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 set_Longitude( fgGetDouble("/sim/presets/longitude-deg")
192 * SGD_DEGREES_TO_RADIANS );
193 set_Latitude( fgGetDouble("/sim/presets/latitude-deg")
194 * SGD_DEGREES_TO_RADIANS );
195 double ground_elev_m = globals->get_scenery()->get_cur_elev();
196 double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
197 fgSetDouble("/position/ground-elev-m", ground_elev_m);
198 _set_Runway_altitude ( ground_elev_ft );
199 if ( fgGetBool("/sim/presets/onground")
200 || fgGetDouble("/sim/presets/altitude-ft") < ground_elev_ft ) {
201 fgSetDouble("/position/altitude-ft", ground_elev_ft);
202 set_Altitude( ground_elev_ft );
204 set_Altitude( fgGetDouble("/sim/presets/altitude-ft") );
207 // Set ground elevation
208 SG_LOG( SG_FLIGHT, SG_INFO,
209 "...initializing ground elevation to " << ground_elev_ft
212 // Set sea-level radius
213 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
214 SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
215 << fgGetDouble("/sim/presets/latitude-deg")
216 << " alt = " << get_Altitude() );
217 double sea_level_radius_meters;
219 sgGeodToGeoc( fgGetDouble("/sim/presets/latitude-deg")
220 * SGD_DEGREES_TO_RADIANS,
221 get_Altitude() * SG_FEET_TO_METER,
222 &sea_level_radius_meters, &lat_geoc );
223 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
225 // Set initial velocities
226 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
227 if ( !fgHasNode("/sim/presets/speed-set") ) {
228 set_V_calibrated_kts(0.0);
230 const string speedset = fgGetString("/sim/presets/speed-set");
231 if ( speedset == "knots" || speedset == "KNOTS" ) {
232 set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") );
233 } else if ( speedset == "mach" || speedset == "MACH" ) {
234 set_Mach_number( fgGetDouble("/sim/presets/mach") );
235 } else if ( speedset == "UVW" || speedset == "uvw" ) {
236 set_Velocities_Wind_Body(
237 fgGetDouble("/sim/presets/uBody-fps"),
238 fgGetDouble("/sim/presets/vBody-fps"),
239 fgGetDouble("/sim/presets/wBody-fps") );
240 } else if ( speedset == "NED" || speedset == "ned" ) {
241 set_Velocities_Local(
242 fgGetDouble("/sim/presets/speed-north-fps"),
243 fgGetDouble("/sim/presets/speed-east-fps"),
244 fgGetDouble("/sim/presets/speed-down-fps") );
246 SG_LOG( SG_FLIGHT, SG_ALERT,
247 "Unrecognized value for /sim/presets/speed-set: "
249 set_V_calibrated_kts( 0.0 );
253 // Set initial Euler angles
254 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
255 set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
256 * SGD_DEGREES_TO_RADIANS,
257 fgGetDouble("/sim/presets/pitch-deg")
258 * SGD_DEGREES_TO_RADIANS,
259 fgGetDouble("/sim/presets/heading-deg")
260 * SGD_DEGREES_TO_RADIANS );
262 SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
267 * Bind getters and setters to properties.
269 * The bind() method will be invoked after init(). Note that unlike
270 * the usual implementations of FGSubsystem::bind(), this method does
271 * not automatically pick up existing values for the properties at
272 * bind time; instead, all values are set explicitly in the init()
280 // Time management (read-only)
281 // fgTie("/fdm/time/delta_t", this,
282 // &FGInterface::get_delta_t); // read-only
283 // fgTie("/fdm/time/elapsed", this,
284 // &FGInterface::get_elapsed); // read-only
285 // fgTie("/fdm/time/remainder", this,
286 // &FGInterface::get_remainder); // read-only
287 // fgTie("/fdm/time/multi_loop", this,
288 // &FGInterface::get_multi_loop); // read-only
291 fgTie("/position/latitude-deg", this,
292 &FGInterface::get_Latitude_deg,
293 &FGInterface::set_Latitude_deg,
295 fgSetArchivable("/position/latitude-deg");
296 fgTie("/position/longitude-deg", this,
297 &FGInterface::get_Longitude_deg,
298 &FGInterface::set_Longitude_deg,
300 fgSetArchivable("/position/longitude-deg");
301 fgTie("/position/altitude-ft", this,
302 &FGInterface::get_Altitude,
303 &FGInterface::set_Altitude,
305 fgSetArchivable("/position/altitude-ft");
306 fgTie("/position/altitude-agl-ft", this,
307 &FGInterface::get_Altitude_AGL); // read-only
310 fgTie("/orientation/roll-deg", this,
311 &FGInterface::get_Phi_deg,
312 &FGInterface::set_Phi_deg);
313 fgSetArchivable("/orientation/roll-deg");
314 fgTie("/orientation/pitch-deg", this,
315 &FGInterface::get_Theta_deg,
316 &FGInterface::set_Theta_deg);
317 fgSetArchivable("/orientation/pitch-deg");
318 fgTie("/orientation/heading-deg", this,
319 &FGInterface::get_Psi_deg,
320 &FGInterface::set_Psi_deg);
321 fgSetArchivable("/orientation/heading-deg");
323 // Body-axis "euler rates" (rotation speed, but in a funny
325 fgTie("/orientation/roll-rate-degps", this,
326 &FGInterface::get_Phi_dot_degps);
327 fgTie("/orientation/pitch-rate-degps", this,
328 &FGInterface::get_Theta_dot_degps);
329 fgTie("/orientation/yaw-rate-degps", this,
330 &FGInterface::get_Psi_dot_degps);
332 // Calibrated airspeed
333 fgTie("/velocities/airspeed-kt", this,
334 &FGInterface::get_V_calibrated_kts,
335 &FGInterface::set_V_calibrated_kts,
339 fgTie("/velocities/mach", this,
340 &FGInterface::get_Mach_number,
341 &FGInterface::set_Mach_number,
345 // fgTie("/velocities/speed-north-fps", this,
346 // &FGInterface::get_V_north,
347 // &FGInterface::set_V_north);
348 // fgSetArchivable("/velocities/speed-north-fps");
349 // fgTie("/velocities/speed-east-fps", this,
350 // &FGInterface::get_V_east,
351 // &FGInterface::set_V_east);
352 // fgSetArchivable("/velocities/speed-east-fps");
353 // fgTie("/velocities/speed-down-fps", this,
354 // &FGInterface::get_V_down,
355 // &FGInterface::set_V_down);
356 // fgSetArchivable("/velocities/speed-down-fps");
357 // FIXME: Temporarily read-only, until the
358 // incompatibilities between JSBSim and
359 // LaRCSim are fixed (LaRCSim adds the
360 // earth's rotation to the east velocity).
361 fgTie("/velocities/speed-north-fps", this,
362 &FGInterface::get_V_north);
363 fgTie("/velocities/speed-east-fps", this,
364 &FGInterface::get_V_east);
365 fgTie("/velocities/speed-down-fps", this,
366 &FGInterface::get_V_down);
369 // FIXME: temporarily archivable, until
370 // the NED problem is fixed.
371 fgTie("/velocities/uBody-fps", this,
372 &FGInterface::get_uBody,
373 &FGInterface::set_uBody,
375 fgSetArchivable("/velocities/uBody-fps");
376 fgTie("/velocities/vBody-fps", this,
377 &FGInterface::get_vBody,
378 &FGInterface::set_vBody,
380 fgSetArchivable("/velocities/vBody-fps");
381 fgTie("/velocities/wBody-fps", this,
382 &FGInterface::get_wBody,
383 &FGInterface::set_wBody,
385 fgSetArchivable("/velocities/wBody-fps");
387 // Climb and slip (read-only)
388 fgTie("/velocities/vertical-speed-fps", this,
389 &FGInterface::get_Climb_Rate,
390 &FGInterface::set_Climb_Rate );
391 fgTie("/velocities/glideslope", this,
392 &FGInterface::get_Gamma_vert_rad,
393 &FGInterface::set_Gamma_vert_rad );
394 fgTie("/orientation/side-slip-rad", this,
395 &FGInterface::get_Beta); // read-only
396 fgTie("/orientation/side-slip-deg", this,
397 &FGInterface::get_Beta_deg); // read-only
398 fgTie("/orientation/alpha-deg", this,
399 &FGInterface::get_Alpha_deg); // read-only
400 fgTie("/accelerations/nlf", this,
401 &FGInterface::get_Nlf); // read-only
404 fgTie("/accelerations/ned/north-accel-fps_sec",
405 this, &FGInterface::get_V_dot_north);
406 fgTie("/accelerations/ned/east-accel-fps_sec",
407 this, &FGInterface::get_V_dot_east);
408 fgTie("/accelerations/ned/down-accel-fps_sec",
409 this, &FGInterface::get_V_dot_down);
411 // Pilot accelerations
412 fgTie("/accelerations/pilot/x-accel-fps_sec",
413 this, &FGInterface::get_A_X_pilot);
414 fgTie("/accelerations/pilot/y-accel-fps_sec",
415 this, &FGInterface::get_A_Y_pilot);
416 fgTie("/accelerations/pilot/z-accel-fps_sec",
417 this, &FGInterface::get_A_Z_pilot);
423 * Unbind any properties bound to this FDM.
425 * This method allows the FDM to release properties so that a new
426 * FDM can bind them instead.
429 FGInterface::unbind ()
433 // fgUntie("/fdm/time/delta_t");
434 // fgUntie("/fdm/time/elapsed");
435 // fgUntie("/fdm/time/remainder");
436 // fgUntie("/fdm/time/multi_loop");
437 fgUntie("/position/latitude-deg");
438 fgUntie("/position/longitude-deg");
439 fgUntie("/position/altitude-ft");
440 fgUntie("/position/altitude-agl-ft");
441 fgUntie("/orientation/roll-deg");
442 fgUntie("/orientation/pitch-deg");
443 fgUntie("/orientation/heading-deg");
444 fgUntie("/orientation/roll-rate-degps");
445 fgUntie("/orientation/pitch-rate-degps");
446 fgUntie("/orientation/yaw-rate-degps");
447 fgUntie("/orientation/side-slip-rad");
448 fgUntie("/orientation/side-slip-deg");
449 fgUntie("/orientation/alpha-deg");
450 fgUntie("/velocities/airspeed-kt");
451 fgUntie("/velocities/mach");
452 fgUntie("/velocities/speed-north-fps");
453 fgUntie("/velocities/speed-east-fps");
454 fgUntie("/velocities/speed-down-fps");
455 fgUntie("/velocities/uBody-fps");
456 fgUntie("/velocities/vBody-fps");
457 fgUntie("/velocities/wBody-fps");
458 fgUntie("/velocities/vertical-speed-fps");
459 fgUntie("/velocities/glideslope");
460 fgUntie("/accelerations/nlf");
461 fgUntie("/accelerations/pilot/x-accel-fps_sec");
462 fgUntie("/accelerations/pilot/y-accel-fps_sec");
463 fgUntie("/accelerations/pilot/z-accel-fps_sec");
464 fgUntie("/accelerations/ned/north-accel-fps_sec");
465 fgUntie("/accelerations/ned/east-accel-fps_sec");
466 fgUntie("/accelerations/ned/down-accel-fps_sec");
470 * Update the state of the FDM (i.e. run the equations of motion).
473 FGInterface::update (double dt)
475 SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
479 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
481 double lat_geoc, sl_radius;
483 // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
485 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc );
487 SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
488 << " lat_geod = " << lat
489 << " lat_geoc = " << lat_geoc
491 << " sl_radius = " << sl_radius * SG_METER_TO_FEET
492 << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
494 _set_Geocentric_Position( lat_geoc, lon,
495 sl_radius * SG_METER_TO_FEET + alt );
497 _set_Geodetic_Position( lat, lon, alt );
499 _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
500 _set_Runway_altitude( fgGetDouble("/position/ground-elev-m") * SG_METER_TO_FEET );
502 _set_sin_lat_geocentric( lat_geoc );
503 _set_cos_lat_geocentric( lat_geoc );
505 _set_sin_cos_longitude( lon );
507 _set_sin_cos_latitude( lat );
509 /* Norman's code for slope of the terrain */
510 /* needs to be tested -- get it on the HUD and taxi around */
511 /* double *tnorm = scenery.cur_normal;
513 double sy = sin ( -get_Psi() ) ;
514 double cy = cos ( -get_Psi() ) ;
516 double phitb, thetatb, psitb;
517 if ( tnorm[1] != 0.0 ) {
518 psitb = -atan2 ( tnorm[0], tnorm[1] );
520 if ( tnorm[2] != 0.0 ) {
521 thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
522 phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
525 _set_terrain_slope(phitb, thetatb, psitb)
530 void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon,
533 double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
535 // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
537 sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
538 &lat_geod, &tmp_alt, &sl_radius1 );
539 sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
541 SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
542 << " lat_geod = " << lat_geod
543 << " lat_geoc = " << lat_geoc
545 << " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
546 << " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
547 << " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
548 << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
550 _set_Geocentric_Position( lat_geoc, lon,
551 sl_radius2 * SG_METER_TO_FEET + alt );
553 _set_Geodetic_Position( lat_geod, lon, alt );
555 _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
556 _set_Runway_altitude( fgGetDouble("/position/ground-elev-m") * SG_METER_TO_FEET );
558 _set_sin_lat_geocentric( lat_geoc );
559 _set_cos_lat_geocentric( lat_geoc );
561 _set_sin_cos_longitude( lon );
563 _set_sin_cos_latitude( lat_geod );
565 /* Norman's code for slope of the terrain */
566 /* needs to be tested -- get it on the HUD and taxi around */
567 /* double *tnorm = scenery.cur_normal;
569 double sy = sin ( -get_Psi() ) ;
570 double cy = cos ( -get_Psi() ) ;
572 double phitb, thetatb, psitb;
573 if ( tnorm[1] != 0.0 ) {
574 psitb = -atan2 ( tnorm[0], tnorm[1] );
576 if ( tnorm[2] != 0.0 ) {
577 thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
578 phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
581 _set_terrain_slope(phitb, thetatb, psitb)
586 // Extrapolate fdm based on time_offset (in usec)
587 void FGInterface::extrapolate( int time_offset ) {
588 double dt = time_offset / 1000000.0;
590 // -dw- metrowerks complains about ambiguous access, not critical
593 SG_LOG(SG_FLIGHT, SG_INFO, "extrapolating FDM by dt = " << dt);
596 double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
597 double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
599 double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
600 double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
602 double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
603 double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
605 geodetic_position_v[0] = lat;
606 geocentric_position_v[0] = lat_geoc;
608 geodetic_position_v[1] = lon;
609 geocentric_position_v[1] = lon_geoc;
611 geodetic_position_v[2] = alt;
612 geocentric_position_v[2] = radius;
616 void FGInterface::set_Latitude(double lat) {
617 geodetic_position_v[0] = lat;
620 void FGInterface::set_Longitude(double lon) {
621 geodetic_position_v[1] = lon;
624 void FGInterface::set_Altitude(double alt) {
625 geodetic_position_v[2] = alt;
628 void FGInterface::set_AltitudeAGL(double altagl) {
633 void FGInterface::set_V_calibrated_kts(double vc) {
634 v_calibrated_kts = vc;
637 void FGInterface::set_Mach_number(double mach) {
641 void FGInterface::set_Velocities_Local( double north,
644 v_local_v[0] = north;
649 void FGInterface::set_Velocities_Wind_Body( double u,
652 v_wind_body_v[0] = u;
653 v_wind_body_v[1] = v;
654 v_wind_body_v[2] = w;
658 void FGInterface::set_Euler_Angles( double phi,
661 euler_angles_v[0] = phi;
662 euler_angles_v[1] = theta;
663 euler_angles_v[2] = psi;
667 void FGInterface::set_Climb_Rate( double roc) {
671 void FGInterface::set_Gamma_vert_rad( double gamma) {
672 gamma_vert_rad = gamma;
675 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
676 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
677 void FGInterface::set_Density(double rho) { density = rho; }
679 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
682 v_local_airmass_v[0] = wnorth;
683 v_local_airmass_v[1] = weast;
684 v_local_airmass_v[2] = wdown;
688 void FGInterface::_busdump(void) {
690 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]);
691 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]);
692 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]);
693 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]);
694 SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
695 SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
696 SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
697 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]);
698 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]);
699 SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
700 SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
701 SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
702 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]);
703 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]);
704 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]);
705 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]);
706 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]);
707 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]);
708 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]);
709 SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
710 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]);
711 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]);
712 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]);
713 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]);
714 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]);
715 SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
716 SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
717 SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
718 SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
719 SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
720 SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
721 SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
722 SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
723 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]);
724 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]);
725 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]);
726 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]);
728 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]);
729 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]);
730 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]);
732 SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass );
733 SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx );
734 SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy );
735 SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz );
736 SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz );
737 SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
738 SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
739 SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
740 SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground );
741 SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial );
742 SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
743 SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv );
744 SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
745 SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated );
746 SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
747 SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity );
748 SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief );
749 SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
750 SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
751 SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot );
752 SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot );
753 SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha );
754 SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha );
755 SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta );
756 SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta );
757 SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi );
758 SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi );
759 SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta );
760 SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta );
761 SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi );
762 SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi );
763 SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
764 SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
765 SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma );
766 SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
767 SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound );
768 SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
769 SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
770 SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
771 SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure );
772 SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
773 SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
774 SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
775 SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
776 SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
777 SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
778 SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude );
779 SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude );
780 SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading );
781 SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy );
782 SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
783 SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
784 SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
785 SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude );
786 SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude );
787 SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
788 SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
789 SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
793 FGInterface::prepare_ground_cache_m(double ref_time, const double pt[3],
796 return ground_cache.prepare_ground_cache(ref_time, pt, rad);
799 bool FGInterface::prepare_ground_cache_ft(double ref_time, const double pt[3],
802 // Convert units and do the real work.
804 sgdScaleVec3( pt_ft, pt, SG_FEET_TO_METER );
805 return ground_cache.prepare_ground_cache(ref_time, pt_ft, rad*SG_FEET_TO_METER);
809 FGInterface::is_valid_m(double *ref_time, double pt[3], double *rad)
811 return ground_cache.is_valid(ref_time, pt, rad);
814 bool FGInterface::is_valid_ft(double *ref_time, double pt[3], double *rad)
816 // Convert units and do the real work.
817 bool found_ground = ground_cache.is_valid(ref_time, pt, rad);
818 sgdScaleVec3(pt, SG_METER_TO_FEET);
819 *rad *= SG_METER_TO_FEET;
824 FGInterface::get_cat_m(double t, const double pt[3],
825 double end[2][3], double vel[2][3])
827 return ground_cache.get_cat(t, pt, end, vel);
831 FGInterface::get_cat_ft(double t, const double pt[3],
832 double end[2][3], double vel[2][3])
834 // Convert units and do the real work.
836 sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER );
837 double dist = ground_cache.get_cat(t, pt_m, end, vel);
838 for (int k=0; k<2; ++k) {
839 sgdScaleVec3( end[k], SG_METER_TO_FEET );
840 sgdScaleVec3( vel[k], SG_METER_TO_FEET );
842 return dist*SG_METER_TO_FEET;
846 FGInterface::get_agl_m(double t, const double pt[3],
847 double contact[3], double normal[3], double vel[3],
848 int *type, double *loadCapacity,
849 double *frictionFactor, double *agl)
851 return ground_cache.get_agl(t, pt, contact, normal, vel, type,
852 loadCapacity, frictionFactor, agl);
856 FGInterface::get_agl_ft(double t, const double pt[3],
857 double contact[3], double normal[3], double vel[3],
858 int *type, double *loadCapacity,
859 double *frictionFactor, double *agl)
861 // Convert units and do the real work.
863 sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER );
864 bool ret = ground_cache.get_agl(t, pt_m, contact, normal, vel,
865 type, loadCapacity, frictionFactor, agl);
866 // Convert units back ...
867 sgdScaleVec3( contact, SG_METER_TO_FEET );
868 sgdScaleVec3( vel, SG_METER_TO_FEET );
869 *agl *= SG_METER_TO_FEET;
870 // FIXME: scale the load limit to something in the english unit system.
871 // Be careful with the DBL_MAX which is returned by default.
876 FGInterface::caught_wire_m(double t, const double pt[4][3])
878 return ground_cache.caught_wire(t, pt);
882 FGInterface::caught_wire_ft(double t, const double pt[4][3])
884 // Convert units and do the real work.
886 for (int i=0; i<4; ++i)
887 sgdScaleVec3(pt_m[i], pt[i], SG_FEET_TO_METER);
889 return ground_cache.caught_wire(t, pt_m);
893 FGInterface::get_wire_ends_m(double t, double end[2][3], double vel[2][3])
895 return ground_cache.get_wire_ends(t, end, vel);
899 FGInterface::get_wire_ends_ft(double t, double end[2][3], double vel[2][3])
901 // Convert units and do the real work.
902 bool ret = ground_cache.get_wire_ends(t, end, vel);
903 for (int k=0; k<2; ++k) {
904 sgdScaleVec3( end[k], SG_METER_TO_FEET );
905 sgdScaleVec3( vel[k], SG_METER_TO_FEET );
911 FGInterface::release_wire(void)
913 ground_cache.release_wire();
916 void fgToggleFDMdataLogging(void) {
917 cur_fdm_state->ToggleDataLogging();