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