// 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 #ifdef FG_MATH_EXCEPTION_CLASH # include #endif #include STL_STRING #include #include #include #include #include #include #include #include
#include #include #include #include #include #include #include #include #include #include #include #include #include "JSBSim.hxx" /******************************************************************************/ // Initialize the JSBsim flight model, dt is the time increment for // each subsequent iteration through the EOM int FGJSBsim::init( double dt ) { bool result; FG_LOG( FG_FLIGHT, FG_INFO, "Starting and initializing JSBsim" ); FG_LOG( FG_FLIGHT, FG_INFO, " created FDMExec" ); FGPath aircraft_path( current_options.get_fg_root() ); aircraft_path.append( "Aircraft" ); FGPath engine_path( current_options.get_fg_root() ); engine_path.append( "Engine" ); FDMExec.GetState()->Setdt( dt ); result = FDMExec.GetAircraft()->LoadAircraft( aircraft_path.str(), engine_path.str(), current_options.get_aircraft() ); if (result) { FG_LOG( FG_FLIGHT, FG_INFO, " loaded aircraft" << current_options.get_aircraft() ); } else { FG_LOG( FG_FLIGHT, FG_INFO, " aircraft" << current_options.get_aircraft() << " does not exist"); return 0; } FDMExec.GetAtmosphere()->SetExTemperature(get_Static_temperature()); FDMExec.GetAtmosphere()->SetExPressure(get_Static_pressure()); FDMExec.GetAtmosphere()->SetExDensity(get_Density()); FDMExec.GetAtmosphere()->SetWindNED(get_V_north_airmass(), get_V_east_airmass(), get_V_down_airmass()); FDMExec.GetAtmosphere()->UseInternal(); FG_LOG( FG_FLIGHT, FG_INFO, " Initializing JSBSim with:" ); FGInitialCondition *fgic = new FGInitialCondition(&FDMExec); fgic->SetAltitudeFtIC(get_Altitude()); if((current_options.get_mach() < 0) && (current_options.get_vc() < 0 )) { fgic->SetUBodyFpsIC(current_options.get_uBody()); fgic->SetVBodyFpsIC(current_options.get_vBody()); fgic->SetWBodyFpsIC(current_options.get_wBody()); FG_LOG(FG_FLIGHT,FG_INFO, " u,v,w= " << current_options.get_uBody() << ", " << current_options.get_vBody() << ", " << current_options.get_wBody()); } else if (current_options.get_vc() < 0) { fgic->SetMachIC(current_options.get_mach()); FG_LOG(FG_FLIGHT,FG_INFO, " mach: " << current_options.get_mach() ); } else { fgic->SetVcalibratedKtsIC(current_options.get_vc()); FG_LOG(FG_FLIGHT,FG_INFO, " vc: " << current_options.get_vc() ); //this should cover the case in which no speed switches are used //current_options.get_vc() will return zero by default } fgic->SetRollAngleRadIC(get_Phi()); fgic->SetPitchAngleRadIC(get_Theta()); fgic->SetHeadingRadIC(get_Psi()); // fgic->SetLatitudeRadIC(get_Latitude()); fgic->SetLatitudeRadIC(get_Lat_geocentric()); fgic->SetLongitudeRadIC(get_Longitude()); FDMExec.GetPosition()->SetRunwayRadius(scenery.cur_radius*METER_TO_FEET); FDMExec.GetPosition()->SetSeaLevelRadius(get_Sea_level_radius()); FG_LOG( FG_FLIGHT, FG_INFO, " phi: " << get_Phi()); FG_LOG( FG_FLIGHT, FG_INFO, " theta: " << get_Theta() ); FG_LOG( FG_FLIGHT, FG_INFO, " psi: " << get_Psi() ); FG_LOG( FG_FLIGHT, FG_INFO, " lat: " << get_Latitude() ); FG_LOG( FG_FLIGHT, FG_INFO, " lon: " << get_Longitude() ); FG_LOG( FG_FLIGHT, FG_INFO, " alt: " << get_Altitude() ); //must check > 0, != 0 will give bad result if --notrim set if(current_options.get_trim_mode() > 0) { FDMExec.RunIC(fgic); FG_LOG( FG_FLIGHT, FG_INFO, " Starting trim..." ); FGTrimLong *fgtrim=new FGTrimLong(&FDMExec,fgic); fgtrim->DoTrim(); fgtrim->Report(); fgtrim->TrimStats(); fgtrim->ReportState(); controls.set_elevator_trim(FDMExec.GetFCS()->GetPitchTrimCmd()); controls.set_throttle(FGControls::ALL_ENGINES,FDMExec.GetFCS()->GetThrottleCmd(0)/100); //the trimming routine only knows how to get 1 value for throttle delete fgtrim; FG_LOG( FG_FLIGHT, FG_INFO, " Trim complete." ); } else { FG_LOG( FG_FLIGHT, FG_INFO, " Initializing without trim" ); FDMExec.GetState()->Initialize(fgic); } delete fgic; FG_LOG( FG_FLIGHT, FG_INFO, " loaded initial conditions" ); FG_LOG( FG_FLIGHT, FG_INFO, " set dt" ); FG_LOG( FG_FLIGHT, FG_INFO, "Finished initializing JSBSim" ); copy_from_JSBsim(); return 1; } /******************************************************************************/ // Run an iteration of the EOM (equations of motion) int FGJSBsim::update( int multiloop ) { double save_alt = 0.0; double time_step = (1.0 / current_options.get_model_hz()) * multiloop; double start_elev = get_Altitude(); // lets try to avoid really screwing up the JSBsim model if ( get_Altitude() < -9000 ) { save_alt = get_Altitude(); set_Altitude( 0.0 ); } // copy control positions into the JSBsim structure FDMExec.GetFCS()->SetDaCmd( controls.get_aileron()); FDMExec.GetFCS()->SetDeCmd( controls.get_elevator()); FDMExec.GetFCS()->SetPitchTrimCmd(controls.get_elevator_trim()); FDMExec.GetFCS()->SetDrCmd( controls.get_rudder()); FDMExec.GetFCS()->SetDfCmd( controls.get_flaps() ); FDMExec.GetFCS()->SetDsbCmd( 0.0 ); //speedbrakes FDMExec.GetFCS()->SetDspCmd( 0.0 ); //spoilers FDMExec.GetFCS()->SetThrottleCmd( FGControls::ALL_ENGINES, controls.get_throttle( 0 ) * 100.0 ); // FCS->SetBrake( controls.get_brake( 0 ) ); // Inform JSBsim of the local terrain altitude; uncommented 5/3/00 // FDMExec.GetPosition()->SetRunwayElevation(get_Runway_altitude()); // seems to work FDMExec.GetPosition()->SetRunwayRadius(scenery.cur_radius*METER_TO_FEET); FDMExec.GetPosition()->SetSeaLevelRadius(get_Sea_level_radius()); FDMExec.GetAtmosphere()->SetExTemperature(get_Static_temperature()); FDMExec.GetAtmosphere()->SetExPressure(get_Static_pressure()); FDMExec.GetAtmosphere()->SetExDensity(get_Density()); FDMExec.GetAtmosphere()->SetWindNED(get_V_north_airmass(), get_V_east_airmass(), get_V_down_airmass()); for ( int i = 0; i < multiloop; i++ ) { FDMExec.Run(); } // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048); // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048); // translate JSBsim back to FG structure so that the // autopilot (and the rest of the sim can use the updated values copy_from_JSBsim(); // but lets restore our original bogus altitude when we are done if ( save_alt < -9000.0 ) { set_Altitude( save_alt ); } double end_elev = get_Altitude(); //if ( time_step > 0.0 ) { // feet per second // set_Climb_Rate( (end_elev - start_elev) / time_step ); //} return 1; } /******************************************************************************/ // Convert from the FGInterface struct to the JSBsim generic_ struct int FGJSBsim::copy_to_JSBsim() { return 1; } /******************************************************************************/ // Convert from the JSBsim generic_ struct to the FGInterface struct int FGJSBsim::copy_from_JSBsim() { set_Inertias( FDMExec.GetAircraft()->GetMass(), FDMExec.GetAircraft()->GetIxx(), FDMExec.GetAircraft()->GetIyy(), FDMExec.GetAircraft()->GetIzz(), FDMExec.GetAircraft()->GetIxz() ); set_CG_Position ( FDMExec.GetAircraft()->GetXYZcg()(1), FDMExec.GetAircraft()->GetXYZcg()(2), FDMExec.GetAircraft()->GetXYZcg()(3) ); set_Accels_Body ( FDMExec.GetTranslation()->GetUVWdot()(1), FDMExec.GetTranslation()->GetUVWdot()(2), FDMExec.GetTranslation()->GetUVWdot()(3) ); set_Accels_CG_Body ( FDMExec.GetTranslation()->GetUVWdot()(1), FDMExec.GetTranslation()->GetUVWdot()(2), FDMExec.GetTranslation()->GetUVWdot()(3) ); //set_Accels_CG_Body_N ( FDMExec.GetTranslation()->GetNcg()(1), // FDMExec.GetTranslation()->GetNcg()(2), // FDMExec.GetTranslation()->GetNcg()(3) ); // set_Accels_Pilot_Body( FDMExec.GetAuxiliary()->GetPilotAccel()(1), FDMExec.GetAuxiliary()->GetPilotAccel()(2), FDMExec.GetAuxiliary()->GetPilotAccel()(3) ); //set_Accels_Pilot_Body_N( FDMExec.GetAuxiliary()->GetNpilot()(1), // FDMExec.GetAuxiliary()->GetNpilot()(2), // FDMExec.GetAuxiliary()->GetNpilot()(3) ); set_Nlf( FDMExec.GetAircraft()->GetNlf()); // Velocities set_Velocities_Local( FDMExec.GetPosition()->GetVn(), FDMExec.GetPosition()->GetVe(), FDMExec.GetPosition()->GetVd() ); set_Velocities_Wind_Body( FDMExec.GetTranslation()->GetUVW()(1), FDMExec.GetTranslation()->GetUVW()(2), FDMExec.GetTranslation()->GetUVW()(3) ); set_V_equiv_kts( FDMExec.GetAuxiliary()->GetVequivalentKTS() ); //set_V_calibrated( FDMExec.GetAuxiliary()->GetVcalibratedFPS() ); set_V_calibrated_kts( FDMExec.GetAuxiliary()->GetVcalibratedKTS() ); set_V_ground_speed ( FDMExec.GetPosition()->GetVground() ); set_Omega_Body( FDMExec.GetState()->GetParameter(FG_ROLLRATE), FDMExec.GetState()->GetParameter(FG_PITCHRATE), FDMExec.GetState()->GetParameter(FG_YAWRATE) ); /* HUH!?! */ set_Euler_Rates( FDMExec.GetRotation()->Getphi(), FDMExec.GetRotation()->Gettht(), FDMExec.GetRotation()->Getpsi() ); // ***FIXME*** set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot ); set_Mach_number( FDMExec.GetTranslation()->GetMach()); // Positions double lat_geoc = FDMExec.GetPosition()->GetLatitude(); double lon = FDMExec.GetPosition()->GetLongitude(); double alt = FDMExec.GetPosition()->Geth(); double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc; fgGeocToGeod( lat_geoc, EQUATORIAL_RADIUS_M + alt * FEET_TO_METER, &lat_geod, &tmp_alt, &sl_radius1 ); fgGeodToGeoc( lat_geod, alt * FEET_TO_METER, &sl_radius2, &tmp_lat_geoc ); FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << lon << " lat_geod = " << lat_geod << " lat_geoc = " << lat_geoc << " alt = " << alt << " tmp_alt = " << tmp_alt * METER_TO_FEET << " sl_radius1 = " << sl_radius1 * METER_TO_FEET << " sl_radius2 = " << sl_radius2 * METER_TO_FEET << " Equator = " << EQUATORIAL_RADIUS_FT ); set_Geocentric_Position( lat_geoc, lon, sl_radius2 * METER_TO_FEET + alt ); set_Geodetic_Position( lat_geod, lon, alt ); set_Euler_Angles( FDMExec.GetRotation()->Getphi(), FDMExec.GetRotation()->Gettht(), FDMExec.GetRotation()->Getpsi() ); set_Alpha( FDMExec.GetTranslation()->Getalpha() ); set_Beta( FDMExec.GetTranslation()->Getbeta() ); set_Gamma_vert_rad( FDMExec.GetPosition()->GetGamma() ); // set_Gamma_horiz_rad( Gamma_horiz_rad ); /* **FIXME*** */ set_Sea_level_radius( sl_radius2 * METER_TO_FEET ); /* **FIXME*** */ set_Earth_position_angle( 0.0 ); // /* ***FIXME*** */ set_Runway_altitude( 0.0 ); set_sin_lat_geocentric( lat_geoc ); set_cos_lat_geocentric( lat_geoc ); set_sin_cos_longitude( lon ); set_sin_cos_latitude( lat_geod ); set_Climb_Rate(FDMExec.GetPosition()->Gethdot()); return 1; }