src/FDM/flight.cxx

   1 // flight.c -- 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     init_vec( d_pilot_rp_body_v );
  78     init_vec( d_cg_rp_body_v );
  79     init_vec( f_body_total_v );
  80     init_vec( f_local_total_v );
  81     init_vec( f_aero_v );
  82     init_vec( f_engine_v );
  83     init_vec( f_gear_v );
  84     init_vec( m_total_rp_v );
  85     init_vec( m_total_cg_v );
  86     init_vec( m_aero_v );
  87     init_vec( m_engine_v );
  88     init_vec( m_gear_v );
  89     init_vec( v_dot_local_v );
  90     init_vec( v_dot_body_v );
  91     init_vec( a_cg_body_v );
  92     init_vec( a_pilot_body_v );
  93     init_vec( n_cg_body_v );
  94     init_vec( n_pilot_body_v );
  95     init_vec( omega_dot_body_v );
  96     init_vec( v_local_v );
  97     init_vec( v_local_rel_ground_v );
  98     init_vec( v_local_airmass_v );
  99     init_vec( v_local_rel_airmass_v );
 100     init_vec( v_local_gust_v );
 101     init_vec( v_wind_body_v );
 102     init_vec( omega_body_v );
 103     init_vec( omega_local_v );
 104     init_vec( omega_total_v );
 105     init_vec( euler_rates_v );
 106     init_vec( geocentric_rates_v );
 107     init_vec( geocentric_position_v );
 108     init_vec( geodetic_position_v );
 109     init_vec( euler_angles_v );
 110     init_vec( d_cg_rwy_local_v );
 111     init_vec( d_cg_rwy_rwy_v );
 112     init_vec( d_pilot_rwy_local_v );
 113     init_vec( d_pilot_rwy_rwy_v );
 114     init_vec( t_local_to_body_m[0] );
 115     init_vec( t_local_to_body_m[1] );
 116     init_vec( t_local_to_body_m[2] );
 117
 118     mass=i_xx=i_yy=i_zz=i_xz=0;
 119     nlf=0;
 120     v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
 121     v_ground_speed=v_equiv=v_equiv_kts=0;
 122     v_calibrated=v_calibrated_kts=0;
 123     gravity=0;
 124     centrifugal_relief=0;
 125     alpha=beta=alpha_dot=beta_dot=0;
 126     cos_alpha=sin_alpha=cos_beta=sin_beta=0;
 127     cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
 128     gamma_vert_rad=gamma_horiz_rad=0;
 129     sigma=density=v_sound=mach_number=0;
 130     static_pressure=total_pressure=impact_pressure=0;
 131     dynamic_pressure=0;
 132     static_temperature=total_temperature=0;
 133     sea_level_radius=earth_position_angle=0;
 134     runway_altitude=runway_latitude=runway_longitude=0;
 135     runway_heading=0;
 136     radius_to_rwy=0;
 137     climb_rate=0;
 138     sin_lat_geocentric=cos_lat_geocentric=0;
 139     sin_latitude=cos_latitude=0;
 140     sin_longitude=cos_longitude=0;
 141     altitude_agl=0;
 142 }
 143
 144 FGInterface::FGInterface( double dt ) {
 145     FGInterface();
 146
 147     delta_t = dt;
 148     remainder = elapsed = multi_loop = 0;
 149 }
 150
 151 // Destructor
 152 FGInterface::~FGInterface() {
 153 //   unbind();                  // FIXME: should be called explicitly
 154 }
 155
 156
 157 void
 158 FGInterface::init ()
 159 {
 160 }
 161
 162 void
 163 FGInterface::bind ()
 164 {
 165                                 // Time management (read-only)
 166   fgTie("/fdm/time/delta_t", this,
 167         &FGInterface::get_delta_t); // read-only
 168   fgTie("/fdm/time/elapsed", this,
 169         &FGInterface::get_elapsed); // read-only
 170   fgTie("/fdm/time/remainder", this,
 171         &FGInterface::get_remainder); // read-only
 172   fgTie("/fdm/time/multi_loop", this,
 173         &FGInterface::get_multi_loop); // read-only
 174
 175                         // Aircraft position
 176   fgTie("/position/latitude", this,
 177         &FGInterface::get_Latitude_deg,
 178         &FGInterface::set_Latitude_deg,
 179         false);
 180   fgTie("/position/longitude", this,
 181         &FGInterface::get_Longitude_deg,
 182         &FGInterface::set_Longitude_deg,
 183         false);
 184   fgTie("/position/altitude", this,
 185         &FGInterface::get_Altitude,
 186         &FGInterface::set_Altitude,
 187         false);
 188   fgTie("/position/altitude-agl", this,
 189         &FGInterface::get_Altitude_AGL); // read-only
 190
 191                                 // Orientation
 192   fgTie("/orientation/roll", this,
 193         &FGInterface::get_Phi_deg,
 194         &FGInterface::set_Phi_deg,
 195         true);
 196   fgTie("/orientation/pitch", this,
 197         &FGInterface::get_Theta_deg,
 198         &FGInterface::set_Theta_deg,
 199         true);
 200   fgTie("/orientation/heading", this,
 201         &FGInterface::get_Psi_deg,
 202         &FGInterface::set_Psi_deg,
 203         true);
 204
 205                                 // Calibrated airspeed
 206   fgTie("/velocities/airspeed", this,
 207         &FGInterface::get_V_calibrated_kts,
 208         &FGInterface::set_V_calibrated_kts,
 209         false);
 210
 211                                 // Local velocities
 212   fgTie("/velocities/speed-north", this,
 213         &FGInterface::get_V_north); // read-only
 214   fgTie("/velocities/speed-east", this,
 215         &FGInterface::get_V_east,
 216         &FGInterface::set_V_east,
 217         false);
 218   fgTie("/velocities/speed-down", this,
 219         &FGInterface::get_V_down,
 220         &FGInterface::set_V_down,
 221         false);
 222
 223                                 // Relative wind
 224   fgTie("/velocities/uBody", this,
 225         &FGInterface::get_uBody,
 226         &FGInterface::set_uBody,
 227         false);
 228   fgTie("/velocities/vBody", this,
 229         &FGInterface::get_vBody,
 230         &FGInterface::set_vBody,
 231         false);
 232   fgTie("/velocities/wBody", this,
 233         &FGInterface::get_wBody,
 234         &FGInterface::set_wBody,
 235         false);
 236
 237                                 // Climb and slip (read-only)
 238   fgTie("/velocities/vertical-speed", this,
 239         &FGInterface::get_Climb_Rate); // read-only
 240   fgTie("/velocities/side-slip", this,
 241         &FGInterface::get_Beta); // read-only
 242 }
 243
 244 void
 245 FGInterface::unbind ()
 246 {
 247   fgUntie("/fdm/time/delta_t");
 248   fgUntie("/fdm/time/elapsed");
 249   fgUntie("/fdm/time/remainder");
 250   fgUntie("/fdm/time/multi_loop");
 251   fgUntie("/position/latitude");
 252   fgUntie("/position/longitude");
 253   fgUntie("/position/altitude");
 254   fgUntie("/position/heading");
 255   fgUntie("/position/pitch");
 256   fgUntie("/position/roll");
 257   fgUntie("/velocities/airspeed");
 258   fgUntie("/velocities/speed-north");
 259   fgUntie("/velocities/speed-east");
 260   fgUntie("/velocities/speed-down");
 261   fgUntie("/velocities/uBody");
 262   fgUntie("/velocities/vBody");
 263   fgUntie("/velocities/wBody");
 264   fgUntie("/velocities/vertical-speed");
 265   fgUntie("/velocities/side-slip");
 266 }
 267
 268 void
 269 FGInterface::update ()
 270 {
 271   update(1);
 272 }
 273
 274
 275 bool FGInterface::update( int multi_loop ) {
 276     cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl;
 277     return false;
 278 }
 279
 280
 281 void FGInterface::_updatePosition( double lat_geoc, double lon, double alt ) {
 282     double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
 283
 284     sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
 285                   &lat_geod, &tmp_alt, &sl_radius1 );
 286     sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
 287
 288     SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
 289             << " lat_geod = " << lat_geod
 290             << " lat_geoc = " << lat_geoc
 291             << " alt = " << alt
 292             << " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
 293             << " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
 294             << " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
 295             << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
 296
 297     _set_Geocentric_Position( lat_geoc, lon,
 298                               sl_radius2 * SG_METER_TO_FEET + alt );
 299
 300     _set_Geodetic_Position( lat_geod, lon, alt );
 301
 302     _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
 303     _set_Runway_altitude( scenery.cur_elev*METERS_TO_FEET );
 304
 305     _set_sin_lat_geocentric( lat_geoc );
 306     _set_cos_lat_geocentric( lat_geoc );
 307
 308     _set_sin_cos_longitude( lon );
 309
 310     _set_sin_cos_latitude( lat_geod );
 311
 312     /* Norman's code for slope of the terrain */
 313     /* needs to be tested -- get it on the HUD and taxi around */
 314     /* double *tnorm = scenery.cur_normal;
 315
 316        double sy = sin ( -get_Psi() ) ;
 317        double cy = cos ( -get_Psi() ) ;
 318
 319        double phitb, thetatb, psitb;
 320        if(tnorm[1] != 0.0) {
 321                 psitb = -atan2 ( tnorm[0], tnorm[1] );
 322        }
 323        if(tnorm[2] != 0.0) {
 324                 thetatb =  atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
 325                 phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
 326        }
 327
 328        _set_terrain_slope(phitb, thetatb, psitb)
 329      */
 330 }
 331
 332
 333 // Extrapolate fdm based on time_offset (in usec)
 334 void FGInterface::extrapolate( int time_offset ) {
 335     double dt = time_offset / 1000000.0;
 336
 337     // -dw- metrowerks complains about ambiguous access, not critical
 338     // to keep this ;)
 339 #ifndef __MWERKS__
 340     cout << "extrapolating FDM by dt = " << dt << endl;
 341 #endif
 342
 343     double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
 344     double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
 345
 346     double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
 347     double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
 348
 349     double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
 350     double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
 351
 352     geodetic_position_v[0] = lat;
 353     geocentric_position_v[0] = lat_geoc;
 354
 355     geodetic_position_v[1] = lon;
 356     geocentric_position_v[1] = lon_geoc;
 357
 358     geodetic_position_v[2] = alt;
 359     geocentric_position_v[2] = radius;
 360 }
 361
 362
 363 // Set the altitude (force)
 364 void fgFDMForceAltitude(const string &model, double alt_meters) {
 365     double sea_level_radius_meters;
 366     double lat_geoc;
 367
 368     // Set the FG variables first
 369     sgGeodToGeoc( base_fdm_state.get_Latitude(), alt_meters,
 370                   &sea_level_radius_meters, &lat_geoc);
 371
 372     base_fdm_state.set_Altitude( alt_meters * SG_METER_TO_FEET );
 373     base_fdm_state.set_Sea_level_radius( sea_level_radius_meters *
 374                                          SG_METER_TO_FEET );
 375
 376
 377     // additional work needed for some flight models
 378     if ( model == "larcsim" ) {
 379         ls_ForceAltitude( base_fdm_state.get_Altitude() );
 380     }
 381 }
 382
 383
 384 // Set the local ground elevation
 385 void fgFDMSetGroundElevation(const string &model, double ground_meters) {
 386     SG_LOG( SG_FLIGHT,SG_INFO, "fgFDMSetGroundElevation: "
 387             << ground_meters*SG_METER_TO_FEET );
 388     base_fdm_state.set_Runway_altitude( ground_meters * SG_METER_TO_FEET );
 389     cur_fdm_state->set_Runway_altitude( ground_meters * SG_METER_TO_FEET );
 390 }
 391
 392
 393 // Positions
 394 void FGInterface::set_Latitude(double lat) {
 395     geodetic_position_v[0] = lat;
 396 }
 397
 398 void FGInterface::set_Longitude(double lon) {
 399     geodetic_position_v[1] = lon;
 400 }
 401
 402 void FGInterface::set_Altitude(double alt) {
 403     geodetic_position_v[2] = alt;
 404 }
 405
 406 void FGInterface::set_AltitudeAGL(double altagl) {
 407     altitude_agl=altagl;
 408 }
 409
 410 // Velocities
 411 void FGInterface::set_V_calibrated_kts(double vc) {
 412     v_calibrated_kts = vc;
 413 }
 414
 415 void FGInterface::set_Mach_number(double mach) {
 416     mach_number = mach;
 417 }
 418
 419 void FGInterface::set_Velocities_Local( double north,
 420                                         double east,
 421                                         double down ){
 422     v_local_v[0] = north;
 423     v_local_v[1] = east;
 424     v_local_v[2] = down;
 425 }
 426
 427 void FGInterface::set_Velocities_Wind_Body( double u,
 428                                             double v,
 429                                             double w){
 430     v_wind_body_v[0] = u;
 431     v_wind_body_v[1] = v;
 432     v_wind_body_v[2] = w;
 433 }
 434
 435 // Euler angles
 436 void FGInterface::set_Euler_Angles( double phi,
 437                                     double theta,
 438                                     double psi ) {
 439     euler_angles_v[0] = phi;
 440     euler_angles_v[1] = theta;
 441     euler_angles_v[2] = psi;
 442 }
 443
 444 // Flight Path
 445 void FGInterface::set_Climb_Rate( double roc) {
 446     climb_rate = roc;
 447 }
 448
 449 void FGInterface::set_Gamma_vert_rad( double gamma) {
 450     gamma_vert_rad = gamma;
 451 }
 452
 453 // Earth
 454 void FGInterface::set_Sea_level_radius(double slr) {
 455     sea_level_radius = slr;
 456 }
 457
 458 void FGInterface::set_Runway_altitude(double ralt) {
 459     runway_altitude = ralt;
 460 }
 461
 462 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
 463 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
 464 void FGInterface::set_Density(double rho) { density = rho; }
 465
 466 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
 467                                                 double weast,
 468                                                 double wdown ) {
 469     v_local_airmass_v[0] = wnorth;
 470     v_local_airmass_v[1] = weast;
 471     v_local_airmass_v[2] = wdown;
 472 }
 473
 474
 475 void FGInterface::_busdump(void) {
 476
 477     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]);
 478     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]);
 479     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]);
 480     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]);
 481     SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
 482     SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
 483     SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
 484     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]);
 485     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]);
 486     SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
 487     SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
 488     SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
 489     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]);
 490     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]);
 491     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]);
 492     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]);
 493     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]);
 494     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]);
 495     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]);
 496     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
 497     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]);
 498     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]);
 499     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]);
 500     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]);
 501     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]);
 502     SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
 503     SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
 504     SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
 505     SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
 506     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
 507     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
 508     SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
 509     SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
 510     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]);
 511     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]);
 512     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]);
 513     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]);
 514
 515     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]);
 516     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]);
 517     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]);
 518
 519     SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass );
 520     SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx );
 521     SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy );
 522     SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz );
 523     SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz );
 524     SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
 525     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
 526     SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
 527     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground );
 528     SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial );
 529     SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
 530     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv );
 531     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
 532     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated );
 533     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
 534     SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity );
 535     SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief );
 536     SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
 537     SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
 538     SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot );
 539     SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot );
 540     SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha );
 541     SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha );
 542     SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta );
 543     SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta );
 544     SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi );
 545     SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi );
 546     SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta );
 547     SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta );
 548     SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi );
 549     SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi );
 550     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
 551     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
 552     SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma );
 553     SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
 554     SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound );
 555     SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
 556     SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
 557     SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
 558     SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure );
 559     SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
 560     SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
 561     SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
 562     SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
 563     SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
 564     SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
 565     SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude );
 566     SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude );
 567     SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading );
 568     SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy );
 569     SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
 570     SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
 571     SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
 572     SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude );
 573     SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude );
 574     SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
 575     SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
 576     SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
 577 }
 578