1 // flight.cxx -- a general interface to the various flight models
3 // Written by Curtis Olson, started May 1997.
5 // Copyright (C) 1997 Curtis L. Olson - http://www.flightgear.org/~curt
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.
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.
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.
28 #include <simgear/constants.h>
29 #include <simgear/debug/logstream.hxx>
30 #include <simgear/math/sg_geodesy.hxx>
31 #include <simgear/scene/model/placement.hxx>
32 #include <simgear/timing/timestamp.hxx>
34 #include <Scenery/scenery.hxx>
35 #include <Main/globals.hxx>
36 #include <Main/fg_props.hxx>
37 #include <FDM/groundcache.hxx>
42 // base_fdm_state is the internal state that is updated in integer
43 // multiples of "dt". This leads to "jitter" with respect to the real
44 // world time, so we introduce cur_fdm_state which is extrapolated by
45 // the difference between sim time and real world time
47 FGInterface *cur_fdm_state = 0;
48 FGInterface base_fdm_state;
50 inline void init_vec(FG_VECTOR_3 vec) {
51 vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0;
55 FGInterface::FGInterface()
61 FGInterface::FGInterface( double dt )
68 FGInterface::~FGInterface() {
69 // unbind(); // FIXME: should be called explicitly
74 FGInterface::_calc_multiloop (double dt)
76 int hz = fgGetInt("/sim/model-hz");
77 int speedup = fgGetInt("/sim/speed-up");
82 // Avoid roundoff problems by adding the roundoff itself.
83 // ... ok, two times the roundoff to have enough room.
84 int multiloop = int(floor(ml * (1.0 + 2.0*DBL_EPSILON)));
85 remainder = (ml - multiloop) / hz;
86 return (multiloop * speedup);
91 * Set default values for the state of the FDM.
93 * This method is invoked by the constructors.
96 FGInterface::_setup ()
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] );
142 mass=i_xx=i_yy=i_zz=i_xz=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;
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;
156 static_temperature=total_temperature=0;
157 sea_level_radius=earth_position_angle=0;
158 runway_altitude=runway_latitude=runway_longitude=0;
162 sin_lat_geocentric=cos_lat_geocentric=0;
163 sin_latitude=cos_latitude=0;
164 sin_longitude=cos_longitude=0;
169 FGInterface::init () {}
172 * Initialize the state of the FDM.
174 * Subclasses of FGInterface may do their own, additional initialization,
175 * but there is some that is common to all. Normally, they should call
176 * this before they begin their own init to make sure the basic structures
177 * are set up properly.
180 FGInterface::common_init ()
182 SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
187 // set_remainder( 0 );
189 // Set initial position
190 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
191 double lon = fgGetDouble("/sim/presets/longitude-deg")
192 * SGD_DEGREES_TO_RADIANS;
193 double lat = fgGetDouble("/sim/presets/latitude-deg")
194 * SGD_DEGREES_TO_RADIANS;
195 double alt_ft = fgGetDouble("/sim/presets/altitude-ft");
196 double alt_m = alt_ft * SG_FEET_TO_METER;
197 set_Longitude( lon );
199 SG_LOG( SG_FLIGHT, SG_INFO, "Checking for lon = "
200 << lon*SGD_RADIANS_TO_DEGREES << "deg, lat = "
201 << lat*SGD_RADIANS_TO_DEGREES << "deg, alt = "
204 double ground_elev_m = get_groundlevel_m(lat, lon, alt_m);
205 double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
206 _set_Runway_altitude ( ground_elev_ft );
207 if ( fgGetBool("/sim/presets/onground") || alt_ft < ground_elev_ft ) {
208 fgSetDouble("/position/altitude-ft", ground_elev_ft + 0.1);
209 set_Altitude( ground_elev_ft + 0.1);
211 set_Altitude( alt_ft );
214 // Set ground elevation
215 SG_LOG( SG_FLIGHT, SG_INFO,
216 "...initializing ground elevation to " << ground_elev_ft
219 // Set sea-level radius
220 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
221 SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
222 << fgGetDouble("/sim/presets/latitude-deg")
223 << " alt = " << get_Altitude() );
224 double sea_level_radius_meters;
226 sgGeodToGeoc( fgGetDouble("/sim/presets/latitude-deg")
227 * SGD_DEGREES_TO_RADIANS,
228 get_Altitude() * SG_FEET_TO_METER,
229 &sea_level_radius_meters, &lat_geoc );
230 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
232 // Set initial velocities
233 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
234 if ( !fgHasNode("/sim/presets/speed-set") ) {
235 set_V_calibrated_kts(0.0);
237 const string speedset = fgGetString("/sim/presets/speed-set");
238 if ( speedset == "knots" || speedset == "KNOTS" ) {
239 set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") );
240 } else if ( speedset == "mach" || speedset == "MACH" ) {
241 set_Mach_number( fgGetDouble("/sim/presets/mach") );
242 } else if ( speedset == "UVW" || speedset == "uvw" ) {
243 set_Velocities_Wind_Body(
244 fgGetDouble("/sim/presets/uBody-fps"),
245 fgGetDouble("/sim/presets/vBody-fps"),
246 fgGetDouble("/sim/presets/wBody-fps") );
247 } else if ( speedset == "NED" || speedset == "ned" ) {
248 set_Velocities_Local(
249 fgGetDouble("/sim/presets/speed-north-fps"),
250 fgGetDouble("/sim/presets/speed-east-fps"),
251 fgGetDouble("/sim/presets/speed-down-fps") );
253 SG_LOG( SG_FLIGHT, SG_ALERT,
254 "Unrecognized value for /sim/presets/speed-set: "
256 set_V_calibrated_kts( 0.0 );
260 // Set initial Euler angles
261 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
262 set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
263 * SGD_DEGREES_TO_RADIANS,
264 fgGetDouble("/sim/presets/pitch-deg")
265 * SGD_DEGREES_TO_RADIANS,
266 fgGetDouble("/sim/presets/heading-deg")
267 * SGD_DEGREES_TO_RADIANS );
269 SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
274 * Bind getters and setters to properties.
276 * The bind() method will be invoked after init(). Note that unlike
277 * the usual implementations of FGSubsystem::bind(), this method does
278 * not automatically pick up existing values for the properties at
279 * bind time; instead, all values are set explicitly in the init()
287 // Time management (read-only)
288 // fgTie("/fdm/time/delta_t", this,
289 // &FGInterface::get_delta_t); // read-only
290 // fgTie("/fdm/time/elapsed", this,
291 // &FGInterface::get_elapsed); // read-only
292 // fgTie("/fdm/time/remainder", this,
293 // &FGInterface::get_remainder); // read-only
294 // fgTie("/fdm/time/multi_loop", this,
295 // &FGInterface::get_multi_loop); // read-only
298 fgTie("/position/latitude-deg", this,
299 &FGInterface::get_Latitude_deg,
300 &FGInterface::set_Latitude_deg,
302 fgSetArchivable("/position/latitude-deg");
303 fgTie("/position/longitude-deg", this,
304 &FGInterface::get_Longitude_deg,
305 &FGInterface::set_Longitude_deg,
307 fgSetArchivable("/position/longitude-deg");
308 fgTie("/position/altitude-ft", this,
309 &FGInterface::get_Altitude,
310 &FGInterface::set_Altitude,
312 fgSetArchivable("/position/altitude-ft");
313 fgTie("/position/altitude-agl-ft", this,
314 &FGInterface::get_Altitude_AGL); // read-only
315 fgSetArchivable("/position/ground-elev-ft");
316 fgTie("/position/ground-elev-ft", this,
317 &FGInterface::get_Runway_altitude); // read-only
318 fgSetArchivable("/position/ground-elev-m");
319 fgTie("/position/ground-elev-m", this,
320 &FGInterface::get_Runway_altitude_m); // read-only
321 fgTie("/environment/ground-elevation-m", this,
322 &FGInterface::get_Runway_altitude_m); // read-only
323 fgSetArchivable("/position/sea-level-radius-ft");
324 fgTie("/position/sea-level-radius-ft", this,
325 &FGInterface::get_Sea_level_radius); // read-only
328 fgTie("/orientation/roll-deg", this,
329 &FGInterface::get_Phi_deg,
330 &FGInterface::set_Phi_deg);
331 fgSetArchivable("/orientation/roll-deg");
332 fgTie("/orientation/pitch-deg", this,
333 &FGInterface::get_Theta_deg,
334 &FGInterface::set_Theta_deg);
335 fgSetArchivable("/orientation/pitch-deg");
336 fgTie("/orientation/heading-deg", this,
337 &FGInterface::get_Psi_deg,
338 &FGInterface::set_Psi_deg);
339 fgSetArchivable("/orientation/heading-deg");
341 // Body-axis "euler rates" (rotation speed, but in a funny
343 fgTie("/orientation/roll-rate-degps", this,
344 &FGInterface::get_Phi_dot_degps);
345 fgTie("/orientation/pitch-rate-degps", this,
346 &FGInterface::get_Theta_dot_degps);
347 fgTie("/orientation/yaw-rate-degps", this,
348 &FGInterface::get_Psi_dot_degps);
350 // Calibrated airspeed
351 fgTie("/velocities/airspeed-kt", this,
352 &FGInterface::get_V_calibrated_kts,
353 &FGInterface::set_V_calibrated_kts,
357 fgTie("/velocities/mach", this,
358 &FGInterface::get_Mach_number,
359 &FGInterface::set_Mach_number,
363 // fgTie("/velocities/speed-north-fps", this,
364 // &FGInterface::get_V_north,
365 // &FGInterface::set_V_north);
366 // fgSetArchivable("/velocities/speed-north-fps");
367 // fgTie("/velocities/speed-east-fps", this,
368 // &FGInterface::get_V_east,
369 // &FGInterface::set_V_east);
370 // fgSetArchivable("/velocities/speed-east-fps");
371 // fgTie("/velocities/speed-down-fps", this,
372 // &FGInterface::get_V_down,
373 // &FGInterface::set_V_down);
374 // fgSetArchivable("/velocities/speed-down-fps");
375 // FIXME: Temporarily read-only, until the
376 // incompatibilities between JSBSim and
377 // LaRCSim are fixed (LaRCSim adds the
378 // earth's rotation to the east velocity).
379 fgTie("/velocities/speed-north-fps", this,
380 &FGInterface::get_V_north);
381 fgTie("/velocities/speed-east-fps", this,
382 &FGInterface::get_V_east);
383 fgTie("/velocities/speed-down-fps", this,
384 &FGInterface::get_V_down);
387 // FIXME: temporarily archivable, until
388 // the NED problem is fixed.
389 fgTie("/velocities/uBody-fps", this,
390 &FGInterface::get_uBody,
391 &FGInterface::set_uBody,
393 fgSetArchivable("/velocities/uBody-fps");
394 fgTie("/velocities/vBody-fps", this,
395 &FGInterface::get_vBody,
396 &FGInterface::set_vBody,
398 fgSetArchivable("/velocities/vBody-fps");
399 fgTie("/velocities/wBody-fps", this,
400 &FGInterface::get_wBody,
401 &FGInterface::set_wBody,
403 fgSetArchivable("/velocities/wBody-fps");
405 // Climb and slip (read-only)
406 fgTie("/velocities/vertical-speed-fps", this,
407 &FGInterface::get_Climb_Rate,
408 &FGInterface::set_Climb_Rate );
409 fgTie("/velocities/glideslope", this,
410 &FGInterface::get_Gamma_vert_rad,
411 &FGInterface::set_Gamma_vert_rad );
412 fgTie("/orientation/side-slip-rad", this,
413 &FGInterface::get_Beta); // read-only
414 fgTie("/orientation/side-slip-deg", this,
415 &FGInterface::get_Beta_deg); // read-only
416 fgTie("/orientation/alpha-deg", this,
417 &FGInterface::get_Alpha_deg); // read-only
418 fgTie("/accelerations/nlf", this,
419 &FGInterface::get_Nlf); // read-only
422 fgTie("/accelerations/ned/north-accel-fps_sec",
423 this, &FGInterface::get_V_dot_north);
424 fgTie("/accelerations/ned/east-accel-fps_sec",
425 this, &FGInterface::get_V_dot_east);
426 fgTie("/accelerations/ned/down-accel-fps_sec",
427 this, &FGInterface::get_V_dot_down);
429 // Pilot accelerations
430 fgTie("/accelerations/pilot/x-accel-fps_sec",
431 this, &FGInterface::get_A_X_pilot);
432 fgTie("/accelerations/pilot/y-accel-fps_sec",
433 this, &FGInterface::get_A_Y_pilot);
434 fgTie("/accelerations/pilot/z-accel-fps_sec",
435 this, &FGInterface::get_A_Z_pilot);
441 * Unbind any properties bound to this FDM.
443 * This method allows the FDM to release properties so that a new
444 * FDM can bind them instead.
447 FGInterface::unbind ()
451 // fgUntie("/fdm/time/delta_t");
452 // fgUntie("/fdm/time/elapsed");
453 // fgUntie("/fdm/time/remainder");
454 // fgUntie("/fdm/time/multi_loop");
455 fgUntie("/position/latitude-deg");
456 fgUntie("/position/longitude-deg");
457 fgUntie("/position/altitude-ft");
458 fgUntie("/position/altitude-agl-ft");
459 fgUntie("/position/ground-elev-ft");
460 fgUntie("/position/ground-elev-m");
461 fgUntie("/environment/ground-elevation-m");
462 fgUntie("/position/sea-level-radius-ft");
463 fgUntie("/orientation/roll-deg");
464 fgUntie("/orientation/pitch-deg");
465 fgUntie("/orientation/heading-deg");
466 fgUntie("/orientation/roll-rate-degps");
467 fgUntie("/orientation/pitch-rate-degps");
468 fgUntie("/orientation/yaw-rate-degps");
469 fgUntie("/orientation/side-slip-rad");
470 fgUntie("/orientation/side-slip-deg");
471 fgUntie("/orientation/alpha-deg");
472 fgUntie("/velocities/airspeed-kt");
473 fgUntie("/velocities/mach");
474 fgUntie("/velocities/speed-north-fps");
475 fgUntie("/velocities/speed-east-fps");
476 fgUntie("/velocities/speed-down-fps");
477 fgUntie("/velocities/uBody-fps");
478 fgUntie("/velocities/vBody-fps");
479 fgUntie("/velocities/wBody-fps");
480 fgUntie("/velocities/vertical-speed-fps");
481 fgUntie("/velocities/glideslope");
482 fgUntie("/accelerations/nlf");
483 fgUntie("/accelerations/pilot/x-accel-fps_sec");
484 fgUntie("/accelerations/pilot/y-accel-fps_sec");
485 fgUntie("/accelerations/pilot/z-accel-fps_sec");
486 fgUntie("/accelerations/ned/north-accel-fps_sec");
487 fgUntie("/accelerations/ned/east-accel-fps_sec");
488 fgUntie("/accelerations/ned/down-accel-fps_sec");
492 * Update the state of the FDM (i.e. run the equations of motion).
495 FGInterface::update (double dt)
497 SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
501 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
503 double lat_geoc, sl_radius;
505 // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
507 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc );
509 SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
510 << " lat_geod = " << lat
511 << " lat_geoc = " << lat_geoc
513 << " sl_radius = " << sl_radius * SG_METER_TO_FEET
514 << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
516 _set_Geocentric_Position( lat_geoc, lon,
517 sl_radius * SG_METER_TO_FEET + alt );
519 _set_Geodetic_Position( lat, lon, alt );
521 _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
522 _update_ground_elev_at_pos();
524 _set_sin_lat_geocentric( lat_geoc );
525 _set_cos_lat_geocentric( lat_geoc );
527 _set_sin_cos_longitude( lon );
529 _set_sin_cos_latitude( lat );
533 void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon,
536 double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
538 // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
540 sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
541 &lat_geod, &tmp_alt, &sl_radius1 );
542 sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
544 SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
545 << " lat_geod = " << lat_geod
546 << " lat_geoc = " << lat_geoc
548 << " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
549 << " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
550 << " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
551 << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
553 _set_Geocentric_Position( lat_geoc, lon,
554 sl_radius2 * SG_METER_TO_FEET + alt );
556 _set_Geodetic_Position( lat_geod, lon, alt );
558 _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
559 _update_ground_elev_at_pos();
561 _set_sin_lat_geocentric( lat_geoc );
562 _set_cos_lat_geocentric( lat_geoc );
564 _set_sin_cos_longitude( lon );
566 _set_sin_cos_latitude( lat_geod );
569 void FGInterface::_update_ground_elev_at_pos( void ) {
570 double lat = get_Latitude();
571 double lon = get_Longitude();
572 double alt_m = get_Altitude()*SG_FEET_TO_METER;
573 double groundlevel_m = get_groundlevel_m(lat, lon, alt_m);
574 _set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET );
577 // Extrapolate fdm based on time_offset (in usec)
578 void FGInterface::extrapolate( int time_offset ) {
579 double dt = time_offset / 1000000.0;
581 // -dw- metrowerks complains about ambiguous access, not critical
584 SG_LOG(SG_FLIGHT, SG_INFO, "extrapolating FDM by dt = " << dt);
587 double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
588 double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
590 double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
591 double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
593 double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
594 double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
596 geodetic_position_v[0] = lat;
597 geocentric_position_v[0] = lat_geoc;
599 geodetic_position_v[1] = lon;
600 geocentric_position_v[1] = lon_geoc;
602 geodetic_position_v[2] = alt;
603 geocentric_position_v[2] = radius;
607 void FGInterface::set_Latitude(double lat) {
608 geodetic_position_v[0] = lat;
611 void FGInterface::set_Longitude(double lon) {
612 geodetic_position_v[1] = lon;
615 void FGInterface::set_Altitude(double alt) {
616 geodetic_position_v[2] = alt;
619 void FGInterface::set_AltitudeAGL(double altagl) {
624 void FGInterface::set_V_calibrated_kts(double vc) {
625 v_calibrated_kts = vc;
628 void FGInterface::set_Mach_number(double mach) {
632 void FGInterface::set_Velocities_Local( double north,
635 v_local_v[0] = north;
640 void FGInterface::set_Velocities_Wind_Body( double u,
643 v_wind_body_v[0] = u;
644 v_wind_body_v[1] = v;
645 v_wind_body_v[2] = w;
649 void FGInterface::set_Euler_Angles( double phi,
652 euler_angles_v[0] = phi;
653 euler_angles_v[1] = theta;
654 euler_angles_v[2] = psi;
658 void FGInterface::set_Climb_Rate( double roc) {
662 void FGInterface::set_Gamma_vert_rad( double gamma) {
663 gamma_vert_rad = gamma;
666 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
667 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
668 void FGInterface::set_Density(double rho) { density = rho; }
670 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
673 v_local_airmass_v[0] = wnorth;
674 v_local_airmass_v[1] = weast;
675 v_local_airmass_v[2] = wdown;
679 void FGInterface::_busdump(void) {
681 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]);
682 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]);
683 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]);
684 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]);
685 SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
686 SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
687 SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
688 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]);
689 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]);
690 SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
691 SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
692 SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
693 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]);
694 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]);
695 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]);
696 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]);
697 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]);
698 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]);
699 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]);
700 SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
701 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]);
702 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]);
703 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]);
704 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]);
705 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]);
706 SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
707 SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
708 SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
709 SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
710 SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
711 SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
712 SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
713 SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
714 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]);
715 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]);
716 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]);
717 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]);
719 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]);
720 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]);
721 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]);
723 SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass );
724 SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx );
725 SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy );
726 SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz );
727 SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz );
728 SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
729 SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
730 SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
731 SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground );
732 SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial );
733 SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
734 SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv );
735 SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
736 SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated );
737 SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
738 SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity );
739 SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief );
740 SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
741 SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
742 SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot );
743 SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot );
744 SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha );
745 SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha );
746 SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta );
747 SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta );
748 SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi );
749 SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi );
750 SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta );
751 SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta );
752 SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi );
753 SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi );
754 SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
755 SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
756 SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma );
757 SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
758 SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound );
759 SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
760 SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
761 SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
762 SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure );
763 SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
764 SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
765 SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
766 SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
767 SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
768 SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
769 SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude );
770 SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude );
771 SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading );
772 SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy );
773 SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
774 SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
775 SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
776 SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude );
777 SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude );
778 SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
779 SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
780 SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
784 FGInterface::prepare_ground_cache_m(double ref_time, const double pt[3],
787 return ground_cache.prepare_ground_cache(ref_time, pt, rad);
790 bool FGInterface::prepare_ground_cache_ft(double ref_time, const double pt[3],
793 // Convert units and do the real work.
795 sgdScaleVec3( pt_ft, pt, SG_FEET_TO_METER );
796 return ground_cache.prepare_ground_cache(ref_time, pt_ft, rad*SG_FEET_TO_METER);
800 FGInterface::is_valid_m(double *ref_time, double pt[3], double *rad)
802 return ground_cache.is_valid(ref_time, pt, rad);
805 bool FGInterface::is_valid_ft(double *ref_time, double pt[3], double *rad)
807 // Convert units and do the real work.
808 bool found_ground = ground_cache.is_valid(ref_time, pt, rad);
809 sgdScaleVec3(pt, SG_METER_TO_FEET);
810 *rad *= SG_METER_TO_FEET;
815 FGInterface::get_cat_m(double t, const double pt[3],
816 double end[2][3], double vel[2][3])
818 return ground_cache.get_cat(t, pt, end, vel);
822 FGInterface::get_cat_ft(double t, const double pt[3],
823 double end[2][3], double vel[2][3])
825 // Convert units and do the real work.
827 sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER );
828 double dist = ground_cache.get_cat(t, pt_m, end, vel);
829 for (int k=0; k<2; ++k) {
830 sgdScaleVec3( end[k], SG_METER_TO_FEET );
831 sgdScaleVec3( vel[k], SG_METER_TO_FEET );
833 return dist*SG_METER_TO_FEET;
837 FGInterface::get_agl_m(double t, const double pt[3],
838 double contact[3], double normal[3], double vel[3],
839 int *type, double *loadCapacity,
840 double *frictionFactor, double *agl)
842 return ground_cache.get_agl(t, pt, 2.0, contact, normal, vel, type,
843 loadCapacity, frictionFactor, agl);
847 FGInterface::get_agl_ft(double t, const double pt[3],
848 double contact[3], double normal[3], double vel[3],
849 int *type, double *loadCapacity,
850 double *frictionFactor, double *agl)
852 // Convert units and do the real work.
854 sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER );
855 bool ret = ground_cache.get_agl(t, pt_m, 2.0, contact, normal, vel,
856 type, loadCapacity, frictionFactor, agl);
857 // Convert units back ...
858 sgdScaleVec3( contact, SG_METER_TO_FEET );
859 sgdScaleVec3( vel, SG_METER_TO_FEET );
860 *agl *= SG_METER_TO_FEET;
861 // FIXME: scale the load limit to something in the english unit system.
862 // Be careful with the DBL_MAX which is returned by default.
867 FGInterface::get_agl_m(double t, const double pt[3], double max_altoff,
868 double contact[3], double normal[3], double vel[3],
869 int *type, double *loadCapacity,
870 double *frictionFactor, double *agl)
872 return ground_cache.get_agl(t, pt, max_altoff, contact, normal, vel, type,
873 loadCapacity, frictionFactor, agl);
877 FGInterface::get_agl_ft(double t, const double pt[3], double max_altoff,
878 double contact[3], double normal[3], double vel[3],
879 int *type, double *loadCapacity,
880 double *frictionFactor, double *agl)
882 // Convert units and do the real work.
884 sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER );
885 bool ret = ground_cache.get_agl(t, pt_m, SG_FEET_TO_METER * max_altoff,
886 contact, normal, vel,
887 type, loadCapacity, frictionFactor, agl);
888 // Convert units back ...
889 sgdScaleVec3( contact, SG_METER_TO_FEET );
890 sgdScaleVec3( vel, SG_METER_TO_FEET );
891 *agl *= SG_METER_TO_FEET;
892 // FIXME: scale the load limit to something in the english unit system.
893 // Be careful with the DBL_MAX which is returned by default.
899 FGInterface::get_groundlevel_m(double lat, double lon, double alt)
902 // Compute the cartesian position of the given lat/lon/alt.
903 sgGeodToCart(lat, lon, alt, pos);
905 // FIXME: how to handle t - ref_time differences ???
906 double ref_time, radius;
907 // Prepare the ground cache for that position.
908 if (!is_valid_m(&ref_time, cpos, &radius)) {
909 bool ok = prepare_ground_cache_m(ref_time, pos, 10);
910 /// This is most likely the case when the given altitude is
911 /// too low, try with a new altitude of 10000m, that should be
912 /// sufficient to find a ground level below everywhere on our planet
914 sgGeodToCart(lat, lon, 10000, pos);
915 /// If there is still no ground, return sea level radius
916 if (!prepare_ground_cache_m(ref_time, pos, 10))
919 } else if (radius*radius <= sgdDistanceSquaredVec3(pos, cpos)) {
920 /// We reuse the old radius value, but only if it is at least 10 Meters ..
921 if (!(10 < radius)) // Well this strange compare is nan safe
924 bool ok = prepare_ground_cache_m(ref_time, pos, radius);
925 /// This is most likely the case when the given altitude is
926 /// too low, try with a new altitude of 10000m, that should be
927 /// sufficient to find a ground level below everywhere on our planet
929 sgGeodToCart(lat, lon, 10000, pos);
930 /// If there is still no ground, return sea level radius
931 if (!prepare_ground_cache_m(ref_time, pos, radius))
936 double contact[3], normal[3], vel[3], lc, ff, agl;
938 // Ignore the return value here, since it just tells us if
939 // the returns stem from the groundcache or from the coarse
940 // computations below the groundcache. The contact point is still something
941 // valid, the normals and the other returns just contain some defaults.
942 get_agl_m(ref_time, pos, 2.0, contact, normal, vel, &type, &lc, &ff, &agl);
943 Point3D geodPos = sgCartToGeod(Point3D(contact[0], contact[1], contact[2]));
944 return geodPos.elev();
948 FGInterface::caught_wire_m(double t, const double pt[4][3])
950 return ground_cache.caught_wire(t, pt);
954 FGInterface::caught_wire_ft(double t, const double pt[4][3])
956 // Convert units and do the real work.
958 for (int i=0; i<4; ++i)
959 sgdScaleVec3(pt_m[i], pt[i], SG_FEET_TO_METER);
961 return ground_cache.caught_wire(t, pt_m);
965 FGInterface::get_wire_ends_m(double t, double end[2][3], double vel[2][3])
967 return ground_cache.get_wire_ends(t, end, vel);
971 FGInterface::get_wire_ends_ft(double t, double end[2][3], double vel[2][3])
973 // Convert units and do the real work.
974 bool ret = ground_cache.get_wire_ends(t, end, vel);
975 for (int k=0; k<2; ++k) {
976 sgdScaleVec3( end[k], SG_METER_TO_FEET );
977 sgdScaleVec3( vel[k], SG_METER_TO_FEET );
983 FGInterface::release_wire(void)
985 ground_cache.release_wire();
988 void fgToggleFDMdataLogging(void) {
989 cur_fdm_state->ToggleDataLogging();