1 // flight.cxx -- a general interface to the various flight models
3 // Written by Curtis Olson, started May 1997.
5 // Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
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.
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.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
28 #include <simgear/constants.h>
29 #include <simgear/debug/logstream.hxx>
30 #include <simgear/math/sg_geodesy.hxx>
31 #include <simgear/timing/timestamp.hxx>
33 #include <Scenery/scenery.hxx>
34 #include <FDM/LaRCsim/ls_interface.h>
35 #include <Main/globals.hxx>
36 #include <Main/fg_props.hxx>
38 #include "External.hxx"
41 #include "LaRCsim.hxx"
45 // base_fdm_state is the internal state that is updated in integer
46 // multiples of "dt". This leads to "jitter" with respect to the real
47 // world time, so we introduce cur_fdm_state which is extrapolated by
48 // the difference between sim time and real world time
50 FGInterface *cur_fdm_state;
51 FGInterface base_fdm_state;
53 inline void init_vec(FG_VECTOR_3 vec) {
54 vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0;
57 FGEngInterface::FGEngInterface() {
73 FGEngInterface::~FGEngInterface(void) {
76 FGGearInterface::FGGearInterface(void) {
78 brake=rolls=WoW=false;
82 FGGearInterface::~FGGearInterface() {
86 FGInterface::FGInterface() {
90 FGInterface::FGInterface( double dt ) {
93 remainder = elapsed = multi_loop = 0;
97 FGInterface::~FGInterface() {
98 // unbind(); // FIXME: should be called explicitly
103 * Set default values for the state of the FDM.
105 * This method is invoked by the constructors.
108 FGInterface::_setup ()
113 init_vec( d_pilot_rp_body_v );
114 init_vec( d_cg_rp_body_v );
115 init_vec( f_body_total_v );
116 init_vec( f_local_total_v );
117 init_vec( f_aero_v );
118 init_vec( f_engine_v );
119 init_vec( f_gear_v );
120 init_vec( m_total_rp_v );
121 init_vec( m_total_cg_v );
122 init_vec( m_aero_v );
123 init_vec( m_engine_v );
124 init_vec( m_gear_v );
125 init_vec( v_dot_local_v );
126 init_vec( v_dot_body_v );
127 init_vec( a_cg_body_v );
128 init_vec( a_pilot_body_v );
129 init_vec( n_cg_body_v );
130 init_vec( n_pilot_body_v );
131 init_vec( omega_dot_body_v );
132 init_vec( v_local_v );
133 init_vec( v_local_rel_ground_v );
134 init_vec( v_local_airmass_v );
135 init_vec( v_local_rel_airmass_v );
136 init_vec( v_local_gust_v );
137 init_vec( v_wind_body_v );
138 init_vec( omega_body_v );
139 init_vec( omega_local_v );
140 init_vec( omega_total_v );
141 init_vec( euler_rates_v );
142 init_vec( geocentric_rates_v );
143 init_vec( geocentric_position_v );
144 init_vec( geodetic_position_v );
145 init_vec( euler_angles_v );
146 init_vec( d_cg_rwy_local_v );
147 init_vec( d_cg_rwy_rwy_v );
148 init_vec( d_pilot_rwy_local_v );
149 init_vec( d_pilot_rwy_rwy_v );
150 init_vec( t_local_to_body_m[0] );
151 init_vec( t_local_to_body_m[1] );
152 init_vec( t_local_to_body_m[2] );
154 mass=i_xx=i_yy=i_zz=i_xz=0;
156 v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
157 v_ground_speed=v_equiv=v_equiv_kts=0;
158 v_calibrated=v_calibrated_kts=0;
160 centrifugal_relief=0;
161 alpha=beta=alpha_dot=beta_dot=0;
162 cos_alpha=sin_alpha=cos_beta=sin_beta=0;
163 cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
164 gamma_vert_rad=gamma_horiz_rad=0;
165 sigma=density=v_sound=mach_number=0;
166 static_pressure=total_pressure=impact_pressure=0;
168 static_temperature=total_temperature=0;
169 sea_level_radius=earth_position_angle=0;
170 runway_altitude=runway_latitude=runway_longitude=0;
174 sin_lat_geocentric=cos_lat_geocentric=0;
175 sin_latitude=cos_latitude=0;
176 sin_longitude=cos_longitude=0;
181 FGInterface::init () {}
184 * Initialize the state of the FDM.
186 * Subclasses of FGInterface may do their own, additional initialization,
187 * but there is some that is common to all. Normally, they should call
188 * this before they begin their own init to make sure the basic structures
189 * are set up properly.
192 FGInterface::common_init ()
194 SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
201 // Set initial position
202 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
203 set_Longitude( fgGetDouble("/position/longitude-deg")
204 * SGD_DEGREES_TO_RADIANS );
205 set_Latitude( fgGetDouble("/position/latitude-deg")
206 * SGD_DEGREES_TO_RADIANS );
207 double ground_elev_m = scenery.get_cur_elev();
208 double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
209 if ( fgGetBool("/sim/startup/onground")
210 || fgGetDouble("/position/altitude-ft") < ground_elev_ft ) {
211 fgSetDouble("/position/altitude-ft", ground_elev_ft);
213 set_Altitude( fgGetDouble("/position/altitude-ft") );
215 // Set ground elevation
216 SG_LOG( SG_FLIGHT, SG_INFO,
217 "...initializing ground elevation to " << ground_elev_ft
219 SG_LOG( SG_FLIGHT, SG_INFO, "common_init(): set ground elevation "
221 base_fdm_state.set_Runway_altitude( ground_elev_ft );
222 set_Runway_altitude( ground_elev_ft );
224 // Set sea-level radius
225 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
226 SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
227 << fgGetDouble("/position/latitude-deg")
228 << " alt = " << fgGetDouble("/position/altitude-ft") );
229 double sea_level_radius_meters;
231 sgGeodToGeoc( fgGetDouble("/position/latitude-deg")
232 * SGD_DEGREES_TO_RADIANS,
233 fgGetDouble("/position/altitude-ft") * SG_FEET_TO_METER,
234 &sea_level_radius_meters, &lat_geoc );
235 set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
237 // Set initial velocities
238 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
239 if ( !fgHasNode("/sim/startup/speed-set") ) {
240 set_V_calibrated_kts(0.0);
242 const string speedset = fgGetString("/sim/startup/speed-set");
243 if ( speedset == "knots" || speedset == "KNOTS" ) {
244 set_V_calibrated_kts( fgGetDouble("/velocities/airspeed-kt") );
245 } else if ( speedset == "mach" || speedset == "MACH" ) {
246 set_Mach_number( fgGetDouble("/velocities/mach") );
247 } else if ( speedset == "UVW" || speedset == "uvw" ) {
248 set_Velocities_Wind_Body(
249 fgGetDouble("/velocities/uBody-fps"),
250 fgGetDouble("/velocities/vBody-fps"),
251 fgGetDouble("/velocities/wBody-fps") );
252 } else if ( speedset == "NED" || speedset == "ned" ) {
253 set_Velocities_Local(
254 fgGetDouble("/velocities/speed-north-fps"),
255 fgGetDouble("/velocities/speed-east-fps"),
256 fgGetDouble("/velocities/speed-down-fps") );
258 SG_LOG( SG_FLIGHT, SG_ALERT,
259 "Unrecognized value for /sim/startup/speed-set: "
261 set_V_calibrated_kts( 0.0 );
265 // Set initial Euler angles
266 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
267 set_Euler_Angles( fgGetDouble("/orientation/roll-deg")
268 * SGD_DEGREES_TO_RADIANS,
269 fgGetDouble("/orientation/pitch-deg")
270 * SGD_DEGREES_TO_RADIANS,
271 fgGetDouble("/orientation/heading-deg")
272 * SGD_DEGREES_TO_RADIANS );
274 SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
279 * Bind getters and setters to properties.
281 * The bind() method will be invoked after init(). Note that unlike
282 * the usual implementations of FGSubsystem::bind(), this method does
283 * not automatically pick up existing values for the properties at
284 * bind time; instead, all values are set explicitly in the init()
292 // Time management (read-only)
293 fgTie("/fdm/time/delta_t", this,
294 &FGInterface::get_delta_t); // read-only
295 fgTie("/fdm/time/elapsed", this,
296 &FGInterface::get_elapsed); // read-only
297 fgTie("/fdm/time/remainder", this,
298 &FGInterface::get_remainder); // read-only
299 fgTie("/fdm/time/multi_loop", this,
300 &FGInterface::get_multi_loop); // read-only
303 fgTie("/position/latitude-deg", this,
304 &FGInterface::get_Latitude_deg,
305 &FGInterface::set_Latitude_deg,
307 fgSetArchivable("/position/latitude-deg");
308 fgTie("/position/longitude-deg", this,
309 &FGInterface::get_Longitude_deg,
310 &FGInterface::set_Longitude_deg,
312 fgSetArchivable("/position/longitude-deg");
313 fgTie("/position/altitude-ft", this,
314 &FGInterface::get_Altitude,
315 &FGInterface::set_Altitude,
317 fgSetArchivable("/position/altitude-ft");
318 fgTie("/position/altitude-agl-ft", this,
319 &FGInterface::get_Altitude_AGL); // read-only
322 fgTie("/orientation/roll-deg", this,
323 &FGInterface::get_Phi_deg,
324 &FGInterface::set_Phi_deg);
325 fgSetArchivable("/orientation/roll-deg");
326 fgTie("/orientation/pitch-deg", this,
327 &FGInterface::get_Theta_deg,
328 &FGInterface::set_Theta_deg);
329 fgSetArchivable("/orientation/pitch-deg");
330 fgTie("/orientation/heading-deg", this,
331 &FGInterface::get_Psi_deg,
332 &FGInterface::set_Psi_deg);
333 fgSetArchivable("/orientation/heading-deg");
335 // Calibrated airspeed
336 fgTie("/velocities/airspeed-kt", this,
337 &FGInterface::get_V_calibrated_kts,
338 &FGInterface::set_V_calibrated_kts,
342 // fgTie("/velocities/speed-north-fps", this,
343 // &FGInterface::get_V_north,
344 // &FGInterface::set_V_north);
345 // fgSetArchivable("/velocities/speed-north-fps");
346 // fgTie("/velocities/speed-east-fps", this,
347 // &FGInterface::get_V_east,
348 // &FGInterface::set_V_east);
349 // fgSetArchivable("/velocities/speed-east-fps");
350 // fgTie("/velocities/speed-down-fps", this,
351 // &FGInterface::get_V_down,
352 // &FGInterface::set_V_down);
353 // fgSetArchivable("/velocities/speed-down-fps");
354 // FIXME: Temporarily read-only, until the
355 // incompatibilities between JSBSim and
356 // LaRCSim are fixed (LaRCSim adds the
357 // earth's rotation to the east velocity).
358 fgTie("/velocities/speed-north-fps", this,
359 &FGInterface::get_V_north);
360 fgTie("/velocities/speed-east-fps", this,
361 &FGInterface::get_V_east);
362 fgTie("/velocities/speed-down-fps", this,
363 &FGInterface::get_V_down);
366 // FIXME: temporarily archivable, until
367 // the NED problem is fixed.
368 fgTie("/velocities/uBody-fps", this,
369 &FGInterface::get_uBody,
370 &FGInterface::set_uBody,
372 fgSetArchivable("/velocities/uBody-fps");
373 fgTie("/velocities/vBody-fps", this,
374 &FGInterface::get_vBody,
375 &FGInterface::set_vBody,
377 fgSetArchivable("/velocities/vBody-fps");
378 fgTie("/velocities/wBody-fps", this,
379 &FGInterface::get_wBody,
380 &FGInterface::set_wBody,
382 fgSetArchivable("/velocities/wBody-fps");
384 // Climb and slip (read-only)
385 fgTie("/velocities/vertical-speed-fps", this,
386 &FGInterface::get_Climb_Rate); // read-only
387 fgTie("/velocities/side-slip-rad", this,
388 &FGInterface::get_Beta); // read-only
391 for (int i = 0; i < get_num_engines(); i++) {
394 sprintf(buf, "/engines/engine[%d]/rpm", i);
395 fgTie(buf, get_engine(i), &FGEngInterface::get_RPM);
397 sprintf(buf, "/engines/engine[%d]/egt-degf", i);
398 fgTie(buf, get_engine(i), &FGEngInterface::get_EGT);
400 sprintf(buf, "/engines/engine[%d]/cht-degf", i);
401 fgTie(buf, get_engine(i), &FGEngInterface::get_CHT);
403 sprintf(buf, "/engines/engine[%d]/oil-temperature-degf", i);
404 fgTie(buf, get_engine(i), &FGEngInterface::get_Oil_Temp);
406 sprintf(buf, "/engines/engine[%d]/mp-osi", i);
407 fgTie(buf, get_engine(i), &FGEngInterface::get_Manifold_Pressure);
409 sprintf(buf, "/engines/engine[%d]/fuel-flow-gph", i);
410 fgTie(buf, get_engine(i), &FGEngInterface::get_Fuel_Flow);
412 sprintf(buf, "/engines/engine[%d]/running", i);
413 fgTie(buf, get_engine(i), &FGEngInterface::get_Running_Flag);
415 sprintf(buf, "/engines/engine[%d]/cranking", i);
416 fgTie(buf, get_engine(i), &FGEngInterface::get_Cranking_Flag);
423 * Unbind any properties bound to this FDM.
425 * This method allows the FDM to release properties so that a new
426 * FDM can bind them instead.
429 FGInterface::unbind ()
433 fgUntie("/fdm/time/delta_t");
434 fgUntie("/fdm/time/elapsed");
435 fgUntie("/fdm/time/remainder");
436 fgUntie("/fdm/time/multi_loop");
437 fgUntie("/position/latitude-deg");
438 fgUntie("/position/longitude-deg");
439 fgUntie("/position/altitude-ft");
440 fgUntie("/position/altitude-agl-ft");
441 fgUntie("/orientation/heading-deg");
442 fgUntie("/orientation/pitch-deg");
443 fgUntie("/orientation/roll-deg");
444 fgUntie("/velocities/airspeed-kt");
445 fgUntie("/velocities/speed-north-fps");
446 fgUntie("/velocities/speed-east-fps");
447 fgUntie("/velocities/speed-down-fps");
448 fgUntie("/velocities/uBody-fps");
449 fgUntie("/velocities/vBody-fps");
450 fgUntie("/velocities/wBody-fps");
451 fgUntie("/velocities/vertical-speed-fps");
452 fgUntie("/velocities/side-slip-rad");
453 for (int i = 0; i < get_num_engines(); i++) {
455 sprintf(buf, "/engines/engine[%d]/rpm", i);
457 sprintf(buf, "/engines/engine[%d]/egt-degf", i);
459 sprintf(buf, "/engines/engine[%d]/cht-degf", i);
461 sprintf(buf, "/engines/engine[%d]/oil-temperature-degf", i);
463 sprintf(buf, "/engines/engine[%d]/mp-osi", i);
465 sprintf(buf, "/engines/engine[%d]/fuel-flow-gph", i);
467 sprintf(buf, "/engines/engine[%d]/running", i);
469 sprintf(buf, "/engines/engine[%d]/cranking", i);
476 * Update the state of the FDM (i.e. run the equations of motion).
479 FGInterface::update ()
485 bool FGInterface::update( int multi_loop ) {
486 cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl;
491 void FGInterface::_updatePosition( double lat_geoc, double lon, double alt ) {
492 double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
494 // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
496 sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
497 &lat_geod, &tmp_alt, &sl_radius1 );
498 sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
500 SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
501 << " lat_geod = " << lat_geod
502 << " lat_geoc = " << lat_geoc
504 << " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
505 << " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
506 << " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
507 << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
509 _set_Geocentric_Position( lat_geoc, lon,
510 sl_radius2 * SG_METER_TO_FEET + alt );
512 _set_Geodetic_Position( lat_geod, lon, alt );
514 _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
515 _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
517 _set_sin_lat_geocentric( lat_geoc );
518 _set_cos_lat_geocentric( lat_geoc );
520 _set_sin_cos_longitude( lon );
522 _set_sin_cos_latitude( lat_geod );
524 /* Norman's code for slope of the terrain */
525 /* needs to be tested -- get it on the HUD and taxi around */
526 /* double *tnorm = scenery.cur_normal;
528 double sy = sin ( -get_Psi() ) ;
529 double cy = cos ( -get_Psi() ) ;
531 double phitb, thetatb, psitb;
532 if(tnorm[1] != 0.0) {
533 psitb = -atan2 ( tnorm[0], tnorm[1] );
535 if(tnorm[2] != 0.0) {
536 thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
537 phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
540 _set_terrain_slope(phitb, thetatb, psitb)
545 // Extrapolate fdm based on time_offset (in usec)
546 void FGInterface::extrapolate( int time_offset ) {
547 double dt = time_offset / 1000000.0;
549 // -dw- metrowerks complains about ambiguous access, not critical
552 cout << "extrapolating FDM by dt = " << dt << endl;
555 double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
556 double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
558 double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
559 double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
561 double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
562 double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
564 geodetic_position_v[0] = lat;
565 geocentric_position_v[0] = lat_geoc;
567 geodetic_position_v[1] = lon;
568 geocentric_position_v[1] = lon_geoc;
570 geodetic_position_v[2] = alt;
571 geocentric_position_v[2] = radius;
575 // Set the altitude (force)
576 void fgFDMForceAltitude(const string &model, double alt_meters) {
577 SG_LOG(SG_FLIGHT,SG_INFO, "fgFDMForceAltitude: " << alt_meters );
579 double sea_level_radius_meters;
582 // Set the FG variables first
583 sgGeodToGeoc( base_fdm_state.get_Latitude(), alt_meters,
584 &sea_level_radius_meters, &lat_geoc);
586 base_fdm_state.set_Altitude( alt_meters * SG_METER_TO_FEET );
587 base_fdm_state.set_Sea_level_radius( sea_level_radius_meters *
590 cur_fdm_state->set_Altitude( alt_meters * SG_METER_TO_FEET );
591 cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters *
594 // additional work needed for some flight models
595 if ( model == "larcsim" ) {
596 ls_ForceAltitude( base_fdm_state.get_Altitude() );
602 void FGInterface::set_Latitude(double lat) {
603 geodetic_position_v[0] = lat;
606 void FGInterface::set_Longitude(double lon) {
607 geodetic_position_v[1] = lon;
610 void FGInterface::set_Altitude(double alt) {
611 geodetic_position_v[2] = alt;
614 void FGInterface::set_AltitudeAGL(double altagl) {
619 void FGInterface::set_V_calibrated_kts(double vc) {
620 v_calibrated_kts = vc;
623 void FGInterface::set_Mach_number(double mach) {
627 void FGInterface::set_Velocities_Local( double north,
630 v_local_v[0] = north;
635 void FGInterface::set_Velocities_Wind_Body( double u,
638 v_wind_body_v[0] = u;
639 v_wind_body_v[1] = v;
640 v_wind_body_v[2] = w;
644 void FGInterface::set_Euler_Angles( double phi,
647 euler_angles_v[0] = phi;
648 euler_angles_v[1] = theta;
649 euler_angles_v[2] = psi;
653 void FGInterface::set_Climb_Rate( double roc) {
657 void FGInterface::set_Gamma_vert_rad( double gamma) {
658 gamma_vert_rad = gamma;
662 void FGInterface::set_Sea_level_radius(double slr) {
663 sea_level_radius = slr;
666 void FGInterface::set_Runway_altitude(double ralt) {
667 runway_altitude = ralt;
670 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
671 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
672 void FGInterface::set_Density(double rho) { density = rho; }
674 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
677 v_local_airmass_v[0] = wnorth;
678 v_local_airmass_v[1] = weast;
679 v_local_airmass_v[2] = wdown;
683 void FGInterface::_busdump(void) {
685 SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rp_body_v[3]: " << d_pilot_rp_body_v[0] << ", " << d_pilot_rp_body_v[1] << ", " << d_pilot_rp_body_v[2]);
686 SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v[3]: " << d_cg_rp_body_v[0] << ", " << d_cg_rp_body_v[1] << ", " << d_cg_rp_body_v[2]);
687 SG_LOG(SG_FLIGHT,SG_INFO,"f_body_total_v[3]: " << f_body_total_v[0] << ", " << f_body_total_v[1] << ", " << f_body_total_v[2]);
688 SG_LOG(SG_FLIGHT,SG_INFO,"f_local_total_v[3]: " << f_local_total_v[0] << ", " << f_local_total_v[1] << ", " << f_local_total_v[2]);
689 SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
690 SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
691 SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
692 SG_LOG(SG_FLIGHT,SG_INFO,"m_total_rp_v[3]: " << m_total_rp_v[0] << ", " << m_total_rp_v[1] << ", " << m_total_rp_v[2]);
693 SG_LOG(SG_FLIGHT,SG_INFO,"m_total_cg_v[3]: " << m_total_cg_v[0] << ", " << m_total_cg_v[1] << ", " << m_total_cg_v[2]);
694 SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
695 SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
696 SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
697 SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v[3]: " << v_dot_local_v[0] << ", " << v_dot_local_v[1] << ", " << v_dot_local_v[2]);
698 SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v[3]: " << v_dot_body_v[0] << ", " << v_dot_body_v[1] << ", " << v_dot_body_v[2]);
699 SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v[3]: " << a_cg_body_v[0] << ", " << a_cg_body_v[1] << ", " << a_cg_body_v[2]);
700 SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v[3]: " << a_pilot_body_v[0] << ", " << a_pilot_body_v[1] << ", " << a_pilot_body_v[2]);
701 SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v[3]: " << n_cg_body_v[0] << ", " << n_cg_body_v[1] << ", " << n_cg_body_v[2]);
702 SG_LOG(SG_FLIGHT,SG_INFO,"n_pilot_body_v[3]: " << n_pilot_body_v[0] << ", " << n_pilot_body_v[1] << ", " << n_pilot_body_v[2]);
703 SG_LOG(SG_FLIGHT,SG_INFO,"omega_dot_body_v[3]: " << omega_dot_body_v[0] << ", " << omega_dot_body_v[1] << ", " << omega_dot_body_v[2]);
704 SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
705 SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v[3]: " << v_local_rel_ground_v[0] << ", " << v_local_rel_ground_v[1] << ", " << v_local_rel_ground_v[2]);
706 SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v[3]: " << v_local_airmass_v[0] << ", " << v_local_airmass_v[1] << ", " << v_local_airmass_v[2]);
707 SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_airmass_v[3]: " << v_local_rel_airmass_v[0] << ", " << v_local_rel_airmass_v[1] << ", " << v_local_rel_airmass_v[2]);
708 SG_LOG(SG_FLIGHT,SG_INFO,"v_local_gust_v[3]: " << v_local_gust_v[0] << ", " << v_local_gust_v[1] << ", " << v_local_gust_v[2]);
709 SG_LOG(SG_FLIGHT,SG_INFO,"v_wind_body_v[3]: " << v_wind_body_v[0] << ", " << v_wind_body_v[1] << ", " << v_wind_body_v[2]);
710 SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
711 SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
712 SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
713 SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
714 SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
715 SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
716 SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
717 SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
718 SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rwy_local_v[3]: " << d_cg_rwy_local_v[0] << ", " << d_cg_rwy_local_v[1] << ", " << d_cg_rwy_local_v[2]);
719 SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rwy_rwy_v[3]: " << d_cg_rwy_rwy_v[0] << ", " << d_cg_rwy_rwy_v[1] << ", " << d_cg_rwy_rwy_v[2]);
720 SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rwy_local_v[3]: " << d_pilot_rwy_local_v[0] << ", " << d_pilot_rwy_local_v[1] << ", " << d_pilot_rwy_local_v[2]);
721 SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rwy_rwy_v[3]: " << d_pilot_rwy_rwy_v[0] << ", " << d_pilot_rwy_rwy_v[1] << ", " << d_pilot_rwy_rwy_v[2]);
723 SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[0][3]: " << t_local_to_body_m[0][0] << ", " << t_local_to_body_m[0][1] << ", " << t_local_to_body_m[0][2]);
724 SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[1][3]: " << t_local_to_body_m[1][0] << ", " << t_local_to_body_m[1][1] << ", " << t_local_to_body_m[1][2]);
725 SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[2][3]: " << t_local_to_body_m[2][0] << ", " << t_local_to_body_m[2][1] << ", " << t_local_to_body_m[2][2]);
727 SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass );
728 SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx );
729 SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy );
730 SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz );
731 SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz );
732 SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
733 SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
734 SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
735 SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground );
736 SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial );
737 SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
738 SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv );
739 SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
740 SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated );
741 SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
742 SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity );
743 SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief );
744 SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
745 SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
746 SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot );
747 SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot );
748 SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha );
749 SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha );
750 SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta );
751 SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta );
752 SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi );
753 SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi );
754 SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta );
755 SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta );
756 SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi );
757 SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi );
758 SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
759 SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
760 SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma );
761 SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
762 SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound );
763 SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
764 SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
765 SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
766 SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure );
767 SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
768 SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
769 SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
770 SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
771 SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
772 SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
773 SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude );
774 SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude );
775 SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading );
776 SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy );
777 SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
778 SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
779 SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
780 SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude );
781 SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude );
782 SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
783 SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
784 SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
788 void fgToggleFDMdataLogging(void) {
789 cur_fdm_state->ToggleDataLogging();