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