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 (most not yet implemented) */
38 #define FG_HELICOPTER 2
41 #define FG_PARACHUTE 5
43 #define FG_EXTERN_GPS 7
44 #define FG_EXTERN_NET 8
47 /* Define a structure containing the shared flight model parameters */
48 /* struct flight_params {
49 double pos_x, pos_y, pos_z;
50 double vel_x, vel_y, vel_z;
61 typedef double FG_VECTOR_3[3];
63 /* This is based heavily on LaRCsim/ls_generic.h */
64 struct flight_params {
66 /*================== Mass properties and geometry values ==================*/
68 double mass, i_xx, i_yy, i_zz, i_xz; /* Inertias */
69 #define FG_Mass f->mass
70 #define FG_I_xx f->i_xx
71 #define FG_I_yy f->i_yy
72 #define FG_I_zz f->i_zz
73 #define FG_I_xz f->i_xz
75 FG_VECTOR_3 d_pilot_rp_body_v; /* Pilot location rel to ref pt */
76 #define FG_D_pilot_rp_body_v f->d_pilot_rp_body_v
77 #define FG_Dx_pilot f->d_pilot_rp_body_v[0]
78 #define FG_Dy_pilot f->d_pilot_rp_body_v[1]
79 #define FG_Dz_pilot f->d_pilot_rp_body_v[2]
81 FG_VECTOR_3 d_cg_rp_body_v; /* CG position w.r.t. ref. point */
82 #define FG_D_cg_rp_body_v f->d_cg_rp_body_v
83 #define FG_Dx_cg f->d_cg_rp_body_v[0]
84 #define FG_Dy_cg f->d_cg_rp_body_v[1]
85 #define FG_Dz_cg f->d_cg_rp_body_v[2]
87 /*================================ Forces =================================*/
89 FG_VECTOR_3 f_body_total_v;
90 #define FG_F_body_total_v f->f_body_total_v
91 #define FG_F_X f->f_body_total_v[0]
92 #define FG_F_Y f->f_body_total_v[1]
93 #define FG_F_Z f->f_body_total_v[2]
95 FG_VECTOR_3 f_local_total_v;
96 #define FG_F_local_total_v f->f_local_total_v
97 #define FG_F_north f->f_local_total_v[0]
98 #define FG_F_east f->f_local_total_v[1]
99 #define FG_F_down f->f_local_total_v[2]
101 FG_VECTOR_3 f_aero_v;
102 #define FG_F_aero_v f->f_aero_v
103 #define FG_F_X_aero f->f_aero_v[0]
104 #define FG_F_Y_aero f->f_aero_v[1]
105 #define FG_F_Z_aero f->f_aero_v[2]
107 FG_VECTOR_3 f_engine_v;
108 #define FG_F_engine_v f->f_engine_v
109 #define FG_F_X_engine f->f_engine_v[0]
110 #define FG_F_Y_engine f->f_engine_v[1]
111 #define FG_F_Z_engine f->f_engine_v[2]
113 FG_VECTOR_3 f_gear_v;
114 #define FG_F_gear_v f->f_gear_v
115 #define FG_F_X_gear f->f_gear_v[0]
116 #define FG_F_Y_gear f->f_gear_v[1]
117 #define FG_F_Z_gear f->f_gear_v[2]
119 /*================================ Moments ================================*/
121 FG_VECTOR_3 m_total_rp_v;
122 #define FG_M_total_rp_v f->m_total_rp_v
123 #define FG_M_l_rp f->m_total_rp_v[0]
124 #define FG_M_m_rp f->m_total_rp_v[1]
125 #define FG_M_n_rp f->m_total_rp_v[2]
127 FG_VECTOR_3 m_total_cg_v;
128 #define FG_M_total_cg_v f->m_total_cg_v
129 #define FG_M_l_cg f->m_total_cg_v[0]
130 #define FG_M_m_cg f->m_total_cg_v[1]
131 #define FG_M_n_cg f->m_total_cg_v[2]
133 FG_VECTOR_3 m_aero_v;
134 #define FG_M_aero_v f->m_aero_v
135 #define FG_M_l_aero f->m_aero_v[0]
136 #define FG_M_m_aero f->m_aero_v[1]
137 #define FG_M_n_aero f->m_aero_v[2]
139 FG_VECTOR_3 m_engine_v;
140 #define FG_M_engine_v f->m_engine_v
141 #define FG_M_l_engine f->m_engine_v[0]
142 #define FG_M_m_engine f->m_engine_v[1]
143 #define FG_M_n_engine f->m_engine_v[2]
145 FG_VECTOR_3 m_gear_v;
146 #define FG_M_gear_v f->m_gear_v
147 #define FG_M_l_gear f->m_gear_v[0]
148 #define FG_M_m_gear f->m_gear_v[1]
149 #define FG_M_n_gear f->m_gear_v[2]
151 /*============================== Accelerations ============================*/
153 FG_VECTOR_3 v_dot_local_v;
154 #define FG_V_dot_local_v f->v_dot_local_v
155 #define FG_V_dot_north f->v_dot_local_v[0]
156 #define FG_V_dot_east f->v_dot_local_v[1]
157 #define FG_V_dot_down f->v_dot_local_v[2]
159 FG_VECTOR_3 v_dot_body_v;
160 #define FG_V_dot_body_v f->v_dot_body_v
161 #define FG_U_dot_body f->v_dot_body_v[0]
162 #define FG_V_dot_body f->v_dot_body_v[1]
163 #define FG_W_dot_body f->v_dot_body_v[2]
165 FG_VECTOR_3 a_cg_body_v;
166 #define FG_A_cg_body_v f->a_cg_body_v
167 #define FG_A_X_cg f->a_cg_body_v[0]
168 #define FG_A_Y_cg f->a_cg_body_v[1]
169 #define FG_A_Z_cg f->a_cg_body_v[2]
171 FG_VECTOR_3 a_pilot_body_v;
172 #define FG_A_pilot_body_v f->a_pilot_body_v
173 #define FG_A_X_pilot f->a_pilot_body_v[0]
174 #define FG_A_Y_pilot f->a_pilot_body_v[1]
175 #define FG_A_Z_pilot f->a_pilot_body_v[2]
177 FG_VECTOR_3 n_cg_body_v;
178 #define FG_N_cg_body_v f->n_cg_body_v
179 #define FG_N_X_cg f->n_cg_body_v[0]
180 #define FG_N_Y_cg f->n_cg_body_v[1]
181 #define FG_N_Z_cg f->n_cg_body_v[2]
183 FG_VECTOR_3 n_pilot_body_v;
184 #define FG_N_pilot_body_v f->n_pilot_body_v
185 #define FG_N_X_pilot f->n_pilot_body_v[0]
186 #define FG_N_Y_pilot f->n_pilot_body_v[1]
187 #define FG_N_Z_pilot f->n_pilot_body_v[2]
189 FG_VECTOR_3 omega_dot_body_v;
190 #define FG_Omega_dot_body_v f->omega_dot_body_v
191 #define FG_P_dot_body f->omega_dot_body_v[0]
192 #define FG_Q_dot_body f->omega_dot_body_v[1]
193 #define FG_R_dot_body f->omega_dot_body_v[2]
196 /*============================== Velocities ===============================*/
198 FG_VECTOR_3 v_local_v;
199 #define FG_V_local_v f->v_local_v
200 #define FG_V_north f->v_local_v[0]
201 #define FG_V_east f->v_local_v[1]
202 #define FG_V_down f->v_local_v[2]
204 FG_VECTOR_3 v_local_rel_ground_v; /* V rel w.r.t. earth surface */
205 #define FG_V_local_rel_ground_v f->v_local_rel_ground_v
206 #define FG_V_north_rel_ground f->v_local_rel_ground_v[0]
207 #define FG_V_east_rel_ground f->v_local_rel_ground_v[1]
208 #define FG_V_down_rel_ground f->v_local_rel_ground_v[2]
210 FG_VECTOR_3 v_local_airmass_v; /* velocity of airmass (steady winds) */
211 #define FG_V_local_airmass_v f->v_local_airmass_v
212 #define FG_V_north_airmass f->v_local_airmass_v[0]
213 #define FG_V_east_airmass f->v_local_airmass_v[1]
214 #define FG_V_down_airmass f->v_local_airmass_v[2]
216 FG_VECTOR_3 v_local_rel_airmass_v; /* velocity of veh. relative to */
218 #define FG_V_local_rel_airmass_v f->v_local_rel_airmass_v
219 #define FG_V_north_rel_airmass f->v_local_rel_airmass_v[0]
220 #define FG_V_east_rel_airmass f->v_local_rel_airmass_v[1]
221 #define FG_V_down_rel_airmass f->v_local_rel_airmass_v[2]
223 FG_VECTOR_3 v_local_gust_v; /* linear turbulence components, L frame */
224 #define FG_V_local_gust_v f->v_local_gust_v
225 #define FG_U_gust f->v_local_gust_v[0]
226 #define FG_V_gust f->v_local_gust_v[1]
227 #define FG_W_gust f->v_local_gust_v[2]
229 FG_VECTOR_3 v_wind_body_v; /* Wind-relative velocities in body axis */
230 #define FG_V_wind_body_v f->v_wind_body_v
231 #define FG_U_body f->v_wind_body_v[0]
232 #define FG_V_body f->v_wind_body_v[1]
233 #define FG_W_body f->v_wind_body_v[2]
235 double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
236 double v_ground_speed, v_equiv, v_equiv_kts;
237 double v_calibrated, v_calibrated_kts;
238 #define FG_V_rel_wind f->v_rel_wind
239 #define FG_V_true_kts f->v_true_kts
240 #define FG_V_rel_ground f->v_rel_ground
241 #define FG_V_inertial f->v_inertial
242 #define FG_V_ground_speed f->v_ground_speed
243 #define FG_V_equiv f->v_equiv
244 #define FG_V_equiv_kts f->v_equiv_kts
245 #define FG_V_calibrated f->v_calibrated
246 #define FG_V_calibrated_kts f->v_calibrated_kts
248 FG_VECTOR_3 omega_body_v; /* Angular B rates */
249 #define FG_Omega_body_v f->omega_body_v
250 #define FG_P_body f->omega_body_v[0]
251 #define FG_Q_body f->omega_body_v[1]
252 #define FG_R_body f->omega_body_v[2]
254 FG_VECTOR_3 omega_local_v; /* Angular L rates */
255 #define FG_Omega_local_v f->omega_local_v
256 #define FG_P_local f->omega_local_v[0]
257 #define FG_Q_local f->omega_local_v[1]
258 #define FG_R_local f->omega_local_v[2]
260 FG_VECTOR_3 omega_total_v; /* Diff btw B & L */
261 #define FG_Omega_total_v f->omega_total_v
262 #define FG_P_total f->omega_total_v[0]
263 #define FG_Q_total f->omega_total_v[1]
264 #define FG_R_total f->omega_total_v[2]
266 FG_VECTOR_3 euler_rates_v;
267 #define FG_Euler_rates_v f->euler_rates_v
268 #define FG_Phi_dot f->euler_rates_v[0]
269 #define FG_Theta_dot f->euler_rates_v[1]
270 #define FG_Psi_dot f->euler_rates_v[2]
272 FG_VECTOR_3 geocentric_rates_v; /* Geocentric linear velocities */
273 #define FG_Geocentric_rates_v f->geocentric_rates_v
274 #define FG_Latitude_dot f->geocentric_rates_v[0]
275 #define FG_Longitude_dot f->geocentric_rates_v[1]
276 #define FG_Radius_dot f->geocentric_rates_v[2]
278 /*=============================== Positions ===============================*/
280 FG_VECTOR_3 geocentric_position_v;
281 #define FG_Geocentric_position_v f->geocentric_position_v
282 #define FG_Lat_geocentric f->geocentric_position_v[0]
283 #define FG_Lon_geocentric f->geocentric_position_v[1]
284 #define FG_Radius_to_vehicle f->geocentric_position_v[2]
286 FG_VECTOR_3 geodetic_position_v;
287 #define FG_Geodetic_position_v f->geodetic_position_v
288 #define FG_Latitude f->geodetic_position_v[0]
289 #define FG_Longitude f->geodetic_position_v[1]
290 #define FG_Altitude f->geodetic_position_v[2]
292 FG_VECTOR_3 euler_angles_v;
293 #define FG_Euler_angles_v f->euler_angles_v
294 #define FG_Phi f->euler_angles_v[0]
295 #define FG_Theta f->euler_angles_v[1]
296 #define FG_Psi f->euler_angles_v[2]
298 /*======================= Miscellaneous quantities ========================*/
300 double t_local_to_body_m[3][3]; /* Transformation matrix L to B */
301 #define FG_T_local_to_body_m f->t_local_to_body_m
302 #define FG_T_local_to_body_11 f->t_local_to_body_m[0][0]
303 #define FG_T_local_to_body_12 f->t_local_to_body_m[0][1]
304 #define FG_T_local_to_body_13 f->t_local_to_body_m[0][2]
305 #define FG_T_local_to_body_21 f->t_local_to_body_m[1][0]
306 #define FG_T_local_to_body_22 f->t_local_to_body_m[1][1]
307 #define FG_T_local_to_body_23 f->t_local_to_body_m[1][2]
308 #define FG_T_local_to_body_31 f->t_local_to_body_m[2][0]
309 #define FG_T_local_to_body_32 f->t_local_to_body_m[2][1]
310 #define FG_T_local_to_body_33 f->t_local_to_body_m[2][2]
312 double gravity; /* Local acceleration due to G */
313 #define FG_Gravity f->gravity
315 double centrifugal_relief; /* load factor reduction due to speed */
316 #define FG_Centrifugal_relief f->centrifugal_relief
318 double alpha, beta, alpha_dot, beta_dot; /* in radians */
319 #define FG_Alpha f->alpha
320 #define FG_Beta f->beta
321 #define FG_Alpha_dot f->alpha_dot
322 #define FG_Beta_dot f->beta_dot
324 double cos_alpha, sin_alpha, cos_beta, sin_beta;
325 #define FG_Cos_alpha f->cos_alpha
326 #define FG_Sin_alpha f->sin_alpha
327 #define FG_Cos_beta f->cos_beta
328 #define FG_Sin_beta f->sin_beta
330 double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
331 #define FG_Cos_phi f->cos_phi
332 #define FG_Sin_phi f->sin_phi
333 #define FG_Cos_theta f->cos_theta
334 #define FG_Sin_theta f->sin_theta
335 #define FG_Cos_psi f->cos_psi
336 #define FG_Sin_psi f->sin_psi
338 double gamma_vert_rad, gamma_horiz_rad; /* Flight path angles */
339 #define FG_Gamma_vert_rad f->gamma_vert_rad
340 #define FG_Gamma_horiz_rad f->gamma_horiz_rad
342 double sigma, density, v_sound, mach_number;
343 #define FG_Sigma f->sigma
344 #define FG_Density f->density
345 #define FG_V_sound f->v_sound
346 #define FG_Mach_number f->mach_number
348 double static_pressure, total_pressure, impact_pressure;
349 double dynamic_pressure;
350 #define FG_Static_pressure f->static_pressure
351 #define FG_Total_pressure f->total_pressure
352 #define FG_Impact_pressure f->impact_pressure
353 #define FG_Dynamic_pressure f->dynamic_pressure
355 double static_temperature, total_temperature;
356 #define FG_Static_temperature f->static_temperature
357 #define FG_Total_temperature f->total_temperature
359 double sea_level_radius, earth_position_angle;
360 #define FG_Sea_level_radius f->sea_level_radius
361 #define FG_Earth_position_angle f->earth_position_angle
363 double runway_altitude, runway_latitude, runway_longitude;
364 double runway_heading;
365 #define FG_Runway_altitude f->runway_altitude
366 #define FG_Runway_latitude f->runway_latitude
367 #define FG_Runway_longitude f->runway_longitude
368 #define FG_Runway_heading f->runway_heading
370 double radius_to_rwy;
371 #define FG_Radius_to_rwy f->radius_to_rwy
373 FG_VECTOR_3 d_cg_rwy_local_v; /* CG rel. to rwy in local coords */
374 #define FG_D_cg_rwy_local_v f->d_cg_rwy_local_v
375 #define FG_D_cg_north_of_rwy f->d_cg_rwy_local_v[0]
376 #define FG_D_cg_east_of_rwy f->d_cg_rwy_local_v[1]
377 #define FG_D_cg_above_rwy f->d_cg_rwy_local_v[2]
379 FG_VECTOR_3 d_cg_rwy_rwy_v; /* CG relative to rwy, in rwy coordinates */
380 #define FG_D_cg_rwy_rwy_v f->d_cg_rwy_rwy_v
381 #define FG_X_cg_rwy f->d_cg_rwy_rwy_v[0]
382 #define FG_Y_cg_rwy f->d_cg_rwy_rwy_v[1]
383 #define FG_H_cg_rwy f->d_cg_rwy_rwy_v[2]
385 FG_VECTOR_3 d_pilot_rwy_local_v; /* pilot rel. to rwy in local coords */
386 #define FG_D_pilot_rwy_local_v f->d_pilot_rwy_local_v
387 #define FG_D_pilot_north_of_rwy f->d_pilot_rwy_local_v[0]
388 #define FG_D_pilot_east_of_rwy f->d_pilot_rwy_local_v[1]
389 #define FG_D_pilot_above_rwy f->d_pilot_rwy_local_v[2]
391 FG_VECTOR_3 d_pilot_rwy_rwy_v; /* pilot rel. to rwy, in rwy coords. */
392 #define FG_D_pilot_rwy_rwy_v f->d_pilot_rwy_rwy_v
393 #define FG_X_pilot_rwy f->d_pilot_rwy_rwy_v[0]
394 #define FG_Y_pilot_rwy f->d_pilot_rwy_rwy_v[1]
395 #define FG_H_pilot_rwy f->d_pilot_rwy_rwy_v[2]
400 /* General interface to the flight model routines */
402 /* Initialize the flight model parameters */
403 int fgFlightModelInit(int model, struct flight_params *f, double dt);
405 /* Run multiloop iterations of the flight model */
406 int fgFlightModelUpdate(int model, struct flight_params *f, int multiloop);
409 #endif /* FLIGHT_H */
413 /* Revision 1.7 1997/07/23 21:52:19 curt
414 /* Put comments around the text after an #endif for increased portability.
416 * Revision 1.6 1997/06/21 17:52:22 curt
417 * Continue directory shuffling ... everything should be compilable/runnable
420 * Revision 1.5 1997/06/21 17:12:49 curt
421 * Capitalized subdirectory names.
423 * Revision 1.4 1997/05/29 22:39:57 curt
424 * Working on incorporating the LaRCsim flight model.
426 * Revision 1.3 1997/05/29 02:32:25 curt
427 * Starting to build generic flight model interface.
429 * Revision 1.2 1997/05/23 15:40:37 curt
430 * Added GNU copyright headers.
432 * Revision 1.1 1997/05/16 16:04:45 curt