmass (double wnorth,
+ double weast,
+ double wdown ) {
+ SG_LOG(SG_FLIGHT,SG_DEBUG, "FGJSBsim::set_Velocities_Local_Airmass: "
+ << wnorth << ", " << weast << ", " << wdown );
+
+ _set_Velocities_Local_Airmass( wnorth, weast, wdown );
+ fgic->SetWindNEDFpsIC( wnorth, weast, wdown );
+ if(Atmosphere->External() == true)
+ needTrim=true;
+}
+
+void FGJSBsim::init_gear(void ) {
+
+ FGGroundReactions* gr=fdmex->GetGroundReactions();
+ int Ngear=GroundReactions->GetNumGearUnits();
+ for (int i=0;i<Ngear;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", FCS->GetGearPos());
+ }
+}
+
+void FGJSBsim::update_gear(void) {
+
+ FGGroundReactions* gr=fdmex->GetGroundReactions();
+ int Ngear=GroundReactions->GetNumGearUnits();
+ for (int i=0;i<Ngear;i++) {
+ SGPropertyNode * node = fgGetNode("gear/gear", i, true);
+ node->getChild("wow", 0, true)
+ ->setBoolValue(gr->GetGearUnit(i)->GetWOW());
+ node->getChild("position", 0, true)
+ ->setDoubleValue(FCS->GetGearPos());
+ }
+}
+
+void FGJSBsim::do_trim(void) {
+
+ FGTrim *fgtrim;
+ if(fgic->GetVcalibratedKtsIC() < 10 ) {
+ fgic->SetVcalibratedKtsIC(0.0);
+ fgtrim=new FGTrim(fdmex,fgic,tGround);
+ } else {
+ fgtrim=new FGTrim(fdmex,fgic,tLongitudinal);
+ }
+ if( !fgtrim->DoTrim() ) {
+ fgtrim->Report();
+ fgtrim->TrimStats();
+ } else {
+ trimmed->setBoolValue(true);
+ }
+ State->ReportState();
+ delete fgtrim;
+ pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
+ throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
+ aileron_trim->setDoubleValue( FCS->GetDaCmd() );
+ rudder_trim->setDoubleValue( FCS->GetDrCmd() );
+
+ globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
+ globals->get_controls()->set_elevator(FCS->GetDeCmd());
+ globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
+ FCS->GetThrottleCmd(0));
+
+ globals->get_controls()->set_aileron(FCS->GetDaCmd());
+ globals->get_controls()->set_rudder( FCS->GetDrCmd());
+
+ SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
+}
+
+void FGJSBsim::update_ic(void) {
+ if( !needTrim ) {
+ fgic->SetLatitudeRadIC(get_Lat_geocentric() );
+ fgic->SetLongitudeRadIC( get_Longitude() );
+ fgic->SetAltitudeFtIC( get_Altitude() );
+ fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
+ fgic->SetPitchAngleRadIC( get_Theta() );
+ fgic->SetRollAngleRadIC( get_Phi() );
+ fgic->SetTrueHeadingRadIC( get_Psi() );
+ fgic->SetClimbRateFpsIC( get_Climb_Rate() );
+ }
+}
--- /dev/null
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+ Header: JSBSim.hxx
+ Author: Curtis L. Olson
+ Maintained by: Tony Peden, Curt Olson
+ Date started: 02/01/1999
+
+------ Copyright (C) 1999 - 2000 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
+ 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.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+HISTORY
+--------------------------------------------------------------------------------
+02/01/1999 CLO Created
+Additional log messages stored in CVS
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+SENTRY
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#ifndef _JSBSIM_HXX
+#define _JSBSIM_HXX
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+INCLUDES
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#undef MAX_ENGINES
+#include <Aircraft/aircraft.hxx>
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DEFINITIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#define ID_JSBSIMXX "$Header JSBSim.hxx,v 1.4 2000/10/22 14:02:16 jsb Exp $"
+
+#define METERS_TO_FEET 3.2808398950
+#define RADTODEG 57.2957795
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+FORWARD DECLARATIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#include <simgear/misc/props.hxx>
+
+#include <FDM/JSBSim/FGFDMExec.h>
+
+class FGState;
+class FGAtmosphere;
+class FGFCS;
+class FGPropulsion;
+class FGMassBalance;
+class FGAerodynamics;
+class FGInertial;
+class FGAircraft;
+class FGTranslation;
+class FGRotation;
+class FGPosition;
+class FGAuxiliary;
+class FGOutput;
+class FGInitialCondition;
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DOCUMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/** FGFS / JSBSim interface (aka "The Bus").
+ This class provides for an interface between FlightGear and its data
+ structures and JSBSim and its data structures. This is the class which is
+ used to command JSBSim when integrated with FlightGear. See the
+ documentation for main for direction on running JSBSim apart from FlightGear.
+ @author Curtis L. Olson (original)
+ @author Tony Peden (Maintained and refined)
+ @version $Id$
+ @see main in file JSBSim.cpp (use main() wrapper for standalone usage)
+*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DECLARATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+class FGJSBsim: public FGInterface {
+
+public:
+ /// Constructor
+ FGJSBsim( double dt );
+ /// Destructor
+ ~FGJSBsim();
+
+ /// copy FDM state to LaRCsim structures
+ bool copy_to_JSBsim();
+
+ /// copy FDM state from LaRCsim structures
+ bool copy_from_JSBsim();
+
+ /// Reset flight params to a specific position
+ void init();
+
+ /// @name Position Parameter Set
+ //@{
+ /** Set geocentric latitude
+ @param lat latitude in radians measured from the 0 meridian where
+ the westerly direction is positive and east is negative */
+ void set_Latitude(double lat); // geocentric
+
+ /** Set longitude
+ @param lon longitude in radians measured from the equator where
+ the northerly direction is positive and south is negative */
+ void set_Longitude(double lon);
+
+ /** Set altitude
+ Note: this triggers a recalculation of AGL altitude
+ @param alt altitude in feet */
+ void set_Altitude(double alt); // triggers re-calc of AGL altitude
+ //@}
+
+ //void set_AltitudeAGL(double altagl); // and vice-versa
+
+ /// @name Velocity Parameter Set
+ //@{
+ /** Sets calibrated airspeed
+ Setting this will trigger a recalc of the other velocity terms.
+ @param vc Calibrated airspeed in ft/sec */
+ void set_V_calibrated_kts(double vc);
+
+ /** Sets Mach number.
+ Setting this will trigger a recalc of the other velocity terms.
+ @param mach Mach number */
+ void set_Mach_number(double mach);
+
+ /** Sets velocity in N-E-D coordinates.
+ Setting this will trigger a recalc of the other velocity terms.
+ @param north velocity northward in ft/sec
+ @param east velocity eastward in ft/sec
+ @param down velocity downward in ft/sec */
+ void set_Velocities_Local( double north, double east, double down );
+
+ /** Sets aircraft velocity in stability frame.
+ Setting this will trigger a recalc of the other velocity terms.
+ @param u X velocity in ft/sec
+ @param v Y velocity in ft/sec
+ @param w Z velocity in ft/sec */
+ void set_Velocities_Wind_Body( double u, double v, double w);
+ //@}
+
+ /** Euler Angle Parameter Set
+ @param phi roll angle in radians
+ @param theta pitch angle in radians
+ @param psi heading angle in radians */
+ void set_Euler_Angles( double phi, double theta, double psi );
+
+ /// @name Flight Path Parameter Set
+ //@{
+ /** Sets rate of climb
+ @param roc Rate of climb in ft/sec */
+ void set_Climb_Rate( double roc);
+
+ /** Sets the flight path angle in radians
+ @param gamma flight path angle in radians. */
+ void set_Gamma_vert_rad( double gamma);
+ //@}
+
+
+ /// @name Atmospheric Parameter Set
+ //@{
+ /** Sets the atmospheric static pressure
+ @param p pressure in psf */
+ void set_Static_pressure(double p);
+
+ /** Sets the atmospheric temperature
+ @param T temperature in degrees rankine */
+ void set_Static_temperature(double T);
+
+ /** Sets the atmospheric density.
+ @param rho air density slugs/cubic foot */
+ void set_Density(double rho);
+
+ /** Sets the velocity of the local airmass for wind modeling.
+ @param wnorth velocity north in fps
+ @param weast velocity east in fps
+ @param wdown velocity down in fps*/
+ void set_Velocities_Local_Airmass (double wnorth,
+ double weast,
+ double wdown );
+ /// @name Position Parameter Update
+ //@{
+
+
+ /** Update the position based on inputs, positions, velocities, etc.
+ @param multiloop number of times to loop through the FDM
+ @return true if successful */
+ void update( int multiloop );
+ bool ToggleDataLogging(bool state);
+ bool ToggleDataLogging(void);
+ void do_trim(void);
+ void update_ic(void);
+
+private:
+ FGFDMExec *fdmex;
+ FGInitialCondition *fgic;
+ bool needTrim;
+
+ FGState* State;
+ FGAtmosphere* Atmosphere;
+ FGFCS* FCS;
+ FGPropulsion* Propulsion;
+ FGMassBalance* MassBalance;
+ FGAircraft* Aircraft;
+ FGTranslation* Translation;
+ FGRotation* Rotation;
+ FGPosition* Position;
+ FGAuxiliary* Auxiliary;
+ FGAerodynamics* Aerodynamics;
+ FGGroundReactions *GroundReactions;
+
+ int runcount;
+ float trim_elev;
+ float trim_throttle;
+
+ SGPropertyNode *startup_trim;
+ SGPropertyNode *trimmed;
+ SGPropertyNode *pitch_trim;
+ SGPropertyNode *throttle_trim;
+ SGPropertyNode *aileron_trim;
+ SGPropertyNode *rudder_trim;
+ SGPropertyNode *stall_warning;
+
+ void init_gear(void);
+ void update_gear(void);
+
+};
+
+
+#endif // _JSBSIM_HXX
+
+
projects / flightgear.git / commitdiff