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>
91 #include <simgear/timing/timestamp.hxx>
97 typedef double FG_VECTOR_3[3];
100 class FGEngInterface {
111 double Manifold_Pressure;
113 double Percentage_Power;
119 double PercentN1,N1; //GE,CFM
121 double EPR; //P&W, RR?
124 double InletAngles[3];
125 double InletPosition[3];
126 double ThrustVector[3];
130 FGEngInterface(void);
131 ~FGEngInterface(void);
133 inline double get_Throttle() const { return Throttle; }
134 inline double get_Mixture() const { return Mixture; }
135 inline double get_Prop_Advance() const { return Prop_Advance; }
136 inline double get_RPM() const { return RPM; }
137 inline double get_Manifold_Pressure() const { return Manifold_Pressure; }
138 inline double get_MaxHP() const { return MaxHP; }
139 inline double get_Percentage_Power() const { return Percentage_Power; }
140 inline double get_EGT() const { return EGT; }
141 inline double get_CHT() const { return CHT; }
142 inline double get_prop_thrust() const { return prop_thrust; }
144 inline void set_Throttle( double t ) { Throttle = t; }
145 inline void set_Mixture( double m ) { Mixture = m; }
146 inline void set_Prop_Advance( double p ) { Prop_Advance = p; }
147 inline void set_RPM( double r ) { RPM = r; }
148 inline void set_Manifold_Pressure( double mp ) { Manifold_Pressure = mp; }
149 inline void set_MaxHP( double hp ) { MaxHP = hp; }
150 inline void set_Percentage_Power( double p ) { Percentage_Power = p; }
151 inline void set_EGT( double e ) { EGT = e; }
152 inline void set_CHT( double c ) { CHT = c; }
153 inline void set_prop_thrust( double t ) { prop_thrust = t; }
157 typedef vector < FGEngInterface > engine_list;
160 // This is based heavily on LaRCsim/ls_generic.h
165 // Pilot location rel to ref pt
166 FG_VECTOR_3 d_pilot_rp_body_v;
168 // CG position w.r.t. ref. point
169 FG_VECTOR_3 d_cg_rp_body_v;
172 FG_VECTOR_3 f_body_total_v;
173 FG_VECTOR_3 f_local_total_v;
174 FG_VECTOR_3 f_aero_v;
175 FG_VECTOR_3 f_engine_v;
176 FG_VECTOR_3 f_gear_v;
179 FG_VECTOR_3 m_total_rp_v;
180 FG_VECTOR_3 m_total_cg_v;
181 FG_VECTOR_3 m_aero_v;
182 FG_VECTOR_3 m_engine_v;
183 FG_VECTOR_3 m_gear_v;
186 FG_VECTOR_3 v_dot_local_v;
187 FG_VECTOR_3 v_dot_body_v;
188 FG_VECTOR_3 a_cg_body_v;
189 FG_VECTOR_3 a_pilot_body_v;
190 FG_VECTOR_3 n_cg_body_v;
191 FG_VECTOR_3 n_pilot_body_v;
192 FG_VECTOR_3 omega_dot_body_v;
195 FG_VECTOR_3 v_local_v;
196 FG_VECTOR_3 v_local_rel_ground_v; // V rel w.r.t. earth surface
197 FG_VECTOR_3 v_local_airmass_v; // velocity of airmass (steady winds)
198 FG_VECTOR_3 v_local_rel_airmass_v; // velocity of veh. relative to airmass
199 FG_VECTOR_3 v_local_gust_v; // linear turbulence components, L frame
200 FG_VECTOR_3 v_wind_body_v; // Wind-relative velocities in body axis
202 FG_VECTOR_3 omega_body_v; // Angular B rates
203 FG_VECTOR_3 omega_local_v; // Angular L rates
204 FG_VECTOR_3 omega_total_v; // Diff btw B & L
205 FG_VECTOR_3 euler_rates_v;
206 FG_VECTOR_3 geocentric_rates_v; // Geocentric linear velocities
209 FG_VECTOR_3 geocentric_position_v;
210 FG_VECTOR_3 geodetic_position_v;
211 FG_VECTOR_3 euler_angles_v;
213 // Miscellaneous Quantities
214 FG_VECTOR_3 d_cg_rwy_local_v; // CG rel. to rwy in local coords
215 FG_VECTOR_3 d_cg_rwy_rwy_v; // CG relative to rwy, in rwy coordinates
216 FG_VECTOR_3 d_pilot_rwy_local_v; // pilot rel. to rwy in local coords
217 FG_VECTOR_3 d_pilot_rwy_rwy_v; // pilot rel. to rwy, in rwy coords.
220 double mass, i_xx, i_yy, i_zz, i_xz;
222 // Normal Load Factor
226 double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
227 double v_ground_speed, v_equiv, v_equiv_kts;
228 double v_calibrated, v_calibrated_kts;
230 // Miscellaneious Quantities
231 double t_local_to_body_m[3][3]; // Transformation matrix L to B
232 double gravity; // Local acceleration due to G
233 double centrifugal_relief; // load factor reduction due to speed
234 double alpha, beta, alpha_dot, beta_dot; // in radians
235 double cos_alpha, sin_alpha, cos_beta, sin_beta;
236 double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
237 double gamma_vert_rad, gamma_horiz_rad; // Flight path angles
238 double sigma, density, v_sound, mach_number;
239 double static_pressure, total_pressure, impact_pressure;
240 double dynamic_pressure;
241 double static_temperature, total_temperature;
242 double sea_level_radius, earth_position_angle;
243 double runway_altitude, runway_latitude, runway_longitude;
244 double runway_heading;
245 double radius_to_rwy;
246 double climb_rate; // in feet per second
247 double sin_lat_geocentric, cos_lat_geocentric;
248 double sin_longitude, cos_longitude;
249 double sin_latitude, cos_latitude;
255 SGTimeStamp valid_stamp; // time this record is valid
256 SGTimeStamp next_stamp; // time this record is valid
260 void _updatePosition( double lat_geoc, double lon, double alt );
261 void _updateWeather( void );
263 inline void _set_Inertias( double m, double xx, double yy,
264 double zz, double xz)
272 inline void _set_CG_Position( double dx, double dy, double dz ) {
273 d_cg_rp_body_v[0] = dx;
274 d_cg_rp_body_v[1] = dy;
275 d_cg_rp_body_v[2] = dz;
277 inline void _set_Accels_Local( double north, double east, double down ) {
278 v_dot_local_v[0] = north;
279 v_dot_local_v[1] = east;
280 v_dot_local_v[2] = down;
282 inline void _set_Accels_Body( double u, double v, double w ) {
287 inline void _set_Accels_CG_Body( double x, double y, double z ) {
292 inline void _set_Accels_Pilot_Body( double x, double y, double z ) {
293 a_pilot_body_v[0] = x;
294 a_pilot_body_v[1] = y;
295 a_pilot_body_v[2] = z;
297 inline void _set_Accels_CG_Body_N( double x, double y, double z ) {
302 void _set_Nlf(double n) { nlf=n; }
303 inline void _set_Velocities_Local( double north, double east, double down ){
304 v_local_v[0] = north;
308 inline void _set_Velocities_Ground(double north, double east, double down) {
309 v_local_rel_ground_v[0] = north;
310 v_local_rel_ground_v[1] = east;
311 v_local_rel_ground_v[2] = down;
313 inline void _set_Velocities_Local_Airmass( double north, double east,
316 v_local_airmass_v[0] = north;
317 v_local_airmass_v[1] = east;
318 v_local_airmass_v[2] = down;
320 inline void _set_Velocities_Wind_Body( double u, double v, double w) {
321 v_wind_body_v[0] = u;
322 v_wind_body_v[1] = v;
323 v_wind_body_v[2] = w;
325 inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; }
326 inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
327 inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
328 inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
329 inline void _set_Omega_Body( double p, double q, double r ) {
334 inline void _set_Euler_Rates( double phi, double theta, double psi ) {
335 euler_rates_v[0] = phi;
336 euler_rates_v[1] = theta;
337 euler_rates_v[2] = psi;
339 inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
340 geocentric_rates_v[0] = lat;
341 geocentric_rates_v[1] = lon;
342 geocentric_rates_v[2] = rad;
345 inline void _set_Radius_to_vehicle(double radius) {
346 geocentric_position_v[2] = radius;
349 inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
350 geocentric_position_v[0] = lat;
351 geocentric_position_v[1] = lon;
352 geocentric_position_v[2] = rad;
354 inline void _set_Latitude(double lat) { geodetic_position_v[0] = lat; }
355 inline void _set_Longitude(double lon) { geodetic_position_v[1] = lon; }
356 inline void _set_Altitude(double altitude) {
357 geodetic_position_v[2] = altitude;
359 inline void _set_Altitude_AGL(double agl) {
362 inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
363 geodetic_position_v[0] = lat;
364 geodetic_position_v[1] = lon;
365 geodetic_position_v[2] = alt;
367 inline void _set_Euler_Angles( double phi, double theta, double psi ) {
368 euler_angles_v[0] = phi;
369 euler_angles_v[1] = theta;
370 euler_angles_v[2] = psi;
372 inline void _set_T_Local_to_Body( int i, int j, double value) {
373 t_local_to_body_m[i-1][j-1] = value;
375 inline void _set_T_Local_to_Body( double m[3][3] ) {
377 for ( i = 0; i < 3; i++ ) {
378 for ( j = 0; j < 3; j++ ) {
379 t_local_to_body_m[i][j] = m[i][j];
383 inline void _set_Alpha( double a ) { alpha = a; }
384 inline void _set_Beta( double b ) { beta = b; }
385 inline void _set_Cos_phi( double cp ) { cos_phi = cp; }
386 inline void _set_Cos_theta( double ct ) { cos_theta = ct; }
387 inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
388 inline void _set_Density( double d ) { density = d; }
389 inline void _set_Mach_number( double m ) { mach_number = m; }
390 inline void _set_Static_pressure( double sp ) { static_pressure = sp; }
391 inline void _set_Static_temperature( double t ) { static_temperature = t; }
392 inline void _set_Sea_level_radius( double r ) { sea_level_radius = r; }
393 inline void _set_Earth_position_angle(double a) {
394 earth_position_angle = a;
396 inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; }
397 inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
398 inline void _set_sin_lat_geocentric(double parm) {
399 sin_lat_geocentric = sin(parm);
401 inline void _set_cos_lat_geocentric(double parm) {
402 cos_lat_geocentric = cos(parm);
404 inline void _set_sin_cos_longitude(double parm) {
405 sin_longitude = sin(parm);
406 cos_longitude = cos(parm);
408 inline void _set_sin_cos_latitude(double parm) {
409 sin_latitude = sin(parm);
410 cos_latitude = cos(parm);
416 virtual ~FGInterface();
418 virtual bool init( double dt );
419 virtual bool update( int multi_loop );
421 // Define the various supported flight models (many not yet implemented)
426 // The NASA LaRCsim (Navion) flight model
429 // Jon S. Berndt's new FDM written from the ground up in C++
432 // Christian's hot air balloon simulation
435 // Aeronautical DEvelopment AGEncy, Bangalore India
438 // The following aren't implemented but are here to spark
439 // thoughts and discussions, and maybe even action.
446 // Driven externally via a serial port, net, file, etc.
451 virtual void set_Latitude(double lat); // geocentric
452 virtual void set_Longitude(double lon);
453 virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
454 virtual void set_AltitudeAGL(double altagl); // and vice-versa
456 // Speeds -- setting any of these will trigger a re-calc of the rest
457 virtual void set_V_calibrated_kts(double vc);
458 virtual void set_Mach_number(double mach);
459 virtual void set_Velocities_Local( double north, double east, double down );
460 virtual void set_Velocities_Wind_Body( double u, double v, double w);
463 virtual void set_Euler_Angles( double phi, double theta, double psi );
466 virtual void set_Climb_Rate( double roc);
467 virtual void set_Gamma_vert_rad( double gamma);
470 virtual void set_Sea_level_radius(double slr);
471 virtual void set_Runway_altitude(double ralt);
473 virtual void set_Static_pressure(double p);
474 virtual void set_Static_temperature(double T);
475 virtual void set_Density(double rho);
477 virtual void set_Velocities_Local_Airmass (double wnorth,
482 // ========== Mass properties and geometry values ==========
485 inline double get_Mass() const { return mass; }
486 inline double get_I_xx() const { return i_xx; }
487 inline double get_I_yy() const { return i_yy; }
488 inline double get_I_zz() const { return i_zz; }
489 inline double get_I_xz() const { return i_xz; }
491 // Pilot location rel to ref pt
492 // inline double * get_D_pilot_rp_body_v() {
493 // return d_pilot_rp_body_v;
495 // inline double get_Dx_pilot() const { return d_pilot_rp_body_v[0]; }
496 // inline double get_Dy_pilot() const { return d_pilot_rp_body_v[1]; }
497 // inline double get_Dz_pilot() const { return d_pilot_rp_body_v[2]; }
498 /* inline void set_Pilot_Location( double dx, double dy, double dz ) {
499 d_pilot_rp_body_v[0] = dx;
500 d_pilot_rp_body_v[1] = dy;
501 d_pilot_rp_body_v[2] = dz;
504 // CG position w.r.t. ref. point
505 // inline double * get_D_cg_rp_body_v() { return d_cg_rp_body_v; }
506 inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; }
507 inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; }
508 inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
510 // ========== Forces ==========
512 // inline double * get_F_body_total_v() { return f_body_total_v; }
513 // inline double get_F_X() const { return f_body_total_v[0]; }
514 // inline double get_F_Y() const { return f_body_total_v[1]; }
515 // inline double get_F_Z() const { return f_body_total_v[2]; }
516 /* inline void set_Forces_Body_Total( double x, double y, double z ) {
517 f_body_total_v[0] = x;
518 f_body_total_v[1] = y;
519 f_body_total_v[2] = z;
522 // inline double * get_F_local_total_v() { return f_local_total_v; }
523 // inline double get_F_north() const { return f_local_total_v[0]; }
524 // inline double get_F_east() const { return f_local_total_v[1]; }
525 // inline double get_F_down() const { return f_local_total_v[2]; }
526 /* inline void set_Forces_Local_Total( double x, double y, double z ) {
527 f_local_total_v[0] = x;
528 f_local_total_v[1] = y;
529 f_local_total_v[2] = z;
532 // inline double * get_F_aero_v() { return f_aero_v; }
533 // inline double get_F_X_aero() const { return f_aero_v[0]; }
534 // inline double get_F_Y_aero() const { return f_aero_v[1]; }
535 // inline double get_F_Z_aero() const { return f_aero_v[2]; }
536 /* inline void set_Forces_Aero( double x, double y, double z ) {
542 // inline double * get_F_engine_v() { return f_engine_v; }
543 // inline double get_F_X_engine() const { return f_engine_v[0]; }
544 // inline double get_F_Y_engine() const { return f_engine_v[1]; }
545 // inline double get_F_Z_engine() const { return f_engine_v[2]; }
546 /* inline void set_Forces_Engine( double x, double y, double z ) {
552 // inline double * get_F_gear_v() { return f_gear_v; }
553 // inline double get_F_X_gear() const { return f_gear_v[0]; }
554 // inline double get_F_Y_gear() const { return f_gear_v[1]; }
555 // inline double get_F_Z_gear() const { return f_gear_v[2]; }
556 /* inline void set_Forces_Gear( double x, double y, double z ) {
562 // ========== Moments ==========
564 // inline double * get_M_total_rp_v() { return m_total_rp_v; }
565 // inline double get_M_l_rp() const { return m_total_rp_v[0]; }
566 // inline double get_M_m_rp() const { return m_total_rp_v[1]; }
567 // inline double get_M_n_rp() const { return m_total_rp_v[2]; }
568 /* inline void set_Moments_Total_RP( double l, double m, double n ) {
574 // inline double * get_M_total_cg_v() { return m_total_cg_v; }
575 // inline double get_M_l_cg() const { return m_total_cg_v[0]; }
576 // inline double get_M_m_cg() const { return m_total_cg_v[1]; }
577 // inline double get_M_n_cg() const { return m_total_cg_v[2]; }
578 /* inline void set_Moments_Total_CG( double l, double m, double n ) {
584 // inline double * get_M_aero_v() { return m_aero_v; }
585 // inline double get_M_l_aero() const { return m_aero_v[0]; }
586 // inline double get_M_m_aero() const { return m_aero_v[1]; }
587 // inline double get_M_n_aero() const { return m_aero_v[2]; }
588 /* inline void set_Moments_Aero( double l, double m, double n ) {
594 // inline double * get_M_engine_v() { return m_engine_v; }
595 // inline double get_M_l_engine() const { return m_engine_v[0]; }
596 // inline double get_M_m_engine() const { return m_engine_v[1]; }
597 // inline double get_M_n_engine() const { return m_engine_v[2]; }
598 /* inline void set_Moments_Engine( double l, double m, double n ) {
604 // inline double * get_M_gear_v() { return m_gear_v; }
605 // inline double get_M_l_gear() const { return m_gear_v[0]; }
606 // inline double get_M_m_gear() const { return m_gear_v[1]; }
607 // inline double get_M_n_gear() const { return m_gear_v[2]; }
608 /* inline void set_Moments_Gear( double l, double m, double n ) {
614 // ========== Accelerations ==========
616 // inline double * get_V_dot_local_v() { return v_dot_local_v; }
617 inline double get_V_dot_north() const { return v_dot_local_v[0]; }
618 inline double get_V_dot_east() const { return v_dot_local_v[1]; }
619 inline double get_V_dot_down() const { return v_dot_local_v[2]; }
621 // inline double * get_V_dot_body_v() { return v_dot_body_v; }
622 inline double get_U_dot_body() const { return v_dot_body_v[0]; }
623 inline double get_V_dot_body() const { return v_dot_body_v[1]; }
624 inline double get_W_dot_body() const { return v_dot_body_v[2]; }
626 // inline double * get_A_cg_body_v() { return a_cg_body_v; }
627 inline double get_A_X_cg() const { return a_cg_body_v[0]; }
628 inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
629 inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
631 // inline double * get_A_pilot_body_v() { return a_pilot_body_v; }
632 inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
633 inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
634 inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
636 // inline double * get_N_cg_body_v() { return n_cg_body_v; }
637 inline double get_N_X_cg() const { return n_cg_body_v[0]; }
638 inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
639 inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
641 // inline double * get_N_pilot_body_v() { return n_pilot_body_v; }
642 // inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
643 // inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; }
644 // inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; }
645 // inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
646 // n_pilot_body_v[0] = x;
647 // n_pilot_body_v[1] = y;
648 // n_pilot_body_v[2] = z;
651 inline double get_Nlf(void) { return nlf; }
653 // inline double * get_Omega_dot_body_v() { return omega_dot_body_v; }
654 // inline double get_P_dot_body() const { return omega_dot_body_v[0]; }
655 // inline double get_Q_dot_body() const { return omega_dot_body_v[1]; }
656 // inline double get_R_dot_body() const { return omega_dot_body_v[2]; }
657 /* inline void set_Accels_Omega( double p, double q, double r ) {
658 omega_dot_body_v[0] = p;
659 omega_dot_body_v[1] = q;
660 omega_dot_body_v[2] = r;
664 // ========== Velocities ==========
666 // inline double * get_V_local_v() { return v_local_v; }
667 inline double get_V_north() const { return v_local_v[0]; }
668 inline double get_V_east() const { return v_local_v[1]; }
669 inline double get_V_down() const { return v_local_v[2]; }
671 // inline double * get_V_local_rel_ground_v() {
672 // return v_local_rel_ground_v;
674 // inline double get_V_north_rel_ground() const {
675 // return v_local_rel_ground_v[0];
677 // inline double get_V_east_rel_ground() const {
678 // return v_local_rel_ground_v[1];
680 // inline double get_V_down_rel_ground() const {
681 // return v_local_rel_ground_v[2];
684 // inline double * get_V_local_airmass_v() { return v_local_airmass_v; }
685 inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
686 inline double get_V_east_airmass() const { return v_local_airmass_v[1]; }
687 inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
690 // inline double * get_V_local_rel_airmass_v() {
691 // return v_local_rel_airmass_v;
693 // inline double get_V_north_rel_airmass() const {
694 // return v_local_rel_airmass_v[0];
696 // inline double get_V_east_rel_airmass() const {
697 // return v_local_rel_airmass_v[1];
699 // inline double get_V_down_rel_airmass() const {
700 // return v_local_rel_airmass_v[2];
702 /* inline void set_Velocities_Local_Rel_Airmass( double north, double east,
705 v_local_rel_airmass_v[0] = north;
706 v_local_rel_airmass_v[1] = east;
707 v_local_rel_airmass_v[2] = down;
710 // inline double * get_V_local_gust_v() { return v_local_gust_v; }
711 // inline double get_U_gust() const { return v_local_gust_v[0]; }
712 // inline double get_V_gust() const { return v_local_gust_v[1]; }
713 // inline double get_W_gust() const { return v_local_gust_v[2]; }
714 /* inline void set_Velocities_Gust( double u, double v, double w)
716 v_local_gust_v[0] = u;
717 v_local_gust_v[1] = v;
718 v_local_gust_v[2] = w;
721 // inline double * get_V_wind_body_v() { return v_wind_body_v; }
722 inline double get_U_body() const { return v_wind_body_v[0]; }
723 inline double get_V_body() const { return v_wind_body_v[1]; }
724 inline double get_W_body() const { return v_wind_body_v[2]; }
726 inline double get_V_rel_wind() const { return v_rel_wind; }
727 // inline void set_V_rel_wind(double wind) { v_rel_wind = wind; }
729 // inline double get_V_true_kts() const { return v_true_kts; }
730 // inline void set_V_true_kts(double kts) { v_true_kts = kts; }
732 // inline double get_V_rel_ground() const { return v_rel_ground; }
733 // inline void set_V_rel_ground( double v ) { v_rel_ground = v; }
735 // inline double get_V_inertial() const { return v_inertial; }
736 // inline void set_V_inertial(double v) { v_inertial = v; }
738 inline double get_V_ground_speed() const { return v_ground_speed; }
740 // inline double get_V_equiv() const { return v_equiv; }
741 // inline void set_V_equiv( double v ) { v_equiv = v; }
743 inline double get_V_equiv_kts() const { return v_equiv_kts; }
745 //inline double get_V_calibrated() const { return v_calibrated; }
746 //inline void set_V_calibrated( double v ) { v_calibrated = v; }
748 inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
750 // inline double * get_Omega_body_v() { return omega_body_v; }
751 inline double get_P_body() const { return omega_body_v[0]; }
752 inline double get_Q_body() const { return omega_body_v[1]; }
753 inline double get_R_body() const { return omega_body_v[2]; }
755 // inline double * get_Omega_local_v() { return omega_local_v; }
756 // inline double get_P_local() const { return omega_local_v[0]; }
757 // inline double get_Q_local() const { return omega_local_v[1]; }
758 // inline double get_R_local() const { return omega_local_v[2]; }
759 /* inline void set_Omega_Local( double p, double q, double r ) {
760 omega_local_v[0] = p;
761 omega_local_v[1] = q;
762 omega_local_v[2] = r;
765 // inline double * get_Omega_total_v() { return omega_total_v; }
766 // inline double get_P_total() const { return omega_total_v[0]; }
767 // inline double get_Q_total() const { return omega_total_v[1]; }
768 // inline double get_R_total() const { return omega_total_v[2]; }
769 /* inline void set_Omega_Total( double p, double q, double r ) {
770 omega_total_v[0] = p;
771 omega_total_v[1] = q;
772 omega_total_v[2] = r;
775 // inline double * get_Euler_rates_v() { return euler_rates_v; }
776 inline double get_Phi_dot() const { return euler_rates_v[0]; }
777 inline double get_Theta_dot() const { return euler_rates_v[1]; }
778 inline double get_Psi_dot() const { return euler_rates_v[2]; }
780 // inline double * get_Geocentric_rates_v() { return geocentric_rates_v; }
781 inline double get_Latitude_dot() const { return geocentric_rates_v[0]; }
782 inline double get_Longitude_dot() const { return geocentric_rates_v[1]; }
783 inline double get_Radius_dot() const { return geocentric_rates_v[2]; }
785 // ========== Positions ==========
787 // inline double * get_Geocentric_position_v() {
788 // return geocentric_position_v;
790 inline double get_Lat_geocentric() const {
791 return geocentric_position_v[0];
793 inline double get_Lon_geocentric() const {
794 return geocentric_position_v[1];
796 inline double get_Radius_to_vehicle() const {
797 return geocentric_position_v[2];
800 // inline double * get_Geodetic_position_v() { return geodetic_position_v; }
801 inline double get_Latitude() const { return geodetic_position_v[0]; }
802 inline double get_Longitude() const { return geodetic_position_v[1]; }
803 inline double get_Altitude() const { return geodetic_position_v[2]; }
804 inline double get_Altitude_AGL(void) { return altitude_agl; }
806 // inline double * get_Euler_angles_v() { return euler_angles_v; }
807 inline double get_Phi() const { return euler_angles_v[0]; }
808 inline double get_Theta() const { return euler_angles_v[1]; }
809 inline double get_Psi() const { return euler_angles_v[2]; }
812 // ========== Miscellaneous quantities ==========
814 // inline double * get_T_local_to_body_m() { return t_local_to_body_m; }
815 inline double get_T_local_to_body_11() const {
816 return t_local_to_body_m[0][0];
818 inline double get_T_local_to_body_12() const {
819 return t_local_to_body_m[0][1];
821 inline double get_T_local_to_body_13() const {
822 return t_local_to_body_m[0][2];
824 inline double get_T_local_to_body_21() const {
825 return t_local_to_body_m[1][0];
827 inline double get_T_local_to_body_22() const {
828 return t_local_to_body_m[1][1];
830 inline double get_T_local_to_body_23() const {
831 return t_local_to_body_m[1][2];
833 inline double get_T_local_to_body_31() const {
834 return t_local_to_body_m[2][0];
836 inline double get_T_local_to_body_32() const {
837 return t_local_to_body_m[2][1];
839 inline double get_T_local_to_body_33() const {
840 return t_local_to_body_m[2][2];
843 // inline double get_Gravity() const { return gravity; }
844 // inline void set_Gravity(double g) { gravity = g; }
846 // inline double get_Centrifugal_relief() const {
847 // return centrifugal_relief;
849 // inline void set_Centrifugal_relief(double cr) {
850 // centrifugal_relief = cr;
853 inline double get_Alpha() const { return alpha; }
854 inline double get_Beta() const { return beta; }
855 // inline double get_Alpha_dot() const { return alpha_dot; }
856 // inline void set_Alpha_dot( double ad ) { alpha_dot = ad; }
857 // inline double get_Beta_dot() const { return beta_dot; }
858 // inline void set_Beta_dot( double bd ) { beta_dot = bd; }
860 // inline double get_Cos_alpha() const { return cos_alpha; }
861 // inline void set_Cos_alpha( double ca ) { cos_alpha = ca; }
862 // inline double get_Sin_alpha() const { return sin_alpha; }
863 // inline void set_Sin_alpha( double sa ) { sin_alpha = sa; }
864 // inline double get_Cos_beta() const { return cos_beta; }
865 // inline void set_Cos_beta( double cb ) { cos_beta = cb; }
866 // inline double get_Sin_beta() const { return sin_beta; }
867 // inline void set_Sin_beta( double sb ) { sin_beta = sb; }
869 inline double get_Cos_phi() const { return cos_phi; }
870 // inline double get_Sin_phi() const { return sin_phi; }
871 // inline void set_Sin_phi( double sp ) { sin_phi = sp; }
872 inline double get_Cos_theta() const { return cos_theta; }
873 // inline double get_Sin_theta() const { return sin_theta; }
874 // inline void set_Sin_theta( double st ) { sin_theta = st; }
875 // inline double get_Cos_psi() const { return cos_psi; }
876 // inline void set_Cos_psi( double cp ) { cos_psi = cp; }
877 // inline double get_Sin_psi() const { return sin_psi; }
878 // inline void set_Sin_psi( double sp ) { sin_psi = sp; }
880 inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
881 // inline double get_Gamma_horiz_rad() const { return gamma_horiz_rad; }
882 // inline void set_Gamma_horiz_rad( double gh ) { gamma_horiz_rad = gh; }
884 // inline double get_Sigma() const { return sigma; }
885 // inline void set_Sigma( double s ) { sigma = s; }
886 inline double get_Density() const { return density; }
887 // inline double get_V_sound() const { return v_sound; }
888 // inline void set_V_sound( double v ) { v_sound = v; }
889 inline double get_Mach_number() const { return mach_number; }
891 inline double get_Static_pressure() const { return static_pressure; }
892 // inline double get_Total_pressure() const { return total_pressure; }
893 // inline void set_Total_pressure( double tp ) { total_pressure = tp; }
894 // inline double get_Impact_pressure() const { return impact_pressure; }
895 // inline void set_Impact_pressure( double ip ) { impact_pressure = ip; }
896 // inline double get_Dynamic_pressure() const { return dynamic_pressure; }
897 // inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; }
899 inline double get_Static_temperature() const { return static_temperature; }
900 // inline double get_Total_temperature() const { return total_temperature; }
901 // inline void set_Total_temperature( double t ) { total_temperature = t; }
903 inline double get_Sea_level_radius() const { return sea_level_radius; }
904 inline double get_Earth_position_angle() const {
905 return earth_position_angle;
908 inline double get_Runway_altitude() const { return runway_altitude; }
909 // inline double get_Runway_latitude() const { return runway_latitude; }
910 // inline void set_Runway_latitude( double lat ) { runway_latitude = lat; }
911 // inline double get_Runway_longitude() const { return runway_longitude; }
912 // inline void set_Runway_longitude( double lon ) {
913 // runway_longitude = lon;
915 // inline double get_Runway_heading() const { return runway_heading; }
916 // inline void set_Runway_heading( double h ) { runway_heading = h; }
918 // inline double get_Radius_to_rwy() const { return radius_to_rwy; }
919 // inline void set_Radius_to_rwy( double r ) { radius_to_rwy = r; }
921 // inline double * get_D_cg_rwy_local_v() { return d_cg_rwy_local_v; }
922 // inline double get_D_cg_north_of_rwy() const {
923 // return d_cg_rwy_local_v[0];
925 // inline double get_D_cg_east_of_rwy() const {
926 // return d_cg_rwy_local_v[1];
928 // inline double get_D_cg_above_rwy() const { return d_cg_rwy_local_v[2]; }
929 /* inline void set_CG_Rwy_Local( double north, double east, double above )
931 d_cg_rwy_local_v[0] = north;
932 d_cg_rwy_local_v[1] = east;
933 d_cg_rwy_local_v[2] = above;
936 // inline double * get_D_cg_rwy_rwy_v() { return d_cg_rwy_rwy_v; }
937 // inline double get_X_cg_rwy() const { return d_cg_rwy_rwy_v[0]; }
938 // inline double get_Y_cg_rwy() const { return d_cg_rwy_rwy_v[1]; }
939 // inline double get_H_cg_rwy() const { return d_cg_rwy_rwy_v[2]; }
940 /* inline void set_CG_Rwy_Rwy( double x, double y, double h )
942 d_cg_rwy_rwy_v[0] = x;
943 d_cg_rwy_rwy_v[1] = y;
944 d_cg_rwy_rwy_v[2] = h;
947 // inline double * get_D_pilot_rwy_local_v() { return d_pilot_rwy_local_v; }
948 // inline double get_D_pilot_north_of_rwy() const {
949 // return d_pilot_rwy_local_v[0];
951 // inline double get_D_pilot_east_of_rwy() const {
952 // return d_pilot_rwy_local_v[1];
954 // inline double get_D_pilot_above_rwy() const {
955 // return d_pilot_rwy_local_v[2];
957 /* inline void set_Pilot_Rwy_Local( double north, double east, double above )
959 d_pilot_rwy_local_v[0] = north;
960 d_pilot_rwy_local_v[1] = east;
961 d_pilot_rwy_local_v[2] = above;
964 // inline double * get_D_pilot_rwy_rwy_v() { return d_pilot_rwy_rwy_v; }
965 // inline double get_X_pilot_rwy() const { return d_pilot_rwy_rwy_v[0]; }
966 // inline double get_Y_pilot_rwy() const { return d_pilot_rwy_rwy_v[1]; }
967 // inline double get_H_pilot_rwy() const { return d_pilot_rwy_rwy_v[2]; }
968 /* inline void set_Pilot_Rwy_Rwy( double x, double y, double h )
970 d_pilot_rwy_rwy_v[0] = x;
971 d_pilot_rwy_rwy_v[1] = y;
972 d_pilot_rwy_rwy_v[2] = h;
975 inline double get_Climb_Rate() const { return climb_rate; }
977 inline SGTimeStamp get_time_stamp() const { return valid_stamp; }
978 inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
980 // Extrapolate FDM based on time_offset (in usec)
981 void extrapolate( int time_offset );
983 // sin/cos lat_geocentric
984 inline double get_sin_lat_geocentric(void) const {
985 return sin_lat_geocentric;
987 inline double get_cos_lat_geocentric(void) const {
988 return cos_lat_geocentric;
991 inline double get_sin_longitude(void) const {
992 return sin_longitude;
994 inline double get_cos_longitude(void) const {
995 return cos_longitude;
998 inline double get_sin_latitude(void) const {
1001 inline double get_cos_latitude(void) const {
1002 return cos_latitude;
1006 inline double get_num_engines() const {
1007 return engines.size();
1010 inline FGEngInterface* get_engine( int i ) {
1014 inline void add_engine( FGEngInterface e ) {
1015 engines.push_back( e );
1020 typedef list < FGInterface > fdm_state_list;
1021 typedef fdm_state_list::iterator fdm_state_list_iterator;
1022 typedef fdm_state_list::const_iterator const_fdm_state_list_iterator;
1025 extern FGInterface * cur_fdm_state;
1028 // General interface to the flight model routines
1030 // Initialize the flight model parameters
1031 int fgFDMInit(int model, FGInterface& f, double dt);
1033 // Run multiloop iterations of the flight model
1034 int fgFDMUpdate(int model, FGInterface& f, int multiloop, int jitter);
1036 // Set the altitude (force)
1037 void fgFDMForceAltitude(int model, double alt_meters);
1039 // Set the local ground elevation
1040 void fgFDMSetGroundElevation(int model, double alt_meters);
1043 #endif // _FLIGHT_HXX