Latest JSBSim changes, mostly to support yaw and roll trim.

src/FDM/JSBSim.cxx

@@ -321,7 +321,7 @@ bool FGJSBsim::copy_to_JSBsim() {
     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->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
     FCS->SetDfCmd(  globals->get_controls()->get_flaps() );
     FCS->SetDsbCmd( 0.0 ); //speedbrakes
     FCS->SetDspCmd( 0.0 ); //spoilers

src/FDM/JSBSim/FGAerodynamics.cpp

@@ -138,9 +138,11 @@ bool FGAerodynamics::Load(FGConfigFile* AC_cfg)
         if( token == "COEFFICIENT" ) {
           ca.push_back( new FGCoefficient(FDMExec) );
           ca.back()->Load(AC_cfg);
+          cm[ca.back()->Getname()]=ca.back();
         } else if ( token == "GROUP" ) {
           ca.push_back( new FGFactorGroup(FDMExec) );
           ca.back()->Load(AC_cfg);
+          cm[ca.back()->Getname()]=ca.back();
         }
       }
       Coeff[AxisIdx[axis]] = ca;

src/FDM/JSBSim/FGAerodynamics.h

@@ -134,12 +134,16 @@ public:
       coefficients */
   string GetCoefficientValues(void);
   
+  inline FGCoefficient* GetCoefficient(string name) { return cm[name]; }
+
 
 private:
   typedef map<string,int> AxisIndex;
   AxisIndex AxisIdx;
   typedef vector<FGCoefficient*> CoeffArray;
   CoeffArray* Coeff;
+  typedef map<string,FGCoefficient*> CoeffMap;
+  CoeffMap cm;
   FGColumnVector3 vFs;
   FGColumnVector3 vForces;
   FGColumnVector3 vMoments;

src/FDM/JSBSim/FGCoefficient.cpp

@@ -72,6 +72,9 @@ FGCoefficient::FGCoefficient( FGFDMExec* fdex )
   State   = FDMExec->GetState();
   Table   = 0;
   
+  bias=0;
+  gain=1;
+
   if (debug_lvl & 2) cout << "Instantiated: FGCoefficient" << endl;
 }
 
@@ -151,7 +154,7 @@ bool FGCoefficient::Load(FGConfigFile *AC_cfg)
     }
 
     AC_cfg->GetNextConfigLine();
-    Debug(2);
+    FGCoefficient::Debug(2);
 
     return true;
   } else {
@@ -168,7 +171,8 @@ double FGCoefficient::Value(double rVal, double cVal)
   double Value;
   unsigned int midx;
 
-  SD = Value = Table->GetValue(rVal, cVal);
+  SD = Value = gain*Table->GetValue(rVal, cVal) + bias;
+  
 
   for (midx=0; midx < multipliers.size(); midx++) {
       Value *= State->GetParameter(multipliers[midx]);
@@ -182,7 +186,7 @@ double FGCoefficient::Value(double Val)
 {
   double Value;
 
-  SD = Value = Table->GetValue(Val);
+  SD = Value = gain*Table->GetValue(Val) + bias;
   
   for (unsigned int midx=0; midx < multipliers.size(); midx++) 
       Value *= State->GetParameter(multipliers[midx]);
@@ -196,7 +200,7 @@ double FGCoefficient::Value(void)
 {
 	double Value;
 
-  SD = Value = StaticValue;
+  SD = Value = gain*StaticValue + bias;
 
   for (unsigned int midx=0; midx < multipliers.size(); midx++)
     Value *= State->GetParameter(multipliers[midx]);
@@ -283,6 +287,7 @@ void FGCoefficient::Debug(int from)
   if (debug_lvl <= 0) return;
 
   if (debug_lvl & 1) { // Standard console startup message output
+    
     if (from == 2) { // Loading
       cout << "\n   " << highint << underon << name << underoff << normint << endl;
       cout << "   " << description << endl;

src/FDM/JSBSim/FGCoefficient.h

@@ -118,6 +118,11 @@ public:
   virtual inline string GetCoefficientStrings(void) { return name; }
   virtual string GetCoefficientValues(void);
   
+  inline void setBias(double b) { bias=b; }
+  inline void setGain(double g) { gain=g; };
+  inline double getBias(void) { return bias; }
+  inline double getGain(void) { return gain; }
+
 private:
   enum Type {UNKNOWN, VALUE, VECTOR, TABLE, EQUATION};
 
@@ -133,6 +138,7 @@ private:
   double Value(double);
   double Value(void);
   double StaticValue;
+  double bias,gain;
   eParam LookupR, LookupC;
   MultVec multipliers;
   int rows, columns;

src/FDM/JSBSim/FGFCS.h

@@ -170,27 +170,27 @@ public:
   /// @name Pilot input command retrieval
   //@{
   /** Gets the aileron command.
-      @return aileron command in radians */
+      @return aileron command in percent */
   inline double GetDaCmd(void) { return DaCmd; }
 
   /** Gets the elevator command.
-      @return elevator command in radians */
+      @return elevator command in percent */
   inline double GetDeCmd(void) { return DeCmd; }
 
   /** Gets the rudder command.
-      @return rudder command in radians */
+      @return rudder command in percent */
   inline double GetDrCmd(void) { return DrCmd; }
 
   /** Gets the flaps command.
-      @return flaps command in radians */
+      @return flaps command in percent */
   inline double GetDfCmd(void) { return DfCmd; }
 
   /** Gets the speedbrake command.
-      @return speedbrake command in radians */
+      @return speedbrake command in percent */
   inline double GetDsbCmd(void) { return DsbCmd; }
 
   /** Gets the spoiler command.
-      @return spoiler command in radians */
+      @return spoiler command in percent */
   inline double GetDspCmd(void) { return DspCmd; }
 
   /** Gets the throttle command.
@@ -209,15 +209,15 @@ public:
   inline double GetPropAdvanceCmd(int engine) { return PropAdvanceCmd[engine]; }
 
   /** Gets the pitch trim command.
-      @return pitch trim command in radians */
+      @return pitch trim command in percent */
   inline double GetPitchTrimCmd(void) { return PTrimCmd; }
   
   /** Gets the rudder trim command.
-      @return rudder trim command in radians */
+      @return rudder trim command in percent */
   inline double GetYawTrimCmd(void) { return YTrimCmd; }
   
   /** Gets the aileron trim command.
-      @return aileron trim command in radians */
+      @return aileron trim command in percent */
   inline double GetRollTrimCmd(void) { return RTrimCmd; }
   
   /** Get the gear extend/retract command. 0 commands gear up, 1 down.
@@ -296,39 +296,39 @@ public:
   /// @name Pilot input command setting
   //@{
   /** Sets the aileron command
-      @param cmd aileron command in radians*/
+      @param cmd aileron command in percent*/
   inline void SetDaCmd(double cmd) { DaCmd = cmd; }
 
   /** Sets the elevator command
-      @param cmd elevator command in radians*/
+      @param cmd elevator command in percent*/
   inline void SetDeCmd(double cmd) { DeCmd = cmd; }
 
   /** Sets the rudder command
-      @param cmd rudder command in radians*/
+      @param cmd rudder command in percent*/
   inline void SetDrCmd(double cmd) { DrCmd = cmd; }
 
   /** Sets the flaps command
-      @param cmd flaps command in radians*/
+      @param cmd flaps command in percent*/
   inline void SetDfCmd(double cmd) { DfCmd = cmd; }
 
   /** Sets the speedbrake command
-      @param cmd speedbrake command in radians*/
+      @param cmd speedbrake command in percent*/
   inline void SetDsbCmd(double cmd) { DsbCmd = cmd; }
 
   /** Sets the spoilers command
-      @param cmd spoilers command in radians*/
+      @param cmd spoilers command in percent*/
   inline void SetDspCmd(double cmd) { DspCmd = cmd; }
 
   /** Sets the pitch trim command
-      @param cmd pitch trim command in radians*/
+      @param cmd pitch trim command in percent*/
   inline void SetPitchTrimCmd(double cmd) { PTrimCmd = cmd; }
 
   /** Sets the rudder trim command
-      @param cmd rudder trim command in radians*/
+      @param cmd rudder trim command in percent*/
   inline void SetYawTrimCmd(double cmd) { YTrimCmd = cmd; }
 
   /** Sets the aileron trim command
-      @param cmd aileron trim command in radians*/
+      @param cmd aileron trim command in percent*/
   inline void SetRollTrimCmd(double cmd) { RTrimCmd = cmd; }
 
   /** Sets the throttle command for the specified engine