1 // flight.cxx -- a general interface to the various flight models
3 // Written by Curtis Olson, started May 1997.
5 // Copyright (C) 1997 Curtis L. Olson - http://www.flightgear.org/~curt
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.
31 #include <simgear/constants.h>
32 #include <simgear/debug/logstream.hxx>
33 #include <simgear/math/sg_geodesy.hxx>
34 #include <simgear/scene/model/placement.hxx>
35 #include <simgear/timing/timestamp.hxx>
37 #include <Scenery/scenery.hxx>
38 #include <Main/globals.hxx>
39 #include <Main/fg_props.hxx>
40 #include <FDM/groundcache.hxx>
45 // base_fdm_state is the internal state that is updated in integer
46 // multiples of "dt". This leads to "jitter" with respect to the real
47 // world time, so we introduce cur_fdm_state which is extrapolated by
48 // the difference between sim time and real world time
50 FGInterface *cur_fdm_state = 0;
51 FGInterface base_fdm_state;
53 inline void init_vec(FG_VECTOR_3 vec) {
54 vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0;
58 FGInterface::FGInterface()
64 FGInterface::FGInterface( double dt )
71 FGInterface::~FGInterface() {
72 // unbind(); // FIXME: should be called explicitly
77 FGInterface::_calc_multiloop (double dt)
79 int hz = fgGetInt("/sim/model-hz");
80 int speedup = fgGetInt("/sim/speed-up");
85 // Avoid roundoff problems by adding the roundoff itself.
86 // ... ok, two times the roundoff to have enough room.
87 int multiloop = int(floor(ml * (1.0 + 2.0*DBL_EPSILON)));
88 remainder = (ml - multiloop) / hz;
89 return (multiloop * speedup);
94 * Set default values for the state of the FDM.
96 * This method is invoked by the constructors.
99 FGInterface::_setup ()
104 init_vec( d_pilot_rp_body_v );
105 init_vec( d_cg_rp_body_v );
106 init_vec( f_body_total_v );
107 init_vec( f_local_total_v );
108 init_vec( f_aero_v );
109 init_vec( f_engine_v );
110 init_vec( f_gear_v );
111 init_vec( m_total_rp_v );
112 init_vec( m_total_cg_v );
113 init_vec( m_aero_v );
114 init_vec( m_engine_v );
115 init_vec( m_gear_v );
116 init_vec( v_dot_local_v );
117 init_vec( v_dot_body_v );
118 init_vec( a_cg_body_v );
119 init_vec( a_pilot_body_v );
120 init_vec( n_cg_body_v );
121 init_vec( n_pilot_body_v );
122 init_vec( omega_dot_body_v );
123 init_vec( v_local_v );
124 init_vec( v_local_rel_ground_v );
125 init_vec( v_local_airmass_v );
126 init_vec( v_local_rel_airmass_v );
127 init_vec( v_local_gust_v );
128 init_vec( v_wind_body_v );
129 init_vec( omega_body_v );
130 init_vec( omega_local_v );
131 init_vec( omega_total_v );
132 init_vec( euler_rates_v );
133 init_vec( geocentric_rates_v );
134 init_vec( geocentric_position_v );
135 init_vec( geodetic_position_v );
136 init_vec( euler_angles_v );
137 init_vec( d_cg_rwy_local_v );
138 init_vec( d_cg_rwy_rwy_v );
139 init_vec( d_pilot_rwy_local_v );
140 init_vec( d_pilot_rwy_rwy_v );
141 init_vec( t_local_to_body_m[0] );
142 init_vec( t_local_to_body_m[1] );
143 init_vec( t_local_to_body_m[2] );
145 mass=i_xx=i_yy=i_zz=i_xz=0;
147 v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
148 v_ground_speed=v_equiv=v_equiv_kts=0;
149 v_calibrated=v_calibrated_kts=0;
151 centrifugal_relief=0;
152 alpha=beta=alpha_dot=beta_dot=0;
153 cos_alpha=sin_alpha=cos_beta=sin_beta=0;
154 cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
155 gamma_vert_rad=gamma_horiz_rad=0;
156 sigma=density=v_sound=mach_number=0;
157 static_pressure=total_pressure=impact_pressure=0;
159 static_temperature=total_temperature=0;
160 sea_level_radius=earth_position_angle=0;
161 runway_altitude=runway_latitude=runway_longitude=0;
165 sin_lat_geocentric=cos_lat_geocentric=0;
166 sin_latitude=cos_latitude=0;
167 sin_longitude=cos_longitude=0;
172 FGInterface::init () {}
175 * Initialize the state of the FDM.
177 * Subclasses of FGInterface may do their own, additional initialization,
178 * but there is some that is common to all. Normally, they should call
179 * this before they begin their own init to make sure the basic structures
180 * are set up properly.
183 FGInterface::common_init ()
185 SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
190 // set_remainder( 0 );
192 // Set initial position
193 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
194 double lon = fgGetDouble("/sim/presets/longitude-deg")
195 * SGD_DEGREES_TO_RADIANS;
196 double lat = fgGetDouble("/sim/presets/latitude-deg")
197 * SGD_DEGREES_TO_RADIANS;
198 double alt_ft = fgGetDouble("/sim/presets/altitude-ft");
199 double alt_m = alt_ft * SG_FEET_TO_METER;
200 set_Longitude( lon );
202 SG_LOG( SG_FLIGHT, SG_INFO, "Checking for lon = "
203 << lon*SGD_RADIANS_TO_DEGREES << "deg, lat = "
204 << lat*SGD_RADIANS_TO_DEGREES << "deg, alt = "
207 double ground_elev_m = get_groundlevel_m(lat, lon, alt_m);
208 double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
209 _set_Runway_altitude ( ground_elev_ft );
210 if ( fgGetBool("/sim/presets/onground") || alt_ft < ground_elev_ft ) {
211 fgSetDouble("/position/altitude-ft", ground_elev_ft + 0.1);
212 set_Altitude( ground_elev_ft + 0.1);
214 set_Altitude( alt_ft );
217 // Set ground elevation
218 SG_LOG( SG_FLIGHT, SG_INFO,
219 "...initializing ground elevation to " << ground_elev_ft
222 // Set sea-level radius
223 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
224 SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
225 << fgGetDouble("/sim/presets/latitude-deg")
226 << " alt = " << get_Altitude() );
227 double sea_level_radius_meters;
229 sgGeodToGeoc( fgGetDouble("/sim/presets/latitude-deg")
230 * SGD_DEGREES_TO_RADIANS,
231 get_Altitude() * SG_FEET_TO_METER,
232 &sea_level_radius_meters, &lat_geoc );
233 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
235 // Set initial velocities
236 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
237 if ( !fgHasNode("/sim/presets/speed-set") ) {
238 set_V_calibrated_kts(0.0);
240 const string speedset = fgGetString("/sim/presets/speed-set");
241 if ( speedset == "knots" || speedset == "KNOTS" ) {
242 set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") );
243 } else if ( speedset == "mach" || speedset == "MACH" ) {
244 set_Mach_number( fgGetDouble("/sim/presets/mach") );
245 } else if ( speedset == "UVW" || speedset == "uvw" ) {
246 set_Velocities_Wind_Body(
247 fgGetDouble("/sim/presets/uBody-fps"),
248 fgGetDouble("/sim/presets/vBody-fps"),
249 fgGetDouble("/sim/presets/wBody-fps") );
250 } else if ( speedset == "NED" || speedset == "ned" ) {
251 set_Velocities_Local(
252 fgGetDouble("/sim/presets/speed-north-fps"),
253 fgGetDouble("/sim/presets/speed-east-fps"),
254 fgGetDouble("/sim/presets/speed-down-fps") );
256 SG_LOG( SG_FLIGHT, SG_ALERT,
257 "Unrecognized value for /sim/presets/speed-set: "
259 set_V_calibrated_kts( 0.0 );
263 // Set initial Euler angles
264 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
265 set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
266 * SGD_DEGREES_TO_RADIANS,
267 fgGetDouble("/sim/presets/pitch-deg")
268 * SGD_DEGREES_TO_RADIANS,
269 fgGetDouble("/sim/presets/heading-deg")
270 * SGD_DEGREES_TO_RADIANS );
272 SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
277 * Bind getters and setters to properties.
279 * The bind() method will be invoked after init(). Note that unlike
280 * the usual implementations of FGSubsystem::bind(), this method does
281 * not automatically pick up existing values for the properties at
282 * bind time; instead, all values are set explicitly in the init()
290 // Time management (read-only)
291 // fgTie("/fdm/time/delta_t", this,
292 // &FGInterface::get_delta_t); // read-only
293 // fgTie("/fdm/time/elapsed", this,
294 // &FGInterface::get_elapsed); // read-only
295 // fgTie("/fdm/time/remainder", this,
296 // &FGInterface::get_remainder); // read-only
297 // fgTie("/fdm/time/multi_loop", this,
298 // &FGInterface::get_multi_loop); // read-only
301 fgTie("/position/latitude-deg", this,
302 &FGInterface::get_Latitude_deg,
303 &FGInterface::set_Latitude_deg,
305 fgSetArchivable("/position/latitude-deg");
306 fgTie("/position/longitude-deg", this,
307 &FGInterface::get_Longitude_deg,
308 &FGInterface::set_Longitude_deg,
310 fgSetArchivable("/position/longitude-deg");
311 fgTie("/position/altitude-ft", this,
312 &FGInterface::get_Altitude,
313 &FGInterface::set_Altitude,
315 fgSetArchivable("/position/altitude-ft");
316 fgTie("/position/altitude-agl-ft", this,
317 &FGInterface::get_Altitude_AGL); // read-only
318 fgSetArchivable("/position/ground-elev-ft");
319 fgTie("/position/ground-elev-ft", this,
320 &FGInterface::get_Runway_altitude); // read-only
321 fgSetArchivable("/position/ground-elev-m");
322 fgTie("/position/ground-elev-m", this,
323 &FGInterface::get_Runway_altitude_m); // read-only
324 fgTie("/environment/ground-elevation-m", this,
325 &FGInterface::get_Runway_altitude_m); // read-only
326 fgSetArchivable("/position/sea-level-radius-ft");
327 fgTie("/position/sea-level-radius-ft", this,
328 &FGInterface::get_Sea_level_radius); // read-only
331 fgTie("/orientation/roll-deg", this,
332 &FGInterface::get_Phi_deg,
333 &FGInterface::set_Phi_deg);
334 fgSetArchivable("/orientation/roll-deg");
335 fgTie("/orientation/pitch-deg", this,
336 &FGInterface::get_Theta_deg,
337 &FGInterface::set_Theta_deg);
338 fgSetArchivable("/orientation/pitch-deg");
339 fgTie("/orientation/heading-deg", this,
340 &FGInterface::get_Psi_deg,
341 &FGInterface::set_Psi_deg);
342 fgSetArchivable("/orientation/heading-deg");
344 // Body-axis "euler rates" (rotation speed, but in a funny
346 fgTie("/orientation/roll-rate-degps", this,
347 &FGInterface::get_Phi_dot_degps);
348 fgTie("/orientation/pitch-rate-degps", this,
349 &FGInterface::get_Theta_dot_degps);
350 fgTie("/orientation/yaw-rate-degps", this,
351 &FGInterface::get_Psi_dot_degps);
353 // Calibrated airspeed
354 fgTie("/velocities/airspeed-kt", this,
355 &FGInterface::get_V_calibrated_kts,
356 &FGInterface::set_V_calibrated_kts,
360 fgTie("/velocities/mach", this,
361 &FGInterface::get_Mach_number,
362 &FGInterface::set_Mach_number,
366 // fgTie("/velocities/speed-north-fps", this,
367 // &FGInterface::get_V_north,
368 // &FGInterface::set_V_north);
369 // fgSetArchivable("/velocities/speed-north-fps");
370 // fgTie("/velocities/speed-east-fps", this,
371 // &FGInterface::get_V_east,
372 // &FGInterface::set_V_east);
373 // fgSetArchivable("/velocities/speed-east-fps");
374 // fgTie("/velocities/speed-down-fps", this,
375 // &FGInterface::get_V_down,
376 // &FGInterface::set_V_down);
377 // fgSetArchivable("/velocities/speed-down-fps");
378 // FIXME: Temporarily read-only, until the
379 // incompatibilities between JSBSim and
380 // LaRCSim are fixed (LaRCSim adds the
381 // earth's rotation to the east velocity).
382 fgTie("/velocities/speed-north-fps", this,
383 &FGInterface::get_V_north);
384 fgTie("/velocities/speed-east-fps", this,
385 &FGInterface::get_V_east);
386 fgTie("/velocities/speed-down-fps", this,
387 &FGInterface::get_V_down);
390 // FIXME: temporarily archivable, until
391 // the NED problem is fixed.
392 fgTie("/velocities/uBody-fps", this,
393 &FGInterface::get_uBody,
394 &FGInterface::set_uBody,
396 fgSetArchivable("/velocities/uBody-fps");
397 fgTie("/velocities/vBody-fps", this,
398 &FGInterface::get_vBody,
399 &FGInterface::set_vBody,
401 fgSetArchivable("/velocities/vBody-fps");
402 fgTie("/velocities/wBody-fps", this,
403 &FGInterface::get_wBody,
404 &FGInterface::set_wBody,
406 fgSetArchivable("/velocities/wBody-fps");
408 // Climb and slip (read-only)
409 fgTie("/velocities/vertical-speed-fps", this,
410 &FGInterface::get_Climb_Rate,
411 &FGInterface::set_Climb_Rate );
412 fgTie("/velocities/glideslope", this,
413 &FGInterface::get_Gamma_vert_rad,
414 &FGInterface::set_Gamma_vert_rad );
415 fgTie("/orientation/side-slip-rad", this,
416 &FGInterface::get_Beta); // read-only
417 fgTie("/orientation/side-slip-deg", this,
418 &FGInterface::get_Beta_deg); // read-only
419 fgTie("/orientation/alpha-deg", this,
420 &FGInterface::get_Alpha_deg); // read-only
421 fgTie("/accelerations/nlf", this,
422 &FGInterface::get_Nlf); // read-only
425 fgTie("/accelerations/ned/north-accel-fps_sec",
426 this, &FGInterface::get_V_dot_north);
427 fgTie("/accelerations/ned/east-accel-fps_sec",
428 this, &FGInterface::get_V_dot_east);
429 fgTie("/accelerations/ned/down-accel-fps_sec",
430 this, &FGInterface::get_V_dot_down);
432 // Pilot accelerations
433 fgTie("/accelerations/pilot/x-accel-fps_sec",
434 this, &FGInterface::get_A_X_pilot);
435 fgTie("/accelerations/pilot/y-accel-fps_sec",
436 this, &FGInterface::get_A_Y_pilot);
437 fgTie("/accelerations/pilot/z-accel-fps_sec",
438 this, &FGInterface::get_A_Z_pilot);
444 * Unbind any properties bound to this FDM.
446 * This method allows the FDM to release properties so that a new
447 * FDM can bind them instead.
450 FGInterface::unbind ()
454 // fgUntie("/fdm/time/delta_t");
455 // fgUntie("/fdm/time/elapsed");
456 // fgUntie("/fdm/time/remainder");
457 // fgUntie("/fdm/time/multi_loop");
458 fgUntie("/position/latitude-deg");
459 fgUntie("/position/longitude-deg");
460 fgUntie("/position/altitude-ft");
461 fgUntie("/position/altitude-agl-ft");
462 fgUntie("/position/ground-elev-ft");
463 fgUntie("/position/ground-elev-m");
464 fgUntie("/environment/ground-elevation-m");
465 fgUntie("/position/sea-level-radius-ft");
466 fgUntie("/orientation/roll-deg");
467 fgUntie("/orientation/pitch-deg");
468 fgUntie("/orientation/heading-deg");
469 fgUntie("/orientation/roll-rate-degps");
470 fgUntie("/orientation/pitch-rate-degps");
471 fgUntie("/orientation/yaw-rate-degps");
472 fgUntie("/orientation/side-slip-rad");
473 fgUntie("/orientation/side-slip-deg");
474 fgUntie("/orientation/alpha-deg");
475 fgUntie("/velocities/airspeed-kt");
476 fgUntie("/velocities/mach");
477 fgUntie("/velocities/speed-north-fps");
478 fgUntie("/velocities/speed-east-fps");
479 fgUntie("/velocities/speed-down-fps");
480 fgUntie("/velocities/uBody-fps");
481 fgUntie("/velocities/vBody-fps");
482 fgUntie("/velocities/wBody-fps");
483 fgUntie("/velocities/vertical-speed-fps");
484 fgUntie("/velocities/glideslope");
485 fgUntie("/accelerations/nlf");
486 fgUntie("/accelerations/pilot/x-accel-fps_sec");
487 fgUntie("/accelerations/pilot/y-accel-fps_sec");
488 fgUntie("/accelerations/pilot/z-accel-fps_sec");
489 fgUntie("/accelerations/ned/north-accel-fps_sec");
490 fgUntie("/accelerations/ned/east-accel-fps_sec");
491 fgUntie("/accelerations/ned/down-accel-fps_sec");
495 * Update the state of the FDM (i.e. run the equations of motion).
498 FGInterface::update (double dt)
500 SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
504 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
506 double lat_geoc, sl_radius;
508 // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
510 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc );
512 SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
513 << " lat_geod = " << lat
514 << " lat_geoc = " << lat_geoc
516 << " sl_radius = " << sl_radius * SG_METER_TO_FEET
517 << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
519 _set_Geocentric_Position( lat_geoc, lon,
520 sl_radius * SG_METER_TO_FEET + alt );
522 _set_Geodetic_Position( lat, lon, alt );
524 _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
525 _update_ground_elev_at_pos();
527 _set_sin_lat_geocentric( lat_geoc );
528 _set_cos_lat_geocentric( lat_geoc );
530 _set_sin_cos_longitude( lon );
532 _set_sin_cos_latitude( lat );
536 void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon,
539 double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
541 // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
543 sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
544 &lat_geod, &tmp_alt, &sl_radius1 );
545 sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
547 SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
548 << " lat_geod = " << lat_geod
549 << " lat_geoc = " << lat_geoc
551 << " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
552 << " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
553 << " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
554 << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
556 _set_Geocentric_Position( lat_geoc, lon,
557 sl_radius2 * SG_METER_TO_FEET + alt );
559 _set_Geodetic_Position( lat_geod, lon, alt );
561 _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
562 _update_ground_elev_at_pos();
564 _set_sin_lat_geocentric( lat_geoc );
565 _set_cos_lat_geocentric( lat_geoc );
567 _set_sin_cos_longitude( lon );
569 _set_sin_cos_latitude( lat_geod );
572 void FGInterface::_update_ground_elev_at_pos( void ) {
573 double lat = get_Latitude();
574 double lon = get_Longitude();
575 double alt_m = get_Altitude()*SG_FEET_TO_METER;
576 double groundlevel_m = get_groundlevel_m(lat, lon, alt_m);
577 _set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET );
580 // Extrapolate fdm based on time_offset (in usec)
581 void FGInterface::extrapolate( int time_offset ) {
582 double dt = time_offset / 1000000.0;
584 // -dw- metrowerks complains about ambiguous access, not critical
587 SG_LOG(SG_FLIGHT, SG_INFO, "extrapolating FDM by dt = " << dt);
590 double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
591 double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
593 double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
594 double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
596 double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
597 double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
599 geodetic_position_v[0] = lat;
600 geocentric_position_v[0] = lat_geoc;
602 geodetic_position_v[1] = lon;
603 geocentric_position_v[1] = lon_geoc;
605 geodetic_position_v[2] = alt;
606 geocentric_position_v[2] = radius;
610 void FGInterface::set_Latitude(double lat) {
611 geodetic_position_v[0] = lat;
614 void FGInterface::set_Longitude(double lon) {
615 geodetic_position_v[1] = lon;
618 void FGInterface::set_Altitude(double alt) {
619 geodetic_position_v[2] = alt;
622 void FGInterface::set_AltitudeAGL(double altagl) {
627 void FGInterface::set_V_calibrated_kts(double vc) {
628 v_calibrated_kts = vc;
631 void FGInterface::set_Mach_number(double mach) {
635 void FGInterface::set_Velocities_Local( double north,
638 v_local_v[0] = north;
643 void FGInterface::set_Velocities_Wind_Body( double u,
646 v_wind_body_v[0] = u;
647 v_wind_body_v[1] = v;
648 v_wind_body_v[2] = w;
652 void FGInterface::set_Euler_Angles( double phi,
655 euler_angles_v[0] = phi;
656 euler_angles_v[1] = theta;
657 euler_angles_v[2] = psi;
661 void FGInterface::set_Climb_Rate( double roc) {
665 void FGInterface::set_Gamma_vert_rad( double gamma) {
666 gamma_vert_rad = gamma;
669 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
670 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
671 void FGInterface::set_Density(double rho) { density = rho; }
673 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
676 v_local_airmass_v[0] = wnorth;
677 v_local_airmass_v[1] = weast;
678 v_local_airmass_v[2] = wdown;
682 void FGInterface::_busdump(void) {
684 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]);
685 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]);
686 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]);
687 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]);
688 SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
689 SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
690 SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
691 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]);
692 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]);
693 SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
694 SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
695 SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
696 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]);
697 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]);
698 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]);
699 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]);
700 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]);
701 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]);
702 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]);
703 SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
704 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]);
705 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]);
706 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]);
707 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]);
708 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]);
709 SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
710 SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
711 SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
712 SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
713 SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
714 SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
715 SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
716 SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
717 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]);
718 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]);
719 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]);
720 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]);
722 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]);
723 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]);
724 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]);
726 SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass );
727 SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx );
728 SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy );
729 SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz );
730 SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz );
731 SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
732 SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
733 SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
734 SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground );
735 SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial );
736 SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
737 SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv );
738 SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
739 SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated );
740 SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
741 SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity );
742 SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief );
743 SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
744 SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
745 SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot );
746 SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot );
747 SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha );
748 SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha );
749 SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta );
750 SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta );
751 SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi );
752 SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi );
753 SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta );
754 SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta );
755 SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi );
756 SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi );
757 SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
758 SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
759 SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma );
760 SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
761 SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound );
762 SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
763 SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
764 SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
765 SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure );
766 SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
767 SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
768 SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
769 SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
770 SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
771 SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
772 SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude );
773 SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude );
774 SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading );
775 SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy );
776 SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
777 SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
778 SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
779 SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude );
780 SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude );
781 SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
782 SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
783 SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
787 FGInterface::prepare_ground_cache_m(double ref_time, const double pt[3],
790 return ground_cache.prepare_ground_cache(ref_time, pt, rad);
793 bool FGInterface::prepare_ground_cache_ft(double ref_time, const double pt[3],
796 // Convert units and do the real work.
798 sgdScaleVec3( pt_ft, pt, SG_FEET_TO_METER );
799 return ground_cache.prepare_ground_cache(ref_time, pt_ft, rad*SG_FEET_TO_METER);
803 FGInterface::is_valid_m(double *ref_time, double pt[3], double *rad)
805 return ground_cache.is_valid(ref_time, pt, rad);
808 bool FGInterface::is_valid_ft(double *ref_time, double pt[3], double *rad)
810 // Convert units and do the real work.
811 bool found_ground = ground_cache.is_valid(ref_time, pt, rad);
812 sgdScaleVec3(pt, SG_METER_TO_FEET);
813 *rad *= SG_METER_TO_FEET;
818 FGInterface::get_cat_m(double t, const double pt[3],
819 double end[2][3], double vel[2][3])
821 return ground_cache.get_cat(t, pt, end, vel);
825 FGInterface::get_cat_ft(double t, const double pt[3],
826 double end[2][3], double vel[2][3])
828 // Convert units and do the real work.
830 sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER );
831 double dist = ground_cache.get_cat(t, pt_m, end, vel);
832 for (int k=0; k<2; ++k) {
833 sgdScaleVec3( end[k], SG_METER_TO_FEET );
834 sgdScaleVec3( vel[k], SG_METER_TO_FEET );
836 return dist*SG_METER_TO_FEET;
840 FGInterface::get_agl_m(double t, const double pt[3],
841 double contact[3], double normal[3], double vel[3],
842 int *type, double *loadCapacity,
843 double *frictionFactor, double *agl)
845 return ground_cache.get_agl(t, pt, 2.0, contact, normal, vel, type,
846 loadCapacity, frictionFactor, agl);
850 FGInterface::get_agl_ft(double t, const double pt[3],
851 double contact[3], double normal[3], double vel[3],
852 int *type, double *loadCapacity,
853 double *frictionFactor, double *agl)
855 // Convert units and do the real work.
857 sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER );
858 bool ret = ground_cache.get_agl(t, pt_m, 2.0, contact, normal, vel,
859 type, loadCapacity, frictionFactor, agl);
860 // Convert units back ...
861 sgdScaleVec3( contact, SG_METER_TO_FEET );
862 sgdScaleVec3( vel, SG_METER_TO_FEET );
863 *agl *= SG_METER_TO_FEET;
864 // FIXME: scale the load limit to something in the english unit system.
865 // Be careful with the DBL_MAX which is returned by default.
870 FGInterface::get_agl_m(double t, const double pt[3], double max_altoff,
871 double contact[3], double normal[3], double vel[3],
872 int *type, double *loadCapacity,
873 double *frictionFactor, double *agl)
875 return ground_cache.get_agl(t, pt, max_altoff, contact, normal, vel, type,
876 loadCapacity, frictionFactor, agl);
880 FGInterface::get_agl_ft(double t, const double pt[3], double max_altoff,
881 double contact[3], double normal[3], double vel[3],
882 int *type, double *loadCapacity,
883 double *frictionFactor, double *agl)
885 // Convert units and do the real work.
887 sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER );
888 bool ret = ground_cache.get_agl(t, pt_m, SG_FEET_TO_METER * max_altoff,
889 contact, normal, vel,
890 type, loadCapacity, frictionFactor, agl);
891 // Convert units back ...
892 sgdScaleVec3( contact, SG_METER_TO_FEET );
893 sgdScaleVec3( vel, SG_METER_TO_FEET );
894 *agl *= SG_METER_TO_FEET;
895 // FIXME: scale the load limit to something in the english unit system.
896 // Be careful with the DBL_MAX which is returned by default.
902 FGInterface::get_groundlevel_m(double lat, double lon, double alt)
905 // Compute the cartesian position of the given lat/lon/alt.
906 sgGeodToCart(lat, lon, alt, pos);
908 // FIXME: how to handle t - ref_time differences ???
909 double ref_time, radius;
910 // Prepare the ground cache for that position.
911 if (!is_valid_m(&ref_time, cpos, &radius)) {
912 bool ok = prepare_ground_cache_m(ref_time, pos, 10);
913 /// This is most likely the case when the given altitude is
914 /// too low, try with a new altitude of 10000m, that should be
915 /// sufficient to find a ground level below everywhere on our planet
917 sgGeodToCart(lat, lon, 10000, pos);
918 /// If there is still no ground, return sea level radius
919 if (!prepare_ground_cache_m(ref_time, pos, 10))
922 } else if (radius*radius <= sgdDistanceSquaredVec3(pos, cpos)) {
923 /// We reuse the old radius value, but only if it is at least 10 Meters ..
924 if (!(10 < radius)) // Well this strange compare is nan safe
927 bool ok = prepare_ground_cache_m(ref_time, pos, radius);
928 /// This is most likely the case when the given altitude is
929 /// too low, try with a new altitude of 10000m, that should be
930 /// sufficient to find a ground level below everywhere on our planet
932 sgGeodToCart(lat, lon, 10000, pos);
933 /// If there is still no ground, return sea level radius
934 if (!prepare_ground_cache_m(ref_time, pos, radius))
939 double contact[3], normal[3], vel[3], lc, ff, agl;
941 // Ignore the return value here, since it just tells us if
942 // the returns stem from the groundcache or from the coarse
943 // computations below the groundcache. The contact point is still something
944 // valid, the normals and the other returns just contain some defaults.
945 get_agl_m(ref_time, pos, 2.0, contact, normal, vel, &type, &lc, &ff, &agl);
946 Point3D geodPos = sgCartToGeod(Point3D(contact[0], contact[1], contact[2]));
947 return geodPos.elev();
951 FGInterface::caught_wire_m(double t, const double pt[4][3])
953 return ground_cache.caught_wire(t, pt);
957 FGInterface::caught_wire_ft(double t, const double pt[4][3])
959 // Convert units and do the real work.
961 for (int i=0; i<4; ++i)
962 sgdScaleVec3(pt_m[i], pt[i], SG_FEET_TO_METER);
964 return ground_cache.caught_wire(t, pt_m);
968 FGInterface::get_wire_ends_m(double t, double end[2][3], double vel[2][3])
970 return ground_cache.get_wire_ends(t, end, vel);
974 FGInterface::get_wire_ends_ft(double t, double end[2][3], double vel[2][3])
976 // Convert units and do the real work.
977 bool ret = ground_cache.get_wire_ends(t, end, vel);
978 for (int k=0; k<2; ++k) {
979 sgdScaleVec3( end[k], SG_METER_TO_FEET );
980 sgdScaleVec3( vel[k], SG_METER_TO_FEET );
986 FGInterface::release_wire(void)
988 ground_cache.release_wire();
991 void fgToggleFDMdataLogging(void) {
992 cur_fdm_state->ToggleDataLogging();