800 lines
27 KiB
C++
800 lines
27 KiB
C++
// 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 <simgear/compiler.h>
|
|
|
|
#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 <Scenery/scenery.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/FGPosition.h>
|
|
#include <FDM/JSBSim/FGRotation.h>
|
|
#include <FDM/JSBSim/FGState.h>
|
|
#include <FDM/JSBSim/FGTranslation.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 "JSBSim.hxx"
|
|
|
|
static inline double
|
|
FMAX (double a, double b)
|
|
{
|
|
return a > b ? a : b;
|
|
}
|
|
|
|
|
|
/******************************************************************************/
|
|
|
|
FGJSBsim::FGJSBsim( double dt )
|
|
: FGInterface(dt)
|
|
{
|
|
bool result;
|
|
|
|
fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
|
|
|
|
State = fdmex->GetState();
|
|
Atmosphere = fdmex->GetAtmosphere();
|
|
FCS = fdmex->GetFCS();
|
|
MassBalance = fdmex->GetMassBalance();
|
|
Propulsion = fdmex->GetPropulsion();
|
|
Aircraft = fdmex->GetAircraft();
|
|
Translation = fdmex->GetTranslation();
|
|
Rotation = fdmex->GetRotation();
|
|
Position = fdmex->GetPosition();
|
|
Auxiliary = fdmex->GetAuxiliary();
|
|
Aerodynamics = fdmex->GetAerodynamics();
|
|
GroundReactions = fdmex->GetGroundReactions();
|
|
|
|
|
|
Atmosphere->UseInternal();
|
|
|
|
fgic=new FGInitialCondition(fdmex);
|
|
needTrim=true;
|
|
|
|
SGPath aircraft_path( globals->get_fg_root() );
|
|
aircraft_path.append( "Aircraft" );
|
|
|
|
SGPath engine_path( globals->get_fg_root() );
|
|
engine_path.append( "Engine" );
|
|
set_delta_t( dt );
|
|
State->Setdt( dt );
|
|
|
|
result = fdmex->LoadModel( aircraft_path.str(),
|
|
engine_path.str(),
|
|
fgGetString("/sim/aero") );
|
|
|
|
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);
|
|
}
|
|
|
|
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/startup/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/aero/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);
|
|
|
|
|
|
|
|
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);
|
|
|
|
|
|
}
|
|
/******************************************************************************/
|
|
FGJSBsim::~FGJSBsim(void) {
|
|
if (fdmex != NULL) {
|
|
delete fdmex; fdmex=NULL;
|
|
delete fgic; fgic=NULL;
|
|
}
|
|
}
|
|
|
|
/******************************************************************************/
|
|
|
|
// Initialize the JSBsim flight model, dt is the time increment for
|
|
// each subsequent iteration through the EOM
|
|
|
|
void FGJSBsim::init() {
|
|
|
|
SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
|
|
|
|
// Explicitly call the superclass's
|
|
// init method first.
|
|
common_init();
|
|
copy_to_JSBsim();
|
|
|
|
fdmex->RunIC(fgic); //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= "
|
|
<< Position->GetVn() << ", "
|
|
<< Position->GetVe() << ", "
|
|
<< Position->GetVd() << " ft/s");
|
|
break;
|
|
case setuvw:
|
|
SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
|
|
<< Translation->GetUVW(1) << ", "
|
|
<< Translation->GetUVW(2) << ", "
|
|
<< Translation->GetUVW(3) << " ft/s");
|
|
break;
|
|
case setmach:
|
|
SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
|
|
<< Translation->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: "
|
|
<< Rotation->Getphi()*RADTODEG << " deg" );
|
|
SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
|
|
<< Rotation->Gettht()*RADTODEG << " deg" );
|
|
SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
|
|
<< Rotation->Getpsi()*RADTODEG << " deg" );
|
|
SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
|
|
<< Position->GetLatitude() << " deg" );
|
|
SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
|
|
<< Position->GetLongitude() << " deg" );
|
|
SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
|
|
<< Position->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( int multiloop ) {
|
|
|
|
int i;
|
|
|
|
// double save_alt = 0.0;
|
|
|
|
copy_to_JSBsim();
|
|
|
|
trimmed->setBoolValue(false);
|
|
|
|
|
|
|
|
if ( needTrim ) {
|
|
if ( startup_trim->getBoolValue() ) {
|
|
SG_LOG(SG_FLIGHT, SG_INFO,
|
|
"Ready to trim, terrain altitude is: "
|
|
<< scenery.get_cur_elev() * SG_METER_TO_FEET );
|
|
fgic->SetTerrainAltitudeFtIC( scenery.get_cur_elev() * SG_METER_TO_FEET );
|
|
do_trim();
|
|
} else {
|
|
fdmex->RunIC(fgic); //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() {
|
|
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() );
|
|
FCS->SetDfCmd( globals->get_controls()->get_flaps() );
|
|
FCS->SetDsbCmd( 0.0 ); //speedbrakes
|
|
FCS->SetDspCmd( 0.0 ); //spoilers
|
|
|
|
// Parking brake sets minimum braking
|
|
// level for mains.
|
|
double parking_brake = globals->get_controls()->get_parking_brake();
|
|
FCS->SetLBrake(FMAX(globals->get_controls()->get_brake(0), parking_brake));
|
|
FCS->SetRBrake(FMAX(globals->get_controls()->get_brake(1), parking_brake));
|
|
FCS->SetCBrake( globals->get_controls()->get_brake( 2 ) );
|
|
|
|
FCS->SetGearCmd( globals->get_controls()->get_gear_down());
|
|
for (i = 0; i < Propulsion->GetNumEngines(); i++) {
|
|
FGEngine * eng = Propulsion->GetEngine(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));
|
|
Propulsion->GetThruster(i)->SetRPM(node->getDoubleValue("rpm"));
|
|
eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
|
|
eng->SetStarter( globals->get_controls()->get_starter(i) );
|
|
}
|
|
|
|
_set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
|
|
Position->SetSeaLevelRadius( get_Sea_level_radius() );
|
|
Position->SetRunwayRadius( get_Runway_altitude()
|
|
+ get_Sea_level_radius() );
|
|
|
|
Atmosphere->SetExTemperature(get_Static_temperature());
|
|
Atmosphere->SetExPressure(get_Static_pressure());
|
|
Atmosphere->SetExDensity(get_Density());
|
|
Atmosphere->SetWindNED(get_V_north_airmass(),
|
|
get_V_east_airmass(),
|
|
get_V_down_airmass());
|
|
// 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"));
|
|
}
|
|
|
|
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( 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_Accels_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739,
|
|
// Auxiliary->GetNpilot(2)/32.1739,
|
|
// Auxiliary->GetNpilot(3)/32.1739 );
|
|
|
|
_set_Nlf( Aircraft->GetNlf() );
|
|
|
|
// Velocities
|
|
|
|
_set_Velocities_Local( Position->GetVn(),
|
|
Position->GetVe(),
|
|
Position->GetVd() );
|
|
|
|
_set_Velocities_Wind_Body( Translation->GetUVW(1),
|
|
Translation->GetUVW(2),
|
|
Translation->GetUVW(3) );
|
|
|
|
_set_V_rel_wind( Translation->GetVt() );
|
|
|
|
_set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
|
|
|
|
// _set_V_calibrated( Auxiliary->GetVcalibratedFPS() );
|
|
|
|
_set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
|
|
|
|
_set_V_ground_speed( Position->GetVground() );
|
|
|
|
_set_Omega_Body( Rotation->GetPQR(1),
|
|
Rotation->GetPQR(2),
|
|
Rotation->GetPQR(3) );
|
|
|
|
_set_Euler_Rates( Rotation->GetEulerRates(1),
|
|
Rotation->GetEulerRates(2),
|
|
Rotation->GetEulerRates(3) );
|
|
|
|
_set_Geocentric_Rates(Position->GetLatitudeDot(),
|
|
Position->GetLongitudeDot(),
|
|
Position->Gethdot() );
|
|
|
|
_set_Mach_number( Translation->GetMach() );
|
|
|
|
// Positions
|
|
_updateGeocentricPosition( Position->GetLatitude(),
|
|
Position->GetLongitude(),
|
|
Position->Geth() );
|
|
|
|
_set_Altitude_AGL( Position->GetDistanceAGL() );
|
|
|
|
_set_Euler_Angles( Rotation->Getphi(),
|
|
Rotation->Gettht(),
|
|
Rotation->Getpsi() );
|
|
|
|
_set_Alpha( Translation->Getalpha() );
|
|
_set_Beta( Translation->Getbeta() );
|
|
|
|
|
|
_set_Gamma_vert_rad( Position->GetGamma() );
|
|
// set_Gamma_horiz_rad( Gamma_horiz_rad );
|
|
|
|
_set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
|
|
|
|
_set_Climb_Rate( Position->Gethdot() );
|
|
|
|
|
|
for ( i = 1; i <= 3; i++ ) {
|
|
for ( j = 1; j <= 3; j++ ) {
|
|
_set_T_Local_to_Body( i, j, State->GetTl2b(i,j) );
|
|
}
|
|
}
|
|
|
|
// Copy the engine values from JSBSim.
|
|
for( i=0; i < Propulsion->GetNumEngines(); i++ ) {
|
|
SGPropertyNode * node = fgGetNode("engines/engine", i, true);
|
|
FGEngine * eng = Propulsion->GetEngine(i);
|
|
FGThruster * thrust = Propulsion->GetThruster(i);
|
|
|
|
node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
|
|
node->setDoubleValue("rpm", thrust->GetRPM());
|
|
node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
|
|
node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
|
|
node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
|
|
node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
|
|
node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
|
|
node->setBoolValue("running", eng->GetRunning());
|
|
node->setBoolValue("cranking", eng->GetCranking());
|
|
}
|
|
|
|
static const SGPropertyNode *fuel_freeze
|
|
= fgGetNode("/sim/freeze/fuel");
|
|
|
|
// Copy the fuel levels from JSBSim if fuel
|
|
// freeze not enabled.
|
|
if ( ! fuel_freeze->getBoolValue() ) {
|
|
for (i = 0; i < Propulsion->GetNumTanks(); i++) {
|
|
SGPropertyNode * node
|
|
= fgGetNode("/consumables/fuel/tank", i, true);
|
|
double contents = Propulsion->GetTank(i)->GetContents();
|
|
node->setDoubleValue("level-gal_us", contents/6.6);
|
|
// node->setDoubleValue("level-lb", contents);
|
|
}
|
|
}
|
|
|
|
update_gear();
|
|
|
|
stall_warning->setDoubleValue( Aircraft->GetStallWarn() );
|
|
|
|
/* elevator_pos_deg->setDoubleValue( FCS->GetDePos()*SG_RADIANS_TO_DEGREES );
|
|
left_aileron_pos_deg->setDoubleValue( FCS->GetDaLPos()*SG_RADIANS_TO_DEGREES );
|
|
right_aileron_pos_deg->setDoubleValue( FCS->GetDaRPos()*SG_RADIANS_TO_DEGREES );
|
|
rudder_pos_deg->setDoubleValue( -1*FCS->GetDrPos()*SG_RADIANS_TO_DEGREES );
|
|
flap_pos_deg->setDoubleValue( FCS->GetDfPos() ); */
|
|
|
|
|
|
elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
|
|
left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
|
|
right_aileron_pos_pct->setDoubleValue( -1*FCS->GetDaLPos(ofNorm) );
|
|
rudder_pos_pct->setDoubleValue( FCS->GetDrPos(ofNorm) );
|
|
flap_pos_pct->setDoubleValue( FCS->GetDfPos(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;
|
|
|
|
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 );
|
|
_set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
|
|
fgic->SetTerrainAltitudeFtIC( scenery.get_cur_elev() * 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 );
|
|
update_ic();
|
|
fgic->SetLongitudeRadIC( lon );
|
|
_set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
|
|
fgic->SetTerrainAltitudeFtIC( scenery.get_cur_elev() * SG_METER_TO_FEET );
|
|
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() );
|
|
|
|
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 );
|
|
_set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
|
|
fgic->SetTerrainAltitudeFtIC( scenery.get_cur_elev() * SG_METER_TO_FEET );
|
|
SG_LOG(SG_FLIGHT, SG_INFO,
|
|
"Terrain altitude: " << scenery.get_cur_elev() * 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 );
|
|
|
|
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 );
|
|
|
|
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 );
|
|
|
|
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 );
|
|
|
|
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 );
|
|
|
|
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 );
|
|
|
|
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::set_Static_pressure(double p) {
|
|
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_pressure: " << p );
|
|
|
|
update_ic();
|
|
Atmosphere->SetExPressure(p);
|
|
if(Atmosphere->External() == true)
|
|
needTrim=true;
|
|
}
|
|
|
|
void FGJSBsim::set_Static_temperature(double T) {
|
|
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_temperature: " << T );
|
|
|
|
Atmosphere->SetExTemperature(T);
|
|
if(Atmosphere->External() == true)
|
|
needTrim=true;
|
|
}
|
|
|
|
|
|
void FGJSBsim::set_Density(double rho) {
|
|
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Density: " << rho );
|
|
|
|
Atmosphere->SetExDensity(rho);
|
|
if(Atmosphere->External() == true)
|
|
needTrim=true;
|
|
}
|
|
|
|
void FGJSBsim::set_Velocities_Local_Airmass (double wnorth,
|
|
double weast,
|
|
double wdown ) {
|
|
//SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local_Airmass: "
|
|
// << wnorth << ", " << weast << ", " << wdown );
|
|
|
|
_set_Velocities_Local_Airmass( wnorth, weast, wdown );
|
|
fgic->SetWindNEDFpsIC( wnorth, weast, wdown );
|
|
if(Atmosphere->External() == true)
|
|
needTrim=true;
|
|
}
|
|
|
|
void FGJSBsim::init_gear(void ) {
|
|
|
|
FGGroundReactions* gr=fdmex->GetGroundReactions();
|
|
int Ngear=GroundReactions->GetNumGearUnits();
|
|
for (int i=0;i<Ngear;i++) {
|
|
SGPropertyNode * node = fgGetNode("gear/gear", i, true);
|
|
node->setDoubleValue("xoffset-in",
|
|
gr->GetGearUnit(i)->GetBodyLocation()(1));
|
|
node->setDoubleValue("yoffset-in",
|
|
gr->GetGearUnit(i)->GetBodyLocation()(2));
|
|
node->setDoubleValue("zoffset-in",
|
|
gr->GetGearUnit(i)->GetBodyLocation()(3));
|
|
node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW());
|
|
node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0);
|
|
node->setDoubleValue("position-norm", FCS->GetGearPos());
|
|
}
|
|
}
|
|
|
|
void FGJSBsim::update_gear(void) {
|
|
|
|
FGGroundReactions* gr=fdmex->GetGroundReactions();
|
|
int Ngear=GroundReactions->GetNumGearUnits();
|
|
for (int i=0;i<Ngear;i++) {
|
|
SGPropertyNode * node = fgGetNode("gear/gear", i, true);
|
|
node->getChild("wow", 0, true)
|
|
->setBoolValue(gr->GetGearUnit(i)->GetWOW());
|
|
node->getChild("position-norm", 0, true)
|
|
->setDoubleValue(FCS->GetGearPos());
|
|
}
|
|
}
|
|
|
|
void FGJSBsim::do_trim(void) {
|
|
|
|
FGTrim *fgtrim;
|
|
if(fgic->GetVcalibratedKtsIC() < 10 ) {
|
|
fgic->SetVcalibratedKtsIC(0.0);
|
|
fgtrim=new FGTrim(fdmex,fgic,tGround);
|
|
} else {
|
|
fgtrim=new FGTrim(fdmex,fgic,tLongitudinal);
|
|
}
|
|
if( !fgtrim->DoTrim() ) {
|
|
fgtrim->Report();
|
|
fgtrim->TrimStats();
|
|
} else {
|
|
trimmed->setBoolValue(true);
|
|
}
|
|
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() );
|
|
}
|
|
}
|