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flightgear/src/FDM/JSBSim/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 Lesser 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
// Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id: FlightGear.cxx,v 1.15 2014/01/28 09:42:20 ehofman Exp $
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <simgear/compiler.h>
#include <simgear/sg_inlines.h>
#include <cstdlib> // size_t
#include <string>
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/misc/sg_path.hxx>
#include <simgear/structure/commands.hxx>
#include <simgear/bvh/BVHMaterial.hxx>
#include <FDM/flight.hxx>
#include <Aircraft/controls.hxx>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
#include "JSBSim.hxx"
#include <FDM/JSBSim/FGFDMExec.h>
#include <FDM/JSBSim/FGJSBBase.h>
#include <FDM/JSBSim/initialization/FGInitialCondition.h>
#include <FDM/JSBSim/initialization/FGTrim.h>
#include <FDM/JSBSim/models/FGModel.h>
#include <FDM/JSBSim/models/FGAircraft.h>
#include <FDM/JSBSim/models/FGFCS.h>
#include <FDM/JSBSim/models/FGPropagate.h>
#include <FDM/JSBSim/models/FGAuxiliary.h>
#include <FDM/JSBSim/models/FGInertial.h>
#include <FDM/JSBSim/models/FGAtmosphere.h>
#include <FDM/JSBSim/models/FGMassBalance.h>
#include <FDM/JSBSim/models/FGAerodynamics.h>
#include <FDM/JSBSim/models/FGLGear.h>
#include <FDM/JSBSim/models/FGGroundReactions.h>
#include <FDM/JSBSim/models/FGPropulsion.h>
#include <FDM/JSBSim/models/FGAccelerations.h>
#include <FDM/JSBSim/models/atmosphere/FGWinds.h>
#include <FDM/JSBSim/models/propulsion/FGEngine.h>
#include <FDM/JSBSim/models/propulsion/FGPiston.h>
#include <FDM/JSBSim/models/propulsion/FGTurbine.h>
#include <FDM/JSBSim/models/propulsion/FGTurboProp.h>
#include <FDM/JSBSim/models/propulsion/FGRocket.h>
#include <FDM/JSBSim/models/propulsion/FGElectric.h>
#include <FDM/JSBSim/models/propulsion/FGNozzle.h>
#include <FDM/JSBSim/models/propulsion/FGPropeller.h>
#include <FDM/JSBSim/models/propulsion/FGRotor.h>
#include <FDM/JSBSim/models/propulsion/FGTank.h>
#include <FDM/JSBSim/input_output/FGPropertyManager.h>
#include <FDM/JSBSim/input_output/FGGroundCallback.h>
using namespace JSBSim;
static inline double
FMAX (double a, double b)
{
return a > b ? a : b;
}
class FGFSGroundCallback : public FGGroundCallback {
public:
FGFSGroundCallback(FGJSBsim* ifc) : mInterface(ifc) {}
virtual ~FGFSGroundCallback() {}
/** Get the altitude above sea level dependent on the location. */
virtual double GetAltitude(const FGLocation& l) const {
double pt[3] = { SG_FEET_TO_METER*l(FGJSBBase::eX),
SG_FEET_TO_METER*l(FGJSBBase::eY),
SG_FEET_TO_METER*l(FGJSBBase::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, FGColumnVector3& w) const {
double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
double contact[3], normal[3], vel[3], angularVel[3], agl = 0;
mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
vel, angularVel, &agl);
n = FGColumnVector3( normal[0], normal[1], normal[2] );
v = FGColumnVector3( vel[0], vel[1], vel[2] );
w = FGColumnVector3( angularVel[0], angularVel[1], angularVel[2] );
cont = FGColumnVector3( contact[0], contact[1], contact[2] );
return agl;
}
virtual double GetTerrainGeoCentRadius(double t, const FGLocation& l) const {
double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
double contact[3], normal[3], vel[3], angularVel[3], agl = 0;
mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
vel, angularVel, &agl);
return sqrt(contact[0]*contact[0]+contact[1]*contact[1]+contact[2]*contact[2]);
}
virtual double GetSeaLevelRadius(const FGLocation& l) const {
double seaLevelRadius, latGeoc;
sgGeodToGeoc(l.GetGeodLatitudeRad(), l.GetGeodAltitude(),
&seaLevelRadius, &latGeoc);
return seaLevelRadius * SG_METER_TO_FEET;
}
virtual void SetTerrainGeoCentRadius(double radius) {}
virtual void SetSeaLevelRadius(double radius) {}
private:
FGJSBsim* mInterface;
};
// FG uses a squared normalized magnitude for turbulence
// this lookup table maps fg's severity levels
// none(0), light(1/3), moderate(2/3) and severe(3/3)
// to the POE table indexes 0, 3, 4 and 7
class FGTurbulenceSeverityTable : public FGTable {
public:
FGTurbulenceSeverityTable() : FGTable(4) {
*this << (0.0/9.0) << 0.0;
*this << (1.0/9.0) << 3.0;
*this << (4.0/9.0) << 4.0;
*this << (9.0/9.0) << 7.0;
}
};
/******************************************************************************/
std::map<std::string,int> FGJSBsim::TURBULENCE_TYPE_NAMES;
static FGTurbulenceSeverityTable TurbulenceSeverityTable;
FGJSBsim::FGJSBsim( double dt )
: FGInterface(dt), got_wire(false)
{
bool result;
if( TURBULENCE_TYPE_NAMES.empty() ) {
TURBULENCE_TYPE_NAMES["ttNone"] = FGWinds::ttNone;
TURBULENCE_TYPE_NAMES["ttStandard"] = FGWinds::ttStandard;
TURBULENCE_TYPE_NAMES["ttCulp"] = FGWinds::ttCulp;
TURBULENCE_TYPE_NAMES["ttMilspec"] = FGWinds::ttMilspec;
TURBULENCE_TYPE_NAMES["ttTustin"] = FGWinds::ttTustin;
}
// Set up the debugging level
// FIXME: this will not respond to
// runtime changes
if ((sglog().get_log_classes() & SG_FLIGHT) != 0) {
// do a rough-and-ready mapping to
// the levels documented in FGFDMExec.h
switch (sglog().get_log_priority()) {
case SG_BULK:
FGJSBBase::debug_lvl = 0x1f;
break;
case SG_DEBUG:
FGJSBBase::debug_lvl = 0x1f;
case SG_INFO:
case SG_WARN:
case SG_ALERT:
case SG_POPUP:
FGJSBBase::debug_lvl = 0x00;
break;
}
} else {
// if flight is excluded, don't bother
FGJSBBase::debug_lvl = 0x00;
}
PropertyManager = new FGPropertyManager( (FGPropertyNode*)globals->get_props() );
fdmex = new FGFDMExec( PropertyManager );
// Register ground callback.
fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
Atmosphere = fdmex->GetAtmosphere();
Winds = fdmex->GetWinds();
FCS = fdmex->GetFCS();
MassBalance = fdmex->GetMassBalance();
Propulsion = fdmex->GetPropulsion();
Aircraft = fdmex->GetAircraft();
Propagate = fdmex->GetPropagate();
Auxiliary = fdmex->GetAuxiliary();
Inertial = fdmex->GetInertial();
Aerodynamics = fdmex->GetAerodynamics();
GroundReactions = fdmex->GetGroundReactions();
Accelerations = fdmex->GetAccelerations();
fgic=fdmex->GetIC();
needTrim=true;
SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
SGPath engine_path( fgGetString("/sim/fg-root") );
engine_path.append( "Aircraft/Generic/JSBSim/Engines" );
SGPath systems_path( fgGetString("/sim/fg-root") );
systems_path.append( "Aircraft/Generic/JSBSim/Systems" );
// deprecate sim-time-sec for simulation/sim-time-sec
// remove alias with increased configuration file version number (2.1 or later)
SGPropertyNode * node = fgGetNode("/fdm/jsbsim/simulation/sim-time-sec");
fgGetNode("/fdm/jsbsim/sim-time-sec", true)->alias( node );
// end of sim-time-sec deprecation patch
terrain = fgGetNode("/sim/fdm/surface", true);
fdmex->Setdt( dt );
result = fdmex->LoadModel( aircraft_path.local8BitStr(),
engine_path.local8BitStr(),
systems_path.local8BitStr(),
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++) {
double d;
SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
FGTank* tank = Propulsion->GetTank(i);
d = node->getNode( "density-ppg", true )->getDoubleValue();
if( d > 0.0 ) {
tank->SetDensity( d );
} else {
node->getNode( "density-ppg", true )->setDoubleValue( SG_MAX2<double>(tank->GetDensity(), 0.1) );
}
d = node->getNode( "level-lbs", true )->getDoubleValue();
if( d > 0.0 ) {
tank->SetContents( d );
} else {
node->getNode( "level-lbs", true )->setDoubleValue( tank->GetContents() );
}
/* Capacity is read-only in FGTank and can't be overwritten from FlightGear */
node->getNode("capacity-gal_us", true )->setDoubleValue( tank->GetCapacityGallons() );
}
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);
tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true);
wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-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);
ab_brake_engaged = fgGetNode("/autopilot/autobrake/engaged", true);
ab_brake_left_pct = fgGetNode("/autopilot/autobrake/brake-left-output", true);
ab_brake_right_pct = fgGetNode("/autopilot/autobrake/brake-right-output", true);
altitude = fgGetNode("/position/altitude-ft");
temperature = fgGetNode("/environment/temperature-degc",true);
pressure = fgGetNode("/environment/pressure-inhg",true);
pressureSL = fgGetNode("/environment/pressure-sea-level-inhg",true);
ground_wind = fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt",true);
turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
turbulence_model = fgGetNode("/environment/params/jsbsim-turbulence-model",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);
slaved = fgGetNode("/sim/slaved/enabled", 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());
}
hook_root_struct = FGColumnVector3(
fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
last_hook_tip[0] = 0; last_hook_tip[1] = 0; last_hook_tip[2] = 0;
last_hook_root[0] = 0; last_hook_root[1] = 0; last_hook_root[2] = 0;
crashed = false;
}
/******************************************************************************/
FGJSBsim::~FGJSBsim(void)
{
delete fdmex;
delete PropertyManager;
}
/******************************************************************************/
// 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.
if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
Atmosphere->SetTemperature(temperature->getDoubleValue(), get_Altitude(), FGAtmosphere::eCelsius);
Atmosphere->SetPressureSL(FGAtmosphere::eInchesHg, pressureSL->getDoubleValue());
// initialize to no turbulence, these values get set in the update loop
Winds->SetTurbType(FGWinds::ttNone);
Winds->SetTurbGain(0.0);
Winds->SetTurbRate(0.0);
Winds->SetWindspeed20ft(0.0);
Winds->SetProbabilityOfExceedence(0.0);
}
fgic->SetWindNEDFpsIC(0.0, 0.0, 0.0);
SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << Atmosphere->GetTemperature()
<< ", " << Atmosphere->GetPressure()
<< ", " << Atmosphere->GetDensity() );
FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
needTrim = startup_trim->getBoolValue();
common_init();
copy_to_JSBsim();
fdmex->RunIC(); //loop JSBSim once w/o integrating
if (fgGetBool("/sim/presets/running")) {
Propulsion->InitRunning(-1);
for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
globals->get_controls()->set_magnetos(i, eng->GetMagnetos());
globals->get_controls()->set_mixture(i, FCS->GetMixtureCmd(i));
}
}
if ( needTrim ) {
const FGLocation& cart = fgic->GetPosition();
double cart_pos[3], contact[3], d[3], vel[3], agl;
update_ground_cache(cart, cart_pos, 0.01);
get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
d, vel, d, &agl);
double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
+ contact[2]*contact[2]) - cart.GetSeaLevelRadius();
SG_LOG(SG_FLIGHT, SG_INFO, "Ready to trim, terrain elevation is: "
<< terrain_alt );
if (fgGetBool("/sim/presets/onground")) {
FGColumnVector3 gndVelNED = cart.GetTec2l()
* FGColumnVector3(vel[0], vel[1], vel[2]);
fgic->SetVNorthFpsIC(gndVelNED(1));
fgic->SetVEastFpsIC(gndVelNED(2));
fgic->SetVDownFpsIC(gndVelNED(3));
}
do_trim();
needTrim = false;
}
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(FGJSBBase::eNorth) << ", "
<< Propagate->GetVel(FGJSBBase::eEast) << ", "
<< Propagate->GetVel(FGJSBBase::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(FGJSBBase::ePhi)*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
<< Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
<< Propagate->GetEuler(FGJSBBase::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->GetAltitudeASL() << " 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() );
}
/******************************************************************************/
void FGJSBsim::unbind()
{
fdmex->Unbind();
FGInterface::unbind();
}
/******************************************************************************/
// Run an iteration of the EOM (equations of motion)
void FGJSBsim::update( double dt )
{
if(crashed) {
if(!fgGetBool("/sim/crashed"))
fgSetBool("/sim/crashed", true);
return;
}
if (is_suspended())
return;
int multiloop = _calc_multiloop(dt);
FGLocation cart = Auxiliary->GetLocationVRP();
double cart_pos[3];
update_ground_cache(cart, cart_pos, dt);
copy_to_JSBsim();
trimmed->setBoolValue(false);
for ( int i=0; i < multiloop; i++ ) {
if (!fdmex->Run()) {
// The property fdm/jsbsim/simulation/terminate has been set to true
// by the user. The sim is considered crashed.
crashed = true;
break;
}
update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT());
}
FGJSBBase::Message* msg;
while ((msg = fdmex->ProcessNextMessage()) != NULL) {
// msg = fdmex->ProcessNextMessage();
switch (msg->type) {
case FGJSBBase::Message::eText:
if (msg->text == "Crash Detected: Simulation FREEZE.")
crashed = true;
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();
}
/******************************************************************************/
void FGJSBsim::suspend()
{
fdmex->Hold();
SGSubsystem::suspend();
}
/******************************************************************************/
void FGJSBsim::resume()
{
fdmex->Resume();
SGSubsystem::resume();
}
/******************************************************************************/
// 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->SetDsCmd( globals->get_controls()->get_rudder() );
FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
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();
double left_brake = globals->get_controls()->get_brake_left();
double right_brake = globals->get_controls()->get_brake_right();
if (ab_brake_engaged->getBoolValue()) {
left_brake = ab_brake_left_pct->getDoubleValue();
right_brake = ab_brake_right_pct->getDoubleValue();
}
FCS->SetLBrake(FMAX(left_brake, parking_brake));
FCS->SetRBrake(FMAX(right_brake, 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));
FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(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
case FGEngine::etTurboprop:
{ // FGTurboProp code block
FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
eng->SetReverse( globals->get_controls()->get_reverser(i) );
eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
// eng->SetIgnition( globals->get_controls()->get_ignition(i) );
eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
eng->SetCondition( globals->get_controls()->get_condition(i) );
break;
} // end FGTurboProp code block
default:
break;
}
{ // 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
}
Atmosphere->SetTemperature(temperature->getDoubleValue(), get_Altitude(), FGAtmosphere::eCelsius);
Atmosphere->SetPressureSL(FGAtmosphere::eInchesHg, pressureSL->getDoubleValue());
Winds->SetTurbType((FGWinds::tType)TURBULENCE_TYPE_NAMES[turbulence_model->getStringValue()]);
switch( Winds->GetTurbType() ) {
case FGWinds::ttStandard:
case FGWinds::ttCulp: {
double tmp = turbulence_gain->getDoubleValue();
Winds->SetTurbGain(tmp * tmp * 100.0);
Winds->SetTurbRate(turbulence_rate->getDoubleValue());
break;
}
case FGWinds::ttMilspec:
case FGWinds::ttTustin: {
// milspec turbulence: 3=light, 4=moderate, 6=severe turbulence
// turbulence_gain normalized: 0: none, 1/3: light, 2/3: moderate, 3/3: severe
double tmp = turbulence_gain->getDoubleValue();
Winds->SetProbabilityOfExceedence(
SGMiscd::roundToInt(TurbulenceSeverityTable.GetValue( tmp ) )
);
Winds->SetWindspeed20ft(ground_wind->getDoubleValue());
break;
}
default:
break;
}
Winds->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);
double fuelDensity = node->getDoubleValue("density-ppg");
if (fuelDensity < 0.1)
fuelDensity = 6.0; // Use average fuel value
tank->SetDensity(fuelDensity);
tank->SetContents(node->getDoubleValue("level-lbs"));
}
Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
fdmex->SetChild(slaved->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( Accelerations->GetBodyAccel(1),
Accelerations->GetBodyAccel(2),
Accelerations->GetBodyAccel(3) );
_set_Accels_CG_Body_N ( Auxiliary->GetNcg(1),
Auxiliary->GetNcg(2),
Auxiliary->GetNcg(3) );
_set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
Auxiliary->GetPilotAccel(2),
Auxiliary->GetPilotAccel(3) );
_set_Nlf( Auxiliary->GetNlf() );
// Velocities
_set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
Propagate->GetVel(FGJSBBase::eEast),
Propagate->GetVel(FGJSBBase::eDown) );
_set_Velocities_Body( Propagate->GetUVW(1),
Propagate->GetUVW(2),
Propagate->GetUVW(3) );
// Make the HUD work ...
_set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
Propagate->GetVel(FGJSBBase::eEast),
-Propagate->GetVel(FGJSBBase::eDown) );
_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(FGJSBBase::eP),
Propagate->GetPQR(FGJSBBase::eQ),
Propagate->GetPQR(FGJSBBase::eR) );
_set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
Auxiliary->GetEulerRates(FGJSBBase::eTht),
Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
_set_Mach_number( Auxiliary->GetMach() );
// Positions of Visual Reference Point
FGLocation l = Auxiliary->GetLocationVRP();
_updatePosition(SGGeoc::fromRadFt( l.GetLongitude(), l.GetLatitude(),
l.GetRadius() ));
_set_Altitude_AGL( Propagate->GetDistanceAGL() );
{
double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
double contact[3], d[3], sd, t;
is_valid_m(&t, d, &sd);
get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, d, &sd);
double rwrad
= FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
_set_Runway_altitude( rwrad - get_Sea_level_radius() );
}
_set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
Propagate->GetEuler(FGJSBBase::eTht),
Propagate->GetEuler(FGJSBBase::ePsi) );
_set_Alpha( Auxiliary->Getalpha() );
_set_Beta( Auxiliary->Getbeta() );
_set_Gamma_vert_rad( Auxiliary->GetGamma() );
_set_Earth_position_angle( Propagate->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);
SGPropertyNode * tnode = node->getChild("thruster", 0, 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());
// NOTE: mp-osi is not in ounces per square inch.
// This error is left for reasons of backwards compatibility with
// existing FlightGear sound and instrument configurations.
node->setDoubleValue("mp-inhg", 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() != 0);
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::etTurboprop:
{ // FGTurboProp code block
FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
node->setDoubleValue("n1", eng->GetN1());
//node->setDoubleValue("n2", eng->GetN2());
node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
// node->setBoolValue("ignition", eng->GetIgnition() != 0);
// 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->setBoolValue("starting", eng->GetEngStarting());
node->setBoolValue("generator-power", eng->GetGeneratorPower());
node->setBoolValue("damaged", eng->GetCondition() != 0);
node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
// node->setBoolValue("onfire", eng->GetFire());
globals->get_controls()->set_reverser(i, eng->GetReversed() );
globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
} // end FGTurboProp 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;
case FGEngine::etUnknown:
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());
tnode->setBoolValue("feathered", prop->GetFeather());
} // 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();
double fuelDensity = tank->GetDensity();
if (fuelDensity < 0.1)
fuelDensity = 6.0; // Use average fuel value
node->setDoubleValue("density-ppg" , fuelDensity);
node->setDoubleValue("level-lbs", contents);
if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
node->setDoubleValue("arm-in", tank->GetXYZ(FGJSBBase::eX ) );
}
}
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) );
tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
// force a sim crashed if crashed (altitude AGL < 0)
if (get_Altitude_AGL() < -100.0) {
fdmex->SuspendIntegration();
crashed = true;
}
return true;
}
bool FGJSBsim::ToggleDataLogging(void)
{
// ToDo: handle this properly
fdmex->DisableOutput();
return false;
}
bool FGJSBsim::ToggleDataLogging(bool state)
{
if (state) {
fdmex->EnableOutput();
return true;
} else {
fdmex->DisableOutput();
return false;
}
}
//Positions
void FGJSBsim::set_Latitude(double lat)
{
double alt = altitude->getDoubleValue();
double sea_level_radius_meters, lat_geoc;
if ( alt < -9990 ) alt = 0.0;
SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
if (needTrim)
fgic->SetGeodLatitudeRadIC( lat );
else {
sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
&sea_level_radius_meters, &lat_geoc );
double sea_level_radius_ft = sea_level_radius_meters * SG_METER_TO_FEET;
_set_Sea_level_radius( sea_level_radius_ft );
Propagate->SetLatitude(lat_geoc);
}
FGInterface::set_Latitude(lat);
}
void FGJSBsim::set_Longitude(double lon)
{
SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
if (needTrim)
fgic->SetLongitudeRadIC(lon);
else
Propagate->SetLongitude(lon);
FGInterface::set_Longitude(lon);
}
// Sets the altitude above sea level.
void FGJSBsim::set_Altitude(double alt)
{
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
if (needTrim)
fgic->SetAltitudeASLFtIC(alt);
else
Propagate->SetAltitudeASL(alt);
FGInterface::set_Altitude(alt);
}
void FGJSBsim::set_V_calibrated_kts(double vc)
{
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
if (needTrim)
fgic->SetVcalibratedKtsIC(vc);
else {
double p=pressure->getDoubleValue();
double psl=fdmex->GetAtmosphere()->GetPressureSL();
double rhosl=fdmex->GetAtmosphere()->GetDensitySL();
double mach = FGJSBBase::MachFromVcalibrated(vc, p, psl, rhosl);
double temp = 1.8*(temperature->getDoubleValue()+273.15);
double soundSpeed = sqrt(1.4*1716.0*temp);
FGColumnVector3 vUVW = Propagate->GetUVW();
vUVW.Normalize();
vUVW *= mach * soundSpeed;
Propagate->SetUVW(1, vUVW(1));
Propagate->SetUVW(2, vUVW(2));
Propagate->SetUVW(3, vUVW(3));
}
FGInterface::set_V_calibrated_kts(vc);
}
void FGJSBsim::set_Mach_number(double mach)
{
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
if (needTrim)
fgic->SetMachIC(mach);
else {
double temp = 1.8*(temperature->getDoubleValue()+273.15);
double soundSpeed = sqrt(1.4*1716.0*temp);
FGColumnVector3 vUVW = Propagate->GetUVW();
vUVW.Normalize();
vUVW *= mach * soundSpeed;
Propagate->SetUVW(1, vUVW(1));
Propagate->SetUVW(2, vUVW(2));
Propagate->SetUVW(3, vUVW(3));
}
FGInterface::set_Mach_number(mach);
}
void FGJSBsim::set_Velocities_Local( double north, double east, double down )
{
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
<< north << ", " << east << ", " << down );
if (needTrim) {
fgic->SetVNorthFpsIC(north);
fgic->SetVEastFpsIC(east);
fgic->SetVDownFpsIC(down);
}
else {
FGColumnVector3 vNED(north, east, down);
FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
Propagate->SetUVW(1, vUVW(1));
Propagate->SetUVW(2, vUVW(2));
Propagate->SetUVW(3, vUVW(3));
}
FGInterface::set_Velocities_Local(north, east, down);
}
void FGJSBsim::set_Velocities_Body( double u, double v, double w)
{
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Body: "
<< u << ", " << v << ", " << w );
if (needTrim) {
fgic->SetUBodyFpsIC(u);
fgic->SetVBodyFpsIC(v);
fgic->SetWBodyFpsIC(w);
}
else {
Propagate->SetUVW(1, u);
Propagate->SetUVW(2, v);
Propagate->SetUVW(3, w);
}
FGInterface::set_Velocities_Body(u, v, w);
}
//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 );
if (needTrim) {
fgic->SetThetaRadIC(theta);
fgic->SetPhiRadIC(phi);
fgic->SetPsiRadIC(psi);
}
else {
FGQuaternion quat(phi, theta, psi);
FGMatrix33 Tl2b = quat.GetT();
FGMatrix33 Ti2b = Tl2b*Propagate->GetTi2l();
FGQuaternion Qi = Ti2b.GetQuaternion();
Propagate->SetInertialOrientation(Qi);
}
FGInterface::set_Euler_Angles(phi, theta, psi);
}
//Flight Path
void FGJSBsim::set_Climb_Rate( double roc)
{
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
//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 ) {
if (needTrim)
fgic->SetClimbRateFpsIC(roc);
else {
FGColumnVector3 vNED = Propagate->GetVel();
vNED(FGJSBBase::eDown) = -roc;
FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
Propagate->SetUVW(1, vUVW(1));
Propagate->SetUVW(2, vUVW(2));
Propagate->SetUVW(3, vUVW(3));
}
FGInterface::set_Climb_Rate(roc);
}
}
void FGJSBsim::set_Gamma_vert_rad( double gamma)
{
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
if (needTrim)
fgic->SetFlightPathAngleRadIC(gamma);
else {
FGColumnVector3 vNED = Propagate->GetVel();
double vt = vNED.Magnitude();
vNED(FGJSBBase::eDown) = -vt * sin(gamma);
FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
Propagate->SetUVW(1, vUVW(1));
Propagate->SetUVW(2, vUVW(2));
Propagate->SetUVW(3, vUVW(3));
}
FGInterface::set_Gamma_vert_rad(gamma);
}
}
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) * 12);
node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2) * 12);
node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3) * 12);
node->setBoolValue("wow", gear->GetWOW());
node->setDoubleValue("rollspeed-ms", gear->GetWheelRollVel()*0.3043);
node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
node->setDoubleValue("position-norm", gear->GetGearUnitPos());
// node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
node->setDoubleValue("compression-norm", gear->GetCompLen());
node->setDoubleValue("compression-ft", gear->GetCompLen());
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("rollspeed-ms", 0, true)->setDoubleValue(gear->GetWheelRollVel()*0.3043);
node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
// gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
node->setDoubleValue("compression-norm", gear->GetCompLen());
node->setDoubleValue("compression-ft", gear->GetCompLen());
if ( gear->GetSteerable() )
node->setDoubleValue("steering-norm", gear->GetSteerNorm());
}
}
void FGJSBsim::do_trim(void)
{
FGTrim *fgtrim;
if ( fgGetBool("/sim/presets/onground") )
{
fgtrim = new FGTrim(fdmex,tGround);
} else {
fgtrim = new FGTrim(fdmex,tFull);
}
if ( !fgtrim->DoTrim() ) {
fgtrim->Report();
fgtrim->TrimStats();
} else {
trimmed->setBoolValue(true);
}
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());
for( unsigned i = 0; i < Propulsion->GetNumEngines(); i++ )
globals->get_controls()->set_throttle(i, FCS->GetThrottleCmd(i));
globals->get_controls()->set_aileron(FCS->GetDaCmd());
globals->get_controls()->set_rudder( -FCS->GetDrCmd());
SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
}
bool FGJSBsim::update_ground_cache(const FGLocation& cart, double* cart_pos,
double dt)
{
// 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 (int 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();
cart_pos[0] = cart(1);
cart_pos[1] = cart(2);
cart_pos[2] = cart(3);
double t0 = fdmex->GetSimTime();
bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
groundCacheRadius );
if (!cache_ok) {
SG_LOG(SG_FLIGHT, SG_WARN,
"FGInterface is being called without scenery below the aircraft!");
SG_LOG(SG_FLIGHT, SG_WARN, "altitude = "
<< fgic->GetAltitudeASLFtIC());
SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = "
<< get_Sea_level_radius());
SG_LOG(SG_FLIGHT, SG_WARN, "latitude = "
<< fgic->GetLatitudeRadIC());
SG_LOG(SG_FLIGHT, SG_WARN, "longitude = "
<< fgic->GetLongitudeRadIC());
}
return cache_ok;
}
bool
FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
double contact[3], double normal[3], double vel[3],
double angularVel[3], double *agl)
{
const simgear::BVHMaterial* material;
simgear::BVHNode::Id id;
// don't check the return value and continue above scenery discontinuity
// see http://osdir.com/ml/flightgear-sim/2014-04/msg00145.html
FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
angularVel, material, id);
SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt));
SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
*agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt));
#ifdef JSBSIM_USE_GROUNDREACTIONS
bool terrain_active = (terrain->getIntValue("override-level", -1) > 0) ? false : true;
terrain->setBoolValue("active", terrain_active);
terrain->setBoolValue("valid", (material && terrain_active) ? true : false);
if (terrain_active)
{
static bool material_valid = false;
if (material) {
GroundReactions->SetStaticFFactor((*material).get_friction_factor());
GroundReactions->SetRollingFFactor((*material).get_rolling_friction()/0.02);
// 1 Pascal = 0.00014503773800721815 lbs/in^2
double pressure = (*material).get_load_resistance(); // N/m^2 (or Pascal)
GroundReactions->SetMaximumForce(pressure*0.00014503773800721815);
GroundReactions->SetBumpiness((*material).get_bumpiness());
GroundReactions->SetSolid((*material).get_solid());
GroundReactions->SetPosition(pt);
material_valid = true;
} else {
if (material_valid) {
GroundReactions->resetValues();
material_valid = false;
}
}
}
#else
terrain->setBoolValue("valid", false);
#endif
return true;
}
inline static double sqr(double x)
{
return x * x;
}
static double angle_diff(double a, double b)
{
double diff = fabs(a - b);
if (diff > 180) diff = 360 - diff;
return diff;
}
static void check_hook_solution(const FGColumnVector3& ground_normal_body, double E, double hook_length, double sin_fi_guess, double cos_fi_guess, double* sin_fis, double* cos_fis, double* fis, int* points)
{
FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
double dist = DotProduct(tip, ground_normal_body);
if (fabs(dist + E) < 0.0001) {
sin_fis[*points] = sin_fi_guess;
cos_fis[*points] = cos_fi_guess;
fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
(*points)++;
}
}
static void check_hook_solution(const FGColumnVector3& ground_normal_body, double E, double hook_length, double sin_fi_guess, double* sin_fis, double* cos_fis, double* fis, int* points)
{
if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
if (fabs(cos_fi_guess) > SG_EPSILON) {
check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
}
}
}
void FGJSBsim::update_external_forces(double t_off)
{
const FGMatrix33& Tb2l = Propagate->GetTb2l();
const FGMatrix33& Tl2b = Propagate->GetTl2b();
const FGLocation& Location = Propagate->GetLocation();
const FGMatrix33& Tec2l = Location.GetTec2l();
double hook_area[4][3];
FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l * hook_root_body);
hook_area[1][0] = hook_root(1);
hook_area[1][1] = hook_root(2);
hook_area[1][2] = hook_root(3);
hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
FGColumnVector3 hook_tip_body = hook_root_body;
hook_tip_body(1) -= hook_length * cos_fi;
hook_tip_body(3) += hook_length * sin_fi;
double contact[3];
double ground_normal[3];
double ground_vel[3];
double ground_angular_vel[3];
double root_agl_ft;
if (!got_wire) {
bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal,
ground_vel, ground_angular_vel, &root_agl_ft);
if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
double D = -DotProduct(contact_body, ground_normal_body);
// check hook tip agl against same ground plane
double hook_tip_agl_ft = DotProduct(hook_tip_body, ground_normal_body) + D;
if (hook_tip_agl_ft < 0) {
// hook tip: hx - l cos, hy, hz + l sin
// on ground: - n0 l cos + n2 l sin + E = 0
double E = D + DotProduct(hook_root_body, ground_normal_body);
// substitue x = sin fi, cos fi = sqrt(1 - x * x)
// and rearrange to get a quadratic with coeffs:
double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
double b = 2 * E * ground_normal_body(3) * hook_length;
double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
double disc = sqr(b) - 4 * a * c;
if (disc >= 0) {
double delta = sqrt(disc) / (2 * a);
// allow 4 solutions for safety, should never happen
double sin_fis[4];
double cos_fis[4];
double fis[4];
int points = 0;
double sin_fi_guess = -b / (2 * a) - delta;
check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
if (points == 2) {
double diff1 = angle_diff(fi, fis[0]);
double diff2 = angle_diff(fi, fis[1]);
int point = diff1 < diff2 ? 0 : 1;
fi = fis[point];
sin_fi = sin_fis[point];
cos_fi = cos_fis[point];
hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
}
}
}
}
} else {
FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() * hook_root_body));
double wire_ends_ec[2][3];
double wire_vel_ec[2][3];
get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
if (rel_vel.Magnitude() < 3) {
got_wire = false;
release_wire();
fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
} else {
FGColumnVector3 wire_end1_body = Tl2b * Location.LocationToLocal(FGColumnVector3(wire_ends_ec[0][0], wire_ends_ec[0][1], wire_ends_ec[0][2])) - hook_root_body;
FGColumnVector3 wire_end2_body = Tl2b * Location.LocationToLocal(FGColumnVector3(wire_ends_ec[1][0], wire_ends_ec[1][1], wire_ends_ec[1][2])) - hook_root_body;
FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
force_plane_normal.Normalize();
cos_fi = DotProduct(force_plane_normal, FGColumnVector3(0, 0, 1));
if (cos_fi < 0) cos_fi = -cos_fi;
sin_fi = sqrt(1 - sqr(cos_fi));
fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
}
}
FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
hook_area[0][0] = hook_tip(1);
hook_area[0][1] = hook_tip(2);
hook_area[0][2] = hook_tip(3);
if (!got_wire) {
// The previous positions.
hook_area[2][0] = last_hook_root[0];
hook_area[2][1] = last_hook_root[1];
hook_area[2][2] = last_hook_root[2];
hook_area[3][0] = last_hook_tip[0];
hook_area[3][1] = last_hook_tip[1];
hook_area[3][2] = last_hook_tip[2];
// Check if we caught a wire.
// Returns true if we caught one.
if (caught_wire_ft(t_off, hook_area)) {
got_wire = true;
}
}
// save actual position as old position ...
last_hook_tip[0] = hook_area[0][0];
last_hook_tip[1] = hook_area[0][1];
last_hook_tip[2] = hook_area[0][2];
last_hook_root[0] = hook_area[1][0];
last_hook_root[1] = hook_area[1][1];
last_hook_root[2] = hook_area[1][2];
fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);
}
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