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 - http://www.flightgear.org/~curt
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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
31 #include <simgear/constants.h>
32 #include <simgear/debug/logstream.hxx>
33 #include <simgear/math/sg_geodesy.hxx>
34 #include <simgear/scene/model/placement.hxx>
35 #include <simgear/scene/material/mat.hxx>
36 #include <simgear/timing/timestamp.hxx>
38 #include <Scenery/scenery.hxx>
39 #include <Main/globals.hxx>
40 #include <Main/fg_props.hxx>
41 #include <FDM/groundcache.hxx>
46 // base_fdm_state is the internal state that is updated in integer
47 // multiples of "dt". This leads to "jitter" with respect to the real
48 // world time, so we introduce cur_fdm_state which is extrapolated by
49 // the difference between sim time and real world time
51 FGInterface *cur_fdm_state = 0;
52 FGInterface base_fdm_state;
54 inline void init_vec(FG_VECTOR_3 vec) {
55 vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0;
59 FGInterface::FGInterface()
65 FGInterface::FGInterface( double dt )
72 FGInterface::~FGInterface() {
73 // unbind(); // FIXME: should be called explicitly
78 FGInterface::_calc_multiloop (double dt)
80 int hz = fgGetInt("/sim/model-hz");
81 int speedup = fgGetInt("/sim/speed-up");
86 // Avoid roundoff problems by adding the roundoff itself.
87 // ... ok, two times the roundoff to have enough room.
88 int multiloop = int(floor(ml * (1.0 + 2.0*DBL_EPSILON)));
89 remainder = (ml - multiloop) / hz;
90 return (multiloop * speedup);
95 * Set default values for the state of the FDM.
97 * This method is invoked by the constructors.
100 FGInterface::_setup ()
105 init_vec( d_pilot_rp_body_v );
106 init_vec( d_cg_rp_body_v );
107 init_vec( f_body_total_v );
108 init_vec( f_local_total_v );
109 init_vec( f_aero_v );
110 init_vec( f_engine_v );
111 init_vec( f_gear_v );
112 init_vec( m_total_rp_v );
113 init_vec( m_total_cg_v );
114 init_vec( m_aero_v );
115 init_vec( m_engine_v );
116 init_vec( m_gear_v );
117 init_vec( v_dot_local_v );
118 init_vec( v_dot_body_v );
119 init_vec( a_cg_body_v );
120 init_vec( a_pilot_body_v );
121 init_vec( n_cg_body_v );
122 init_vec( n_pilot_body_v );
123 init_vec( omega_dot_body_v );
124 init_vec( v_local_v );
125 init_vec( v_local_rel_ground_v );
126 init_vec( v_local_airmass_v );
127 init_vec( v_local_rel_airmass_v );
128 init_vec( v_local_gust_v );
129 init_vec( v_wind_body_v );
130 init_vec( omega_body_v );
131 init_vec( omega_local_v );
132 init_vec( omega_total_v );
133 init_vec( euler_rates_v );
134 init_vec( geocentric_rates_v );
135 init_vec( geocentric_position_v );
136 init_vec( geodetic_position_v );
137 init_vec( euler_angles_v );
138 init_vec( d_cg_rwy_local_v );
139 init_vec( d_cg_rwy_rwy_v );
140 init_vec( d_pilot_rwy_local_v );
141 init_vec( d_pilot_rwy_rwy_v );
142 init_vec( t_local_to_body_m[0] );
143 init_vec( t_local_to_body_m[1] );
144 init_vec( t_local_to_body_m[2] );
146 mass=i_xx=i_yy=i_zz=i_xz=0;
148 v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
149 v_ground_speed=v_equiv=v_equiv_kts=0;
150 v_calibrated=v_calibrated_kts=0;
152 centrifugal_relief=0;
153 alpha=beta=alpha_dot=beta_dot=0;
154 cos_alpha=sin_alpha=cos_beta=sin_beta=0;
155 cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
156 gamma_vert_rad=gamma_horiz_rad=0;
157 sigma=density=v_sound=mach_number=0;
158 static_pressure=total_pressure=impact_pressure=0;
160 static_temperature=total_temperature=0;
161 sea_level_radius=earth_position_angle=0;
162 runway_altitude=runway_latitude=runway_longitude=0;
166 sin_lat_geocentric=cos_lat_geocentric=0;
167 sin_latitude=cos_latitude=0;
168 sin_longitude=cos_longitude=0;
173 FGInterface::init () {}
176 * Initialize the state of the FDM.
178 * Subclasses of FGInterface may do their own, additional initialization,
179 * but there is some that is common to all. Normally, they should call
180 * this before they begin their own init to make sure the basic structures
181 * are set up properly.
184 FGInterface::common_init ()
186 SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
191 // set_remainder( 0 );
193 // Set initial position
194 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
195 double lon = fgGetDouble("/sim/presets/longitude-deg")
196 * SGD_DEGREES_TO_RADIANS;
197 double lat = fgGetDouble("/sim/presets/latitude-deg")
198 * SGD_DEGREES_TO_RADIANS;
199 double alt_ft = fgGetDouble("/sim/presets/altitude-ft");
200 double alt_m = alt_ft * SG_FEET_TO_METER;
201 set_Longitude( lon );
203 SG_LOG( SG_FLIGHT, SG_INFO, "Checking for lon = "
204 << lon*SGD_RADIANS_TO_DEGREES << "deg, lat = "
205 << lat*SGD_RADIANS_TO_DEGREES << "deg, alt = "
208 double ground_elev_m = get_groundlevel_m(lat, lon, alt_m);
209 double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
210 _set_Runway_altitude ( ground_elev_ft );
211 if ( fgGetBool("/sim/presets/onground") || alt_ft < ground_elev_ft ) {
212 fgSetDouble("/position/altitude-ft", ground_elev_ft + 0.1);
213 set_Altitude( ground_elev_ft + 0.1);
215 set_Altitude( alt_ft );
218 // Set ground elevation
219 SG_LOG( SG_FLIGHT, SG_INFO,
220 "...initializing ground elevation to " << ground_elev_ft
223 // Set sea-level radius
224 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
225 SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
226 << fgGetDouble("/sim/presets/latitude-deg")
227 << " alt = " << get_Altitude() );
228 double sea_level_radius_meters;
230 sgGeodToGeoc( fgGetDouble("/sim/presets/latitude-deg")
231 * SGD_DEGREES_TO_RADIANS,
232 get_Altitude() * SG_FEET_TO_METER,
233 &sea_level_radius_meters, &lat_geoc );
234 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
236 // Set initial velocities
237 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
238 if ( !fgHasNode("/sim/presets/speed-set") ) {
239 set_V_calibrated_kts(0.0);
241 const string speedset = fgGetString("/sim/presets/speed-set");
242 if ( speedset == "knots" || speedset == "KNOTS" ) {
243 set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") );
244 } else if ( speedset == "mach" || speedset == "MACH" ) {
245 set_Mach_number( fgGetDouble("/sim/presets/mach") );
246 } else if ( speedset == "UVW" || speedset == "uvw" ) {
247 set_Velocities_Wind_Body(
248 fgGetDouble("/sim/presets/uBody-fps"),
249 fgGetDouble("/sim/presets/vBody-fps"),
250 fgGetDouble("/sim/presets/wBody-fps") );
251 } else if ( speedset == "NED" || speedset == "ned" ) {
252 set_Velocities_Local(
253 fgGetDouble("/sim/presets/speed-north-fps"),
254 fgGetDouble("/sim/presets/speed-east-fps"),
255 fgGetDouble("/sim/presets/speed-down-fps") );
257 SG_LOG( SG_FLIGHT, SG_ALERT,
258 "Unrecognized value for /sim/presets/speed-set: "
260 set_V_calibrated_kts( 0.0 );
264 // Set initial Euler angles
265 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
266 set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
267 * SGD_DEGREES_TO_RADIANS,
268 fgGetDouble("/sim/presets/pitch-deg")
269 * SGD_DEGREES_TO_RADIANS,
270 fgGetDouble("/sim/presets/heading-deg")
271 * SGD_DEGREES_TO_RADIANS );
273 SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
278 * Bind getters and setters to properties.
280 * The bind() method will be invoked after init(). Note that unlike
281 * the usual implementations of FGSubsystem::bind(), this method does
282 * not automatically pick up existing values for the properties at
283 * bind time; instead, all values are set explicitly in the init()
291 // Time management (read-only)
292 // fgTie("/fdm/time/delta_t", this,
293 // &FGInterface::get_delta_t); // read-only
294 // fgTie("/fdm/time/elapsed", this,
295 // &FGInterface::get_elapsed); // read-only
296 // fgTie("/fdm/time/remainder", this,
297 // &FGInterface::get_remainder); // read-only
298 // fgTie("/fdm/time/multi_loop", this,
299 // &FGInterface::get_multi_loop); // read-only
302 fgTie("/position/latitude-deg", this,
303 &FGInterface::get_Latitude_deg,
304 &FGInterface::set_Latitude_deg,
306 fgSetArchivable("/position/latitude-deg");
307 fgTie("/position/longitude-deg", this,
308 &FGInterface::get_Longitude_deg,
309 &FGInterface::set_Longitude_deg,
311 fgSetArchivable("/position/longitude-deg");
312 fgTie("/position/altitude-ft", this,
313 &FGInterface::get_Altitude,
314 &FGInterface::set_Altitude,
316 fgSetArchivable("/position/altitude-ft");
317 fgTie("/position/altitude-agl-ft", this,
318 &FGInterface::get_Altitude_AGL); // read-only
319 fgSetArchivable("/position/ground-elev-ft");
320 fgTie("/position/ground-elev-ft", this,
321 &FGInterface::get_Runway_altitude); // read-only
322 fgSetArchivable("/position/ground-elev-m");
323 fgTie("/position/ground-elev-m", this,
324 &FGInterface::get_Runway_altitude_m); // read-only
325 fgTie("/environment/ground-elevation-m", this,
326 &FGInterface::get_Runway_altitude_m); // read-only
327 fgSetArchivable("/position/sea-level-radius-ft");
328 fgTie("/position/sea-level-radius-ft", this,
329 &FGInterface::get_Sea_level_radius); // read-only
332 fgTie("/orientation/roll-deg", this,
333 &FGInterface::get_Phi_deg,
334 &FGInterface::set_Phi_deg);
335 fgSetArchivable("/orientation/roll-deg");
336 fgTie("/orientation/pitch-deg", this,
337 &FGInterface::get_Theta_deg,
338 &FGInterface::set_Theta_deg);
339 fgSetArchivable("/orientation/pitch-deg");
340 fgTie("/orientation/heading-deg", this,
341 &FGInterface::get_Psi_deg,
342 &FGInterface::set_Psi_deg);
343 fgSetArchivable("/orientation/heading-deg");
345 // Body-axis "euler rates" (rotation speed, but in a funny
347 fgTie("/orientation/roll-rate-degps", this,
348 &FGInterface::get_Phi_dot_degps);
349 fgTie("/orientation/pitch-rate-degps", this,
350 &FGInterface::get_Theta_dot_degps);
351 fgTie("/orientation/yaw-rate-degps", this,
352 &FGInterface::get_Psi_dot_degps);
354 // Calibrated airspeed
355 fgTie("/velocities/airspeed-kt", this,
356 &FGInterface::get_V_calibrated_kts,
357 &FGInterface::set_V_calibrated_kts,
361 fgTie("/velocities/mach", this,
362 &FGInterface::get_Mach_number,
363 &FGInterface::set_Mach_number,
367 // fgTie("/velocities/speed-north-fps", this,
368 // &FGInterface::get_V_north,
369 // &FGInterface::set_V_north);
370 // fgSetArchivable("/velocities/speed-north-fps");
371 // fgTie("/velocities/speed-east-fps", this,
372 // &FGInterface::get_V_east,
373 // &FGInterface::set_V_east);
374 // fgSetArchivable("/velocities/speed-east-fps");
375 // fgTie("/velocities/speed-down-fps", this,
376 // &FGInterface::get_V_down,
377 // &FGInterface::set_V_down);
378 // fgSetArchivable("/velocities/speed-down-fps");
379 // FIXME: Temporarily read-only, until the
380 // incompatibilities between JSBSim and
381 // LaRCSim are fixed (LaRCSim adds the
382 // earth's rotation to the east velocity).
383 fgTie("/velocities/speed-north-fps", this,
384 &FGInterface::get_V_north);
385 fgTie("/velocities/speed-east-fps", this,
386 &FGInterface::get_V_east);
387 fgTie("/velocities/speed-down-fps", this,
388 &FGInterface::get_V_down);
391 // FIXME: temporarily archivable, until
392 // the NED problem is fixed.
393 fgTie("/velocities/uBody-fps", this,
394 &FGInterface::get_uBody,
395 &FGInterface::set_uBody,
397 fgSetArchivable("/velocities/uBody-fps");
398 fgTie("/velocities/vBody-fps", this,
399 &FGInterface::get_vBody,
400 &FGInterface::set_vBody,
402 fgSetArchivable("/velocities/vBody-fps");
403 fgTie("/velocities/wBody-fps", this,
404 &FGInterface::get_wBody,
405 &FGInterface::set_wBody,
407 fgSetArchivable("/velocities/wBody-fps");
409 // Climb and slip (read-only)
410 fgTie("/velocities/vertical-speed-fps", this,
411 &FGInterface::get_Climb_Rate,
412 &FGInterface::set_Climb_Rate );
413 fgTie("/velocities/glideslope", this,
414 &FGInterface::get_Gamma_vert_rad,
415 &FGInterface::set_Gamma_vert_rad );
416 fgTie("/orientation/side-slip-rad", this,
417 &FGInterface::get_Beta); // read-only
418 fgTie("/orientation/side-slip-deg", this,
419 &FGInterface::get_Beta_deg); // read-only
420 fgTie("/orientation/alpha-deg", this,
421 &FGInterface::get_Alpha_deg); // read-only
422 fgTie("/accelerations/nlf", this,
423 &FGInterface::get_Nlf); // read-only
426 fgTie("/accelerations/ned/north-accel-fps_sec",
427 this, &FGInterface::get_V_dot_north);
428 fgTie("/accelerations/ned/east-accel-fps_sec",
429 this, &FGInterface::get_V_dot_east);
430 fgTie("/accelerations/ned/down-accel-fps_sec",
431 this, &FGInterface::get_V_dot_down);
433 // Pilot accelerations
434 fgTie("/accelerations/pilot/x-accel-fps_sec",
435 this, &FGInterface::get_A_X_pilot);
436 fgTie("/accelerations/pilot/y-accel-fps_sec",
437 this, &FGInterface::get_A_Y_pilot);
438 fgTie("/accelerations/pilot/z-accel-fps_sec",
439 this, &FGInterface::get_A_Z_pilot);
445 * Unbind any properties bound to this FDM.
447 * This method allows the FDM to release properties so that a new
448 * FDM can bind them instead.
451 FGInterface::unbind ()
455 // fgUntie("/fdm/time/delta_t");
456 // fgUntie("/fdm/time/elapsed");
457 // fgUntie("/fdm/time/remainder");
458 // fgUntie("/fdm/time/multi_loop");
459 fgUntie("/position/latitude-deg");
460 fgUntie("/position/longitude-deg");
461 fgUntie("/position/altitude-ft");
462 fgUntie("/position/altitude-agl-ft");
463 fgUntie("/position/ground-elev-ft");
464 fgUntie("/position/ground-elev-m");
465 fgUntie("/environment/ground-elevation-m");
466 fgUntie("/position/sea-level-radius-ft");
467 fgUntie("/orientation/roll-deg");
468 fgUntie("/orientation/pitch-deg");
469 fgUntie("/orientation/heading-deg");
470 fgUntie("/orientation/roll-rate-degps");
471 fgUntie("/orientation/pitch-rate-degps");
472 fgUntie("/orientation/yaw-rate-degps");
473 fgUntie("/orientation/side-slip-rad");
474 fgUntie("/orientation/side-slip-deg");
475 fgUntie("/orientation/alpha-deg");
476 fgUntie("/velocities/airspeed-kt");
477 fgUntie("/velocities/mach");
478 fgUntie("/velocities/speed-north-fps");
479 fgUntie("/velocities/speed-east-fps");
480 fgUntie("/velocities/speed-down-fps");
481 fgUntie("/velocities/uBody-fps");
482 fgUntie("/velocities/vBody-fps");
483 fgUntie("/velocities/wBody-fps");
484 fgUntie("/velocities/vertical-speed-fps");
485 fgUntie("/velocities/glideslope");
486 fgUntie("/accelerations/nlf");
487 fgUntie("/accelerations/pilot/x-accel-fps_sec");
488 fgUntie("/accelerations/pilot/y-accel-fps_sec");
489 fgUntie("/accelerations/pilot/z-accel-fps_sec");
490 fgUntie("/accelerations/ned/north-accel-fps_sec");
491 fgUntie("/accelerations/ned/east-accel-fps_sec");
492 fgUntie("/accelerations/ned/down-accel-fps_sec");
496 * Update the state of the FDM (i.e. run the equations of motion).
499 FGInterface::update (double dt)
501 SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
505 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
507 double lat_geoc, sl_radius;
509 // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
511 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc );
513 SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
514 << " lat_geod = " << lat
515 << " lat_geoc = " << lat_geoc
517 << " sl_radius = " << sl_radius * SG_METER_TO_FEET
518 << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
520 _set_Geocentric_Position( lat_geoc, lon,
521 sl_radius * SG_METER_TO_FEET + alt );
523 _set_Geodetic_Position( lat, lon, alt );
525 _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
526 _update_ground_elev_at_pos();
528 _set_sin_lat_geocentric( lat_geoc );
529 _set_cos_lat_geocentric( lat_geoc );
531 _set_sin_cos_longitude( lon );
533 _set_sin_cos_latitude( lat );
537 void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon,
540 double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
542 // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
544 sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
545 &lat_geod, &tmp_alt, &sl_radius1 );
546 sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
548 SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
549 << " lat_geod = " << lat_geod
550 << " lat_geoc = " << lat_geoc
552 << " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
553 << " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
554 << " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
555 << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
557 _set_Geocentric_Position( lat_geoc, lon,
558 sl_radius2 * SG_METER_TO_FEET + alt );
560 _set_Geodetic_Position( lat_geod, lon, alt );
562 _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
563 _update_ground_elev_at_pos();
565 _set_sin_lat_geocentric( lat_geoc );
566 _set_cos_lat_geocentric( lat_geoc );
568 _set_sin_cos_longitude( lon );
570 _set_sin_cos_latitude( lat_geod );
573 void FGInterface::_update_ground_elev_at_pos( void ) {
574 double lat = get_Latitude();
575 double lon = get_Longitude();
576 double alt_m = get_Altitude()*SG_FEET_TO_METER;
577 double groundlevel_m = get_groundlevel_m(lat, lon, alt_m);
578 _set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET );
581 // Extrapolate fdm based on time_offset (in usec)
582 void FGInterface::extrapolate( int time_offset ) {
583 double dt = time_offset / 1000000.0;
585 // -dw- metrowerks complains about ambiguous access, not critical
588 SG_LOG(SG_FLIGHT, SG_INFO, "extrapolating FDM by dt = " << dt);
591 double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
592 double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
594 double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
595 double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
597 double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
598 double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
600 geodetic_position_v[0] = lat;
601 geocentric_position_v[0] = lat_geoc;
603 geodetic_position_v[1] = lon;
604 geocentric_position_v[1] = lon_geoc;
606 geodetic_position_v[2] = alt;
607 geocentric_position_v[2] = radius;
611 void FGInterface::set_Latitude(double lat) {
612 geodetic_position_v[0] = lat;
615 void FGInterface::set_Longitude(double lon) {
616 geodetic_position_v[1] = lon;
619 void FGInterface::set_Altitude(double alt) {
620 geodetic_position_v[2] = alt;
623 void FGInterface::set_AltitudeAGL(double altagl) {
628 void FGInterface::set_V_calibrated_kts(double vc) {
629 v_calibrated_kts = vc;
632 void FGInterface::set_Mach_number(double mach) {
636 void FGInterface::set_Velocities_Local( double north,
639 v_local_v[0] = north;
644 void FGInterface::set_Velocities_Wind_Body( double u,
647 v_wind_body_v[0] = u;
648 v_wind_body_v[1] = v;
649 v_wind_body_v[2] = w;
653 void FGInterface::set_Euler_Angles( double phi,
656 euler_angles_v[0] = phi;
657 euler_angles_v[1] = theta;
658 euler_angles_v[2] = psi;
662 void FGInterface::set_Climb_Rate( double roc) {
666 void FGInterface::set_Gamma_vert_rad( double gamma) {
667 gamma_vert_rad = gamma;
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 FGInterface::prepare_ground_cache_m(double ref_time, const double pt[3],
791 return ground_cache.prepare_ground_cache(ref_time, pt, rad);
794 bool FGInterface::prepare_ground_cache_ft(double ref_time, const double pt[3],
797 // Convert units and do the real work.
799 sgdScaleVec3( pt_ft, pt, SG_FEET_TO_METER );
800 return ground_cache.prepare_ground_cache(ref_time, pt_ft, rad*SG_FEET_TO_METER);
804 FGInterface::is_valid_m(double *ref_time, double pt[3], double *rad)
806 return ground_cache.is_valid(ref_time, pt, rad);
809 bool FGInterface::is_valid_ft(double *ref_time, double pt[3], double *rad)
811 // Convert units and do the real work.
812 bool found_ground = ground_cache.is_valid(ref_time, pt, rad);
813 sgdScaleVec3(pt, SG_METER_TO_FEET);
814 *rad *= SG_METER_TO_FEET;
819 FGInterface::get_cat_m(double t, const double pt[3],
820 double end[2][3], double vel[2][3])
822 return ground_cache.get_cat(t, pt, end, vel);
826 FGInterface::get_cat_ft(double t, const double pt[3],
827 double end[2][3], double vel[2][3])
829 // Convert units and do the real work.
831 sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER );
832 double dist = ground_cache.get_cat(t, pt_m, end, vel);
833 for (int k=0; k<2; ++k) {
834 sgdScaleVec3( end[k], SG_METER_TO_FEET );
835 sgdScaleVec3( vel[k], SG_METER_TO_FEET );
837 return dist*SG_METER_TO_FEET;
840 // Legacy interface just kept because of JSBSim
842 FGInterface::get_agl_m(double t, const double pt[3],
843 double contact[3], double normal[3], double vel[3],
844 int *type, double *loadCapacity,
845 double *frictionFactor, double *agl)
847 const SGMaterial* material;
848 bool ret = ground_cache.get_agl(t, pt, 2.0, contact, normal, vel, type,
851 *loadCapacity = material->get_load_resistence();
852 *frictionFactor = material->get_friction_factor();
855 *loadCapacity = DBL_MAX;
856 *frictionFactor = 1.0;
861 // Legacy interface just kept because of JSBSim
863 FGInterface::get_agl_ft(double t, const double pt[3],
864 double contact[3], double normal[3], double vel[3],
865 int *type, double *loadCapacity,
866 double *frictionFactor, double *agl)
868 // Convert units and do the real work.
870 sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER );
872 const SGMaterial* material;
873 bool ret = ground_cache.get_agl(t, pt_m, 2.0, contact, normal, vel,
874 type, &material, agl);
875 // Convert units back ...
876 sgdScaleVec3( contact, SG_METER_TO_FEET );
877 sgdScaleVec3( vel, SG_METER_TO_FEET );
878 *agl *= SG_METER_TO_FEET;
880 // return material properties if available
882 // FIXME: convert units?? now pascal to lbf/ft^2
883 *loadCapacity = 0.020885434*material->get_load_resistence();
884 *frictionFactor = material->get_friction_factor();
886 *loadCapacity = DBL_MAX;
887 *frictionFactor = 1.0;
893 FGInterface::get_agl_m(double t, const double pt[3], double max_altoff,
894 double contact[3], double normal[3], double vel[3],
895 int *type, const SGMaterial** material, double *agl)
897 return ground_cache.get_agl(t, pt, max_altoff, contact, normal, vel, type,
902 FGInterface::get_agl_ft(double t, const double pt[3], double max_altoff,
903 double contact[3], double normal[3], double vel[3],
904 int *type, const SGMaterial** material, double *agl)
906 // Convert units and do the real work.
908 sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER );
909 bool ret = ground_cache.get_agl(t, pt_m, SG_FEET_TO_METER * max_altoff,
910 contact, normal, vel,
911 type, material, agl);
912 // Convert units back ...
913 sgdScaleVec3( contact, SG_METER_TO_FEET );
914 sgdScaleVec3( vel, SG_METER_TO_FEET );
915 *agl *= SG_METER_TO_FEET;
921 FGInterface::get_groundlevel_m(double lat, double lon, double alt)
924 // Compute the cartesian position of the given lat/lon/alt.
925 sgGeodToCart(lat, lon, alt, pos);
927 // FIXME: how to handle t - ref_time differences ???
928 double ref_time, radius;
929 // Prepare the ground cache for that position.
930 if (!is_valid_m(&ref_time, cpos, &radius)) {
931 bool ok = prepare_ground_cache_m(ref_time, pos, 10);
932 /// This is most likely the case when the given altitude is
933 /// too low, try with a new altitude of 10000m, that should be
934 /// sufficient to find a ground level below everywhere on our planet
936 sgGeodToCart(lat, lon, 10000, pos);
937 /// If there is still no ground, return sea level radius
938 if (!prepare_ground_cache_m(ref_time, pos, 10))
941 } else if (radius*radius <= sgdDistanceSquaredVec3(pos, cpos)) {
942 /// We reuse the old radius value, but only if it is at least 10 Meters ..
943 if (!(10 < radius)) // Well this strange compare is nan safe
946 bool ok = prepare_ground_cache_m(ref_time, pos, radius);
947 /// This is most likely the case when the given altitude is
948 /// too low, try with a new altitude of 10000m, that should be
949 /// sufficient to find a ground level below everywhere on our planet
951 sgGeodToCart(lat, lon, 10000, pos);
952 /// If there is still no ground, return sea level radius
953 if (!prepare_ground_cache_m(ref_time, pos, radius))
958 double contact[3], normal[3], vel[3], agl;
960 // Ignore the return value here, since it just tells us if
961 // the returns stem from the groundcache or from the coarse
962 // computations below the groundcache. The contact point is still something
963 // valid, the normals and the other returns just contain some defaults.
964 get_agl_m(ref_time, pos, 2.0, contact, normal, vel, &type, 0, &agl);
965 Point3D geodPos = sgCartToGeod(Point3D(contact[0], contact[1], contact[2]));
966 return geodPos.elev();
970 FGInterface::caught_wire_m(double t, const double pt[4][3])
972 return ground_cache.caught_wire(t, pt);
976 FGInterface::caught_wire_ft(double t, const double pt[4][3])
978 // Convert units and do the real work.
980 for (int i=0; i<4; ++i)
981 sgdScaleVec3(pt_m[i], pt[i], SG_FEET_TO_METER);
983 return ground_cache.caught_wire(t, pt_m);
987 FGInterface::get_wire_ends_m(double t, double end[2][3], double vel[2][3])
989 return ground_cache.get_wire_ends(t, end, vel);
993 FGInterface::get_wire_ends_ft(double t, double end[2][3], double vel[2][3])
995 // Convert units and do the real work.
996 bool ret = ground_cache.get_wire_ends(t, end, vel);
997 for (int k=0; k<2; ++k) {
998 sgdScaleVec3( end[k], SG_METER_TO_FEET );
999 sgdScaleVec3( vel[k], SG_METER_TO_FEET );
1005 FGInterface::release_wire(void)
1007 ground_cache.release_wire();
1010 void fgToggleFDMdataLogging(void) {
1011 cur_fdm_state->ToggleDataLogging();