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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
  20 //
  21 // $Id$
  22
  23 #ifdef HAVE_CONFIG_H
  24 #  include "config.h"
  25 #endif
  26
  27 #include "flight.hxx"
  28
  29 #include <simgear/constants.h>
  30 #include <simgear/debug/logstream.hxx>
  31 #include <simgear/timing/timestamp.hxx>
  32 #include <simgear/scene/material/mat.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
  40 static inline void assign(double* ptr, const SGVec3d& vec)
  41 {
  42   ptr[0] = vec[0];
  43   ptr[1] = vec[1];
  44   ptr[2] = vec[2];
  45 }
  46
  47 // Constructor
  48 FGInterface::FGInterface()
  49 {
  50     _setup();
  51 }
  52
  53 FGInterface::FGInterface( double dt )
  54 {
  55     _setup();
  56 }
  57
  58 // Destructor
  59 FGInterface::~FGInterface() {
  60     // unbind();                   // FIXME: should be called explicitly
  61 }
  62
  63 int
  64 FGInterface::_calc_multiloop (double dt)
  65 {
  66   // Since some time the simulation time increments we get here are
  67   // already a multiple of the basic update frequency.
  68   // So, there is no need to do our own multiloop rounding with all bad
  69   // roundoff problems when we already have nearly accurate values.
  70   // Only the speedup thing must be still handled here
  71   int hz = fgGetInt("/sim/model-hz");
  72   int multiloop = SGMiscd::roundToInt(dt*hz);
  73   int speedup = fgGetInt("/sim/speed-up");
  74   return multiloop * speedup;
  75 }
  76
  77
  78 /**
  79  * Set default values for the state of the FDM.
  80  *
  81  * This method is invoked by the constructors.
  82  */
  83 void
  84 FGInterface::_setup ()
  85 {
  86     inited = false;
  87     bound = false;
  88
  89     d_cg_rp_body_v = SGVec3d::zeros();
  90     v_dot_local_v = SGVec3d::zeros();
  91     v_dot_body_v = SGVec3d::zeros();
  92     a_cg_body_v = SGVec3d::zeros();
  93     a_pilot_body_v = SGVec3d::zeros();
  94     n_cg_body_v = SGVec3d::zeros();
  95     v_local_v = SGVec3d::zeros();
  96     v_local_rel_ground_v = SGVec3d::zeros();
  97     v_local_airmass_v = SGVec3d::zeros();
  98     v_wind_body_v = SGVec3d::zeros();
  99     omega_body_v = SGVec3d::zeros();
 100     euler_rates_v = SGVec3d::zeros();
 101     geocentric_rates_v = SGVec3d::zeros();
 102     geodetic_position_v = SGGeod::fromRadM(0, 0, 0);
 103     cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v);
 104     geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
 105     euler_angles_v = SGVec3d::zeros();
 106
 107     nlf=0;
 108     v_rel_wind=v_true_kts=0;
 109     v_ground_speed=v_equiv_kts=0;
 110     v_calibrated_kts=0;
 111     alpha=beta=0;
 112     gamma_vert_rad=0;
 113     density=mach_number=0;
 114     static_pressure=total_pressure=0;
 115     dynamic_pressure=0;
 116     static_temperature=total_temperature=0;
 117     sea_level_radius=earth_position_angle=0;
 118     runway_altitude=0;
 119     climb_rate=0;
 120     altitude_agl=0;
 121     track=0;
 122 }
 123
 124 void
 125 FGInterface::init () {}
 126
 127 /**
 128  * Initialize the state of the FDM.
 129  *
 130  * Subclasses of FGInterface may do their own, additional initialization,
 131  * but there is some that is common to all.  Normally, they should call
 132  * this before they begin their own init to make sure the basic structures
 133  * are set up properly.
 134  */
 135 void
 136 FGInterface::common_init ()
 137 {
 138     SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
 139
 140     set_inited( true );
 141
 142     ground_cache.set_cache_time_offset(globals->get_sim_time_sec());
 143
 144     // Set initial position
 145     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
 146     double lon = fgGetDouble("/sim/presets/longitude-deg")
 147       * SGD_DEGREES_TO_RADIANS;
 148     double lat = fgGetDouble("/sim/presets/latitude-deg")
 149       * SGD_DEGREES_TO_RADIANS;
 150     double alt_ft = fgGetDouble("/sim/presets/altitude-ft");
 151     double alt_m = alt_ft * SG_FEET_TO_METER;
 152     set_Longitude( lon );
 153     set_Latitude( lat );
 154     SG_LOG( SG_FLIGHT, SG_INFO, "Checking for lon = "
 155             << lon*SGD_RADIANS_TO_DEGREES << "deg, lat = "
 156             << lat*SGD_RADIANS_TO_DEGREES << "deg, alt = "
 157             << alt_ft << "ft");
 158
 159     double ground_elev_m = get_groundlevel_m(lat, lon, alt_m);
 160     double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
 161     _set_Runway_altitude ( ground_elev_ft );
 162
 163     // Set aircraft altitude
 164     if ( fgGetBool("/sim/presets/onground") || alt_ft < ground_elev_ft ) {
 165         fgSetDouble("/position/altitude-ft", ground_elev_ft + 0.1);
 166         set_Altitude( ground_elev_ft + 0.1);
 167     } else {
 168         set_Altitude( alt_ft );
 169     }
 170
 171     // Set ground elevation
 172     SG_LOG( SG_FLIGHT, SG_INFO,
 173             "...initializing ground elevation to " << ground_elev_ft
 174             << "ft..." );
 175
 176     // Set sea-level radius
 177     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
 178     SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
 179             << fgGetDouble("/sim/presets/latitude-deg")
 180             << " alt = " << get_Altitude() );
 181     double slr = SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v);
 182     _set_Sea_level_radius( slr * SG_METER_TO_FEET );
 183
 184     // Set initial Euler angles
 185     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
 186     set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
 187                         * SGD_DEGREES_TO_RADIANS,
 188                       fgGetDouble("/sim/presets/pitch-deg")
 189                         * SGD_DEGREES_TO_RADIANS,
 190                       fgGetDouble("/sim/presets/heading-deg")
 191                         * SGD_DEGREES_TO_RADIANS );
 192
 193     // Set initial velocities
 194     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
 195     if ( !fgHasNode("/sim/presets/speed-set") ) {
 196         set_V_calibrated_kts(0.0);
 197     } else {
 198         const string speedset = fgGetString("/sim/presets/speed-set");
 199         if ( speedset == "knots" || speedset == "KNOTS" ) {
 200             set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") );
 201         } else if ( speedset == "mach" || speedset == "MACH" ) {
 202             set_Mach_number( fgGetDouble("/sim/presets/mach") );
 203         } else if ( speedset == "UVW" || speedset == "uvw" ) {
 204             set_Velocities_Wind_Body(
 205                                      fgGetDouble("/sim/presets/uBody-fps"),
 206                                      fgGetDouble("/sim/presets/vBody-fps"),
 207                                      fgGetDouble("/sim/presets/wBody-fps") );
 208         } else if ( speedset == "NED" || speedset == "ned" ) {
 209             set_Velocities_Local(
 210                                  fgGetDouble("/sim/presets/speed-north-fps"),
 211                                  fgGetDouble("/sim/presets/speed-east-fps"),
 212                                  fgGetDouble("/sim/presets/speed-down-fps") );
 213         } else {
 214             SG_LOG( SG_FLIGHT, SG_ALERT,
 215                     "Unrecognized value for /sim/presets/speed-set: "
 216                     << speedset);
 217             set_V_calibrated_kts( 0.0 );
 218         }
 219     }
 220
 221     if ( fgHasNode("/sim/presets/glideslope-deg") )
 222         set_Gamma_vert_rad( fgGetDouble("/sim/presets/glideslope-deg")
 223                               * SGD_DEGREES_TO_RADIANS );
 224     else if ( fgHasNode("/sim/presets/speed-set") &&
 225               fgHasNode( "/sim/presets/vertical-speed-fps") )
 226     {
 227         set_Climb_Rate( fgGetDouble("/sim/presets/vertical-speed-fps") );
 228     }
 229
 230     SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
 231 }
 232
 233
 234 /**
 235  * Bind getters and setters to properties.
 236  *
 237  * The bind() method will be invoked after init().  Note that unlike
 238  * the usual implementations of FGSubsystem::bind(), this method does
 239  * not automatically pick up existing values for the properties at
 240  * bind time; instead, all values are set explicitly in the init()
 241  * method.
 242  */
 243 void
 244 FGInterface::bind ()
 245 {
 246   bound = true;
 247
 248   _tiedProperties.setRoot(globals->get_props());
 249   // Aircraft position
 250   _tiedProperties.Tie("/position/latitude-deg", this,
 251                       &FGInterface::get_Latitude_deg,
 252                       &FGInterface::set_Latitude_deg,
 253                       false);
 254   fgSetArchivable("/position/latitude-deg");
 255   _tiedProperties.Tie("/position/longitude-deg", this,
 256                       &FGInterface::get_Longitude_deg,
 257                       &FGInterface::set_Longitude_deg,
 258                       false);
 259   fgSetArchivable("/position/longitude-deg");
 260   _tiedProperties.Tie("/position/altitude-ft", this,
 261                       &FGInterface::get_Altitude,
 262                       &FGInterface::set_Altitude,
 263                       false);
 264   fgSetArchivable("/position/altitude-ft");
 265   _tiedProperties.Tie("/position/altitude-agl-ft", this,
 266                       &FGInterface::get_Altitude_AGL, &FGInterface::set_AltitudeAGL, false);
 267   fgSetArchivable("/position/ground-elev-ft");
 268   _tiedProperties.Tie("/position/ground-elev-ft", this,
 269                       &FGInterface::get_Runway_altitude); // read-only
 270   fgSetArchivable("/position/ground-elev-m");
 271   _tiedProperties.Tie("/position/ground-elev-m", this,
 272                       &FGInterface::get_Runway_altitude_m); // read-only
 273   _tiedProperties.Tie("/environment/ground-elevation-m", this,
 274                       &FGInterface::get_Runway_altitude_m); // read-only
 275   fgSetArchivable("/position/sea-level-radius-ft");
 276   _tiedProperties.Tie("/position/sea-level-radius-ft", this,
 277                       &FGInterface::get_Sea_level_radius,
 278                       &FGInterface::_set_Sea_level_radius, false);
 279
 280   // Orientation
 281   _tiedProperties.Tie("/orientation/roll-deg", this,
 282                       &FGInterface::get_Phi_deg,
 283                       &FGInterface::set_Phi_deg, false);
 284   fgSetArchivable("/orientation/roll-deg");
 285   _tiedProperties.Tie("/orientation/pitch-deg", this,
 286                       &FGInterface::get_Theta_deg,
 287                       &FGInterface::set_Theta_deg, false);
 288   fgSetArchivable("/orientation/pitch-deg");
 289   _tiedProperties.Tie("/orientation/heading-deg", this,
 290                       &FGInterface::get_Psi_deg,
 291                       &FGInterface::set_Psi_deg, false);
 292   fgSetArchivable("/orientation/heading-deg");
 293   _tiedProperties.Tie("/orientation/track-deg", this,
 294                       &FGInterface::get_Track); // read-only
 295
 296   // Body-axis "euler rates" (rotation speed, but in a funny
 297   // representation).
 298   _tiedProperties.Tie("/orientation/roll-rate-degps", this,
 299                       &FGInterface::get_Phi_dot_degps,
 300                       &FGInterface::set_Phi_dot_degps, false);
 301   _tiedProperties.Tie("/orientation/pitch-rate-degps", this,
 302                       &FGInterface::get_Theta_dot_degps,
 303                       &FGInterface::set_Theta_dot_degps, false);
 304   _tiedProperties.Tie("/orientation/yaw-rate-degps", this,
 305                       &FGInterface::get_Psi_dot_degps,
 306                       &FGInterface::set_Psi_dot_degps, false);
 307
 308   _tiedProperties.Tie("/orientation/p-body", this, &FGInterface::get_P_body); // read-only
 309   _tiedProperties.Tie("/orientation/q-body", this, &FGInterface::get_Q_body); // read-only
 310   _tiedProperties.Tie("/orientation/r-body", this, &FGInterface::get_R_body); // read-only
 311
 312   // Ground speed knots
 313   _tiedProperties.Tie("/velocities/groundspeed-kt", this,
 314                       &FGInterface::get_V_ground_speed_kt,
 315                       &FGInterface::set_V_ground_speed_kt); // read-only
 316
 317   // Calibrated airspeed
 318   _tiedProperties.Tie("/velocities/airspeed-kt", this,
 319                       &FGInterface::get_V_calibrated_kts,
 320                       &FGInterface::set_V_calibrated_kts,
 321                       false);
 322
 323   _tiedProperties.Tie("/velocities/equivalent-kt", this,
 324                       &FGInterface::get_V_equiv_kts); // read-only
 325
 326   // Mach number
 327   _tiedProperties.Tie("/velocities/mach", this,
 328                       &FGInterface::get_Mach_number,
 329                       &FGInterface::set_Mach_number,
 330                       false);
 331
 332   // Local velocities
 333 //   _tiedProperties.Tie("/velocities/speed-north-fps", this,
 334 //                       &FGInterface::get_V_north,
 335 //                       &FGInterface::set_V_north);
 336 //   fgSetArchivable("/velocities/speed-north-fps");
 337 //   _tiedProperties.Tie("/velocities/speed-east-fps", this,
 338 //                       &FGInterface::get_V_east,
 339 //                       &FGInterface::set_V_east);
 340 //   fgSetArchivable("/velocities/speed-east-fps");
 341 //   _tiedProperties.Tie("/velocities/speed-down-fps", this,
 342 //                       &FGInterface::get_V_down,
 343 //                       &FGInterface::set_V_down);
 344 //   fgSetArchivable("/velocities/speed-down-fps");
 345
 346   // FIXME: Temporarily read-only, until the
 347   // incompatibilities between JSBSim and
 348   // LaRCSim are fixed (LaRCSim adds the
 349   // earth's rotation to the east velocity).
 350   _tiedProperties.Tie("/velocities/speed-north-fps", this,
 351                       &FGInterface::get_V_north, &FGInterface::set_V_north, false);
 352   _tiedProperties.Tie("/velocities/speed-east-fps", this,
 353                       &FGInterface::get_V_east, &FGInterface::set_V_east, false);
 354   _tiedProperties.Tie("/velocities/speed-down-fps", this,
 355                       &FGInterface::get_V_down, &FGInterface::set_V_down, false);
 356
 357   _tiedProperties.Tie("/velocities/north-relground-fps", this,
 358                       &FGInterface::get_V_north_rel_ground); // read-only
 359   _tiedProperties.Tie("/velocities/east-relground-fps", this,
 360                       &FGInterface::get_V_east_rel_ground); // read-only
 361   _tiedProperties.Tie("/velocities/down-relground-fps", this,
 362                       &FGInterface::get_V_down_rel_ground); // read-only
 363
 364   // Relative wind
 365   // FIXME: temporarily archivable, until the NED problem is fixed.
 366   _tiedProperties.Tie("/velocities/uBody-fps", this,
 367                       &FGInterface::get_uBody,
 368                       &FGInterface::set_uBody,
 369                       false);
 370   fgSetArchivable("/velocities/uBody-fps");
 371   _tiedProperties.Tie("/velocities/vBody-fps", this,
 372                       &FGInterface::get_vBody,
 373                       &FGInterface::set_vBody,
 374                       false);
 375   fgSetArchivable("/velocities/vBody-fps");
 376   _tiedProperties.Tie("/velocities/wBody-fps", this,
 377                       &FGInterface::get_wBody,
 378                       &FGInterface::set_wBody,
 379                       false);
 380   fgSetArchivable("/velocities/wBody-fps");
 381
 382   // Climb and slip (read-only)
 383   _tiedProperties.Tie("/velocities/vertical-speed-fps", this,
 384                       &FGInterface::get_Climb_Rate,
 385                       &FGInterface::set_Climb_Rate, false );
 386   _tiedProperties.Tie("/velocities/glideslope", this,
 387                       &FGInterface::get_Gamma_vert_rad,
 388                       &FGInterface::set_Gamma_vert_rad, false );
 389   _tiedProperties.Tie("/orientation/side-slip-rad", this,
 390                       &FGInterface::get_Beta, &FGInterface::_set_Beta, false);
 391   _tiedProperties.Tie("/orientation/side-slip-deg", this,
 392                       &FGInterface::get_Beta_deg); // read-only
 393   _tiedProperties.Tie("/orientation/alpha-deg", this,
 394                       &FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg, false);
 395   _tiedProperties.Tie("/accelerations/nlf", this,
 396                       &FGInterface::get_Nlf); // read-only
 397
 398   // NED accelerations
 399   _tiedProperties.Tie("/accelerations/ned/north-accel-fps_sec",
 400                       this, &FGInterface::get_V_dot_north); // read-only
 401   _tiedProperties.Tie("/accelerations/ned/east-accel-fps_sec",
 402                       this, &FGInterface::get_V_dot_east); // read-only
 403   _tiedProperties.Tie("/accelerations/ned/down-accel-fps_sec",
 404                       this, &FGInterface::get_V_dot_down); // read-only
 405
 406   // Pilot accelerations
 407   _tiedProperties.Tie("/accelerations/pilot/x-accel-fps_sec",
 408                       this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot, false);
 409   _tiedProperties.Tie("/accelerations/pilot/y-accel-fps_sec",
 410                       this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot, false);
 411   _tiedProperties.Tie("/accelerations/pilot/z-accel-fps_sec",
 412                       this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot, false);
 413
 414   _tiedProperties.Tie("/accelerations/n-z-cg-fps_sec",
 415                       this, &FGInterface::get_N_Z_cg); // read-only
 416 }
 417
 418
 419 /**
 420  * Unbind any properties bound to this FDM.
 421  *
 422  * This method allows the FDM to release properties so that a new
 423  * FDM can bind them instead.
 424  */
 425 void
 426 FGInterface::unbind ()
 427 {
 428   _tiedProperties.Untie();
 429   bound = false;
 430 }
 431
 432 /**
 433  * Update the state of the FDM (i.e. run the equations of motion).
 434  */
 435 void
 436 FGInterface::update (double dt)
 437 {
 438     SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
 439 }
 440
 441
 442 void FGInterface::_updatePositionM(const SGVec3d& cartPos)
 443 {
 444     TrackComputer tracker( track, geodetic_position_v );
 445     cartesian_position_v = cartPos;
 446     geodetic_position_v = SGGeod::fromCart(cartesian_position_v);
 447     geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
 448     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
 449     _update_ground_elev_at_pos();
 450 }
 451
 452
 453 void FGInterface::_updatePosition(const SGGeod& geod)
 454 {
 455     TrackComputer tracker( track, geodetic_position_v );
 456     geodetic_position_v = geod;
 457     cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v);
 458     geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
 459
 460     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
 461     _update_ground_elev_at_pos();
 462 }
 463
 464
 465 void FGInterface::_updatePosition(const SGGeoc& geoc)
 466 {
 467     TrackComputer tracker( track, geodetic_position_v );
 468     geocentric_position_v = geoc;
 469     cartesian_position_v = SGVec3d::fromGeoc(geocentric_position_v);
 470     geodetic_position_v = SGGeod::fromCart(cartesian_position_v);
 471
 472     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
 473     _update_ground_elev_at_pos();
 474 }
 475
 476
 477 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
 478 {
 479     _updatePosition(SGGeod::fromRadFt(lon, lat, alt));
 480 }
 481
 482
 483 void FGInterface::_updateGeocentricPosition( double lat, double lon,
 484                                              double alt )
 485 {
 486     _updatePosition(SGGeoc::fromRadFt(lon, lat, get_Sea_level_radius() + alt));
 487 }
 488
 489 void FGInterface::_update_ground_elev_at_pos( void ) {
 490     double groundlevel_m = get_groundlevel_m(geodetic_position_v);
 491     _set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET );
 492 }
 493
 494 // Positions
 495 void FGInterface::set_Latitude(double lat) {
 496     geodetic_position_v.setLatitudeRad(lat);
 497 }
 498
 499 void FGInterface::set_Longitude(double lon) {
 500     geodetic_position_v.setLongitudeRad(lon);
 501 }
 502
 503 void FGInterface::set_Altitude(double alt) {
 504     geodetic_position_v.setElevationFt(alt);
 505 }
 506
 507 void FGInterface::set_AltitudeAGL(double altagl) {
 508     altitude_agl=altagl;
 509 }
 510
 511 // Velocities
 512 void FGInterface::set_V_calibrated_kts(double vc) {
 513     v_calibrated_kts = vc;
 514 }
 515
 516 void FGInterface::set_Mach_number(double mach) {
 517     mach_number = mach;
 518 }
 519
 520 void FGInterface::set_Velocities_Local( double north,
 521                                         double east,
 522                                         double down ){
 523     v_local_v[0] = north;
 524     v_local_v[1] = east;
 525     v_local_v[2] = down;
 526 }
 527
 528 void FGInterface::set_Velocities_Wind_Body( double u,
 529                                             double v,
 530                                             double w){
 531     v_wind_body_v[0] = u;
 532     v_wind_body_v[1] = v;
 533     v_wind_body_v[2] = w;
 534 }
 535
 536 // Euler angles
 537 void FGInterface::set_Euler_Angles( double phi,
 538                                     double theta,
 539                                     double psi ) {
 540     euler_angles_v[0] = phi;
 541     euler_angles_v[1] = theta;
 542     euler_angles_v[2] = psi;
 543 }
 544
 545 // Flight Path
 546 void FGInterface::set_Climb_Rate( double roc) {
 547     climb_rate = roc;
 548 }
 549
 550 void FGInterface::set_Gamma_vert_rad( double gamma) {
 551     gamma_vert_rad = gamma;
 552 }
 553
 554 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
 555 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
 556 void FGInterface::set_Density(double rho) { density = rho; }
 557
 558 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
 559                                                 double weast,
 560                                                 double wdown ) {
 561     v_local_airmass_v[0] = wnorth;
 562     v_local_airmass_v[1] = weast;
 563     v_local_airmass_v[2] = wdown;
 564 }
 565
 566
 567 void FGInterface::_busdump(void)
 568 {
 569     SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v: " << d_cg_rp_body_v);
 570     SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v: " << v_dot_local_v);
 571     SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v: " << v_dot_body_v);
 572     SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v: " << a_cg_body_v);
 573     SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v: " << a_pilot_body_v);
 574     SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v: " << n_cg_body_v);
 575     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v: " << v_local_v);
 576     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v: " << v_local_rel_ground_v);
 577     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v: " << v_local_airmass_v);
 578     SG_LOG(SG_FLIGHT,SG_INFO,"v_wind_body_v: " << v_wind_body_v);
 579     SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v: " << omega_body_v);
 580     SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v: " << euler_rates_v);
 581     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v: " << geocentric_rates_v);
 582     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v: " << geocentric_position_v);
 583     SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v: " << geodetic_position_v);
 584     SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v: " << euler_angles_v);
 585
 586     SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
 587     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
 588     SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
 589     SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
 590     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
 591     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
 592     SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
 593     SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
 594     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
 595     SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
 596     SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
 597     SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
 598     SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
 599     SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
 600     SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
 601     SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
 602     SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
 603     SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
 604     SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
 605     SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
 606     SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
 607 }
 608
 609 bool
 610 FGInterface::prepare_ground_cache_m(double startSimTime, double endSimTime,
 611                                     const double pt[3], double rad)
 612 {
 613   return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
 614                                            SGVec3d(pt), rad);
 615 }
 616
 617 bool
 618 FGInterface::prepare_ground_cache_ft(double startSimTime, double endSimTime,
 619                                      const double pt[3], double rad)
 620 {
 621   // Convert units and do the real work.
 622   SGVec3d pt_ft = SG_FEET_TO_METER*SGVec3d(pt);
 623   return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
 624                                            pt_ft, rad*SG_FEET_TO_METER);
 625 }
 626
 627 bool
 628 FGInterface::is_valid_m(double *ref_time, double pt[3], double *rad)
 629 {
 630   SGVec3d _pt;
 631   bool valid = ground_cache.is_valid(*ref_time, _pt, *rad);
 632   assign(pt, _pt);
 633   return valid;
 634 }
 635
 636 bool FGInterface::is_valid_ft(double *ref_time, double pt[3], double *rad)
 637 {
 638   // Convert units and do the real work.
 639   SGVec3d _pt;
 640   bool found_ground = ground_cache.is_valid(*ref_time, _pt, *rad);
 641   assign(pt, SG_METER_TO_FEET*_pt);
 642   *rad *= SG_METER_TO_FEET;
 643   return found_ground;
 644 }
 645
 646 double
 647 FGInterface::get_cat_m(double t, const double pt[3],
 648                        double end[2][3], double vel[2][3])
 649 {
 650   SGVec3d _end[2], _vel[2];
 651   double dist = ground_cache.get_cat(t, SGVec3d(pt), _end, _vel);
 652   for (int k=0; k<2; ++k) {
 653     assign( end[k], _end[k] );
 654     assign( vel[k], _vel[k] );
 655   }
 656   return dist;
 657 }
 658
 659 double
 660 FGInterface::get_cat_ft(double t, const double pt[3],
 661                         double end[2][3], double vel[2][3])
 662 {
 663   // Convert units and do the real work.
 664   SGVec3d pt_m = SG_FEET_TO_METER*SGVec3d(pt);
 665   SGVec3d _end[2], _vel[2];
 666   double dist = ground_cache.get_cat(t, pt_m, _end, _vel);
 667   for (int k=0; k<2; ++k) {
 668     assign( end[k], SG_METER_TO_FEET*_end[k] );
 669     assign( vel[k], SG_METER_TO_FEET*_vel[k] );
 670   }
 671   return dist*SG_METER_TO_FEET;
 672 }
 673
 674 bool
 675 FGInterface::get_body_m(double t, simgear::BVHNode::Id id,
 676                         double bodyToWorld[16], double linearVel[3],
 677                         double angularVel[3])
 678 {
 679   SGMatrixd _bodyToWorld;
 680   SGVec3d _linearVel, _angularVel;
 681   if (!ground_cache.get_body(t, _bodyToWorld, _linearVel, _angularVel, id))
 682     return false;
 683
 684   assign(linearVel, _linearVel);
 685   assign(angularVel, _angularVel);
 686   for (unsigned i = 0; i < 16; ++i)
 687       bodyToWorld[i] = _bodyToWorld.data()[i];
 688
 689   return true;
 690 }
 691
 692 bool
 693 FGInterface::get_agl_m(double t, const double pt[3], double max_altoff,
 694                        double contact[3], double normal[3],
 695                        double linearVel[3], double angularVel[3],
 696                        SGMaterial const*& material, simgear::BVHNode::Id& id)
 697 {
 698   SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
 699   SGVec3d _contact, _normal, _linearVel, _angularVel;
 700   const simgear::BVHMaterial* m = 0;
 701   bool ret = ground_cache.get_agl(t, pt_m, _contact, _normal, _linearVel,
 702                                   _angularVel, id, m);
 703   // correct the linear velocity, since the line intersector delivers
 704   // values for the start point and the get_agl function should
 705   // traditionally deliver for the contact point
 706   _linearVel += cross(_angularVel, _contact - pt_m);
 707
 708   assign(contact, _contact);
 709   assign(normal, _normal);
 710   assign(linearVel, _linearVel);
 711   assign(angularVel, _angularVel);
 712   material = dynamic_cast<const SGMaterial*>(m);
 713   return ret;
 714 }
 715
 716 bool
 717 FGInterface::get_agl_ft(double t, const double pt[3], double max_altoff,
 718                         double contact[3], double normal[3],
 719                         double linearVel[3], double angularVel[3],
 720                         SGMaterial const*& material, simgear::BVHNode::Id& id)
 721 {
 722   // Convert units and do the real work.
 723   SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
 724   pt_m *= SG_FEET_TO_METER;
 725   SGVec3d _contact, _normal, _linearVel, _angularVel;
 726   const simgear::BVHMaterial* m = 0;
 727   bool ret = ground_cache.get_agl(t, pt_m, _contact, _normal, _linearVel,
 728                                   _angularVel, id, m);
 729   // correct the linear velocity, since the line intersector delivers
 730   // values for the start point and the get_agl function should
 731   // traditionally deliver for the contact point
 732   _linearVel += cross(_angularVel, _contact - pt_m);
 733
 734   // Convert units back ...
 735   assign( contact, SG_METER_TO_FEET*_contact );
 736   assign( normal, _normal );
 737   assign( linearVel, SG_METER_TO_FEET*_linearVel );
 738   assign( angularVel, _angularVel );
 739   material = dynamic_cast<const SGMaterial*>(m);
 740   return ret;
 741 }
 742
 743 bool
 744 FGInterface::get_nearest_m(double t, const double pt[3], double maxDist,
 745                            double contact[3], double normal[3],
 746                            double linearVel[3], double angularVel[3],
 747                            SGMaterial const*& material,
 748                            simgear::BVHNode::Id& id)
 749 {
 750   SGVec3d _contact, _linearVel, _angularVel;
 751   const simgear::BVHMaterial* m = 0;
 752   if (!ground_cache.get_nearest(t, SGVec3d(pt), maxDist, _contact, _linearVel,
 753                                 _angularVel, id, m))
 754       return false;
 755
 756   assign(contact, _contact);
 757   assign(linearVel, _linearVel);
 758   assign(angularVel, _angularVel);
 759   material = dynamic_cast<const SGMaterial*>(m);
 760   return true;
 761 }
 762
 763 bool
 764 FGInterface::get_nearest_ft(double t, const double pt[3], double maxDist,
 765                             double contact[3], double normal[3],
 766                             double linearVel[3], double angularVel[3],
 767                             SGMaterial const*& material,
 768                             simgear::BVHNode::Id& id)
 769 {
 770   SGVec3d _contact, _linearVel, _angularVel;
 771   const simgear::BVHMaterial* m = 0;
 772   if (!ground_cache.get_nearest(t, SG_FEET_TO_METER*SGVec3d(pt),
 773                                 SG_FEET_TO_METER*maxDist, _contact, _linearVel,
 774                                 _angularVel, id, m))
 775       return false;
 776
 777   assign(contact, SG_METER_TO_FEET*_contact);
 778   assign(linearVel, SG_METER_TO_FEET*_linearVel);
 779   assign(angularVel, _angularVel);
 780   material = dynamic_cast<const SGMaterial*>(m);
 781   return true;
 782 }
 783
 784 double
 785 FGInterface::get_groundlevel_m(double lat, double lon, double alt)
 786 {
 787   return get_groundlevel_m(SGGeod::fromRadM(lon, lat, alt));
 788 }
 789
 790 double
 791 FGInterface::get_groundlevel_m(const SGGeod& geod)
 792 {
 793   // Compute the cartesian position of the given lat/lon/alt.
 794   SGVec3d pos = SGVec3d::fromGeod(geod);
 795
 796   // FIXME: how to handle t - ref_time differences ???
 797   SGVec3d cpos;
 798   double ref_time = 0, radius;
 799   // Prepare the ground cache for that position.
 800   if (!is_valid_m(&ref_time, cpos.data(), &radius)) {
 801     double startTime = ref_time;
 802     double endTime = startTime + 1;
 803     bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), 10);
 804     /// This is most likely the case when the given altitude is
 805     /// too low, try with a new altitude of 10000m, that should be
 806     /// sufficient to find a ground level below everywhere on our planet
 807     if (!ok) {
 808       pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000));
 809       /// If there is still no ground, return sea level radius
 810       if (!prepare_ground_cache_m(startTime, endTime, pos.data(), 10))
 811         return 0;
 812     }
 813   } else if (radius*radius <= distSqr(pos, cpos)) {
 814     double startTime = ref_time;
 815     double endTime = startTime + 1;
 816
 817     /// We reuse the old radius value, but only if it is at least 10 Meters ..
 818     if (!(10 < radius)) // Well this strange compare is nan safe
 819       radius = 10;
 820
 821     bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), radius);
 822     /// This is most likely the case when the given altitude is
 823     /// too low, try with a new altitude of 10000m, that should be
 824     /// sufficient to find a ground level below everywhere on our planet
 825     if (!ok) {
 826       pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000));
 827       /// If there is still no ground, return sea level radius
 828       if (!prepare_ground_cache_m(startTime, endTime, pos.data(), radius))
 829         return 0;
 830     }
 831   }
 832
 833   double contact[3], normal[3], vel[3], angvel[3];
 834   const SGMaterial* material;
 835   simgear::BVHNode::Id id;
 836   // Ignore the return value here, since it just tells us if
 837   // the returns stem from the groundcache or from the coarse
 838   // computations below the groundcache. The contact point is still something
 839   // valid, the normals and the other returns just contain some defaults.
 840   get_agl_m(ref_time, pos.data(), 2.0, contact, normal, vel, angvel,
 841             material, id);
 842   return SGGeod::fromCart(SGVec3d(contact)).getElevationM();
 843 }
 844
 845 bool
 846 FGInterface::caught_wire_m(double t, const double pt[4][3])
 847 {
 848   SGVec3d pt_m[4];
 849   for (int i=0; i<4; ++i)
 850     pt_m[i] = SGVec3d(pt[i]);
 851
 852   return ground_cache.caught_wire(t, pt_m);
 853 }
 854
 855 bool
 856 FGInterface::caught_wire_ft(double t, const double pt[4][3])
 857 {
 858   // Convert units and do the real work.
 859   SGVec3d pt_m[4];
 860   for (int i=0; i<4; ++i)
 861     pt_m[i] = SG_FEET_TO_METER*SGVec3d(pt[i]);
 862
 863   return ground_cache.caught_wire(t, pt_m);
 864 }
 865
 866 bool
 867 FGInterface::get_wire_ends_m(double t, double end[2][3], double vel[2][3])
 868 {
 869   SGVec3d _end[2], _vel[2];
 870   bool ret = ground_cache.get_wire_ends(t, _end, _vel);
 871   for (int k=0; k<2; ++k) {
 872     assign( end[k], _end[k] );
 873     assign( vel[k], _vel[k] );
 874   }
 875   return ret;
 876 }
 877
 878 bool
 879 FGInterface::get_wire_ends_ft(double t, double end[2][3], double vel[2][3])
 880 {
 881   // Convert units and do the real work.
 882   SGVec3d _end[2], _vel[2];
 883   bool ret = ground_cache.get_wire_ends(t, _end, _vel);
 884   for (int k=0; k<2; ++k) {
 885     assign( end[k], SG_METER_TO_FEET*_end[k] );
 886     assign( vel[k], SG_METER_TO_FEET*_vel[k] );
 887   }
 888   return ret;
 889 }
 890
 891 void
 892 FGInterface::release_wire(void)
 893 {
 894   ground_cache.release_wire();
 895 }
 896