src/FDM/flight.cxx

   1 // flight.cxx -- a general interface to the various flight models
   2 //
   3 // Written by Curtis Olson, started May 1997.
   4 //
   5 // Copyright (C) 1997  Curtis L. Olson  - curt@infoplane.com
   6 //
   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.
  11 //
  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.
  16 //
  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.
  20 //
  21 // $Id$
  22
  23
  24 #include <stdio.h>
  25
  26 #include <plib/sg.h>
  27
  28 #include <simgear/constants.h>
  29 #include <simgear/debug/logstream.hxx>
  30 #include <simgear/math/sg_geodesy.hxx>
  31 #include <simgear/timing/timestamp.hxx>
  32
  33 #include <Scenery/scenery.hxx>
  34 #include <FDM/LaRCsim/ls_interface.h>
  35 #include <Main/globals.hxx>
  36 #include <Main/fg_props.hxx>
  37 #include <Model/acmodel.hxx>
  38
  39 #include "flight.hxx"
  40
  41
  42 // base_fdm_state is the internal state that is updated in integer
  43 // multiples of "dt".  This leads to "jitter" with respect to the real
  44 // world time, so we introduce cur_fdm_state which is extrapolated by
  45 // the difference between sim time and real world time
  46
  47 FGInterface *cur_fdm_state = 0;
  48 FGInterface base_fdm_state;
  49
  50 inline void init_vec(FG_VECTOR_3 vec) {
  51     vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0;
  52 }
  53
  54 // Constructor
  55 FGInterface::FGInterface()
  56   : remainder(0)
  57 {
  58     _setup();
  59 }
  60
  61 FGInterface::FGInterface( double dt )
  62   : remainder(0)
  63 {
  64     _setup();
  65 }
  66
  67 // Destructor
  68 FGInterface::~FGInterface() {
  69     // unbind();                   // FIXME: should be called explicitly
  70 }
  71
  72
  73 int
  74 FGInterface::_calc_multiloop (double dt)
  75 {
  76   int hz = fgGetInt("/sim/model-hz");
  77   int speedup = fgGetInt("/sim/speed-up");
  78
  79   dt += remainder;
  80   remainder = 0;
  81   double ml = dt * hz;
  82   int multiloop = int(floor(ml));
  83   remainder = (ml - multiloop) / hz;
  84   return (multiloop * speedup);
  85 }
  86
  87
  88 /**
  89  * Set default values for the state of the FDM.
  90  *
  91  * This method is invoked by the constructors.
  92  */
  93 void
  94 FGInterface::_setup ()
  95 {
  96     inited = false;
  97     bound = false;
  98
  99     init_vec( d_pilot_rp_body_v );
 100     init_vec( d_cg_rp_body_v );
 101     init_vec( f_body_total_v );
 102     init_vec( f_local_total_v );
 103     init_vec( f_aero_v );
 104     init_vec( f_engine_v );
 105     init_vec( f_gear_v );
 106     init_vec( m_total_rp_v );
 107     init_vec( m_total_cg_v );
 108     init_vec( m_aero_v );
 109     init_vec( m_engine_v );
 110     init_vec( m_gear_v );
 111     init_vec( v_dot_local_v );
 112     init_vec( v_dot_body_v );
 113     init_vec( a_cg_body_v );
 114     init_vec( a_pilot_body_v );
 115     init_vec( n_cg_body_v );
 116     init_vec( n_pilot_body_v );
 117     init_vec( omega_dot_body_v );
 118     init_vec( v_local_v );
 119     init_vec( v_local_rel_ground_v );
 120     init_vec( v_local_airmass_v );
 121     init_vec( v_local_rel_airmass_v );
 122     init_vec( v_local_gust_v );
 123     init_vec( v_wind_body_v );
 124     init_vec( omega_body_v );
 125     init_vec( omega_local_v );
 126     init_vec( omega_total_v );
 127     init_vec( euler_rates_v );
 128     init_vec( geocentric_rates_v );
 129     init_vec( geocentric_position_v );
 130     init_vec( geodetic_position_v );
 131     init_vec( euler_angles_v );
 132     init_vec( d_cg_rwy_local_v );
 133     init_vec( d_cg_rwy_rwy_v );
 134     init_vec( d_pilot_rwy_local_v );
 135     init_vec( d_pilot_rwy_rwy_v );
 136     init_vec( t_local_to_body_m[0] );
 137     init_vec( t_local_to_body_m[1] );
 138     init_vec( t_local_to_body_m[2] );
 139
 140     mass=i_xx=i_yy=i_zz=i_xz=0;
 141     nlf=0;
 142     v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
 143     v_ground_speed=v_equiv=v_equiv_kts=0;
 144     v_calibrated=v_calibrated_kts=0;
 145     gravity=0;
 146     centrifugal_relief=0;
 147     alpha=beta=alpha_dot=beta_dot=0;
 148     cos_alpha=sin_alpha=cos_beta=sin_beta=0;
 149     cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
 150     gamma_vert_rad=gamma_horiz_rad=0;
 151     sigma=density=v_sound=mach_number=0;
 152     static_pressure=total_pressure=impact_pressure=0;
 153     dynamic_pressure=0;
 154     static_temperature=total_temperature=0;
 155     sea_level_radius=earth_position_angle=0;
 156     runway_altitude=runway_latitude=runway_longitude=0;
 157     runway_heading=0;
 158     radius_to_rwy=0;
 159     climb_rate=0;
 160     sin_lat_geocentric=cos_lat_geocentric=0;
 161     sin_latitude=cos_latitude=0;
 162     sin_longitude=cos_longitude=0;
 163     altitude_agl=0;
 164     _acmodel = 0;
 165 }
 166
 167 void
 168 FGInterface::init () {}
 169
 170 /**
 171  * Initialize the state of the FDM.
 172  *
 173  * Subclasses of FGInterface may do their own, additional initialization,
 174  * but there is some that is common to all.  Normally, they should call
 175  * this before they begin their own init to make sure the basic structures
 176  * are set up properly.
 177  */
 178 void
 179 FGInterface::common_init ()
 180 {
 181     SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
 182
 183     set_inited( true );
 184
 185 //     stamp();
 186 //     set_remainder( 0 );
 187
 188     // linking in FGAircraft instance...
 189     // FIXME: when using multiple instances, then there will be more than
 190     // one model so get_aircraft_model will have to be indexed to the correct
 191     // model.
 192     _acmodel = globals->get_aircraft_model();
 193
 194     // Set initial position
 195     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
 196     set_Longitude( fgGetDouble("/position/longitude-deg")
 197                    * SGD_DEGREES_TO_RADIANS );
 198     set_Latitude( fgGetDouble("/position/latitude-deg")
 199                   * SGD_DEGREES_TO_RADIANS );
 200     double ground_elev_m = globals->get_scenery()->get_cur_elev();
 201     double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
 202     _acmodel->get3DModel()->getFGLocation()->set_cur_elev_m( ground_elev_m );
 203     _set_Runway_altitude ( ground_elev_ft );
 204     if ( fgGetBool("/sim/startup/onground")
 205          || fgGetDouble("/position/altitude-ft") < ground_elev_ft ) {
 206         fgSetDouble("/position/altitude-ft", ground_elev_ft);
 207     }
 208     set_Altitude( fgGetDouble("/position/altitude-ft") );
 209
 210     // Set ground elevation
 211     SG_LOG( SG_FLIGHT, SG_INFO,
 212             "...initializing ground elevation to " << ground_elev_ft
 213             << "ft..." );
 214
 215     // Set sea-level radius
 216     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
 217     SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
 218             << fgGetDouble("/position/latitude-deg")
 219             << " alt = " << fgGetDouble("/position/altitude-ft") );
 220     double sea_level_radius_meters;
 221     double lat_geoc;
 222     sgGeodToGeoc( fgGetDouble("/position/latitude-deg")
 223                     * SGD_DEGREES_TO_RADIANS,
 224                   fgGetDouble("/position/altitude-ft") * SG_FEET_TO_METER,
 225                   &sea_level_radius_meters, &lat_geoc );
 226     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
 227
 228     // Set initial velocities
 229     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
 230     if ( !fgHasNode("/sim/startup/speed-set") ) {
 231         set_V_calibrated_kts(0.0);
 232     } else {
 233         const string speedset = fgGetString("/sim/startup/speed-set");
 234         if ( speedset == "knots" || speedset == "KNOTS" ) {
 235             set_V_calibrated_kts( fgGetDouble("/velocities/airspeed-kt") );
 236         } else if ( speedset == "mach" || speedset == "MACH" ) {
 237             set_Mach_number( fgGetDouble("/velocities/mach") );
 238         } else if ( speedset == "UVW" || speedset == "uvw" ) {
 239             set_Velocities_Wind_Body(
 240                                      fgGetDouble("/velocities/uBody-fps"),
 241                                      fgGetDouble("/velocities/vBody-fps"),
 242                                      fgGetDouble("/velocities/wBody-fps") );
 243         } else if ( speedset == "NED" || speedset == "ned" ) {
 244             set_Velocities_Local(
 245                                  fgGetDouble("/velocities/speed-north-fps"),
 246                                  fgGetDouble("/velocities/speed-east-fps"),
 247                                  fgGetDouble("/velocities/speed-down-fps") );
 248         } else {
 249             SG_LOG( SG_FLIGHT, SG_ALERT,
 250                     "Unrecognized value for /sim/startup/speed-set: "
 251                     << speedset);
 252             set_V_calibrated_kts( 0.0 );
 253         }
 254     }
 255
 256     // Set initial Euler angles
 257     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
 258     set_Euler_Angles( fgGetDouble("/orientation/roll-deg")
 259                         * SGD_DEGREES_TO_RADIANS,
 260                       fgGetDouble("/orientation/pitch-deg")
 261                         * SGD_DEGREES_TO_RADIANS,
 262                       fgGetDouble("/orientation/heading-deg")
 263                         * SGD_DEGREES_TO_RADIANS );
 264
 265     SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
 266 }
 267
 268
 269 /**
 270  * Bind getters and setters to properties.
 271  *
 272  * The bind() method will be invoked after init().  Note that unlike
 273  * the usual implementations of FGSubsystem::bind(), this method does
 274  * not automatically pick up existing values for the properties at
 275  * bind time; instead, all values are set explicitly in the init()
 276  * method.
 277  */
 278 void
 279 FGInterface::bind ()
 280 {
 281   bound = true;
 282
 283                                 // Time management (read-only)
 284 //   fgTie("/fdm/time/delta_t", this,
 285 //         &FGInterface::get_delta_t); // read-only
 286 //   fgTie("/fdm/time/elapsed", this,
 287 //         &FGInterface::get_elapsed); // read-only
 288 //   fgTie("/fdm/time/remainder", this,
 289 //         &FGInterface::get_remainder); // read-only
 290 //   fgTie("/fdm/time/multi_loop", this,
 291 //         &FGInterface::get_multi_loop); // read-only
 292
 293                         // Aircraft position
 294   fgTie("/position/latitude-deg", this,
 295         &FGInterface::get_Latitude_deg,
 296         &FGInterface::set_Latitude_deg,
 297         false);
 298   fgSetArchivable("/position/latitude-deg");
 299   fgTie("/position/longitude-deg", this,
 300         &FGInterface::get_Longitude_deg,
 301         &FGInterface::set_Longitude_deg,
 302         false);
 303   fgSetArchivable("/position/longitude-deg");
 304   fgTie("/position/altitude-ft", this,
 305         &FGInterface::get_Altitude,
 306         &FGInterface::set_Altitude,
 307         false);
 308   fgSetArchivable("/position/altitude-ft");
 309   fgTie("/position/altitude-agl-ft", this,
 310         &FGInterface::get_Altitude_AGL); // read-only
 311
 312                                 // Orientation
 313   fgTie("/orientation/roll-deg", this,
 314         &FGInterface::get_Phi_deg,
 315         &FGInterface::set_Phi_deg);
 316   fgSetArchivable("/orientation/roll-deg");
 317   fgTie("/orientation/pitch-deg", this,
 318         &FGInterface::get_Theta_deg,
 319         &FGInterface::set_Theta_deg);
 320   fgSetArchivable("/orientation/pitch-deg");
 321   fgTie("/orientation/heading-deg", this,
 322         &FGInterface::get_Psi_deg,
 323         &FGInterface::set_Psi_deg);
 324   fgSetArchivable("/orientation/heading-deg");
 325
 326   // Body-axis "euler rates" (rotation speed, but in a funny
 327   // representation).
 328   fgTie("/orientation/roll-rate-degps", this,
 329         &FGInterface::get_Phi_dot_degps);
 330   fgTie("/orientation/pitch-rate-degps", this,
 331         &FGInterface::get_Theta_dot_degps);
 332   fgTie("/orientation/yaw-rate-degps", this,
 333         &FGInterface::get_Psi_dot_degps);
 334
 335                                 // Calibrated airspeed
 336   fgTie("/velocities/airspeed-kt", this,
 337         &FGInterface::get_V_calibrated_kts,
 338         &FGInterface::set_V_calibrated_kts,
 339         false);
 340
 341                                 // Local velocities
 342 //   fgTie("/velocities/speed-north-fps", this,
 343 //      &FGInterface::get_V_north,
 344 //      &FGInterface::set_V_north);
 345 //   fgSetArchivable("/velocities/speed-north-fps");
 346 //   fgTie("/velocities/speed-east-fps", this,
 347 //      &FGInterface::get_V_east,
 348 //      &FGInterface::set_V_east);
 349 //   fgSetArchivable("/velocities/speed-east-fps");
 350 //   fgTie("/velocities/speed-down-fps", this,
 351 //      &FGInterface::get_V_down,
 352 //      &FGInterface::set_V_down);
 353 //   fgSetArchivable("/velocities/speed-down-fps");
 354                                 // FIXME: Temporarily read-only, until the
 355                                 // incompatibilities between JSBSim and
 356                                 // LaRCSim are fixed (LaRCSim adds the
 357                                 // earth's rotation to the east velocity).
 358   fgTie("/velocities/speed-north-fps", this,
 359         &FGInterface::get_V_north);
 360   fgTie("/velocities/speed-east-fps", this,
 361         &FGInterface::get_V_east);
 362   fgTie("/velocities/speed-down-fps", this,
 363         &FGInterface::get_V_down);
 364
 365                                 // Relative wind
 366                                 // FIXME: temporarily archivable, until
 367                                 // the NED problem is fixed.
 368   fgTie("/velocities/uBody-fps", this,
 369         &FGInterface::get_uBody,
 370         &FGInterface::set_uBody,
 371         false);
 372   fgSetArchivable("/velocities/uBody-fps");
 373   fgTie("/velocities/vBody-fps", this,
 374         &FGInterface::get_vBody,
 375         &FGInterface::set_vBody,
 376         false);
 377   fgSetArchivable("/velocities/vBody-fps");
 378   fgTie("/velocities/wBody-fps", this,
 379         &FGInterface::get_wBody,
 380         &FGInterface::set_wBody,
 381         false);
 382   fgSetArchivable("/velocities/wBody-fps");
 383
 384                                 // Climb and slip (read-only)
 385   fgTie("/velocities/vertical-speed-fps", this,
 386         &FGInterface::get_Climb_Rate,
 387   &FGInterface::set_Climb_Rate );
 388   fgTie("/velocities/glideslope", this,
 389   &FGInterface::get_Gamma_vert_rad,
 390   &FGInterface::set_Gamma_vert_rad );
 391   fgTie("/velocities/side-slip-rad", this,
 392         &FGInterface::get_Beta); // read-only
 393   fgTie("/velocities/side-slip-deg", this,
 394   &FGInterface::get_Beta_deg); // read-only
 395   fgTie("/velocities/alpha-deg", this,
 396   &FGInterface::get_Alpha_deg); // read-only
 397   fgTie("/accelerations/nlf", this,
 398   &FGInterface::get_Nlf); // read-only
 399 }
 400
 401
 402 /**
 403  * Unbind any properties bound to this FDM.
 404  *
 405  * This method allows the FDM to release properties so that a new
 406  * FDM can bind them instead.
 407  */
 408 void
 409 FGInterface::unbind ()
 410 {
 411   bound = false;
 412
 413   fgUntie("/fdm/time/delta_t");
 414   fgUntie("/fdm/time/elapsed");
 415   fgUntie("/fdm/time/remainder");
 416   fgUntie("/fdm/time/multi_loop");
 417   fgUntie("/position/latitude-deg");
 418   fgUntie("/position/longitude-deg");
 419   fgUntie("/position/altitude-ft");
 420   fgUntie("/position/altitude-agl-ft");
 421   fgUntie("/orientation/heading-deg");
 422   fgUntie("/orientation/pitch-deg");
 423   fgUntie("/orientation/roll-deg");
 424   fgUntie("/velocities/airspeed-kt");
 425   fgUntie("/velocities/speed-north-fps");
 426   fgUntie("/velocities/speed-east-fps");
 427   fgUntie("/velocities/speed-down-fps");
 428   fgUntie("/velocities/uBody-fps");
 429   fgUntie("/velocities/vBody-fps");
 430   fgUntie("/velocities/wBody-fps");
 431   fgUntie("/velocities/vertical-speed-fps");
 432   fgUntie("/velocities/glideslope");
 433   fgUntie("/velocities/side-slip-rad");
 434   fgUntie("/velocities/side-slip-deg");
 435   fgUntie("/velocities/alpha-deg");
 436   fgUntie("/accelerations/nlf");
 437
 438 }
 439
 440 /**
 441  * Update the state of the FDM (i.e. run the equations of motion).
 442  */
 443 void
 444 FGInterface::update (double dt)
 445 {
 446     SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
 447 }
 448
 449
 450 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
 451 {
 452     double lat_geoc, sl_radius;
 453
 454     // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
 455
 456     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc );
 457
 458     SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
 459             << " lat_geod = " << lat
 460             << " lat_geoc = " << lat_geoc
 461             << " alt = " << alt
 462             << " sl_radius = " << sl_radius * SG_METER_TO_FEET
 463             << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
 464
 465     _set_Geocentric_Position( lat_geoc, lon,
 466                               sl_radius * SG_METER_TO_FEET + alt );
 467
 468     _set_Geodetic_Position( lat, lon, alt );
 469
 470     _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
 471     _set_Runway_altitude( getACModel()->get3DModel()->getFGLocation()->get_cur_elev_m() * SG_METER_TO_FEET );
 472
 473     _set_sin_lat_geocentric( lat_geoc );
 474     _set_cos_lat_geocentric( lat_geoc );
 475
 476     _set_sin_cos_longitude( lon );
 477
 478     _set_sin_cos_latitude( lat );
 479
 480     /* Norman's code for slope of the terrain */
 481     /* needs to be tested -- get it on the HUD and taxi around */
 482     /* double *tnorm = scenery.cur_normal;
 483
 484        double sy = sin ( -get_Psi() ) ;
 485        double cy = cos ( -get_Psi() ) ;
 486
 487        double phitb, thetatb, psitb;
 488        if ( tnorm[1] != 0.0 ) {
 489            psitb = -atan2 ( tnorm[0], tnorm[1] );
 490        }
 491        if ( tnorm[2] != 0.0 ) {
 492            thetatb =  atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
 493            phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
 494        }
 495
 496        _set_terrain_slope(phitb, thetatb, psitb)
 497      */
 498 }
 499
 500
 501 void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon,
 502                                              double alt )
 503 {
 504     double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
 505
 506     // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
 507
 508     sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
 509                   &lat_geod, &tmp_alt, &sl_radius1 );
 510     sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
 511
 512     SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
 513             << " lat_geod = " << lat_geod
 514             << " lat_geoc = " << lat_geoc
 515             << " alt = " << alt
 516             << " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
 517             << " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
 518             << " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
 519             << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
 520
 521     _set_Geocentric_Position( lat_geoc, lon,
 522                               sl_radius2 * SG_METER_TO_FEET + alt );
 523
 524     _set_Geodetic_Position( lat_geod, lon, alt );
 525
 526     _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
 527     _set_Runway_altitude( getACModel()->get3DModel()->getFGLocation()->get_cur_elev_m() * SG_METER_TO_FEET );
 528
 529     _set_sin_lat_geocentric( lat_geoc );
 530     _set_cos_lat_geocentric( lat_geoc );
 531
 532     _set_sin_cos_longitude( lon );
 533
 534     _set_sin_cos_latitude( lat_geod );
 535
 536     /* Norman's code for slope of the terrain */
 537     /* needs to be tested -- get it on the HUD and taxi around */
 538     /* double *tnorm = scenery.cur_normal;
 539
 540        double sy = sin ( -get_Psi() ) ;
 541        double cy = cos ( -get_Psi() ) ;
 542
 543        double phitb, thetatb, psitb;
 544        if ( tnorm[1] != 0.0 ) {
 545            psitb = -atan2 ( tnorm[0], tnorm[1] );
 546        }
 547        if ( tnorm[2] != 0.0 ) {
 548            thetatb =  atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
 549            phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
 550        }
 551
 552        _set_terrain_slope(phitb, thetatb, psitb)
 553      */
 554 }
 555
 556
 557 // Extrapolate fdm based on time_offset (in usec)
 558 void FGInterface::extrapolate( int time_offset ) {
 559     double dt = time_offset / 1000000.0;
 560
 561     // -dw- metrowerks complains about ambiguous access, not critical
 562     // to keep this ;)
 563 #ifndef __MWERKS__
 564     SG_LOG(SG_FLIGHT, SG_INFO, "extrapolating FDM by dt = " << dt);
 565 #endif
 566
 567     double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
 568     double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
 569
 570     double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
 571     double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
 572
 573     double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
 574     double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
 575
 576     geodetic_position_v[0] = lat;
 577     geocentric_position_v[0] = lat_geoc;
 578
 579     geodetic_position_v[1] = lon;
 580     geocentric_position_v[1] = lon_geoc;
 581
 582     geodetic_position_v[2] = alt;
 583     geocentric_position_v[2] = radius;
 584 }
 585
 586 // Positions
 587 void FGInterface::set_Latitude(double lat) {
 588     geodetic_position_v[0] = lat;
 589 }
 590
 591 void FGInterface::set_Longitude(double lon) {
 592     geodetic_position_v[1] = lon;
 593 }
 594
 595 void FGInterface::set_Altitude(double alt) {
 596     geodetic_position_v[2] = alt;
 597 }
 598
 599 void FGInterface::set_AltitudeAGL(double altagl) {
 600     altitude_agl=altagl;
 601 }
 602
 603 // Velocities
 604 void FGInterface::set_V_calibrated_kts(double vc) {
 605     v_calibrated_kts = vc;
 606 }
 607
 608 void FGInterface::set_Mach_number(double mach) {
 609     mach_number = mach;
 610 }
 611
 612 void FGInterface::set_Velocities_Local( double north,
 613                                         double east,
 614                                         double down ){
 615     v_local_v[0] = north;
 616     v_local_v[1] = east;
 617     v_local_v[2] = down;
 618 }
 619
 620 void FGInterface::set_Velocities_Wind_Body( double u,
 621                                             double v,
 622                                             double w){
 623     v_wind_body_v[0] = u;
 624     v_wind_body_v[1] = v;
 625     v_wind_body_v[2] = w;
 626 }
 627
 628 // Euler angles
 629 void FGInterface::set_Euler_Angles( double phi,
 630                                     double theta,
 631                                     double psi ) {
 632     euler_angles_v[0] = phi;
 633     euler_angles_v[1] = theta;
 634     euler_angles_v[2] = psi;
 635 }
 636
 637 // Flight Path
 638 void FGInterface::set_Climb_Rate( double roc) {
 639     climb_rate = roc;
 640 }
 641
 642 void FGInterface::set_Gamma_vert_rad( double gamma) {
 643     gamma_vert_rad = gamma;
 644 }
 645
 646 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
 647 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
 648 void FGInterface::set_Density(double rho) { density = rho; }
 649
 650 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
 651                                                 double weast,
 652                                                 double wdown ) {
 653     v_local_airmass_v[0] = wnorth;
 654     v_local_airmass_v[1] = weast;
 655     v_local_airmass_v[2] = wdown;
 656 }
 657
 658
 659 void FGInterface::_busdump(void) {
 660
 661     SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rp_body_v[3]: " << d_pilot_rp_body_v[0] << ", " << d_pilot_rp_body_v[1] << ", " << d_pilot_rp_body_v[2]);
 662     SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v[3]: " << d_cg_rp_body_v[0] << ", " << d_cg_rp_body_v[1] << ", " << d_cg_rp_body_v[2]);
 663     SG_LOG(SG_FLIGHT,SG_INFO,"f_body_total_v[3]: " << f_body_total_v[0] << ", " << f_body_total_v[1] << ", " << f_body_total_v[2]);
 664     SG_LOG(SG_FLIGHT,SG_INFO,"f_local_total_v[3]: " << f_local_total_v[0] << ", " << f_local_total_v[1] << ", " << f_local_total_v[2]);
 665     SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
 666     SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
 667     SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
 668     SG_LOG(SG_FLIGHT,SG_INFO,"m_total_rp_v[3]: " << m_total_rp_v[0] << ", " << m_total_rp_v[1] << ", " << m_total_rp_v[2]);
 669     SG_LOG(SG_FLIGHT,SG_INFO,"m_total_cg_v[3]: " << m_total_cg_v[0] << ", " << m_total_cg_v[1] << ", " << m_total_cg_v[2]);
 670     SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
 671     SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
 672     SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
 673     SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v[3]: " << v_dot_local_v[0] << ", " << v_dot_local_v[1] << ", " << v_dot_local_v[2]);
 674     SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v[3]: " << v_dot_body_v[0] << ", " << v_dot_body_v[1] << ", " << v_dot_body_v[2]);
 675     SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v[3]: " << a_cg_body_v[0] << ", " << a_cg_body_v[1] << ", " << a_cg_body_v[2]);
 676     SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v[3]: " << a_pilot_body_v[0] << ", " << a_pilot_body_v[1] << ", " << a_pilot_body_v[2]);
 677     SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v[3]: " << n_cg_body_v[0] << ", " << n_cg_body_v[1] << ", " << n_cg_body_v[2]);
 678     SG_LOG(SG_FLIGHT,SG_INFO,"n_pilot_body_v[3]: " << n_pilot_body_v[0] << ", " << n_pilot_body_v[1] << ", " << n_pilot_body_v[2]);
 679     SG_LOG(SG_FLIGHT,SG_INFO,"omega_dot_body_v[3]: " << omega_dot_body_v[0] << ", " << omega_dot_body_v[1] << ", " << omega_dot_body_v[2]);
 680     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
 681     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v[3]: " << v_local_rel_ground_v[0] << ", " << v_local_rel_ground_v[1] << ", " << v_local_rel_ground_v[2]);
 682     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v[3]: " << v_local_airmass_v[0] << ", " << v_local_airmass_v[1] << ", " << v_local_airmass_v[2]);
 683     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_airmass_v[3]: " << v_local_rel_airmass_v[0] << ", " << v_local_rel_airmass_v[1] << ", " << v_local_rel_airmass_v[2]);
 684     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_gust_v[3]: " << v_local_gust_v[0] << ", " << v_local_gust_v[1] << ", " << v_local_gust_v[2]);
 685     SG_LOG(SG_FLIGHT,SG_INFO,"v_wind_body_v[3]: " << v_wind_body_v[0] << ", " << v_wind_body_v[1] << ", " << v_wind_body_v[2]);
 686     SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
 687     SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
 688     SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
 689     SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
 690     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
 691     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
 692     SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
 693     SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
 694     SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rwy_local_v[3]: " << d_cg_rwy_local_v[0] << ", " << d_cg_rwy_local_v[1] << ", " << d_cg_rwy_local_v[2]);
 695     SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rwy_rwy_v[3]: " << d_cg_rwy_rwy_v[0] << ", " << d_cg_rwy_rwy_v[1] << ", " << d_cg_rwy_rwy_v[2]);
 696     SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rwy_local_v[3]: " << d_pilot_rwy_local_v[0] << ", " << d_pilot_rwy_local_v[1] << ", " << d_pilot_rwy_local_v[2]);
 697     SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rwy_rwy_v[3]: " << d_pilot_rwy_rwy_v[0] << ", " << d_pilot_rwy_rwy_v[1] << ", " << d_pilot_rwy_rwy_v[2]);
 698
 699     SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[0][3]: " << t_local_to_body_m[0][0] << ", " << t_local_to_body_m[0][1] << ", " << t_local_to_body_m[0][2]);
 700     SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[1][3]: " << t_local_to_body_m[1][0] << ", " << t_local_to_body_m[1][1] << ", " << t_local_to_body_m[1][2]);
 701     SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[2][3]: " << t_local_to_body_m[2][0] << ", " << t_local_to_body_m[2][1] << ", " << t_local_to_body_m[2][2]);
 702
 703     SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass );
 704     SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx );
 705     SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy );
 706     SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz );
 707     SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz );
 708     SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
 709     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
 710     SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
 711     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground );
 712     SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial );
 713     SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
 714     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv );
 715     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
 716     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated );
 717     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
 718     SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity );
 719     SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief );
 720     SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
 721     SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
 722     SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot );
 723     SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot );
 724     SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha );
 725     SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha );
 726     SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta );
 727     SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta );
 728     SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi );
 729     SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi );
 730     SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta );
 731     SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta );
 732     SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi );
 733     SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi );
 734     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
 735     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
 736     SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma );
 737     SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
 738     SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound );
 739     SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
 740     SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
 741     SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
 742     SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure );
 743     SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
 744     SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
 745     SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
 746     SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
 747     SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
 748     SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
 749     SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude );
 750     SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude );
 751     SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading );
 752     SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy );
 753     SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
 754     SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
 755     SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
 756     SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude );
 757     SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude );
 758     SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
 759     SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
 760     SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
 761 }
 762
 763
 764 void fgToggleFDMdataLogging(void) {
 765   cur_fdm_state->ToggleDataLogging();
 766 }