FlightGear: FGJSBsim Class Reference

FGFS / JSBSim interface (aka "The Bus"). More...

#include <JSBSim.hxx>

Public Member Functions
	FGJSBsim (double dt)
	Constructor.

	~FGJSBsim ()
	Destructor.

void	init () override

void	resume () override

void	suspend () override

void	unbind () override

void	update (double dt) override

bool	copy_to_JSBsim ()
	copy FDM state to LaRCsim structures

bool	copy_from_JSBsim ()
	copy FDM state from LaRCsim structures

Position Parameter Set
void	set_Latitude (double lat)
	Set geocentric latitude.

void	set_Longitude (double lon)
	Set longitude.

void	set_Altitude (double alt)
	Set altitude Note: this triggers a recalculation of AGL altitude.

Velocity Parameter Set
void	set_V_calibrated_kts (double vc)
	Sets calibrated airspeed Setting this will trigger a recalc of the other velocity terms.

void	set_Mach_number (double mach)
	Sets Mach number.

void	set_Velocities_Local (double north, double east, double down)
	Sets velocity in N-E-D coordinates.

void	set_Velocities_Body (double u, double v, double w)
	Sets aircraft velocity in stability frame.

void	set_Euler_Angles (double phi, double theta, double psi)
	Euler Angle Parameter Set.

Flight Path Parameter Set
void	set_Climb_Rate (double roc)
	Sets rate of climb.

void	set_Gamma_vert_rad (double gamma)
	Sets the flight path angle in radians.

Public Member Functions inherited from FGInterface
	FGInterface ()

	FGInterface (double dt)

virtual	~FGInterface ()

void	bind () override
	Bind getters and setters to properties.

void	init () override

void	unbind () override
	Unbind any properties bound to this FDM.

void	update (double dt) override
	Update the state of the FDM (i.e.

bool	readState (SGIOChannel *io)

bool	writeState (SGIOChannel *io)

bool	get_inited () const

void	set_inited (bool value)

bool	get_bound () const

void	common_init ()
	Initialize the state of the FDM.

virtual void	property_associations (std::function< void(const std::string &from, const std::string &to)> fn)

virtual void	set_AltitudeAGL (double altagl)

virtual void	set_Latitude_deg (double lat)

virtual void	set_Longitude_deg (double lon)

void	set_V_north (double north)

void	set_V_east (double east)

void	set_V_down (double down)

virtual void	set_uBody (double uBody)

virtual void	set_vBody (double vBody)

virtual void	set_wBody (double wBody)

virtual void	set_Phi (double phi)

virtual void	set_Theta (double theta)

virtual void	set_Psi (double psi)

virtual void	set_Phi_deg (double phi)

virtual void	set_Theta_deg (double theta)

virtual void	set_Psi_deg (double psi)

virtual void	set_Static_pressure (double p)

virtual void	set_Static_temperature (double T)

virtual void	set_Density (double rho)

virtual void	set_Velocities_Local_Airmass (double wnorth, double weast, double wdown)

double	get_Dx_cg () const

double	get_Dy_cg () const

double	get_Dz_cg () const

double	get_V_dot_north () const

double	get_V_dot_east () const

double	get_V_dot_down () const

double	get_U_dot_body () const

double	get_V_dot_body () const

double	get_W_dot_body () const

double	get_A_X_cg () const

double	get_A_Y_cg () const

double	get_A_Z_cg () const

double	get_A_X_pilot () const

double	get_A_Y_pilot () const

double	get_A_Z_pilot () const

double	get_N_X_cg () const

double	get_N_Y_cg () const

double	get_N_Z_cg () const

double	get_Nlf (void) const

double	get_V_north () const

double	get_V_east () const

double	get_V_down () const

double	get_uBody () const

double	get_vBody () const

double	get_wBody () const

double	get_V_north_rel_ground () const

double	get_V_east_rel_ground () const

double	get_V_down_rel_ground () const

double	get_V_north_airmass () const

double	get_V_east_airmass () const

double	get_V_down_airmass () const

double	get_U_body () const

double	get_V_body () const

double	get_W_body () const

double	get_V_rel_wind () const

double	get_V_true_kts () const

double	get_V_ground_speed () const

double	get_V_ground_speed_kt () const

void	set_V_ground_speed_kt (double ground_speed)

double	get_V_equiv_kts () const

double	get_V_calibrated_kts () const

double	get_P_body () const

double	get_Q_body () const

double	get_R_body () const

double	get_Phi_dot () const

double	get_Theta_dot () const

double	get_Psi_dot () const

double	get_Phi_dot_degps () const

double	get_Theta_dot_degps () const

double	get_Psi_dot_degps () const

double	get_Latitude_dot () const

double	get_Longitude_dot () const

double	get_Radius_dot () const

double	get_Lat_geocentric () const

double	get_Lon_geocentric () const

double	get_Radius_to_vehicle () const

const SGGeod &	getPosition () const

const SGGeoc &	getGeocPosition () const

const SGVec3d &	getCartPosition () const

double	get_Latitude () const

double	get_Longitude () const

double	get_Altitude () const

double	get_Altitude_AGL (void) const

double	get_Track (void) const

double	get_Path (void) const

double	get_Latitude_deg () const

double	get_Longitude_deg () const

double	get_Phi () const

double	get_Theta () const

double	get_Psi () const

double	get_Phi_deg () const

double	get_Theta_deg () const

double	get_Psi_deg () const

double	get_Alpha () const

double	get_Alpha_deg () const

double	get_Beta () const

double	get_Beta_deg () const

double	get_Gamma_vert_rad () const

double	get_Density () const

double	get_Mach_number () const

double	get_Static_pressure () const

double	get_Total_pressure () const

double	get_Dynamic_pressure () const

double	get_Static_temperature () const

double	get_Total_temperature () const

double	get_Sea_level_radius () const

double	get_Earth_position_angle () const

double	get_Runway_altitude () const

double	get_Runway_altitude_m () const

double	get_Climb_Rate () const

double	get_ground_elev_ft () const

bool	prepare_ground_cache_m (double startSimTime, double endSimTime, const double pt[3], double rad)

bool	prepare_ground_cache_ft (double startSimTime, double endSimTime, const double pt[3], double rad)

bool	is_valid_m (double ref_time, double pt[3], double rad)

bool	is_valid_ft (double ref_time, double pt[3], double rad)

double	get_cat_m (double t, const double pt[3], double end[2][3], double vel[2][3])

double	get_cat_ft (double t, const double pt[3], double end[2][3], double vel[2][3])

bool	get_body_m (double t, simgear::BVHNode::Id id, double bodyToWorld[16], double linearVel[3], double angularVel[3])

bool	get_agl_m (double t, const double pt[3], double max_altoff, double contact[3], double normal[3], double linearVel[3], double angularVel[3], simgear::BVHMaterial const *&material, simgear::BVHNode::Id &id)

bool	get_agl_ft (double t, const double pt[3], double max_altoff, double contact[3], double normal[3], double linearVel[3], double angularVel[3], simgear::BVHMaterial const *&material, simgear::BVHNode::Id &id)

double	get_groundlevel_m (double lat, double lon, double alt)

double	get_groundlevel_m (const SGGeod &geod)

bool	get_nearest_m (double t, const double pt[3], double maxDist, double contact[3], double normal[3], double linearVel[3], double angularVel[3], simgear::BVHMaterial const *&material, simgear::BVHNode::Id &id)

bool	get_nearest_ft (double t, const double pt[3], double maxDist, double contact[3], double normal[3], double linearVel[3], double angularVel[3], simgear::BVHMaterial const *&material, simgear::BVHNode::Id &id)

bool	caught_wire_m (double t, const double pt[4][3])

bool	caught_wire_ft (double t, const double pt[4][3])

bool	get_wire_ends_m (double t, double end[2][3], double vel[2][3])

bool	get_wire_ends_ft (double t, double end[2][3], double vel[2][3])

void	release_wire (void)

bool	updateGroundReactions (simgear::BVHMaterial const *&material)

void	setHeading (float h)

void	setPosition (double pt[3])

float	getPressure ()

float	getBumpiness ()

float	getGroundDisplacement ()

float	getStaticFrictionFactor ()

float	getRolingFrictionFactor ()

bool	getSolid ()

void	add_ai_wake (FGAIAircraft *ai)

void	reset_wake_group (void)

const AIWakeGroup &	get_wake_group (void)

Static Public Member Functions
static const char *	staticSubsystemClassId ()

Position Parameter Update

Sets the atmospheric static pressure

Parameters

p	pressure in psf Sets the atmospheric temperature
T	temperature in degrees rankine Sets the atmospheric density.
rho	air density slugs/cubic foot Sets the velocity of the local airmass for wind modeling.
wnorth	velocity north in fps
weast	velocity east in fps
wdown	velocity down in fps

bool ToggleDataLogging (bool state)

bool ToggleDataLogging (void)

double get_agl_ft (double t, const JSBSim::FGColumnVector3 &loc, double alt_off, double contact[3], double normal[3], double vel[3], double angularVel[3])

Additional Inherited Members
Public Types inherited from FGInterface
enum	{ FG_MAGICCARPET = 0 , FG_LARCSIM = 1 , FG_JSBSIM = 2 , FG_BALLOONSIM = 3 , FG_ADA = 4 , FG_ACM = 5 , FG_SUPER_SONIC = 6 , FG_HELICOPTER = 7 , FG_AUTOGYRO = 8 , FG_PARACHUTE = 9 , FG_EXTERNAL = 10 }

Protected Member Functions inherited from FGInterface
int	_calc_multiloop (double dt)

void	_setup ()
	Set default values for the state of the FDM.

void	_busdump (void)

void	_updatePositionM (const SGVec3d &cartPos)

void	_updatePositionFt (const SGVec3d &cartPos)

void	_updatePosition (const SGGeod &geod)

void	_updatePosition (const SGGeoc &geoc)

void	_updateGeodeticPosition (double lat, double lon, double alt)

void	_updateGeocentricPosition (double lat_geoc, double lon, double alt)

void	_update_ground_elev_at_pos (void)

void	_set_CG_Position (double dx, double dy, double dz)

void	_set_Accels_Local (double north, double east, double down)

void	_set_Accels_Body (double u, double v, double w)

void	_set_Accels_CG_Body (double x, double y, double z)

void	_set_Accels_Pilot_Body (double x, double y, double z)

void	_set_Accels_CG_Body_N (double x, double y, double z)

void	_set_Nlf (double n)

void	_set_Velocities_Local (double north, double east, double down)

void	_set_Velocities_Ground (double north, double east, double down)

void	_set_Velocities_Local_Airmass (double north, double east, double down)

void	_set_Velocities_Body (double u, double v, double w)

void	_set_V_rel_wind (double vt)

void	_set_V_ground_speed (double v)

void	_set_V_equiv_kts (double kts)

void	_set_V_calibrated_kts (double kts)

void	_set_Omega_Body (double p, double q, double r)

void	_set_Euler_Rates (double phi, double theta, double psi)

void	set_Phi_dot_degps (double x)

void	set_Theta_dot_degps (double x)

void	set_Psi_dot_degps (double x)

void	_set_Geocentric_Rates (double lat, double lon, double rad)

void	_set_Geocentric_Position (double lat, double lon, double rad)

void	_set_Altitude (double altitude)

void	_set_Altitude_AGL (double agl)

void	_set_Geodetic_Position (double lat, double lon)

void	_set_Geodetic_Position (double lat, double lon, double alt)

void	_set_Euler_Angles (double phi, double theta, double psi)

void	_set_T_Local_to_Body (int i, int j, double value)

void	_set_Alpha (double a)

void	_set_Beta (double b)

void	set_Alpha_deg (double a)

void	_set_Gamma_vert_rad (double gv)

void	_set_Density (double d)

void	_set_Mach_number (double m)

void	_set_Static_pressure (double sp)

void	_set_Static_temperature (double t)

void	_set_Total_temperature (double tat)

void	_set_Sea_level_radius (double r)

void	_set_Earth_position_angle (double a)

void	_set_Runway_altitude (double alt)

void	_set_Climb_Rate (double rate)

Detailed Description

FGFS / JSBSim interface (aka "The Bus").

This class provides for an interface between FlightGear and its data structures and JSBSim and its data structures. This is the class which is used to command JSBSim when integrated with FlightGear. See the documentation for main for direction on running JSBSim apart from FlightGear.

Author: Curtis L. Olson (original); Tony Peden (Maintained and refined)

Version

Id: FlightGear.hxx,v 1.16 2014/01/28 09:42:21 ehofman Exp

See also: main in file JSBSim.cpp (use main() wrapper for standalone usage)

Definition at line 101 of file JSBSim.hxx.

Constructor & Destructor Documentation

◆ FGJSBsim()

FGJSBsim::FGJSBsim ( double dt )

Constructor.

Definition at line 124 of file JSBSim.cxx.

◆ ~FGJSBsim()

FGJSBsim::~FGJSBsim ( void )

Destructor.

Definition at line 369 of file JSBSim.cxx.

Member Function Documentation

◆ copy_from_JSBsim()

bool FGJSBsim::copy_from_JSBsim ( )

copy FDM state from LaRCsim structures

Definition at line 748 of file JSBSim.cxx.

◆ copy_to_JSBsim()

bool FGJSBsim::copy_to_JSBsim ( )

copy FDM state to LaRCsim structures

Definition at line 598 of file JSBSim.cxx.

◆ get_agl_ft()

double FGJSBsim::get_agl_ft	(	double	t,
		const JSBSim::FGColumnVector3 &	loc,
		double	alt_off,
		double	contact[3],
		double	normal[3],
		double	vel[3],
		double	angularVel[3] )

Definition at line 1369 of file JSBSim.cxx.

◆ init()

void FGJSBsim::init ( )

override

Definition at line 380 of file JSBSim.cxx.

◆ resume()

void FGJSBsim::resume ( )

override

Definition at line 588 of file JSBSim.cxx.

◆ set_Altitude()

void FGJSBsim::set_Altitude ( double alt )

virtual

Set altitude Note: this triggers a recalculation of AGL altitude.

Parameters

alt	altitude in feet

Reimplemented from FGInterface.

Definition at line 1069 of file JSBSim.cxx.

◆ set_Climb_Rate()

void FGJSBsim::set_Climb_Rate ( double roc )

virtual

Sets rate of climb.

Parameters

roc	Rate of climb in ft/sec

Reimplemented from FGInterface.

Definition at line 1186 of file JSBSim.cxx.

◆ set_Euler_Angles()

void FGJSBsim::set_Euler_Angles	(	double	phi,
		double	theta,
		double	psi )

virtual

Euler Angle Parameter Set.

Parameters

phi	roll angle in radians
theta	pitch angle in radians
psi	heading angle in radians

Reimplemented from FGInterface.

Definition at line 1164 of file JSBSim.cxx.

◆ set_Gamma_vert_rad()

void FGJSBsim::set_Gamma_vert_rad ( double gamma )

virtual

Sets the flight path angle in radians.

Parameters

gamma flight path angle in radians.

Reimplemented from FGInterface.

Definition at line 1209 of file JSBSim.cxx.

◆ set_Latitude()

void FGJSBsim::set_Latitude ( double lat )

virtual

Set geocentric latitude.

Parameters

lat	latitude in radians measured from the 0 meridian where the westerly direction is positive and east is negative

Reimplemented from FGInterface.

Definition at line 1030 of file JSBSim.cxx.

◆ set_Longitude()

void FGJSBsim::set_Longitude ( double lon )

virtual

Set longitude.

Parameters

lon	longitude in radians measured from the equator where the northerly direction is positive and south is negative

Reimplemented from FGInterface.

Definition at line 1056 of file JSBSim.cxx.

◆ set_Mach_number()

void FGJSBsim::set_Mach_number ( double mach )

virtual

Sets Mach number.

Setting this will trigger a recalc of the other velocity terms.

Parameters

mach	Mach number

Reimplemented from FGInterface.

Definition at line 1103 of file JSBSim.cxx.

◆ set_V_calibrated_kts()

void FGJSBsim::set_V_calibrated_kts ( double vc )

virtual

Sets calibrated airspeed Setting this will trigger a recalc of the other velocity terms.

Parameters

vc	Calibrated airspeed in ft/sec

Reimplemented from FGInterface.

Definition at line 1081 of file JSBSim.cxx.

◆ set_Velocities_Body()

void FGJSBsim::set_Velocities_Body	(	double	u,
		double	v,
		double	w )

virtual

Sets aircraft velocity in stability frame.

Setting this will trigger a recalc of the other velocity terms.

Parameters

u	X velocity in ft/sec
v	Y velocity in ft/sec
w	Z velocity in ft/sec

Reimplemented from FGInterface.

Definition at line 1144 of file JSBSim.cxx.

◆ set_Velocities_Local()

void FGJSBsim::set_Velocities_Local	(	double	north,
		double	east,
		double	down )

virtual

Sets velocity in N-E-D coordinates.

Setting this will trigger a recalc of the other velocity terms.

Parameters

north	velocity northward in ft/sec
east	velocity eastward in ft/sec
down	velocity downward in ft/sec

Reimplemented from FGInterface.

Definition at line 1123 of file JSBSim.cxx.

◆ staticSubsystemClassId()

static const char * FGJSBsim::staticSubsystemClassId ( )

inlinestatic

Definition at line 118 of file JSBSim.hxx.

◆ suspend()

void FGJSBsim::suspend ( )

override

Definition at line 580 of file JSBSim.cxx.

◆ ToggleDataLogging() [1/2]

bool FGJSBsim::ToggleDataLogging ( bool state )

virtual

Reimplemented from FGInterface.

Definition at line 1017 of file JSBSim.cxx.

◆ ToggleDataLogging() [2/2]

bool FGJSBsim::ToggleDataLogging ( void )

virtual

Reimplemented from FGInterface.

Definition at line 1009 of file JSBSim.cxx.

◆ unbind()

void FGJSBsim::unbind ( )

override

Definition at line 508 of file JSBSim.cxx.

◆ update()

void FGJSBsim::update ( double dt )

override

Definition at line 517 of file JSBSim.cxx.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Position Parameter Update

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FGJSBsim()

◆ ~FGJSBsim()

Member Function Documentation

◆ copy_from_JSBsim()

◆ copy_to_JSBsim()

◆ get_agl_ft()

◆ init()

◆ resume()

◆ set_Altitude()

◆ set_Climb_Rate()

◆ set_Euler_Angles()

◆ set_Gamma_vert_rad()

◆ set_Latitude()

◆ set_Longitude()

◆ set_Mach_number()

◆ set_V_calibrated_kts()

◆ set_Velocities_Body()

◆ set_Velocities_Local()

◆ staticSubsystemClassId()

◆ suspend()

◆ ToggleDataLogging() [1/2]

◆ ToggleDataLogging() [2/2]

◆ unbind()

◆ update()