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