1 // flight.h -- define shared flight model parameters
3 // Written by Curtis Olson, started May 1997.
5 // Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
22 // (Log is kept at end of this file)
29 #include <Flight/Slew/slew.h>
37 /* Define the various supported flight models (most not yet implemented) */
38 #define FG_SLEW 0 /* Slew (in MS terminology) */
39 #define FG_LARCSIM 1 /* The only "real" model that is currently
42 #define FG_SUPER_SONIC 3
43 #define FG_HELICOPTER 4
46 #define FG_PARACHUTE 7
47 #define FG_EXTERN_GPS 8 /* Driven via a serially connected GPS */
48 #define FG_EXTERN_NET 9 /* Driven externally via the net */
49 #define FG_EXTERN_NASA 10 /* Track the space shuttle ? */
52 typedef double FG_VECTOR_3[3];
54 /* This is based heavily on LaRCsim/ls_generic.h */
57 /*================== Mass properties and geometry values ==================*/
59 double mass, i_xx, i_yy, i_zz, i_xz; /* Inertias */
60 #define FG_Mass f->mass
61 #define FG_I_xx f->i_xx
62 #define FG_I_yy f->i_yy
63 #define FG_I_zz f->i_zz
64 #define FG_I_xz f->i_xz
66 FG_VECTOR_3 d_pilot_rp_body_v; /* Pilot location rel to ref pt */
67 #define FG_D_pilot_rp_body_v f->d_pilot_rp_body_v
68 #define FG_Dx_pilot f->d_pilot_rp_body_v[0]
69 #define FG_Dy_pilot f->d_pilot_rp_body_v[1]
70 #define FG_Dz_pilot f->d_pilot_rp_body_v[2]
72 FG_VECTOR_3 d_cg_rp_body_v; /* CG position w.r.t. ref. point */
73 #define FG_D_cg_rp_body_v f->d_cg_rp_body_v
74 #define FG_Dx_cg f->d_cg_rp_body_v[0]
75 #define FG_Dy_cg f->d_cg_rp_body_v[1]
76 #define FG_Dz_cg f->d_cg_rp_body_v[2]
78 /*================================ Forces =================================*/
80 FG_VECTOR_3 f_body_total_v;
81 #define FG_F_body_total_v f->f_body_total_v
82 #define FG_F_X f->f_body_total_v[0]
83 #define FG_F_Y f->f_body_total_v[1]
84 #define FG_F_Z f->f_body_total_v[2]
86 FG_VECTOR_3 f_local_total_v;
87 #define FG_F_local_total_v f->f_local_total_v
88 #define FG_F_north f->f_local_total_v[0]
89 #define FG_F_east f->f_local_total_v[1]
90 #define FG_F_down f->f_local_total_v[2]
93 #define FG_F_aero_v f->f_aero_v
94 #define FG_F_X_aero f->f_aero_v[0]
95 #define FG_F_Y_aero f->f_aero_v[1]
96 #define FG_F_Z_aero f->f_aero_v[2]
98 FG_VECTOR_3 f_engine_v;
99 #define FG_F_engine_v f->f_engine_v
100 #define FG_F_X_engine f->f_engine_v[0]
101 #define FG_F_Y_engine f->f_engine_v[1]
102 #define FG_F_Z_engine f->f_engine_v[2]
104 FG_VECTOR_3 f_gear_v;
105 #define FG_F_gear_v f->f_gear_v
106 #define FG_F_X_gear f->f_gear_v[0]
107 #define FG_F_Y_gear f->f_gear_v[1]
108 #define FG_F_Z_gear f->f_gear_v[2]
110 /*================================ Moments ================================*/
112 FG_VECTOR_3 m_total_rp_v;
113 #define FG_M_total_rp_v f->m_total_rp_v
114 #define FG_M_l_rp f->m_total_rp_v[0]
115 #define FG_M_m_rp f->m_total_rp_v[1]
116 #define FG_M_n_rp f->m_total_rp_v[2]
118 FG_VECTOR_3 m_total_cg_v;
119 #define FG_M_total_cg_v f->m_total_cg_v
120 #define FG_M_l_cg f->m_total_cg_v[0]
121 #define FG_M_m_cg f->m_total_cg_v[1]
122 #define FG_M_n_cg f->m_total_cg_v[2]
124 FG_VECTOR_3 m_aero_v;
125 #define FG_M_aero_v f->m_aero_v
126 #define FG_M_l_aero f->m_aero_v[0]
127 #define FG_M_m_aero f->m_aero_v[1]
128 #define FG_M_n_aero f->m_aero_v[2]
130 FG_VECTOR_3 m_engine_v;
131 #define FG_M_engine_v f->m_engine_v
132 #define FG_M_l_engine f->m_engine_v[0]
133 #define FG_M_m_engine f->m_engine_v[1]
134 #define FG_M_n_engine f->m_engine_v[2]
136 FG_VECTOR_3 m_gear_v;
137 #define FG_M_gear_v f->m_gear_v
138 #define FG_M_l_gear f->m_gear_v[0]
139 #define FG_M_m_gear f->m_gear_v[1]
140 #define FG_M_n_gear f->m_gear_v[2]
142 /*============================== Accelerations ============================*/
144 FG_VECTOR_3 v_dot_local_v;
145 #define FG_V_dot_local_v f->v_dot_local_v
146 #define FG_V_dot_north f->v_dot_local_v[0]
147 #define FG_V_dot_east f->v_dot_local_v[1]
148 #define FG_V_dot_down f->v_dot_local_v[2]
150 FG_VECTOR_3 v_dot_body_v;
151 #define FG_V_dot_body_v f->v_dot_body_v
152 #define FG_U_dot_body f->v_dot_body_v[0]
153 #define FG_V_dot_body f->v_dot_body_v[1]
154 #define FG_W_dot_body f->v_dot_body_v[2]
156 FG_VECTOR_3 a_cg_body_v;
157 #define FG_A_cg_body_v f->a_cg_body_v
158 #define FG_A_X_cg f->a_cg_body_v[0]
159 #define FG_A_Y_cg f->a_cg_body_v[1]
160 #define FG_A_Z_cg f->a_cg_body_v[2]
162 FG_VECTOR_3 a_pilot_body_v;
163 #define FG_A_pilot_body_v f->a_pilot_body_v
164 #define FG_A_X_pilot f->a_pilot_body_v[0]
165 #define FG_A_Y_pilot f->a_pilot_body_v[1]
166 #define FG_A_Z_pilot f->a_pilot_body_v[2]
168 FG_VECTOR_3 n_cg_body_v;
169 #define FG_N_cg_body_v f->n_cg_body_v
170 #define FG_N_X_cg f->n_cg_body_v[0]
171 #define FG_N_Y_cg f->n_cg_body_v[1]
172 #define FG_N_Z_cg f->n_cg_body_v[2]
174 FG_VECTOR_3 n_pilot_body_v;
175 #define FG_N_pilot_body_v f->n_pilot_body_v
176 #define FG_N_X_pilot f->n_pilot_body_v[0]
177 #define FG_N_Y_pilot f->n_pilot_body_v[1]
178 #define FG_N_Z_pilot f->n_pilot_body_v[2]
180 FG_VECTOR_3 omega_dot_body_v;
181 #define FG_Omega_dot_body_v f->omega_dot_body_v
182 #define FG_P_dot_body f->omega_dot_body_v[0]
183 #define FG_Q_dot_body f->omega_dot_body_v[1]
184 #define FG_R_dot_body f->omega_dot_body_v[2]
187 /*============================== Velocities ===============================*/
189 FG_VECTOR_3 v_local_v;
190 #define FG_V_local_v f->v_local_v
191 #define FG_V_north f->v_local_v[0]
192 #define FG_V_east f->v_local_v[1]
193 #define FG_V_down f->v_local_v[2]
195 FG_VECTOR_3 v_local_rel_ground_v; /* V rel w.r.t. earth surface */
196 #define FG_V_local_rel_ground_v f->v_local_rel_ground_v
197 #define FG_V_north_rel_ground f->v_local_rel_ground_v[0]
198 #define FG_V_east_rel_ground f->v_local_rel_ground_v[1]
199 #define FG_V_down_rel_ground f->v_local_rel_ground_v[2]
201 FG_VECTOR_3 v_local_airmass_v; /* velocity of airmass (steady winds) */
202 #define FG_V_local_airmass_v f->v_local_airmass_v
203 #define FG_V_north_airmass f->v_local_airmass_v[0]
204 #define FG_V_east_airmass f->v_local_airmass_v[1]
205 #define FG_V_down_airmass f->v_local_airmass_v[2]
207 FG_VECTOR_3 v_local_rel_airmass_v; /* velocity of veh. relative to */
209 #define FG_V_local_rel_airmass_v f->v_local_rel_airmass_v
210 #define FG_V_north_rel_airmass f->v_local_rel_airmass_v[0]
211 #define FG_V_east_rel_airmass f->v_local_rel_airmass_v[1]
212 #define FG_V_down_rel_airmass f->v_local_rel_airmass_v[2]
214 FG_VECTOR_3 v_local_gust_v; /* linear turbulence components, L frame */
215 #define FG_V_local_gust_v f->v_local_gust_v
216 #define FG_U_gust f->v_local_gust_v[0]
217 #define FG_V_gust f->v_local_gust_v[1]
218 #define FG_W_gust f->v_local_gust_v[2]
220 FG_VECTOR_3 v_wind_body_v; /* Wind-relative velocities in body axis */
221 #define FG_V_wind_body_v f->v_wind_body_v
222 #define FG_U_body f->v_wind_body_v[0]
223 #define FG_V_body f->v_wind_body_v[1]
224 #define FG_W_body f->v_wind_body_v[2]
226 double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
227 double v_ground_speed, v_equiv, v_equiv_kts;
228 double v_calibrated, v_calibrated_kts;
229 #define FG_V_rel_wind f->v_rel_wind
230 #define FG_V_true_kts f->v_true_kts
231 #define FG_V_rel_ground f->v_rel_ground
232 #define FG_V_inertial f->v_inertial
233 #define FG_V_ground_speed f->v_ground_speed
234 #define FG_V_equiv f->v_equiv
235 #define FG_V_equiv_kts f->v_equiv_kts
236 #define FG_V_calibrated f->v_calibrated
237 #define FG_V_calibrated_kts f->v_calibrated_kts
239 FG_VECTOR_3 omega_body_v; /* Angular B rates */
240 #define FG_Omega_body_v f->omega_body_v
241 #define FG_P_body f->omega_body_v[0]
242 #define FG_Q_body f->omega_body_v[1]
243 #define FG_R_body f->omega_body_v[2]
245 FG_VECTOR_3 omega_local_v; /* Angular L rates */
246 #define FG_Omega_local_v f->omega_local_v
247 #define FG_P_local f->omega_local_v[0]
248 #define FG_Q_local f->omega_local_v[1]
249 #define FG_R_local f->omega_local_v[2]
251 FG_VECTOR_3 omega_total_v; /* Diff btw B & L */
252 #define FG_Omega_total_v f->omega_total_v
253 #define FG_P_total f->omega_total_v[0]
254 #define FG_Q_total f->omega_total_v[1]
255 #define FG_R_total f->omega_total_v[2]
257 FG_VECTOR_3 euler_rates_v;
258 #define FG_Euler_rates_v f->euler_rates_v
259 #define FG_Phi_dot f->euler_rates_v[0]
260 #define FG_Theta_dot f->euler_rates_v[1]
261 #define FG_Psi_dot f->euler_rates_v[2]
263 FG_VECTOR_3 geocentric_rates_v; /* Geocentric linear velocities */
264 #define FG_Geocentric_rates_v f->geocentric_rates_v
265 #define FG_Latitude_dot f->geocentric_rates_v[0]
266 #define FG_Longitude_dot f->geocentric_rates_v[1]
267 #define FG_Radius_dot f->geocentric_rates_v[2]
269 /*=============================== Positions ===============================*/
271 FG_VECTOR_3 geocentric_position_v;
272 #define FG_Geocentric_position_v f->geocentric_position_v
273 #define FG_Lat_geocentric f->geocentric_position_v[0]
274 #define FG_Lon_geocentric f->geocentric_position_v[1]
275 #define FG_Radius_to_vehicle f->geocentric_position_v[2]
277 FG_VECTOR_3 geodetic_position_v;
278 #define FG_Geodetic_position_v f->geodetic_position_v
279 #define FG_Latitude f->geodetic_position_v[0]
280 #define FG_Longitude f->geodetic_position_v[1]
281 #define FG_Altitude f->geodetic_position_v[2]
283 FG_VECTOR_3 euler_angles_v;
284 #define FG_Euler_angles_v f->euler_angles_v
285 #define FG_Phi f->euler_angles_v[0]
286 #define FG_Theta f->euler_angles_v[1]
287 #define FG_Psi f->euler_angles_v[2]
289 /*======================= Miscellaneous quantities ========================*/
291 double t_local_to_body_m[3][3]; /* Transformation matrix L to B */
292 #define FG_T_local_to_body_m f->t_local_to_body_m
293 #define FG_T_local_to_body_11 f->t_local_to_body_m[0][0]
294 #define FG_T_local_to_body_12 f->t_local_to_body_m[0][1]
295 #define FG_T_local_to_body_13 f->t_local_to_body_m[0][2]
296 #define FG_T_local_to_body_21 f->t_local_to_body_m[1][0]
297 #define FG_T_local_to_body_22 f->t_local_to_body_m[1][1]
298 #define FG_T_local_to_body_23 f->t_local_to_body_m[1][2]
299 #define FG_T_local_to_body_31 f->t_local_to_body_m[2][0]
300 #define FG_T_local_to_body_32 f->t_local_to_body_m[2][1]
301 #define FG_T_local_to_body_33 f->t_local_to_body_m[2][2]
303 double gravity; /* Local acceleration due to G */
304 #define FG_Gravity f->gravity
306 double centrifugal_relief; /* load factor reduction due to speed */
307 #define FG_Centrifugal_relief f->centrifugal_relief
309 double alpha, beta, alpha_dot, beta_dot; /* in radians */
310 #define FG_Alpha f->alpha
311 #define FG_Beta f->beta
312 #define FG_Alpha_dot f->alpha_dot
313 #define FG_Beta_dot f->beta_dot
315 double cos_alpha, sin_alpha, cos_beta, sin_beta;
316 #define FG_Cos_alpha f->cos_alpha
317 #define FG_Sin_alpha f->sin_alpha
318 #define FG_Cos_beta f->cos_beta
319 #define FG_Sin_beta f->sin_beta
321 double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
322 #define FG_Cos_phi f->cos_phi
323 #define FG_Sin_phi f->sin_phi
324 #define FG_Cos_theta f->cos_theta
325 #define FG_Sin_theta f->sin_theta
326 #define FG_Cos_psi f->cos_psi
327 #define FG_Sin_psi f->sin_psi
329 double gamma_vert_rad, gamma_horiz_rad; /* Flight path angles */
330 #define FG_Gamma_vert_rad f->gamma_vert_rad
331 #define FG_Gamma_horiz_rad f->gamma_horiz_rad
333 double sigma, density, v_sound, mach_number;
334 #define FG_Sigma f->sigma
335 #define FG_Density f->density
336 #define FG_V_sound f->v_sound
337 #define FG_Mach_number f->mach_number
339 double static_pressure, total_pressure, impact_pressure;
340 double dynamic_pressure;
341 #define FG_Static_pressure f->static_pressure
342 #define FG_Total_pressure f->total_pressure
343 #define FG_Impact_pressure f->impact_pressure
344 #define FG_Dynamic_pressure f->dynamic_pressure
346 double static_temperature, total_temperature;
347 #define FG_Static_temperature f->static_temperature
348 #define FG_Total_temperature f->total_temperature
350 double sea_level_radius, earth_position_angle;
351 #define FG_Sea_level_radius f->sea_level_radius
352 #define FG_Earth_position_angle f->earth_position_angle
354 double runway_altitude, runway_latitude, runway_longitude;
355 double runway_heading;
356 #define FG_Runway_altitude f->runway_altitude
357 #define FG_Runway_latitude f->runway_latitude
358 #define FG_Runway_longitude f->runway_longitude
359 #define FG_Runway_heading f->runway_heading
361 double radius_to_rwy;
362 #define FG_Radius_to_rwy f->radius_to_rwy
364 FG_VECTOR_3 d_cg_rwy_local_v; /* CG rel. to rwy in local coords */
365 #define FG_D_cg_rwy_local_v f->d_cg_rwy_local_v
366 #define FG_D_cg_north_of_rwy f->d_cg_rwy_local_v[0]
367 #define FG_D_cg_east_of_rwy f->d_cg_rwy_local_v[1]
368 #define FG_D_cg_above_rwy f->d_cg_rwy_local_v[2]
370 FG_VECTOR_3 d_cg_rwy_rwy_v; /* CG relative to rwy, in rwy coordinates */
371 #define FG_D_cg_rwy_rwy_v f->d_cg_rwy_rwy_v
372 #define FG_X_cg_rwy f->d_cg_rwy_rwy_v[0]
373 #define FG_Y_cg_rwy f->d_cg_rwy_rwy_v[1]
374 #define FG_H_cg_rwy f->d_cg_rwy_rwy_v[2]
376 FG_VECTOR_3 d_pilot_rwy_local_v; /* pilot rel. to rwy in local coords */
377 #define FG_D_pilot_rwy_local_v f->d_pilot_rwy_local_v
378 #define FG_D_pilot_north_of_rwy f->d_pilot_rwy_local_v[0]
379 #define FG_D_pilot_east_of_rwy f->d_pilot_rwy_local_v[1]
380 #define FG_D_pilot_above_rwy f->d_pilot_rwy_local_v[2]
382 FG_VECTOR_3 d_pilot_rwy_rwy_v; /* pilot rel. to rwy, in rwy coords. */
383 #define FG_D_pilot_rwy_rwy_v f->d_pilot_rwy_rwy_v
384 #define FG_X_pilot_rwy f->d_pilot_rwy_rwy_v[0]
385 #define FG_Y_pilot_rwy f->d_pilot_rwy_rwy_v[1]
386 #define FG_H_pilot_rwy f->d_pilot_rwy_rwy_v[2]
388 double climb_rate; /* in feet per second */
389 #define FG_Climb_Rate f->climb_rate
391 } fgFLIGHT, *pfgFlight;
394 extern fgFLIGHT cur_flight_params;
397 /* General interface to the flight model routines */
399 /* Initialize the flight model parameters */
400 int fgFlightModelInit(int model, fgFLIGHT *f, double dt);
402 /* Run multiloop iterations of the flight model */
403 int fgFlightModelUpdate(int model, fgFLIGHT *f, int multiloop);
405 /* Set the altitude (force) */
406 int fgFlightModelSetAltitude(int model, fgFLIGHT *f, double alt_meters);
414 #endif /* _FLIGHT_H */
418 // Revision 1.1 1998/10/16 20:16:44 curt
419 // Renamed flight.[ch] to flight.[ch]xx
421 // Revision 1.20 1998/09/29 14:57:39 curt
422 // c++-ified comments.
424 // Revision 1.19 1998/09/29 02:02:41 curt
425 // Added a rate of climb calculation.
427 // Revision 1.18 1998/07/30 23:44:36 curt
428 // Beginning to add support for multiple flight models.
430 // Revision 1.17 1998/07/12 03:08:28 curt
431 // Added fgFlightModelSetAltitude() to force the altitude to something
432 // other than the current altitude. LaRCsim doesn't let you do this by just
433 // changing FG_Altitude.
435 // Revision 1.16 1998/04/22 13:26:20 curt
436 // C++ - ifing the code a bit.
438 // Revision 1.15 1998/04/21 16:59:33 curt
439 // Integrated autopilot.
440 // Prepairing for C++ integration.
442 // Revision 1.14 1998/02/07 15:29:37 curt
443 // Incorporated HUD changes and struct/typedef changes from Charlie Hotchkiss
444 // <chotchkiss@namg.us.anritsu.com>
446 // Revision 1.13 1998/01/24 00:04:59 curt
449 // Revision 1.12 1998/01/22 02:59:32 curt
450 // Changed #ifdef FILE_H to #ifdef _FILE_H
452 // Revision 1.11 1998/01/19 19:27:03 curt
453 // Merged in make system changes from Bob Kuehne <rpk@sgi.com>
454 // This should simplify things tremendously.
456 // Revision 1.10 1997/12/10 22:37:43 curt
457 // Prepended "fg" on the name of all global structures that didn't have it yet.
458 // i.e. "struct WEATHER {}" became "struct fgWEATHER {}"
460 // Revision 1.9 1997/09/04 02:17:33 curt
463 // Revision 1.8 1997/08/27 03:30:06 curt
464 // Changed naming scheme of basic shared structures.
466 // Revision 1.7 1997/07/23 21:52:19 curt
467 // Put comments around the text after an #endif for increased portability.
469 // Revision 1.6 1997/06/21 17:52:22 curt
470 // Continue directory shuffling ... everything should be compilable/runnable
473 // Revision 1.5 1997/06/21 17:12:49 curt
474 // Capitalized subdirectory names.
476 // Revision 1.4 1997/05/29 22:39:57 curt
477 // Working on incorporating the LaRCsim flight model.
479 // Revision 1.3 1997/05/29 02:32:25 curt
480 // Starting to build generic flight model interface.
482 // Revision 1.2 1997/05/23 15:40:37 curt
483 // Added GNU copyright headers.
485 // Revision 1.1 1997/05/16 16:04:45 curt