#include <FDM/JSBSim/FGPropertyManager.h>
#include "JSBSim.hxx"
+static inline double
+FMAX (double a, double b)
+{
+ return a > b ? a : b;
+}
+
/******************************************************************************/
init_gear();
- // Set initial fuel levels if provided.
+ // 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);
+ Propulsion->GetTank(i)
+ ->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
}
fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
// Explicitly call the superclass's
// init method first.
common_init();
-
- int i;
- ntanks = Propulsion->GetNumTanks();
- tanks = new PROP_NODE_PTR [ntanks];
- for (i = 0; i < ntanks; i++) {
- tanks[i] = fgGetNode("/consumables/fuel/tank", i, true);
- }
-
- nengines = Propulsion->GetNumEngines();
- engines = new engine_props [nengines];
-
- for (i = 0; i < nengines; i++) {
- SGPropertyNode *eng = fgGetNode("engines/engine", i);
- engines[i].mp_osi = eng->getNode("mp-osi");
- engines[i].egt_degf = eng->getNode("egt-degf");
- engines[i].fuel_flow_gph = eng->getNode("fuel-flow-gph");
- engines[i].cht_degf = eng->getNode("cht-degf");
- engines[i].oil_temperature_degf = eng->getNode("oil-temperature-degf");
- engines[i].oil_pressure_psi = eng->getNode("oil-pressure-psi");
- engines[i].running = eng->getNode("running");
- engines[i].cranking = eng->getNode("cranking");
- engines[i].rpm = eng->getNode("rpm");
- }
-
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:" );
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,
bool FGJSBsim::copy_to_JSBsim() {
unsigned int i;
-
+
// copy control positions into the JSBsim structure
- FGControls *controls = globals->get_controls();
- FCS->SetDaCmd( controls->get_aileron());
- FCS->SetRollTrimCmd( controls->get_aileron_trim() );
- FCS->SetDeCmd( controls->get_elevator());
- FCS->SetPitchTrimCmd( controls->get_elevator_trim() );
- FCS->SetDrCmd( -controls->get_rudder() );
- FCS->SetYawTrimCmd( -controls->get_rudder_trim() );
- FCS->SetDfCmd( controls->get_flaps() );
+ 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( controls->get_brake( 0 ) );
- FCS->SetRBrake( controls->get_brake( 1 ) );
- FCS->SetCBrake( controls->get_brake( 2 ) );
- FCS->SetGearCmd( controls->get_gear_down());
- for (i = 0; i < nengines; i++) {
+
+ // Parking brake sets minimum braking
+ // level for mains.
+ double parking_brake = globals->get_controls()->get_parking_brake();
+ FCS->SetLBrake(FMAX(globals->get_controls()->get_brake(0), parking_brake));
+ FCS->SetRBrake(FMAX(globals->get_controls()->get_brake(1), parking_brake));
+ 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);
- FCS->SetThrottleCmd(i, controls->get_throttle(i));
- FCS->SetMixtureCmd(i, controls->get_mixture(i));
- FCS->SetPropAdvanceCmd(i, controls->get_prop_advance(i));
- Propulsion->GetThruster(i)->SetRPM(engines[i].rpm->getDoubleValue());
- eng->SetMagnetos( controls->get_magnetos(i) );
- eng->SetStarter( controls->get_starter(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 );
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 < ntanks; i++) {
- Propulsion->GetTank(i)->SetContents(tanks[i]->getDoubleValue("level-gal_us") * 6.6);
+ 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;
// Positions
_updateGeocentricPosition( Position->GetLatitude(),
- Position->GetLongitude(),
- Position->Geth() );
+ Position->GetLongitude(),
+ Position->Geth() );
_set_Altitude_AGL( Position->GetDistanceAGL() );
}
}
- // Copy the engine values from JSBSim.
- for( i=0; i < nengines; i++ ) {
+ // 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);
- if(engines[i].mp_osi)
- engines[i].mp_osi->setDoubleValue( eng->getManifoldPressure_inHg());
- if(engines[i].egt_degf)
- engines[i].egt_degf->setDoubleValue( eng->getExhaustGasTemp_degF());
- if(engines[i].fuel_flow_gph)
- engines[i].fuel_flow_gph->setDoubleValue( eng->getFuelFlow_gph());
- if(engines[i].cht_degf)
- engines[i].cht_degf->setDoubleValue( eng->getCylinderHeadTemp_degF());
- if(engines[i].oil_temperature_degf)
- engines[i].oil_temperature_degf->setDoubleValue( eng->getOilTemp_degF());
- if(engines[i].oil_pressure_psi)
- engines[i].oil_pressure_psi->setDoubleValue( eng->getOilPressure_psi());
- if(engines[i].running)
- engines[i].running->setBoolValue( eng->GetRunning());
- if(engines[i].cranking)
- engines[i].cranking->setBoolValue( eng->GetCranking());
- if(engines[i].rpm)
- engines[i].rpm->setDoubleValue( Propulsion->GetThruster(i)->GetRPM());
+ 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");
+ static const SGPropertyNode *fuel_freeze
+ = fgGetNode("/sim/freeze/fuel");
- // Copy the fuel levels from JSBSim if fuel
- // freeze not enabled.
+ // Copy the fuel levels from JSBSim if fuel
+ // freeze not enabled.
if ( ! fuel_freeze->getBoolValue() ) {
- for (i = 0; i < ntanks; i++) {
- double contents = Propulsion->GetTank(i)->GetContents();
- tanks[i]->setDoubleValue("level-gal_us", contents/6.6);
- }
+ 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() );
+ /* elevator_pos_deg->setDoubleValue( FCS->GetDePos()*SG_RADIANS_TO_DEGREES );
+ left_aileron_pos_deg->setDoubleValue( FCS->GetDaLPos()*SG_RADIANS_TO_DEGREES );
+ right_aileron_pos_deg->setDoubleValue( FCS->GetDaRPos()*SG_RADIANS_TO_DEGREES );
+ rudder_pos_deg->setDoubleValue( -1*FCS->GetDrPos()*SG_RADIANS_TO_DEGREES );
+ flap_pos_deg->setDoubleValue( FCS->GetDfPos() ); */
+
+
elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
right_aileron_pos_pct->setDoubleValue( -1*FCS->GetDaLPos(ofNorm) );
for (int i=0;i<Ngear;i++) {
SGPropertyNode * node = fgGetNode("gear/gear", i, true);
node->setDoubleValue("xoffset-in",
- gr->GetGearUnit(i)->GetBodyLocation()(1));
+ gr->GetGearUnit(i)->GetBodyLocation()(1));
node->setDoubleValue("yoffset-in",
- gr->GetGearUnit(i)->GetBodyLocation()(2));
+ gr->GetGearUnit(i)->GetBodyLocation()(2));
node->setDoubleValue("zoffset-in",
- gr->GetGearUnit(i)->GetBodyLocation()(3));
+ gr->GetGearUnit(i)->GetBodyLocation()(3));
node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW());
node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0);
node->setDoubleValue("position-norm", FCS->GetGearPos());
}
void FGJSBsim::update_gear(void) {
-
- static myNode *nodes;
- static int been_here = 0;
+
FGGroundReactions* gr=fdmex->GetGroundReactions();
int Ngear=GroundReactions->GetNumGearUnits();
- int i;
- if( !been_here ) {
- nodes = new myNode[Ngear];
- for (i=0;i<Ngear;i++) {
- SGPropertyNode * node = fgGetNode("gear/gear", i, true);
- nodes[i][0] = node -> getChild("wow", 0, true);
- nodes[i][1] = node -> getChild("position-norm", 0, true);
- }
- been_here = ~been_here;
- }
- for (i=0;i<Ngear;i++) {
- nodes[i][0] -> setBoolValue(gr->GetGearUnit(i)->GetWOW());
- nodes[i][1] -> setDoubleValue(FCS->GetGearPos());
+ 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-norm", 0, true)
+ ->setDoubleValue(FCS->GetGearPos());
}
}
aileron_trim->setDoubleValue( FCS->GetDaCmd() );
rudder_trim->setDoubleValue( FCS->GetDrCmd() );
- FGControls *controls = globals->get_controls();
- controls->set_elevator_trim(FCS->GetPitchTrimCmd());
- controls->set_elevator(FCS->GetDeCmd());
- controls->set_throttle(FGControls::ALL_ENGINES,
- FCS->GetThrottleCmd(0));
+ 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));
- controls->set_aileron(FCS->GetDaCmd());
- controls->set_rudder( FCS->GetDrCmd());
+ globals->get_controls()->set_aileron(FCS->GetDaCmd());
+ globals->get_controls()->set_rudder( FCS->GetDrCmd());
SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
}
@author Tony Peden (Maintained and refined)
@version $Id$
@see main in file JSBSim.cpp (use main() wrapper for standalone usage)
+ @see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/JSBSim.hxx?rev=HEAD&content-type=text/vnd.viewcvs-markup">
+ Header File </a>
+ @see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/JSBSim.cxx?rev=HEAD&content-type=text/vnd.viewcvs-markup">
+ Source File </a>
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//@{
/** Set geocentric latitude
@param lat latitude in radians measured from the 0 meridian where
- the westerly direction is positive and east is negative */
+ 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 */
+ 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 */
+ @param alt altitude in feet */
void set_Altitude(double alt); // triggers re-calc of AGL altitude
//@}
//@{
/** Sets calibrated airspeed
Setting this will trigger a recalc of the other velocity terms.
- @param vc Calibrated airspeed in ft/sec */
+ @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 */
+ @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 */
+ @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 */
+ @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 */
+ @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
@param weast velocity east in fps
@param wdown velocity down in fps*/
void set_Velocities_Local_Airmass (double wnorth,
- double weast,
- double wdown );
+ 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 */
+ @return true if successful */
void update( int multiloop );
bool ToggleDataLogging(bool state);
bool ToggleDataLogging(void);
SGPropertyNode *rudder_trim;
SGPropertyNode *stall_warning;
+ /* SGPropertyNode *elevator_pos_deg;
+ SGPropertyNode *left_aileron_pos_deg;
+ SGPropertyNode *right_aileron_pos_deg;
+ SGPropertyNode *rudder_pos_deg;
+ SGPropertyNode *flap_pos_deg; */
+
+
SGPropertyNode *elevator_pos_pct;
SGPropertyNode *left_aileron_pos_pct;
SGPropertyNode *right_aileron_pos_pct;
void init_gear(void);
void update_gear(void);
-
- // my tweaks start here - NHV
- typedef SGPropertyNode *PROP_NODE_PTR;
- typedef PROP_NODE_PTR myNode[2];
- struct engine_props {
- SGPropertyNode * mp_osi;
- SGPropertyNode * egt_degf;
- SGPropertyNode * fuel_flow_gph;
- SGPropertyNode * cht_degf;
- SGPropertyNode * oil_temperature_degf;
- SGPropertyNode * oil_pressure_psi;
- SGPropertyNode * running;
- SGPropertyNode * cranking;
- SGPropertyNode * rpm;
- } *engines;
-
- int ntanks;
- int nengines;
-
- PROP_NODE_PTR *tanks;
-
};
projects / flightgear.git / commitdiff