conf/airframes/jsbsim.xml

@@ -213,6 +213,8 @@
 
  <makefile>
 CONFIG = \"tiny_2_1.h\"
+MY_JSBSIM_ROOT = /home/violato/enac/programs/JSBSim
+MY_JSBSIM_LIB = /home/violato/enac/programs/install_jsbsim
 
 include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
@@ -224,11 +226,11 @@ sim.ARCH = sitl
 sim.TARGET = sim
 sim.TARGETDIR = sim
 
-sim.CFLAGS += -I$(SIMDIR) -I/home/cocoleon/usr/include/JSBSim -I/usr/include
+sim.CFLAGS += -I$(SIMDIR) -I/usr/local/include -I$(MY_JSBSIM_LIB)/include/JSBSim
 sim.CFLAGS += `pkg-config glib-2.0 --cflags` -I /usr/include/meschach
-sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre -lglibivy -L/home/cocoleon/usr/lib/ -lJSBSim
+sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre -lglibivy -L$(MY_JSBSIM_LIB)/lib -lJSBSim
 
-sim.CFLAGS += -DJSBSIM_ROOT_DIR=\"/home/cocoleon/dev/paparazzi3/conf/simulator/JSBSim/\"
+sim.CFLAGS += -DJSBSIM_ROOT_DIR=\"/home/violato/enac/programs/JSBSim/\"
 
 sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 
@@ -238,7 +240,7 @@ sim.srcs = $(SRC_ARCH)/sim_jsbsim.c $(SRC_ARCH)/ivy_transport.c
 sim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c
 sim.srcs += nav_line.c nav_survey_rectangle.c
 
-sim.srcs += $(SIMDIR)/sim_ac_jsbsim.cpp $(SIMDIR)/sim_ac_fw.cpp
+sim.srcs += $(SIMDIR)/sim_ac_jsbsim.c $(SIMDIR)/sim_ac_fw.c
 
   </makefile>
 </airframe>

sw/simulator/Makefile

@@ -87,24 +87,23 @@ clean :
 #
 #  NPS
 #
-JSBSIM = /home/violato/JSBSim
+JSBSIM = /usr/local
 
 CC = g++
-CFLAGS  = -Wall -I $(JSBSIM)/src -I../include
+CFLAGS  = -Wall -I $(JSBSIM)/include/JSBSim -I../include
 LDFLAGS = -L $(JSBSIM)/lib -lJSBSim
-CFLAGS  += -I /usr/include/meschach
-LDFLAGS += -lmeschach
+CFLAGS  += -I /usr/include/meschach -I /usr/local/include/
+LDFLAGS += -lmeschach -L /usr/lib
 CFLAGS  += `pkg-config glib-2.0 --cflags`
 LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lpcre -lglibivy
 
 test1: nps_test1.c nps_jsbsim.c
 	$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS)
 
-test2: nps_test2.c nps_jsbsim.c
+test2: nps_test2.c
 	$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS)
 
 
-
 #
 # Dependencies
 #

sw/simulator/nps_fdm.h

@@ -1,21 +1,26 @@
 #ifndef NPS_FDM
 #define NPS_FDM
 
+
 #include "std.h"
-#include <matrix.h>
+#include <matrix.h> 
 
 /* Unit Conversion Constants */
 
 #define FT2M 0.3048
 
-/* Vehicle specific descriptions */
+/********************************************/
+/* Vehicle specific descriptions            */
+/********************************************/
 
+/* Dummy test vehicle (mass with vertical force) */
 struct NpsDummy {
   /* throttle for the control force */
   double f_input;
 };
 
 
+/* Quadrotor */
 #define NPS_QUAD_MOTOR_FRONT 0
 #define NPS_QUAD_MOTOR_BACK  1
 #define NPS_QUAD_MOTOR_RIGHT 2
@@ -32,6 +37,7 @@ struct NpsQuad {
 };
 
 
+/* Fixed Wing Airplane */
 #define NPS_SFW_ACTUATOR_THROTTLE   0
 #define NPS_SFW_ACTUATOR_AILERON_R  1
 #define NPS_SFW_ACTUATOR_AILERON_L  2
@@ -48,10 +54,14 @@ struct NpsSFW {
 };
 
 
+/********************************************/
+/* State Structure                          */
+/********************************************/
 
 struct NpsFdmState {
   
-  // generic vehicle state
+  // part of state 
+  // valid for any kind of vehicle
   bool_t on_ground;
   
   VEC* ecef_pos;
@@ -71,13 +81,4 @@ struct NpsFdmState {
 
 };
 
-
-
-
-
-
-
-
-
-
 #endif /* NPS_FDM */

sw/simulator/nps_jsbsim.c

@@ -5,12 +5,9 @@
 #include <math/FGMatrix33.h>
 #include <math/FGQuaternion.h>
 
-
-
 static void cp_fgvec_to_vec(JSBSim::FGColumnVector3 jsbvec, VEC* vec);
 static void cp_fgquat_to_quat(JSBSim::FGQuaternion jsbquat, VEC* quat);
 
-
 static void cp_fgvec_to_vec(JSBSim::FGColumnVector3 jsbvec, VEC* vec) {
   while(int i=0 < 3) {vec->ve[i] = jsbvec.Entry(i); }
 }
@@ -29,7 +26,7 @@ int JSBInit(double sim_dt) {
   fdmex->DisableOutput();
   fdmex->SetDebugLevel(0);
   
-  JSBSim::FGState State (fdmex);
+  JSBSim::FGState State(fdmex);
   State.Setdt(sim_dt);
   
   if ( ! fdmex->LoadModel( RootDir + "aircraft",
@@ -37,7 +34,7 @@ int JSBInit(double sim_dt) {
 			   RootDir + "systems",
 			   AircraftName,
 			   1)) {
-    cerr << "  JSBSim could not be started" << endl << endl;
+    cerr << "JSBSim could not load model" << endl << endl;
     delete fdmex;
     exit(-1);
   }
@@ -45,7 +42,7 @@ int JSBInit(double sim_dt) {
   JSBSim::FGInitialCondition* IC = fdmex->GetIC();
   if ( ! IC->Load(ResetName)) {
     delete fdmex;
-    cerr << "Initialization unsuccessful" << endl;
+    cerr << "JSBSim could not initialize state" << endl;
     exit(-1);
   }
   

sw/simulator/nps_test1.c

@@ -11,7 +11,7 @@
 //#include "nps_fdm.h"
 //#include "nps_jsbsim.h"
 
-string RootDir = "/home/violato/JSBSim/";
+string RootDir = "/home/violato/enac/programs/JSBSim/";
 string AircraftName = "quad";
 string ResetName = "reset00";
 
@@ -61,7 +61,7 @@ int main(int argc, char** argv) {
 
   result = fdmex->RunIC();
 
-  IvyInit ("nps_test2", "nps_test2 READY", NULL, NULL, NULL, NULL);
+  IvyInit ("nps_test1", "nps_test1 READY", NULL, NULL, NULL, NULL);
   IvyStart("127.255.255.255");
 
   GMainLoop *ml =  g_main_loop_new(NULL, FALSE);

sw/simulator/nps_test2.c

@@ -4,30 +4,56 @@
 
 #include <Ivy/ivy.h>
 #include <Ivy/ivyglibloop.h>
+//#include <stat_cwmtx.h>
 
 #include "nps_fdm.h"
-#include "nps_jsbsim.h"
-
-string RootDir = "/home/violato/JSBSim/";
-string AircraftName = "quad";
-string ResetName = "reset00";
-static struct NpsFdmState fdm_state;
+//#include "nps_jsbsim.h"
 
+//string RootDir = "/home/violato/enac/programs/JSBSim/";
+//string AircraftName = "quad";
+//string ResetName = "reset00";
+//static struct NpsFdmState fdm_state;
 
 /* rate of the host mainloop */
 #define HOST_TIMEOUT_PERIOD 4
-struct timeval host_time_start;
 double host_time_elapsed;
 double host_time_factor = 1.;
+struct timeval host_time_start;
 
-/* 250Hz <-> 4ms */
 #define SIM_DT (1./10.)
 double sim_time;
 
+#define AC_ID 999
+
+static void sim_run_one_step(void) {
+
+  static int n=0;
+ 
+  VEC* a;
+  a = v_get(3);
+  n = a->dim;
+  printf("%d\n",n);
+
+  // run autopilot
+  // feed inputs
+  // get new state
+  
+ 
+  //for ( int i=0; i<3; i++) { fdm_state.ecef_vel->ve[i] = n + i; }
+  
+  // throw msgs in Ivy
+  //IvySendMsg("%d BOOZ_SIM_SPEED_POS %f, %f, %f", AC_ID, 
+  //     fdm_state.ecef_vel->ve[0],
+  //     fdm_state.ecef_vel->ve[1],
+  //     fdm_state.ecef_vel->ve[2]);
+  n++;
+
+}
 
 static gboolean sim_periodic(gpointer data __attribute__ ((unused))) {
 
   struct timeval host_time_now;
+
   gettimeofday (&host_time_now, NULL);
   host_time_elapsed = host_time_factor *
     ((host_time_now.tv_sec  - host_time_start.tv_sec) +
@@ -41,32 +67,11 @@ static gboolean sim_periodic(gpointer data __attribute__ ((unused))) {
   return TRUE;
 }
 
-static void sim_run_one_step(void) {
-
-  // run autopilot
-  nps_jsbsim_feed_inputs(fdmex, &fdm_state);
-  result = fdmex->Run();
-  nps_jsbsim_fetch_state(fdmex, &fdm_state);
-  
-  // balancer les messages
-
-  //  IvySendMsg("%d BOOZ_SIM_SPEED_POS %f %f %f %f %f %f",  
-  //	     AC_ID,
-  //	     (fdm_state.speed_ltp->ve[AXIS_X]), 
-  //	     (bfm.speed_ltp->ve[AXIS_Y]), 
-  //	     (bfm.speed_ltp->ve[AXIS_Z]),
-  //         (bfm.pos_ltp->ve[AXIS_X]), 
-  //	     (bfm.pos_ltp->ve[AXIS_Y]), 
-  //	     (bfm.pos_ltp->ve[AXIS_Z]));
-
-
-}
-
 static void sim_init(void) {
 
   /* Setting JSBSim */
   
-  if (~JSBInit(SIM_DT)) {/* message d'erreur */}
+  //if (~JSBInit(SIM_DT)) {/* message d'erreur */}
   
   /* Setting Ivy */
 
@@ -82,6 +87,7 @@ int main ( int argc, char** argv) {
 
   GMainLoop *ml =  g_main_loop_new(NULL, FALSE);
   
+  sim_init();
   g_timeout_add(HOST_TIMEOUT_PERIOD, sim_periodic, NULL);
 
   g_main_loop_run(ml);

sw/simulator/sim_ac_fw.c

@@ -22,12 +22,12 @@
  *
  */
 
-#include "sim_ac_jsbsim.hpp"
-
-
+#include "sim_ac_jsbsim.h"
 #include "main_ap.h"
 #include "main_fbw.h"
 
+using namespace JSBSim;
+
 //static void sim_gps_feed_data(void);
 //static void sim_ir_feed_data(void);
 
@@ -47,12 +47,290 @@ void autopilot_event_task(void) {
 }
 
 
-void copy_inputs_to_jsbsim(JSBSim::FGFDMExec & FDMExec) {
+void copy_inputs_to_jsbsim(JSBSim::FGFDMExec* FDMExec) {
+  
+  FGPropagate* Propagate;
+
+  Propagate = FDMExec->GetPropagate();
+  
+  cout << "Input " << Propagate->GetEuler(FGJSBBase::ePhi) << endl;
+  cout << "Input " << Propagate->GetEuler(FGJSBBase::eTht) << endl;
+  cout << "Input " << Propagate->GetEuler(FGJSBBase::ePsi) << endl;
+
 }
 
-void copy_outputs_from_jsbsim(JSBSim::FGFDMExec & FDMExec) {
+void copy_outputs_from_jsbsim(JSBSim::FGFDMExec* FDMExec) {
+  
+  
+  FGPropagate* Propagate;  
+
+  Propagate = FDMExec->GetPropagate();
+  
+  cout << "Output " << Propagate->GetEuler(FGJSBBase::ePhi) << endl;
+  cout << "Output " << Propagate->GetEuler(FGJSBBase::eTht) << endl;
+  cout << "Output " << Propagate->GetEuler(FGJSBBase::ePsi) << endl;
+  
 }
 
+/*
+// Convert from the JSBsim generic_ struct to the FGInterface struct
+
+bool FGJSBsim::copy_from_JSBsim()
+{
+    unsigned int i, j;
+    
+    _set_Inertias( MassBalance->GetMass(),
+                   MassBalance->GetIxx(),
+                   MassBalance->GetIyy(),
+                   MassBalance->GetIzz(),
+                   MassBalance->GetIxz() );
+  
+    _set_CG_Position( MassBalance->GetXYZcg(1),
+                      MassBalance->GetXYZcg(2),
+                      MassBalance->GetXYZcg(3) );
+
+    _set_Accels_Body( Aircraft->GetBodyAccel(1),
+                      Aircraft->GetBodyAccel(2),
+                      Aircraft->GetBodyAccel(3) );
+
+    _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
+                            Aircraft->GetNcg(2),
+                            Aircraft->GetNcg(3) );
+
+    _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
+                            Auxiliary->GetPilotAccel(2),
+                            Auxiliary->GetPilotAccel(3) );
+
+    _set_Nlf( Aircraft->GetNlf() );
+
+    // Velocities
+
+    _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
+                           Propagate->GetVel(FGJSBBase::eEast),
+                           Propagate->GetVel(FGJSBBase::eDown) );
+
+    _set_Velocities_Wind_Body( Propagate->GetUVW(1),
+                               Propagate->GetUVW(2),
+                               Propagate->GetUVW(3) );
+
+    // Make the HUD work ...
+    _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
+                            Propagate->GetVel(FGJSBBase::eEast),
+                            -Propagate->GetVel(FGJSBBase::eDown) );
+
+    _set_V_rel_wind( Auxiliary->GetVt() );
+
+    _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
+
+    _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
+
+    _set_V_ground_speed( Auxiliary->GetVground() );
+
+    _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
+                     Propagate->GetPQR(FGJSBBase::eQ),
+                     Propagate->GetPQR(FGJSBBase::eR) );
+
+    _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
+                      Auxiliary->GetEulerRates(FGJSBBase::eTht),
+                      Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
+
+    _set_Mach_number( Auxiliary->GetMach() );
+
+    // Positions of Visual Reference Point
+    FGLocation l = Auxiliary->GetLocationVRP();
+    _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
+                               l.GetRadius() - get_Sea_level_radius() );
+
+    _set_Altitude_AGL( Propagate->GetDistanceAGL() );
+    {
+      double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
+      double contact[3], d[3], sd, t;
+      is_valid_m(&t, d, &sd);
+      get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, &sd);
+      double rwrad
+        = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
+      _set_Runway_altitude( rwrad - get_Sea_level_radius() );
+    }
+
+    _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
+                       Propagate->GetEuler(FGJSBBase::eTht),
+                       Propagate->GetEuler(FGJSBBase::ePsi) );
+
+    _set_Alpha( Auxiliary->Getalpha() );
+    _set_Beta( Auxiliary->Getbeta() );
+
+
+    _set_Gamma_vert_rad( Auxiliary->GetGamma() );
+
+    _set_Earth_position_angle( Inertial->GetEarthPositionAngle() );
+
+    _set_Climb_Rate( Propagate->Gethdot() );
+
+    const FGMatrix33& Tl2b = Propagate->GetTl2b();
+    for ( i = 1; i <= 3; i++ ) {
+        for ( j = 1; j <= 3; j++ ) {
+            _set_T_Local_to_Body( i, j, Tl2b(i,j) );
+        }
+    }
+
+    // Copy the engine values from JSBSim.
+    for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
+      SGPropertyNode * node = fgGetNode("engines/engine", i, true);
+      char buf[30];
+      sprintf(buf, "engines/engine[%d]/thruster", i);
+      SGPropertyNode * tnode = fgGetNode(buf, true);
+      FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
+
+      switch (Propulsion->GetEngine(i)->GetType()) {
+      case FGEngine::etPiston:
+        { // FGPiston code block
+        FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
+        node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
+        node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
+        node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
+        node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
+        // NOTE: mp-osi is not in ounces per square inch.
+        // This error is left for reasons of backwards compatibility with
+        // existing FlightGear sound and instrument configurations.
+        node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
+        node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
+        node->setDoubleValue("rpm", eng->getRPM());
+        } // end FGPiston code block
+        break;
+      case FGEngine::etRocket:
+        { // FGRocket code block
+        FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
+        } // end FGRocket code block
+        break;
+      case FGEngine::etTurbine:
+        { // FGTurbine code block
+        FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
+        node->setDoubleValue("n1", eng->GetN1());
+        node->setDoubleValue("n2", eng->GetN2());
+        node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
+        node->setBoolValue("augmentation", eng->GetAugmentation());
+        node->setBoolValue("water-injection", eng->GetInjection());
+        node->setBoolValue("ignition", eng->GetIgnition());
+        node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
+        node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
+        node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
+        node->setBoolValue("reversed", eng->GetReversed());
+        node->setBoolValue("cutoff", eng->GetCutoff());
+        node->setDoubleValue("epr", eng->GetEPR());
+        globals->get_controls()->set_reverser(i, eng->GetReversed() );
+        globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
+        globals->get_controls()->set_water_injection(i, eng->GetInjection() );
+        globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
+        } // end FGTurbine code block
+        break;
+      case FGEngine::etTurboprop:
+        { // FGTurboProp code block
+        FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
+        node->setDoubleValue("n1", eng->GetN1());
+        //node->setDoubleValue("n2", eng->GetN2());
+        node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
+        node->setBoolValue("ignition", eng->GetIgnition());
+        node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
+        node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
+        node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
+        node->setBoolValue("reversed", eng->GetReversed());
+        node->setBoolValue("cutoff", eng->GetCutoff());
+        node->setBoolValue("starting", eng->GetEngStarting());
+        node->setBoolValue("generator-power", eng->GetGeneratorPower());
+        node->setBoolValue("damaged", eng->GetCondition());
+        node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
+        node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
+//        node->setBoolValue("onfire", eng->GetFire());
+        globals->get_controls()->set_reverser(i, eng->GetReversed() );
+        globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
+        } // end FGTurboProp code block
+        break;
+      case FGEngine::etElectric:
+        { // FGElectric code block
+        FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
+        node->setDoubleValue("rpm", eng->getRPM());
+        } // end FGElectric code block
+        break;
+      }
+
+      { // FGEngine code block
+      FGEngine* eng = Propulsion->GetEngine(i);
+      node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
+      node->setDoubleValue("thrust_lb", thruster->GetThrust());
+      node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
+      node->setBoolValue("running", eng->GetRunning());
+      node->setBoolValue("starter", eng->GetStarter());
+      node->setBoolValue("cranking", eng->GetCranking());
+      globals->get_controls()->set_starter(i, eng->GetStarter() );
+      } // end FGEngine code block
+
+      switch (thruster->GetType()) {
+      case FGThruster::ttNozzle:
+        { // FGNozzle code block
+        FGNozzle* noz = (FGNozzle*)thruster;
+        } // end FGNozzle code block
+        break;
+      case FGThruster::ttPropeller:
+        { // FGPropeller code block
+        FGPropeller* prop = (FGPropeller*)thruster;
+        tnode->setDoubleValue("rpm", thruster->GetRPM());
+        tnode->setDoubleValue("pitch", prop->GetPitch());
+        tnode->setDoubleValue("torque", prop->GetTorque());
+        tnode->setBoolValue("feathered", prop->GetFeather());
+        } // end FGPropeller code block
+        break;
+      case FGThruster::ttRotor:
+        { // FGRotor code block
+        FGRotor* rotor = (FGRotor*)thruster;
+        } // end FGRotor code block
+        break;
+      case FGThruster::ttDirect:
+        { // Direct code block
+        } // end Direct code block
+        break;
+      }
+
+    }
+
+    // Copy the fuel levels from JSBSim if fuel
+    // freeze not enabled.
+    if ( ! Propulsion->GetFuelFreeze() ) {
+      for (i = 0; i < Propulsion->GetNumTanks(); i++) {
+        SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
+        FGTank* tank = Propulsion->GetTank(i);
+        double contents = tank->GetContents();
+        double temp = tank->GetTemperature_degC();
+        node->setDoubleValue("level-gal_us", contents/6.6);
+        node->setDoubleValue("level-lbs", contents);
+        if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
+      }
+    }
+
+    update_gear();
+
+    stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
+
+    elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
+    left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
+    right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
+    rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
+    flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
+    speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
+    spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
+    tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
+    wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
+
+    // force a sim crashed if crashed (altitude AGL < 0)
+    if (get_Altitude_AGL() < -100.0) {
+         State->SuspendIntegration();
+         crashed = true;
+    }
+
+    return true;
+    }
+
+ */
+
 //#include "gps.h"
 //static void sim_gps_feed_data(void) {
 //}

sw/simulator/sim_ac_jsbsim.c

@@ -22,7 +22,7 @@
  *
  */
 
-#include "sim_ac_jsbsim.hpp"
+#include "sim_ac_jsbsim.h"
 
 #include <glib.h>
 #include <getopt.h>
@@ -58,18 +58,20 @@ static void ivy_transport_init(void);
 
 static void sim_init(void) {
 
-  //sim_time = 0.;
-
+  double actual_elapsed_time = 0;
+  double cycle_duration = 0.0;
+  
   // *** SET UP JSBSIM *** //
   FDMExec = new JSBSim::FGFDMExec();
+  FDMExec->SetAircraftPath(RootDir + "aircraft");
+  FDMExec->SetEnginePath(RootDir + "engine");
+  FDMExec->SetSystemsPath(RootDir + "systems");
+  FDMExec->GetPropertyManager()->Tie("simulation/frame_start_time", &actual_elapsed_time);
+  FDMExec->GetPropertyManager()->Tie("simulation/cycle_duration", &cycle_duration);
+
 #ifdef JSBSIM_ROOT_DIR
   RootDir = JSBSIM_ROOT_DIR;
 #endif
-  //FDMExec->SetAircraftPath(RootDir + "aircraft");
-  //FDMExec->SetEnginePath(RootDir + "engine");
-  //FDMExec->SetSystemsPath(RootDir + "systems");
-  //FDMExec->GetPropertyManager()->Tie("simulation/frame_start_time", &actual_elapsed_time);
-  //FDMExec->GetPropertyManager()->Tie("simulation/cycle_duration", &cycle_duration);
 
   if (!AircraftName.empty()) {
 
@@ -79,12 +81,26 @@ static void sim_init(void) {
     if ( ! FDMExec->LoadModel( RootDir + "aircraft",
                                RootDir + "engine",
                                RootDir + "systems",
-                               AircraftName)) {
+                               AircraftName)){
       cerr << "  JSBSim could not be started" << endl << endl;
       delete FDMExec;
       exit(-1);
     }
 
+    if (1) {
+      FDMExec->PrintPropertyCatalog();
+      delete FDMExec;
+      return 0;
+    }
+
+    if ( ! FDMExec->LoadModel("quad")) {
+      cerr << "  JSBSim could not be started" << endl << endl;
+      delete FDMExec;
+      exit(-1);
+    }
+
+    cout << "Quad Loaded." << endl << endl;    
+    
     // Initial conditions (from flight_plan.h and aircraft.h ???)
     JSBSim::FGInitialCondition *IC = FDMExec->GetIC();
     if ( ! IC->Load(ICName)) {
@@ -100,6 +116,9 @@ static void sim_init(void) {
     exit(-1);
   }
 
+  // DEBUG
+  cout << "So far so good. Init." << endl;
+
   // init sensors ? or discribe them in jSBSim
 
   ivy_transport_init();
@@ -113,15 +132,18 @@ static void sim_init(void) {
 static gboolean sim_periodic(gpointer data __attribute__ ((unused))) {
 
   /* read actuators positions and feed JSBSim inputs */
-  copy_inputs_to_jsbsim(*FDMExec);
+  cout <<"Copy Inputs." << endl;
+  copy_inputs_to_jsbsim(FDMExec);
 
   /* run JSBSim flight model */
+  cout << "Run model." << endl;
   bool result = FDMExec->Run();
 
   //sim_time += DT;
 
   /* read outputs from model state (and display ?) */
-  copy_outputs_from_jsbsim(*FDMExec);
+  cout <<"Copy Outputs." << endl;
+  copy_outputs_from_jsbsim(FDMExec);
 
   /* run the airborne code */
   
@@ -139,10 +161,10 @@ static gboolean sim_periodic(gpointer data __attribute__ ((unused))) {
 int main ( int argc, char** argv) {
 
   ICName = "";
-  AircraftName = "";
+  AircraftName = "quad";
   LogOutputName = "";
 
-  sim_parse_options(argc, argv);
+  //sim_parse_options(argc, argv);
 
   sim_init();
 
@@ -180,6 +202,7 @@ static void sim_parse_options(int argc, char** argv) {
   }
 
   int i;
+
   for (i = 1; i < argc; ++i) {
     string argument = string(argv[i]);
 

sw/simulator/sim_ac_jsbsim.h

@@ -22,10 +22,12 @@
  *
  */
 
-#ifndef SIM_AC_JSBSIM_HPP
-#define SIM_AC_JSBSIM_HPP
+#ifndef SIM_AC_JSBSIM_H
+#define SIM_AC_JSBSIM_H
 
 #include <FGFDMExec.h>
+#include <FGJSBBase.h>
+// #include <input_output/FGPropertyManager.h>
 
 #include "airframe.h"
 #include "flight_plan.h"
@@ -33,8 +35,8 @@
 void autopilot_init(void);
 void autopilot_periodic_task(void);
 void autopilot_event_task(void);
-void copy_inputs_to_jsbsim(JSBSim::FGFDMExec & FDMExec);
-void copy_outputs_from_jsbsim(JSBSim::FGFDMExec & FDMExec);
+void copy_inputs_to_jsbsim(JSBSim::FGFDMExec* FDMExec);
+void copy_outputs_from_jsbsim(JSBSim::FGFDMExec* FDMExec);
 
 
-#endif // SIM_AC_JSBSIM_HPP
+#endif // SIM_AC_JSBSIM_H