src/FDM/flight.cxx

   1 // flight.c -- a general interface to the various flight models
   2 //
   3 // Written by Curtis Olson, started May 1997.
   4 //
   5 // Copyright (C) 1997  Curtis L. Olson  - curt@infoplane.com
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  11 //
  12 // This program is distributed in the hope that it will be useful, but
  13 // WITHOUT ANY WARRANTY; without even the implied warranty of
  14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  15 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  20 //
  21 // $Id$
  22
  23
  24 #include <stdio.h>
  25
  26 #include <simgear/constants.h>
  27 #include <simgear/debug/logstream.hxx>
  28 #include <simgear/math/sg_geodesy.hxx>
  29 #include <simgear/timing/timestamp.hxx>
  30
  31 #include <Scenery/scenery.hxx>
  32 #include <FDM/LaRCsim/ls_interface.h>
  33 #include <Main/globals.hxx>
  34 #include <Main/fg_props.hxx>
  35
  36 #include "External.hxx"
  37 #include "flight.hxx"
  38 #include "JSBSim.hxx"
  39 #include "LaRCsim.hxx"
  40 #include "Balloon.h"
  41
  42
  43 // base_fdm_state is the internal state that is updated in integer
  44 // multiples of "dt".  This leads to "jitter" with respect to the real
  45 // world time, so we introduce cur_fdm_state which is extrapolated by
  46 // the difference between sim time and real world time
  47
  48 FGInterface *cur_fdm_state;
  49 FGInterface base_fdm_state;
  50
  51 inline void init_vec(FG_VECTOR_3 vec) {
  52     vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0;
  53 }
  54
  55 FGEngInterface::FGEngInterface() {
  56
  57     // inputs
  58     Throttle=0;
  59     Mixture=0;
  60     Prop_Advance=0;
  61
  62     // outputs
  63     RPM=0;
  64     Manifold_Pressure=0;
  65     MaxHP=0;
  66     Percentage_Power=0;
  67     EGT=0;
  68     prop_thrust=0;
  69 }
  70
  71 FGEngInterface::~FGEngInterface(void) {
  72 }
  73
  74
  75 // Constructor
  76 FGInterface::FGInterface() {
  77     init();
  78 }
  79
  80 FGInterface::FGInterface( double dt ) {
  81
  82     init();
  83     delta_t = dt;
  84     remainder = elapsed = multi_loop = 0;
  85 }
  86
  87 // Destructor
  88 FGInterface::~FGInterface() {
  89 //   unbind();                  // FIXME: should be called explicitly
  90 }
  91
  92
  93 void
  94 FGInterface::init ()
  95 {
  96     init_vec( d_pilot_rp_body_v );
  97     init_vec( d_cg_rp_body_v );
  98     init_vec( f_body_total_v );
  99     init_vec( f_local_total_v );
 100     init_vec( f_aero_v );
 101     init_vec( f_engine_v );
 102     init_vec( f_gear_v );
 103     init_vec( m_total_rp_v );
 104     init_vec( m_total_cg_v );
 105     init_vec( m_aero_v );
 106     init_vec( m_engine_v );
 107     init_vec( m_gear_v );
 108     init_vec( v_dot_local_v );
 109     init_vec( v_dot_body_v );
 110     init_vec( a_cg_body_v );
 111     init_vec( a_pilot_body_v );
 112     init_vec( n_cg_body_v );
 113     init_vec( n_pilot_body_v );
 114     init_vec( omega_dot_body_v );
 115     init_vec( v_local_v );
 116     init_vec( v_local_rel_ground_v );
 117     init_vec( v_local_airmass_v );
 118     init_vec( v_local_rel_airmass_v );
 119     init_vec( v_local_gust_v );
 120     init_vec( v_wind_body_v );
 121     init_vec( omega_body_v );
 122     init_vec( omega_local_v );
 123     init_vec( omega_total_v );
 124     init_vec( euler_rates_v );
 125     init_vec( geocentric_rates_v );
 126     init_vec( geocentric_position_v );
 127     init_vec( geodetic_position_v );
 128     init_vec( euler_angles_v );
 129     init_vec( d_cg_rwy_local_v );
 130     init_vec( d_cg_rwy_rwy_v );
 131     init_vec( d_pilot_rwy_local_v );
 132     init_vec( d_pilot_rwy_rwy_v );
 133     init_vec( t_local_to_body_m[0] );
 134     init_vec( t_local_to_body_m[1] );
 135     init_vec( t_local_to_body_m[2] );
 136
 137     mass=i_xx=i_yy=i_zz=i_xz=0;
 138     nlf=0;
 139     v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
 140     v_ground_speed=v_equiv=v_equiv_kts=0;
 141     v_calibrated=v_calibrated_kts=0;
 142     gravity=0;
 143     centrifugal_relief=0;
 144     alpha=beta=alpha_dot=beta_dot=0;
 145     cos_alpha=sin_alpha=cos_beta=sin_beta=0;
 146     cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
 147     gamma_vert_rad=gamma_horiz_rad=0;
 148     sigma=density=v_sound=mach_number=0;
 149     static_pressure=total_pressure=impact_pressure=0;
 150     dynamic_pressure=0;
 151     static_temperature=total_temperature=0;
 152     sea_level_radius=earth_position_angle=0;
 153     runway_altitude=runway_latitude=runway_longitude=0;
 154     runway_heading=0;
 155     radius_to_rwy=0;
 156     climb_rate=0;
 157     sin_lat_geocentric=cos_lat_geocentric=0;
 158     sin_latitude=cos_latitude=0;
 159     sin_longitude=cos_longitude=0;
 160     altitude_agl=0;
 161 }
 162
 163 void
 164 FGInterface::bind ()
 165 {
 166                                 // Time management (read-only)
 167   fgTie("/fdm/time/delta_t", this,
 168         &FGInterface::get_delta_t); // read-only
 169   fgTie("/fdm/time/elapsed", this,
 170         &FGInterface::get_elapsed); // read-only
 171   fgTie("/fdm/time/remainder", this,
 172         &FGInterface::get_remainder); // read-only
 173   fgTie("/fdm/time/multi_loop", this,
 174         &FGInterface::get_multi_loop); // read-only
 175
 176                         // Aircraft position
 177   fgTie("/position/latitude", this,
 178         &FGInterface::get_Latitude_deg,
 179         &FGInterface::set_Latitude_deg,
 180         false);
 181   fgTie("/position/longitude", this,
 182         &FGInterface::get_Longitude_deg,
 183         &FGInterface::set_Longitude_deg,
 184         false);
 185   fgTie("/position/altitude", this,
 186         &FGInterface::get_Altitude,
 187         &FGInterface::set_Altitude,
 188         false);
 189   fgTie("/position/altitude-agl", this,
 190         &FGInterface::get_Altitude_AGL); // read-only
 191
 192                                 // Orientation
 193   fgTie("/orientation/roll", this,
 194         &FGInterface::get_Phi_deg,
 195         &FGInterface::set_Phi_deg,
 196         true);
 197   fgTie("/orientation/pitch", this,
 198         &FGInterface::get_Theta_deg,
 199         &FGInterface::set_Theta_deg,
 200         true);
 201   fgTie("/orientation/heading", this,
 202         &FGInterface::get_Psi_deg,
 203         &FGInterface::set_Psi_deg,
 204         true);
 205
 206                                 // Calibrated airspeed
 207   fgTie("/velocities/airspeed", this,
 208         &FGInterface::get_V_calibrated_kts,
 209         &FGInterface::set_V_calibrated_kts,
 210         true);
 211
 212                                 // Local velocities
 213   fgTie("/velocities/speed-north", this,
 214         &FGInterface::get_V_north); // read-only
 215   fgTie("/velocities/speed-east", this,
 216         &FGInterface::get_V_east,
 217         &FGInterface::set_V_east,
 218         true);
 219   fgTie("/velocities/speed-down", this,
 220         &FGInterface::get_V_down,
 221         &FGInterface::set_V_down,
 222         true);
 223
 224                                 // Relative wind
 225   fgTie("/velocities/uBody", this,
 226         &FGInterface::get_uBody,
 227         &FGInterface::set_uBody,
 228         true);
 229   fgTie("/velocities/vBody", this,
 230         &FGInterface::get_vBody,
 231         &FGInterface::set_vBody,
 232         true);
 233   fgTie("/velocities/wBody", this,
 234         &FGInterface::get_wBody,
 235         &FGInterface::set_wBody,
 236         true);
 237
 238                                 // Climb and slip (read-only)
 239   fgTie("/velocities/vertical-speed", this,
 240         &FGInterface::get_Climb_Rate); // read-only
 241   fgTie("/velocities/side-slip", this,
 242         &FGInterface::get_Beta); // read-only
 243 }
 244
 245 void
 246 FGInterface::unbind ()
 247 {
 248   fgUntie("/fdm/time/delta_t");
 249   fgUntie("/fdm/time/elapsed");
 250   fgUntie("/fdm/time/remainder");
 251   fgUntie("/fdm/time/multi_loop");
 252   fgUntie("/position/latitude");
 253   fgUntie("/position/longitude");
 254   fgUntie("/position/altitude");
 255   fgUntie("/position/heading");
 256   fgUntie("/position/pitch");
 257   fgUntie("/position/roll");
 258   fgUntie("/velocities/airspeed");
 259   fgUntie("/velocities/speed-north");
 260   fgUntie("/velocities/speed-east");
 261   fgUntie("/velocities/speed-down");
 262   fgUntie("/velocities/uBody");
 263   fgUntie("/velocities/vBody");
 264   fgUntie("/velocities/wBody");
 265   fgUntie("/velocities/vertical-speed");
 266   fgUntie("/velocities/side-slip");
 267 }
 268
 269 void
 270 FGInterface::update ()
 271 {
 272   update(1);
 273 }
 274
 275
 276 bool FGInterface::update( int multi_loop ) {
 277     cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl;
 278     return false;
 279 }
 280
 281
 282 void FGInterface::_updatePosition( double lat_geoc, double lon, double alt ) {
 283     double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
 284
 285     sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
 286                   &lat_geod, &tmp_alt, &sl_radius1 );
 287     sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
 288
 289     SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
 290             << " lat_geod = " << lat_geod
 291             << " lat_geoc = " << lat_geoc
 292             << " alt = " << alt
 293             << " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
 294             << " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
 295             << " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
 296             << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
 297
 298     _set_Geocentric_Position( lat_geoc, lon,
 299                               sl_radius2 * SG_METER_TO_FEET + alt );
 300
 301     _set_Geodetic_Position( lat_geod, lon, alt );
 302
 303     _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
 304     _set_Runway_altitude( scenery.cur_elev*METERS_TO_FEET );
 305
 306     _set_sin_lat_geocentric( lat_geoc );
 307     _set_cos_lat_geocentric( lat_geoc );
 308
 309     _set_sin_cos_longitude( lon );
 310
 311     _set_sin_cos_latitude( lat_geod );
 312
 313     /* Norman's code for slope of the terrain */
 314     /* needs to be tested -- get it on the HUD and taxi around */
 315     /* double *tnorm = scenery.cur_normal;
 316
 317        double sy = sin ( -get_Psi() ) ;
 318        double cy = cos ( -get_Psi() ) ;
 319
 320        double phitb, thetatb, psitb;
 321        if(tnorm[1] != 0.0) {
 322                 psitb = -atan2 ( tnorm[0], tnorm[1] );
 323        }
 324        if(tnorm[2] != 0.0) {
 325                 thetatb =  atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
 326                 phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
 327        }
 328
 329        _set_terrain_slope(phitb, thetatb, psitb)
 330      */
 331 }
 332
 333
 334 // Extrapolate fdm based on time_offset (in usec)
 335 void FGInterface::extrapolate( int time_offset ) {
 336     double dt = time_offset / 1000000.0;
 337
 338     // -dw- metrowerks complains about ambiguous access, not critical
 339     // to keep this ;)
 340 #ifndef __MWERKS__
 341     cout << "extrapolating FDM by dt = " << dt << endl;
 342 #endif
 343
 344     double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
 345     double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
 346
 347     double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
 348     double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
 349
 350     double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
 351     double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
 352
 353     geodetic_position_v[0] = lat;
 354     geocentric_position_v[0] = lat_geoc;
 355
 356     geodetic_position_v[1] = lon;
 357     geocentric_position_v[1] = lon_geoc;
 358
 359     geodetic_position_v[2] = alt;
 360     geocentric_position_v[2] = radius;
 361 }
 362
 363
 364 // Set the altitude (force)
 365 void fgFDMForceAltitude(const string &model, double alt_meters) {
 366     double sea_level_radius_meters;
 367     double lat_geoc;
 368
 369     // Set the FG variables first
 370     sgGeodToGeoc( base_fdm_state.get_Latitude(), alt_meters,
 371                   &sea_level_radius_meters, &lat_geoc);
 372
 373     base_fdm_state.set_Altitude( alt_meters * SG_METER_TO_FEET );
 374     base_fdm_state.set_Sea_level_radius( sea_level_radius_meters *
 375                                          SG_METER_TO_FEET );
 376
 377
 378     // additional work needed for some flight models
 379     if ( model == "larcsim" ) {
 380         ls_ForceAltitude( base_fdm_state.get_Altitude() );
 381     }
 382 }
 383
 384
 385 // Set the local ground elevation
 386 void fgFDMSetGroundElevation(const string &model, double ground_meters) {
 387     SG_LOG( SG_FLIGHT,SG_INFO, "fgFDMSetGroundElevation: "
 388             << ground_meters*SG_METER_TO_FEET );
 389     base_fdm_state.set_Runway_altitude( ground_meters * SG_METER_TO_FEET );
 390     cur_fdm_state->set_Runway_altitude( ground_meters * SG_METER_TO_FEET );
 391 }
 392
 393
 394 // Positions
 395 void FGInterface::set_Latitude(double lat) {
 396     geodetic_position_v[0] = lat;
 397 }
 398
 399 void FGInterface::set_Longitude(double lon) {
 400     geodetic_position_v[1] = lon;
 401 }
 402
 403 void FGInterface::set_Altitude(double alt) {
 404     geodetic_position_v[2] = alt;
 405 }
 406
 407 void FGInterface::set_AltitudeAGL(double altagl) {
 408     altitude_agl=altagl;
 409 }
 410
 411 // Velocities
 412 void FGInterface::set_V_calibrated_kts(double vc) {
 413     v_calibrated_kts = vc;
 414 }
 415
 416 void FGInterface::set_Mach_number(double mach) {
 417     mach_number = mach;
 418 }
 419
 420 void FGInterface::set_Velocities_Local( double north,
 421                                         double east,
 422                                         double down ){
 423     v_local_v[0] = north;
 424     v_local_v[1] = east;
 425     v_local_v[2] = down;
 426 }
 427
 428 void FGInterface::set_Velocities_Wind_Body( double u,
 429                                             double v,
 430                                             double w){
 431     v_wind_body_v[0] = u;
 432     v_wind_body_v[1] = v;
 433     v_wind_body_v[2] = w;
 434 }
 435
 436 // Euler angles
 437 void FGInterface::set_Euler_Angles( double phi,
 438                                     double theta,
 439                                     double psi ) {
 440     euler_angles_v[0] = phi;
 441     euler_angles_v[1] = theta;
 442     euler_angles_v[2] = psi;
 443 }
 444
 445 // Flight Path
 446 void FGInterface::set_Climb_Rate( double roc) {
 447     climb_rate = roc;
 448 }
 449
 450 void FGInterface::set_Gamma_vert_rad( double gamma) {
 451     gamma_vert_rad = gamma;
 452 }
 453
 454 // Earth
 455 void FGInterface::set_Sea_level_radius(double slr) {
 456     sea_level_radius = slr;
 457 }
 458
 459 void FGInterface::set_Runway_altitude(double ralt) {
 460     runway_altitude = ralt;
 461 }
 462
 463 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
 464 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
 465 void FGInterface::set_Density(double rho) { density = rho; }
 466
 467 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
 468                                                 double weast,
 469                                                 double wdown ) {
 470     v_local_airmass_v[0] = wnorth;
 471     v_local_airmass_v[1] = weast;
 472     v_local_airmass_v[2] = wdown;
 473 }
 474
 475
 476 void FGInterface::_busdump(void) {
 477
 478     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]);
 479     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]);
 480     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]);
 481     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]);
 482     SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
 483     SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
 484     SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
 485     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]);
 486     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]);
 487     SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
 488     SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
 489     SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
 490     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]);
 491     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]);
 492     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]);
 493     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]);
 494     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]);
 495     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]);
 496     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]);
 497     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
 498     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]);
 499     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]);
 500     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]);
 501     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]);
 502     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]);
 503     SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
 504     SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
 505     SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
 506     SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
 507     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
 508     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
 509     SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
 510     SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
 511     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]);
 512     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]);
 513     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]);
 514     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]);
 515
 516     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]);
 517     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]);
 518     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]);
 519
 520     SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass );
 521     SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx );
 522     SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy );
 523     SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz );
 524     SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz );
 525     SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
 526     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
 527     SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
 528     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground );
 529     SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial );
 530     SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
 531     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv );
 532     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
 533     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated );
 534     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
 535     SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity );
 536     SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief );
 537     SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
 538     SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
 539     SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot );
 540     SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot );
 541     SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha );
 542     SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha );
 543     SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta );
 544     SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta );
 545     SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi );
 546     SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi );
 547     SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta );
 548     SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta );
 549     SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi );
 550     SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi );
 551     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
 552     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
 553     SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma );
 554     SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
 555     SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound );
 556     SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
 557     SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
 558     SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
 559     SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure );
 560     SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
 561     SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
 562     SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
 563     SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
 564     SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
 565     SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
 566     SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude );
 567     SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude );
 568     SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading );
 569     SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy );
 570     SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
 571     SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
 572     SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
 573     SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude );
 574     SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude );
 575     SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
 576     SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
 577     SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
 578 }
 579