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  - http://www.flightgear.org/~curt
   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/scene/model/placement.hxx>
  32 #include <simgear/timing/timestamp.hxx>
  33
  34 #include <Scenery/scenery.hxx>
  35 #include <Main/globals.hxx>
  36 #include <Main/fg_props.hxx>
  37 #include <FDM/groundcache.hxx>
  38
  39 #include "flight.hxx"
  40
  41
  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
  46
  47 FGInterface *cur_fdm_state = 0;
  48 FGInterface base_fdm_state;
  49
  50 inline void init_vec(FG_VECTOR_3 vec) {
  51     vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0;
  52 }
  53
  54 // Constructor
  55 FGInterface::FGInterface()
  56   : remainder(0)
  57 {
  58     _setup();
  59 }
  60
  61 FGInterface::FGInterface( double dt )
  62   : remainder(0)
  63 {
  64     _setup();
  65 }
  66
  67 // Destructor
  68 FGInterface::~FGInterface() {
  69     // unbind();                   // FIXME: should be called explicitly
  70 }
  71
  72
  73 int
  74 FGInterface::_calc_multiloop (double dt)
  75 {
  76   int hz = fgGetInt("/sim/model-hz");
  77   int speedup = fgGetInt("/sim/speed-up");
  78
  79   dt += remainder;
  80   remainder = 0;
  81   double ml = dt * hz;
  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);
  87 }
  88
  89
  90 /**
  91  * Set default values for the state of the FDM.
  92  *
  93  * This method is invoked by the constructors.
  94  */
  95 void
  96 FGInterface::_setup ()
  97 {
  98     inited = false;
  99     bound = false;
 100
 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] );
 141
 142     mass=i_xx=i_yy=i_zz=i_xz=0;
 143     nlf=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;
 147     gravity=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;
 155     dynamic_pressure=0;
 156     static_temperature=total_temperature=0;
 157     sea_level_radius=earth_position_angle=0;
 158     runway_altitude=runway_latitude=runway_longitude=0;
 159     runway_heading=0;
 160     radius_to_rwy=0;
 161     climb_rate=0;
 162     sin_lat_geocentric=cos_lat_geocentric=0;
 163     sin_latitude=cos_latitude=0;
 164     sin_longitude=cos_longitude=0;
 165     altitude_agl=0;
 166 }
 167
 168 void
 169 FGInterface::init () {}
 170
 171 /**
 172  * Initialize the state of the FDM.
 173  *
 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.
 178  */
 179 void
 180 FGInterface::common_init ()
 181 {
 182     SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
 183
 184     set_inited( true );
 185
 186 //     stamp();
 187 //     set_remainder( 0 );
 188
 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 );
 203     } else {
 204         set_Altitude( fgGetDouble("/sim/presets/altitude-ft") );
 205     }
 206
 207     // Set ground elevation
 208     SG_LOG( SG_FLIGHT, SG_INFO,
 209             "...initializing ground elevation to " << ground_elev_ft
 210             << "ft..." );
 211
 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;
 218     double lat_geoc;
 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 );
 224
 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);
 229     } else {
 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") );
 245         } else {
 246             SG_LOG( SG_FLIGHT, SG_ALERT,
 247                     "Unrecognized value for /sim/presets/speed-set: "
 248                     << speedset);
 249             set_V_calibrated_kts( 0.0 );
 250         }
 251     }
 252
 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 );
 261
 262     SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
 263 }
 264
 265
 266 /**
 267  * Bind getters and setters to properties.
 268  *
 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()
 273  * method.
 274  */
 275 void
 276 FGInterface::bind ()
 277 {
 278   bound = true;
 279
 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
 289
 290                         // Aircraft position
 291   fgTie("/position/latitude-deg", this,
 292         &FGInterface::get_Latitude_deg,
 293         &FGInterface::set_Latitude_deg,
 294         false);
 295   fgSetArchivable("/position/latitude-deg");
 296   fgTie("/position/longitude-deg", this,
 297         &FGInterface::get_Longitude_deg,
 298         &FGInterface::set_Longitude_deg,
 299         false);
 300   fgSetArchivable("/position/longitude-deg");
 301   fgTie("/position/altitude-ft", this,
 302         &FGInterface::get_Altitude,
 303         &FGInterface::set_Altitude,
 304         false);
 305   fgSetArchivable("/position/altitude-ft");
 306   fgTie("/position/altitude-agl-ft", this,
 307         &FGInterface::get_Altitude_AGL); // read-only
 308
 309                                 // Orientation
 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");
 322
 323   // Body-axis "euler rates" (rotation speed, but in a funny
 324   // representation).
 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);
 331
 332                                 // Calibrated airspeed
 333   fgTie("/velocities/airspeed-kt", this,
 334         &FGInterface::get_V_calibrated_kts,
 335         &FGInterface::set_V_calibrated_kts,
 336         false);
 337
 338                                 // Mach number
 339   fgTie("/velocities/mach", this,
 340         &FGInterface::get_Mach_number,
 341         &FGInterface::set_Mach_number,
 342         false);
 343
 344                                 // Local velocities
 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);
 367
 368                                 // Relative wind
 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,
 374         false);
 375   fgSetArchivable("/velocities/uBody-fps");
 376   fgTie("/velocities/vBody-fps", this,
 377         &FGInterface::get_vBody,
 378         &FGInterface::set_vBody,
 379         false);
 380   fgSetArchivable("/velocities/vBody-fps");
 381   fgTie("/velocities/wBody-fps", this,
 382         &FGInterface::get_wBody,
 383         &FGInterface::set_wBody,
 384         false);
 385   fgSetArchivable("/velocities/wBody-fps");
 386
 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
 402
 403                                 // NED accelerations
 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);
 410
 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);
 418
 419 }
 420
 421
 422 /**
 423  * Unbind any properties bound to this FDM.
 424  *
 425  * This method allows the FDM to release properties so that a new
 426  * FDM can bind them instead.
 427  */
 428 void
 429 FGInterface::unbind ()
 430 {
 431   bound = false;
 432
 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");
 467 }
 468
 469 /**
 470  * Update the state of the FDM (i.e. run the equations of motion).
 471  */
 472 void
 473 FGInterface::update (double dt)
 474 {
 475     SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
 476 }
 477
 478
 479 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
 480 {
 481     double lat_geoc, sl_radius;
 482
 483     // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
 484
 485     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc );
 486
 487     SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
 488             << " lat_geod = " << lat
 489             << " lat_geoc = " << lat_geoc
 490             << " alt = " << alt
 491             << " sl_radius = " << sl_radius * SG_METER_TO_FEET
 492             << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
 493
 494     _set_Geocentric_Position( lat_geoc, lon,
 495                               sl_radius * SG_METER_TO_FEET + alt );
 496
 497     _set_Geodetic_Position( lat, lon, alt );
 498
 499     _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
 500     _set_Runway_altitude( fgGetDouble("/position/ground-elev-m") * SG_METER_TO_FEET );
 501
 502     _set_sin_lat_geocentric( lat_geoc );
 503     _set_cos_lat_geocentric( lat_geoc );
 504
 505     _set_sin_cos_longitude( lon );
 506
 507     _set_sin_cos_latitude( lat );
 508
 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;
 512
 513        double sy = sin ( -get_Psi() ) ;
 514        double cy = cos ( -get_Psi() ) ;
 515
 516        double phitb, thetatb, psitb;
 517        if ( tnorm[1] != 0.0 ) {
 518            psitb = -atan2 ( tnorm[0], tnorm[1] );
 519        }
 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] );
 523        }
 524
 525        _set_terrain_slope(phitb, thetatb, psitb)
 526      */
 527 }
 528
 529
 530 void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon,
 531                                              double alt )
 532 {
 533     double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
 534
 535     // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
 536
 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 );
 540
 541     SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
 542             << " lat_geod = " << lat_geod
 543             << " lat_geoc = " << lat_geoc
 544             << " alt = " << alt
 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 );
 549
 550     _set_Geocentric_Position( lat_geoc, lon,
 551                               sl_radius2 * SG_METER_TO_FEET + alt );
 552
 553     _set_Geodetic_Position( lat_geod, lon, alt );
 554
 555     _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
 556     _set_Runway_altitude(  fgGetDouble("/position/ground-elev-m") * SG_METER_TO_FEET );
 557
 558     _set_sin_lat_geocentric( lat_geoc );
 559     _set_cos_lat_geocentric( lat_geoc );
 560
 561     _set_sin_cos_longitude( lon );
 562
 563     _set_sin_cos_latitude( lat_geod );
 564
 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;
 568
 569        double sy = sin ( -get_Psi() ) ;
 570        double cy = cos ( -get_Psi() ) ;
 571
 572        double phitb, thetatb, psitb;
 573        if ( tnorm[1] != 0.0 ) {
 574            psitb = -atan2 ( tnorm[0], tnorm[1] );
 575        }
 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] );
 579        }
 580
 581        _set_terrain_slope(phitb, thetatb, psitb)
 582      */
 583 }
 584
 585
 586 // Extrapolate fdm based on time_offset (in usec)
 587 void FGInterface::extrapolate( int time_offset ) {
 588     double dt = time_offset / 1000000.0;
 589
 590     // -dw- metrowerks complains about ambiguous access, not critical
 591     // to keep this ;)
 592 #ifndef __MWERKS__
 593     SG_LOG(SG_FLIGHT, SG_INFO, "extrapolating FDM by dt = " << dt);
 594 #endif
 595
 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;
 598
 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;
 601
 602     double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
 603     double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
 604
 605     geodetic_position_v[0] = lat;
 606     geocentric_position_v[0] = lat_geoc;
 607
 608     geodetic_position_v[1] = lon;
 609     geocentric_position_v[1] = lon_geoc;
 610
 611     geodetic_position_v[2] = alt;
 612     geocentric_position_v[2] = radius;
 613 }
 614
 615 // Positions
 616 void FGInterface::set_Latitude(double lat) {
 617     geodetic_position_v[0] = lat;
 618 }
 619
 620 void FGInterface::set_Longitude(double lon) {
 621     geodetic_position_v[1] = lon;
 622 }
 623
 624 void FGInterface::set_Altitude(double alt) {
 625     geodetic_position_v[2] = alt;
 626 }
 627
 628 void FGInterface::set_AltitudeAGL(double altagl) {
 629     altitude_agl=altagl;
 630 }
 631
 632 // Velocities
 633 void FGInterface::set_V_calibrated_kts(double vc) {
 634     v_calibrated_kts = vc;
 635 }
 636
 637 void FGInterface::set_Mach_number(double mach) {
 638     mach_number = mach;
 639 }
 640
 641 void FGInterface::set_Velocities_Local( double north,
 642                                         double east,
 643                                         double down ){
 644     v_local_v[0] = north;
 645     v_local_v[1] = east;
 646     v_local_v[2] = down;
 647 }
 648
 649 void FGInterface::set_Velocities_Wind_Body( double u,
 650                                             double v,
 651                                             double w){
 652     v_wind_body_v[0] = u;
 653     v_wind_body_v[1] = v;
 654     v_wind_body_v[2] = w;
 655 }
 656
 657 // Euler angles
 658 void FGInterface::set_Euler_Angles( double phi,
 659                                     double theta,
 660                                     double psi ) {
 661     euler_angles_v[0] = phi;
 662     euler_angles_v[1] = theta;
 663     euler_angles_v[2] = psi;
 664 }
 665
 666 // Flight Path
 667 void FGInterface::set_Climb_Rate( double roc) {
 668     climb_rate = roc;
 669 }
 670
 671 void FGInterface::set_Gamma_vert_rad( double gamma) {
 672     gamma_vert_rad = gamma;
 673 }
 674
 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; }
 678
 679 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
 680                                                 double weast,
 681                                                 double wdown ) {
 682     v_local_airmass_v[0] = wnorth;
 683     v_local_airmass_v[1] = weast;
 684     v_local_airmass_v[2] = wdown;
 685 }
 686
 687
 688 void FGInterface::_busdump(void) {
 689
 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]);
 727
 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]);
 731
 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 );
 790 }
 791
 792 bool
 793 FGInterface::prepare_ground_cache_m(double ref_time, const double pt[3],
 794                                     double rad)
 795 {
 796   return ground_cache.prepare_ground_cache(ref_time, pt, rad);
 797 }
 798
 799 bool FGInterface::prepare_ground_cache_ft(double ref_time, const double pt[3],
 800                                           double rad)
 801 {
 802   // Convert units and do the real work.
 803   sgdVec3 pt_ft;
 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);
 806 }
 807
 808 bool
 809 FGInterface::is_valid_m(double *ref_time, double pt[3], double *rad)
 810 {
 811   return ground_cache.is_valid(ref_time, pt, rad);
 812 }
 813
 814 bool FGInterface::is_valid_ft(double *ref_time, double pt[3], double *rad)
 815 {
 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;
 820   return found_ground;
 821 }
 822
 823 double
 824 FGInterface::get_cat_m(double t, const double pt[3],
 825                        double end[2][3], double vel[2][3])
 826 {
 827   return ground_cache.get_cat(t, pt, end, vel);
 828 }
 829
 830 double
 831 FGInterface::get_cat_ft(double t, const double pt[3],
 832                         double end[2][3], double vel[2][3])
 833 {
 834   // Convert units and do the real work.
 835   sgdVec3 pt_m;
 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 );
 841   }
 842   return dist*SG_METER_TO_FEET;
 843 }
 844
 845 bool
 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)
 850 {
 851   return ground_cache.get_agl(t, pt, contact, normal, vel, type,
 852                               loadCapacity, frictionFactor, agl);
 853 }
 854
 855 bool
 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)
 860 {
 861   // Convert units and do the real work.
 862   sgdVec3 pt_m;
 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.
 872   return ret;
 873 }
 874
 875 bool
 876 FGInterface::caught_wire_m(double t, const double pt[4][3])
 877 {
 878   return ground_cache.caught_wire(t, pt);
 879 }
 880
 881 bool
 882 FGInterface::caught_wire_ft(double t, const double pt[4][3])
 883 {
 884   // Convert units and do the real work.
 885   double pt_m[4][3];
 886   for (int i=0; i<4; ++i)
 887     sgdScaleVec3(pt_m[i], pt[i], SG_FEET_TO_METER);
 888
 889   return ground_cache.caught_wire(t, pt_m);
 890 }
 891
 892 bool
 893 FGInterface::get_wire_ends_m(double t, double end[2][3], double vel[2][3])
 894 {
 895   return ground_cache.get_wire_ends(t, end, vel);
 896 }
 897
 898 bool
 899 FGInterface::get_wire_ends_ft(double t, double end[2][3], double vel[2][3])
 900 {
 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 );
 906   }
 907   return ret;
 908 }
 909
 910 void
 911 FGInterface::release_wire(void)
 912 {
 913   ground_cache.release_wire();
 914 }
 915
 916 void fgToggleFDMdataLogging(void) {
 917   cur_fdm_state->ToggleDataLogging();
 918 }