1 // flight.cxx -- a general interface to the various flight models
3 // Written by Curtis Olson, started May 1997.
5 // Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
26 #include <simgear/constants.h>
27 #include <simgear/debug/logstream.hxx>
28 #include <simgear/math/sg_geodesy.hxx>
29 #include <simgear/timing/timestamp.hxx>
31 #include <Scenery/scenery.hxx>
32 #include <FDM/LaRCsim/ls_interface.h>
33 #include <Main/globals.hxx>
34 #include <Main/fg_props.hxx>
36 #include "External.hxx"
39 #include "LaRCsim.hxx"
43 // base_fdm_state is the internal state that is updated in integer
44 // multiples of "dt". This leads to "jitter" with respect to the real
45 // world time, so we introduce cur_fdm_state which is extrapolated by
46 // the difference between sim time and real world time
48 FGInterface *cur_fdm_state;
49 FGInterface base_fdm_state;
51 inline void init_vec(FG_VECTOR_3 vec) {
52 vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0;
55 FGEngInterface::FGEngInterface() {
71 FGEngInterface::~FGEngInterface(void) {
76 FGInterface::FGInterface() {
80 FGInterface::FGInterface( double dt ) {
83 remainder = elapsed = multi_loop = 0;
87 FGInterface::~FGInterface() {
88 // unbind(); // FIXME: should be called explicitly
93 * Set default values for the state of the FDM.
95 * This method is invoked by the constructors.
98 FGInterface::_setup ()
103 init_vec( d_pilot_rp_body_v );
104 init_vec( d_cg_rp_body_v );
105 init_vec( f_body_total_v );
106 init_vec( f_local_total_v );
107 init_vec( f_aero_v );
108 init_vec( f_engine_v );
109 init_vec( f_gear_v );
110 init_vec( m_total_rp_v );
111 init_vec( m_total_cg_v );
112 init_vec( m_aero_v );
113 init_vec( m_engine_v );
114 init_vec( m_gear_v );
115 init_vec( v_dot_local_v );
116 init_vec( v_dot_body_v );
117 init_vec( a_cg_body_v );
118 init_vec( a_pilot_body_v );
119 init_vec( n_cg_body_v );
120 init_vec( n_pilot_body_v );
121 init_vec( omega_dot_body_v );
122 init_vec( v_local_v );
123 init_vec( v_local_rel_ground_v );
124 init_vec( v_local_airmass_v );
125 init_vec( v_local_rel_airmass_v );
126 init_vec( v_local_gust_v );
127 init_vec( v_wind_body_v );
128 init_vec( omega_body_v );
129 init_vec( omega_local_v );
130 init_vec( omega_total_v );
131 init_vec( euler_rates_v );
132 init_vec( geocentric_rates_v );
133 init_vec( geocentric_position_v );
134 init_vec( geodetic_position_v );
135 init_vec( euler_angles_v );
136 init_vec( d_cg_rwy_local_v );
137 init_vec( d_cg_rwy_rwy_v );
138 init_vec( d_pilot_rwy_local_v );
139 init_vec( d_pilot_rwy_rwy_v );
140 init_vec( t_local_to_body_m[0] );
141 init_vec( t_local_to_body_m[1] );
142 init_vec( t_local_to_body_m[2] );
144 mass=i_xx=i_yy=i_zz=i_xz=0;
146 v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
147 v_ground_speed=v_equiv=v_equiv_kts=0;
148 v_calibrated=v_calibrated_kts=0;
150 centrifugal_relief=0;
151 alpha=beta=alpha_dot=beta_dot=0;
152 cos_alpha=sin_alpha=cos_beta=sin_beta=0;
153 cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
154 gamma_vert_rad=gamma_horiz_rad=0;
155 sigma=density=v_sound=mach_number=0;
156 static_pressure=total_pressure=impact_pressure=0;
158 static_temperature=total_temperature=0;
159 sea_level_radius=earth_position_angle=0;
160 runway_altitude=runway_latitude=runway_longitude=0;
164 sin_lat_geocentric=cos_lat_geocentric=0;
165 sin_latitude=cos_latitude=0;
166 sin_longitude=cos_longitude=0;
172 * Initialize the state of the FDM.
174 * Subclasses of FGInterface may do their own, additional initialization,
175 * but normally they should invoke this method explicitly first as
176 * FGInterface::init() to make sure the basic structures are set up
182 SG_LOG(SG_FLIGHT, SG_INFO, "Start initializing FGInterface");
189 // Set initial position
190 SG_LOG(SG_FLIGHT, SG_INFO, "...initializing position...");
191 set_Longitude(fgGetDouble("/position/longitude-deg") * SGD_DEGREES_TO_RADIANS);
192 set_Latitude(fgGetDouble("/position/latitude-deg") * SGD_DEGREES_TO_RADIANS);
193 double ground_elev_m = scenery.get_cur_elev() + 1;
194 double ground_elev_ft = ground_elev_m * METERS_TO_FEET;
195 if (fgGetBool("/sim/startup/onground") ||
196 fgGetDouble("/position/altitude-ft") < ground_elev_ft)
197 fgSetDouble("/position/altitude-ft", ground_elev_ft);
198 set_Altitude(fgGetDouble("/position/altitude-ft"));
200 // Set ground elevation
201 SG_LOG(SG_FLIGHT, SG_INFO,
202 "...initializing ground elevation to "
203 << ground_elev_ft << "ft...");
204 fgFDMSetGroundElevation("jsb", ground_elev_m);
206 // Set sea-level radius
207 SG_LOG(SG_FLIGHT, SG_INFO, "...initializing sea-level radius...");
208 SG_LOG(SG_FLIGHT, SG_INFO, " lat = " << fgGetDouble("/position/latitude-deg")
209 << " alt = " << fgGetDouble("/position/altitude-ft") );
210 double sea_level_radius_meters;
212 sgGeodToGeoc(fgGetDouble("/position/latitude-deg") * SGD_DEGREES_TO_RADIANS,
213 fgGetDouble("/position/altitude-ft") * SG_FEET_TO_METER,
214 &sea_level_radius_meters, &lat_geoc);
215 set_Sea_level_radius(sea_level_radius_meters * SG_METER_TO_FEET);
217 // Set initial velocities
218 SG_LOG(SG_FLIGHT, SG_INFO, "...initializing velocities...");
219 if (!fgHasNode("/sim/startup/speed-set")) {
220 set_V_calibrated_kts(0.0);
222 const string speedset = fgGetString("/sim/startup/speed-set");
223 if (speedset == "knots" || speedset == "KNOTS") {
224 set_V_calibrated_kts(fgGetDouble("/velocities/airspeed-kt"));
225 } else if (speedset == "mach" || speedset == "MACH") {
226 set_Mach_number(fgGetDouble("/velocities/mach"));
227 } else if (speedset == "UVW" || speedset == "uvw") {
228 set_Velocities_Wind_Body(fgGetDouble("/velocities/uBody-fps"),
229 fgGetDouble("/velocities/vBody-fps"),
230 fgGetDouble("/velocities/wBody-fps"));
231 } else if (speedset == "NED" || speedset == "ned") {
232 set_Velocities_Local(fgGetDouble("/velocities/speed-north-fps"),
233 fgGetDouble("/velocities/speed-east-fps"),
234 fgGetDouble("/velocities/speed-down-fps"));
236 SG_LOG(SG_FLIGHT, SG_ALERT,
237 "Unrecognized value for /sim/startup/speed-set: " << speedset);
238 set_V_calibrated_kts(0.0);
242 // Set initial Euler angles
243 SG_LOG(SG_FLIGHT, SG_INFO, "...initializing Euler angles...");
245 (fgGetDouble("/orientation/roll-deg") * SGD_DEGREES_TO_RADIANS,
246 fgGetDouble("/orientation/pitch-deg") * SGD_DEGREES_TO_RADIANS,
247 fgGetDouble("/orientation/heading-deg") * SGD_DEGREES_TO_RADIANS);
249 SG_LOG(SG_FLIGHT, SG_INFO, "End initializing FGInterface");
254 * Bind getters and setters to properties.
256 * The bind() method will be invoked after init(). Note that unlike
257 * the usual implementations of FGSubsystem::bind(), this method does
258 * not automatically pick up existing values for the properties at
259 * bind time; instead, all values are set explicitly in the init()
267 // Time management (read-only)
268 fgTie("/fdm/time/delta_t", this,
269 &FGInterface::get_delta_t); // read-only
270 fgTie("/fdm/time/elapsed", this,
271 &FGInterface::get_elapsed); // read-only
272 fgTie("/fdm/time/remainder", this,
273 &FGInterface::get_remainder); // read-only
274 fgTie("/fdm/time/multi_loop", this,
275 &FGInterface::get_multi_loop); // read-only
278 fgTie("/position/latitude-deg", this,
279 &FGInterface::get_Latitude_deg,
280 &FGInterface::set_Latitude_deg,
282 fgSetArchivable("/position/latitude-deg");
283 fgTie("/position/longitude-deg", this,
284 &FGInterface::get_Longitude_deg,
285 &FGInterface::set_Longitude_deg,
287 fgSetArchivable("/position/longitude-deg");
288 fgTie("/position/altitude-ft", this,
289 &FGInterface::get_Altitude,
290 &FGInterface::set_Altitude,
292 fgSetArchivable("/position/altitude-ft");
293 fgTie("/position/altitude-agl-ft", this,
294 &FGInterface::get_Altitude_AGL); // read-only
297 fgTie("/orientation/roll-deg", this,
298 &FGInterface::get_Phi_deg,
299 &FGInterface::set_Phi_deg);
300 fgSetArchivable("/orientation/roll-deg");
301 fgTie("/orientation/pitch-deg", this,
302 &FGInterface::get_Theta_deg,
303 &FGInterface::set_Theta_deg);
304 fgSetArchivable("/orientation/pitch-deg");
305 fgTie("/orientation/heading-deg", this,
306 &FGInterface::get_Psi_deg,
307 &FGInterface::set_Psi_deg);
308 fgSetArchivable("/orientation/heading-deg");
310 // Calibrated airspeed
311 fgTie("/velocities/airspeed-kt", this,
312 &FGInterface::get_V_calibrated_kts,
313 &FGInterface::set_V_calibrated_kts,
317 // fgTie("/velocities/speed-north-fps", this,
318 // &FGInterface::get_V_north,
319 // &FGInterface::set_V_north);
320 // fgSetArchivable("/velocities/speed-north-fps");
321 // fgTie("/velocities/speed-east-fps", this,
322 // &FGInterface::get_V_east,
323 // &FGInterface::set_V_east);
324 // fgSetArchivable("/velocities/speed-east-fps");
325 // fgTie("/velocities/speed-down-fps", this,
326 // &FGInterface::get_V_down,
327 // &FGInterface::set_V_down);
328 // fgSetArchivable("/velocities/speed-down-fps");
329 // FIXME: Temporarily read-only, until the
330 // incompatibilities between JSBSim and
331 // LaRCSim are fixed (LaRCSim adds the
332 // earth's rotation to the east velocity).
333 fgTie("/velocities/speed-north-fps", this,
334 &FGInterface::get_V_north);
335 fgTie("/velocities/speed-east-fps", this,
336 &FGInterface::get_V_east);
337 fgTie("/velocities/speed-down-fps", this,
338 &FGInterface::get_V_down);
341 // FIXME: temporarily archivable, until
342 // the NED problem is fixed.
343 fgTie("/velocities/uBody-fps", this,
344 &FGInterface::get_uBody,
345 &FGInterface::set_uBody,
347 fgSetArchivable("/velocities/uBody-fps");
348 fgTie("/velocities/vBody-fps", this,
349 &FGInterface::get_vBody,
350 &FGInterface::set_vBody,
352 fgSetArchivable("/velocities/vBody-fps");
353 fgTie("/velocities/wBody-fps", this,
354 &FGInterface::get_wBody,
355 &FGInterface::set_wBody,
357 fgSetArchivable("/velocities/wBody-fps");
359 // Climb and slip (read-only)
360 fgTie("/velocities/vertical-speed-fps", this,
361 &FGInterface::get_Climb_Rate); // read-only
362 fgTie("/velocities/side-slip-rad", this,
363 &FGInterface::get_Beta); // read-only
368 * Unbind any properties bound to this FDM.
370 * This method allows the FDM to release properties so that a new
371 * FDM can bind them instead.
374 FGInterface::unbind ()
378 fgUntie("/fdm/time/delta_t");
379 fgUntie("/fdm/time/elapsed");
380 fgUntie("/fdm/time/remainder");
381 fgUntie("/fdm/time/multi_loop");
382 fgUntie("/position/latitude-deg");
383 fgUntie("/position/longitude-deg");
384 fgUntie("/position/altitude-ft");
385 fgUntie("/position/altitude-agl-ft");
386 fgUntie("/orientation/heading-deg");
387 fgUntie("/orientation/pitch-deg");
388 fgUntie("/orientation/roll-deg");
389 fgUntie("/velocities/airspeed-kt");
390 fgUntie("/velocities/speed-north-fps");
391 fgUntie("/velocities/speed-east-fps");
392 fgUntie("/velocities/speed-down-fps");
393 fgUntie("/velocities/uBody-fps");
394 fgUntie("/velocities/vBody-fps");
395 fgUntie("/velocities/wBody-fps");
396 fgUntie("/velocities/vertical-speed-fps");
397 fgUntie("/velocities/side-slip-rad");
402 * Update the state of the FDM (i.e. run the equations of motion).
405 FGInterface::update ()
411 bool FGInterface::update( int multi_loop ) {
412 cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl;
417 void FGInterface::_updatePosition( double lat_geoc, double lon, double alt ) {
418 double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
420 // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
422 sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
423 &lat_geod, &tmp_alt, &sl_radius1 );
424 sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
426 SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
427 << " lat_geod = " << lat_geod
428 << " lat_geoc = " << lat_geoc
430 << " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
431 << " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
432 << " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
433 << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
435 _set_Geocentric_Position( lat_geoc, lon,
436 sl_radius2 * SG_METER_TO_FEET + alt );
438 _set_Geodetic_Position( lat_geod, lon, alt );
440 _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
441 _set_Runway_altitude( scenery.get_cur_elev()*METERS_TO_FEET );
443 _set_sin_lat_geocentric( lat_geoc );
444 _set_cos_lat_geocentric( lat_geoc );
446 _set_sin_cos_longitude( lon );
448 _set_sin_cos_latitude( lat_geod );
450 /* Norman's code for slope of the terrain */
451 /* needs to be tested -- get it on the HUD and taxi around */
452 /* double *tnorm = scenery.cur_normal;
454 double sy = sin ( -get_Psi() ) ;
455 double cy = cos ( -get_Psi() ) ;
457 double phitb, thetatb, psitb;
458 if(tnorm[1] != 0.0) {
459 psitb = -atan2 ( tnorm[0], tnorm[1] );
461 if(tnorm[2] != 0.0) {
462 thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
463 phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
466 _set_terrain_slope(phitb, thetatb, psitb)
471 // Extrapolate fdm based on time_offset (in usec)
472 void FGInterface::extrapolate( int time_offset ) {
473 double dt = time_offset / 1000000.0;
475 // -dw- metrowerks complains about ambiguous access, not critical
478 cout << "extrapolating FDM by dt = " << dt << endl;
481 double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
482 double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
484 double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
485 double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
487 double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
488 double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
490 geodetic_position_v[0] = lat;
491 geocentric_position_v[0] = lat_geoc;
493 geodetic_position_v[1] = lon;
494 geocentric_position_v[1] = lon_geoc;
496 geodetic_position_v[2] = alt;
497 geocentric_position_v[2] = radius;
501 // Set the altitude (force)
502 void fgFDMForceAltitude(const string &model, double alt_meters) {
503 SG_LOG(SG_FLIGHT,SG_INFO, "fgFDMForceAltitude: " << alt_meters );
505 double sea_level_radius_meters;
508 // Set the FG variables first
509 sgGeodToGeoc( base_fdm_state.get_Latitude(), alt_meters,
510 &sea_level_radius_meters, &lat_geoc);
512 base_fdm_state.set_Altitude( alt_meters * SG_METER_TO_FEET );
513 base_fdm_state.set_Sea_level_radius( sea_level_radius_meters *
516 cur_fdm_state->set_Altitude( alt_meters * SG_METER_TO_FEET );
517 cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters *
520 // additional work needed for some flight models
521 if ( model == "larcsim" ) {
522 ls_ForceAltitude( base_fdm_state.get_Altitude() );
527 // Set the local ground elevation
528 void fgFDMSetGroundElevation(const string &model, double ground_meters) {
529 SG_LOG( SG_FLIGHT,SG_INFO, "fgFDMSetGroundElevation: "
530 << ground_meters*SG_METER_TO_FEET );
531 base_fdm_state.set_Runway_altitude( ground_meters * SG_METER_TO_FEET );
532 cur_fdm_state->set_Runway_altitude( ground_meters * SG_METER_TO_FEET );
537 void FGInterface::set_Latitude(double lat) {
538 geodetic_position_v[0] = lat;
541 void FGInterface::set_Longitude(double lon) {
542 geodetic_position_v[1] = lon;
545 void FGInterface::set_Altitude(double alt) {
546 geodetic_position_v[2] = alt;
549 void FGInterface::set_AltitudeAGL(double altagl) {
554 void FGInterface::set_V_calibrated_kts(double vc) {
555 v_calibrated_kts = vc;
558 void FGInterface::set_Mach_number(double mach) {
562 void FGInterface::set_Velocities_Local( double north,
565 v_local_v[0] = north;
570 void FGInterface::set_Velocities_Wind_Body( double u,
573 v_wind_body_v[0] = u;
574 v_wind_body_v[1] = v;
575 v_wind_body_v[2] = w;
579 void FGInterface::set_Euler_Angles( double phi,
582 euler_angles_v[0] = phi;
583 euler_angles_v[1] = theta;
584 euler_angles_v[2] = psi;
588 void FGInterface::set_Climb_Rate( double roc) {
592 void FGInterface::set_Gamma_vert_rad( double gamma) {
593 gamma_vert_rad = gamma;
597 void FGInterface::set_Sea_level_radius(double slr) {
598 sea_level_radius = slr;
601 void FGInterface::set_Runway_altitude(double ralt) {
602 runway_altitude = ralt;
605 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
606 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
607 void FGInterface::set_Density(double rho) { density = rho; }
609 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
612 v_local_airmass_v[0] = wnorth;
613 v_local_airmass_v[1] = weast;
614 v_local_airmass_v[2] = wdown;
618 void FGInterface::_busdump(void) {
620 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]);
621 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]);
622 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]);
623 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]);
624 SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
625 SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
626 SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
627 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]);
628 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]);
629 SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
630 SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
631 SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
632 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]);
633 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]);
634 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]);
635 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]);
636 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]);
637 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]);
638 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]);
639 SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
640 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]);
641 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]);
642 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]);
643 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]);
644 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]);
645 SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
646 SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
647 SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
648 SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
649 SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
650 SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
651 SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
652 SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
653 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]);
654 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]);
655 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]);
656 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]);
658 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]);
659 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]);
660 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]);
662 SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass );
663 SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx );
664 SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy );
665 SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz );
666 SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz );
667 SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
668 SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
669 SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
670 SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground );
671 SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial );
672 SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
673 SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv );
674 SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
675 SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated );
676 SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
677 SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity );
678 SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief );
679 SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
680 SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
681 SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot );
682 SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot );
683 SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha );
684 SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha );
685 SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta );
686 SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta );
687 SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi );
688 SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi );
689 SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta );
690 SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta );
691 SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi );
692 SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi );
693 SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
694 SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
695 SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma );
696 SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
697 SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound );
698 SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
699 SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
700 SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
701 SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure );
702 SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
703 SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
704 SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
705 SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
706 SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
707 SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
708 SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude );
709 SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude );
710 SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading );
711 SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy );
712 SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
713 SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
714 SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
715 SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude );
716 SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude );
717 SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
718 SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
719 SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
723 void fgToggleFDMdataLogging(void) {
724 cur_fdm_state->ToggleDataLogging();