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>
32 /* #include <Flight/LaRCsim/ls_interface.h> */
35 /* Define the various supported flight models (most not yet implemented) */
36 #define FG_LARCSIM 0 /* The only one that is currently implemented */
38 #define FG_SUPER_SONIC 2
39 #define FG_HELICOPTER 3
42 #define FG_PARACHUTE 6
43 #define FG_SLEW 7 /* Slew (in MS terminology) */
44 #define FG_EXTERN_GPS 8 /* Driven via a serially connected GPS */
45 #define FG_EXTERN_NET 9 /* Driven externally via the net */
46 #define FG_EXTERN_NASA 10 /* Track the space shuttle ? */
49 typedef double FG_VECTOR_3[3];
51 /* This is based heavily on LaRCsim/ls_generic.h */
54 /*================== Mass properties and geometry values ==================*/
56 double mass, i_xx, i_yy, i_zz, i_xz; /* Inertias */
57 #define FG_Mass f->mass
58 #define FG_I_xx f->i_xx
59 #define FG_I_yy f->i_yy
60 #define FG_I_zz f->i_zz
61 #define FG_I_xz f->i_xz
63 FG_VECTOR_3 d_pilot_rp_body_v; /* Pilot location rel to ref pt */
64 #define FG_D_pilot_rp_body_v f->d_pilot_rp_body_v
65 #define FG_Dx_pilot f->d_pilot_rp_body_v[0]
66 #define FG_Dy_pilot f->d_pilot_rp_body_v[1]
67 #define FG_Dz_pilot f->d_pilot_rp_body_v[2]
69 FG_VECTOR_3 d_cg_rp_body_v; /* CG position w.r.t. ref. point */
70 #define FG_D_cg_rp_body_v f->d_cg_rp_body_v
71 #define FG_Dx_cg f->d_cg_rp_body_v[0]
72 #define FG_Dy_cg f->d_cg_rp_body_v[1]
73 #define FG_Dz_cg f->d_cg_rp_body_v[2]
75 /*================================ Forces =================================*/
77 FG_VECTOR_3 f_body_total_v;
78 #define FG_F_body_total_v f->f_body_total_v
79 #define FG_F_X f->f_body_total_v[0]
80 #define FG_F_Y f->f_body_total_v[1]
81 #define FG_F_Z f->f_body_total_v[2]
83 FG_VECTOR_3 f_local_total_v;
84 #define FG_F_local_total_v f->f_local_total_v
85 #define FG_F_north f->f_local_total_v[0]
86 #define FG_F_east f->f_local_total_v[1]
87 #define FG_F_down f->f_local_total_v[2]
90 #define FG_F_aero_v f->f_aero_v
91 #define FG_F_X_aero f->f_aero_v[0]
92 #define FG_F_Y_aero f->f_aero_v[1]
93 #define FG_F_Z_aero f->f_aero_v[2]
95 FG_VECTOR_3 f_engine_v;
96 #define FG_F_engine_v f->f_engine_v
97 #define FG_F_X_engine f->f_engine_v[0]
98 #define FG_F_Y_engine f->f_engine_v[1]
99 #define FG_F_Z_engine f->f_engine_v[2]
101 FG_VECTOR_3 f_gear_v;
102 #define FG_F_gear_v f->f_gear_v
103 #define FG_F_X_gear f->f_gear_v[0]
104 #define FG_F_Y_gear f->f_gear_v[1]
105 #define FG_F_Z_gear f->f_gear_v[2]
107 /*================================ Moments ================================*/
109 FG_VECTOR_3 m_total_rp_v;
110 #define FG_M_total_rp_v f->m_total_rp_v
111 #define FG_M_l_rp f->m_total_rp_v[0]
112 #define FG_M_m_rp f->m_total_rp_v[1]
113 #define FG_M_n_rp f->m_total_rp_v[2]
115 FG_VECTOR_3 m_total_cg_v;
116 #define FG_M_total_cg_v f->m_total_cg_v
117 #define FG_M_l_cg f->m_total_cg_v[0]
118 #define FG_M_m_cg f->m_total_cg_v[1]
119 #define FG_M_n_cg f->m_total_cg_v[2]
121 FG_VECTOR_3 m_aero_v;
122 #define FG_M_aero_v f->m_aero_v
123 #define FG_M_l_aero f->m_aero_v[0]
124 #define FG_M_m_aero f->m_aero_v[1]
125 #define FG_M_n_aero f->m_aero_v[2]
127 FG_VECTOR_3 m_engine_v;
128 #define FG_M_engine_v f->m_engine_v
129 #define FG_M_l_engine f->m_engine_v[0]
130 #define FG_M_m_engine f->m_engine_v[1]
131 #define FG_M_n_engine f->m_engine_v[2]
133 FG_VECTOR_3 m_gear_v;
134 #define FG_M_gear_v f->m_gear_v
135 #define FG_M_l_gear f->m_gear_v[0]
136 #define FG_M_m_gear f->m_gear_v[1]
137 #define FG_M_n_gear f->m_gear_v[2]
139 /*============================== Accelerations ============================*/
141 FG_VECTOR_3 v_dot_local_v;
142 #define FG_V_dot_local_v f->v_dot_local_v
143 #define FG_V_dot_north f->v_dot_local_v[0]
144 #define FG_V_dot_east f->v_dot_local_v[1]
145 #define FG_V_dot_down f->v_dot_local_v[2]
147 FG_VECTOR_3 v_dot_body_v;
148 #define FG_V_dot_body_v f->v_dot_body_v
149 #define FG_U_dot_body f->v_dot_body_v[0]
150 #define FG_V_dot_body f->v_dot_body_v[1]
151 #define FG_W_dot_body f->v_dot_body_v[2]
153 FG_VECTOR_3 a_cg_body_v;
154 #define FG_A_cg_body_v f->a_cg_body_v
155 #define FG_A_X_cg f->a_cg_body_v[0]
156 #define FG_A_Y_cg f->a_cg_body_v[1]
157 #define FG_A_Z_cg f->a_cg_body_v[2]
159 FG_VECTOR_3 a_pilot_body_v;
160 #define FG_A_pilot_body_v f->a_pilot_body_v
161 #define FG_A_X_pilot f->a_pilot_body_v[0]
162 #define FG_A_Y_pilot f->a_pilot_body_v[1]
163 #define FG_A_Z_pilot f->a_pilot_body_v[2]
165 FG_VECTOR_3 n_cg_body_v;
166 #define FG_N_cg_body_v f->n_cg_body_v
167 #define FG_N_X_cg f->n_cg_body_v[0]
168 #define FG_N_Y_cg f->n_cg_body_v[1]
169 #define FG_N_Z_cg f->n_cg_body_v[2]
171 FG_VECTOR_3 n_pilot_body_v;
172 #define FG_N_pilot_body_v f->n_pilot_body_v
173 #define FG_N_X_pilot f->n_pilot_body_v[0]
174 #define FG_N_Y_pilot f->n_pilot_body_v[1]
175 #define FG_N_Z_pilot f->n_pilot_body_v[2]
177 FG_VECTOR_3 omega_dot_body_v;
178 #define FG_Omega_dot_body_v f->omega_dot_body_v
179 #define FG_P_dot_body f->omega_dot_body_v[0]
180 #define FG_Q_dot_body f->omega_dot_body_v[1]
181 #define FG_R_dot_body f->omega_dot_body_v[2]
184 /*============================== Velocities ===============================*/
186 FG_VECTOR_3 v_local_v;
187 #define FG_V_local_v f->v_local_v
188 #define FG_V_north f->v_local_v[0]
189 #define FG_V_east f->v_local_v[1]
190 #define FG_V_down f->v_local_v[2]
192 FG_VECTOR_3 v_local_rel_ground_v; /* V rel w.r.t. earth surface */
193 #define FG_V_local_rel_ground_v f->v_local_rel_ground_v
194 #define FG_V_north_rel_ground f->v_local_rel_ground_v[0]
195 #define FG_V_east_rel_ground f->v_local_rel_ground_v[1]
196 #define FG_V_down_rel_ground f->v_local_rel_ground_v[2]
198 FG_VECTOR_3 v_local_airmass_v; /* velocity of airmass (steady winds) */
199 #define FG_V_local_airmass_v f->v_local_airmass_v
200 #define FG_V_north_airmass f->v_local_airmass_v[0]
201 #define FG_V_east_airmass f->v_local_airmass_v[1]
202 #define FG_V_down_airmass f->v_local_airmass_v[2]
204 FG_VECTOR_3 v_local_rel_airmass_v; /* velocity of veh. relative to */
206 #define FG_V_local_rel_airmass_v f->v_local_rel_airmass_v
207 #define FG_V_north_rel_airmass f->v_local_rel_airmass_v[0]
208 #define FG_V_east_rel_airmass f->v_local_rel_airmass_v[1]
209 #define FG_V_down_rel_airmass f->v_local_rel_airmass_v[2]
211 FG_VECTOR_3 v_local_gust_v; /* linear turbulence components, L frame */
212 #define FG_V_local_gust_v f->v_local_gust_v
213 #define FG_U_gust f->v_local_gust_v[0]
214 #define FG_V_gust f->v_local_gust_v[1]
215 #define FG_W_gust f->v_local_gust_v[2]
217 FG_VECTOR_3 v_wind_body_v; /* Wind-relative velocities in body axis */
218 #define FG_V_wind_body_v f->v_wind_body_v
219 #define FG_U_body f->v_wind_body_v[0]
220 #define FG_V_body f->v_wind_body_v[1]
221 #define FG_W_body f->v_wind_body_v[2]
223 double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
224 double v_ground_speed, v_equiv, v_equiv_kts;
225 double v_calibrated, v_calibrated_kts;
226 #define FG_V_rel_wind f->v_rel_wind
227 #define FG_V_true_kts f->v_true_kts
228 #define FG_V_rel_ground f->v_rel_ground
229 #define FG_V_inertial f->v_inertial
230 #define FG_V_ground_speed f->v_ground_speed
231 #define FG_V_equiv f->v_equiv
232 #define FG_V_equiv_kts f->v_equiv_kts
233 #define FG_V_calibrated f->v_calibrated
234 #define FG_V_calibrated_kts f->v_calibrated_kts
236 FG_VECTOR_3 omega_body_v; /* Angular B rates */
237 #define FG_Omega_body_v f->omega_body_v
238 #define FG_P_body f->omega_body_v[0]
239 #define FG_Q_body f->omega_body_v[1]
240 #define FG_R_body f->omega_body_v[2]
242 FG_VECTOR_3 omega_local_v; /* Angular L rates */
243 #define FG_Omega_local_v f->omega_local_v
244 #define FG_P_local f->omega_local_v[0]
245 #define FG_Q_local f->omega_local_v[1]
246 #define FG_R_local f->omega_local_v[2]
248 FG_VECTOR_3 omega_total_v; /* Diff btw B & L */
249 #define FG_Omega_total_v f->omega_total_v
250 #define FG_P_total f->omega_total_v[0]
251 #define FG_Q_total f->omega_total_v[1]
252 #define FG_R_total f->omega_total_v[2]
254 FG_VECTOR_3 euler_rates_v;
255 #define FG_Euler_rates_v f->euler_rates_v
256 #define FG_Phi_dot f->euler_rates_v[0]
257 #define FG_Theta_dot f->euler_rates_v[1]
258 #define FG_Psi_dot f->euler_rates_v[2]
260 FG_VECTOR_3 geocentric_rates_v; /* Geocentric linear velocities */
261 #define FG_Geocentric_rates_v f->geocentric_rates_v
262 #define FG_Latitude_dot f->geocentric_rates_v[0]
263 #define FG_Longitude_dot f->geocentric_rates_v[1]
264 #define FG_Radius_dot f->geocentric_rates_v[2]
266 /*=============================== Positions ===============================*/
268 FG_VECTOR_3 geocentric_position_v;
269 #define FG_Geocentric_position_v f->geocentric_position_v
270 #define FG_Lat_geocentric f->geocentric_position_v[0]
271 #define FG_Lon_geocentric f->geocentric_position_v[1]
272 #define FG_Radius_to_vehicle f->geocentric_position_v[2]
274 FG_VECTOR_3 geodetic_position_v;
275 #define FG_Geodetic_position_v f->geodetic_position_v
276 #define FG_Latitude f->geodetic_position_v[0]
277 #define FG_Longitude f->geodetic_position_v[1]
278 #define FG_Altitude f->geodetic_position_v[2]
280 FG_VECTOR_3 euler_angles_v;
281 #define FG_Euler_angles_v f->euler_angles_v
282 #define FG_Phi f->euler_angles_v[0]
283 #define FG_Theta f->euler_angles_v[1]
284 #define FG_Psi f->euler_angles_v[2]
286 /*======================= Miscellaneous quantities ========================*/
288 double t_local_to_body_m[3][3]; /* Transformation matrix L to B */
289 #define FG_T_local_to_body_m f->t_local_to_body_m
290 #define FG_T_local_to_body_11 f->t_local_to_body_m[0][0]
291 #define FG_T_local_to_body_12 f->t_local_to_body_m[0][1]
292 #define FG_T_local_to_body_13 f->t_local_to_body_m[0][2]
293 #define FG_T_local_to_body_21 f->t_local_to_body_m[1][0]
294 #define FG_T_local_to_body_22 f->t_local_to_body_m[1][1]
295 #define FG_T_local_to_body_23 f->t_local_to_body_m[1][2]
296 #define FG_T_local_to_body_31 f->t_local_to_body_m[2][0]
297 #define FG_T_local_to_body_32 f->t_local_to_body_m[2][1]
298 #define FG_T_local_to_body_33 f->t_local_to_body_m[2][2]
300 double gravity; /* Local acceleration due to G */
301 #define FG_Gravity f->gravity
303 double centrifugal_relief; /* load factor reduction due to speed */
304 #define FG_Centrifugal_relief f->centrifugal_relief
306 double alpha, beta, alpha_dot, beta_dot; /* in radians */
307 #define FG_Alpha f->alpha
308 #define FG_Beta f->beta
309 #define FG_Alpha_dot f->alpha_dot
310 #define FG_Beta_dot f->beta_dot
312 double cos_alpha, sin_alpha, cos_beta, sin_beta;
313 #define FG_Cos_alpha f->cos_alpha
314 #define FG_Sin_alpha f->sin_alpha
315 #define FG_Cos_beta f->cos_beta
316 #define FG_Sin_beta f->sin_beta
318 double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
319 #define FG_Cos_phi f->cos_phi
320 #define FG_Sin_phi f->sin_phi
321 #define FG_Cos_theta f->cos_theta
322 #define FG_Sin_theta f->sin_theta
323 #define FG_Cos_psi f->cos_psi
324 #define FG_Sin_psi f->sin_psi
326 double gamma_vert_rad, gamma_horiz_rad; /* Flight path angles */
327 #define FG_Gamma_vert_rad f->gamma_vert_rad
328 #define FG_Gamma_horiz_rad f->gamma_horiz_rad
330 double sigma, density, v_sound, mach_number;
331 #define FG_Sigma f->sigma
332 #define FG_Density f->density
333 #define FG_V_sound f->v_sound
334 #define FG_Mach_number f->mach_number
336 double static_pressure, total_pressure, impact_pressure;
337 double dynamic_pressure;
338 #define FG_Static_pressure f->static_pressure
339 #define FG_Total_pressure f->total_pressure
340 #define FG_Impact_pressure f->impact_pressure
341 #define FG_Dynamic_pressure f->dynamic_pressure
343 double static_temperature, total_temperature;
344 #define FG_Static_temperature f->static_temperature
345 #define FG_Total_temperature f->total_temperature
347 double sea_level_radius, earth_position_angle;
348 #define FG_Sea_level_radius f->sea_level_radius
349 #define FG_Earth_position_angle f->earth_position_angle
351 double runway_altitude, runway_latitude, runway_longitude;
352 double runway_heading;
353 #define FG_Runway_altitude f->runway_altitude
354 #define FG_Runway_latitude f->runway_latitude
355 #define FG_Runway_longitude f->runway_longitude
356 #define FG_Runway_heading f->runway_heading
358 double radius_to_rwy;
359 #define FG_Radius_to_rwy f->radius_to_rwy
361 FG_VECTOR_3 d_cg_rwy_local_v; /* CG rel. to rwy in local coords */
362 #define FG_D_cg_rwy_local_v f->d_cg_rwy_local_v
363 #define FG_D_cg_north_of_rwy f->d_cg_rwy_local_v[0]
364 #define FG_D_cg_east_of_rwy f->d_cg_rwy_local_v[1]
365 #define FG_D_cg_above_rwy f->d_cg_rwy_local_v[2]
367 FG_VECTOR_3 d_cg_rwy_rwy_v; /* CG relative to rwy, in rwy coordinates */
368 #define FG_D_cg_rwy_rwy_v f->d_cg_rwy_rwy_v
369 #define FG_X_cg_rwy f->d_cg_rwy_rwy_v[0]
370 #define FG_Y_cg_rwy f->d_cg_rwy_rwy_v[1]
371 #define FG_H_cg_rwy f->d_cg_rwy_rwy_v[2]
373 FG_VECTOR_3 d_pilot_rwy_local_v; /* pilot rel. to rwy in local coords */
374 #define FG_D_pilot_rwy_local_v f->d_pilot_rwy_local_v
375 #define FG_D_pilot_north_of_rwy f->d_pilot_rwy_local_v[0]
376 #define FG_D_pilot_east_of_rwy f->d_pilot_rwy_local_v[1]
377 #define FG_D_pilot_above_rwy f->d_pilot_rwy_local_v[2]
379 FG_VECTOR_3 d_pilot_rwy_rwy_v; /* pilot rel. to rwy, in rwy coords. */
380 #define FG_D_pilot_rwy_rwy_v f->d_pilot_rwy_rwy_v
381 #define FG_X_pilot_rwy f->d_pilot_rwy_rwy_v[0]
382 #define FG_Y_pilot_rwy f->d_pilot_rwy_rwy_v[1]
383 #define FG_H_pilot_rwy f->d_pilot_rwy_rwy_v[2]
385 } fgFLIGHT, *pfgFlight;
388 extern fgFLIGHT cur_flight_params;
391 /* General interface to the flight model routines */
393 /* Initialize the flight model parameters */
394 int fgFlightModelInit(int model, fgFLIGHT *f, double dt);
396 /* Run multiloop iterations of the flight model */
397 int fgFlightModelUpdate(int model, fgFLIGHT *f, int multiloop);
400 #endif /* _FLIGHT_H */
404 /* Revision 1.14 1998/02/07 15:29:37 curt
405 /* Incorporated HUD changes and struct/typedef changes from Charlie Hotchkiss
406 /* <chotchkiss@namg.us.anritsu.com>
408 * Revision 1.13 1998/01/24 00:04:59 curt
411 * Revision 1.12 1998/01/22 02:59:32 curt
412 * Changed #ifdef FILE_H to #ifdef _FILE_H
414 * Revision 1.11 1998/01/19 19:27:03 curt
415 * Merged in make system changes from Bob Kuehne <rpk@sgi.com>
416 * This should simplify things tremendously.
418 * Revision 1.10 1997/12/10 22:37:43 curt
419 * Prepended "fg" on the name of all global structures that didn't have it yet.
420 * i.e. "struct WEATHER {}" became "struct fgWEATHER {}"
422 * Revision 1.9 1997/09/04 02:17:33 curt
425 * Revision 1.8 1997/08/27 03:30:06 curt
426 * Changed naming scheme of basic shared structures.
428 * Revision 1.7 1997/07/23 21:52:19 curt
429 * Put comments around the text after an #endif for increased portability.
431 * Revision 1.6 1997/06/21 17:52:22 curt
432 * Continue directory shuffling ... everything should be compilable/runnable
435 * Revision 1.5 1997/06/21 17:12:49 curt
436 * Capitalized subdirectory names.
438 * Revision 1.4 1997/05/29 22:39:57 curt
439 * Working on incorporating the LaRCsim flight model.
441 * Revision 1.3 1997/05/29 02:32:25 curt
442 * Starting to build generic flight model interface.
444 * Revision 1.2 1997/05/23 15:40:37 curt
445 * Added GNU copyright headers.
447 * Revision 1.1 1997/05/16 16:04:45 curt