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/timing/timestamp.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 freqency.
  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   int multiloop = SGMiscd::roundToInt(dt*hz);
  73   int speedup = fgGetInt("/sim/speed-up");
  74   return multiloop * speedup;
  75 }
  76
  77
  78 /**
  79  * Set default values for the state of the FDM.
  80  *
  81  * This method is invoked by the constructors.
  82  */
  83 void
  84 FGInterface::_setup ()
  85 {
  86     inited = false;
  87     bound = false;
  88
  89     d_cg_rp_body_v = SGVec3d::zeros();
  90     v_dot_local_v = SGVec3d::zeros();
  91     v_dot_body_v = SGVec3d::zeros();
  92     a_cg_body_v = SGVec3d::zeros();
  93     a_pilot_body_v = SGVec3d::zeros();
  94     n_cg_body_v = SGVec3d::zeros();
  95     v_local_v = SGVec3d::zeros();
  96     v_local_rel_ground_v = SGVec3d::zeros();
  97     v_local_airmass_v = SGVec3d::zeros();
  98     v_wind_body_v = SGVec3d::zeros();
  99     omega_body_v = SGVec3d::zeros();
 100     euler_rates_v = SGVec3d::zeros();
 101     geocentric_rates_v = SGVec3d::zeros();
 102     geodetic_position_v = SGGeod::fromRadM(0, 0, 0);
 103     cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v);
 104     geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
 105     euler_angles_v = SGVec3d::zeros();
 106
 107     nlf=0;
 108     v_rel_wind=v_true_kts=0;
 109     v_ground_speed=v_equiv_kts=0;
 110     v_calibrated_kts=0;
 111     alpha=beta=0;
 112     gamma_vert_rad=0;
 113     density=mach_number=0;
 114     static_pressure=total_pressure=0;
 115     dynamic_pressure=0;
 116     static_temperature=total_temperature=0;
 117     sea_level_radius=earth_position_angle=0;
 118     runway_altitude=0;
 119     climb_rate=0;
 120     altitude_agl=0;
 121     track=0;
 122 }
 123
 124 void
 125 FGInterface::init () {}
 126
 127 /**
 128  * Initialize the state of the FDM.
 129  *
 130  * Subclasses of FGInterface may do their own, additional initialization,
 131  * but there is some that is common to all.  Normally, they should call
 132  * this before they begin their own init to make sure the basic structures
 133  * are set up properly.
 134  */
 135 void
 136 FGInterface::common_init ()
 137 {
 138     SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
 139
 140     set_inited( true );
 141
 142     ground_cache.set_cache_time_offset(globals->get_sim_time_sec());
 143
 144     // Set initial position
 145     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
 146     double lon = fgGetDouble("/sim/presets/longitude-deg")
 147       * SGD_DEGREES_TO_RADIANS;
 148     double lat = fgGetDouble("/sim/presets/latitude-deg")
 149       * SGD_DEGREES_TO_RADIANS;
 150     double alt_ft = fgGetDouble("/sim/presets/altitude-ft");
 151     double alt_m = alt_ft * SG_FEET_TO_METER;
 152     set_Longitude( lon );
 153     set_Latitude( lat );
 154     SG_LOG( SG_FLIGHT, SG_INFO, "Checking for lon = "
 155             << lon*SGD_RADIANS_TO_DEGREES << "deg, lat = "
 156             << lat*SGD_RADIANS_TO_DEGREES << "deg, alt = "
 157             << alt_ft << "ft");
 158
 159     double ground_elev_m = get_groundlevel_m(lat, lon, alt_m);
 160     double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
 161     _set_Runway_altitude ( ground_elev_ft );
 162     if ( fgGetBool("/sim/presets/onground") || alt_ft < ground_elev_ft ) {
 163         fgSetDouble("/position/altitude-ft", ground_elev_ft + 0.1);
 164         set_Altitude( ground_elev_ft + 0.1);
 165     } else {
 166         set_Altitude( alt_ft );
 167     }
 168
 169     // Set ground elevation
 170     SG_LOG( SG_FLIGHT, SG_INFO,
 171             "...initializing ground elevation to " << ground_elev_ft
 172             << "ft..." );
 173
 174     // Set sea-level radius
 175     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
 176     SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
 177             << fgGetDouble("/sim/presets/latitude-deg")
 178             << " alt = " << get_Altitude() );
 179     double slr = SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v);
 180     _set_Sea_level_radius( slr * SG_METER_TO_FEET );
 181
 182     // Set initial Euler angles
 183     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
 184     set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
 185                         * SGD_DEGREES_TO_RADIANS,
 186                       fgGetDouble("/sim/presets/pitch-deg")
 187                         * SGD_DEGREES_TO_RADIANS,
 188                       fgGetDouble("/sim/presets/heading-deg")
 189                         * SGD_DEGREES_TO_RADIANS );
 190
 191     // Set initial velocities
 192     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
 193     if ( !fgHasNode("/sim/presets/speed-set") ) {
 194         set_V_calibrated_kts(0.0);
 195     } else {
 196         const string speedset = fgGetString("/sim/presets/speed-set");
 197         if ( speedset == "knots" || speedset == "KNOTS" ) {
 198             set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") );
 199         } else if ( speedset == "mach" || speedset == "MACH" ) {
 200             set_Mach_number( fgGetDouble("/sim/presets/mach") );
 201         } else if ( speedset == "UVW" || speedset == "uvw" ) {
 202             set_Velocities_Wind_Body(
 203                                      fgGetDouble("/sim/presets/uBody-fps"),
 204                                      fgGetDouble("/sim/presets/vBody-fps"),
 205                                      fgGetDouble("/sim/presets/wBody-fps") );
 206         } else if ( speedset == "NED" || speedset == "ned" ) {
 207             set_Velocities_Local(
 208                                  fgGetDouble("/sim/presets/speed-north-fps"),
 209                                  fgGetDouble("/sim/presets/speed-east-fps"),
 210                                  fgGetDouble("/sim/presets/speed-down-fps") );
 211         } else {
 212             SG_LOG( SG_FLIGHT, SG_ALERT,
 213                     "Unrecognized value for /sim/presets/speed-set: "
 214                     << speedset);
 215             set_V_calibrated_kts( 0.0 );
 216         }
 217     }
 218
 219     if ( fgHasNode("/sim/presets/glideslope-deg") )
 220         set_Gamma_vert_rad( fgGetDouble("/sim/presets/glideslope-deg")
 221                               * SGD_DEGREES_TO_RADIANS );
 222     else if ( fgHasNode( "/velocities/vertical-speed-fps") )
 223         set_Climb_Rate( fgGetDouble("/velocities/vertical-speed-fps") );
 224
 225     SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
 226 }
 227
 228
 229 /**
 230  * Bind getters and setters to properties.
 231  *
 232  * The bind() method will be invoked after init().  Note that unlike
 233  * the usual implementations of FGSubsystem::bind(), this method does
 234  * not automatically pick up existing values for the properties at
 235  * bind time; instead, all values are set explicitly in the init()
 236  * method.
 237  */
 238 void
 239 FGInterface::bind ()
 240 {
 241   bound = true;
 242
 243                         // Aircraft position
 244   fgTie("/position/latitude-deg", this,
 245         &FGInterface::get_Latitude_deg,
 246         &FGInterface::set_Latitude_deg,
 247         false);
 248   fgSetArchivable("/position/latitude-deg");
 249   fgTie("/position/longitude-deg", this,
 250         &FGInterface::get_Longitude_deg,
 251         &FGInterface::set_Longitude_deg,
 252         false);
 253   fgSetArchivable("/position/longitude-deg");
 254   fgTie("/position/altitude-ft", this,
 255         &FGInterface::get_Altitude,
 256         &FGInterface::set_Altitude,
 257         false);
 258   fgSetArchivable("/position/altitude-ft");
 259   fgTie("/position/altitude-agl-ft", this,
 260         &FGInterface::get_Altitude_AGL, &FGInterface::set_AltitudeAGL, false);
 261   fgSetArchivable("/position/ground-elev-ft");
 262   fgTie("/position/ground-elev-ft", this,
 263         &FGInterface::get_Runway_altitude); // read-only
 264   fgSetArchivable("/position/ground-elev-m");
 265   fgTie("/position/ground-elev-m", this,
 266         &FGInterface::get_Runway_altitude_m); // read-only
 267   fgTie("/environment/ground-elevation-m", this,
 268         &FGInterface::get_Runway_altitude_m); // read-only
 269   fgSetArchivable("/position/sea-level-radius-ft");
 270   fgTie("/position/sea-level-radius-ft", this,
 271         &FGInterface::get_Sea_level_radius,
 272         &FGInterface::_set_Sea_level_radius, false);
 273
 274                                 // Orientation
 275   fgTie("/orientation/roll-deg", this,
 276         &FGInterface::get_Phi_deg,
 277         &FGInterface::set_Phi_deg, false);
 278   fgSetArchivable("/orientation/roll-deg");
 279   fgTie("/orientation/pitch-deg", this,
 280         &FGInterface::get_Theta_deg,
 281         &FGInterface::set_Theta_deg, false);
 282   fgSetArchivable("/orientation/pitch-deg");
 283   fgTie("/orientation/heading-deg", this,
 284         &FGInterface::get_Psi_deg,
 285         &FGInterface::set_Psi_deg, false);
 286   fgSetArchivable("/orientation/heading-deg");
 287   fgTie("/orientation/track-deg", this,
 288         &FGInterface::get_Track); // read-only
 289
 290   // Body-axis "euler rates" (rotation speed, but in a funny
 291   // representation).
 292   fgTie("/orientation/roll-rate-degps", this,
 293         &FGInterface::get_Phi_dot_degps,
 294         &FGInterface::set_Phi_dot_degps, false);
 295   fgTie("/orientation/pitch-rate-degps", this,
 296         &FGInterface::get_Theta_dot_degps,
 297         &FGInterface::set_Theta_dot_degps, false);
 298   fgTie("/orientation/yaw-rate-degps", this,
 299         &FGInterface::get_Psi_dot_degps,
 300         &FGInterface::set_Psi_dot_degps, false);
 301
 302   fgTie("/orientation/p-body", this, &FGInterface::get_P_body); // read-only
 303   fgTie("/orientation/q-body", this, &FGInterface::get_Q_body); // read-only
 304   fgTie("/orientation/r-body", this, &FGInterface::get_R_body); // read-only
 305
 306                                 // Ground speed knots
 307   fgTie("/velocities/groundspeed-kt", this,
 308         &FGInterface::get_V_ground_speed_kt,
 309         &FGInterface::set_V_ground_speed_kt); // read-only
 310
 311                                 // Calibrated airspeed
 312   fgTie("/velocities/airspeed-kt", this,
 313         &FGInterface::get_V_calibrated_kts,
 314         &FGInterface::set_V_calibrated_kts,
 315         false);
 316
 317     fgTie("/velocities/equivalent-kt", this,
 318         &FGInterface::get_V_equiv_kts); // read-only
 319
 320                                 // Mach number
 321   fgTie("/velocities/mach", this,
 322         &FGInterface::get_Mach_number,
 323         &FGInterface::set_Mach_number,
 324         false);
 325
 326                                 // Local velocities
 327 //   fgTie("/velocities/speed-north-fps", this,
 328 //      &FGInterface::get_V_north,
 329 //      &FGInterface::set_V_north);
 330 //   fgSetArchivable("/velocities/speed-north-fps");
 331 //   fgTie("/velocities/speed-east-fps", this,
 332 //      &FGInterface::get_V_east,
 333 //      &FGInterface::set_V_east);
 334 //   fgSetArchivable("/velocities/speed-east-fps");
 335 //   fgTie("/velocities/speed-down-fps", this,
 336 //      &FGInterface::get_V_down,
 337 //      &FGInterface::set_V_down);
 338 //   fgSetArchivable("/velocities/speed-down-fps");
 339                                 // FIXME: Temporarily read-only, until the
 340                                 // incompatibilities between JSBSim and
 341                                 // LaRCSim are fixed (LaRCSim adds the
 342                                 // earth's rotation to the east velocity).
 343   fgTie("/velocities/speed-north-fps", this,
 344         &FGInterface::get_V_north, &FGInterface::set_V_north, false);
 345   fgTie("/velocities/speed-east-fps", this,
 346         &FGInterface::get_V_east, &FGInterface::set_V_east, false);
 347   fgTie("/velocities/speed-down-fps", this,
 348         &FGInterface::get_V_down, &FGInterface::set_V_down, false);
 349
 350   fgTie("/velocities/north-relground-fps", this,
 351     &FGInterface::get_V_north_rel_ground); // read-only
 352   fgTie("/velocities/east-relground-fps", this,
 353     &FGInterface::get_V_east_rel_ground); // read-only
 354   fgTie("/velocities/down-relground-fps", this,
 355     &FGInterface::get_V_down_rel_ground); // read-only
 356
 357
 358                                 // Relative wind
 359                                 // FIXME: temporarily archivable, until
 360                                 // the NED problem is fixed.
 361   fgTie("/velocities/uBody-fps", this,
 362         &FGInterface::get_uBody,
 363         &FGInterface::set_uBody,
 364         false);
 365   fgSetArchivable("/velocities/uBody-fps");
 366   fgTie("/velocities/vBody-fps", this,
 367         &FGInterface::get_vBody,
 368         &FGInterface::set_vBody,
 369         false);
 370   fgSetArchivable("/velocities/vBody-fps");
 371   fgTie("/velocities/wBody-fps", this,
 372         &FGInterface::get_wBody,
 373         &FGInterface::set_wBody,
 374         false);
 375   fgSetArchivable("/velocities/wBody-fps");
 376
 377                                 // Climb and slip (read-only)
 378   fgTie("/velocities/vertical-speed-fps", this,
 379         &FGInterface::get_Climb_Rate,
 380         &FGInterface::set_Climb_Rate, false );
 381   fgTie("/velocities/glideslope", this,
 382   &FGInterface::get_Gamma_vert_rad,
 383   &FGInterface::set_Gamma_vert_rad, false );
 384   fgTie("/orientation/side-slip-rad", this,
 385         &FGInterface::get_Beta, &FGInterface::_set_Beta, false);
 386   fgTie("/orientation/side-slip-deg", this,
 387   &FGInterface::get_Beta_deg); // read-only
 388   fgTie("/orientation/alpha-deg", this,
 389   &FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg, false);
 390   fgTie("/accelerations/nlf", this,
 391   &FGInterface::get_Nlf); // read-only
 392
 393                                 // NED accelerations
 394   fgTie("/accelerations/ned/north-accel-fps_sec",
 395         this, &FGInterface::get_V_dot_north); // read-only
 396   fgTie("/accelerations/ned/east-accel-fps_sec",
 397         this, &FGInterface::get_V_dot_east); // read-only
 398   fgTie("/accelerations/ned/down-accel-fps_sec",
 399         this, &FGInterface::get_V_dot_down); // read-only
 400
 401                                 // Pilot accelerations
 402   fgTie("/accelerations/pilot/x-accel-fps_sec",
 403         this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot, false);
 404   fgTie("/accelerations/pilot/y-accel-fps_sec",
 405         this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot, false);
 406   fgTie("/accelerations/pilot/z-accel-fps_sec",
 407         this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot, false);
 408
 409   fgTie("/accelerations/n-z-cg-fps_sec",
 410         this, &FGInterface::get_N_Z_cg); // read-only
 411
 412 }
 413
 414
 415 /**
 416  * Unbind any properties bound to this FDM.
 417  *
 418  * This method allows the FDM to release properties so that a new
 419  * FDM can bind them instead.
 420  */
 421 void
 422 FGInterface::unbind ()
 423 {
 424   if (!bound) {
 425     return;
 426   }
 427
 428   bound = false;
 429
 430   fgUntie("/position/latitude-deg");
 431   fgUntie("/position/longitude-deg");
 432   fgUntie("/position/altitude-ft");
 433   fgUntie("/position/altitude-agl-ft");
 434   fgUntie("/position/ground-elev-ft");
 435   fgUntie("/position/ground-elev-m");
 436   fgUntie("/environment/ground-elevation-m");
 437   fgUntie("/position/sea-level-radius-ft");
 438   fgUntie("/orientation/roll-deg");
 439   fgUntie("/orientation/pitch-deg");
 440   fgUntie("/orientation/heading-deg");
 441   fgUntie("/orientation/track-deg");
 442   fgUntie("/orientation/roll-rate-degps");
 443   fgUntie("/orientation/pitch-rate-degps");
 444   fgUntie("/orientation/yaw-rate-degps");
 445   fgUntie("/orientation/p-body");
 446   fgUntie("/orientation/q-body");
 447   fgUntie("/orientation/r-body");
 448   fgUntie("/orientation/side-slip-rad");
 449   fgUntie("/orientation/side-slip-deg");
 450   fgUntie("/orientation/alpha-deg");
 451   fgUntie("/velocities/airspeed-kt");
 452   fgUntie("/velocities/groundspeed-kt");
 453   fgUntie("/velocities/equivalent-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/north-relground-fps");
 459   fgUntie("/velocities/east-relground-fps");
 460   fgUntie("/velocities/down-relground-fps");
 461   fgUntie("/velocities/uBody-fps");
 462   fgUntie("/velocities/vBody-fps");
 463   fgUntie("/velocities/wBody-fps");
 464   fgUntie("/velocities/vertical-speed-fps");
 465   fgUntie("/velocities/glideslope");
 466   fgUntie("/accelerations/nlf");
 467   fgUntie("/accelerations/pilot/x-accel-fps_sec");
 468   fgUntie("/accelerations/pilot/y-accel-fps_sec");
 469   fgUntie("/accelerations/pilot/z-accel-fps_sec");
 470   fgUntie("/accelerations/ned/north-accel-fps_sec");
 471   fgUntie("/accelerations/ned/east-accel-fps_sec");
 472   fgUntie("/accelerations/ned/down-accel-fps_sec");
 473   fgUntie("/accelerations/n-z-cg-fps_sec");
 474 }
 475
 476 /**
 477  * Update the state of the FDM (i.e. run the equations of motion).
 478  */
 479 void
 480 FGInterface::update (double dt)
 481 {
 482     SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
 483 }
 484
 485
 486 void FGInterface::_updatePositionM(const SGVec3d& cartPos)
 487 {
 488     TrackComputer tracker( track, geodetic_position_v );
 489     cartesian_position_v = cartPos;
 490     geodetic_position_v = SGGeod::fromCart(cartesian_position_v);
 491     geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
 492     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
 493     _update_ground_elev_at_pos();
 494 }
 495
 496
 497 void FGInterface::_updatePosition(const SGGeod& geod)
 498 {
 499     TrackComputer tracker( track, geodetic_position_v );
 500     geodetic_position_v = geod;
 501     cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v);
 502     geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
 503
 504     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
 505     _update_ground_elev_at_pos();
 506 }
 507
 508
 509 void FGInterface::_updatePosition(const SGGeoc& geoc)
 510 {
 511     TrackComputer tracker( track, geodetic_position_v );
 512     geocentric_position_v = geoc;
 513     cartesian_position_v = SGVec3d::fromGeoc(geocentric_position_v);
 514     geodetic_position_v = SGGeod::fromCart(cartesian_position_v);
 515
 516     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
 517     _update_ground_elev_at_pos();
 518 }
 519
 520
 521 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
 522 {
 523     _updatePosition(SGGeod::fromRadFt(lon, lat, alt));
 524 }
 525
 526
 527 void FGInterface::_updateGeocentricPosition( double lat, double lon,
 528                                              double alt )
 529 {
 530     _updatePosition(SGGeoc::fromRadFt(lon, lat, get_Sea_level_radius() + alt));
 531 }
 532
 533 void FGInterface::_update_ground_elev_at_pos( void ) {
 534     double groundlevel_m = get_groundlevel_m(geodetic_position_v);
 535     _set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET );
 536 }
 537
 538 // Positions
 539 void FGInterface::set_Latitude(double lat) {
 540     geodetic_position_v.setLatitudeRad(lat);
 541 }
 542
 543 void FGInterface::set_Longitude(double lon) {
 544     geodetic_position_v.setLongitudeRad(lon);
 545 }
 546
 547 void FGInterface::set_Altitude(double alt) {
 548     geodetic_position_v.setElevationFt(alt);
 549 }
 550
 551 void FGInterface::set_AltitudeAGL(double altagl) {
 552     altitude_agl=altagl;
 553 }
 554
 555 // Velocities
 556 void FGInterface::set_V_calibrated_kts(double vc) {
 557     v_calibrated_kts = vc;
 558 }
 559
 560 void FGInterface::set_Mach_number(double mach) {
 561     mach_number = mach;
 562 }
 563
 564 void FGInterface::set_Velocities_Local( double north,
 565                                         double east,
 566                                         double down ){
 567     v_local_v[0] = north;
 568     v_local_v[1] = east;
 569     v_local_v[2] = down;
 570 }
 571
 572 void FGInterface::set_Velocities_Wind_Body( double u,
 573                                             double v,
 574                                             double w){
 575     v_wind_body_v[0] = u;
 576     v_wind_body_v[1] = v;
 577     v_wind_body_v[2] = w;
 578 }
 579
 580 // Euler angles
 581 void FGInterface::set_Euler_Angles( double phi,
 582                                     double theta,
 583                                     double psi ) {
 584     euler_angles_v[0] = phi;
 585     euler_angles_v[1] = theta;
 586     euler_angles_v[2] = psi;
 587 }
 588
 589 // Flight Path
 590 void FGInterface::set_Climb_Rate( double roc) {
 591     climb_rate = roc;
 592 }
 593
 594 void FGInterface::set_Gamma_vert_rad( double gamma) {
 595     gamma_vert_rad = gamma;
 596 }
 597
 598 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
 599 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
 600 void FGInterface::set_Density(double rho) { density = rho; }
 601
 602 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
 603                                                 double weast,
 604                                                 double wdown ) {
 605     v_local_airmass_v[0] = wnorth;
 606     v_local_airmass_v[1] = weast;
 607     v_local_airmass_v[2] = wdown;
 608 }
 609
 610
 611 void FGInterface::_busdump(void) {
 612
 613     SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v: " << d_cg_rp_body_v);
 614     SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v: " << v_dot_local_v);
 615     SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v: " << v_dot_body_v);
 616     SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v: " << a_cg_body_v);
 617     SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v: " << a_pilot_body_v);
 618     SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v: " << n_cg_body_v);
 619     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v: " << v_local_v);
 620     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v: " << v_local_rel_ground_v);
 621     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v: " << v_local_airmass_v);
 622     SG_LOG(SG_FLIGHT,SG_INFO,"v_wind_body_v: " << v_wind_body_v);
 623     SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v: " << omega_body_v);
 624     SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v: " << euler_rates_v);
 625     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v: " << geocentric_rates_v);
 626     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v: " << geocentric_position_v);
 627     SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v: " << geodetic_position_v);
 628     SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v: " << euler_angles_v);
 629
 630     SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
 631     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
 632     SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
 633     SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
 634     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
 635     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
 636     SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
 637     SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
 638     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
 639     SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
 640     SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
 641     SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
 642     SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
 643     SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
 644     SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
 645     SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
 646     SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
 647     SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
 648     SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
 649     SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
 650     SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
 651 }
 652
 653 bool
 654 FGInterface::prepare_ground_cache_m(double startSimTime, double endSimTime,
 655                                     const double pt[3], double rad)
 656 {
 657   return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
 658                                            SGVec3d(pt), rad);
 659 }
 660
 661 bool
 662 FGInterface::prepare_ground_cache_ft(double startSimTime, double endSimTime,
 663                                      const double pt[3], double rad)
 664 {
 665   // Convert units and do the real work.
 666   SGVec3d pt_ft = SG_FEET_TO_METER*SGVec3d(pt);
 667   return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
 668                                            pt_ft, rad*SG_FEET_TO_METER);
 669 }
 670
 671 bool
 672 FGInterface::is_valid_m(double *ref_time, double pt[3], double *rad)
 673 {
 674   SGVec3d _pt;
 675   bool valid = ground_cache.is_valid(*ref_time, _pt, *rad);
 676   assign(pt, _pt);
 677   return valid;
 678 }
 679
 680 bool FGInterface::is_valid_ft(double *ref_time, double pt[3], double *rad)
 681 {
 682   // Convert units and do the real work.
 683   SGVec3d _pt;
 684   bool found_ground = ground_cache.is_valid(*ref_time, _pt, *rad);
 685   assign(pt, SG_METER_TO_FEET*_pt);
 686   *rad *= SG_METER_TO_FEET;
 687   return found_ground;
 688 }
 689
 690 double
 691 FGInterface::get_cat_m(double t, const double pt[3],
 692                        double end[2][3], double vel[2][3])
 693 {
 694   SGVec3d _end[2], _vel[2];
 695   double dist = ground_cache.get_cat(t, SGVec3d(pt), _end, _vel);
 696   for (int k=0; k<2; ++k) {
 697     assign( end[k], _end[k] );
 698     assign( vel[k], _vel[k] );
 699   }
 700   return dist;
 701 }
 702
 703 double
 704 FGInterface::get_cat_ft(double t, const double pt[3],
 705                         double end[2][3], double vel[2][3])
 706 {
 707   // Convert units and do the real work.
 708   SGVec3d pt_m = SG_FEET_TO_METER*SGVec3d(pt);
 709   SGVec3d _end[2], _vel[2];
 710   double dist = ground_cache.get_cat(t, pt_m, _end, _vel);
 711   for (int k=0; k<2; ++k) {
 712     assign( end[k], SG_METER_TO_FEET*_end[k] );
 713     assign( vel[k], SG_METER_TO_FEET*_vel[k] );
 714   }
 715   return dist*SG_METER_TO_FEET;
 716 }
 717
 718 bool
 719 FGInterface::get_body_m(double t, simgear::BVHNode::Id id,
 720                         double bodyToWorld[16], double linearVel[3],
 721                         double angularVel[3])
 722 {
 723   SGMatrixd _bodyToWorld;
 724   SGVec3d _linearVel, _angularVel;
 725   if (!ground_cache.get_body(t, _bodyToWorld, _linearVel, _angularVel, id))
 726     return false;
 727
 728   assign(linearVel, _linearVel);
 729   assign(angularVel, _angularVel);
 730   for (unsigned i = 0; i < 16; ++i)
 731       bodyToWorld[i] = _bodyToWorld.data()[i];
 732
 733   return true;
 734 }
 735
 736 bool
 737 FGInterface::get_agl_m(double t, const double pt[3], double max_altoff,
 738                        double contact[3], double normal[3],
 739                        double linearVel[3], double angularVel[3],
 740                        SGMaterial const*& material, simgear::BVHNode::Id& id)
 741 {
 742   SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
 743   SGVec3d _contact, _normal, _linearVel, _angularVel;
 744   material = 0;
 745   bool ret = ground_cache.get_agl(t, pt_m, _contact, _normal, _linearVel,
 746                                   _angularVel, id, material);
 747   // correct the linear velocity, since the line intersector delivers
 748   // values for the start point and the get_agl function should
 749   // traditionally deliver for the contact point
 750   _linearVel += cross(_angularVel, _contact - pt_m);
 751
 752   assign(contact, _contact);
 753   assign(normal, _normal);
 754   assign(linearVel, _linearVel);
 755   assign(angularVel, _angularVel);
 756   return ret;
 757 }
 758
 759 bool
 760 FGInterface::get_agl_ft(double t, const double pt[3], double max_altoff,
 761                         double contact[3], double normal[3],
 762                         double linearVel[3], double angularVel[3],
 763                         SGMaterial const*& material, simgear::BVHNode::Id& id)
 764 {
 765   // Convert units and do the real work.
 766   SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
 767   pt_m *= SG_FEET_TO_METER;
 768   SGVec3d _contact, _normal, _linearVel, _angularVel;
 769   material = 0;
 770   bool ret = ground_cache.get_agl(t, pt_m, _contact, _normal, _linearVel,
 771                                   _angularVel, id, material);
 772   // correct the linear velocity, since the line intersector delivers
 773   // values for the start point and the get_agl function should
 774   // traditionally deliver for the contact point
 775   _linearVel += cross(_angularVel, _contact - pt_m);
 776
 777   // Convert units back ...
 778   assign( contact, SG_METER_TO_FEET*_contact );
 779   assign( normal, _normal );
 780   assign( linearVel, SG_METER_TO_FEET*_linearVel );
 781   assign( angularVel, _angularVel );
 782   return ret;
 783 }
 784
 785 bool
 786 FGInterface::get_nearest_m(double t, const double pt[3], double maxDist,
 787                            double contact[3], double normal[3],
 788                            double linearVel[3], double angularVel[3],
 789                            SGMaterial const*& material,
 790                            simgear::BVHNode::Id& id)
 791 {
 792   SGVec3d _contact, _linearVel, _angularVel;
 793   if (!ground_cache.get_nearest(t, SGVec3d(pt), maxDist, _contact, _linearVel,
 794                                 _angularVel, id, material))
 795       return false;
 796
 797   assign(contact, _contact);
 798   assign(linearVel, _linearVel);
 799   assign(angularVel, _angularVel);
 800   return true;
 801 }
 802
 803 bool
 804 FGInterface::get_nearest_ft(double t, const double pt[3], double maxDist,
 805                             double contact[3], double normal[3],
 806                             double linearVel[3], double angularVel[3],
 807                             SGMaterial const*& material,
 808                             simgear::BVHNode::Id& id)
 809 {
 810   SGVec3d _contact, _linearVel, _angularVel;
 811   if (!ground_cache.get_nearest(t, SG_FEET_TO_METER*SGVec3d(pt),
 812                                 SG_FEET_TO_METER*maxDist, _contact, _linearVel,
 813                                 _angularVel, id, material))
 814       return false;
 815
 816   assign(contact, SG_METER_TO_FEET*_contact);
 817   assign(linearVel, SG_METER_TO_FEET*_linearVel);
 818   assign(angularVel, _angularVel);
 819   return true;
 820 }
 821
 822 double
 823 FGInterface::get_groundlevel_m(double lat, double lon, double alt)
 824 {
 825   return get_groundlevel_m(SGGeod::fromRadM(lon, lat, alt));
 826 }
 827
 828 double
 829 FGInterface::get_groundlevel_m(const SGGeod& geod)
 830 {
 831   // Compute the cartesian position of the given lat/lon/alt.
 832   SGVec3d pos = SGVec3d::fromGeod(geod);
 833
 834   // FIXME: how to handle t - ref_time differences ???
 835   SGVec3d cpos;
 836   double ref_time = 0, radius;
 837   // Prepare the ground cache for that position.
 838   if (!is_valid_m(&ref_time, cpos.data(), &radius)) {
 839     double startTime = ref_time;
 840     double endTime = startTime + 1;
 841     bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), 10);
 842     /// This is most likely the case when the given altitude is
 843     /// too low, try with a new altitude of 10000m, that should be
 844     /// sufficient to find a ground level below everywhere on our planet
 845     if (!ok) {
 846       pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000));
 847       /// If there is still no ground, return sea level radius
 848       if (!prepare_ground_cache_m(startTime, endTime, pos.data(), 10))
 849         return 0;
 850     }
 851   } else if (radius*radius <= distSqr(pos, cpos)) {
 852     double startTime = ref_time;
 853     double endTime = startTime + 1;
 854
 855     /// We reuse the old radius value, but only if it is at least 10 Meters ..
 856     if (!(10 < radius)) // Well this strange compare is nan safe
 857       radius = 10;
 858
 859     bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), radius);
 860     /// This is most likely the case when the given altitude is
 861     /// too low, try with a new altitude of 10000m, that should be
 862     /// sufficient to find a ground level below everywhere on our planet
 863     if (!ok) {
 864       pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000));
 865       /// If there is still no ground, return sea level radius
 866       if (!prepare_ground_cache_m(startTime, endTime, pos.data(), radius))
 867         return 0;
 868     }
 869   }
 870
 871   double contact[3], normal[3], vel[3], angvel[3];
 872   const SGMaterial* material;
 873   simgear::BVHNode::Id id;
 874   // Ignore the return value here, since it just tells us if
 875   // the returns stem from the groundcache or from the coarse
 876   // computations below the groundcache. The contact point is still something
 877   // valid, the normals and the other returns just contain some defaults.
 878   get_agl_m(ref_time, pos.data(), 2.0, contact, normal, vel, angvel,
 879             material, id);
 880   return SGGeod::fromCart(SGVec3d(contact)).getElevationM();
 881 }
 882
 883 bool
 884 FGInterface::caught_wire_m(double t, const double pt[4][3])
 885 {
 886   SGVec3d pt_m[4];
 887   for (int i=0; i<4; ++i)
 888     pt_m[i] = SGVec3d(pt[i]);
 889
 890   return ground_cache.caught_wire(t, pt_m);
 891 }
 892
 893 bool
 894 FGInterface::caught_wire_ft(double t, const double pt[4][3])
 895 {
 896   // Convert units and do the real work.
 897   SGVec3d pt_m[4];
 898   for (int i=0; i<4; ++i)
 899     pt_m[i] = SG_FEET_TO_METER*SGVec3d(pt[i]);
 900
 901   return ground_cache.caught_wire(t, pt_m);
 902 }
 903
 904 bool
 905 FGInterface::get_wire_ends_m(double t, double end[2][3], double vel[2][3])
 906 {
 907   SGVec3d _end[2], _vel[2];
 908   bool ret = ground_cache.get_wire_ends(t, _end, _vel);
 909   for (int k=0; k<2; ++k) {
 910     assign( end[k], _end[k] );
 911     assign( vel[k], _vel[k] );
 912   }
 913   return ret;
 914 }
 915
 916 bool
 917 FGInterface::get_wire_ends_ft(double t, double end[2][3], double vel[2][3])
 918 {
 919   // Convert units and do the real work.
 920   SGVec3d _end[2], _vel[2];
 921   bool ret = ground_cache.get_wire_ends(t, _end, _vel);
 922   for (int k=0; k<2; ++k) {
 923     assign( end[k], SG_METER_TO_FEET*_end[k] );
 924     assign( vel[k], SG_METER_TO_FEET*_vel[k] );
 925   }
 926   return ret;
 927 }
 928
 929 void
 930 FGInterface::release_wire(void)
 931 {
 932   ground_cache.release_wire();
 933 }
 934