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  - 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 FGGearInterface::FGGearInterface(void) {
  75     x=y=z=0.0;
  76     brake=rolls=WoW=false;
  77     position=1.0;
  78 }
  79
  80 FGGearInterface::~FGGearInterface() {
  81 }
  82
  83 // Constructor
  84 FGInterface::FGInterface() {
  85     _setup();
  86 }
  87
  88 FGInterface::FGInterface( double dt ) {
  89     _setup();
  90     delta_t = dt;
  91     remainder = elapsed = multi_loop = 0;
  92 }
  93
  94 // Destructor
  95 FGInterface::~FGInterface() {
  96 //   unbind();                  // FIXME: should be called explicitly
  97 }
  98
  99
 100 /**
 101  * Set default values for the state of the FDM.
 102  *
 103  * This method is invoked by the constructors.
 104  */
 105 void
 106 FGInterface::_setup ()
 107 {
 108     inited = false;
 109     bound = false;
 110
 111     init_vec( d_pilot_rp_body_v );
 112     init_vec( d_cg_rp_body_v );
 113     init_vec( f_body_total_v );
 114     init_vec( f_local_total_v );
 115     init_vec( f_aero_v );
 116     init_vec( f_engine_v );
 117     init_vec( f_gear_v );
 118     init_vec( m_total_rp_v );
 119     init_vec( m_total_cg_v );
 120     init_vec( m_aero_v );
 121     init_vec( m_engine_v );
 122     init_vec( m_gear_v );
 123     init_vec( v_dot_local_v );
 124     init_vec( v_dot_body_v );
 125     init_vec( a_cg_body_v );
 126     init_vec( a_pilot_body_v );
 127     init_vec( n_cg_body_v );
 128     init_vec( n_pilot_body_v );
 129     init_vec( omega_dot_body_v );
 130     init_vec( v_local_v );
 131     init_vec( v_local_rel_ground_v );
 132     init_vec( v_local_airmass_v );
 133     init_vec( v_local_rel_airmass_v );
 134     init_vec( v_local_gust_v );
 135     init_vec( v_wind_body_v );
 136     init_vec( omega_body_v );
 137     init_vec( omega_local_v );
 138     init_vec( omega_total_v );
 139     init_vec( euler_rates_v );
 140     init_vec( geocentric_rates_v );
 141     init_vec( geocentric_position_v );
 142     init_vec( geodetic_position_v );
 143     init_vec( euler_angles_v );
 144     init_vec( d_cg_rwy_local_v );
 145     init_vec( d_cg_rwy_rwy_v );
 146     init_vec( d_pilot_rwy_local_v );
 147     init_vec( d_pilot_rwy_rwy_v );
 148     init_vec( t_local_to_body_m[0] );
 149     init_vec( t_local_to_body_m[1] );
 150     init_vec( t_local_to_body_m[2] );
 151
 152     mass=i_xx=i_yy=i_zz=i_xz=0;
 153     nlf=0;
 154     v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
 155     v_ground_speed=v_equiv=v_equiv_kts=0;
 156     v_calibrated=v_calibrated_kts=0;
 157     gravity=0;
 158     centrifugal_relief=0;
 159     alpha=beta=alpha_dot=beta_dot=0;
 160     cos_alpha=sin_alpha=cos_beta=sin_beta=0;
 161     cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
 162     gamma_vert_rad=gamma_horiz_rad=0;
 163     sigma=density=v_sound=mach_number=0;
 164     static_pressure=total_pressure=impact_pressure=0;
 165     dynamic_pressure=0;
 166     static_temperature=total_temperature=0;
 167     sea_level_radius=earth_position_angle=0;
 168     runway_altitude=runway_latitude=runway_longitude=0;
 169     runway_heading=0;
 170     radius_to_rwy=0;
 171     climb_rate=0;
 172     sin_lat_geocentric=cos_lat_geocentric=0;
 173     sin_latitude=cos_latitude=0;
 174     sin_longitude=cos_longitude=0;
 175     altitude_agl=0;
 176 }
 177
 178 void
 179 FGInterface::init () {}
 180
 181 /**
 182  * Initialize the state of the FDM.
 183  *
 184  * Subclasses of FGInterface may do their own, additional initialization,
 185  * but there is some that is common to all.  Normally, they should call
 186  * this before they begin their own init to make sure the basic structures
 187  * are set up properly.
 188  */
 189 void
 190 FGInterface::common_init ()
 191 {
 192     SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
 193
 194     set_inited( true );
 195
 196     stamp();
 197     set_remainder( 0 );
 198
 199     // Set initial position
 200     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
 201     set_Longitude( fgGetDouble("/position/longitude-deg")
 202                    * SGD_DEGREES_TO_RADIANS );
 203     set_Latitude( fgGetDouble("/position/latitude-deg")
 204                   * SGD_DEGREES_TO_RADIANS );
 205     double ground_elev_m = scenery.get_cur_elev();
 206     double ground_elev_ft = ground_elev_m * METERS_TO_FEET;
 207     if ( fgGetBool("/sim/startup/onground")
 208          || fgGetDouble("/position/altitude-ft") < ground_elev_ft ) {
 209         fgSetDouble("/position/altitude-ft", ground_elev_ft);
 210     }
 211     set_Altitude( fgGetDouble("/position/altitude-ft") );
 212
 213     // Set ground elevation
 214     SG_LOG( SG_FLIGHT, SG_INFO,
 215             "...initializing ground elevation to " << ground_elev_ft
 216             << "ft..." );
 217     SG_LOG( SG_FLIGHT, SG_INFO, "common_init(): set ground elevation "
 218             << ground_elev_ft );
 219     base_fdm_state.set_Runway_altitude( ground_elev_ft );
 220     set_Runway_altitude( ground_elev_ft );
 221
 222     // Set sea-level radius
 223     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
 224     SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
 225             << fgGetDouble("/position/latitude-deg")
 226             << " alt = " << fgGetDouble("/position/altitude-ft") );
 227     double sea_level_radius_meters;
 228     double lat_geoc;
 229     sgGeodToGeoc( fgGetDouble("/position/latitude-deg")
 230                     * SGD_DEGREES_TO_RADIANS,
 231                   fgGetDouble("/position/altitude-ft") * SG_FEET_TO_METER,
 232                   &sea_level_radius_meters, &lat_geoc );
 233     set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
 234
 235     // Set initial velocities
 236     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
 237     if ( !fgHasNode("/sim/startup/speed-set") ) {
 238         set_V_calibrated_kts(0.0);
 239     } else {
 240         const string speedset = fgGetString("/sim/startup/speed-set");
 241         if ( speedset == "knots" || speedset == "KNOTS" ) {
 242             set_V_calibrated_kts( fgGetDouble("/velocities/airspeed-kt") );
 243         } else if ( speedset == "mach" || speedset == "MACH" ) {
 244             set_Mach_number( fgGetDouble("/velocities/mach") );
 245         } else if ( speedset == "UVW" || speedset == "uvw" ) {
 246             set_Velocities_Wind_Body(
 247                                      fgGetDouble("/velocities/uBody-fps"),
 248                                      fgGetDouble("/velocities/vBody-fps"),
 249                                      fgGetDouble("/velocities/wBody-fps") );
 250         } else if ( speedset == "NED" || speedset == "ned" ) {
 251             set_Velocities_Local(
 252                                  fgGetDouble("/velocities/speed-north-fps"),
 253                                  fgGetDouble("/velocities/speed-east-fps"),
 254                                  fgGetDouble("/velocities/speed-down-fps") );
 255         } else {
 256             SG_LOG( SG_FLIGHT, SG_ALERT,
 257                     "Unrecognized value for /sim/startup/speed-set: "
 258                     << speedset);
 259             set_V_calibrated_kts( 0.0 );
 260         }
 261     }
 262
 263     // Set initial Euler angles
 264     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
 265     set_Euler_Angles( fgGetDouble("/orientation/roll-deg")
 266                         * SGD_DEGREES_TO_RADIANS,
 267                       fgGetDouble("/orientation/pitch-deg")
 268                         * SGD_DEGREES_TO_RADIANS,
 269                       fgGetDouble("/orientation/heading-deg")
 270                         * SGD_DEGREES_TO_RADIANS );
 271
 272     SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
 273 }
 274
 275
 276 /**
 277  * Bind getters and setters to properties.
 278  *
 279  * The bind() method will be invoked after init().  Note that unlike
 280  * the usual implementations of FGSubsystem::bind(), this method does
 281  * not automatically pick up existing values for the properties at
 282  * bind time; instead, all values are set explicitly in the init()
 283  * method.
 284  */
 285 void
 286 FGInterface::bind ()
 287 {
 288   bound = true;
 289
 290                                 // Time management (read-only)
 291   fgTie("/fdm/time/delta_t", this,
 292         &FGInterface::get_delta_t); // read-only
 293   fgTie("/fdm/time/elapsed", this,
 294         &FGInterface::get_elapsed); // read-only
 295   fgTie("/fdm/time/remainder", this,
 296         &FGInterface::get_remainder); // read-only
 297   fgTie("/fdm/time/multi_loop", this,
 298         &FGInterface::get_multi_loop); // read-only
 299
 300                         // Aircraft position
 301   fgTie("/position/latitude-deg", this,
 302         &FGInterface::get_Latitude_deg,
 303         &FGInterface::set_Latitude_deg,
 304         false);
 305   fgSetArchivable("/position/latitude-deg");
 306   fgTie("/position/longitude-deg", this,
 307         &FGInterface::get_Longitude_deg,
 308         &FGInterface::set_Longitude_deg,
 309         false);
 310   fgSetArchivable("/position/longitude-deg");
 311   fgTie("/position/altitude-ft", this,
 312         &FGInterface::get_Altitude,
 313         &FGInterface::set_Altitude,
 314         false);
 315   fgSetArchivable("/position/altitude-ft");
 316   fgTie("/position/altitude-agl-ft", this,
 317         &FGInterface::get_Altitude_AGL); // read-only
 318
 319                                 // Orientation
 320   fgTie("/orientation/roll-deg", this,
 321         &FGInterface::get_Phi_deg,
 322         &FGInterface::set_Phi_deg);
 323   fgSetArchivable("/orientation/roll-deg");
 324   fgTie("/orientation/pitch-deg", this,
 325         &FGInterface::get_Theta_deg,
 326         &FGInterface::set_Theta_deg);
 327   fgSetArchivable("/orientation/pitch-deg");
 328   fgTie("/orientation/heading-deg", this,
 329         &FGInterface::get_Psi_deg,
 330         &FGInterface::set_Psi_deg);
 331   fgSetArchivable("/orientation/heading-deg");
 332
 333                                 // Calibrated airspeed
 334   fgTie("/velocities/airspeed-kt", this,
 335         &FGInterface::get_V_calibrated_kts,
 336         &FGInterface::set_V_calibrated_kts,
 337         false);
 338
 339                                 // Local velocities
 340 //   fgTie("/velocities/speed-north-fps", this,
 341 //      &FGInterface::get_V_north,
 342 //      &FGInterface::set_V_north);
 343 //   fgSetArchivable("/velocities/speed-north-fps");
 344 //   fgTie("/velocities/speed-east-fps", this,
 345 //      &FGInterface::get_V_east,
 346 //      &FGInterface::set_V_east);
 347 //   fgSetArchivable("/velocities/speed-east-fps");
 348 //   fgTie("/velocities/speed-down-fps", this,
 349 //      &FGInterface::get_V_down,
 350 //      &FGInterface::set_V_down);
 351 //   fgSetArchivable("/velocities/speed-down-fps");
 352                                 // FIXME: Temporarily read-only, until the
 353                                 // incompatibilities between JSBSim and
 354                                 // LaRCSim are fixed (LaRCSim adds the
 355                                 // earth's rotation to the east velocity).
 356   fgTie("/velocities/speed-north-fps", this,
 357         &FGInterface::get_V_north);
 358   fgTie("/velocities/speed-east-fps", this,
 359         &FGInterface::get_V_east);
 360   fgTie("/velocities/speed-down-fps", this,
 361         &FGInterface::get_V_down);
 362
 363                                 // Relative wind
 364                                 // FIXME: temporarily archivable, until
 365                                 // the NED problem is fixed.
 366   fgTie("/velocities/uBody-fps", this,
 367         &FGInterface::get_uBody,
 368         &FGInterface::set_uBody,
 369         false);
 370   fgSetArchivable("/velocities/uBody-fps");
 371   fgTie("/velocities/vBody-fps", this,
 372         &FGInterface::get_vBody,
 373         &FGInterface::set_vBody,
 374         false);
 375   fgSetArchivable("/velocities/vBody-fps");
 376   fgTie("/velocities/wBody-fps", this,
 377         &FGInterface::get_wBody,
 378         &FGInterface::set_wBody,
 379         false);
 380   fgSetArchivable("/velocities/wBody-fps");
 381
 382                                 // Climb and slip (read-only)
 383   fgTie("/velocities/vertical-speed-fps", this,
 384         &FGInterface::get_Climb_Rate); // read-only
 385   fgTie("/velocities/side-slip-rad", this,
 386         &FGInterface::get_Beta); // read-only
 387 }
 388
 389
 390 /**
 391  * Unbind any properties bound to this FDM.
 392  *
 393  * This method allows the FDM to release properties so that a new
 394  * FDM can bind them instead.
 395  */
 396 void
 397 FGInterface::unbind ()
 398 {
 399   bound = false;
 400
 401   fgUntie("/fdm/time/delta_t");
 402   fgUntie("/fdm/time/elapsed");
 403   fgUntie("/fdm/time/remainder");
 404   fgUntie("/fdm/time/multi_loop");
 405   fgUntie("/position/latitude-deg");
 406   fgUntie("/position/longitude-deg");
 407   fgUntie("/position/altitude-ft");
 408   fgUntie("/position/altitude-agl-ft");
 409   fgUntie("/orientation/heading-deg");
 410   fgUntie("/orientation/pitch-deg");
 411   fgUntie("/orientation/roll-deg");
 412   fgUntie("/velocities/airspeed-kt");
 413   fgUntie("/velocities/speed-north-fps");
 414   fgUntie("/velocities/speed-east-fps");
 415   fgUntie("/velocities/speed-down-fps");
 416   fgUntie("/velocities/uBody-fps");
 417   fgUntie("/velocities/vBody-fps");
 418   fgUntie("/velocities/wBody-fps");
 419   fgUntie("/velocities/vertical-speed-fps");
 420   fgUntie("/velocities/side-slip-rad");
 421 }
 422
 423
 424 /**
 425  * Update the state of the FDM (i.e. run the equations of motion).
 426  */
 427 void
 428 FGInterface::update ()
 429 {
 430   update(1);
 431 }
 432
 433
 434 bool FGInterface::update( int multi_loop ) {
 435     cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl;
 436     return false;
 437 }
 438
 439
 440 void FGInterface::_updatePosition( double lat_geoc, double lon, double alt ) {
 441     double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
 442
 443     // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
 444
 445     sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
 446                   &lat_geod, &tmp_alt, &sl_radius1 );
 447     sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
 448
 449     SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
 450             << " lat_geod = " << lat_geod
 451             << " lat_geoc = " << lat_geoc
 452             << " alt = " << alt
 453             << " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
 454             << " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
 455             << " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
 456             << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
 457
 458     _set_Geocentric_Position( lat_geoc, lon,
 459                               sl_radius2 * SG_METER_TO_FEET + alt );
 460
 461     _set_Geodetic_Position( lat_geod, lon, alt );
 462
 463     _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
 464     _set_Runway_altitude( scenery.get_cur_elev()*METERS_TO_FEET );
 465
 466     _set_sin_lat_geocentric( lat_geoc );
 467     _set_cos_lat_geocentric( lat_geoc );
 468
 469     _set_sin_cos_longitude( lon );
 470
 471     _set_sin_cos_latitude( lat_geod );
 472
 473     /* Norman's code for slope of the terrain */
 474     /* needs to be tested -- get it on the HUD and taxi around */
 475     /* double *tnorm = scenery.cur_normal;
 476
 477        double sy = sin ( -get_Psi() ) ;
 478        double cy = cos ( -get_Psi() ) ;
 479
 480        double phitb, thetatb, psitb;
 481        if(tnorm[1] != 0.0) {
 482                 psitb = -atan2 ( tnorm[0], tnorm[1] );
 483        }
 484        if(tnorm[2] != 0.0) {
 485                 thetatb =  atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
 486                 phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
 487        }
 488
 489        _set_terrain_slope(phitb, thetatb, psitb)
 490      */
 491 }
 492
 493
 494 // Extrapolate fdm based on time_offset (in usec)
 495 void FGInterface::extrapolate( int time_offset ) {
 496     double dt = time_offset / 1000000.0;
 497
 498     // -dw- metrowerks complains about ambiguous access, not critical
 499     // to keep this ;)
 500 #ifndef __MWERKS__
 501     cout << "extrapolating FDM by dt = " << dt << endl;
 502 #endif
 503
 504     double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
 505     double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
 506
 507     double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
 508     double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
 509
 510     double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
 511     double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
 512
 513     geodetic_position_v[0] = lat;
 514     geocentric_position_v[0] = lat_geoc;
 515
 516     geodetic_position_v[1] = lon;
 517     geocentric_position_v[1] = lon_geoc;
 518
 519     geodetic_position_v[2] = alt;
 520     geocentric_position_v[2] = radius;
 521 }
 522
 523
 524 // Set the altitude (force)
 525 void fgFDMForceAltitude(const string &model, double alt_meters) {
 526     SG_LOG(SG_FLIGHT,SG_INFO, "fgFDMForceAltitude: " << alt_meters );
 527
 528     double sea_level_radius_meters;
 529     double lat_geoc;
 530
 531     // Set the FG variables first
 532     sgGeodToGeoc( base_fdm_state.get_Latitude(), alt_meters,
 533                   &sea_level_radius_meters, &lat_geoc);
 534
 535     base_fdm_state.set_Altitude( alt_meters * SG_METER_TO_FEET );
 536     base_fdm_state.set_Sea_level_radius( sea_level_radius_meters *
 537                                          SG_METER_TO_FEET );
 538
 539     cur_fdm_state->set_Altitude( alt_meters * SG_METER_TO_FEET );
 540     cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters *
 541            SG_METER_TO_FEET );
 542
 543     // additional work needed for some flight models
 544     if ( model == "larcsim" ) {
 545         ls_ForceAltitude( base_fdm_state.get_Altitude() );
 546     }
 547 }
 548
 549
 550 // Positions
 551 void FGInterface::set_Latitude(double lat) {
 552     geodetic_position_v[0] = lat;
 553 }
 554
 555 void FGInterface::set_Longitude(double lon) {
 556     geodetic_position_v[1] = lon;
 557 }
 558
 559 void FGInterface::set_Altitude(double alt) {
 560     geodetic_position_v[2] = alt;
 561 }
 562
 563 void FGInterface::set_AltitudeAGL(double altagl) {
 564     altitude_agl=altagl;
 565 }
 566
 567 // Velocities
 568 void FGInterface::set_V_calibrated_kts(double vc) {
 569     v_calibrated_kts = vc;
 570 }
 571
 572 void FGInterface::set_Mach_number(double mach) {
 573     mach_number = mach;
 574 }
 575
 576 void FGInterface::set_Velocities_Local( double north,
 577                                         double east,
 578                                         double down ){
 579     v_local_v[0] = north;
 580     v_local_v[1] = east;
 581     v_local_v[2] = down;
 582 }
 583
 584 void FGInterface::set_Velocities_Wind_Body( double u,
 585                                             double v,
 586                                             double w){
 587     v_wind_body_v[0] = u;
 588     v_wind_body_v[1] = v;
 589     v_wind_body_v[2] = w;
 590 }
 591
 592 // Euler angles
 593 void FGInterface::set_Euler_Angles( double phi,
 594                                     double theta,
 595                                     double psi ) {
 596     euler_angles_v[0] = phi;
 597     euler_angles_v[1] = theta;
 598     euler_angles_v[2] = psi;
 599 }
 600
 601 // Flight Path
 602 void FGInterface::set_Climb_Rate( double roc) {
 603     climb_rate = roc;
 604 }
 605
 606 void FGInterface::set_Gamma_vert_rad( double gamma) {
 607     gamma_vert_rad = gamma;
 608 }
 609
 610 // Earth
 611 void FGInterface::set_Sea_level_radius(double slr) {
 612     sea_level_radius = slr;
 613 }
 614
 615 void FGInterface::set_Runway_altitude(double ralt) {
 616     runway_altitude = ralt;
 617 }
 618
 619 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
 620 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
 621 void FGInterface::set_Density(double rho) { density = rho; }
 622
 623 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
 624                                                 double weast,
 625                                                 double wdown ) {
 626     v_local_airmass_v[0] = wnorth;
 627     v_local_airmass_v[1] = weast;
 628     v_local_airmass_v[2] = wdown;
 629 }
 630
 631
 632 void FGInterface::_busdump(void) {
 633
 634     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]);
 635     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]);
 636     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]);
 637     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]);
 638     SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
 639     SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
 640     SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
 641     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]);
 642     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]);
 643     SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
 644     SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
 645     SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
 646     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]);
 647     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]);
 648     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]);
 649     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]);
 650     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]);
 651     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]);
 652     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]);
 653     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
 654     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]);
 655     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]);
 656     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]);
 657     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]);
 658     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]);
 659     SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
 660     SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
 661     SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
 662     SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
 663     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
 664     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
 665     SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
 666     SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
 667     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]);
 668     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]);
 669     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]);
 670     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]);
 671
 672     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]);
 673     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]);
 674     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]);
 675
 676     SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass );
 677     SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx );
 678     SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy );
 679     SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz );
 680     SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz );
 681     SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
 682     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
 683     SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
 684     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground );
 685     SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial );
 686     SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
 687     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv );
 688     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
 689     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated );
 690     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
 691     SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity );
 692     SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief );
 693     SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
 694     SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
 695     SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot );
 696     SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot );
 697     SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha );
 698     SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha );
 699     SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta );
 700     SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta );
 701     SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi );
 702     SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi );
 703     SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta );
 704     SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta );
 705     SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi );
 706     SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi );
 707     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
 708     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
 709     SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma );
 710     SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
 711     SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound );
 712     SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
 713     SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
 714     SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
 715     SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure );
 716     SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
 717     SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
 718     SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
 719     SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
 720     SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
 721     SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
 722     SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude );
 723     SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude );
 724     SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading );
 725     SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy );
 726     SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
 727     SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
 728     SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
 729     SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude );
 730     SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude );
 731     SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
 732     SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
 733     SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
 734 }
 735
 736
 737 void fgToggleFDMdataLogging(void) {
 738   cur_fdm_state->ToggleDataLogging();
 739 }