1 // flight.hxx -- define shared flight model parameters
3 // Written by Curtis Olson, started May 1997.
5 // Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
29 # error This library requires C++
35 `FGInterface::get_Longitude ()'
36 `FGInterface::get_Latitude ()'
37 `FGInterface::get_Altitude ()'
38 `FGInterface::get_Phi ()'
39 `FGInterface::get_Theta ()'
40 `FGInterface::get_Psi ()'
41 `FGInterface::get_V_equiv_kts ()'
43 `FGInterface::get_Mass ()'
44 `FGInterface::get_I_xx ()'
45 `FGInterface::get_I_yy ()'
46 `FGInterface::get_I_zz ()'
47 `FGInterface::get_I_xz ()'
49 `FGInterface::get_V_north ()'
50 `FGInterface::get_V_east ()'
51 `FGInterface::get_V_down ()'
53 `FGInterface::get_P_Body ()'
54 `FGInterface::get_Q_Body ()'
55 `FGInterface::get_R_Body ()'
57 `FGInterface::get_Gamma_vert_rad ()'
58 `FGInterface::get_Climb_Rate ()'
59 `FGInterface::get_Alpha ()'
60 `FGInterface::get_Beta ()'
62 `FGInterface::get_Runway_altitude ()'
64 `FGInterface::get_Lon_geocentric ()'
65 `FGInterface::get_Lat_geocentric ()'
66 `FGInterface::get_Sea_level_radius ()'
67 `FGInterface::get_Earth_position_angle ()'
69 `FGInterface::get_Latitude_dot()'
70 `FGInterface::get_Longitude_dot()'
71 `FGInterface::get_Radius_dot()'
73 `FGInterface::get_Dx_cg ()'
74 `FGInterface::get_Dy_cg ()'
75 `FGInterface::get_Dz_cg ()'
77 `FGInterface::get_T_local_to_body_11 ()' ... `FGInterface::get_T_local_to_body_33 ()'
79 `FGInterface::get_Radius_to_vehicle ()'
84 #include <simgear/compiler.h>
92 #include <simgear/constants.h>
93 #include <simgear/timing/timestamp.hxx>
95 #include <Main/fgfs.hxx>
102 typedef double FG_VECTOR_3[3];
105 class FGEngInterface {
116 double Manifold_Pressure;
118 double Percentage_Power;
124 double PercentN1,N1; //GE,CFM
126 double EPR; //P&W, RR?
129 double InletAngles[3];
130 double InletPosition[3];
131 double ThrustVector[3];
135 FGEngInterface(void);
136 ~FGEngInterface(void);
138 inline double get_Throttle() const { return Throttle; }
139 inline double get_Mixture() const { return Mixture; }
140 inline double get_Prop_Advance() const { return Prop_Advance; }
141 inline double get_RPM() const { return RPM; }
142 inline double get_Manifold_Pressure() const { return Manifold_Pressure; }
143 inline double get_MaxHP() const { return MaxHP; }
144 inline double get_Percentage_Power() const { return Percentage_Power; }
145 inline double get_EGT() const { return EGT; }
146 inline double get_CHT() const { return CHT; }
147 inline double get_prop_thrust() const { return prop_thrust; }
149 inline void set_Throttle( double t ) { Throttle = t; }
150 inline void set_Mixture( double m ) { Mixture = m; }
151 inline void set_Prop_Advance( double p ) { Prop_Advance = p; }
152 inline void set_RPM( double r ) { RPM = r; }
153 inline void set_Manifold_Pressure( double mp ) { Manifold_Pressure = mp; }
154 inline void set_MaxHP( double hp ) { MaxHP = hp; }
155 inline void set_Percentage_Power( double p ) { Percentage_Power = p; }
156 inline void set_EGT( double e ) { EGT = e; }
157 inline void set_CHT( double c ) { CHT = c; }
158 inline void set_prop_thrust( double t ) { prop_thrust = t; }
162 typedef vector < FGEngInterface > engine_list;
165 // This is based heavily on LaRCsim/ls_generic.h
166 class FGInterface : public FGSubsystem {
170 // Pilot location rel to ref pt
171 FG_VECTOR_3 d_pilot_rp_body_v;
173 // CG position w.r.t. ref. point
174 FG_VECTOR_3 d_cg_rp_body_v;
177 FG_VECTOR_3 f_body_total_v;
178 FG_VECTOR_3 f_local_total_v;
179 FG_VECTOR_3 f_aero_v;
180 FG_VECTOR_3 f_engine_v;
181 FG_VECTOR_3 f_gear_v;
184 FG_VECTOR_3 m_total_rp_v;
185 FG_VECTOR_3 m_total_cg_v;
186 FG_VECTOR_3 m_aero_v;
187 FG_VECTOR_3 m_engine_v;
188 FG_VECTOR_3 m_gear_v;
191 FG_VECTOR_3 v_dot_local_v;
192 FG_VECTOR_3 v_dot_body_v;
193 FG_VECTOR_3 a_cg_body_v;
194 FG_VECTOR_3 a_pilot_body_v;
195 FG_VECTOR_3 n_cg_body_v;
196 FG_VECTOR_3 n_pilot_body_v;
197 FG_VECTOR_3 omega_dot_body_v;
200 FG_VECTOR_3 v_local_v;
201 FG_VECTOR_3 v_local_rel_ground_v; // V rel w.r.t. earth surface
202 FG_VECTOR_3 v_local_airmass_v; // velocity of airmass (steady winds)
203 FG_VECTOR_3 v_local_rel_airmass_v; // velocity of veh. relative to airmass
204 FG_VECTOR_3 v_local_gust_v; // linear turbulence components, L frame
205 FG_VECTOR_3 v_wind_body_v; // Wind-relative velocities in body axis
207 FG_VECTOR_3 omega_body_v; // Angular B rates
208 FG_VECTOR_3 omega_local_v; // Angular L rates
209 FG_VECTOR_3 omega_total_v; // Diff btw B & L
210 FG_VECTOR_3 euler_rates_v;
211 FG_VECTOR_3 geocentric_rates_v; // Geocentric linear velocities
214 FG_VECTOR_3 geocentric_position_v;
215 FG_VECTOR_3 geodetic_position_v;
216 FG_VECTOR_3 euler_angles_v;
218 // Miscellaneous Quantities
219 FG_VECTOR_3 d_cg_rwy_local_v; // CG rel. to rwy in local coords
220 FG_VECTOR_3 d_cg_rwy_rwy_v; // CG relative to rwy, in rwy coordinates
221 FG_VECTOR_3 d_pilot_rwy_local_v; // pilot rel. to rwy in local coords
222 FG_VECTOR_3 d_pilot_rwy_rwy_v; // pilot rel. to rwy, in rwy coords.
225 double mass, i_xx, i_yy, i_zz, i_xz;
227 // Normal Load Factor
231 double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
232 double v_ground_speed, v_equiv, v_equiv_kts;
233 double v_calibrated, v_calibrated_kts;
235 // Miscellaneious Quantities
236 double t_local_to_body_m[3][3]; // Transformation matrix L to B
237 double gravity; // Local acceleration due to G
238 double centrifugal_relief; // load factor reduction due to speed
239 double alpha, beta, alpha_dot, beta_dot; // in radians
240 double cos_alpha, sin_alpha, cos_beta, sin_beta;
241 double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
242 double gamma_vert_rad, gamma_horiz_rad; // Flight path angles
243 double sigma, density, v_sound, mach_number;
244 double static_pressure, total_pressure, impact_pressure;
245 double dynamic_pressure;
246 double static_temperature, total_temperature;
247 double sea_level_radius, earth_position_angle;
248 double runway_altitude, runway_latitude, runway_longitude;
249 double runway_heading;
250 double radius_to_rwy;
251 double climb_rate; // in feet per second
252 double sin_lat_geocentric, cos_lat_geocentric;
253 double sin_longitude, cos_longitude;
254 double sin_latitude, cos_latitude;
260 SGTimeStamp valid_stamp; // time this record is valid
261 SGTimeStamp next_stamp; // time this record is valid
264 virtual bool init( double dt );
267 void _updatePosition( double lat_geoc, double lon, double alt );
268 void _updateWeather( void );
270 inline void _set_Inertias( double m, double xx, double yy,
271 double zz, double xz)
279 inline void _set_CG_Position( double dx, double dy, double dz ) {
280 d_cg_rp_body_v[0] = dx;
281 d_cg_rp_body_v[1] = dy;
282 d_cg_rp_body_v[2] = dz;
284 inline void _set_Accels_Local( double north, double east, double down ) {
285 v_dot_local_v[0] = north;
286 v_dot_local_v[1] = east;
287 v_dot_local_v[2] = down;
289 inline void _set_Accels_Body( double u, double v, double w ) {
294 inline void _set_Accels_CG_Body( double x, double y, double z ) {
299 inline void _set_Accels_Pilot_Body( double x, double y, double z ) {
300 a_pilot_body_v[0] = x;
301 a_pilot_body_v[1] = y;
302 a_pilot_body_v[2] = z;
304 inline void _set_Accels_CG_Body_N( double x, double y, double z ) {
309 void _set_Nlf(double n) { nlf=n; }
310 inline void _set_Velocities_Local( double north, double east, double down ){
311 v_local_v[0] = north;
315 inline void _set_Velocities_Ground(double north, double east, double down) {
316 v_local_rel_ground_v[0] = north;
317 v_local_rel_ground_v[1] = east;
318 v_local_rel_ground_v[2] = down;
320 inline void _set_Velocities_Local_Airmass( double north, double east,
323 v_local_airmass_v[0] = north;
324 v_local_airmass_v[1] = east;
325 v_local_airmass_v[2] = down;
327 inline void _set_Velocities_Wind_Body( double u, double v, double w) {
328 v_wind_body_v[0] = u;
329 v_wind_body_v[1] = v;
330 v_wind_body_v[2] = w;
332 inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; }
333 inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
334 inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
335 inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
336 inline void _set_Omega_Body( double p, double q, double r ) {
341 inline void _set_Euler_Rates( double phi, double theta, double psi ) {
342 euler_rates_v[0] = phi;
343 euler_rates_v[1] = theta;
344 euler_rates_v[2] = psi;
346 inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
347 geocentric_rates_v[0] = lat;
348 geocentric_rates_v[1] = lon;
349 geocentric_rates_v[2] = rad;
352 inline void _set_Radius_to_vehicle(double radius) {
353 geocentric_position_v[2] = radius;
356 inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
357 geocentric_position_v[0] = lat;
358 geocentric_position_v[1] = lon;
359 geocentric_position_v[2] = rad;
361 inline void _set_Latitude(double lat) { geodetic_position_v[0] = lat; }
362 inline void _set_Longitude(double lon) { geodetic_position_v[1] = lon; }
363 inline void _set_Altitude(double altitude) {
364 geodetic_position_v[2] = altitude;
366 inline void _set_Altitude_AGL(double agl) {
369 inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
370 geodetic_position_v[0] = lat;
371 geodetic_position_v[1] = lon;
372 geodetic_position_v[2] = alt;
374 inline void _set_Euler_Angles( double phi, double theta, double psi ) {
375 euler_angles_v[0] = phi;
376 euler_angles_v[1] = theta;
377 euler_angles_v[2] = psi;
379 inline void _set_T_Local_to_Body( int i, int j, double value) {
380 t_local_to_body_m[i-1][j-1] = value;
382 inline void _set_T_Local_to_Body( double m[3][3] ) {
384 for ( i = 0; i < 3; i++ ) {
385 for ( j = 0; j < 3; j++ ) {
386 t_local_to_body_m[i][j] = m[i][j];
390 inline void _set_Alpha( double a ) { alpha = a; }
391 inline void _set_Beta( double b ) { beta = b; }
392 inline void _set_Cos_phi( double cp ) { cos_phi = cp; }
393 inline void _set_Cos_theta( double ct ) { cos_theta = ct; }
394 inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
395 inline void _set_Density( double d ) { density = d; }
396 inline void _set_Mach_number( double m ) { mach_number = m; }
397 inline void _set_Static_pressure( double sp ) { static_pressure = sp; }
398 inline void _set_Static_temperature( double t ) { static_temperature = t; }
399 inline void _set_Sea_level_radius( double r ) { sea_level_radius = r; }
400 inline void _set_Earth_position_angle(double a) {
401 earth_position_angle = a;
403 inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; }
404 inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
405 inline void _set_sin_lat_geocentric(double parm) {
406 sin_lat_geocentric = sin(parm);
408 inline void _set_cos_lat_geocentric(double parm) {
409 cos_lat_geocentric = cos(parm);
411 inline void _set_sin_cos_longitude(double parm) {
412 sin_longitude = sin(parm);
413 cos_longitude = cos(parm);
415 inline void _set_sin_cos_latitude(double parm) {
416 sin_latitude = sin(parm);
417 cos_latitude = cos(parm);
423 virtual ~FGInterface();
425 virtual void init ();
426 virtual void bind ();
427 virtual void unbind ();
428 virtual void update ();
429 virtual bool update( int multi_loop );
431 // Define the various supported flight models (many not yet implemented)
436 // The NASA LaRCsim (Navion) flight model
439 // Jon S. Berndt's new FDM written from the ground up in C++
442 // Christian's hot air balloon simulation
445 // Aeronautical DEvelopment AGEncy, Bangalore India
448 // The following aren't implemented but are here to spark
449 // thoughts and discussions, and maybe even action.
456 // Driven externally via a serial port, net, file, etc.
461 virtual void set_Latitude(double lat); // geocentric
462 virtual void set_Longitude(double lon);
463 virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
464 virtual void set_AltitudeAGL(double altagl); // and vice-versa
465 virtual void set_Latitude_deg (double lat) {
466 set_Latitude(lat * DEG_TO_RAD);
468 virtual void set_Longitude_deg (double lon) {
469 set_Longitude(lon * DEG_TO_RAD);
472 // Speeds -- setting any of these will trigger a re-calc of the rest
473 virtual void set_V_calibrated_kts(double vc);
474 virtual void set_Mach_number(double mach);
475 virtual void set_Velocities_Local( double north, double east, double down );
476 inline void set_V_north (double north) { v_local_v[0] = north; }
477 inline void set_V_east (double east) { v_local_v[1] = east; }
478 inline void set_V_down (double down) { v_local_v[2] = down; }
479 virtual void set_Velocities_Wind_Body( double u, double v, double w);
480 virtual void set_uBody (double uBody) { v_wind_body_v[0] = uBody; }
481 virtual void set_vBody (double vBody) { v_wind_body_v[1] = vBody; }
482 virtual void set_wBody (double wBody) { v_wind_body_v[2] = wBody; }
485 virtual void set_Euler_Angles( double phi, double theta, double psi );
486 virtual void set_Phi (double phi) {
487 set_Euler_Angles(phi, get_Theta(), get_Psi());
489 virtual void set_Theta (double theta) {
490 set_Euler_Angles(get_Phi(), theta, get_Psi());
492 virtual void set_Psi (double psi) {
493 set_Euler_Angles(get_Phi(), get_Theta(), psi);
495 virtual void set_Phi_deg (double phi) { set_Phi(phi * DEG_TO_RAD); }
496 virtual void set_Theta_deg (double theta) {
497 set_Theta(theta * DEG_TO_RAD);
499 virtual void set_Psi_deg (double psi) { set_Psi(psi * DEG_TO_RAD); }
502 virtual void set_Climb_Rate( double roc);
503 virtual void set_Gamma_vert_rad( double gamma);
506 virtual void set_Sea_level_radius(double slr);
507 virtual void set_Runway_altitude(double ralt);
509 virtual void set_Static_pressure(double p);
510 virtual void set_Static_temperature(double T);
511 virtual void set_Density(double rho);
513 virtual void set_Velocities_Local_Airmass (double wnorth,
518 // ========== Mass properties and geometry values ==========
521 inline double get_Mass() const { return mass; }
522 inline double get_I_xx() const { return i_xx; }
523 inline double get_I_yy() const { return i_yy; }
524 inline double get_I_zz() const { return i_zz; }
525 inline double get_I_xz() const { return i_xz; }
527 // Pilot location rel to ref pt
528 // inline double * get_D_pilot_rp_body_v() {
529 // return d_pilot_rp_body_v;
531 // inline double get_Dx_pilot() const { return d_pilot_rp_body_v[0]; }
532 // inline double get_Dy_pilot() const { return d_pilot_rp_body_v[1]; }
533 // inline double get_Dz_pilot() const { return d_pilot_rp_body_v[2]; }
534 /* inline void set_Pilot_Location( double dx, double dy, double dz ) {
535 d_pilot_rp_body_v[0] = dx;
536 d_pilot_rp_body_v[1] = dy;
537 d_pilot_rp_body_v[2] = dz;
540 // CG position w.r.t. ref. point
541 // inline double * get_D_cg_rp_body_v() { return d_cg_rp_body_v; }
542 inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; }
543 inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; }
544 inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
546 // ========== Forces ==========
548 // inline double * get_F_body_total_v() { return f_body_total_v; }
549 // inline double get_F_X() const { return f_body_total_v[0]; }
550 // inline double get_F_Y() const { return f_body_total_v[1]; }
551 // inline double get_F_Z() const { return f_body_total_v[2]; }
552 /* inline void set_Forces_Body_Total( double x, double y, double z ) {
553 f_body_total_v[0] = x;
554 f_body_total_v[1] = y;
555 f_body_total_v[2] = z;
558 // inline double * get_F_local_total_v() { return f_local_total_v; }
559 // inline double get_F_north() const { return f_local_total_v[0]; }
560 // inline double get_F_east() const { return f_local_total_v[1]; }
561 // inline double get_F_down() const { return f_local_total_v[2]; }
562 /* inline void set_Forces_Local_Total( double x, double y, double z ) {
563 f_local_total_v[0] = x;
564 f_local_total_v[1] = y;
565 f_local_total_v[2] = z;
568 // inline double * get_F_aero_v() { return f_aero_v; }
569 // inline double get_F_X_aero() const { return f_aero_v[0]; }
570 // inline double get_F_Y_aero() const { return f_aero_v[1]; }
571 // inline double get_F_Z_aero() const { return f_aero_v[2]; }
572 /* inline void set_Forces_Aero( double x, double y, double z ) {
578 // inline double * get_F_engine_v() { return f_engine_v; }
579 // inline double get_F_X_engine() const { return f_engine_v[0]; }
580 // inline double get_F_Y_engine() const { return f_engine_v[1]; }
581 // inline double get_F_Z_engine() const { return f_engine_v[2]; }
582 /* inline void set_Forces_Engine( double x, double y, double z ) {
588 // inline double * get_F_gear_v() { return f_gear_v; }
589 // inline double get_F_X_gear() const { return f_gear_v[0]; }
590 // inline double get_F_Y_gear() const { return f_gear_v[1]; }
591 // inline double get_F_Z_gear() const { return f_gear_v[2]; }
592 /* inline void set_Forces_Gear( double x, double y, double z ) {
598 // ========== Moments ==========
600 // inline double * get_M_total_rp_v() { return m_total_rp_v; }
601 // inline double get_M_l_rp() const { return m_total_rp_v[0]; }
602 // inline double get_M_m_rp() const { return m_total_rp_v[1]; }
603 // inline double get_M_n_rp() const { return m_total_rp_v[2]; }
604 /* inline void set_Moments_Total_RP( double l, double m, double n ) {
610 // inline double * get_M_total_cg_v() { return m_total_cg_v; }
611 // inline double get_M_l_cg() const { return m_total_cg_v[0]; }
612 // inline double get_M_m_cg() const { return m_total_cg_v[1]; }
613 // inline double get_M_n_cg() const { return m_total_cg_v[2]; }
614 /* inline void set_Moments_Total_CG( double l, double m, double n ) {
620 // inline double * get_M_aero_v() { return m_aero_v; }
621 // inline double get_M_l_aero() const { return m_aero_v[0]; }
622 // inline double get_M_m_aero() const { return m_aero_v[1]; }
623 // inline double get_M_n_aero() const { return m_aero_v[2]; }
624 /* inline void set_Moments_Aero( double l, double m, double n ) {
630 // inline double * get_M_engine_v() { return m_engine_v; }
631 // inline double get_M_l_engine() const { return m_engine_v[0]; }
632 // inline double get_M_m_engine() const { return m_engine_v[1]; }
633 // inline double get_M_n_engine() const { return m_engine_v[2]; }
634 /* inline void set_Moments_Engine( double l, double m, double n ) {
640 // inline double * get_M_gear_v() { return m_gear_v; }
641 // inline double get_M_l_gear() const { return m_gear_v[0]; }
642 // inline double get_M_m_gear() const { return m_gear_v[1]; }
643 // inline double get_M_n_gear() const { return m_gear_v[2]; }
644 /* inline void set_Moments_Gear( double l, double m, double n ) {
650 // ========== Accelerations ==========
652 // inline double * get_V_dot_local_v() { return v_dot_local_v; }
653 inline double get_V_dot_north() const { return v_dot_local_v[0]; }
654 inline double get_V_dot_east() const { return v_dot_local_v[1]; }
655 inline double get_V_dot_down() const { return v_dot_local_v[2]; }
657 // inline double * get_V_dot_body_v() { return v_dot_body_v; }
658 inline double get_U_dot_body() const { return v_dot_body_v[0]; }
659 inline double get_V_dot_body() const { return v_dot_body_v[1]; }
660 inline double get_W_dot_body() const { return v_dot_body_v[2]; }
662 // inline double * get_A_cg_body_v() { return a_cg_body_v; }
663 inline double get_A_X_cg() const { return a_cg_body_v[0]; }
664 inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
665 inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
667 // inline double * get_A_pilot_body_v() { return a_pilot_body_v; }
668 inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
669 inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
670 inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
672 // inline double * get_N_cg_body_v() { return n_cg_body_v; }
673 inline double get_N_X_cg() const { return n_cg_body_v[0]; }
674 inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
675 inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
677 // inline double * get_N_pilot_body_v() { return n_pilot_body_v; }
678 // inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
679 // inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; }
680 // inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; }
681 // inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
682 // n_pilot_body_v[0] = x;
683 // n_pilot_body_v[1] = y;
684 // n_pilot_body_v[2] = z;
687 inline double get_Nlf(void) { return nlf; }
689 // inline double * get_Omega_dot_body_v() { return omega_dot_body_v; }
690 // inline double get_P_dot_body() const { return omega_dot_body_v[0]; }
691 // inline double get_Q_dot_body() const { return omega_dot_body_v[1]; }
692 // inline double get_R_dot_body() const { return omega_dot_body_v[2]; }
693 /* inline void set_Accels_Omega( double p, double q, double r ) {
694 omega_dot_body_v[0] = p;
695 omega_dot_body_v[1] = q;
696 omega_dot_body_v[2] = r;
700 // ========== Velocities ==========
702 // inline double * get_V_local_v() { return v_local_v; }
703 inline double get_V_north() const { return v_local_v[0]; }
704 inline double get_V_east() const { return v_local_v[1]; }
705 inline double get_V_down() const { return v_local_v[2]; }
706 inline double get_uBody () const { return v_wind_body_v[0]; }
707 inline double get_vBody () const { return v_wind_body_v[1]; }
708 inline double get_wBody () const { return v_wind_body_v[2]; }
710 // inline double * get_V_local_rel_ground_v() {
711 // return v_local_rel_ground_v;
713 // inline double get_V_north_rel_ground() const {
714 // return v_local_rel_ground_v[0];
716 // inline double get_V_east_rel_ground() const {
717 // return v_local_rel_ground_v[1];
719 // inline double get_V_down_rel_ground() const {
720 // return v_local_rel_ground_v[2];
723 // inline double * get_V_local_airmass_v() { return v_local_airmass_v; }
724 inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
725 inline double get_V_east_airmass() const { return v_local_airmass_v[1]; }
726 inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
729 // inline double * get_V_local_rel_airmass_v() {
730 // return v_local_rel_airmass_v;
732 // inline double get_V_north_rel_airmass() const {
733 // return v_local_rel_airmass_v[0];
735 // inline double get_V_east_rel_airmass() const {
736 // return v_local_rel_airmass_v[1];
738 // inline double get_V_down_rel_airmass() const {
739 // return v_local_rel_airmass_v[2];
741 /* inline void set_Velocities_Local_Rel_Airmass( double north, double east,
744 v_local_rel_airmass_v[0] = north;
745 v_local_rel_airmass_v[1] = east;
746 v_local_rel_airmass_v[2] = down;
749 // inline double * get_V_local_gust_v() { return v_local_gust_v; }
750 // inline double get_U_gust() const { return v_local_gust_v[0]; }
751 // inline double get_V_gust() const { return v_local_gust_v[1]; }
752 // inline double get_W_gust() const { return v_local_gust_v[2]; }
753 /* inline void set_Velocities_Gust( double u, double v, double w)
755 v_local_gust_v[0] = u;
756 v_local_gust_v[1] = v;
757 v_local_gust_v[2] = w;
760 // inline double * get_V_wind_body_v() { return v_wind_body_v; }
761 inline double get_U_body() const { return v_wind_body_v[0]; }
762 inline double get_V_body() const { return v_wind_body_v[1]; }
763 inline double get_W_body() const { return v_wind_body_v[2]; }
765 inline double get_V_rel_wind() const { return v_rel_wind; }
766 // inline void set_V_rel_wind(double wind) { v_rel_wind = wind; }
768 // inline double get_V_true_kts() const { return v_true_kts; }
769 // inline void set_V_true_kts(double kts) { v_true_kts = kts; }
771 // inline double get_V_rel_ground() const { return v_rel_ground; }
772 // inline void set_V_rel_ground( double v ) { v_rel_ground = v; }
774 // inline double get_V_inertial() const { return v_inertial; }
775 // inline void set_V_inertial(double v) { v_inertial = v; }
777 inline double get_V_ground_speed() const { return v_ground_speed; }
779 // inline double get_V_equiv() const { return v_equiv; }
780 // inline void set_V_equiv( double v ) { v_equiv = v; }
782 inline double get_V_equiv_kts() const { return v_equiv_kts; }
784 //inline double get_V_calibrated() const { return v_calibrated; }
785 //inline void set_V_calibrated( double v ) { v_calibrated = v; }
787 inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
789 // inline double * get_Omega_body_v() { return omega_body_v; }
790 inline double get_P_body() const { return omega_body_v[0]; }
791 inline double get_Q_body() const { return omega_body_v[1]; }
792 inline double get_R_body() const { return omega_body_v[2]; }
794 // inline double * get_Omega_local_v() { return omega_local_v; }
795 // inline double get_P_local() const { return omega_local_v[0]; }
796 // inline double get_Q_local() const { return omega_local_v[1]; }
797 // inline double get_R_local() const { return omega_local_v[2]; }
798 /* inline void set_Omega_Local( double p, double q, double r ) {
799 omega_local_v[0] = p;
800 omega_local_v[1] = q;
801 omega_local_v[2] = r;
804 // inline double * get_Omega_total_v() { return omega_total_v; }
805 // inline double get_P_total() const { return omega_total_v[0]; }
806 // inline double get_Q_total() const { return omega_total_v[1]; }
807 // inline double get_R_total() const { return omega_total_v[2]; }
808 /* inline void set_Omega_Total( double p, double q, double r ) {
809 omega_total_v[0] = p;
810 omega_total_v[1] = q;
811 omega_total_v[2] = r;
814 // inline double * get_Euler_rates_v() { return euler_rates_v; }
815 inline double get_Phi_dot() const { return euler_rates_v[0]; }
816 inline double get_Theta_dot() const { return euler_rates_v[1]; }
817 inline double get_Psi_dot() const { return euler_rates_v[2]; }
819 // inline double * get_Geocentric_rates_v() { return geocentric_rates_v; }
820 inline double get_Latitude_dot() const { return geocentric_rates_v[0]; }
821 inline double get_Longitude_dot() const { return geocentric_rates_v[1]; }
822 inline double get_Radius_dot() const { return geocentric_rates_v[2]; }
824 // ========== Positions ==========
826 // inline double * get_Geocentric_position_v() {
827 // return geocentric_position_v;
829 inline double get_Lat_geocentric() const {
830 return geocentric_position_v[0];
832 inline double get_Lon_geocentric() const {
833 return geocentric_position_v[1];
835 inline double get_Radius_to_vehicle() const {
836 return geocentric_position_v[2];
839 // inline double * get_Geodetic_position_v() { return geodetic_position_v; }
840 inline double get_Latitude() const { return geodetic_position_v[0]; }
841 inline double get_Longitude() const { return geodetic_position_v[1]; }
842 inline double get_Altitude() const { return geodetic_position_v[2]; }
843 inline double get_Altitude_AGL(void) const { return altitude_agl; }
845 inline double get_Latitude_deg () const {
846 return get_Latitude() * RAD_TO_DEG;
848 inline double get_Longitude_deg () const {
849 return get_Longitude() * RAD_TO_DEG;
852 // inline double * get_Euler_angles_v() { return euler_angles_v; }
853 inline double get_Phi() const { return euler_angles_v[0]; }
854 inline double get_Theta() const { return euler_angles_v[1]; }
855 inline double get_Psi() const { return euler_angles_v[2]; }
856 inline double get_Phi_deg () const { return get_Phi() * RAD_TO_DEG; }
857 inline double get_Theta_deg () const { return get_Theta() * RAD_TO_DEG; }
858 inline double get_Psi_deg () const { return get_Psi() * RAD_TO_DEG; }
861 // ========== Miscellaneous quantities ==========
863 // inline double * get_T_local_to_body_m() { return t_local_to_body_m; }
864 inline double get_T_local_to_body_11() const {
865 return t_local_to_body_m[0][0];
867 inline double get_T_local_to_body_12() const {
868 return t_local_to_body_m[0][1];
870 inline double get_T_local_to_body_13() const {
871 return t_local_to_body_m[0][2];
873 inline double get_T_local_to_body_21() const {
874 return t_local_to_body_m[1][0];
876 inline double get_T_local_to_body_22() const {
877 return t_local_to_body_m[1][1];
879 inline double get_T_local_to_body_23() const {
880 return t_local_to_body_m[1][2];
882 inline double get_T_local_to_body_31() const {
883 return t_local_to_body_m[2][0];
885 inline double get_T_local_to_body_32() const {
886 return t_local_to_body_m[2][1];
888 inline double get_T_local_to_body_33() const {
889 return t_local_to_body_m[2][2];
892 // inline double get_Gravity() const { return gravity; }
893 // inline void set_Gravity(double g) { gravity = g; }
895 // inline double get_Centrifugal_relief() const {
896 // return centrifugal_relief;
898 // inline void set_Centrifugal_relief(double cr) {
899 // centrifugal_relief = cr;
902 inline double get_Alpha() const { return alpha; }
903 inline double get_Beta() const { return beta; }
904 // inline double get_Alpha_dot() const { return alpha_dot; }
905 // inline void set_Alpha_dot( double ad ) { alpha_dot = ad; }
906 // inline double get_Beta_dot() const { return beta_dot; }
907 // inline void set_Beta_dot( double bd ) { beta_dot = bd; }
909 // inline double get_Cos_alpha() const { return cos_alpha; }
910 // inline void set_Cos_alpha( double ca ) { cos_alpha = ca; }
911 // inline double get_Sin_alpha() const { return sin_alpha; }
912 // inline void set_Sin_alpha( double sa ) { sin_alpha = sa; }
913 // inline double get_Cos_beta() const { return cos_beta; }
914 // inline void set_Cos_beta( double cb ) { cos_beta = cb; }
915 // inline double get_Sin_beta() const { return sin_beta; }
916 // inline void set_Sin_beta( double sb ) { sin_beta = sb; }
918 inline double get_Cos_phi() const { return cos_phi; }
919 // inline double get_Sin_phi() const { return sin_phi; }
920 // inline void set_Sin_phi( double sp ) { sin_phi = sp; }
921 inline double get_Cos_theta() const { return cos_theta; }
922 // inline double get_Sin_theta() const { return sin_theta; }
923 // inline void set_Sin_theta( double st ) { sin_theta = st; }
924 // inline double get_Cos_psi() const { return cos_psi; }
925 // inline void set_Cos_psi( double cp ) { cos_psi = cp; }
926 // inline double get_Sin_psi() const { return sin_psi; }
927 // inline void set_Sin_psi( double sp ) { sin_psi = sp; }
929 inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
930 // inline double get_Gamma_horiz_rad() const { return gamma_horiz_rad; }
931 // inline void set_Gamma_horiz_rad( double gh ) { gamma_horiz_rad = gh; }
933 // inline double get_Sigma() const { return sigma; }
934 // inline void set_Sigma( double s ) { sigma = s; }
935 inline double get_Density() const { return density; }
936 // inline double get_V_sound() const { return v_sound; }
937 // inline void set_V_sound( double v ) { v_sound = v; }
938 inline double get_Mach_number() const { return mach_number; }
940 inline double get_Static_pressure() const { return static_pressure; }
941 // inline double get_Total_pressure() const { return total_pressure; }
942 // inline void set_Total_pressure( double tp ) { total_pressure = tp; }
943 // inline double get_Impact_pressure() const { return impact_pressure; }
944 // inline void set_Impact_pressure( double ip ) { impact_pressure = ip; }
945 // inline double get_Dynamic_pressure() const { return dynamic_pressure; }
946 // inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; }
948 inline double get_Static_temperature() const { return static_temperature; }
949 // inline double get_Total_temperature() const { return total_temperature; }
950 // inline void set_Total_temperature( double t ) { total_temperature = t; }
952 inline double get_Sea_level_radius() const { return sea_level_radius; }
953 inline double get_Earth_position_angle() const {
954 return earth_position_angle;
957 inline double get_Runway_altitude() const { return runway_altitude; }
958 // inline double get_Runway_latitude() const { return runway_latitude; }
959 // inline void set_Runway_latitude( double lat ) { runway_latitude = lat; }
960 // inline double get_Runway_longitude() const { return runway_longitude; }
961 // inline void set_Runway_longitude( double lon ) {
962 // runway_longitude = lon;
964 // inline double get_Runway_heading() const { return runway_heading; }
965 // inline void set_Runway_heading( double h ) { runway_heading = h; }
967 // inline double get_Radius_to_rwy() const { return radius_to_rwy; }
968 // inline void set_Radius_to_rwy( double r ) { radius_to_rwy = r; }
970 // inline double * get_D_cg_rwy_local_v() { return d_cg_rwy_local_v; }
971 // inline double get_D_cg_north_of_rwy() const {
972 // return d_cg_rwy_local_v[0];
974 // inline double get_D_cg_east_of_rwy() const {
975 // return d_cg_rwy_local_v[1];
977 // inline double get_D_cg_above_rwy() const { return d_cg_rwy_local_v[2]; }
978 /* inline void set_CG_Rwy_Local( double north, double east, double above )
980 d_cg_rwy_local_v[0] = north;
981 d_cg_rwy_local_v[1] = east;
982 d_cg_rwy_local_v[2] = above;
985 // inline double * get_D_cg_rwy_rwy_v() { return d_cg_rwy_rwy_v; }
986 // inline double get_X_cg_rwy() const { return d_cg_rwy_rwy_v[0]; }
987 // inline double get_Y_cg_rwy() const { return d_cg_rwy_rwy_v[1]; }
988 // inline double get_H_cg_rwy() const { return d_cg_rwy_rwy_v[2]; }
989 /* inline void set_CG_Rwy_Rwy( double x, double y, double h )
991 d_cg_rwy_rwy_v[0] = x;
992 d_cg_rwy_rwy_v[1] = y;
993 d_cg_rwy_rwy_v[2] = h;
996 // inline double * get_D_pilot_rwy_local_v() { return d_pilot_rwy_local_v; }
997 // inline double get_D_pilot_north_of_rwy() const {
998 // return d_pilot_rwy_local_v[0];
1000 // inline double get_D_pilot_east_of_rwy() const {
1001 // return d_pilot_rwy_local_v[1];
1003 // inline double get_D_pilot_above_rwy() const {
1004 // return d_pilot_rwy_local_v[2];
1006 /* inline void set_Pilot_Rwy_Local( double north, double east, double above )
1008 d_pilot_rwy_local_v[0] = north;
1009 d_pilot_rwy_local_v[1] = east;
1010 d_pilot_rwy_local_v[2] = above;
1013 // inline double * get_D_pilot_rwy_rwy_v() { return d_pilot_rwy_rwy_v; }
1014 // inline double get_X_pilot_rwy() const { return d_pilot_rwy_rwy_v[0]; }
1015 // inline double get_Y_pilot_rwy() const { return d_pilot_rwy_rwy_v[1]; }
1016 // inline double get_H_pilot_rwy() const { return d_pilot_rwy_rwy_v[2]; }
1017 /* inline void set_Pilot_Rwy_Rwy( double x, double y, double h )
1019 d_pilot_rwy_rwy_v[0] = x;
1020 d_pilot_rwy_rwy_v[1] = y;
1021 d_pilot_rwy_rwy_v[2] = h;
1024 inline double get_Climb_Rate() const { return climb_rate; }
1026 inline SGTimeStamp get_time_stamp() const { return valid_stamp; }
1027 inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
1029 // Extrapolate FDM based on time_offset (in usec)
1030 void extrapolate( int time_offset );
1032 // sin/cos lat_geocentric
1033 inline double get_sin_lat_geocentric(void) const {
1034 return sin_lat_geocentric;
1036 inline double get_cos_lat_geocentric(void) const {
1037 return cos_lat_geocentric;
1040 inline double get_sin_longitude(void) const {
1041 return sin_longitude;
1043 inline double get_cos_longitude(void) const {
1044 return cos_longitude;
1047 inline double get_sin_latitude(void) const {
1048 return sin_latitude;
1050 inline double get_cos_latitude(void) const {
1051 return cos_latitude;
1055 inline double get_num_engines() const {
1056 return engines.size();
1059 inline FGEngInterface* get_engine( int i ) {
1063 inline void add_engine( FGEngInterface e ) {
1064 engines.push_back( e );
1069 typedef list < FGInterface > fdm_state_list;
1070 typedef fdm_state_list::iterator fdm_state_list_iterator;
1071 typedef fdm_state_list::const_iterator const_fdm_state_list_iterator;
1074 extern FGInterface * cur_fdm_state;
1077 // General interface to the flight model routines
1079 // Set the altitude (force)
1080 void fgFDMForceAltitude(const string &model, double alt_meters);
1082 // Set the local ground elevation
1083 void fgFDMSetGroundElevation(const string &model, double alt_meters);
1086 #endif // _FLIGHT_HXX