Latest updates, including a thrust-only turbofan model. It should produce

realistic thrust (including time-dependent effects), but does not provide
N1, N2, EPR, etc.

src/FDM/JSBSim/FGAuxiliary.cpp

@@ -41,6 +41,7 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGAuxiliary.h"
+#include "FGAerodynamics.h"
 #include "FGTranslation.h"
 #include "FGRotation.h"
 #include "FGAtmosphere.h"
@@ -73,6 +74,8 @@ FGAuxiliary::FGAuxiliary(FGFDMExec* fdmex) : FGModel(fdmex)
   
   vPilotAccelN.InitMatrix();
   
+  bind();
+  
   Debug(0);
 }
 

src/FDM/JSBSim/FGCoefficient.cpp

@@ -44,6 +44,8 @@ HISTORY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
+#include <stdio.h>
+
 #include "FGCoefficient.h"
 #include "FGState.h"
 #include "FGFDMExec.h"
@@ -208,7 +210,7 @@ double FGCoefficient::Value(double rVal, double cVal)
 double FGCoefficient::Value(double Val)
 {
   double Value;
-
+  
   SD = Value = gain*Table->GetValue(Val) + bias;
   
   for (unsigned int midx=0; midx < multipliers.size(); midx++) 

src/FDM/JSBSim/FGFCS.cpp

@@ -419,6 +419,7 @@ double FGFCS::GetComponentOutput(int idx)
     cerr << "Unknown FCS mode" << endl;
     break;
   }
+  return 0.0;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -434,6 +435,7 @@ string FGFCS::GetComponentName(int idx)
     cerr << "Unknown FCS mode" << endl;
     break;
   }
+  return string("");
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

src/FDM/JSBSim/FGFCS.h

@@ -645,7 +645,6 @@ private:
   void Debug(int from);
 };
 
-#include "FGState.h"
 
 #endif
 

src/FDM/JSBSim/FGFDMExec.cpp

@@ -109,6 +109,8 @@ FGFDMExec::FGFDMExec(FGPropertyManager* root)
   Position        = 0;
   Auxiliary       = 0;
   Output          = 0;
+  IC              = 0;
+  Trim            = 0;
 
   terminate = false;
   frozen = false;
@@ -227,7 +229,11 @@ bool FGFDMExec::Allocate(void)
     Error+=4096;}
 
   if (Error > 0) result = false;
+  
+  IC = new FGInitialCondition(this); 
+  //Trim is allocated as needed by GetTrim()                                 
 
+  
   // Schedule a model. The second arg (the integer) is the pass number. For
   // instance, the atmosphere model gets executed every fifth pass it is called
   // by the executive. Everything else here gets executed each pass.
@@ -245,6 +251,9 @@ bool FGFDMExec::Allocate(void)
   Schedule(Position,        1);
   Schedule(Auxiliary,       1);
   Schedule(Output,          1);
+  //IC and Trim are *not* scheduled objects
+  
+  
 
   modelLoaded = false;
 
@@ -255,20 +264,23 @@ bool FGFDMExec::Allocate(void)
 
 bool FGFDMExec::DeAllocate(void) {
 
-  if ( Atmosphere != 0 )     delete Atmosphere;
+  delete Atmosphere;
-  if ( FCS != 0 )            delete FCS;
+  delete FCS;
-  if ( Propulsion != 0)      delete Propulsion;
+  delete Propulsion;
-  if ( MassBalance != 0)     delete MassBalance;
+  delete MassBalance;
-  if ( Aerodynamics != 0)    delete Aerodynamics;
+  delete Aerodynamics;
-  if ( Inertial != 0)        delete Inertial;
+  delete Inertial;
-  if ( GroundReactions != 0) delete GroundReactions;
+  delete GroundReactions;
-  if ( Aircraft != 0 )       delete Aircraft;
+  delete Aircraft;
-  if ( Translation != 0 )    delete Translation;
+  delete Translation;
-  if ( Rotation != 0 )       delete Rotation;
+  delete Rotation;
-  if ( Position != 0 )       delete Position;
+  delete Position;
-  if ( Auxiliary != 0 )      delete Auxiliary;
+  delete Auxiliary;
-  if ( Output != 0 )         delete Output;
+  delete Output;
-  if ( State != 0 )          delete State;
+  delete State;
+  
+  delete IC;
+  delete Trim;
 
   FirstModel  = 0L;
   Error       = 0;
@@ -349,10 +361,10 @@ bool FGFDMExec::Run(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-bool FGFDMExec::RunIC(FGInitialCondition *fgic)
+bool FGFDMExec::RunIC(void)
 {
   State->Suspend();
-  State->Initialize(fgic);
+  State->Initialize(IC);
   Run();
   State->Resume();
   return true;
@@ -375,15 +387,26 @@ vector <string> FGFDMExec::EnumerateFDMs(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-bool FGFDMExec::LoadModel(string APath, string EPath, string model)
+bool FGFDMExec::LoadModel(string AircraftPath, string EnginePath, string model) {
+  FGFDMExec::AircraftPath=AircraftPath;
+  FGFDMExec::EnginePath=EnginePath;
+  return LoadModel(model);
+}  
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFDMExec::LoadModel(string model)
 {
   bool result = true;
   string token;
   string aircraftCfgFileName;
 
-  AircraftPath = APath;
+  if( AircraftPath.empty() || EnginePath.empty() ) {
-  EnginePath   = EPath;
+    cerr << "Error: attempted to load aircraft with undefined ";
-
+    cerr << "aircraft and engine paths" << endl;
+    return false;
+  }
+    
 # ifndef macintosh
   aircraftCfgFileName = AircraftPath + "/" + model + "/" + model + ".xml";
 # else
@@ -392,7 +415,9 @@ bool FGFDMExec::LoadModel(string APath, string EPath, string model)
 
   FGConfigFile AC_cfg(aircraftCfgFileName);
   if (!AC_cfg.IsOpen()) return false;
-
+  
+  modelName = model;
+  
   if (modelLoaded) {
     DeAllocate();
     Allocate();
@@ -495,7 +520,10 @@ bool FGFDMExec::ReadSlave(FGConfigFile* AC_cfg)
   string AircraftName = AC_cfg->GetValue("FILE");
 
   debug_lvl = 0;                 // turn off debug output for slave vehicle
-  SlaveFDMList.back()->exec->LoadModel("aircraft", "engine", AircraftName);
+  
+  SlaveFDMList.back()->exec->SetAircraftPath( AircraftPath );
+  SlaveFDMList.back()->exec->SetEnginePath( EnginePath );
+  SlaveFDMList.back()->exec->LoadModel(AircraftName);
   debug_lvl = saved_debug_lvl;   // turn debug output back on for master vehicle
 
   AC_cfg->GetNextConfigLine();
@@ -594,6 +622,14 @@ FGPropertyManager* FGFDMExec::GetPropertyManager(void) {
   return instance;
 }
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+FGTrim* FGFDMExec::GetTrim(void) { 
+  delete Trim;
+  Trim = new FGTrim(this,tNone);
+  return Trim;
+}
+  
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 //    The bitmasked value choices are as follows:
 //    unset: In this case (the default) JSBSim would only print

src/FDM/JSBSim/FGFDMExec.h

@@ -41,10 +41,12 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGModel.h"
+#include "FGTrim.h"
 #include "FGInitialCondition.h"
 #include "FGJSBBase.h"
 #include "FGPropertyManager.h"
 
+
 #include <vector>
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -56,8 +58,6 @@ DEFINITIONS
 FORWARD DECLARATIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-class FGInitialCondition;
-
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -138,20 +138,19 @@ public:
       @return true if successful, false if sim should be ended  */
   bool Run(void);
 
-  /** Initializes the sim with a set of initial conditions.
+  /** Initializes the sim from the initial condition object and executes
-      @param fgic A pointer to a filled out initial conditions class which
+      each scheduled model without integrating i.e. dt=0.
-      describes the desired initial conditions.
       @return true if successful
        */
-  bool RunIC(FGInitialCondition *fgic);
+  bool RunIC(void);
 
   /// Freezes the sim
   void Freeze(void) {frozen = true;}
 
   /// Resumes the sim
   void Resume(void) {frozen = false;}
-
+  
-  /** Loads an aircraft model.
+  /** Loads an aircraft model.  
       @param AircraftPath path to the aircraft directory. For instance:
       "aircraft". Under aircraft, then, would be directories for various
       modeled aircraft such as C172/, x15/, etc.
@@ -163,10 +162,39 @@ public:
       instance: "aircraft/x15/x15.xml"
       @return true if successful*/
   bool LoadModel(string AircraftPath, string EnginePath, string model);
+  
 
-  bool SetEnginePath(string path)   {EnginePath = path; return true;}
+  /** Loads an aircraft model.  The paths to the aircraft and engine
-  bool SetAircraftPath(string path) {AircraftPath = path; return true;}
+      config file directories must be set prior to calling this.  See
+      below.
+      @param model the name of the aircraft model itself. This file will
+      be looked for in the directory specified in the AircraftPath variable,
+      and in turn under the directory with the same name as the model. For
+      instance: "aircraft/x15/x15.xml"
+      @return true if successful*/
+  bool LoadModel(string model);
+  
 
+  /** Sets the path to the engine config file directories.
+      @param EnginePath path to the directory under which engine config
+      files are kept, for instance "engine"
+  */
+  bool SetEnginePath(string path)   { EnginePath = path; return true; }
+
+  /** Sets the path to the aircraft config file directories.
+      @param AircraftPath path to the aircraft directory. For instance:
+      "aircraft". Under aircraft, then, would be directories for various
+      modeled aircraft such as C172/, x15/, etc.
+  */
+  bool SetAircraftPath(string path) { AircraftPath = path; return true; }
+  
+  /** Sets the path to the autopilot config file directories.
+      @param ControlPath path to the control directory. For instance:
+      "control".
+  */
+  bool SetControlPath(string path) { ControlPath = path; return true; }
+  
+ 
   /// @name Top-level executive State and Model retrieval mechanism
   //@{
   /// Returns the FGState pointer.
@@ -197,12 +225,20 @@ public:
   inline FGAuxiliary* GetAuxiliary(void)      {return Auxiliary;}
   /// Returns the FGOutput pointer.
   inline FGOutput* GetOutput(void)            {return Output;}
+  // Returns a pointer to the FGInitialCondition object
+  inline FGInitialCondition* GetIC(void)      {return IC;}
+  // Returns a pointer to the FGTrim object
+  FGTrim* GetTrim(void);
   //@}
-
+  
   /// Retrieves the engine path.
   inline string GetEnginePath(void)          {return EnginePath;}
   /// Retrieves the aircraft path.
   inline string GetAircraftPath(void)        {return AircraftPath;}
+  /// Retrieves the control path.
+  inline string GetControlPath(void)        {return ControlPath;}
+  
+  string GetModelName(void) { return modelName; }
   
   FGPropertyManager* GetPropertyManager(void);
   vector <string> EnumerateFDMs(void);
@@ -218,6 +254,7 @@ private:
   unsigned int IdFDM;
   static unsigned int FDMctr;
   bool modelLoaded;
+  string modelName;
   bool IsSlave;
   static FGPropertyManager *master;
   FGPropertyManager *instance;
@@ -243,6 +280,8 @@ private:
 
   string AircraftPath;
   string EnginePath;
+  string ControlPath;
+  
   string CFGVersion;
 
   FGState*           State;
@@ -259,6 +298,9 @@ private:
   FGPosition*        Position;
   FGAuxiliary*       Auxiliary;
   FGOutput*          Output;
+  
+  FGInitialCondition* IC;
+  FGTrim *Trim;
 
   vector <slaveData*> SlaveFDMList;
 

src/FDM/JSBSim/FGInitialCondition.cpp

@@ -46,6 +46,7 @@ INCLUDES
 #include "FGFDMExec.h"
 #include "FGState.h"
 #include "FGAtmosphere.h"
+#include "FGAerodynamics.h"
 #include "FGFCS.h"
 #include "FGAircraft.h"
 #include "FGTranslation.h"
@@ -717,19 +718,25 @@ double FGInitialCondition::GetWindDirDegIC(void) {
 
 //******************************************************************************
 
-bool FGInitialCondition::Load(string acpath, string acname, string rstfile)
+bool FGInitialCondition::Load(string rstfile, bool useStoredPath)
 {
   string resetDef;
   string token="";
 
   double temp;
-
+  # ifndef macintosh
-# ifndef macintosh
+    string sep = "/";
-  resetDef = acpath + "/" + acname + "/" + rstfile + ".xml";
+  # else
-# else
+    string sep = ";";
-  resetDef = acpath + ";" + acname + ";" + rstfile + ".xml";
+  #endif     
-# endif
+  
-
+  if( useStoredPath ) {
+    string acpath = fdmex->GetAircraftPath() + sep + fdmex->GetModelName();
+    resetDef = acpath + sep + rstfile + ".xml";
+  } else {
+    resetDef = rstfile;
+  }  
+  
   FGConfigFile resetfile(resetDef);
   if (!resetfile.IsOpen()) {
     cerr << "Failed to open reset file: " << resetDef << endl;
@@ -770,7 +777,7 @@ bool FGInitialCondition::Load(string acpath, string acname, string rstfile)
     resetfile >> token;
   }
 
-  fdmex->RunIC(this);
+  fdmex->RunIC();
   
   return true;
 }

src/FDM/JSBSim/FGInitialCondition.h

@@ -252,7 +252,7 @@ public:
   inline speedset GetSpeedSet(void) { return lastSpeedSet; }
   inline windset GetWindSet(void) { return lastWindSet; }
   
-  bool Load(string acpath, string acname, string rstname);
+  bool Load(string rstname, bool useStoredPath = true );
   
   void bind(void);
   void unbind(void);

src/FDM/JSBSim/FGJSBBase.cpp

@@ -167,3 +167,20 @@ FGJSBBase::Message* FGJSBBase::ProcessMessage(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+void FGJSBBase::disableHighLighting(void) {
+  highint[0]='\0';
+  halfint[0]='\0';
+  normint[0]='\0';
+  reset[0]='\0';
+  underon[0]='\0';
+  underoff[0]='\0';
+  fgblue[0]='\0';
+  fgcyan[0]='\0';
+  fgred[0]='\0';
+  fggreen[0]='\0';
+  fgdef[0]='\0';
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+

src/FDM/JSBSim/FGJSBBase.h

@@ -301,6 +301,8 @@ public:
   Message* ProcessMessage(void);
   //@}
   string GetVersion(void) {return JSBSim_version;}
+  
+  void disableHighLighting(void);
 
 protected:
   static Message localMsg;

src/FDM/JSBSim/FGPropertyManager.h

@@ -35,6 +35,7 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
+#include <string>
 #include <simgear/misc/props.hxx>
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -69,16 +70,22 @@ CLASS DOCUMENTATION
 CLASS DECLARATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-class FGPropertyManager:public SGPropertyNode {
+class FGPropertyManager : public SGPropertyNode {
   public:
     /// Constructor
-    FGPropertyManager(void) {
+    FGPropertyManager(void) {}
-      
-    }
     /// Destructor
-    ~FGPropertyManager(void) {
+    ~FGPropertyManager(void) {}   
-      
+    
-    }   
+    /** Property-ify a name
+     *  replaces spaces with '-' and, optionally, makes name all lower case
+     *  @param name string to change
+     *  @param lowercase true to change all upper case chars to lower
+     *  NOTE: this function changes its argument and thus relies
+     *  on pass by value
+     */ 
+    string mkPropertyName(string name, bool lowercase);
+    
     /**
      * Get a property node.
      *
@@ -86,22 +93,11 @@ class FGPropertyManager:public SGPropertyNode {
      * @param create true to create the node if it doesn't exist.
      * @return The node, or 0 if none exists and none was created.
      */
-    inline FGPropertyManager* 
+    FGPropertyManager* 
-    GetNode (const string &path, bool create = false)
+    GetNode (const string &path, bool create = false);
-    {
-      SGPropertyNode* node=this->getNode(path.c_str(), create);
-      if(node == 0) 
-        cout << "FGPropertyManager::GetNode() No node found for " 
-             << path << endl;
-      return (FGPropertyManager*)node;
-    }
   
-    inline FGPropertyManager* 
+    FGPropertyManager* 
-    GetNode (const string &relpath, int index, bool create = false)
+    GetNode (const string &relpath, int index, bool create = false);
-    {
-        return (FGPropertyManager*)getNode(relpath.c_str(),index,create);
-    }    
-
 
     /**
      * Test whether a given node exists.
@@ -109,19 +105,12 @@ class FGPropertyManager:public SGPropertyNode {
      * @param path The path of the node, relative to root.
      * @return true if the node exists, false otherwise.
      */
-    inline bool
+    bool HasNode (const string &path);
-    HasNode (const string &path)
-    {
-      return (GetNode(path, false) != 0);
-    }
 
     /**
      * Get the name of a node
      */
-    inline string
+    string GetName( void );
-    GetName( void ) {
-      return string( getName() );
-    }  
 
     /**
      * Get a bool value for a property.
@@ -137,10 +126,7 @@ class FGPropertyManager:public SGPropertyNode {
      *        does not exist.
      * @return The property's value as a bool, or the default value provided.
      */
-    inline bool GetBool (const string &name, bool defaultValue = false)
+    bool GetBool (const string &name, bool defaultValue = false);
-    {
-      return getBoolValue(name.c_str(), defaultValue);
-    }
 
 
     /**
@@ -157,10 +143,7 @@ class FGPropertyManager:public SGPropertyNode {
      *        does not exist.
      * @return The property's value as an int, or the default value provided.
      */
-    inline int GetInt (const string &name, int defaultValue = 0)
+    int GetInt (const string &name, int defaultValue = 0);
-    {
-      return getIntValue(name.c_str(), defaultValue);
-    }
 
 
     /**
@@ -177,10 +160,7 @@ class FGPropertyManager:public SGPropertyNode {
      *        does not exist.
      * @return The property's value as a long, or the default value provided.
      */
-    inline int GetLong (const string &name, long defaultValue = 0L)
+    int GetLong (const string &name, long defaultValue = 0L);
-    {
-      return getLongValue(name.c_str(), defaultValue);
-    }
 
 
     /**
@@ -197,10 +177,7 @@ class FGPropertyManager:public SGPropertyNode {
      *        does not exist.
      * @return The property's value as a float, or the default value provided.
      */
-    inline float GetFloat (const string &name, float defaultValue = 0.0)
+    float GetFloat (const string &name, float defaultValue = 0.0);
-    {
-      return getFloatValue(name.c_str(), defaultValue);
-    }
 
 
     /**
@@ -217,10 +194,7 @@ class FGPropertyManager:public SGPropertyNode {
      *        does not exist.
      * @return The property's value as a double, or the default value provided.
      */
-    inline double GetDouble (const string &name, double defaultValue = 0.0)
+    double GetDouble (const string &name, double defaultValue = 0.0);
-    {
-      return getDoubleValue(name.c_str(), defaultValue);
-    }
 
 
     /**
@@ -237,10 +211,7 @@ class FGPropertyManager:public SGPropertyNode {
      *        does not exist.
      * @return The property's value as a string, or the default value provided.
      */
-    inline string GetString (const string &name, string defaultValue = "")
+    string GetString (const string &name, string defaultValue = "");
-    {
-      return string(getStringValue(name.c_str(), defaultValue.c_str()));
-    }
 
 
     /**
@@ -256,10 +227,7 @@ class FGPropertyManager:public SGPropertyNode {
      * @param val The new value for the property.
      * @return true if the assignment succeeded, false otherwise.
      */
-    inline bool SetBool (const string &name, bool val)
+    bool SetBool (const string &name, bool val);
-    {
-      return setBoolValue(name.c_str(), val);
-    }
 
 
     /**
@@ -275,10 +243,7 @@ class FGPropertyManager:public SGPropertyNode {
      * @param val The new value for the property.
      * @return true if the assignment succeeded, false otherwise.
      */
-    inline bool SetInt (const string &name, int val)
+    bool SetInt (const string &name, int val);
-    {
-      return setIntValue(name.c_str(), val);
-    }
 
 
     /**
@@ -294,10 +259,7 @@ class FGPropertyManager:public SGPropertyNode {
      * @param val The new value for the property.
      * @return true if the assignment succeeded, false otherwise.
      */
-    inline bool SetLong (const string &name, long val)
+    bool SetLong (const string &name, long val);
-    {
-      return setLongValue(name.c_str(), val);
-    }
 
 
     /**
@@ -313,10 +275,7 @@ class FGPropertyManager:public SGPropertyNode {
      * @param val The new value for the property.
      * @return true if the assignment succeeded, false otherwise.
      */
-    inline bool SetFloat (const string &name, float val)
+    bool SetFloat (const string &name, float val);
-    {
-      return setFloatValue(name.c_str(), val);
-    }
 
 
     /**
@@ -332,10 +291,7 @@ class FGPropertyManager:public SGPropertyNode {
      * @param val The new value for the property.
      * @return true if the assignment succeeded, false otherwise.
      */
-    inline bool SetDouble (const string &name, double val)
+    bool SetDouble (const string &name, double val);
-    {
-      return setDoubleValue(name.c_str(), val);
-    }
 
 
     /**
@@ -351,10 +307,7 @@ class FGPropertyManager:public SGPropertyNode {
      * @param val The new value for the property.
      * @return true if the assignment succeeded, false otherwise.
      */
-    inline bool SetString (const string &name, const string &val)
+    bool SetString (const string &name, const string &val);
-    {
-      return setStringValue(name.c_str(), val.c_str());
-    }
 
 
     ////////////////////////////////////////////////////////////////////////
@@ -374,17 +327,7 @@ class FGPropertyManager:public SGPropertyNode {
      * @param name The property name.
      * @param state The state of the archive attribute (defaults to true).
      */
-    inline void
+    void SetArchivable (const string &name, bool state = true);
-    SetArchivable (const string &name, bool state = true)
-    {
-      SGPropertyNode * node = getNode(name.c_str());
-      if (node == 0)
-        cout <<
-	       "Attempt to set archive flag for non-existant property "
-	       << name << endl;
-      else
-        node->setAttribute(SGPropertyNode::ARCHIVE, state);
-    }
 
 
     /**
@@ -399,17 +342,7 @@ class FGPropertyManager:public SGPropertyNode {
      * @param name The property name.
      * @param state The state of the read attribute (defaults to true).
      */
-    inline void
+    void SetReadable (const string &name, bool state = true);
-    SetReadable (const string &name, bool state = true)
-    {
-      SGPropertyNode * node = getNode(name.c_str());
-      if (node == 0)
-        cout <<
-	       "Attempt to set read flag for non-existant property "
-	       << name << endl;
-      else
-        node->setAttribute(SGPropertyNode::READ, state);
-    }
 
 
     /**
@@ -424,17 +357,7 @@ class FGPropertyManager:public SGPropertyNode {
      * @param name The property name.
      * @param state The state of the write attribute (defaults to true).
      */
-    inline void
+    void SetWritable (const string &name, bool state = true);
-    SetWritable (const string &name, bool state = true)
-    {
-      SGPropertyNode * node = getNode(name.c_str());
-      if (node == 0)
-        cout <<
-	       "Attempt to set write flag for non-existant property "
-	       << name << endl;
-      else
-        node->setAttribute(SGPropertyNode::WRITE, state);
-    }
 
 
     ////////////////////////////////////////////////////////////////////////
@@ -448,12 +371,7 @@ class FGPropertyManager:public SGPropertyNode {
      * Classes should use this function to release control of any
      * properties they are managing.
      */
-    inline void
+    void Untie (const string &name);
-    Untie (const string &name)
-    {
-      if (!untie(name.c_str()))
-        cout << "Failed to untie property " << name << endl;
-    }
 
 
 				    // Templates cause ambiguity here
@@ -470,14 +388,8 @@ class FGPropertyManager:public SGPropertyNode {
      *        copied to the variable; false if the variable should not
      *        be modified; defaults to true.
      */
-    inline void
+    void
-    Tie (const string &name, bool *pointer, bool useDefault = true)
+    Tie (const string &name, bool *pointer, bool useDefault = true);
-    {
-      if (!tie(name.c_str(), SGRawValuePointer<bool>(pointer),
-				     useDefault))
-        cout <<
-	       "Failed to tie property " << name << " to a pointer" << endl;
-    }
 
 
     /**
@@ -492,14 +404,8 @@ class FGPropertyManager:public SGPropertyNode {
      *        copied to the variable; false if the variable should not
      *        be modified; defaults to true.
      */
-    inline void
+    void
-    Tie (const string &name, int *pointer, bool useDefault = true)
+    Tie (const string &name, int *pointer, bool useDefault = true);
-    {
-      if (!tie(name.c_str(), SGRawValuePointer<int>(pointer),
-				     useDefault))
-        cout <<
-	       "Failed to tie property " << name << " to a pointer" << endl;
-    }
 
 
     /**
@@ -514,14 +420,8 @@ class FGPropertyManager:public SGPropertyNode {
      *        copied to the variable; false if the variable should not
      *        be modified; defaults to true.
      */
-    inline void
+    void
-    Tie (const string &name, long *pointer, bool useDefault = true)
+    Tie (const string &name, long *pointer, bool useDefault = true);
-    {
-      if (!tie(name.c_str(), SGRawValuePointer<long>(pointer),
-				     useDefault))
-        cout <<
-	       "Failed to tie property " << name << " to a pointer" << endl;
-    }
 
 
     /**
@@ -536,15 +436,8 @@ class FGPropertyManager:public SGPropertyNode {
      *        copied to the variable; false if the variable should not
      *        be modified; defaults to true.
      */
-    inline void
+    void
-    Tie (const string &name, float *pointer, bool useDefault = true)
+    Tie (const string &name, float *pointer, bool useDefault = true);
-    {
-      if (!tie(name.c_str(), SGRawValuePointer<float>(pointer),
-				     useDefault))
-        cout <<
-	       "Failed to tie property " << name << " to a pointer" << endl;
-    }
-
 
     /**
      * Tie a property to an external double variable.
@@ -558,15 +451,16 @@ class FGPropertyManager:public SGPropertyNode {
      *        copied to the variable; false if the variable should not
      *        be modified; defaults to true.
      */
-    inline void
+    void
-    Tie (const string &name, double *pointer, bool useDefault = true)
+    Tie (const string &name, double *pointer, bool useDefault = true);
-    {
-      if (!tie(name.c_str(), SGRawValuePointer<double>(pointer),
-				     useDefault))
-        cout <<
-	       "Failed to tie property " << name << " to a pointer" << endl;
-    }
 
+//============================================================================
+//  
+//  All of the following functions *must* be inlined, otherwise linker 
+//  errors will result
+//
+//============================================================================
+   
     /* template <class V> void
     Tie (const string &name, V (*getter)(), void (*setter)(V) = 0,
            bool useDefault = true);
@@ -584,7 +478,7 @@ class FGPropertyManager:public SGPropertyNode {
            V (T::*getter)(int) const, void (T::*setter)(int, V) = 0,
            bool useDefault = true); */
 
-/**
+     /**
      * Tie a property to a pair of simple functions.
      *
      * Every time the property value is queried, the getter (if any) will
@@ -600,10 +494,10 @@ class FGPropertyManager:public SGPropertyNode {
      *        property value should be; false if the old value should be
      *        discarded; defaults to true.
      */
-    template <class V>
+    
-    inline void
+    template <class V> inline void 
     Tie (const string &name, V (*getter)(), void (*setter)(V) = 0,
-           bool useDefault = true)
+                                              bool useDefault = true)
     {
       if (!tie(name.c_str(), SGRawValueFunctions<V>(getter, setter),
 				     useDefault))
@@ -630,9 +524,8 @@ class FGPropertyManager:public SGPropertyNode {
      *        property value should be; false if the old value should be
      *        discarded; defaults to true.
      */
-    template <class V>
+    template <class V> inline void Tie (const string &name, 
-    inline void
+                                        int index, V (*getter)(int),
-    Tie (const string &name, int index, V (*getter)(int),
            void (*setter)(int, V) = 0, bool useDefault = true)
     {
       if (!tie(name.c_str(),
@@ -664,19 +557,17 @@ class FGPropertyManager:public SGPropertyNode {
      *        property value should be; false if the old value should be
      *        discarded; defaults to true.
      */
-    template <class T, class V>
+    template <class T, class V> inline void
-    inline void
     Tie (const string &name, T * obj, V (T::*getter)() const,
            void (T::*setter)(V) = 0, bool useDefault = true)
     {
       if (!tie(name.c_str(),
-				     SGRawValueMethods<T,V>(*obj, getter, setter),
+    				 SGRawValueMethods<T,V>(*obj, getter, setter),
-				     useDefault))
+    				 useDefault))
         cout <<
-	       "Failed to tie property " << name << " to object methods" << endl;
+    	   "Failed to tie property " << name << " to object methods" << endl;
     }
-
+    
-
     /**
      * Tie a property to a pair of indexed object methods.
      *
@@ -696,23 +587,21 @@ class FGPropertyManager:public SGPropertyNode {
      *        property value should be; false if the old value should be
      *        discarded; defaults to true.
      */
-    template <class T, class V>
+    template <class T, class V> inline void 
-    inline void 
     Tie (const string &name, T * obj, int index,
            V (T::*getter)(int) const, void (T::*setter)(int, V) = 0,
-           bool useDefault = true)
+                                              bool useDefault = true)
     {
       if (!tie(name.c_str(),
-				     SGRawValueMethodsIndexed<T,V>(*obj,
+    				 SGRawValueMethodsIndexed<T,V>(*obj,
-							           index,
+    							       index,
-							           getter,
+    							       getter,
-							           setter),
+    							       setter),
-				     useDefault))
+    				 useDefault))
         cout <<
-	       "Failed to tie property " << name << " to indexed object methods" << endl;
+    	   "Failed to tie property " << name << " to indexed object methods" << endl;
-    }
+   }
-
+};                                                                                       
-};        
 
 #endif // FGPROPERTYMANAGER_H
 

src/FDM/JSBSim/FGPropulsion.cpp

@@ -150,7 +150,7 @@ bool FGPropulsion::GetSteadyState(void)
         } else {
           steady_count=0;
         }
-        j++;    
+        j++;
       }
       vForces  += Thrusters[i]->GetBodyForces();  // sum body frame forces
       vMoments += Thrusters[i]->GetMoments();     // sum body frame moments
@@ -173,7 +173,7 @@ bool FGPropulsion::ICEngineStart(void)
 
   vForces.InitMatrix();
   vMoments.InitMatrix();
-    
+
   for (unsigned int i=0; i<numEngines; i++) {
     Engines[i]->SetTrimMode(true);
     Thrusters[i]->SetdeltaT(dt*rate);
@@ -181,7 +181,7 @@ bool FGPropulsion::ICEngineStart(void)
     while (!Engines[i]->GetRunning() && j < 2000) {
       PowerAvailable = Engines[i]->Calculate(Thrusters[i]->GetPowerRequired());
       Thrusters[i]->Calculate(PowerAvailable);
-      j++;    
+      j++;
     }
     vForces  += Thrusters[i]->GetBodyForces();  // sum body frame forces
     vMoments += Thrusters[i]->GetMoments();     // sum body frame moments
@@ -225,6 +225,7 @@ bool FGPropulsion::Load(FGConfigFile* AC_cfg)
       if (Eng_cfg.IsOpen()) {
         Eng_cfg.GetNextConfigLine();
         engType = Eng_cfg.GetValue();
+        cout << engType << endl;
 
         FCS->AddThrottle();
         ThrottleAdded = true;
@@ -308,8 +309,10 @@ bool FGPropulsion::Load(FGConfigFile* AC_cfg)
         if (thrType == "FG_PROPELLER") {
           Thrusters.push_back(new FGPropeller(FDMExec, &Thruster_cfg));
         } else if (thrType == "FG_NOZZLE") {
-          Thrusters.push_back(new FGNozzle(FDMExec, &Thruster_cfg));
+          Thrusters.push_back(new FGNozzle(FDMExec, &Thruster_cfg ));
-        }
+        } else if (thrType == "FG_DIRECT") {
+          Thrusters.push_back(new FGThruster( FDMExec, &Thruster_cfg) );
+        }  
 
         AC_cfg->GetNextConfigLine();
         while ((token = AC_cfg->GetValue()) != string("/AC_THRUSTER")) {
@@ -402,7 +405,7 @@ string FGPropulsion::GetPropulsionStrings(void)
     default:
       PropulsionStrings += "INVALID THRUSTER TYPE";
       break;
-    }    
+    }
   }
 
   return PropulsionStrings;

src/FDM/JSBSim/FGScript.cpp

@@ -86,7 +86,7 @@ FGScript::~FGScript()
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-bool FGScript::LoadScript(string script)
+bool FGScript::LoadScript( string script )
 {
   FGConfigFile Script(script);
   string token="";
@@ -115,7 +115,7 @@ bool FGScript::LoadScript(string script)
     if (token == "use") {
       if ((token = Script.GetValue("aircraft")) != string("")) {
         aircraft = token;
-        result = FDMExec->LoadModel("aircraft", "engine", aircraft);
+        result = FDMExec->LoadModel(aircraft);
         if (!result) {
           cerr << "Aircraft file " << aircraft << " was not found" << endl;
           exit(-1);
@@ -204,8 +204,8 @@ bool FGScript::LoadScript(string script)
   Debug(4);
 
 
-  FGInitialCondition IC(FDMExec);
+  FGInitialCondition *IC=FDMExec->GetIC();
-  if ( ! IC.Load("aircraft", aircraft, initialize)) {
+  if ( ! IC->Load( initialize )) {
     cerr << "Initialization unsuccessful" << endl;
     exit(-1);
   }

src/FDM/JSBSim/FGScript.h

@@ -146,7 +146,7 @@ public:
       The language is the Simple Script Directives for JSBSim (SSDJ).
       @param script the filename (including path name, if any) for the script.
       @return true if successful */
-  bool LoadScript(string script);
+  bool LoadScript( string script );
 
   /** This function is called each pass through the executive Run() method IF
       scripting is enabled. 

src/FDM/JSBSim/FGState.cpp

@@ -101,71 +101,6 @@ FGState::~FGState()
   Debug(1);
 }
 
-//***************************************************************************
-//
-// Reset: Assume all angles READ FROM FILE IN DEGREES !!
-//
-
-bool FGState::Reset(string path, string acname, string fname)
-{
-  string resetDef;
-  string token="";
-
-  double U, V, W;
-  double phi, tht, psi;
-  double latitude, longitude, h;
-  double wdir, wmag, wnorth, weast;
-
-# ifndef macintosh
-  resetDef = path + "/" + acname + "/" + fname + ".xml";
-# else
-  resetDef = path + ";" + acname + ";" + fname + ".xml";
-# endif
-
-  FGConfigFile resetfile(resetDef);
-  if (!resetfile.IsOpen()) return false;
-
-  resetfile.GetNextConfigLine();
-  token = resetfile.GetValue();
-  if (token != string("initialize")) {
-    cerr << "The reset file " << resetDef
-         << " does not appear to be a reset file" << endl;
-    return false;
-  } else {
-    resetfile.GetNextConfigLine();
-    resetfile >> token;
-    cout << "Resetting using: " << token << endl << endl;
-  }
-  
-  while (token != string("/initialize") && token != string("EOF")) {
-    if (token == "UBODY") resetfile >> U;
-    if (token == "VBODY") resetfile >> V;
-    if (token == "WBODY") resetfile >> W;
-    if (token == "LATITUDE") resetfile >> latitude;
-    if (token == "LONGITUDE") resetfile >> longitude;
-    if (token == "PHI") resetfile >> phi;
-    if (token == "THETA") resetfile >> tht;
-    if (token == "PSI") resetfile >> psi;
-    if (token == "ALTITUDE") resetfile >> h;
-    if (token == "WINDDIR") resetfile >> wdir;
-    if (token == "VWIND") resetfile >> wmag;
-
-    resetfile >> token;
-  }
-  
-  Position->SetLatitude(latitude*degtorad);
-  Position->SetLongitude(longitude*degtorad);
-  Position->Seth(h);
-
-  wnorth = wmag*ktstofps*cos(wdir*degtorad);
-  weast = wmag*ktstofps*sin(wdir*degtorad);
-  
-  Initialize(U, V, W, phi*degtorad, tht*degtorad, psi*degtorad,
-               latitude*degtorad, longitude*degtorad, h, wnorth, weast, 0.0);
-
-  return true;
-}
-
 //***************************************************************************
 //
 // Initialize: Assume all angles GIVEN IN RADIANS !!

src/FDM/JSBSim/FGState.h

@@ -64,6 +64,19 @@ INCLUDES
 #include "FGColumnVector3.h"
 #include "FGColumnVector4.h"
 
+#include "FGFDMExec.h"
+#include "FGAtmosphere.h"
+#include "FGFCS.h"
+#include "FGTranslation.h"
+#include "FGRotation.h"
+#include "FGPosition.h"
+#include "FGAerodynamics.h"
+#include "FGOutput.h"
+#include "FGAircraft.h"
+#include "FGGroundReactions.h"
+#include "FGPropulsion.h"
+
+
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -74,16 +87,6 @@ DEFINITIONS
 FORWARD DECLARATIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-class FGAircraft;
-class FGTranslation;
-class FGRotation;
-class FGAtmosphere;
-class FGOutput;
-class FGPosition;
-class FGFDMExec;
-class FGGroundReactions;
-class FGPropulsion;
-
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -114,30 +117,7 @@ public:
   /// Destructor
   ~FGState();
 
-  /** Specifies the Reset file to use.
+ /** Initializes the simulation state based on the passed-in parameters.
-      The reset file normally resides in the same directory as an aircraft config file.
-      it includes the following information:
-      <ul>
-      <li>U, the body X-Axis velocity</li>
-      <li>V, the body Y-Axis velocity</li>
-      <li>W, the body Z-Axis velocity</li>
-      <li>Latitude measured in radians from the equator, negative values are south.</li>
-      <li>Longitude, measured in radians from the Greenwich meridian, negative values are west.</li>
-      <li>Phi, the roll angle in radians.</li>
-      <li>Theta, the pitch attitude in radians.</li>
-      <li>Psi, the heading angle in radians.</li>
-      <li>H, the altitude in feet</li>
-      <li>Wind Direction, the direction the wind is coming <u>from</u>.</li>
-      <li>Wind magnitude, the wind speed in fps.</li>
-      </ul>
-      @param path the path string leading to the specific aircraft file, i.e. "aircraft".
-      @param aircraft the name of the aircraft, i.e. "c172".
-      @param filename the name of the reset file without an extension, i.e. "reset00".
-      @return true if successful, false if the file could not be opened.
-      */
-  bool Reset(string path, string aircraft, string filename);
-
-  /** Initializes the simulation state based on the passed-in parameters.
       @param U the body X-Axis velocity in fps.
       @param V the body Y-Axis velocity in fps.
       @param W the body Z-Axis velocity in fps.
@@ -392,17 +372,6 @@ private:
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-#include "FGFDMExec.h"
-#include "FGAtmosphere.h"
-#include "FGFCS.h"
-#include "FGTranslation.h"
-#include "FGRotation.h"
-#include "FGPosition.h"
-#include "FGAerodynamics.h"
-#include "FGOutput.h"
-#include "FGAircraft.h"
-#include "FGGroundReactions.h"
-#include "FGPropulsion.h"
 
 #endif
 

src/FDM/JSBSim/FGThruster.cpp

@@ -55,6 +55,16 @@ FGThruster::FGThruster(FGFDMExec *FDMExec) : FGForce(FDMExec),
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+FGThruster::FGThruster(FGFDMExec *FDMExec, 
+                       FGConfigFile *Eng_cfg ): FGForce(FDMExec) {
+   ThrusterNumber=0;                   
+   SetTransformType(FGForce::tCustom);
+   Name=Eng_cfg->GetValue();
+   Debug(0);
+}   
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 FGThruster::~FGThruster()
 {
   Debug(1);

src/FDM/JSBSim/FGThruster.h

@@ -69,12 +69,13 @@ class FGThruster : public FGForce {
 public:
   /// Constructor
   FGThruster(FGFDMExec *FDMExec);
+  FGThruster(FGFDMExec *FDMExec, FGConfigFile *Eng_cfg );
   /// Destructor
   virtual ~FGThruster();
 
   enum eType {ttNozzle, ttRotor, ttPropeller};
 
-  virtual double Calculate(double) {return 0.0;}
+  virtual double Calculate(double Thrust) { vFn(1)=Thrust; return 0.0; }
   void SetName(string name) {Name = name;}
   void SetThrusterNumber(int nn) {ThrusterNumber = nn;}
   virtual void SetRPM(double rpm) {};

src/FDM/JSBSim/FGTrim.cpp

@@ -63,7 +63,7 @@ static const char *IdHdr = ID_TRIM;
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-FGTrim::FGTrim(FGFDMExec *FDMExec,FGInitialCondition *FGIC, TrimMode tt ) {
+FGTrim::FGTrim(FGFDMExec *FDMExec,TrimMode tt) {
 
   N=Nsub=0;
   max_iterations=60;
@@ -73,7 +73,7 @@ FGTrim::FGTrim(FGFDMExec *FDMExec,FGInitialCondition *FGIC, TrimMode tt ) {
   
   Debug=0;DebugLevel=0;
   fdmex=FDMExec;
-  fgic=FGIC;
+  fgic=fdmex->GetIC();
   total_its=0;
   trimudot=true;
   gamma_fallback=true;
@@ -82,56 +82,7 @@ FGTrim::FGTrim(FGFDMExec *FDMExec,FGInitialCondition *FGIC, TrimMode tt ) {
   xlo=xhi=alo=ahi=0.0;
   targetNlf=1.0;
   debug_axis=tAll;
-  switch(mode) {
+  SetMode(tt);
-  case tFull:
-    cout << "  Full Trim" << endl;
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tWdot,tAlpha ));
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tUdot,tThrottle ));
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tQdot,tPitchTrim ));
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tHmgt,tBeta ));
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tVdot,tPhi ));
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tPdot,tAileron ));
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tRdot,tRudder ));
-    break;
-  case tLongitudinal:
-    cout << "  Longitudinal Trim" << endl;
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tWdot,tAlpha ));
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tUdot,tThrottle ));
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tQdot,tPitchTrim ));
-    break;
-  case tGround:
-    cout << "  Ground Trim" << endl;
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tWdot,tAltAGL ));
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tQdot,tTheta ));
-    //TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tPdot,tPhi ));
-    break;
-  case tPullup:
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tNlf,tAlpha ));
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tUdot,tThrottle ));
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tQdot,tPitchTrim ));
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tHmgt,tBeta ));
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tVdot,tPhi ));
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tPdot,tAileron ));
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tRdot,tRudder ));
-    break;
-  case tTurn:
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tWdot,tAlpha ));
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tUdot,tThrottle ));
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tQdot,tPitchTrim ));
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tVdot,tBeta ));
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tPdot,tAileron ));
-    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tRdot,tRudder ));
-    break;
-  case tCustom:
-  case tNone:
-    break;
-}
-  //cout << "TrimAxes.size(): " << TrimAxes.size() << endl;
-  sub_iterations=new double[TrimAxes.size()];
-  successful=new double[TrimAxes.size()];
-  solution=new bool[TrimAxes.size()];
-  current_axis=0;
-  
   if (debug_lvl & 2) cout << "Instantiated: FGTrim" << endl;
 }
 
@@ -588,6 +539,8 @@ bool FGTrim::checkLimits(void) {
   return solutionExists;
 }
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 void FGTrim::setupPullup() {
   float g,q,cgamma;
   FGColumnVector3 vPQR;
@@ -601,7 +554,9 @@ void FGTrim::setupPullup() {
   cout << "setPitchRateInPullup() complete" << endl;
   
 }  
-  
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 void FGTrim::setupTurn(void){
   double g,phi;
   phi = fgic->GetRollAngleRadIC();
@@ -614,6 +569,8 @@ void FGTrim::setupTurn(void){
    
 }  
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 void FGTrim::updateRates(void){
   if( mode == tTurn ) {
     double phi = fgic->GetRollAngleRadIC();
@@ -640,6 +597,8 @@ void FGTrim::updateRates(void){
   }  
 }  
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 void FGTrim::setDebug(void) {
   if(debug_axis == tAll ||
       TrimAxes[current_axis]->GetStateType() == debug_axis ) {
@@ -650,6 +609,60 @@ void FGTrim::setDebug(void) {
     return;
   }
 }      
-    
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGTrim::SetMode(TrimMode tt) {
+    ClearStates();
+    switch(tt) {
+      case tFull:
+        cout << "  Full Trim" << endl;
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tWdot,tAlpha ));
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tUdot,tThrottle ));
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tQdot,tPitchTrim ));
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tHmgt,tBeta ));
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tVdot,tPhi ));
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tPdot,tAileron ));
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tRdot,tRudder ));
+        break;
+      case tLongitudinal:
+        cout << "  Longitudinal Trim" << endl;
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tWdot,tAlpha ));
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tUdot,tThrottle ));
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tQdot,tPitchTrim ));
+        break;
+      case tGround:
+        cout << "  Ground Trim" << endl;
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tWdot,tAltAGL ));
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tQdot,tTheta ));
+        //TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tPdot,tPhi ));
+        break;
+      case tPullup:
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tNlf,tAlpha ));
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tUdot,tThrottle ));
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tQdot,tPitchTrim ));
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tHmgt,tBeta ));
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tVdot,tPhi ));
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tPdot,tAileron ));
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tRdot,tRudder ));
+        break;
+      case tTurn:
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tWdot,tAlpha ));
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tUdot,tThrottle ));
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tQdot,tPitchTrim ));
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tVdot,tBeta ));
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tPdot,tAileron ));
+        TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tRdot,tRudder ));
+        break;
+      case tCustom:
+      case tNone:
+        break;
+    }
+    //cout << "TrimAxes.size(): " << TrimAxes.size() << endl;
+    sub_iterations=new double[TrimAxes.size()];
+    successful=new double[TrimAxes.size()];
+    solution=new bool[TrimAxes.size()];
+    current_axis=0;
+}    
 //YOU WERE WARNED, BUT YOU DID IT ANYWAY.
 

src/FDM/JSBSim/FGTrim.h

@@ -52,16 +52,6 @@ INCLUDES
 
 #include "FGFDMExec.h"
 #include "FGJSBBase.h"
-#include "FGRotation.h"
-#include "FGAtmosphere.h"
-#include "FGState.h"
-#include "FGFCS.h"
-#include "FGAircraft.h"
-#include "FGTranslation.h"
-#include "FGPosition.h"
-#include "FGAuxiliary.h"
-#include "FGOutput.h"
-#include "FGTrim.h"
 #include "FGTrimAxis.h"
 
 #include <vector>
@@ -206,10 +196,8 @@ public:
   /** Initializes the trimming class
       @param FDMExec pointer to a JSBSim executive object.
       @param FGIC pointer to a FGInitialCondition object
-      @param TrimMode the set of axes to trim. Can be:
-             tLongitudinal, tFull, tGround, tCustom, or tNone
   */
-  FGTrim(FGFDMExec *FDMExec, FGInitialCondition *FGIC, TrimMode tt);
+  FGTrim(FGFDMExec *FDMExec, TrimMode tt=tGround );
 
     ~FGTrim(void);
 
@@ -227,6 +215,12 @@ public:
   /** Iteration statistics
   */
   void TrimStats();
+  
+  /** Clear all state-control pairs and set a predefined trim mode
+      @param TrimMode the set of axes to trim. Can be:
+             tLongitudinal, tFull, tGround, tCustom, or tNone
+  */
+  void SetMode(TrimMode tt);
 
   /** Clear all state-control pairs from the current configuration.
       The trimming routine must have at least one state-control pair

src/FDM/JSBSim/FGTrimAxis.cpp

@@ -45,6 +45,8 @@ INCLUDES
 #include "FGTrimAxis.h"
 #include "FGAircraft.h"
 #include "FGPropulsion.h"
+#include "FGAerodynamics.h"
+
 
 static const char *IdSrc = "$Id$";
 static const char *IdHdr = ID_TRIMAXIS;
@@ -321,7 +323,7 @@ bool FGTrimAxis::initTheta(void) {
   while(!level && (i < 100)) {
 	theta+=2.0*zDiff;
 	fgic->SetPitchAngleDegIC(theta);   
-	fdmex->RunIC(fgic);
+	fdmex->RunIC();
 	zAft=fdmex->GetGroundReactions()->GetGearUnit(1)->GetLocalGear(3);
         zForward=fdmex->GetGroundReactions()->GetGearUnit(0)->GetLocalGear(3);
         zDiff = zForward - zAft;
@@ -386,7 +388,7 @@ void FGTrimAxis::Run(void) {
   while(!stable) {
     i++;
     last_state_value=state_value;
-    fdmex->RunIC(fgic);
+    fdmex->RunIC();
     getState();
     if(i > 1) {
       if((fabs(last_state_value - state_value) < tolerance) || (i >= 100) )
@@ -409,7 +411,7 @@ void FGTrimAxis::setThrottlesPct(void) {
       //cout << "setThrottlespct: " << i << ", " << control_min << ", " << control_max << ", " << control_value;
       fdmex->GetFCS()->SetThrottleCmd(i,tMin+control_value*(tMax-tMin));
       //cout << "setThrottlespct: " << fdmex->GetFCS()->GetThrottleCmd(i) << endl;
-      fdmex->RunIC(fgic); //apply throttle change
+      fdmex->RunIC(); //apply throttle change
       fdmex->GetPropulsion()->GetSteadyState();
   }
 }

src/FDM/JSBSim/FGTrimAxis.h

@@ -42,15 +42,7 @@ INCLUDES
 
 #include "FGFDMExec.h"
 #include "FGJSBBase.h"
-#include "FGRotation.h"
+#include "FGInitialCondition.h"
-#include "FGAtmosphere.h"
-#include "FGState.h"
-#include "FGFCS.h"
-#include "FGAircraft.h"
-#include "FGTranslation.h"
-#include "FGPosition.h"
-#include "FGAuxiliary.h"
-#include "FGOutput.h"
 
 #define ID_TRIMAXIS "$Id$"
 
@@ -67,6 +59,8 @@ const string ControlNames[14]= { "Throttle","Sideslip","Angle of Attack",
                                  "Heading"
                                };
 
+class FGInitialCondition;
+
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DECLARATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -78,7 +72,9 @@ enum Control { tThrottle, tBeta, tAlpha, tElevator, tAileron, tRudder, tAltAGL,
 class FGTrimAxis : public FGJSBBase
 {
 public:
-  FGTrimAxis(FGFDMExec* fdmex, FGInitialCondition *ic, State st,
+  FGTrimAxis(FGFDMExec* fdmex, 
+             FGInitialCondition *ic, 
+             State st,
              Control ctrl );
   ~FGTrimAxis();
 

src/FDM/JSBSim/FGTurbine.cpp

@@ -38,8 +38,10 @@ HISTORY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
+#include <vector>
 #include "FGTurbine.h"
 
+
 static const char *IdSrc = "$Id$";
 static const char *IdHdr = ID_TURBINE;
 
@@ -50,6 +52,8 @@ CLASS IMPLEMENTATION
 
 FGTurbine::FGTurbine(FGFDMExec* exec, FGConfigFile* cfg) : FGEngine(exec)
 {
+  Load(cfg);
+  PowerCommand=0;
   Debug(0);
 }
 
@@ -64,12 +68,82 @@ FGTurbine::~FGTurbine()
 
 double FGTurbine::Calculate(double dummy)
 {
+  double idle,mil,aug;
+  double throttle=FCS->GetThrottlePos(EngineNumber);
+  double dt=State->Getdt();
+  if( dt > 0 ) {
+    PowerCommand+=dt*PowerLag( PowerCommand, 
+                         ThrottleToPowerCommand(throttle) );
+    if(PowerCommand > 100 )
+      PowerCommand=100;
+    else if(PowerCommand < 0 )
+      PowerCommand=0;
+                    
+  } else {
+    PowerCommand=ThrottleToPowerCommand(throttle);
+  }                         
+  
+  mil=MaxMilThrust*ThrustTables[1]->TotalValue();
+  
+  if( PowerCommand <= 50 ) {
+    idle=MaxMilThrust*ThrustTables[0]->TotalValue();
+    Thrust = idle + (mil-idle)*PowerCommand*0.02;
+  } else {
+    aug=MaxAugThrust*ThrustTables[2]->TotalValue();
+    Thrust = mil + (aug-mil)*(PowerCommand-50)*0.02;
+  }    
+  
   ConsumeFuel();
-  return 0.0;
+  
+  return Thrust;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+double FGTurbine::ThrottleToPowerCommand(double throttle) {
+  if( throttle <= 0.77 ) 
+    return 64.94*throttle;
+  else
+    return 217.38*throttle - 117.38;
+}      
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+double FGTurbine::PowerLag(double actual_power, double power_command) {
+  double t, p2;
+  if( power_command >= 50 ) {
+    if( actual_power >= 50 ) {
+      t=5;
+      p2=power_command;
+    } else {
+      p2=60;
+      t=rtau(p2-actual_power);
+    }
+  } else {
+    if( actual_power >= 50 ) {
+      t=5;
+      p2=40;
+    } else {
+      p2=power_command;
+      t=rtau(p2-actual_power);
+    }
+  }
+  return t*(p2-actual_power);
+}    
+ 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+double FGTurbine::rtau(double delta_power) {
+  if( delta_power <= 25 ) 
+    return 1.0;
+  else if ( delta_power >= 50)
+    return 0.1;
+  else
+    return 1.9-0.036*delta_power;
+}
+        
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 void FGTurbine::doInlet(void)
 {
 }
@@ -113,8 +187,22 @@ void FGTurbine::doTransition(void)
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 
-bool FGTurbine::Load(FGConfigFile *AC_cfg)
+bool FGTurbine::Load(FGConfigFile *Eng_cfg)
 {
+  int i;
+  string token;
+  Name = Eng_cfg->GetValue("NAME");
+  cout << Name << endl;
+  Eng_cfg->GetNextConfigLine();
+  *Eng_cfg >> token >> MaxMilThrust;
+  *Eng_cfg >> token >> MaxAugThrust;
+  i=0;
+  while( Eng_cfg->GetValue() != "/FG_TURBINE" && i < 10){
+    ThrustTables.push_back( new FGCoefficient(FDMExec) );
+    ThrustTables.back()->Load(Eng_cfg);
+    i++;
+  }
+
   return true;
 }
 

src/FDM/JSBSim/FGTurbine.h

@@ -42,8 +42,10 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
+#include <vector>
 #include "FGEngine.h"
 #include "FGConfigFile.h"
+#include "FGCoefficient.h"
 
 #define ID_TURBINE "$Id$"
 
@@ -58,8 +60,21 @@ public:
   ~FGTurbine();
 
   double Calculate(double);
-  
+
 private:
+  typedef vector<FGCoefficient*> CoeffArray;
+  CoeffArray ThrustTables;
+
+  string name;
+  double MaxMilThrust;
+  double MaxAugThrust;
+  
+  double PowerCommand;
+  
+  double ThrottleToPowerCommand(double throttle);
+  double PowerLag(double actual_power, double power_command);
+  double rtau(double delta_power);
+
   void doInlet(void);
   void doCompressor(void);
   void doBleedDuct(void);
@@ -69,7 +84,7 @@ private:
 
   void doTransition(void);
 
-  bool Load(FGConfigFile *AC_cfg);
+  bool Load(FGConfigFile *ENG_cfg);
 
   void Debug(int from);
 };

src/FDM/JSBSim/JSBSim.cxx

@@ -87,7 +87,7 @@ FGJSBsim::FGJSBsim( double dt )
     Aerodynamics    = fdmex->GetAerodynamics();
     GroundReactions = fdmex->GetGroundReactions(); 
     
-    fgic=new FGInitialCondition(fdmex);
+    fgic=fdmex->GetIC();
     needTrim=true;
   
     SGPath aircraft_path( globals->get_fg_root() );
@@ -231,7 +231,7 @@ void FGJSBsim::init() {
     copy_to_JSBsim();
     
 
-    fdmex->RunIC(fgic); //loop JSBSim once w/o integrating
+    fdmex->RunIC(); //loop JSBSim once w/o integrating
     copy_from_JSBsim(); //update the bus
 
     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
@@ -315,7 +315,7 @@ FGJSBsim::update( double dt ) {
         fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
         do_trim();
       } else {
-        fdmex->RunIC(fgic);  //apply any changes made through the set_ functions
+        fdmex->RunIC();  //apply any changes made through the set_ functions
       }
       needTrim = false;  
     }    
@@ -756,9 +756,9 @@ void FGJSBsim::do_trim(void) {
         FGTrim *fgtrim;
         if( fgGetBool("/sim/startup/onground") ) {
             fgic->SetVcalibratedKtsIC(0.0);
-            fgtrim=new FGTrim(fdmex,fgic,tGround);
+            fgtrim=new FGTrim(fdmex,tGround);
         } else {
-            fgtrim=new FGTrim(fdmex,fgic,tLongitudinal);
+            fgtrim=new FGTrim(fdmex,tLongitudinal);
         }
         if( !fgtrim->DoTrim() ) {
             fgtrim->Report();

src/FDM/JSBSim/Makefile.am

@@ -49,7 +49,7 @@ libJSBSim_a_SOURCES = \
 	FGTank.cpp FGTank.h \
 	FGfdmSocket.cpp FGfdmSocket.h \
   FGTurbine.cpp FGTurbine.h \
-        FGPropertyManager.h \
+  FGPropertyManager.cpp FGPropertyManager.h  \
 	JSBSim.cxx JSBSim.hxx