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 <simgear/constants.h>
  27 #include <simgear/debug/logstream.hxx>
  28 #include <simgear/math/sg_geodesy.hxx>
  29 #include <simgear/timing/timestamp.hxx>
  30
  31 #include <Scenery/scenery.hxx>
  32 #include <FDM/LaRCsim/ls_interface.h>
  33 #include <Main/globals.hxx>
  34 #include <Main/fg_props.hxx>
  35
  36 #include "External.hxx"
  37 #include "flight.hxx"
  38 #include "JSBSim.hxx"
  39 #include "LaRCsim.hxx"
  40 #include "Balloon.h"
  41
  42
  43 // base_fdm_state is the internal state that is updated in integer
  44 // multiples of "dt".  This leads to "jitter" with respect to the real
  45 // world time, so we introduce cur_fdm_state which is extrapolated by
  46 // the difference between sim time and real world time
  47
  48 FGInterface *cur_fdm_state;
  49 FGInterface base_fdm_state;
  50
  51 inline void init_vec(FG_VECTOR_3 vec) {
  52     vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0;
  53 }
  54
  55 FGEngInterface::FGEngInterface() {
  56
  57     // inputs
  58     Throttle=0;
  59     Mixture=0;
  60     Prop_Advance=0;
  61
  62     // outputs
  63     RPM=0;
  64     Manifold_Pressure=0;
  65     MaxHP=0;
  66     Percentage_Power=0;
  67     EGT=0;
  68     prop_thrust=0;
  69 }
  70
  71 FGEngInterface::~FGEngInterface(void) {
  72 }
  73
  74
  75 // Constructor
  76 FGInterface::FGInterface() {
  77     _setup();
  78 }
  79
  80 FGInterface::FGInterface( double dt ) {
  81
  82     _setup();
  83     delta_t = dt;
  84     remainder = elapsed = multi_loop = 0;
  85 }
  86
  87 // Destructor
  88 FGInterface::~FGInterface() {
  89 //   unbind();                  // FIXME: should be called explicitly
  90 }
  91
  92
  93 /**
  94  * Set default values for the state of the FDM.
  95  *
  96  * This method is invoked by the constructors.
  97  */
  98 void
  99 FGInterface::_setup ()
 100 {
 101     init_vec( d_pilot_rp_body_v );
 102     init_vec( d_cg_rp_body_v );
 103     init_vec( f_body_total_v );
 104     init_vec( f_local_total_v );
 105     init_vec( f_aero_v );
 106     init_vec( f_engine_v );
 107     init_vec( f_gear_v );
 108     init_vec( m_total_rp_v );
 109     init_vec( m_total_cg_v );
 110     init_vec( m_aero_v );
 111     init_vec( m_engine_v );
 112     init_vec( m_gear_v );
 113     init_vec( v_dot_local_v );
 114     init_vec( v_dot_body_v );
 115     init_vec( a_cg_body_v );
 116     init_vec( a_pilot_body_v );
 117     init_vec( n_cg_body_v );
 118     init_vec( n_pilot_body_v );
 119     init_vec( omega_dot_body_v );
 120     init_vec( v_local_v );
 121     init_vec( v_local_rel_ground_v );
 122     init_vec( v_local_airmass_v );
 123     init_vec( v_local_rel_airmass_v );
 124     init_vec( v_local_gust_v );
 125     init_vec( v_wind_body_v );
 126     init_vec( omega_body_v );
 127     init_vec( omega_local_v );
 128     init_vec( omega_total_v );
 129     init_vec( euler_rates_v );
 130     init_vec( geocentric_rates_v );
 131     init_vec( geocentric_position_v );
 132     init_vec( geodetic_position_v );
 133     init_vec( euler_angles_v );
 134     init_vec( d_cg_rwy_local_v );
 135     init_vec( d_cg_rwy_rwy_v );
 136     init_vec( d_pilot_rwy_local_v );
 137     init_vec( d_pilot_rwy_rwy_v );
 138     init_vec( t_local_to_body_m[0] );
 139     init_vec( t_local_to_body_m[1] );
 140     init_vec( t_local_to_body_m[2] );
 141
 142     mass=i_xx=i_yy=i_zz=i_xz=0;
 143     nlf=0;
 144     v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
 145     v_ground_speed=v_equiv=v_equiv_kts=0;
 146     v_calibrated=v_calibrated_kts=0;
 147     gravity=0;
 148     centrifugal_relief=0;
 149     alpha=beta=alpha_dot=beta_dot=0;
 150     cos_alpha=sin_alpha=cos_beta=sin_beta=0;
 151     cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
 152     gamma_vert_rad=gamma_horiz_rad=0;
 153     sigma=density=v_sound=mach_number=0;
 154     static_pressure=total_pressure=impact_pressure=0;
 155     dynamic_pressure=0;
 156     static_temperature=total_temperature=0;
 157     sea_level_radius=earth_position_angle=0;
 158     runway_altitude=runway_latitude=runway_longitude=0;
 159     runway_heading=0;
 160     radius_to_rwy=0;
 161     climb_rate=0;
 162     sin_lat_geocentric=cos_lat_geocentric=0;
 163     sin_latitude=cos_latitude=0;
 164     sin_longitude=cos_longitude=0;
 165     altitude_agl=0;
 166 }
 167
 168
 169 /**
 170  * Initialize the state of the FDM.
 171  *
 172  * Subclasses of FGInterface may do their own, additional initialization,
 173  * but normally they should invoke this method explicitly first as
 174  * FGInterface::init() to make sure the basic structures are set up
 175  * properly.
 176  */
 177 void
 178 FGInterface::init ()
 179 {
 180   SG_LOG(SG_FLIGHT, SG_INFO, "Start initializing FGInterface");
 181
 182   stamp();
 183   set_remainder(0);
 184
 185                                 // Set initial position
 186   SG_LOG(SG_FLIGHT, SG_INFO, "...initializing position...");
 187   set_Longitude(fgGetDouble("/position/longitude-deg") * SGD_DEGREES_TO_RADIANS);
 188   set_Latitude(fgGetDouble("/position/latitude-deg") * SGD_DEGREES_TO_RADIANS);
 189   double ground_elev_m = scenery.cur_elev + 1;
 190   double ground_elev_ft = ground_elev_m * METERS_TO_FEET;
 191   if (fgGetBool("/sim/startup/onground") ||
 192       fgGetDouble("/position/altitude-ft") < ground_elev_ft)
 193     fgSetDouble("/position/altitude-ft", ground_elev_ft);
 194   set_Altitude(fgGetDouble("/position/altitude-ft"));
 195
 196                                 // Set ground elevation
 197   SG_LOG(SG_FLIGHT, SG_INFO,
 198          "...initializing ground elevation to "
 199          << ground_elev_ft << "ft...");
 200   fgFDMSetGroundElevation("jsb", ground_elev_m);
 201
 202                                 // Set sea-level radius
 203   SG_LOG(SG_FLIGHT, SG_INFO, "...initializing sea-level radius...");
 204   double sea_level_radius_meters;
 205   double lat_geoc;
 206   sgGeodToGeoc(get_Latitude(), get_Altitude(),
 207                &sea_level_radius_meters, &lat_geoc);
 208   set_Sea_level_radius(sea_level_radius_meters * SG_METER_TO_FEET);
 209
 210                                 // Set initial velocities
 211   SG_LOG(SG_FLIGHT, SG_INFO, "...initializing velocities...");
 212   if (!fgHasNode("/sim/startup/speed-set")) {
 213     set_V_calibrated_kts(0.0);
 214   } else {
 215     const string speedset = fgGetString("/sim/startup/speed-set");
 216     if (speedset == "knots" || speedset == "KNOTS") {
 217       set_V_calibrated_kts(fgGetDouble("/velocities/airspeed-kt"));
 218     } else if (speedset == "mach" || speedset == "MACH") {
 219       set_Mach_number(fgGetDouble("/velocities/mach"));
 220     } else if (speedset == "UVW" || speedset == "uvw") {
 221       set_Velocities_Wind_Body(fgGetDouble("/velocities/uBody-fps"),
 222                                fgGetDouble("/velocities/vBody-fps"),
 223                                fgGetDouble("/velocities/wBody-fps"));
 224     } else if (speedset == "NED" || speedset == "ned") {
 225       set_Velocities_Local(fgGetDouble("/velocities/speed-north-fps"),
 226                            fgGetDouble("/velocities/speed-east-fps"),
 227                            fgGetDouble("/velocities/speed-down-fps"));
 228     } else {
 229       SG_LOG(SG_FLIGHT, SG_ALERT,
 230              "Unrecognized value for /sim/startup/speed-set: " << speedset);
 231       set_V_calibrated_kts(0.0);
 232     }
 233   }
 234
 235                                 // Set initial Euler angles
 236   SG_LOG(SG_FLIGHT, SG_INFO, "...initializing Euler angles...");
 237   set_Euler_Angles
 238     (fgGetDouble("/orientation/roll-deg") * SGD_DEGREES_TO_RADIANS,
 239      fgGetDouble("/orientation/pitch-deg") * SGD_DEGREES_TO_RADIANS,
 240      fgGetDouble("/orientation/heading-deg") * SGD_DEGREES_TO_RADIANS);
 241
 242   SG_LOG(SG_FLIGHT, SG_INFO, "End initializing FGInterface");
 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                                 // Time management (read-only)
 259   fgTie("/fdm/time/delta_t", this,
 260         &FGInterface::get_delta_t); // read-only
 261   fgTie("/fdm/time/elapsed", this,
 262         &FGInterface::get_elapsed); // read-only
 263   fgTie("/fdm/time/remainder", this,
 264         &FGInterface::get_remainder); // read-only
 265   fgTie("/fdm/time/multi_loop", this,
 266         &FGInterface::get_multi_loop); // read-only
 267
 268                         // Aircraft position
 269   fgTie("/position/latitude-deg", this,
 270         &FGInterface::get_Latitude_deg,
 271         &FGInterface::set_Latitude_deg,
 272         false);
 273   fgSetArchivable("/position/latitude-deg");
 274   fgTie("/position/longitude-deg", this,
 275         &FGInterface::get_Longitude_deg,
 276         &FGInterface::set_Longitude_deg,
 277         false);
 278   fgSetArchivable("/position/longitude-deg");
 279   fgTie("/position/altitude-ft", this,
 280         &FGInterface::get_Altitude,
 281         &FGInterface::set_Altitude,
 282         false);
 283   fgSetArchivable("/position/altitude-ft");
 284   fgTie("/position/altitude-agl-ft", this,
 285         &FGInterface::get_Altitude_AGL); // read-only
 286
 287                                 // Orientation
 288   fgTie("/orientation/roll-deg", this,
 289         &FGInterface::get_Phi_deg,
 290         &FGInterface::set_Phi_deg);
 291   fgSetArchivable("/orientation/roll-deg");
 292   fgTie("/orientation/pitch-deg", this,
 293         &FGInterface::get_Theta_deg,
 294         &FGInterface::set_Theta_deg);
 295   fgSetArchivable("/orientation/pitch-deg");
 296   fgTie("/orientation/heading-deg", this,
 297         &FGInterface::get_Psi_deg,
 298         &FGInterface::set_Psi_deg);
 299   fgSetArchivable("/orientation/heading-deg");
 300
 301                                 // Calibrated airspeed
 302   fgTie("/velocities/airspeed-kt", this,
 303         &FGInterface::get_V_calibrated_kts,
 304         &FGInterface::set_V_calibrated_kts);
 305
 306                                 // Local velocities
 307   fgTie("/velocities/speed-north-fps", this,
 308         &FGInterface::get_V_north,
 309         &FGInterface::set_V_north);
 310   fgSetArchivable("/velocities/speed-north-fps");
 311   fgTie("/velocities/speed-east-fps", this,
 312         &FGInterface::get_V_east,
 313         &FGInterface::set_V_east);
 314   fgSetArchivable("/velocities/speed-east-fps");
 315   fgTie("/velocities/speed-down-fps", this,
 316         &FGInterface::get_V_down,
 317         &FGInterface::set_V_down);
 318   fgSetArchivable("/velocities/speed-down-fps");
 319
 320                                 // Relative wind
 321   fgTie("/velocities/uBody-fps", this,
 322         &FGInterface::get_uBody,
 323         &FGInterface::set_uBody);
 324   fgTie("/velocities/vBody-fps", this,
 325         &FGInterface::get_vBody,
 326         &FGInterface::set_vBody);
 327   fgTie("/velocities/wBody-fps", this,
 328         &FGInterface::get_wBody,
 329         &FGInterface::set_wBody);
 330
 331                                 // Climb and slip (read-only)
 332   fgTie("/velocities/vertical-speed-fps", this,
 333         &FGInterface::get_Climb_Rate); // read-only
 334   fgTie("/velocities/side-slip-rad", this,
 335         &FGInterface::get_Beta); // read-only
 336 }
 337
 338
 339 /**
 340  * Unbind any properties bound to this FDM.
 341  *
 342  * This method allows the FDM to release properties so that a new
 343  * FDM can bind them instead.
 344  */
 345 void
 346 FGInterface::unbind ()
 347 {
 348   fgUntie("/fdm/time/delta_t");
 349   fgUntie("/fdm/time/elapsed");
 350   fgUntie("/fdm/time/remainder");
 351   fgUntie("/fdm/time/multi_loop");
 352   fgUntie("/position/latitude-deg");
 353   fgUntie("/position/longitude-deg");
 354   fgUntie("/position/altitude-ft");
 355   fgUntie("/position/heading");
 356   fgUntie("/position/pitch");
 357   fgUntie("/position/roll");
 358   fgUntie("/velocities/airspeed-kt");
 359   fgUntie("/velocities/speed-north-fps");
 360   fgUntie("/velocities/speed-east-fps");
 361   fgUntie("/velocities/speed-down-fps");
 362   fgUntie("/velocities/uBody-fps");
 363   fgUntie("/velocities/vBody-fps");
 364   fgUntie("/velocities/wBody-fps");
 365   fgUntie("/velocities/vertical-speed-fps");
 366   fgUntie("/velocities/side-slip-rad");
 367 }
 368
 369
 370 /**
 371  * Update the state of the FDM (i.e. run the equations of motion).
 372  */
 373 void
 374 FGInterface::update ()
 375 {
 376   update(1);
 377 }
 378
 379
 380 bool FGInterface::update( int multi_loop ) {
 381     cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl;
 382     return false;
 383 }
 384
 385
 386 void FGInterface::_updatePosition( double lat_geoc, double lon, double alt ) {
 387     double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
 388
 389     sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
 390                   &lat_geod, &tmp_alt, &sl_radius1 );
 391     sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
 392
 393     SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
 394             << " lat_geod = " << lat_geod
 395             << " lat_geoc = " << lat_geoc
 396             << " alt = " << alt
 397             << " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
 398             << " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
 399             << " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
 400             << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
 401
 402     _set_Geocentric_Position( lat_geoc, lon,
 403                               sl_radius2 * SG_METER_TO_FEET + alt );
 404
 405     _set_Geodetic_Position( lat_geod, lon, alt );
 406
 407     _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
 408     _set_Runway_altitude( scenery.cur_elev*METERS_TO_FEET );
 409
 410     _set_sin_lat_geocentric( lat_geoc );
 411     _set_cos_lat_geocentric( lat_geoc );
 412
 413     _set_sin_cos_longitude( lon );
 414
 415     _set_sin_cos_latitude( lat_geod );
 416
 417     /* Norman's code for slope of the terrain */
 418     /* needs to be tested -- get it on the HUD and taxi around */
 419     /* double *tnorm = scenery.cur_normal;
 420
 421        double sy = sin ( -get_Psi() ) ;
 422        double cy = cos ( -get_Psi() ) ;
 423
 424        double phitb, thetatb, psitb;
 425        if(tnorm[1] != 0.0) {
 426                 psitb = -atan2 ( tnorm[0], tnorm[1] );
 427        }
 428        if(tnorm[2] != 0.0) {
 429                 thetatb =  atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
 430                 phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
 431        }
 432
 433        _set_terrain_slope(phitb, thetatb, psitb)
 434      */
 435 }
 436
 437
 438 // Extrapolate fdm based on time_offset (in usec)
 439 void FGInterface::extrapolate( int time_offset ) {
 440     double dt = time_offset / 1000000.0;
 441
 442     // -dw- metrowerks complains about ambiguous access, not critical
 443     // to keep this ;)
 444 #ifndef __MWERKS__
 445     cout << "extrapolating FDM by dt = " << dt << endl;
 446 #endif
 447
 448     double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
 449     double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
 450
 451     double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
 452     double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
 453
 454     double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
 455     double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
 456
 457     geodetic_position_v[0] = lat;
 458     geocentric_position_v[0] = lat_geoc;
 459
 460     geodetic_position_v[1] = lon;
 461     geocentric_position_v[1] = lon_geoc;
 462
 463     geodetic_position_v[2] = alt;
 464     geocentric_position_v[2] = radius;
 465 }
 466
 467
 468 // Set the altitude (force)
 469 void fgFDMForceAltitude(const string &model, double alt_meters) {
 470     SG_LOG(SG_FLIGHT,SG_INFO, "fgFDMForceAltitude: " << alt_meters );
 471
 472     double sea_level_radius_meters;
 473     double lat_geoc;
 474
 475     // Set the FG variables first
 476     sgGeodToGeoc( base_fdm_state.get_Latitude(), alt_meters,
 477                   &sea_level_radius_meters, &lat_geoc);
 478
 479     base_fdm_state.set_Altitude( alt_meters * SG_METER_TO_FEET );
 480     base_fdm_state.set_Sea_level_radius( sea_level_radius_meters *
 481                                          SG_METER_TO_FEET );
 482
 483     cur_fdm_state->set_Altitude( alt_meters * SG_METER_TO_FEET );
 484     cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters *
 485            SG_METER_TO_FEET );
 486
 487     // additional work needed for some flight models
 488     if ( model == "larcsim" ) {
 489         ls_ForceAltitude( base_fdm_state.get_Altitude() );
 490     }
 491 }
 492
 493
 494 // Set the local ground elevation
 495 void fgFDMSetGroundElevation(const string &model, double ground_meters) {
 496     SG_LOG( SG_FLIGHT,SG_INFO, "fgFDMSetGroundElevation: "
 497             << ground_meters*SG_METER_TO_FEET );
 498     base_fdm_state.set_Runway_altitude( ground_meters * SG_METER_TO_FEET );
 499     cur_fdm_state->set_Runway_altitude( ground_meters * SG_METER_TO_FEET );
 500 }
 501
 502
 503 // Positions
 504 void FGInterface::set_Latitude(double lat) {
 505     geodetic_position_v[0] = lat;
 506 }
 507
 508 void FGInterface::set_Longitude(double lon) {
 509     geodetic_position_v[1] = lon;
 510 }
 511
 512 void FGInterface::set_Altitude(double alt) {
 513     geodetic_position_v[2] = alt;
 514 }
 515
 516 void FGInterface::set_AltitudeAGL(double altagl) {
 517     altitude_agl=altagl;
 518 }
 519
 520 // Velocities
 521 void FGInterface::set_V_calibrated_kts(double vc) {
 522     v_calibrated_kts = vc;
 523 }
 524
 525 void FGInterface::set_Mach_number(double mach) {
 526     mach_number = mach;
 527 }
 528
 529 void FGInterface::set_Velocities_Local( double north,
 530                                         double east,
 531                                         double down ){
 532     v_local_v[0] = north;
 533     v_local_v[1] = east;
 534     v_local_v[2] = down;
 535 }
 536
 537 void FGInterface::set_Velocities_Wind_Body( double u,
 538                                             double v,
 539                                             double w){
 540     v_wind_body_v[0] = u;
 541     v_wind_body_v[1] = v;
 542     v_wind_body_v[2] = w;
 543 }
 544
 545 // Euler angles
 546 void FGInterface::set_Euler_Angles( double phi,
 547                                     double theta,
 548                                     double psi ) {
 549     euler_angles_v[0] = phi;
 550     euler_angles_v[1] = theta;
 551     euler_angles_v[2] = psi;
 552 }
 553
 554 // Flight Path
 555 void FGInterface::set_Climb_Rate( double roc) {
 556     climb_rate = roc;
 557 }
 558
 559 void FGInterface::set_Gamma_vert_rad( double gamma) {
 560     gamma_vert_rad = gamma;
 561 }
 562
 563 // Earth
 564 void FGInterface::set_Sea_level_radius(double slr) {
 565     sea_level_radius = slr;
 566 }
 567
 568 void FGInterface::set_Runway_altitude(double ralt) {
 569     runway_altitude = ralt;
 570 }
 571
 572 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
 573 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
 574 void FGInterface::set_Density(double rho) { density = rho; }
 575
 576 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
 577                                                 double weast,
 578                                                 double wdown ) {
 579     v_local_airmass_v[0] = wnorth;
 580     v_local_airmass_v[1] = weast;
 581     v_local_airmass_v[2] = wdown;
 582 }
 583
 584
 585 void FGInterface::_busdump(void) {
 586
 587     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]);
 588     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]);
 589     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]);
 590     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]);
 591     SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
 592     SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
 593     SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
 594     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]);
 595     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]);
 596     SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
 597     SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
 598     SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
 599     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]);
 600     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]);
 601     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]);
 602     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]);
 603     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]);
 604     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]);
 605     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]);
 606     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
 607     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]);
 608     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]);
 609     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]);
 610     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]);
 611     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]);
 612     SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
 613     SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
 614     SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
 615     SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
 616     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
 617     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
 618     SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
 619     SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
 620     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]);
 621     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]);
 622     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]);
 623     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]);
 624
 625     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]);
 626     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]);
 627     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]);
 628
 629     SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass );
 630     SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx );
 631     SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy );
 632     SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz );
 633     SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz );
 634     SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
 635     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
 636     SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
 637     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground );
 638     SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial );
 639     SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
 640     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv );
 641     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
 642     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated );
 643     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
 644     SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity );
 645     SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief );
 646     SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
 647     SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
 648     SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot );
 649     SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot );
 650     SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha );
 651     SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha );
 652     SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta );
 653     SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta );
 654     SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi );
 655     SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi );
 656     SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta );
 657     SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta );
 658     SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi );
 659     SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi );
 660     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
 661     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
 662     SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma );
 663     SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
 664     SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound );
 665     SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
 666     SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
 667     SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
 668     SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure );
 669     SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
 670     SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
 671     SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
 672     SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
 673     SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
 674     SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
 675     SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude );
 676     SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude );
 677     SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading );
 678     SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy );
 679     SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
 680     SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
 681     SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
 682     SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude );
 683     SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude );
 684     SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
 685     SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
 686     SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
 687 }
 688
 689
 690 void fgToggleFDMdataLogging(void) {
 691   cur_fdm_state->ToggleDataLogging();
 692 }
 693