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// JSBsim.cxx -- interface to the JSBsim flight model
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// Written by Curtis Olson, started February 1999.
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// Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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// $Id: JSBSim.cxx,v 1.88 2002/02/13 19:51:57 david Exp $
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#include <simgear/compiler.h>
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#ifdef SG_MATH_EXCEPTION_CLASH
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#include <simgear/constants.h>
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#include <simgear/debug/logstream.hxx>
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#include <simgear/math/sg_geodesy.hxx>
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#include <simgear/misc/sg_path.hxx>
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#include <Scenery/scenery.hxx>
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#include <Aircraft/aircraft.hxx>
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#include <Controls/controls.hxx>
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#include <Main/globals.hxx>
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#include <Main/fg_props.hxx>
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#include <FDM/JSBSim/FGFDMExec.h>
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#include <FDM/JSBSim/FGAircraft.h>
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#include <FDM/JSBSim/FGFCS.h>
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#include <FDM/JSBSim/FGPosition.h>
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#include <FDM/JSBSim/FGRotation.h>
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#include <FDM/JSBSim/FGState.h>
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#include <FDM/JSBSim/FGTranslation.h>
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#include <FDM/JSBSim/FGAuxiliary.h>
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#include <FDM/JSBSim/FGInitialCondition.h>
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#include <FDM/JSBSim/FGTrim.h>
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#include <FDM/JSBSim/FGAtmosphere.h>
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#include <FDM/JSBSim/FGMassBalance.h>
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#include <FDM/JSBSim/FGAerodynamics.h>
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#include <FDM/JSBSim/FGLGear.h>
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/******************************************************************************/
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FGJSBsim::FGJSBsim( double dt )
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fdmex = new FGFDMExec;
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State = fdmex->GetState();
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Atmosphere = fdmex->GetAtmosphere();
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FCS = fdmex->GetFCS();
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MassBalance = fdmex->GetMassBalance();
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Propulsion = fdmex->GetPropulsion();
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Aircraft = fdmex->GetAircraft();
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Translation = fdmex->GetTranslation();
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Rotation = fdmex->GetRotation();
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Position = fdmex->GetPosition();
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Auxiliary = fdmex->GetAuxiliary();
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Aerodynamics = fdmex->GetAerodynamics();
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GroundReactions = fdmex->GetGroundReactions();
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Atmosphere->UseInternal();
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fgic=new FGInitialCondition(fdmex);
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SGPath aircraft_path( globals->get_fg_root() );
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aircraft_path.append( "Aircraft" );
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SGPath engine_path( globals->get_fg_root() );
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engine_path.append( "Engine" );
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result = fdmex->LoadModel( aircraft_path.str(),
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fgGetString("/sim/aero") );
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SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
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SG_LOG( SG_FLIGHT, SG_INFO,
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" aero does not exist (you may have mis-typed the name).");
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SG_LOG( SG_FLIGHT, SG_INFO, "" );
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SG_LOG( SG_FLIGHT, SG_INFO, "" );
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SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
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int Neng = Propulsion->GetNumEngines();
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SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
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if ( GroundReactions->GetNumGearUnits() <= 0 ) {
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SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
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<< GroundReactions->GetNumGearUnits() );
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SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
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SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
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SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
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// Set initial fuel levels if provided.
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for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
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SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
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if (node->getChild("level-gal_us", 0, false) != 0)
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Propulsion->GetTank(i)
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->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
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fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
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fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
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fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
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fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
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startup_trim = fgGetNode("/sim/startup/trim", true);
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trimmed = fgGetNode("/fdm/trim/trimmed", true);
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trimmed->setBoolValue(false);
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pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
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throttle_trim = fgGetNode("/fdm/trim/throttle", true );
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aileron_trim = fgGetNode("/fdm/trim/aileron", true );
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rudder_trim = fgGetNode("/fdm/trim/rudder", true );
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stall_warning = fgGetNode("/sim/aero/alarms/stall-warning",true);
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stall_warning->setDoubleValue(0);
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/******************************************************************************/
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FGJSBsim::~FGJSBsim(void) {
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delete fdmex; fdmex=NULL;
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delete fgic; fgic=NULL;
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/******************************************************************************/
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// Initialize the JSBsim flight model, dt is the time increment for
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// each subsequent iteration through the EOM
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void FGJSBsim::init() {
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SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
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// Explicitly call the superclass's
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// init method first.
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fdmex->GetState()->Initialize(fgic);
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fdmex->RunIC(fgic); //loop JSBSim once w/o integrating
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// fdmex->Run(); //loop JSBSim once
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copy_from_JSBsim(); //update the bus
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SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
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switch(fgic->GetSpeedSet()) {
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SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
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<< Position->GetVn() << ", "
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<< Position->GetVe() << ", "
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<< Position->GetVd() << " ft/s");
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SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
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<< Translation->GetUVW(1) << ", "
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<< Translation->GetUVW(2) << ", "
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<< Translation->GetUVW(3) << " ft/s");
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SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
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<< Translation->GetMach() );
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SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
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<< Auxiliary->GetVcalibratedKTS() << " knots" );
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stall_warning->setDoubleValue(0);
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SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
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<< Rotation->Getphi()*RADTODEG << " deg" );
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SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
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<< Rotation->Gettht()*RADTODEG << " deg" );
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SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
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<< Rotation->Getpsi()*RADTODEG << " deg" );
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SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
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<< Position->GetLatitude() << " deg" );
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SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
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<< Position->GetLongitude() << " deg" );
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SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
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<< Position->Geth() << " feet" );
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SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
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SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
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SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
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SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
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globals->get_controls()->get_gear_down() );
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/******************************************************************************/
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// Run an iteration of the EOM (equations of motion)
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FGJSBsim::update( int multiloop ) {
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// double save_alt = 0.0;
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trimmed->setBoolValue(false);
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if ( startup_trim->getBoolValue() ) {
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fdmex->RunIC(fgic); //apply any changes made through the set_ functions
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for ( i=0; i < multiloop; i++ ) {
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FGJSBBase::Message* msg;
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while (fdmex->ReadMessage()) {
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msg = fdmex->ProcessMessage();
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case FGJSBBase::Message::eText:
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SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
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case FGJSBBase::Message::eBool:
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SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
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case FGJSBBase::Message::eInteger:
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SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
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case FGJSBBase::Message::eDouble:
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SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
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SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
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// translate JSBsim back to FG structure so that the
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// autopilot (and the rest of the sim can use the updated values
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/******************************************************************************/
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// Convert from the FGInterface struct to the JSBsim generic_ struct
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bool FGJSBsim::copy_to_JSBsim() {
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// copy control positions into the JSBsim structure
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FCS->SetDaCmd( globals->get_controls()->get_aileron());
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FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
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FCS->SetDeCmd( globals->get_controls()->get_elevator());
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FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
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FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
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FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
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FCS->SetDfCmd( globals->get_controls()->get_flaps() );
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FCS->SetDsbCmd( 0.0 ); //speedbrakes
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FCS->SetDspCmd( 0.0 ); //spoilers
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FCS->SetLBrake( globals->get_controls()->get_brake( 0 ) );
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FCS->SetRBrake( globals->get_controls()->get_brake( 1 ) );
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FCS->SetCBrake( globals->get_controls()->get_brake( 2 ) );
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FCS->SetGearCmd( globals->get_controls()->get_gear_down());
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for (i = 0; i < Propulsion->GetNumEngines(); i++) {
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FGEngine * eng = Propulsion->GetEngine(i);
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SGPropertyNode * node = fgGetNode("engines/engine", i, true);
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FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
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FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
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FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
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Propulsion->GetThruster(i)->SetRPM(node->getDoubleValue("rpm"));
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eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
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eng->SetStarter( globals->get_controls()->get_starter(i) );
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Position->SetSeaLevelRadius( get_Sea_level_radius() );
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Position->SetRunwayRadius( scenery.get_cur_elev()*SG_METER_TO_FEET
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+ get_Sea_level_radius() );
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Atmosphere->SetExTemperature(get_Static_temperature());
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Atmosphere->SetExPressure(get_Static_pressure());
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Atmosphere->SetExDensity(get_Density());
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Atmosphere->SetWindNED(get_V_north_airmass(),
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get_V_east_airmass(),
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get_V_down_airmass());
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// SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
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// << get_V_north_airmass() << ", "
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// << get_V_east_airmass() << ", "
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// << get_V_down_airmass() );
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for (i = 0; i < Propulsion->GetNumTanks(); i++) {
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SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
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FGTank * tank = Propulsion->GetTank(i);
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tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
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// tank->SetContents(node->getDoubleValue("level-lb"));
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/******************************************************************************/
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// Convert from the JSBsim generic_ struct to the FGInterface struct
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bool FGJSBsim::copy_from_JSBsim() {
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_set_Inertias( MassBalance->GetMass(),
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MassBalance->GetIxx(),
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MassBalance->GetIyy(),
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MassBalance->GetIzz(),
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MassBalance->GetIxz() );
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_set_CG_Position( MassBalance->GetXYZcg(1),
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MassBalance->GetXYZcg(2),
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MassBalance->GetXYZcg(3) );
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_set_Accels_Body( Aircraft->GetBodyAccel()(1),
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Aircraft->GetBodyAccel()(2),
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Aircraft->GetBodyAccel()(3) );
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//_set_Accels_CG_Body( Aircraft->GetBodyAccel()(1),
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// Aircraft->GetBodyAccel()(2),
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// Aircraft->GetBodyAccel()(3) );
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_set_Accels_CG_Body_N ( Aircraft->GetNcg()(1),
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Aircraft->GetNcg()(2),
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Aircraft->GetNcg()(3) );
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_set_Accels_Pilot_Body( Auxiliary->GetPilotAccel()(1),
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Auxiliary->GetPilotAccel()(2),
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Auxiliary->GetPilotAccel()(3) );
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// _set_Accels_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739,
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// Auxiliary->GetNpilot(2)/32.1739,
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// Auxiliary->GetNpilot(3)/32.1739 );
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_set_Nlf( Aircraft->GetNlf() );
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_set_Velocities_Local( Position->GetVn(),
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_set_Velocities_Wind_Body( Translation->GetUVW(1),
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Translation->GetUVW(2),
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Translation->GetUVW(3) );
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_set_V_rel_wind( Translation->GetVt() );
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_set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
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// _set_V_calibrated( Auxiliary->GetVcalibratedFPS() );
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_set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
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_set_V_ground_speed( Position->GetVground() );
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_set_Omega_Body( Rotation->GetPQR(1),
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Rotation->GetPQR(3) );
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_set_Euler_Rates( Rotation->GetEulerRates(1),
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Rotation->GetEulerRates(2),
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Rotation->GetEulerRates(3) );
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_set_Geocentric_Rates(Position->GetLatitudeDot(),
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Position->GetLongitudeDot(),
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Position->Gethdot() );
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_set_Mach_number( Translation->GetMach() );
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_updateGeocentricPosition( Position->GetLatitude(),
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Position->GetLongitude(),
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_set_Altitude_AGL( Position->GetDistanceAGL() );
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_set_Euler_Angles( Rotation->Getphi(),
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Rotation->Getpsi() );
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_set_Alpha( Translation->Getalpha() );
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_set_Beta( Translation->Getbeta() );
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_set_Gamma_vert_rad( Position->GetGamma() );
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// set_Gamma_horiz_rad( Gamma_horiz_rad );
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_set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
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_set_Climb_Rate( Position->Gethdot() );
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for ( i = 1; i <= 3; i++ ) {
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for ( j = 1; j <= 3; j++ ) {
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_set_T_Local_to_Body( i, j, State->GetTl2b(i,j) );
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// Copy the engine values from JSBSim.
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for( i=0; i < Propulsion->GetNumEngines(); i++ ) {
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SGPropertyNode * node = fgGetNode("engines/engine", i, true);
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FGEngine * eng = Propulsion->GetEngine(i);
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FGThruster * thrust = Propulsion->GetThruster(i);
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node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
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node->setDoubleValue("rpm", thrust->GetRPM());
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node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
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node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
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node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
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node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
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node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
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node->setBoolValue("running", eng->GetRunning());
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node->setBoolValue("cranking", eng->GetCranking());
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static const SGPropertyNode *fuel_freeze
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= fgGetNode("/sim/freeze/fuel");
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// Copy the fuel levels from JSBSim if fuel
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// freeze not enabled.
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if ( ! fuel_freeze->getBoolValue() ) {
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for (i = 0; i < Propulsion->GetNumTanks(); i++) {
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SGPropertyNode * node
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= fgGetNode("/consumables/fuel/tank", i, true);
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double contents = Propulsion->GetTank(i)->GetContents();
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node->setDoubleValue("level-gal_us", contents/6.6);
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// node->setDoubleValue("level-lb", contents);
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stall_warning->setDoubleValue( Aircraft->GetStallWarn() );
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bool FGJSBsim::ToggleDataLogging(void) {
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return fdmex->GetOutput()->Toggle();
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bool FGJSBsim::ToggleDataLogging(bool state) {
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fdmex->GetOutput()->Enable();
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fdmex->GetOutput()->Disable();
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void FGJSBsim::set_Latitude(double lat) {
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static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
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if ( altitude->getDoubleValue() > -9990 ) {
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alt = altitude->getDoubleValue();
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double sea_level_radius_meters, lat_geoc;
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SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
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SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
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sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sea_level_radius_meters, &lat_geoc );
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_set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
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fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
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fgic->SetLatitudeRadIC( lat_geoc );
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void FGJSBsim::set_Longitude(double lon) {
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SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
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fgic->SetLongitudeRadIC( lon );
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void FGJSBsim::set_Altitude(double alt) {
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static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
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double sea_level_radius_meters,lat_geoc;
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SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
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SG_LOG(SG_FLIGHT,SG_INFO, " lat (deg) = " << latitude->getDoubleValue() );
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sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
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&sea_level_radius_meters, &lat_geoc);
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_set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
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fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
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fgic->SetLatitudeRadIC( lat_geoc );
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fgic->SetAltitudeFtIC(alt);
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void FGJSBsim::set_V_calibrated_kts(double vc) {
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SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
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fgic->SetVcalibratedKtsIC(vc);
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void FGJSBsim::set_Mach_number(double mach) {
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SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
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fgic->SetMachIC(mach);
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void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
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SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
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<< north << ", " << east << ", " << down );
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fgic->SetVnorthFpsIC(north);
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fgic->SetVeastFpsIC(east);
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fgic->SetVdownFpsIC(down);
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void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){
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SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
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<< u << ", " << v << ", " << w );
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fgic->SetUBodyFpsIC(u);
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fgic->SetVBodyFpsIC(v);
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fgic->SetWBodyFpsIC(w);
588
void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
589
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
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<< phi << ", " << theta << ", " << psi );
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fgic->SetPitchAngleRadIC(theta);
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fgic->SetRollAngleRadIC(phi);
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fgic->SetTrueHeadingRadIC(psi);
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void FGJSBsim::set_Climb_Rate( double roc) {
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SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
602
fgic->SetClimbRateFpsIC(roc);
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void FGJSBsim::set_Gamma_vert_rad( double gamma) {
607
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
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fgic->SetFlightPathAngleRadIC(gamma);
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void FGJSBsim::set_Sea_level_radius(double slr) {
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SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Sea_level_radius: " << slr );
617
fgic->SetSeaLevelRadiusFtIC(slr);
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void FGJSBsim::set_Runway_altitude(double ralt) {
622
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Runway_altitude: " << ralt );
624
_set_Runway_altitude( ralt );
625
fgic->SetTerrainAltitudeFtIC( ralt );
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void FGJSBsim::set_Static_pressure(double p) {
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SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_pressure: " << p );
632
Atmosphere->SetExPressure(p);
633
if(Atmosphere->External() == true)
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void FGJSBsim::set_Static_temperature(double T) {
638
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_temperature: " << T );
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Atmosphere->SetExTemperature(T);
641
if(Atmosphere->External() == true)
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void FGJSBsim::set_Density(double rho) {
647
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Density: " << rho );
649
Atmosphere->SetExDensity(rho);
650
if(Atmosphere->External() == true)
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void FGJSBsim::set_Velocities_Local_Airmass (double wnorth,
657
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local_Airmass: "
658
<< wnorth << ", " << weast << ", " << wdown );
660
_set_Velocities_Local_Airmass( wnorth, weast, wdown );
661
Atmosphere->SetWindNED(wnorth, weast, wdown );
662
if(Atmosphere->External() == true)
666
void FGJSBsim::init_gear(void ) {
668
FGGroundReactions* gr=fdmex->GetGroundReactions();
669
int Ngear=GroundReactions->GetNumGearUnits();
670
for (int i=0;i<Ngear;i++) {
671
SGPropertyNode * node = fgGetNode("gear/gear", i, true);
672
node->setDoubleValue("xoffset-in",
673
gr->GetGearUnit(i)->GetBodyLocation()(1));
674
node->setDoubleValue("yoffset-in",
675
gr->GetGearUnit(i)->GetBodyLocation()(2));
676
node->setDoubleValue("zoffset-in",
677
gr->GetGearUnit(i)->GetBodyLocation()(3));
678
node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW());
679
node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0);
680
node->setDoubleValue("position", FCS->GetGearPos());
684
void FGJSBsim::update_gear(void) {
686
FGGroundReactions* gr=fdmex->GetGroundReactions();
687
int Ngear=GroundReactions->GetNumGearUnits();
688
for (int i=0;i<Ngear;i++) {
689
SGPropertyNode * node = fgGetNode("gear/gear", i, true);
690
node->getChild("wow", 0, true)
691
->setBoolValue(gr->GetGearUnit(i)->GetWOW());
692
node->getChild("position", 0, true)
693
->setDoubleValue(FCS->GetGearPos());
697
void FGJSBsim::do_trim(void) {
700
if(fgic->GetVcalibratedKtsIC() < 10 ) {
701
fgic->SetVcalibratedKtsIC(0.0);
702
fgtrim=new FGTrim(fdmex,fgic,tGround);
704
fgtrim=new FGTrim(fdmex,fgic,tLongitudinal);
706
if( !fgtrim->DoTrim() ) {
710
trimmed->setBoolValue(true);
712
State->ReportState();
714
pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
715
throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
716
aileron_trim->setDoubleValue( FCS->GetDaCmd() );
717
rudder_trim->setDoubleValue( FCS->GetDrCmd() );
719
globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
720
globals->get_controls()->set_elevator(FCS->GetDeCmd());
721
globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
722
FCS->GetThrottleCmd(0));
724
globals->get_controls()->set_aileron(FCS->GetDaCmd());
725
globals->get_controls()->set_rudder( FCS->GetDrCmd());
727
SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
added
removed
src/FDM/JSBSim.cxx
