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  - curt@infoplane.com
   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., 675 Mass Ave, Cambridge, MA 02139, USA.
  20 //
  21 // $Id$
  22
  23
  24 #include <stdio.h>
  25
  26 #include <plib/sg.h>
  27
  28 #include <simgear/constants.h>
  29 #include <simgear/debug/logstream.hxx>
  30 #include <simgear/math/sg_geodesy.hxx>
  31 #include <simgear/timing/timestamp.hxx>
  32
  33 #include <Scenery/scenery.hxx>
  34 #include <FDM/LaRCsim/ls_interface.h>
  35 #include <Main/globals.hxx>
  36 #include <Main/fg_props.hxx>
  37
  38 #include "flight.hxx"
  39
  40
  41 // base_fdm_state is the internal state that is updated in integer
  42 // multiples of "dt".  This leads to "jitter" with respect to the real
  43 // world time, so we introduce cur_fdm_state which is extrapolated by
  44 // the difference between sim time and real world time
  45
  46 FGInterface *cur_fdm_state = 0;
  47 FGInterface base_fdm_state;
  48
  49 inline void init_vec(FG_VECTOR_3 vec) {
  50     vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0;
  51 }
  52
  53 // Constructor
  54 FGInterface::FGInterface() {
  55     _setup();
  56 }
  57
  58 FGInterface::FGInterface( double dt ) {
  59     _setup();
  60     delta_t = dt;
  61     remainder = elapsed = multi_loop = 0;
  62 }
  63
  64 // Destructor
  65 FGInterface::~FGInterface() {
  66     // unbind();                   // FIXME: should be called explicitly
  67 }
  68
  69
  70 /**
  71  * Set default values for the state of the FDM.
  72  *
  73  * This method is invoked by the constructors.
  74  */
  75 void
  76 FGInterface::_setup ()
  77 {
  78     inited = false;
  79     bound = false;
  80
  81     init_vec( d_pilot_rp_body_v );
  82     init_vec( d_cg_rp_body_v );
  83     init_vec( f_body_total_v );
  84     init_vec( f_local_total_v );
  85     init_vec( f_aero_v );
  86     init_vec( f_engine_v );
  87     init_vec( f_gear_v );
  88     init_vec( m_total_rp_v );
  89     init_vec( m_total_cg_v );
  90     init_vec( m_aero_v );
  91     init_vec( m_engine_v );
  92     init_vec( m_gear_v );
  93     init_vec( v_dot_local_v );
  94     init_vec( v_dot_body_v );
  95     init_vec( a_cg_body_v );
  96     init_vec( a_pilot_body_v );
  97     init_vec( n_cg_body_v );
  98     init_vec( n_pilot_body_v );
  99     init_vec( omega_dot_body_v );
 100     init_vec( v_local_v );
 101     init_vec( v_local_rel_ground_v );
 102     init_vec( v_local_airmass_v );
 103     init_vec( v_local_rel_airmass_v );
 104     init_vec( v_local_gust_v );
 105     init_vec( v_wind_body_v );
 106     init_vec( omega_body_v );
 107     init_vec( omega_local_v );
 108     init_vec( omega_total_v );
 109     init_vec( euler_rates_v );
 110     init_vec( geocentric_rates_v );
 111     init_vec( geocentric_position_v );
 112     init_vec( geodetic_position_v );
 113     init_vec( euler_angles_v );
 114     init_vec( d_cg_rwy_local_v );
 115     init_vec( d_cg_rwy_rwy_v );
 116     init_vec( d_pilot_rwy_local_v );
 117     init_vec( d_pilot_rwy_rwy_v );
 118     init_vec( t_local_to_body_m[0] );
 119     init_vec( t_local_to_body_m[1] );
 120     init_vec( t_local_to_body_m[2] );
 121
 122     mass=i_xx=i_yy=i_zz=i_xz=0;
 123     nlf=0;
 124     v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
 125     v_ground_speed=v_equiv=v_equiv_kts=0;
 126     v_calibrated=v_calibrated_kts=0;
 127     gravity=0;
 128     centrifugal_relief=0;
 129     alpha=beta=alpha_dot=beta_dot=0;
 130     cos_alpha=sin_alpha=cos_beta=sin_beta=0;
 131     cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
 132     gamma_vert_rad=gamma_horiz_rad=0;
 133     sigma=density=v_sound=mach_number=0;
 134     static_pressure=total_pressure=impact_pressure=0;
 135     dynamic_pressure=0;
 136     static_temperature=total_temperature=0;
 137     sea_level_radius=earth_position_angle=0;
 138     runway_altitude=runway_latitude=runway_longitude=0;
 139     runway_heading=0;
 140     radius_to_rwy=0;
 141     climb_rate=0;
 142     sin_lat_geocentric=cos_lat_geocentric=0;
 143     sin_latitude=cos_latitude=0;
 144     sin_longitude=cos_longitude=0;
 145     altitude_agl=0;
 146 }
 147
 148 void
 149 FGInterface::init () {}
 150
 151 /**
 152  * Initialize the state of the FDM.
 153  *
 154  * Subclasses of FGInterface may do their own, additional initialization,
 155  * but there is some that is common to all.  Normally, they should call
 156  * this before they begin their own init to make sure the basic structures
 157  * are set up properly.
 158  */
 159 void
 160 FGInterface::common_init ()
 161 {
 162     SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
 163
 164     set_inited( true );
 165
 166     stamp();
 167     set_remainder( 0 );
 168
 169     // Set initial position
 170     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
 171     set_Longitude( fgGetDouble("/position/longitude-deg")
 172                    * SGD_DEGREES_TO_RADIANS );
 173     set_Latitude( fgGetDouble("/position/latitude-deg")
 174                   * SGD_DEGREES_TO_RADIANS );
 175     double ground_elev_m = scenery.get_cur_elev();
 176     double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
 177     if ( fgGetBool("/sim/startup/onground")
 178          || fgGetDouble("/position/altitude-ft") < ground_elev_ft ) {
 179         fgSetDouble("/position/altitude-ft", ground_elev_ft);
 180     }
 181     set_Altitude( fgGetDouble("/position/altitude-ft") );
 182
 183     // Set ground elevation
 184     SG_LOG( SG_FLIGHT, SG_INFO,
 185             "...initializing ground elevation to " << ground_elev_ft
 186             << "ft..." );
 187
 188     // Set sea-level radius
 189     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
 190     SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
 191             << fgGetDouble("/position/latitude-deg")
 192             << " alt = " << fgGetDouble("/position/altitude-ft") );
 193     double sea_level_radius_meters;
 194     double lat_geoc;
 195     sgGeodToGeoc( fgGetDouble("/position/latitude-deg")
 196                     * SGD_DEGREES_TO_RADIANS,
 197                   fgGetDouble("/position/altitude-ft") * SG_FEET_TO_METER,
 198                   &sea_level_radius_meters, &lat_geoc );
 199     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
 200
 201     // Set initial velocities
 202     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
 203     if ( !fgHasNode("/sim/startup/speed-set") ) {
 204         set_V_calibrated_kts(0.0);
 205     } else {
 206         const string speedset = fgGetString("/sim/startup/speed-set");
 207         if ( speedset == "knots" || speedset == "KNOTS" ) {
 208             set_V_calibrated_kts( fgGetDouble("/velocities/airspeed-kt") );
 209         } else if ( speedset == "mach" || speedset == "MACH" ) {
 210             set_Mach_number( fgGetDouble("/velocities/mach") );
 211         } else if ( speedset == "UVW" || speedset == "uvw" ) {
 212             set_Velocities_Wind_Body(
 213                                      fgGetDouble("/velocities/uBody-fps"),
 214                                      fgGetDouble("/velocities/vBody-fps"),
 215                                      fgGetDouble("/velocities/wBody-fps") );
 216         } else if ( speedset == "NED" || speedset == "ned" ) {
 217             set_Velocities_Local(
 218                                  fgGetDouble("/velocities/speed-north-fps"),
 219                                  fgGetDouble("/velocities/speed-east-fps"),
 220                                  fgGetDouble("/velocities/speed-down-fps") );
 221         } else {
 222             SG_LOG( SG_FLIGHT, SG_ALERT,
 223                     "Unrecognized value for /sim/startup/speed-set: "
 224                     << speedset);
 225             set_V_calibrated_kts( 0.0 );
 226         }
 227     }
 228
 229     // Set initial Euler angles
 230     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
 231     set_Euler_Angles( fgGetDouble("/orientation/roll-deg")
 232                         * SGD_DEGREES_TO_RADIANS,
 233                       fgGetDouble("/orientation/pitch-deg")
 234                         * SGD_DEGREES_TO_RADIANS,
 235                       fgGetDouble("/orientation/heading-deg")
 236                         * SGD_DEGREES_TO_RADIANS );
 237
 238     SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
 239 }
 240
 241
 242 /**
 243  * Bind getters and setters to properties.
 244  *
 245  * The bind() method will be invoked after init().  Note that unlike
 246  * the usual implementations of FGSubsystem::bind(), this method does
 247  * not automatically pick up existing values for the properties at
 248  * bind time; instead, all values are set explicitly in the init()
 249  * method.
 250  */
 251 void
 252 FGInterface::bind ()
 253 {
 254   bound = true;
 255
 256                                 // Time management (read-only)
 257   fgTie("/fdm/time/delta_t", this,
 258         &FGInterface::get_delta_t); // read-only
 259   fgTie("/fdm/time/elapsed", this,
 260         &FGInterface::get_elapsed); // read-only
 261   fgTie("/fdm/time/remainder", this,
 262         &FGInterface::get_remainder); // read-only
 263   fgTie("/fdm/time/multi_loop", this,
 264         &FGInterface::get_multi_loop); // read-only
 265
 266                         // Aircraft position
 267   fgTie("/position/latitude-deg", this,
 268         &FGInterface::get_Latitude_deg,
 269         &FGInterface::set_Latitude_deg,
 270         false);
 271   fgSetArchivable("/position/latitude-deg");
 272   fgTie("/position/longitude-deg", this,
 273         &FGInterface::get_Longitude_deg,
 274         &FGInterface::set_Longitude_deg,
 275         false);
 276   fgSetArchivable("/position/longitude-deg");
 277   fgTie("/position/altitude-ft", this,
 278         &FGInterface::get_Altitude,
 279         &FGInterface::set_Altitude,
 280         false);
 281   fgSetArchivable("/position/altitude-ft");
 282   fgTie("/position/altitude-agl-ft", this,
 283         &FGInterface::get_Altitude_AGL); // read-only
 284
 285                                 // Orientation
 286   fgTie("/orientation/roll-deg", this,
 287         &FGInterface::get_Phi_deg,
 288         &FGInterface::set_Phi_deg);
 289   fgSetArchivable("/orientation/roll-deg");
 290   fgTie("/orientation/pitch-deg", this,
 291         &FGInterface::get_Theta_deg,
 292         &FGInterface::set_Theta_deg);
 293   fgSetArchivable("/orientation/pitch-deg");
 294   fgTie("/orientation/heading-deg", this,
 295         &FGInterface::get_Psi_deg,
 296         &FGInterface::set_Psi_deg);
 297   fgSetArchivable("/orientation/heading-deg");
 298
 299                                 // Calibrated airspeed
 300   fgTie("/velocities/airspeed-kt", this,
 301         &FGInterface::get_V_calibrated_kts,
 302         &FGInterface::set_V_calibrated_kts,
 303         false);
 304
 305                                 // Local velocities
 306 //   fgTie("/velocities/speed-north-fps", this,
 307 //      &FGInterface::get_V_north,
 308 //      &FGInterface::set_V_north);
 309 //   fgSetArchivable("/velocities/speed-north-fps");
 310 //   fgTie("/velocities/speed-east-fps", this,
 311 //      &FGInterface::get_V_east,
 312 //      &FGInterface::set_V_east);
 313 //   fgSetArchivable("/velocities/speed-east-fps");
 314 //   fgTie("/velocities/speed-down-fps", this,
 315 //      &FGInterface::get_V_down,
 316 //      &FGInterface::set_V_down);
 317 //   fgSetArchivable("/velocities/speed-down-fps");
 318                                 // FIXME: Temporarily read-only, until the
 319                                 // incompatibilities between JSBSim and
 320                                 // LaRCSim are fixed (LaRCSim adds the
 321                                 // earth's rotation to the east velocity).
 322   fgTie("/velocities/speed-north-fps", this,
 323         &FGInterface::get_V_north);
 324   fgTie("/velocities/speed-east-fps", this,
 325         &FGInterface::get_V_east);
 326   fgTie("/velocities/speed-down-fps", this,
 327         &FGInterface::get_V_down);
 328
 329                                 // Relative wind
 330                                 // FIXME: temporarily archivable, until
 331                                 // the NED problem is fixed.
 332   fgTie("/velocities/uBody-fps", this,
 333         &FGInterface::get_uBody,
 334         &FGInterface::set_uBody,
 335         false);
 336   fgSetArchivable("/velocities/uBody-fps");
 337   fgTie("/velocities/vBody-fps", this,
 338         &FGInterface::get_vBody,
 339         &FGInterface::set_vBody,
 340         false);
 341   fgSetArchivable("/velocities/vBody-fps");
 342   fgTie("/velocities/wBody-fps", this,
 343         &FGInterface::get_wBody,
 344         &FGInterface::set_wBody,
 345         false);
 346   fgSetArchivable("/velocities/wBody-fps");
 347
 348                                 // Climb and slip (read-only)
 349   fgTie("/velocities/vertical-speed-fps", this,
 350         &FGInterface::get_Climb_Rate,
 351   &FGInterface::set_Climb_Rate );
 352   fgTie("/velocities/glideslope", this,
 353   &FGInterface::get_Gamma_vert_rad,
 354   &FGInterface::set_Gamma_vert_rad );
 355   fgTie("/velocities/side-slip-rad", this,
 356         &FGInterface::get_Beta); // read-only
 357   fgTie("/velocities/side-slip-deg", this,
 358   &FGInterface::get_Beta_deg); // read-only
 359   fgTie("/velocities/alpha-deg", this,
 360   &FGInterface::get_Alpha_deg); // read-only
 361   fgTie("/accelerations/nlf", this,
 362   &FGInterface::get_Nlf); // read-only
 363 }
 364
 365
 366 /**
 367  * Unbind any properties bound to this FDM.
 368  *
 369  * This method allows the FDM to release properties so that a new
 370  * FDM can bind them instead.
 371  */
 372 void
 373 FGInterface::unbind ()
 374 {
 375   bound = false;
 376
 377   fgUntie("/fdm/time/delta_t");
 378   fgUntie("/fdm/time/elapsed");
 379   fgUntie("/fdm/time/remainder");
 380   fgUntie("/fdm/time/multi_loop");
 381   fgUntie("/position/latitude-deg");
 382   fgUntie("/position/longitude-deg");
 383   fgUntie("/position/altitude-ft");
 384   fgUntie("/position/altitude-agl-ft");
 385   fgUntie("/orientation/heading-deg");
 386   fgUntie("/orientation/pitch-deg");
 387   fgUntie("/orientation/roll-deg");
 388   fgUntie("/velocities/airspeed-kt");
 389   fgUntie("/velocities/speed-north-fps");
 390   fgUntie("/velocities/speed-east-fps");
 391   fgUntie("/velocities/speed-down-fps");
 392   fgUntie("/velocities/uBody-fps");
 393   fgUntie("/velocities/vBody-fps");
 394   fgUntie("/velocities/wBody-fps");
 395   fgUntie("/velocities/vertical-speed-fps");
 396   fgUntie("/velocities/glideslope");
 397   fgUntie("/velocities/side-slip-rad");
 398   fgUntie("/velocities/side-slip-deg");
 399   fgUntie("/velocities/alpha-deg");
 400   fgUntie("/accelerations/nlf");
 401
 402 }
 403
 404 /**
 405  * Update the state of the FDM (i.e. run the equations of motion).
 406  */
 407 void
 408 FGInterface::update (int dt)
 409 {
 410     cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl;
 411 }
 412
 413
 414 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
 415 {
 416     double lat_geoc, sl_radius;
 417
 418     // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
 419
 420     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc );
 421
 422     SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
 423             << " lat_geod = " << lat
 424             << " lat_geoc = " << lat_geoc
 425             << " alt = " << alt
 426             << " sl_radius = " << sl_radius * SG_METER_TO_FEET
 427             << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
 428
 429     _set_Geocentric_Position( lat_geoc, lon,
 430                               sl_radius * SG_METER_TO_FEET + alt );
 431
 432     _set_Geodetic_Position( lat, lon, alt );
 433
 434     _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
 435     _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
 436
 437     _set_sin_lat_geocentric( lat_geoc );
 438     _set_cos_lat_geocentric( lat_geoc );
 439
 440     _set_sin_cos_longitude( lon );
 441
 442     _set_sin_cos_latitude( lat );
 443
 444     /* Norman's code for slope of the terrain */
 445     /* needs to be tested -- get it on the HUD and taxi around */
 446     /* double *tnorm = scenery.cur_normal;
 447
 448        double sy = sin ( -get_Psi() ) ;
 449        double cy = cos ( -get_Psi() ) ;
 450
 451        double phitb, thetatb, psitb;
 452        if ( tnorm[1] != 0.0 ) {
 453            psitb = -atan2 ( tnorm[0], tnorm[1] );
 454        }
 455        if ( tnorm[2] != 0.0 ) {
 456            thetatb =  atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
 457            phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
 458        }
 459
 460        _set_terrain_slope(phitb, thetatb, psitb)
 461      */
 462 }
 463
 464
 465 void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon,
 466                                              double alt )
 467 {
 468     double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
 469
 470     // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
 471
 472     sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
 473                   &lat_geod, &tmp_alt, &sl_radius1 );
 474     sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
 475
 476     SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
 477             << " lat_geod = " << lat_geod
 478             << " lat_geoc = " << lat_geoc
 479             << " alt = " << alt
 480             << " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
 481             << " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
 482             << " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
 483             << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
 484
 485     _set_Geocentric_Position( lat_geoc, lon,
 486                               sl_radius2 * SG_METER_TO_FEET + alt );
 487
 488     _set_Geodetic_Position( lat_geod, lon, alt );
 489
 490     _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
 491     _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
 492
 493     _set_sin_lat_geocentric( lat_geoc );
 494     _set_cos_lat_geocentric( lat_geoc );
 495
 496     _set_sin_cos_longitude( lon );
 497
 498     _set_sin_cos_latitude( lat_geod );
 499
 500     /* Norman's code for slope of the terrain */
 501     /* needs to be tested -- get it on the HUD and taxi around */
 502     /* double *tnorm = scenery.cur_normal;
 503
 504        double sy = sin ( -get_Psi() ) ;
 505        double cy = cos ( -get_Psi() ) ;
 506
 507        double phitb, thetatb, psitb;
 508        if ( tnorm[1] != 0.0 ) {
 509            psitb = -atan2 ( tnorm[0], tnorm[1] );
 510        }
 511        if ( tnorm[2] != 0.0 ) {
 512            thetatb =  atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
 513            phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
 514        }
 515
 516        _set_terrain_slope(phitb, thetatb, psitb)
 517      */
 518 }
 519
 520
 521 // Extrapolate fdm based on time_offset (in usec)
 522 void FGInterface::extrapolate( int time_offset ) {
 523     double dt = time_offset / 1000000.0;
 524
 525     // -dw- metrowerks complains about ambiguous access, not critical
 526     // to keep this ;)
 527 #ifndef __MWERKS__
 528     cout << "extrapolating FDM by dt = " << dt << endl;
 529 #endif
 530
 531     double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
 532     double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
 533
 534     double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
 535     double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
 536
 537     double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
 538     double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
 539
 540     geodetic_position_v[0] = lat;
 541     geocentric_position_v[0] = lat_geoc;
 542
 543     geodetic_position_v[1] = lon;
 544     geocentric_position_v[1] = lon_geoc;
 545
 546     geodetic_position_v[2] = alt;
 547     geocentric_position_v[2] = radius;
 548 }
 549
 550 // Positions
 551 void FGInterface::set_Latitude(double lat) {
 552     geodetic_position_v[0] = lat;
 553 }
 554
 555 void FGInterface::set_Longitude(double lon) {
 556     geodetic_position_v[1] = lon;
 557 }
 558
 559 void FGInterface::set_Altitude(double alt) {
 560     geodetic_position_v[2] = alt;
 561 }
 562
 563 void FGInterface::set_AltitudeAGL(double altagl) {
 564     altitude_agl=altagl;
 565 }
 566
 567 // Velocities
 568 void FGInterface::set_V_calibrated_kts(double vc) {
 569     v_calibrated_kts = vc;
 570 }
 571
 572 void FGInterface::set_Mach_number(double mach) {
 573     mach_number = mach;
 574 }
 575
 576 void FGInterface::set_Velocities_Local( double north,
 577                                         double east,
 578                                         double down ){
 579     v_local_v[0] = north;
 580     v_local_v[1] = east;
 581     v_local_v[2] = down;
 582 }
 583
 584 void FGInterface::set_Velocities_Wind_Body( double u,
 585                                             double v,
 586                                             double w){
 587     v_wind_body_v[0] = u;
 588     v_wind_body_v[1] = v;
 589     v_wind_body_v[2] = w;
 590 }
 591
 592 // Euler angles
 593 void FGInterface::set_Euler_Angles( double phi,
 594                                     double theta,
 595                                     double psi ) {
 596     euler_angles_v[0] = phi;
 597     euler_angles_v[1] = theta;
 598     euler_angles_v[2] = psi;
 599 }
 600
 601 // Flight Path
 602 void FGInterface::set_Climb_Rate( double roc) {
 603     climb_rate = roc;
 604 }
 605
 606 void FGInterface::set_Gamma_vert_rad( double gamma) {
 607     gamma_vert_rad = gamma;
 608 }
 609
 610 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
 611 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
 612 void FGInterface::set_Density(double rho) { density = rho; }
 613
 614 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
 615                                                 double weast,
 616                                                 double wdown ) {
 617     v_local_airmass_v[0] = wnorth;
 618     v_local_airmass_v[1] = weast;
 619     v_local_airmass_v[2] = wdown;
 620 }
 621
 622
 623 void FGInterface::_busdump(void) {
 624
 625     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]);
 626     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]);
 627     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]);
 628     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]);
 629     SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
 630     SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
 631     SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
 632     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]);
 633     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]);
 634     SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
 635     SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
 636     SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
 637     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]);
 638     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]);
 639     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]);
 640     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]);
 641     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]);
 642     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]);
 643     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]);
 644     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
 645     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]);
 646     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]);
 647     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]);
 648     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]);
 649     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]);
 650     SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
 651     SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
 652     SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
 653     SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
 654     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
 655     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
 656     SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
 657     SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
 658     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]);
 659     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]);
 660     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]);
 661     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]);
 662
 663     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]);
 664     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]);
 665     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]);
 666
 667     SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass );
 668     SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx );
 669     SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy );
 670     SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz );
 671     SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz );
 672     SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
 673     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
 674     SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
 675     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground );
 676     SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial );
 677     SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
 678     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv );
 679     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
 680     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated );
 681     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
 682     SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity );
 683     SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief );
 684     SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
 685     SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
 686     SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot );
 687     SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot );
 688     SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha );
 689     SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha );
 690     SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta );
 691     SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta );
 692     SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi );
 693     SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi );
 694     SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta );
 695     SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta );
 696     SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi );
 697     SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi );
 698     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
 699     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
 700     SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma );
 701     SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
 702     SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound );
 703     SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
 704     SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
 705     SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
 706     SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure );
 707     SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
 708     SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
 709     SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
 710     SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
 711     SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
 712     SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
 713     SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude );
 714     SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude );
 715     SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading );
 716     SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy );
 717     SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
 718     SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
 719     SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
 720     SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude );
 721     SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude );
 722     SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
 723     SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
 724     SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
 725 }
 726
 727
 728 void fgToggleFDMdataLogging(void) {
 729   cur_fdm_state->ToggleDataLogging();
 730 }