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 ()'
90 #include <simgear/compiler.h>
91 #include <simgear/constants.h>
92 #include <simgear/structure/subsystem_mgr.hxx>
98 class FGAircraftModel;
101 typedef double FG_VECTOR_3[3];
103 // This is based heavily on LaRCsim/ls_generic.h
104 class FGInterface : public SGSubsystem {
108 // Has the init() method been called. This is used to delay
109 // initialization until scenery can be loaded and we know the true
113 // Have we bound to the property system
116 // periodic update management variable. This is a scheme to run
117 // the fdm with a fixed delta-t. We control how many iteration of
118 // the fdm to run with the fixed dt based on the elapsed time from
119 // the last update. This allows us to maintain sync with the real
120 // time clock, even though each frame could take a random amount
121 // of time. Since "dt" is unlikely to divide evenly into the
122 // elapse time, we keep track of the remainder and add it into the
123 // next elapsed time. This yields a small amount of temporal
124 // jitter ( < dt ) but in practice seems to work well.
126 // double delta_t; // delta "t"
127 // SGTimeStamp time_stamp; // time stamp of last run
128 // long elapsed; // time elapsed since last run
129 double remainder; // remainder time from last run
130 // int multi_loop; // number of iterations of "delta_t" to run
132 // Pilot location rel to ref pt
133 FG_VECTOR_3 d_pilot_rp_body_v;
135 // CG position w.r.t. ref. point
136 FG_VECTOR_3 d_cg_rp_body_v;
139 FG_VECTOR_3 f_body_total_v;
140 FG_VECTOR_3 f_local_total_v;
141 FG_VECTOR_3 f_aero_v;
142 FG_VECTOR_3 f_engine_v;
143 FG_VECTOR_3 f_gear_v;
146 FG_VECTOR_3 m_total_rp_v;
147 FG_VECTOR_3 m_total_cg_v;
148 FG_VECTOR_3 m_aero_v;
149 FG_VECTOR_3 m_engine_v;
150 FG_VECTOR_3 m_gear_v;
153 FG_VECTOR_3 v_dot_local_v;
154 FG_VECTOR_3 v_dot_body_v;
155 FG_VECTOR_3 a_cg_body_v;
156 FG_VECTOR_3 a_pilot_body_v;
157 FG_VECTOR_3 n_cg_body_v;
158 FG_VECTOR_3 n_pilot_body_v;
159 FG_VECTOR_3 omega_dot_body_v;
162 FG_VECTOR_3 v_local_v;
163 FG_VECTOR_3 v_local_rel_ground_v; // V rel w.r.t. earth surface
164 FG_VECTOR_3 v_local_airmass_v; // velocity of airmass (steady winds)
165 FG_VECTOR_3 v_local_rel_airmass_v; // velocity of veh. relative to airmass
166 FG_VECTOR_3 v_local_gust_v; // linear turbulence components, L frame
167 FG_VECTOR_3 v_wind_body_v; // Wind-relative velocities in body axis
169 FG_VECTOR_3 omega_body_v; // Angular B rates
170 FG_VECTOR_3 omega_local_v; // Angular L rates
171 FG_VECTOR_3 omega_total_v; // Diff btw B & L
172 FG_VECTOR_3 euler_rates_v;
173 FG_VECTOR_3 geocentric_rates_v; // Geocentric linear velocities
176 FG_VECTOR_3 geocentric_position_v;
177 FG_VECTOR_3 geodetic_position_v;
178 FG_VECTOR_3 euler_angles_v;
180 // Miscellaneous Quantities
181 FG_VECTOR_3 d_cg_rwy_local_v; // CG rel. to rwy in local coords
182 FG_VECTOR_3 d_cg_rwy_rwy_v; // CG relative to rwy, in rwy coordinates
183 FG_VECTOR_3 d_pilot_rwy_local_v; // pilot rel. to rwy in local coords
184 FG_VECTOR_3 d_pilot_rwy_rwy_v; // pilot rel. to rwy, in rwy coords.
187 double mass, i_xx, i_yy, i_zz, i_xz;
189 // Normal Load Factor
193 double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
194 double v_ground_speed, v_equiv, v_equiv_kts;
195 double v_calibrated, v_calibrated_kts;
197 // Miscellaneious Quantities
198 double t_local_to_body_m[3][3]; // Transformation matrix L to B
199 double gravity; // Local acceleration due to G
200 double centrifugal_relief; // load factor reduction due to speed
201 double alpha, beta, alpha_dot, beta_dot; // in radians
202 double cos_alpha, sin_alpha, cos_beta, sin_beta;
203 double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
204 double gamma_vert_rad, gamma_horiz_rad; // Flight path angles
205 double sigma, density, v_sound, mach_number;
206 double static_pressure, total_pressure, impact_pressure;
207 double dynamic_pressure;
208 double static_temperature, total_temperature;
209 double sea_level_radius, earth_position_angle;
210 double runway_altitude, runway_latitude, runway_longitude;
211 double runway_heading;
212 double radius_to_rwy;
213 double climb_rate; // in feet per second
214 double sin_lat_geocentric, cos_lat_geocentric;
215 double sin_longitude, cos_longitude;
216 double sin_latitude, cos_latitude;
219 double daux[16]; // auxilliary doubles
220 float faux[16]; // auxilliary floats
221 int iaux[16]; // auxilliary ints
223 // SGTimeStamp valid_stamp; // time this record is valid
224 // SGTimeStamp next_stamp; // time this record is valid
227 FGAircraftModel * _acmodel;
231 int _calc_multiloop (double dt);
235 // deliberately not virtual so that
236 // FGInterface constructor will call
241 void _updateGeodeticPosition( double lat, double lon, double alt );
242 void _updateGeocentricPosition( double lat_geoc, double lon, double alt );
243 void _updateWeather( void );
245 inline void _set_Inertias( double m, double xx, double yy,
246 double zz, double xz)
254 inline void _set_CG_Position( double dx, double dy, double dz ) {
255 d_cg_rp_body_v[0] = dx;
256 d_cg_rp_body_v[1] = dy;
257 d_cg_rp_body_v[2] = dz;
259 inline void _set_Accels_Local( double north, double east, double down ) {
260 v_dot_local_v[0] = north;
261 v_dot_local_v[1] = east;
262 v_dot_local_v[2] = down;
264 inline void _set_Accels_Body( double u, double v, double w ) {
269 inline void _set_Accels_CG_Body( double x, double y, double z ) {
274 inline void _set_Accels_Pilot_Body( double x, double y, double z ) {
275 a_pilot_body_v[0] = x;
276 a_pilot_body_v[1] = y;
277 a_pilot_body_v[2] = z;
279 inline void _set_Accels_CG_Body_N( double x, double y, double z ) {
284 void _set_Nlf(double n) { nlf=n; }
285 inline void _set_Velocities_Local( double north, double east, double down ){
286 v_local_v[0] = north;
290 inline void _set_Velocities_Ground(double north, double east, double down) {
291 v_local_rel_ground_v[0] = north;
292 v_local_rel_ground_v[1] = east;
293 v_local_rel_ground_v[2] = down;
295 inline void _set_Velocities_Local_Airmass( double north, double east,
298 v_local_airmass_v[0] = north;
299 v_local_airmass_v[1] = east;
300 v_local_airmass_v[2] = down;
302 inline void _set_Velocities_Wind_Body( double u, double v, double w) {
303 v_wind_body_v[0] = u;
304 v_wind_body_v[1] = v;
305 v_wind_body_v[2] = w;
307 inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; }
308 inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
309 inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
310 inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
311 inline void _set_Omega_Body( double p, double q, double r ) {
316 inline void _set_Euler_Rates( double phi, double theta, double psi ) {
317 euler_rates_v[0] = phi;
318 euler_rates_v[1] = theta;
319 euler_rates_v[2] = psi;
321 inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
322 geocentric_rates_v[0] = lat;
323 geocentric_rates_v[1] = lon;
324 geocentric_rates_v[2] = rad;
327 inline void _set_Radius_to_vehicle(double radius) {
328 geocentric_position_v[2] = radius;
331 inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
332 geocentric_position_v[0] = lat;
333 geocentric_position_v[1] = lon;
334 geocentric_position_v[2] = rad;
336 inline void _set_Latitude(double lat) { geodetic_position_v[0] = lat; }
337 inline void _set_Longitude(double lon) { geodetic_position_v[1] = lon; }
338 inline void _set_Altitude(double altitude) {
339 geodetic_position_v[2] = altitude;
341 inline void _set_Altitude_AGL(double agl) {
344 inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
345 geodetic_position_v[0] = lat;
346 geodetic_position_v[1] = lon;
347 geodetic_position_v[2] = alt;
349 inline void _set_Euler_Angles( double phi, double theta, double psi ) {
350 euler_angles_v[0] = phi;
351 euler_angles_v[1] = theta;
352 euler_angles_v[2] = psi;
354 inline void _set_T_Local_to_Body( int i, int j, double value) {
355 t_local_to_body_m[i-1][j-1] = value;
357 inline void _set_T_Local_to_Body( double m[3][3] ) {
359 for ( i = 0; i < 3; i++ ) {
360 for ( j = 0; j < 3; j++ ) {
361 t_local_to_body_m[i][j] = m[i][j];
365 inline void _set_Alpha( double a ) { alpha = a; }
366 inline void _set_Beta( double b ) { beta = b; }
367 inline void _set_Cos_phi( double cp ) { cos_phi = cp; }
368 inline void _set_Cos_theta( double ct ) { cos_theta = ct; }
369 inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
370 inline void _set_Density( double d ) { density = d; }
371 inline void _set_Mach_number( double m ) { mach_number = m; }
372 inline void _set_Static_pressure( double sp ) { static_pressure = sp; }
373 inline void _set_Static_temperature( double t ) { static_temperature = t; }
374 inline void _set_Sea_level_radius( double r ) { sea_level_radius = r; }
375 inline void _set_Earth_position_angle(double a) {
376 earth_position_angle = a;
378 inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; }
379 inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
380 inline void _set_sin_lat_geocentric(double parm) {
381 sin_lat_geocentric = sin(parm);
383 inline void _set_cos_lat_geocentric(double parm) {
384 cos_lat_geocentric = cos(parm);
386 inline void _set_sin_cos_longitude(double parm) {
387 sin_longitude = sin(parm);
388 cos_longitude = cos(parm);
390 inline void _set_sin_cos_latitude(double parm) {
391 sin_latitude = sin(parm);
392 cos_latitude = cos(parm);
395 inline void _set_daux( int n, double value ) { daux[n] = value; }
396 inline void _set_faux( int n, float value ) { faux[n] = value; }
397 inline void _set_iaux( int n, int value ) { iaux[n] = value; }
402 FGInterface( double dt );
403 virtual ~FGInterface();
405 virtual void init ();
406 virtual void bind ();
407 virtual void unbind ();
408 virtual void update(double dt);
409 virtual bool ToggleDataLogging(bool state) { return false; }
410 virtual bool ToggleDataLogging(void) { return false; }
412 // Define the various supported flight models (many not yet implemented)
417 // The NASA LaRCsim (Navion) flight model
420 // Jon S. Berndt's new FDM written from the ground up in C++
423 // Christian's hot air balloon simulation
426 // Aeronautical DEvelopment AGEncy, Bangalore India
429 // The following aren't implemented but are here to spark
430 // thoughts and discussions, and maybe even action.
437 // Driven externally via a serial port, net, file, etc.
442 inline bool get_inited() const { return inited; }
443 inline void set_inited( bool value ) { inited = value; }
445 inline bool get_bound() const { return bound; }
447 //perform initializion that is common to all FDM's
450 // time and update management values
451 // inline double get_delta_t() const { return delta_t; }
452 // inline void set_delta_t( double dt ) { delta_t = dt; }
453 // inline SGTimeStamp get_time_stamp() const { return time_stamp; }
454 // inline void set_time_stamp( SGTimeStamp s ) { time_stamp = s; }
455 // inline void stamp() { time_stamp.stamp(); }
456 // inline long get_elapsed() const { return elapsed; }
457 // inline void set_elapsed( long e ) { elapsed = e; }
458 // inline long get_remainder() const { return remainder; }
459 // inline void set_remainder( long r ) { remainder = r; }
460 // inline int get_multi_loop() const { return multi_loop; }
461 // inline void set_multi_loop( int ml ) { multi_loop = ml; }
464 virtual void set_Latitude(double lat); // geocentric
465 virtual void set_Longitude(double lon);
466 virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
467 virtual void set_AltitudeAGL(double altagl); // and vice-versa
468 virtual void set_Latitude_deg (double lat) {
469 set_Latitude(lat * SGD_DEGREES_TO_RADIANS);
471 virtual void set_Longitude_deg (double lon) {
472 set_Longitude(lon * SGD_DEGREES_TO_RADIANS);
475 // Speeds -- setting any of these will trigger a re-calc of the rest
476 virtual void set_V_calibrated_kts(double vc);
477 virtual void set_Mach_number(double mach);
478 virtual void set_Velocities_Local( double north, double east, double down );
479 inline void set_V_north (double north) {
480 set_Velocities_Local(north, v_local_v[1], v_local_v[2]);
482 inline void set_V_east (double east) {
483 set_Velocities_Local(v_local_v[0], east, v_local_v[2]);
485 inline void set_V_down (double down) {
486 set_Velocities_Local(v_local_v[0], v_local_v[1], down);
488 virtual void set_Velocities_Wind_Body( double u, double v, double w);
489 virtual void set_uBody (double uBody) {
490 set_Velocities_Wind_Body(uBody, v_wind_body_v[1], v_wind_body_v[2]);
492 virtual void set_vBody (double vBody) {
493 set_Velocities_Wind_Body(v_wind_body_v[0], vBody, v_wind_body_v[2]);
495 virtual void set_wBody (double wBody) {
496 set_Velocities_Wind_Body(v_wind_body_v[0], v_wind_body_v[1], wBody);
500 virtual void set_Euler_Angles( double phi, double theta, double psi );
501 virtual void set_Phi (double phi) {
502 set_Euler_Angles(phi, get_Theta(), get_Psi());
504 virtual void set_Theta (double theta) {
505 set_Euler_Angles(get_Phi(), theta, get_Psi());
507 virtual void set_Psi (double psi) {
508 set_Euler_Angles(get_Phi(), get_Theta(), psi);
510 virtual void set_Phi_deg (double phi) {
511 set_Phi(phi * SGD_DEGREES_TO_RADIANS);
513 virtual void set_Theta_deg (double theta) {
514 set_Theta(theta * SGD_DEGREES_TO_RADIANS);
516 virtual void set_Psi_deg (double psi) {
517 set_Psi(psi * SGD_DEGREES_TO_RADIANS);
521 virtual void set_Climb_Rate( double roc);
522 virtual void set_Gamma_vert_rad( double gamma);
526 virtual void set_Static_pressure(double p);
527 virtual void set_Static_temperature(double T);
528 virtual void set_Density(double rho);
530 virtual void set_Velocities_Local_Airmass (double wnorth,
534 // ========== Mass properties and geometry values ==========
537 inline double get_Mass() const { return mass; }
538 inline double get_I_xx() const { return i_xx; }
539 inline double get_I_yy() const { return i_yy; }
540 inline double get_I_zz() const { return i_zz; }
541 inline double get_I_xz() const { return i_xz; }
543 // Pilot location rel to ref pt
544 // inline double * get_D_pilot_rp_body_v() {
545 // return d_pilot_rp_body_v;
547 // inline double get_Dx_pilot() const { return d_pilot_rp_body_v[0]; }
548 // inline double get_Dy_pilot() const { return d_pilot_rp_body_v[1]; }
549 // inline double get_Dz_pilot() const { return d_pilot_rp_body_v[2]; }
550 /* inline void set_Pilot_Location( double dx, double dy, double dz ) {
551 d_pilot_rp_body_v[0] = dx;
552 d_pilot_rp_body_v[1] = dy;
553 d_pilot_rp_body_v[2] = dz;
556 // CG position w.r.t. ref. point
557 // inline double * get_D_cg_rp_body_v() { return d_cg_rp_body_v; }
558 inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; }
559 inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; }
560 inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
562 // ========== Forces ==========
564 // inline double * get_F_body_total_v() { return f_body_total_v; }
565 // inline double get_F_X() const { return f_body_total_v[0]; }
566 // inline double get_F_Y() const { return f_body_total_v[1]; }
567 // inline double get_F_Z() const { return f_body_total_v[2]; }
568 /* inline void set_Forces_Body_Total( double x, double y, double z ) {
569 f_body_total_v[0] = x;
570 f_body_total_v[1] = y;
571 f_body_total_v[2] = z;
574 // inline double * get_F_local_total_v() { return f_local_total_v; }
575 // inline double get_F_north() const { return f_local_total_v[0]; }
576 // inline double get_F_east() const { return f_local_total_v[1]; }
577 // inline double get_F_down() const { return f_local_total_v[2]; }
578 /* inline void set_Forces_Local_Total( double x, double y, double z ) {
579 f_local_total_v[0] = x;
580 f_local_total_v[1] = y;
581 f_local_total_v[2] = z;
584 // inline double * get_F_aero_v() { return f_aero_v; }
585 // inline double get_F_X_aero() const { return f_aero_v[0]; }
586 // inline double get_F_Y_aero() const { return f_aero_v[1]; }
587 // inline double get_F_Z_aero() const { return f_aero_v[2]; }
588 /* inline void set_Forces_Aero( double x, double y, double z ) {
594 // inline double * get_F_engine_v() { return f_engine_v; }
595 // inline double get_F_X_engine() const { return f_engine_v[0]; }
596 // inline double get_F_Y_engine() const { return f_engine_v[1]; }
597 // inline double get_F_Z_engine() const { return f_engine_v[2]; }
598 /* inline void set_Forces_Engine( double x, double y, double z ) {
604 // inline double * get_F_gear_v() { return f_gear_v; }
605 // inline double get_F_X_gear() const { return f_gear_v[0]; }
606 // inline double get_F_Y_gear() const { return f_gear_v[1]; }
607 // inline double get_F_Z_gear() const { return f_gear_v[2]; }
608 /* inline void set_Forces_Gear( double x, double y, double z ) {
614 // ========== Moments ==========
616 // inline double * get_M_total_rp_v() { return m_total_rp_v; }
617 // inline double get_M_l_rp() const { return m_total_rp_v[0]; }
618 // inline double get_M_m_rp() const { return m_total_rp_v[1]; }
619 // inline double get_M_n_rp() const { return m_total_rp_v[2]; }
620 /* inline void set_Moments_Total_RP( double l, double m, double n ) {
626 // inline double * get_M_total_cg_v() { return m_total_cg_v; }
627 // inline double get_M_l_cg() const { return m_total_cg_v[0]; }
628 // inline double get_M_m_cg() const { return m_total_cg_v[1]; }
629 // inline double get_M_n_cg() const { return m_total_cg_v[2]; }
630 /* inline void set_Moments_Total_CG( double l, double m, double n ) {
636 // inline double * get_M_aero_v() { return m_aero_v; }
637 // inline double get_M_l_aero() const { return m_aero_v[0]; }
638 // inline double get_M_m_aero() const { return m_aero_v[1]; }
639 // inline double get_M_n_aero() const { return m_aero_v[2]; }
640 /* inline void set_Moments_Aero( double l, double m, double n ) {
646 // inline double * get_M_engine_v() { return m_engine_v; }
647 // inline double get_M_l_engine() const { return m_engine_v[0]; }
648 // inline double get_M_m_engine() const { return m_engine_v[1]; }
649 // inline double get_M_n_engine() const { return m_engine_v[2]; }
650 /* inline void set_Moments_Engine( double l, double m, double n ) {
656 // inline double * get_M_gear_v() { return m_gear_v; }
657 // inline double get_M_l_gear() const { return m_gear_v[0]; }
658 // inline double get_M_m_gear() const { return m_gear_v[1]; }
659 // inline double get_M_n_gear() const { return m_gear_v[2]; }
660 /* inline void set_Moments_Gear( double l, double m, double n ) {
666 // ========== Accelerations ==========
668 // inline double * get_V_dot_local_v() { return v_dot_local_v; }
669 inline double get_V_dot_north() const { return v_dot_local_v[0]; }
670 inline double get_V_dot_east() const { return v_dot_local_v[1]; }
671 inline double get_V_dot_down() const { return v_dot_local_v[2]; }
673 // inline double * get_V_dot_body_v() { return v_dot_body_v; }
674 inline double get_U_dot_body() const { return v_dot_body_v[0]; }
675 inline double get_V_dot_body() const { return v_dot_body_v[1]; }
676 inline double get_W_dot_body() const { return v_dot_body_v[2]; }
678 // inline double * get_A_cg_body_v() { return a_cg_body_v; }
679 inline double get_A_X_cg() const { return a_cg_body_v[0]; }
680 inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
681 inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
683 // inline double * get_A_pilot_body_v() { return a_pilot_body_v; }
684 inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
685 inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
686 inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
688 // inline double * get_N_cg_body_v() { return n_cg_body_v; }
689 inline double get_N_X_cg() const { return n_cg_body_v[0]; }
690 inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
691 inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
693 // inline double * get_N_pilot_body_v() { return n_pilot_body_v; }
694 // inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
695 // inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; }
696 // inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; }
697 // inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
698 // n_pilot_body_v[0] = x;
699 // n_pilot_body_v[1] = y;
700 // n_pilot_body_v[2] = z;
703 inline double get_Nlf(void) const { return nlf; }
705 // inline double * get_Omega_dot_body_v() { return omega_dot_body_v; }
706 // inline double get_P_dot_body() const { return omega_dot_body_v[0]; }
707 // inline double get_Q_dot_body() const { return omega_dot_body_v[1]; }
708 // inline double get_R_dot_body() const { return omega_dot_body_v[2]; }
709 /* inline void set_Accels_Omega( double p, double q, double r ) {
710 omega_dot_body_v[0] = p;
711 omega_dot_body_v[1] = q;
712 omega_dot_body_v[2] = r;
716 // ========== Velocities ==========
718 // inline double * get_V_local_v() { return v_local_v; }
719 inline double get_V_north() const { return v_local_v[0]; }
720 inline double get_V_east() const { return v_local_v[1]; }
721 inline double get_V_down() const { return v_local_v[2]; }
722 inline double get_uBody () const { return v_wind_body_v[0]; }
723 inline double get_vBody () const { return v_wind_body_v[1]; }
724 inline double get_wBody () const { return v_wind_body_v[2]; }
726 // Please dont comment these out. fdm=ada uses these (see
728 inline double * get_V_local_rel_ground_v() {
729 return v_local_rel_ground_v;
731 inline double get_V_north_rel_ground() const {
732 return v_local_rel_ground_v[0];
734 inline double get_V_east_rel_ground() const {
735 return v_local_rel_ground_v[1];
737 inline double get_V_down_rel_ground() const {
738 return v_local_rel_ground_v[2];
740 // <--- fdm=ada uses these (see cockpit.cxx)
742 // inline double * get_V_local_airmass_v() { return v_local_airmass_v; }
743 inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
744 inline double get_V_east_airmass() const { return v_local_airmass_v[1]; }
745 inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
748 // inline double * get_V_local_rel_airmass_v() {
749 // return v_local_rel_airmass_v;
751 // inline double get_V_north_rel_airmass() const {
752 // return v_local_rel_airmass_v[0];
754 // inline double get_V_east_rel_airmass() const {
755 // return v_local_rel_airmass_v[1];
757 // inline double get_V_down_rel_airmass() const {
758 // return v_local_rel_airmass_v[2];
760 /* inline void set_Velocities_Local_Rel_Airmass( double north, double east,
763 v_local_rel_airmass_v[0] = north;
764 v_local_rel_airmass_v[1] = east;
765 v_local_rel_airmass_v[2] = down;
768 // inline double * get_V_local_gust_v() { return v_local_gust_v; }
769 // inline double get_U_gust() const { return v_local_gust_v[0]; }
770 // inline double get_V_gust() const { return v_local_gust_v[1]; }
771 // inline double get_W_gust() const { return v_local_gust_v[2]; }
772 /* inline void set_Velocities_Gust( double u, double v, double w)
774 v_local_gust_v[0] = u;
775 v_local_gust_v[1] = v;
776 v_local_gust_v[2] = w;
779 // inline double * get_V_wind_body_v() { return v_wind_body_v; }
780 inline double get_U_body() const { return v_wind_body_v[0]; }
781 inline double get_V_body() const { return v_wind_body_v[1]; }
782 inline double get_W_body() const { return v_wind_body_v[2]; }
784 inline double get_V_rel_wind() const { return v_rel_wind; }
785 // inline void set_V_rel_wind(double wind) { v_rel_wind = wind; }
787 inline double get_V_true_kts() const { return v_true_kts; }
788 // inline void set_V_true_kts(double kts) { v_true_kts = kts; }
790 // inline double get_V_rel_ground() const { return v_rel_ground; }
791 // inline void set_V_rel_ground( double v ) { v_rel_ground = v; }
793 // inline double get_V_inertial() const { return v_inertial; }
794 // inline void set_V_inertial(double v) { v_inertial = v; }
796 inline double get_V_ground_speed() const { return v_ground_speed; }
798 // inline double get_V_equiv() const { return v_equiv; }
799 // inline void set_V_equiv( double v ) { v_equiv = v; }
801 inline double get_V_equiv_kts() const { return v_equiv_kts; }
803 //inline double get_V_calibrated() const { return v_calibrated; }
804 //inline void set_V_calibrated( double v ) { v_calibrated = v; }
806 inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
808 // inline double * get_Omega_body_v() { return omega_body_v; }
809 inline double get_P_body() const { return omega_body_v[0]; }
810 inline double get_Q_body() const { return omega_body_v[1]; }
811 inline double get_R_body() const { return omega_body_v[2]; }
813 // inline double * get_Omega_local_v() { return omega_local_v; }
814 // inline double get_P_local() const { return omega_local_v[0]; }
815 // inline double get_Q_local() const { return omega_local_v[1]; }
816 // inline double get_R_local() const { return omega_local_v[2]; }
817 /* inline void set_Omega_Local( double p, double q, double r ) {
818 omega_local_v[0] = p;
819 omega_local_v[1] = q;
820 omega_local_v[2] = r;
823 // inline double * get_Omega_total_v() { return omega_total_v; }
824 // inline double get_P_total() const { return omega_total_v[0]; }
825 // inline double get_Q_total() const { return omega_total_v[1]; }
826 // inline double get_R_total() const { return omega_total_v[2]; }
827 /* inline void set_Omega_Total( double p, double q, double r ) {
828 omega_total_v[0] = p;
829 omega_total_v[1] = q;
830 omega_total_v[2] = r;
833 // inline double * get_Euler_rates_v() { return euler_rates_v; }
834 inline double get_Phi_dot() const { return euler_rates_v[0]; }
835 inline double get_Theta_dot() const { return euler_rates_v[1]; }
836 inline double get_Psi_dot() const { return euler_rates_v[2]; }
837 inline double get_Phi_dot_degps() const { return euler_rates_v[0] * SGD_RADIANS_TO_DEGREES; }
838 inline double get_Theta_dot_degps() const { return euler_rates_v[1] * SGD_RADIANS_TO_DEGREES; }
839 inline double get_Psi_dot_degps() const { return euler_rates_v[2] * SGD_RADIANS_TO_DEGREES; }
841 // inline double * get_Geocentric_rates_v() { return geocentric_rates_v; }
842 inline double get_Latitude_dot() const { return geocentric_rates_v[0]; }
843 inline double get_Longitude_dot() const { return geocentric_rates_v[1]; }
844 inline double get_Radius_dot() const { return geocentric_rates_v[2]; }
846 // ========== Positions ==========
848 // inline double * get_Geocentric_position_v() {
849 // return geocentric_position_v;
851 inline double get_Lat_geocentric() const {
852 return geocentric_position_v[0];
854 inline double get_Lon_geocentric() const {
855 return geocentric_position_v[1];
857 inline double get_Radius_to_vehicle() const {
858 return geocentric_position_v[2];
861 // inline double * get_Geodetic_position_v() { return geodetic_position_v; }
862 inline double get_Latitude() const { return geodetic_position_v[0]; }
863 inline double get_Longitude() const { return geodetic_position_v[1]; }
864 inline double get_Altitude() const { return geodetic_position_v[2]; }
865 inline double get_Altitude_AGL(void) const { return altitude_agl; }
867 inline double get_Latitude_deg () const {
868 return get_Latitude() * SGD_RADIANS_TO_DEGREES;
870 inline double get_Longitude_deg () const {
871 return get_Longitude() * SGD_RADIANS_TO_DEGREES;
874 // inline double * get_Euler_angles_v() { return euler_angles_v; }
875 inline double get_Phi() const { return euler_angles_v[0]; }
876 inline double get_Theta() const { return euler_angles_v[1]; }
877 inline double get_Psi() const { return euler_angles_v[2]; }
878 inline double get_Phi_deg () const { return get_Phi() * SGD_RADIANS_TO_DEGREES; }
879 inline double get_Theta_deg () const { return get_Theta() * SGD_RADIANS_TO_DEGREES; }
880 inline double get_Psi_deg () const { return get_Psi() * SGD_RADIANS_TO_DEGREES; }
883 // ========== Miscellaneous quantities ==========
885 // inline double * get_T_local_to_body_m() { return t_local_to_body_m; }
886 inline double get_T_local_to_body_11() const {
887 return t_local_to_body_m[0][0];
889 inline double get_T_local_to_body_12() const {
890 return t_local_to_body_m[0][1];
892 inline double get_T_local_to_body_13() const {
893 return t_local_to_body_m[0][2];
895 inline double get_T_local_to_body_21() const {
896 return t_local_to_body_m[1][0];
898 inline double get_T_local_to_body_22() const {
899 return t_local_to_body_m[1][1];
901 inline double get_T_local_to_body_23() const {
902 return t_local_to_body_m[1][2];
904 inline double get_T_local_to_body_31() const {
905 return t_local_to_body_m[2][0];
907 inline double get_T_local_to_body_32() const {
908 return t_local_to_body_m[2][1];
910 inline double get_T_local_to_body_33() const {
911 return t_local_to_body_m[2][2];
914 // inline double get_Gravity() const { return gravity; }
915 // inline void set_Gravity(double g) { gravity = g; }
917 // inline double get_Centrifugal_relief() const {
918 // return centrifugal_relief;
920 // inline void set_Centrifugal_relief(double cr) {
921 // centrifugal_relief = cr;
924 inline double get_Alpha() const { return alpha; }
925 inline double get_Alpha_deg() const { return alpha * SGD_RADIANS_TO_DEGREES; }
926 inline double get_Beta() const { return beta; }
927 inline double get_Beta_deg() const { return beta * SGD_RADIANS_TO_DEGREES; }
928 inline double get_Alpha_dot() const { return alpha_dot; }
929 // inline void set_Alpha_dot( double ad ) { alpha_dot = ad; }
930 inline double get_Beta_dot() const { return beta_dot; }
931 // inline void set_Beta_dot( double bd ) { beta_dot = bd; }
933 // inline double get_Cos_alpha() const { return cos_alpha; }
934 // inline void set_Cos_alpha( double ca ) { cos_alpha = ca; }
935 // inline double get_Sin_alpha() const { return sin_alpha; }
936 // inline void set_Sin_alpha( double sa ) { sin_alpha = sa; }
937 // inline double get_Cos_beta() const { return cos_beta; }
938 // inline void set_Cos_beta( double cb ) { cos_beta = cb; }
939 // inline double get_Sin_beta() const { return sin_beta; }
940 // inline void set_Sin_beta( double sb ) { sin_beta = sb; }
942 inline double get_Cos_phi() const { return cos_phi; }
943 // inline double get_Sin_phi() const { return sin_phi; }
944 // inline void set_Sin_phi( double sp ) { sin_phi = sp; }
945 inline double get_Cos_theta() const { return cos_theta; }
946 // inline double get_Sin_theta() const { return sin_theta; }
947 // inline void set_Sin_theta( double st ) { sin_theta = st; }
948 // inline double get_Cos_psi() const { return cos_psi; }
949 // inline void set_Cos_psi( double cp ) { cos_psi = cp; }
950 // inline double get_Sin_psi() const { return sin_psi; }
951 // inline void set_Sin_psi( double sp ) { sin_psi = sp; }
953 inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
954 // inline double get_Gamma_horiz_rad() const { return gamma_horiz_rad; }
955 // inline void set_Gamma_horiz_rad( double gh ) { gamma_horiz_rad = gh; }
957 // inline double get_Sigma() const { return sigma; }
958 // inline void set_Sigma( double s ) { sigma = s; }
959 inline double get_Density() const { return density; }
960 // inline double get_V_sound() const { return v_sound; }
961 // inline void set_V_sound( double v ) { v_sound = v; }
962 inline double get_Mach_number() const { return mach_number; }
964 inline double get_Static_pressure() const { return static_pressure; }
965 inline double get_Total_pressure() const { return total_pressure; }
966 // inline void set_Total_pressure( double tp ) { total_pressure = tp; }
967 // inline double get_Impact_pressure() const { return impact_pressure; }
968 // inline void set_Impact_pressure( double ip ) { impact_pressure = ip; }
969 inline double get_Dynamic_pressure() const { return dynamic_pressure; }
970 // inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; }
972 inline double get_Static_temperature() const { return static_temperature; }
973 inline double get_Total_temperature() const { return total_temperature; }
974 // inline void set_Total_temperature( double t ) { total_temperature = t; }
976 inline double get_Sea_level_radius() const { return sea_level_radius; }
977 inline double get_Earth_position_angle() const {
978 return earth_position_angle;
981 inline double get_Runway_altitude() const { return runway_altitude; }
982 // inline double get_Runway_latitude() const { return runway_latitude; }
983 // inline void set_Runway_latitude( double lat ) { runway_latitude = lat; }
984 // inline double get_Runway_longitude() const { return runway_longitude; }
985 // inline void set_Runway_longitude( double lon ) {
986 // runway_longitude = lon;
988 // inline double get_Runway_heading() const { return runway_heading; }
989 // inline void set_Runway_heading( double h ) { runway_heading = h; }
991 // inline double get_Radius_to_rwy() const { return radius_to_rwy; }
992 // inline void set_Radius_to_rwy( double r ) { radius_to_rwy = r; }
994 // inline double * get_D_cg_rwy_local_v() { return d_cg_rwy_local_v; }
995 // inline double get_D_cg_north_of_rwy() const {
996 // return d_cg_rwy_local_v[0];
998 // inline double get_D_cg_east_of_rwy() const {
999 // return d_cg_rwy_local_v[1];
1001 // inline double get_D_cg_above_rwy() const { return d_cg_rwy_local_v[2]; }
1002 /* inline void set_CG_Rwy_Local( double north, double east, double above )
1004 d_cg_rwy_local_v[0] = north;
1005 d_cg_rwy_local_v[1] = east;
1006 d_cg_rwy_local_v[2] = above;
1009 // inline double * get_D_cg_rwy_rwy_v() { return d_cg_rwy_rwy_v; }
1010 // inline double get_X_cg_rwy() const { return d_cg_rwy_rwy_v[0]; }
1011 // inline double get_Y_cg_rwy() const { return d_cg_rwy_rwy_v[1]; }
1012 // inline double get_H_cg_rwy() const { return d_cg_rwy_rwy_v[2]; }
1013 /* inline void set_CG_Rwy_Rwy( double x, double y, double h )
1015 d_cg_rwy_rwy_v[0] = x;
1016 d_cg_rwy_rwy_v[1] = y;
1017 d_cg_rwy_rwy_v[2] = h;
1020 // inline double * get_D_pilot_rwy_local_v() { return d_pilot_rwy_local_v; }
1021 // inline double get_D_pilot_north_of_rwy() const {
1022 // return d_pilot_rwy_local_v[0];
1024 // inline double get_D_pilot_east_of_rwy() const {
1025 // return d_pilot_rwy_local_v[1];
1027 // inline double get_D_pilot_above_rwy() const {
1028 // return d_pilot_rwy_local_v[2];
1030 /* inline void set_Pilot_Rwy_Local( double north, double east, double above )
1032 d_pilot_rwy_local_v[0] = north;
1033 d_pilot_rwy_local_v[1] = east;
1034 d_pilot_rwy_local_v[2] = above;
1037 // inline double * get_D_pilot_rwy_rwy_v() { return d_pilot_rwy_rwy_v; }
1038 // inline double get_X_pilot_rwy() const { return d_pilot_rwy_rwy_v[0]; }
1039 // inline double get_Y_pilot_rwy() const { return d_pilot_rwy_rwy_v[1]; }
1040 // inline double get_H_pilot_rwy() const { return d_pilot_rwy_rwy_v[2]; }
1041 /* inline void set_Pilot_Rwy_Rwy( double x, double y, double h )
1043 d_pilot_rwy_rwy_v[0] = x;
1044 d_pilot_rwy_rwy_v[1] = y;
1045 d_pilot_rwy_rwy_v[2] = h;
1048 inline double get_Climb_Rate() const { return climb_rate; }
1050 // inline SGTimeStamp get_time_stamp() const { return valid_stamp; }
1051 // inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
1053 // Extrapolate FDM based on time_offset (in usec)
1054 void extrapolate( int time_offset );
1056 // sin/cos lat_geocentric
1057 inline double get_sin_lat_geocentric(void) const {
1058 return sin_lat_geocentric;
1060 inline double get_cos_lat_geocentric(void) const {
1061 return cos_lat_geocentric;
1064 inline double get_sin_longitude(void) const {
1065 return sin_longitude;
1067 inline double get_cos_longitude(void) const {
1068 return cos_longitude;
1071 inline double get_sin_latitude(void) const {
1072 return sin_latitude;
1074 inline double get_cos_latitude(void) const {
1075 return cos_latitude;
1078 // Auxilliary variables
1079 inline double get_daux( int n ) const { return daux[n]; }
1080 inline float get_faux( int n ) const { return faux[n]; }
1081 inline int get_iaux( int n ) const { return iaux[n]; }
1083 // Model tied to FDM
1084 FGAircraftModel * getACModel() const { return _acmodel; }
1086 // Note that currently this is the "same" value runway altitude...
1087 inline double get_ground_elev_ft() const { return runway_altitude; }
1092 typedef list < FGInterface > fdm_state_list;
1093 typedef fdm_state_list::iterator fdm_state_list_iterator;
1094 typedef fdm_state_list::const_iterator const_fdm_state_list_iterator;
1097 extern FGInterface * cur_fdm_state;
1100 // General interface to the flight model routines
1103 // Toggle data logging on/off
1104 void fgToggleFDMdataLogging(void);
1107 #endif // _FLIGHT_HXX