src/FDM/flight.cxx

   1 // flight.cxx -- a general interface to the various flight models
   2 //
   3 // Written by Curtis Olson, started May 1997.
   4 //
   5 // Copyright (C) 1997  Curtis L. Olson  - http://www.flightgear.org/~curt
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  11 //
  12 // This program is distributed in the hope that it will be useful, but
  13 // WITHOUT ANY WARRANTY; without even the implied warranty of
  14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  15 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
  20 //
  21 // $Id$
  22
  23 #ifdef HAVE_CONFIG_H
  24 #  include "config.h"
  25 #endif
  26
  27 #include "flight.hxx"
  28
  29 #include <simgear/constants.h>
  30 #include <simgear/debug/logstream.hxx>
  31 #include <simgear/timing/timestamp.hxx>
  32 #include <simgear/scene/material/mat.hxx>
  33
  34 #include <Scenery/scenery.hxx>
  35 #include <Main/globals.hxx>
  36 #include <Main/fg_props.hxx>
  37 #include <FDM/groundcache.hxx>
  38
  39
  40 static inline void assign(double* ptr, const SGVec3d& vec)
  41 {
  42   ptr[0] = vec[0];
  43   ptr[1] = vec[1];
  44   ptr[2] = vec[2];
  45 }
  46
  47 // Constructor
  48 FGInterface::FGInterface()
  49 {
  50     _setup();
  51 }
  52
  53 FGInterface::FGInterface( double dt )
  54 {
  55     _setup();
  56 }
  57
  58 // Destructor
  59 FGInterface::~FGInterface() {
  60     // unbind();                   // FIXME: should be called explicitly
  61 }
  62
  63 int
  64 FGInterface::_calc_multiloop (double dt)
  65 {
  66   // Since some time the simulation time increments we get here are
  67   // already a multiple of the basic update frequency.
  68   // So, there is no need to do our own multiloop rounding with all bad
  69   // roundoff problems when we already have nearly accurate values.
  70   // Only the speedup thing must be still handled here
  71   int hz = fgGetInt("/sim/model-hz");
  72   double speedup = fgGetDouble("/sim/speed-up");
  73   double loops = dt * hz * speedup + delta_loops;
  74   int iloops = SGMiscd::roundToInt(loops);
  75   delta_loops = loops-iloops; // delta_loops required for speed-ups < 1 (to do one iteration every n-th step)
  76   return iloops;
  77 }
  78
  79
  80 /**
  81  * Set default values for the state of the FDM.
  82  *
  83  * This method is invoked by the constructors.
  84  */
  85 void
  86 FGInterface::_setup ()
  87 {
  88     inited = false;
  89     bound = false;
  90
  91     d_cg_rp_body_v = SGVec3d::zeros();
  92     v_dot_local_v = SGVec3d::zeros();
  93     v_dot_body_v = SGVec3d::zeros();
  94     a_cg_body_v = SGVec3d::zeros();
  95     a_pilot_body_v = SGVec3d::zeros();
  96     n_cg_body_v = SGVec3d::zeros();
  97     v_local_v = SGVec3d::zeros();
  98     v_local_rel_ground_v = SGVec3d::zeros();
  99     v_local_airmass_v = SGVec3d::zeros();
 100     v_wind_body_v = SGVec3d::zeros();
 101     omega_body_v = SGVec3d::zeros();
 102     euler_rates_v = SGVec3d::zeros();
 103     geocentric_rates_v = SGVec3d::zeros();
 104     geodetic_position_v = SGGeod::fromRadM(0, 0, 0);
 105     cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v);
 106     geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
 107     euler_angles_v = SGVec3d::zeros();
 108
 109     nlf=0;
 110     v_rel_wind=v_true_kts=0;
 111     v_ground_speed=v_equiv_kts=0;
 112     v_calibrated_kts=0;
 113     alpha=beta=0;
 114     gamma_vert_rad=0;
 115     density=mach_number=0;
 116     static_pressure=total_pressure=0;
 117     dynamic_pressure=0;
 118     static_temperature=total_temperature=0;
 119     sea_level_radius=earth_position_angle=0;
 120     runway_altitude=0;
 121     climb_rate=0;
 122     altitude_agl=0;
 123     track=0;
 124     delta_loops = 0.0;
 125 }
 126
 127 void
 128 FGInterface::init () {}
 129
 130 /**
 131  * Initialize the state of the FDM.
 132  *
 133  * Subclasses of FGInterface may do their own, additional initialization,
 134  * but there is some that is common to all.  Normally, they should call
 135  * this before they begin their own init to make sure the basic structures
 136  * are set up properly.
 137  */
 138 void
 139 FGInterface::common_init ()
 140 {
 141     SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
 142
 143     set_inited( true );
 144
 145     ground_cache.set_cache_time_offset(globals->get_sim_time_sec());
 146
 147     // Set initial position
 148     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
 149     double lon = fgGetDouble("/sim/presets/longitude-deg")
 150       * SGD_DEGREES_TO_RADIANS;
 151     double lat = fgGetDouble("/sim/presets/latitude-deg")
 152       * SGD_DEGREES_TO_RADIANS;
 153     double alt_ft = fgGetDouble("/sim/presets/altitude-ft");
 154     double alt_m = alt_ft * SG_FEET_TO_METER;
 155     set_Longitude( lon );
 156     set_Latitude( lat );
 157     SG_LOG( SG_FLIGHT, SG_INFO, "Checking for lon = "
 158             << lon*SGD_RADIANS_TO_DEGREES << "deg, lat = "
 159             << lat*SGD_RADIANS_TO_DEGREES << "deg, alt = "
 160             << alt_ft << "ft");
 161
 162     double ground_elev_m = get_groundlevel_m(lat, lon, alt_m);
 163     double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
 164     _set_Runway_altitude ( ground_elev_ft );
 165
 166     // Set aircraft altitude
 167     if ( fgGetBool("/sim/presets/onground") || alt_ft < ground_elev_ft ) {
 168         fgSetDouble("/position/altitude-ft", ground_elev_ft + 0.1);
 169         set_Altitude( ground_elev_ft + 0.1);
 170     } else {
 171         set_Altitude( alt_ft );
 172     }
 173
 174     // Set ground elevation
 175     SG_LOG( SG_FLIGHT, SG_INFO,
 176             "...initializing ground elevation to " << ground_elev_ft
 177             << "ft..." );
 178
 179     // Set sea-level radius
 180     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
 181     SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
 182             << fgGetDouble("/sim/presets/latitude-deg")
 183             << " alt = " << get_Altitude() );
 184     double slr = SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v);
 185     _set_Sea_level_radius( slr * SG_METER_TO_FEET );
 186
 187     // Set initial Euler angles
 188     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
 189     set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
 190                         * SGD_DEGREES_TO_RADIANS,
 191                       fgGetDouble("/sim/presets/pitch-deg")
 192                         * SGD_DEGREES_TO_RADIANS,
 193                       fgGetDouble("/sim/presets/heading-deg")
 194                         * SGD_DEGREES_TO_RADIANS );
 195
 196     // Set initial velocities
 197     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
 198     if ( !fgHasNode("/sim/presets/speed-set") ) {
 199         set_V_calibrated_kts(0.0);
 200     } else {
 201         const string speedset = fgGetString("/sim/presets/speed-set");
 202         if ( speedset == "knots" || speedset == "KNOTS" ) {
 203             set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") );
 204         } else if ( speedset == "mach" || speedset == "MACH" ) {
 205             set_Mach_number( fgGetDouble("/sim/presets/mach") );
 206         } else if ( speedset == "UVW" || speedset == "uvw" ) {
 207             set_Velocities_Wind_Body(
 208                                      fgGetDouble("/sim/presets/uBody-fps"),
 209                                      fgGetDouble("/sim/presets/vBody-fps"),
 210                                      fgGetDouble("/sim/presets/wBody-fps") );
 211         } else if ( speedset == "NED" || speedset == "ned" ) {
 212             set_Velocities_Local(
 213                                  fgGetDouble("/sim/presets/speed-north-fps"),
 214                                  fgGetDouble("/sim/presets/speed-east-fps"),
 215                                  fgGetDouble("/sim/presets/speed-down-fps") );
 216         } else {
 217             SG_LOG( SG_FLIGHT, SG_ALERT,
 218                     "Unrecognized value for /sim/presets/speed-set: "
 219                     << speedset);
 220             set_V_calibrated_kts( 0.0 );
 221         }
 222     }
 223
 224     if ( fgHasNode("/sim/presets/glideslope-deg") )
 225         set_Gamma_vert_rad( fgGetDouble("/sim/presets/glideslope-deg")
 226                               * SGD_DEGREES_TO_RADIANS );
 227     else if ( fgHasNode("/sim/presets/speed-set") &&
 228               fgHasNode( "/sim/presets/vertical-speed-fps") )
 229     {
 230         set_Climb_Rate( fgGetDouble("/sim/presets/vertical-speed-fps") );
 231     }
 232
 233     SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
 234 }
 235
 236
 237 /**
 238  * Bind getters and setters to properties.
 239  *
 240  * The bind() method will be invoked after init().  Note that unlike
 241  * the usual implementations of FGSubsystem::bind(), this method does
 242  * not automatically pick up existing values for the properties at
 243  * bind time; instead, all values are set explicitly in the init()
 244  * method.
 245  */
 246 void
 247 FGInterface::bind ()
 248 {
 249   bound = true;
 250
 251   _tiedProperties.setRoot(globals->get_props());
 252   // Aircraft position
 253   _tiedProperties.Tie("/position/latitude-deg", this,
 254                       &FGInterface::get_Latitude_deg,
 255                       &FGInterface::set_Latitude_deg,
 256                       false);
 257   fgSetArchivable("/position/latitude-deg");
 258   _tiedProperties.Tie("/position/longitude-deg", this,
 259                       &FGInterface::get_Longitude_deg,
 260                       &FGInterface::set_Longitude_deg,
 261                       false);
 262   fgSetArchivable("/position/longitude-deg");
 263   _tiedProperties.Tie("/position/altitude-ft", this,
 264                       &FGInterface::get_Altitude,
 265                       &FGInterface::set_Altitude,
 266                       false);
 267   fgSetArchivable("/position/altitude-ft");
 268   _tiedProperties.Tie("/position/altitude-agl-ft", this,
 269                       &FGInterface::get_Altitude_AGL, &FGInterface::set_AltitudeAGL, false);
 270   fgSetArchivable("/position/ground-elev-ft");
 271   _tiedProperties.Tie("/position/ground-elev-ft", this,
 272                       &FGInterface::get_Runway_altitude); // read-only
 273   fgSetArchivable("/position/ground-elev-m");
 274   _tiedProperties.Tie("/position/ground-elev-m", this,
 275                       &FGInterface::get_Runway_altitude_m); // read-only
 276   _tiedProperties.Tie("/environment/ground-elevation-m", this,
 277                       &FGInterface::get_Runway_altitude_m); // read-only
 278   fgSetArchivable("/position/sea-level-radius-ft");
 279   _tiedProperties.Tie("/position/sea-level-radius-ft", this,
 280                       &FGInterface::get_Sea_level_radius,
 281                       &FGInterface::_set_Sea_level_radius, false);
 282
 283   // Orientation
 284   _tiedProperties.Tie("/orientation/roll-deg", this,
 285                       &FGInterface::get_Phi_deg,
 286                       &FGInterface::set_Phi_deg, false);
 287   fgSetArchivable("/orientation/roll-deg");
 288   _tiedProperties.Tie("/orientation/pitch-deg", this,
 289                       &FGInterface::get_Theta_deg,
 290                       &FGInterface::set_Theta_deg, false);
 291   fgSetArchivable("/orientation/pitch-deg");
 292   _tiedProperties.Tie("/orientation/heading-deg", this,
 293                       &FGInterface::get_Psi_deg,
 294                       &FGInterface::set_Psi_deg, false);
 295   fgSetArchivable("/orientation/heading-deg");
 296   _tiedProperties.Tie("/orientation/track-deg", this,
 297                       &FGInterface::get_Track); // read-only
 298
 299   // Body-axis "euler rates" (rotation speed, but in a funny
 300   // representation).
 301   _tiedProperties.Tie("/orientation/roll-rate-degps", this,
 302                       &FGInterface::get_Phi_dot_degps,
 303                       &FGInterface::set_Phi_dot_degps, false);
 304   _tiedProperties.Tie("/orientation/pitch-rate-degps", this,
 305                       &FGInterface::get_Theta_dot_degps,
 306                       &FGInterface::set_Theta_dot_degps, false);
 307   _tiedProperties.Tie("/orientation/yaw-rate-degps", this,
 308                       &FGInterface::get_Psi_dot_degps,
 309                       &FGInterface::set_Psi_dot_degps, false);
 310
 311   _tiedProperties.Tie("/orientation/p-body", this, &FGInterface::get_P_body); // read-only
 312   _tiedProperties.Tie("/orientation/q-body", this, &FGInterface::get_Q_body); // read-only
 313   _tiedProperties.Tie("/orientation/r-body", this, &FGInterface::get_R_body); // read-only
 314
 315   // Ground speed knots
 316   _tiedProperties.Tie("/velocities/groundspeed-kt", this,
 317                       &FGInterface::get_V_ground_speed_kt,
 318                       &FGInterface::set_V_ground_speed_kt); // read-only
 319
 320   // Calibrated airspeed
 321   _tiedProperties.Tie("/velocities/airspeed-kt", this,
 322                       &FGInterface::get_V_calibrated_kts,
 323                       &FGInterface::set_V_calibrated_kts,
 324                       false);
 325
 326   _tiedProperties.Tie("/velocities/equivalent-kt", this,
 327                       &FGInterface::get_V_equiv_kts); // read-only
 328
 329   // Mach number
 330   _tiedProperties.Tie("/velocities/mach", this,
 331                       &FGInterface::get_Mach_number,
 332                       &FGInterface::set_Mach_number,
 333                       false);
 334
 335   // Local velocities
 336 //   _tiedProperties.Tie("/velocities/speed-north-fps", this,
 337 //                       &FGInterface::get_V_north,
 338 //                       &FGInterface::set_V_north);
 339 //   fgSetArchivable("/velocities/speed-north-fps");
 340 //   _tiedProperties.Tie("/velocities/speed-east-fps", this,
 341 //                       &FGInterface::get_V_east,
 342 //                       &FGInterface::set_V_east);
 343 //   fgSetArchivable("/velocities/speed-east-fps");
 344 //   _tiedProperties.Tie("/velocities/speed-down-fps", this,
 345 //                       &FGInterface::get_V_down,
 346 //                       &FGInterface::set_V_down);
 347 //   fgSetArchivable("/velocities/speed-down-fps");
 348
 349   // FIXME: Temporarily read-only, until the
 350   // incompatibilities between JSBSim and
 351   // LaRCSim are fixed (LaRCSim adds the
 352   // earth's rotation to the east velocity).
 353   _tiedProperties.Tie("/velocities/speed-north-fps", this,
 354                       &FGInterface::get_V_north, &FGInterface::set_V_north, false);
 355   _tiedProperties.Tie("/velocities/speed-east-fps", this,
 356                       &FGInterface::get_V_east, &FGInterface::set_V_east, false);
 357   _tiedProperties.Tie("/velocities/speed-down-fps", this,
 358                       &FGInterface::get_V_down, &FGInterface::set_V_down, false);
 359
 360   _tiedProperties.Tie("/velocities/north-relground-fps", this,
 361                       &FGInterface::get_V_north_rel_ground); // read-only
 362   _tiedProperties.Tie("/velocities/east-relground-fps", this,
 363                       &FGInterface::get_V_east_rel_ground); // read-only
 364   _tiedProperties.Tie("/velocities/down-relground-fps", this,
 365                       &FGInterface::get_V_down_rel_ground); // read-only
 366
 367   // Relative wind
 368   // FIXME: temporarily archivable, until the NED problem is fixed.
 369   _tiedProperties.Tie("/velocities/uBody-fps", this,
 370                       &FGInterface::get_uBody,
 371                       &FGInterface::set_uBody,
 372                       false);
 373   fgSetArchivable("/velocities/uBody-fps");
 374   _tiedProperties.Tie("/velocities/vBody-fps", this,
 375                       &FGInterface::get_vBody,
 376                       &FGInterface::set_vBody,
 377                       false);
 378   fgSetArchivable("/velocities/vBody-fps");
 379   _tiedProperties.Tie("/velocities/wBody-fps", this,
 380                       &FGInterface::get_wBody,
 381                       &FGInterface::set_wBody,
 382                       false);
 383   fgSetArchivable("/velocities/wBody-fps");
 384
 385   // Climb and slip (read-only)
 386   _tiedProperties.Tie("/velocities/vertical-speed-fps", this,
 387                       &FGInterface::get_Climb_Rate,
 388                       &FGInterface::set_Climb_Rate, false );
 389   _tiedProperties.Tie("/velocities/glideslope", this,
 390                       &FGInterface::get_Gamma_vert_rad,
 391                       &FGInterface::set_Gamma_vert_rad, false );
 392   _tiedProperties.Tie("/orientation/side-slip-rad", this,
 393                       &FGInterface::get_Beta, &FGInterface::_set_Beta, false);
 394   _tiedProperties.Tie("/orientation/side-slip-deg", this,
 395                       &FGInterface::get_Beta_deg); // read-only
 396   _tiedProperties.Tie("/orientation/alpha-deg", this,
 397                       &FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg, false);
 398   _tiedProperties.Tie("/accelerations/nlf", this,
 399                       &FGInterface::get_Nlf); // read-only
 400
 401   // NED accelerations
 402   _tiedProperties.Tie("/accelerations/ned/north-accel-fps_sec",
 403                       this, &FGInterface::get_V_dot_north); // read-only
 404   _tiedProperties.Tie("/accelerations/ned/east-accel-fps_sec",
 405                       this, &FGInterface::get_V_dot_east); // read-only
 406   _tiedProperties.Tie("/accelerations/ned/down-accel-fps_sec",
 407                       this, &FGInterface::get_V_dot_down); // read-only
 408
 409   // Pilot accelerations
 410   _tiedProperties.Tie("/accelerations/pilot/x-accel-fps_sec",
 411                       this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot, false);
 412   _tiedProperties.Tie("/accelerations/pilot/y-accel-fps_sec",
 413                       this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot, false);
 414   _tiedProperties.Tie("/accelerations/pilot/z-accel-fps_sec",
 415                       this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot, false);
 416
 417   _tiedProperties.Tie("/accelerations/n-z-cg-fps_sec",
 418                       this, &FGInterface::get_N_Z_cg); // read-only
 419 }
 420
 421
 422 /**
 423  * Unbind any properties bound to this FDM.
 424  *
 425  * This method allows the FDM to release properties so that a new
 426  * FDM can bind them instead.
 427  */
 428 void
 429 FGInterface::unbind ()
 430 {
 431   _tiedProperties.Untie();
 432   bound = false;
 433 }
 434
 435 /**
 436  * Update the state of the FDM (i.e. run the equations of motion).
 437  */
 438 void
 439 FGInterface::update (double dt)
 440 {
 441     SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
 442 }
 443
 444
 445 void FGInterface::_updatePositionM(const SGVec3d& cartPos)
 446 {
 447     TrackComputer tracker( track, geodetic_position_v );
 448     cartesian_position_v = cartPos;
 449     geodetic_position_v = SGGeod::fromCart(cartesian_position_v);
 450     geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
 451     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
 452     _update_ground_elev_at_pos();
 453 }
 454
 455
 456 void FGInterface::_updatePosition(const SGGeod& geod)
 457 {
 458     TrackComputer tracker( track, geodetic_position_v );
 459     geodetic_position_v = geod;
 460     cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v);
 461     geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
 462
 463     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
 464     _update_ground_elev_at_pos();
 465 }
 466
 467
 468 void FGInterface::_updatePosition(const SGGeoc& geoc)
 469 {
 470     TrackComputer tracker( track, geodetic_position_v );
 471     geocentric_position_v = geoc;
 472     cartesian_position_v = SGVec3d::fromGeoc(geocentric_position_v);
 473     geodetic_position_v = SGGeod::fromCart(cartesian_position_v);
 474
 475     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
 476     _update_ground_elev_at_pos();
 477 }
 478
 479
 480 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
 481 {
 482     _updatePosition(SGGeod::fromRadFt(lon, lat, alt));
 483 }
 484
 485
 486 void FGInterface::_updateGeocentricPosition( double lat, double lon,
 487                                              double alt )
 488 {
 489     _updatePosition(SGGeoc::fromRadFt(lon, lat, get_Sea_level_radius() + alt));
 490 }
 491
 492 void FGInterface::_update_ground_elev_at_pos( void ) {
 493     double groundlevel_m = get_groundlevel_m(geodetic_position_v);
 494     _set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET );
 495 }
 496
 497 // Positions
 498 void FGInterface::set_Latitude(double lat) {
 499     geodetic_position_v.setLatitudeRad(lat);
 500 }
 501
 502 void FGInterface::set_Longitude(double lon) {
 503     geodetic_position_v.setLongitudeRad(lon);
 504 }
 505
 506 void FGInterface::set_Altitude(double alt) {
 507     geodetic_position_v.setElevationFt(alt);
 508 }
 509
 510 void FGInterface::set_AltitudeAGL(double altagl) {
 511     altitude_agl=altagl;
 512 }
 513
 514 // Velocities
 515 void FGInterface::set_V_calibrated_kts(double vc) {
 516     v_calibrated_kts = vc;
 517 }
 518
 519 void FGInterface::set_Mach_number(double mach) {
 520     mach_number = mach;
 521 }
 522
 523 void FGInterface::set_Velocities_Local( double north,
 524                                         double east,
 525                                         double down ){
 526     v_local_v[0] = north;
 527     v_local_v[1] = east;
 528     v_local_v[2] = down;
 529 }
 530
 531 void FGInterface::set_Velocities_Wind_Body( double u,
 532                                             double v,
 533                                             double w){
 534     v_wind_body_v[0] = u;
 535     v_wind_body_v[1] = v;
 536     v_wind_body_v[2] = w;
 537 }
 538
 539 // Euler angles
 540 void FGInterface::set_Euler_Angles( double phi,
 541                                     double theta,
 542                                     double psi ) {
 543     euler_angles_v[0] = phi;
 544     euler_angles_v[1] = theta;
 545     euler_angles_v[2] = psi;
 546 }
 547
 548 // Flight Path
 549 void FGInterface::set_Climb_Rate( double roc) {
 550     climb_rate = roc;
 551 }
 552
 553 void FGInterface::set_Gamma_vert_rad( double gamma) {
 554     gamma_vert_rad = gamma;
 555 }
 556
 557 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
 558 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
 559 void FGInterface::set_Density(double rho) { density = rho; }
 560
 561 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
 562                                                 double weast,
 563                                                 double wdown ) {
 564     v_local_airmass_v[0] = wnorth;
 565     v_local_airmass_v[1] = weast;
 566     v_local_airmass_v[2] = wdown;
 567 }
 568
 569
 570 void FGInterface::_busdump(void)
 571 {
 572     SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v: " << d_cg_rp_body_v);
 573     SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v: " << v_dot_local_v);
 574     SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v: " << v_dot_body_v);
 575     SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v: " << a_cg_body_v);
 576     SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v: " << a_pilot_body_v);
 577     SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v: " << n_cg_body_v);
 578     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v: " << v_local_v);
 579     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v: " << v_local_rel_ground_v);
 580     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v: " << v_local_airmass_v);
 581     SG_LOG(SG_FLIGHT,SG_INFO,"v_wind_body_v: " << v_wind_body_v);
 582     SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v: " << omega_body_v);
 583     SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v: " << euler_rates_v);
 584     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v: " << geocentric_rates_v);
 585     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v: " << geocentric_position_v);
 586     SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v: " << geodetic_position_v);
 587     SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v: " << euler_angles_v);
 588
 589     SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
 590     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
 591     SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
 592     SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
 593     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
 594     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
 595     SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
 596     SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
 597     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
 598     SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
 599     SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
 600     SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
 601     SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
 602     SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
 603     SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
 604     SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
 605     SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
 606     SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
 607     SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
 608     SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
 609     SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
 610 }
 611
 612 bool
 613 FGInterface::prepare_ground_cache_m(double startSimTime, double endSimTime,
 614                                     const double pt[3], double rad)
 615 {
 616   return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
 617                                            SGVec3d(pt), rad);
 618 }
 619
 620 bool
 621 FGInterface::prepare_ground_cache_ft(double startSimTime, double endSimTime,
 622                                      const double pt[3], double rad)
 623 {
 624   // Convert units and do the real work.
 625   SGVec3d pt_ft = SG_FEET_TO_METER*SGVec3d(pt);
 626   return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
 627                                            pt_ft, rad*SG_FEET_TO_METER);
 628 }
 629
 630 bool
 631 FGInterface::is_valid_m(double *ref_time, double pt[3], double *rad)
 632 {
 633   SGVec3d _pt;
 634   bool valid = ground_cache.is_valid(*ref_time, _pt, *rad);
 635   assign(pt, _pt);
 636   return valid;
 637 }
 638
 639 bool FGInterface::is_valid_ft(double *ref_time, double pt[3], double *rad)
 640 {
 641   // Convert units and do the real work.
 642   SGVec3d _pt;
 643   bool found_ground = ground_cache.is_valid(*ref_time, _pt, *rad);
 644   assign(pt, SG_METER_TO_FEET*_pt);
 645   *rad *= SG_METER_TO_FEET;
 646   return found_ground;
 647 }
 648
 649 double
 650 FGInterface::get_cat_m(double t, const double pt[3],
 651                        double end[2][3], double vel[2][3])
 652 {
 653   SGVec3d _end[2], _vel[2];
 654   double dist = ground_cache.get_cat(t, SGVec3d(pt), _end, _vel);
 655   for (int k=0; k<2; ++k) {
 656     assign( end[k], _end[k] );
 657     assign( vel[k], _vel[k] );
 658   }
 659   return dist;
 660 }
 661
 662 double
 663 FGInterface::get_cat_ft(double t, const double pt[3],
 664                         double end[2][3], double vel[2][3])
 665 {
 666   // Convert units and do the real work.
 667   SGVec3d pt_m = SG_FEET_TO_METER*SGVec3d(pt);
 668   SGVec3d _end[2], _vel[2];
 669   double dist = ground_cache.get_cat(t, pt_m, _end, _vel);
 670   for (int k=0; k<2; ++k) {
 671     assign( end[k], SG_METER_TO_FEET*_end[k] );
 672     assign( vel[k], SG_METER_TO_FEET*_vel[k] );
 673   }
 674   return dist*SG_METER_TO_FEET;
 675 }
 676
 677 bool
 678 FGInterface::get_body_m(double t, simgear::BVHNode::Id id,
 679                         double bodyToWorld[16], double linearVel[3],
 680                         double angularVel[3])
 681 {
 682   SGMatrixd _bodyToWorld;
 683   SGVec3d _linearVel, _angularVel;
 684   if (!ground_cache.get_body(t, _bodyToWorld, _linearVel, _angularVel, id))
 685     return false;
 686
 687   assign(linearVel, _linearVel);
 688   assign(angularVel, _angularVel);
 689   for (unsigned i = 0; i < 16; ++i)
 690       bodyToWorld[i] = _bodyToWorld.data()[i];
 691
 692   return true;
 693 }
 694
 695 bool
 696 FGInterface::get_agl_m(double t, const double pt[3], double max_altoff,
 697                        double contact[3], double normal[3],
 698                        double linearVel[3], double angularVel[3],
 699                        simgear::BVHMaterial const*& material, simgear::BVHNode::Id& id)
 700 {
 701   SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
 702   SGVec3d _contact, _normal, _linearVel, _angularVel;
 703   material = 0;
 704   bool ret = ground_cache.get_agl(t, pt_m, _contact, _normal, _linearVel,
 705                                   _angularVel, id, material);
 706   // correct the linear velocity, since the line intersector delivers
 707   // values for the start point and the get_agl function should
 708   // traditionally deliver for the contact point
 709   _linearVel += cross(_angularVel, _contact - pt_m);
 710
 711   assign(contact, _contact);
 712   assign(normal, _normal);
 713   assign(linearVel, _linearVel);
 714   assign(angularVel, _angularVel);
 715   return ret;
 716 }
 717
 718 bool
 719 FGInterface::get_agl_ft(double t, const double pt[3], double max_altoff,
 720                         double contact[3], double normal[3],
 721                         double linearVel[3], double angularVel[3],
 722                         simgear::BVHMaterial const*& material, simgear::BVHNode::Id& id)
 723 {
 724   // Convert units and do the real work.
 725   SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
 726   pt_m *= SG_FEET_TO_METER;
 727   SGVec3d _contact, _normal, _linearVel, _angularVel;
 728   material = 0;
 729   bool ret = ground_cache.get_agl(t, pt_m, _contact, _normal, _linearVel,
 730                                   _angularVel, id, material);
 731   // correct the linear velocity, since the line intersector delivers
 732   // values for the start point and the get_agl function should
 733   // traditionally deliver for the contact point
 734   _linearVel += cross(_angularVel, _contact - pt_m);
 735
 736   // Convert units back ...
 737   assign( contact, SG_METER_TO_FEET*_contact );
 738   assign( normal, _normal );
 739   assign( linearVel, SG_METER_TO_FEET*_linearVel );
 740   assign( angularVel, _angularVel );
 741   return ret;
 742 }
 743
 744 bool
 745 FGInterface::get_nearest_m(double t, const double pt[3], double maxDist,
 746                            double contact[3], double normal[3],
 747                            double linearVel[3], double angularVel[3],
 748                            simgear::BVHMaterial const*& material,
 749                            simgear::BVHNode::Id& id)
 750 {
 751   SGVec3d _contact, _linearVel, _angularVel;
 752   material = 0;
 753   if (!ground_cache.get_nearest(t, SGVec3d(pt), maxDist, _contact, _linearVel,
 754                                 _angularVel, id, material))
 755       return false;
 756
 757   assign(contact, _contact);
 758   assign(linearVel, _linearVel);
 759   assign(angularVel, _angularVel);
 760   return true;
 761 }
 762
 763 bool
 764 FGInterface::get_nearest_ft(double t, const double pt[3], double maxDist,
 765                             double contact[3], double normal[3],
 766                             double linearVel[3], double angularVel[3],
 767                             simgear::BVHMaterial const*& material,
 768                             simgear::BVHNode::Id& id)
 769 {
 770   SGVec3d _contact, _linearVel, _angularVel;
 771   material = 0;
 772   if (!ground_cache.get_nearest(t, SG_FEET_TO_METER*SGVec3d(pt),
 773                                 SG_FEET_TO_METER*maxDist, _contact, _linearVel,
 774                                 _angularVel, id, material))
 775       return false;
 776
 777   assign(contact, SG_METER_TO_FEET*_contact);
 778   assign(linearVel, SG_METER_TO_FEET*_linearVel);
 779   assign(angularVel, _angularVel);
 780   return true;
 781 }
 782
 783 double
 784 FGInterface::get_groundlevel_m(double lat, double lon, double alt)
 785 {
 786   return get_groundlevel_m(SGGeod::fromRadM(lon, lat, alt));
 787 }
 788
 789 double
 790 FGInterface::get_groundlevel_m(const SGGeod& geod)
 791 {
 792   // Compute the cartesian position of the given lat/lon/alt.
 793   SGVec3d pos = SGVec3d::fromGeod(geod);
 794
 795   // FIXME: how to handle t - ref_time differences ???
 796   SGVec3d cpos;
 797   double ref_time = 0, radius;
 798   // Prepare the ground cache for that position.
 799   if (!is_valid_m(&ref_time, cpos.data(), &radius)) {
 800     double startTime = ref_time;
 801     double endTime = startTime + 1;
 802     bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), 10);
 803     /// This is most likely the case when the given altitude is
 804     /// too low, try with a new altitude of 10000m, that should be
 805     /// sufficient to find a ground level below everywhere on our planet
 806     if (!ok) {
 807       pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000));
 808       /// If there is still no ground, return sea level radius
 809       if (!prepare_ground_cache_m(startTime, endTime, pos.data(), 10))
 810         return 0;
 811     }
 812   } else if (radius*radius <= distSqr(pos, cpos)) {
 813     double startTime = ref_time;
 814     double endTime = startTime + 1;
 815
 816     /// We reuse the old radius value, but only if it is at least 10 Meters ..
 817     if (!(10 < radius)) // Well this strange compare is nan safe
 818       radius = 10;
 819
 820     bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), radius);
 821     /// This is most likely the case when the given altitude is
 822     /// too low, try with a new altitude of 10000m, that should be
 823     /// sufficient to find a ground level below everywhere on our planet
 824     if (!ok) {
 825       pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000));
 826       /// If there is still no ground, return sea level radius
 827       if (!prepare_ground_cache_m(startTime, endTime, pos.data(), radius))
 828         return 0;
 829     }
 830   }
 831
 832   double contact[3], normal[3], vel[3], angvel[3];
 833   const simgear::BVHMaterial* material;
 834   simgear::BVHNode::Id id;
 835   // Ignore the return value here, since it just tells us if
 836   // the returns stem from the groundcache or from the coarse
 837   // computations below the groundcache. The contact point is still something
 838   // valid, the normals and the other returns just contain some defaults.
 839   get_agl_m(ref_time, pos.data(), 2.0, contact, normal, vel, angvel,
 840             material, id);
 841   return SGGeod::fromCart(SGVec3d(contact)).getElevationM();
 842 }
 843
 844 bool
 845 FGInterface::caught_wire_m(double t, const double pt[4][3])
 846 {
 847   SGVec3d pt_m[4];
 848   for (int i=0; i<4; ++i)
 849     pt_m[i] = SGVec3d(pt[i]);
 850
 851   return ground_cache.caught_wire(t, pt_m);
 852 }
 853
 854 bool
 855 FGInterface::caught_wire_ft(double t, const double pt[4][3])
 856 {
 857   // Convert units and do the real work.
 858   SGVec3d pt_m[4];
 859   for (int i=0; i<4; ++i)
 860     pt_m[i] = SG_FEET_TO_METER*SGVec3d(pt[i]);
 861
 862   return ground_cache.caught_wire(t, pt_m);
 863 }
 864
 865 bool
 866 FGInterface::get_wire_ends_m(double t, double end[2][3], double vel[2][3])
 867 {
 868   SGVec3d _end[2], _vel[2];
 869   bool ret = ground_cache.get_wire_ends(t, _end, _vel);
 870   for (int k=0; k<2; ++k) {
 871     assign( end[k], _end[k] );
 872     assign( vel[k], _vel[k] );
 873   }
 874   return ret;
 875 }
 876
 877 bool
 878 FGInterface::get_wire_ends_ft(double t, double end[2][3], double vel[2][3])
 879 {
 880   // Convert units and do the real work.
 881   SGVec3d _end[2], _vel[2];
 882   bool ret = ground_cache.get_wire_ends(t, _end, _vel);
 883   for (int k=0; k<2; ++k) {
 884     assign( end[k], SG_METER_TO_FEET*_end[k] );
 885     assign( vel[k], SG_METER_TO_FEET*_vel[k] );
 886   }
 887   return ret;
 888 }
 889
 890 void
 891 FGInterface::release_wire(void)
 892 {
 893   ground_cache.release_wire();
 894 }
 895