Hi,
A number of issues have been reported in the bug tracker #184 about
the capacity of JSBSim to take some command line arguments into
account. After investigating the subject, I found that several bugs
were involved in this issue:
1. The atmospheric properties of FG are not yet initialized when
JSBSim is initialized
-> This is fixed by the attached patch that modifies the file
src/Environment/environment_mgr.cxx Note that my patch is quite basic
and there may exist smarter ways to initialize properly the
environment before the FDM.
2. The Euler angles were initialized after the velocities in src/FDM/flight.cxx
-> This was by far the biggest source of confusion for the FDM. This
is also fixed by the attached patch which moves Euler angles
initialization before the velocities initialization.
3. The glide slope and rate of climb were ignored
-> I have not found a single line of code in src/FDM/*.[ch]xx that was
reading the parameters /sim/presets/glideslope-deg and
/velocity/vertical-speed-fps. So I guess this issue existed since day
one ? Unless somebody inadvertently removed the corresponding code ?
Anyway, the attached patch fixes src/FDM/flight.cxx and all FDMs
(YASim, UIUC, JSBSim, etc.) should benefit from this update.
4. Some properties were instructed to re-use their previous value
while they should not
-> The commit
http://www.gitorious.org/fg/flightgear/commit/32b69f823abd9d9adf99c2cf9aa6bf98f5f780bb
already addressed this issue but only partially. The attached patch
completes the task and hopefully will be the final fix for this bug.
5. Some bugs existed in JSBSim trim code in the file
src/FDM/JSBSim/initialization/FGInitialCondition.cpp
-> This bug has already been fixed in JSBSim but the corresponding
patch has not yet been applied to FG. The attached patch contains the
corresponding fix. An alternative way forward would be to update FG
with the last up to date JSBSim code.
Could you please review this patch and report any issue ?
Thanks
Bertrand.
---------- Forwarded message ----------
From: <[email protected]>
Date: 2011/5/27
Subject: Re: Issue 184 in flightgear-bugs: JSBSim: command line arguments broken
Comment #14 on issue 184 by gijsrooy: JSBSim: command line arguments broken
http://code.google.com/p/flightgear-bugs/issues/detail?id=184
When running FG with, for example the c172p and --vc=100, I expect
FlightGear to load with a fast moving c172p. Instead, the aircraft
stands still.
Same with --pitch=. If I launch a YASim aircraft with --pitch=60, the
aircraft will be positioned like this (see attached screenshot) at
startup; JSBSim aircraft just start leveled/normal. Even with
--enable-clock-freeze, to make sure they don't tumble over.
On the same subject, the Location > Location in Air dailog, with JSBSim:
*On the ground:
airspeed/azimuth/glidepath/ don't seem to work with JSBSim. Heading does work.
*In the air:
azimuth/glidepath don't seem to work, airspeed appears to be working,
but it's hard to say, because the aircraft starts spinning the moment
it is re-positioned. Looks like the aircraft is positioned with
--pitch=90 no matter what setting...
Attachments:
fgfs-screen-002.png 330 KB
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diff --git a/src/Environment/environment_mgr.cxx b/src/Environment/environment_mgr.cxx
index e480390..42023ea 100644
--- a/src/Environment/environment_mgr.cxx
+++ b/src/Environment/environment_mgr.cxx
@@ -97,6 +97,13 @@ FGEnvironmentMgr::init ()
SG_LOG( SG_GENERAL, SG_INFO, "Initializing environment subsystem");
SGSubsystemGroup::init();
fgClouds->Init();
+
+ // Initialize the longitude, latitude and altitude to the initial position
+ // of the aircraft so that the atmospheric properties (pressure, temperature
+ // and density) can be initialized accordingly.
+ _altitudeNode->setDoubleValue(fgGetDouble("/sim/presets/altitude-ft"));
+ _longitude_n->setDoubleValue(fgGetDouble("/sim/presets/longitude-deg"));
+ _latitude_n->setDoubleValue(fgGetDouble("/sim/presets/latitude-deg"));
}
void
diff --git a/src/FDM/JSBSim/JSBSim.cxx b/src/FDM/JSBSim/JSBSim.cxx
index 806401c..54ed598 100644
--- a/src/FDM/JSBSim/JSBSim.cxx
+++ b/src/FDM/JSBSim/JSBSim.cxx
@@ -181,7 +181,7 @@ FGJSBsim::FGJSBsim( double dt )
MassBalance = fdmex->GetMassBalance();
Propulsion = fdmex->GetPropulsion();
Aircraft = fdmex->GetAircraft();
- Propagate = fdmex->GetPropagate();
+ Propagate = fdmex->GetPropagate();
Auxiliary = fdmex->GetAuxiliary();
Inertial = fdmex->GetInertial();
Aerodynamics = fdmex->GetAerodynamics();
@@ -369,9 +369,9 @@ void FGJSBsim::init()
Atmosphere->UseInternal();
}
- fgic->SetVNorthFpsIC( -wind_from_north->getDoubleValue() );
- fgic->SetVEastFpsIC( -wind_from_east->getDoubleValue() );
- fgic->SetVDownFpsIC( -wind_from_down->getDoubleValue() );
+ fgic->SetWindNEDFpsIC( -wind_from_north->getDoubleValue(),
+ -wind_from_east->getDoubleValue(),
+ -wind_from_down->getDoubleValue() );
//Atmosphere->SetExTemperature(get_Static_temperature());
//Atmosphere->SetExPressure(get_Static_pressure());
@@ -393,20 +393,20 @@ void FGJSBsim::init()
}
// end of egt_degf deprecation patch
- if (fgGetBool("/sim/presets/running")) {
- for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
- SGPropertyNode * node = fgGetNode("engines/engine", i, true);
- node->setBoolValue("running", true);
- Propulsion->GetEngine(i)->SetRunning(true);
- }
- }
-
FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
common_init();
copy_to_JSBsim();
fdmex->RunIC(); //loop JSBSim once w/o integrating
+ if (fgGetBool("/sim/presets/running")) {
+ Propulsion->InitRunning(-1);
+ for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
+ FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
+ globals->get_controls()->set_magnetos(i, eng->GetMagnetos());
+ globals->get_controls()->set_mixture(i, FCS->GetMixtureCmd(i));
+ }
+ }
copy_from_JSBsim(); //update the bus
SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
@@ -1282,7 +1282,7 @@ void FGJSBsim::do_trim(void)
{
fgtrim = new FGTrim(fdmex,tGround);
} else {
- fgtrim = new FGTrim(fdmex,tLongitudinal);
+ fgtrim = new FGTrim(fdmex,tFull);
}
if ( !fgtrim->DoTrim() ) {
@@ -1296,7 +1296,7 @@ void FGJSBsim::do_trim(void)
pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
aileron_trim->setDoubleValue( FCS->GetDaCmd() );
- rudder_trim->setDoubleValue( FCS->GetDrCmd() );
+ rudder_trim->setDoubleValue( -FCS->GetDrCmd() );
globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
globals->get_controls()->set_elevator(FCS->GetDeCmd());
@@ -1304,7 +1304,7 @@ void FGJSBsim::do_trim(void)
globals->get_controls()->set_throttle(i, FCS->GetThrottleCmd(i));
globals->get_controls()->set_aileron(FCS->GetDaCmd());
- globals->get_controls()->set_rudder( FCS->GetDrCmd());
+ globals->get_controls()->set_rudder( -FCS->GetDrCmd());
SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
}
diff --git a/src/FDM/JSBSim/initialization/FGInitialCondition.cpp b/src/FDM/JSBSim/initialization/FGInitialCondition.cpp
index 0dbcf88..00a3840 100644
--- a/src/FDM/JSBSim/initialization/FGInitialCondition.cpp
+++ b/src/FDM/JSBSim/initialization/FGInitialCondition.cpp
@@ -61,7 +61,7 @@ using namespace std;
namespace JSBSim {
-static const char *IdSrc = "$Id: FGInitialCondition.cpp,v 1.59 2011/04/03 13:18:51 bcoconni Exp $";
+static const char *IdSrc = "$Id: FGInitialCondition.cpp,v 1.61 2011/05/20 00:47:03 bcoconni Exp $";
static const char *IdHdr = ID_INITIALCONDITION;
//******************************************************************************
@@ -112,7 +112,7 @@ void FGInitialCondition::ResetIC(double u0, double v0, double w0,
FGQuaternion Quat(phi, theta, psi);
Quat.Normalize();
Tl2b = Quat.GetT();
- Tb2l = Quat.GetTInv();
+ Tb2l = Tl2b.Transposed();
vUVW_NED = Tb2l * FGColumnVector3(u0, v0, w0);
vt = vUVW_NED.Magnitude();
@@ -322,20 +322,18 @@ void FGInitialCondition::SetClimbRateFpsIC(double hdot)
FGColumnVector3 _vt_NED = Tb2l * Tw2b * FGColumnVector3(vt, 0., 0.);
FGColumnVector3 _WIND_NED = _vt_NED - vUVW_NED;
- double hdot0 = _vt_NED(eW);
+ double hdot0 = -_vt_NED(eW);
if (fabs(hdot0) < vt) {
double scale = sqrt((vt*vt-hdot*hdot)/(vt*vt-hdot0*hdot0));
_vt_NED(eU) *= scale;
_vt_NED(eV) *= scale;
}
- _vt_NED(eW) = hdot;
+ _vt_NED(eW) = -hdot;
vUVW_NED = _vt_NED - _WIND_NED;
- // The AoA is not modified here but the function SetAlphaRadIC is updating the
- // same angles than SetClimbRateFpsIC needs to update.
- // TODO : create a subroutine that only shares the relevant code.
- SetAlphaRadIC(alpha);
+ // Updating the angles theta and beta to keep the true airspeed amplitude
+ calcThetaBeta(alpha, _vt_NED);
}
//******************************************************************************
@@ -346,13 +344,22 @@ void FGInitialCondition::SetClimbRateFpsIC(double hdot)
void FGInitialCondition::SetAlphaRadIC(double alfa)
{
FGColumnVector3 _vt_NED = Tb2l * Tw2b * FGColumnVector3(vt, 0., 0.);
+ calcThetaBeta(alfa, _vt_NED);
+}
+
+//******************************************************************************
+// When the AoA is modified, we need to update the angles theta and beta to
+// keep the true airspeed amplitude, the climb rate and the heading unchanged.
+// Beta will be modified if the aircraft roll angle is not null.
+void FGInitialCondition::calcThetaBeta(double alfa, const FGColumnVector3& _vt_NED)
+{
double calpha = cos(alfa), salpha = sin(alfa);
double cpsi = cos(psi), spsi = sin(psi);
double cphi = cos(phi), sphi = sin(phi);
FGMatrix33 Tpsi( cpsi, spsi, 0.,
- -spsi, cpsi, 0.,
- 0., 0., 1.);
+ -spsi, cpsi, 0.,
+ 0., 0., 1.);
FGMatrix33 Tphi(1., 0., 0.,
0., cphi, sphi,
0.,-sphi, cphi);
@@ -398,11 +405,11 @@ void FGInitialCondition::SetAlphaRadIC(double alfa)
Tl2b = Quat.GetT();
Tb2l = Quat.GetTInv();
- FGColumnVector3 v2 = Talpha * Quat.GetT() * _vt_NED;
+ FGColumnVector3 v2 = Talpha * Tl2b * _vt_NED;
alpha = alfa;
beta = atan2(v2(eV), v2(eU));
- double cbeta=0.0, sbeta=0.0;
+ double cbeta=1.0, sbeta=0.0;
if (vt != 0.0) {
cbeta = v2(eU) / vt;
sbeta = v2(eV) / vt;
@@ -687,6 +694,8 @@ void FGInitialCondition::SetAltitudeASLFtIC(double alt)
double ve0 = vt * sqrt(rho/rhoSL);
altitudeASL=alt;
+ position.SetRadius(alt + sea_level_radius);
+
temperature = fdmex->GetAtmosphere()->GetTemperature(altitudeASL);
soundSpeed = sqrt(SHRatio*Reng*temperature);
rho = fdmex->GetAtmosphere()->GetDensity(altitudeASL);
@@ -703,8 +712,6 @@ void FGInitialCondition::SetAltitudeASLFtIC(double alt)
default: // Make the compiler stop complaining about missing enums
break;
}
-
- position.SetRadius(alt + sea_level_radius);
}
//******************************************************************************
diff --git a/src/FDM/JSBSim/initialization/FGInitialCondition.h b/src/FDM/JSBSim/initialization/FGInitialCondition.h
index 3081224..e110ebb 100644
--- a/src/FDM/JSBSim/initialization/FGInitialCondition.h
+++ b/src/FDM/JSBSim/initialization/FGInitialCondition.h
@@ -54,7 +54,7 @@ INCLUDES
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#define ID_INITIALCONDITION "$Id: FGInitialCondition.h,v 1.26 2011/01/16 16:10:59 bcoconni Exp $"
+#define ID_INITIALCONDITION "$Id: FGInitialCondition.h,v 1.27 2011/05/20 00:47:03 bcoconni Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
@@ -213,7 +213,7 @@ CLASS DOCUMENTATION
@property ic/r-rad_sec (read/write) Yaw rate initial condition in radians/second
@author Tony Peden
- @version "$Id: FGInitialCondition.h,v 1.26 2011/01/16 16:10:59 bcoconni Exp $"
+ @version "$Id: FGInitialCondition.h,v 1.27 2011/05/20 00:47:03 bcoconni Exp $"
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -666,6 +666,7 @@ private:
double getMachFromVcas(double vcas);
double calcVcas(double Mach) const;
void calcAeroAngles(const FGColumnVector3& _vt_BODY);
+ void calcThetaBeta(double alfa, const FGColumnVector3& _vt_NED);
void bind(void);
void Debug(int from);
diff --git a/src/FDM/flight.cxx b/src/FDM/flight.cxx
index d501d15..431605a 100644
--- a/src/FDM/flight.cxx
+++ b/src/FDM/flight.cxx
@@ -179,6 +179,15 @@ FGInterface::common_init ()
double slr = SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v);
_set_Sea_level_radius( slr * SG_METER_TO_FEET );
+ // Set initial Euler angles
+ SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
+ set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
+ * SGD_DEGREES_TO_RADIANS,
+ fgGetDouble("/sim/presets/pitch-deg")
+ * SGD_DEGREES_TO_RADIANS,
+ fgGetDouble("/sim/presets/heading-deg")
+ * SGD_DEGREES_TO_RADIANS );
+
// Set initial velocities
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
if ( !fgHasNode("/sim/presets/speed-set") ) {
@@ -207,14 +216,11 @@ FGInterface::common_init ()
}
}
- // Set initial Euler angles
- SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
- set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
- * SGD_DEGREES_TO_RADIANS,
- fgGetDouble("/sim/presets/pitch-deg")
- * SGD_DEGREES_TO_RADIANS,
- fgGetDouble("/sim/presets/heading-deg")
- * SGD_DEGREES_TO_RADIANS );
+ if ( fgHasNode("/sim/presets/glideslope-deg") )
+ set_Gamma_vert_rad( fgGetDouble("/sim/presets/glideslope-deg")
+ * SGD_DEGREES_TO_RADIANS );
+ else if ( fgHasNode( "/velocities/vertical-speed-fps") )
+ set_Climb_Rate( fgGetDouble("/velocities/vertical-speed-fps") );
SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
}
@@ -251,7 +257,7 @@ FGInterface::bind ()
false);
fgSetArchivable("/position/altitude-ft");
fgTie("/position/altitude-agl-ft", this,
- &FGInterface::get_Altitude_AGL, &FGInterface::set_AltitudeAGL);
+ &FGInterface::get_Altitude_AGL, &FGInterface::set_AltitudeAGL, false);
fgSetArchivable("/position/ground-elev-ft");
fgTie("/position/ground-elev-ft", this,
&FGInterface::get_Runway_altitude); // read-only
@@ -263,7 +269,7 @@ FGInterface::bind ()
fgSetArchivable("/position/sea-level-radius-ft");
fgTie("/position/sea-level-radius-ft", this,
&FGInterface::get_Sea_level_radius,
- &FGInterface::_set_Sea_level_radius);
+ &FGInterface::_set_Sea_level_radius, false);
// Orientation
fgTie("/orientation/roll-deg", this,
@@ -279,24 +285,27 @@ FGInterface::bind ()
&FGInterface::set_Psi_deg, false);
fgSetArchivable("/orientation/heading-deg");
fgTie("/orientation/track-deg", this,
- &FGInterface::get_Track);
+ &FGInterface::get_Track); // read-only
// Body-axis "euler rates" (rotation speed, but in a funny
// representation).
fgTie("/orientation/roll-rate-degps", this,
- &FGInterface::get_Phi_dot_degps, &FGInterface::set_Phi_dot_degps);
+ &FGInterface::get_Phi_dot_degps,
+ &FGInterface::set_Phi_dot_degps, false);
fgTie("/orientation/pitch-rate-degps", this,
- &FGInterface::get_Theta_dot_degps, &FGInterface::set_Theta_dot_degps);
+ &FGInterface::get_Theta_dot_degps,
+ &FGInterface::set_Theta_dot_degps, false);
fgTie("/orientation/yaw-rate-degps", this,
- &FGInterface::get_Psi_dot_degps, &FGInterface::set_Psi_dot_degps);
+ &FGInterface::get_Psi_dot_degps,
+ &FGInterface::set_Psi_dot_degps, false);
- fgTie("/orientation/p-body", this, &FGInterface::get_P_body);
- fgTie("/orientation/q-body", this, &FGInterface::get_Q_body);
- fgTie("/orientation/r-body", this, &FGInterface::get_R_body);
+ fgTie("/orientation/p-body", this, &FGInterface::get_P_body); // read-only
+ fgTie("/orientation/q-body", this, &FGInterface::get_Q_body); // read-only
+ fgTie("/orientation/r-body", this, &FGInterface::get_R_body); // read-only
// Ground speed knots
fgTie("/velocities/groundspeed-kt", this,
- &FGInterface::get_V_ground_speed_kt);
+ &FGInterface::get_V_ground_speed_kt); // read-only
// Calibrated airspeed
fgTie("/velocities/airspeed-kt", this,
@@ -305,7 +314,7 @@ FGInterface::bind ()
false);
fgTie("/velocities/equivalent-kt", this,
- &FGInterface::get_V_equiv_kts);
+ &FGInterface::get_V_equiv_kts); // read-only
// Mach number
fgTie("/velocities/mach", this,
@@ -338,11 +347,11 @@ FGInterface::bind ()
&FGInterface::get_V_down, &FGInterface::set_V_down, false);
fgTie("/velocities/north-relground-fps", this,
- &FGInterface::get_V_north_rel_ground);
+ &FGInterface::get_V_north_rel_ground); // read-only
fgTie("/velocities/east-relground-fps", this,
- &FGInterface::get_V_east_rel_ground);
+ &FGInterface::get_V_east_rel_ground); // read-only
fgTie("/velocities/down-relground-fps", this,
- &FGInterface::get_V_down_rel_ground);
+ &FGInterface::get_V_down_rel_ground); // read-only
// Relative wind
@@ -367,36 +376,37 @@ FGInterface::bind ()
// Climb and slip (read-only)
fgTie("/velocities/vertical-speed-fps", this,
&FGInterface::get_Climb_Rate,
- &FGInterface::set_Climb_Rate );
+ &FGInterface::set_Climb_Rate, false );
fgTie("/velocities/glideslope", this,
&FGInterface::get_Gamma_vert_rad,
- &FGInterface::set_Gamma_vert_rad );
+ &FGInterface::set_Gamma_vert_rad, false );
fgTie("/orientation/side-slip-rad", this,
- &FGInterface::get_Beta, &FGInterface::_set_Beta);
+ &FGInterface::get_Beta, &FGInterface::_set_Beta, false);
fgTie("/orientation/side-slip-deg", this,
&FGInterface::get_Beta_deg); // read-only
fgTie("/orientation/alpha-deg", this,
- &FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg); // read-only
+ &FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg, false);
fgTie("/accelerations/nlf", this,
&FGInterface::get_Nlf); // read-only
// NED accelerations
fgTie("/accelerations/ned/north-accel-fps_sec",
- this, &FGInterface::get_V_dot_north);
+ this, &FGInterface::get_V_dot_north); // read-only
fgTie("/accelerations/ned/east-accel-fps_sec",
- this, &FGInterface::get_V_dot_east);
+ this, &FGInterface::get_V_dot_east); // read-only
fgTie("/accelerations/ned/down-accel-fps_sec",
- this, &FGInterface::get_V_dot_down);
+ this, &FGInterface::get_V_dot_down); // read-only
// Pilot accelerations
fgTie("/accelerations/pilot/x-accel-fps_sec",
- this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot);
+ this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot, false);
fgTie("/accelerations/pilot/y-accel-fps_sec",
- this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot);
+ this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot, false);
fgTie("/accelerations/pilot/z-accel-fps_sec",
- this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot);
+ this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot, false);
- fgTie("/accelerations/n-z-cg-fps_sec", this, &FGInterface::get_N_Z_cg);
+ fgTie("/accelerations/n-z-cg-fps_sec",
+ this, &FGInterface::get_N_Z_cg); // read-only
}
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