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 - curt@infoplane.com
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 <FDM/LaRCsim/ls_interface.h>
36 #include <Main/globals.hxx>
37 #include <Main/fg_props.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 int multiloop = int(floor(ml));
83 remainder = (ml - multiloop) / hz;
84 return (multiloop * speedup);
89 * Set default values for the state of the FDM.
91 * This method is invoked by the constructors.
94 FGInterface::_setup ()
99 init_vec( d_pilot_rp_body_v );
100 init_vec( d_cg_rp_body_v );
101 init_vec( f_body_total_v );
102 init_vec( f_local_total_v );
103 init_vec( f_aero_v );
104 init_vec( f_engine_v );
105 init_vec( f_gear_v );
106 init_vec( m_total_rp_v );
107 init_vec( m_total_cg_v );
108 init_vec( m_aero_v );
109 init_vec( m_engine_v );
110 init_vec( m_gear_v );
111 init_vec( v_dot_local_v );
112 init_vec( v_dot_body_v );
113 init_vec( a_cg_body_v );
114 init_vec( a_pilot_body_v );
115 init_vec( n_cg_body_v );
116 init_vec( n_pilot_body_v );
117 init_vec( omega_dot_body_v );
118 init_vec( v_local_v );
119 init_vec( v_local_rel_ground_v );
120 init_vec( v_local_airmass_v );
121 init_vec( v_local_rel_airmass_v );
122 init_vec( v_local_gust_v );
123 init_vec( v_wind_body_v );
124 init_vec( omega_body_v );
125 init_vec( omega_local_v );
126 init_vec( omega_total_v );
127 init_vec( euler_rates_v );
128 init_vec( geocentric_rates_v );
129 init_vec( geocentric_position_v );
130 init_vec( geodetic_position_v );
131 init_vec( euler_angles_v );
132 init_vec( d_cg_rwy_local_v );
133 init_vec( d_cg_rwy_rwy_v );
134 init_vec( d_pilot_rwy_local_v );
135 init_vec( d_pilot_rwy_rwy_v );
136 init_vec( t_local_to_body_m[0] );
137 init_vec( t_local_to_body_m[1] );
138 init_vec( t_local_to_body_m[2] );
140 mass=i_xx=i_yy=i_zz=i_xz=0;
142 v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
143 v_ground_speed=v_equiv=v_equiv_kts=0;
144 v_calibrated=v_calibrated_kts=0;
146 centrifugal_relief=0;
147 alpha=beta=alpha_dot=beta_dot=0;
148 cos_alpha=sin_alpha=cos_beta=sin_beta=0;
149 cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
150 gamma_vert_rad=gamma_horiz_rad=0;
151 sigma=density=v_sound=mach_number=0;
152 static_pressure=total_pressure=impact_pressure=0;
154 static_temperature=total_temperature=0;
155 sea_level_radius=earth_position_angle=0;
156 runway_altitude=runway_latitude=runway_longitude=0;
160 sin_lat_geocentric=cos_lat_geocentric=0;
161 sin_latitude=cos_latitude=0;
162 sin_longitude=cos_longitude=0;
167 FGInterface::init () {}
170 * Initialize the state of the FDM.
172 * Subclasses of FGInterface may do their own, additional initialization,
173 * but there is some that is common to all. Normally, they should call
174 * this before they begin their own init to make sure the basic structures
175 * are set up properly.
178 FGInterface::common_init ()
180 SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
185 // set_remainder( 0 );
187 // Set initial position
188 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
189 set_Longitude( fgGetDouble("/sim/presets/longitude-deg")
190 * SGD_DEGREES_TO_RADIANS );
191 set_Latitude( fgGetDouble("/sim/presets/latitude-deg")
192 * SGD_DEGREES_TO_RADIANS );
193 double ground_elev_m = globals->get_scenery()->get_cur_elev();
194 double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
195 fgSetDouble("/position/ground-elev-m", ground_elev_m);
196 _set_Runway_altitude ( ground_elev_ft );
197 if ( fgGetBool("/sim/presets/onground")
198 || fgGetDouble("/sim/presets/altitude-ft") < ground_elev_ft ) {
199 fgSetDouble("/sim/presets/altitude-ft", ground_elev_ft);
200 fgSetDouble("/position/altitude-ft", ground_elev_ft);
202 set_Altitude( fgGetDouble("/sim/presets/altitude-ft") );
204 // Set ground elevation
205 SG_LOG( SG_FLIGHT, SG_INFO,
206 "...initializing ground elevation to " << ground_elev_ft
209 // Set sea-level radius
210 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
211 SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
212 << fgGetDouble("/sim/presets/latitude-deg")
213 << " alt = " << fgGetDouble("/sim/presets/altitude-ft") );
214 double sea_level_radius_meters;
216 sgGeodToGeoc( fgGetDouble("/sim/presets/latitude-deg")
217 * SGD_DEGREES_TO_RADIANS,
218 fgGetDouble("/sim/presets/altitude-ft") * SG_FEET_TO_METER,
219 &sea_level_radius_meters, &lat_geoc );
220 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
222 // Set initial velocities
223 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
224 if ( !fgHasNode("/sim/presets/speed-set") ) {
225 set_V_calibrated_kts(0.0);
227 const string speedset = fgGetString("/sim/presets/speed-set");
228 if ( speedset == "knots" || speedset == "KNOTS" ) {
229 set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") );
230 } else if ( speedset == "mach" || speedset == "MACH" ) {
231 set_Mach_number( fgGetDouble("/sim/presets/mach") );
232 } else if ( speedset == "UVW" || speedset == "uvw" ) {
233 set_Velocities_Wind_Body(
234 fgGetDouble("/sim/presets/uBody-fps"),
235 fgGetDouble("/sim/presets/vBody-fps"),
236 fgGetDouble("/sim/presets/wBody-fps") );
237 } else if ( speedset == "NED" || speedset == "ned" ) {
238 set_Velocities_Local(
239 fgGetDouble("/sim/presets/speed-north-fps"),
240 fgGetDouble("/sim/presets/speed-east-fps"),
241 fgGetDouble("/sim/presets/speed-down-fps") );
243 SG_LOG( SG_FLIGHT, SG_ALERT,
244 "Unrecognized value for /sim/presets/speed-set: "
246 set_V_calibrated_kts( 0.0 );
250 // Set initial Euler angles
251 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
252 set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
253 * SGD_DEGREES_TO_RADIANS,
254 fgGetDouble("/sim/presets/pitch-deg")
255 * SGD_DEGREES_TO_RADIANS,
256 fgGetDouble("/sim/presets/heading-deg")
257 * SGD_DEGREES_TO_RADIANS );
259 SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
264 * Bind getters and setters to properties.
266 * The bind() method will be invoked after init(). Note that unlike
267 * the usual implementations of FGSubsystem::bind(), this method does
268 * not automatically pick up existing values for the properties at
269 * bind time; instead, all values are set explicitly in the init()
277 // Time management (read-only)
278 // fgTie("/fdm/time/delta_t", this,
279 // &FGInterface::get_delta_t); // read-only
280 // fgTie("/fdm/time/elapsed", this,
281 // &FGInterface::get_elapsed); // read-only
282 // fgTie("/fdm/time/remainder", this,
283 // &FGInterface::get_remainder); // read-only
284 // fgTie("/fdm/time/multi_loop", this,
285 // &FGInterface::get_multi_loop); // read-only
288 fgTie("/position/latitude-deg", this,
289 &FGInterface::get_Latitude_deg,
290 &FGInterface::set_Latitude_deg,
292 fgSetArchivable("/position/latitude-deg");
293 fgTie("/position/longitude-deg", this,
294 &FGInterface::get_Longitude_deg,
295 &FGInterface::set_Longitude_deg,
297 fgSetArchivable("/position/longitude-deg");
298 fgTie("/position/altitude-ft", this,
299 &FGInterface::get_Altitude,
300 &FGInterface::set_Altitude,
302 fgSetArchivable("/position/altitude-ft");
303 fgTie("/position/altitude-agl-ft", this,
304 &FGInterface::get_Altitude_AGL); // read-only
307 fgTie("/orientation/roll-deg", this,
308 &FGInterface::get_Phi_deg,
309 &FGInterface::set_Phi_deg);
310 fgSetArchivable("/orientation/roll-deg");
311 fgTie("/orientation/pitch-deg", this,
312 &FGInterface::get_Theta_deg,
313 &FGInterface::set_Theta_deg);
314 fgSetArchivable("/orientation/pitch-deg");
315 fgTie("/orientation/heading-deg", this,
316 &FGInterface::get_Psi_deg,
317 &FGInterface::set_Psi_deg);
318 fgSetArchivable("/orientation/heading-deg");
320 // Body-axis "euler rates" (rotation speed, but in a funny
322 fgTie("/orientation/roll-rate-degps", this,
323 &FGInterface::get_Phi_dot_degps);
324 fgTie("/orientation/pitch-rate-degps", this,
325 &FGInterface::get_Theta_dot_degps);
326 fgTie("/orientation/yaw-rate-degps", this,
327 &FGInterface::get_Psi_dot_degps);
329 // Calibrated airspeed
330 fgTie("/velocities/airspeed-kt", this,
331 &FGInterface::get_V_calibrated_kts,
332 &FGInterface::set_V_calibrated_kts,
336 fgTie("/velocities/mach", this,
337 &FGInterface::get_Mach_number,
338 &FGInterface::set_Mach_number,
342 // fgTie("/velocities/speed-north-fps", this,
343 // &FGInterface::get_V_north,
344 // &FGInterface::set_V_north);
345 // fgSetArchivable("/velocities/speed-north-fps");
346 // fgTie("/velocities/speed-east-fps", this,
347 // &FGInterface::get_V_east,
348 // &FGInterface::set_V_east);
349 // fgSetArchivable("/velocities/speed-east-fps");
350 // fgTie("/velocities/speed-down-fps", this,
351 // &FGInterface::get_V_down,
352 // &FGInterface::set_V_down);
353 // fgSetArchivable("/velocities/speed-down-fps");
354 // FIXME: Temporarily read-only, until the
355 // incompatibilities between JSBSim and
356 // LaRCSim are fixed (LaRCSim adds the
357 // earth's rotation to the east velocity).
358 fgTie("/velocities/speed-north-fps", this,
359 &FGInterface::get_V_north);
360 fgTie("/velocities/speed-east-fps", this,
361 &FGInterface::get_V_east);
362 fgTie("/velocities/speed-down-fps", this,
363 &FGInterface::get_V_down);
366 // FIXME: temporarily archivable, until
367 // the NED problem is fixed.
368 fgTie("/velocities/uBody-fps", this,
369 &FGInterface::get_uBody,
370 &FGInterface::set_uBody,
372 fgSetArchivable("/velocities/uBody-fps");
373 fgTie("/velocities/vBody-fps", this,
374 &FGInterface::get_vBody,
375 &FGInterface::set_vBody,
377 fgSetArchivable("/velocities/vBody-fps");
378 fgTie("/velocities/wBody-fps", this,
379 &FGInterface::get_wBody,
380 &FGInterface::set_wBody,
382 fgSetArchivable("/velocities/wBody-fps");
384 // Climb and slip (read-only)
385 fgTie("/velocities/vertical-speed-fps", this,
386 &FGInterface::get_Climb_Rate,
387 &FGInterface::set_Climb_Rate );
388 fgTie("/velocities/glideslope", this,
389 &FGInterface::get_Gamma_vert_rad,
390 &FGInterface::set_Gamma_vert_rad );
391 fgTie("/orientation/side-slip-rad", this,
392 &FGInterface::get_Beta); // read-only
393 fgTie("/orientation/side-slip-deg", this,
394 &FGInterface::get_Beta_deg); // read-only
395 fgTie("/orientation/alpha-deg", this,
396 &FGInterface::get_Alpha_deg); // read-only
397 fgTie("/accelerations/nlf", this,
398 &FGInterface::get_Nlf); // read-only
401 fgTie("/accelerations/ned/north-accel-fps_sec",
402 this, &FGInterface::get_V_dot_north);
403 fgTie("/accelerations/ned/east-accel-fps_sec",
404 this, &FGInterface::get_V_dot_east);
405 fgTie("/accelerations/ned/down-accel-fps_sec",
406 this, &FGInterface::get_V_dot_down);
408 // Pilot accelerations
409 fgTie("/accelerations/pilot/x-accel-fps_sec",
410 this, &FGInterface::get_A_X_pilot);
411 fgTie("/accelerations/pilot/y-accel-fps_sec",
412 this, &FGInterface::get_A_Y_pilot);
413 fgTie("/accelerations/pilot/z-accel-fps_sec",
414 this, &FGInterface::get_A_Z_pilot);
420 * Unbind any properties bound to this FDM.
422 * This method allows the FDM to release properties so that a new
423 * FDM can bind them instead.
426 FGInterface::unbind ()
430 // fgUntie("/fdm/time/delta_t");
431 // fgUntie("/fdm/time/elapsed");
432 // fgUntie("/fdm/time/remainder");
433 // fgUntie("/fdm/time/multi_loop");
434 fgUntie("/position/latitude-deg");
435 fgUntie("/position/longitude-deg");
436 fgUntie("/position/altitude-ft");
437 fgUntie("/position/altitude-agl-ft");
438 fgUntie("/orientation/roll-deg");
439 fgUntie("/orientation/pitch-deg");
440 fgUntie("/orientation/heading-deg");
441 fgUntie("/orientation/roll-rate-degps");
442 fgUntie("/orientation/pitch-rate-degps");
443 fgUntie("/orientation/yaw-rate-degps");
444 fgUntie("/orientation/side-slip-rad");
445 fgUntie("/orientation/side-slip-deg");
446 fgUntie("/orientation/alpha-deg");
447 fgUntie("/velocities/airspeed-kt");
448 fgUntie("/velocities/mach");
449 fgUntie("/velocities/speed-north-fps");
450 fgUntie("/velocities/speed-east-fps");
451 fgUntie("/velocities/speed-down-fps");
452 fgUntie("/velocities/uBody-fps");
453 fgUntie("/velocities/vBody-fps");
454 fgUntie("/velocities/wBody-fps");
455 fgUntie("/velocities/vertical-speed-fps");
456 fgUntie("/velocities/glideslope");
457 fgUntie("/accelerations/nlf");
458 fgUntie("/accelerations/pilot/x-accel-fps_sec");
459 fgUntie("/accelerations/pilot/y-accel-fps_sec");
460 fgUntie("/accelerations/pilot/z-accel-fps_sec");
461 fgUntie("/accelerations/ned/north-accel-fps_sec");
462 fgUntie("/accelerations/ned/east-accel-fps_sec");
463 fgUntie("/accelerations/ned/down-accel-fps_sec");
467 * Update the state of the FDM (i.e. run the equations of motion).
470 FGInterface::update (double dt)
472 SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
476 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
478 double lat_geoc, sl_radius;
480 // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
482 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc );
484 SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
485 << " lat_geod = " << lat
486 << " lat_geoc = " << lat_geoc
488 << " sl_radius = " << sl_radius * SG_METER_TO_FEET
489 << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
491 _set_Geocentric_Position( lat_geoc, lon,
492 sl_radius * SG_METER_TO_FEET + alt );
494 _set_Geodetic_Position( lat, lon, alt );
496 _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
497 _set_Runway_altitude( fgGetDouble("/position/ground-elev-m") * SG_METER_TO_FEET );
499 _set_sin_lat_geocentric( lat_geoc );
500 _set_cos_lat_geocentric( lat_geoc );
502 _set_sin_cos_longitude( lon );
504 _set_sin_cos_latitude( lat );
506 /* Norman's code for slope of the terrain */
507 /* needs to be tested -- get it on the HUD and taxi around */
508 /* double *tnorm = scenery.cur_normal;
510 double sy = sin ( -get_Psi() ) ;
511 double cy = cos ( -get_Psi() ) ;
513 double phitb, thetatb, psitb;
514 if ( tnorm[1] != 0.0 ) {
515 psitb = -atan2 ( tnorm[0], tnorm[1] );
517 if ( tnorm[2] != 0.0 ) {
518 thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
519 phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
522 _set_terrain_slope(phitb, thetatb, psitb)
527 void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon,
530 double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
532 // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
534 sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
535 &lat_geod, &tmp_alt, &sl_radius1 );
536 sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
538 SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
539 << " lat_geod = " << lat_geod
540 << " lat_geoc = " << lat_geoc
542 << " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
543 << " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
544 << " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
545 << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
547 _set_Geocentric_Position( lat_geoc, lon,
548 sl_radius2 * SG_METER_TO_FEET + alt );
550 _set_Geodetic_Position( lat_geod, lon, alt );
552 _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
553 _set_Runway_altitude( fgGetDouble("/position/ground-elev-m") * SG_METER_TO_FEET );
555 _set_sin_lat_geocentric( lat_geoc );
556 _set_cos_lat_geocentric( lat_geoc );
558 _set_sin_cos_longitude( lon );
560 _set_sin_cos_latitude( lat_geod );
562 /* Norman's code for slope of the terrain */
563 /* needs to be tested -- get it on the HUD and taxi around */
564 /* double *tnorm = scenery.cur_normal;
566 double sy = sin ( -get_Psi() ) ;
567 double cy = cos ( -get_Psi() ) ;
569 double phitb, thetatb, psitb;
570 if ( tnorm[1] != 0.0 ) {
571 psitb = -atan2 ( tnorm[0], tnorm[1] );
573 if ( tnorm[2] != 0.0 ) {
574 thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
575 phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
578 _set_terrain_slope(phitb, thetatb, psitb)
583 // Extrapolate fdm based on time_offset (in usec)
584 void FGInterface::extrapolate( int time_offset ) {
585 double dt = time_offset / 1000000.0;
587 // -dw- metrowerks complains about ambiguous access, not critical
590 SG_LOG(SG_FLIGHT, SG_INFO, "extrapolating FDM by dt = " << dt);
593 double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
594 double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
596 double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
597 double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
599 double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
600 double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
602 geodetic_position_v[0] = lat;
603 geocentric_position_v[0] = lat_geoc;
605 geodetic_position_v[1] = lon;
606 geocentric_position_v[1] = lon_geoc;
608 geodetic_position_v[2] = alt;
609 geocentric_position_v[2] = radius;
613 void FGInterface::set_Latitude(double lat) {
614 geodetic_position_v[0] = lat;
617 void FGInterface::set_Longitude(double lon) {
618 geodetic_position_v[1] = lon;
621 void FGInterface::set_Altitude(double alt) {
622 geodetic_position_v[2] = alt;
625 void FGInterface::set_AltitudeAGL(double altagl) {
630 void FGInterface::set_V_calibrated_kts(double vc) {
631 v_calibrated_kts = vc;
634 void FGInterface::set_Mach_number(double mach) {
638 void FGInterface::set_Velocities_Local( double north,
641 v_local_v[0] = north;
646 void FGInterface::set_Velocities_Wind_Body( double u,
649 v_wind_body_v[0] = u;
650 v_wind_body_v[1] = v;
651 v_wind_body_v[2] = w;
655 void FGInterface::set_Euler_Angles( double phi,
658 euler_angles_v[0] = phi;
659 euler_angles_v[1] = theta;
660 euler_angles_v[2] = psi;
664 void FGInterface::set_Climb_Rate( double roc) {
668 void FGInterface::set_Gamma_vert_rad( double gamma) {
669 gamma_vert_rad = gamma;
672 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
673 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
674 void FGInterface::set_Density(double rho) { density = rho; }
676 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
679 v_local_airmass_v[0] = wnorth;
680 v_local_airmass_v[1] = weast;
681 v_local_airmass_v[2] = wdown;
685 void FGInterface::_busdump(void) {
687 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]);
688 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]);
689 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]);
690 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]);
691 SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
692 SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
693 SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
694 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]);
695 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]);
696 SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
697 SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
698 SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
699 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]);
700 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]);
701 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]);
702 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]);
703 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]);
704 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]);
705 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]);
706 SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
707 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]);
708 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]);
709 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]);
710 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]);
711 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]);
712 SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
713 SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
714 SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
715 SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
716 SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
717 SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
718 SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
719 SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
720 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]);
721 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]);
722 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]);
723 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]);
725 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]);
726 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]);
727 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]);
729 SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass );
730 SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx );
731 SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy );
732 SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz );
733 SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz );
734 SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
735 SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
736 SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
737 SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground );
738 SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial );
739 SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
740 SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv );
741 SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
742 SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated );
743 SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
744 SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity );
745 SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief );
746 SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
747 SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
748 SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot );
749 SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot );
750 SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha );
751 SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha );
752 SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta );
753 SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta );
754 SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi );
755 SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi );
756 SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta );
757 SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta );
758 SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi );
759 SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi );
760 SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
761 SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
762 SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma );
763 SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
764 SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound );
765 SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
766 SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
767 SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
768 SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure );
769 SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
770 SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
771 SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
772 SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
773 SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
774 SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
775 SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude );
776 SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude );
777 SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading );
778 SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy );
779 SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
780 SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
781 SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
782 SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude );
783 SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude );
784 SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
785 SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
786 SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
790 void fgToggleFDMdataLogging(void) {
791 cur_fdm_state->ToggleDataLogging();