// 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.
//
// $Id$
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <simgear/compiler.h>
#include <simgear/math/sg_geodesy.hxx>
#include <stdio.h> // size_t
#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 <FDM/flight.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/FGPropagate.h>
#include <FDM/JSBSim/FGState.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 <FDM/JSBSim/FGPropertyManager.h>
#include <FDM/JSBSim/FGEngine.h>
#include <FDM/JSBSim/FGPiston.h>
#include <FDM/JSBSim/FGGroundCallback.h>
#include <FDM/JSBSim/FGTurbine.h>
#include <FDM/JSBSim/FGRocket.h>
#include <FDM/JSBSim/FGElectric.h>
#include <FDM/JSBSim/FGNozzle.h>
#include <FDM/JSBSim/FGPropeller.h>
#include <FDM/JSBSim/FGRotor.h>
#include <FDM/JSBSim/FGTank.h>
#include "JSBSim.hxx"
static inline double
FMAX (double a, double b)
{
return a > b ? a : b;
}
class FGFSGroundCallback : public FGGroundCallback {
public:
FGFSGroundCallback(FGInterface* ifc) : mInterface(ifc) {}
virtual ~FGFSGroundCallback() {}
/** Get the altitude above sea level depenent on the location. */
virtual double GetAltitude(const FGLocation& l) const {
double pt[3] = { SG_FEET_TO_METER*l(eX),
SG_FEET_TO_METER*l(eY),
SG_FEET_TO_METER*l(eZ) };
double lat, lon, alt;
sgCartToGeod( pt, &lat, &lon, &alt);
return alt * SG_METER_TO_FEET;
}
/** Compute the altitude above ground. */
virtual double GetAGLevel(double t, const FGLocation& l,
FGLocation& cont,
FGColumnVector3& n, FGColumnVector3& v) const {
double loc_cart[3] = { l(eX), l(eY), l(eZ) };
double contact[3], normal[3], vel[3], lc, ff, agl;
int groundtype;
mInterface->get_agl_ft(t, loc_cart, contact, normal, vel,
&groundtype, &lc, &ff, &agl);
n = l.GetTec2l()*FGColumnVector3( normal[0], normal[1], normal[2] );
v = l.GetTec2l()*FGColumnVector3( vel[0], vel[1], vel[2] );
cont = FGColumnVector3( contact[0], contact[1], contact[2] );
return agl;
}
private:
FGInterface* mInterface;
};
/******************************************************************************/
FGJSBsim::FGJSBsim( double dt )
: FGInterface(dt)
{
bool result;
// Set up the debugging level
// FIXME: this will not respond to
// runtime changes
// if flight is excluded, don't bother
if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
// do a rough-and-ready mapping to
// the levels documented in FGFDMExec.h
switch (logbuf::get_log_priority()) {
case SG_BULK:
FGJSBBase::debug_lvl = 0x1f;
break;
case SG_DEBUG:
FGJSBBase::debug_lvl = 0x0f;
case SG_INFO:
FGJSBBase::debug_lvl = 0x01;
break;
case SG_WARN:
case SG_ALERT:
FGJSBBase::debug_lvl = 0x00;
break;
}
}
fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
// Register ground callback.
fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
State = fdmex->GetState();
Atmosphere = fdmex->GetAtmosphere();
FCS = fdmex->GetFCS();
MassBalance = fdmex->GetMassBalance();
Propulsion = fdmex->GetPropulsion();
Aircraft = fdmex->GetAircraft();
Propagate = fdmex->GetPropagate();
Auxiliary = fdmex->GetAuxiliary();
Aerodynamics = fdmex->GetAerodynamics();
GroundReactions = fdmex->GetGroundReactions();
fgic=fdmex->GetIC();
needTrim=true;
SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
SGPath engine_path( fgGetString("/sim/aircraft-dir") );
engine_path.append( "Engine" );
State->Setdt( dt );
result = fdmex->LoadModel( aircraft_path.str(),
engine_path.str(),
fgGetString("/sim/aero"), false );
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);
} else {
node->setDoubleValue("level-lb", Propulsion->GetTank(i)->GetContents());
node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
}
}
Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
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/presets/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/alarms/stall-warning",true);
stall_warning->setDoubleValue(0);
flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
left_aileron_pos_pct
=fgGetNode("/surface-positions/left-aileron-pos-norm",true);
right_aileron_pos_pct
=fgGetNode("/surface-positions/right-aileron-pos-norm",true);
rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
speedbrake_pos_pct
=fgGetNode("/surface-positions/speedbrake-pos-norm",true);
spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
elevator_pos_pct->setDoubleValue(0);
left_aileron_pos_pct->setDoubleValue(0);
right_aileron_pos_pct->setDoubleValue(0);
rudder_pos_pct->setDoubleValue(0);
flap_pos_pct->setDoubleValue(0);
speedbrake_pos_pct->setDoubleValue(0);
spoilers_pos_pct->setDoubleValue(0);
temperature = fgGetNode("/environment/temperature-degc",true);
pressure = fgGetNode("/environment/pressure-inhg",true);
density = fgGetNode("/environment/density-slugft3",true);
turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
SGPropertyNode * node = fgGetNode("engines/engine", i, true);
Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
}
}
/******************************************************************************/
FGJSBsim::~FGJSBsim(void)
{
delete fdmex;
}
/******************************************************************************/
// Initialize the JSBsim flight model, dt is the time increment for
// each subsequent iteration through the EOM
void FGJSBsim::init()
{
double tmp;
SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
// Explicitly call the superclass's
// init method first.
#ifdef FG_WEATHERCM
Atmosphere->UseInternal();
#else
if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
Atmosphere->UseExternal();
Atmosphere->SetExTemperature(
9.0/5.0*(temperature->getDoubleValue()+273.15) );
Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
Atmosphere->SetExDensity(density->getDoubleValue());
tmp = turbulence_gain->getDoubleValue();
Atmosphere->SetTurbGain(tmp * tmp * 100.0);
tmp = turbulence_rate->getDoubleValue();
Atmosphere->SetTurbRate(tmp);
} else {
Atmosphere->UseInternal();
}
#endif
fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
//Atmosphere->SetExTemperature(get_Static_temperature());
//Atmosphere->SetExPressure(get_Static_pressure());
//Atmosphere->SetExDensity(get_Density());
SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
<< ", " << fdmex->GetAtmosphere()->GetPressure()
<< ", " << fdmex->GetAtmosphere()->GetDensity() );
common_init();
copy_to_JSBsim();
fdmex->RunIC(); //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= "
<< Propagate->GetVel(eNorth) << ", "
<< Propagate->GetVel(eEast) << ", "
<< Propagate->GetVel(eDown) << " ft/s");
break;
case setuvw:
SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
<< Propagate->GetUVW(1) << ", "
<< Propagate->GetUVW(2) << ", "
<< Propagate->GetUVW(3) << " ft/s");
break;
case setmach:
SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
<< Auxiliary->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: "
<< Propagate->GetEuler(ePhi)*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
<< Propagate->GetEuler(eTht)*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
<< Propagate->GetEuler(ePsi)*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
<< Propagate->GetLocation().GetLatitudeDeg() << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
<< Propagate->GetLocation().GetLongitudeDeg() << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
<< Propagate->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( double dt )
{
if (is_suspended())
return;
int multiloop = _calc_multiloop(dt);
int i;
// Compute the radius of the aircraft. That is the radius of a ball
// where all gear units are in. At the moment it is at least 10ft ...
double acrad = 10.0;
int n_gears = GroundReactions->GetNumGearUnits();
for (i=0; i<n_gears; ++i) {
FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
double r = bl.Magnitude();
if (acrad < r)
acrad = r;
}
// Compute the potential movement of this aircraft and query for the
// ground in this area.
double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
FGColumnVector3 cart = Auxiliary->GetLocationVRP();
if ( needTrim && startup_trim->getBoolValue() ) {
double alt = fgic->GetAltitudeFtIC();
double slr = fgic->GetSeaLevelRadiusFtIC();
double lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
double lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
cart = FGLocation(lon, lat, alt+slr);
}
double cart_pos[3] = { cart(1), cart(2), cart(3) };
bool cache_ok = prepare_ground_cache_ft( State->Getsim_time(), cart_pos,
groundCacheRadius );
if (!cache_ok) {
SG_LOG(SG_FLIGHT, SG_WARN,
"FGInterface is beeing called without scenery below the aircraft!");
return;
}
copy_to_JSBsim();
trimmed->setBoolValue(false);
if ( needTrim ) {
if ( startup_trim->getBoolValue() ) {
double contact[3], dummy[3], lc, ff, agl;
int groundtype;
get_agl_ft(State->Getsim_time(), cart_pos, contact,
dummy, dummy, &groundtype, &lc, &ff, &agl);
double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
+ contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
SG_LOG(SG_FLIGHT, SG_INFO,
"Ready to trim, terrain altitude is: "
<< terrain_alt * SG_METER_TO_FEET );
fgic->SetTerrainAltitudeFtIC( terrain_alt );
do_trim();
} else {
fdmex->RunIC(); //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()
{
double tmp;
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() );
// FIXME: make that get_steering work
// FCS->SetDsCmd( globals->get_controls()->get_steering()/80.0 );
FCS->SetDsCmd( globals->get_controls()->get_rudder() );
FCS->SetDfCmd( globals->get_controls()->get_flaps() );
FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
// Parking brake sets minimum braking
// level for mains.
double parking_brake = globals->get_controls()->get_brake_parking();
FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
FCS->SetCBrake( 0.0 );
// FCS->SetCBrake( globals->get_controls()->get_brake(2) );
FCS->SetGearCmd( globals->get_controls()->get_gear_down());
for (i = 0; i < Propulsion->GetNumEngines(); 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));
switch (Propulsion->GetEngine(i)->GetType()) {
case FGEngine::etPiston:
{ // FGPiston code block
FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
break;
} // end FGPiston code block
case FGEngine::etTurbine:
{ // FGTurbine code block
FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
eng->SetReverse( globals->get_controls()->get_reverser(i) );
eng->SetInjection( globals->get_controls()->get_water_injection(i) );
eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
eng->SetIgnition( globals->get_controls()->get_ignition(i) );
break;
} // end FGTurbine code block
case FGEngine::etRocket:
{ // FGRocket code block
FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
break;
} // end FGRocket code block
}
{ // FGEngine code block
FGEngine* eng = Propulsion->GetEngine(i);
eng->SetStarter( globals->get_controls()->get_starter(i) );
eng->SetRunning( node->getBoolValue("running") );
} // end FGEngine code block
}
Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
Atmosphere->SetExTemperature(
9.0/5.0*(temperature->getDoubleValue()+273.15) );
Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
Atmosphere->SetExDensity(density->getDoubleValue());
tmp = turbulence_gain->getDoubleValue();
Atmosphere->SetTurbGain(tmp * tmp * 100.0);
tmp = turbulence_rate->getDoubleValue();
Atmosphere->SetTurbRate(tmp);
Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
wind_from_east->getDoubleValue(),
wind_from_down->getDoubleValue() );
// 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"));
}
SGPropertyNode* node = fgGetNode("/systems/refuel", true);
Propulsion->SetRefuel(node->getDoubleValue("contact"));
Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
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_N ( Aircraft->GetNcg(1),
Aircraft->GetNcg(2),
Aircraft->GetNcg(3) );
_set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
Auxiliary->GetPilotAccel(2),
Auxiliary->GetPilotAccel(3) );
_set_Nlf( Aircraft->GetNlf() );
// Velocities
_set_Velocities_Local( Propagate->GetVel(eNorth),
Propagate->GetVel(eEast),
Propagate->GetVel(eDown) );
_set_Velocities_Wind_Body( Propagate->GetUVW(1),
Propagate->GetUVW(2),
Propagate->GetUVW(3) );
// Make the HUD work ...
{
const FGLocation& l = Auxiliary->GetLocationVRP();
double xyz[3] = { l(eX)*SG_FEET_TO_METER,
l(eY)*SG_FEET_TO_METER,
l(eZ)*SG_FEET_TO_METER };
double lat, lon, alt;
sgCartToGeod(xyz, &lat, &lon, &alt);
FGQuaternion Tec2geodhl(0, -0.5*M_PI-lat, lon);
FGColumnVector3 ecVel = l.GetTl2ec()*Propagate->GetVel();
FGColumnVector3 geodhlVel = Tec2geodhl.GetT()*ecVel;
_set_Velocities_Ground( geodhlVel(eNorth)*SG_FEET_TO_METER,
geodhlVel(eEast)*SG_FEET_TO_METER,
-geodhlVel(eDown)*SG_FEET_TO_METER );
// Transform the acceleration to the earth centered frame and then
// back to the geodetic hl frame.
FGColumnVector3 accel = Propagate->GetUVWdot();
accel -= Propagate->GetUVW()*Propagate->GetPQR();
accel = Propagate->GetTb2l()*accel;
accel = l.GetTl2ec()*accel;
accel = Tec2geodhl.GetT()*accel;
_set_Accels_Local( accel(eNorth)*SG_FEET_TO_METER,
accel(eEast)*SG_FEET_TO_METER,
-accel(eDown)*SG_FEET_TO_METER);
}
_set_V_rel_wind( Auxiliary->GetVt() );
_set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
_set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
_set_V_ground_speed( Auxiliary->GetVground() );
_set_Omega_Body( Propagate->GetPQR(eP),
Propagate->GetPQR(eQ),
Propagate->GetPQR(eR) );
_set_Euler_Rates( Auxiliary->GetEulerRates(ePhi),
Auxiliary->GetEulerRates(eTht),
Auxiliary->GetEulerRates(ePsi) );
_set_Mach_number( Auxiliary->GetMach() );
// Positions of Visual Reference Point
FGLocation l = Auxiliary->GetLocationVRP();
_updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
l.GetRadius() - get_Sea_level_radius() );
_set_Altitude_AGL( Propagate->GetDistanceAGL() );
{
double loc_cart[3] = { l(eX), l(eY), l(eZ) };
double contact[3], d[3], sd, t;
int id;
is_valid_m(&t, d, &sd);
get_agl_ft(t, loc_cart, contact, d, d, &id, &sd, &sd, &sd);
double rwrad
= FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
_set_Runway_altitude( rwrad - get_Sea_level_radius() );
}
_set_Euler_Angles( Propagate->GetEuler(ePhi),
Propagate->GetEuler(eTht),
Propagate->GetEuler(ePsi) );
_set_Alpha( Auxiliary->Getalpha() );
_set_Beta( Auxiliary->Getbeta() );
_set_Gamma_vert_rad( Auxiliary->GetGamma() );
_set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
_set_Climb_Rate( Propagate->Gethdot() );
const FGMatrix33& Tl2b = Propagate->GetTl2b();
for ( i = 1; i <= 3; i++ ) {
for ( j = 1; j <= 3; j++ ) {
_set_T_Local_to_Body( i, j, Tl2b(i,j) );
}
}
// Copy the engine values from JSBSim.
for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
SGPropertyNode * node = fgGetNode("engines/engine", i, true);
char buf[30];
sprintf(buf, "engines/engine[%d]/thruster", i);
SGPropertyNode * tnode = fgGetNode(buf, true);
FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
switch (Propulsion->GetEngine(i)->GetType()) {
case FGEngine::etPiston:
{ // FGPiston code block
FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
node->setDoubleValue("rpm", eng->getRPM());
} // end FGPiston code block
break;
case FGEngine::etRocket:
{ // FGRocket code block
FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
} // end FGRocket code block
break;
case FGEngine::etTurbine:
{ // FGTurbine code block
FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
node->setDoubleValue("n1", eng->GetN1());
node->setDoubleValue("n2", eng->GetN2());
node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
node->setBoolValue("augmentation", eng->GetAugmentation());
node->setBoolValue("water-injection", eng->GetInjection());
node->setBoolValue("ignition", eng->GetIgnition());
node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
node->setBoolValue("reversed", eng->GetReversed());
node->setBoolValue("cutoff", eng->GetCutoff());
node->setDoubleValue("epr", eng->GetEPR());
globals->get_controls()->set_reverser(i, eng->GetReversed() );
globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
globals->get_controls()->set_water_injection(i, eng->GetInjection() );
globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
} // end FGTurbine code block
break;
case FGEngine::etElectric:
{ // FGElectric code block
FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
node->setDoubleValue("rpm", eng->getRPM());
} // end FGElectric code block
break;
}
{ // FGEngine code block
FGEngine* eng = Propulsion->GetEngine(i);
node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
node->setDoubleValue("thrust_lb", thruster->GetThrust());
node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
node->setBoolValue("running", eng->GetRunning());
node->setBoolValue("starter", eng->GetStarter());
node->setBoolValue("cranking", eng->GetCranking());
globals->get_controls()->set_starter(i, eng->GetStarter() );
} // end FGEngine code block
switch (thruster->GetType()) {
case FGThruster::ttNozzle:
{ // FGNozzle code block
FGNozzle* noz = (FGNozzle*)thruster;
} // end FGNozzle code block
break;
case FGThruster::ttPropeller:
{ // FGPropeller code block
FGPropeller* prop = (FGPropeller*)thruster;
tnode->setDoubleValue("rpm", thruster->GetRPM());
tnode->setDoubleValue("pitch", prop->GetPitch());
tnode->setDoubleValue("torque", prop->GetTorque());
} // end FGPropeller code block
break;
case FGThruster::ttRotor:
{ // FGRotor code block
FGRotor* rotor = (FGRotor*)thruster;
} // end FGRotor code block
break;
case FGThruster::ttDirect:
{ // Direct code block
} // end Direct code block
break;
}
}
// Copy the fuel levels from JSBSim if fuel
// freeze not enabled.
if ( ! Propulsion->GetFuelFreeze() ) {
for (i = 0; i < Propulsion->GetNumTanks(); i++) {
SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
FGTank* tank = Propulsion->GetTank(i);
double contents = tank->GetContents();
double temp = tank->GetTemperature_degC();
node->setDoubleValue("level-gal_us", contents/6.6);
node->setDoubleValue("level-lb", contents);
if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
}
}
update_gear();
stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
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;
// In case we're not trimming
FGInterface::set_Latitude(lat);
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 );
fgic->SetLatitudeRadIC( lat_geoc );
needTrim=true;
}
void FGJSBsim::set_Longitude(double lon)
{
SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
// In case we're not trimming
FGInterface::set_Longitude(lon);
update_ic();
fgic->SetLongitudeRadIC( lon );
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() );
// In case we're not trimming
FGInterface::set_Altitude(alt);
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 );
SG_LOG(SG_FLIGHT, SG_INFO,
"Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * 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 );
// In case we're not trimming
FGInterface::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 );
// In case we're not trimming
FGInterface::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 );
// In case we're not trimming
FGInterface::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 );
// In case we're not trimming
FGInterface::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 );
// In case we're not trimming
FGInterface::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 );
// In case we're not trimming
FGInterface::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::init_gear(void )
{
FGGroundReactions* gr=fdmex->GetGroundReactions();
int Ngear=GroundReactions->GetNumGearUnits();
for (int i=0;i<Ngear;i++) {
FGLGear *gear = gr->GetGearUnit(i);
SGPropertyNode * node = fgGetNode("gear/gear", i, true);
node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
node->setBoolValue("wow", gear->GetWOW());
node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
node->setDoubleValue("position-norm", FCS->GetGearPos());
node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
if ( gear->GetSteerable() )
node->setDoubleValue("steering-norm", gear->GetSteerNorm());
}
}
void FGJSBsim::update_gear(void)
{
FGGroundReactions* gr=fdmex->GetGroundReactions();
int Ngear=GroundReactions->GetNumGearUnits();
for (int i=0;i<Ngear;i++) {
FGLGear *gear = gr->GetGearUnit(i);
SGPropertyNode * node = fgGetNode("gear/gear", i, true);
node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
node->getChild("position-norm", 0, true)->setDoubleValue(FCS->GetGearPos());
gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
if ( gear->GetSteerable() )
node->setDoubleValue("steering-norm", gear->GetSteerNorm());
}
}
void FGJSBsim::do_trim(void)
{
FGTrim *fgtrim;
if ( fgGetBool("/sim/presets/onground") )
{
fgic->SetVcalibratedKtsIC(0.0);
fgtrim = new FGTrim(fdmex,tGround);
} else {
fgtrim = new FGTrim(fdmex,tLongitudinal);
}
if ( !fgtrim->DoTrim() ) {
fgtrim->Report();
fgtrim->TrimStats();
} else {
trimmed->setBoolValue(true);
}
if (FGJSBBase::debug_lvl > 0)
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() );
}
}