From: david Date: Tue, 7 May 2002 23:11:16 +0000 (+0000) Subject: Last rev was based on an old version and blew away recent changes. X-Git-Url: https://git.mxchange.org/?a=commitdiff_plain;h=93e0274eb8804fd7c75617138da31e91564771c6;p=flightgear.git Last rev was based on an old version and blew away recent changes. Reverted to the current JSBSim CVS version of each. --- diff --git a/src/FDM/JSBSim/JSBSim.cxx b/src/FDM/JSBSim/JSBSim.cxx index b9a0a198d..27b40ab83 100644 --- a/src/FDM/JSBSim/JSBSim.cxx +++ b/src/FDM/JSBSim/JSBSim.cxx @@ -58,6 +58,12 @@ #include #include "JSBSim.hxx" +static inline double +FMAX (double a, double b) +{ + return a > b ? a : b; +} + /******************************************************************************/ @@ -126,12 +132,12 @@ FGJSBsim::FGJSBsim( double dt ) 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()); @@ -192,34 +198,9 @@ void FGJSBsim::init() { // 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:" ); @@ -284,10 +265,14 @@ 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, @@ -338,31 +323,36 @@ FGJSBsim::update( int multiloop ) { 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 ); @@ -376,9 +366,16 @@ bool FGJSBsim::copy_to_JSBsim() { 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; @@ -459,8 +456,8 @@ bool FGJSBsim::copy_from_JSBsim() { // Positions _updateGeocentricPosition( Position->GetLatitude(), - Position->GetLongitude(), - Position->Geth() ); + Position->GetLongitude(), + Position->Geth() ); _set_Altitude_AGL( Position->GetDistanceAGL() ); @@ -486,45 +483,49 @@ bool FGJSBsim::copy_from_JSBsim() { } } - // 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) ); @@ -728,11 +729,11 @@ void FGJSBsim::init_gear(void ) { for (int i=0;isetDoubleValue("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()); @@ -740,24 +741,15 @@ void FGJSBsim::init_gear(void ) { } 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 getChild("wow", 0, true); - nodes[i][1] = node -> getChild("position-norm", 0, true); - } - been_here = ~been_here; - } - for (i=0;i setBoolValue(gr->GetGearUnit(i)->GetWOW()); - nodes[i][1] -> setDoubleValue(FCS->GetGearPos()); + for (int i=0;igetChild("wow", 0, true) + ->setBoolValue(gr->GetGearUnit(i)->GetWOW()); + node->getChild("position-norm", 0, true) + ->setDoubleValue(FCS->GetGearPos()); } } @@ -783,14 +775,13 @@ void FGJSBsim::do_trim(void) { 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" ); } diff --git a/src/FDM/JSBSim/JSBSim.hxx b/src/FDM/JSBSim/JSBSim.hxx index 1f5a45b88..2f8b362c8 100644 --- a/src/FDM/JSBSim/JSBSim.hxx +++ b/src/FDM/JSBSim/JSBSim.hxx @@ -89,6 +89,10 @@ CLASS DOCUMENTATION @author Tony Peden (Maintained and refined) @version $Id$ @see main in file JSBSim.cpp (use main() wrapper for standalone usage) + @see + Header File + @see + Source File */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -116,17 +120,17 @@ public: //@{ /** 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 //@} @@ -136,33 +140,33 @@ public: //@{ /** 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 @@ -196,15 +200,15 @@ public: @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); @@ -241,6 +245,13 @@ private: 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; @@ -251,28 +262,7 @@ private: 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; - };