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 - curt@infoplane.com
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
28 #include <simgear/constants.h>
29 #include <simgear/debug/logstream.hxx>
30 #include <simgear/math/sg_geodesy.hxx>
31 #include <simgear/timing/timestamp.hxx>
33 #include <Scenery/scenery.hxx>
34 #include <FDM/LaRCsim/ls_interface.h>
35 #include <Main/globals.hxx>
36 #include <Main/fg_props.hxx>
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
46 FGInterface *cur_fdm_state = 0;
47 FGInterface base_fdm_state;
49 inline void init_vec(FG_VECTOR_3 vec) {
50 vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0;
54 FGInterface::FGInterface() {
58 FGInterface::FGInterface( double dt ) {
61 // remainder = elapsed = multi_loop = 0;
66 FGInterface::~FGInterface() {
67 // unbind(); // FIXME: should be called explicitly
72 FGInterface::_calc_multiloop (double dt)
74 int hz = fgGetInt("/sim/model-hz");
75 int speedup = fgGetInt("/sim/speed-up");
80 int multiloop = int(floor(ml));
81 remainder = (ml - multiloop) / hz;
82 return (multiloop * speedup);
87 * Set default values for the state of the FDM.
89 * This method is invoked by the constructors.
92 FGInterface::_setup ()
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] );
138 mass=i_xx=i_yy=i_zz=i_xz=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;
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;
152 static_temperature=total_temperature=0;
153 sea_level_radius=earth_position_angle=0;
154 runway_altitude=runway_latitude=runway_longitude=0;
158 sin_lat_geocentric=cos_lat_geocentric=0;
159 sin_latitude=cos_latitude=0;
160 sin_longitude=cos_longitude=0;
166 FGInterface::init () {}
169 * Initialize the state of the FDM.
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.
177 FGInterface::common_init ()
179 SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
184 // set_remainder( 0 );
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
190 _acmodel = globals->get_aircraft_model();
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);
206 set_Altitude( fgGetDouble("/position/altitude-ft") );
208 // Set ground elevation
209 SG_LOG( SG_FLIGHT, SG_INFO,
210 "...initializing ground elevation to " << ground_elev_ft
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;
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 );
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);
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") );
247 SG_LOG( SG_FLIGHT, SG_ALERT,
248 "Unrecognized value for /sim/startup/speed-set: "
250 set_V_calibrated_kts( 0.0 );
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 );
263 SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
268 * Bind getters and setters to properties.
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()
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
292 fgTie("/position/latitude-deg", this,
293 &FGInterface::get_Latitude_deg,
294 &FGInterface::set_Latitude_deg,
296 fgSetArchivable("/position/latitude-deg");
297 fgTie("/position/longitude-deg", this,
298 &FGInterface::get_Longitude_deg,
299 &FGInterface::set_Longitude_deg,
301 fgSetArchivable("/position/longitude-deg");
302 fgTie("/position/altitude-ft", this,
303 &FGInterface::get_Altitude,
304 &FGInterface::set_Altitude,
306 fgSetArchivable("/position/altitude-ft");
307 fgTie("/position/altitude-agl-ft", this,
308 &FGInterface::get_Altitude_AGL); // read-only
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");
324 // Calibrated airspeed
325 fgTie("/velocities/airspeed-kt", this,
326 &FGInterface::get_V_calibrated_kts,
327 &FGInterface::set_V_calibrated_kts,
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);
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,
361 fgSetArchivable("/velocities/uBody-fps");
362 fgTie("/velocities/vBody-fps", this,
363 &FGInterface::get_vBody,
364 &FGInterface::set_vBody,
366 fgSetArchivable("/velocities/vBody-fps");
367 fgTie("/velocities/wBody-fps", this,
368 &FGInterface::get_wBody,
369 &FGInterface::set_wBody,
371 fgSetArchivable("/velocities/wBody-fps");
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
392 * Unbind any properties bound to this FDM.
394 * This method allows the FDM to release properties so that a new
395 * FDM can bind them instead.
398 FGInterface::unbind ()
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");
430 * Update the state of the FDM (i.e. run the equations of motion).
433 FGInterface::update (double dt)
435 SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
439 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
441 double lat_geoc, sl_radius;
443 // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
445 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc );
447 SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
448 << " lat_geod = " << lat
449 << " lat_geoc = " << lat_geoc
451 << " sl_radius = " << sl_radius * SG_METER_TO_FEET
452 << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
454 _set_Geocentric_Position( lat_geoc, lon,
455 sl_radius * SG_METER_TO_FEET + alt );
457 _set_Geodetic_Position( lat, lon, alt );
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 );
462 _set_sin_lat_geocentric( lat_geoc );
463 _set_cos_lat_geocentric( lat_geoc );
465 _set_sin_cos_longitude( lon );
467 _set_sin_cos_latitude( lat );
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;
473 double sy = sin ( -get_Psi() ) ;
474 double cy = cos ( -get_Psi() ) ;
476 double phitb, thetatb, psitb;
477 if ( tnorm[1] != 0.0 ) {
478 psitb = -atan2 ( tnorm[0], tnorm[1] );
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] );
485 _set_terrain_slope(phitb, thetatb, psitb)
490 void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon,
493 double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
495 // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
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 );
501 SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
502 << " lat_geod = " << lat_geod
503 << " lat_geoc = " << lat_geoc
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 );
510 _set_Geocentric_Position( lat_geoc, lon,
511 sl_radius2 * SG_METER_TO_FEET + alt );
513 _set_Geodetic_Position( lat_geod, lon, alt );
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 );
518 _set_sin_lat_geocentric( lat_geoc );
519 _set_cos_lat_geocentric( lat_geoc );
521 _set_sin_cos_longitude( lon );
523 _set_sin_cos_latitude( lat_geod );
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;
529 double sy = sin ( -get_Psi() ) ;
530 double cy = cos ( -get_Psi() ) ;
532 double phitb, thetatb, psitb;
533 if ( tnorm[1] != 0.0 ) {
534 psitb = -atan2 ( tnorm[0], tnorm[1] );
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] );
541 _set_terrain_slope(phitb, thetatb, psitb)
546 // Extrapolate fdm based on time_offset (in usec)
547 void FGInterface::extrapolate( int time_offset ) {
548 double dt = time_offset / 1000000.0;
550 // -dw- metrowerks complains about ambiguous access, not critical
553 SG_LOG(SG_FLIGHT, SG_INFO, "extrapolating FDM by dt = " << dt);
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;
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;
562 double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
563 double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
565 geodetic_position_v[0] = lat;
566 geocentric_position_v[0] = lat_geoc;
568 geodetic_position_v[1] = lon;
569 geocentric_position_v[1] = lon_geoc;
571 geodetic_position_v[2] = alt;
572 geocentric_position_v[2] = radius;
576 void FGInterface::set_Latitude(double lat) {
577 geodetic_position_v[0] = lat;
580 void FGInterface::set_Longitude(double lon) {
581 geodetic_position_v[1] = lon;
584 void FGInterface::set_Altitude(double alt) {
585 geodetic_position_v[2] = alt;
588 void FGInterface::set_AltitudeAGL(double altagl) {
593 void FGInterface::set_V_calibrated_kts(double vc) {
594 v_calibrated_kts = vc;
597 void FGInterface::set_Mach_number(double mach) {
601 void FGInterface::set_Velocities_Local( double north,
604 v_local_v[0] = north;
609 void FGInterface::set_Velocities_Wind_Body( double u,
612 v_wind_body_v[0] = u;
613 v_wind_body_v[1] = v;
614 v_wind_body_v[2] = w;
618 void FGInterface::set_Euler_Angles( double phi,
621 euler_angles_v[0] = phi;
622 euler_angles_v[1] = theta;
623 euler_angles_v[2] = psi;
627 void FGInterface::set_Climb_Rate( double roc) {
631 void FGInterface::set_Gamma_vert_rad( double gamma) {
632 gamma_vert_rad = gamma;
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; }
639 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
642 v_local_airmass_v[0] = wnorth;
643 v_local_airmass_v[1] = weast;
644 v_local_airmass_v[2] = wdown;
648 void FGInterface::_busdump(void) {
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]);
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]);
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 );
753 void fgToggleFDMdataLogging(void) {
754 cur_fdm_state->ToggleDataLogging();