Sync'ed JSBSim

- Trim reports, FGOutputFG and sockets messages now respond to the debug level
- Channels : fix for incorrect time steps caused by execrate
- Improved configuration error detection in FGSwitch with respect to late bound
- Fixed the ordre in which the components of the p-factor moment are reported in CSV output files.

src/FDM/JSBSim/FGFDMExec.cpp

@@ -1142,6 +1142,8 @@ void FGFDMExec::DoTrim(int mode)
 
   FGTrim trim(this, (JSBSim::TrimMode)mode);
   bool success = trim.DoTrim();
+
+  if (debug_lvl > 0)
     trim.Report();
 
   if (!success)

src/FDM/JSBSim/input_output/FGOutputFG.cpp

@@ -122,6 +122,26 @@ FGOutputFG::FGOutputFG(FGFDMExec* fdmex) :
   FGOutputSocket(fdmex)
 {
   memset(&fgSockBuf, 0x0, sizeof(fgSockBuf));
+
+  if (fdmex->GetDebugLevel() > 0) {
+    // Engine status
+    if (Propulsion->GetNumEngines() > FGNetFDM::FG_MAX_ENGINES)
+      cerr << "This vehicle has " << Propulsion->GetNumEngines() << " engines, but the current " << endl
+           << "version of FlightGear's FGNetFDM only supports " << FGNetFDM::FG_MAX_ENGINES << " engines." << endl
+           << "Only the first " << FGNetFDM::FG_MAX_ENGINES << " engines will be used." << endl;
+
+    // Consumables
+    if (Propulsion->GetNumTanks() > FGNetFDM::FG_MAX_TANKS)
+      cerr << "This vehicle has " << Propulsion->GetNumTanks() << " tanks, but the current " << endl
+           << "version of FlightGear's FGNetFDM only supports " << FGNetFDM::FG_MAX_TANKS << " tanks." << endl
+           << "Only the first " << FGNetFDM::FG_MAX_TANKS << " tanks will be used." << endl;
+
+    // Gear status
+    if (GroundReactions->GetNumGearUnits() > FGNetFDM::FG_MAX_WHEELS)
+      cerr << "This vehicle has " << GroundReactions->GetNumGearUnits() << " bogeys, but the current " << endl
+           << "version of FlightGear's FGNetFDM only supports " << FGNetFDM::FG_MAX_WHEELS << " bogeys." << endl
+           << "Only the first " << FGNetFDM::FG_MAX_WHEELS << " bogeys will be used." << endl;
+  }
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -169,12 +189,6 @@ void FGOutputFG::SocketDataFill(FGNetFDM* net)
   net->stall_warning = 0.0;  // 0.0 - 1.0 indicating the amount of stall
   net->slip_deg    = (float)(Auxiliary->Getbeta(inDegrees));  // slip ball deflection, deg
 
-  // Engine status
-  if (Propulsion->GetNumEngines() > FGNetFDM::FG_MAX_ENGINES && FDMExec->GetSimTime() == 0.0)
-    cerr << "This vehicle has " << Propulsion->GetNumEngines() << " engines, but the current " << endl
-         << "version of FlightGear's FGNetFDM only supports " << FGNetFDM::FG_MAX_ENGINES << " engines." << endl
-         << "Only the first " << FGNetFDM::FG_MAX_ENGINES << " engines will be used." << endl;
-
   net->num_engines = min(FGNetFDM::FG_MAX_ENGINES,Propulsion->GetNumEngines()); // Number of valid engines
 
   for (i=0; i<net->num_engines; i++) {
@@ -210,24 +224,12 @@ void FGOutputFG::SocketDataFill(FGNetFDM* net)
     }
   }
 
-  // Consumables
-  if (Propulsion->GetNumTanks() > FGNetFDM::FG_MAX_TANKS && FDMExec->GetSimTime() == 0.0)
-    cerr << "This vehicle has " << Propulsion->GetNumTanks() << " tanks, but the current " << endl
-         << "version of FlightGear's FGNetFDM only supports " << FGNetFDM::FG_MAX_TANKS << " tanks." << endl
-         << "Only the first " << FGNetFDM::FG_MAX_TANKS << " tanks will be used." << endl;
-
   net->num_tanks = min(FGNetFDM::FG_MAX_TANKS, Propulsion->GetNumTanks());   // Max number of fuel tanks
 
   for (i=0; i<net->num_tanks; i++) {
     net->fuel_quantity[i] = (float)(((FGTank *)Propulsion->GetTank(i))->GetContents());
   }
 
-  // Gear status
-  if (GroundReactions->GetNumGearUnits() > FGNetFDM::FG_MAX_WHEELS && FDMExec->GetSimTime() == 0.0)
-    cerr << "This vehicle has " << GroundReactions->GetNumGearUnits() << " bogeys, but the current " << endl
-         << "version of FlightGear's FGNetFDM only supports " << FGNetFDM::FG_MAX_WHEELS << " bogeys." << endl
-         << "Only the first " << FGNetFDM::FG_MAX_WHEELS << " bogeys will be used." << endl;
-
   net->num_wheels  = min(FGNetFDM::FG_MAX_WHEELS, GroundReactions->GetNumGearUnits());
 
   for (i=0; i<net->num_wheels; i++) {

src/FDM/JSBSim/input_output/FGfdmSocket.cpp

@@ -62,15 +62,17 @@ CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #if defined(_MSC_VER) || defined(__MINGW32__)
-static bool LoadWinSockDLL(void)
+static bool LoadWinSockDLL(int debug_lvl)
 {
   WSADATA wsaData;
   if (WSAStartup(MAKEWORD(1, 1), &wsaData)) {
-	cout << "Winsock DLL not initialized ..." << endl;
+    cerr << "Winsock DLL not initialized ..." << endl;
     return false;
   }
 
+  if (debug_lvl > 0)
     cout << "Winsock DLL loaded ..." << endl;
+
   return true;
 }
 #endif
@@ -82,28 +84,34 @@ FGfdmSocket::FGfdmSocket(const string& address, int port, int protocol)
   connected = false;
 
   #if defined(_MSC_VER) || defined(__MINGW32__)
-  if (!LoadWinSockDLL()) return;
+  if (!LoadWinSockDLL(debug_lvl)) return;
   #endif
 
   if (!is_number(address)) {
-    if ((host = gethostbyname(address.c_str())) == NULL) {
-      cout << "Could not get host net address by name..." << endl;
+    host = gethostbyname(address.c_str());
+    if (host == NULL) {
+      cerr << "Could not get host net address by name..." << endl;
+      return;
     }
   } else {
-    unsigned long ip;
-    ip = inet_addr(address.c_str());
-    if ((host = gethostbyaddr((char*)&ip, sizeof(ip), PF_INET)) == NULL) {
-      cout << "Could not get host net address by number..." << endl;
+    unsigned long ip = inet_addr(address.c_str());
+    host = gethostbyaddr((char*)&ip, sizeof(ip), PF_INET);
+    if (host == NULL) {
+      cerr << "Could not get host net address by number..." << endl;
+      return;
     }
   }
 
-  if (host != NULL) {
   if (protocol == ptUDP) {  //use udp protocol
     sckt = socket(AF_INET, SOCK_DGRAM, 0);
+
+    if (debug_lvl > 0)
       cout << "Creating UDP socket on port " << port << endl;
   }
   else { //use tcp protocol
     sckt = socket(AF_INET, SOCK_STREAM, 0);
+
+    if (debug_lvl > 0)
       cout << "Creating TCP socket on port " << port << endl;
   }
 
@@ -112,18 +120,17 @@ FGfdmSocket::FGfdmSocket(const string& address, int port, int protocol)
     scktName.sin_family = AF_INET;
     scktName.sin_port = htons(port);
     memcpy(&scktName.sin_addr, host->h_addr_list[0], host->h_length);
+
     int len = sizeof(struct sockaddr_in);
     if (connect(sckt, (struct sockaddr*)&scktName, len) == 0) {   // successful
+      if (debug_lvl > 0)
         cout << "Successfully connected to socket for output ..." << endl;
       connected = true;
-      } else {                // unsuccessful
-        cout << "Could not connect to socket for output ..." << endl;
-      }
-    } else {          // unsuccessful
-      cout << "Could not create socket for FDM output, error = " << errno << endl;
-    }
+    } else                // unsuccessful
+      cerr << "Could not connect to socket for output ..." << endl;
+  } else          // unsuccessful
+    cerr << "Could not create socket for FDM output, error = " << errno << endl;
 
-  }
   Debug(0);
 }
 
@@ -137,7 +144,7 @@ FGfdmSocket::FGfdmSocket(int port, int protocol)
   string ProtocolName;
  
 #if defined(_MSC_VER) || defined(__MINGW32__)
-  if (!LoadWinSockDLL()) return;
+  if (!LoadWinSockDLL(debug_lvl)) return;
 #endif
 
   if (Protocol == ptUDP) {  //use udp protocol
@@ -154,18 +161,25 @@ FGfdmSocket::FGfdmSocket(int port, int protocol)
     ProtocolName = "TCP";
     sckt = socket(AF_INET, SOCK_STREAM, 0);
   }
-  cout << "Creating input " << ProtocolName << " socket on port " << port << endl;
+
+  if (debug_lvl > 0)
+    cout << "Creating input " << ProtocolName << " socket on port " << port
+         << endl;
   
   if (sckt != -1) {
     memset(&scktName, 0, sizeof(struct sockaddr_in));
     scktName.sin_family = AF_INET;
     scktName.sin_port = htons(port);
+
     if (Protocol == ptUDP)
       scktName.sin_addr.s_addr = htonl(INADDR_ANY);
+
     int len = sizeof(struct sockaddr_in);
     if (bind(sckt, (struct sockaddr*)&scktName, len) != -1) {
-      cout << "Successfully bound to " << ProtocolName << " input socket on port "
-           << port << endl <<endl;
+      if (debug_lvl > 0)
+        cout << "Successfully bound to " << ProtocolName
+             << " input socket on port " << port << endl << endl;
+
       if (Protocol == ptTCP) {
         unsigned long NoBlock = true;
         if (listen(sckt, 5) >= 0) { // successful listen()
@@ -177,74 +191,22 @@ FGfdmSocket::FGfdmSocket(int port, int protocol)
           sckt_in = accept(sckt, (struct sockaddr*)&scktName, (socklen_t*)&len);
 #endif
           connected = true;
-        } else {
+        } else
           cerr << "Could not listen ..." << endl;
-        }
       } else
         connected = true;
-    } else {                // unsuccessful
-        cout << "Could not bind to " << ProtocolName << " input socket, error = "
+    } else                // unsuccessful
+        cerr << "Could not bind to " << ProtocolName << " input socket, error = "
              << errno << endl;
-    }
-  } else {          // unsuccessful
-      cout << "Could not create " << ProtocolName << " socket for input, error = "
+  } else          // unsuccessful
+      cerr << "Could not create " << ProtocolName << " socket for input, error = "
            << errno << endl;
-  }
 
   Debug(0);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-FGfdmSocket::FGfdmSocket(const string& address, int port) // assumes TCP
-{
-  sckt = sckt_in = 0;
-  connected = false;
-  Protocol = ptTCP;
-
-  #if defined(_MSC_VER) || defined(__MINGW32__)
-  if (!LoadWinSockDLL()) return;
-  #endif
-
-  cout << "... Socket Configuration Sanity Check ..." << endl;
-  cout << "Host name...   " << address << ",  Port...  " << port << "." << endl;
-  cout << "Host name... (char)  " << address.c_str() << "." << endl;
-
-  if (!is_number(address)) {
-    if ((host = gethostbyname(address.c_str())) == NULL) {
-      cout << "Could not get host net address by name..." << endl;
-    }
-  } else {
-    if ((host = gethostbyaddr(address.c_str(), address.size(), PF_INET)) == NULL) {
-      cout << "Could not get host net address by number..." << endl;
-    }
-  }
-
-  if (host != NULL) {
-    cout << "Got host net address..." << endl;
-    sckt = socket(AF_INET, SOCK_STREAM, 0);
-
-    if (sckt >= 0) {  // successful
-      memset(&scktName, 0, sizeof(struct sockaddr_in));
-      scktName.sin_family = AF_INET;
-      scktName.sin_port = htons(port);
-      memcpy(&scktName.sin_addr, host->h_addr_list[0], host->h_length);
-      int len = sizeof(struct sockaddr_in);
-      if (connect(sckt, (struct sockaddr*)&scktName, len) == 0) {   // successful
-        cout << "Successfully connected to socket for output ..." << endl;
-        connected = true;
-      } else {                // unsuccessful
-        cout << "Could not connect to socket for output ..." << endl;
-      }
-    } else {          // unsuccessful
-      cout << "Could not create socket for FDM output, error = " << errno << endl;
-    }
-  }
-  Debug(0);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
 FGfdmSocket::~FGfdmSocket()
 {
   if (sckt) shutdown(sckt,2);
@@ -391,6 +353,16 @@ void FGfdmSocket::Send(const char *data, int length)
   }
 }
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGfdmSocket::WaitUntilReadable(void)
+{
+  fd_set fds;
+  FD_ZERO(&fds);
+  FD_SET(sckt_in, &fds);
+  select(sckt_in+1, &fds, NULL, NULL, NULL);
+}
+
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 //    The bitmasked value choices are as follows:
 //    unset: In this case (the default) JSBSim would only print

src/FDM/JSBSim/input_output/FGfdmSocket.h

@@ -83,7 +83,8 @@ CLASS DECLARATION
 class FGfdmSocket : public FGJSBBase
 {
 public:
-  FGfdmSocket(const std::string&, int);
+  FGfdmSocket(const std::string& address, int port)
+    : FGfdmSocket(address, port, ptTCP) {}
   FGfdmSocket(const std::string&, int, int);
   FGfdmSocket(int, int);
   ~FGfdmSocket();
@@ -100,6 +101,7 @@ public:
   void Clear(const std::string& s);
   void Close(void);
   bool GetConnectStatus(void) {return connected;}
+  void WaitUntilReadable(void);
 
   enum ProtocolType {ptUDP, ptTCP};
  

src/FDM/JSBSim/models/FGAuxiliary.cpp

@@ -149,14 +149,14 @@ bool FGAuxiliary::Run(bool Holding)
   vAeroPQR = in.vPQR - in.TurbPQR;
   vAeroUVW = in.vUVW - in.Tl2b * in.TotalWindNED;
 
-  Vt = vAeroUVW.Magnitude();
   alpha = beta = adot = bdot = 0;
   double AeroU2 = vAeroUVW(eU)*vAeroUVW(eU);
   double AeroV2 = vAeroUVW(eV)*vAeroUVW(eV);
   double AeroW2 = vAeroUVW(eW)*vAeroUVW(eW);
   double mUW = AeroU2 + AeroW2;
 
-  double Vt2 = Vt*Vt;
+  double Vt2 = mUW + AeroV2;
+  Vt = sqrt(Vt2);
 
   if ( Vt > 0.001 ) {
     if (vAeroUVW(eW) != 0.0)
@@ -206,11 +206,9 @@ bool FGAuxiliary::Run(bool Holding)
   if (abs(Mach) > 0.0) {
     vcas = VcalibratedFromMach(Mach, in.Pressure, in.PressureSL, in.DensitySL);
     veas = sqrt(2 * qbar / in.DensitySL);
-    vtrue = 1116.43559 * Mach * sqrt(in.Temperature / 518.67);
-  }
-  else {
-    vcas = veas = vtrue = 0.0;
   }
+  else
+    vcas = veas = 0.0;
 
   vPilotAccel.InitMatrix();
   vNcg = in.vBodyAccel/in.SLGravity;

src/FDM/JSBSim/models/FGAuxiliary.h

@@ -131,9 +131,9 @@ public:
   /** Returns equivalent airspeed in knots. */
   double GetVequivalentKTS(void) const { return veas*fpstokts; }
   /** Returns the true airspeed in feet per second. */
-  double GetVtrueFPS() const { return vtrue; }
+  double GetVtrueFPS() const { return Vt; }
   /** Returns the true airspeed in knots. */
-  double GetVtrueKTS() const { return vtrue * fpstokts; }
+  double GetVtrueKTS() const { return Vt * fpstokts; }
 
   /** Returns the total pressure.
       Total pressure is freestream total pressure for
@@ -290,7 +290,7 @@ public:
   } in;
 
 private:
-  double vcas, veas, vtrue;
+  double vcas, veas;
   double pt, tat, tatc; // Don't add a getter for pt!
 
   FGMatrix33 mTw2b;

src/FDM/JSBSim/models/FGFCS.cpp

@@ -503,9 +503,10 @@ bool FGFCS::Load(Element* document)
     string sOnOffProperty = channel_element->GetAttributeValue("execute");
     string sChannelName = channel_element->GetAttributeValue("name");
     
-    int Rate = 0;
     if (!channel_element->GetAttributeValue("execrate").empty())
-      Rate = channel_element->GetAttributeValueAsNumber("execrate");
+      ChannelRate = channel_element->GetAttributeValueAsNumber("execrate");
+    else
+      ChannelRate = 1;
 
     if (sOnOffProperty.length() > 0) {
       FGPropertyNode* OnOffPropertyNode = PropertyManager->GetNode(sOnOffProperty);
@@ -516,10 +517,10 @@ bool FGFCS::Load(Element* document)
              << "understood. The simulation will abort" << reset << endl;
         throw("Bad system definition");
       } else
-        newChannel = new FGFCSChannel(this, sChannelName, Rate,
+        newChannel = new FGFCSChannel(this, sChannelName, ChannelRate,
                                       OnOffPropertyNode);
     } else
-      newChannel = new FGFCSChannel(this, sChannelName, Rate);
+      newChannel = new FGFCSChannel(this, sChannelName, ChannelRate);
 
     SystemChannels.push_back(newChannel);
 

src/FDM/JSBSim/models/FGFCSChannel.h

@@ -92,7 +92,6 @@ public:
   /// Adds a component to a channel
   void Add(FGFCSComponent* comp) {
     FCSComponents.push_back(comp);
-    comp->SetDtForFrameCount(ExecRate);
   }
   /// Returns the number of components in the channel.
   size_t GetNumComponents() {return FCSComponents.size();}

src/FDM/JSBSim/models/flight_control/FGFCSComponent.cpp

@@ -63,7 +63,7 @@ FGFCSComponent::FGFCSComponent(FGFCS* _fcs, Element* element) : fcs(_fcs)
   clipMinSign = clipMaxSign = 1.0;
   IsOutput   = clip = false;
   string input,init, clip_string;
-  dt = fcs->GetDt();
+  dt = fcs->GetChannelDeltaT();
 
   PropertyManager = fcs->GetPropertyManager();
   if        (element->GetName() == string("lag_filter")) {
@@ -250,13 +250,6 @@ void FGFCSComponent::SetOutput(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-void FGFCSComponent::SetDtForFrameCount(int FrameCount)
-{
-  dt = fcs->GetDt() * FrameCount;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
 void FGFCSComponent::Delay(void)
 {
   output_array[index] = Output;

src/FDM/JSBSim/models/flight_control/FGFCSComponent.h

@@ -94,7 +94,6 @@ public:
 
   virtual bool Run(void) { return true; }
   virtual void SetOutput(void);
-  void SetDtForFrameCount(int FrameCount);
   double GetOutput (void) const {return Output;}
   std::string GetName(void) const {return Name;}
   std::string GetType(void) const { return Type; }

src/FDM/JSBSim/models/flight_control/FGSwitch.cpp

@@ -135,6 +135,13 @@ bool FGSwitch::Run(void )
   bool pass = false;
   double default_output=0.0;
 
+  // To detect errors early, make sure all conditions and values can be
+  // evaluated in the first time step.
+  if (!initialized) {
+    initialized = true;
+    VerifyProperties();
+  }
+
   for (unsigned int i=0; i<tests.size(); i++) {
     if (tests[i]->Default) {
       default_output = tests[i]->GetValue();
@@ -157,6 +164,18 @@ bool FGSwitch::Run(void )
   return true;
 }
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGSwitch::VerifyProperties(void)
+{
+  for (unsigned int i=0; i<tests.size(); i++) {
+    if (!tests[i]->Default) {
+      tests[i]->condition->Evaluate();
+    }
+    tests[i]->GetValue();
+  }
+}
+
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 //    The bitmasked value choices are as follows:
 //    unset: In this case (the default) JSBSim would only print

src/FDM/JSBSim/models/flight_control/FGSwitch.h

@@ -193,7 +193,9 @@ private:
   };
 
   std::vector <test*> tests;
+  bool initialized = false;
 
+  void VerifyProperties(void);
   void Debug(int from);
 };
 }

src/FDM/JSBSim/models/propulsion/FGPropeller.cpp

@@ -363,12 +363,13 @@ double FGPropeller::GetPowerRequired(void)
 
 FGColumnVector3 FGPropeller::GetPFactor() const
 {
-  double px=0.0, py, pz;
+  // These are moments in lbf per ft : the lever arm along Z generates a moment
+  // along the pitch direction.
+  double p_pitch = Thrust * Sense * (GetActingLocationZ() - GetLocationZ()) / 12.0;
+  // The lever arm along Y generates a moment along the yaw direction.
+  double p_yaw = Thrust * Sense * (GetActingLocationY() - GetLocationY()) / 12.0;
 
-  py = Thrust * Sense * (GetActingLocationY() - GetLocationY()) / 12.0;
-  pz = Thrust * Sense * (GetActingLocationZ() - GetLocationZ()) / 12.0;
-
-  return FGColumnVector3(px, py, pz);
+  return FGColumnVector3(0.0, p_pitch, p_yaw);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%