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  - curt@infoplane.com
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  11 //
  12 // This program is distributed in the hope that it will be useful, but
  13 // WITHOUT ANY WARRANTY; without even the implied warranty of
  14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  15 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  20 //
  21 // $Id$
  22
  23
  24 #include <stdio.h>
  25
  26 #include <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/timing/timestamp.hxx>
  32
  33 #include <Scenery/scenery.hxx>
  34 #include <FDM/LaRCsim/ls_interface.h>
  35 #include <Main/globals.hxx>
  36 #include <Main/fg_props.hxx>
  37
  38 #include "External.hxx"
  39 #include "flight.hxx"
  40 #include "JSBSim.hxx"
  41 #include "LaRCsim.hxx"
  42 #include "Balloon.h"
  43
  44
  45 // base_fdm_state is the internal state that is updated in integer
  46 // multiples of "dt".  This leads to "jitter" with respect to the real
  47 // world time, so we introduce cur_fdm_state which is extrapolated by
  48 // the difference between sim time and real world time
  49
  50 FGInterface *cur_fdm_state = 0;
  51 FGInterface base_fdm_state;
  52
  53 inline void init_vec(FG_VECTOR_3 vec) {
  54     vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0;
  55 }
  56
  57 // Constructor
  58 FGInterface::FGInterface() {
  59     _setup();
  60 }
  61
  62 FGInterface::FGInterface( double dt ) {
  63     _setup();
  64     delta_t = dt;
  65     remainder = elapsed = multi_loop = 0;
  66 }
  67
  68 // Destructor
  69 FGInterface::~FGInterface() {
  70     // unbind();                   // FIXME: should be called explicitly
  71 }
  72
  73
  74 /**
  75  * Set default values for the state of the FDM.
  76  *
  77  * This method is invoked by the constructors.
  78  */
  79 void
  80 FGInterface::_setup ()
  81 {
  82     inited = false;
  83     bound = false;
  84
  85     init_vec( d_pilot_rp_body_v );
  86     init_vec( d_cg_rp_body_v );
  87     init_vec( f_body_total_v );
  88     init_vec( f_local_total_v );
  89     init_vec( f_aero_v );
  90     init_vec( f_engine_v );
  91     init_vec( f_gear_v );
  92     init_vec( m_total_rp_v );
  93     init_vec( m_total_cg_v );
  94     init_vec( m_aero_v );
  95     init_vec( m_engine_v );
  96     init_vec( m_gear_v );
  97     init_vec( v_dot_local_v );
  98     init_vec( v_dot_body_v );
  99     init_vec( a_cg_body_v );
 100     init_vec( a_pilot_body_v );
 101     init_vec( n_cg_body_v );
 102     init_vec( n_pilot_body_v );
 103     init_vec( omega_dot_body_v );
 104     init_vec( v_local_v );
 105     init_vec( v_local_rel_ground_v );
 106     init_vec( v_local_airmass_v );
 107     init_vec( v_local_rel_airmass_v );
 108     init_vec( v_local_gust_v );
 109     init_vec( v_wind_body_v );
 110     init_vec( omega_body_v );
 111     init_vec( omega_local_v );
 112     init_vec( omega_total_v );
 113     init_vec( euler_rates_v );
 114     init_vec( geocentric_rates_v );
 115     init_vec( geocentric_position_v );
 116     init_vec( geodetic_position_v );
 117     init_vec( euler_angles_v );
 118     init_vec( d_cg_rwy_local_v );
 119     init_vec( d_cg_rwy_rwy_v );
 120     init_vec( d_pilot_rwy_local_v );
 121     init_vec( d_pilot_rwy_rwy_v );
 122     init_vec( t_local_to_body_m[0] );
 123     init_vec( t_local_to_body_m[1] );
 124     init_vec( t_local_to_body_m[2] );
 125
 126     mass=i_xx=i_yy=i_zz=i_xz=0;
 127     nlf=0;
 128     v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
 129     v_ground_speed=v_equiv=v_equiv_kts=0;
 130     v_calibrated=v_calibrated_kts=0;
 131     gravity=0;
 132     centrifugal_relief=0;
 133     alpha=beta=alpha_dot=beta_dot=0;
 134     cos_alpha=sin_alpha=cos_beta=sin_beta=0;
 135     cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
 136     gamma_vert_rad=gamma_horiz_rad=0;
 137     sigma=density=v_sound=mach_number=0;
 138     static_pressure=total_pressure=impact_pressure=0;
 139     dynamic_pressure=0;
 140     static_temperature=total_temperature=0;
 141     sea_level_radius=earth_position_angle=0;
 142     runway_altitude=runway_latitude=runway_longitude=0;
 143     runway_heading=0;
 144     radius_to_rwy=0;
 145     climb_rate=0;
 146     sin_lat_geocentric=cos_lat_geocentric=0;
 147     sin_latitude=cos_latitude=0;
 148     sin_longitude=cos_longitude=0;
 149     altitude_agl=0;
 150 }
 151
 152 void
 153 FGInterface::init () {}
 154
 155 /**
 156  * Initialize the state of the FDM.
 157  *
 158  * Subclasses of FGInterface may do their own, additional initialization,
 159  * but there is some that is common to all.  Normally, they should call
 160  * this before they begin their own init to make sure the basic structures
 161  * are set up properly.
 162  */
 163 void
 164 FGInterface::common_init ()
 165 {
 166     SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
 167
 168     set_inited( true );
 169
 170     stamp();
 171     set_remainder( 0 );
 172
 173     // Set initial position
 174     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
 175     set_Longitude( fgGetDouble("/position/longitude-deg")
 176                    * SGD_DEGREES_TO_RADIANS );
 177     set_Latitude( fgGetDouble("/position/latitude-deg")
 178                   * SGD_DEGREES_TO_RADIANS );
 179     double ground_elev_m = scenery.get_cur_elev();
 180     double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
 181     if ( fgGetBool("/sim/startup/onground")
 182          || fgGetDouble("/position/altitude-ft") < ground_elev_ft ) {
 183         fgSetDouble("/position/altitude-ft", ground_elev_ft);
 184     }
 185     set_Altitude( fgGetDouble("/position/altitude-ft") );
 186
 187     // Set ground elevation
 188     SG_LOG( SG_FLIGHT, SG_INFO,
 189             "...initializing ground elevation to " << ground_elev_ft
 190             << "ft..." );
 191
 192     // Set sea-level radius
 193     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
 194     SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
 195             << fgGetDouble("/position/latitude-deg")
 196             << " alt = " << fgGetDouble("/position/altitude-ft") );
 197     double sea_level_radius_meters;
 198     double lat_geoc;
 199     sgGeodToGeoc( fgGetDouble("/position/latitude-deg")
 200                     * SGD_DEGREES_TO_RADIANS,
 201                   fgGetDouble("/position/altitude-ft") * SG_FEET_TO_METER,
 202                   &sea_level_radius_meters, &lat_geoc );
 203     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
 204
 205     // Set initial velocities
 206     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
 207     if ( !fgHasNode("/sim/startup/speed-set") ) {
 208         set_V_calibrated_kts(0.0);
 209     } else {
 210         const string speedset = fgGetString("/sim/startup/speed-set");
 211         if ( speedset == "knots" || speedset == "KNOTS" ) {
 212             set_V_calibrated_kts( fgGetDouble("/velocities/airspeed-kt") );
 213         } else if ( speedset == "mach" || speedset == "MACH" ) {
 214             set_Mach_number( fgGetDouble("/velocities/mach") );
 215         } else if ( speedset == "UVW" || speedset == "uvw" ) {
 216             set_Velocities_Wind_Body(
 217                                      fgGetDouble("/velocities/uBody-fps"),
 218                                      fgGetDouble("/velocities/vBody-fps"),
 219                                      fgGetDouble("/velocities/wBody-fps") );
 220         } else if ( speedset == "NED" || speedset == "ned" ) {
 221             set_Velocities_Local(
 222                                  fgGetDouble("/velocities/speed-north-fps"),
 223                                  fgGetDouble("/velocities/speed-east-fps"),
 224                                  fgGetDouble("/velocities/speed-down-fps") );
 225         } else {
 226             SG_LOG( SG_FLIGHT, SG_ALERT,
 227                     "Unrecognized value for /sim/startup/speed-set: "
 228                     << speedset);
 229             set_V_calibrated_kts( 0.0 );
 230         }
 231     }
 232
 233     // Set initial Euler angles
 234     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
 235     set_Euler_Angles( fgGetDouble("/orientation/roll-deg")
 236                         * SGD_DEGREES_TO_RADIANS,
 237                       fgGetDouble("/orientation/pitch-deg")
 238                         * SGD_DEGREES_TO_RADIANS,
 239                       fgGetDouble("/orientation/heading-deg")
 240                         * SGD_DEGREES_TO_RADIANS );
 241
 242     SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
 243 }
 244
 245
 246 /**
 247  * Bind getters and setters to properties.
 248  *
 249  * The bind() method will be invoked after init().  Note that unlike
 250  * the usual implementations of FGSubsystem::bind(), this method does
 251  * not automatically pick up existing values for the properties at
 252  * bind time; instead, all values are set explicitly in the init()
 253  * method.
 254  */
 255 void
 256 FGInterface::bind ()
 257 {
 258   bound = true;
 259
 260                                 // Time management (read-only)
 261   fgTie("/fdm/time/delta_t", this,
 262         &FGInterface::get_delta_t); // read-only
 263   fgTie("/fdm/time/elapsed", this,
 264         &FGInterface::get_elapsed); // read-only
 265   fgTie("/fdm/time/remainder", this,
 266         &FGInterface::get_remainder); // read-only
 267   fgTie("/fdm/time/multi_loop", this,
 268         &FGInterface::get_multi_loop); // read-only
 269
 270                         // Aircraft position
 271   fgTie("/position/latitude-deg", this,
 272         &FGInterface::get_Latitude_deg,
 273         &FGInterface::set_Latitude_deg,
 274         false);
 275   fgSetArchivable("/position/latitude-deg");
 276   fgTie("/position/longitude-deg", this,
 277         &FGInterface::get_Longitude_deg,
 278         &FGInterface::set_Longitude_deg,
 279         false);
 280   fgSetArchivable("/position/longitude-deg");
 281   fgTie("/position/altitude-ft", this,
 282         &FGInterface::get_Altitude,
 283         &FGInterface::set_Altitude,
 284         false);
 285   fgSetArchivable("/position/altitude-ft");
 286   fgTie("/position/altitude-agl-ft", this,
 287         &FGInterface::get_Altitude_AGL); // read-only
 288
 289                                 // Orientation
 290   fgTie("/orientation/roll-deg", this,
 291         &FGInterface::get_Phi_deg,
 292         &FGInterface::set_Phi_deg);
 293   fgSetArchivable("/orientation/roll-deg");
 294   fgTie("/orientation/pitch-deg", this,
 295         &FGInterface::get_Theta_deg,
 296         &FGInterface::set_Theta_deg);
 297   fgSetArchivable("/orientation/pitch-deg");
 298   fgTie("/orientation/heading-deg", this,
 299         &FGInterface::get_Psi_deg,
 300         &FGInterface::set_Psi_deg);
 301   fgSetArchivable("/orientation/heading-deg");
 302
 303                                 // Calibrated airspeed
 304   fgTie("/velocities/airspeed-kt", this,
 305         &FGInterface::get_V_calibrated_kts,
 306         &FGInterface::set_V_calibrated_kts,
 307         false);
 308
 309                                 // Local velocities
 310 //   fgTie("/velocities/speed-north-fps", this,
 311 //      &FGInterface::get_V_north,
 312 //      &FGInterface::set_V_north);
 313 //   fgSetArchivable("/velocities/speed-north-fps");
 314 //   fgTie("/velocities/speed-east-fps", this,
 315 //      &FGInterface::get_V_east,
 316 //      &FGInterface::set_V_east);
 317 //   fgSetArchivable("/velocities/speed-east-fps");
 318 //   fgTie("/velocities/speed-down-fps", this,
 319 //      &FGInterface::get_V_down,
 320 //      &FGInterface::set_V_down);
 321 //   fgSetArchivable("/velocities/speed-down-fps");
 322                                 // FIXME: Temporarily read-only, until the
 323                                 // incompatibilities between JSBSim and
 324                                 // LaRCSim are fixed (LaRCSim adds the
 325                                 // earth's rotation to the east velocity).
 326   fgTie("/velocities/speed-north-fps", this,
 327         &FGInterface::get_V_north);
 328   fgTie("/velocities/speed-east-fps", this,
 329         &FGInterface::get_V_east);
 330   fgTie("/velocities/speed-down-fps", this,
 331         &FGInterface::get_V_down);
 332
 333                                 // Relative wind
 334                                 // FIXME: temporarily archivable, until
 335                                 // the NED problem is fixed.
 336   fgTie("/velocities/uBody-fps", this,
 337         &FGInterface::get_uBody,
 338         &FGInterface::set_uBody,
 339         false);
 340   fgSetArchivable("/velocities/uBody-fps");
 341   fgTie("/velocities/vBody-fps", this,
 342         &FGInterface::get_vBody,
 343         &FGInterface::set_vBody,
 344         false);
 345   fgSetArchivable("/velocities/vBody-fps");
 346   fgTie("/velocities/wBody-fps", this,
 347         &FGInterface::get_wBody,
 348         &FGInterface::set_wBody,
 349         false);
 350   fgSetArchivable("/velocities/wBody-fps");
 351
 352                                 // Climb and slip (read-only)
 353   fgTie("/velocities/vertical-speed-fps", this,
 354         &FGInterface::get_Climb_Rate); // read-only
 355   fgTie("/velocities/side-slip-rad", this,
 356         &FGInterface::get_Beta); // read-only
 357   fgTie("/velocities/side-slip-deg", this,
 358   &FGInterface::get_Beta_deg); // read-only
 359   fgTie("/velocities/alpha-deg", this,
 360   &FGInterface::get_Alpha_deg); // read-only
 361   fgTie("/accelerations/nlf", this,
 362   &FGInterface::get_Nlf); // read-only
 363
 364
 365 }
 366
 367
 368 /**
 369  * Unbind any properties bound to this FDM.
 370  *
 371  * This method allows the FDM to release properties so that a new
 372  * FDM can bind them instead.
 373  */
 374 void
 375 FGInterface::unbind ()
 376 {
 377   bound = false;
 378
 379   fgUntie("/fdm/time/delta_t");
 380   fgUntie("/fdm/time/elapsed");
 381   fgUntie("/fdm/time/remainder");
 382   fgUntie("/fdm/time/multi_loop");
 383   fgUntie("/position/latitude-deg");
 384   fgUntie("/position/longitude-deg");
 385   fgUntie("/position/altitude-ft");
 386   fgUntie("/position/altitude-agl-ft");
 387   fgUntie("/orientation/heading-deg");
 388   fgUntie("/orientation/pitch-deg");
 389   fgUntie("/orientation/roll-deg");
 390   fgUntie("/velocities/airspeed-kt");
 391   fgUntie("/velocities/speed-north-fps");
 392   fgUntie("/velocities/speed-east-fps");
 393   fgUntie("/velocities/speed-down-fps");
 394   fgUntie("/velocities/uBody-fps");
 395   fgUntie("/velocities/vBody-fps");
 396   fgUntie("/velocities/wBody-fps");
 397   fgUntie("/velocities/vertical-speed-fps");
 398   fgUntie("/velocities/side-slip-rad");
 399   fgUntie("/velocities/side-slip-deg");
 400   fgUntie("/velocities/alpha-deg");
 401   fgUntie("/accelerations/nlf");
 402
 403 }
 404
 405 /**
 406  * Update the state of the FDM (i.e. run the equations of motion).
 407  */
 408 void
 409 FGInterface::update (int dt)
 410 {
 411     cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl;
 412 }
 413
 414
 415 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
 416 {
 417     double lat_geoc, sl_radius;
 418
 419     // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
 420
 421     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc );
 422
 423     SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
 424             << " lat_geod = " << lat
 425             << " lat_geoc = " << lat_geoc
 426             << " alt = " << alt
 427             << " sl_radius = " << sl_radius * SG_METER_TO_FEET
 428             << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
 429
 430     _set_Geocentric_Position( lat_geoc, lon,
 431                               sl_radius * SG_METER_TO_FEET + alt );
 432
 433     _set_Geodetic_Position( lat, lon, alt );
 434
 435     _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
 436     _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
 437
 438     _set_sin_lat_geocentric( lat_geoc );
 439     _set_cos_lat_geocentric( lat_geoc );
 440
 441     _set_sin_cos_longitude( lon );
 442
 443     _set_sin_cos_latitude( lat );
 444
 445     /* Norman's code for slope of the terrain */
 446     /* needs to be tested -- get it on the HUD and taxi around */
 447     /* double *tnorm = scenery.cur_normal;
 448
 449        double sy = sin ( -get_Psi() ) ;
 450        double cy = cos ( -get_Psi() ) ;
 451
 452        double phitb, thetatb, psitb;
 453        if ( tnorm[1] != 0.0 ) {
 454            psitb = -atan2 ( tnorm[0], tnorm[1] );
 455        }
 456        if ( tnorm[2] != 0.0 ) {
 457            thetatb =  atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
 458            phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
 459        }
 460
 461        _set_terrain_slope(phitb, thetatb, psitb)
 462      */
 463 }
 464
 465
 466 void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon,
 467                                              double alt )
 468 {
 469     double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
 470
 471     // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
 472
 473     sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
 474                   &lat_geod, &tmp_alt, &sl_radius1 );
 475     sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
 476
 477     SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
 478             << " lat_geod = " << lat_geod
 479             << " lat_geoc = " << lat_geoc
 480             << " alt = " << alt
 481             << " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
 482             << " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
 483             << " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
 484             << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
 485
 486     _set_Geocentric_Position( lat_geoc, lon,
 487                               sl_radius2 * SG_METER_TO_FEET + alt );
 488
 489     _set_Geodetic_Position( lat_geod, lon, alt );
 490
 491     _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
 492     _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
 493
 494     _set_sin_lat_geocentric( lat_geoc );
 495     _set_cos_lat_geocentric( lat_geoc );
 496
 497     _set_sin_cos_longitude( lon );
 498
 499     _set_sin_cos_latitude( lat_geod );
 500
 501     /* Norman's code for slope of the terrain */
 502     /* needs to be tested -- get it on the HUD and taxi around */
 503     /* double *tnorm = scenery.cur_normal;
 504
 505        double sy = sin ( -get_Psi() ) ;
 506        double cy = cos ( -get_Psi() ) ;
 507
 508        double phitb, thetatb, psitb;
 509        if ( tnorm[1] != 0.0 ) {
 510            psitb = -atan2 ( tnorm[0], tnorm[1] );
 511        }
 512        if ( tnorm[2] != 0.0 ) {
 513            thetatb =  atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
 514            phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
 515        }
 516
 517        _set_terrain_slope(phitb, thetatb, psitb)
 518      */
 519 }
 520
 521
 522 // Extrapolate fdm based on time_offset (in usec)
 523 void FGInterface::extrapolate( int time_offset ) {
 524     double dt = time_offset / 1000000.0;
 525
 526     // -dw- metrowerks complains about ambiguous access, not critical
 527     // to keep this ;)
 528 #ifndef __MWERKS__
 529     cout << "extrapolating FDM by dt = " << dt << endl;
 530 #endif
 531
 532     double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
 533     double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
 534
 535     double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
 536     double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
 537
 538     double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
 539     double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
 540
 541     geodetic_position_v[0] = lat;
 542     geocentric_position_v[0] = lat_geoc;
 543
 544     geodetic_position_v[1] = lon;
 545     geocentric_position_v[1] = lon_geoc;
 546
 547     geodetic_position_v[2] = alt;
 548     geocentric_position_v[2] = radius;
 549 }
 550
 551 // Positions
 552 void FGInterface::set_Latitude(double lat) {
 553     geodetic_position_v[0] = lat;
 554 }
 555
 556 void FGInterface::set_Longitude(double lon) {
 557     geodetic_position_v[1] = lon;
 558 }
 559
 560 void FGInterface::set_Altitude(double alt) {
 561     geodetic_position_v[2] = alt;
 562 }
 563
 564 void FGInterface::set_AltitudeAGL(double altagl) {
 565     altitude_agl=altagl;
 566 }
 567
 568 // Velocities
 569 void FGInterface::set_V_calibrated_kts(double vc) {
 570     v_calibrated_kts = vc;
 571 }
 572
 573 void FGInterface::set_Mach_number(double mach) {
 574     mach_number = mach;
 575 }
 576
 577 void FGInterface::set_Velocities_Local( double north,
 578                                         double east,
 579                                         double down ){
 580     v_local_v[0] = north;
 581     v_local_v[1] = east;
 582     v_local_v[2] = down;
 583 }
 584
 585 void FGInterface::set_Velocities_Wind_Body( double u,
 586                                             double v,
 587                                             double w){
 588     v_wind_body_v[0] = u;
 589     v_wind_body_v[1] = v;
 590     v_wind_body_v[2] = w;
 591 }
 592
 593 // Euler angles
 594 void FGInterface::set_Euler_Angles( double phi,
 595                                     double theta,
 596                                     double psi ) {
 597     euler_angles_v[0] = phi;
 598     euler_angles_v[1] = theta;
 599     euler_angles_v[2] = psi;
 600 }
 601
 602 // Flight Path
 603 void FGInterface::set_Climb_Rate( double roc) {
 604     climb_rate = roc;
 605 }
 606
 607 void FGInterface::set_Gamma_vert_rad( double gamma) {
 608     gamma_vert_rad = gamma;
 609 }
 610
 611 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
 612 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
 613 void FGInterface::set_Density(double rho) { density = rho; }
 614
 615 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
 616                                                 double weast,
 617                                                 double wdown ) {
 618     v_local_airmass_v[0] = wnorth;
 619     v_local_airmass_v[1] = weast;
 620     v_local_airmass_v[2] = wdown;
 621 }
 622
 623
 624 void FGInterface::_busdump(void) {
 625
 626     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]);
 627     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]);
 628     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]);
 629     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]);
 630     SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
 631     SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
 632     SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
 633     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]);
 634     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]);
 635     SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
 636     SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
 637     SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
 638     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]);
 639     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]);
 640     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]);
 641     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]);
 642     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]);
 643     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]);
 644     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]);
 645     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
 646     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]);
 647     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]);
 648     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]);
 649     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]);
 650     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]);
 651     SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
 652     SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
 653     SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
 654     SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
 655     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
 656     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
 657     SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
 658     SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
 659     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]);
 660     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]);
 661     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]);
 662     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]);
 663
 664     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]);
 665     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]);
 666     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]);
 667
 668     SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass );
 669     SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx );
 670     SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy );
 671     SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz );
 672     SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz );
 673     SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
 674     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
 675     SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
 676     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground );
 677     SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial );
 678     SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
 679     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv );
 680     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
 681     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated );
 682     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
 683     SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity );
 684     SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief );
 685     SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
 686     SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
 687     SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot );
 688     SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot );
 689     SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha );
 690     SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha );
 691     SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta );
 692     SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta );
 693     SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi );
 694     SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi );
 695     SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta );
 696     SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta );
 697     SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi );
 698     SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi );
 699     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
 700     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
 701     SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma );
 702     SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
 703     SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound );
 704     SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
 705     SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
 706     SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
 707     SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure );
 708     SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
 709     SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
 710     SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
 711     SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
 712     SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
 713     SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
 714     SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude );
 715     SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude );
 716     SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading );
 717     SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy );
 718     SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
 719     SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
 720     SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
 721     SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude );
 722     SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude );
 723     SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
 724     SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
 725     SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
 726 }
 727
 728
 729 void fgToggleFDMdataLogging(void) {
 730   cur_fdm_state->ToggleDataLogging();
 731 }