Fixes to jsbsim.

diff --git a/src/Cockpit/cockpit.cxx b/src/Cockpit/cockpit.cxx
index eecbf69ee58dcc5798260993cff79eedcc1f4fac..6a9142b21c3bc6de44941b6d8bd54ac0f86fad92 100644 (file)
--- a/src/Cockpit/cockpit.cxx
+++ b/src/Cockpit/cockpit.cxx
@@ -319,67 +319,70 @@ char *dmshh_format(double degrees)
 }
 #endif // 0
 
-/****************************************************************************/
-/* Convert degrees to dd mm'ss.s'' (DMS-Format)                              */
-/****************************************************************************/
-static char *toDMS(float a)
-{
-  int        neg = 0;
-  float       d, m, s;
-  static char  dms[16];
-
-  if (a < 0.0f) {
-    a   = -a;
-    neg = 1;
-  }
-  d = (float) ((int) a); 
-  a = (a - d) * 60.0f;
-  m = (float) ((int) a);
-  s = (a - m) * 60.0f;
-  
-  if (s > 59.5f) {
-    s  = 0.0f;
-    m += 1.0f;
-  }
-  if (m > 59.5f) {
-    m  = 0.0f;
-    d += 1.0f;
-  }
-  if (neg)
-    d = -d;
-  
-  sprintf(dms, "%.0f*%02.0f %04.1f", d, m, s);
-  return dms;
+
+/************************************************************************
+ Convert degrees to dd mm.mmm' (DMM-Format)
+ Description: Converts using a round-off factor tailored to the required
+ precision of the minutes field (three decimal places).  Round-off
+ prevents function from returning a minutes value of 60.
+
+ Input arguments: Coordinate value in decimal degrees
+
+************************************************************************/
+static char *toDM(float dd)
+{
+    static char  dm[16];
+    double tempdd;
+    double mn;
+    double sign = 1;
+    int deg;
+
+    if (dd < 0) {
+       sign = -1;
+    }
+    /* round for minutes expressed to three decimal places */
+    tempdd = fabs(dd) + (5.0E-4 / 60.0);
+    deg = (int)tempdd;
+    mn = fabs( (tempdd - (double)(deg)) * 60.0 - 4.999E-4 );
+    deg *= (int)sign;
+    sprintf(dm, "%d*%06.3f", deg, mn);
+    return dm;
 }
 
 
-/****************************************************************************/
-/* Convert degrees to dd mm.mmm' (DMM-Format)                               */
-/****************************************************************************/
-static char *toDM(float a)
-{
-  int        neg = 0;
-  float       d, m;
-  static char  dm[16];
-  
-  if (a < 0.0f) {
-    a = -a;
-    neg = 1;
-  }
-
-  d = (float) ( (int) a);
-  m = (a - d) * 60.0f;
-  
-  if (m > 59.5f) {
-    m  = 0.0f;
-    d += 1.0f;
-  }
-  if (neg) d = -d;
-  
-  sprintf(dm, "%.0f*%06.3f", d, m);
-  return dm;
+/************************************************************************
+ Convert degrees to dd mm'ss.s'' (DMS-Format)
+ Description: Converts using a round-off factor tailored to the required
+ precision of the seconds field (one decimal place).  Round-off
+ prevents function from returning a seconds value of 60.
+
+ Input arguments: Coordinate value in decimal degrees
+
+************************************************************************/
+static char *toDMS(float dd)
+{
+    static char  dms[16];
+    double tempdd, tempmin;
+    int deg;
+    int mn;
+    double sec;
+    double sign = 1;
+
+    if(dd < 0) {
+       sign = -1;
+    }
+    /* round up for seconds expressed to one decimal place */
+    tempdd = fabs(dd) + (0.05 / 3600.0);
+    deg = (int)tempdd;
+    tempmin =  (tempdd - (double)(deg)) * 60.0;
+    mn = (int)tempmin;
+    sec = fabs( (tempmin - (double)(mn)) * 60.0 - 0.049 );
+    deg *= (int)sign;
+    sprintf(dms, "%d*%02d %04.1f", deg, mn, sec);
+    return dms;
 }
 
+
 // Have to set the LatLon display type
 //static char *(*fgLatLonFormat)(float) = toDM;
 static char *(*fgLatLonFormat)(float);

diff --git a/src/FDM/JSBSim.cxx b/src/FDM/JSBSim.cxx
index 376afdfc28198a2653572fd0814cd0ba868cf731..5f3a77b2fbd7907b2ff4f51157eaef0b9c07b58e 100644 (file)
--- a/src/FDM/JSBSim.cxx
+++ b/src/FDM/JSBSim.cxx
@@ -87,6 +87,13 @@ int FGJSBsim::init( double dt ) {
     return 0;
   }
 
+  FDMExec.GetAtmosphere()->SetExTemperature(get_Static_temperature());
+  FDMExec.GetAtmosphere()->SetExPressure(get_Static_pressure());
+  FDMExec.GetAtmosphere()->SetExDensity(get_Density());
+  FDMExec.GetAtmosphere()->SetWindNED(get_V_north_airmass(),
+                                      get_V_east_airmass(),
+                                      get_V_down_airmass());
+ 
   FDMExec.GetAtmosphere()->UseInternal();
 
   FG_LOG( FG_FLIGHT, FG_INFO, "  Initializing JSBSim with:" );
@@ -160,8 +167,7 @@ int FGJSBsim::init( double dt ) {
   FG_LOG( FG_FLIGHT, FG_INFO, "Finished initializing JSBSim" );
 
   copy_from_JSBsim();
-  
-  
+
   return 1;
 }
 
@@ -257,11 +263,6 @@ int FGJSBsim::copy_from_JSBsim() {
                     FDMExec.GetAircraft()->GetXYZcg()(2),
                     FDMExec.GetAircraft()->GetXYZcg()(3) );
   
-  
-  set_Accels_Local( FDMExec.GetPosition()->GetVelDot()(1),
-                    FDMExec.GetPosition()->GetVelDot()(2),
-                    FDMExec.GetPosition()->GetVelDot()(3) );
-                    
   set_Accels_Body ( FDMExec.GetTranslation()->GetUVWdot()(1),
                     FDMExec.GetTranslation()->GetUVWdot()(2),
                     FDMExec.GetTranslation()->GetUVWdot()(3) );
@@ -274,7 +275,6 @@ int FGJSBsim::copy_from_JSBsim() {
   //                       FDMExec.GetTranslation()->GetNcg()(2),
   //                       FDMExec.GetTranslation()->GetNcg()(3) );
   //
-  
   set_Accels_Pilot_Body( FDMExec.GetAuxiliary()->GetPilotAccel()(1),
                          FDMExec.GetAuxiliary()->GetPilotAccel()(2),
                          FDMExec.GetAuxiliary()->GetPilotAccel()(3) );
@@ -311,13 +311,11 @@ int FGJSBsim::copy_from_JSBsim() {
                   FDMExec.GetState()->GetParameter(FG_PITCHRATE),
                   FDMExec.GetState()->GetParameter(FG_YAWRATE) );
 
-  set_Euler_Rates( FDMExec.GetRotation()->GetEulerRates()(1),
-                   FDMExec.GetRotation()->GetEulerRates()(2),
-                   FDMExec.GetRotation()->GetEulerRates()(3) );
+  /* HUH!?! */ set_Euler_Rates( FDMExec.GetRotation()->Getphi(),
+                   FDMExec.GetRotation()->Gettht(),
+                   FDMExec.GetRotation()->Getpsi() );
 
-  set_Geocentric_Rates( FDMExec.GetPosition()->GetLatitudeDot(),
-                        FDMExec.GetPosition()->GetLongitudeDot(),
-                        FDMExec.GetPosition()->Gethdot() );
+  // ***FIXME*** set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
 
   set_Mach_number( FDMExec.GetTranslation()->GetMach());
 
@@ -345,35 +343,13 @@ int FGJSBsim::copy_from_JSBsim() {
   set_Euler_Angles( FDMExec.GetRotation()->Getphi(),
                     FDMExec.GetRotation()->Gettht(),
                     FDMExec.GetRotation()->Getpsi() );
-                    
-  for(int i=0; i<3; i++ ) {
-    for (int j=0; j<3; j++ ) {
-      set_T_Local_to_Body(i,j,FDMExec.GetState()->GetTl2b()(i,j));
-    }
-  }     
 
   set_Alpha( FDMExec.GetTranslation()->Getalpha() );
   set_Beta( FDMExec.GetTranslation()->Getbeta() );
-  
-  set_Cos_phi( FDMExec.GetRotation()->GetCosphi() );
-  //set_Sin_phi ( FDMExec.GetRotation()->GetSinpphi() );
-  
-  set_Cos_theta( FDMExec.GetRotation()->GetCostht() );
-  //set_Sin_theta ( FDMExec.GetRotation()->GetSintht() );
-  
-  //set_Cos_psi( FDMExec.GetRotation()->GetCospsi() );
-  //set_Sin_psi ( FDMExec.GetRotation()->GetSinpsi() );
-  
+
   set_Gamma_vert_rad( FDMExec.GetPosition()->GetGamma() );
   // set_Gamma_horiz_rad( Gamma_horiz_rad );
 
-
-  set_Density( FDMExec.GetAtmosphere()->GetDensity() );
-  set_Static_pressure( FDMExec.GetAtmosphere()->GetPressure() );
-  set_Static_temperature ( FDMExec.GetAtmosphere()->GetTemperature() );
-  
-  set_Earth_position_angle( FDMExec.GetAuxiliary()->GetEarthPositionAngle() );
-  
   /* **FIXME*** */ set_Sea_level_radius( sl_radius2 * METER_TO_FEET );
   /* **FIXME*** */ set_Earth_position_angle( 0.0 );
 

diff --git a/src/FDM/JSBSim/FGMatrix.cpp b/src/FDM/JSBSim/FGMatrix.cpp
index 6e51fa17d633cb70852e6a56066f1fe3f0f9f2d6..5b4f5da10ba5937b5f0495d92a53517c19144544 100644 (file)
--- a/src/FDM/JSBSim/FGMatrix.cpp
+++ b/src/FDM/JSBSim/FGMatrix.cpp
@@ -344,22 +344,24 @@ FGMatrix FGMatrix::operator/(const double scalar)
       }
     }
     
-  }
-  return Quot;
+  } else
+    cerr << "Attempt to divide by zero in method FGMatrix::operator/(const double scalar), object at " << this << endl; 
+  return Quot;  
 }
 
 /******************************************************************************/
 
 void FGMatrix::operator/=(const double scalar)
 {
-
+  
   if(scalar != 0) {
     for (unsigned int i=1; i<=Rows(); i++)  {
       for (unsigned int j=1; j<=Cols(); j++) {
         data[i][j]/=scalar;
       }
     }
-  }
+  } else 
+    cerr << "Attempt to divide by zero in method FGMatrix::operator/=(const double scalar), object " << this << endl; 
 }
 
 /******************************************************************************/
@@ -519,9 +521,15 @@ FGColumnVector FGColumnVector::operator/(const double scalar)
 {
   FGColumnVector Quotient(Rows());
   if(scalar != 0) {
+    
+
     for (unsigned int i=1; i<=Rows(); i++) Quotient(i) = data[i][1] / scalar;
-  }
+
+  } else 
+    cerr << "Attempt to divide by zero in method FGColumnVector::operator/(const double scalar), object " << this << endl; 
   return Quotient;
+  
+    
 }
 
 /******************************************************************************/

diff --git a/src/FDM/JSBSim/FGTrimLong.cpp b/src/FDM/JSBSim/FGTrimLong.cpp
index 91f0a29f1b56c5faf54288156646016458eaa71a..7bc91686ae0de5affb5b59420e25f8833f4a6385 100644 (file)
--- a/src/FDM/JSBSim/FGTrimLong.cpp
+++ b/src/FDM/JSBSim/FGTrimLong.cpp
@@ -406,7 +406,9 @@ bool FGTrimLong::DoTrim(void) {
         if(checkLimits(udotf,dth,0,1) == false) {
           cout << "    Sorry, udot doesn't appear to be trimmable" << endl;
           cout << "    Resetting throttles to zero" << endl;
+          setThrottlesPct(0);
           fdmex->GetFCS()->SetThrottleCmd(-1,0);
+          fdmex->RunIC(fgic);
           total_its=k;
           k=Ncycles; //force the trim to fail
         }

diff --git a/src/Joystick/joystick.cxx b/src/Joystick/joystick.cxx
index 18f81ac1f62cf22bcdb530d2ce288a28e5f55898..b0daf424bccb1864175d9abfae8347b45f128bc3 100644 (file)
--- a/src/Joystick/joystick.cxx
+++ b/src/Joystick/joystick.cxx
@@ -30,6 +30,8 @@
 #  include <windows.h>                     
 #endif
 
+#include <math.h>
+
 #include <string>
 
 #include <simgear/misc/props.hxx>