+++ /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() ) {
- 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 );
- 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_INFO, "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