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/math/SGMath.hxx>
  32 #include <simgear/scene/material/mat.hxx>
  33 #include <simgear/timing/timestamp.hxx>
  34
  35 #include <Scenery/scenery.hxx>
  36 #include <Main/globals.hxx>
  37 #include <Main/fg_props.hxx>
  38 #include <FDM/groundcache.hxx>
  39
  40
  41 static inline void assign(double* ptr, const SGVec3d& vec)
  42 {
  43   ptr[0] = vec[0];
  44   ptr[1] = vec[1];
  45   ptr[2] = vec[2];
  46 }
  47
  48 // base_fdm_state is the internal state that is updated in integer
  49 // multiples of "dt".  This leads to "jitter" with respect to the real
  50 // world time, so we introduce cur_fdm_state which is extrapolated by
  51 // the difference between sim time and real world time
  52
  53 FGInterface *cur_fdm_state = 0;
  54 FGInterface base_fdm_state;
  55
  56 // Constructor
  57 FGInterface::FGInterface()
  58   : remainder(0)
  59 {
  60     _setup();
  61 }
  62
  63 FGInterface::FGInterface( double dt )
  64   : remainder(0)
  65 {
  66     _setup();
  67 }
  68
  69 // Destructor
  70 FGInterface::~FGInterface() {
  71     // unbind();                   // FIXME: should be called explicitly
  72 }
  73
  74
  75 int
  76 FGInterface::_calc_multiloop (double dt)
  77 {
  78   int hz = fgGetInt("/sim/model-hz");
  79   int speedup = fgGetInt("/sim/speed-up");
  80
  81   dt += remainder;
  82   remainder = 0;
  83   double ml = dt * hz;
  84   // Avoid roundoff problems by adding the roundoff itself.
  85   // ... ok, two times the roundoff to have enough room.
  86   int multiloop = int(floor(ml * (1.0 + 2.0*DBL_EPSILON)));
  87   remainder = (ml - multiloop) / hz;
  88
  89   // If we artificially inflate ml above by a tiny amount to get the
  90   // closest integer, then subtract the integer from the original
  91   // slightly smaller value, we can get a negative remainder.
  92   // Logically this should never happen, and we definitely don't want
  93   // to carry a negative remainder over to the next iteration, so
  94   // never let the remainder go below zero.
  95   //
  96   // Note: this fixes a problem where we run 1, 3, 1, 3, 1, 3... loops
  97   // of the FDM when in fact we want to run 2, 2, 2, 2, 2...
  98   if ( remainder < 0 ) { remainder = 0; }
  99
 100   return (multiloop * speedup);
 101 }
 102
 103
 104 /**
 105  * Set default values for the state of the FDM.
 106  *
 107  * This method is invoked by the constructors.
 108  */
 109 void
 110 FGInterface::_setup ()
 111 {
 112     inited = false;
 113     bound = false;
 114
 115     d_cg_rp_body_v = SGVec3d::zeros();
 116     v_dot_local_v = SGVec3d::zeros();
 117     v_dot_body_v = SGVec3d::zeros();
 118     a_cg_body_v = SGVec3d::zeros();
 119     a_pilot_body_v = SGVec3d::zeros();
 120     n_cg_body_v = SGVec3d::zeros();
 121     v_local_v = SGVec3d::zeros();
 122     v_local_rel_ground_v = SGVec3d::zeros();
 123     v_local_airmass_v = SGVec3d::zeros();
 124     v_wind_body_v = SGVec3d::zeros();
 125     omega_body_v = SGVec3d::zeros();
 126     euler_rates_v = SGVec3d::zeros();
 127     geocentric_rates_v = SGVec3d::zeros();
 128     geodetic_position_v = SGGeod::fromRadM(0, 0, 0);
 129     cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v);
 130     geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
 131     euler_angles_v = SGVec3d::zeros();
 132
 133     nlf=0;
 134     v_rel_wind=v_true_kts=0;
 135     v_ground_speed=v_equiv_kts=0;
 136     v_calibrated_kts=0;
 137     alpha=beta=0;
 138     gamma_vert_rad=0;
 139     density=mach_number=0;
 140     static_pressure=total_pressure=0;
 141     dynamic_pressure=0;
 142     static_temperature=total_temperature=0;
 143     sea_level_radius=earth_position_angle=0;
 144     runway_altitude=0;
 145     climb_rate=0;
 146     altitude_agl=0;
 147 }
 148
 149 void
 150 FGInterface::init () {}
 151
 152 /**
 153  * Initialize the state of the FDM.
 154  *
 155  * Subclasses of FGInterface may do their own, additional initialization,
 156  * but there is some that is common to all.  Normally, they should call
 157  * this before they begin their own init to make sure the basic structures
 158  * are set up properly.
 159  */
 160 void
 161 FGInterface::common_init ()
 162 {
 163     SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
 164
 165     set_inited( true );
 166
 167 //     stamp();
 168 //     set_remainder( 0 );
 169
 170     // Set initial position
 171     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
 172     double lon = fgGetDouble("/sim/presets/longitude-deg")
 173       * SGD_DEGREES_TO_RADIANS;
 174     double lat = fgGetDouble("/sim/presets/latitude-deg")
 175       * SGD_DEGREES_TO_RADIANS;
 176     double alt_ft = fgGetDouble("/sim/presets/altitude-ft");
 177     double alt_m = alt_ft * SG_FEET_TO_METER;
 178     set_Longitude( lon );
 179     set_Latitude( lat );
 180     SG_LOG( SG_FLIGHT, SG_INFO, "Checking for lon = "
 181             << lon*SGD_RADIANS_TO_DEGREES << "deg, lat = "
 182             << lat*SGD_RADIANS_TO_DEGREES << "deg, alt = "
 183             << alt_ft << "ft");
 184
 185     double ground_elev_m = get_groundlevel_m(lat, lon, alt_m);
 186     double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
 187     _set_Runway_altitude ( ground_elev_ft );
 188     if ( fgGetBool("/sim/presets/onground") || alt_ft < ground_elev_ft ) {
 189         fgSetDouble("/position/altitude-ft", ground_elev_ft + 0.1);
 190         set_Altitude( ground_elev_ft + 0.1);
 191     } else {
 192         set_Altitude( alt_ft );
 193     }
 194
 195     // Set ground elevation
 196     SG_LOG( SG_FLIGHT, SG_INFO,
 197             "...initializing ground elevation to " << ground_elev_ft
 198             << "ft..." );
 199
 200     // Set sea-level radius
 201     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
 202     SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
 203             << fgGetDouble("/sim/presets/latitude-deg")
 204             << " alt = " << get_Altitude() );
 205     double slr = SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v);
 206     _set_Sea_level_radius( slr * SG_METER_TO_FEET );
 207
 208     // Set initial velocities
 209     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
 210     if ( !fgHasNode("/sim/presets/speed-set") ) {
 211         set_V_calibrated_kts(0.0);
 212     } else {
 213         const string speedset = fgGetString("/sim/presets/speed-set");
 214         if ( speedset == "knots" || speedset == "KNOTS" ) {
 215             set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") );
 216         } else if ( speedset == "mach" || speedset == "MACH" ) {
 217             set_Mach_number( fgGetDouble("/sim/presets/mach") );
 218         } else if ( speedset == "UVW" || speedset == "uvw" ) {
 219             set_Velocities_Wind_Body(
 220                                      fgGetDouble("/sim/presets/uBody-fps"),
 221                                      fgGetDouble("/sim/presets/vBody-fps"),
 222                                      fgGetDouble("/sim/presets/wBody-fps") );
 223         } else if ( speedset == "NED" || speedset == "ned" ) {
 224             set_Velocities_Local(
 225                                  fgGetDouble("/sim/presets/speed-north-fps"),
 226                                  fgGetDouble("/sim/presets/speed-east-fps"),
 227                                  fgGetDouble("/sim/presets/speed-down-fps") );
 228         } else {
 229             SG_LOG( SG_FLIGHT, SG_ALERT,
 230                     "Unrecognized value for /sim/presets/speed-set: "
 231                     << speedset);
 232             set_V_calibrated_kts( 0.0 );
 233         }
 234     }
 235
 236     // Set initial Euler angles
 237     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
 238     set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
 239                         * SGD_DEGREES_TO_RADIANS,
 240                       fgGetDouble("/sim/presets/pitch-deg")
 241                         * SGD_DEGREES_TO_RADIANS,
 242                       fgGetDouble("/sim/presets/heading-deg")
 243                         * SGD_DEGREES_TO_RADIANS );
 244
 245     SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
 246 }
 247
 248
 249 /**
 250  * Bind getters and setters to properties.
 251  *
 252  * The bind() method will be invoked after init().  Note that unlike
 253  * the usual implementations of FGSubsystem::bind(), this method does
 254  * not automatically pick up existing values for the properties at
 255  * bind time; instead, all values are set explicitly in the init()
 256  * method.
 257  */
 258 void
 259 FGInterface::bind ()
 260 {
 261   bound = true;
 262
 263                                 // Time management (read-only)
 264 //   fgTie("/fdm/time/delta_t", this,
 265 //         &FGInterface::get_delta_t); // read-only
 266 //   fgTie("/fdm/time/elapsed", this,
 267 //         &FGInterface::get_elapsed); // read-only
 268 //   fgTie("/fdm/time/remainder", this,
 269 //         &FGInterface::get_remainder); // read-only
 270 //   fgTie("/fdm/time/multi_loop", this,
 271 //         &FGInterface::get_multi_loop); // read-only
 272
 273                         // Aircraft position
 274   fgTie("/position/latitude-deg", this,
 275         &FGInterface::get_Latitude_deg,
 276         &FGInterface::set_Latitude_deg,
 277         false);
 278   fgSetArchivable("/position/latitude-deg");
 279   fgTie("/position/longitude-deg", this,
 280         &FGInterface::get_Longitude_deg,
 281         &FGInterface::set_Longitude_deg,
 282         false);
 283   fgSetArchivable("/position/longitude-deg");
 284   fgTie("/position/altitude-ft", this,
 285         &FGInterface::get_Altitude,
 286         &FGInterface::set_Altitude,
 287         false);
 288   fgSetArchivable("/position/altitude-ft");
 289   fgTie("/position/altitude-agl-ft", this,
 290         &FGInterface::get_Altitude_AGL); // read-only
 291   fgSetArchivable("/position/ground-elev-ft");
 292   fgTie("/position/ground-elev-ft", this,
 293         &FGInterface::get_Runway_altitude); // read-only
 294   fgSetArchivable("/position/ground-elev-m");
 295   fgTie("/position/ground-elev-m", this,
 296         &FGInterface::get_Runway_altitude_m); // read-only
 297   fgTie("/environment/ground-elevation-m", this,
 298         &FGInterface::get_Runway_altitude_m); // read-only
 299   fgSetArchivable("/position/sea-level-radius-ft");
 300   fgTie("/position/sea-level-radius-ft", this,
 301         &FGInterface::get_Sea_level_radius); // read-only
 302
 303                                 // Orientation
 304   fgTie("/orientation/roll-deg", this,
 305         &FGInterface::get_Phi_deg,
 306         &FGInterface::set_Phi_deg);
 307   fgSetArchivable("/orientation/roll-deg");
 308   fgTie("/orientation/pitch-deg", this,
 309         &FGInterface::get_Theta_deg,
 310         &FGInterface::set_Theta_deg);
 311   fgSetArchivable("/orientation/pitch-deg");
 312   fgTie("/orientation/heading-deg", this,
 313         &FGInterface::get_Psi_deg,
 314         &FGInterface::set_Psi_deg);
 315   fgSetArchivable("/orientation/heading-deg");
 316
 317   // Body-axis "euler rates" (rotation speed, but in a funny
 318   // representation).
 319   fgTie("/orientation/roll-rate-degps", this,
 320         &FGInterface::get_Phi_dot_degps);
 321   fgTie("/orientation/pitch-rate-degps", this,
 322         &FGInterface::get_Theta_dot_degps);
 323   fgTie("/orientation/yaw-rate-degps", this,
 324         &FGInterface::get_Psi_dot_degps);
 325
 326                                 // Ground speed knots
 327   fgTie("/velocities/groundspeed-kt", this,
 328         &FGInterface::get_V_ground_speed_kt);
 329
 330                                 // Calibrated airspeed
 331   fgTie("/velocities/airspeed-kt", this,
 332         &FGInterface::get_V_calibrated_kts,
 333         &FGInterface::set_V_calibrated_kts,
 334         false);
 335
 336                                 // Mach number
 337   fgTie("/velocities/mach", this,
 338         &FGInterface::get_Mach_number,
 339         &FGInterface::set_Mach_number,
 340         false);
 341
 342                                 // Local velocities
 343 //   fgTie("/velocities/speed-north-fps", this,
 344 //      &FGInterface::get_V_north,
 345 //      &FGInterface::set_V_north);
 346 //   fgSetArchivable("/velocities/speed-north-fps");
 347 //   fgTie("/velocities/speed-east-fps", this,
 348 //      &FGInterface::get_V_east,
 349 //      &FGInterface::set_V_east);
 350 //   fgSetArchivable("/velocities/speed-east-fps");
 351 //   fgTie("/velocities/speed-down-fps", this,
 352 //      &FGInterface::get_V_down,
 353 //      &FGInterface::set_V_down);
 354 //   fgSetArchivable("/velocities/speed-down-fps");
 355                                 // FIXME: Temporarily read-only, until the
 356                                 // incompatibilities between JSBSim and
 357                                 // LaRCSim are fixed (LaRCSim adds the
 358                                 // earth's rotation to the east velocity).
 359   fgTie("/velocities/speed-north-fps", this,
 360         &FGInterface::get_V_north);
 361   fgTie("/velocities/speed-east-fps", this,
 362         &FGInterface::get_V_east);
 363   fgTie("/velocities/speed-down-fps", this,
 364         &FGInterface::get_V_down);
 365
 366                                 // Relative wind
 367                                 // FIXME: temporarily archivable, until
 368                                 // the NED problem is fixed.
 369   fgTie("/velocities/uBody-fps", this,
 370         &FGInterface::get_uBody,
 371         &FGInterface::set_uBody,
 372         false);
 373   fgSetArchivable("/velocities/uBody-fps");
 374   fgTie("/velocities/vBody-fps", this,
 375         &FGInterface::get_vBody,
 376         &FGInterface::set_vBody,
 377         false);
 378   fgSetArchivable("/velocities/vBody-fps");
 379   fgTie("/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   fgTie("/velocities/vertical-speed-fps", this,
 387         &FGInterface::get_Climb_Rate,
 388   &FGInterface::set_Climb_Rate );
 389   fgTie("/velocities/glideslope", this,
 390   &FGInterface::get_Gamma_vert_rad,
 391   &FGInterface::set_Gamma_vert_rad );
 392   fgTie("/orientation/side-slip-rad", this,
 393         &FGInterface::get_Beta); // read-only
 394   fgTie("/orientation/side-slip-deg", this,
 395   &FGInterface::get_Beta_deg); // read-only
 396   fgTie("/orientation/alpha-deg", this,
 397   &FGInterface::get_Alpha_deg); // read-only
 398   fgTie("/accelerations/nlf", this,
 399   &FGInterface::get_Nlf); // read-only
 400
 401                                 // NED accelerations
 402   fgTie("/accelerations/ned/north-accel-fps_sec",
 403         this, &FGInterface::get_V_dot_north);
 404   fgTie("/accelerations/ned/east-accel-fps_sec",
 405         this, &FGInterface::get_V_dot_east);
 406   fgTie("/accelerations/ned/down-accel-fps_sec",
 407         this, &FGInterface::get_V_dot_down);
 408
 409                                 // Pilot accelerations
 410   fgTie("/accelerations/pilot/x-accel-fps_sec",
 411         this, &FGInterface::get_A_X_pilot);
 412   fgTie("/accelerations/pilot/y-accel-fps_sec",
 413         this, &FGInterface::get_A_Y_pilot);
 414   fgTie("/accelerations/pilot/z-accel-fps_sec",
 415         this, &FGInterface::get_A_Z_pilot);
 416
 417 }
 418
 419
 420 /**
 421  * Unbind any properties bound to this FDM.
 422  *
 423  * This method allows the FDM to release properties so that a new
 424  * FDM can bind them instead.
 425  */
 426 void
 427 FGInterface::unbind ()
 428 {
 429   bound = false;
 430
 431   // fgUntie("/fdm/time/delta_t");
 432   // fgUntie("/fdm/time/elapsed");
 433   // fgUntie("/fdm/time/remainder");
 434   // fgUntie("/fdm/time/multi_loop");
 435   fgUntie("/position/latitude-deg");
 436   fgUntie("/position/longitude-deg");
 437   fgUntie("/position/altitude-ft");
 438   fgUntie("/position/altitude-agl-ft");
 439   fgUntie("/position/ground-elev-ft");
 440   fgUntie("/position/ground-elev-m");
 441   fgUntie("/environment/ground-elevation-m");
 442   fgUntie("/position/sea-level-radius-ft");
 443   fgUntie("/orientation/roll-deg");
 444   fgUntie("/orientation/pitch-deg");
 445   fgUntie("/orientation/heading-deg");
 446   fgUntie("/orientation/roll-rate-degps");
 447   fgUntie("/orientation/pitch-rate-degps");
 448   fgUntie("/orientation/yaw-rate-degps");
 449   fgUntie("/orientation/side-slip-rad");
 450   fgUntie("/orientation/side-slip-deg");
 451   fgUntie("/orientation/alpha-deg");
 452   fgUntie("/velocities/airspeed-kt");
 453   fgUntie("/velocities/groundspeed-kt");
 454   fgUntie("/velocities/mach");
 455   fgUntie("/velocities/speed-north-fps");
 456   fgUntie("/velocities/speed-east-fps");
 457   fgUntie("/velocities/speed-down-fps");
 458   fgUntie("/velocities/uBody-fps");
 459   fgUntie("/velocities/vBody-fps");
 460   fgUntie("/velocities/wBody-fps");
 461   fgUntie("/velocities/vertical-speed-fps");
 462   fgUntie("/velocities/glideslope");
 463   fgUntie("/accelerations/nlf");
 464   fgUntie("/accelerations/pilot/x-accel-fps_sec");
 465   fgUntie("/accelerations/pilot/y-accel-fps_sec");
 466   fgUntie("/accelerations/pilot/z-accel-fps_sec");
 467   fgUntie("/accelerations/ned/north-accel-fps_sec");
 468   fgUntie("/accelerations/ned/east-accel-fps_sec");
 469   fgUntie("/accelerations/ned/down-accel-fps_sec");
 470 }
 471
 472 /**
 473  * Update the state of the FDM (i.e. run the equations of motion).
 474  */
 475 void
 476 FGInterface::update (double dt)
 477 {
 478     SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
 479 }
 480
 481
 482 void FGInterface::_updatePositionM(const SGVec3d& cartPos)
 483 {
 484     cartesian_position_v = cartPos;
 485     geodetic_position_v = SGGeod::fromCart(cartesian_position_v);
 486     geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
 487     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
 488     _update_ground_elev_at_pos();
 489 }
 490
 491
 492 void FGInterface::_updatePosition(const SGGeod& geod)
 493 {
 494     geodetic_position_v = geod;
 495     cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v);
 496     geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
 497
 498     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
 499     _update_ground_elev_at_pos();
 500 }
 501
 502
 503 void FGInterface::_updatePosition(const SGGeoc& geoc)
 504 {
 505     geocentric_position_v = geoc;
 506     cartesian_position_v = SGVec3d::fromGeoc(geocentric_position_v);
 507     geodetic_position_v = SGGeod::fromCart(cartesian_position_v);
 508
 509     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
 510     _update_ground_elev_at_pos();
 511 }
 512
 513
 514 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
 515 {
 516     _updatePosition(SGGeod::fromRadFt(lon, lat, alt));
 517 }
 518
 519
 520 void FGInterface::_updateGeocentricPosition( double lat, double lon,
 521                                              double alt )
 522 {
 523     _updatePosition(SGGeoc::fromRadFt(lon, lat, get_Sea_level_radius() + alt));
 524 }
 525
 526 void FGInterface::_update_ground_elev_at_pos( void ) {
 527     double groundlevel_m = get_groundlevel_m(geodetic_position_v);
 528     _set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET );
 529 }
 530
 531 // Positions
 532 void FGInterface::set_Latitude(double lat) {
 533     geodetic_position_v.setLatitudeRad(lat);
 534 }
 535
 536 void FGInterface::set_Longitude(double lon) {
 537     geodetic_position_v.setLongitudeRad(lon);
 538 }
 539
 540 void FGInterface::set_Altitude(double alt) {
 541     geodetic_position_v.setElevationFt(alt);
 542 }
 543
 544 void FGInterface::set_AltitudeAGL(double altagl) {
 545     altitude_agl=altagl;
 546 }
 547
 548 // Velocities
 549 void FGInterface::set_V_calibrated_kts(double vc) {
 550     v_calibrated_kts = vc;
 551 }
 552
 553 void FGInterface::set_Mach_number(double mach) {
 554     mach_number = mach;
 555 }
 556
 557 void FGInterface::set_Velocities_Local( double north,
 558                                         double east,
 559                                         double down ){
 560     v_local_v[0] = north;
 561     v_local_v[1] = east;
 562     v_local_v[2] = down;
 563 }
 564
 565 void FGInterface::set_Velocities_Wind_Body( double u,
 566                                             double v,
 567                                             double w){
 568     v_wind_body_v[0] = u;
 569     v_wind_body_v[1] = v;
 570     v_wind_body_v[2] = w;
 571 }
 572
 573 // Euler angles
 574 void FGInterface::set_Euler_Angles( double phi,
 575                                     double theta,
 576                                     double psi ) {
 577     euler_angles_v[0] = phi;
 578     euler_angles_v[1] = theta;
 579     euler_angles_v[2] = psi;
 580 }
 581
 582 // Flight Path
 583 void FGInterface::set_Climb_Rate( double roc) {
 584     climb_rate = roc;
 585 }
 586
 587 void FGInterface::set_Gamma_vert_rad( double gamma) {
 588     gamma_vert_rad = gamma;
 589 }
 590
 591 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
 592 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
 593 void FGInterface::set_Density(double rho) { density = rho; }
 594
 595 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
 596                                                 double weast,
 597                                                 double wdown ) {
 598     v_local_airmass_v[0] = wnorth;
 599     v_local_airmass_v[1] = weast;
 600     v_local_airmass_v[2] = wdown;
 601 }
 602
 603
 604 void FGInterface::_busdump(void) {
 605
 606     SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v: " << d_cg_rp_body_v);
 607     SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v: " << v_dot_local_v);
 608     SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v: " << v_dot_body_v);
 609     SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v: " << a_cg_body_v);
 610     SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v: " << a_pilot_body_v);
 611     SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v: " << n_cg_body_v);
 612     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v: " << v_local_v);
 613     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v: " << v_local_rel_ground_v);
 614     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v: " << v_local_airmass_v);
 615     SG_LOG(SG_FLIGHT,SG_INFO,"v_wind_body_v: " << v_wind_body_v);
 616     SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v: " << omega_body_v);
 617     SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v: " << euler_rates_v);
 618     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v: " << geocentric_rates_v);
 619     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v: " << geocentric_position_v);
 620     SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v: " << geodetic_position_v);
 621     SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v: " << euler_angles_v);
 622
 623     SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
 624     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
 625     SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
 626     SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
 627     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
 628     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
 629     SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
 630     SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
 631     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
 632     SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
 633     SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
 634     SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
 635     SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
 636     SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
 637     SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
 638     SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
 639     SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
 640     SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
 641     SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
 642     SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
 643     SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
 644 }
 645
 646 bool
 647 FGInterface::prepare_ground_cache_m(double ref_time, const double pt[3],
 648                                     double rad)
 649 {
 650   return ground_cache.prepare_ground_cache(ref_time, SGVec3d(pt), rad);
 651 }
 652
 653 bool FGInterface::prepare_ground_cache_ft(double ref_time, const double pt[3],
 654                                           double rad)
 655 {
 656   // Convert units and do the real work.
 657   SGVec3d pt_ft = SG_FEET_TO_METER*SGVec3d(pt);
 658   return ground_cache.prepare_ground_cache(ref_time, pt_ft, rad*SG_FEET_TO_METER);
 659 }
 660
 661 bool
 662 FGInterface::is_valid_m(double *ref_time, double pt[3], double *rad)
 663 {
 664   SGVec3d _pt;
 665   bool valid = ground_cache.is_valid(*ref_time, _pt, *rad);
 666   assign(pt, _pt);
 667   return valid;
 668 }
 669
 670 bool FGInterface::is_valid_ft(double *ref_time, double pt[3], double *rad)
 671 {
 672   // Convert units and do the real work.
 673   SGVec3d _pt;
 674   bool found_ground = ground_cache.is_valid(*ref_time, _pt, *rad);
 675   assign(pt, SG_METER_TO_FEET*_pt);
 676   *rad *= SG_METER_TO_FEET;
 677   return found_ground;
 678 }
 679
 680 double
 681 FGInterface::get_cat_m(double t, const double pt[3],
 682                        double end[2][3], double vel[2][3])
 683 {
 684   SGVec3d _end[2], _vel[2];
 685   double dist = ground_cache.get_cat(t, SGVec3d(pt), _end, _vel);
 686   for (int k=0; k<2; ++k) {
 687     assign( end[k], _end[k] );
 688     assign( vel[k], _vel[k] );
 689   }
 690   return dist;
 691 }
 692
 693 double
 694 FGInterface::get_cat_ft(double t, const double pt[3],
 695                         double end[2][3], double vel[2][3])
 696 {
 697   // Convert units and do the real work.
 698   SGVec3d pt_m = SG_FEET_TO_METER*SGVec3d(pt);
 699   SGVec3d _end[2], _vel[2];
 700   double dist = ground_cache.get_cat(t, pt_m, _end, _vel);
 701   for (int k=0; k<2; ++k) {
 702     assign( end[k], SG_METER_TO_FEET*_end[k] );
 703     assign( vel[k], SG_METER_TO_FEET*_vel[k] );
 704   }
 705   return dist*SG_METER_TO_FEET;
 706 }
 707
 708 // Legacy interface just kept because of JSBSim
 709 bool
 710 FGInterface::get_agl_m(double t, const double pt[3],
 711                        double contact[3], double normal[3], double vel[3],
 712                        int *type, double *loadCapacity,
 713                        double *frictionFactor, double *agl)
 714 {
 715   const SGMaterial* material;
 716   SGVec3d _contact, _normal, _vel;
 717   bool ret = ground_cache.get_agl(t, SGVec3d(pt), 2.0, _contact, _normal,
 718                                   _vel, type, &material, agl);
 719   assign(contact, _contact);
 720   assign(normal, _normal);
 721   assign(vel, _vel);
 722   if (material) {
 723     *loadCapacity = material->get_load_resistance();
 724     *frictionFactor = material->get_friction_factor();
 725
 726   } else {
 727     *loadCapacity = DBL_MAX;
 728     *frictionFactor = 1.0;
 729   }
 730   return ret;
 731 }
 732
 733 bool
 734 FGInterface::get_agl_m(double t, const double pt[3],
 735                        double contact[3], double normal[3], double vel[3],
 736                        int *type, const SGMaterial **material, double *agl)
 737 {
 738   SGVec3d _contact, _normal, _vel;
 739   bool ret = ground_cache.get_agl(t, SGVec3d(pt), 2.0, _contact, _normal,
 740                                   _vel, type, material, agl);
 741   assign(contact, _contact);
 742   assign(normal, _normal);
 743   assign(vel, _vel);
 744   return ret;
 745 }
 746
 747 // Legacy interface just kept because of JSBSim
 748 bool
 749 FGInterface::get_agl_ft(double t, const double pt[3],
 750                         double contact[3], double normal[3], double vel[3],
 751                         int *type, double *loadCapacity,
 752                         double *frictionFactor, double *agl)
 753 {
 754   // Convert units and do the real work.
 755   SGVec3d pt_m = SG_FEET_TO_METER*SGVec3d(pt);
 756
 757   const SGMaterial* material;
 758   SGVec3d _contact, _normal, _vel;
 759   bool ret = ground_cache.get_agl(t, pt_m, 2.0, _contact, _normal, _vel,
 760                                   type, &material, agl);
 761   // Convert units back ...
 762   assign( contact, SG_METER_TO_FEET*_contact );
 763   assign( vel, SG_METER_TO_FEET*_vel );
 764   assign( normal, _normal );
 765   *agl *= SG_METER_TO_FEET;
 766
 767   // return material properties if available
 768   if (material) {
 769     // FIXME: convert units?? now pascal to lbf/ft^2
 770     *loadCapacity = 0.020885434*material->get_load_resistance();
 771     *frictionFactor = material->get_friction_factor();
 772   } else {
 773     *loadCapacity = DBL_MAX;
 774     *frictionFactor = 1.0;
 775   }
 776   return ret;
 777 }
 778
 779 bool
 780 FGInterface::get_agl_m(double t, const double pt[3], double max_altoff,
 781                        double contact[3], double normal[3], double vel[3],
 782                        int *type, const SGMaterial** material, double *agl)
 783 {
 784   SGVec3d _contact, _normal, _vel;
 785   bool found = ground_cache.get_agl(t, SGVec3d(pt), max_altoff, _contact,
 786                                     _normal, _vel, type, material, agl);
 787   assign(contact, _contact);
 788   assign(normal, _normal);
 789   assign(vel, _vel);
 790   return found;
 791 }
 792
 793 bool
 794 FGInterface::get_agl_ft(double t, const double pt[3], double max_altoff,
 795                         double contact[3], double normal[3], double vel[3],
 796                         int *type, const SGMaterial** material, double *agl)
 797 {
 798   // Convert units and do the real work.
 799   SGVec3d pt_m = SG_FEET_TO_METER*SGVec3d(pt);
 800   SGVec3d _contact, _normal, _vel;
 801   bool ret = ground_cache.get_agl(t, pt_m, SG_FEET_TO_METER * max_altoff,
 802                                   _contact, _normal, _vel,
 803                                   type, material, agl);
 804   // Convert units back ...
 805   assign( contact, SG_METER_TO_FEET*_contact );
 806   assign( vel, SG_METER_TO_FEET*_vel );
 807   assign( normal, _normal );
 808   *agl *= SG_METER_TO_FEET;
 809   return ret;
 810 }
 811
 812 double
 813 FGInterface::get_groundlevel_m(double lat, double lon, double alt)
 814 {
 815   return get_groundlevel_m(SGGeod::fromRadM(lon, lat, alt));
 816 }
 817
 818 double
 819 FGInterface::get_groundlevel_m(const SGGeod& geod)
 820 {
 821   // Compute the cartesian position of the given lat/lon/alt.
 822   SGVec3d pos = SGVec3d::fromGeod(geod);
 823
 824   // FIXME: how to handle t - ref_time differences ???
 825   SGVec3d cpos;
 826   double ref_time, radius;
 827   // Prepare the ground cache for that position.
 828   if (!is_valid_m(&ref_time, cpos.data(), &radius)) {
 829     bool ok = prepare_ground_cache_m(ref_time, pos.data(), 10);
 830     /// This is most likely the case when the given altitude is
 831     /// too low, try with a new altitude of 10000m, that should be
 832     /// sufficient to find a ground level below everywhere on our planet
 833     if (!ok) {
 834       pos = SGVec3d::fromGeod(SGGeod::fromRadM(geod.getLongitudeRad(), geod.getLatitudeRad(), 10000));
 835       /// If there is still no ground, return sea level radius
 836       if (!prepare_ground_cache_m(ref_time, pos.data(), 10))
 837         return 0;
 838     }
 839   } else if (radius*radius <= distSqr(pos, cpos)) {
 840     /// We reuse the old radius value, but only if it is at least 10 Meters ..
 841     if (!(10 < radius)) // Well this strange compare is nan safe
 842       radius = 10;
 843
 844     bool ok = prepare_ground_cache_m(ref_time, pos.data(), radius);
 845     /// This is most likely the case when the given altitude is
 846     /// too low, try with a new altitude of 10000m, that should be
 847     /// sufficient to find a ground level below everywhere on our planet
 848     if (!ok) {
 849       pos = SGVec3d::fromGeod(SGGeod::fromRadM(geod.getLongitudeRad(), geod.getLatitudeRad(), 10000));
 850       /// If there is still no ground, return sea level radius
 851       if (!prepare_ground_cache_m(ref_time, pos.data(), radius))
 852         return 0;
 853     }
 854   }
 855
 856   double contact[3], normal[3], vel[3], agl;
 857   int type;
 858   // Ignore the return value here, since it just tells us if
 859   // the returns stem from the groundcache or from the coarse
 860   // computations below the groundcache. The contact point is still something
 861   // valid, the normals and the other returns just contain some defaults.
 862   get_agl_m(ref_time, pos.data(), 2.0, contact, normal, vel, &type, 0, &agl);
 863   return SGGeod::fromCart(SGVec3d(contact)).getElevationM();
 864 }
 865
 866 bool
 867 FGInterface::caught_wire_m(double t, const double pt[4][3])
 868 {
 869   SGVec3d pt_m[4];
 870   for (int i=0; i<4; ++i)
 871     pt_m[i] = SGVec3d(pt[i]);
 872
 873   return ground_cache.caught_wire(t, pt_m);
 874 }
 875
 876 bool
 877 FGInterface::caught_wire_ft(double t, const double pt[4][3])
 878 {
 879   // Convert units and do the real work.
 880   SGVec3d pt_m[4];
 881   for (int i=0; i<4; ++i)
 882     pt_m[i] = SG_FEET_TO_METER*SGVec3d(pt[i]);
 883
 884   return ground_cache.caught_wire(t, pt_m);
 885 }
 886
 887 bool
 888 FGInterface::get_wire_ends_m(double t, double end[2][3], double vel[2][3])
 889 {
 890   SGVec3d _end[2], _vel[2];
 891   bool ret = ground_cache.get_wire_ends(t, _end, _vel);
 892   for (int k=0; k<2; ++k) {
 893     assign( end[k], _end[k] );
 894     assign( vel[k], _vel[k] );
 895   }
 896   return ret;
 897 }
 898
 899 bool
 900 FGInterface::get_wire_ends_ft(double t, double end[2][3], double vel[2][3])
 901 {
 902   // Convert units and do the real work.
 903   SGVec3d _end[2], _vel[2];
 904   bool ret = ground_cache.get_wire_ends(t, _end, _vel);
 905   for (int k=0; k<2; ++k) {
 906     assign( end[k], SG_METER_TO_FEET*_end[k] );
 907     assign( vel[k], SG_METER_TO_FEET*_vel[k] );
 908   }
 909   return ret;
 910 }
 911
 912 void
 913 FGInterface::release_wire(void)
 914 {
 915   ground_cache.release_wire();
 916 }
 917
 918 void fgToggleFDMdataLogging(void) {
 919   cur_fdm_state->ToggleDataLogging();
 920 }