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  - http://www.flightgear.org/~curt
   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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
  20 //
  21 // $Id$
  22
  23 #ifdef HAVE_CONFIG_H
  24 #  include "config.h"
  25 #endif
  26
  27 #include "flight.hxx"
  28
  29 #include <simgear/constants.h>
  30 #include <simgear/debug/logstream.hxx>
  31 #include <simgear/math/SGMath.hxx>
  32 #include <simgear/timing/timestamp.hxx>
  33
  34 #include <Scenery/scenery.hxx>
  35 #include <Main/globals.hxx>
  36 #include <Main/fg_props.hxx>
  37 #include <FDM/groundcache.hxx>
  38
  39
  40 static inline void assign(double* ptr, const SGVec3d& vec)
  41 {
  42   ptr[0] = vec[0];
  43   ptr[1] = vec[1];
  44   ptr[2] = vec[2];
  45 }
  46
  47 // Constructor
  48 FGInterface::FGInterface()
  49 {
  50     _setup();
  51 }
  52
  53 FGInterface::FGInterface( double dt )
  54 {
  55     _setup();
  56 }
  57
  58 // Destructor
  59 FGInterface::~FGInterface() {
  60     // unbind();                   // FIXME: should be called explicitly
  61 }
  62
  63 int
  64 FGInterface::_calc_multiloop (double dt)
  65 {
  66   // Since some time the simulation time increments we get here are
  67   // already a multiple of the basic update freqency.
  68   // So, there is no need to do our own multiloop rounding with all bad
  69   // roundoff problems when we already have nearly accurate values.
  70   // Only the speedup thing must be still handled here
  71   int hz = fgGetInt("/sim/model-hz");
  72   int multiloop = SGMiscd::roundToInt(dt*hz);
  73   int speedup = fgGetInt("/sim/speed-up");
  74   return multiloop * speedup;
  75 }
  76
  77
  78 /**
  79  * Set default values for the state of the FDM.
  80  *
  81  * This method is invoked by the constructors.
  82  */
  83 void
  84 FGInterface::_setup ()
  85 {
  86     inited = false;
  87     bound = false;
  88
  89     d_cg_rp_body_v = SGVec3d::zeros();
  90     v_dot_local_v = SGVec3d::zeros();
  91     v_dot_body_v = SGVec3d::zeros();
  92     a_cg_body_v = SGVec3d::zeros();
  93     a_pilot_body_v = SGVec3d::zeros();
  94     n_cg_body_v = SGVec3d::zeros();
  95     v_local_v = SGVec3d::zeros();
  96     v_local_rel_ground_v = SGVec3d::zeros();
  97     v_local_airmass_v = SGVec3d::zeros();
  98     v_wind_body_v = SGVec3d::zeros();
  99     omega_body_v = SGVec3d::zeros();
 100     euler_rates_v = SGVec3d::zeros();
 101     geocentric_rates_v = SGVec3d::zeros();
 102     geodetic_position_v = SGGeod::fromRadM(0, 0, 0);
 103     cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v);
 104     geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
 105     euler_angles_v = SGVec3d::zeros();
 106
 107     nlf=0;
 108     v_rel_wind=v_true_kts=0;
 109     v_ground_speed=v_equiv_kts=0;
 110     v_calibrated_kts=0;
 111     alpha=beta=0;
 112     gamma_vert_rad=0;
 113     density=mach_number=0;
 114     static_pressure=total_pressure=0;
 115     dynamic_pressure=0;
 116     static_temperature=total_temperature=0;
 117     sea_level_radius=earth_position_angle=0;
 118     runway_altitude=0;
 119     climb_rate=0;
 120     altitude_agl=0;
 121     track=0;
 122 }
 123
 124 void
 125 FGInterface::init () {}
 126
 127 /**
 128  * Initialize the state of the FDM.
 129  *
 130  * Subclasses of FGInterface may do their own, additional initialization,
 131  * but there is some that is common to all.  Normally, they should call
 132  * this before they begin their own init to make sure the basic structures
 133  * are set up properly.
 134  */
 135 void
 136 FGInterface::common_init ()
 137 {
 138     SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
 139
 140     set_inited( true );
 141
 142     ground_cache.set_cache_time_offset(globals->get_sim_time_sec());
 143
 144     // Set initial position
 145     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
 146     double lon = fgGetDouble("/sim/presets/longitude-deg")
 147       * SGD_DEGREES_TO_RADIANS;
 148     double lat = fgGetDouble("/sim/presets/latitude-deg")
 149       * SGD_DEGREES_TO_RADIANS;
 150     double alt_ft = fgGetDouble("/sim/presets/altitude-ft");
 151     double alt_m = alt_ft * SG_FEET_TO_METER;
 152     set_Longitude( lon );
 153     set_Latitude( lat );
 154     SG_LOG( SG_FLIGHT, SG_INFO, "Checking for lon = "
 155             << lon*SGD_RADIANS_TO_DEGREES << "deg, lat = "
 156             << lat*SGD_RADIANS_TO_DEGREES << "deg, alt = "
 157             << alt_ft << "ft");
 158
 159     double ground_elev_m = get_groundlevel_m(lat, lon, alt_m);
 160     double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
 161     _set_Runway_altitude ( ground_elev_ft );
 162     if ( fgGetBool("/sim/presets/onground") || alt_ft < ground_elev_ft ) {
 163         fgSetDouble("/position/altitude-ft", ground_elev_ft + 0.1);
 164         set_Altitude( ground_elev_ft + 0.1);
 165     } else {
 166         set_Altitude( alt_ft );
 167     }
 168
 169     // Set ground elevation
 170     SG_LOG( SG_FLIGHT, SG_INFO,
 171             "...initializing ground elevation to " << ground_elev_ft
 172             << "ft..." );
 173
 174     // Set sea-level radius
 175     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
 176     SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
 177             << fgGetDouble("/sim/presets/latitude-deg")
 178             << " alt = " << get_Altitude() );
 179     double slr = SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v);
 180     _set_Sea_level_radius( slr * SG_METER_TO_FEET );
 181
 182     // Set initial Euler angles
 183     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
 184     set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
 185                         * SGD_DEGREES_TO_RADIANS,
 186                       fgGetDouble("/sim/presets/pitch-deg")
 187                         * SGD_DEGREES_TO_RADIANS,
 188                       fgGetDouble("/sim/presets/heading-deg")
 189                         * SGD_DEGREES_TO_RADIANS );
 190
 191     // Set initial velocities
 192     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
 193     if ( !fgHasNode("/sim/presets/speed-set") ) {
 194         set_V_calibrated_kts(0.0);
 195     } else {
 196         const string speedset = fgGetString("/sim/presets/speed-set");
 197         if ( speedset == "knots" || speedset == "KNOTS" ) {
 198             set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") );
 199         } else if ( speedset == "mach" || speedset == "MACH" ) {
 200             set_Mach_number( fgGetDouble("/sim/presets/mach") );
 201         } else if ( speedset == "UVW" || speedset == "uvw" ) {
 202             set_Velocities_Wind_Body(
 203                                      fgGetDouble("/sim/presets/uBody-fps"),
 204                                      fgGetDouble("/sim/presets/vBody-fps"),
 205                                      fgGetDouble("/sim/presets/wBody-fps") );
 206         } else if ( speedset == "NED" || speedset == "ned" ) {
 207             set_Velocities_Local(
 208                                  fgGetDouble("/sim/presets/speed-north-fps"),
 209                                  fgGetDouble("/sim/presets/speed-east-fps"),
 210                                  fgGetDouble("/sim/presets/speed-down-fps") );
 211         } else {
 212             SG_LOG( SG_FLIGHT, SG_ALERT,
 213                     "Unrecognized value for /sim/presets/speed-set: "
 214                     << speedset);
 215             set_V_calibrated_kts( 0.0 );
 216         }
 217     }
 218
 219     if ( fgHasNode("/sim/presets/glideslope-deg") )
 220         set_Gamma_vert_rad( fgGetDouble("/sim/presets/glideslope-deg")
 221                               * SGD_DEGREES_TO_RADIANS );
 222     else if ( fgHasNode( "/velocities/vertical-speed-fps") )
 223         set_Climb_Rate( fgGetDouble("/velocities/vertical-speed-fps") );
 224
 225     SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
 226 }
 227
 228
 229 /**
 230  * Bind getters and setters to properties.
 231  *
 232  * The bind() method will be invoked after init().  Note that unlike
 233  * the usual implementations of FGSubsystem::bind(), this method does
 234  * not automatically pick up existing values for the properties at
 235  * bind time; instead, all values are set explicitly in the init()
 236  * method.
 237  */
 238 void
 239 FGInterface::bind ()
 240 {
 241   bound = true;
 242
 243                         // Aircraft position
 244   fgTie("/position/latitude-deg", this,
 245         &FGInterface::get_Latitude_deg,
 246         &FGInterface::set_Latitude_deg,
 247         false);
 248   fgSetArchivable("/position/latitude-deg");
 249   fgTie("/position/longitude-deg", this,
 250         &FGInterface::get_Longitude_deg,
 251         &FGInterface::set_Longitude_deg,
 252         false);
 253   fgSetArchivable("/position/longitude-deg");
 254   fgTie("/position/altitude-ft", this,
 255         &FGInterface::get_Altitude,
 256         &FGInterface::set_Altitude,
 257         false);
 258   fgSetArchivable("/position/altitude-ft");
 259   fgTie("/position/altitude-agl-ft", this,
 260         &FGInterface::get_Altitude_AGL, &FGInterface::set_AltitudeAGL, false);
 261   fgSetArchivable("/position/ground-elev-ft");
 262   fgTie("/position/ground-elev-ft", this,
 263         &FGInterface::get_Runway_altitude); // read-only
 264   fgSetArchivable("/position/ground-elev-m");
 265   fgTie("/position/ground-elev-m", this,
 266         &FGInterface::get_Runway_altitude_m); // read-only
 267   fgTie("/environment/ground-elevation-m", this,
 268         &FGInterface::get_Runway_altitude_m); // read-only
 269   fgSetArchivable("/position/sea-level-radius-ft");
 270   fgTie("/position/sea-level-radius-ft", this,
 271         &FGInterface::get_Sea_level_radius,
 272         &FGInterface::_set_Sea_level_radius, false);
 273
 274                                 // Orientation
 275   fgTie("/orientation/roll-deg", this,
 276         &FGInterface::get_Phi_deg,
 277         &FGInterface::set_Phi_deg, false);
 278   fgSetArchivable("/orientation/roll-deg");
 279   fgTie("/orientation/pitch-deg", this,
 280         &FGInterface::get_Theta_deg,
 281         &FGInterface::set_Theta_deg, false);
 282   fgSetArchivable("/orientation/pitch-deg");
 283   fgTie("/orientation/heading-deg", this,
 284         &FGInterface::get_Psi_deg,
 285         &FGInterface::set_Psi_deg, false);
 286   fgSetArchivable("/orientation/heading-deg");
 287   fgTie("/orientation/track-deg", this,
 288         &FGInterface::get_Track); // read-only
 289
 290   // Body-axis "euler rates" (rotation speed, but in a funny
 291   // representation).
 292   fgTie("/orientation/roll-rate-degps", this,
 293         &FGInterface::get_Phi_dot_degps,
 294         &FGInterface::set_Phi_dot_degps, false);
 295   fgTie("/orientation/pitch-rate-degps", this,
 296         &FGInterface::get_Theta_dot_degps,
 297         &FGInterface::set_Theta_dot_degps, false);
 298   fgTie("/orientation/yaw-rate-degps", this,
 299         &FGInterface::get_Psi_dot_degps,
 300         &FGInterface::set_Psi_dot_degps, false);
 301
 302   fgTie("/orientation/p-body", this, &FGInterface::get_P_body); // read-only
 303   fgTie("/orientation/q-body", this, &FGInterface::get_Q_body); // read-only
 304   fgTie("/orientation/r-body", this, &FGInterface::get_R_body); // read-only
 305
 306                                 // Ground speed knots
 307   fgTie("/velocities/groundspeed-kt", this,
 308         &FGInterface::get_V_ground_speed_kt); // read-only
 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     fgTie("/velocities/equivalent-kt", this,
 317         &FGInterface::get_V_equiv_kts); // read-only
 318
 319                                 // Mach number
 320   fgTie("/velocities/mach", this,
 321         &FGInterface::get_Mach_number,
 322         &FGInterface::set_Mach_number,
 323         false);
 324
 325                                 // Local velocities
 326 //   fgTie("/velocities/speed-north-fps", this,
 327 //      &FGInterface::get_V_north,
 328 //      &FGInterface::set_V_north);
 329 //   fgSetArchivable("/velocities/speed-north-fps");
 330 //   fgTie("/velocities/speed-east-fps", this,
 331 //      &FGInterface::get_V_east,
 332 //      &FGInterface::set_V_east);
 333 //   fgSetArchivable("/velocities/speed-east-fps");
 334 //   fgTie("/velocities/speed-down-fps", this,
 335 //      &FGInterface::get_V_down,
 336 //      &FGInterface::set_V_down);
 337 //   fgSetArchivable("/velocities/speed-down-fps");
 338                                 // FIXME: Temporarily read-only, until the
 339                                 // incompatibilities between JSBSim and
 340                                 // LaRCSim are fixed (LaRCSim adds the
 341                                 // earth's rotation to the east velocity).
 342   fgTie("/velocities/speed-north-fps", this,
 343         &FGInterface::get_V_north, &FGInterface::set_V_north, false);
 344   fgTie("/velocities/speed-east-fps", this,
 345         &FGInterface::get_V_east, &FGInterface::set_V_east, false);
 346   fgTie("/velocities/speed-down-fps", this,
 347         &FGInterface::get_V_down, &FGInterface::set_V_down, false);
 348
 349   fgTie("/velocities/north-relground-fps", this,
 350     &FGInterface::get_V_north_rel_ground); // read-only
 351   fgTie("/velocities/east-relground-fps", this,
 352     &FGInterface::get_V_east_rel_ground); // read-only
 353   fgTie("/velocities/down-relground-fps", this,
 354     &FGInterface::get_V_down_rel_ground); // read-only
 355
 356
 357                                 // Relative wind
 358                                 // FIXME: temporarily archivable, until
 359                                 // the NED problem is fixed.
 360   fgTie("/velocities/uBody-fps", this,
 361         &FGInterface::get_uBody,
 362         &FGInterface::set_uBody,
 363         false);
 364   fgSetArchivable("/velocities/uBody-fps");
 365   fgTie("/velocities/vBody-fps", this,
 366         &FGInterface::get_vBody,
 367         &FGInterface::set_vBody,
 368         false);
 369   fgSetArchivable("/velocities/vBody-fps");
 370   fgTie("/velocities/wBody-fps", this,
 371         &FGInterface::get_wBody,
 372         &FGInterface::set_wBody,
 373         false);
 374   fgSetArchivable("/velocities/wBody-fps");
 375
 376                                 // Climb and slip (read-only)
 377   fgTie("/velocities/vertical-speed-fps", this,
 378         &FGInterface::get_Climb_Rate,
 379         &FGInterface::set_Climb_Rate, false );
 380   fgTie("/velocities/glideslope", this,
 381   &FGInterface::get_Gamma_vert_rad,
 382   &FGInterface::set_Gamma_vert_rad, false );
 383   fgTie("/orientation/side-slip-rad", this,
 384         &FGInterface::get_Beta, &FGInterface::_set_Beta, false);
 385   fgTie("/orientation/side-slip-deg", this,
 386   &FGInterface::get_Beta_deg); // read-only
 387   fgTie("/orientation/alpha-deg", this,
 388   &FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg, false);
 389   fgTie("/accelerations/nlf", this,
 390   &FGInterface::get_Nlf); // read-only
 391
 392                                 // NED accelerations
 393   fgTie("/accelerations/ned/north-accel-fps_sec",
 394         this, &FGInterface::get_V_dot_north); // read-only
 395   fgTie("/accelerations/ned/east-accel-fps_sec",
 396         this, &FGInterface::get_V_dot_east); // read-only
 397   fgTie("/accelerations/ned/down-accel-fps_sec",
 398         this, &FGInterface::get_V_dot_down); // read-only
 399
 400                                 // Pilot accelerations
 401   fgTie("/accelerations/pilot/x-accel-fps_sec",
 402         this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot, false);
 403   fgTie("/accelerations/pilot/y-accel-fps_sec",
 404         this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot, false);
 405   fgTie("/accelerations/pilot/z-accel-fps_sec",
 406         this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot, false);
 407
 408   fgTie("/accelerations/n-z-cg-fps_sec",
 409         this, &FGInterface::get_N_Z_cg); // read-only
 410
 411 }
 412
 413
 414 /**
 415  * Unbind any properties bound to this FDM.
 416  *
 417  * This method allows the FDM to release properties so that a new
 418  * FDM can bind them instead.
 419  */
 420 void
 421 FGInterface::unbind ()
 422 {
 423   if (!bound) {
 424     return;
 425   }
 426
 427   bound = false;
 428
 429   fgUntie("/position/latitude-deg");
 430   fgUntie("/position/longitude-deg");
 431   fgUntie("/position/altitude-ft");
 432   fgUntie("/position/altitude-agl-ft");
 433   fgUntie("/position/ground-elev-ft");
 434   fgUntie("/position/ground-elev-m");
 435   fgUntie("/environment/ground-elevation-m");
 436   fgUntie("/position/sea-level-radius-ft");
 437   fgUntie("/orientation/roll-deg");
 438   fgUntie("/orientation/pitch-deg");
 439   fgUntie("/orientation/heading-deg");
 440   fgUntie("/orientation/track-deg");
 441   fgUntie("/orientation/roll-rate-degps");
 442   fgUntie("/orientation/pitch-rate-degps");
 443   fgUntie("/orientation/yaw-rate-degps");
 444   fgUntie("/orientation/p-body");
 445   fgUntie("/orientation/q-body");
 446   fgUntie("/orientation/r-body");
 447   fgUntie("/orientation/side-slip-rad");
 448   fgUntie("/orientation/side-slip-deg");
 449   fgUntie("/orientation/alpha-deg");
 450   fgUntie("/velocities/airspeed-kt");
 451   fgUntie("/velocities/groundspeed-kt");
 452   fgUntie("/velocities/equivalent-kt");
 453   fgUntie("/velocities/mach");
 454   fgUntie("/velocities/speed-north-fps");
 455   fgUntie("/velocities/speed-east-fps");
 456   fgUntie("/velocities/speed-down-fps");
 457   fgUntie("/velocities/north-relground-fps");
 458   fgUntie("/velocities/east-relground-fps");
 459   fgUntie("/velocities/down-relground-fps");
 460   fgUntie("/velocities/uBody-fps");
 461   fgUntie("/velocities/vBody-fps");
 462   fgUntie("/velocities/wBody-fps");
 463   fgUntie("/velocities/vertical-speed-fps");
 464   fgUntie("/velocities/glideslope");
 465   fgUntie("/accelerations/nlf");
 466   fgUntie("/accelerations/pilot/x-accel-fps_sec");
 467   fgUntie("/accelerations/pilot/y-accel-fps_sec");
 468   fgUntie("/accelerations/pilot/z-accel-fps_sec");
 469   fgUntie("/accelerations/ned/north-accel-fps_sec");
 470   fgUntie("/accelerations/ned/east-accel-fps_sec");
 471   fgUntie("/accelerations/ned/down-accel-fps_sec");
 472   fgUntie("/accelerations/n-z-cg-fps_sec");
 473 }
 474
 475 /**
 476  * Update the state of the FDM (i.e. run the equations of motion).
 477  */
 478 void
 479 FGInterface::update (double dt)
 480 {
 481     SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
 482 }
 483
 484
 485 void FGInterface::_updatePositionM(const SGVec3d& cartPos)
 486 {
 487     TrackComputer tracker( track, geodetic_position_v );
 488     cartesian_position_v = cartPos;
 489     geodetic_position_v = SGGeod::fromCart(cartesian_position_v);
 490     geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
 491     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
 492     _update_ground_elev_at_pos();
 493 }
 494
 495
 496 void FGInterface::_updatePosition(const SGGeod& geod)
 497 {
 498     TrackComputer tracker( track, geodetic_position_v );
 499     geodetic_position_v = geod;
 500     cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v);
 501     geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
 502
 503     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
 504     _update_ground_elev_at_pos();
 505 }
 506
 507
 508 void FGInterface::_updatePosition(const SGGeoc& geoc)
 509 {
 510     TrackComputer tracker( track, geodetic_position_v );
 511     geocentric_position_v = geoc;
 512     cartesian_position_v = SGVec3d::fromGeoc(geocentric_position_v);
 513     geodetic_position_v = SGGeod::fromCart(cartesian_position_v);
 514
 515     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
 516     _update_ground_elev_at_pos();
 517 }
 518
 519
 520 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
 521 {
 522     _updatePosition(SGGeod::fromRadFt(lon, lat, alt));
 523 }
 524
 525
 526 void FGInterface::_updateGeocentricPosition( double lat, double lon,
 527                                              double alt )
 528 {
 529     _updatePosition(SGGeoc::fromRadFt(lon, lat, get_Sea_level_radius() + alt));
 530 }
 531
 532 void FGInterface::_update_ground_elev_at_pos( void ) {
 533     double groundlevel_m = get_groundlevel_m(geodetic_position_v);
 534     _set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET );
 535 }
 536
 537 // Positions
 538 void FGInterface::set_Latitude(double lat) {
 539     geodetic_position_v.setLatitudeRad(lat);
 540 }
 541
 542 void FGInterface::set_Longitude(double lon) {
 543     geodetic_position_v.setLongitudeRad(lon);
 544 }
 545
 546 void FGInterface::set_Altitude(double alt) {
 547     geodetic_position_v.setElevationFt(alt);
 548 }
 549
 550 void FGInterface::set_AltitudeAGL(double altagl) {
 551     altitude_agl=altagl;
 552 }
 553
 554 // Velocities
 555 void FGInterface::set_V_calibrated_kts(double vc) {
 556     v_calibrated_kts = vc;
 557 }
 558
 559 void FGInterface::set_Mach_number(double mach) {
 560     mach_number = mach;
 561 }
 562
 563 void FGInterface::set_Velocities_Local( double north,
 564                                         double east,
 565                                         double down ){
 566     v_local_v[0] = north;
 567     v_local_v[1] = east;
 568     v_local_v[2] = down;
 569 }
 570
 571 void FGInterface::set_Velocities_Wind_Body( double u,
 572                                             double v,
 573                                             double w){
 574     v_wind_body_v[0] = u;
 575     v_wind_body_v[1] = v;
 576     v_wind_body_v[2] = w;
 577 }
 578
 579 // Euler angles
 580 void FGInterface::set_Euler_Angles( double phi,
 581                                     double theta,
 582                                     double psi ) {
 583     euler_angles_v[0] = phi;
 584     euler_angles_v[1] = theta;
 585     euler_angles_v[2] = psi;
 586 }
 587
 588 // Flight Path
 589 void FGInterface::set_Climb_Rate( double roc) {
 590     climb_rate = roc;
 591 }
 592
 593 void FGInterface::set_Gamma_vert_rad( double gamma) {
 594     gamma_vert_rad = gamma;
 595 }
 596
 597 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
 598 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
 599 void FGInterface::set_Density(double rho) { density = rho; }
 600
 601 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
 602                                                 double weast,
 603                                                 double wdown ) {
 604     v_local_airmass_v[0] = wnorth;
 605     v_local_airmass_v[1] = weast;
 606     v_local_airmass_v[2] = wdown;
 607 }
 608
 609
 610 void FGInterface::_busdump(void) {
 611
 612     SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v: " << d_cg_rp_body_v);
 613     SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v: " << v_dot_local_v);
 614     SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v: " << v_dot_body_v);
 615     SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v: " << a_cg_body_v);
 616     SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v: " << a_pilot_body_v);
 617     SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v: " << n_cg_body_v);
 618     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v: " << v_local_v);
 619     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v: " << v_local_rel_ground_v);
 620     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v: " << v_local_airmass_v);
 621     SG_LOG(SG_FLIGHT,SG_INFO,"v_wind_body_v: " << v_wind_body_v);
 622     SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v: " << omega_body_v);
 623     SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v: " << euler_rates_v);
 624     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v: " << geocentric_rates_v);
 625     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v: " << geocentric_position_v);
 626     SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v: " << geodetic_position_v);
 627     SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v: " << euler_angles_v);
 628
 629     SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
 630     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
 631     SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
 632     SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
 633     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
 634     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
 635     SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
 636     SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
 637     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
 638     SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
 639     SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
 640     SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
 641     SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
 642     SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
 643     SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
 644     SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
 645     SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
 646     SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
 647     SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
 648     SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
 649     SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
 650 }
 651
 652 bool
 653 FGInterface::prepare_ground_cache_m(double startSimTime, double endSimTime,
 654                                     const double pt[3], double rad)
 655 {
 656   return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
 657                                            SGVec3d(pt), rad);
 658 }
 659
 660 bool
 661 FGInterface::prepare_ground_cache_ft(double startSimTime, double endSimTime,
 662                                      const double pt[3], double rad)
 663 {
 664   // Convert units and do the real work.
 665   SGVec3d pt_ft = SG_FEET_TO_METER*SGVec3d(pt);
 666   return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
 667                                            pt_ft, rad*SG_FEET_TO_METER);
 668 }
 669
 670 bool
 671 FGInterface::is_valid_m(double *ref_time, double pt[3], double *rad)
 672 {
 673   SGVec3d _pt;
 674   bool valid = ground_cache.is_valid(*ref_time, _pt, *rad);
 675   assign(pt, _pt);
 676   return valid;
 677 }
 678
 679 bool FGInterface::is_valid_ft(double *ref_time, double pt[3], double *rad)
 680 {
 681   // Convert units and do the real work.
 682   SGVec3d _pt;
 683   bool found_ground = ground_cache.is_valid(*ref_time, _pt, *rad);
 684   assign(pt, SG_METER_TO_FEET*_pt);
 685   *rad *= SG_METER_TO_FEET;
 686   return found_ground;
 687 }
 688
 689 double
 690 FGInterface::get_cat_m(double t, const double pt[3],
 691                        double end[2][3], double vel[2][3])
 692 {
 693   SGVec3d _end[2], _vel[2];
 694   double dist = ground_cache.get_cat(t, SGVec3d(pt), _end, _vel);
 695   for (int k=0; k<2; ++k) {
 696     assign( end[k], _end[k] );
 697     assign( vel[k], _vel[k] );
 698   }
 699   return dist;
 700 }
 701
 702 double
 703 FGInterface::get_cat_ft(double t, const double pt[3],
 704                         double end[2][3], double vel[2][3])
 705 {
 706   // Convert units and do the real work.
 707   SGVec3d pt_m = SG_FEET_TO_METER*SGVec3d(pt);
 708   SGVec3d _end[2], _vel[2];
 709   double dist = ground_cache.get_cat(t, pt_m, _end, _vel);
 710   for (int k=0; k<2; ++k) {
 711     assign( end[k], SG_METER_TO_FEET*_end[k] );
 712     assign( vel[k], SG_METER_TO_FEET*_vel[k] );
 713   }
 714   return dist*SG_METER_TO_FEET;
 715 }
 716
 717 bool
 718 FGInterface::get_body_m(double t, simgear::BVHNode::Id id,
 719                         double bodyToWorld[16], double linearVel[3],
 720                         double angularVel[3])
 721 {
 722   SGMatrixd _bodyToWorld;
 723   SGVec3d _linearVel, _angularVel;
 724   if (!ground_cache.get_body(t, _bodyToWorld, _linearVel, _angularVel, id))
 725     return false;
 726
 727   assign(linearVel, _linearVel);
 728   assign(angularVel, _angularVel);
 729   for (unsigned i = 0; i < 16; ++i)
 730       bodyToWorld[i] = _bodyToWorld.data()[i];
 731
 732   return true;
 733 }
 734
 735 bool
 736 FGInterface::get_agl_m(double t, const double pt[3], double max_altoff,
 737                        double contact[3], double normal[3],
 738                        double linearVel[3], double angularVel[3],
 739                        SGMaterial const*& material, simgear::BVHNode::Id& id)
 740 {
 741   SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
 742   SGVec3d _contact, _normal, _linearVel, _angularVel;
 743   material = 0;
 744   bool ret = ground_cache.get_agl(t, pt_m, _contact, _normal, _linearVel,
 745                                   _angularVel, id, material);
 746   // correct the linear velocity, since the line intersector delivers
 747   // values for the start point and the get_agl function should
 748   // traditionally deliver for the contact point
 749   _linearVel += cross(_angularVel, _contact - pt_m);
 750
 751   assign(contact, _contact);
 752   assign(normal, _normal);
 753   assign(linearVel, _linearVel);
 754   assign(angularVel, _angularVel);
 755   return ret;
 756 }
 757
 758 bool
 759 FGInterface::get_agl_ft(double t, const double pt[3], double max_altoff,
 760                         double contact[3], double normal[3],
 761                         double linearVel[3], double angularVel[3],
 762                         SGMaterial const*& material, simgear::BVHNode::Id& id)
 763 {
 764   // Convert units and do the real work.
 765   SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
 766   pt_m *= SG_FEET_TO_METER;
 767   SGVec3d _contact, _normal, _linearVel, _angularVel;
 768   material = 0;
 769   bool ret = ground_cache.get_agl(t, pt_m, _contact, _normal, _linearVel,
 770                                   _angularVel, id, material);
 771   // correct the linear velocity, since the line intersector delivers
 772   // values for the start point and the get_agl function should
 773   // traditionally deliver for the contact point
 774   _linearVel += cross(_angularVel, _contact - pt_m);
 775
 776   // Convert units back ...
 777   assign( contact, SG_METER_TO_FEET*_contact );
 778   assign( normal, _normal );
 779   assign( linearVel, SG_METER_TO_FEET*_linearVel );
 780   assign( angularVel, _angularVel );
 781   return ret;
 782 }
 783
 784 bool
 785 FGInterface::get_nearest_m(double t, const double pt[3], double maxDist,
 786                            double contact[3], double normal[3],
 787                            double linearVel[3], double angularVel[3],
 788                            SGMaterial const*& material,
 789                            simgear::BVHNode::Id& id)
 790 {
 791   SGVec3d _contact, _linearVel, _angularVel;
 792   if (!ground_cache.get_nearest(t, SGVec3d(pt), maxDist, _contact, _linearVel,
 793                                 _angularVel, id, material))
 794       return false;
 795
 796   assign(contact, _contact);
 797   assign(linearVel, _linearVel);
 798   assign(angularVel, _angularVel);
 799   return true;
 800 }
 801
 802 bool
 803 FGInterface::get_nearest_ft(double t, const double pt[3], double maxDist,
 804                             double contact[3], double normal[3],
 805                             double linearVel[3], double angularVel[3],
 806                             SGMaterial const*& material,
 807                             simgear::BVHNode::Id& id)
 808 {
 809   SGVec3d _contact, _linearVel, _angularVel;
 810   if (!ground_cache.get_nearest(t, SG_FEET_TO_METER*SGVec3d(pt),
 811                                 SG_FEET_TO_METER*maxDist, _contact, _linearVel,
 812                                 _angularVel, id, material))
 813       return false;
 814
 815   assign(contact, SG_METER_TO_FEET*_contact);
 816   assign(linearVel, SG_METER_TO_FEET*_linearVel);
 817   assign(angularVel, _angularVel);
 818   return true;
 819 }
 820
 821 double
 822 FGInterface::get_groundlevel_m(double lat, double lon, double alt)
 823 {
 824   return get_groundlevel_m(SGGeod::fromRadM(lon, lat, alt));
 825 }
 826
 827 double
 828 FGInterface::get_groundlevel_m(const SGGeod& geod)
 829 {
 830   // Compute the cartesian position of the given lat/lon/alt.
 831   SGVec3d pos = SGVec3d::fromGeod(geod);
 832
 833   // FIXME: how to handle t - ref_time differences ???
 834   SGVec3d cpos;
 835   double ref_time = 0, radius;
 836   // Prepare the ground cache for that position.
 837   if (!is_valid_m(&ref_time, cpos.data(), &radius)) {
 838     double startTime = ref_time;
 839     double endTime = startTime + 1;
 840     bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), 10);
 841     /// This is most likely the case when the given altitude is
 842     /// too low, try with a new altitude of 10000m, that should be
 843     /// sufficient to find a ground level below everywhere on our planet
 844     if (!ok) {
 845       pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000));
 846       /// If there is still no ground, return sea level radius
 847       if (!prepare_ground_cache_m(startTime, endTime, pos.data(), 10))
 848         return 0;
 849     }
 850   } else if (radius*radius <= distSqr(pos, cpos)) {
 851     double startTime = ref_time;
 852     double endTime = startTime + 1;
 853
 854     /// We reuse the old radius value, but only if it is at least 10 Meters ..
 855     if (!(10 < radius)) // Well this strange compare is nan safe
 856       radius = 10;
 857
 858     bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), radius);
 859     /// This is most likely the case when the given altitude is
 860     /// too low, try with a new altitude of 10000m, that should be
 861     /// sufficient to find a ground level below everywhere on our planet
 862     if (!ok) {
 863       pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000));
 864       /// If there is still no ground, return sea level radius
 865       if (!prepare_ground_cache_m(startTime, endTime, pos.data(), radius))
 866         return 0;
 867     }
 868   }
 869
 870   double contact[3], normal[3], vel[3], angvel[3];
 871   const SGMaterial* material;
 872   simgear::BVHNode::Id id;
 873   // Ignore the return value here, since it just tells us if
 874   // the returns stem from the groundcache or from the coarse
 875   // computations below the groundcache. The contact point is still something
 876   // valid, the normals and the other returns just contain some defaults.
 877   get_agl_m(ref_time, pos.data(), 2.0, contact, normal, vel, angvel,
 878             material, id);
 879   return SGGeod::fromCart(SGVec3d(contact)).getElevationM();
 880 }
 881
 882 bool
 883 FGInterface::caught_wire_m(double t, const double pt[4][3])
 884 {
 885   SGVec3d pt_m[4];
 886   for (int i=0; i<4; ++i)
 887     pt_m[i] = SGVec3d(pt[i]);
 888
 889   return ground_cache.caught_wire(t, pt_m);
 890 }
 891
 892 bool
 893 FGInterface::caught_wire_ft(double t, const double pt[4][3])
 894 {
 895   // Convert units and do the real work.
 896   SGVec3d pt_m[4];
 897   for (int i=0; i<4; ++i)
 898     pt_m[i] = SG_FEET_TO_METER*SGVec3d(pt[i]);
 899
 900   return ground_cache.caught_wire(t, pt_m);
 901 }
 902
 903 bool
 904 FGInterface::get_wire_ends_m(double t, double end[2][3], double vel[2][3])
 905 {
 906   SGVec3d _end[2], _vel[2];
 907   bool ret = ground_cache.get_wire_ends(t, _end, _vel);
 908   for (int k=0; k<2; ++k) {
 909     assign( end[k], _end[k] );
 910     assign( vel[k], _vel[k] );
 911   }
 912   return ret;
 913 }
 914
 915 bool
 916 FGInterface::get_wire_ends_ft(double t, double end[2][3], double vel[2][3])
 917 {
 918   // Convert units and do the real work.
 919   SGVec3d _end[2], _vel[2];
 920   bool ret = ground_cache.get_wire_ends(t, _end, _vel);
 921   for (int k=0; k<2; ++k) {
 922     assign( end[k], SG_METER_TO_FEET*_end[k] );
 923     assign( vel[k], SG_METER_TO_FEET*_vel[k] );
 924   }
 925   return ret;
 926 }
 927
 928 void
 929 FGInterface::release_wire(void)
 930 {
 931   ground_cache.release_wire();
 932 }
 933