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(void) {
  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(void) {
  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
 145 // Destructor
 146 FGInterface::~FGInterface() {
 147 //   unbind();                  // FIXME: should be called explicitly
 148 }
 149
 150
 151 void
 152 FGInterface::init ()
 153 {
 154   init(1.0 / fgGetInt("/sim/model-hz"));
 155 }
 156
 157 void
 158 FGInterface::bind ()
 159 {
 160                                 // Aircraft position
 161   fgTie("/position/latitude", this,
 162         &(FGInterface::get_Latitude_deg),
 163         &(FGInterface::set_Latitude_deg));
 164   fgTie("/position/longitude", this,
 165         &(FGInterface::get_Longitude_deg),
 166         &(FGInterface::set_Longitude_deg));
 167   fgTie("/position/altitude", this,
 168         &(FGInterface::get_Altitude),
 169         &(FGInterface::set_Altitude));
 170   fgTie("/position/altitude-agl", this,
 171         &(FGInterface::get_Altitude_AGL)); // read-only
 172
 173                                 // Orientation
 174   fgTie("/orientation/roll", this,
 175         &(FGInterface::get_Phi_deg),
 176         &(FGInterface::set_Phi_deg));
 177   fgTie("/orientation/pitch", this,
 178         &(FGInterface::get_Theta_deg),
 179         &(FGInterface::set_Theta_deg));
 180   fgTie("/orientation/heading", this,
 181         &(FGInterface::get_Psi_deg),
 182         &(FGInterface::set_Psi_deg));
 183
 184                                 // Calibrated airspeed
 185   fgTie("/velocities/airspeed", this,
 186         &(FGInterface::get_V_calibrated_kts),
 187         &(FGInterface::set_V_calibrated_kts));
 188
 189                                 // Local velocities
 190   fgTie("/velocities/speed-north", this,
 191         &(FGInterface::get_V_north));
 192   fgTie("/velocities/speed-east", this,
 193         &(FGInterface::get_V_east),
 194         &(FGInterface::set_V_east));
 195   fgTie("/velocities/speed-down", this,
 196         &(FGInterface::get_V_down),
 197         &(FGInterface::set_V_down));
 198
 199                                 // Relative wind
 200   fgTie("/velocities/uBody", this,
 201         &(FGInterface::get_uBody),
 202         &(FGInterface::set_uBody));
 203   fgTie("/velocities/vBody", this,
 204         &(FGInterface::get_vBody),
 205         &(FGInterface::set_vBody));
 206   fgTie("/velocities/wBody", this,
 207         &(FGInterface::get_wBody),
 208         &(FGInterface::set_wBody));
 209
 210                                 // Climb and slip (read-only)
 211   fgTie("/velocities/vertical-speed", this,
 212         &(FGInterface::get_Climb_Rate)); // read-only
 213   fgTie("/velocities/side-slip", this,
 214         &(FGInterface::get_Beta)); // read-only
 215 }
 216
 217 void
 218 FGInterface::unbind ()
 219 {
 220   fgUntie("/position/latitude");
 221   fgUntie("/position/longitude");
 222   fgUntie("/position/altitude");
 223   fgUntie("/position/heading");
 224   fgUntie("/position/pitch");
 225   fgUntie("/position/roll");
 226   fgUntie("/velocities/airspeed");
 227   fgUntie("/velocities/speed-north");
 228   fgUntie("/velocities/speed-east");
 229   fgUntie("/velocities/speed-down");
 230   fgUntie("/velocities/uBody");
 231   fgUntie("/velocities/vBody");
 232   fgUntie("/velocities/wBody");
 233   fgUntie("/velocities/vertical-speed");
 234   fgUntie("/velocities/side-slip");
 235 }
 236
 237 void
 238 FGInterface::update ()
 239 {
 240   update(1);
 241 }
 242
 243
 244 bool FGInterface::init( double dt ) {
 245     cout << "dummy init() ... SHOULDN'T BE CALLED!" << endl;
 246     return false;
 247 }
 248
 249
 250 bool FGInterface::update( int multi_loop ) {
 251     cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl;
 252     return false;
 253 }
 254
 255
 256 void FGInterface::_updatePosition( double lat_geoc, double lon, double alt ) {
 257     double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
 258
 259     sgGeocToGeod( lat_geoc, EQUATORIAL_RADIUS_M + alt * FEET_TO_METER,
 260                   &lat_geod, &tmp_alt, &sl_radius1 );
 261     sgGeodToGeoc( lat_geod, alt * FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
 262
 263     FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << lon
 264             << " lat_geod = " << lat_geod
 265             << " lat_geoc = " << lat_geoc
 266             << " alt = " << alt
 267             << " tmp_alt = " << tmp_alt * METER_TO_FEET
 268             << " sl_radius1 = " << sl_radius1 * METER_TO_FEET
 269             << " sl_radius2 = " << sl_radius2 * METER_TO_FEET
 270             << " Equator = " << EQUATORIAL_RADIUS_FT );
 271
 272     _set_Geocentric_Position( lat_geoc, lon,
 273                               sl_radius2 * METER_TO_FEET + alt );
 274
 275     _set_Geodetic_Position( lat_geod, lon, alt );
 276
 277     _set_Sea_level_radius( sl_radius2 * METER_TO_FEET );
 278     _set_Runway_altitude( scenery.cur_elev*METERS_TO_FEET );
 279
 280     _set_sin_lat_geocentric( lat_geoc );
 281     _set_cos_lat_geocentric( lat_geoc );
 282
 283     _set_sin_cos_longitude( lon );
 284
 285     _set_sin_cos_latitude( lat_geod );
 286
 287     /* Norman's code for slope of the terrain */
 288     /* needs to be tested -- get it on the HUD and taxi around */
 289     /* double *tnorm = scenery.cur_normal;
 290
 291        double sy = sin ( -get_Psi() ) ;
 292        double cy = cos ( -get_Psi() ) ;
 293
 294        double phitb, thetatb, psitb;
 295        if(tnorm[1] != 0.0) {
 296                 psitb = -atan2 ( tnorm[0], tnorm[1] );
 297        }
 298        if(tnorm[2] != 0.0) {
 299                 thetatb =  atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
 300                 phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
 301        }
 302
 303        _set_terrain_slope(phitb, thetatb, psitb)
 304      */
 305 }
 306
 307
 308 // Extrapolate fdm based on time_offset (in usec)
 309 void FGInterface::extrapolate( int time_offset ) {
 310     double dt = time_offset / 1000000.0;
 311
 312     // -dw- metrowerks complains about ambiguous access, not critical
 313     // to keep this ;)
 314 #ifndef __MWERKS__
 315     cout << "extrapolating FDM by dt = " << dt << endl;
 316 #endif
 317
 318     double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
 319     double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
 320
 321     double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
 322     double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
 323
 324     double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
 325     double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
 326
 327     geodetic_position_v[0] = lat;
 328     geocentric_position_v[0] = lat_geoc;
 329
 330     geodetic_position_v[1] = lon;
 331     geocentric_position_v[1] = lon_geoc;
 332
 333     geodetic_position_v[2] = alt;
 334     geocentric_position_v[2] = radius;
 335 }
 336
 337
 338 // Set the altitude (force)
 339 void fgFDMForceAltitude(const string &model, double alt_meters) {
 340     double sea_level_radius_meters;
 341     double lat_geoc;
 342
 343     // Set the FG variables first
 344     sgGeodToGeoc( base_fdm_state.get_Latitude(), alt_meters,
 345                   &sea_level_radius_meters, &lat_geoc);
 346
 347     base_fdm_state.set_Altitude( alt_meters * METER_TO_FEET );
 348     base_fdm_state.set_Sea_level_radius( sea_level_radius_meters *
 349                                          METER_TO_FEET );
 350
 351
 352     // additional work needed for some flight models
 353     if ( model == "larcsim" ) {
 354         ls_ForceAltitude( base_fdm_state.get_Altitude() );
 355     }
 356 }
 357
 358
 359 // Set the local ground elevation
 360 void fgFDMSetGroundElevation(const string &model, double ground_meters) {
 361     FG_LOG( FG_FLIGHT,FG_INFO, "fgFDMSetGroundElevation: "
 362             << ground_meters*METER_TO_FEET );
 363     base_fdm_state.set_Runway_altitude( ground_meters * METER_TO_FEET );
 364     cur_fdm_state->set_Runway_altitude( ground_meters * METER_TO_FEET );
 365 }
 366
 367
 368 // Positions
 369 void FGInterface::set_Latitude(double lat) {
 370     geodetic_position_v[0] = lat;
 371 }
 372
 373 void FGInterface::set_Longitude(double lon) {
 374     geodetic_position_v[1] = lon;
 375 }
 376
 377 void FGInterface::set_Altitude(double alt) {
 378     geodetic_position_v[2] = alt;
 379 }
 380
 381 void FGInterface::set_AltitudeAGL(double altagl) {
 382     altitude_agl=altagl;
 383 }
 384
 385 // Velocities
 386 void FGInterface::set_V_calibrated_kts(double vc) {
 387     v_calibrated_kts = vc;
 388 }
 389
 390 void FGInterface::set_Mach_number(double mach) {
 391     mach_number = mach;
 392 }
 393
 394 void FGInterface::set_Velocities_Local( double north,
 395                                         double east,
 396                                         double down ){
 397     v_local_v[0] = north;
 398     v_local_v[1] = east;
 399     v_local_v[2] = down;
 400 }
 401
 402 void FGInterface::set_Velocities_Wind_Body( double u,
 403                                             double v,
 404                                             double w){
 405     v_wind_body_v[0] = u;
 406     v_wind_body_v[1] = v;
 407     v_wind_body_v[2] = w;
 408 }
 409
 410 // Euler angles
 411 void FGInterface::set_Euler_Angles( double phi,
 412                                     double theta,
 413                                     double psi ) {
 414     euler_angles_v[0] = phi;
 415     euler_angles_v[1] = theta;
 416     euler_angles_v[2] = psi;
 417 }
 418
 419 // Flight Path
 420 void FGInterface::set_Climb_Rate( double roc) {
 421     climb_rate = roc;
 422 }
 423
 424 void FGInterface::set_Gamma_vert_rad( double gamma) {
 425     gamma_vert_rad = gamma;
 426 }
 427
 428 // Earth
 429 void FGInterface::set_Sea_level_radius(double slr) {
 430     sea_level_radius = slr;
 431 }
 432
 433 void FGInterface::set_Runway_altitude(double ralt) {
 434     runway_altitude = ralt;
 435 }
 436
 437 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
 438 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
 439 void FGInterface::set_Density(double rho) { density = rho; }
 440
 441 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
 442                                                 double weast,
 443                                                 double wdown ) {
 444     v_local_airmass_v[0] = wnorth;
 445     v_local_airmass_v[1] = weast;
 446     v_local_airmass_v[2] = wdown;
 447 }
 448
 449
 450 void FGInterface::_busdump(void) {
 451
 452     FG_LOG(FG_FLIGHT,FG_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]);
 453     FG_LOG(FG_FLIGHT,FG_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]);
 454     FG_LOG(FG_FLIGHT,FG_INFO,"f_body_total_v[3]: " << f_body_total_v[0] << ", " << f_body_total_v[1] << ", " << f_body_total_v[2]);
 455     FG_LOG(FG_FLIGHT,FG_INFO,"f_local_total_v[3]: " << f_local_total_v[0] << ", " << f_local_total_v[1] << ", " << f_local_total_v[2]);
 456     FG_LOG(FG_FLIGHT,FG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
 457     FG_LOG(FG_FLIGHT,FG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
 458     FG_LOG(FG_FLIGHT,FG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
 459     FG_LOG(FG_FLIGHT,FG_INFO,"m_total_rp_v[3]: " << m_total_rp_v[0] << ", " << m_total_rp_v[1] << ", " << m_total_rp_v[2]);
 460     FG_LOG(FG_FLIGHT,FG_INFO,"m_total_cg_v[3]: " << m_total_cg_v[0] << ", " << m_total_cg_v[1] << ", " << m_total_cg_v[2]);
 461     FG_LOG(FG_FLIGHT,FG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
 462     FG_LOG(FG_FLIGHT,FG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
 463     FG_LOG(FG_FLIGHT,FG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
 464     FG_LOG(FG_FLIGHT,FG_INFO,"v_dot_local_v[3]: " << v_dot_local_v[0] << ", " << v_dot_local_v[1] << ", " << v_dot_local_v[2]);
 465     FG_LOG(FG_FLIGHT,FG_INFO,"v_dot_body_v[3]: " << v_dot_body_v[0] << ", " << v_dot_body_v[1] << ", " << v_dot_body_v[2]);
 466     FG_LOG(FG_FLIGHT,FG_INFO,"a_cg_body_v[3]: " << a_cg_body_v[0] << ", " << a_cg_body_v[1] << ", " << a_cg_body_v[2]);
 467     FG_LOG(FG_FLIGHT,FG_INFO,"a_pilot_body_v[3]: " << a_pilot_body_v[0] << ", " << a_pilot_body_v[1] << ", " << a_pilot_body_v[2]);
 468     FG_LOG(FG_FLIGHT,FG_INFO,"n_cg_body_v[3]: " << n_cg_body_v[0] << ", " << n_cg_body_v[1] << ", " << n_cg_body_v[2]);
 469     FG_LOG(FG_FLIGHT,FG_INFO,"n_pilot_body_v[3]: " << n_pilot_body_v[0] << ", " << n_pilot_body_v[1] << ", " << n_pilot_body_v[2]);
 470     FG_LOG(FG_FLIGHT,FG_INFO,"omega_dot_body_v[3]: " << omega_dot_body_v[0] << ", " << omega_dot_body_v[1] << ", " << omega_dot_body_v[2]);
 471     FG_LOG(FG_FLIGHT,FG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
 472     FG_LOG(FG_FLIGHT,FG_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]);
 473     FG_LOG(FG_FLIGHT,FG_INFO,"v_local_airmass_v[3]: " << v_local_airmass_v[0] << ", " << v_local_airmass_v[1] << ", " << v_local_airmass_v[2]);
 474     FG_LOG(FG_FLIGHT,FG_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]);
 475     FG_LOG(FG_FLIGHT,FG_INFO,"v_local_gust_v[3]: " << v_local_gust_v[0] << ", " << v_local_gust_v[1] << ", " << v_local_gust_v[2]);
 476     FG_LOG(FG_FLIGHT,FG_INFO,"v_wind_body_v[3]: " << v_wind_body_v[0] << ", " << v_wind_body_v[1] << ", " << v_wind_body_v[2]);
 477     FG_LOG(FG_FLIGHT,FG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
 478     FG_LOG(FG_FLIGHT,FG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
 479     FG_LOG(FG_FLIGHT,FG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
 480     FG_LOG(FG_FLIGHT,FG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
 481     FG_LOG(FG_FLIGHT,FG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
 482     FG_LOG(FG_FLIGHT,FG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
 483     FG_LOG(FG_FLIGHT,FG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
 484     FG_LOG(FG_FLIGHT,FG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
 485     FG_LOG(FG_FLIGHT,FG_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]);
 486     FG_LOG(FG_FLIGHT,FG_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]);
 487     FG_LOG(FG_FLIGHT,FG_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]);
 488     FG_LOG(FG_FLIGHT,FG_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]);
 489
 490     FG_LOG(FG_FLIGHT,FG_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]);
 491     FG_LOG(FG_FLIGHT,FG_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]);
 492     FG_LOG(FG_FLIGHT,FG_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]);
 493
 494     FG_LOG(FG_FLIGHT,FG_INFO,"mass: " << mass );
 495     FG_LOG(FG_FLIGHT,FG_INFO,"i_xx: " << i_xx );
 496     FG_LOG(FG_FLIGHT,FG_INFO,"i_yy: " << i_yy );
 497     FG_LOG(FG_FLIGHT,FG_INFO,"i_zz: " << i_zz );
 498     FG_LOG(FG_FLIGHT,FG_INFO,"i_xz: " << i_xz );
 499     FG_LOG(FG_FLIGHT,FG_INFO,"nlf: " << nlf );
 500     FG_LOG(FG_FLIGHT,FG_INFO,"v_rel_wind: " << v_rel_wind );
 501     FG_LOG(FG_FLIGHT,FG_INFO,"v_true_kts: " << v_true_kts );
 502     FG_LOG(FG_FLIGHT,FG_INFO,"v_rel_ground: " << v_rel_ground );
 503     FG_LOG(FG_FLIGHT,FG_INFO,"v_inertial: " << v_inertial );
 504     FG_LOG(FG_FLIGHT,FG_INFO,"v_ground_speed: " << v_ground_speed );
 505     FG_LOG(FG_FLIGHT,FG_INFO,"v_equiv: " << v_equiv );
 506     FG_LOG(FG_FLIGHT,FG_INFO,"v_equiv_kts: " << v_equiv_kts );
 507     FG_LOG(FG_FLIGHT,FG_INFO,"v_calibrated: " << v_calibrated );
 508     FG_LOG(FG_FLIGHT,FG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
 509     FG_LOG(FG_FLIGHT,FG_INFO,"gravity: " << gravity );
 510     FG_LOG(FG_FLIGHT,FG_INFO,"centrifugal_relief: " << centrifugal_relief );
 511     FG_LOG(FG_FLIGHT,FG_INFO,"alpha: " << alpha );
 512     FG_LOG(FG_FLIGHT,FG_INFO,"beta: " << beta );
 513     FG_LOG(FG_FLIGHT,FG_INFO,"alpha_dot: " << alpha_dot );
 514     FG_LOG(FG_FLIGHT,FG_INFO,"beta_dot: " << beta_dot );
 515     FG_LOG(FG_FLIGHT,FG_INFO,"cos_alpha: " << cos_alpha );
 516     FG_LOG(FG_FLIGHT,FG_INFO,"sin_alpha: " << sin_alpha );
 517     FG_LOG(FG_FLIGHT,FG_INFO,"cos_beta: " << cos_beta );
 518     FG_LOG(FG_FLIGHT,FG_INFO,"sin_beta: " << sin_beta );
 519     FG_LOG(FG_FLIGHT,FG_INFO,"cos_phi: " << cos_phi );
 520     FG_LOG(FG_FLIGHT,FG_INFO,"sin_phi: " << sin_phi );
 521     FG_LOG(FG_FLIGHT,FG_INFO,"cos_theta: " << cos_theta );
 522     FG_LOG(FG_FLIGHT,FG_INFO,"sin_theta: " << sin_theta );
 523     FG_LOG(FG_FLIGHT,FG_INFO,"cos_psi: " << cos_psi );
 524     FG_LOG(FG_FLIGHT,FG_INFO,"sin_psi: " << sin_psi );
 525     FG_LOG(FG_FLIGHT,FG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
 526     FG_LOG(FG_FLIGHT,FG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
 527     FG_LOG(FG_FLIGHT,FG_INFO,"sigma: " << sigma );
 528     FG_LOG(FG_FLIGHT,FG_INFO,"density: " << density );
 529     FG_LOG(FG_FLIGHT,FG_INFO,"v_sound: " << v_sound );
 530     FG_LOG(FG_FLIGHT,FG_INFO,"mach_number: " << mach_number );
 531     FG_LOG(FG_FLIGHT,FG_INFO,"static_pressure: " << static_pressure );
 532     FG_LOG(FG_FLIGHT,FG_INFO,"total_pressure: " << total_pressure );
 533     FG_LOG(FG_FLIGHT,FG_INFO,"impact_pressure: " << impact_pressure );
 534     FG_LOG(FG_FLIGHT,FG_INFO,"dynamic_pressure: " << dynamic_pressure );
 535     FG_LOG(FG_FLIGHT,FG_INFO,"static_temperature: " << static_temperature );
 536     FG_LOG(FG_FLIGHT,FG_INFO,"total_temperature: " << total_temperature );
 537     FG_LOG(FG_FLIGHT,FG_INFO,"sea_level_radius: " << sea_level_radius );
 538     FG_LOG(FG_FLIGHT,FG_INFO,"earth_position_angle: " << earth_position_angle );
 539     FG_LOG(FG_FLIGHT,FG_INFO,"runway_altitude: " << runway_altitude );
 540     FG_LOG(FG_FLIGHT,FG_INFO,"runway_latitude: " << runway_latitude );
 541     FG_LOG(FG_FLIGHT,FG_INFO,"runway_longitude: " << runway_longitude );
 542     FG_LOG(FG_FLIGHT,FG_INFO,"runway_heading: " << runway_heading );
 543     FG_LOG(FG_FLIGHT,FG_INFO,"radius_to_rwy: " << radius_to_rwy );
 544     FG_LOG(FG_FLIGHT,FG_INFO,"climb_rate: " << climb_rate );
 545     FG_LOG(FG_FLIGHT,FG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
 546     FG_LOG(FG_FLIGHT,FG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
 547     FG_LOG(FG_FLIGHT,FG_INFO,"sin_longitude: " << sin_longitude );
 548     FG_LOG(FG_FLIGHT,FG_INFO,"cos_longitude: " << cos_longitude );
 549     FG_LOG(FG_FLIGHT,FG_INFO,"sin_latitude: " << sin_latitude );
 550     FG_LOG(FG_FLIGHT,FG_INFO,"cos_latitude: " << cos_latitude );
 551     FG_LOG(FG_FLIGHT,FG_INFO,"altitude_agl: " << altitude_agl );
 552 }
 553