1 /**************************************************************************
2 * flight.h -- define shared flight model parameters
4 * Written by Curtis Olson, started May 1997.
6 * Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
8 * This program is free software; you can redistribute it and/or
9 * modify it under the terms of the GNU General Public License as
10 * published by the Free Software Foundation; either version 2 of the
11 * License, or (at your option) any later version.
13 * This program is distributed in the hope that it will be useful, but
14 * WITHOUT ANY WARRANTY; without even the implied warranty of
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 * General Public License for more details.
18 * You should have received a copy of the GNU General Public License
19 * along with this program; if not, write to the Free Software
20 * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
23 * (Log is kept at end of this file)
24 **************************************************************************/
31 #include "slew/slew.h"
32 #include "LaRCsim/ls_interface.h"
35 /* Define the various supported flight models (not all implemented) */
41 #define FG_PARACHUTE 5
44 /* Define a structure containing the shared flight model parameters */
45 /* struct flight_params {
46 double pos_x, pos_y, pos_z;
47 double vel_x, vel_y, vel_z;
58 typedef double FG_VECTOR_3[3];
60 /* This is based heavily on LaRCsim/ls_generic.h */
61 struct flight_params {
63 /*================== Mass properties and geometry values ==================*/
65 double mass, i_xx, i_yy, i_zz, i_xz; /* Inertias */
66 #define FG_Mass f->mass
67 #define FG_I_xx f->i_xx
68 #define FG_I_yy f->i_yy
69 #define FG_I_zz f->i_zz
70 #define FG_I_xz f->i_xz
72 FG_VECTOR_3 d_pilot_rp_body_v; /* Pilot location rel to ref pt */
73 #define FG_D_pilot_rp_body_v f->d_pilot_rp_body_v
74 #define FG_Dx_pilot f->d_pilot_rp_body_v[0]
75 #define FG_Dy_pilot f->d_pilot_rp_body_v[1]
76 #define FG_Dz_pilot f->d_pilot_rp_body_v[2]
78 FG_VECTOR_3 d_cg_rp_body_v; /* CG position w.r.t. ref. point */
79 #define FG_D_cg_rp_body_v f->d_cg_rp_body_v
80 #define FG_Dx_cg f->d_cg_rp_body_v[0]
81 #define FG_Dy_cg f->d_cg_rp_body_v[1]
82 #define FG_Dz_cg f->d_cg_rp_body_v[2]
84 /*================================ Forces =================================*/
86 FG_VECTOR_3 f_body_total_v;
87 #define FG_F_body_total_v f->f_body_total_v
88 #define FG_F_X f->f_body_total_v[0]
89 #define FG_F_Y f->f_body_total_v[1]
90 #define FG_F_Z f->f_body_total_v[2]
92 FG_VECTOR_3 f_local_total_v;
93 #define FG_F_local_total_v f->f_local_total_v
94 #define FG_F_north f->f_local_total_v[0]
95 #define FG_F_east f->f_local_total_v[1]
96 #define FG_F_down f->f_local_total_v[2]
99 #define FG_F_aero_v f->f_aero_v
100 #define FG_F_X_aero f->f_aero_v[0]
101 #define FG_F_Y_aero f->f_aero_v[1]
102 #define FG_F_Z_aero f->f_aero_v[2]
104 FG_VECTOR_3 f_engine_v;
105 #define FG_F_engine_v f->f_engine_v
106 #define FG_F_X_engine f->f_engine_v[0]
107 #define FG_F_Y_engine f->f_engine_v[1]
108 #define FG_F_Z_engine f->f_engine_v[2]
110 FG_VECTOR_3 f_gear_v;
111 #define FG_F_gear_v f->f_gear_v
112 #define FG_F_X_gear f->f_gear_v[0]
113 #define FG_F_Y_gear f->f_gear_v[1]
114 #define FG_F_Z_gear f->f_gear_v[2]
116 /*================================ Moments ================================*/
118 FG_VECTOR_3 m_total_rp_v;
119 #define FG_M_total_rp_v f->m_total_rp_v
120 #define FG_M_l_rp f->m_total_rp_v[0]
121 #define FG_M_m_rp f->m_total_rp_v[1]
122 #define FG_M_n_rp f->m_total_rp_v[2]
124 FG_VECTOR_3 m_total_cg_v;
125 #define FG_M_total_cg_v f->m_total_cg_v
126 #define FG_M_l_cg f->m_total_cg_v[0]
127 #define FG_M_m_cg f->m_total_cg_v[1]
128 #define FG_M_n_cg f->m_total_cg_v[2]
130 FG_VECTOR_3 m_aero_v;
131 #define FG_M_aero_v f->m_aero_v
132 #define FG_M_l_aero f->m_aero_v[0]
133 #define FG_M_m_aero f->m_aero_v[1]
134 #define FG_M_n_aero f->m_aero_v[2]
136 FG_VECTOR_3 m_engine_v;
137 #define FG_M_engine_v f->m_engine_v
138 #define FG_M_l_engine f->m_engine_v[0]
139 #define FG_M_m_engine f->m_engine_v[1]
140 #define FG_M_n_engine f->m_engine_v[2]
142 FG_VECTOR_3 m_gear_v;
143 #define FG_M_gear_v f->m_gear_v
144 #define FG_M_l_gear f->m_gear_v[0]
145 #define FG_M_m_gear f->m_gear_v[1]
146 #define FG_M_n_gear f->m_gear_v[2]
148 /*============================== Accelerations ============================*/
150 FG_VECTOR_3 v_dot_local_v;
151 #define FG_V_dot_local_v f->v_dot_local_v
152 #define FG_V_dot_north f->v_dot_local_v[0]
153 #define FG_V_dot_east f->v_dot_local_v[1]
154 #define FG_V_dot_down f->v_dot_local_v[2]
156 FG_VECTOR_3 v_dot_body_v;
157 #define FG_V_dot_body_v f->v_dot_body_v
158 #define FG_U_dot_body f->v_dot_body_v[0]
159 #define FG_V_dot_body f->v_dot_body_v[1]
160 #define FG_W_dot_body f->v_dot_body_v[2]
162 FG_VECTOR_3 a_cg_body_v;
163 #define FG_A_cg_body_v f->a_cg_body_v
164 #define FG_A_X_cg f->a_cg_body_v[0]
165 #define FG_A_Y_cg f->a_cg_body_v[1]
166 #define FG_A_Z_cg f->a_cg_body_v[2]
168 FG_VECTOR_3 a_pilot_body_v;
169 #define FG_A_pilot_body_v f->a_pilot_body_v
170 #define FG_A_X_pilot f->a_pilot_body_v[0]
171 #define FG_A_Y_pilot f->a_pilot_body_v[1]
172 #define FG_A_Z_pilot f->a_pilot_body_v[2]
174 FG_VECTOR_3 n_cg_body_v;
175 #define FG_N_cg_body_v f->n_cg_body_v
176 #define FG_N_X_cg f->n_cg_body_v[0]
177 #define FG_N_Y_cg f->n_cg_body_v[1]
178 #define FG_N_Z_cg f->n_cg_body_v[2]
180 FG_VECTOR_3 n_pilot_body_v;
181 #define FG_N_pilot_body_v f->n_pilot_body_v
182 #define FG_N_X_pilot f->n_pilot_body_v[0]
183 #define FG_N_Y_pilot f->n_pilot_body_v[1]
184 #define FG_N_Z_pilot f->n_pilot_body_v[2]
186 FG_VECTOR_3 omega_dot_body_v;
187 #define FG_Omega_dot_body_v f->omega_dot_body_v
188 #define FG_P_dot_body f->omega_dot_body_v[0]
189 #define FG_Q_dot_body f->omega_dot_body_v[1]
190 #define FG_R_dot_body f->omega_dot_body_v[2]
193 /*============================== Velocities ===============================*/
195 FG_VECTOR_3 v_local_v;
196 #define FG_V_local_v f->v_local_v
197 #define FG_V_north f->v_local_v[0]
198 #define FG_V_east f->v_local_v[1]
199 #define FG_V_down f->v_local_v[2]
201 FG_VECTOR_3 v_local_rel_ground_v; /* V rel w.r.t. earth surface */
202 #define FG_V_local_rel_ground_v f->v_local_rel_ground_v
203 #define FG_V_north_rel_ground f->v_local_rel_ground_v[0]
204 #define FG_V_east_rel_ground f->v_local_rel_ground_v[1]
205 #define FG_V_down_rel_ground f->v_local_rel_ground_v[2]
207 FG_VECTOR_3 v_local_airmass_v; /* velocity of airmass (steady winds) */
208 #define FG_V_local_airmass_v f->v_local_airmass_v
209 #define FG_V_north_airmass f->v_local_airmass_v[0]
210 #define FG_V_east_airmass f->v_local_airmass_v[1]
211 #define FG_V_down_airmass f->v_local_airmass_v[2]
213 FG_VECTOR_3 v_local_rel_airmass_v; /* velocity of veh. relative to */
215 #define FG_V_local_rel_airmass_v f->v_local_rel_airmass_v
216 #define FG_V_north_rel_airmass f->v_local_rel_airmass_v[0]
217 #define FG_V_east_rel_airmass f->v_local_rel_airmass_v[1]
218 #define FG_V_down_rel_airmass f->v_local_rel_airmass_v[2]
220 FG_VECTOR_3 v_local_gust_v; /* linear turbulence components, L frame */
221 #define FG_V_local_gust_v f->v_local_gust_v
222 #define FG_U_gust f->v_local_gust_v[0]
223 #define FG_V_gust f->v_local_gust_v[1]
224 #define FG_W_gust f->v_local_gust_v[2]
226 FG_VECTOR_3 v_wind_body_v; /* Wind-relative velocities in body axis */
227 #define FG_V_wind_body_v f->v_wind_body_v
228 #define FG_U_body f->v_wind_body_v[0]
229 #define FG_V_body f->v_wind_body_v[1]
230 #define FG_W_body f->v_wind_body_v[2]
232 double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
233 double v_ground_speed, v_equiv, v_equiv_kts;
234 double v_calibrated, v_calibrated_kts;
235 #define FG_V_rel_wind f->v_rel_wind
236 #define FG_V_true_kts f->v_true_kts
237 #define FG_V_rel_ground f->v_rel_ground
238 #define FG_V_inertial f->v_inertial
239 #define FG_V_ground_speed f->v_ground_speed
240 #define FG_V_equiv f->v_equiv
241 #define FG_V_equiv_kts f->v_equiv_kts
242 #define FG_V_calibrated f->v_calibrated
243 #define FG_V_calibrated_kts f->v_calibrated_kts
245 FG_VECTOR_3 omega_body_v; /* Angular B rates */
246 #define FG_Omega_body_v f->omega_body_v
247 #define FG_P_body f->omega_body_v[0]
248 #define FG_Q_body f->omega_body_v[1]
249 #define FG_R_body f->omega_body_v[2]
251 FG_VECTOR_3 omega_local_v; /* Angular L rates */
252 #define FG_Omega_local_v f->omega_local_v
253 #define FG_P_local f->omega_local_v[0]
254 #define FG_Q_local f->omega_local_v[1]
255 #define FG_R_local f->omega_local_v[2]
257 FG_VECTOR_3 omega_total_v; /* Diff btw B & L */
258 #define FG_Omega_total_v f->omega_total_v
259 #define FG_P_total f->omega_total_v[0]
260 #define FG_Q_total f->omega_total_v[1]
261 #define FG_R_total f->omega_total_v[2]
263 FG_VECTOR_3 euler_rates_v;
264 #define FG_Euler_rates_v f->euler_rates_v
265 #define FG_Phi_dot f->euler_rates_v[0]
266 #define FG_Theta_dot f->euler_rates_v[1]
267 #define FG_Psi_dot f->euler_rates_v[2]
269 FG_VECTOR_3 geocentric_rates_v; /* Geocentric linear velocities */
270 #define FG_Geocentric_rates_v f->geocentric_rates_v
271 #define FG_Latitude_dot f->geocentric_rates_v[0]
272 #define FG_Longitude_dot f->geocentric_rates_v[1]
273 #define FG_Radius_dot f->geocentric_rates_v[2]
275 /*=============================== Positions ===============================*/
277 FG_VECTOR_3 geocentric_position_v;
278 #define FG_Geocentric_position_v f->geocentric_position_v
279 #define FG_Lat_geocentric f->geocentric_position_v[0]
280 #define FG_Lon_geocentric f->geocentric_position_v[1]
281 #define FG_Radius_to_vehicle f->geocentric_position_v[2]
283 FG_VECTOR_3 geodetic_position_v;
284 #define FG_Geodetic_position_v f->geodetic_position_v
285 #define FG_Latitude f->geodetic_position_v[0]
286 #define FG_Longitude f->geodetic_position_v[1]
287 #define FG_Altitude f->geodetic_position_v[2]
289 FG_VECTOR_3 euler_angles_v;
290 #define FG_Euler_angles_v f->euler_angles_v
291 #define FG_Phi f->euler_angles_v[0]
292 #define FG_Theta f->euler_angles_v[1]
293 #define FG_Psi f->euler_angles_v[2]
295 /*======================= Miscellaneous quantities ========================*/
297 double t_local_to_body_m[3][3]; /* Transformation matrix L to B */
298 #define FG_T_local_to_body_m f->t_local_to_body_m
299 #define FG_T_local_to_body_11 f->t_local_to_body_m[0][0]
300 #define FG_T_local_to_body_12 f->t_local_to_body_m[0][1]
301 #define FG_T_local_to_body_13 f->t_local_to_body_m[0][2]
302 #define FG_T_local_to_body_21 f->t_local_to_body_m[1][0]
303 #define FG_T_local_to_body_22 f->t_local_to_body_m[1][1]
304 #define FG_T_local_to_body_23 f->t_local_to_body_m[1][2]
305 #define FG_T_local_to_body_31 f->t_local_to_body_m[2][0]
306 #define FG_T_local_to_body_32 f->t_local_to_body_m[2][1]
307 #define FG_T_local_to_body_33 f->t_local_to_body_m[2][2]
309 double gravity; /* Local acceleration due to G */
310 #define FG_Gravity f->gravity
312 double centrifugal_relief; /* load factor reduction due to speed */
313 #define FG_Centrifugal_relief f->centrifugal_relief
315 double alpha, beta, alpha_dot, beta_dot; /* in radians */
316 #define FG_Alpha f->alpha
317 #define FG_Beta f->beta
318 #define FG_Alpha_dot f->alpha_dot
319 #define FG_Beta_dot f->beta_dot
321 double cos_alpha, sin_alpha, cos_beta, sin_beta;
322 #define FG_Cos_alpha f->cos_alpha
323 #define FG_Sin_alpha f->sin_alpha
324 #define FG_Cos_beta f->cos_beta
325 #define FG_Sin_beta f->sin_beta
327 double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
328 #define FG_Cos_phi f->cos_phi
329 #define FG_Sin_phi f->sin_phi
330 #define FG_Cos_theta f->cos_theta
331 #define FG_Sin_theta f->sin_theta
332 #define FG_Cos_psi f->cos_psi
333 #define FG_Sin_psi f->sin_psi
335 double gamma_vert_rad, gamma_horiz_rad; /* Flight path angles */
336 #define FG_Gamma_vert_rad f->gamma_vert_rad
337 #define FG_Gamma_horiz_rad f->gamma_horiz_rad
339 double sigma, density, v_sound, mach_number;
340 #define FG_Sigma f->sigma
341 #define FG_Density f->density
342 #define FG_V_sound f->v_sound
343 #define FG_Mach_number f->mach_number
345 double static_pressure, total_pressure, impact_pressure;
346 double dynamic_pressure;
347 #define FG_Static_pressure f->static_pressure
348 #define FG_Total_pressure f->total_pressure
349 #define FG_Impact_pressure f->impact_pressure
350 #define FG_Dynamic_pressure f->dynamic_pressure
352 double static_temperature, total_temperature;
353 #define FG_Static_temperature f->static_temperature
354 #define FG_Total_temperature f->total_temperature
356 double sea_level_radius, earth_position_angle;
357 #define FG_Sea_level_radius f->sea_level_radius
358 #define FG_Earth_position_angle f->earth_position_angle
360 double runway_altitude, runway_latitude, runway_longitude;
361 double runway_heading;
362 #define FG_Runway_altitude f->runway_altitude
363 #define FG_Runway_latitude f->runway_latitude
364 #define FG_Runway_longitude f->runway_longitude
365 #define FG_Runway_heading f->runway_heading
367 double radius_to_rwy;
368 #define FG_Radius_to_rwy f->radius_to_rwy
370 FG_VECTOR_3 d_cg_rwy_local_v; /* CG rel. to rwy in local coords */
371 #define FG_D_cg_rwy_local_v f->d_cg_rwy_local_v
372 #define FG_D_cg_north_of_rwy f->d_cg_rwy_local_v[0]
373 #define FG_D_cg_east_of_rwy f->d_cg_rwy_local_v[1]
374 #define FG_D_cg_above_rwy f->d_cg_rwy_local_v[2]
376 FG_VECTOR_3 d_cg_rwy_rwy_v; /* CG relative to rwy, in rwy coordinates */
377 #define FG_D_cg_rwy_rwy_v f->d_cg_rwy_rwy_v
378 #define FG_X_cg_rwy f->d_cg_rwy_rwy_v[0]
379 #define FG_Y_cg_rwy f->d_cg_rwy_rwy_v[1]
380 #define FG_H_cg_rwy f->d_cg_rwy_rwy_v[2]
382 FG_VECTOR_3 d_pilot_rwy_local_v; /* pilot rel. to rwy in local coords */
383 #define FG_D_pilot_rwy_local_v f->d_pilot_rwy_local_v
384 #define FG_D_pilot_north_of_rwy f->d_pilot_rwy_local_v[0]
385 #define FG_D_pilot_east_of_rwy f->d_pilot_rwy_local_v[1]
386 #define FG_D_pilot_above_rwy f->d_pilot_rwy_local_v[2]
388 FG_VECTOR_3 d_pilot_rwy_rwy_v; /* pilot rel. to rwy, in rwy coords. */
389 #define FG_D_pilot_rwy_rwy_v f->d_pilot_rwy_rwy_v
390 #define FG_X_pilot_rwy f->d_pilot_rwy_rwy_v[0]
391 #define FG_Y_pilot_rwy f->d_pilot_rwy_rwy_v[1]
392 #define FG_H_pilot_rwy f->d_pilot_rwy_rwy_v[2]
397 /* General interface to the flight model routines */
399 /* Initialize the flight model parameters */
400 int fgFlightModelInit(int model, struct flight_params *f, double dt);
402 /* Run multiloop iterations of the flight model */
403 int fgFlightModelUpdate(int model, struct flight_params *f, int multiloop);
410 /* Revision 1.4 1997/05/29 22:39:57 curt
411 /* Working on incorporating the LaRCsim flight model.
413 * Revision 1.3 1997/05/29 02:32:25 curt
414 * Starting to build generic flight model interface.
416 * Revision 1.2 1997/05/23 15:40:37 curt
417 * Added GNU copyright headers.
419 * Revision 1.1 1997/05/16 16:04:45 curt