LaRCsim/ls_generic.h

   1 /***************************************************************************
   2
   3         TITLE:  ls_generic.h
   4
   5 ----------------------------------------------------------------------------
   6
   7         FUNCTION:       LaRCSim generic parameters header file
   8
   9 ----------------------------------------------------------------------------
  10
  11         MODULE STATUS:  developmental
  12
  13 ----------------------------------------------------------------------------
  14
  15         GENEALOGY:      Created 15 DEC 1993 by Bruce Jackson;
  16                         was part of old ls_eom.h header
  17
  18 ----------------------------------------------------------------------------
  19
  20         DESIGNED BY:    B. Jackson
  21
  22         CODED BY:       B. Jackson
  23
  24         MAINTAINED BY:  guess who
  25
  26 ----------------------------------------------------------------------------
  27
  28         MODIFICATION HISTORY:
  29
  30         DATE    PURPOSE                                         BY
  31
  32
  33 ----------------------------------------------------------------------------
  34
  35         REFERENCES:
  36
  37                 [ 1]    McFarland, Richard E.: "A Standard Kinematic Model
  38                         for Flight Simulation at NASA-Ames", NASA CR-2497,
  39                         January 1975
  40
  41                 [ 2]    ANSI/AIAA R-004-1992 "Recommended Practice: Atmos-
  42                         pheric and Space Flight Vehicle Coordinate Systems",
  43                         February 1992
  44
  45                 [ 3]    Beyer, William H., editor: "CRC Standard Mathematical
  46                         Tables, 28th edition", CRC Press, Boca Raton, FL, 1987,
  47                         ISBN 0-8493-0628-0
  48
  49                 [ 4]    Dowdy, M. C.; Jackson, E. B.; and Nichols, J. H.:
  50                         "Controls Analysis and Simulation Test Loop Environ-
  51                         ment (CASTLE) Programmer's Guide, Version 1.3",
  52                         NATC TM 89-11, 30 March 1989.
  53
  54                 [ 5]    Halliday, David; and Resnick, Robert: "Fundamentals
  55                         of Physics, Revised Printing", Wiley and Sons, 1974.
  56                         ISBN 0-471-34431-1
  57
  58                 [ 6]    Anon: "U. S. Standard Atmosphere, 1962"
  59
  60                 [ 7]    Anon: "Aeronautical Vest Pocket Handbook, 17th edition",
  61                         Pratt & Whitney Aircraft Group, Dec. 1977
  62
  63                 [ 8]    Stevens, Brian L.; and Lewis, Frank L.: "Aircraft
  64                         Control and Simulation", Wiley and Sons, 1992.
  65                         ISBN 0-471-61397-5
  66
  67 --------------------------------------------------------------------------*/
  68
  69
  70 #ifndef _LS_GENERIC_H
  71 #define _LS_GENERIC_H
  72
  73
  74 #ifdef __cplusplus
  75 extern "C" {
  76 #endif
  77
  78
  79 #include "ls_types.h"
  80
  81
  82 typedef struct {
  83
  84 /*================== Mass properties and geometry values ==================*/
  85
  86     DATA    mass, i_xx, i_yy, i_zz, i_xz;       /* Inertias */
  87 #define Mass                    generic_.mass
  88 #define I_xx                    generic_.i_xx
  89 #define I_yy                    generic_.i_yy
  90 #define I_zz                    generic_.i_zz
  91 #define I_xz                    generic_.i_xz
  92
  93     VECTOR_3    d_pilot_rp_body_v;      /* Pilot location rel to ref pt */
  94 #define D_pilot_rp_body_v       generic_.d_pilot_rp_body_v
  95 #define Dx_pilot                generic_.d_pilot_rp_body_v[0]
  96 #define Dy_pilot                generic_.d_pilot_rp_body_v[1]
  97 #define Dz_pilot                generic_.d_pilot_rp_body_v[2]
  98
  99     VECTOR_3    d_cg_rp_body_v; /* CG position w.r.t. ref. point */
 100 #define D_cg_rp_body_v          generic_.d_cg_rp_body_v
 101 #define Dx_cg                   generic_.d_cg_rp_body_v[0]
 102 #define Dy_cg                   generic_.d_cg_rp_body_v[1]
 103 #define Dz_cg                   generic_.d_cg_rp_body_v[2]
 104
 105 /*================================ Forces =================================*/
 106
 107     VECTOR_3    f_body_total_v;
 108 #define F_body_total_v          generic_.f_body_total_v
 109 #define F_X                     generic_.f_body_total_v[0]
 110 #define F_Y                     generic_.f_body_total_v[1]
 111 #define F_Z                     generic_.f_body_total_v[2]
 112
 113     VECTOR_3    f_local_total_v;
 114 #define F_local_total_v         generic_.f_local_total_v
 115 #define F_north                 generic_.f_local_total_v[0]
 116 #define F_east                  generic_.f_local_total_v[1]
 117 #define F_down                  generic_.f_local_total_v[2]
 118
 119     VECTOR_3    f_aero_v;
 120 #define F_aero_v                generic_.f_aero_v
 121 #define F_X_aero                generic_.f_aero_v[0]
 122 #define F_Y_aero                generic_.f_aero_v[1]
 123 #define F_Z_aero                generic_.f_aero_v[2]
 124
 125     VECTOR_3    f_engine_v;
 126 #define F_engine_v              generic_.f_engine_v
 127 #define F_X_engine              generic_.f_engine_v[0]
 128 #define F_Y_engine              generic_.f_engine_v[1]
 129 #define F_Z_engine              generic_.f_engine_v[2]
 130
 131     VECTOR_3    f_gear_v;
 132 #define F_gear_v                generic_.f_gear_v
 133 #define F_X_gear                generic_.f_gear_v[0]
 134 #define F_Y_gear                generic_.f_gear_v[1]
 135 #define F_Z_gear                generic_.f_gear_v[2]
 136
 137 /*================================ Moments ================================*/
 138
 139     VECTOR_3    m_total_rp_v;
 140 #define M_total_rp_v            generic_.m_total_rp_v
 141 #define M_l_rp                  generic_.m_total_rp_v[0]
 142 #define M_m_rp                  generic_.m_total_rp_v[1]
 143 #define M_n_rp                  generic_.m_total_rp_v[2]
 144
 145     VECTOR_3    m_total_cg_v;
 146 #define M_total_cg_v            generic_.m_total_cg_v
 147 #define M_l_cg                  generic_.m_total_cg_v[0]
 148 #define M_m_cg                  generic_.m_total_cg_v[1]
 149 #define M_n_cg                  generic_.m_total_cg_v[2]
 150
 151     VECTOR_3    m_aero_v;
 152 #define M_aero_v                generic_.m_aero_v
 153 #define M_l_aero                generic_.m_aero_v[0]
 154 #define M_m_aero                generic_.m_aero_v[1]
 155 #define M_n_aero                generic_.m_aero_v[2]
 156
 157     VECTOR_3    m_engine_v;
 158 #define M_engine_v              generic_.m_engine_v
 159 #define M_l_engine              generic_.m_engine_v[0]
 160 #define M_m_engine              generic_.m_engine_v[1]
 161 #define M_n_engine              generic_.m_engine_v[2]
 162
 163     VECTOR_3    m_gear_v;
 164 #define M_gear_v                generic_.m_gear_v
 165 #define M_l_gear                generic_.m_gear_v[0]
 166 #define M_m_gear                generic_.m_gear_v[1]
 167 #define M_n_gear                generic_.m_gear_v[2]
 168
 169 /*============================== Accelerations ============================*/
 170
 171     VECTOR_3    v_dot_local_v;
 172 #define V_dot_local_v           generic_.v_dot_local_v
 173 #define V_dot_north             generic_.v_dot_local_v[0]
 174 #define V_dot_east              generic_.v_dot_local_v[1]
 175 #define V_dot_down              generic_.v_dot_local_v[2]
 176
 177     VECTOR_3    v_dot_body_v;
 178 #define V_dot_body_v            generic_.v_dot_body_v
 179 #define U_dot_body              generic_.v_dot_body_v[0]
 180 #define V_dot_body              generic_.v_dot_body_v[1]
 181 #define W_dot_body              generic_.v_dot_body_v[2]
 182
 183     VECTOR_3    a_cg_body_v;
 184 #define A_cg_body_v             generic_.a_cg_body_v
 185 #define A_X_cg                  generic_.a_cg_body_v[0]
 186 #define A_Y_cg                  generic_.a_cg_body_v[1]
 187 #define A_Z_cg                  generic_.a_cg_body_v[2]
 188
 189     VECTOR_3    a_pilot_body_v;
 190 #define A_pilot_body_v          generic_.a_pilot_body_v
 191 #define A_X_pilot               generic_.a_pilot_body_v[0]
 192 #define A_Y_pilot               generic_.a_pilot_body_v[1]
 193 #define A_Z_pilot               generic_.a_pilot_body_v[2]
 194
 195     VECTOR_3    n_cg_body_v;
 196 #define N_cg_body_v             generic_.n_cg_body_v
 197 #define N_X_cg                  generic_.n_cg_body_v[0]
 198 #define N_Y_cg                  generic_.n_cg_body_v[1]
 199 #define N_Z_cg                  generic_.n_cg_body_v[2]
 200
 201     VECTOR_3    n_pilot_body_v;
 202 #define N_pilot_body_v          generic_.n_pilot_body_v
 203 #define N_X_pilot               generic_.n_pilot_body_v[0]
 204 #define N_Y_pilot               generic_.n_pilot_body_v[1]
 205 #define N_Z_pilot               generic_.n_pilot_body_v[2]
 206
 207     VECTOR_3    omega_dot_body_v;
 208 #define Omega_dot_body_v        generic_.omega_dot_body_v
 209 #define P_dot_body              generic_.omega_dot_body_v[0]
 210 #define Q_dot_body              generic_.omega_dot_body_v[1]
 211 #define R_dot_body              generic_.omega_dot_body_v[2]
 212
 213
 214 /*============================== Velocities ===============================*/
 215
 216     VECTOR_3    v_local_v;
 217 #define V_local_v               generic_.v_local_v
 218 #define V_north                 generic_.v_local_v[0]
 219 #define V_east                  generic_.v_local_v[1]
 220 #define V_down                  generic_.v_local_v[2]
 221
 222     VECTOR_3    v_local_rel_ground_v;   /* V rel w.r.t. earth surface   */
 223 #define V_local_rel_ground_v    generic_.v_local_rel_ground_v
 224 #define V_north_rel_ground      generic_.v_local_rel_ground_v[0]
 225 #define V_east_rel_ground       generic_.v_local_rel_ground_v[1]
 226 #define V_down_rel_ground       generic_.v_local_rel_ground_v[2]
 227
 228     VECTOR_3    v_local_airmass_v;      /* velocity of airmass (steady winds)   */
 229 #define V_local_airmass_v       generic_.v_local_airmass_v
 230 #define V_north_airmass         generic_.v_local_airmass_v[0]
 231 #define V_east_airmass          generic_.v_local_airmass_v[1]
 232 #define V_down_airmass          generic_.v_local_airmass_v[2]
 233
 234     VECTOR_3    v_local_rel_airmass_v;  /* velocity of veh. relative to airmass */
 235 #define V_local_rel_airmass_v   generic_.v_local_rel_airmass_v
 236 #define V_north_rel_airmass     generic_.v_local_rel_airmass_v[0]
 237 #define V_east_rel_airmass      generic_.v_local_rel_airmass_v[1]
 238 #define V_down_rel_airmass      generic_.v_local_rel_airmass_v[2]
 239
 240     VECTOR_3    v_local_gust_v; /* linear turbulence components, L frame */
 241 #define V_local_gust_v          generic_.v_local_gust_v
 242 #define U_gust                  generic_.v_local_gust_v[0]
 243 #define V_gust                  generic_.v_local_gust_v[1]
 244 #define W_gust                  generic_.v_local_gust_v[2]
 245
 246     VECTOR_3    v_wind_body_v;  /* Wind-relative velocities in body axis        */
 247 #define V_wind_body_v           generic_.v_wind_body_v
 248 #define U_body                  generic_.v_wind_body_v[0]
 249 #define V_body                  generic_.v_wind_body_v[1]
 250 #define W_body                  generic_.v_wind_body_v[2]
 251
 252     DATA    v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
 253     DATA    v_ground_speed, v_equiv, v_equiv_kts;
 254     DATA    v_calibrated, v_calibrated_kts;
 255 #define V_rel_wind              generic_.v_rel_wind
 256 #define V_true_kts              generic_.v_true_kts
 257 #define V_rel_ground            generic_.v_rel_ground
 258 #define V_inertial              generic_.v_inertial
 259 #define V_ground_speed          generic_.v_ground_speed
 260 #define V_equiv                 generic_.v_equiv
 261 #define V_equiv_kts             generic_.v_equiv_kts
 262 #define V_calibrated            generic_.v_calibrated
 263 #define V_calibrated_kts        generic_.v_calibrated_kts
 264
 265     VECTOR_3    omega_body_v;   /* Angular B rates      */
 266 #define Omega_body_v            generic_.omega_body_v
 267 #define P_body                  generic_.omega_body_v[0]
 268 #define Q_body                  generic_.omega_body_v[1]
 269 #define R_body                  generic_.omega_body_v[2]
 270
 271     VECTOR_3    omega_local_v;  /* Angular L rates      */
 272 #define Omega_local_v           generic_.omega_local_v
 273 #define P_local                 generic_.omega_local_v[0]
 274 #define Q_local                 generic_.omega_local_v[1]
 275 #define R_local                 generic_.omega_local_v[2]
 276
 277     VECTOR_3    omega_total_v;  /* Diff btw B & L       */
 278 #define Omega_total_v           generic_.omega_total_v
 279 #define P_total                 generic_.omega_total_v[0]
 280 #define Q_total                 generic_.omega_total_v[1]
 281 #define R_total                 generic_.omega_total_v[2]
 282
 283     VECTOR_3    euler_rates_v;
 284 #define Euler_rates_v           generic_.euler_rates_v
 285 #define Phi_dot                 generic_.euler_rates_v[0]
 286 #define Theta_dot               generic_.euler_rates_v[1]
 287 #define Psi_dot                 generic_.euler_rates_v[2]
 288
 289     VECTOR_3    geocentric_rates_v;     /* Geocentric linear velocities */
 290 #define Geocentric_rates_v      generic_.geocentric_rates_v
 291 #define Latitude_dot            generic_.geocentric_rates_v[0]
 292 #define Longitude_dot           generic_.geocentric_rates_v[1]
 293 #define Radius_dot              generic_.geocentric_rates_v[2]
 294
 295 /*=============================== Positions ===============================*/
 296
 297     VECTOR_3    geocentric_position_v;
 298 #define Geocentric_position_v   generic_.geocentric_position_v
 299 #define Lat_geocentric          generic_.geocentric_position_v[0]
 300 #define Lon_geocentric          generic_.geocentric_position_v[1]
 301 #define Radius_to_vehicle       generic_.geocentric_position_v[2]
 302
 303     VECTOR_3    geodetic_position_v;
 304 #define Geodetic_position_v     generic_.geodetic_position_v
 305 #define Latitude                generic_.geodetic_position_v[0]
 306 #define Longitude               generic_.geodetic_position_v[1]
 307 #define Altitude                generic_.geodetic_position_v[2]
 308
 309     VECTOR_3    euler_angles_v;
 310 #define Euler_angles_v          generic_.euler_angles_v
 311 #define Phi                     generic_.euler_angles_v[0]
 312 #define Theta                   generic_.euler_angles_v[1]
 313 #define Psi                     generic_.euler_angles_v[2]
 314
 315 /*======================= Miscellaneous quantities ========================*/
 316
 317     DATA    t_local_to_body_m[3][3];    /* Transformation matrix L to B */
 318 #define T_local_to_body_m       generic_.t_local_to_body_m
 319 #define T_local_to_body_11      generic_.t_local_to_body_m[0][0]
 320 #define T_local_to_body_12      generic_.t_local_to_body_m[0][1]
 321 #define T_local_to_body_13      generic_.t_local_to_body_m[0][2]
 322 #define T_local_to_body_21      generic_.t_local_to_body_m[1][0]
 323 #define T_local_to_body_22      generic_.t_local_to_body_m[1][1]
 324 #define T_local_to_body_23      generic_.t_local_to_body_m[1][2]
 325 #define T_local_to_body_31      generic_.t_local_to_body_m[2][0]
 326 #define T_local_to_body_32      generic_.t_local_to_body_m[2][1]
 327 #define T_local_to_body_33      generic_.t_local_to_body_m[2][2]
 328
 329     DATA    gravity;            /* Local acceleration due to G  */
 330 #define Gravity                 generic_.gravity
 331
 332     DATA    centrifugal_relief; /* load factor reduction due to speed */
 333 #define Centrifugal_relief      generic_.centrifugal_relief
 334
 335     DATA    alpha, beta, alpha_dot, beta_dot;   /* in radians   */
 336 #define Alpha                   generic_.alpha
 337 #define Beta                    generic_.beta
 338 #define Alpha_dot               generic_.alpha_dot
 339 #define Beta_dot                generic_.beta_dot
 340
 341     DATA    cos_alpha, sin_alpha, cos_beta, sin_beta;
 342 #define Cos_alpha               generic_.cos_alpha
 343 #define Sin_alpha               generic_.sin_alpha
 344 #define Cos_beta                generic_.cos_beta
 345 #define Sin_beta                generic_.sin_beta
 346
 347     DATA    cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
 348 #define Cos_phi                 generic_.cos_phi
 349 #define Sin_phi                 generic_.sin_phi
 350 #define Cos_theta               generic_.cos_theta
 351 #define Sin_theta               generic_.sin_theta
 352 #define Cos_psi                 generic_.cos_psi
 353 #define Sin_psi                 generic_.sin_psi
 354
 355     DATA    gamma_vert_rad, gamma_horiz_rad;    /* Flight path angles   */
 356 #define Gamma_vert_rad          generic_.gamma_vert_rad
 357 #define Gamma_horiz_rad         generic_.gamma_horiz_rad
 358
 359     DATA    sigma, density, v_sound, mach_number;
 360 #define Sigma                   generic_.sigma
 361 #define Density                 generic_.density
 362 #define V_sound                 generic_.v_sound
 363 #define Mach_number             generic_.mach_number
 364
 365     DATA    static_pressure, total_pressure, impact_pressure, dynamic_pressure;
 366 #define Static_pressure         generic_.static_pressure
 367 #define Total_pressure          generic_.total_pressure
 368 #define Impact_pressure         generic_.impact_pressure
 369 #define Dynamic_pressure        generic_.dynamic_pressure
 370
 371     DATA    static_temperature, total_temperature;
 372 #define Static_temperature      generic_.static_temperature
 373 #define Total_temperature       generic_.total_temperature
 374
 375     DATA    sea_level_radius, earth_position_angle;
 376 #define Sea_level_radius        generic_.sea_level_radius
 377 #define Earth_position_angle    generic_.earth_position_angle
 378
 379     DATA    runway_altitude, runway_latitude, runway_longitude, runway_heading;
 380 #define Runway_altitude         generic_.runway_altitude
 381 #define Runway_latitude         generic_.runway_latitude
 382 #define Runway_longitude        generic_.runway_longitude
 383 #define Runway_heading          generic_.runway_heading
 384
 385     DATA    radius_to_rwy;
 386 #define Radius_to_rwy           generic_.radius_to_rwy
 387
 388     VECTOR_3    d_cg_rwy_local_v;       /* CG rel. to rwy in local coords */
 389 #define D_cg_rwy_local_v        generic_.d_cg_rwy_local_v
 390 #define D_cg_north_of_rwy       generic_.d_cg_rwy_local_v[0]
 391 #define D_cg_east_of_rwy        generic_.d_cg_rwy_local_v[1]
 392 #define D_cg_above_rwy          generic_.d_cg_rwy_local_v[2]
 393
 394     VECTOR_3    d_cg_rwy_rwy_v; /* CG relative to runway, in rwy coordinates */
 395 #define D_cg_rwy_rwy_v          generic_.d_cg_rwy_rwy_v
 396 #define X_cg_rwy                generic_.d_cg_rwy_rwy_v[0]
 397 #define Y_cg_rwy                generic_.d_cg_rwy_rwy_v[1]
 398 #define H_cg_rwy                generic_.d_cg_rwy_rwy_v[2]
 399
 400     VECTOR_3    d_pilot_rwy_local_v;    /* pilot rel. to rwy in local coords */
 401 #define D_pilot_rwy_local_v     generic_.d_pilot_rwy_local_v
 402 #define D_pilot_north_of_rwy    generic_.d_pilot_rwy_local_v[0]
 403 #define D_pilot_east_of_rwy     generic_.d_pilot_rwy_local_v[1]
 404 #define D_pilot_above_rwy       generic_.d_pilot_rwy_local_v[2]
 405
 406     VECTOR_3   d_pilot_rwy_rwy_v;       /* pilot rel. to rwy, in rwy coords. */
 407 #define D_pilot_rwy_rwy_v       generic_.d_pilot_rwy_rwy_v
 408 #define X_pilot_rwy             generic_.d_pilot_rwy_rwy_v[0]
 409 #define Y_pilot_rwy             generic_.d_pilot_rwy_rwy_v[1]
 410 #define H_pilot_rwy             generic_.d_pilot_rwy_rwy_v[2]
 411
 412
 413 } GENERIC;
 414
 415 extern GENERIC generic_;        /* usually defined in ls_main.c */
 416
 417
 418 #ifdef __cplusplus
 419 }
 420 #endif
 421
 422
 423 #endif /* _LS_GENERIC_H */
 424
 425
 426 /*---------------------------  end of ls_generic.h  ------------------------*/