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Moved JSBSim.cxx and JSBSim.hxx into src/FDM/JSBSim subdirectory

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(similar to how YASim is setup.)
This commit is contained in:
curt 2002-02-24 20:53:46 +00:00
parent d61ce30c12
commit 4cbfe4b724
5 changed files with 8 additions and 1017 deletions
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src/FDM/JSBSim.cxx
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@ -1,747 +0,0 @@
// JSBsim.cxx -- interface to the JSBsim flight model
//
// Written by Curtis Olson, started February 1999.
//
// Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id$
#include <simgear/compiler.h>
#ifdef SG_MATH_EXCEPTION_CLASH
# include <math.h>
#endif
#include STL_STRING
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/misc/sg_path.hxx>
#include <Scenery/scenery.hxx>
#include <Aircraft/aircraft.hxx>
#include <Controls/controls.hxx>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
#include <FDM/JSBSim/FGFDMExec.h>
#include <FDM/JSBSim/FGAircraft.h>
#include <FDM/JSBSim/FGFCS.h>
#include <FDM/JSBSim/FGPosition.h>
#include <FDM/JSBSim/FGRotation.h>
#include <FDM/JSBSim/FGState.h>
#include <FDM/JSBSim/FGTranslation.h>
#include <FDM/JSBSim/FGAuxiliary.h>
#include <FDM/JSBSim/FGInitialCondition.h>
#include <FDM/JSBSim/FGTrim.h>
#include <FDM/JSBSim/FGAtmosphere.h>
#include <FDM/JSBSim/FGMassBalance.h>
#include <FDM/JSBSim/FGAerodynamics.h>
#include <FDM/JSBSim/FGLGear.h>
#include "JSBSim.hxx"
/******************************************************************************/
FGJSBsim::FGJSBsim( double dt )
: FGInterface(dt)
{
bool result;
fdmex = new FGFDMExec;
State = fdmex->GetState();
Atmosphere = fdmex->GetAtmosphere();
FCS = fdmex->GetFCS();
MassBalance = fdmex->GetMassBalance();
Propulsion = fdmex->GetPropulsion();
Aircraft = fdmex->GetAircraft();
Translation = fdmex->GetTranslation();
Rotation = fdmex->GetRotation();
Position = fdmex->GetPosition();
Auxiliary = fdmex->GetAuxiliary();
Aerodynamics = fdmex->GetAerodynamics();
GroundReactions = fdmex->GetGroundReactions();
Atmosphere->UseInternal();
fgic=new FGInitialCondition(fdmex);
needTrim=true;
SGPath aircraft_path( globals->get_fg_root() );
aircraft_path.append( "Aircraft" );
SGPath engine_path( globals->get_fg_root() );
engine_path.append( "Engine" );
set_delta_t( dt );
State->Setdt( dt );
result = fdmex->LoadModel( aircraft_path.str(),
engine_path.str(),
fgGetString("/sim/aero") );
if (result) {
SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
} else {
SG_LOG( SG_FLIGHT, SG_INFO,
" aero does not exist (you may have mis-typed the name).");
throw(-1);
}
SG_LOG( SG_FLIGHT, SG_INFO, "" );
SG_LOG( SG_FLIGHT, SG_INFO, "" );
SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
int Neng = Propulsion->GetNumEngines();
SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
if ( GroundReactions->GetNumGearUnits() <= 0 ) {
SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
<< GroundReactions->GetNumGearUnits() );
SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
exit(-1);
}
init_gear();
// Set initial fuel levels if provided.
for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
if (node->getChild("level-gal_us", 0, false) != 0)
Propulsion->GetTank(i)
->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
}
fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
startup_trim = fgGetNode("/sim/startup/trim", true);
trimmed = fgGetNode("/fdm/trim/trimmed", true);
trimmed->setBoolValue(false);
pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
throttle_trim = fgGetNode("/fdm/trim/throttle", true );
aileron_trim = fgGetNode("/fdm/trim/aileron", true );
rudder_trim = fgGetNode("/fdm/trim/rudder", true );
stall_warning = fgGetNode("/sim/aero/alarms/stall-warning",true);
stall_warning->setDoubleValue(0);
}
/******************************************************************************/
FGJSBsim::~FGJSBsim(void) {
if (fdmex != NULL) {
delete fdmex; fdmex=NULL;
delete fgic; fgic=NULL;
}
}
/******************************************************************************/
// Initialize the JSBsim flight model, dt is the time increment for
// each subsequent iteration through the EOM
void FGJSBsim::init() {
SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
// Explicitly call the superclass's
// init method first.
common_init();
copy_to_JSBsim();
fdmex->RunIC(fgic); //loop JSBSim once w/o integrating
copy_from_JSBsim(); //update the bus
SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
switch(fgic->GetSpeedSet()) {
case setned:
SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
<< Position->GetVn() << ", "
<< Position->GetVe() << ", "
<< Position->GetVd() << " ft/s");
break;
case setuvw:
SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
<< Translation->GetUVW(1) << ", "
<< Translation->GetUVW(2) << ", "
<< Translation->GetUVW(3) << " ft/s");
break;
case setmach:
SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
<< Translation->GetMach() );
break;
case setvc:
default:
SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
<< Auxiliary->GetVcalibratedKTS() << " knots" );
break;
}
stall_warning->setDoubleValue(0);
SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
<< Rotation->Getphi()*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
<< Rotation->Gettht()*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
<< Rotation->Getpsi()*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
<< Position->GetLatitude() << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
<< Position->GetLongitude() << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
<< Position->Geth() << " feet" );
SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
globals->get_controls()->get_gear_down() );
}
/******************************************************************************/
// Run an iteration of the EOM (equations of motion)
void
FGJSBsim::update( int multiloop ) {
int i;
// double save_alt = 0.0;
copy_to_JSBsim();
trimmed->setBoolValue(false);
if ( needTrim ) {
if ( startup_trim->getBoolValue() ) {
do_trim();
} else {
fdmex->RunIC(fgic); //apply any changes made through the set_ functions
}
needTrim = false;
}
for ( i=0; i < multiloop; i++ ) {
fdmex->Run();
}
FGJSBBase::Message* msg;
while (fdmex->ReadMessage()) {
msg = fdmex->ProcessMessage();
switch (msg->type) {
case FGJSBBase::Message::eText:
SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
break;
case FGJSBBase::Message::eBool:
SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
break;
case FGJSBBase::Message::eInteger:
SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
break;
case FGJSBBase::Message::eDouble:
SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
break;
default:
SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
break;
}
}
// translate JSBsim back to FG structure so that the
// autopilot (and the rest of the sim can use the updated values
copy_from_JSBsim();
}
/******************************************************************************/
// Convert from the FGInterface struct to the JSBsim generic_ struct
bool FGJSBsim::copy_to_JSBsim() {
unsigned int i;
// copy control positions into the JSBsim structure
FCS->SetDaCmd( globals->get_controls()->get_aileron());
FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
FCS->SetDeCmd( globals->get_controls()->get_elevator());
FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
FCS->SetDfCmd( globals->get_controls()->get_flaps() );
FCS->SetDsbCmd( 0.0 ); //speedbrakes
FCS->SetDspCmd( 0.0 ); //spoilers
FCS->SetLBrake( globals->get_controls()->get_brake( 0 ) );
FCS->SetRBrake( globals->get_controls()->get_brake( 1 ) );
FCS->SetCBrake( globals->get_controls()->get_brake( 2 ) );
FCS->SetGearCmd( globals->get_controls()->get_gear_down());
for (i = 0; i < Propulsion->GetNumEngines(); i++) {
FGEngine * eng = Propulsion->GetEngine(i);
SGPropertyNode * node = fgGetNode("engines/engine", i, true);
FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
Propulsion->GetThruster(i)->SetRPM(node->getDoubleValue("rpm"));
eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
eng->SetStarter( globals->get_controls()->get_starter(i) );
}
_set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
Position->SetSeaLevelRadius( get_Sea_level_radius() );
Position->SetRunwayRadius( get_Runway_altitude()
+ get_Sea_level_radius() );
Atmosphere->SetExTemperature(get_Static_temperature());
Atmosphere->SetExPressure(get_Static_pressure());
Atmosphere->SetExDensity(get_Density());
Atmosphere->SetWindNED(get_V_north_airmass(),
get_V_east_airmass(),
get_V_down_airmass());
// SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
// << get_V_north_airmass() << ", "
// << get_V_east_airmass() << ", "
// << get_V_down_airmass() );
for (i = 0; i < Propulsion->GetNumTanks(); i++) {
SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
FGTank * tank = Propulsion->GetTank(i);
tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
// tank->SetContents(node->getDoubleValue("level-lb"));
}
return true;
}
/******************************************************************************/
// Convert from the JSBsim generic_ struct to the FGInterface struct
bool FGJSBsim::copy_from_JSBsim() {
unsigned int i, j;
_set_Inertias( MassBalance->GetMass(),
MassBalance->GetIxx(),
MassBalance->GetIyy(),
MassBalance->GetIzz(),
MassBalance->GetIxz() );
_set_CG_Position( MassBalance->GetXYZcg(1),
MassBalance->GetXYZcg(2),
MassBalance->GetXYZcg(3) );
_set_Accels_Body( Aircraft->GetBodyAccel()(1),
Aircraft->GetBodyAccel()(2),
Aircraft->GetBodyAccel()(3) );
//_set_Accels_CG_Body( Aircraft->GetBodyAccel()(1),
// Aircraft->GetBodyAccel()(2),
// Aircraft->GetBodyAccel()(3) );
//
_set_Accels_CG_Body_N ( Aircraft->GetNcg()(1),
Aircraft->GetNcg()(2),
Aircraft->GetNcg()(3) );
_set_Accels_Pilot_Body( Auxiliary->GetPilotAccel()(1),
Auxiliary->GetPilotAccel()(2),
Auxiliary->GetPilotAccel()(3) );
// _set_Accels_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739,
// Auxiliary->GetNpilot(2)/32.1739,
// Auxiliary->GetNpilot(3)/32.1739 );
_set_Nlf( Aircraft->GetNlf() );
// Velocities
_set_Velocities_Local( Position->GetVn(),
Position->GetVe(),
Position->GetVd() );
_set_Velocities_Wind_Body( Translation->GetUVW(1),
Translation->GetUVW(2),
Translation->GetUVW(3) );
_set_V_rel_wind( Translation->GetVt() );
_set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
// _set_V_calibrated( Auxiliary->GetVcalibratedFPS() );
_set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
_set_V_ground_speed( Position->GetVground() );
_set_Omega_Body( Rotation->GetPQR(1),
Rotation->GetPQR(2),
Rotation->GetPQR(3) );
_set_Euler_Rates( Rotation->GetEulerRates(1),
Rotation->GetEulerRates(2),
Rotation->GetEulerRates(3) );
_set_Geocentric_Rates(Position->GetLatitudeDot(),
Position->GetLongitudeDot(),
Position->Gethdot() );
_set_Mach_number( Translation->GetMach() );
// Positions
_updateGeocentricPosition( Position->GetLatitude(),
Position->GetLongitude(),
Position->Geth() );
_set_Altitude_AGL( Position->GetDistanceAGL() );
_set_Euler_Angles( Rotation->Getphi(),
Rotation->Gettht(),
Rotation->Getpsi() );
_set_Alpha( Translation->Getalpha() );
_set_Beta( Translation->Getbeta() );
_set_Gamma_vert_rad( Position->GetGamma() );
// set_Gamma_horiz_rad( Gamma_horiz_rad );
_set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
_set_Climb_Rate( Position->Gethdot() );
for ( i = 1; i <= 3; i++ ) {
for ( j = 1; j <= 3; j++ ) {
_set_T_Local_to_Body( i, j, State->GetTl2b(i,j) );
}
}
// Copy the engine values from JSBSim.
for( i=0; i < Propulsion->GetNumEngines(); i++ ) {
SGPropertyNode * node = fgGetNode("engines/engine", i, true);
FGEngine * eng = Propulsion->GetEngine(i);
FGThruster * thrust = Propulsion->GetThruster(i);
node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
node->setDoubleValue("rpm", thrust->GetRPM());
node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
node->setBoolValue("running", eng->GetRunning());
node->setBoolValue("cranking", eng->GetCranking());
}
static const SGPropertyNode *fuel_freeze
= fgGetNode("/sim/freeze/fuel");
// Copy the fuel levels from JSBSim if fuel
// freeze not enabled.
if ( ! fuel_freeze->getBoolValue() ) {
for (i = 0; i < Propulsion->GetNumTanks(); i++) {
SGPropertyNode * node
= fgGetNode("/consumables/fuel/tank", i, true);
double contents = Propulsion->GetTank(i)->GetContents();
node->setDoubleValue("level-gal_us", contents/6.6);
// node->setDoubleValue("level-lb", contents);
}
}
update_gear();
stall_warning->setDoubleValue( Aircraft->GetStallWarn() );
return true;
}
bool FGJSBsim::ToggleDataLogging(void) {
return fdmex->GetOutput()->Toggle();
}
bool FGJSBsim::ToggleDataLogging(bool state) {
if (state) {
fdmex->GetOutput()->Enable();
return true;
} else {
fdmex->GetOutput()->Disable();
return false;
}
}
//Positions
void FGJSBsim::set_Latitude(double lat) {
static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
double alt;
double sea_level_radius_meters, lat_geoc;
if ( altitude->getDoubleValue() > -9990 ) {
alt = altitude->getDoubleValue();
} else {
alt = 0.0;
}
update_ic();
SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
&sea_level_radius_meters, &lat_geoc );
_set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
_set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
fgic->SetTerrainAltitudeFtIC( scenery.get_cur_elev() * SG_METER_TO_FEET );
fgic->SetLatitudeRadIC( lat_geoc );
needTrim=true;
}
void FGJSBsim::set_Longitude(double lon) {
SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
update_ic();
fgic->SetLongitudeRadIC( lon );
_set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
fgic->SetTerrainAltitudeFtIC( scenery.get_cur_elev() * SG_METER_TO_FEET );
needTrim=true;
}
void FGJSBsim::set_Altitude(double alt) {
static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
double sea_level_radius_meters,lat_geoc;
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
SG_LOG(SG_FLIGHT,SG_INFO, " lat (deg) = " << latitude->getDoubleValue() );
update_ic();
sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
&sea_level_radius_meters, &lat_geoc);
_set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
_set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
fgic->SetTerrainAltitudeFtIC( scenery.get_cur_elev() * SG_METER_TO_FEET );
fgic->SetLatitudeRadIC( lat_geoc );
fgic->SetAltitudeFtIC(alt);
needTrim=true;
}
void FGJSBsim::set_V_calibrated_kts(double vc) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
update_ic();
fgic->SetVcalibratedKtsIC(vc);
needTrim=true;
}
void FGJSBsim::set_Mach_number(double mach) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
update_ic();
fgic->SetMachIC(mach);
needTrim=true;
}
void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
<< north << ", " << east << ", " << down );
update_ic();
fgic->SetVnorthFpsIC(north);
fgic->SetVeastFpsIC(east);
fgic->SetVdownFpsIC(down);
needTrim=true;
}
void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
<< u << ", " << v << ", " << w );
update_ic();
fgic->SetUBodyFpsIC(u);
fgic->SetVBodyFpsIC(v);
fgic->SetWBodyFpsIC(w);
needTrim=true;
}
//Euler angles
void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
<< phi << ", " << theta << ", " << psi );
update_ic();
fgic->SetPitchAngleRadIC(theta);
fgic->SetRollAngleRadIC(phi);
fgic->SetTrueHeadingRadIC(psi);
needTrim=true;
}
//Flight Path
void FGJSBsim::set_Climb_Rate( double roc) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
update_ic();
//since both climb rate and flight path angle are set in the FG
//startup sequence, something is needed to keep one from cancelling
//out the other.
if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
fgic->SetClimbRateFpsIC(roc);
}
needTrim=true;
}
void FGJSBsim::set_Gamma_vert_rad( double gamma) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
update_ic();
if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
fgic->SetFlightPathAngleRadIC(gamma);
}
needTrim=true;
}
void FGJSBsim::set_Static_pressure(double p) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_pressure: " << p );
update_ic();
Atmosphere->SetExPressure(p);
if(Atmosphere->External() == true)
needTrim=true;
}
void FGJSBsim::set_Static_temperature(double T) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_temperature: " << T );
Atmosphere->SetExTemperature(T);
if(Atmosphere->External() == true)
needTrim=true;
}
void FGJSBsim::set_Density(double rho) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Density: " << rho );
Atmosphere->SetExDensity(rho);
if(Atmosphere->External() == true)
needTrim=true;
}
void FGJSBsim::set_Velocities_Local_Airmass (double wnorth,
double weast,
double wdown ) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local_Airmass: "
<< wnorth << ", " << weast << ", " << wdown );
_set_Velocities_Local_Airmass( wnorth, weast, wdown );
fgic->SetWindNEDFpsIC( wnorth, weast, wdown );
if(Atmosphere->External() == true)
needTrim=true;
}
void FGJSBsim::init_gear(void ) {
FGGroundReactions* gr=fdmex->GetGroundReactions();
int Ngear=GroundReactions->GetNumGearUnits();
for (int i=0;i<Ngear;i++) {
SGPropertyNode * node = fgGetNode("gear/gear", i, true);
node->setDoubleValue("xoffset-in",
gr->GetGearUnit(i)->GetBodyLocation()(1));
node->setDoubleValue("yoffset-in",
gr->GetGearUnit(i)->GetBodyLocation()(2));
node->setDoubleValue("zoffset-in",
gr->GetGearUnit(i)->GetBodyLocation()(3));
node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW());
node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0);
node->setDoubleValue("position", FCS->GetGearPos());
}
}
void FGJSBsim::update_gear(void) {
FGGroundReactions* gr=fdmex->GetGroundReactions();
int Ngear=GroundReactions->GetNumGearUnits();
for (int i=0;i<Ngear;i++) {
SGPropertyNode * node = fgGetNode("gear/gear", i, true);
node->getChild("wow", 0, true)
->setBoolValue(gr->GetGearUnit(i)->GetWOW());
node->getChild("position", 0, true)
->setDoubleValue(FCS->GetGearPos());
}
}
void FGJSBsim::do_trim(void) {
FGTrim *fgtrim;
if(fgic->GetVcalibratedKtsIC() < 10 ) {
fgic->SetVcalibratedKtsIC(0.0);
fgtrim=new FGTrim(fdmex,fgic,tGround);
} else {
fgtrim=new FGTrim(fdmex,fgic,tLongitudinal);
}
if( !fgtrim->DoTrim() ) {
fgtrim->Report();
fgtrim->TrimStats();
} else {
trimmed->setBoolValue(true);
}
State->ReportState();
delete fgtrim;
pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
aileron_trim->setDoubleValue( FCS->GetDaCmd() );
rudder_trim->setDoubleValue( FCS->GetDrCmd() );
globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
globals->get_controls()->set_elevator(FCS->GetDeCmd());
globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
FCS->GetThrottleCmd(0));
globals->get_controls()->set_aileron(FCS->GetDaCmd());
globals->get_controls()->set_rudder( FCS->GetDrCmd());
SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
}
void FGJSBsim::update_ic(void) {
if( !needTrim ) {
fgic->SetLatitudeRadIC(get_Lat_geocentric() );
fgic->SetLongitudeRadIC( get_Longitude() );
fgic->SetAltitudeFtIC( get_Altitude() );
fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
fgic->SetPitchAngleRadIC( get_Theta() );
fgic->SetRollAngleRadIC( get_Phi() );
fgic->SetTrueHeadingRadIC( get_Psi() );
fgic->SetClimbRateFpsIC( get_Climb_Rate() );
}
}

252
src/FDM/JSBSim.hxx
View file

@ -1,252 +0,0 @@
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Header: JSBSim.hxx
Author: Curtis L. Olson
Maintained by: Tony Peden, Curt Olson
Date started: 02/01/1999
------ Copyright (C) 1999 - 2000 Curtis L. Olson (curt@flightgear.org) ------
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of the
License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but
WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
HISTORY
--------------------------------------------------------------------------------
02/01/1999 CLO Created
Additional log messages stored in CVS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifndef _JSBSIM_HXX
#define _JSBSIM_HXX
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#undef MAX_ENGINES
#include <Aircraft/aircraft.hxx>
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_JSBSIMXX "$Header JSBSim.hxx,v 1.4 2000/10/22 14:02:16 jsb Exp $"
#define METERS_TO_FEET 3.2808398950
#define RADTODEG 57.2957795
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include <simgear/misc/props.hxx>
#include <FDM/JSBSim/FGFDMExec.h>
class FGState;
class FGAtmosphere;
class FGFCS;
class FGPropulsion;
class FGMassBalance;
class FGAerodynamics;
class FGInertial;
class FGAircraft;
class FGTranslation;
class FGRotation;
class FGPosition;
class FGAuxiliary;
class FGOutput;
class FGInitialCondition;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/** FGFS / JSBSim interface (aka "The Bus").
This class provides for an interface between FlightGear and its data
structures and JSBSim and its data structures. This is the class which is
used to command JSBSim when integrated with FlightGear. See the
documentation for main for direction on running JSBSim apart from FlightGear.
@author Curtis L. Olson (original)
@author Tony Peden (Maintained and refined)
@version $Id$
@see main in file JSBSim.cpp (use main() wrapper for standalone usage)
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGJSBsim: public FGInterface {
public:
/// Constructor
FGJSBsim( double dt );
/// Destructor
~FGJSBsim();
/// copy FDM state to LaRCsim structures
bool copy_to_JSBsim();
/// copy FDM state from LaRCsim structures
bool copy_from_JSBsim();
/// Reset flight params to a specific position
void init();
/// @name Position Parameter Set
//@{
/** Set geocentric latitude
@param lat latitude in radians measured from the 0 meridian where
the westerly direction is positive and east is negative */
void set_Latitude(double lat); // geocentric
/** Set longitude
@param lon longitude in radians measured from the equator where
the northerly direction is positive and south is negative */
void set_Longitude(double lon);
/** Set altitude
Note: this triggers a recalculation of AGL altitude
@param alt altitude in feet */
void set_Altitude(double alt); // triggers re-calc of AGL altitude
//@}
//void set_AltitudeAGL(double altagl); // and vice-versa
/// @name Velocity Parameter Set
//@{
/** Sets calibrated airspeed
Setting this will trigger a recalc of the other velocity terms.
@param vc Calibrated airspeed in ft/sec */
void set_V_calibrated_kts(double vc);
/** Sets Mach number.
Setting this will trigger a recalc of the other velocity terms.
@param mach Mach number */
void set_Mach_number(double mach);
/** Sets velocity in N-E-D coordinates.
Setting this will trigger a recalc of the other velocity terms.
@param north velocity northward in ft/sec
@param east velocity eastward in ft/sec
@param down velocity downward in ft/sec */
void set_Velocities_Local( double north, double east, double down );
/** Sets aircraft velocity in stability frame.
Setting this will trigger a recalc of the other velocity terms.
@param u X velocity in ft/sec
@param v Y velocity in ft/sec
@param w Z velocity in ft/sec */
void set_Velocities_Wind_Body( double u, double v, double w);
//@}
/** Euler Angle Parameter Set
@param phi roll angle in radians
@param theta pitch angle in radians
@param psi heading angle in radians */
void set_Euler_Angles( double phi, double theta, double psi );
/// @name Flight Path Parameter Set
//@{
/** Sets rate of climb
@param roc Rate of climb in ft/sec */
void set_Climb_Rate( double roc);
/** Sets the flight path angle in radians
@param gamma flight path angle in radians. */
void set_Gamma_vert_rad( double gamma);
//@}
/// @name Atmospheric Parameter Set
//@{
/** Sets the atmospheric static pressure
@param p pressure in psf */
void set_Static_pressure(double p);
/** Sets the atmospheric temperature
@param T temperature in degrees rankine */
void set_Static_temperature(double T);
/** Sets the atmospheric density.
@param rho air density slugs/cubic foot */
void set_Density(double rho);
/** Sets the velocity of the local airmass for wind modeling.
@param wnorth velocity north in fps
@param weast velocity east in fps
@param wdown velocity down in fps*/
void set_Velocities_Local_Airmass (double wnorth,
double weast,
double wdown );
/// @name Position Parameter Update
//@{
/** Update the position based on inputs, positions, velocities, etc.
@param multiloop number of times to loop through the FDM
@return true if successful */
void update( int multiloop );
bool ToggleDataLogging(bool state);
bool ToggleDataLogging(void);
void do_trim(void);
void update_ic(void);
private:
FGFDMExec *fdmex;
FGInitialCondition *fgic;
bool needTrim;
FGState* State;
FGAtmosphere* Atmosphere;
FGFCS* FCS;
FGPropulsion* Propulsion;
FGMassBalance* MassBalance;
FGAircraft* Aircraft;
FGTranslation* Translation;
FGRotation* Rotation;
FGPosition* Position;
FGAuxiliary* Auxiliary;
FGAerodynamics* Aerodynamics;
FGGroundReactions *GroundReactions;
int runcount;
float trim_elev;
float trim_throttle;
SGPropertyNode *startup_trim;
SGPropertyNode *trimmed;
SGPropertyNode *pitch_trim;
SGPropertyNode *throttle_trim;
SGPropertyNode *aileron_trim;
SGPropertyNode *rudder_trim;
SGPropertyNode *stall_warning;
void init_gear(void);
void update_gear(void);
};
#endif // _JSBSIM_HXX

21
src/FDM/JSBSim/Makefile.am
View file

@ -1,16 +1,9 @@
SUBDIRS = filtersjb
SUBDIRS = filtersjb tests
EXTRA_DIST = JSBSim.cpp Makefile.solo
EXTRA_DIST = Makefile.solo
noinst_LIBRARIES = libJSBSim.a
# FGGroundReactions.cpp FGGroundReactions.h \
# FGPiston.cpp FGPiston.h \
# FGPropulsion.cpp FGPropulsion.h \
# FGRocket.cpp FGRocket.h \
# FGTurboJet.cpp FGTurboJet.h \
# FGTurboShaft.cpp FGTurboShaft.h \
libJSBSim_a_SOURCES = \
FGAerodynamics.cpp FGAerodynamics.h \
FGAircraft.cpp FGAircraft.h \
@ -54,13 +47,15 @@ libJSBSim_a_SOURCES = \
FGUtility.cpp FGUtility.h \
FGEngine.cpp FGEngine.h \
FGTank.cpp FGTank.h \
FGfdmSocket.cpp FGfdmSocket.h
FGfdmSocket.cpp FGfdmSocket.h \
JSBSim.cxx JSBSim.hxx
noinst_PROGRAMS = testJSBsim # demo
testJSBsim_SOURCES = JSBSim.cpp
# noinst_PROGRAMS = testJSBsim
testJSBsim_LDADD = libJSBSim.a filtersjb/libfiltersjb.a
# testJSBsim_SOURCES = JSBSim.dcpp
# testJSBsim_LDADD = libJSBSim.a filtersjb/libfiltersjb.a
# demo_SOURCES = demo.cxx

1
src/FDM/Makefile.am
View file

@ -9,7 +9,6 @@ libFlight_a_SOURCES = \
ExternalNet.cxx ExternalNet.hxx \
flight.cxx flight.hxx \
IO360.cxx IO360.hxx \
JSBSim.cxx JSBSim.hxx \
LaRCsim.cxx LaRCsim.hxx \
LaRCsimIC.cxx LaRCsimIC.hxx \
MagicCarpet.cxx MagicCarpet.hxx \

4
src/FDM/flight.cxx
View file

@ -35,11 +35,7 @@
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
#include "External.hxx"
#include "flight.hxx"
#include "JSBSim.hxx"
#include "LaRCsim.hxx"
#include "Balloon.h"
// base_fdm_state is the internal state that is updated in integer