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 <plib/sg.h>
  27
  28 #include <simgear/constants.h>
  29 #include <simgear/debug/logstream.hxx>
  30 #include <simgear/math/sg_geodesy.hxx>
  31 #include <simgear/timing/timestamp.hxx>
  32
  33 #include <Scenery/scenery.hxx>
  34 #include <FDM/LaRCsim/ls_interface.h>
  35 #include <Main/globals.hxx>
  36 #include <Main/fg_props.hxx>
  37
  38 #include "flight.hxx"
  39
  40
  41 // base_fdm_state is the internal state that is updated in integer
  42 // multiples of "dt".  This leads to "jitter" with respect to the real
  43 // world time, so we introduce cur_fdm_state which is extrapolated by
  44 // the difference between sim time and real world time
  45
  46 FGInterface *cur_fdm_state = 0;
  47 FGInterface base_fdm_state;
  48
  49 inline void init_vec(FG_VECTOR_3 vec) {
  50     vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0;
  51 }
  52
  53 // Constructor
  54 FGInterface::FGInterface() {
  55     _setup();
  56 }
  57
  58 FGInterface::FGInterface( double dt ) {
  59     _setup();
  60 //     delta_t = dt;
  61 //     remainder = elapsed = multi_loop = 0;
  62     remainder = 0;
  63 }
  64
  65 // Destructor
  66 FGInterface::~FGInterface() {
  67     // unbind();                   // FIXME: should be called explicitly
  68 }
  69
  70
  71 int
  72 FGInterface::_calc_multiloop (double dt)
  73 {
  74   int hz = fgGetInt("/sim/model-hz");
  75   int speedup = fgGetInt("/sim/speed-up");
  76
  77   dt += remainder;
  78   remainder = 0;
  79   double ml = dt * hz;
  80   int multiloop = int(floor(ml));
  81   remainder = (ml - multiloop) / hz;
  82   return (multiloop * speedup);
  83 }
  84
  85
  86 /**
  87  * Set default values for the state of the FDM.
  88  *
  89  * This method is invoked by the constructors.
  90  */
  91 void
  92 FGInterface::_setup ()
  93 {
  94     inited = false;
  95     bound = false;
  96
  97     init_vec( d_pilot_rp_body_v );
  98     init_vec( d_cg_rp_body_v );
  99     init_vec( f_body_total_v );
 100     init_vec( f_local_total_v );
 101     init_vec( f_aero_v );
 102     init_vec( f_engine_v );
 103     init_vec( f_gear_v );
 104     init_vec( m_total_rp_v );
 105     init_vec( m_total_cg_v );
 106     init_vec( m_aero_v );
 107     init_vec( m_engine_v );
 108     init_vec( m_gear_v );
 109     init_vec( v_dot_local_v );
 110     init_vec( v_dot_body_v );
 111     init_vec( a_cg_body_v );
 112     init_vec( a_pilot_body_v );
 113     init_vec( n_cg_body_v );
 114     init_vec( n_pilot_body_v );
 115     init_vec( omega_dot_body_v );
 116     init_vec( v_local_v );
 117     init_vec( v_local_rel_ground_v );
 118     init_vec( v_local_airmass_v );
 119     init_vec( v_local_rel_airmass_v );
 120     init_vec( v_local_gust_v );
 121     init_vec( v_wind_body_v );
 122     init_vec( omega_body_v );
 123     init_vec( omega_local_v );
 124     init_vec( omega_total_v );
 125     init_vec( euler_rates_v );
 126     init_vec( geocentric_rates_v );
 127     init_vec( geocentric_position_v );
 128     init_vec( geodetic_position_v );
 129     init_vec( euler_angles_v );
 130     init_vec( d_cg_rwy_local_v );
 131     init_vec( d_cg_rwy_rwy_v );
 132     init_vec( d_pilot_rwy_local_v );
 133     init_vec( d_pilot_rwy_rwy_v );
 134     init_vec( t_local_to_body_m[0] );
 135     init_vec( t_local_to_body_m[1] );
 136     init_vec( t_local_to_body_m[2] );
 137
 138     mass=i_xx=i_yy=i_zz=i_xz=0;
 139     nlf=0;
 140     v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
 141     v_ground_speed=v_equiv=v_equiv_kts=0;
 142     v_calibrated=v_calibrated_kts=0;
 143     gravity=0;
 144     centrifugal_relief=0;
 145     alpha=beta=alpha_dot=beta_dot=0;
 146     cos_alpha=sin_alpha=cos_beta=sin_beta=0;
 147     cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
 148     gamma_vert_rad=gamma_horiz_rad=0;
 149     sigma=density=v_sound=mach_number=0;
 150     static_pressure=total_pressure=impact_pressure=0;
 151     dynamic_pressure=0;
 152     static_temperature=total_temperature=0;
 153     sea_level_radius=earth_position_angle=0;
 154     runway_altitude=runway_latitude=runway_longitude=0;
 155     runway_heading=0;
 156     radius_to_rwy=0;
 157     climb_rate=0;
 158     sin_lat_geocentric=cos_lat_geocentric=0;
 159     sin_latitude=cos_latitude=0;
 160     sin_longitude=cos_longitude=0;
 161     altitude_agl=0;
 162 }
 163
 164 void
 165 FGInterface::init () {}
 166
 167 /**
 168  * Initialize the state of the FDM.
 169  *
 170  * Subclasses of FGInterface may do their own, additional initialization,
 171  * but there is some that is common to all.  Normally, they should call
 172  * this before they begin their own init to make sure the basic structures
 173  * are set up properly.
 174  */
 175 void
 176 FGInterface::common_init ()
 177 {
 178     SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
 179
 180     set_inited( true );
 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")
 188                    * SGD_DEGREES_TO_RADIANS );
 189     set_Latitude( fgGetDouble("/position/latitude-deg")
 190                   * SGD_DEGREES_TO_RADIANS );
 191     double ground_elev_m = scenery.get_cur_elev();
 192     double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
 193     if ( fgGetBool("/sim/startup/onground")
 194          || fgGetDouble("/position/altitude-ft") < ground_elev_ft ) {
 195         fgSetDouble("/position/altitude-ft", ground_elev_ft);
 196     }
 197     set_Altitude( fgGetDouble("/position/altitude-ft") );
 198
 199     // Set ground elevation
 200     SG_LOG( SG_FLIGHT, SG_INFO,
 201             "...initializing ground elevation to " << ground_elev_ft
 202             << "ft..." );
 203
 204     // Set sea-level radius
 205     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
 206     SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
 207             << fgGetDouble("/position/latitude-deg")
 208             << " alt = " << fgGetDouble("/position/altitude-ft") );
 209     double sea_level_radius_meters;
 210     double lat_geoc;
 211     sgGeodToGeoc( fgGetDouble("/position/latitude-deg")
 212                     * SGD_DEGREES_TO_RADIANS,
 213                   fgGetDouble("/position/altitude-ft") * SG_FEET_TO_METER,
 214                   &sea_level_radius_meters, &lat_geoc );
 215     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
 216
 217     // Set initial velocities
 218     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
 219     if ( !fgHasNode("/sim/startup/speed-set") ) {
 220         set_V_calibrated_kts(0.0);
 221     } else {
 222         const string speedset = fgGetString("/sim/startup/speed-set");
 223         if ( speedset == "knots" || speedset == "KNOTS" ) {
 224             set_V_calibrated_kts( fgGetDouble("/velocities/airspeed-kt") );
 225         } else if ( speedset == "mach" || speedset == "MACH" ) {
 226             set_Mach_number( fgGetDouble("/velocities/mach") );
 227         } else if ( speedset == "UVW" || speedset == "uvw" ) {
 228             set_Velocities_Wind_Body(
 229                                      fgGetDouble("/velocities/uBody-fps"),
 230                                      fgGetDouble("/velocities/vBody-fps"),
 231                                      fgGetDouble("/velocities/wBody-fps") );
 232         } else if ( speedset == "NED" || speedset == "ned" ) {
 233             set_Velocities_Local(
 234                                  fgGetDouble("/velocities/speed-north-fps"),
 235                                  fgGetDouble("/velocities/speed-east-fps"),
 236                                  fgGetDouble("/velocities/speed-down-fps") );
 237         } else {
 238             SG_LOG( SG_FLIGHT, SG_ALERT,
 239                     "Unrecognized value for /sim/startup/speed-set: "
 240                     << speedset);
 241             set_V_calibrated_kts( 0.0 );
 242         }
 243     }
 244
 245     // Set initial Euler angles
 246     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
 247     set_Euler_Angles( fgGetDouble("/orientation/roll-deg")
 248                         * SGD_DEGREES_TO_RADIANS,
 249                       fgGetDouble("/orientation/pitch-deg")
 250                         * SGD_DEGREES_TO_RADIANS,
 251                       fgGetDouble("/orientation/heading-deg")
 252                         * SGD_DEGREES_TO_RADIANS );
 253
 254     SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
 255 }
 256
 257
 258 /**
 259  * Bind getters and setters to properties.
 260  *
 261  * The bind() method will be invoked after init().  Note that unlike
 262  * the usual implementations of FGSubsystem::bind(), this method does
 263  * not automatically pick up existing values for the properties at
 264  * bind time; instead, all values are set explicitly in the init()
 265  * method.
 266  */
 267 void
 268 FGInterface::bind ()
 269 {
 270   bound = true;
 271
 272                                 // Time management (read-only)
 273 //   fgTie("/fdm/time/delta_t", this,
 274 //         &FGInterface::get_delta_t); // read-only
 275 //   fgTie("/fdm/time/elapsed", this,
 276 //         &FGInterface::get_elapsed); // read-only
 277 //   fgTie("/fdm/time/remainder", this,
 278 //         &FGInterface::get_remainder); // read-only
 279 //   fgTie("/fdm/time/multi_loop", this,
 280 //         &FGInterface::get_multi_loop); // read-only
 281
 282                         // Aircraft position
 283   fgTie("/position/latitude-deg", this,
 284         &FGInterface::get_Latitude_deg,
 285         &FGInterface::set_Latitude_deg,
 286         false);
 287   fgSetArchivable("/position/latitude-deg");
 288   fgTie("/position/longitude-deg", this,
 289         &FGInterface::get_Longitude_deg,
 290         &FGInterface::set_Longitude_deg,
 291         false);
 292   fgSetArchivable("/position/longitude-deg");
 293   fgTie("/position/altitude-ft", this,
 294         &FGInterface::get_Altitude,
 295         &FGInterface::set_Altitude,
 296         false);
 297   fgSetArchivable("/position/altitude-ft");
 298   fgTie("/position/altitude-agl-ft", this,
 299         &FGInterface::get_Altitude_AGL); // read-only
 300
 301                                 // Orientation
 302   fgTie("/orientation/roll-deg", this,
 303         &FGInterface::get_Phi_deg,
 304         &FGInterface::set_Phi_deg);
 305   fgSetArchivable("/orientation/roll-deg");
 306   fgTie("/orientation/pitch-deg", this,
 307         &FGInterface::get_Theta_deg,
 308         &FGInterface::set_Theta_deg);
 309   fgSetArchivable("/orientation/pitch-deg");
 310   fgTie("/orientation/heading-deg", this,
 311         &FGInterface::get_Psi_deg,
 312         &FGInterface::set_Psi_deg);
 313   fgSetArchivable("/orientation/heading-deg");
 314
 315                                 // Calibrated airspeed
 316   fgTie("/velocities/airspeed-kt", this,
 317         &FGInterface::get_V_calibrated_kts,
 318         &FGInterface::set_V_calibrated_kts,
 319         false);
 320
 321                                 // Local velocities
 322 //   fgTie("/velocities/speed-north-fps", this,
 323 //      &FGInterface::get_V_north,
 324 //      &FGInterface::set_V_north);
 325 //   fgSetArchivable("/velocities/speed-north-fps");
 326 //   fgTie("/velocities/speed-east-fps", this,
 327 //      &FGInterface::get_V_east,
 328 //      &FGInterface::set_V_east);
 329 //   fgSetArchivable("/velocities/speed-east-fps");
 330 //   fgTie("/velocities/speed-down-fps", this,
 331 //      &FGInterface::get_V_down,
 332 //      &FGInterface::set_V_down);
 333 //   fgSetArchivable("/velocities/speed-down-fps");
 334                                 // FIXME: Temporarily read-only, until the
 335                                 // incompatibilities between JSBSim and
 336                                 // LaRCSim are fixed (LaRCSim adds the
 337                                 // earth's rotation to the east velocity).
 338   fgTie("/velocities/speed-north-fps", this,
 339         &FGInterface::get_V_north);
 340   fgTie("/velocities/speed-east-fps", this,
 341         &FGInterface::get_V_east);
 342   fgTie("/velocities/speed-down-fps", this,
 343         &FGInterface::get_V_down);
 344
 345                                 // Relative wind
 346                                 // FIXME: temporarily archivable, until
 347                                 // the NED problem is fixed.
 348   fgTie("/velocities/uBody-fps", this,
 349         &FGInterface::get_uBody,
 350         &FGInterface::set_uBody,
 351         false);
 352   fgSetArchivable("/velocities/uBody-fps");
 353   fgTie("/velocities/vBody-fps", this,
 354         &FGInterface::get_vBody,
 355         &FGInterface::set_vBody,
 356         false);
 357   fgSetArchivable("/velocities/vBody-fps");
 358   fgTie("/velocities/wBody-fps", this,
 359         &FGInterface::get_wBody,
 360         &FGInterface::set_wBody,
 361         false);
 362   fgSetArchivable("/velocities/wBody-fps");
 363
 364                                 // Climb and slip (read-only)
 365   fgTie("/velocities/vertical-speed-fps", this,
 366         &FGInterface::get_Climb_Rate,
 367   &FGInterface::set_Climb_Rate );
 368   fgTie("/velocities/glideslope", this,
 369   &FGInterface::get_Gamma_vert_rad,
 370   &FGInterface::set_Gamma_vert_rad );
 371   fgTie("/velocities/side-slip-rad", this,
 372         &FGInterface::get_Beta); // read-only
 373   fgTie("/velocities/side-slip-deg", this,
 374   &FGInterface::get_Beta_deg); // read-only
 375   fgTie("/velocities/alpha-deg", this,
 376   &FGInterface::get_Alpha_deg); // read-only
 377   fgTie("/accelerations/nlf", this,
 378   &FGInterface::get_Nlf); // read-only
 379 }
 380
 381
 382 /**
 383  * Unbind any properties bound to this FDM.
 384  *
 385  * This method allows the FDM to release properties so that a new
 386  * FDM can bind them instead.
 387  */
 388 void
 389 FGInterface::unbind ()
 390 {
 391   bound = false;
 392
 393   fgUntie("/fdm/time/delta_t");
 394   fgUntie("/fdm/time/elapsed");
 395   fgUntie("/fdm/time/remainder");
 396   fgUntie("/fdm/time/multi_loop");
 397   fgUntie("/position/latitude-deg");
 398   fgUntie("/position/longitude-deg");
 399   fgUntie("/position/altitude-ft");
 400   fgUntie("/position/altitude-agl-ft");
 401   fgUntie("/orientation/heading-deg");
 402   fgUntie("/orientation/pitch-deg");
 403   fgUntie("/orientation/roll-deg");
 404   fgUntie("/velocities/airspeed-kt");
 405   fgUntie("/velocities/speed-north-fps");
 406   fgUntie("/velocities/speed-east-fps");
 407   fgUntie("/velocities/speed-down-fps");
 408   fgUntie("/velocities/uBody-fps");
 409   fgUntie("/velocities/vBody-fps");
 410   fgUntie("/velocities/wBody-fps");
 411   fgUntie("/velocities/vertical-speed-fps");
 412   fgUntie("/velocities/glideslope");
 413   fgUntie("/velocities/side-slip-rad");
 414   fgUntie("/velocities/side-slip-deg");
 415   fgUntie("/velocities/alpha-deg");
 416   fgUntie("/accelerations/nlf");
 417
 418 }
 419
 420 /**
 421  * Update the state of the FDM (i.e. run the equations of motion).
 422  */
 423 void
 424 FGInterface::update (double dt)
 425 {
 426     SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
 427 }
 428
 429
 430 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
 431 {
 432     double lat_geoc, sl_radius;
 433
 434     // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
 435
 436     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc );
 437
 438     SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
 439             << " lat_geod = " << lat
 440             << " lat_geoc = " << lat_geoc
 441             << " alt = " << alt
 442             << " sl_radius = " << sl_radius * SG_METER_TO_FEET
 443             << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
 444
 445     _set_Geocentric_Position( lat_geoc, lon,
 446                               sl_radius * SG_METER_TO_FEET + alt );
 447
 448     _set_Geodetic_Position( lat, lon, alt );
 449
 450     _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
 451     _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
 452
 453     _set_sin_lat_geocentric( lat_geoc );
 454     _set_cos_lat_geocentric( lat_geoc );
 455
 456     _set_sin_cos_longitude( lon );
 457
 458     _set_sin_cos_latitude( lat );
 459
 460     /* Norman's code for slope of the terrain */
 461     /* needs to be tested -- get it on the HUD and taxi around */
 462     /* double *tnorm = scenery.cur_normal;
 463
 464        double sy = sin ( -get_Psi() ) ;
 465        double cy = cos ( -get_Psi() ) ;
 466
 467        double phitb, thetatb, psitb;
 468        if ( tnorm[1] != 0.0 ) {
 469            psitb = -atan2 ( tnorm[0], tnorm[1] );
 470        }
 471        if ( tnorm[2] != 0.0 ) {
 472            thetatb =  atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
 473            phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
 474        }
 475
 476        _set_terrain_slope(phitb, thetatb, psitb)
 477      */
 478 }
 479
 480
 481 void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon,
 482                                              double alt )
 483 {
 484     double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
 485
 486     // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
 487
 488     sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
 489                   &lat_geod, &tmp_alt, &sl_radius1 );
 490     sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
 491
 492     SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
 493             << " lat_geod = " << lat_geod
 494             << " lat_geoc = " << lat_geoc
 495             << " alt = " << alt
 496             << " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
 497             << " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
 498             << " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
 499             << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
 500
 501     _set_Geocentric_Position( lat_geoc, lon,
 502                               sl_radius2 * SG_METER_TO_FEET + alt );
 503
 504     _set_Geodetic_Position( lat_geod, lon, alt );
 505
 506     _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
 507     _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
 508
 509     _set_sin_lat_geocentric( lat_geoc );
 510     _set_cos_lat_geocentric( lat_geoc );
 511
 512     _set_sin_cos_longitude( lon );
 513
 514     _set_sin_cos_latitude( lat_geod );
 515
 516     /* Norman's code for slope of the terrain */
 517     /* needs to be tested -- get it on the HUD and taxi around */
 518     /* double *tnorm = scenery.cur_normal;
 519
 520        double sy = sin ( -get_Psi() ) ;
 521        double cy = cos ( -get_Psi() ) ;
 522
 523        double phitb, thetatb, psitb;
 524        if ( tnorm[1] != 0.0 ) {
 525            psitb = -atan2 ( tnorm[0], tnorm[1] );
 526        }
 527        if ( tnorm[2] != 0.0 ) {
 528            thetatb =  atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
 529            phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
 530        }
 531
 532        _set_terrain_slope(phitb, thetatb, psitb)
 533      */
 534 }
 535
 536
 537 // Extrapolate fdm based on time_offset (in usec)
 538 void FGInterface::extrapolate( int time_offset ) {
 539     double dt = time_offset / 1000000.0;
 540
 541     // -dw- metrowerks complains about ambiguous access, not critical
 542     // to keep this ;)
 543 #ifndef __MWERKS__
 544     SG_LOG(SG_FLIGHT, SG_INFO, "extrapolating FDM by dt = " << dt);
 545 #endif
 546
 547     double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
 548     double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
 549
 550     double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
 551     double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
 552
 553     double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
 554     double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
 555
 556     geodetic_position_v[0] = lat;
 557     geocentric_position_v[0] = lat_geoc;
 558
 559     geodetic_position_v[1] = lon;
 560     geocentric_position_v[1] = lon_geoc;
 561
 562     geodetic_position_v[2] = alt;
 563     geocentric_position_v[2] = radius;
 564 }
 565
 566 // Positions
 567 void FGInterface::set_Latitude(double lat) {
 568     geodetic_position_v[0] = lat;
 569 }
 570
 571 void FGInterface::set_Longitude(double lon) {
 572     geodetic_position_v[1] = lon;
 573 }
 574
 575 void FGInterface::set_Altitude(double alt) {
 576     geodetic_position_v[2] = alt;
 577 }
 578
 579 void FGInterface::set_AltitudeAGL(double altagl) {
 580     altitude_agl=altagl;
 581 }
 582
 583 // Velocities
 584 void FGInterface::set_V_calibrated_kts(double vc) {
 585     v_calibrated_kts = vc;
 586 }
 587
 588 void FGInterface::set_Mach_number(double mach) {
 589     mach_number = mach;
 590 }
 591
 592 void FGInterface::set_Velocities_Local( double north,
 593                                         double east,
 594                                         double down ){
 595     v_local_v[0] = north;
 596     v_local_v[1] = east;
 597     v_local_v[2] = down;
 598 }
 599
 600 void FGInterface::set_Velocities_Wind_Body( double u,
 601                                             double v,
 602                                             double w){
 603     v_wind_body_v[0] = u;
 604     v_wind_body_v[1] = v;
 605     v_wind_body_v[2] = w;
 606 }
 607
 608 // Euler angles
 609 void FGInterface::set_Euler_Angles( double phi,
 610                                     double theta,
 611                                     double psi ) {
 612     euler_angles_v[0] = phi;
 613     euler_angles_v[1] = theta;
 614     euler_angles_v[2] = psi;
 615 }
 616
 617 // Flight Path
 618 void FGInterface::set_Climb_Rate( double roc) {
 619     climb_rate = roc;
 620 }
 621
 622 void FGInterface::set_Gamma_vert_rad( double gamma) {
 623     gamma_vert_rad = gamma;
 624 }
 625
 626 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
 627 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
 628 void FGInterface::set_Density(double rho) { density = rho; }
 629
 630 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
 631                                                 double weast,
 632                                                 double wdown ) {
 633     v_local_airmass_v[0] = wnorth;
 634     v_local_airmass_v[1] = weast;
 635     v_local_airmass_v[2] = wdown;
 636 }
 637
 638
 639 void FGInterface::_busdump(void) {
 640
 641     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]);
 642     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]);
 643     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]);
 644     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]);
 645     SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
 646     SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
 647     SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
 648     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]);
 649     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]);
 650     SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
 651     SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
 652     SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
 653     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]);
 654     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]);
 655     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]);
 656     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]);
 657     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]);
 658     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]);
 659     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]);
 660     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
 661     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]);
 662     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]);
 663     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]);
 664     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]);
 665     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]);
 666     SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
 667     SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
 668     SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
 669     SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
 670     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
 671     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
 672     SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
 673     SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
 674     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]);
 675     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]);
 676     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]);
 677     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]);
 678
 679     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]);
 680     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]);
 681     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]);
 682
 683     SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass );
 684     SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx );
 685     SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy );
 686     SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz );
 687     SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz );
 688     SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
 689     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
 690     SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
 691     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground );
 692     SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial );
 693     SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
 694     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv );
 695     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
 696     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated );
 697     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
 698     SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity );
 699     SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief );
 700     SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
 701     SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
 702     SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot );
 703     SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot );
 704     SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha );
 705     SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha );
 706     SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta );
 707     SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta );
 708     SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi );
 709     SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi );
 710     SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta );
 711     SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta );
 712     SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi );
 713     SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi );
 714     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
 715     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
 716     SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma );
 717     SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
 718     SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound );
 719     SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
 720     SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
 721     SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
 722     SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure );
 723     SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
 724     SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
 725     SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
 726     SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
 727     SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
 728     SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
 729     SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude );
 730     SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude );
 731     SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading );
 732     SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy );
 733     SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
 734     SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
 735     SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
 736     SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude );
 737     SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude );
 738     SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
 739     SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
 740     SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
 741 }
 742
 743
 744 void fgToggleFDMdataLogging(void) {
 745   cur_fdm_state->ToggleDataLogging();
 746 }