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flightgear/FDM/JSBsim.cxx

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// 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.
//
// $Id$
// (Log is kept at end of this file)
#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 "JSBsim.hxx"
#include <Aircraft/aircraft.hxx>
#include <Controls/controls.hxx>
#include <Debug/logstream.hxx>
#include <Include/fg_constants.h>
#include <Math/fg_geodesy.hxx>
// The default aircraft
FGFDMExec FDMExec;
// Initialize the JSBsim flight model, dt is the time increment for
// each subsequent iteration through the EOM
int fgJSBsimInit(double dt) {
FG_LOG( FG_FLIGHT, FG_INFO, "Starting initializing JSBsim" );
FG_LOG( FG_FLIGHT, FG_INFO, " created FDMExec" );
FDMExec.GetAircraft()->LoadAircraft("X15");
FG_LOG( FG_FLIGHT, FG_INFO, " loaded aircraft" );
FDMExec.GetState()->Reset("reset00");
FG_LOG( FG_FLIGHT, FG_INFO, " loaded initial conditions" );
FDMExec.GetState()->Setdt(dt);
FG_LOG( FG_FLIGHT, FG_INFO, " set dt" );
FG_LOG( FG_FLIGHT, FG_INFO, "Finished initializing JSBsim" );
return 1;
}
// Run an iteration of the EOM (equations of motion)
int fgJSBsimUpdate(FGInterface& f, int multiloop) {
double save_alt = 0.0;
// lets try to avoid really screwing up the JSBsim model
if ( f.get_Altitude() < -9000 ) {
save_alt = f.get_Altitude();
f.set_Altitude( 0.0 );
}
// copy control positions into the JSBsim structure
FDMExec.GetFCS()->SetDa( controls.get_aileron() );
FDMExec.GetFCS()->SetDe( controls.get_elevator()
+ controls.get_elevator_trim() );
FDMExec.GetFCS()->SetDr( controls.get_rudder() );
FDMExec.GetFCS()->SetDf( 0.0 );
FDMExec.GetFCS()->SetDs( 0.0 );
FDMExec.GetFCS()->SetThrottle( FGControls::ALL_ENGINES,
controls.get_throttle( 0 ) );
// FCS->SetBrake( controls.get_brake( 0 ) );
// Inform JSBsim of the local terrain altitude
// Runway_altitude = f.get_Runway_altitude();
// old -- FGInterface_2_JSBsim() not needed except for Init()
// translate FG to JSBsim structure
// FGInterface_2_JSBsim(f);
// printf("FG_Altitude = %.2f\n", FG_Altitude * 0.3048);
// printf("Altitude = %.2f\n", Altitude * 0.3048);
// printf("Radius to Vehicle = %.2f\n", Radius_to_vehicle * 0.3048);
/* FDMExec.GetState()->Setsim_time(State->Getsim_time()
+ State->Getdt() * multiloop); */
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
fgJSBsim_2_FGInterface(f);
// but lets restore our original bogus altitude when we are done
if ( save_alt < -9000.0 ) {
f.set_Altitude( save_alt );
}
return 1;
}
// Convert from the FGInterface struct to the JSBsim generic_ struct
int FGInterface_2_JSBsim (FGInterface& f) {
return 1;
}
// Convert from the JSBsim generic_ struct to the FGInterface struct
int fgJSBsim_2_FGInterface (FGInterface& f) {
// Velocities
f.set_Velocities_Local( FDMExec.GetPosition()->GetVn(),
FDMExec.GetPosition()->GetVe(),
FDMExec.GetPosition()->GetVd() );
// f.set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
// V_down_rel_ground );
// f.set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
// V_down_airmass );
// f.set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
// V_east_rel_airmass, V_down_rel_airmass );
// f.set_Velocities_Gust( U_gust, V_gust, W_gust );
// f.set_Velocities_Wind_Body( U_body, V_body, W_body );
// f.set_V_rel_wind( V_rel_wind );
// f.set_V_true_kts( V_true_kts );
// f.set_V_rel_ground( V_rel_ground );
// f.set_V_inertial( V_inertial );
// f.set_V_ground_speed( V_ground_speed );
// f.set_V_equiv( V_equiv );
/* ***FIXME*** */ f.set_V_equiv_kts( FDMExec.GetState()->GetVt() );
// f.set_V_calibrated( V_calibrated );
// f.set_V_calibrated_kts( V_calibrated_kts );
f.set_Omega_Body( FDMExec.GetRotation()->GetP(),
FDMExec.GetRotation()->GetQ(),
FDMExec.GetRotation()->GetR() );
// f.set_Omega_Local( P_local, Q_local, R_local );
// f.set_Omega_Total( P_total, Q_total, R_total );
// f.set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
// ***FIXME*** f.set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
// Positions
double lat = FDMExec.GetState()->Getlatitude();
double lon = FDMExec.GetState()->Getlongitude();
double alt = FDMExec.GetState()->Geth();
double lat_geoc, sl_radius;
fgGeodToGeoc( lat, alt * FEET_TO_METER, &sl_radius, &lat_geoc );
FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << lon << " lat = " << lat
<< " lat_geoc = " << lat_geoc
<< " alt = " << alt
<< " sl_radius = " << sl_radius * METER_TO_FEET);
f.set_Geocentric_Position( lat_geoc, lon, sl_radius * METER_TO_FEET + alt );
f.set_Geodetic_Position( lat, lon, alt );
f.set_Euler_Angles( FDMExec.GetRotation()->Getphi(),
FDMExec.GetRotation()->Gettht(),
FDMExec.GetRotation()->Getpsi() );
// Miscellaneous quantities
// f.set_T_Local_to_Body(T_local_to_body_m);
// f.set_Gravity( Gravity );
// f.set_Centrifugal_relief( Centrifugal_relief );
f.set_Alpha( FDMExec.GetTranslation()->Getalpha() );
f.set_Beta( FDMExec.GetTranslation()->Getbeta() );
// f.set_Alpha_dot( Alpha_dot );
// f.set_Beta_dot( Beta_dot );
// f.set_Cos_alpha( Cos_alpha );
// f.set_Sin_alpha( Sin_alpha );
// f.set_Cos_beta( Cos_beta );
// f.set_Sin_beta( Sin_beta );
// f.set_Cos_phi( Cos_phi );
// f.set_Sin_phi( Sin_phi );
// f.set_Cos_theta( Cos_theta );
// f.set_Sin_theta( Sin_theta );
// f.set_Cos_psi( Cos_psi );
// f.set_Sin_psi( Sin_psi );
// ***ATTENDTOME*** f.set_Gamma_vert_rad( Gamma_vert_rad );
// f.set_Gamma_horiz_rad( Gamma_horiz_rad );
// f.set_Sigma( Sigma );
// f.set_Density( Density );
// f.set_V_sound( V_sound );
// f.set_Mach_number( Mach_number );
// f.set_Static_pressure( Static_pressure );
// f.set_Total_pressure( Total_pressure );
// f.set_Impact_pressure( Impact_pressure );
// f.set_Dynamic_pressure( Dynamic_pressure );
// f.set_Static_temperature( Static_temperature );
// f.set_Total_temperature( Total_temperature );
/* **FIXME*** */ f.set_Sea_level_radius( sl_radius * METER_TO_FEET );
/* **FIXME*** */ f.set_Earth_position_angle( 0.0 );
/* ***FIXME*** */ f.set_Runway_altitude( 0.0 );
// f.set_Runway_latitude( Runway_latitude );
// f.set_Runway_longitude( Runway_longitude );
// f.set_Runway_heading( Runway_heading );
// f.set_Radius_to_rwy( Radius_to_rwy );
// f.set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
// f.set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
// f.set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
// D_pilot_above_rwy );
// f.set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
return 0;
}
// $Log$
// Revision 1.2 1999/02/11 21:09:40 curt
// Interface with Jon's submitted JSBsim changes.
//
// Revision 1.1 1999/02/05 21:29:38 curt
// Incorporating Jon S. Berndt's flight model code.
//
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