1 // flight.hxx -- 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)
30 # error This library requires C++
36 `FGState::get_Longitude ()'
37 `FGState::get_Latitude ()'
38 `FGState::get_Altitude ()'
40 `FGState::get_Theta ()'
42 `FGState::get_V_equiv_kts ()'
44 `FGState::get_Mass ()'
45 `FGState::get_I_xx ()'
46 `FGState::get_I_yy ()'
47 `FGState::get_I_zz ()'
48 `FGState::get_I_xz ()'
50 `FGState::get_V_north ()'
51 `FGState::get_V_east ()'
52 `FGState::get_V_down ()'
54 `FGState::get_P_Body ()'
55 `FGState::get_Q_Body ()'
56 `FGState::get_R_Body ()'
58 `FGState::get_Gamma_vert_rad ()'
59 `FGState::get_Climb_Rate ()'
60 `FGState::get_Alpha ()'
61 `FGState::get_Beta ()'
63 `FGState::get_Runway_altitude ()'
65 `FGState::get_Lon_geocentric ()'
66 `FGState::get_Lat_geocentric ()'
67 `FGState::get_Sea_level_radius ()'
68 `FGState::get_Earth_position_angle ()'
70 `FGState::get_Latitude_dot()'
71 `FGState::get_Longitude_dot()'
72 `FGState::get_Radius_dot()'
74 `FGState::get_Dx_cg ()'
75 `FGState::get_Dy_cg ()'
76 `FGState::get_Dz_cg ()'
78 `FGState::get_T_local_to_body_11 ()' ... `FGState::get_T_local_to_body_33 ()'
80 `FGState::get_Radius_to_vehicle ()'
85 #include <Time/timestamp.hxx>
88 # error This library requires C++
92 typedef double FG_VECTOR_3[3];
95 // This is based heavily on LaRCsim/ls_generic.h
100 // Define the various supported flight models (many not yet implemented)
102 // Slew (in MS terminology)
105 // The only "real" model that is currently implemented
115 // Driven externally via a serial port, net, file, etc.
119 /*================== Mass properties and geometry values ==================*/
122 double mass, i_xx, i_yy, i_zz, i_xz;
123 inline double get_Mass() const { return mass; }
124 inline double get_I_xx() const { return i_xx; }
125 inline double get_I_yy() const { return i_yy; }
126 inline double get_I_zz() const { return i_zz; }
127 inline double get_I_xz() const { return i_xz; }
128 inline void set_Inertias( double m, double xx, double yy,
129 double zz, double xz)
138 // Pilot location rel to ref pt
139 FG_VECTOR_3 d_pilot_rp_body_v;
140 // inline double * get_D_pilot_rp_body_v() {
141 // return d_pilot_rp_body_v;
143 // inline double get_Dx_pilot() const { return d_pilot_rp_body_v[0]; }
144 // inline double get_Dy_pilot() const { return d_pilot_rp_body_v[1]; }
145 // inline double get_Dz_pilot() const { return d_pilot_rp_body_v[2]; }
146 /* inline void set_Pilot_Location( double dx, double dy, double dz ) {
147 d_pilot_rp_body_v[0] = dx;
148 d_pilot_rp_body_v[1] = dy;
149 d_pilot_rp_body_v[2] = dz;
152 // CG position w.r.t. ref. point
153 FG_VECTOR_3 d_cg_rp_body_v;
154 // inline double * get_D_cg_rp_body_v() { return d_cg_rp_body_v; }
155 inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; }
156 inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; }
157 inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
158 inline void set_CG_Position( double dx, double dy, double dz ) {
159 d_cg_rp_body_v[0] = dx;
160 d_cg_rp_body_v[1] = dy;
161 d_cg_rp_body_v[2] = dz;
164 /*================================ Forces =================================*/
166 FG_VECTOR_3 f_body_total_v;
167 // inline double * get_F_body_total_v() { return f_body_total_v; }
168 // inline double get_F_X() const { return f_body_total_v[0]; }
169 // inline double get_F_Y() const { return f_body_total_v[1]; }
170 // inline double get_F_Z() const { return f_body_total_v[2]; }
171 /* inline void set_Forces_Body_Total( double x, double y, double z ) {
172 f_body_total_v[0] = x;
173 f_body_total_v[1] = y;
174 f_body_total_v[2] = z;
177 FG_VECTOR_3 f_local_total_v;
178 // inline double * get_F_local_total_v() { return f_local_total_v; }
179 // inline double get_F_north() const { return f_local_total_v[0]; }
180 // inline double get_F_east() const { return f_local_total_v[1]; }
181 // inline double get_F_down() const { return f_local_total_v[2]; }
182 /* inline void set_Forces_Local_Total( double x, double y, double z ) {
183 f_local_total_v[0] = x;
184 f_local_total_v[1] = y;
185 f_local_total_v[2] = z;
188 FG_VECTOR_3 f_aero_v;
189 // inline double * get_F_aero_v() { return f_aero_v; }
190 // inline double get_F_X_aero() const { return f_aero_v[0]; }
191 // inline double get_F_Y_aero() const { return f_aero_v[1]; }
192 // inline double get_F_Z_aero() const { return f_aero_v[2]; }
193 /* inline void set_Forces_Aero( double x, double y, double z ) {
199 FG_VECTOR_3 f_engine_v;
200 // inline double * get_F_engine_v() { return f_engine_v; }
201 // inline double get_F_X_engine() const { return f_engine_v[0]; }
202 // inline double get_F_Y_engine() const { return f_engine_v[1]; }
203 // inline double get_F_Z_engine() const { return f_engine_v[2]; }
204 /* inline void set_Forces_Engine( double x, double y, double z ) {
210 FG_VECTOR_3 f_gear_v;
211 // inline double * get_F_gear_v() { return f_gear_v; }
212 // inline double get_F_X_gear() const { return f_gear_v[0]; }
213 // inline double get_F_Y_gear() const { return f_gear_v[1]; }
214 // inline double get_F_Z_gear() const { return f_gear_v[2]; }
215 /* inline void set_Forces_Gear( double x, double y, double z ) {
221 /*================================ Moments ================================*/
223 FG_VECTOR_3 m_total_rp_v;
224 // inline double * get_M_total_rp_v() { return m_total_rp_v; }
225 // inline double get_M_l_rp() const { return m_total_rp_v[0]; }
226 // inline double get_M_m_rp() const { return m_total_rp_v[1]; }
227 // inline double get_M_n_rp() const { return m_total_rp_v[2]; }
228 /* inline void set_Moments_Total_RP( double l, double m, double n ) {
234 FG_VECTOR_3 m_total_cg_v;
235 // inline double * get_M_total_cg_v() { return m_total_cg_v; }
236 // inline double get_M_l_cg() const { return m_total_cg_v[0]; }
237 // inline double get_M_m_cg() const { return m_total_cg_v[1]; }
238 // inline double get_M_n_cg() const { return m_total_cg_v[2]; }
239 /* inline void set_Moments_Total_CG( double l, double m, double n ) {
245 FG_VECTOR_3 m_aero_v;
246 // inline double * get_M_aero_v() { return m_aero_v; }
247 // inline double get_M_l_aero() const { return m_aero_v[0]; }
248 // inline double get_M_m_aero() const { return m_aero_v[1]; }
249 // inline double get_M_n_aero() const { return m_aero_v[2]; }
250 /* inline void set_Moments_Aero( double l, double m, double n ) {
256 FG_VECTOR_3 m_engine_v;
257 // inline double * get_M_engine_v() { return m_engine_v; }
258 // inline double get_M_l_engine() const { return m_engine_v[0]; }
259 // inline double get_M_m_engine() const { return m_engine_v[1]; }
260 // inline double get_M_n_engine() const { return m_engine_v[2]; }
261 /* inline void set_Moments_Engine( double l, double m, double n ) {
267 FG_VECTOR_3 m_gear_v;
268 // inline double * get_M_gear_v() { return m_gear_v; }
269 // inline double get_M_l_gear() const { return m_gear_v[0]; }
270 // inline double get_M_m_gear() const { return m_gear_v[1]; }
271 // inline double get_M_n_gear() const { return m_gear_v[2]; }
272 /* inline void set_Moments_Gear( double l, double m, double n ) {
278 /*============================== Accelerations ============================*/
280 FG_VECTOR_3 v_dot_local_v;
281 // inline double * get_V_dot_local_v() { return v_dot_local_v; }
282 // inline double get_V_dot_north() const { return v_dot_local_v[0]; }
283 // inline double get_V_dot_east() const { return v_dot_local_v[1]; }
284 // inline double get_V_dot_down() const { return v_dot_local_v[2]; }
285 /* inline void set_Accels_Local( double north, double east, double down ) {
286 v_dot_local_v[0] = north;
287 v_dot_local_v[1] = east;
288 v_dot_local_v[2] = down;
291 FG_VECTOR_3 v_dot_body_v;
292 // inline double * get_V_dot_body_v() { return v_dot_body_v; }
293 // inline double get_U_dot_body() const { return v_dot_body_v[0]; }
294 // inline double get_V_dot_body() const { return v_dot_body_v[1]; }
295 // inline double get_W_dot_body() const { return v_dot_body_v[2]; }
296 /* inline void set_Accels_Body( double u, double v, double w ) {
297 v_dot_local_v[0] = u;
298 v_dot_local_v[1] = v;
299 v_dot_local_v[2] = w;
302 FG_VECTOR_3 a_cg_body_v;
303 // inline double * get_A_cg_body_v() { return a_cg_body_v; }
304 // inline double get_A_X_cg() const { return a_cg_body_v[0]; }
305 // inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
306 // inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
307 /* inline void set_Accels_CG_Body( double x, double y, double z ) {
313 FG_VECTOR_3 a_pilot_body_v;
314 // inline double * get_A_pilot_body_v() { return a_pilot_body_v; }
315 // inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
316 // inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
317 // inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
318 /* inline void set_Accels_Pilot_Body( double x, double y, double z ) {
319 a_pilot_body_v[0] = x;
320 a_pilot_body_v[1] = y;
321 a_pilot_body_v[2] = z;
324 FG_VECTOR_3 n_cg_body_v;
325 // inline double * get_N_cg_body_v() { return n_cg_body_v; }
326 // inline double get_N_X_cg() const { return n_cg_body_v[0]; }
327 // inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
328 // inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
329 /* inline void set_Accels_CG_Body_N( double x, double y, double z ) {
335 FG_VECTOR_3 n_pilot_body_v;
336 // inline double * get_N_pilot_body_v() { return n_pilot_body_v; }
337 // inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
338 // inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; }
339 // inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; }
340 /* inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
341 n_pilot_body_v[0] = x;
342 n_pilot_body_v[1] = y;
343 n_pilot_body_v[2] = z;
346 FG_VECTOR_3 omega_dot_body_v;
347 // inline double * get_Omega_dot_body_v() { return omega_dot_body_v; }
348 // inline double get_P_dot_body() const { return omega_dot_body_v[0]; }
349 // inline double get_Q_dot_body() const { return omega_dot_body_v[1]; }
350 // inline double get_R_dot_body() const { return omega_dot_body_v[2]; }
351 /* inline void set_Accels_Omega( double p, double q, double r ) {
352 omega_dot_body_v[0] = p;
353 omega_dot_body_v[1] = q;
354 omega_dot_body_v[2] = r;
358 /*============================== Velocities ===============================*/
360 FG_VECTOR_3 v_local_v;
361 // inline double * get_V_local_v() { return v_local_v; }
362 inline double get_V_north() const { return v_local_v[0]; }
363 inline double get_V_east() const { return v_local_v[1]; }
364 inline double get_V_down() const { return v_local_v[2]; }
365 inline void set_Velocities_Local( double north, double east, double down ) {
366 v_local_v[0] = north;
371 FG_VECTOR_3 v_local_rel_ground_v; // V rel w.r.t. earth surface
372 // inline double * get_V_local_rel_ground_v() { return v_local_rel_ground_v; }
373 // inline double get_V_north_rel_ground() const {
374 // return v_local_rel_ground_v[0];
376 // inline double get_V_east_rel_ground() const {
377 // return v_local_rel_ground_v[1];
379 // inline double get_V_down_rel_ground() const {
380 // return v_local_rel_ground_v[2];
382 /* inline void set_Velocities_Ground(double north, double east, double down) {
383 v_local_rel_ground_v[0] = north;
384 v_local_rel_ground_v[1] = east;
385 v_local_rel_ground_v[2] = down;
388 FG_VECTOR_3 v_local_airmass_v; // velocity of airmass (steady winds)
389 // inline double * get_V_local_airmass_v() { return v_local_airmass_v; }
390 // inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
391 // inline double get_V_east_airmass() const { return v_local_airmass_v[1]; }
392 // inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
393 /* inline void set_Velocities_Local_Airmass( double north, double east,
396 v_local_airmass_v[0] = north;
397 v_local_airmass_v[1] = east;
398 v_local_airmass_v[2] = down;
401 FG_VECTOR_3 v_local_rel_airmass_v; // velocity of veh. relative to
403 // inline double * get_V_local_rel_airmass_v() {
404 //return v_local_rel_airmass_v;
406 // inline double get_V_north_rel_airmass() const {
407 //return v_local_rel_airmass_v[0];
409 // inline double get_V_east_rel_airmass() const {
410 //return v_local_rel_airmass_v[1];
412 // inline double get_V_down_rel_airmass() const {
413 //return v_local_rel_airmass_v[2];
415 /* inline void set_Velocities_Local_Rel_Airmass( double north, double east,
418 v_local_rel_airmass_v[0] = north;
419 v_local_rel_airmass_v[1] = east;
420 v_local_rel_airmass_v[2] = down;
423 FG_VECTOR_3 v_local_gust_v; // linear turbulence components, L frame
424 // inline double * get_V_local_gust_v() { return v_local_gust_v; }
425 // inline double get_U_gust() const { return v_local_gust_v[0]; }
426 // inline double get_V_gust() const { return v_local_gust_v[1]; }
427 // inline double get_W_gust() const { return v_local_gust_v[2]; }
428 /* inline void set_Velocities_Gust( double u, double v, double w)
430 v_local_gust_v[0] = u;
431 v_local_gust_v[1] = v;
432 v_local_gust_v[2] = w;
435 FG_VECTOR_3 v_wind_body_v; // Wind-relative velocities in body axis
436 // inline double * get_V_wind_body_v() { return v_wind_body_v; }
437 // inline double get_U_body() const { return v_wind_body_v[0]; }
438 // inline double get_V_body() const { return v_wind_body_v[1]; }
439 // inline double get_W_body() const { return v_wind_body_v[2]; }
440 /* inline void set_Velocities_Wind_Body( double u, double v, double w)
442 v_wind_body_v[0] = u;
443 v_wind_body_v[1] = v;
444 v_wind_body_v[2] = w;
447 double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
448 double v_ground_speed, v_equiv, v_equiv_kts;
449 double v_calibrated, v_calibrated_kts;
451 // inline double get_V_rel_wind() const { return v_rel_wind; }
452 // inline void set_V_rel_wind(double wind) { v_rel_wind = wind; }
454 // inline double get_V_true_kts() const { return v_true_kts; }
455 // inline void set_V_true_kts(double kts) { v_true_kts = kts; }
457 // inline double get_V_rel_ground() const { return v_rel_ground; }
458 // inline void set_V_rel_ground( double v ) { v_rel_ground = v; }
460 // inline double get_V_inertial() const { return v_inertial; }
461 // inline void set_V_inertial(double v) { v_inertial = v; }
463 // inline double get_V_ground_speed() const { return v_ground_speed; }
464 // inline void set_V_ground_speed( double v) { v_ground_speed = v; }
466 // inline double get_V_equiv() const { return v_equiv; }
467 // inline void set_V_equiv( double v ) { v_equiv = v; }
469 inline double get_V_equiv_kts() const { return v_equiv_kts; }
470 inline void set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
472 // inline double get_V_calibrated() const { return v_calibrated; }
473 // inline void set_V_calibrated( double v ) { v_calibrated = v; }
475 // inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
476 // inline void set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
478 FG_VECTOR_3 omega_body_v; // Angular B rates
479 // inline double * get_Omega_body_v() { return omega_body_v; }
480 inline double get_P_body() const { return omega_body_v[0]; }
481 inline double get_Q_body() const { return omega_body_v[1]; }
482 inline double get_R_body() const { return omega_body_v[2]; }
483 inline void set_Omega_Body( double p, double q, double r ) {
489 FG_VECTOR_3 omega_local_v; // Angular L rates
490 // inline double * get_Omega_local_v() { return omega_local_v; }
491 // inline double get_P_local() const { return omega_local_v[0]; }
492 // inline double get_Q_local() const { return omega_local_v[1]; }
493 // inline double get_R_local() const { return omega_local_v[2]; }
494 /* inline void set_Omega_Local( double p, double q, double r ) {
495 omega_local_v[0] = p;
496 omega_local_v[1] = q;
497 omega_local_v[2] = r;
500 FG_VECTOR_3 omega_total_v; // Diff btw B & L
501 // inline double * get_Omega_total_v() { return omega_total_v; }
502 // inline double get_P_total() const { return omega_total_v[0]; }
503 // inline double get_Q_total() const { return omega_total_v[1]; }
504 // inline double get_R_total() const { return omega_total_v[2]; }
505 /* inline void set_Omega_Total( double p, double q, double r ) {
506 omega_total_v[0] = p;
507 omega_total_v[1] = q;
508 omega_total_v[2] = r;
511 FG_VECTOR_3 euler_rates_v;
512 // inline double * get_Euler_rates_v() { return euler_rates_v; }
513 // inline double get_Phi_dot() const { return euler_rates_v[0]; }
514 // inline double get_Theta_dot() const { return euler_rates_v[1]; }
515 // inline double get_Psi_dot() const { return euler_rates_v[2]; }
516 /* inline void set_Euler_Rates( double phi, double theta, double psi ) {
517 euler_rates_v[0] = phi;
518 euler_rates_v[1] = theta;
519 euler_rates_v[2] = psi;
522 FG_VECTOR_3 geocentric_rates_v; // Geocentric linear velocities
523 // inline double * get_Geocentric_rates_v() { return geocentric_rates_v; }
524 inline double get_Latitude_dot() const { return geocentric_rates_v[0]; }
525 inline double get_Longitude_dot() const { return geocentric_rates_v[1]; }
526 inline double get_Radius_dot() const { return geocentric_rates_v[2]; }
527 inline void set_Geocentric_Rates( double lat, double lon, double rad ) {
528 geocentric_rates_v[0] = lat;
529 geocentric_rates_v[1] = lon;
530 geocentric_rates_v[2] = rad;
533 /*=============================== Positions ===============================*/
535 FG_VECTOR_3 geocentric_position_v;
536 // inline double * get_Geocentric_position_v() {
537 // return geocentric_position_v;
539 inline double get_Lat_geocentric() const {
540 return geocentric_position_v[0];
542 inline double get_Lon_geocentric() const {
543 return geocentric_position_v[1];
545 inline double get_Radius_to_vehicle() const {
546 return geocentric_position_v[2];
548 inline void set_Radius_to_vehicle(double radius) {
549 geocentric_position_v[2] = radius;
552 inline void set_Geocentric_Position( double lat, double lon, double rad ) {
553 geocentric_position_v[0] = lat;
554 geocentric_position_v[1] = lon;
555 geocentric_position_v[2] = rad;
558 FG_VECTOR_3 geodetic_position_v;
559 // inline double * get_Geodetic_position_v() { return geodetic_position_v; }
560 inline double get_Latitude() const { return geodetic_position_v[0]; }
561 inline void set_Latitude(double lat) { geodetic_position_v[0] = lat; }
562 inline double get_Longitude() const { return geodetic_position_v[1]; }
563 inline void set_Longitude(double lon) { geodetic_position_v[1] = lon; }
564 inline double get_Altitude() const { return geodetic_position_v[2]; }
565 inline void set_Altitude(double altitude) {
566 geodetic_position_v[2] = altitude;
568 inline void set_Geodetic_Position( double lat, double lon, double alt ) {
569 geodetic_position_v[0] = lat;
570 geodetic_position_v[1] = lon;
571 geodetic_position_v[2] = alt;
574 FG_VECTOR_3 euler_angles_v;
575 // inline double * get_Euler_angles_v() { return euler_angles_v; }
576 inline double get_Phi() const { return euler_angles_v[0]; }
577 inline double get_Theta() const { return euler_angles_v[1]; }
578 inline double get_Psi() const { return euler_angles_v[2]; }
579 inline void set_Euler_Angles( double phi, double theta, double psi ) {
580 euler_angles_v[0] = phi;
581 euler_angles_v[1] = theta;
582 euler_angles_v[2] = psi;
586 /*======================= Miscellaneous quantities ========================*/
588 double t_local_to_body_m[3][3]; // Transformation matrix L to B
589 // inline double * get_T_local_to_body_m() { return t_local_to_body_m; }
590 inline double get_T_local_to_body_11() const {
591 return t_local_to_body_m[0][0];
593 inline double get_T_local_to_body_12() const {
594 return t_local_to_body_m[0][1];
596 inline double get_T_local_to_body_13() const {
597 return t_local_to_body_m[0][2];
599 inline double get_T_local_to_body_21() const {
600 return t_local_to_body_m[1][0];
602 inline double get_T_local_to_body_22() const {
603 return t_local_to_body_m[1][1];
605 inline double get_T_local_to_body_23() const {
606 return t_local_to_body_m[1][2];
608 inline double get_T_local_to_body_31() const {
609 return t_local_to_body_m[2][0];
611 inline double get_T_local_to_body_32() const {
612 return t_local_to_body_m[2][1];
614 inline double get_T_local_to_body_33() const {
615 return t_local_to_body_m[2][2];
617 inline void set_T_Local_to_Body( double m[3][3] ) {
619 for ( i = 0; i < 3; i++ ) {
620 for ( j = 0; j < 3; j++ ) {
621 t_local_to_body_m[i][j] = m[i][j];
626 double gravity; // Local acceleration due to G
627 // inline double get_Gravity() const { return gravity; }
628 // inline void set_Gravity(double g) { gravity = g; }
630 double centrifugal_relief; // load factor reduction due to speed
631 // inline double get_Centrifugal_relief() const { return centrifugal_relief; }
632 // inline void set_Centrifugal_relief(double cr) { centrifugal_relief = cr; }
634 double alpha, beta, alpha_dot, beta_dot; // in radians
635 inline double get_Alpha() const { return alpha; }
636 inline void set_Alpha( double a ) { alpha = a; }
637 inline double get_Beta() const { return beta; }
638 inline void set_Beta( double b ) { beta = b; }
639 // inline double get_Alpha_dot() const { return alpha_dot; }
640 // inline void set_Alpha_dot( double ad ) { alpha_dot = ad; }
641 // inline double get_Beta_dot() const { return beta_dot; }
642 // inline void set_Beta_dot( double bd ) { beta_dot = bd; }
644 double cos_alpha, sin_alpha, cos_beta, sin_beta;
645 // inline double get_Cos_alpha() const { return cos_alpha; }
646 // inline void set_Cos_alpha( double ca ) { cos_alpha = ca; }
647 // inline double get_Sin_alpha() const { return sin_alpha; }
648 // inline void set_Sin_alpha( double sa ) { sin_alpha = sa; }
649 // inline double get_Cos_beta() const { return cos_beta; }
650 // inline void set_Cos_beta( double cb ) { cos_beta = cb; }
651 // inline double get_Sin_beta() const { return sin_beta; }
652 // inline void set_Sin_beta( double sb ) { sin_beta = sb; }
654 double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
655 // inline double get_Cos_phi() const { return cos_phi; }
656 // inline void set_Cos_phi( double cp ) { cos_phi = cp; }
657 // inline double get_Sin_phi() const { return sin_phi; }
658 // inline void set_Sin_phi( double sp ) { sin_phi = sp; }
659 // inline double get_Cos_theta() const { return cos_theta; }
660 // inline void set_Cos_theta( double ct ) { cos_theta = ct; }
661 // inline double get_Sin_theta() const { return sin_theta; }
662 // inline void set_Sin_theta( double st ) { sin_theta = st; }
663 // inline double get_Cos_psi() const { return cos_psi; }
664 // inline void set_Cos_psi( double cp ) { cos_psi = cp; }
665 // inline double get_Sin_psi() const { return sin_psi; }
666 // inline void set_Sin_psi( double sp ) { sin_psi = sp; }
668 double gamma_vert_rad, gamma_horiz_rad; // Flight path angles
669 inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
670 inline void set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
671 // inline double get_Gamma_horiz_rad() const { return gamma_horiz_rad; }
672 // inline void set_Gamma_horiz_rad( double gh ) { gamma_horiz_rad = gh; }
674 double sigma, density, v_sound, mach_number;
675 // inline double get_Sigma() const { return sigma; }
676 // inline void set_Sigma( double s ) { sigma = s; }
677 // inline double get_Density() const { return density; }
678 // inline void set_Density( double d ) { density = d; }
679 // inline double get_V_sound() const { return v_sound; }
680 // inline void set_V_sound( double v ) { v_sound = v; }
681 // inline double get_Mach_number() const { return mach_number; }
682 // inline void set_Mach_number( double m ) { mach_number = m; }
684 double static_pressure, total_pressure, impact_pressure;
685 double dynamic_pressure;
686 // inline double get_Static_pressure() const { return static_pressure; }
687 // inline void set_Static_pressure( double sp ) { static_pressure = sp; }
688 // inline double get_Total_pressure() const { return total_pressure; }
689 // inline void set_Total_pressure( double tp ) { total_pressure = tp; }
690 // inline double get_Impact_pressure() const { return impact_pressure; }
691 // inline void set_Impact_pressure( double ip ) { impact_pressure = ip; }
692 // inline double get_Dynamic_pressure() const { return dynamic_pressure; }
693 // inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; }
695 double static_temperature, total_temperature;
696 // inline double get_Static_temperature() const { return static_temperature; }
697 // inline void set_Static_temperature( double t ) { static_temperature = t; }
698 // inline double get_Total_temperature() const { return total_temperature; }
699 // inline void set_Total_temperature( double t ) { total_temperature = t; }
701 double sea_level_radius, earth_position_angle;
702 inline double get_Sea_level_radius() const { return sea_level_radius; }
703 inline void set_Sea_level_radius( double r ) { sea_level_radius = r; }
704 inline double get_Earth_position_angle() const {
705 return earth_position_angle;
707 inline void set_Earth_position_angle(double a) {
708 earth_position_angle = a;
711 double runway_altitude, runway_latitude, runway_longitude;
712 double runway_heading;
713 inline double get_Runway_altitude() const { return runway_altitude; }
714 inline void set_Runway_altitude( double alt ) { runway_altitude = alt; }
715 // inline double get_Runway_latitude() const { return runway_latitude; }
716 // inline void set_Runway_latitude( double lat ) { runway_latitude = lat; }
717 // inline double get_Runway_longitude() const { return runway_longitude; }
718 // inline void set_Runway_longitude( double lon ) { runway_longitude = lon; }
719 // inline double get_Runway_heading() const { return runway_heading; }
720 // inline void set_Runway_heading( double h ) { runway_heading = h; }
722 double radius_to_rwy;
723 // inline double get_Radius_to_rwy() const { return radius_to_rwy; }
724 // inline void set_Radius_to_rwy( double r ) { radius_to_rwy = r; }
726 FG_VECTOR_3 d_cg_rwy_local_v; // CG rel. to rwy in local coords
727 // inline double * get_D_cg_rwy_local_v() { return d_cg_rwy_local_v; }
728 // inline double get_D_cg_north_of_rwy() const { return d_cg_rwy_local_v[0]; }
729 // inline double get_D_cg_east_of_rwy() const { return d_cg_rwy_local_v[1]; }
730 // inline double get_D_cg_above_rwy() const { return d_cg_rwy_local_v[2]; }
731 /* inline void set_CG_Rwy_Local( double north, double east, double above )
733 d_cg_rwy_local_v[0] = north;
734 d_cg_rwy_local_v[1] = east;
735 d_cg_rwy_local_v[2] = above;
738 FG_VECTOR_3 d_cg_rwy_rwy_v; // CG relative to rwy, in rwy coordinates
739 // inline double * get_D_cg_rwy_rwy_v() { return d_cg_rwy_rwy_v; }
740 // inline double get_X_cg_rwy() const { return d_cg_rwy_rwy_v[0]; }
741 // inline double get_Y_cg_rwy() const { return d_cg_rwy_rwy_v[1]; }
742 // inline double get_H_cg_rwy() const { return d_cg_rwy_rwy_v[2]; }
743 /* inline void set_CG_Rwy_Rwy( double x, double y, double h )
745 d_cg_rwy_rwy_v[0] = x;
746 d_cg_rwy_rwy_v[1] = y;
747 d_cg_rwy_rwy_v[2] = h;
750 FG_VECTOR_3 d_pilot_rwy_local_v; // pilot rel. to rwy in local coords
751 // inline double * get_D_pilot_rwy_local_v() { return d_pilot_rwy_local_v; }
752 // inline double get_D_pilot_north_of_rwy() const {
753 //return d_pilot_rwy_local_v[0];
755 // inline double get_D_pilot_east_of_rwy() const {
756 // return d_pilot_rwy_local_v[1];
758 // inline double get_D_pilot_above_rwy() const {
759 //return d_pilot_rwy_local_v[2];
761 /* inline void set_Pilot_Rwy_Local( double north, double east, double above )
763 d_pilot_rwy_local_v[0] = north;
764 d_pilot_rwy_local_v[1] = east;
765 d_pilot_rwy_local_v[2] = above;
768 FG_VECTOR_3 d_pilot_rwy_rwy_v; // pilot rel. to rwy, in rwy coords.
769 // inline double * get_D_pilot_rwy_rwy_v() { return d_pilot_rwy_rwy_v; }
770 // inline double get_X_pilot_rwy() const { return d_pilot_rwy_rwy_v[0]; }
771 // inline double get_Y_pilot_rwy() const { return d_pilot_rwy_rwy_v[1]; }
772 // inline double get_H_pilot_rwy() const { return d_pilot_rwy_rwy_v[2]; }
773 /* inline void set_Pilot_Rwy_Rwy( double x, double y, double h )
775 d_pilot_rwy_rwy_v[0] = x;
776 d_pilot_rwy_rwy_v[1] = y;
777 d_pilot_rwy_rwy_v[2] = h;
780 double climb_rate; // in feet per second
781 inline double get_Climb_Rate() const { return climb_rate; }
782 inline void set_Climb_Rate(double rate) { climb_rate = rate; }
784 FGTimeStamp valid_stamp; // time this record is valid
785 FGTimeStamp next_stamp; // time this record is valid
786 inline FGTimeStamp get_time_stamp() const { return valid_stamp; }
787 inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
789 // Extrapolate FDM based on time_offset (in usec)
790 void extrapolate( int time_offset );
795 extern FGState cur_fdm_state;
798 // General interface to the flight model routines
800 // Initialize the flight model parameters
801 int fgFDMInit(int model, FGState& f, double dt);
803 // Run multiloop iterations of the flight model
804 int fgFDMUpdate(int model, FGState& f, int multiloop, int jitter);
806 // Set the altitude (force)
807 void fgFDMForceAltitude(int model, double alt_meters);
809 // Set the local ground elevation
810 void fgFDMSetGroundElevation(int model, double alt_meters);
813 #endif // _FLIGHT_HXX
817 // Revision 1.12 1999/01/20 13:42:23 curt
818 // Tweaked FDM interface.
819 // Testing check sum support for NMEA serial output.
821 // Revision 1.11 1999/01/19 17:52:07 curt
822 // Working on being able to extrapolate a new position and orientation
823 // based on a position, orientation, and time offset.
825 // Revision 1.10 1999/01/09 13:37:33 curt
826 // Convert fgTIMESTAMP to FGTimeStamp which holds usec instead of ms.
828 // Revision 1.9 1999/01/08 19:27:38 curt
829 // Fixed AOA reading on HUD.
830 // Continued work on time jitter compensation.
832 // Revision 1.8 1999/01/08 03:23:52 curt
833 // Beginning work on compensating for sim time vs. real world time "jitter".
835 // Revision 1.7 1998/12/18 23:37:09 curt
836 // Collapsed out the FGState variables not currently needed. They are just
837 // commented out and can be readded easily at any time. The point of this
838 // exersize is to determine which variables were or were not currently being
841 // Revision 1.6 1998/12/05 15:54:12 curt
842 // Renamed class fgFLIGHT to class FGState as per request by JSB.
844 // Revision 1.5 1998/12/04 01:29:40 curt
845 // Stubbed in a new flight model called "External" which is expected to be driven
846 // from some external source.
848 // Revision 1.4 1998/12/03 04:25:03 curt
849 // Working on fixing up new fgFLIGHT class.
851 // Revision 1.3 1998/12/03 01:16:41 curt
852 // Converted fgFLIGHT to a class.
854 // Revision 1.2 1998/10/16 23:27:41 curt
857 // Revision 1.1 1998/10/16 20:16:44 curt
858 // Renamed flight.[ch] to flight.[ch]xx
860 // Revision 1.20 1998/09/29 14:57:39 curt
861 // c++-ified comments.
863 // Revision 1.19 1998/09/29 02:02:41 curt
864 // Added a rate of climb calculation.
866 // Revision 1.18 1998/07/30 23:44:36 curt
867 // Beginning to add support for multiple flight models.
869 // Revision 1.17 1998/07/12 03:08:28 curt
870 // Added fgFlightModelSetAltitude() to force the altitude to something
871 // other than the current altitude. LaRCsim doesn't let you do this by just
872 // changing FG_Altitude.
874 // Revision 1.16 1998/04/22 13:26:20 curt
875 // C++ - ifing the code a bit.
877 // Revision 1.15 1998/04/21 16:59:33 curt
878 // Integrated autopilot.
879 // Prepairing for C++ integration.
881 // Revision 1.14 1998/02/07 15:29:37 curt
882 // Incorporated HUD changes and struct/typedef changes from Charlie Hotchkiss
883 // <chotchkiss@namg.us.anritsu.com>
885 // Revision 1.13 1998/01/24 00:04:59 curt
888 // Revision 1.12 1998/01/22 02:59:32 curt
889 // Changed #ifdef FILE_H to #ifdef _FILE_H
891 // Revision 1.11 1998/01/19 19:27:03 curt
892 // Merged in make system changes from Bob Kuehne <rpk@sgi.com>
893 // This should simplify things tremendously.
895 // Revision 1.10 1997/12/10 22:37:43 curt
896 // Prepended "fg" on the name of all global structures that didn't have it yet.
897 // i.e. "struct WEATHER {}" became "struct fgWEATHER {}"
899 // Revision 1.9 1997/09/04 02:17:33 curt
902 // Revision 1.8 1997/08/27 03:30:06 curt
903 // Changed naming scheme of basic shared structures.
905 // Revision 1.7 1997/07/23 21:52:19 curt
906 // Put comments around the text after an #endif for increased portability.
908 // Revision 1.6 1997/06/21 17:52:22 curt
909 // Continue directory shuffling ... everything should be compilable/runnable
912 // Revision 1.5 1997/06/21 17:12:49 curt
913 // Capitalized subdirectory names.
915 // Revision 1.4 1997/05/29 22:39:57 curt
916 // Working on incorporating the LaRCsim flight model.
918 // Revision 1.3 1997/05/29 02:32:25 curt
919 // Starting to build generic flight model interface.
921 // Revision 1.2 1997/05/23 15:40:37 curt
922 // Added GNU copyright headers.
924 // Revision 1.1 1997/05/16 16:04:45 curt