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/timing/timestamp.hxx>
99 typedef double FG_VECTOR_3[3];
102 class FGEngInterface {
113 double Manifold_Pressure;
115 double Percentage_Power;
121 double PercentN1,N1; //GE,CFM
123 double EPR; //P&W, RR?
126 double InletAngles[3];
127 double InletPosition[3];
128 double ThrustVector[3];
132 FGEngInterface(void);
133 ~FGEngInterface(void);
135 inline double get_Throttle() const { return Throttle; }
136 inline double get_Mixture() const { return Mixture; }
137 inline double get_Prop_Advance() const { return Prop_Advance; }
138 inline double get_RPM() const { return RPM; }
139 inline double get_Manifold_Pressure() const { return Manifold_Pressure; }
140 inline double get_MaxHP() const { return MaxHP; }
141 inline double get_Percentage_Power() const { return Percentage_Power; }
142 inline double get_EGT() const { return EGT; }
143 inline double get_CHT() const { return CHT; }
144 inline double get_prop_thrust() const { return prop_thrust; }
146 inline void set_Throttle( double t ) { Throttle = t; }
147 inline void set_Mixture( double m ) { Mixture = m; }
148 inline void set_Prop_Advance( double p ) { Prop_Advance = p; }
149 inline void set_RPM( double r ) { RPM = r; }
150 inline void set_Manifold_Pressure( double mp ) { Manifold_Pressure = mp; }
151 inline void set_MaxHP( double hp ) { MaxHP = hp; }
152 inline void set_Percentage_Power( double p ) { Percentage_Power = p; }
153 inline void set_EGT( double e ) { EGT = e; }
154 inline void set_CHT( double c ) { CHT = c; }
155 inline void set_prop_thrust( double t ) { prop_thrust = t; }
159 typedef vector < FGEngInterface > engine_list;
162 // This is based heavily on LaRCsim/ls_generic.h
167 // Pilot location rel to ref pt
168 FG_VECTOR_3 d_pilot_rp_body_v;
170 // CG position w.r.t. ref. point
171 FG_VECTOR_3 d_cg_rp_body_v;
174 FG_VECTOR_3 f_body_total_v;
175 FG_VECTOR_3 f_local_total_v;
176 FG_VECTOR_3 f_aero_v;
177 FG_VECTOR_3 f_engine_v;
178 FG_VECTOR_3 f_gear_v;
181 FG_VECTOR_3 m_total_rp_v;
182 FG_VECTOR_3 m_total_cg_v;
183 FG_VECTOR_3 m_aero_v;
184 FG_VECTOR_3 m_engine_v;
185 FG_VECTOR_3 m_gear_v;
188 FG_VECTOR_3 v_dot_local_v;
189 FG_VECTOR_3 v_dot_body_v;
190 FG_VECTOR_3 a_cg_body_v;
191 FG_VECTOR_3 a_pilot_body_v;
192 FG_VECTOR_3 n_cg_body_v;
193 FG_VECTOR_3 n_pilot_body_v;
194 FG_VECTOR_3 omega_dot_body_v;
197 FG_VECTOR_3 v_local_v;
198 FG_VECTOR_3 v_local_rel_ground_v; // V rel w.r.t. earth surface
199 FG_VECTOR_3 v_local_airmass_v; // velocity of airmass (steady winds)
200 FG_VECTOR_3 v_local_rel_airmass_v; // velocity of veh. relative to airmass
201 FG_VECTOR_3 v_local_gust_v; // linear turbulence components, L frame
202 FG_VECTOR_3 v_wind_body_v; // Wind-relative velocities in body axis
204 FG_VECTOR_3 omega_body_v; // Angular B rates
205 FG_VECTOR_3 omega_local_v; // Angular L rates
206 FG_VECTOR_3 omega_total_v; // Diff btw B & L
207 FG_VECTOR_3 euler_rates_v;
208 FG_VECTOR_3 geocentric_rates_v; // Geocentric linear velocities
211 FG_VECTOR_3 geocentric_position_v;
212 FG_VECTOR_3 geodetic_position_v;
213 FG_VECTOR_3 euler_angles_v;
215 // Miscellaneous Quantities
216 FG_VECTOR_3 d_cg_rwy_local_v; // CG rel. to rwy in local coords
217 FG_VECTOR_3 d_cg_rwy_rwy_v; // CG relative to rwy, in rwy coordinates
218 FG_VECTOR_3 d_pilot_rwy_local_v; // pilot rel. to rwy in local coords
219 FG_VECTOR_3 d_pilot_rwy_rwy_v; // pilot rel. to rwy, in rwy coords.
222 double mass, i_xx, i_yy, i_zz, i_xz;
224 // Normal Load Factor
228 double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
229 double v_ground_speed, v_equiv, v_equiv_kts;
230 double v_calibrated, v_calibrated_kts;
232 // Miscellaneious Quantities
233 double t_local_to_body_m[3][3]; // Transformation matrix L to B
234 double gravity; // Local acceleration due to G
235 double centrifugal_relief; // load factor reduction due to speed
236 double alpha, beta, alpha_dot, beta_dot; // in radians
237 double cos_alpha, sin_alpha, cos_beta, sin_beta;
238 double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
239 double gamma_vert_rad, gamma_horiz_rad; // Flight path angles
240 double sigma, density, v_sound, mach_number;
241 double static_pressure, total_pressure, impact_pressure;
242 double dynamic_pressure;
243 double static_temperature, total_temperature;
244 double sea_level_radius, earth_position_angle;
245 double runway_altitude, runway_latitude, runway_longitude;
246 double runway_heading;
247 double radius_to_rwy;
248 double climb_rate; // in feet per second
249 double sin_lat_geocentric, cos_lat_geocentric;
250 double sin_longitude, cos_longitude;
251 double sin_latitude, cos_latitude;
257 SGTimeStamp valid_stamp; // time this record is valid
258 SGTimeStamp next_stamp; // time this record is valid
262 void _updatePosition( double lat_geoc, double lon, double alt );
263 void _updateWeather( void );
265 inline void _set_Inertias( double m, double xx, double yy,
266 double zz, double xz)
274 inline void _set_CG_Position( double dx, double dy, double dz ) {
275 d_cg_rp_body_v[0] = dx;
276 d_cg_rp_body_v[1] = dy;
277 d_cg_rp_body_v[2] = dz;
279 inline void _set_Accels_Local( double north, double east, double down ) {
280 v_dot_local_v[0] = north;
281 v_dot_local_v[1] = east;
282 v_dot_local_v[2] = down;
284 inline void _set_Accels_Body( double u, double v, double w ) {
289 inline void _set_Accels_CG_Body( double x, double y, double z ) {
294 inline void _set_Accels_Pilot_Body( double x, double y, double z ) {
295 a_pilot_body_v[0] = x;
296 a_pilot_body_v[1] = y;
297 a_pilot_body_v[2] = z;
299 inline void _set_Accels_CG_Body_N( double x, double y, double z ) {
304 void _set_Nlf(double n) { nlf=n; }
305 inline void _set_Velocities_Local( double north, double east, double down ){
306 v_local_v[0] = north;
310 inline void _set_Velocities_Ground(double north, double east, double down) {
311 v_local_rel_ground_v[0] = north;
312 v_local_rel_ground_v[1] = east;
313 v_local_rel_ground_v[2] = down;
315 inline void _set_Velocities_Local_Airmass( double north, double east,
318 v_local_airmass_v[0] = north;
319 v_local_airmass_v[1] = east;
320 v_local_airmass_v[2] = down;
322 inline void _set_Velocities_Wind_Body( double u, double v, double w) {
323 v_wind_body_v[0] = u;
324 v_wind_body_v[1] = v;
325 v_wind_body_v[2] = w;
327 inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; }
328 inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
329 inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
330 inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
331 inline void _set_Omega_Body( double p, double q, double r ) {
336 inline void _set_Euler_Rates( double phi, double theta, double psi ) {
337 euler_rates_v[0] = phi;
338 euler_rates_v[1] = theta;
339 euler_rates_v[2] = psi;
341 inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
342 geocentric_rates_v[0] = lat;
343 geocentric_rates_v[1] = lon;
344 geocentric_rates_v[2] = rad;
347 inline void _set_Radius_to_vehicle(double radius) {
348 geocentric_position_v[2] = radius;
351 inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
352 geocentric_position_v[0] = lat;
353 geocentric_position_v[1] = lon;
354 geocentric_position_v[2] = rad;
356 inline void _set_Latitude(double lat) { geodetic_position_v[0] = lat; }
357 inline void _set_Longitude(double lon) { geodetic_position_v[1] = lon; }
358 inline void _set_Altitude(double altitude) {
359 geodetic_position_v[2] = altitude;
361 inline void _set_Altitude_AGL(double agl) {
364 inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
365 geodetic_position_v[0] = lat;
366 geodetic_position_v[1] = lon;
367 geodetic_position_v[2] = alt;
369 inline void _set_Euler_Angles( double phi, double theta, double psi ) {
370 euler_angles_v[0] = phi;
371 euler_angles_v[1] = theta;
372 euler_angles_v[2] = psi;
374 inline void _set_T_Local_to_Body( int i, int j, double value) {
375 t_local_to_body_m[i-1][j-1] = value;
377 inline void _set_T_Local_to_Body( double m[3][3] ) {
379 for ( i = 0; i < 3; i++ ) {
380 for ( j = 0; j < 3; j++ ) {
381 t_local_to_body_m[i][j] = m[i][j];
385 inline void _set_Alpha( double a ) { alpha = a; }
386 inline void _set_Beta( double b ) { beta = b; }
387 inline void _set_Cos_phi( double cp ) { cos_phi = cp; }
388 inline void _set_Cos_theta( double ct ) { cos_theta = ct; }
389 inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
390 inline void _set_Density( double d ) { density = d; }
391 inline void _set_Mach_number( double m ) { mach_number = m; }
392 inline void _set_Static_pressure( double sp ) { static_pressure = sp; }
393 inline void _set_Static_temperature( double t ) { static_temperature = t; }
394 inline void _set_Sea_level_radius( double r ) { sea_level_radius = r; }
395 inline void _set_Earth_position_angle(double a) {
396 earth_position_angle = a;
398 inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; }
399 inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
400 inline void _set_sin_lat_geocentric(double parm) {
401 sin_lat_geocentric = sin(parm);
403 inline void _set_cos_lat_geocentric(double parm) {
404 cos_lat_geocentric = cos(parm);
406 inline void _set_sin_cos_longitude(double parm) {
407 sin_longitude = sin(parm);
408 cos_longitude = cos(parm);
410 inline void _set_sin_cos_latitude(double parm) {
411 sin_latitude = sin(parm);
412 cos_latitude = cos(parm);
418 virtual ~FGInterface();
420 virtual bool init( double dt );
421 virtual bool update( int multi_loop );
423 // Define the various supported flight models (many not yet implemented)
428 // The NASA LaRCsim (Navion) flight model
431 // Jon S. Berndt's new FDM written from the ground up in C++
434 // Christian's hot air balloon simulation
437 // Aeronautical DEvelopment AGEncy, Bangalore India
440 // The following aren't implemented but are here to spark
441 // thoughts and discussions, and maybe even action.
448 // Driven externally via a serial port, net, file, etc.
453 virtual void set_Latitude(double lat); // geocentric
454 virtual void set_Longitude(double lon);
455 virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
456 virtual void set_AltitudeAGL(double altagl); // and vice-versa
458 // Speeds -- setting any of these will trigger a re-calc of the rest
459 virtual void set_V_calibrated_kts(double vc);
460 virtual void set_Mach_number(double mach);
461 virtual void set_Velocities_Local( double north, double east, double down );
462 virtual void set_Velocities_Wind_Body( double u, double v, double w);
465 virtual void set_Euler_Angles( double phi, double theta, double psi );
468 virtual void set_Climb_Rate( double roc);
469 virtual void set_Gamma_vert_rad( double gamma);
472 virtual void set_Sea_level_radius(double slr);
473 virtual void set_Runway_altitude(double ralt);
475 virtual void set_Static_pressure(double p);
476 virtual void set_Static_temperature(double T);
477 virtual void set_Density(double rho);
479 virtual void set_Velocities_Local_Airmass (double wnorth,
484 // ========== Mass properties and geometry values ==========
487 inline double get_Mass() const { return mass; }
488 inline double get_I_xx() const { return i_xx; }
489 inline double get_I_yy() const { return i_yy; }
490 inline double get_I_zz() const { return i_zz; }
491 inline double get_I_xz() const { return i_xz; }
493 // Pilot location rel to ref pt
494 // inline double * get_D_pilot_rp_body_v() {
495 // return d_pilot_rp_body_v;
497 // inline double get_Dx_pilot() const { return d_pilot_rp_body_v[0]; }
498 // inline double get_Dy_pilot() const { return d_pilot_rp_body_v[1]; }
499 // inline double get_Dz_pilot() const { return d_pilot_rp_body_v[2]; }
500 /* inline void set_Pilot_Location( double dx, double dy, double dz ) {
501 d_pilot_rp_body_v[0] = dx;
502 d_pilot_rp_body_v[1] = dy;
503 d_pilot_rp_body_v[2] = dz;
506 // CG position w.r.t. ref. point
507 // inline double * get_D_cg_rp_body_v() { return d_cg_rp_body_v; }
508 inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; }
509 inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; }
510 inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
512 // ========== Forces ==========
514 // inline double * get_F_body_total_v() { return f_body_total_v; }
515 // inline double get_F_X() const { return f_body_total_v[0]; }
516 // inline double get_F_Y() const { return f_body_total_v[1]; }
517 // inline double get_F_Z() const { return f_body_total_v[2]; }
518 /* inline void set_Forces_Body_Total( double x, double y, double z ) {
519 f_body_total_v[0] = x;
520 f_body_total_v[1] = y;
521 f_body_total_v[2] = z;
524 // inline double * get_F_local_total_v() { return f_local_total_v; }
525 // inline double get_F_north() const { return f_local_total_v[0]; }
526 // inline double get_F_east() const { return f_local_total_v[1]; }
527 // inline double get_F_down() const { return f_local_total_v[2]; }
528 /* inline void set_Forces_Local_Total( double x, double y, double z ) {
529 f_local_total_v[0] = x;
530 f_local_total_v[1] = y;
531 f_local_total_v[2] = z;
534 // inline double * get_F_aero_v() { return f_aero_v; }
535 // inline double get_F_X_aero() const { return f_aero_v[0]; }
536 // inline double get_F_Y_aero() const { return f_aero_v[1]; }
537 // inline double get_F_Z_aero() const { return f_aero_v[2]; }
538 /* inline void set_Forces_Aero( double x, double y, double z ) {
544 // inline double * get_F_engine_v() { return f_engine_v; }
545 // inline double get_F_X_engine() const { return f_engine_v[0]; }
546 // inline double get_F_Y_engine() const { return f_engine_v[1]; }
547 // inline double get_F_Z_engine() const { return f_engine_v[2]; }
548 /* inline void set_Forces_Engine( double x, double y, double z ) {
554 // inline double * get_F_gear_v() { return f_gear_v; }
555 // inline double get_F_X_gear() const { return f_gear_v[0]; }
556 // inline double get_F_Y_gear() const { return f_gear_v[1]; }
557 // inline double get_F_Z_gear() const { return f_gear_v[2]; }
558 /* inline void set_Forces_Gear( double x, double y, double z ) {
564 // ========== Moments ==========
566 // inline double * get_M_total_rp_v() { return m_total_rp_v; }
567 // inline double get_M_l_rp() const { return m_total_rp_v[0]; }
568 // inline double get_M_m_rp() const { return m_total_rp_v[1]; }
569 // inline double get_M_n_rp() const { return m_total_rp_v[2]; }
570 /* inline void set_Moments_Total_RP( double l, double m, double n ) {
576 // inline double * get_M_total_cg_v() { return m_total_cg_v; }
577 // inline double get_M_l_cg() const { return m_total_cg_v[0]; }
578 // inline double get_M_m_cg() const { return m_total_cg_v[1]; }
579 // inline double get_M_n_cg() const { return m_total_cg_v[2]; }
580 /* inline void set_Moments_Total_CG( double l, double m, double n ) {
586 // inline double * get_M_aero_v() { return m_aero_v; }
587 // inline double get_M_l_aero() const { return m_aero_v[0]; }
588 // inline double get_M_m_aero() const { return m_aero_v[1]; }
589 // inline double get_M_n_aero() const { return m_aero_v[2]; }
590 /* inline void set_Moments_Aero( double l, double m, double n ) {
596 // inline double * get_M_engine_v() { return m_engine_v; }
597 // inline double get_M_l_engine() const { return m_engine_v[0]; }
598 // inline double get_M_m_engine() const { return m_engine_v[1]; }
599 // inline double get_M_n_engine() const { return m_engine_v[2]; }
600 /* inline void set_Moments_Engine( double l, double m, double n ) {
606 // inline double * get_M_gear_v() { return m_gear_v; }
607 // inline double get_M_l_gear() const { return m_gear_v[0]; }
608 // inline double get_M_m_gear() const { return m_gear_v[1]; }
609 // inline double get_M_n_gear() const { return m_gear_v[2]; }
610 /* inline void set_Moments_Gear( double l, double m, double n ) {
616 // ========== Accelerations ==========
618 // inline double * get_V_dot_local_v() { return v_dot_local_v; }
619 inline double get_V_dot_north() const { return v_dot_local_v[0]; }
620 inline double get_V_dot_east() const { return v_dot_local_v[1]; }
621 inline double get_V_dot_down() const { return v_dot_local_v[2]; }
623 // inline double * get_V_dot_body_v() { return v_dot_body_v; }
624 inline double get_U_dot_body() const { return v_dot_body_v[0]; }
625 inline double get_V_dot_body() const { return v_dot_body_v[1]; }
626 inline double get_W_dot_body() const { return v_dot_body_v[2]; }
628 // inline double * get_A_cg_body_v() { return a_cg_body_v; }
629 inline double get_A_X_cg() const { return a_cg_body_v[0]; }
630 inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
631 inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
633 // inline double * get_A_pilot_body_v() { return a_pilot_body_v; }
634 inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
635 inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
636 inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
638 // inline double * get_N_cg_body_v() { return n_cg_body_v; }
639 inline double get_N_X_cg() const { return n_cg_body_v[0]; }
640 inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
641 inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
643 // inline double * get_N_pilot_body_v() { return n_pilot_body_v; }
644 // inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
645 // inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; }
646 // inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; }
647 // inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
648 // n_pilot_body_v[0] = x;
649 // n_pilot_body_v[1] = y;
650 // n_pilot_body_v[2] = z;
653 inline double get_Nlf(void) { return nlf; }
655 // inline double * get_Omega_dot_body_v() { return omega_dot_body_v; }
656 // inline double get_P_dot_body() const { return omega_dot_body_v[0]; }
657 // inline double get_Q_dot_body() const { return omega_dot_body_v[1]; }
658 // inline double get_R_dot_body() const { return omega_dot_body_v[2]; }
659 /* inline void set_Accels_Omega( double p, double q, double r ) {
660 omega_dot_body_v[0] = p;
661 omega_dot_body_v[1] = q;
662 omega_dot_body_v[2] = r;
666 // ========== Velocities ==========
668 // inline double * get_V_local_v() { return v_local_v; }
669 inline double get_V_north() const { return v_local_v[0]; }
670 inline double get_V_east() const { return v_local_v[1]; }
671 inline double get_V_down() const { return v_local_v[2]; }
673 // inline double * get_V_local_rel_ground_v() {
674 // return v_local_rel_ground_v;
676 // inline double get_V_north_rel_ground() const {
677 // return v_local_rel_ground_v[0];
679 // inline double get_V_east_rel_ground() const {
680 // return v_local_rel_ground_v[1];
682 // inline double get_V_down_rel_ground() const {
683 // return v_local_rel_ground_v[2];
686 // inline double * get_V_local_airmass_v() { return v_local_airmass_v; }
687 inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
688 inline double get_V_east_airmass() const { return v_local_airmass_v[1]; }
689 inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
692 // inline double * get_V_local_rel_airmass_v() {
693 // return v_local_rel_airmass_v;
695 // inline double get_V_north_rel_airmass() const {
696 // return v_local_rel_airmass_v[0];
698 // inline double get_V_east_rel_airmass() const {
699 // return v_local_rel_airmass_v[1];
701 // inline double get_V_down_rel_airmass() const {
702 // return v_local_rel_airmass_v[2];
704 /* inline void set_Velocities_Local_Rel_Airmass( double north, double east,
707 v_local_rel_airmass_v[0] = north;
708 v_local_rel_airmass_v[1] = east;
709 v_local_rel_airmass_v[2] = down;
712 // inline double * get_V_local_gust_v() { return v_local_gust_v; }
713 // inline double get_U_gust() const { return v_local_gust_v[0]; }
714 // inline double get_V_gust() const { return v_local_gust_v[1]; }
715 // inline double get_W_gust() const { return v_local_gust_v[2]; }
716 /* inline void set_Velocities_Gust( double u, double v, double w)
718 v_local_gust_v[0] = u;
719 v_local_gust_v[1] = v;
720 v_local_gust_v[2] = w;
723 // inline double * get_V_wind_body_v() { return v_wind_body_v; }
724 inline double get_U_body() const { return v_wind_body_v[0]; }
725 inline double get_V_body() const { return v_wind_body_v[1]; }
726 inline double get_W_body() const { return v_wind_body_v[2]; }
728 inline double get_V_rel_wind() const { return v_rel_wind; }
729 // inline void set_V_rel_wind(double wind) { v_rel_wind = wind; }
731 // inline double get_V_true_kts() const { return v_true_kts; }
732 // inline void set_V_true_kts(double kts) { v_true_kts = kts; }
734 // inline double get_V_rel_ground() const { return v_rel_ground; }
735 // inline void set_V_rel_ground( double v ) { v_rel_ground = v; }
737 // inline double get_V_inertial() const { return v_inertial; }
738 // inline void set_V_inertial(double v) { v_inertial = v; }
740 inline double get_V_ground_speed() const { return v_ground_speed; }
742 // inline double get_V_equiv() const { return v_equiv; }
743 // inline void set_V_equiv( double v ) { v_equiv = v; }
745 inline double get_V_equiv_kts() const { return v_equiv_kts; }
747 //inline double get_V_calibrated() const { return v_calibrated; }
748 //inline void set_V_calibrated( double v ) { v_calibrated = v; }
750 inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
752 // inline double * get_Omega_body_v() { return omega_body_v; }
753 inline double get_P_body() const { return omega_body_v[0]; }
754 inline double get_Q_body() const { return omega_body_v[1]; }
755 inline double get_R_body() const { return omega_body_v[2]; }
757 // inline double * get_Omega_local_v() { return omega_local_v; }
758 // inline double get_P_local() const { return omega_local_v[0]; }
759 // inline double get_Q_local() const { return omega_local_v[1]; }
760 // inline double get_R_local() const { return omega_local_v[2]; }
761 /* inline void set_Omega_Local( double p, double q, double r ) {
762 omega_local_v[0] = p;
763 omega_local_v[1] = q;
764 omega_local_v[2] = r;
767 // inline double * get_Omega_total_v() { return omega_total_v; }
768 // inline double get_P_total() const { return omega_total_v[0]; }
769 // inline double get_Q_total() const { return omega_total_v[1]; }
770 // inline double get_R_total() const { return omega_total_v[2]; }
771 /* inline void set_Omega_Total( double p, double q, double r ) {
772 omega_total_v[0] = p;
773 omega_total_v[1] = q;
774 omega_total_v[2] = r;
777 // inline double * get_Euler_rates_v() { return euler_rates_v; }
778 inline double get_Phi_dot() const { return euler_rates_v[0]; }
779 inline double get_Theta_dot() const { return euler_rates_v[1]; }
780 inline double get_Psi_dot() const { return euler_rates_v[2]; }
782 // inline double * get_Geocentric_rates_v() { return geocentric_rates_v; }
783 inline double get_Latitude_dot() const { return geocentric_rates_v[0]; }
784 inline double get_Longitude_dot() const { return geocentric_rates_v[1]; }
785 inline double get_Radius_dot() const { return geocentric_rates_v[2]; }
787 // ========== Positions ==========
789 // inline double * get_Geocentric_position_v() {
790 // return geocentric_position_v;
792 inline double get_Lat_geocentric() const {
793 return geocentric_position_v[0];
795 inline double get_Lon_geocentric() const {
796 return geocentric_position_v[1];
798 inline double get_Radius_to_vehicle() const {
799 return geocentric_position_v[2];
802 // inline double * get_Geodetic_position_v() { return geodetic_position_v; }
803 inline double get_Latitude() const { return geodetic_position_v[0]; }
804 inline double get_Longitude() const { return geodetic_position_v[1]; }
805 inline double get_Altitude() const { return geodetic_position_v[2]; }
806 inline double get_Altitude_AGL(void) { return altitude_agl; }
808 // inline double * get_Euler_angles_v() { return euler_angles_v; }
809 inline double get_Phi() const { return euler_angles_v[0]; }
810 inline double get_Theta() const { return euler_angles_v[1]; }
811 inline double get_Psi() const { return euler_angles_v[2]; }
814 // ========== Miscellaneous quantities ==========
816 // inline double * get_T_local_to_body_m() { return t_local_to_body_m; }
817 inline double get_T_local_to_body_11() const {
818 return t_local_to_body_m[0][0];
820 inline double get_T_local_to_body_12() const {
821 return t_local_to_body_m[0][1];
823 inline double get_T_local_to_body_13() const {
824 return t_local_to_body_m[0][2];
826 inline double get_T_local_to_body_21() const {
827 return t_local_to_body_m[1][0];
829 inline double get_T_local_to_body_22() const {
830 return t_local_to_body_m[1][1];
832 inline double get_T_local_to_body_23() const {
833 return t_local_to_body_m[1][2];
835 inline double get_T_local_to_body_31() const {
836 return t_local_to_body_m[2][0];
838 inline double get_T_local_to_body_32() const {
839 return t_local_to_body_m[2][1];
841 inline double get_T_local_to_body_33() const {
842 return t_local_to_body_m[2][2];
845 // inline double get_Gravity() const { return gravity; }
846 // inline void set_Gravity(double g) { gravity = g; }
848 // inline double get_Centrifugal_relief() const {
849 // return centrifugal_relief;
851 // inline void set_Centrifugal_relief(double cr) {
852 // centrifugal_relief = cr;
855 inline double get_Alpha() const { return alpha; }
856 inline double get_Beta() const { return beta; }
857 // inline double get_Alpha_dot() const { return alpha_dot; }
858 // inline void set_Alpha_dot( double ad ) { alpha_dot = ad; }
859 // inline double get_Beta_dot() const { return beta_dot; }
860 // inline void set_Beta_dot( double bd ) { beta_dot = bd; }
862 // inline double get_Cos_alpha() const { return cos_alpha; }
863 // inline void set_Cos_alpha( double ca ) { cos_alpha = ca; }
864 // inline double get_Sin_alpha() const { return sin_alpha; }
865 // inline void set_Sin_alpha( double sa ) { sin_alpha = sa; }
866 // inline double get_Cos_beta() const { return cos_beta; }
867 // inline void set_Cos_beta( double cb ) { cos_beta = cb; }
868 // inline double get_Sin_beta() const { return sin_beta; }
869 // inline void set_Sin_beta( double sb ) { sin_beta = sb; }
871 inline double get_Cos_phi() const { return cos_phi; }
872 // inline double get_Sin_phi() const { return sin_phi; }
873 // inline void set_Sin_phi( double sp ) { sin_phi = sp; }
874 inline double get_Cos_theta() const { return cos_theta; }
875 // inline double get_Sin_theta() const { return sin_theta; }
876 // inline void set_Sin_theta( double st ) { sin_theta = st; }
877 // inline double get_Cos_psi() const { return cos_psi; }
878 // inline void set_Cos_psi( double cp ) { cos_psi = cp; }
879 // inline double get_Sin_psi() const { return sin_psi; }
880 // inline void set_Sin_psi( double sp ) { sin_psi = sp; }
882 inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
883 // inline double get_Gamma_horiz_rad() const { return gamma_horiz_rad; }
884 // inline void set_Gamma_horiz_rad( double gh ) { gamma_horiz_rad = gh; }
886 // inline double get_Sigma() const { return sigma; }
887 // inline void set_Sigma( double s ) { sigma = s; }
888 inline double get_Density() const { return density; }
889 // inline double get_V_sound() const { return v_sound; }
890 // inline void set_V_sound( double v ) { v_sound = v; }
891 inline double get_Mach_number() const { return mach_number; }
893 inline double get_Static_pressure() const { return static_pressure; }
894 // inline double get_Total_pressure() const { return total_pressure; }
895 // inline void set_Total_pressure( double tp ) { total_pressure = tp; }
896 // inline double get_Impact_pressure() const { return impact_pressure; }
897 // inline void set_Impact_pressure( double ip ) { impact_pressure = ip; }
898 // inline double get_Dynamic_pressure() const { return dynamic_pressure; }
899 // inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; }
901 inline double get_Static_temperature() const { return static_temperature; }
902 // inline double get_Total_temperature() const { return total_temperature; }
903 // inline void set_Total_temperature( double t ) { total_temperature = t; }
905 inline double get_Sea_level_radius() const { return sea_level_radius; }
906 inline double get_Earth_position_angle() const {
907 return earth_position_angle;
910 inline double get_Runway_altitude() const { return runway_altitude; }
911 // inline double get_Runway_latitude() const { return runway_latitude; }
912 // inline void set_Runway_latitude( double lat ) { runway_latitude = lat; }
913 // inline double get_Runway_longitude() const { return runway_longitude; }
914 // inline void set_Runway_longitude( double lon ) {
915 // runway_longitude = lon;
917 // inline double get_Runway_heading() const { return runway_heading; }
918 // inline void set_Runway_heading( double h ) { runway_heading = h; }
920 // inline double get_Radius_to_rwy() const { return radius_to_rwy; }
921 // inline void set_Radius_to_rwy( double r ) { radius_to_rwy = r; }
923 // inline double * get_D_cg_rwy_local_v() { return d_cg_rwy_local_v; }
924 // inline double get_D_cg_north_of_rwy() const {
925 // return d_cg_rwy_local_v[0];
927 // inline double get_D_cg_east_of_rwy() const {
928 // return d_cg_rwy_local_v[1];
930 // inline double get_D_cg_above_rwy() const { return d_cg_rwy_local_v[2]; }
931 /* inline void set_CG_Rwy_Local( double north, double east, double above )
933 d_cg_rwy_local_v[0] = north;
934 d_cg_rwy_local_v[1] = east;
935 d_cg_rwy_local_v[2] = above;
938 // inline double * get_D_cg_rwy_rwy_v() { return d_cg_rwy_rwy_v; }
939 // inline double get_X_cg_rwy() const { return d_cg_rwy_rwy_v[0]; }
940 // inline double get_Y_cg_rwy() const { return d_cg_rwy_rwy_v[1]; }
941 // inline double get_H_cg_rwy() const { return d_cg_rwy_rwy_v[2]; }
942 /* inline void set_CG_Rwy_Rwy( double x, double y, double h )
944 d_cg_rwy_rwy_v[0] = x;
945 d_cg_rwy_rwy_v[1] = y;
946 d_cg_rwy_rwy_v[2] = h;
949 // inline double * get_D_pilot_rwy_local_v() { return d_pilot_rwy_local_v; }
950 // inline double get_D_pilot_north_of_rwy() const {
951 // return d_pilot_rwy_local_v[0];
953 // inline double get_D_pilot_east_of_rwy() const {
954 // return d_pilot_rwy_local_v[1];
956 // inline double get_D_pilot_above_rwy() const {
957 // return d_pilot_rwy_local_v[2];
959 /* inline void set_Pilot_Rwy_Local( double north, double east, double above )
961 d_pilot_rwy_local_v[0] = north;
962 d_pilot_rwy_local_v[1] = east;
963 d_pilot_rwy_local_v[2] = above;
966 // inline double * get_D_pilot_rwy_rwy_v() { return d_pilot_rwy_rwy_v; }
967 // inline double get_X_pilot_rwy() const { return d_pilot_rwy_rwy_v[0]; }
968 // inline double get_Y_pilot_rwy() const { return d_pilot_rwy_rwy_v[1]; }
969 // inline double get_H_pilot_rwy() const { return d_pilot_rwy_rwy_v[2]; }
970 /* inline void set_Pilot_Rwy_Rwy( double x, double y, double h )
972 d_pilot_rwy_rwy_v[0] = x;
973 d_pilot_rwy_rwy_v[1] = y;
974 d_pilot_rwy_rwy_v[2] = h;
977 inline double get_Climb_Rate() const { return climb_rate; }
979 inline SGTimeStamp get_time_stamp() const { return valid_stamp; }
980 inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
982 // Extrapolate FDM based on time_offset (in usec)
983 void extrapolate( int time_offset );
985 // sin/cos lat_geocentric
986 inline double get_sin_lat_geocentric(void) const {
987 return sin_lat_geocentric;
989 inline double get_cos_lat_geocentric(void) const {
990 return cos_lat_geocentric;
993 inline double get_sin_longitude(void) const {
994 return sin_longitude;
996 inline double get_cos_longitude(void) const {
997 return cos_longitude;
1000 inline double get_sin_latitude(void) const {
1001 return sin_latitude;
1003 inline double get_cos_latitude(void) const {
1004 return cos_latitude;
1008 inline double get_num_engines() const {
1009 return engines.size();
1012 inline FGEngInterface* get_engine( int i ) {
1016 inline void add_engine( FGEngInterface e ) {
1017 engines.push_back( e );
1022 typedef list < FGInterface > fdm_state_list;
1023 typedef fdm_state_list::iterator fdm_state_list_iterator;
1024 typedef fdm_state_list::const_iterator const_fdm_state_list_iterator;
1027 extern FGInterface * cur_fdm_state;
1030 // General interface to the flight model routines
1032 // Set the altitude (force)
1033 void fgFDMForceAltitude(const string &model, double alt_meters);
1035 // Set the local ground elevation
1036 void fgFDMSetGroundElevation(const string &model, double alt_meters);
1039 #endif // _FLIGHT_HXX