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 <Flight/Slew/slew.h>
39 /* Define the various supported flight models (most not yet implemented) */
40 #define FG_LARCSIM 0 /* The only one that is currently implemented */
42 #define FG_SUPER_SONIC 2
43 #define FG_HELICOPTER 3
46 #define FG_PARACHUTE 6
47 #define FG_SLEW 7 /* Slew (in MS terminology) */
48 #define FG_EXTERN_GPS 8 /* Driven via a serially connected GPS */
49 #define FG_EXTERN_NET 9 /* Driven externally via the net */
50 #define FG_EXTERN_NASA 10 /* Track the space shuttle ? */
53 typedef double FG_VECTOR_3[3];
55 /* This is based heavily on LaRCsim/ls_generic.h */
58 /*================== Mass properties and geometry values ==================*/
60 double mass, i_xx, i_yy, i_zz, i_xz; /* Inertias */
61 #define FG_Mass f->mass
62 #define FG_I_xx f->i_xx
63 #define FG_I_yy f->i_yy
64 #define FG_I_zz f->i_zz
65 #define FG_I_xz f->i_xz
67 FG_VECTOR_3 d_pilot_rp_body_v; /* Pilot location rel to ref pt */
68 #define FG_D_pilot_rp_body_v f->d_pilot_rp_body_v
69 #define FG_Dx_pilot f->d_pilot_rp_body_v[0]
70 #define FG_Dy_pilot f->d_pilot_rp_body_v[1]
71 #define FG_Dz_pilot f->d_pilot_rp_body_v[2]
73 FG_VECTOR_3 d_cg_rp_body_v; /* CG position w.r.t. ref. point */
74 #define FG_D_cg_rp_body_v f->d_cg_rp_body_v
75 #define FG_Dx_cg f->d_cg_rp_body_v[0]
76 #define FG_Dy_cg f->d_cg_rp_body_v[1]
77 #define FG_Dz_cg f->d_cg_rp_body_v[2]
79 /*================================ Forces =================================*/
81 FG_VECTOR_3 f_body_total_v;
82 #define FG_F_body_total_v f->f_body_total_v
83 #define FG_F_X f->f_body_total_v[0]
84 #define FG_F_Y f->f_body_total_v[1]
85 #define FG_F_Z f->f_body_total_v[2]
87 FG_VECTOR_3 f_local_total_v;
88 #define FG_F_local_total_v f->f_local_total_v
89 #define FG_F_north f->f_local_total_v[0]
90 #define FG_F_east f->f_local_total_v[1]
91 #define FG_F_down f->f_local_total_v[2]
94 #define FG_F_aero_v f->f_aero_v
95 #define FG_F_X_aero f->f_aero_v[0]
96 #define FG_F_Y_aero f->f_aero_v[1]
97 #define FG_F_Z_aero f->f_aero_v[2]
99 FG_VECTOR_3 f_engine_v;
100 #define FG_F_engine_v f->f_engine_v
101 #define FG_F_X_engine f->f_engine_v[0]
102 #define FG_F_Y_engine f->f_engine_v[1]
103 #define FG_F_Z_engine f->f_engine_v[2]
105 FG_VECTOR_3 f_gear_v;
106 #define FG_F_gear_v f->f_gear_v
107 #define FG_F_X_gear f->f_gear_v[0]
108 #define FG_F_Y_gear f->f_gear_v[1]
109 #define FG_F_Z_gear f->f_gear_v[2]
111 /*================================ Moments ================================*/
113 FG_VECTOR_3 m_total_rp_v;
114 #define FG_M_total_rp_v f->m_total_rp_v
115 #define FG_M_l_rp f->m_total_rp_v[0]
116 #define FG_M_m_rp f->m_total_rp_v[1]
117 #define FG_M_n_rp f->m_total_rp_v[2]
119 FG_VECTOR_3 m_total_cg_v;
120 #define FG_M_total_cg_v f->m_total_cg_v
121 #define FG_M_l_cg f->m_total_cg_v[0]
122 #define FG_M_m_cg f->m_total_cg_v[1]
123 #define FG_M_n_cg f->m_total_cg_v[2]
125 FG_VECTOR_3 m_aero_v;
126 #define FG_M_aero_v f->m_aero_v
127 #define FG_M_l_aero f->m_aero_v[0]
128 #define FG_M_m_aero f->m_aero_v[1]
129 #define FG_M_n_aero f->m_aero_v[2]
131 FG_VECTOR_3 m_engine_v;
132 #define FG_M_engine_v f->m_engine_v
133 #define FG_M_l_engine f->m_engine_v[0]
134 #define FG_M_m_engine f->m_engine_v[1]
135 #define FG_M_n_engine f->m_engine_v[2]
137 FG_VECTOR_3 m_gear_v;
138 #define FG_M_gear_v f->m_gear_v
139 #define FG_M_l_gear f->m_gear_v[0]
140 #define FG_M_m_gear f->m_gear_v[1]
141 #define FG_M_n_gear f->m_gear_v[2]
143 /*============================== Accelerations ============================*/
145 FG_VECTOR_3 v_dot_local_v;
146 #define FG_V_dot_local_v f->v_dot_local_v
147 #define FG_V_dot_north f->v_dot_local_v[0]
148 #define FG_V_dot_east f->v_dot_local_v[1]
149 #define FG_V_dot_down f->v_dot_local_v[2]
151 FG_VECTOR_3 v_dot_body_v;
152 #define FG_V_dot_body_v f->v_dot_body_v
153 #define FG_U_dot_body f->v_dot_body_v[0]
154 #define FG_V_dot_body f->v_dot_body_v[1]
155 #define FG_W_dot_body f->v_dot_body_v[2]
157 FG_VECTOR_3 a_cg_body_v;
158 #define FG_A_cg_body_v f->a_cg_body_v
159 #define FG_A_X_cg f->a_cg_body_v[0]
160 #define FG_A_Y_cg f->a_cg_body_v[1]
161 #define FG_A_Z_cg f->a_cg_body_v[2]
163 FG_VECTOR_3 a_pilot_body_v;
164 #define FG_A_pilot_body_v f->a_pilot_body_v
165 #define FG_A_X_pilot f->a_pilot_body_v[0]
166 #define FG_A_Y_pilot f->a_pilot_body_v[1]
167 #define FG_A_Z_pilot f->a_pilot_body_v[2]
169 FG_VECTOR_3 n_cg_body_v;
170 #define FG_N_cg_body_v f->n_cg_body_v
171 #define FG_N_X_cg f->n_cg_body_v[0]
172 #define FG_N_Y_cg f->n_cg_body_v[1]
173 #define FG_N_Z_cg f->n_cg_body_v[2]
175 FG_VECTOR_3 n_pilot_body_v;
176 #define FG_N_pilot_body_v f->n_pilot_body_v
177 #define FG_N_X_pilot f->n_pilot_body_v[0]
178 #define FG_N_Y_pilot f->n_pilot_body_v[1]
179 #define FG_N_Z_pilot f->n_pilot_body_v[2]
181 FG_VECTOR_3 omega_dot_body_v;
182 #define FG_Omega_dot_body_v f->omega_dot_body_v
183 #define FG_P_dot_body f->omega_dot_body_v[0]
184 #define FG_Q_dot_body f->omega_dot_body_v[1]
185 #define FG_R_dot_body f->omega_dot_body_v[2]
188 /*============================== Velocities ===============================*/
190 FG_VECTOR_3 v_local_v;
191 #define FG_V_local_v f->v_local_v
192 #define FG_V_north f->v_local_v[0]
193 #define FG_V_east f->v_local_v[1]
194 #define FG_V_down f->v_local_v[2]
196 FG_VECTOR_3 v_local_rel_ground_v; /* V rel w.r.t. earth surface */
197 #define FG_V_local_rel_ground_v f->v_local_rel_ground_v
198 #define FG_V_north_rel_ground f->v_local_rel_ground_v[0]
199 #define FG_V_east_rel_ground f->v_local_rel_ground_v[1]
200 #define FG_V_down_rel_ground f->v_local_rel_ground_v[2]
202 FG_VECTOR_3 v_local_airmass_v; /* velocity of airmass (steady winds) */
203 #define FG_V_local_airmass_v f->v_local_airmass_v
204 #define FG_V_north_airmass f->v_local_airmass_v[0]
205 #define FG_V_east_airmass f->v_local_airmass_v[1]
206 #define FG_V_down_airmass f->v_local_airmass_v[2]
208 FG_VECTOR_3 v_local_rel_airmass_v; /* velocity of veh. relative to */
210 #define FG_V_local_rel_airmass_v f->v_local_rel_airmass_v
211 #define FG_V_north_rel_airmass f->v_local_rel_airmass_v[0]
212 #define FG_V_east_rel_airmass f->v_local_rel_airmass_v[1]
213 #define FG_V_down_rel_airmass f->v_local_rel_airmass_v[2]
215 FG_VECTOR_3 v_local_gust_v; /* linear turbulence components, L frame */
216 #define FG_V_local_gust_v f->v_local_gust_v
217 #define FG_U_gust f->v_local_gust_v[0]
218 #define FG_V_gust f->v_local_gust_v[1]
219 #define FG_W_gust f->v_local_gust_v[2]
221 FG_VECTOR_3 v_wind_body_v; /* Wind-relative velocities in body axis */
222 #define FG_V_wind_body_v f->v_wind_body_v
223 #define FG_U_body f->v_wind_body_v[0]
224 #define FG_V_body f->v_wind_body_v[1]
225 #define FG_W_body f->v_wind_body_v[2]
227 double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
228 double v_ground_speed, v_equiv, v_equiv_kts;
229 double v_calibrated, v_calibrated_kts;
230 #define FG_V_rel_wind f->v_rel_wind
231 #define FG_V_true_kts f->v_true_kts
232 #define FG_V_rel_ground f->v_rel_ground
233 #define FG_V_inertial f->v_inertial
234 #define FG_V_ground_speed f->v_ground_speed
235 #define FG_V_equiv f->v_equiv
236 #define FG_V_equiv_kts f->v_equiv_kts
237 #define FG_V_calibrated f->v_calibrated
238 #define FG_V_calibrated_kts f->v_calibrated_kts
240 FG_VECTOR_3 omega_body_v; /* Angular B rates */
241 #define FG_Omega_body_v f->omega_body_v
242 #define FG_P_body f->omega_body_v[0]
243 #define FG_Q_body f->omega_body_v[1]
244 #define FG_R_body f->omega_body_v[2]
246 FG_VECTOR_3 omega_local_v; /* Angular L rates */
247 #define FG_Omega_local_v f->omega_local_v
248 #define FG_P_local f->omega_local_v[0]
249 #define FG_Q_local f->omega_local_v[1]
250 #define FG_R_local f->omega_local_v[2]
252 FG_VECTOR_3 omega_total_v; /* Diff btw B & L */
253 #define FG_Omega_total_v f->omega_total_v
254 #define FG_P_total f->omega_total_v[0]
255 #define FG_Q_total f->omega_total_v[1]
256 #define FG_R_total f->omega_total_v[2]
258 FG_VECTOR_3 euler_rates_v;
259 #define FG_Euler_rates_v f->euler_rates_v
260 #define FG_Phi_dot f->euler_rates_v[0]
261 #define FG_Theta_dot f->euler_rates_v[1]
262 #define FG_Psi_dot f->euler_rates_v[2]
264 FG_VECTOR_3 geocentric_rates_v; /* Geocentric linear velocities */
265 #define FG_Geocentric_rates_v f->geocentric_rates_v
266 #define FG_Latitude_dot f->geocentric_rates_v[0]
267 #define FG_Longitude_dot f->geocentric_rates_v[1]
268 #define FG_Radius_dot f->geocentric_rates_v[2]
270 /*=============================== Positions ===============================*/
272 FG_VECTOR_3 geocentric_position_v;
273 #define FG_Geocentric_position_v f->geocentric_position_v
274 #define FG_Lat_geocentric f->geocentric_position_v[0]
275 #define FG_Lon_geocentric f->geocentric_position_v[1]
276 #define FG_Radius_to_vehicle f->geocentric_position_v[2]
278 FG_VECTOR_3 geodetic_position_v;
279 #define FG_Geodetic_position_v f->geodetic_position_v
280 #define FG_Latitude f->geodetic_position_v[0]
281 #define FG_Longitude f->geodetic_position_v[1]
282 #define FG_Altitude f->geodetic_position_v[2]
284 FG_VECTOR_3 euler_angles_v;
285 #define FG_Euler_angles_v f->euler_angles_v
286 #define FG_Phi f->euler_angles_v[0]
287 #define FG_Theta f->euler_angles_v[1]
288 #define FG_Psi f->euler_angles_v[2]
290 /*======================= Miscellaneous quantities ========================*/
292 double t_local_to_body_m[3][3]; /* Transformation matrix L to B */
293 #define FG_T_local_to_body_m f->t_local_to_body_m
294 #define FG_T_local_to_body_11 f->t_local_to_body_m[0][0]
295 #define FG_T_local_to_body_12 f->t_local_to_body_m[0][1]
296 #define FG_T_local_to_body_13 f->t_local_to_body_m[0][2]
297 #define FG_T_local_to_body_21 f->t_local_to_body_m[1][0]
298 #define FG_T_local_to_body_22 f->t_local_to_body_m[1][1]
299 #define FG_T_local_to_body_23 f->t_local_to_body_m[1][2]
300 #define FG_T_local_to_body_31 f->t_local_to_body_m[2][0]
301 #define FG_T_local_to_body_32 f->t_local_to_body_m[2][1]
302 #define FG_T_local_to_body_33 f->t_local_to_body_m[2][2]
304 double gravity; /* Local acceleration due to G */
305 #define FG_Gravity f->gravity
307 double centrifugal_relief; /* load factor reduction due to speed */
308 #define FG_Centrifugal_relief f->centrifugal_relief
310 double alpha, beta, alpha_dot, beta_dot; /* in radians */
311 #define FG_Alpha f->alpha
312 #define FG_Beta f->beta
313 #define FG_Alpha_dot f->alpha_dot
314 #define FG_Beta_dot f->beta_dot
316 double cos_alpha, sin_alpha, cos_beta, sin_beta;
317 #define FG_Cos_alpha f->cos_alpha
318 #define FG_Sin_alpha f->sin_alpha
319 #define FG_Cos_beta f->cos_beta
320 #define FG_Sin_beta f->sin_beta
322 double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
323 #define FG_Cos_phi f->cos_phi
324 #define FG_Sin_phi f->sin_phi
325 #define FG_Cos_theta f->cos_theta
326 #define FG_Sin_theta f->sin_theta
327 #define FG_Cos_psi f->cos_psi
328 #define FG_Sin_psi f->sin_psi
330 double gamma_vert_rad, gamma_horiz_rad; /* Flight path angles */
331 #define FG_Gamma_vert_rad f->gamma_vert_rad
332 #define FG_Gamma_horiz_rad f->gamma_horiz_rad
334 double sigma, density, v_sound, mach_number;
335 #define FG_Sigma f->sigma
336 #define FG_Density f->density
337 #define FG_V_sound f->v_sound
338 #define FG_Mach_number f->mach_number
340 double static_pressure, total_pressure, impact_pressure;
341 double dynamic_pressure;
342 #define FG_Static_pressure f->static_pressure
343 #define FG_Total_pressure f->total_pressure
344 #define FG_Impact_pressure f->impact_pressure
345 #define FG_Dynamic_pressure f->dynamic_pressure
347 double static_temperature, total_temperature;
348 #define FG_Static_temperature f->static_temperature
349 #define FG_Total_temperature f->total_temperature
351 double sea_level_radius, earth_position_angle;
352 #define FG_Sea_level_radius f->sea_level_radius
353 #define FG_Earth_position_angle f->earth_position_angle
355 double runway_altitude, runway_latitude, runway_longitude;
356 double runway_heading;
357 #define FG_Runway_altitude f->runway_altitude
358 #define FG_Runway_latitude f->runway_latitude
359 #define FG_Runway_longitude f->runway_longitude
360 #define FG_Runway_heading f->runway_heading
362 double radius_to_rwy;
363 #define FG_Radius_to_rwy f->radius_to_rwy
365 FG_VECTOR_3 d_cg_rwy_local_v; /* CG rel. to rwy in local coords */
366 #define FG_D_cg_rwy_local_v f->d_cg_rwy_local_v
367 #define FG_D_cg_north_of_rwy f->d_cg_rwy_local_v[0]
368 #define FG_D_cg_east_of_rwy f->d_cg_rwy_local_v[1]
369 #define FG_D_cg_above_rwy f->d_cg_rwy_local_v[2]
371 FG_VECTOR_3 d_cg_rwy_rwy_v; /* CG relative to rwy, in rwy coordinates */
372 #define FG_D_cg_rwy_rwy_v f->d_cg_rwy_rwy_v
373 #define FG_X_cg_rwy f->d_cg_rwy_rwy_v[0]
374 #define FG_Y_cg_rwy f->d_cg_rwy_rwy_v[1]
375 #define FG_H_cg_rwy f->d_cg_rwy_rwy_v[2]
377 FG_VECTOR_3 d_pilot_rwy_local_v; /* pilot rel. to rwy in local coords */
378 #define FG_D_pilot_rwy_local_v f->d_pilot_rwy_local_v
379 #define FG_D_pilot_north_of_rwy f->d_pilot_rwy_local_v[0]
380 #define FG_D_pilot_east_of_rwy f->d_pilot_rwy_local_v[1]
381 #define FG_D_pilot_above_rwy f->d_pilot_rwy_local_v[2]
383 FG_VECTOR_3 d_pilot_rwy_rwy_v; /* pilot rel. to rwy, in rwy coords. */
384 #define FG_D_pilot_rwy_rwy_v f->d_pilot_rwy_rwy_v
385 #define FG_X_pilot_rwy f->d_pilot_rwy_rwy_v[0]
386 #define FG_Y_pilot_rwy f->d_pilot_rwy_rwy_v[1]
387 #define FG_H_pilot_rwy f->d_pilot_rwy_rwy_v[2]
389 } fgFLIGHT, *pfgFlight;
392 extern fgFLIGHT cur_flight_params;
395 /* General interface to the flight model routines */
397 /* Initialize the flight model parameters */
398 int fgFlightModelInit(int model, fgFLIGHT *f, double dt);
400 /* Run multiloop iterations of the flight model */
401 int fgFlightModelUpdate(int model, fgFLIGHT *f, int multiloop);
403 /* Set the altitude (force) */
404 int fgFlightModelSetAltitude(int model, fgFLIGHT *f, double alt_meters);
412 #endif /* _FLIGHT_H */
416 /* Revision 1.17 1998/07/12 03:08:28 curt
417 /* Added fgFlightModelSetAltitude() to force the altitude to something
418 /* other than the current altitude. LaRCsim doesn't let you do this by just
419 /* changing FG_Altitude.
421 * Revision 1.16 1998/04/22 13:26:20 curt
422 * C++ - ifing the code a bit.
424 * Revision 1.15 1998/04/21 16:59:33 curt
425 * Integrated autopilot.
426 * Prepairing for C++ integration.
428 * Revision 1.14 1998/02/07 15:29:37 curt
429 * Incorporated HUD changes and struct/typedef changes from Charlie Hotchkiss
430 * <chotchkiss@namg.us.anritsu.com>
432 * Revision 1.13 1998/01/24 00:04:59 curt
435 * Revision 1.12 1998/01/22 02:59:32 curt
436 * Changed #ifdef FILE_H to #ifdef _FILE_H
438 * Revision 1.11 1998/01/19 19:27:03 curt
439 * Merged in make system changes from Bob Kuehne <rpk@sgi.com>
440 * This should simplify things tremendously.
442 * Revision 1.10 1997/12/10 22:37:43 curt
443 * Prepended "fg" on the name of all global structures that didn't have it yet.
444 * i.e. "struct WEATHER {}" became "struct fgWEATHER {}"
446 * Revision 1.9 1997/09/04 02:17:33 curt
449 * Revision 1.8 1997/08/27 03:30:06 curt
450 * Changed naming scheme of basic shared structures.
452 * Revision 1.7 1997/07/23 21:52:19 curt
453 * Put comments around the text after an #endif for increased portability.
455 * Revision 1.6 1997/06/21 17:52:22 curt
456 * Continue directory shuffling ... everything should be compilable/runnable
459 * Revision 1.5 1997/06/21 17:12:49 curt
460 * Capitalized subdirectory names.
462 * Revision 1.4 1997/05/29 22:39:57 curt
463 * Working on incorporating the LaRCsim flight model.
465 * Revision 1.3 1997/05/29 02:32:25 curt
466 * Starting to build generic flight model interface.
468 * Revision 1.2 1997/05/23 15:40:37 curt
469 * Added GNU copyright headers.
471 * Revision 1.1 1997/05/16 16:04:45 curt