Mathias Fröhlich:

this is basically the past patch I sent to the list and which should now
really (...!?!?) fix the no ground below aircraft problem.
Reasons:
I understood my remaining thinko I introduced with the prevous patch, and the
same thinko I made in my test cases.
The feedback from the list told me that it should help.

diff --git a/src/FDM/JSBSim/FGTable.cpp b/src/FDM/JSBSim/FGTable.cpp
index 62fdf465e4fb5e76d3aded620abffac0b9fb9fd6..f54418f2044d074bc5a0de2f285d72fa99abf028 100644 (file)
--- a/src/FDM/JSBSim/FGTable.cpp
+++ b/src/FDM/JSBSim/FGTable.cpp
@@ -66,6 +66,7 @@ FGTable::FGTable(int NRows, int NCols, int NTables)
   Data = Allocate(); // this data array will contain the keys for the associated tables
   Tables.reserve(nTables);
   for (int i=0; i<nTables; i++) Tables.push_back(FGTable(NRows, NCols));
+  lastRowIndex=lastColumnIndex=2;
 
   Debug(0);
 }
@@ -282,7 +283,7 @@ double FGTable::GetValue(double rowKey, double colKey, double tableKey)
   }
 
   Value = Factor*(Tables[r-1].GetValue(rowKey, colKey) - Tables[r-2].GetValue(rowKey, colKey))
-                              + Tables[r-1].GetValue(rowKey, colKey);
+                              + Tables[r-2].GetValue(rowKey, colKey);
 
   return Value;
 }

diff --git a/src/FDM/JSBSim/JSBSim.cxx b/src/FDM/JSBSim/JSBSim.cxx
index b897c3b46d4c513895b599a1eecdced52e8d8fda..3e0b677d3c296d7ec769974370bc7b26203d2bed 100644 (file)
--- a/src/FDM/JSBSim/JSBSim.cxx
+++ b/src/FDM/JSBSim/JSBSim.cxx
@@ -26,7 +26,6 @@
 #endif
 
 #include <simgear/compiler.h>
-#include <simgear/math/sg_geodesy.hxx>
 
 #include <stdio.h>     //      size_t
 #ifdef SG_MATH_EXCEPTION_CLASH
@@ -39,6 +38,7 @@
 #include <simgear/debug/logstream.hxx>
 #include <simgear/math/sg_geodesy.hxx>
 #include <simgear/misc/sg_path.hxx>
+#include <simgear/structure/commands.hxx>
 
 #include <FDM/flight.hxx>
 
@@ -92,6 +92,7 @@ public:
     sgCartToGeod( pt, &lat, &lon, &alt);
     return alt * SG_METER_TO_FEET;
   }
+
   /** Compute the altitude above ground. */
   virtual double GetAGLevel(double t, const FGLocation& l,
                             FGLocation& cont,
@@ -116,7 +117,6 @@ FGJSBsim::FGJSBsim( double dt )
   : FGInterface(dt)
 {
     bool result;
-
                                 // Set up the debugging level
                                 // FIXME: this will not respond to
                                 // runtime changes
@@ -208,7 +208,7 @@ FGJSBsim::FGJSBsim( double dt )
       }
     }
     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
-    
+
     fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
     fgSetDouble("/fdm/trim/throttle",   FCS->GetThrottleCmd(0));
     fgSetDouble("/fdm/trim/aileron",    FCS->GetDaCmd());
@@ -316,6 +316,14 @@ void FGJSBsim::init()
      << ", " << fdmex->GetAtmosphere()->GetPressure()
      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 
+    if (fgGetBool("/sim/presets/running")) {
+          for (int i=0; i < Propulsion->GetNumEngines(); i++) {
+            SGPropertyNode * node = fgGetNode("engines/engine", i, true);
+            node->setBoolValue("running", true);
+            Propulsion->GetEngine(i)->SetRunning(true);
+          }
+    }
+
     common_init();
 
     copy_to_JSBsim();
@@ -399,12 +407,13 @@ void FGJSBsim::update( double dt )
     // Compute the potential movement of this aircraft and query for the
     // ground in this area.
     double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
+    double alt, slr, lat, lon;
     FGColumnVector3 cart = Auxiliary->GetLocationVRP();
     if ( needTrim && startup_trim->getBoolValue() ) {
-      double alt = fgic->GetAltitudeFtIC();
-      double slr = fgic->GetSeaLevelRadiusFtIC();
-      double lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
-      double lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
+      alt = fgic->GetAltitudeFtIC();
+      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) };
@@ -412,10 +421,14 @@ void FGJSBsim::update( double dt )
                                              groundCacheRadius );
     if (!cache_ok) {
       SG_LOG(SG_FLIGHT, SG_WARN,
-             "FGInterface is beeing called without scenery below the aircraft!");
-      return;
+             "FGInterface is being called without scenery below the aircraft!");
+      cout << "altitude         = " << alt << endl;
+      cout << "sea level radius = " << slr << endl;
+      cout << "latitude         = " << lat << endl;
+      cout << "longitude        = " << lon << endl;
+      //return;
     }
-      
+
     copy_to_JSBsim();
 
     trimmed->setBoolValue(false);
@@ -544,7 +557,7 @@ bool FGJSBsim::copy_to_JSBsim()
       } // end FGEngine code block
     }
 
- 
+
     Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
 
     Atmosphere->SetExTemperature(
@@ -575,7 +588,7 @@ bool FGJSBsim::copy_to_JSBsim()
     SGPropertyNode* node = fgGetNode("/systems/refuel", true);
     Propulsion->SetRefuel(node->getDoubleValue("contact"));
     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
-    
+
     return true;
 }
 
@@ -622,34 +635,9 @@ bool FGJSBsim::copy_from_JSBsim()
                                Propagate->GetUVW(3) );
 
     // Make the HUD work ...
-    {
-      const FGLocation& l = Auxiliary->GetLocationVRP();
-      double xyz[3] = { l(eX)*SG_FEET_TO_METER,
-                        l(eY)*SG_FEET_TO_METER,
-                        l(eZ)*SG_FEET_TO_METER };
-      double lat, lon, alt;
-      sgCartToGeod(xyz, &lat, &lon, &alt);
-      FGQuaternion Tec2geodhl(0, -0.5*M_PI-lat, lon);
-
-      FGColumnVector3 ecVel = l.GetTl2ec()*Propagate->GetVel();
-      FGColumnVector3 geodhlVel = Tec2geodhl.GetT()*ecVel;
-
-      _set_Velocities_Ground( geodhlVel(eNorth)*SG_FEET_TO_METER,
-                              geodhlVel(eEast)*SG_FEET_TO_METER,
-                              -geodhlVel(eDown)*SG_FEET_TO_METER );
-
-      // Transform the acceleration to the earth centered frame and then
-      // back to the geodetic hl frame.
-      FGColumnVector3 accel = Propagate->GetUVWdot();
-      accel -= Propagate->GetUVW()*Propagate->GetPQR();
-      accel = Propagate->GetTb2l()*accel;
-      accel = l.GetTl2ec()*accel;
-      accel = Tec2geodhl.GetT()*accel;
-
-      _set_Accels_Local( accel(eNorth)*SG_FEET_TO_METER,
-                         accel(eEast)*SG_FEET_TO_METER,
-                         -accel(eDown)*SG_FEET_TO_METER);
-    }
+    _set_Velocities_Ground( Propagate->GetVel(eNorth),
+                            Propagate->GetVel(eEast),
+                            -Propagate->GetVel(eDown) );
 
     _set_V_rel_wind( Auxiliary->GetVt() );
 
@@ -825,6 +813,13 @@ bool FGJSBsim::copy_from_JSBsim()
     speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
     spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
 
+    // force a sim reset if crashed (altitude AGL < 0)
+    if (get_Altitude_AGL() < 0.0) {
+         fgSetBool("/sim/crashed", true);
+         SGPropertyNode* node = fgGetNode("/sim/presets", true);
+         globals->get_commands()->execute("old-reinit-dialog", node);
+    }
+
     return true;
 }
 

diff --git a/src/FDM/JSBSim/filtersjb/FGGain.cpp b/src/FDM/JSBSim/filtersjb/FGGain.cpp
index cee78f5666918e8330d228164dfca200706610fa..7417c9395cbf957192d6a71e964a14384ad527cd 100644 (file)
--- a/src/FDM/JSBSim/filtersjb/FGGain.cpp
+++ b/src/FDM/JSBSim/filtersjb/FGGain.cpp
@@ -182,13 +182,22 @@ void FGGain::convert(void)
   cout << endl;
   cout << "        <component name=\"" << Name << "\" type=\"" << Type << "\">" << endl;
 
-  cout << "            <input>" << (InputNodes[0]->GetFullyQualifiedName()).substr(12) << "</input>" << endl;
+  if (invert)
+    cout << "            <input>-" << (InputNodes[0]->GetFullyQualifiedName()).substr(12) << "</input>" << endl;
+  else
+    cout << "            <input>" << (InputNodes[0]->GetFullyQualifiedName()).substr(12) << "</input>" << endl;
 
   if (Gain != 1.0)
     cout << "            <gain>" << Gain << "</gain>" << endl;
 
   if (Type == "PURE_GAIN") {                       // PURE_GAIN
   } else if (Type == "SCHEDULED_GAIN") {           // SCHEDULED_GAIN
+    cout << "            <table>" << endl;
+    cout << "                <independentVar>" << ScheduledBy->GetFullyQualifiedName().substr(12) << "</independentVar>" << endl;
+    cout << "                <tableData>" << endl;
+    Table->Print(20);
+    cout << "                </tableData>" << endl;
+    cout << "            </table>" << endl;
   } else if (Type == "AEROSURFACE_SCALE") {        // AEROSURFACE_SCALE
     cout << "            <limit>" << endl;
     cout << "                <min>" << Min << "</min>" << endl;

diff --git a/src/FDM/groundcache.cxx b/src/FDM/groundcache.cxx
index b008857b791b49b731c139043052feaa40704cb9..6c2654083a74e13d8812dfebc8974db71849d0f4 100644 (file)
--- a/src/FDM/groundcache.cxx
+++ b/src/FDM/groundcache.cxx
@@ -131,7 +131,8 @@ static inline bool fgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
     SGDfloat tmp = (y2 - y3);
     SGDfloat tmpn = (x2 - x3);
     int side1 = SG_SIGN (tmp * (rx - x3) + (y3 - ry) * tmpn);
-    int side2 = SG_SIGN (tmp * (x1 - x3) + (y3 - side1*eps - y1) * tmpn);
+    int side2 = SG_SIGN (tmp * (x1 - x3) + (y3 - y1) * tmpn
+                         + side1 * eps * fabs(tmpn));
     if ( side1 != side2 ) {
         // printf("failed side 1 check\n");
         return false;
@@ -141,7 +142,8 @@ static inline bool fgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
     tmp = (y3 - ry);
     tmpn = (x3 - rx);
     side1 = SG_SIGN (tmp * (x2 - rx) + (ry - y2) * tmpn);
-    side2 = SG_SIGN (tmp * (x1 - rx) + (ry - side1*eps - y1) * tmpn);
+    side2 = SG_SIGN (tmp * (x1 - rx) + (ry - y1) * tmpn
+                     + side1 * eps * fabs(tmpn));
     if ( side1 != side2 ) {
         // printf("failed side 2 check\n");
         return false;
@@ -151,7 +153,8 @@ static inline bool fgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
     tmp = (y2 - ry);
     tmpn = (x2 - rx);
     side1 = SG_SIGN (tmp * (x3 - rx) + (ry - y3) * tmpn);
-    side2 = SG_SIGN (tmp * (x1 - rx) + (ry - side1*eps - y1) * tmpn);
+    side2 = SG_SIGN (tmp * (x1 - rx) + (ry - y1) * tmpn
+                     + side1 * eps * fabs(tmpn));
     if ( side1 != side2 ) {
         // printf("failed side 3  check\n");
         return false;

diff --git a/src/Scenery/hitlist.cxx b/src/Scenery/hitlist.cxx
index 1318c4acba2499708e1b61e2a7c31b94ff5f2ed0..fa5781c61799c9d34c8d0608b44d657157f95588 100644 (file)
--- a/src/Scenery/hitlist.cxx
+++ b/src/Scenery/hitlist.cxx
@@ -187,7 +187,8 @@ static inline bool fgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
     SGDfloat tmp = (y2 - y3);
     SGDfloat tmpn = (x2 - x3);
     int side1 = SG_SIGN (tmp * (rx - x3) + (y3 - ry) * tmpn);
-    int side2 = SG_SIGN (tmp * (x1 - x3) + (y3 - side1*eps - y1) * tmpn);
+    int side2 = SG_SIGN (tmp * (x1 - x3) + (y3 - y1) * tmpn
+                         + side1 * eps * fabs(tmpn));
     if ( side1 != side2 ) {
         // printf("failed side 1 check\n");
         return false;
@@ -197,7 +198,8 @@ static inline bool fgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
     tmp = (y3 - ry);
     tmpn = (x3 - rx);
     side1 = SG_SIGN (tmp * (x2 - rx) + (ry - y2) * tmpn);
-    side2 = SG_SIGN (tmp * (x1 - rx) + (ry - side1*eps - y1) * tmpn);
+    side2 = SG_SIGN (tmp * (x1 - rx) + (ry - y1) * tmpn
+                     + side1 * eps * fabs(tmpn));
     if ( side1 != side2 ) {
         // printf("failed side 2 check\n");
         return false;
@@ -207,7 +209,8 @@ static inline bool fgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
     tmp = (y2 - ry);
     tmpn = (x2 - rx);
     side1 = SG_SIGN (tmp * (x3 - rx) + (ry - y3) * tmpn);
-    side2 = SG_SIGN (tmp * (x1 - rx) + (ry - side1*eps - y1) * tmpn);
+    side2 = SG_SIGN (tmp * (x1 - rx) + (ry - y1) * tmpn
+                     + side1 * eps * fabs(tmpn));
     if ( side1 != side2 ) {
         // printf("failed side 3  check\n");
         return false;