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/scene/model/location.hxx>
  32 #include <simgear/timing/timestamp.hxx>
  33
  34 #include <Scenery/scenery.hxx>
  35 #include <FDM/LaRCsim/ls_interface.h>
  36 #include <Main/globals.hxx>
  37 #include <Main/fg_props.hxx>
  38 #include <Model/placement.hxx>
  39 #include <Model/acmodel.hxx>
  40
  41 #include "flight.hxx"
  42
  43
  44 // base_fdm_state is the internal state that is updated in integer
  45 // multiples of "dt".  This leads to "jitter" with respect to the real
  46 // world time, so we introduce cur_fdm_state which is extrapolated by
  47 // the difference between sim time and real world time
  48
  49 FGInterface *cur_fdm_state = 0;
  50 FGInterface base_fdm_state;
  51
  52 inline void init_vec(FG_VECTOR_3 vec) {
  53     vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0;
  54 }
  55
  56 // Constructor
  57 FGInterface::FGInterface()
  58   : remainder(0)
  59 {
  60     _setup();
  61 }
  62
  63 FGInterface::FGInterface( double dt )
  64   : remainder(0)
  65 {
  66     _setup();
  67 }
  68
  69 // Destructor
  70 FGInterface::~FGInterface() {
  71     // unbind();                   // FIXME: should be called explicitly
  72 }
  73
  74
  75 int
  76 FGInterface::_calc_multiloop (double dt)
  77 {
  78   int hz = fgGetInt("/sim/model-hz");
  79   int speedup = fgGetInt("/sim/speed-up");
  80
  81   dt += remainder;
  82   remainder = 0;
  83   double ml = dt * hz;
  84   int multiloop = int(floor(ml));
  85   remainder = (ml - multiloop) / hz;
  86   return (multiloop * speedup);
  87 }
  88
  89
  90 /**
  91  * Set default values for the state of the FDM.
  92  *
  93  * This method is invoked by the constructors.
  94  */
  95 void
  96 FGInterface::_setup ()
  97 {
  98     inited = false;
  99     bound = false;
 100
 101     init_vec( d_pilot_rp_body_v );
 102     init_vec( d_cg_rp_body_v );
 103     init_vec( f_body_total_v );
 104     init_vec( f_local_total_v );
 105     init_vec( f_aero_v );
 106     init_vec( f_engine_v );
 107     init_vec( f_gear_v );
 108     init_vec( m_total_rp_v );
 109     init_vec( m_total_cg_v );
 110     init_vec( m_aero_v );
 111     init_vec( m_engine_v );
 112     init_vec( m_gear_v );
 113     init_vec( v_dot_local_v );
 114     init_vec( v_dot_body_v );
 115     init_vec( a_cg_body_v );
 116     init_vec( a_pilot_body_v );
 117     init_vec( n_cg_body_v );
 118     init_vec( n_pilot_body_v );
 119     init_vec( omega_dot_body_v );
 120     init_vec( v_local_v );
 121     init_vec( v_local_rel_ground_v );
 122     init_vec( v_local_airmass_v );
 123     init_vec( v_local_rel_airmass_v );
 124     init_vec( v_local_gust_v );
 125     init_vec( v_wind_body_v );
 126     init_vec( omega_body_v );
 127     init_vec( omega_local_v );
 128     init_vec( omega_total_v );
 129     init_vec( euler_rates_v );
 130     init_vec( geocentric_rates_v );
 131     init_vec( geocentric_position_v );
 132     init_vec( geodetic_position_v );
 133     init_vec( euler_angles_v );
 134     init_vec( d_cg_rwy_local_v );
 135     init_vec( d_cg_rwy_rwy_v );
 136     init_vec( d_pilot_rwy_local_v );
 137     init_vec( d_pilot_rwy_rwy_v );
 138     init_vec( t_local_to_body_m[0] );
 139     init_vec( t_local_to_body_m[1] );
 140     init_vec( t_local_to_body_m[2] );
 141
 142     mass=i_xx=i_yy=i_zz=i_xz=0;
 143     nlf=0;
 144     v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
 145     v_ground_speed=v_equiv=v_equiv_kts=0;
 146     v_calibrated=v_calibrated_kts=0;
 147     gravity=0;
 148     centrifugal_relief=0;
 149     alpha=beta=alpha_dot=beta_dot=0;
 150     cos_alpha=sin_alpha=cos_beta=sin_beta=0;
 151     cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
 152     gamma_vert_rad=gamma_horiz_rad=0;
 153     sigma=density=v_sound=mach_number=0;
 154     static_pressure=total_pressure=impact_pressure=0;
 155     dynamic_pressure=0;
 156     static_temperature=total_temperature=0;
 157     sea_level_radius=earth_position_angle=0;
 158     runway_altitude=runway_latitude=runway_longitude=0;
 159     runway_heading=0;
 160     radius_to_rwy=0;
 161     climb_rate=0;
 162     sin_lat_geocentric=cos_lat_geocentric=0;
 163     sin_latitude=cos_latitude=0;
 164     sin_longitude=cos_longitude=0;
 165     altitude_agl=0;
 166     _acmodel = 0;
 167 }
 168
 169 void
 170 FGInterface::init () {}
 171
 172 /**
 173  * Initialize the state of the FDM.
 174  *
 175  * Subclasses of FGInterface may do their own, additional initialization,
 176  * but there is some that is common to all.  Normally, they should call
 177  * this before they begin their own init to make sure the basic structures
 178  * are set up properly.
 179  */
 180 void
 181 FGInterface::common_init ()
 182 {
 183     SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
 184
 185     set_inited( true );
 186
 187 //     stamp();
 188 //     set_remainder( 0 );
 189
 190     // linking in FGAircraft instance...
 191     // FIXME: when using multiple instances, then there will be more than
 192     // one model so get_aircraft_model will have to be indexed to the correct
 193     // model.
 194     _acmodel = globals->get_aircraft_model();
 195
 196     // Set initial position
 197     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
 198     set_Longitude( fgGetDouble("/sim/presets/longitude-deg")
 199                    * SGD_DEGREES_TO_RADIANS );
 200     set_Latitude( fgGetDouble("/sim/presets/latitude-deg")
 201                   * SGD_DEGREES_TO_RADIANS );
 202     double ground_elev_m = globals->get_scenery()->get_cur_elev();
 203     double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
 204     _acmodel->get3DModel()->getFGLocation()->set_cur_elev_m( ground_elev_m );
 205     _set_Runway_altitude ( ground_elev_ft );
 206     if ( fgGetBool("/sim/presets/onground")
 207          || fgGetDouble("/sim/presets/altitude-ft") < ground_elev_ft ) {
 208         fgSetDouble("/sim/presets/altitude-ft", ground_elev_ft);
 209         fgSetDouble("/position/altitude-ft", ground_elev_ft);
 210     }
 211     set_Altitude( fgGetDouble("/sim/presets/altitude-ft") );
 212
 213     // Set ground elevation
 214     SG_LOG( SG_FLIGHT, SG_INFO,
 215             "...initializing ground elevation to " << ground_elev_ft
 216             << "ft..." );
 217
 218     // Set sea-level radius
 219     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
 220     SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
 221             << fgGetDouble("/sim/presets/latitude-deg")
 222             << " alt = " << fgGetDouble("/sim/presets/altitude-ft") );
 223     double sea_level_radius_meters;
 224     double lat_geoc;
 225     sgGeodToGeoc( fgGetDouble("/sim/presets/latitude-deg")
 226                     * SGD_DEGREES_TO_RADIANS,
 227                   fgGetDouble("/sim/presets/altitude-ft") * SG_FEET_TO_METER,
 228                   &sea_level_radius_meters, &lat_geoc );
 229     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
 230
 231     // Set initial velocities
 232     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
 233     if ( !fgHasNode("/sim/presets/speed-set") ) {
 234         set_V_calibrated_kts(0.0);
 235     } else {
 236         const string speedset = fgGetString("/sim/presets/speed-set");
 237         if ( speedset == "knots" || speedset == "KNOTS" ) {
 238             set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") );
 239         } else if ( speedset == "mach" || speedset == "MACH" ) {
 240             set_Mach_number( fgGetDouble("/sim/presets/mach") );
 241         } else if ( speedset == "UVW" || speedset == "uvw" ) {
 242             set_Velocities_Wind_Body(
 243                                      fgGetDouble("/sim/presets/uBody-fps"),
 244                                      fgGetDouble("/sim/presets/vBody-fps"),
 245                                      fgGetDouble("/sim/presets/wBody-fps") );
 246         } else if ( speedset == "NED" || speedset == "ned" ) {
 247             set_Velocities_Local(
 248                                  fgGetDouble("/sim/presets/speed-north-fps"),
 249                                  fgGetDouble("/sim/presets/speed-east-fps"),
 250                                  fgGetDouble("/sim/presets/speed-down-fps") );
 251         } else {
 252             SG_LOG( SG_FLIGHT, SG_ALERT,
 253                     "Unrecognized value for /sim/presets/speed-set: "
 254                     << speedset);
 255             set_V_calibrated_kts( 0.0 );
 256         }
 257     }
 258
 259     // Set initial Euler angles
 260     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
 261     set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
 262                         * SGD_DEGREES_TO_RADIANS,
 263                       fgGetDouble("/sim/presets/pitch-deg")
 264                         * SGD_DEGREES_TO_RADIANS,
 265                       fgGetDouble("/sim/presets/heading-deg")
 266                         * SGD_DEGREES_TO_RADIANS );
 267
 268     SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
 269 }
 270
 271
 272 /**
 273  * Bind getters and setters to properties.
 274  *
 275  * The bind() method will be invoked after init().  Note that unlike
 276  * the usual implementations of FGSubsystem::bind(), this method does
 277  * not automatically pick up existing values for the properties at
 278  * bind time; instead, all values are set explicitly in the init()
 279  * method.
 280  */
 281 void
 282 FGInterface::bind ()
 283 {
 284   bound = true;
 285
 286                                 // Time management (read-only)
 287 //   fgTie("/fdm/time/delta_t", this,
 288 //         &FGInterface::get_delta_t); // read-only
 289 //   fgTie("/fdm/time/elapsed", this,
 290 //         &FGInterface::get_elapsed); // read-only
 291 //   fgTie("/fdm/time/remainder", this,
 292 //         &FGInterface::get_remainder); // read-only
 293 //   fgTie("/fdm/time/multi_loop", this,
 294 //         &FGInterface::get_multi_loop); // read-only
 295
 296                         // Aircraft position
 297   fgTie("/position/latitude-deg", this,
 298         &FGInterface::get_Latitude_deg,
 299         &FGInterface::set_Latitude_deg,
 300         false);
 301   fgSetArchivable("/position/latitude-deg");
 302   fgTie("/position/longitude-deg", this,
 303         &FGInterface::get_Longitude_deg,
 304         &FGInterface::set_Longitude_deg,
 305         false);
 306   fgSetArchivable("/position/longitude-deg");
 307   fgTie("/position/altitude-ft", this,
 308         &FGInterface::get_Altitude,
 309         &FGInterface::set_Altitude,
 310         false);
 311   fgSetArchivable("/position/altitude-ft");
 312   fgTie("/position/altitude-agl-ft", this,
 313         &FGInterface::get_Altitude_AGL); // read-only
 314
 315                                 // Orientation
 316   fgTie("/orientation/roll-deg", this,
 317         &FGInterface::get_Phi_deg,
 318         &FGInterface::set_Phi_deg);
 319   fgSetArchivable("/orientation/roll-deg");
 320   fgTie("/orientation/pitch-deg", this,
 321         &FGInterface::get_Theta_deg,
 322         &FGInterface::set_Theta_deg);
 323   fgSetArchivable("/orientation/pitch-deg");
 324   fgTie("/orientation/heading-deg", this,
 325         &FGInterface::get_Psi_deg,
 326         &FGInterface::set_Psi_deg);
 327   fgSetArchivable("/orientation/heading-deg");
 328
 329   // Body-axis "euler rates" (rotation speed, but in a funny
 330   // representation).
 331   fgTie("/orientation/roll-rate-degps", this,
 332         &FGInterface::get_Phi_dot_degps);
 333   fgTie("/orientation/pitch-rate-degps", this,
 334         &FGInterface::get_Theta_dot_degps);
 335   fgTie("/orientation/yaw-rate-degps", this,
 336         &FGInterface::get_Psi_dot_degps);
 337
 338                                 // Calibrated airspeed
 339   fgTie("/velocities/airspeed-kt", this,
 340         &FGInterface::get_V_calibrated_kts,
 341         &FGInterface::set_V_calibrated_kts,
 342         false);
 343
 344                                 // Mach number
 345   fgTie("/velocities/mach", this,
 346         &FGInterface::get_Mach_number,
 347         &FGInterface::set_Mach_number,
 348         false);
 349
 350                                 // Local velocities
 351 //   fgTie("/velocities/speed-north-fps", this,
 352 //      &FGInterface::get_V_north,
 353 //      &FGInterface::set_V_north);
 354 //   fgSetArchivable("/velocities/speed-north-fps");
 355 //   fgTie("/velocities/speed-east-fps", this,
 356 //      &FGInterface::get_V_east,
 357 //      &FGInterface::set_V_east);
 358 //   fgSetArchivable("/velocities/speed-east-fps");
 359 //   fgTie("/velocities/speed-down-fps", this,
 360 //      &FGInterface::get_V_down,
 361 //      &FGInterface::set_V_down);
 362 //   fgSetArchivable("/velocities/speed-down-fps");
 363                                 // FIXME: Temporarily read-only, until the
 364                                 // incompatibilities between JSBSim and
 365                                 // LaRCSim are fixed (LaRCSim adds the
 366                                 // earth's rotation to the east velocity).
 367   fgTie("/velocities/speed-north-fps", this,
 368         &FGInterface::get_V_north);
 369   fgTie("/velocities/speed-east-fps", this,
 370         &FGInterface::get_V_east);
 371   fgTie("/velocities/speed-down-fps", this,
 372         &FGInterface::get_V_down);
 373
 374                                 // Relative wind
 375                                 // FIXME: temporarily archivable, until
 376                                 // the NED problem is fixed.
 377   fgTie("/velocities/uBody-fps", this,
 378         &FGInterface::get_uBody,
 379         &FGInterface::set_uBody,
 380         false);
 381   fgSetArchivable("/velocities/uBody-fps");
 382   fgTie("/velocities/vBody-fps", this,
 383         &FGInterface::get_vBody,
 384         &FGInterface::set_vBody,
 385         false);
 386   fgSetArchivable("/velocities/vBody-fps");
 387   fgTie("/velocities/wBody-fps", this,
 388         &FGInterface::get_wBody,
 389         &FGInterface::set_wBody,
 390         false);
 391   fgSetArchivable("/velocities/wBody-fps");
 392
 393                                 // Climb and slip (read-only)
 394   fgTie("/velocities/vertical-speed-fps", this,
 395         &FGInterface::get_Climb_Rate,
 396   &FGInterface::set_Climb_Rate );
 397   fgTie("/velocities/glideslope", this,
 398   &FGInterface::get_Gamma_vert_rad,
 399   &FGInterface::set_Gamma_vert_rad );
 400   fgTie("/orientation/side-slip-rad", this,
 401         &FGInterface::get_Beta); // read-only
 402   fgTie("/orientation/side-slip-deg", this,
 403   &FGInterface::get_Beta_deg); // read-only
 404   fgTie("/orientation/alpha-deg", this,
 405   &FGInterface::get_Alpha_deg); // read-only
 406   fgTie("/accelerations/nlf", this,
 407   &FGInterface::get_Nlf); // read-only
 408
 409                                 // NED accelerations
 410   fgTie("/accelerations/ned/north-accel-fps_sec",
 411         this, &FGInterface::get_V_dot_north);
 412   fgTie("/accelerations/ned/east-accel-fps_sec",
 413         this, &FGInterface::get_V_dot_east);
 414   fgTie("/accelerations/ned/down-accel-fps_sec",
 415         this, &FGInterface::get_V_dot_down);
 416
 417                                 // Pilot accelerations
 418   fgTie("/accelerations/pilot/x-accel-fps_sec",
 419         this, &FGInterface::get_A_X_pilot);
 420   fgTie("/accelerations/pilot/y-accel-fps_sec",
 421         this, &FGInterface::get_A_Y_pilot);
 422   fgTie("/accelerations/pilot/z-accel-fps_sec",
 423         this, &FGInterface::get_A_Z_pilot);
 424
 425 }
 426
 427
 428 /**
 429  * Unbind any properties bound to this FDM.
 430  *
 431  * This method allows the FDM to release properties so that a new
 432  * FDM can bind them instead.
 433  */
 434 void
 435 FGInterface::unbind ()
 436 {
 437   bound = false;
 438
 439   // fgUntie("/fdm/time/delta_t");
 440   // fgUntie("/fdm/time/elapsed");
 441   // fgUntie("/fdm/time/remainder");
 442   // fgUntie("/fdm/time/multi_loop");
 443   fgUntie("/position/latitude-deg");
 444   fgUntie("/position/longitude-deg");
 445   fgUntie("/position/altitude-ft");
 446   fgUntie("/position/altitude-agl-ft");
 447   fgUntie("/orientation/roll-deg");
 448   fgUntie("/orientation/pitch-deg");
 449   fgUntie("/orientation/heading-deg");
 450   fgUntie("/orientation/roll-rate-degps");
 451   fgUntie("/orientation/pitch-rate-degps");
 452   fgUntie("/orientation/yaw-rate-degps");
 453   fgUntie("/orientation/side-slip-rad");
 454   fgUntie("/orientation/side-slip-deg");
 455   fgUntie("/orientation/alpha-deg");
 456   fgUntie("/velocities/airspeed-kt");
 457   fgUntie("/velocities/mach");
 458   fgUntie("/velocities/speed-north-fps");
 459   fgUntie("/velocities/speed-east-fps");
 460   fgUntie("/velocities/speed-down-fps");
 461   fgUntie("/velocities/uBody-fps");
 462   fgUntie("/velocities/vBody-fps");
 463   fgUntie("/velocities/wBody-fps");
 464   fgUntie("/velocities/vertical-speed-fps");
 465   fgUntie("/velocities/glideslope");
 466   fgUntie("/accelerations/nlf");
 467   fgUntie("/accelerations/pilot/x-accel-fps_sec");
 468   fgUntie("/accelerations/pilot/y-accel-fps_sec");
 469   fgUntie("/accelerations/pilot/z-accel-fps_sec");
 470   fgUntie("/accelerations/ned/north-accel-fps_sec");
 471   fgUntie("/accelerations/ned/east-accel-fps_sec");
 472   fgUntie("/accelerations/ned/down-accel-fps_sec");
 473 }
 474
 475 /**
 476  * Update the state of the FDM (i.e. run the equations of motion).
 477  */
 478 void
 479 FGInterface::update (double dt)
 480 {
 481     SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
 482 }
 483
 484
 485 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
 486 {
 487     double lat_geoc, sl_radius;
 488
 489     // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
 490
 491     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc );
 492
 493     SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
 494             << " lat_geod = " << lat
 495             << " lat_geoc = " << lat_geoc
 496             << " alt = " << alt
 497             << " sl_radius = " << sl_radius * SG_METER_TO_FEET
 498             << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
 499
 500     _set_Geocentric_Position( lat_geoc, lon,
 501                               sl_radius * SG_METER_TO_FEET + alt );
 502
 503     _set_Geodetic_Position( lat, lon, alt );
 504
 505     _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
 506     if ( getACModel() != NULL ) {
 507         _set_Runway_altitude( getACModel()->get3DModel()->getFGLocation()->get_cur_elev_m() * SG_METER_TO_FEET );
 508     }
 509
 510     _set_sin_lat_geocentric( lat_geoc );
 511     _set_cos_lat_geocentric( lat_geoc );
 512
 513     _set_sin_cos_longitude( lon );
 514
 515     _set_sin_cos_latitude( lat );
 516
 517     /* Norman's code for slope of the terrain */
 518     /* needs to be tested -- get it on the HUD and taxi around */
 519     /* double *tnorm = scenery.cur_normal;
 520
 521        double sy = sin ( -get_Psi() ) ;
 522        double cy = cos ( -get_Psi() ) ;
 523
 524        double phitb, thetatb, psitb;
 525        if ( tnorm[1] != 0.0 ) {
 526            psitb = -atan2 ( tnorm[0], tnorm[1] );
 527        }
 528        if ( tnorm[2] != 0.0 ) {
 529            thetatb =  atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
 530            phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
 531        }
 532
 533        _set_terrain_slope(phitb, thetatb, psitb)
 534      */
 535 }
 536
 537
 538 void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon,
 539                                              double alt )
 540 {
 541     double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
 542
 543     // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
 544
 545     sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
 546                   &lat_geod, &tmp_alt, &sl_radius1 );
 547     sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
 548
 549     SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
 550             << " lat_geod = " << lat_geod
 551             << " lat_geoc = " << lat_geoc
 552             << " alt = " << alt
 553             << " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
 554             << " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
 555             << " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
 556             << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
 557
 558     _set_Geocentric_Position( lat_geoc, lon,
 559                               sl_radius2 * SG_METER_TO_FEET + alt );
 560
 561     _set_Geodetic_Position( lat_geod, lon, alt );
 562
 563     _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
 564     _set_Runway_altitude( getACModel()->get3DModel()->getFGLocation()->get_cur_elev_m() * SG_METER_TO_FEET );
 565
 566     _set_sin_lat_geocentric( lat_geoc );
 567     _set_cos_lat_geocentric( lat_geoc );
 568
 569     _set_sin_cos_longitude( lon );
 570
 571     _set_sin_cos_latitude( lat_geod );
 572
 573     /* Norman's code for slope of the terrain */
 574     /* needs to be tested -- get it on the HUD and taxi around */
 575     /* double *tnorm = scenery.cur_normal;
 576
 577        double sy = sin ( -get_Psi() ) ;
 578        double cy = cos ( -get_Psi() ) ;
 579
 580        double phitb, thetatb, psitb;
 581        if ( tnorm[1] != 0.0 ) {
 582            psitb = -atan2 ( tnorm[0], tnorm[1] );
 583        }
 584        if ( tnorm[2] != 0.0 ) {
 585            thetatb =  atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
 586            phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
 587        }
 588
 589        _set_terrain_slope(phitb, thetatb, psitb)
 590      */
 591 }
 592
 593
 594 // Extrapolate fdm based on time_offset (in usec)
 595 void FGInterface::extrapolate( int time_offset ) {
 596     double dt = time_offset / 1000000.0;
 597
 598     // -dw- metrowerks complains about ambiguous access, not critical
 599     // to keep this ;)
 600 #ifndef __MWERKS__
 601     SG_LOG(SG_FLIGHT, SG_INFO, "extrapolating FDM by dt = " << dt);
 602 #endif
 603
 604     double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
 605     double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
 606
 607     double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
 608     double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
 609
 610     double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
 611     double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
 612
 613     geodetic_position_v[0] = lat;
 614     geocentric_position_v[0] = lat_geoc;
 615
 616     geodetic_position_v[1] = lon;
 617     geocentric_position_v[1] = lon_geoc;
 618
 619     geodetic_position_v[2] = alt;
 620     geocentric_position_v[2] = radius;
 621 }
 622
 623 // Positions
 624 void FGInterface::set_Latitude(double lat) {
 625     geodetic_position_v[0] = lat;
 626 }
 627
 628 void FGInterface::set_Longitude(double lon) {
 629     geodetic_position_v[1] = lon;
 630 }
 631
 632 void FGInterface::set_Altitude(double alt) {
 633     geodetic_position_v[2] = alt;
 634 }
 635
 636 void FGInterface::set_AltitudeAGL(double altagl) {
 637     altitude_agl=altagl;
 638 }
 639
 640 // Velocities
 641 void FGInterface::set_V_calibrated_kts(double vc) {
 642     v_calibrated_kts = vc;
 643 }
 644
 645 void FGInterface::set_Mach_number(double mach) {
 646     mach_number = mach;
 647 }
 648
 649 void FGInterface::set_Velocities_Local( double north,
 650                                         double east,
 651                                         double down ){
 652     v_local_v[0] = north;
 653     v_local_v[1] = east;
 654     v_local_v[2] = down;
 655 }
 656
 657 void FGInterface::set_Velocities_Wind_Body( double u,
 658                                             double v,
 659                                             double w){
 660     v_wind_body_v[0] = u;
 661     v_wind_body_v[1] = v;
 662     v_wind_body_v[2] = w;
 663 }
 664
 665 // Euler angles
 666 void FGInterface::set_Euler_Angles( double phi,
 667                                     double theta,
 668                                     double psi ) {
 669     euler_angles_v[0] = phi;
 670     euler_angles_v[1] = theta;
 671     euler_angles_v[2] = psi;
 672 }
 673
 674 // Flight Path
 675 void FGInterface::set_Climb_Rate( double roc) {
 676     climb_rate = roc;
 677 }
 678
 679 void FGInterface::set_Gamma_vert_rad( double gamma) {
 680     gamma_vert_rad = gamma;
 681 }
 682
 683 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
 684 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
 685 void FGInterface::set_Density(double rho) { density = rho; }
 686
 687 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
 688                                                 double weast,
 689                                                 double wdown ) {
 690     v_local_airmass_v[0] = wnorth;
 691     v_local_airmass_v[1] = weast;
 692     v_local_airmass_v[2] = wdown;
 693 }
 694
 695
 696 void FGInterface::_busdump(void) {
 697
 698     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]);
 699     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]);
 700     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]);
 701     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]);
 702     SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
 703     SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
 704     SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
 705     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]);
 706     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]);
 707     SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
 708     SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
 709     SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
 710     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]);
 711     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]);
 712     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]);
 713     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]);
 714     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]);
 715     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]);
 716     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]);
 717     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
 718     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]);
 719     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]);
 720     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]);
 721     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]);
 722     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]);
 723     SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
 724     SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
 725     SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
 726     SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
 727     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
 728     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
 729     SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
 730     SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
 731     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]);
 732     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]);
 733     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]);
 734     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]);
 735
 736     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]);
 737     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]);
 738     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]);
 739
 740     SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass );
 741     SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx );
 742     SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy );
 743     SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz );
 744     SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz );
 745     SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
 746     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
 747     SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
 748     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground );
 749     SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial );
 750     SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
 751     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv );
 752     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
 753     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated );
 754     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
 755     SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity );
 756     SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief );
 757     SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
 758     SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
 759     SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot );
 760     SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot );
 761     SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha );
 762     SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha );
 763     SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta );
 764     SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta );
 765     SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi );
 766     SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi );
 767     SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta );
 768     SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta );
 769     SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi );
 770     SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi );
 771     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
 772     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
 773     SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma );
 774     SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
 775     SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound );
 776     SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
 777     SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
 778     SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
 779     SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure );
 780     SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
 781     SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
 782     SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
 783     SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
 784     SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
 785     SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
 786     SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude );
 787     SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude );
 788     SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading );
 789     SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy );
 790     SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
 791     SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
 792     SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
 793     SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude );
 794     SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude );
 795     SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
 796     SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
 797     SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
 798 }
 799
 800
 801 void fgToggleFDMdataLogging(void) {
 802   cur_fdm_state->ToggleDataLogging();
 803 }