1 // flight.hxx -- define shared flight model parameters
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.
29 # error This library requires C++
35 `FGInterface::get_Longitude ()'
36 `FGInterface::get_Latitude ()'
37 `FGInterface::get_Altitude ()'
38 `FGInterface::get_Phi ()'
39 `FGInterface::get_Theta ()'
40 `FGInterface::get_Psi ()'
41 `FGInterface::get_V_equiv_kts ()'
43 `FGInterface::get_Mass ()'
44 `FGInterface::get_I_xx ()'
45 `FGInterface::get_I_yy ()'
46 `FGInterface::get_I_zz ()'
47 `FGInterface::get_I_xz ()'
49 `FGInterface::get_V_north ()'
50 `FGInterface::get_V_east ()'
51 `FGInterface::get_V_down ()'
53 `FGInterface::get_P_Body ()'
54 `FGInterface::get_Q_Body ()'
55 `FGInterface::get_R_Body ()'
57 `FGInterface::get_Gamma_vert_rad ()'
58 `FGInterface::get_Climb_Rate ()'
59 `FGInterface::get_Alpha ()'
60 `FGInterface::get_Beta ()'
62 `FGInterface::get_Runway_altitude ()'
64 `FGInterface::get_Lon_geocentric ()'
65 `FGInterface::get_Lat_geocentric ()'
66 `FGInterface::get_Sea_level_radius ()'
67 `FGInterface::get_Earth_position_angle ()'
69 `FGInterface::get_Latitude_dot()'
70 `FGInterface::get_Longitude_dot()'
71 `FGInterface::get_Radius_dot()'
73 `FGInterface::get_Dx_cg ()'
74 `FGInterface::get_Dy_cg ()'
75 `FGInterface::get_Dz_cg ()'
77 `FGInterface::get_T_local_to_body_11 ()' ... `FGInterface::get_T_local_to_body_33 ()'
79 `FGInterface::get_Radius_to_vehicle ()'
84 #include <simgear/compiler.h>
92 #include <simgear/constants.h>
93 #include <simgear/timing/timestamp.hxx>
95 #include <Main/fgfs.hxx>
102 typedef double FG_VECTOR_3[3];
105 class FGEngInterface {
116 double Manifold_Pressure; //inches
118 double Percentage_Power; //HP
121 double prop_thrust; //lbs
122 double Fuel_Flow; //Gals/hr
125 double PercentN1,N1; //GE,CFM
127 double EPR; //P&W, RR?
130 double InletAngles[3];
131 double InletPosition[3];
132 double ThrustVector[3];
136 FGEngInterface(void);
137 ~FGEngInterface(void);
139 inline double get_Throttle() const { return Throttle; }
140 inline double get_Mixture() const { return Mixture; }
141 inline double get_Prop_Advance() const { return Prop_Advance; }
142 inline double get_RPM() const { return RPM; }
143 inline double get_Manifold_Pressure() const { return Manifold_Pressure; }
144 inline double get_MaxHP() const { return MaxHP; }
145 inline double get_Percentage_Power() const { return Percentage_Power; }
146 inline double get_EGT() const { return EGT; }
147 inline double get_CHT() const { return CHT; }
148 inline double get_prop_thrust() const { return prop_thrust; }
149 inline double get_Fuel_Flow() const { return Fuel_Flow; }
151 inline void set_Throttle( double t ) { Throttle = t; }
152 inline void set_Mixture( double m ) { Mixture = m; }
153 inline void set_Prop_Advance( double p ) { Prop_Advance = p; }
154 inline void set_RPM( double r ) { RPM = r; }
155 inline void set_Manifold_Pressure( double mp ) { Manifold_Pressure = mp; }
156 inline void set_MaxHP( double hp ) { MaxHP = hp; }
157 inline void set_Percentage_Power( double p ) { Percentage_Power = p; }
158 inline void set_EGT( double e ) { EGT = e; }
159 inline void set_CHT( double c ) { CHT = c; }
160 inline void set_prop_thrust( double t ) { prop_thrust = t; }
161 inline void set_Fuel_Flow( double f ) { Fuel_Flow = f; }
165 typedef vector < FGEngInterface > engine_list;
168 // This is based heavily on LaRCsim/ls_generic.h
169 class FGInterface : public FGSubsystem {
173 // periodic update management variable. This is a scheme to run
174 // the fdm with a fixed delta-t. We control how many iteration of
175 // the fdm to run with the fixed dt based on the elapsed time from
176 // the last update. This allows us to maintain sync with the real
177 // time clock, even though each frame could take a random amount
178 // of time. Since "dt" is unlikely to divide evenly into the
179 // elapse time, we keep track of the remainder and add it into the
180 // next elapsed time. This yields a small amount of temporal
181 // jitter ( < dt ) but in practice seems to work well.
183 double delta_t; // delta "t"
184 SGTimeStamp time_stamp; // time stamp of last run
185 long elapsed; // time elapsed since last run
186 long remainder; // remainder time from last run
187 int multi_loop; // number of iterations of "delta_t" to run
189 // Pilot location rel to ref pt
190 FG_VECTOR_3 d_pilot_rp_body_v;
192 // CG position w.r.t. ref. point
193 FG_VECTOR_3 d_cg_rp_body_v;
196 FG_VECTOR_3 f_body_total_v;
197 FG_VECTOR_3 f_local_total_v;
198 FG_VECTOR_3 f_aero_v;
199 FG_VECTOR_3 f_engine_v;
200 FG_VECTOR_3 f_gear_v;
203 FG_VECTOR_3 m_total_rp_v;
204 FG_VECTOR_3 m_total_cg_v;
205 FG_VECTOR_3 m_aero_v;
206 FG_VECTOR_3 m_engine_v;
207 FG_VECTOR_3 m_gear_v;
210 FG_VECTOR_3 v_dot_local_v;
211 FG_VECTOR_3 v_dot_body_v;
212 FG_VECTOR_3 a_cg_body_v;
213 FG_VECTOR_3 a_pilot_body_v;
214 FG_VECTOR_3 n_cg_body_v;
215 FG_VECTOR_3 n_pilot_body_v;
216 FG_VECTOR_3 omega_dot_body_v;
219 FG_VECTOR_3 v_local_v;
220 FG_VECTOR_3 v_local_rel_ground_v; // V rel w.r.t. earth surface
221 FG_VECTOR_3 v_local_airmass_v; // velocity of airmass (steady winds)
222 FG_VECTOR_3 v_local_rel_airmass_v; // velocity of veh. relative to airmass
223 FG_VECTOR_3 v_local_gust_v; // linear turbulence components, L frame
224 FG_VECTOR_3 v_wind_body_v; // Wind-relative velocities in body axis
226 FG_VECTOR_3 omega_body_v; // Angular B rates
227 FG_VECTOR_3 omega_local_v; // Angular L rates
228 FG_VECTOR_3 omega_total_v; // Diff btw B & L
229 FG_VECTOR_3 euler_rates_v;
230 FG_VECTOR_3 geocentric_rates_v; // Geocentric linear velocities
233 FG_VECTOR_3 geocentric_position_v;
234 FG_VECTOR_3 geodetic_position_v;
235 FG_VECTOR_3 euler_angles_v;
237 // Miscellaneous Quantities
238 FG_VECTOR_3 d_cg_rwy_local_v; // CG rel. to rwy in local coords
239 FG_VECTOR_3 d_cg_rwy_rwy_v; // CG relative to rwy, in rwy coordinates
240 FG_VECTOR_3 d_pilot_rwy_local_v; // pilot rel. to rwy in local coords
241 FG_VECTOR_3 d_pilot_rwy_rwy_v; // pilot rel. to rwy, in rwy coords.
244 double mass, i_xx, i_yy, i_zz, i_xz;
246 // Normal Load Factor
250 double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
251 double v_ground_speed, v_equiv, v_equiv_kts;
252 double v_calibrated, v_calibrated_kts;
254 // Miscellaneious Quantities
255 double t_local_to_body_m[3][3]; // Transformation matrix L to B
256 double gravity; // Local acceleration due to G
257 double centrifugal_relief; // load factor reduction due to speed
258 double alpha, beta, alpha_dot, beta_dot; // in radians
259 double cos_alpha, sin_alpha, cos_beta, sin_beta;
260 double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
261 double gamma_vert_rad, gamma_horiz_rad; // Flight path angles
262 double sigma, density, v_sound, mach_number;
263 double static_pressure, total_pressure, impact_pressure;
264 double dynamic_pressure;
265 double static_temperature, total_temperature;
266 double sea_level_radius, earth_position_angle;
267 double runway_altitude, runway_latitude, runway_longitude;
268 double runway_heading;
269 double radius_to_rwy;
270 double climb_rate; // in feet per second
271 double sin_lat_geocentric, cos_lat_geocentric;
272 double sin_longitude, cos_longitude;
273 double sin_latitude, cos_latitude;
275 double Tank1Fuel; // Gals
276 double Tank2Fuel; // Gals
281 // SGTimeStamp valid_stamp; // time this record is valid
282 // SGTimeStamp next_stamp; // time this record is valid
286 // deliberately not virtual so that
287 // FGInterface constructor will call
292 void _updatePosition( double lat_geoc, double lon, double alt );
293 void _updateWeather( void );
295 inline void _set_Inertias( double m, double xx, double yy,
296 double zz, double xz)
304 inline void _set_CG_Position( double dx, double dy, double dz ) {
305 d_cg_rp_body_v[0] = dx;
306 d_cg_rp_body_v[1] = dy;
307 d_cg_rp_body_v[2] = dz;
309 inline void _set_Accels_Local( double north, double east, double down ) {
310 v_dot_local_v[0] = north;
311 v_dot_local_v[1] = east;
312 v_dot_local_v[2] = down;
314 inline void _set_Accels_Body( double u, double v, double w ) {
319 inline void _set_Accels_CG_Body( double x, double y, double z ) {
324 inline void _set_Accels_Pilot_Body( double x, double y, double z ) {
325 a_pilot_body_v[0] = x;
326 a_pilot_body_v[1] = y;
327 a_pilot_body_v[2] = z;
329 inline void _set_Accels_CG_Body_N( double x, double y, double z ) {
334 void _set_Nlf(double n) { nlf=n; }
335 inline void _set_Velocities_Local( double north, double east, double down ){
336 v_local_v[0] = north;
340 inline void _set_Velocities_Ground(double north, double east, double down) {
341 v_local_rel_ground_v[0] = north;
342 v_local_rel_ground_v[1] = east;
343 v_local_rel_ground_v[2] = down;
345 inline void _set_Velocities_Local_Airmass( double north, double east,
348 v_local_airmass_v[0] = north;
349 v_local_airmass_v[1] = east;
350 v_local_airmass_v[2] = down;
352 inline void _set_Velocities_Wind_Body( double u, double v, double w) {
353 v_wind_body_v[0] = u;
354 v_wind_body_v[1] = v;
355 v_wind_body_v[2] = w;
357 inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; }
358 inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
359 inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
360 inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
361 inline void _set_Omega_Body( double p, double q, double r ) {
366 inline void _set_Euler_Rates( double phi, double theta, double psi ) {
367 euler_rates_v[0] = phi;
368 euler_rates_v[1] = theta;
369 euler_rates_v[2] = psi;
371 inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
372 geocentric_rates_v[0] = lat;
373 geocentric_rates_v[1] = lon;
374 geocentric_rates_v[2] = rad;
377 inline void _set_Radius_to_vehicle(double radius) {
378 geocentric_position_v[2] = radius;
381 inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
382 geocentric_position_v[0] = lat;
383 geocentric_position_v[1] = lon;
384 geocentric_position_v[2] = rad;
386 inline void _set_Latitude(double lat) { geodetic_position_v[0] = lat; }
387 inline void _set_Longitude(double lon) { geodetic_position_v[1] = lon; }
388 inline void _set_Altitude(double altitude) {
389 geodetic_position_v[2] = altitude;
391 inline void _set_Altitude_AGL(double agl) {
394 inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
395 geodetic_position_v[0] = lat;
396 geodetic_position_v[1] = lon;
397 geodetic_position_v[2] = alt;
399 inline void _set_Euler_Angles( double phi, double theta, double psi ) {
400 euler_angles_v[0] = phi;
401 euler_angles_v[1] = theta;
402 euler_angles_v[2] = psi;
404 inline void _set_T_Local_to_Body( int i, int j, double value) {
405 t_local_to_body_m[i-1][j-1] = value;
407 inline void _set_T_Local_to_Body( double m[3][3] ) {
409 for ( i = 0; i < 3; i++ ) {
410 for ( j = 0; j < 3; j++ ) {
411 t_local_to_body_m[i][j] = m[i][j];
415 inline void _set_Alpha( double a ) { alpha = a; }
416 inline void _set_Beta( double b ) { beta = b; }
417 inline void _set_Cos_phi( double cp ) { cos_phi = cp; }
418 inline void _set_Cos_theta( double ct ) { cos_theta = ct; }
419 inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
420 inline void _set_Density( double d ) { density = d; }
421 inline void _set_Mach_number( double m ) { mach_number = m; }
422 inline void _set_Static_pressure( double sp ) { static_pressure = sp; }
423 inline void _set_Static_temperature( double t ) { static_temperature = t; }
424 inline void _set_Sea_level_radius( double r ) { sea_level_radius = r; }
425 inline void _set_Earth_position_angle(double a) {
426 earth_position_angle = a;
428 inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; }
429 inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
430 inline void _set_sin_lat_geocentric(double parm) {
431 sin_lat_geocentric = sin(parm);
433 inline void _set_cos_lat_geocentric(double parm) {
434 cos_lat_geocentric = cos(parm);
436 inline void _set_sin_cos_longitude(double parm) {
437 sin_longitude = sin(parm);
438 cos_longitude = cos(parm);
440 inline void _set_sin_cos_latitude(double parm) {
441 sin_latitude = sin(parm);
442 cos_latitude = cos(parm);
448 FGInterface( double dt );
449 virtual ~FGInterface();
451 virtual void init ();
452 virtual void bind ();
453 virtual void unbind ();
454 virtual void update ();
455 virtual bool update( int multi_loop );
456 virtual bool ToggleDataLogging(bool state) {};
457 virtual bool ToggleDataLogging(void) {};
459 // Define the various supported flight models (many not yet implemented)
464 // The NASA LaRCsim (Navion) flight model
467 // Jon S. Berndt's new FDM written from the ground up in C++
470 // Christian's hot air balloon simulation
473 // Aeronautical DEvelopment AGEncy, Bangalore India
476 // The following aren't implemented but are here to spark
477 // thoughts and discussions, and maybe even action.
484 // Driven externally via a serial port, net, file, etc.
488 // time and update management values
489 inline double get_delta_t() const { return delta_t; }
490 inline void set_delta_t( double dt ) { delta_t = dt; }
491 inline SGTimeStamp get_time_stamp() const { return time_stamp; }
492 inline void set_time_stamp( SGTimeStamp s ) { time_stamp = s; }
493 inline void stamp() { time_stamp.stamp(); }
494 inline long get_elapsed() const { return elapsed; }
495 inline void set_elapsed( long e ) { elapsed = e; }
496 inline long get_remainder() const { return remainder; }
497 inline void set_remainder( long r ) { remainder = r; }
498 inline int get_multi_loop() const { return multi_loop; }
499 inline void set_multi_loop( int ml ) { multi_loop = ml; }
502 virtual void set_Latitude(double lat); // geocentric
503 virtual void set_Longitude(double lon);
504 virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
505 virtual void set_AltitudeAGL(double altagl); // and vice-versa
506 virtual void set_Latitude_deg (double lat) {
507 set_Latitude(lat * SGD_DEGREES_TO_RADIANS);
509 virtual void set_Longitude_deg (double lon) {
510 set_Longitude(lon * SGD_DEGREES_TO_RADIANS);
513 // Speeds -- setting any of these will trigger a re-calc of the rest
514 virtual void set_V_calibrated_kts(double vc);
515 virtual void set_Mach_number(double mach);
516 virtual void set_Velocities_Local( double north, double east, double down );
517 inline void set_V_north (double north) { v_local_v[0] = north; }
518 inline void set_V_east (double east) { v_local_v[1] = east; }
519 inline void set_V_down (double down) { v_local_v[2] = down; }
520 virtual void set_Velocities_Wind_Body( double u, double v, double w);
521 virtual void set_uBody (double uBody) { v_wind_body_v[0] = uBody; }
522 virtual void set_vBody (double vBody) { v_wind_body_v[1] = vBody; }
523 virtual void set_wBody (double wBody) { v_wind_body_v[2] = wBody; }
526 virtual void set_Euler_Angles( double phi, double theta, double psi );
527 virtual void set_Phi (double phi) {
528 set_Euler_Angles(phi, get_Theta(), get_Psi());
530 virtual void set_Theta (double theta) {
531 set_Euler_Angles(get_Phi(), theta, get_Psi());
533 virtual void set_Psi (double psi) {
534 set_Euler_Angles(get_Phi(), get_Theta(), psi);
536 virtual void set_Phi_deg (double phi) { set_Phi(phi * SGD_DEGREES_TO_RADIANS); }
537 virtual void set_Theta_deg (double theta) {
538 set_Theta(theta * SGD_DEGREES_TO_RADIANS);
540 virtual void set_Psi_deg (double psi) { set_Psi(psi * SGD_DEGREES_TO_RADIANS); }
543 virtual void set_Climb_Rate( double roc);
544 virtual void set_Gamma_vert_rad( double gamma);
547 virtual void set_Sea_level_radius(double slr);
548 virtual void set_Runway_altitude(double ralt);
550 virtual void set_Static_pressure(double p);
551 virtual void set_Static_temperature(double T);
552 virtual void set_Density(double rho);
554 virtual void set_Velocities_Local_Airmass (double wnorth,
559 inline void set_Tank1Fuel( double f ) { Tank1Fuel = f; }
560 inline void set_Tank2Fuel( double f ) { Tank2Fuel = f; }
562 inline void reduce_Tank1Fuel( double f ) {
567 inline void reduce_Tank2Fuel( double f ) {
574 // ========== Mass properties and geometry values ==========
577 inline double get_Mass() const { return mass; }
578 inline double get_I_xx() const { return i_xx; }
579 inline double get_I_yy() const { return i_yy; }
580 inline double get_I_zz() const { return i_zz; }
581 inline double get_I_xz() const { return i_xz; }
583 // Pilot location rel to ref pt
584 // inline double * get_D_pilot_rp_body_v() {
585 // return d_pilot_rp_body_v;
587 // inline double get_Dx_pilot() const { return d_pilot_rp_body_v[0]; }
588 // inline double get_Dy_pilot() const { return d_pilot_rp_body_v[1]; }
589 // inline double get_Dz_pilot() const { return d_pilot_rp_body_v[2]; }
590 /* inline void set_Pilot_Location( double dx, double dy, double dz ) {
591 d_pilot_rp_body_v[0] = dx;
592 d_pilot_rp_body_v[1] = dy;
593 d_pilot_rp_body_v[2] = dz;
596 // CG position w.r.t. ref. point
597 // inline double * get_D_cg_rp_body_v() { return d_cg_rp_body_v; }
598 inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; }
599 inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; }
600 inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
602 // ========== Forces ==========
604 // inline double * get_F_body_total_v() { return f_body_total_v; }
605 // inline double get_F_X() const { return f_body_total_v[0]; }
606 // inline double get_F_Y() const { return f_body_total_v[1]; }
607 // inline double get_F_Z() const { return f_body_total_v[2]; }
608 /* inline void set_Forces_Body_Total( double x, double y, double z ) {
609 f_body_total_v[0] = x;
610 f_body_total_v[1] = y;
611 f_body_total_v[2] = z;
614 // inline double * get_F_local_total_v() { return f_local_total_v; }
615 // inline double get_F_north() const { return f_local_total_v[0]; }
616 // inline double get_F_east() const { return f_local_total_v[1]; }
617 // inline double get_F_down() const { return f_local_total_v[2]; }
618 /* inline void set_Forces_Local_Total( double x, double y, double z ) {
619 f_local_total_v[0] = x;
620 f_local_total_v[1] = y;
621 f_local_total_v[2] = z;
624 // inline double * get_F_aero_v() { return f_aero_v; }
625 // inline double get_F_X_aero() const { return f_aero_v[0]; }
626 // inline double get_F_Y_aero() const { return f_aero_v[1]; }
627 // inline double get_F_Z_aero() const { return f_aero_v[2]; }
628 /* inline void set_Forces_Aero( double x, double y, double z ) {
634 // inline double * get_F_engine_v() { return f_engine_v; }
635 // inline double get_F_X_engine() const { return f_engine_v[0]; }
636 // inline double get_F_Y_engine() const { return f_engine_v[1]; }
637 // inline double get_F_Z_engine() const { return f_engine_v[2]; }
638 /* inline void set_Forces_Engine( double x, double y, double z ) {
644 // inline double * get_F_gear_v() { return f_gear_v; }
645 // inline double get_F_X_gear() const { return f_gear_v[0]; }
646 // inline double get_F_Y_gear() const { return f_gear_v[1]; }
647 // inline double get_F_Z_gear() const { return f_gear_v[2]; }
648 /* inline void set_Forces_Gear( double x, double y, double z ) {
654 // ========== Moments ==========
656 // inline double * get_M_total_rp_v() { return m_total_rp_v; }
657 // inline double get_M_l_rp() const { return m_total_rp_v[0]; }
658 // inline double get_M_m_rp() const { return m_total_rp_v[1]; }
659 // inline double get_M_n_rp() const { return m_total_rp_v[2]; }
660 /* inline void set_Moments_Total_RP( double l, double m, double n ) {
666 // inline double * get_M_total_cg_v() { return m_total_cg_v; }
667 // inline double get_M_l_cg() const { return m_total_cg_v[0]; }
668 // inline double get_M_m_cg() const { return m_total_cg_v[1]; }
669 // inline double get_M_n_cg() const { return m_total_cg_v[2]; }
670 /* inline void set_Moments_Total_CG( double l, double m, double n ) {
676 // inline double * get_M_aero_v() { return m_aero_v; }
677 // inline double get_M_l_aero() const { return m_aero_v[0]; }
678 // inline double get_M_m_aero() const { return m_aero_v[1]; }
679 // inline double get_M_n_aero() const { return m_aero_v[2]; }
680 /* inline void set_Moments_Aero( double l, double m, double n ) {
686 // inline double * get_M_engine_v() { return m_engine_v; }
687 // inline double get_M_l_engine() const { return m_engine_v[0]; }
688 // inline double get_M_m_engine() const { return m_engine_v[1]; }
689 // inline double get_M_n_engine() const { return m_engine_v[2]; }
690 /* inline void set_Moments_Engine( double l, double m, double n ) {
696 // inline double * get_M_gear_v() { return m_gear_v; }
697 // inline double get_M_l_gear() const { return m_gear_v[0]; }
698 // inline double get_M_m_gear() const { return m_gear_v[1]; }
699 // inline double get_M_n_gear() const { return m_gear_v[2]; }
700 /* inline void set_Moments_Gear( double l, double m, double n ) {
706 // ========== Accelerations ==========
708 // inline double * get_V_dot_local_v() { return v_dot_local_v; }
709 inline double get_V_dot_north() const { return v_dot_local_v[0]; }
710 inline double get_V_dot_east() const { return v_dot_local_v[1]; }
711 inline double get_V_dot_down() const { return v_dot_local_v[2]; }
713 // inline double * get_V_dot_body_v() { return v_dot_body_v; }
714 inline double get_U_dot_body() const { return v_dot_body_v[0]; }
715 inline double get_V_dot_body() const { return v_dot_body_v[1]; }
716 inline double get_W_dot_body() const { return v_dot_body_v[2]; }
718 // inline double * get_A_cg_body_v() { return a_cg_body_v; }
719 inline double get_A_X_cg() const { return a_cg_body_v[0]; }
720 inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
721 inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
723 // inline double * get_A_pilot_body_v() { return a_pilot_body_v; }
724 inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
725 inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
726 inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
728 // inline double * get_N_cg_body_v() { return n_cg_body_v; }
729 inline double get_N_X_cg() const { return n_cg_body_v[0]; }
730 inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
731 inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
733 // inline double * get_N_pilot_body_v() { return n_pilot_body_v; }
734 // inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
735 // inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; }
736 // inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; }
737 // inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
738 // n_pilot_body_v[0] = x;
739 // n_pilot_body_v[1] = y;
740 // n_pilot_body_v[2] = z;
743 inline double get_Nlf(void) { return nlf; }
745 // inline double * get_Omega_dot_body_v() { return omega_dot_body_v; }
746 // inline double get_P_dot_body() const { return omega_dot_body_v[0]; }
747 // inline double get_Q_dot_body() const { return omega_dot_body_v[1]; }
748 // inline double get_R_dot_body() const { return omega_dot_body_v[2]; }
749 /* inline void set_Accels_Omega( double p, double q, double r ) {
750 omega_dot_body_v[0] = p;
751 omega_dot_body_v[1] = q;
752 omega_dot_body_v[2] = r;
756 // ========== Velocities ==========
758 // inline double * get_V_local_v() { return v_local_v; }
759 inline double get_V_north() const { return v_local_v[0]; }
760 inline double get_V_east() const { return v_local_v[1]; }
761 inline double get_V_down() const { return v_local_v[2]; }
762 inline double get_uBody () const { return v_wind_body_v[0]; }
763 inline double get_vBody () const { return v_wind_body_v[1]; }
764 inline double get_wBody () const { return v_wind_body_v[2]; }
766 // inline double * get_V_local_rel_ground_v() {
767 // return v_local_rel_ground_v;
769 // inline double get_V_north_rel_ground() const {
770 // return v_local_rel_ground_v[0];
772 // inline double get_V_east_rel_ground() const {
773 // return v_local_rel_ground_v[1];
775 // inline double get_V_down_rel_ground() const {
776 // return v_local_rel_ground_v[2];
779 // inline double * get_V_local_airmass_v() { return v_local_airmass_v; }
780 inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
781 inline double get_V_east_airmass() const { return v_local_airmass_v[1]; }
782 inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
785 // inline double * get_V_local_rel_airmass_v() {
786 // return v_local_rel_airmass_v;
788 // inline double get_V_north_rel_airmass() const {
789 // return v_local_rel_airmass_v[0];
791 // inline double get_V_east_rel_airmass() const {
792 // return v_local_rel_airmass_v[1];
794 // inline double get_V_down_rel_airmass() const {
795 // return v_local_rel_airmass_v[2];
797 /* inline void set_Velocities_Local_Rel_Airmass( double north, double east,
800 v_local_rel_airmass_v[0] = north;
801 v_local_rel_airmass_v[1] = east;
802 v_local_rel_airmass_v[2] = down;
805 // inline double * get_V_local_gust_v() { return v_local_gust_v; }
806 // inline double get_U_gust() const { return v_local_gust_v[0]; }
807 // inline double get_V_gust() const { return v_local_gust_v[1]; }
808 // inline double get_W_gust() const { return v_local_gust_v[2]; }
809 /* inline void set_Velocities_Gust( double u, double v, double w)
811 v_local_gust_v[0] = u;
812 v_local_gust_v[1] = v;
813 v_local_gust_v[2] = w;
816 // inline double * get_V_wind_body_v() { return v_wind_body_v; }
817 inline double get_U_body() const { return v_wind_body_v[0]; }
818 inline double get_V_body() const { return v_wind_body_v[1]; }
819 inline double get_W_body() const { return v_wind_body_v[2]; }
821 inline double get_V_rel_wind() const { return v_rel_wind; }
822 // inline void set_V_rel_wind(double wind) { v_rel_wind = wind; }
824 // inline double get_V_true_kts() const { return v_true_kts; }
825 // inline void set_V_true_kts(double kts) { v_true_kts = kts; }
827 // inline double get_V_rel_ground() const { return v_rel_ground; }
828 // inline void set_V_rel_ground( double v ) { v_rel_ground = v; }
830 // inline double get_V_inertial() const { return v_inertial; }
831 // inline void set_V_inertial(double v) { v_inertial = v; }
833 inline double get_V_ground_speed() const { return v_ground_speed; }
835 // inline double get_V_equiv() const { return v_equiv; }
836 // inline void set_V_equiv( double v ) { v_equiv = v; }
838 inline double get_V_equiv_kts() const { return v_equiv_kts; }
840 //inline double get_V_calibrated() const { return v_calibrated; }
841 //inline void set_V_calibrated( double v ) { v_calibrated = v; }
843 inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
845 // inline double * get_Omega_body_v() { return omega_body_v; }
846 inline double get_P_body() const { return omega_body_v[0]; }
847 inline double get_Q_body() const { return omega_body_v[1]; }
848 inline double get_R_body() const { return omega_body_v[2]; }
850 // inline double * get_Omega_local_v() { return omega_local_v; }
851 // inline double get_P_local() const { return omega_local_v[0]; }
852 // inline double get_Q_local() const { return omega_local_v[1]; }
853 // inline double get_R_local() const { return omega_local_v[2]; }
854 /* inline void set_Omega_Local( double p, double q, double r ) {
855 omega_local_v[0] = p;
856 omega_local_v[1] = q;
857 omega_local_v[2] = r;
860 // inline double * get_Omega_total_v() { return omega_total_v; }
861 // inline double get_P_total() const { return omega_total_v[0]; }
862 // inline double get_Q_total() const { return omega_total_v[1]; }
863 // inline double get_R_total() const { return omega_total_v[2]; }
864 /* inline void set_Omega_Total( double p, double q, double r ) {
865 omega_total_v[0] = p;
866 omega_total_v[1] = q;
867 omega_total_v[2] = r;
870 // inline double * get_Euler_rates_v() { return euler_rates_v; }
871 inline double get_Phi_dot() const { return euler_rates_v[0]; }
872 inline double get_Theta_dot() const { return euler_rates_v[1]; }
873 inline double get_Psi_dot() const { return euler_rates_v[2]; }
875 // inline double * get_Geocentric_rates_v() { return geocentric_rates_v; }
876 inline double get_Latitude_dot() const { return geocentric_rates_v[0]; }
877 inline double get_Longitude_dot() const { return geocentric_rates_v[1]; }
878 inline double get_Radius_dot() const { return geocentric_rates_v[2]; }
880 // ========== Positions ==========
882 // inline double * get_Geocentric_position_v() {
883 // return geocentric_position_v;
885 inline double get_Lat_geocentric() const {
886 return geocentric_position_v[0];
888 inline double get_Lon_geocentric() const {
889 return geocentric_position_v[1];
891 inline double get_Radius_to_vehicle() const {
892 return geocentric_position_v[2];
895 // inline double * get_Geodetic_position_v() { return geodetic_position_v; }
896 inline double get_Latitude() const { return geodetic_position_v[0]; }
897 inline double get_Longitude() const { return geodetic_position_v[1]; }
898 inline double get_Altitude() const { return geodetic_position_v[2]; }
899 inline double get_Altitude_AGL(void) const { return altitude_agl; }
901 inline double get_Latitude_deg () const {
902 return get_Latitude() * SGD_RADIANS_TO_DEGREES;
904 inline double get_Longitude_deg () const {
905 return get_Longitude() * SGD_RADIANS_TO_DEGREES;
908 // inline double * get_Euler_angles_v() { return euler_angles_v; }
909 inline double get_Phi() const { return euler_angles_v[0]; }
910 inline double get_Theta() const { return euler_angles_v[1]; }
911 inline double get_Psi() const { return euler_angles_v[2]; }
912 inline double get_Phi_deg () const { return get_Phi() * SGD_RADIANS_TO_DEGREES; }
913 inline double get_Theta_deg () const { return get_Theta() * SGD_RADIANS_TO_DEGREES; }
914 inline double get_Psi_deg () const { return get_Psi() * SGD_RADIANS_TO_DEGREES; }
917 // ========== Miscellaneous quantities ==========
919 // inline double * get_T_local_to_body_m() { return t_local_to_body_m; }
920 inline double get_T_local_to_body_11() const {
921 return t_local_to_body_m[0][0];
923 inline double get_T_local_to_body_12() const {
924 return t_local_to_body_m[0][1];
926 inline double get_T_local_to_body_13() const {
927 return t_local_to_body_m[0][2];
929 inline double get_T_local_to_body_21() const {
930 return t_local_to_body_m[1][0];
932 inline double get_T_local_to_body_22() const {
933 return t_local_to_body_m[1][1];
935 inline double get_T_local_to_body_23() const {
936 return t_local_to_body_m[1][2];
938 inline double get_T_local_to_body_31() const {
939 return t_local_to_body_m[2][0];
941 inline double get_T_local_to_body_32() const {
942 return t_local_to_body_m[2][1];
944 inline double get_T_local_to_body_33() const {
945 return t_local_to_body_m[2][2];
948 // inline double get_Gravity() const { return gravity; }
949 // inline void set_Gravity(double g) { gravity = g; }
951 // inline double get_Centrifugal_relief() const {
952 // return centrifugal_relief;
954 // inline void set_Centrifugal_relief(double cr) {
955 // centrifugal_relief = cr;
958 inline double get_Alpha() const { return alpha; }
959 inline double get_Beta() const { return beta; }
960 // inline double get_Alpha_dot() const { return alpha_dot; }
961 // inline void set_Alpha_dot( double ad ) { alpha_dot = ad; }
962 // inline double get_Beta_dot() const { return beta_dot; }
963 // inline void set_Beta_dot( double bd ) { beta_dot = bd; }
965 // inline double get_Cos_alpha() const { return cos_alpha; }
966 // inline void set_Cos_alpha( double ca ) { cos_alpha = ca; }
967 // inline double get_Sin_alpha() const { return sin_alpha; }
968 // inline void set_Sin_alpha( double sa ) { sin_alpha = sa; }
969 // inline double get_Cos_beta() const { return cos_beta; }
970 // inline void set_Cos_beta( double cb ) { cos_beta = cb; }
971 // inline double get_Sin_beta() const { return sin_beta; }
972 // inline void set_Sin_beta( double sb ) { sin_beta = sb; }
974 inline double get_Cos_phi() const { return cos_phi; }
975 // inline double get_Sin_phi() const { return sin_phi; }
976 // inline void set_Sin_phi( double sp ) { sin_phi = sp; }
977 inline double get_Cos_theta() const { return cos_theta; }
978 // inline double get_Sin_theta() const { return sin_theta; }
979 // inline void set_Sin_theta( double st ) { sin_theta = st; }
980 // inline double get_Cos_psi() const { return cos_psi; }
981 // inline void set_Cos_psi( double cp ) { cos_psi = cp; }
982 // inline double get_Sin_psi() const { return sin_psi; }
983 // inline void set_Sin_psi( double sp ) { sin_psi = sp; }
985 inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
986 // inline double get_Gamma_horiz_rad() const { return gamma_horiz_rad; }
987 // inline void set_Gamma_horiz_rad( double gh ) { gamma_horiz_rad = gh; }
989 // inline double get_Sigma() const { return sigma; }
990 // inline void set_Sigma( double s ) { sigma = s; }
991 inline double get_Density() const { return density; }
992 // inline double get_V_sound() const { return v_sound; }
993 // inline void set_V_sound( double v ) { v_sound = v; }
994 inline double get_Mach_number() const { return mach_number; }
996 inline double get_Static_pressure() const { return static_pressure; }
997 // inline double get_Total_pressure() const { return total_pressure; }
998 // inline void set_Total_pressure( double tp ) { total_pressure = tp; }
999 // inline double get_Impact_pressure() const { return impact_pressure; }
1000 // inline void set_Impact_pressure( double ip ) { impact_pressure = ip; }
1001 // inline double get_Dynamic_pressure() const { return dynamic_pressure; }
1002 // inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; }
1004 inline double get_Static_temperature() const { return static_temperature; }
1005 // inline double get_Total_temperature() const { return total_temperature; }
1006 // inline void set_Total_temperature( double t ) { total_temperature = t; }
1008 inline double get_Sea_level_radius() const { return sea_level_radius; }
1009 inline double get_Earth_position_angle() const {
1010 return earth_position_angle;
1013 inline double get_Runway_altitude() const { return runway_altitude; }
1014 // inline double get_Runway_latitude() const { return runway_latitude; }
1015 // inline void set_Runway_latitude( double lat ) { runway_latitude = lat; }
1016 // inline double get_Runway_longitude() const { return runway_longitude; }
1017 // inline void set_Runway_longitude( double lon ) {
1018 // runway_longitude = lon;
1020 // inline double get_Runway_heading() const { return runway_heading; }
1021 // inline void set_Runway_heading( double h ) { runway_heading = h; }
1023 // inline double get_Radius_to_rwy() const { return radius_to_rwy; }
1024 // inline void set_Radius_to_rwy( double r ) { radius_to_rwy = r; }
1026 // inline double * get_D_cg_rwy_local_v() { return d_cg_rwy_local_v; }
1027 // inline double get_D_cg_north_of_rwy() const {
1028 // return d_cg_rwy_local_v[0];
1030 // inline double get_D_cg_east_of_rwy() const {
1031 // return d_cg_rwy_local_v[1];
1033 // inline double get_D_cg_above_rwy() const { return d_cg_rwy_local_v[2]; }
1034 /* inline void set_CG_Rwy_Local( double north, double east, double above )
1036 d_cg_rwy_local_v[0] = north;
1037 d_cg_rwy_local_v[1] = east;
1038 d_cg_rwy_local_v[2] = above;
1041 // inline double * get_D_cg_rwy_rwy_v() { return d_cg_rwy_rwy_v; }
1042 // inline double get_X_cg_rwy() const { return d_cg_rwy_rwy_v[0]; }
1043 // inline double get_Y_cg_rwy() const { return d_cg_rwy_rwy_v[1]; }
1044 // inline double get_H_cg_rwy() const { return d_cg_rwy_rwy_v[2]; }
1045 /* inline void set_CG_Rwy_Rwy( double x, double y, double h )
1047 d_cg_rwy_rwy_v[0] = x;
1048 d_cg_rwy_rwy_v[1] = y;
1049 d_cg_rwy_rwy_v[2] = h;
1052 // inline double * get_D_pilot_rwy_local_v() { return d_pilot_rwy_local_v; }
1053 // inline double get_D_pilot_north_of_rwy() const {
1054 // return d_pilot_rwy_local_v[0];
1056 // inline double get_D_pilot_east_of_rwy() const {
1057 // return d_pilot_rwy_local_v[1];
1059 // inline double get_D_pilot_above_rwy() const {
1060 // return d_pilot_rwy_local_v[2];
1062 /* inline void set_Pilot_Rwy_Local( double north, double east, double above )
1064 d_pilot_rwy_local_v[0] = north;
1065 d_pilot_rwy_local_v[1] = east;
1066 d_pilot_rwy_local_v[2] = above;
1069 // inline double * get_D_pilot_rwy_rwy_v() { return d_pilot_rwy_rwy_v; }
1070 // inline double get_X_pilot_rwy() const { return d_pilot_rwy_rwy_v[0]; }
1071 // inline double get_Y_pilot_rwy() const { return d_pilot_rwy_rwy_v[1]; }
1072 // inline double get_H_pilot_rwy() const { return d_pilot_rwy_rwy_v[2]; }
1073 /* inline void set_Pilot_Rwy_Rwy( double x, double y, double h )
1075 d_pilot_rwy_rwy_v[0] = x;
1076 d_pilot_rwy_rwy_v[1] = y;
1077 d_pilot_rwy_rwy_v[2] = h;
1080 inline double get_Climb_Rate() const { return climb_rate; }
1082 // inline SGTimeStamp get_time_stamp() const { return valid_stamp; }
1083 // inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
1085 // Extrapolate FDM based on time_offset (in usec)
1086 void extrapolate( int time_offset );
1088 // sin/cos lat_geocentric
1089 inline double get_sin_lat_geocentric(void) const {
1090 return sin_lat_geocentric;
1092 inline double get_cos_lat_geocentric(void) const {
1093 return cos_lat_geocentric;
1096 inline double get_sin_longitude(void) const {
1097 return sin_longitude;
1099 inline double get_cos_longitude(void) const {
1100 return cos_longitude;
1103 inline double get_sin_latitude(void) const {
1104 return sin_latitude;
1106 inline double get_cos_latitude(void) const {
1107 return cos_latitude;
1111 inline double get_Tank1Fuel() const { return Tank1Fuel; }
1112 inline double get_Tank2Fuel() const { return Tank2Fuel; }
1115 inline double get_num_engines() const {
1116 return engines.size();
1119 inline FGEngInterface* get_engine( int i ) {
1123 inline void add_engine( FGEngInterface e ) {
1124 engines.push_back( e );
1129 typedef list < FGInterface > fdm_state_list;
1130 typedef fdm_state_list::iterator fdm_state_list_iterator;
1131 typedef fdm_state_list::const_iterator const_fdm_state_list_iterator;
1134 extern FGInterface * cur_fdm_state;
1137 // General interface to the flight model routines
1139 // Set the altitude (force)
1140 void fgFDMForceAltitude(const string &model, double alt_meters);
1142 // Set the local ground elevation
1143 void fgFDMSetGroundElevation(const string &model, double alt_meters);
1145 // Toggle data logging on/off
1146 void fgToggleFDMdataLogging(void);
1149 #endif // _FLIGHT_HXX