1 // JSBsim.cxx -- interface to the JSBsim flight model
2 //
3 // Written by Curtis Olson, started February 1999.
4 //
5 // Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
6 //
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU Lesser General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
11 //
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // Lesser General Public License for more details.
16 //
17 // You should have received a copy of the GNU Lesser General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA.
20 //
21 // $Id: FlightGear.cxx,v 1.15 2014/01/28 09:42:20 ehofman Exp $
22
23
24 #ifdef HAVE_CONFIG_H
25 # include <config.h>
26 #endif
27
28 #include <simgear/compiler.h>
29 #include <simgear/sg_inlines.h>
30
31 #include <cstdlib> // size_t
32 #include <string>
33
34 #include <simgear/constants.h>
35 #include <simgear/debug/logstream.hxx>
36 #include <simgear/math/sg_geodesy.hxx>
37 #include <simgear/misc/sg_path.hxx>
38 #include <simgear/structure/commands.hxx>
39 #include <simgear/bvh/BVHMaterial.hxx>
40
41 #include <FDM/flight.hxx>
42
43 #include <Aircraft/controls.hxx>
44 #include <Main/globals.hxx>
45 #include <Main/fg_props.hxx>
46
47 #include "JSBSim.hxx"
48 #include <FDM/JSBSim/FGFDMExec.h>
49 #include <FDM/JSBSim/FGJSBBase.h>
50 #include <FDM/JSBSim/initialization/FGInitialCondition.h>
51 #include <FDM/JSBSim/initialization/FGTrim.h>
52 #include <FDM/JSBSim/models/FGModel.h>
53 #include <FDM/JSBSim/models/FGAircraft.h>
54 #include <FDM/JSBSim/models/FGFCS.h>
55 #include <FDM/JSBSim/models/FGPropagate.h>
56 #include <FDM/JSBSim/models/FGAuxiliary.h>
57 #include <FDM/JSBSim/models/FGInertial.h>
58 #include <FDM/JSBSim/models/FGMassBalance.h>
59 #include <FDM/JSBSim/models/FGAerodynamics.h>
60 #include <FDM/JSBSim/models/FGLGear.h>
61 #include <FDM/JSBSim/models/FGGroundReactions.h>
62 #include <FDM/JSBSim/models/FGPropulsion.h>
63 #include <FDM/JSBSim/models/FGAccelerations.h>
64 #include <FDM/JSBSim/models/atmosphere/FGStandardAtmosphere.h>
65 #include <FDM/JSBSim/models/atmosphere/FGWinds.h>
66 #include <FDM/JSBSim/models/propulsion/FGEngine.h>
67 #include <FDM/JSBSim/models/propulsion/FGPiston.h>
68 #include <FDM/JSBSim/models/propulsion/FGTurbine.h>
69 #include <FDM/JSBSim/models/propulsion/FGTurboProp.h>
70 #include <FDM/JSBSim/models/propulsion/FGRocket.h>
71 #include <FDM/JSBSim/models/propulsion/FGElectric.h>
72 #include <FDM/JSBSim/models/propulsion/FGNozzle.h>
73 #include <FDM/JSBSim/models/propulsion/FGPropeller.h>
74 #include <FDM/JSBSim/models/propulsion/FGRotor.h>
75 #include <FDM/JSBSim/models/propulsion/FGTank.h>
76 #include <FDM/JSBSim/input_output/FGPropertyManager.h>
77 #include <FDM/JSBSim/input_output/FGGroundCallback.h>
78
79 using namespace JSBSim;
80
81 static inline double
FMAX(double a,double b)82 FMAX (double a, double b)
83 {
84 return a > b ? a : b;
85 }
86
87 class FGFSGroundCallback : public FGGroundCallback {
88 public:
FGFSGroundCallback(FGJSBsim * ifc)89 FGFSGroundCallback(FGJSBsim* ifc) : mInterface(ifc) {}
~FGFSGroundCallback()90 virtual ~FGFSGroundCallback() {}
91
92 /** Get the altitude above sea level dependent on the location. */
GetAltitude(const FGLocation & l) const93 virtual double GetAltitude(const FGLocation& l) const {
94 double pt[3] = { SG_FEET_TO_METER*l(FGJSBBase::eX),
95 SG_FEET_TO_METER*l(FGJSBBase::eY),
96 SG_FEET_TO_METER*l(FGJSBBase::eZ) };
97 double lat, lon, alt;
98 sgCartToGeod( pt, &lat, &lon, &alt);
99 return alt * SG_METER_TO_FEET;
100 }
101
102 /** Compute the altitude above ground. */
GetAGLevel(double t,const FGLocation & l,FGLocation & cont,FGColumnVector3 & n,FGColumnVector3 & v,FGColumnVector3 & w) const103 double GetAGLevel(double t, const FGLocation& l, FGLocation& cont,
104 FGColumnVector3& n, FGColumnVector3& v, FGColumnVector3& w)
105 const override {
106 double contact[3], normal[3], vel[3], angularVel[3];
107 double agl = mInterface->get_agl_ft(t, l, SG_METER_TO_FEET*2, contact,
108 normal, vel, angularVel);
109 n = FGColumnVector3( normal[0], normal[1], normal[2] );
110 v = FGColumnVector3( vel[0], vel[1], vel[2] );
111 w = FGColumnVector3( angularVel[0], angularVel[1], angularVel[2] );
112 cont = FGColumnVector3( contact[0], contact[1], contact[2] );
113 return agl;
114 }
115
GetTerrainGeoCentRadius(double t,const FGLocation & l) const116 double GetTerrainGeoCentRadius(double t, const FGLocation& l) const override {
117 double contact[3], normal[3], vel[3], angularVel[3];
118 mInterface->get_agl_ft(t, l, SG_METER_TO_FEET*2, contact,
119 normal, vel, angularVel);
120 return sqrt(contact[0]*contact[0]+contact[1]*contact[1]+contact[2]*contact[2]);
121 }
122
GetSeaLevelRadius(const FGLocation & l) const123 double GetSeaLevelRadius(const FGLocation& l) const override {
124 double seaLevelRadius, latGeoc;
125
126 sgGeodToGeoc(l.GetGeodLatitudeRad(), l.GetGeodAltitude(),
127 &seaLevelRadius, &latGeoc);
128
129 return seaLevelRadius * SG_METER_TO_FEET;
130 }
131
SetTerrainGeoCentRadius(double radius)132 void SetTerrainGeoCentRadius(double radius) override {}
133 private:
134 FGJSBsim* mInterface;
135 };
136
137 // FG uses a squared normalized magnitude for turbulence
138 // this lookup table maps fg's severity levels
139 // none(0), light(1/3), moderate(2/3) and severe(3/3)
140 // to the POE table indexes 0, 3, 4 and 7
141 class FGTurbulenceSeverityTable : public FGTable {
142 public:
FGTurbulenceSeverityTable()143 FGTurbulenceSeverityTable() : FGTable(4) {
144 *this << (0.0/9.0) << 0.0;
145 *this << (1.0/9.0) << 3.0;
146 *this << (4.0/9.0) << 4.0;
147 *this << (9.0/9.0) << 7.0;
148 }
149 };
150
151 /******************************************************************************/
152 std::map<std::string,int> FGJSBsim::TURBULENCE_TYPE_NAMES;
153
154 static FGTurbulenceSeverityTable TurbulenceSeverityTable;
155
FGJSBsim(double dt)156 FGJSBsim::FGJSBsim( double dt )
157 : FGInterface(dt)
158 {
159 bool result;
160 if( TURBULENCE_TYPE_NAMES.empty() ) {
161 TURBULENCE_TYPE_NAMES["ttNone"] = FGWinds::ttNone;
162 TURBULENCE_TYPE_NAMES["ttStandard"] = FGWinds::ttStandard;
163 TURBULENCE_TYPE_NAMES["ttCulp"] = FGWinds::ttCulp;
164 TURBULENCE_TYPE_NAMES["ttMilspec"] = FGWinds::ttMilspec;
165 TURBULENCE_TYPE_NAMES["ttTustin"] = FGWinds::ttTustin;
166 }
167
168 // Set up the debugging level
169 // FIXME: this will not respond to
170 // runtime changes
171
172 if ((sglog().get_log_classes() & SG_FLIGHT) != 0) {
173
174 // do a rough-and-ready mapping to
175 // the levels documented in FGFDMExec.h
176 switch (sglog().get_log_priority()) {
177 case SG_BULK:
178 FGJSBBase::debug_lvl = 0x1f;
179 break;
180 case SG_DEBUG:
181 FGJSBBase::debug_lvl = 0x1f;
182 case SG_INFO:
183 case SG_WARN:
184 case SG_ALERT:
185 case SG_POPUP:
186 FGJSBBase::debug_lvl = 0x00;
187 break;
188
189 default:
190 // silence warning about unhandled cases
191 FGJSBBase::debug_lvl = 0x00;
192 break;
193 }
194 } else {
195 // if flight is excluded, don't bother
196 FGJSBBase::debug_lvl = 0x00;
197 }
198
199 PropertyManager = new FGPropertyManager( (FGPropertyNode*)globals->get_props() );
200 fdmex = new FGFDMExec( PropertyManager );
201 fdmex->Hold();
202
203 // Register ground callback.
204 fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
205
206 Atmosphere = fdmex->GetAtmosphere();
207 Winds = fdmex->GetWinds();
208 FCS = fdmex->GetFCS();
209 MassBalance = fdmex->GetMassBalance();
210 Propulsion = fdmex->GetPropulsion();
211 Aircraft = fdmex->GetAircraft();
212 Propagate = fdmex->GetPropagate();
213 Auxiliary = fdmex->GetAuxiliary();
214 Inertial = fdmex->GetInertial();
215 Aerodynamics = fdmex->GetAerodynamics();
216 GroundReactions = fdmex->GetGroundReactions();
217 Accelerations = fdmex->GetAccelerations();
218
219 fgic=fdmex->GetIC();
220 needTrim=true;
221
222 SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
223
224 SGPath engine_path( fgGetString("/sim/fg-root") );
225 engine_path.append( "Aircraft/Generic/JSBSim/Engines" );
226
227 SGPath systems_path( fgGetString("/sim/fg-root") );
228 systems_path.append( "Aircraft/Generic/JSBSim/Systems" );
229
230 // deprecate sim-time-sec for simulation/sim-time-sec
231 // remove alias with increased configuration file version number (2.1 or later)
232 SGPropertyNode * node = fgGetNode("/fdm/jsbsim/simulation/sim-time-sec");
233 fgGetNode("/fdm/jsbsim/sim-time-sec", true)->alias( node );
234 // end of sim-time-sec deprecation patch
235
236 _ai_wake_enabled = fgGetNode("fdm/ai-wake/enabled", true);
237
238 terrain = fgGetNode("/sim/fdm/surface", true);
239
240 fdmex->Setdt( dt );
241
242 result = fdmex->LoadModel( aircraft_path, engine_path, systems_path,
243 fgGetString("/sim/aero"), false );
244
245 if (result) {
246 SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
247 } else {
248 SG_LOG( SG_FLIGHT, SG_INFO,
249 " aero does not exist (you may have mis-typed the name).");
250 throw(-1);
251 }
252
253 SG_LOG( SG_FLIGHT, SG_INFO, "" );
254 SG_LOG( SG_FLIGHT, SG_INFO, "" );
255 SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
256
257 int Neng = Propulsion->GetNumEngines();
258 SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
259
260 if ( GroundReactions->GetNumGearUnits() <= 0 ) {
261 SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
262 << GroundReactions->GetNumGearUnits() );
263 SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
264 SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
265 SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
266 exit(-1);
267 }
268
269 init_gear();
270
271 // Set initial fuel levels if provided.
272 for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
273 double d;
274 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
275 FGTank* tank = Propulsion->GetTank(i);
276 SGPropertyNode * prop = node->getNode( "density-ppg", true );
277
278 d = prop->getDoubleValue();
279 if( d > 0.0 ) {
280 tank->SetDensity( d );
281 } else {
282 prop->setDoubleValue( SG_MAX2<double>(tank->GetDensity(), 0.1) );
283 }
284
285 prop = node->getNode( "level-lbs", true );
286 d = prop->getDoubleValue();
287 if( d > 0.0 ) {
288 tank->SetContents( d );
289 } else {
290 prop->setDoubleValue( tank->GetContents() );
291 }
292
293 prop = node->getNode( "unusable-gal_us", true );
294 d = prop->getDoubleValue();
295 if ( d > 0.0 ) {
296 tank->SetUnusableVolume( d );
297 } else {
298 prop->setDoubleValue(tank->GetUnusableVolume());
299 }
300 /* Capacity is read-only in FGTank and can't be overwritten from FlightGear */
301 node->getNode("capacity-gal_us", true )->setDoubleValue( tank->GetCapacityGallons() );
302 }
303 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
304
305 fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
306 fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
307 fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
308 fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
309
310 startup_trim = fgGetNode("/sim/presets/trim", true);
311
312 trimmed = fgGetNode("/fdm/trim/trimmed", true);
313 trimmed->setBoolValue(false);
314
315 pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
316 throttle_trim = fgGetNode("/fdm/trim/throttle", true );
317 aileron_trim = fgGetNode("/fdm/trim/aileron", true );
318 rudder_trim = fgGetNode("/fdm/trim/rudder", true );
319
320 stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
321 stall_warning->setDoubleValue(0);
322
323
324 flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
325 elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
326 left_aileron_pos_pct
327 =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
328 right_aileron_pos_pct
329 =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
330 rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
331 speedbrake_pos_pct
332 =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
333 spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
334 tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true);
335 wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-pos-norm",true);
336
337 elevator_pos_pct->setDoubleValue(0);
338 left_aileron_pos_pct->setDoubleValue(0);
339 right_aileron_pos_pct->setDoubleValue(0);
340 rudder_pos_pct->setDoubleValue(0);
341 flap_pos_pct->setDoubleValue(0);
342 speedbrake_pos_pct->setDoubleValue(0);
343 spoilers_pos_pct->setDoubleValue(0);
344
345 override_fg_brake_prop = fgGetNode("/fdm/jsbsim/systems/override-fg-brake-properties", true);
346 override_fg_brake_prop->setBoolValue(false);
347 ab_brake_engaged = fgGetNode("/autopilot/autobrake/engaged", true);
348 ab_brake_left_pct = fgGetNode("/autopilot/autobrake/brake-left-output", true);
349 ab_brake_right_pct = fgGetNode("/autopilot/autobrake/brake-right-output", true);
350
351 arrestor_wire_engaged_hook = fgGetNode("/fdm/jsbsim/systems/hook/arrestor-wire-engaged-hook", true);
352 release_hook = fgGetNode("/fdm/jsbsim/systems/hook/tailhook-release-cmd", true);
353
354 altitude = fgGetNode("/position/altitude-ft");
355 temperature = fgGetNode("/environment/temperature-degc",true);
356 pressure = fgGetNode("/environment/pressure-inhg",true);
357 pressureSL = fgGetNode("/environment/pressure-sea-level-inhg",true);
358 dew_point = fgGetNode("/environment/dewpoint-degc", true);
359 ground_wind = fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt",true);
360 turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
361 turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
362 turbulence_model = fgGetNode("/environment/params/jsbsim-turbulence-model",true);
363
364 wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
365 wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
366 wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
367
368 slaved = fgGetNode("/sim/slaved/enabled", true);
369
370 for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
371 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
372 Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
373 Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
374 }
375
376 hook_root_struct = FGColumnVector3(
377 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
378 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
379 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
380 last_hook_tip[0] = 0; last_hook_tip[1] = 0; last_hook_tip[2] = 0;
381 last_hook_root[0] = 0; last_hook_root[1] = 0; last_hook_root[2] = 0;
382
383 crashed = false;
384
385 mesh = new AircraftMesh(fgGetDouble("/fdm/jsbsim/metrics/bw-ft"),
386 fgGetDouble("/fdm/jsbsim/metrics/cbarw-ft"));
387
388 // Trim once to initialize all output parameters
389 FGTrim *fgtrim = new FGTrim(fdmex,tFull);
390 fgtrim->DoTrim();
391 delete fgtrim;
392
393 string directive_file = fgGetString("/sim/jsbsim/output-directive-file");
394 if (!directive_file.empty())
395 fdmex->SetOutputDirectives(directive_file);
396 }
397
398 /******************************************************************************/
~FGJSBsim(void)399 FGJSBsim::~FGJSBsim(void)
400 {
401 delete fdmex;
402 delete PropertyManager;
403 }
404
405 /******************************************************************************/
406
407 // Initialize the JSBsim flight model, dt is the time increment for
408 // each subsequent iteration through the EOM
409
init()410 void FGJSBsim::init()
411 {
412 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
413
414 // Explicitly call the superclass's
415 // init method first.
416
417 if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
418 Atmosphere->SetTemperature(temperature->getDoubleValue(), get_Altitude(), FGAtmosphere::eCelsius);
419 Atmosphere->SetPressureSL(FGAtmosphere::eInchesHg, pressureSL->getDoubleValue());
420 // initialize to no turbulence, these values get set in the update loop
421 Winds->SetTurbType(FGWinds::ttNone);
422 Winds->SetTurbGain(0.0);
423 Winds->SetTurbRate(0.0);
424 Winds->SetWindspeed20ft(0.0);
425 Winds->SetProbabilityOfExceedence(0.0);
426 }
427
428 fgic->SetWindNEDFpsIC(0.0, 0.0, 0.0);
429
430 SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << Atmosphere->GetTemperature()
431 << ", " << Atmosphere->GetPressure()
432 << ", " << Atmosphere->GetDensity() );
433
434 FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
435
436 needTrim = startup_trim->getBoolValue();
437 common_init();
438
439 copy_to_JSBsim();
440 fdmex->Resume();
441 fdmex->RunIC(); //loop JSBSim once w/o integrating
442 if (fgGetBool("/sim/presets/running")) {
443 Propulsion->InitRunning(-1);
444 for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
445 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
446 globals->get_controls()->set_magnetos(i, eng->GetMagnetos());
447 globals->get_controls()->set_mixture(i, FCS->GetMixtureCmd(i));
448 }
449 }
450
451 if ( needTrim ) {
452 const FGLocation& cart = fgic->GetPosition();
453 double contact[3], d[3], vel[3];
454 update_ground_cache(cart, 0.01);
455
456 get_agl_ft(fdmex->GetSimTime(), cart, SG_METER_TO_FEET*2, contact, d, vel,
457 d);
458 double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
459 + contact[2]*contact[2]) - cart.GetSeaLevelRadius();
460
461 SG_LOG(SG_FLIGHT, SG_INFO, "Ready to trim, terrain elevation is: "
462 << terrain_alt );
463
464 if (fgGetBool("/sim/presets/onground")) {
465 FGColumnVector3 gndVelNED = cart.GetTec2l()
466 * FGColumnVector3(vel[0], vel[1], vel[2]);
467 fgic->SetVNorthFpsIC(gndVelNED(1));
468 fgic->SetVEastFpsIC(gndVelNED(2));
469 fgic->SetVDownFpsIC(gndVelNED(3));
470 }
471 do_trim();
472 needTrim = false;
473 }
474
475 copy_from_JSBsim(); //update the bus
476
477 _fmag = fgGetNode("/fdm/jsbsim/external_reactions/ai-wake/magnitude", false);
478 _fbx = fgGetNode("/fdm/jsbsim/external_reactions/ai-wake/x", false);
479 _fby = fgGetNode("/fdm/jsbsim/external_reactions/ai-wake/y", false);
480 _fbz = fgGetNode("/fdm/jsbsim/external_reactions/ai-wake/z", false);
481 _mmag = fgGetNode("/fdm/jsbsim/external_reactions/ai-wake/magnitude-lbsft", false);
482 _mbx = fgGetNode("/fdm/jsbsim/external_reactions/ai-wake/l", false);
483 _mby = fgGetNode("/fdm/jsbsim/external_reactions/ai-wake/m", false);
484 _mbz = fgGetNode("/fdm/jsbsim/external_reactions/ai-wake/n", false);
485
486 SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
487
488 switch(fgic->GetSpeedSet()) {
489 case setned:
490 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
491 << Propagate->GetVel(FGJSBBase::eNorth) << ", "
492 << Propagate->GetVel(FGJSBBase::eEast) << ", "
493 << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
494 break;
495 case setuvw:
496 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
497 << Propagate->GetUVW(1) << ", "
498 << Propagate->GetUVW(2) << ", "
499 << Propagate->GetUVW(3) << " ft/s");
500 break;
501 case setmach:
502 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
503 << Auxiliary->GetMach() );
504 break;
505 case setvc:
506 default:
507 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
508 << Auxiliary->GetVcalibratedKTS() << " knots" );
509 break;
510 }
511
512 stall_warning->setDoubleValue(0);
513
514 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
515 << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
516 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
517 << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
518 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
519 << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
520 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
521 << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
522 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
523 << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
524 SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
525 << Propagate->GetAltitudeASL() << " feet" );
526 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
527
528 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
529
530 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
531
532 SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
533 globals->get_controls()->get_gear_down() );
534 }
535
536 /******************************************************************************/
537
unbind()538 void FGJSBsim::unbind()
539 {
540 fdmex->Unbind();
541 FGInterface::unbind();
542 }
543
544 /******************************************************************************/
545
546 // Run an iteration of the EOM (equations of motion)
update(double dt)547 void FGJSBsim::update( double dt )
548 {
549 if(crashed) {
550 if(!fgGetBool("/sim/crashed"))
551 fgSetBool("/sim/crashed", true);
552 return;
553 }
554
555 if (is_suspended())
556 return;
557
558 int multiloop = _calc_multiloop(dt);
559 FGLocation cart = Auxiliary->GetLocationVRP();
560
561 update_ground_cache(cart, dt);
562
563 copy_to_JSBsim();
564
565 trimmed->setBoolValue(false);
566
567 for ( int i=0; i < multiloop; i++ ) {
568 if (!fdmex->Run()) {
569 // The property fdm/jsbsim/simulation/terminate has been set to true
570 // by the user. The sim is considered crashed.
571 crashed = true;
572 break;
573 }
574 update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT());
575 }
576
577 FGJSBBase::Message* msg;
578 while ((msg = fdmex->ProcessNextMessage()) != NULL) {
579 // msg = fdmex->ProcessNextMessage();
580 switch (msg->type) {
581 case FGJSBBase::Message::eText:
582 if (msg->text == "Crash Detected: Simulation FREEZE.")
583 crashed = true;
584 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
585 break;
586 case FGJSBBase::Message::eBool:
587 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
588 break;
589 case FGJSBBase::Message::eInteger:
590 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
591 break;
592 case FGJSBBase::Message::eDouble:
593 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
594 break;
595 default:
596 SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
597 break;
598 }
599 }
600
601 reset_wake_group();
602
603 // translate JSBsim back to FG structure so that the
604 // autopilot (and the rest of the sim can use the updated values
605 copy_from_JSBsim();
606 }
607
608 /******************************************************************************/
609
suspend()610 void FGJSBsim::suspend()
611 {
612 fdmex->Hold();
613 SGSubsystem::suspend();
614 }
615
616 /******************************************************************************/
617
resume()618 void FGJSBsim::resume()
619 {
620 fdmex->Resume();
621 SGSubsystem::resume();
622 }
623
624 /******************************************************************************/
625
626 // Convert from the FGInterface struct to the JSBsim generic_ struct
627
copy_to_JSBsim()628 bool FGJSBsim::copy_to_JSBsim()
629 {
630 unsigned int i;
631
632 // copy control positions into the JSBsim structure
633
634 FCS->SetDaCmd( globals->get_controls()->get_aileron());
635 FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
636 FCS->SetDeCmd( globals->get_controls()->get_elevator());
637 FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
638 FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
639 FCS->SetDsCmd( globals->get_controls()->get_rudder() );
640 FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
641 FCS->SetDfCmd( globals->get_controls()->get_flaps() );
642 FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
643 FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
644
645 if (!override_fg_brake_prop->getBoolValue()) {
646 // Parking brake sets minimum braking
647 // level for mains.
648 double parking_brake = globals->get_controls()->get_brake_parking();
649 double left_brake = globals->get_controls()->get_brake_left();
650 double right_brake = globals->get_controls()->get_brake_right();
651
652 if (ab_brake_engaged->getBoolValue()) {
653 left_brake = ab_brake_left_pct->getDoubleValue();
654 right_brake = ab_brake_right_pct->getDoubleValue();
655 }
656
657 FCS->SetLBrake(FMAX(left_brake, parking_brake));
658 FCS->SetRBrake(FMAX(right_brake, parking_brake));
659
660 FCS->SetCBrake( 0.0 );
661 // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
662 }
663
664 FCS->SetGearCmd( globals->get_controls()->get_gear_down());
665 for (i = 0; i < Propulsion->GetNumEngines(); i++) {
666 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
667
668 FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
669 FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
670 FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
671 FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
672
673 switch (Propulsion->GetEngine(i)->GetType()) {
674 case FGEngine::etPiston:
675 { // FGPiston code block
676 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
677 eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
678 break;
679 } // end FGPiston code block
680 case FGEngine::etTurbine:
681 { // FGTurbine code block
682 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
683 eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
684 eng->SetReverse( globals->get_controls()->get_reverser(i) );
685 //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
686 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
687 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
688 break;
689 } // end FGTurbine code block
690 case FGEngine::etRocket:
691 { // FGRocket code block
692 // FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
693 break;
694 } // end FGRocket code block
695 case FGEngine::etTurboprop:
696 { // FGTurboProp code block
697 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
698 eng->SetReverse( globals->get_controls()->get_reverser(i) );
699 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
700 // eng->SetIgnition( globals->get_controls()->get_ignition(i) );
701
702 eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
703 eng->SetCondition( globals->get_controls()->get_condition(i) );
704 break;
705 } // end FGTurboProp code block
706 default:
707 break;
708 }
709
710 { // FGEngine code block
711 FGEngine* eng = Propulsion->GetEngine(i);
712
713 eng->SetStarter( globals->get_controls()->get_starter(i) );
714 eng->SetRunning( node->getBoolValue("running") );
715 } // end FGEngine code block
716 }
717
718 Atmosphere->SetTemperature(temperature->getDoubleValue(), get_Altitude(), FGAtmosphere::eCelsius);
719 Atmosphere->SetPressureSL(FGAtmosphere::eInchesHg, pressureSL->getDoubleValue());
720 static_cast<FGStandardAtmosphere*>(Atmosphere)->SetDewPoint(FGAtmosphere::eCelsius,
721 dew_point->getDoubleValue());
722
723 Winds->SetTurbType((FGWinds::tType)TURBULENCE_TYPE_NAMES[turbulence_model->getStringValue()]);
724 switch( Winds->GetTurbType() ) {
725 case FGWinds::ttStandard:
726 case FGWinds::ttCulp: {
727 double tmp = turbulence_gain->getDoubleValue();
728 Winds->SetTurbGain(tmp * tmp * 100.0);
729 Winds->SetTurbRate(turbulence_rate->getDoubleValue());
730 break;
731 }
732 case FGWinds::ttMilspec:
733 case FGWinds::ttTustin: {
734 // milspec turbulence: 3=light, 4=moderate, 6=severe turbulence
735 // turbulence_gain normalized: 0: none, 1/3: light, 2/3: moderate, 3/3: severe
736 double tmp = turbulence_gain->getDoubleValue();
737 Winds->SetProbabilityOfExceedence(
738 SGMiscd::roundToInt(TurbulenceSeverityTable.GetValue( tmp ) )
739 );
740 Winds->SetWindspeed20ft(ground_wind->getDoubleValue());
741 break;
742 }
743
744 default:
745 break;
746 }
747
748 Winds->SetWindNED( -wind_from_north->getDoubleValue(),
749 -wind_from_east->getDoubleValue(),
750 -wind_from_down->getDoubleValue() );
751 // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
752 // << get_V_north_airmass() << ", "
753 // << get_V_east_airmass() << ", "
754 // << get_V_down_airmass() );
755
756 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
757 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
758 FGTank * tank = Propulsion->GetTank(i);
759 double fuelDensity = node->getDoubleValue("density-ppg");
760
761 if (fuelDensity < 0.1)
762 fuelDensity = 6.0; // Use average fuel value
763
764 tank->SetDensity(fuelDensity);
765 tank->SetContents(node->getDoubleValue("level-lbs"));
766 }
767
768 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
769 fdmex->SetChild(slaved->getBoolValue());
770
771 return true;
772 }
773
774 /******************************************************************************/
775
776 // Convert from the JSBsim generic_ struct to the FGInterface struct
777
copy_from_JSBsim()778 bool FGJSBsim::copy_from_JSBsim()
779 {
780 unsigned int i, j;
781 /*
782 _set_Inertias( MassBalance->GetMass(),
783 MassBalance->GetIxx(),
784 MassBalance->GetIyy(),
785 MassBalance->GetIzz(),
786 MassBalance->GetIxz() );
787 */
788 _set_CG_Position( MassBalance->GetXYZcg(1),
789 MassBalance->GetXYZcg(2),
790 MassBalance->GetXYZcg(3) );
791
792 _set_Accels_Body( Accelerations->GetBodyAccel(1),
793 Accelerations->GetBodyAccel(2),
794 Accelerations->GetBodyAccel(3) );
795
796 _set_Accels_CG_Body_N ( Auxiliary->GetNcg(1),
797 Auxiliary->GetNcg(2),
798 Auxiliary->GetNcg(3) );
799
800 _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
801 Auxiliary->GetPilotAccel(2),
802 Auxiliary->GetPilotAccel(3) );
803
804 _set_Nlf( Auxiliary->GetNlf() );
805
806 // Velocities
807
808 _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
809 Propagate->GetVel(FGJSBBase::eEast),
810 Propagate->GetVel(FGJSBBase::eDown) );
811
812 _set_Velocities_Body( Propagate->GetUVW(1),
813 Propagate->GetUVW(2),
814 Propagate->GetUVW(3) );
815
816 // Make the HUD work ...
817 _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
818 Propagate->GetVel(FGJSBBase::eEast),
819 -Propagate->GetVel(FGJSBBase::eDown) );
820
821 _set_V_rel_wind( Auxiliary->GetVt() );
822
823 _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
824
825 _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
826
827 _set_V_ground_speed( Auxiliary->GetVground() );
828
829 _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
830 Propagate->GetPQR(FGJSBBase::eQ),
831 Propagate->GetPQR(FGJSBBase::eR) );
832
833 _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
834 Auxiliary->GetEulerRates(FGJSBBase::eTht),
835 Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
836
837 _set_Mach_number( Auxiliary->GetMach() );
838
839 // Positions of Visual Reference Point
840 FGLocation l = Auxiliary->GetLocationVRP();
841 _updatePosition(SGGeoc::fromRadFt( l.GetLongitude(), l.GetLatitude(),
842 l.GetRadius() ));
843
844 _set_Altitude_AGL( Propagate->GetDistanceAGL() );
845 {
846 double contact[3], d[3], sd, t;
847 is_valid_m(&t, d, &sd);
848 get_agl_ft(t, l, SG_METER_TO_FEET*2, contact, d, d, d);
849 double rwrad
850 = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
851 _set_Runway_altitude( rwrad - get_Sea_level_radius() );
852 }
853
854 _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
855 Propagate->GetEuler(FGJSBBase::eTht),
856 Propagate->GetEuler(FGJSBBase::ePsi) );
857
858 _set_Alpha( Auxiliary->Getalpha() );
859 _set_Beta( Auxiliary->Getbeta() );
860
861
862 _set_Gamma_vert_rad( Auxiliary->GetGamma() );
863
864 _set_Earth_position_angle( Propagate->GetEarthPositionAngle() );
865
866 _set_Climb_Rate( Propagate->Gethdot() );
867
868 const FGMatrix33& Tl2b = Propagate->GetTl2b();
869 for ( i = 1; i <= 3; i++ ) {
870 for ( j = 1; j <= 3; j++ ) {
871 _set_T_Local_to_Body( i, j, Tl2b(i,j) );
872 }
873 }
874
875 // Copy the engine values from JSBSim.
876 for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
877 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
878 SGPropertyNode * tnode = node->getChild("thruster", 0, true);
879 FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
880
881 switch (Propulsion->GetEngine(i)->GetType()) {
882 case FGEngine::etPiston:
883 { // FGPiston code block
884 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
885 node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
886 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
887 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
888 node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
889 // NOTE: mp-osi is not in ounces per square inch.
890 // This error is left for reasons of backwards compatibility with
891 // existing FlightGear sound and instrument configurations.
892 node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
893 node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
894 node->setDoubleValue("rpm", eng->getRPM());
895 } // end FGPiston code block
896 break;
897 case FGEngine::etRocket:
898 { // FGRocket code block
899 // FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
900 } // end FGRocket code block
901 break;
902 case FGEngine::etTurbine:
903 { // FGTurbine code block
904 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
905 node->setDoubleValue("n1", eng->GetN1());
906 node->setDoubleValue("n2", eng->GetN2());
907 node->setDoubleValue("egt-degf", 32 + eng->GetEGT()*9/5);
908 node->setBoolValue("augmentation", eng->GetAugmentation());
909 node->setBoolValue("water-injection", eng->GetInjection());
910 node->setBoolValue("ignition", eng->GetIgnition() != 0);
911 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
912 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
913 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
914 node->setBoolValue("reversed", eng->GetReversed());
915 node->setBoolValue("cutoff", eng->GetCutoff());
916 node->setDoubleValue("epr", eng->GetEPR());
917 globals->get_controls()->set_reverser(i, eng->GetReversed() );
918 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
919 globals->get_controls()->set_water_injection(i, eng->GetInjection() );
920 globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
921 } // end FGTurbine code block
922 break;
923 case FGEngine::etTurboprop:
924 { // FGTurboProp code block
925 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
926 node->setDoubleValue("n1", eng->GetN1());
927 //node->setDoubleValue("n2", eng->GetN2());
928 node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
929 // node->setBoolValue("ignition", eng->GetIgnition() != 0);
930 // node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
931 // node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
932 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
933 node->setBoolValue("reversed", eng->GetReversed());
934 node->setBoolValue("cutoff", eng->GetCutoff());
935 node->setBoolValue("starting", eng->GetEngStarting());
936 node->setBoolValue("generator-power", eng->GetGeneratorPower());
937 node->setBoolValue("damaged", eng->GetCondition() != 0);
938 node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
939 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
940 // node->setBoolValue("onfire", eng->GetFire());
941 globals->get_controls()->set_reverser(i, eng->GetReversed() );
942 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
943 } // end FGTurboProp code block
944 break;
945 case FGEngine::etElectric:
946 { // FGElectric code block
947 FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
948 node->setDoubleValue("rpm", eng->getRPM());
949 } // end FGElectric code block
950 break;
951 case FGEngine::etUnknown:
952 break;
953 }
954
955 { // FGEngine code block
956 FGEngine* eng = Propulsion->GetEngine(i);
957 node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
958 node->setDoubleValue("thrust_lb", thruster->GetThrust());
959 node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
960 node->setBoolValue("running", eng->GetRunning());
961 node->setBoolValue("starter", eng->GetStarter());
962 node->setBoolValue("cranking", eng->GetCranking());
963 globals->get_controls()->set_starter(i, eng->GetStarter() );
964 } // end FGEngine code block
965
966 switch (thruster->GetType()) {
967 case FGThruster::ttNozzle:
968 { // FGNozzle code block
969 // FGNozzle* noz = (FGNozzle*)thruster;
970 } // end FGNozzle code block
971 break;
972 case FGThruster::ttPropeller:
973 { // FGPropeller code block
974 FGPropeller* prop = (FGPropeller*)thruster;
975 tnode->setDoubleValue("rpm", thruster->GetRPM());
976 tnode->setDoubleValue("pitch", prop->GetPitch());
977 tnode->setDoubleValue("torque", prop->GetTorque());
978 tnode->setBoolValue("feathered", prop->GetFeather());
979 } // end FGPropeller code block
980 break;
981 case FGThruster::ttRotor:
982 { // FGRotor code block
983 // FGRotor* rotor = (FGRotor*)thruster;
984 } // end FGRotor code block
985 break;
986 case FGThruster::ttDirect:
987 { // Direct code block
988 } // end Direct code block
989 break;
990 }
991
992 }
993
994 // Copy the fuel levels from JSBSim if fuel
995 // freeze not enabled.
996 if ( ! Propulsion->GetFuelFreeze() ) {
997 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
998 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
999 FGTank* tank = Propulsion->GetTank(i);
1000 double contents = tank->GetContents();
1001 double temp = tank->GetTemperature_degC();
1002 double fuelDensity = tank->GetDensity();
1003
1004 if (fuelDensity < 0.1)
1005 fuelDensity = 6.0; // Use average fuel value
1006
1007 node->setDoubleValue("density-ppg" , fuelDensity);
1008 node->setDoubleValue("level-lbs", contents);
1009 if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
1010
1011 node->setDoubleValue("arm-in", tank->GetXYZ(FGJSBBase::eX ) );
1012 }
1013 }
1014
1015 update_gear();
1016
1017 stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
1018
1019 elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
1020 left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
1021 right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
1022 rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
1023 flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
1024 speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
1025 spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
1026 tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
1027 wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
1028
1029 // force a sim crashed if crashed (altitude AGL < 0)
1030 if (get_Altitude_AGL() < -100.0) {
1031 fdmex->SuspendIntegration();
1032 crashed = true;
1033 }
1034
1035 return true;
1036 }
1037
1038
ToggleDataLogging(void)1039 bool FGJSBsim::ToggleDataLogging(void)
1040 {
1041 // ToDo: handle this properly
1042 fdmex->DisableOutput();
1043 return false;
1044 }
1045
1046
ToggleDataLogging(bool state)1047 bool FGJSBsim::ToggleDataLogging(bool state)
1048 {
1049 if (state) {
1050 fdmex->EnableOutput();
1051 return true;
1052 } else {
1053 fdmex->DisableOutput();
1054 return false;
1055 }
1056 }
1057
1058
1059 //Positions
set_Latitude(double lat)1060 void FGJSBsim::set_Latitude(double lat)
1061 {
1062 double alt = altitude->getDoubleValue();
1063 double sea_level_radius_meters, lat_geoc;
1064
1065 if ( alt < -9990 ) alt = 0.0;
1066
1067 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
1068 SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
1069
1070 if (needTrim)
1071 fgic->SetGeodLatitudeRadIC( lat );
1072 else {
1073 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
1074 &sea_level_radius_meters, &lat_geoc );
1075
1076 double sea_level_radius_ft = sea_level_radius_meters * SG_METER_TO_FEET;
1077 _set_Sea_level_radius( sea_level_radius_ft );
1078
1079 Propagate->SetLatitude(lat_geoc);
1080 }
1081
1082 FGInterface::set_Latitude(lat);
1083 }
1084
1085
set_Longitude(double lon)1086 void FGJSBsim::set_Longitude(double lon)
1087 {
1088 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
1089
1090 if (needTrim)
1091 fgic->SetLongitudeRadIC(lon);
1092 else
1093 Propagate->SetLongitude(lon);
1094
1095 FGInterface::set_Longitude(lon);
1096 }
1097
1098 // Sets the altitude above sea level.
set_Altitude(double alt)1099 void FGJSBsim::set_Altitude(double alt)
1100 {
1101 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
1102
1103 if (needTrim)
1104 fgic->SetAltitudeASLFtIC(alt);
1105 else
1106 Propagate->SetAltitudeASL(alt);
1107
1108 FGInterface::set_Altitude(alt);
1109 }
1110
set_V_calibrated_kts(double vc)1111 void FGJSBsim::set_V_calibrated_kts(double vc)
1112 {
1113 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
1114
1115 if (needTrim)
1116 fgic->SetVcalibratedKtsIC(vc);
1117 else {
1118 double p=pressure->getDoubleValue();
1119 double mach = FGJSBBase::MachFromVcalibrated(vc, p);
1120 double temp = 1.8*(temperature->getDoubleValue()+273.15);
1121 double soundSpeed = sqrt(1.4*1716.0*temp);
1122 FGColumnVector3 vUVW = Propagate->GetUVW();
1123 vUVW.Normalize();
1124 vUVW *= mach * soundSpeed;
1125 Propagate->SetUVW(1, vUVW(1));
1126 Propagate->SetUVW(2, vUVW(2));
1127 Propagate->SetUVW(3, vUVW(3));
1128 }
1129
1130 FGInterface::set_V_calibrated_kts(vc);
1131 }
1132
set_Mach_number(double mach)1133 void FGJSBsim::set_Mach_number(double mach)
1134 {
1135 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
1136
1137 if (needTrim)
1138 fgic->SetMachIC(mach);
1139 else {
1140 double temp = 1.8*(temperature->getDoubleValue()+273.15);
1141 double soundSpeed = sqrt(1.4*1716.0*temp);
1142 FGColumnVector3 vUVW = Propagate->GetUVW();
1143 vUVW.Normalize();
1144 vUVW *= mach * soundSpeed;
1145 Propagate->SetUVW(1, vUVW(1));
1146 Propagate->SetUVW(2, vUVW(2));
1147 Propagate->SetUVW(3, vUVW(3));
1148 }
1149
1150 FGInterface::set_Mach_number(mach);
1151 }
1152
set_Velocities_Local(double north,double east,double down)1153 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
1154 {
1155 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
1156 << north << ", " << east << ", " << down );
1157
1158 if (needTrim) {
1159 fgic->SetVNorthFpsIC(north);
1160 fgic->SetVEastFpsIC(east);
1161 fgic->SetVDownFpsIC(down);
1162 }
1163 else {
1164 FGColumnVector3 vNED(north, east, down);
1165 FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
1166 Propagate->SetUVW(1, vUVW(1));
1167 Propagate->SetUVW(2, vUVW(2));
1168 Propagate->SetUVW(3, vUVW(3));
1169 }
1170
1171 FGInterface::set_Velocities_Local(north, east, down);
1172 }
1173
set_Velocities_Body(double u,double v,double w)1174 void FGJSBsim::set_Velocities_Body( double u, double v, double w)
1175 {
1176 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Body: "
1177 << u << ", " << v << ", " << w );
1178
1179 if (needTrim) {
1180 fgic->SetUBodyFpsIC(u);
1181 fgic->SetVBodyFpsIC(v);
1182 fgic->SetWBodyFpsIC(w);
1183 }
1184 else {
1185 Propagate->SetUVW(1, u);
1186 Propagate->SetUVW(2, v);
1187 Propagate->SetUVW(3, w);
1188 }
1189
1190 FGInterface::set_Velocities_Body(u, v, w);
1191 }
1192
1193 //Euler angles
set_Euler_Angles(double phi,double theta,double psi)1194 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1195 {
1196 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1197 << phi << ", " << theta << ", " << psi );
1198
1199 if (needTrim) {
1200 fgic->SetThetaRadIC(theta);
1201 fgic->SetPhiRadIC(phi);
1202 fgic->SetPsiRadIC(psi);
1203 }
1204 else {
1205 FGQuaternion quat(phi, theta, psi);
1206 FGMatrix33 Tl2b = quat.GetT();
1207 FGMatrix33 Ti2b = Tl2b*Propagate->GetTi2l();
1208 FGQuaternion Qi = Ti2b.GetQuaternion();
1209 Propagate->SetInertialOrientation(Qi);
1210 }
1211
1212 FGInterface::set_Euler_Angles(phi, theta, psi);
1213 }
1214
1215 //Flight Path
set_Climb_Rate(double roc)1216 void FGJSBsim::set_Climb_Rate( double roc)
1217 {
1218 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1219
1220 //since both climb rate and flight path angle are set in the FG
1221 //startup sequence, something is needed to keep one from cancelling
1222 //out the other.
1223 if( fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01 ) {
1224 if (needTrim)
1225 fgic->SetClimbRateFpsIC(roc);
1226 else {
1227 FGColumnVector3 vNED = Propagate->GetVel();
1228 vNED(FGJSBBase::eDown) = -roc;
1229 FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
1230 Propagate->SetUVW(1, vUVW(1));
1231 Propagate->SetUVW(2, vUVW(2));
1232 Propagate->SetUVW(3, vUVW(3));
1233 }
1234
1235 FGInterface::set_Climb_Rate(roc);
1236 }
1237 }
1238
set_Gamma_vert_rad(double gamma)1239 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1240 {
1241 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1242
1243 if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1244 if (needTrim)
1245 fgic->SetFlightPathAngleRadIC(gamma);
1246 else {
1247 FGColumnVector3 vNED = Propagate->GetVel();
1248 double vt = vNED.Magnitude();
1249 vNED(FGJSBBase::eDown) = -vt * sin(gamma);
1250 FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
1251 Propagate->SetUVW(1, vUVW(1));
1252 Propagate->SetUVW(2, vUVW(2));
1253 Propagate->SetUVW(3, vUVW(3));
1254 }
1255
1256 FGInterface::set_Gamma_vert_rad(gamma);
1257 }
1258 }
1259
init_gear(void)1260 void FGJSBsim::init_gear(void )
1261 {
1262 FGGroundReactions* gr=fdmex->GetGroundReactions();
1263 int Ngear=GroundReactions->GetNumGearUnits();
1264 for (int i=0;i<Ngear;i++) {
1265 FGLGear *gear = gr->GetGearUnit(i);
1266 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1267 node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1) * 12);
1268 node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2) * 12);
1269 node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3) * 12);
1270 node->setBoolValue("wow", gear->GetWOW());
1271 node->setDoubleValue("rollspeed-ms", gear->GetWheelRollVel()*0.3043);
1272 node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1273 node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1274 // node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1275 node->setDoubleValue("compression-norm", gear->GetCompLen());
1276 node->setDoubleValue("compression-ft", gear->GetCompLen());
1277 if ( gear->GetSteerable() )
1278 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1279 }
1280 }
1281
update_gear(void)1282 void FGJSBsim::update_gear(void)
1283 {
1284 FGGroundReactions* gr=fdmex->GetGroundReactions();
1285 int Ngear=GroundReactions->GetNumGearUnits();
1286 for (int i=0;i<Ngear;i++) {
1287 FGLGear *gear = gr->GetGearUnit(i);
1288 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1289 node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1290 node->getChild("rollspeed-ms", 0, true)->setDoubleValue(gear->GetWheelRollVel()*0.3043);
1291 node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1292 // gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1293 node->setDoubleValue("compression-norm", gear->GetCompLen());
1294 node->setDoubleValue("compression-ft", gear->GetCompLen());
1295 if ( gear->GetSteerable() )
1296 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1297 }
1298 }
1299
do_trim(void)1300 void FGJSBsim::do_trim(void)
1301 {
1302 FGTrim *fgtrim;
1303
1304 if ( fgGetBool("/sim/presets/onground") )
1305 {
1306 fgtrim = new FGTrim(fdmex,tGround);
1307 } else {
1308 fgtrim = new FGTrim(fdmex,tFull);
1309 }
1310
1311 if ( !fgtrim->DoTrim() ) {
1312 fgtrim->Report();
1313 fgtrim->TrimStats();
1314 } else {
1315 trimmed->setBoolValue(true);
1316 }
1317 delete fgtrim;
1318
1319 pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1320 throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1321 aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1322 rudder_trim->setDoubleValue( -FCS->GetDrCmd() );
1323
1324 globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1325 globals->get_controls()->set_elevator(FCS->GetDeCmd());
1326 for( unsigned i = 0; i < Propulsion->GetNumEngines(); i++ )
1327 globals->get_controls()->set_throttle(i, FCS->GetThrottleCmd(i));
1328
1329 globals->get_controls()->set_aileron(FCS->GetDaCmd());
1330 globals->get_controls()->set_rudder( -FCS->GetDrCmd());
1331
1332 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
1333 }
1334
update_ground_cache(const FGLocation & cart,double dt)1335 bool FGJSBsim::update_ground_cache(const FGLocation& cart, double dt)
1336 {
1337 // Compute the radius of the aircraft. That is the radius of a ball
1338 // where all gear units are in. At the moment it is at least 10ft ...
1339 double acrad = 10.0;
1340 int n_gears = GroundReactions->GetNumGearUnits();
1341 for (int i=0; i<n_gears; ++i) {
1342 FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
1343 double r = bl.Magnitude();
1344 if (acrad < r)
1345 acrad = r;
1346 }
1347
1348 // Compute the potential movement of this aircraft and query for the
1349 // ground in this area.
1350 double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
1351
1352 double cart_pos[3] {cart(1), cart(2), cart(3)};
1353 double t0 = fdmex->GetSimTime();
1354 bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
1355 groundCacheRadius );
1356 if (!cache_ok) {
1357 //SG_LOG(SG_FLIGHT, SG_WARN,
1358 // "FGInterface is being called without scenery below the aircraft!");
1359
1360 //SG_LOG(SG_FLIGHT, SG_WARN, "altitude = "
1361 // << fgic->GetAltitudeASLFtIC());
1362
1363 //SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = "
1364 // << get_Sea_level_radius());
1365
1366 //SG_LOG(SG_FLIGHT, SG_WARN, "latitude = "
1367 // << fgic->GetLatitudeRadIC());
1368
1369 //SG_LOG(SG_FLIGHT, SG_WARN, "longitude = "
1370 // << fgic->GetLongitudeRadIC());
1371 }
1372
1373 return cache_ok;
1374 }
1375
1376 double
get_agl_ft(double t,const FGColumnVector3 & loc,double alt_off,double contact[3],double normal[3],double vel[3],double angularVel[3])1377 FGJSBsim::get_agl_ft(double t, const FGColumnVector3& loc, double alt_off,
1378 double contact[3], double normal[3], double vel[3],
1379 double angularVel[3])
1380 {
1381 const simgear::BVHMaterial* material = nullptr;
1382 simgear::BVHNode::Id id;
1383 double pt[3] {loc(1), loc(2), loc(3)};
1384
1385 if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
1386 angularVel, material, id))
1387 material = nullptr; // Discard the material data when FGInterface reports an problem.
1388
1389 SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt));
1390 SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
1391
1392 #ifdef JSBSIM_USE_GROUNDREACTIONS
1393 bool terrain_active = (terrain->getIntValue("override-level", -1) > 0) ? false : true;
1394 terrain->setBoolValue("active", terrain_active);
1395 terrain->setBoolValue("valid", (material && terrain_active) ? true : false);
1396 if (terrain_active)
1397 {
1398 static bool material_valid = false;
1399 if (material) {
1400 GroundReactions->SetStaticFFactor((*material).get_friction_factor());
1401 GroundReactions->SetRollingFFactor((*material).get_rolling_friction()/0.02);
1402 // 1 Pascal = 0.00014503773800721815 lbs/in^2
1403 double pressure = (*material).get_load_resistance(); // N/m^2 (or Pascal)
1404 GroundReactions->SetMaximumForce(pressure*0.00014503773800721815);
1405
1406 GroundReactions->SetBumpiness((*material).get_bumpiness());
1407 GroundReactions->SetSolid((*material).get_solid());
1408 GroundReactions->SetPosition(pt);
1409 material_valid = true;
1410 } else {
1411 if (material_valid) {
1412 GroundReactions->resetValues();
1413 material_valid = false;
1414 }
1415 }
1416 }
1417 #else
1418 terrain->setBoolValue("valid", false);
1419 #endif
1420 return dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt));
1421 }
1422
sqr(double x)1423 inline static double sqr(double x)
1424 {
1425 return x * x;
1426 }
1427
angle_diff(double a,double b)1428 static double angle_diff(double a, double b)
1429 {
1430 double diff = fabs(a - b);
1431 if (diff > 180) diff = 360 - diff;
1432
1433 return diff;
1434 }
1435
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)1436 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)
1437 {
1438 FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1439 double dist = DotProduct(tip, ground_normal_body);
1440 if (fabs(dist + E) < 0.0001) {
1441 sin_fis[*points] = sin_fi_guess;
1442 cos_fis[*points] = cos_fi_guess;
1443 fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1444 (*points)++;
1445 }
1446 }
1447
1448
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)1449 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)
1450 {
1451 if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1452 double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1453 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1454 if (fabs(cos_fi_guess) > SG_EPSILON) {
1455 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1456 }
1457 }
1458 }
1459
update_external_forces(double t_off)1460 void FGJSBsim::update_external_forces(double t_off)
1461 {
1462 const FGMatrix33& Tb2l = Propagate->GetTb2l();
1463 const FGMatrix33& Tl2b = Propagate->GetTl2b();
1464 const FGLocation& Location = Propagate->GetLocation();
1465 const FGMatrix33& Tec2l = Location.GetTec2l();
1466
1467 double hook_area[4][3];
1468
1469 FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1470 FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l * hook_root_body);
1471 hook_area[1][0] = hook_root(1);
1472 hook_area[1][1] = hook_root(2);
1473 hook_area[1][2] = hook_root(3);
1474
1475 hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1476 double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1477 double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1478 double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1479 double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1480 double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1481
1482 FGColumnVector3 hook_tip_body = hook_root_body;
1483 hook_tip_body(1) -= hook_length * cos_fi;
1484 hook_tip_body(3) += hook_length * sin_fi;
1485 if (!arrestor_wire_engaged_hook->getBoolValue()) {
1486 double contact[3];
1487 double ground_normal[3];
1488 double ground_vel[3];
1489 double ground_angular_vel[3];
1490 double root_agl_ft = get_agl_ft(t_off, hook_root, 0, contact,
1491 ground_normal, ground_vel,
1492 ground_angular_vel);
1493 if (root_agl_ft > 0 && root_agl_ft < hook_length) {
1494 FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1495 FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1496 double D = -DotProduct(contact_body, ground_normal_body);
1497
1498 // check hook tip agl against same ground plane
1499 double hook_tip_agl_ft = DotProduct(hook_tip_body, ground_normal_body) + D;
1500 if (hook_tip_agl_ft < 0) {
1501
1502 // hook tip: hx - l cos, hy, hz + l sin
1503 // on ground: - n0 l cos + n2 l sin + E = 0
1504
1505 double E = D + DotProduct(hook_root_body, ground_normal_body);
1506
1507 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1508 // and rearrange to get a quadratic with coeffs:
1509 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1510 double b = 2 * E * ground_normal_body(3) * hook_length;
1511 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
1512
1513 double disc = sqr(b) - 4 * a * c;
1514 if (disc >= 0) {
1515 double delta = sqrt(disc) / (2 * a);
1516
1517 // allow 4 solutions for safety, should never happen
1518 double sin_fis[4];
1519 double cos_fis[4];
1520 double fis[4];
1521 int points = 0;
1522
1523 double sin_fi_guess = -b / (2 * a) - delta;
1524 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1525 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1526
1527 if (points == 2) {
1528 double diff1 = angle_diff(fi, fis[0]);
1529 double diff2 = angle_diff(fi, fis[1]);
1530 int point = diff1 < diff2 ? 0 : 1;
1531 fi = fis[point];
1532 sin_fi = sin_fis[point];
1533 cos_fi = cos_fis[point];
1534 hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1535 hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1536 }
1537 }
1538 }
1539 }
1540 } else {
1541 if (release_hook->getBoolValue()) {
1542 release_wire();
1543 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1544 arrestor_wire_engaged_hook->setBoolValue(false);
1545 release_hook->setBoolValue(false);
1546 } else {
1547 FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() * hook_root_body));
1548 double wire_ends_ec[2][3];
1549 double wire_vel_ec[2][3];
1550 get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1551 FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1552 FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1553 FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1554 if (rel_vel.Magnitude() < 3) {
1555 release_wire();
1556 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1557 arrestor_wire_engaged_hook->setBoolValue(false);
1558 release_hook->setBoolValue(false);
1559 }
1560 else {
1561 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;
1562 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;
1563 FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1564 force_plane_normal.Normalize();
1565 cos_fi = DotProduct(force_plane_normal, FGColumnVector3(0, 0, 1));
1566 if (cos_fi < 0) cos_fi = -cos_fi;
1567 sin_fi = sqrt(1 - sqr(cos_fi));
1568 fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1569
1570 fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1571 fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1572 fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1573 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1574 }
1575 }
1576 }
1577
1578 FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1579
1580 hook_area[0][0] = hook_tip(1);
1581 hook_area[0][1] = hook_tip(2);
1582 hook_area[0][2] = hook_tip(3);
1583
1584 if (!arrestor_wire_engaged_hook->getBoolValue()) {
1585 // The previous positions.
1586 hook_area[2][0] = last_hook_root[0];
1587 hook_area[2][1] = last_hook_root[1];
1588 hook_area[2][2] = last_hook_root[2];
1589 hook_area[3][0] = last_hook_tip[0];
1590 hook_area[3][1] = last_hook_tip[1];
1591 hook_area[3][2] = last_hook_tip[2];
1592
1593 // Check if we caught a wire.
1594 // Returns true if we caught one.
1595 if (caught_wire_ft(t_off, hook_area)) {
1596 arrestor_wire_engaged_hook->setBoolValue(true);
1597 }
1598 }
1599
1600 // save actual position as old position ...
1601 last_hook_tip[0] = hook_area[0][0];
1602 last_hook_tip[1] = hook_area[0][1];
1603 last_hook_tip[2] = hook_area[0][2];
1604 last_hook_root[0] = hook_area[1][0];
1605 last_hook_root[1] = hook_area[1][1];
1606 last_hook_root[2] = hook_area[1][2];
1607
1608 fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);
1609
1610 if (_ai_wake_enabled->getBoolValue()) {
1611 FGColumnVector3 uvw = Propagate->GetUVW();
1612 FGQuaternion ql2b = Propagate->GetQuaternion();
1613 FGLocation l = Auxiliary->GetLocationVRP();
1614 SGVec3d cartPos(l(1), l(2), l(3));
1615 // The scalar component is the first component in FGQuaternion but
1616 // the last component in SGQuat.
1617 SGQuatd orient(ql2b(2), ql2b(3), ql2b(4), ql2b(1));
1618
1619 mesh->setPosition(cartPos * SG_FEET_TO_METER, orient);
1620
1621 SGVec3d f = mesh->GetForce(get_wake_group(),
1622 SGVec3d(uvw(1), uvw(2), uvw(3)),
1623 Atmosphere->GetDensity());
1624 const SGVec3d& m = mesh->GetMoment();
1625
1626 if (_fmag) _fmag->setDoubleValue(1.0);
1627 if (_fbx) _fbx->setDoubleValue(f[0]);
1628 if (_fby) _fby->setDoubleValue(f[1]);
1629 if (_fbz) _fbz->setDoubleValue(f[2]);
1630
1631 if (_mmag) _mmag->setDoubleValue(1.0);
1632 if (_mbx) _mbx->setDoubleValue(m[0]);
1633 if (_mby) _mby->setDoubleValue(m[1]);
1634 if (_mbz) _mbz->setDoubleValue(m[2]);
1635 }
1636 else {
1637 if (_fmag) _fmag->setDoubleValue(0.0);
1638 if (_mmag) _mmag->setDoubleValue(0.0);
1639 }
1640 }
1641
1642
1643 // Register the subsystem.
1644 #if 0
1645 SGSubsystemMgr::Registrant<FGJSBsim> registrantFGJSBsim;
1646 #endif
1647