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flightgear/src/FDM/JSBSim.cxx
curt 37c2b6002c Rename FGInterface::_updatePosition() -> 
FGInterface::_updateGeocentricPosition() for clarity.  Also added an
  FGInterface::_updateGeodeticPosition() since it is useful.
A few clean ups to native_fdm.cxx and raw_fdm.hxx.
2001-12-12 05:18:46 +00:00

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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.
//
// $Id$
#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 "JSBSim.hxx"
/******************************************************************************/
FGJSBsim::FGJSBsim( double dt )
: FGInterface(dt)
{
bool result;
fdmex = new FGFDMExec;
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 );
for(int i=0;i<Neng;i++) {
add_engine( FGEngInterface() );
}
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();
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);
}
/******************************************************************************/
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();
fdmex->GetState()->Initialize(fgic);
fdmex->RunIC(fgic); //loop JSBSim once w/o integrating
// fdmex->Run(); //loop JSBSim once
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)
bool FGJSBsim::update( int multiloop ) {
int i;
double save_alt = 0.0;
copy_to_JSBsim();
trimmed->setBoolValue(false);
if ( needTrim ) {
if ( startup_trim->getBoolValue() ) {
do_trim();
} else {
fdmex->RunIC(fgic); //apply any changes made through the set_ functions
}
needTrim = false;
}
for( i=0; i<get_num_engines(); i++ ) {
FGEngInterface * e = get_engine(i);
FGEngine * eng = Propulsion->GetEngine(i);
FGThruster * thrust = Propulsion->GetThruster(i);
eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
eng->SetStarter( globals->get_controls()->get_starter(i) );
e->set_Throttle( globals->get_controls()->get_throttle(i) );
}
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;
}
}
for( i=0; i<get_num_engines(); i++ ) {
FGEngInterface * e = get_engine(i);
FGEngine * eng = Propulsion->GetEngine(i);
FGThruster * thrust = Propulsion->GetThruster(i);
e->set_Manifold_Pressure( eng->getManifoldPressure_inHg() );
e->set_RPM( thrust->GetRPM() );
e->set_EGT( eng->getExhaustGasTemp_degF() );
e->set_CHT( eng->getCylinderHeadTemp_degF() );
e->set_Oil_Temp( eng->getOilTemp_degF() );
e->set_Running_Flag( eng->GetRunning() );
e->set_Cranking_Flag( eng->GetCranking() );
}
update_gear();
stall_warning->setDoubleValue( Aircraft->GetStallWarn() );
// translate JSBsim back to FG structure so that the
// autopilot (and the rest of the sim can use the updated values
copy_from_JSBsim();
return true;
}
/******************************************************************************/
// Convert from the FGInterface struct to the JSBsim generic_ struct
bool FGJSBsim::copy_to_JSBsim() {
// copy control positions into the JSBsim structure
FCS->SetDaCmd( globals->get_controls()->get_aileron());
FCS->SetDeCmd( globals->get_controls()->get_elevator());
FCS->SetPitchTrimCmd(globals->get_controls()->get_elevator_trim());
FCS->SetDrCmd( -globals->get_controls()->get_rudder());
FCS->SetDfCmd( globals->get_controls()->get_flaps() );
FCS->SetDsbCmd( 0.0 ); //speedbrakes
FCS->SetDspCmd( 0.0 ); //spoilers
FCS->SetLBrake( globals->get_controls()->get_brake( 0 ) );
FCS->SetRBrake( globals->get_controls()->get_brake( 1 ) );
FCS->SetCBrake( globals->get_controls()->get_brake( 2 ) );
FCS->SetGearCmd( globals->get_controls()->get_gear_down());
for (int i = 0; i < get_num_engines(); i++) {
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));
}
Position->SetSeaLevelRadius( get_Sea_level_radius() );
Position->SetRunwayRadius( scenery.get_cur_elev()*SG_METER_TO_FEET
+ 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() );
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) );
}
}
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;
if ( altitude->getDoubleValue() > -9990 ) {
alt = altitude->getDoubleValue();
} else {
alt = 0.0;
}
double sea_level_radius_meters, lat_geoc;
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 );
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() );
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 );
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 );
fgic->SetVcalibratedKtsIC(vc);
needTrim=true;
}
void FGJSBsim::set_Mach_number(double mach) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
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 );
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 );
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 );
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 );
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 );
fgic->SetFlightPathAngleRadIC(gamma);
needTrim=true;
}
//Earth
void FGJSBsim::set_Sea_level_radius(double slr) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Sea_level_radius: " << slr );
fgic->SetSeaLevelRadiusFtIC(slr);
needTrim=true;
}
void FGJSBsim::set_Runway_altitude(double ralt) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Runway_altitude: " << ralt );
_set_Runway_altitude( ralt );
fgic->SetTerrainAltitudeFtIC( ralt );
needTrim=true;
}
void FGJSBsim::set_Static_pressure(double p) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_pressure: " << p );
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 );
Atmosphere->SetWindNED(wnorth, weast, wdown );
if(Atmosphere->External() == true)
needTrim=true;
}
void FGJSBsim::init_gear(void ) {
FGGearInterface *gear;
FGGroundReactions* gr=fdmex->GetGroundReactions();
int Ngear=GroundReactions->GetNumGearUnits();
for (int i=0;i<Ngear;i++) {
add_gear_unit( FGGearInterface() );
gear=get_gear_unit(i);
gear->SetX( gr->GetGearUnit(i)->GetBodyLocation()(1) );
gear->SetY( gr->GetGearUnit(i)->GetBodyLocation()(2) );
gear->SetZ( gr->GetGearUnit(i)->GetBodyLocation()(3) );
gear->SetWoW( gr->GetGearUnit(i)->GetWOW() );
if ( gr->GetGearUnit(i)->GetBrakeGroup() > 0 ) {
gear->SetBrake(true);
}
if ( gr->GetGearUnit(i)->GetRetractable() ) {
gear->SetPosition( FCS->GetGearPos() );
} else {
gear->SetPosition( 1.0 );
}
}
}
void FGJSBsim::update_gear(void) {
FGGearInterface* gear;
FGGroundReactions* gr=fdmex->GetGroundReactions();
int Ngear=GroundReactions->GetNumGearUnits();
for (int i=0;i<Ngear;i++) {
gear=get_gear_unit(i);
gear->SetWoW( gr->GetGearUnit(i)->GetWOW() );
if ( gr->GetGearUnit(i)->GetRetractable() ) {
gear->SetPosition( 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" );
}
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