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