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()
60 FGInterface::FGInterface( double dt )
67 FGInterface::~FGInterface() {
68 // unbind(); // FIXME: should be called explicitly
73 FGInterface::_calc_multiloop (double dt)
75 int hz = fgGetInt("/sim/model-hz");
76 int speedup = fgGetInt("/sim/speed-up");
81 int multiloop = int(floor(ml));
82 remainder = (ml - multiloop) / hz;
83 return (multiloop * speedup);
88 * Set default values for the state of the FDM.
90 * This method is invoked by the constructors.
93 FGInterface::_setup ()
98 init_vec( d_pilot_rp_body_v );
99 init_vec( d_cg_rp_body_v );
100 init_vec( f_body_total_v );
101 init_vec( f_local_total_v );
102 init_vec( f_aero_v );
103 init_vec( f_engine_v );
104 init_vec( f_gear_v );
105 init_vec( m_total_rp_v );
106 init_vec( m_total_cg_v );
107 init_vec( m_aero_v );
108 init_vec( m_engine_v );
109 init_vec( m_gear_v );
110 init_vec( v_dot_local_v );
111 init_vec( v_dot_body_v );
112 init_vec( a_cg_body_v );
113 init_vec( a_pilot_body_v );
114 init_vec( n_cg_body_v );
115 init_vec( n_pilot_body_v );
116 init_vec( omega_dot_body_v );
117 init_vec( v_local_v );
118 init_vec( v_local_rel_ground_v );
119 init_vec( v_local_airmass_v );
120 init_vec( v_local_rel_airmass_v );
121 init_vec( v_local_gust_v );
122 init_vec( v_wind_body_v );
123 init_vec( omega_body_v );
124 init_vec( omega_local_v );
125 init_vec( omega_total_v );
126 init_vec( euler_rates_v );
127 init_vec( geocentric_rates_v );
128 init_vec( geocentric_position_v );
129 init_vec( geodetic_position_v );
130 init_vec( euler_angles_v );
131 init_vec( d_cg_rwy_local_v );
132 init_vec( d_cg_rwy_rwy_v );
133 init_vec( d_pilot_rwy_local_v );
134 init_vec( d_pilot_rwy_rwy_v );
135 init_vec( t_local_to_body_m[0] );
136 init_vec( t_local_to_body_m[1] );
137 init_vec( t_local_to_body_m[2] );
139 mass=i_xx=i_yy=i_zz=i_xz=0;
141 v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
142 v_ground_speed=v_equiv=v_equiv_kts=0;
143 v_calibrated=v_calibrated_kts=0;
145 centrifugal_relief=0;
146 alpha=beta=alpha_dot=beta_dot=0;
147 cos_alpha=sin_alpha=cos_beta=sin_beta=0;
148 cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
149 gamma_vert_rad=gamma_horiz_rad=0;
150 sigma=density=v_sound=mach_number=0;
151 static_pressure=total_pressure=impact_pressure=0;
153 static_temperature=total_temperature=0;
154 sea_level_radius=earth_position_angle=0;
155 runway_altitude=runway_latitude=runway_longitude=0;
159 sin_lat_geocentric=cos_lat_geocentric=0;
160 sin_latitude=cos_latitude=0;
161 sin_longitude=cos_longitude=0;
167 FGInterface::init () {}
170 * Initialize the state of the FDM.
172 * Subclasses of FGInterface may do their own, additional initialization,
173 * but there is some that is common to all. Normally, they should call
174 * this before they begin their own init to make sure the basic structures
175 * are set up properly.
178 FGInterface::common_init ()
180 SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
185 // set_remainder( 0 );
187 // linking in FGAircraft instance...
188 // FIXME: when using multiple instances, then there will be more than
189 // one model so get_aircraft_model will have to be indexed to the correct
191 _acmodel = globals->get_aircraft_model();
193 // Set initial position
194 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
195 set_Longitude( fgGetDouble("/position/longitude-deg")
196 * SGD_DEGREES_TO_RADIANS );
197 set_Latitude( fgGetDouble("/position/latitude-deg")
198 * SGD_DEGREES_TO_RADIANS );
199 double ground_elev_m = globals->get_scenery()->get_cur_elev();
200 double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
201 _acmodel->get3DModel()->getFGLocation()->set_cur_elev_m( ground_elev_m );
202 _set_Runway_altitude ( ground_elev_ft );
203 if ( fgGetBool("/sim/startup/onground")
204 || fgGetDouble("/position/altitude-ft") < ground_elev_ft ) {
205 fgSetDouble("/position/altitude-ft", ground_elev_ft);
207 set_Altitude( fgGetDouble("/position/altitude-ft") );
209 // Set ground elevation
210 SG_LOG( SG_FLIGHT, SG_INFO,
211 "...initializing ground elevation to " << ground_elev_ft
214 // Set sea-level radius
215 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
216 SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
217 << fgGetDouble("/position/latitude-deg")
218 << " alt = " << fgGetDouble("/position/altitude-ft") );
219 double sea_level_radius_meters;
221 sgGeodToGeoc( fgGetDouble("/position/latitude-deg")
222 * SGD_DEGREES_TO_RADIANS,
223 fgGetDouble("/position/altitude-ft") * SG_FEET_TO_METER,
224 &sea_level_radius_meters, &lat_geoc );
225 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
227 // Set initial velocities
228 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
229 if ( !fgHasNode("/sim/startup/speed-set") ) {
230 set_V_calibrated_kts(0.0);
232 const string speedset = fgGetString("/sim/startup/speed-set");
233 if ( speedset == "knots" || speedset == "KNOTS" ) {
234 set_V_calibrated_kts( fgGetDouble("/velocities/airspeed-kt") );
235 } else if ( speedset == "mach" || speedset == "MACH" ) {
236 set_Mach_number( fgGetDouble("/velocities/mach") );
237 } else if ( speedset == "UVW" || speedset == "uvw" ) {
238 set_Velocities_Wind_Body(
239 fgGetDouble("/velocities/uBody-fps"),
240 fgGetDouble("/velocities/vBody-fps"),
241 fgGetDouble("/velocities/wBody-fps") );
242 } else if ( speedset == "NED" || speedset == "ned" ) {
243 set_Velocities_Local(
244 fgGetDouble("/velocities/speed-north-fps"),
245 fgGetDouble("/velocities/speed-east-fps"),
246 fgGetDouble("/velocities/speed-down-fps") );
248 SG_LOG( SG_FLIGHT, SG_ALERT,
249 "Unrecognized value for /sim/startup/speed-set: "
251 set_V_calibrated_kts( 0.0 );
255 // Set initial Euler angles
256 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
257 set_Euler_Angles( fgGetDouble("/orientation/roll-deg")
258 * SGD_DEGREES_TO_RADIANS,
259 fgGetDouble("/orientation/pitch-deg")
260 * SGD_DEGREES_TO_RADIANS,
261 fgGetDouble("/orientation/heading-deg")
262 * SGD_DEGREES_TO_RADIANS );
264 SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
269 * Bind getters and setters to properties.
271 * The bind() method will be invoked after init(). Note that unlike
272 * the usual implementations of FGSubsystem::bind(), this method does
273 * not automatically pick up existing values for the properties at
274 * bind time; instead, all values are set explicitly in the init()
282 // Time management (read-only)
283 // fgTie("/fdm/time/delta_t", this,
284 // &FGInterface::get_delta_t); // read-only
285 // fgTie("/fdm/time/elapsed", this,
286 // &FGInterface::get_elapsed); // read-only
287 // fgTie("/fdm/time/remainder", this,
288 // &FGInterface::get_remainder); // read-only
289 // fgTie("/fdm/time/multi_loop", this,
290 // &FGInterface::get_multi_loop); // read-only
293 fgTie("/position/latitude-deg", this,
294 &FGInterface::get_Latitude_deg,
295 &FGInterface::set_Latitude_deg,
297 fgSetArchivable("/position/latitude-deg");
298 fgTie("/position/longitude-deg", this,
299 &FGInterface::get_Longitude_deg,
300 &FGInterface::set_Longitude_deg,
302 fgSetArchivable("/position/longitude-deg");
303 fgTie("/position/altitude-ft", this,
304 &FGInterface::get_Altitude,
305 &FGInterface::set_Altitude,
307 fgSetArchivable("/position/altitude-ft");
308 fgTie("/position/altitude-agl-ft", this,
309 &FGInterface::get_Altitude_AGL); // read-only
312 fgTie("/orientation/roll-deg", this,
313 &FGInterface::get_Phi_deg,
314 &FGInterface::set_Phi_deg);
315 fgSetArchivable("/orientation/roll-deg");
316 fgTie("/orientation/pitch-deg", this,
317 &FGInterface::get_Theta_deg,
318 &FGInterface::set_Theta_deg);
319 fgSetArchivable("/orientation/pitch-deg");
320 fgTie("/orientation/heading-deg", this,
321 &FGInterface::get_Psi_deg,
322 &FGInterface::set_Psi_deg);
323 fgSetArchivable("/orientation/heading-deg");
325 // Calibrated airspeed
326 fgTie("/velocities/airspeed-kt", this,
327 &FGInterface::get_V_calibrated_kts,
328 &FGInterface::set_V_calibrated_kts,
332 // fgTie("/velocities/speed-north-fps", this,
333 // &FGInterface::get_V_north,
334 // &FGInterface::set_V_north);
335 // fgSetArchivable("/velocities/speed-north-fps");
336 // fgTie("/velocities/speed-east-fps", this,
337 // &FGInterface::get_V_east,
338 // &FGInterface::set_V_east);
339 // fgSetArchivable("/velocities/speed-east-fps");
340 // fgTie("/velocities/speed-down-fps", this,
341 // &FGInterface::get_V_down,
342 // &FGInterface::set_V_down);
343 // fgSetArchivable("/velocities/speed-down-fps");
344 // FIXME: Temporarily read-only, until the
345 // incompatibilities between JSBSim and
346 // LaRCSim are fixed (LaRCSim adds the
347 // earth's rotation to the east velocity).
348 fgTie("/velocities/speed-north-fps", this,
349 &FGInterface::get_V_north);
350 fgTie("/velocities/speed-east-fps", this,
351 &FGInterface::get_V_east);
352 fgTie("/velocities/speed-down-fps", this,
353 &FGInterface::get_V_down);
356 // FIXME: temporarily archivable, until
357 // the NED problem is fixed.
358 fgTie("/velocities/uBody-fps", this,
359 &FGInterface::get_uBody,
360 &FGInterface::set_uBody,
362 fgSetArchivable("/velocities/uBody-fps");
363 fgTie("/velocities/vBody-fps", this,
364 &FGInterface::get_vBody,
365 &FGInterface::set_vBody,
367 fgSetArchivable("/velocities/vBody-fps");
368 fgTie("/velocities/wBody-fps", this,
369 &FGInterface::get_wBody,
370 &FGInterface::set_wBody,
372 fgSetArchivable("/velocities/wBody-fps");
374 // Climb and slip (read-only)
375 fgTie("/velocities/vertical-speed-fps", this,
376 &FGInterface::get_Climb_Rate,
377 &FGInterface::set_Climb_Rate );
378 fgTie("/velocities/glideslope", this,
379 &FGInterface::get_Gamma_vert_rad,
380 &FGInterface::set_Gamma_vert_rad );
381 fgTie("/velocities/side-slip-rad", this,
382 &FGInterface::get_Beta); // read-only
383 fgTie("/velocities/side-slip-deg", this,
384 &FGInterface::get_Beta_deg); // read-only
385 fgTie("/velocities/alpha-deg", this,
386 &FGInterface::get_Alpha_deg); // read-only
387 fgTie("/accelerations/nlf", this,
388 &FGInterface::get_Nlf); // read-only
393 * Unbind any properties bound to this FDM.
395 * This method allows the FDM to release properties so that a new
396 * FDM can bind them instead.
399 FGInterface::unbind ()
403 fgUntie("/fdm/time/delta_t");
404 fgUntie("/fdm/time/elapsed");
405 fgUntie("/fdm/time/remainder");
406 fgUntie("/fdm/time/multi_loop");
407 fgUntie("/position/latitude-deg");
408 fgUntie("/position/longitude-deg");
409 fgUntie("/position/altitude-ft");
410 fgUntie("/position/altitude-agl-ft");
411 fgUntie("/orientation/heading-deg");
412 fgUntie("/orientation/pitch-deg");
413 fgUntie("/orientation/roll-deg");
414 fgUntie("/velocities/airspeed-kt");
415 fgUntie("/velocities/speed-north-fps");
416 fgUntie("/velocities/speed-east-fps");
417 fgUntie("/velocities/speed-down-fps");
418 fgUntie("/velocities/uBody-fps");
419 fgUntie("/velocities/vBody-fps");
420 fgUntie("/velocities/wBody-fps");
421 fgUntie("/velocities/vertical-speed-fps");
422 fgUntie("/velocities/glideslope");
423 fgUntie("/velocities/side-slip-rad");
424 fgUntie("/velocities/side-slip-deg");
425 fgUntie("/velocities/alpha-deg");
426 fgUntie("/accelerations/nlf");
431 * Update the state of the FDM (i.e. run the equations of motion).
434 FGInterface::update (double dt)
436 SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
440 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
442 double lat_geoc, sl_radius;
444 // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
446 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc );
448 SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
449 << " lat_geod = " << lat
450 << " lat_geoc = " << lat_geoc
452 << " sl_radius = " << sl_radius * SG_METER_TO_FEET
453 << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
455 _set_Geocentric_Position( lat_geoc, lon,
456 sl_radius * SG_METER_TO_FEET + alt );
458 _set_Geodetic_Position( lat, lon, alt );
460 _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
461 _set_Runway_altitude( getACModel()->get3DModel()->getFGLocation()->get_cur_elev_m() * SG_METER_TO_FEET );
463 _set_sin_lat_geocentric( lat_geoc );
464 _set_cos_lat_geocentric( lat_geoc );
466 _set_sin_cos_longitude( lon );
468 _set_sin_cos_latitude( lat );
470 /* Norman's code for slope of the terrain */
471 /* needs to be tested -- get it on the HUD and taxi around */
472 /* double *tnorm = scenery.cur_normal;
474 double sy = sin ( -get_Psi() ) ;
475 double cy = cos ( -get_Psi() ) ;
477 double phitb, thetatb, psitb;
478 if ( tnorm[1] != 0.0 ) {
479 psitb = -atan2 ( tnorm[0], tnorm[1] );
481 if ( tnorm[2] != 0.0 ) {
482 thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
483 phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
486 _set_terrain_slope(phitb, thetatb, psitb)
491 void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon,
494 double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
496 // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
498 sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
499 &lat_geod, &tmp_alt, &sl_radius1 );
500 sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
502 SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
503 << " lat_geod = " << lat_geod
504 << " lat_geoc = " << lat_geoc
506 << " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
507 << " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
508 << " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
509 << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
511 _set_Geocentric_Position( lat_geoc, lon,
512 sl_radius2 * SG_METER_TO_FEET + alt );
514 _set_Geodetic_Position( lat_geod, lon, alt );
516 _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
517 _set_Runway_altitude( getACModel()->get3DModel()->getFGLocation()->get_cur_elev_m() * SG_METER_TO_FEET );
519 _set_sin_lat_geocentric( lat_geoc );
520 _set_cos_lat_geocentric( lat_geoc );
522 _set_sin_cos_longitude( lon );
524 _set_sin_cos_latitude( lat_geod );
526 /* Norman's code for slope of the terrain */
527 /* needs to be tested -- get it on the HUD and taxi around */
528 /* double *tnorm = scenery.cur_normal;
530 double sy = sin ( -get_Psi() ) ;
531 double cy = cos ( -get_Psi() ) ;
533 double phitb, thetatb, psitb;
534 if ( tnorm[1] != 0.0 ) {
535 psitb = -atan2 ( tnorm[0], tnorm[1] );
537 if ( tnorm[2] != 0.0 ) {
538 thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
539 phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
542 _set_terrain_slope(phitb, thetatb, psitb)
547 // Extrapolate fdm based on time_offset (in usec)
548 void FGInterface::extrapolate( int time_offset ) {
549 double dt = time_offset / 1000000.0;
551 // -dw- metrowerks complains about ambiguous access, not critical
554 SG_LOG(SG_FLIGHT, SG_INFO, "extrapolating FDM by dt = " << dt);
557 double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
558 double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
560 double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
561 double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
563 double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
564 double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
566 geodetic_position_v[0] = lat;
567 geocentric_position_v[0] = lat_geoc;
569 geodetic_position_v[1] = lon;
570 geocentric_position_v[1] = lon_geoc;
572 geodetic_position_v[2] = alt;
573 geocentric_position_v[2] = radius;
577 void FGInterface::set_Latitude(double lat) {
578 geodetic_position_v[0] = lat;
581 void FGInterface::set_Longitude(double lon) {
582 geodetic_position_v[1] = lon;
585 void FGInterface::set_Altitude(double alt) {
586 geodetic_position_v[2] = alt;
589 void FGInterface::set_AltitudeAGL(double altagl) {
594 void FGInterface::set_V_calibrated_kts(double vc) {
595 v_calibrated_kts = vc;
598 void FGInterface::set_Mach_number(double mach) {
602 void FGInterface::set_Velocities_Local( double north,
605 v_local_v[0] = north;
610 void FGInterface::set_Velocities_Wind_Body( double u,
613 v_wind_body_v[0] = u;
614 v_wind_body_v[1] = v;
615 v_wind_body_v[2] = w;
619 void FGInterface::set_Euler_Angles( double phi,
622 euler_angles_v[0] = phi;
623 euler_angles_v[1] = theta;
624 euler_angles_v[2] = psi;
628 void FGInterface::set_Climb_Rate( double roc) {
632 void FGInterface::set_Gamma_vert_rad( double gamma) {
633 gamma_vert_rad = gamma;
636 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
637 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
638 void FGInterface::set_Density(double rho) { density = rho; }
640 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
643 v_local_airmass_v[0] = wnorth;
644 v_local_airmass_v[1] = weast;
645 v_local_airmass_v[2] = wdown;
649 void FGInterface::_busdump(void) {
651 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]);
652 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]);
653 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]);
654 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]);
655 SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
656 SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
657 SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
658 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]);
659 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]);
660 SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
661 SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
662 SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
663 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]);
664 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]);
665 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]);
666 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]);
667 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]);
668 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]);
669 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]);
670 SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
671 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]);
672 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]);
673 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]);
674 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]);
675 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]);
676 SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
677 SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
678 SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
679 SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
680 SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
681 SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
682 SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
683 SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
684 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]);
685 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]);
686 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]);
687 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]);
689 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]);
690 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]);
691 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]);
693 SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass );
694 SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx );
695 SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy );
696 SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz );
697 SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz );
698 SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
699 SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
700 SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
701 SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground );
702 SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial );
703 SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
704 SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv );
705 SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
706 SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated );
707 SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
708 SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity );
709 SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief );
710 SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
711 SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
712 SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot );
713 SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot );
714 SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha );
715 SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha );
716 SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta );
717 SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta );
718 SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi );
719 SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi );
720 SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta );
721 SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta );
722 SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi );
723 SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi );
724 SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
725 SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
726 SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma );
727 SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
728 SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound );
729 SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
730 SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
731 SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
732 SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure );
733 SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
734 SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
735 SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
736 SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
737 SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
738 SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
739 SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude );
740 SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude );
741 SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading );
742 SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy );
743 SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
744 SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
745 SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
746 SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude );
747 SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude );
748 SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
749 SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
750 SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
754 void fgToggleFDMdataLogging(void) {
755 cur_fdm_state->ToggleDataLogging();