Sync with latest JSBSim changes.

src/FDM/JSBSim.cxx

@@ -198,7 +198,7 @@ void FGJSBsim::init() {
     break;
     }
     
-    stall_warning->setBoolValue(false);
+    stall_warning->setDoubleValue(0);
     
     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
             <<  Rotation->Getphi()*RADTODEG << " deg" );
@@ -382,7 +382,7 @@ bool FGJSBsim::copy_from_JSBsim() {
    //                           Auxiliary->GetNpilot(2)/32.1739,
    //                           Auxiliary->GetNpilot(3)/32.1739 );
 
-    _set_Nlf( Aerodynamics->GetNlf() );
+    _set_Nlf( Aircraft->GetNlf() );
 
     // Velocities
 

src/FDM/JSBSim/AUTHORS

@@ -0,0 +1,56 @@
+AUTHORS
+-------
+
+Jon S. Berndt
+primary architect and coordinator
+jsb@hal-pc.org
+CVS access as developer (r/w)
+
+
+Tony Peden
+additional architecture support
+trimming and aerodynamics
+interface with flightgear
+apeden@earthlink.net
+CVS access as developer (r/w)
+
+
+Additional support (programming, bug fixes, aircraft models)
+by the FlightGear team and others as listed:
+
+Curt Olson
+wrote initial interface with flightgear
+works flightgear/jsbsim issues
+curt@flightgear.org
+
+Norman Vine
+matrix math class optimization support
+general C++ suggestions, debugging, and support
+nhv@cape.com
+
+Christian Mayer
+JSBSim compatibility with MSVC
+mail@ChristianMayer.de
+
+Erik Hofman
+JSBSim compatibility with IRIX
+erik@ehofman.com
+
+David Megginson
+ported Dave Luff's piston engine model initially to JSBSim
+creation of multi-engine C-310 model and testing/debugging
+general C++ suggestions, debugging, and support
+david@megginson.com
+
+Ross Golder
+improvements to the build process and auto* files
+ross@golder.org
+
+Dave Luff
+wrote the piston engine model used by LaRCSim and is ported to JSBSim
+eazdluf@nottingham.ac.uk
+
+Norman Princen
+provided an improved gear model
+nprincen@hotmail.com
+

src/FDM/JSBSim/FGAerodynamics.cpp

@@ -100,7 +100,10 @@ bool FGAerodynamics::Run(void)
         vFs(axis_ctr+1) += Coeff[axis_ctr][ctr]->TotalValue();
       }
     }
-
+    //correct signs of drag and lift to wind axes convention
+    //positive forward, right, down
+    vFs(1)*=-1; vFs(3)*=-1;
+    //cout << "Aircraft::vFs: " << vFs << endl;
     vForces = State->GetTs2b()*vFs;
 
     vDXYZcg(eX) = -(Aircraft->GetXYZrp(eX) 
@@ -198,17 +201,6 @@ string FGAerodynamics::GetCoefficientValues(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-double FGAerodynamics::GetNlf(void)
-{
-  if (fabs(Position->GetGamma()) < 1.57) {
-    return (vFs(eZ)/(MassBalance->GetWeight()*cos(Position->GetGamma())));
-  } else {
-    return 0.0;
-  }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
 double FGAerodynamics::GetLoD(void)
 {
   double LoD;

src/FDM/JSBSim/FGAerodynamics.h

@@ -134,8 +134,6 @@ public:
       coefficients */
   string GetCoefficientValues(void);
 
-  /// Gets the Normal Load Factor
-  double GetNlf(void);
 
 private:
   typedef map<string,int> AxisIndex;

src/FDM/JSBSim/FGAircraft.cpp

@@ -105,7 +105,8 @@ FGAircraft::FGAircraft(FGFDMExec* fdmex) : FGModel(fdmex),
     vXYZep(3),
     vDXYZcg(3),
     vBodyAccel(3),
-    vNcg(3)
+    vNcg(3),
+    vNwcg(3)
 {
   Name = "FGAircraft";
   alphaclmin = alphaclmax = 0;
@@ -180,6 +181,9 @@ bool FGAircraft::Run(void)
     
     vNcg = vBodyAccel/Inertial->gravity();
 
+    vNwcg = State->GetTb2s() * vNcg;
+    vNwcg(3) = -1*vNwcg(3) + 1;
+    
     if (alphaclmax != 0) {
       if (Translation->Getalpha() > 0.85*alphaclmax) {
         impending_stall = 10*(Translation->Getalpha()/alphaclmax - 0.85);
@@ -196,6 +200,13 @@ bool FGAircraft::Run(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+float FGAircraft::GetNlf(void)
+{
+  return vNwcg(3);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 void FGAircraft::ReadPrologue(FGConfigFile* AC_cfg)
 {
   string token = AC_cfg->GetValue();

src/FDM/JSBSim/FGAircraft.h

@@ -200,7 +200,11 @@ public:
   inline void SetAlphaCLMax(double tt) { alphaclmax=tt; }
   inline void SetAlphaCLMin(double tt) { alphaclmin=tt; }
   
-  inline bool GetStallWarn(void) { return impending_stall; }
+  inline double GetStallWarn(void) { return impending_stall; }
+  
+  float GetNlf(void);
+  
+  inline FGColumnVector3& GetNwcg(void) { return vNwcg; }
 
 private:
   FGColumnVector3 vMoments;
@@ -211,6 +215,7 @@ private:
   FGColumnVector3 vDXYZcg;
   FGColumnVector3 vBodyAccel;
   FGColumnVector3 vNcg;
+  FGColumnVector3 vNwcg;
 
   double WingArea, WingSpan, cbar, WingIncidence;
   double HTailArea, VTailArea, HTailArm, VTailArm;

src/FDM/JSBSim/FGAtmosphere.h

@@ -145,6 +145,7 @@ public:
   inline void SetTurbGain(double tt) {TurbGain = tt;}
   
   inline double GetTurbPQR(int idx) {return vTurbPQR(idx);}
+  inline FGColumnVector3& GetTurbPQR(void) {return vTurbPQR;}
   
 private:
   double rho;

src/FDM/JSBSim/FGEngine.cpp

@@ -64,7 +64,8 @@ CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 
-FGEngine::FGEngine(FGFDMExec* exec) {
+FGEngine::FGEngine(FGFDMExec* exec)
+{
   FDMExec     = exec;
   State       = FDMExec->GetState();
   Atmosphere  = FDMExec->GetAtmosphere();
@@ -101,7 +102,8 @@ FGEngine::~FGEngine()
 // This base class method removes fuel from the fuel tanks as appropriate,
 // and sets the starved flag if necessary.
 
-void FGEngine::ConsumeFuel(void) {
+void FGEngine::ConsumeFuel(void)
+{
   double Fshortage, Oshortage;
   FGTank* Tank;
 

src/FDM/JSBSim/FGEngine.h

@@ -182,6 +182,9 @@ public:
   /// Sets engine placement information
   void SetPlacement(double x, double y, double z, double pitch, double yaw);
 
+  /// Sets the engine number
+  void SetEngineNumber(int nn) {EngineNumber = nn;}
+
   virtual double GetPowerAvailable(void) {return 0.0;};
 
   bool GetTrimMode(void) {return TrimMode;}

src/FDM/JSBSim/FGJSBBase.cpp

@@ -67,8 +67,8 @@ const double FGJSBBase::SHRatio = 1.40;
 const string FGJSBBase::needed_cfg_version = "1.55";
 const string FGJSBBase::JSBSim_version = "0.9.1";
 
-queue <struct FGJSBBase::Message*> FGJSBBase::Messages;
+queue <FGJSBBase::Message*> FGJSBBase::Messages;
-struct FGJSBBase::Message FGJSBBase::localMsg;
+FGJSBBase::Message FGJSBBase::localMsg;
 unsigned int FGJSBBase::messageId = 0; 
 unsigned int FGJSBBase::frame = 0;
 
@@ -82,7 +82,7 @@ FGJSBBase::FGJSBBase()
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-struct FGJSBBase::Message* FGJSBBase::PutMessage(struct Message* msg)
+FGJSBBase::Message* FGJSBBase::PutMessage(Message* msg)
 {
   Messages.push(msg);
   return msg;
@@ -90,9 +90,9 @@ struct FGJSBBase::Message* FGJSBBase::PutMessage(struct Message* msg)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-struct FGJSBBase::Message* FGJSBBase::PutMessage(string text)
+FGJSBBase::Message* FGJSBBase::PutMessage(string text)
 {
-  struct Message *msg = new Message();
+  Message *msg = new Message();
   msg->text = text;
   msg->messageId = messageId++;
   msg->subsystem = "FDM";
@@ -103,9 +103,9 @@ struct FGJSBBase::Message* FGJSBBase::PutMessage(string text)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-struct FGJSBBase::Message* FGJSBBase::PutMessage(string text, bool bVal)
+FGJSBBase::Message* FGJSBBase::PutMessage(string text, bool bVal)
 {
-  struct Message *msg = new Message();
+  Message *msg = new Message();
   msg->text = text;
   msg->messageId = messageId++;
   msg->subsystem = "FDM";
@@ -117,9 +117,9 @@ struct FGJSBBase::Message* FGJSBBase::PutMessage(string text, bool bVal)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-struct FGJSBBase::Message* FGJSBBase::PutMessage(string text, int iVal)
+FGJSBBase::Message* FGJSBBase::PutMessage(string text, int iVal)
 {
-  struct Message *msg = new Message();
+  Message *msg = new Message();
   msg->text = text;
   msg->messageId = messageId++;
   msg->subsystem = "FDM";
@@ -131,9 +131,9 @@ struct FGJSBBase::Message* FGJSBBase::PutMessage(string text, int iVal)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-struct FGJSBBase::Message* FGJSBBase::PutMessage(string text, double dVal)
+FGJSBBase::Message* FGJSBBase::PutMessage(string text, double dVal)
 {
-  struct Message *msg = new Message();
+  Message *msg = new Message();
   msg->text = text;
   msg->messageId = messageId++;
   msg->subsystem = "FDM";
@@ -145,7 +145,7 @@ struct FGJSBBase::Message* FGJSBBase::PutMessage(string text, double dVal)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-struct FGJSBBase::Message* FGJSBBase::ReadMessage(void)
+FGJSBBase::Message* FGJSBBase::ReadMessage(void)
 {
   if (!Messages.empty()) return Messages.front();
   else                   return NULL;
@@ -153,7 +153,7 @@ struct FGJSBBase::Message* FGJSBBase::ReadMessage(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-struct FGJSBBase::Message* FGJSBBase::ProcessMessage(void)
+FGJSBBase::Message* FGJSBBase::ProcessMessage(void)
 {
   if (!Messages.empty())
     localMsg = *(Messages.front());

src/FDM/JSBSim/FGJSBBase.h

@@ -165,7 +165,7 @@ public:
   virtual ~FGJSBBase() {};
 
   /// JSBSim Message structure
-  struct Message {
+  typedef struct Msg {
     unsigned int fdmId;
     unsigned int messageId;
     string text;
@@ -174,7 +174,7 @@ public:
     bool bVal;
     int  iVal;
     double dVal;
-  };
+  } Message;
 
   ///@name JSBSim Enums.
   //@{
@@ -227,38 +227,38 @@ public:
   /** Places a Message structure on the Message queue.
       @param msg pointer to a Message structure
       @return pointer to a Message structure */
-  struct Message* PutMessage(struct Message* msg);
+  Message* PutMessage(Message* msg);
   /** Creates a message with the given text and places it on the queue.
       @param text message text
       @return pointer to a Message structure */
-  struct Message* PutMessage(string text);
+  Message* PutMessage(string text);
   /** Creates a message with the given text and boolean value and places it on the queue.
       @param text message text
       @param bVal boolean value associated with the message
       @return pointer to a Message structure */
-  struct Message* PutMessage(string text, bool bVal);
+  Message* PutMessage(string text, bool bVal);
   /** Creates a message with the given text and integer value and places it on the queue.
       @param text message text
       @param iVal integer value associated with the message
       @return pointer to a Message structure */
-  struct Message* PutMessage(string text, int iVal);
+  Message* PutMessage(string text, int iVal);
   /** Creates a message with the given text and double value and places it on the queue.
       @param text message text
       @param dVal double value associated with the message
       @return pointer to a Message structure */
-  struct Message* PutMessage(string text, double dVal);
+  Message* PutMessage(string text, double dVal);
   /** Reads the message on the queue (but does not delete it).
       @return pointer to a Message structure (or NULL if no mesage) */
-  struct Message* ReadMessage(void);
+  Message* ReadMessage(void);
   /** Reads the message on the queue and removes it from the queue.
       @return pointer to a Message structure (or NULL if no mesage) */
-  struct Message* ProcessMessage(void);
+  Message* ProcessMessage(void);
   //@}
 
 protected:
-  static struct Message localMsg;
+  static Message localMsg;
   
-  static queue <struct Message*> Messages;
+  static queue <Message*> Messages;
 
   virtual void Debug(void) {};
 

src/FDM/JSBSim/FGOutput.cpp

@@ -148,8 +148,6 @@ void FGOutput::DelimitedOutput(string fname)
     }
     if (SubSystems & ssAerosurfaces) {
       outstream << ", ";
-      outstream << "Throttle, ";
-      outstream << "Mixture, ";
       outstream << "Aileron Cmd, ";
       outstream << "Elevator Cmd, ";
       outstream << "Rudder Cmd, ";
@@ -224,8 +222,6 @@ void FGOutput::DelimitedOutput(string fname)
   }
   if (SubSystems & ssAerosurfaces) {
     outstream << ", ";
-    outstream << FCS->GetThrottlePos(0) << ", ";
-    outstream << FCS->GetMixturePos(0) << ", ";
     outstream << FCS->GetDaCmd() << ", ";
     outstream << FCS->GetDeCmd() << ", ";
     outstream << FCS->GetDrCmd() << ", ";
@@ -242,7 +238,7 @@ void FGOutput::DelimitedOutput(string fname)
     outstream << Translation->Getqbar() << ", ";
     outstream << Translation->GetVt() << ", ";
     outstream << Translation->GetUVW() << ", ";
-    outstream << Translation->GetvAero() << ", ";
+    outstream << Translation->GetvAeroUVW() << ", ";
     outstream << Position->GetVel();
   }
   if (SubSystems & ssForces) {
@@ -360,9 +356,9 @@ void FGOutput::SocketOutput(void)
   socket->Append(Translation->GetUVW(eU));
   socket->Append(Translation->GetUVW(eV));
   socket->Append(Translation->GetUVW(eW));
-  socket->Append(Translation->GetvAero(eU));
+  socket->Append(Translation->GetvAeroUVW(eU));
-  socket->Append(Translation->GetvAero(eV));
+  socket->Append(Translation->GetvAeroUVW(eV));
-  socket->Append(Translation->GetvAero(eW));
+  socket->Append(Translation->GetvAeroUVW(eW));
   socket->Append(Position->GetVn());
   socket->Append(Position->GetVe());
   socket->Append(Position->GetVd());

src/FDM/JSBSim/FGPosition.cpp

@@ -144,6 +144,7 @@ Notes:   [TP] Make sure that -Vt <= hdot <= Vt, which, of course, should always
 bool FGPosition::Run(void) {
   double cosLat;
   double hdot_Vt;
+  FGColumnVector3 vMac;
 
   if (!FGModel::Run()) {
     GetState();
@@ -171,7 +172,13 @@ bool FGPosition::Run(void) {
 
     DistanceAGL = Radius - RunwayRadius;   // Geocentric
     
-    hoverb = DistanceAGL/b;
+    
+    hoverbcg = DistanceAGL/b;
+    
+    vMac=State->GetTb2l()*Aircraft->GetXYZrp();
+    
+    vMac *= inchtoft;
+    hoverbmac = (DistanceAGL + vMac(3))/b;
 
     if (Vt > 0) {
       hdot_Vt = RadiusDot/Vt;
@@ -209,7 +216,7 @@ void FGPosition::Seth(double tt) {
  h = tt;
  Radius    = h + SeaLevelRadius;
  DistanceAGL = Radius - RunwayRadius;   // Geocentric
- hoverb = DistanceAGL/b;
+ hoverbcg = DistanceAGL/b;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -218,7 +225,7 @@ void FGPosition::SetDistanceAGL(double tt) {
   DistanceAGL=tt;
   Radius = RunwayRadius + DistanceAGL;
   h = Radius - SeaLevelRadius;
-  hoverb = DistanceAGL/b;
+  hoverbcg = DistanceAGL/b;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

src/FDM/JSBSim/FGPosition.h

@@ -105,7 +105,8 @@ public:
   
   inline double GetGamma(void) { return gamma; }
   inline void SetGamma(double tt) { gamma = tt; }
-  inline double GetHOverB(void) { return hoverb; }
+  inline double GetHOverBCG(void) { return hoverbcg; }
+  inline double GetHOverBMAC(void){ return hoverbmac; }
   void SetvVel(const FGColumnVector3& v) { vVel = v; }
   void SetLatitude(double tt) { Latitude = tt; }
   void SetLongitude(double tt) { Longitude = tt; }
@@ -133,7 +134,7 @@ private:
   double SeaLevelRadius;
   double gamma;
   double Vt, Vground;
-  double hoverb,b;
+  double hoverbcg,hoverbmac,b;
 
   double psigt;
 

src/FDM/JSBSim/FGPropeller.cpp

@@ -50,7 +50,7 @@ FGPropeller::FGPropeller(FGFDMExec* exec, FGConfigFile* Prop_cfg) : FGThruster(e
   string token;
   int rows, cols;
 
-  MaxPitch = MinPitch = P_Factor = Sense = 0.0;
+  MaxPitch = MinPitch = P_Factor = Sense = Pitch = 0.0;
 
   Name = Prop_cfg->GetValue("NAME");
   Prop_cfg->GetNextConfigLine();
@@ -138,7 +138,7 @@ FGPropeller::~FGPropeller()
 double FGPropeller::Calculate(double PowerAvailable)
 {
   double J, C_Thrust, omega;
-  double Vel = (fdmex->GetTranslation()->GetvAero())(1);
+  double Vel = fdmex->GetTranslation()->GetvAeroUVW(eU);
   double rho = fdmex->GetAtmosphere()->GetDensity();
   double RPS = RPM/60.0;
   double alpha, beta;
@@ -194,7 +194,7 @@ double FGPropeller::GetPowerRequired(void)
 
   double cPReq, RPS = RPM / 60.0;
 
-  double J = (fdmex->GetTranslation()->GetvAero())(1) / (Diameter * RPS);
+  double J = fdmex->GetTranslation()->GetvAeroUVW(eU) / (Diameter * RPS);
   double rho = fdmex->GetAtmosphere()->GetDensity();
 
   if (MaxPitch == MinPitch) { // Fixed pitch prop

src/FDM/JSBSim/FGPropulsion.cpp

@@ -62,14 +62,14 @@ CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 
-FGPropulsion::FGPropulsion(FGFDMExec* exec) : FGModel(exec)
+FGPropulsion::FGPropulsion(FGFDMExec* exec) : FGModel(exec),
+                                              Forces(3),
+                                              Moments(3)
 {
   Name = "FGPropulsion";
   numSelectedFuelTanks = numSelectedOxiTanks = 0;
   numTanks = numEngines = numThrusters = 0;
   numOxiTanks = numFuelTanks = 0;
-  Forces  = new FGColumnVector3(3);
-  Moments = new FGColumnVector3(3);
 
   if (debug_lvl & 2) cout << "Instantiated: " << Name << endl;
 }
@@ -80,8 +80,6 @@ FGPropulsion::~FGPropulsion()
 {
   for (unsigned int i=0; i<Engines.size(); i++) delete Engines[i];
   Engines.clear();
-  if (Forces) delete Forces;
-  if (Moments) delete Moments;
   if (debug_lvl & 2) cout << "Destroyed:    FGPropulsion" << endl;
 }
 
@@ -92,16 +90,16 @@ bool FGPropulsion::Run(void)
   double PowerAvailable;
   dt = State->Getdt();
 
-  Forces->InitMatrix();
+  Forces.InitMatrix();
-  Moments->InitMatrix();
+  Moments.InitMatrix();
 
   if (!FGModel::Run()) {
     for (unsigned int i=0; i<numEngines; i++) {
       Thrusters[i]->SetdeltaT(dt*rate);
       PowerAvailable = Engines[i]->Calculate(Thrusters[i]->GetPowerRequired());
       Thrusters[i]->Calculate(PowerAvailable);
-      *Forces  += Thrusters[i]->GetBodyForces();  // sum body frame forces
+      Forces  += Thrusters[i]->GetBodyForces();  // sum body frame forces
-      *Moments += Thrusters[i]->GetMoments();     // sum body frame moments
+      Moments += Thrusters[i]->GetMoments();     // sum body frame moments
     }
     return false;
   } else {
@@ -111,15 +109,16 @@ bool FGPropulsion::Run(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-bool FGPropulsion::GetSteadyState(void) {
+bool FGPropulsion::GetSteadyState(void)
+{
   double PowerAvailable;
   double currentThrust = 0, lastThrust=-1;
   dt = State->Getdt();
   int steady_count,j=0;
   bool steady=false;
 
-  Forces->InitMatrix();
+  Forces.InitMatrix();
-  Moments->InitMatrix();
+  Moments.InitMatrix();
 
   if (!FGModel::Run()) {
     for (unsigned int i=0; i<numEngines; i++) {
@@ -138,8 +137,8 @@ bool FGPropulsion::GetSteadyState(void) {
         }
         j++;    
       }
-      *Forces  += Thrusters[i]->GetBodyForces();  // sum body frame forces
+      Forces  += Thrusters[i]->GetBodyForces();  // sum body frame forces
-      *Moments += Thrusters[i]->GetMoments();     // sum body frame moments
+      Moments += Thrusters[i]->GetMoments();     // sum body frame moments
       Engines[i]->SetTrimMode(false);
     }
 
@@ -152,13 +151,14 @@ bool FGPropulsion::GetSteadyState(void) {
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 
-bool FGPropulsion::ICEngineStart(void) {
+bool FGPropulsion::ICEngineStart(void)
+{
   double PowerAvailable;
   int j;
   dt = State->Getdt();
 
-  Forces->InitMatrix();
+  Forces.InitMatrix();
-  Moments->InitMatrix();
+  Moments.InitMatrix();
     
   for (unsigned int i=0; i<numEngines; i++) {
     Engines[i]->SetTrimMode(true);
@@ -169,8 +169,8 @@ bool FGPropulsion::ICEngineStart(void) {
       Thrusters[i]->Calculate(PowerAvailable);
       j++;    
     }
-    *Forces  += Thrusters[i]->GetBodyForces();  // sum body frame forces
+    Forces  += Thrusters[i]->GetBodyForces();  // sum body frame forces
-    *Moments += Thrusters[i]->GetMoments();     // sum body frame moments
+    Moments += Thrusters[i]->GetMoments();     // sum body frame moments
     Engines[i]->SetTrimMode(false);
   }
   return true;
@@ -254,6 +254,7 @@ bool FGPropulsion::Load(FGConfigFile* AC_cfg)
         }
 	
         Engines[numEngines]->SetPlacement(xLoc, yLoc, zLoc, Pitch, Yaw);
+        Engines[numEngines]->SetEngineNumber(numEngines);
         numEngines++;
 
       } else {
@@ -406,7 +407,7 @@ string FGPropulsion::GetPropulsionValues(void)
 
     switch(Engines[i]->GetType()) {
     case FGEngine::etPiston:
-      PropulsionValues += (string(gcvt(((FGRocket*)Engines[i])->GetPowerAvailable(), 10, buff)));
+      PropulsionValues += (string(gcvt(((FGPiston*)Engines[i])->GetPowerAvailable(), 10, buff)));
       break;
     case FGEngine::etRocket:
       PropulsionValues += (string(gcvt(((FGRocket*)Engines[i])->GetChamberPressure(), 10, buff)));

src/FDM/JSBSim/FGPropulsion.h

@@ -168,10 +168,10 @@ public:
   string GetPropulsionStrings(void);
   string GetPropulsionValues(void);
 
-  inline FGColumnVector3& GetForces(void)  {return *Forces; }
+  inline FGColumnVector3& GetForces(void)  {return Forces; }
-  inline double GetForces(int n) { return (*Forces)(n);}
+  inline double GetForces(int n) { return Forces(n);}
-  inline FGColumnVector3& GetMoments(void) {return *Moments;}
+  inline FGColumnVector3& GetMoments(void) {return Moments;}
-  inline double GetMoments(int n) {return (*Moments)(n);}
+  inline double GetMoments(int n) {return Moments(n);}
   
   FGColumnVector3& GetTanksCG(void);
   double GetTanksWeight(void);
@@ -195,8 +195,8 @@ private:
   unsigned int numTanks;
   unsigned int numThrusters;
   double dt;
-  FGColumnVector3 *Forces;
+  FGColumnVector3 Forces;
-  FGColumnVector3 *Moments;
+  FGColumnVector3 Moments;
   FGColumnVector3 vXYZtank;
   void Debug(void);
 };

src/FDM/JSBSim/FGRotation.cpp

@@ -81,7 +81,8 @@ FGRotation::FGRotation(FGFDMExec* fdmex) : FGModel(fdmex),
         vMoments(3),
         vEuler(3),
         vEulerRates(3),
-	vlastPQRdot(3)
+        vlastPQRdot(3),
+        vAeroPQR(3)
 {
   Name = "FGRotation";
   cTht=cPhi=cPsi=1.0;
@@ -115,6 +116,7 @@ bool FGRotation::Run(void)
     vPQRdot(eR) = (N1*Ixx + L2*Ixz) / (Ixx*Izz - Ixz*Ixz);
 
     vPQR += dt*rate*(vlastPQRdot + vPQRdot)/2.0;
+    vAeroPQR = vPQR + Atmosphere->GetTurbPQR();
 
     State->IntegrateQuat(vPQR, rate);
     State->CalcMatrices();

src/FDM/JSBSim/FGRotation.h

@@ -88,6 +88,8 @@ public:
 
   inline FGColumnVector3& GetPQR(void) {return vPQR;}
   inline double GetPQR(int axis) {return vPQR(axis);}
+  inline FGColumnVector3& GetAeroPQR(void) {return vAeroPQR;}
+  inline double GetAeroPQR(int axis) {return vAeroPQR(axis);}
   inline FGColumnVector3& GetPQRdot(void) {return vPQRdot;}
   inline double GetPQRdot(int idx) {return vPQRdot(idx);}
   inline FGColumnVector3& GetEuler(void) {return vEuler;}
@@ -111,6 +113,7 @@ public:
 
 private:
   FGColumnVector3 vPQR;
+  FGColumnVector3 vAeroPQR;
   FGColumnVector3 vPQRdot;
   FGColumnVector3 vMoments;
   FGColumnVector3 vEuler;

src/FDM/JSBSim/FGState.cpp

@@ -76,6 +76,7 @@ CLASS IMPLEMENTATION
 FGState::FGState(FGFDMExec* fdex) : mTb2l(3,3),
     mTl2b(3,3),
     mTs2b(3,3),
+    mTb2s(3,3),
     vQtrn(4),
     vlastQdot(4),
     vQdot(4),
@@ -223,12 +224,12 @@ double FGState::GetParameter(eParam val_idx) {
     return Rotation->GetPQR(eP);
   case FG_YAWRATE:
     return Rotation->GetPQR(eR);
-  case FG_AEROQ:
-    return Rotation->GetPQR(eQ) + Atmosphere->GetTurbPQR(eQ); // add aero turbulence effects
   case FG_AEROP:
-    return Rotation->GetPQR(eP) + Atmosphere->GetTurbPQR(eP); // add aero turbulence effects
+    return Rotation->GetAeroPQR(eP);
+  case FG_AEROQ:
+    return Rotation->GetAeroPQR(eQ);
   case FG_AEROR:
-    return Rotation->GetPQR(eR) + Atmosphere->GetTurbPQR(eR); // add aero turbulence effects
+    return Rotation->GetAeroPQR(eR);
   case FG_CL_SQRD:
     if (Translation->Getqbar() > 0.00)
       scratch = Aerodynamics->GetvLastFs(eLift)/(Aircraft->GetWingArea()*Translation->Getqbar());
@@ -297,7 +298,7 @@ double FGState::GetParameter(eParam val_idx) {
     if (ActiveEngine < 0) return FCS->GetMixturePos(0);
     else return FCS->GetMixturePos(ActiveEngine);
   case FG_HOVERB:
-    return Position->GetHOverB();
+    return Position->GetHOverBMAC();
   case FG_PITCH_TRIM_CMD:
     return FCS->GetPitchTrimCmd();
   default:
@@ -432,7 +433,7 @@ bool FGState::Reset(string path, string acname, string fname)
 
   resetfile.GetNextConfigLine();
   token = resetfile.GetValue();
-  if (token != "initialize") {
+  if (token != string("initialize")) {
     cerr << "The reset file " << resetDef
          << " does not appear to be a reset file" << endl;
     return false;
@@ -440,7 +441,7 @@ bool FGState::Reset(string path, string acname, string fname)
   
   resetfile.GetNextConfigLine();
   resetfile >> token;
-  while (token != "/initialize" && token != "EOF") {
+  while (token != string("/initialize") && token != string("EOF")) {
     if (token == "UBODY") resetfile >> U;
     if (token == "VBODY") resetfile >> V;
     if (token == "WBODY") resetfile >> W;
@@ -482,7 +483,7 @@ void FGState::Initialize(double U, double V, double W,
 {
   double alpha, beta;
   double qbar, Vt;
-  FGColumnVector3 vAero;
+  FGColumnVector3 vAeroUVW;
 
   Position->SetLatitude(Latitude);
   Position->SetLongitude(Longitude);
@@ -500,14 +501,14 @@ void FGState::Initialize(double U, double V, double W,
   
   Atmosphere->SetWindNED(wnorth, weast, wdown);
   
-  vAero = vUVW + mTl2b*Atmosphere->GetWindNED();
+  vAeroUVW = vUVW + mTl2b*Atmosphere->GetWindNED();
   
-  if (vAero(eW) != 0.0)
+  if (vAeroUVW(eW) != 0.0)
-    alpha = vAero(eU)*vAero(eU) > 0.0 ? atan2(vAero(eW), vAero(eU)) : 0.0;
+    alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
   else
     alpha = 0.0;
-  if (vAero(eV) != 0.0)
+  if (vAeroUVW(eV) != 0.0)
-    beta = vAero(eU)*vAero(eU)+vAero(eW)*vAero(eW) > 0.0 ? atan2(vAero(eV), (fabs(vAero(eU))/vAero(eU))*sqrt(vAero(eU)*vAero(eU) + vAero(eW)*vAero(eW))) : 0.0;
+    beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV), (fabs(vAeroUVW(eU))/vAeroUVW(eU))*sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;
   else
     beta = 0.0;
 
@@ -689,19 +690,46 @@ FGMatrix33& FGState::GetTs2b(void)
   cb = cos(beta);
   sb = sin(beta);
 
-  mTs2b(1,1) = -ca*cb;
+  mTs2b(1,1) = ca*cb;
   mTs2b(1,2) = -ca*sb;
-  mTs2b(1,3) = sa;
+  mTs2b(1,3) = -sa;
-  mTs2b(2,1) = -sb;
+  mTs2b(2,1) = sb;
   mTs2b(2,2) = cb;
   mTs2b(2,3) = 0.0;
-  mTs2b(3,1) = -sa*cb;
+  mTs2b(3,1) = sa*cb;
   mTs2b(3,2) = -sa*sb;
-  mTs2b(3,3) = -ca;
+  mTs2b(3,3) = ca;
 
   return mTs2b;
 }
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+FGMatrix33& FGState::GetTb2s(void)
+{
+  float alpha,beta;
+  float ca, cb, sa, sb;
+  
+  alpha = Translation->Getalpha();
+  beta  = Translation->Getbeta();
+  
+  ca = cos(alpha);
+  sa = sin(alpha);
+  cb = cos(beta);
+  sb = sin(beta);
+
+  mTb2s(1,1) = ca*cb;
+  mTb2s(1,2) = sb;
+  mTb2s(1,3) = sa*cb;
+  mTb2s(2,1) = -ca*sb;
+  mTb2s(2,2) = cb;
+  mTb2s(2,3) = -sa*sb;
+  mTb2s(3,1) = -sa;
+  mTb2s(3,2) = 0.0;
+  mTb2s(3,3) = ca;
+
+  return mTb2s;
+}
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
@@ -742,7 +770,7 @@ void FGState::ReportState(void) {
                     Position->Gethdot()*60 );
   cout << out;                  
   snprintf(out,80, "    Normal Load Factor: %4.2f g's  Pitch Rate: %5.2f deg/s\n",
-                    Aerodynamics->GetNlf(),
+                    Aircraft->GetNlf(),
                     GetParameter(FG_PITCHRATE)*radtodeg );
   cout << out;
   snprintf(out,80, "    Heading: %3.0f deg true  Sideslip: %5.2f deg\n",

src/FDM/JSBSim/FGState.h

@@ -269,6 +269,11 @@ public:
       */
   FGMatrix33& GetTs2b(void);
   
+  /** Calculates and returns the body-to-stability axis transformation matrix.
+      @return a reference to the stability-to-body transformation matrix.
+      */
+  FGMatrix33& GetTb2s(void);
+
   /** Retrieves the local-to-body transformation matrix.
       @return a reference to the local-to-body transformation matrix.
       */
@@ -311,6 +316,7 @@ private:
   FGMatrix33 mTb2l;
   FGMatrix33 mTl2b;
   FGMatrix33 mTs2b;
+  FGMatrix33 mTb2s;
   FGColumnVector4 vQtrn;
   FGColumnVector4 vlastQdot;
   FGColumnVector3 vUVW;

src/FDM/JSBSim/FGTranslation.cpp

@@ -82,7 +82,7 @@ FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex),
     vUVWdot(3),
     vlastUVWdot(3),
     mVel(3,3),
-    vAero(3)
+    vAeroUVW(3)
 {
   Name = "FGTranslation";
   qbar = 0;
@@ -122,29 +122,29 @@ bool FGTranslation::Run(void)
     vUVWdot = mVel*Rotation->GetPQR() + Aircraft->GetBodyAccel();
 
     vUVW += Tc * (vlastUVWdot + vUVWdot);
-    vAero = vUVW + State->GetTl2b()*Atmosphere->GetWindNED();
+    vAeroUVW = vUVW + State->GetTl2b()*Atmosphere->GetWindNED();
 
-    Vt = vAero.Magnitude();
+    Vt = vAeroUVW.Magnitude();
     if ( Vt > 1) {
-      if (vAero(eW) != 0.0)
+      if (vAeroUVW(eW) != 0.0)
-        alpha = vAero(eU)*vAero(eU) > 0.0 ? atan2(vAero(eW), vAero(eU)) : 0.0;
+        alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
-      if (vAero(eV) != 0.0)
+      if (vAeroUVW(eV) != 0.0)
-        beta = vAero(eU)*vAero(eU)+vAero(eW)*vAero(eW) > 0.0 ? atan2(vAero(eV),
+        beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV),
-               sqrt(vAero(eU)*vAero(eU) + vAero(eW)*vAero(eW))) : 0.0;
+               sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;
 
       // stolen, quite shamelessly, from LaRCsim
-      double mUW = (vAero(eU)*vAero(eU) + vAero(eW)*vAero(eW));
+      double mUW = (vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW));
       double signU=1;
-      if (vAero(eU) != 0.0)
+      if (vAeroUVW(eU) != 0.0)
-        signU = vAero(eU)/fabs(vAero(eU));
+        signU = vAeroUVW(eU)/fabs(vAeroUVW(eU));
 
       if ( (mUW == 0.0) || (Vt == 0.0) ) {
         adot = 0.0;
         bdot = 0.0;
       } else {
-        adot = (vAero(eU)*vAero(eW) - vAero(eW)*vUVWdot(eU))/mUW;
+        adot = (vAeroUVW(eU)*vAeroUVW(eW) - vAeroUVW(eW)*vUVWdot(eU))/mUW;
-        bdot = (signU*mUW*vUVWdot(eV) - vAero(eV)*(vAero(eU)*vUVWdot(eU)
+        bdot = (signU*mUW*vUVWdot(eV) - vAeroUVW(eV)*(vAeroUVW(eU)*vUVWdot(eU)
-                + vAero(eW)*vUVWdot(eW)))/(Vt*Vt*sqrt(mUW));
+                + vAeroUVW(eW)*vUVWdot(eW)))/(Vt*Vt*sqrt(mUW));
       }
     } else {
       alpha = beta = adot = bdot = 0;

src/FDM/JSBSim/FGTranslation.h

@@ -91,8 +91,8 @@ public:
   inline double            GetUVW   (int idx) { return vUVW(idx); }
   inline FGColumnVector3& GetUVWdot(void)    { return vUVWdot; }
   inline double            GetUVWdot(int idx) { return vUVWdot(idx); }
-  inline FGColumnVector3& GetvAero (void)    { return vAero; }
+  inline FGColumnVector3& GetvAeroUVW (void)    { return vAeroUVW; }
-  inline double            GetvAero (int idx) { return vAero(idx); }
+  inline double            GetvAeroUVW (int idx) { return vAeroUVW(idx); }
 
   inline double Getalpha(void) { return alpha; }
   inline double Getbeta (void) { return beta; }
@@ -121,7 +121,7 @@ private:
   FGColumnVector3 vUVWdot;
   FGColumnVector3 vlastUVWdot;
   FGMatrix33       mVel;
-  FGColumnVector3 vAero;
+  FGColumnVector3 vAeroUVW;
 
   double Vt, qbar, Mach;
   double dt;

src/FDM/JSBSim/FGTrim.cpp

@@ -53,6 +53,7 @@ INCLUDES
 #include "FGAircraft.h"
 #include "FGMassBalance.h"
 #include "FGAerodynamics.h"
+#include "FGColumnVector3.h"
 #if _MSC_VER
 #pragma warning (disable : 4786 4788)
 #endif
@@ -70,7 +71,7 @@ FGTrim::FGTrim(FGFDMExec *FDMExec,FGInitialCondition *FGIC, TrimMode tt ) {
   Tolerance=1E-3;
   A_Tolerance = Tolerance / 10;
   
-  Debug=0;
+  Debug=0;DebugLevel=0;
   fdmex=FDMExec;
   fgic=FGIC;
   total_its=0;
@@ -79,6 +80,8 @@ FGTrim::FGTrim(FGFDMExec *FDMExec,FGInitialCondition *FGIC, TrimMode tt ) {
   axis_count=0;
   mode=tt;
   xlo=xhi=alo=ahi;
+  targetNlf=1.0;
+  debug_axis=tAll;
   switch(mode) {
   case tFull:
     cout << "  Full Trim" << endl;
@@ -102,6 +105,24 @@ FGTrim::FGTrim(FGFDMExec *FDMExec,FGInitialCondition *FGIC, TrimMode tt ) {
     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,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,tVdot,tBeta ));
+    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tPdot,tAileron ));
+    TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tRdot,tRudder ));
+    break;
+  
   }
   //cout << "TrimAxes.size(): " << TrimAxes.size() << endl;
   sub_iterations=new double[TrimAxes.size()];
@@ -281,9 +302,24 @@ bool FGTrim::DoTrim(void) {
     successful[current_axis]=0;
     solution[current_axis]=false;
   }
+  
+  
+  if(mode == tPullup ) {
+    cout << "Setting pitch rate and nlf... " << endl;
+    setupPullup();
+    cout << "pitch rate done ... " << endl;
+    TrimAxes[0]->SetStateTarget(targetNlf);
+    cout << "nlf done" << endl;
+  } else if (mode == tTurn) {
+    setupTurn();
+    TrimAxes[0]->SetStateTarget(targetNlf);
+  }  
+  
   do {
     axis_count=0;
     for(current_axis=0;current_axis<TrimAxes.size();current_axis++) {
+      setDebug();
+      
       Nsub=0;
       if(!solution[current_axis]) {
         if(checkLimits()) { 
@@ -550,5 +586,50 @@ bool FGTrim::checkLimits(void) {
   return solutionExists;
 }
 
+void FGTrim::setupPullup() {
+  float g,q,cgamma;
+  FGColumnVector3 vPQR;
+  g=fdmex->GetInertial()->gravity();
+  cgamma=cos(fgic->GetFlightPathAngleRadIC());
+  cout << "setPitchRateInPullup():  " << g << ", " << cgamma << ", "
+       << fgic->GetVtrueFpsIC() << endl;
+  q=g*(targetNlf-cgamma)/fgic->GetVtrueFpsIC();
+  cout << targetNlf << ", " << q << endl;
+  vPQR.InitMatrix();
+  vPQR(2)=q;
+  cout << vPQR << endl;
+  fdmex->GetRotation()->SetPQR(vPQR);
+  cout << "setPitchRateInPullup() complete" << endl;
+  
+}  
+  
+void FGTrim::setupTurn(void){
+  FGColumnVector3 vPQR;
+  float g,q,r,phi, psidot;
+  phi = fgic->GetRollAngleRadIC();
+  if( fabs(phi) > 0.01 && fabs(phi) < 1.56 ) {
+    targetNlf = 1 / cos(phi);
+    g = fdmex->GetInertial()->gravity(); 
+    psidot = g*tan(phi) / fgic->GetVtrueFpsIC();
+    q = psidot*sin(phi);
+    r = psidot*cos(phi);
+    vPQR(1)=0;vPQR(2)=q;vPQR(3)=r;
+    fdmex->GetRotation()->SetPQR(vPQR);
+    cout << targetNlf << ", " << vPQR*57.29577 << endl;
+  }  
+}  
+
+
+void FGTrim::setDebug(void) {
+  if(debug_axis == tAll ||
+      TrimAxes[current_axis]->GetStateType() == debug_axis ) {
+    Debug=DebugLevel; 
+    return;
+  } else {
+    Debug=0;
+    return;
+  }
+}      
+    
 //YOU WERE WARNED, BUT YOU DID IT ANYWAY.
 

src/FDM/JSBSim/FGTrim.h

@@ -70,7 +70,9 @@ DEFINITIONS
 
 #define ID_TRIM "$Id$"
 
-typedef enum { tLongitudinal, tFull, tGround, tCustom, tNone } TrimMode;
+typedef enum { tLongitudinal, tFull, tGround, tPullup, 
+               tCustom, tNone, tTurn 
+             } TrimMode;
 
 #ifdef _MSC_VER
 #define snprintf _snprintf
@@ -148,7 +150,7 @@ private:
   int current_axis;
   int N, Nsub;
   TrimMode mode;
-  int Debug;
+  int DebugLevel, Debug;
   double Tolerance, A_Tolerance;
   double wdot,udot,qdot;
   double dth;
@@ -164,6 +166,8 @@ private:
   int axis_count;
   int solutionDomain;
   double xlo,xhi,alo,ahi;
+  double targetNlf;
+  int debug_axis;
 
   FGFDMExec* fdmex;
   FGInitialCondition* fgic;
@@ -181,6 +185,11 @@ private:
 
   bool checkLimits(void);
   
+  void setupPullup(void);
+  void setupTurn(void);
+  
+  void setDebug(void);
+
 public:
   /** Initializes the trimming class
       @param FDMExec pointer to a JSBSim executive object.
@@ -270,10 +279,21 @@ public:
     A_Tolerance = tt / 10;
   }
   
-  //Debug level 1 shows results of each top-level iteration
+  /** 
-  //Debug level 2 shows level 1 & results of each per-axis iteration
+    Debug level 1 shows results of each top-level iteration
-  inline void SetDebug(int level) { Debug = level; }
+    Debug level 2 shows level 1 & results of each per-axis iteration
-  inline void ClearDebug(void) { Debug = 0; }
+  */  
+  inline void SetDebug(int level) { DebugLevel = level; }
+  inline void ClearDebug(void) { DebugLevel = 0; }
+  
+  /**
+    Output debug data for one of the axes
+    The State enum is defined in FGTrimAxis.h
+  */  
+  inline void DebugState(State state) { debug_axis=state; }
+  
+  inline void SetTargetNlf(float nlf) { targetNlf=nlf; }
+  inline double GetTargetNlf(void) { return targetNlf; }
 
 };
 

src/FDM/JSBSim/FGTrimAxis.cpp

@@ -62,6 +62,7 @@ FGTrimAxis::FGTrimAxis(FGFDMExec* fdex, FGInitialCondition* ic, State st,
   state_convert=1.0;
   control_convert=1.0;
   state_value=0;
+  state_target=0;
   switch(state) {
     case tUdot: tolerance = DEFAULT_TOLERANCE; break;
     case tVdot: tolerance = DEFAULT_TOLERANCE; break;
@@ -70,6 +71,7 @@ FGTrimAxis::FGTrimAxis(FGFDMExec* fdex, FGInitialCondition* ic, State st,
     case tPdot: tolerance = DEFAULT_TOLERANCE / 10; break;
     case tRdot: tolerance = DEFAULT_TOLERANCE / 10; break;
     case tHmgt: tolerance = 0.01; break;
+    case  tNlf: state_target=1.0; tolerance = 1E-5; break;
   }  
   
   solver_eps=tolerance;
@@ -151,13 +153,14 @@ FGTrimAxis::~FGTrimAxis()
 
 void FGTrimAxis::getState(void) {
   switch(state) {
-  case tUdot: state_value=fdmex->GetAircraft()->GetBodyAccel()(1); break;
+  case tUdot: state_value=fdmex->GetTranslation()->GetUVWdot()(1)-state_target; break;
-  case tVdot: state_value=fdmex->GetAircraft()->GetBodyAccel()(2); break;
+  case tVdot: state_value=fdmex->GetTranslation()->GetUVWdot()(2)-state_target; break;
-  case tWdot: state_value=fdmex->GetAircraft()->GetBodyAccel()(3); break;
+  case tWdot: state_value=fdmex->GetTranslation()->GetUVWdot()(3)-state_target; break;
-  case tQdot: state_value=fdmex->GetRotation()->GetPQRdot(2);break;
+  case tQdot: state_value=fdmex->GetRotation()->GetPQRdot(2)-state_target;break;
-  case tPdot: state_value=fdmex->GetRotation()->GetPQRdot(1); break;
+  case tPdot: state_value=fdmex->GetRotation()->GetPQRdot(1)-state_target; break;
-  case tRdot: state_value=fdmex->GetRotation()->GetPQRdot(3); break;
+  case tRdot: state_value=fdmex->GetRotation()->GetPQRdot(3)-state_target; break;
-  case tHmgt: state_value=computeHmgt(); break;
+  case tHmgt: state_value=computeHmgt()-state_target; break;
+  case tNlf:  state_value=fdmex->GetAircraft()->GetNlf()-state_target; break;
   }
 }
 
@@ -412,7 +415,7 @@ void FGTrimAxis::AxisReport(void) {
   char out[80];
   sprintf(out,"  %20s: %6.2f %5s: %9.2e Tolerance: %3.0e\n",
            GetControlName().c_str(), GetControl()*control_convert,
-           GetStateName().c_str(), GetState(), GetTolerance()); 
+           GetStateName().c_str(), GetState()+state_target, GetTolerance()); 
   cout << out;
 
 }

src/FDM/JSBSim/FGTrimAxis.h

@@ -56,7 +56,9 @@ INCLUDES
 
 #define DEFAULT_TOLERANCE 0.001
 
-const string StateNames[7]=   { "udot","vdot","wdot","qdot","pdot","rdot","hmgt" };
+const string StateNames[10]=   { "all","udot","vdot","wdot","qdot","pdot","rdot",
+                                "hmgt","nlf" 
+                              };
 const string ControlNames[14]= { "Throttle","Sideslip","Angle of Attack",
                                  "Elevator","Ailerons","Rudder",
                                  "Altitude AGL", "Pitch Angle",
@@ -69,7 +71,7 @@ const string ControlNames[14]= { "Throttle","Sideslip","Angle of Attack",
 CLASS DECLARATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-enum State { tUdot,tVdot,tWdot,tQdot,tPdot,tRdot,tHmgt };
+enum State { tAll,tUdot,tVdot,tWdot,tQdot,tPdot,tRdot,tHmgt,tNlf };
 enum Control { tThrottle, tBeta, tAlpha, tElevator, tAileron, tRudder, tAltAGL,
                tTheta, tPhi, tGamma, tPitchTrim, tRollTrim, tYawTrim, tHeading };
 
@@ -120,6 +122,9 @@ public:
   void SetThetaOnGround(double ff);
   void SetPhiOnGround(double ff);
   
+  inline void SetStateTarget(float target) { state_target=target; }
+  inline float GetStateTarget(void) { return state_target; }
+  
   bool initTheta(void);
   
   void AxisReport(void);
@@ -133,8 +138,10 @@ private:
   State   state;
   Control control;
   
-  double state_value;
+  float state_target;
-  double control_value;
+  
+  float state_value;
+  float control_value;
 
   double control_min;
   double control_max;

src/FDM/JSBSim/JSBSim.cpp

@@ -152,7 +152,7 @@ int main(int argc, char** argv)
     }
   }
 
-  struct FGJSBBase::Message* msg;
+  FGJSBBase::Message* msg;
   while (FDMExec->Run()) {
     while (FDMExec->ReadMessage()) {
       msg = FDMExec->ProcessMessage();

src/FDM/JSBSim/README

@@ -0,0 +1,76 @@
+Contents
+--------
+
+1) Introduction
+2) Building with autoconf/automake
+3) Contact
+
+
+1) Introduction
+---------------
+
+JSBSim is a multi-platform, general purpose object-oriented Flight
+Dynamics Model (FDM) written in C++. Jon Berndt and Tony Peden began
+about mid-1998 writing JSBSim. As of this writing it is the default
+FDM for FlightGear. JSBSim can also be run in a standalone batch mode
+for testing and study. More information on JSBSim can be found at the
+JSBSim home page here:
+
+http://jsbsim.sourceforge.net
+
+The standalone version of JSBSim can be easily built from the command
+line of a unix or unix-like (CygWin/Linux/Unix/IRIX, etc.) system like
+this:
+
+make -fMakefile.solo
+
+If you are on an IRIX machine you can use the Makefile.irix makefile.
+Directions are also provided below for using traditional auto* utilities
+also provided with JSBSim.
+
+
+2) Building with autoconf/automake
+----------------------------------
+
+Unpack the distribution tarball (if needed - CVS users will have
+downloaded the code directly) using your preferred method, and change
+to the working directory. For example :
+
+$ tar xvfz JSBSim-0.1.2.tar.gz
+$ cd JSBSim-0.1.2
+
+NOTE for CVS users: If you are using JSBSim from a CVS checkout, or
+snapshot, you will need to create the initial configure script. The
+commands to do this have been included in the 'autogen.sh' script, so
+just :
+
+$ ./autogen.sh
+
+If you wish to customise your version of JSBSim, use the following to
+determine any build-time options you may be interested in.
+
+$ ./configure --help
+
+Then :
+
+$ ./configure
+
+This will check your system platform, compiler and other local
+configuration variables needed to build JSBSim, and generates the
+necessary Makefiles. Next :
+
+$ make
+
+Will compile the various classes, and link the library. Finally :
+
+$ make install
+
+Unless specified otherwise (with --prefix configure option), this will
+install 'JSBSim.a' into '/usr/local/lib'.
+
+
+3) Contact
+----------
+
+For more information on JSBSim contact Jon Berndt at jsbsim@hal-pc.org.
+