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];
104 // This is based heavily on LaRCsim/ls_generic.h
105 class FGInterface : public FGSubsystem {
109 // Has the init() method been called. This is used to delay
110 // initialization until scenery can be loaded and we know the true
114 // Have we bound to the property system
117 // periodic update management variable. This is a scheme to run
118 // the fdm with a fixed delta-t. We control how many iteration of
119 // the fdm to run with the fixed dt based on the elapsed time from
120 // the last update. This allows us to maintain sync with the real
121 // time clock, even though each frame could take a random amount
122 // of time. Since "dt" is unlikely to divide evenly into the
123 // elapse time, we keep track of the remainder and add it into the
124 // next elapsed time. This yields a small amount of temporal
125 // jitter ( < dt ) but in practice seems to work well.
127 double delta_t; // delta "t"
128 SGTimeStamp time_stamp; // time stamp of last run
129 long elapsed; // time elapsed since last run
130 long remainder; // remainder time from last run
131 int multi_loop; // number of iterations of "delta_t" to run
133 // Pilot location rel to ref pt
134 FG_VECTOR_3 d_pilot_rp_body_v;
136 // CG position w.r.t. ref. point
137 FG_VECTOR_3 d_cg_rp_body_v;
140 FG_VECTOR_3 f_body_total_v;
141 FG_VECTOR_3 f_local_total_v;
142 FG_VECTOR_3 f_aero_v;
143 FG_VECTOR_3 f_engine_v;
144 FG_VECTOR_3 f_gear_v;
147 FG_VECTOR_3 m_total_rp_v;
148 FG_VECTOR_3 m_total_cg_v;
149 FG_VECTOR_3 m_aero_v;
150 FG_VECTOR_3 m_engine_v;
151 FG_VECTOR_3 m_gear_v;
154 FG_VECTOR_3 v_dot_local_v;
155 FG_VECTOR_3 v_dot_body_v;
156 FG_VECTOR_3 a_cg_body_v;
157 FG_VECTOR_3 a_pilot_body_v;
158 FG_VECTOR_3 n_cg_body_v;
159 FG_VECTOR_3 n_pilot_body_v;
160 FG_VECTOR_3 omega_dot_body_v;
163 FG_VECTOR_3 v_local_v;
164 FG_VECTOR_3 v_local_rel_ground_v; // V rel w.r.t. earth surface
165 FG_VECTOR_3 v_local_airmass_v; // velocity of airmass (steady winds)
166 FG_VECTOR_3 v_local_rel_airmass_v; // velocity of veh. relative to airmass
167 FG_VECTOR_3 v_local_gust_v; // linear turbulence components, L frame
168 FG_VECTOR_3 v_wind_body_v; // Wind-relative velocities in body axis
170 FG_VECTOR_3 omega_body_v; // Angular B rates
171 FG_VECTOR_3 omega_local_v; // Angular L rates
172 FG_VECTOR_3 omega_total_v; // Diff btw B & L
173 FG_VECTOR_3 euler_rates_v;
174 FG_VECTOR_3 geocentric_rates_v; // Geocentric linear velocities
177 FG_VECTOR_3 geocentric_position_v;
178 FG_VECTOR_3 geodetic_position_v;
179 FG_VECTOR_3 euler_angles_v;
181 // Miscellaneous Quantities
182 FG_VECTOR_3 d_cg_rwy_local_v; // CG rel. to rwy in local coords
183 FG_VECTOR_3 d_cg_rwy_rwy_v; // CG relative to rwy, in rwy coordinates
184 FG_VECTOR_3 d_pilot_rwy_local_v; // pilot rel. to rwy in local coords
185 FG_VECTOR_3 d_pilot_rwy_rwy_v; // pilot rel. to rwy, in rwy coords.
188 double mass, i_xx, i_yy, i_zz, i_xz;
190 // Normal Load Factor
194 double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
195 double v_ground_speed, v_equiv, v_equiv_kts;
196 double v_calibrated, v_calibrated_kts;
198 // Miscellaneious Quantities
199 double t_local_to_body_m[3][3]; // Transformation matrix L to B
200 double gravity; // Local acceleration due to G
201 double centrifugal_relief; // load factor reduction due to speed
202 double alpha, beta, alpha_dot, beta_dot; // in radians
203 double cos_alpha, sin_alpha, cos_beta, sin_beta;
204 double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
205 double gamma_vert_rad, gamma_horiz_rad; // Flight path angles
206 double sigma, density, v_sound, mach_number;
207 double static_pressure, total_pressure, impact_pressure;
208 double dynamic_pressure;
209 double static_temperature, total_temperature;
210 double sea_level_radius, earth_position_angle;
211 double runway_altitude, runway_latitude, runway_longitude;
212 double runway_heading;
213 double radius_to_rwy;
214 double climb_rate; // in feet per second
215 double sin_lat_geocentric, cos_lat_geocentric;
216 double sin_longitude, cos_longitude;
217 double sin_latitude, cos_latitude;
220 double daux[16]; // auxilliary doubles
221 float faux[16]; // auxilliary floats
222 int iaux[16]; // auxilliary ints
224 // SGTimeStamp valid_stamp; // time this record is valid
225 // SGTimeStamp next_stamp; // time this record is valid
230 // deliberately not virtual so that
231 // FGInterface constructor will call
236 void _updateGeodeticPosition( double lat, double lon, double alt );
237 void _updateGeocentricPosition( double lat_geoc, double lon, double alt );
238 void _updateWeather( void );
240 inline void _set_Inertias( double m, double xx, double yy,
241 double zz, double xz)
249 inline void _set_CG_Position( double dx, double dy, double dz ) {
250 d_cg_rp_body_v[0] = dx;
251 d_cg_rp_body_v[1] = dy;
252 d_cg_rp_body_v[2] = dz;
254 inline void _set_Accels_Local( double north, double east, double down ) {
255 v_dot_local_v[0] = north;
256 v_dot_local_v[1] = east;
257 v_dot_local_v[2] = down;
259 inline void _set_Accels_Body( double u, double v, double w ) {
264 inline void _set_Accels_CG_Body( double x, double y, double z ) {
269 inline void _set_Accels_Pilot_Body( double x, double y, double z ) {
270 a_pilot_body_v[0] = x;
271 a_pilot_body_v[1] = y;
272 a_pilot_body_v[2] = z;
274 inline void _set_Accels_CG_Body_N( double x, double y, double z ) {
279 void _set_Nlf(double n) { nlf=n; }
280 inline void _set_Velocities_Local( double north, double east, double down ){
281 v_local_v[0] = north;
285 inline void _set_Velocities_Ground(double north, double east, double down) {
286 v_local_rel_ground_v[0] = north;
287 v_local_rel_ground_v[1] = east;
288 v_local_rel_ground_v[2] = down;
290 inline void _set_Velocities_Local_Airmass( double north, double east,
293 v_local_airmass_v[0] = north;
294 v_local_airmass_v[1] = east;
295 v_local_airmass_v[2] = down;
297 inline void _set_Velocities_Wind_Body( double u, double v, double w) {
298 v_wind_body_v[0] = u;
299 v_wind_body_v[1] = v;
300 v_wind_body_v[2] = w;
302 inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; }
303 inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
304 inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
305 inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
306 inline void _set_Omega_Body( double p, double q, double r ) {
311 inline void _set_Euler_Rates( double phi, double theta, double psi ) {
312 euler_rates_v[0] = phi;
313 euler_rates_v[1] = theta;
314 euler_rates_v[2] = psi;
316 inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
317 geocentric_rates_v[0] = lat;
318 geocentric_rates_v[1] = lon;
319 geocentric_rates_v[2] = rad;
322 inline void _set_Radius_to_vehicle(double radius) {
323 geocentric_position_v[2] = radius;
326 inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
327 geocentric_position_v[0] = lat;
328 geocentric_position_v[1] = lon;
329 geocentric_position_v[2] = rad;
331 inline void _set_Latitude(double lat) { geodetic_position_v[0] = lat; }
332 inline void _set_Longitude(double lon) { geodetic_position_v[1] = lon; }
333 inline void _set_Altitude(double altitude) {
334 geodetic_position_v[2] = altitude;
336 inline void _set_Altitude_AGL(double agl) {
339 inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
340 geodetic_position_v[0] = lat;
341 geodetic_position_v[1] = lon;
342 geodetic_position_v[2] = alt;
344 inline void _set_Euler_Angles( double phi, double theta, double psi ) {
345 euler_angles_v[0] = phi;
346 euler_angles_v[1] = theta;
347 euler_angles_v[2] = psi;
349 inline void _set_T_Local_to_Body( int i, int j, double value) {
350 t_local_to_body_m[i-1][j-1] = value;
352 inline void _set_T_Local_to_Body( double m[3][3] ) {
354 for ( i = 0; i < 3; i++ ) {
355 for ( j = 0; j < 3; j++ ) {
356 t_local_to_body_m[i][j] = m[i][j];
360 inline void _set_Alpha( double a ) { alpha = a; }
361 inline void _set_Beta( double b ) { beta = b; }
362 inline void _set_Cos_phi( double cp ) { cos_phi = cp; }
363 inline void _set_Cos_theta( double ct ) { cos_theta = ct; }
364 inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
365 inline void _set_Density( double d ) { density = d; }
366 inline void _set_Mach_number( double m ) { mach_number = m; }
367 inline void _set_Static_pressure( double sp ) { static_pressure = sp; }
368 inline void _set_Static_temperature( double t ) { static_temperature = t; }
369 inline void _set_Sea_level_radius( double r ) { sea_level_radius = r; }
370 inline void _set_Earth_position_angle(double a) {
371 earth_position_angle = a;
373 inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; }
374 inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
375 inline void _set_sin_lat_geocentric(double parm) {
376 sin_lat_geocentric = sin(parm);
378 inline void _set_cos_lat_geocentric(double parm) {
379 cos_lat_geocentric = cos(parm);
381 inline void _set_sin_cos_longitude(double parm) {
382 sin_longitude = sin(parm);
383 cos_longitude = cos(parm);
385 inline void _set_sin_cos_latitude(double parm) {
386 sin_latitude = sin(parm);
387 cos_latitude = cos(parm);
390 inline void _set_daux( int n, double value ) { daux[n] = value; }
391 inline void _set_faux( int n, float value ) { faux[n] = value; }
392 inline void _set_iaux( int n, int value ) { iaux[n] = value; }
397 FGInterface( double dt );
398 virtual ~FGInterface();
400 virtual void init ();
401 virtual void bind ();
402 virtual void unbind ();
403 virtual void update(int dt);
404 virtual bool ToggleDataLogging(bool state) { return false; }
405 virtual bool ToggleDataLogging(void) { return false; }
407 // Define the various supported flight models (many not yet implemented)
412 // The NASA LaRCsim (Navion) flight model
415 // Jon S. Berndt's new FDM written from the ground up in C++
418 // Christian's hot air balloon simulation
421 // Aeronautical DEvelopment AGEncy, Bangalore India
424 // The following aren't implemented but are here to spark
425 // thoughts and discussions, and maybe even action.
432 // Driven externally via a serial port, net, file, etc.
437 inline bool get_inited() const { return inited; }
438 inline void set_inited( bool value ) { inited = value; }
440 inline bool get_bound() const { return bound; }
442 //perform initializion that is common to all FDM's
445 // time and update management values
446 inline double get_delta_t() const { return delta_t; }
447 inline void set_delta_t( double dt ) { delta_t = dt; }
448 inline SGTimeStamp get_time_stamp() const { return time_stamp; }
449 inline void set_time_stamp( SGTimeStamp s ) { time_stamp = s; }
450 inline void stamp() { time_stamp.stamp(); }
451 inline long get_elapsed() const { return elapsed; }
452 inline void set_elapsed( long e ) { elapsed = e; }
453 inline long get_remainder() const { return remainder; }
454 inline void set_remainder( long r ) { remainder = r; }
455 inline int get_multi_loop() const { return multi_loop; }
456 inline void set_multi_loop( int ml ) { multi_loop = ml; }
459 virtual void set_Latitude(double lat); // geocentric
460 virtual void set_Longitude(double lon);
461 virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
462 virtual void set_AltitudeAGL(double altagl); // and vice-versa
463 virtual void set_Latitude_deg (double lat) {
464 set_Latitude(lat * SGD_DEGREES_TO_RADIANS);
466 virtual void set_Longitude_deg (double lon) {
467 set_Longitude(lon * SGD_DEGREES_TO_RADIANS);
470 // Speeds -- setting any of these will trigger a re-calc of the rest
471 virtual void set_V_calibrated_kts(double vc);
472 virtual void set_Mach_number(double mach);
473 virtual void set_Velocities_Local( double north, double east, double down );
474 inline void set_V_north (double north) {
475 set_Velocities_Local(north, v_local_v[1], v_local_v[2]);
477 inline void set_V_east (double east) {
478 set_Velocities_Local(v_local_v[0], east, v_local_v[2]);
480 inline void set_V_down (double down) {
481 set_Velocities_Local(v_local_v[0], v_local_v[1], down);
483 virtual void set_Velocities_Wind_Body( double u, double v, double w);
484 virtual void set_uBody (double uBody) {
485 set_Velocities_Wind_Body(uBody, v_wind_body_v[1], v_wind_body_v[2]);
487 virtual void set_vBody (double vBody) {
488 set_Velocities_Wind_Body(v_wind_body_v[0], vBody, v_wind_body_v[2]);
490 virtual void set_wBody (double wBody) {
491 set_Velocities_Wind_Body(v_wind_body_v[0], v_wind_body_v[1], wBody);
495 virtual void set_Euler_Angles( double phi, double theta, double psi );
496 virtual void set_Phi (double phi) {
497 set_Euler_Angles(phi, get_Theta(), get_Psi());
499 virtual void set_Theta (double theta) {
500 set_Euler_Angles(get_Phi(), theta, get_Psi());
502 virtual void set_Psi (double psi) {
503 set_Euler_Angles(get_Phi(), get_Theta(), psi);
505 virtual void set_Phi_deg (double phi) { set_Phi(phi * SGD_DEGREES_TO_RADIANS); }
506 virtual void set_Theta_deg (double theta) {
507 set_Theta(theta * SGD_DEGREES_TO_RADIANS);
509 virtual void set_Psi_deg (double psi) { set_Psi(psi * SGD_DEGREES_TO_RADIANS); }
512 virtual void set_Climb_Rate( double roc);
513 virtual void set_Gamma_vert_rad( double gamma);
516 virtual void set_Sea_level_radius(double slr);
517 virtual void set_Runway_altitude(double ralt);
519 virtual void set_Static_pressure(double p);
520 virtual void set_Static_temperature(double T);
521 virtual void set_Density(double rho);
523 virtual void set_Velocities_Local_Airmass (double wnorth,
527 // ========== Mass properties and geometry values ==========
530 inline double get_Mass() const { return mass; }
531 inline double get_I_xx() const { return i_xx; }
532 inline double get_I_yy() const { return i_yy; }
533 inline double get_I_zz() const { return i_zz; }
534 inline double get_I_xz() const { return i_xz; }
536 // Pilot location rel to ref pt
537 // inline double * get_D_pilot_rp_body_v() {
538 // return d_pilot_rp_body_v;
540 // inline double get_Dx_pilot() const { return d_pilot_rp_body_v[0]; }
541 // inline double get_Dy_pilot() const { return d_pilot_rp_body_v[1]; }
542 // inline double get_Dz_pilot() const { return d_pilot_rp_body_v[2]; }
543 /* inline void set_Pilot_Location( double dx, double dy, double dz ) {
544 d_pilot_rp_body_v[0] = dx;
545 d_pilot_rp_body_v[1] = dy;
546 d_pilot_rp_body_v[2] = dz;
549 // CG position w.r.t. ref. point
550 // inline double * get_D_cg_rp_body_v() { return d_cg_rp_body_v; }
551 inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; }
552 inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; }
553 inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
555 // ========== Forces ==========
557 // inline double * get_F_body_total_v() { return f_body_total_v; }
558 // inline double get_F_X() const { return f_body_total_v[0]; }
559 // inline double get_F_Y() const { return f_body_total_v[1]; }
560 // inline double get_F_Z() const { return f_body_total_v[2]; }
561 /* inline void set_Forces_Body_Total( double x, double y, double z ) {
562 f_body_total_v[0] = x;
563 f_body_total_v[1] = y;
564 f_body_total_v[2] = z;
567 // inline double * get_F_local_total_v() { return f_local_total_v; }
568 // inline double get_F_north() const { return f_local_total_v[0]; }
569 // inline double get_F_east() const { return f_local_total_v[1]; }
570 // inline double get_F_down() const { return f_local_total_v[2]; }
571 /* inline void set_Forces_Local_Total( double x, double y, double z ) {
572 f_local_total_v[0] = x;
573 f_local_total_v[1] = y;
574 f_local_total_v[2] = z;
577 // inline double * get_F_aero_v() { return f_aero_v; }
578 // inline double get_F_X_aero() const { return f_aero_v[0]; }
579 // inline double get_F_Y_aero() const { return f_aero_v[1]; }
580 // inline double get_F_Z_aero() const { return f_aero_v[2]; }
581 /* inline void set_Forces_Aero( double x, double y, double z ) {
587 // inline double * get_F_engine_v() { return f_engine_v; }
588 // inline double get_F_X_engine() const { return f_engine_v[0]; }
589 // inline double get_F_Y_engine() const { return f_engine_v[1]; }
590 // inline double get_F_Z_engine() const { return f_engine_v[2]; }
591 /* inline void set_Forces_Engine( double x, double y, double z ) {
597 // inline double * get_F_gear_v() { return f_gear_v; }
598 // inline double get_F_X_gear() const { return f_gear_v[0]; }
599 // inline double get_F_Y_gear() const { return f_gear_v[1]; }
600 // inline double get_F_Z_gear() const { return f_gear_v[2]; }
601 /* inline void set_Forces_Gear( double x, double y, double z ) {
607 // ========== Moments ==========
609 // inline double * get_M_total_rp_v() { return m_total_rp_v; }
610 // inline double get_M_l_rp() const { return m_total_rp_v[0]; }
611 // inline double get_M_m_rp() const { return m_total_rp_v[1]; }
612 // inline double get_M_n_rp() const { return m_total_rp_v[2]; }
613 /* inline void set_Moments_Total_RP( double l, double m, double n ) {
619 // inline double * get_M_total_cg_v() { return m_total_cg_v; }
620 // inline double get_M_l_cg() const { return m_total_cg_v[0]; }
621 // inline double get_M_m_cg() const { return m_total_cg_v[1]; }
622 // inline double get_M_n_cg() const { return m_total_cg_v[2]; }
623 /* inline void set_Moments_Total_CG( double l, double m, double n ) {
629 // inline double * get_M_aero_v() { return m_aero_v; }
630 // inline double get_M_l_aero() const { return m_aero_v[0]; }
631 // inline double get_M_m_aero() const { return m_aero_v[1]; }
632 // inline double get_M_n_aero() const { return m_aero_v[2]; }
633 /* inline void set_Moments_Aero( double l, double m, double n ) {
639 // inline double * get_M_engine_v() { return m_engine_v; }
640 // inline double get_M_l_engine() const { return m_engine_v[0]; }
641 // inline double get_M_m_engine() const { return m_engine_v[1]; }
642 // inline double get_M_n_engine() const { return m_engine_v[2]; }
643 /* inline void set_Moments_Engine( double l, double m, double n ) {
649 // inline double * get_M_gear_v() { return m_gear_v; }
650 // inline double get_M_l_gear() const { return m_gear_v[0]; }
651 // inline double get_M_m_gear() const { return m_gear_v[1]; }
652 // inline double get_M_n_gear() const { return m_gear_v[2]; }
653 /* inline void set_Moments_Gear( double l, double m, double n ) {
659 // ========== Accelerations ==========
661 // inline double * get_V_dot_local_v() { return v_dot_local_v; }
662 inline double get_V_dot_north() const { return v_dot_local_v[0]; }
663 inline double get_V_dot_east() const { return v_dot_local_v[1]; }
664 inline double get_V_dot_down() const { return v_dot_local_v[2]; }
666 // inline double * get_V_dot_body_v() { return v_dot_body_v; }
667 inline double get_U_dot_body() const { return v_dot_body_v[0]; }
668 inline double get_V_dot_body() const { return v_dot_body_v[1]; }
669 inline double get_W_dot_body() const { return v_dot_body_v[2]; }
671 // inline double * get_A_cg_body_v() { return a_cg_body_v; }
672 inline double get_A_X_cg() const { return a_cg_body_v[0]; }
673 inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
674 inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
676 // inline double * get_A_pilot_body_v() { return a_pilot_body_v; }
677 inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
678 inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
679 inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
681 // inline double * get_N_cg_body_v() { return n_cg_body_v; }
682 inline double get_N_X_cg() const { return n_cg_body_v[0]; }
683 inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
684 inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
686 // inline double * get_N_pilot_body_v() { return n_pilot_body_v; }
687 // inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
688 // inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; }
689 // inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; }
690 // inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
691 // n_pilot_body_v[0] = x;
692 // n_pilot_body_v[1] = y;
693 // n_pilot_body_v[2] = z;
696 inline double get_Nlf(void) { return nlf; }
698 // inline double * get_Omega_dot_body_v() { return omega_dot_body_v; }
699 // inline double get_P_dot_body() const { return omega_dot_body_v[0]; }
700 // inline double get_Q_dot_body() const { return omega_dot_body_v[1]; }
701 // inline double get_R_dot_body() const { return omega_dot_body_v[2]; }
702 /* inline void set_Accels_Omega( double p, double q, double r ) {
703 omega_dot_body_v[0] = p;
704 omega_dot_body_v[1] = q;
705 omega_dot_body_v[2] = r;
709 // ========== Velocities ==========
711 // inline double * get_V_local_v() { return v_local_v; }
712 inline double get_V_north() const { return v_local_v[0]; }
713 inline double get_V_east() const { return v_local_v[1]; }
714 inline double get_V_down() const { return v_local_v[2]; }
715 inline double get_uBody () const { return v_wind_body_v[0]; }
716 inline double get_vBody () const { return v_wind_body_v[1]; }
717 inline double get_wBody () const { return v_wind_body_v[2]; }
719 // Please dont comment these out. fdm=ada uses these (see
721 inline double * get_V_local_rel_ground_v() {
722 return v_local_rel_ground_v;
724 inline double get_V_north_rel_ground() const {
725 return v_local_rel_ground_v[0];
727 inline double get_V_east_rel_ground() const {
728 return v_local_rel_ground_v[1];
730 inline double get_V_down_rel_ground() const {
731 return v_local_rel_ground_v[2];
733 // <--- fdm=ada uses these (see cockpit.cxx)
735 // inline double * get_V_local_airmass_v() { return v_local_airmass_v; }
736 inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
737 inline double get_V_east_airmass() const { return v_local_airmass_v[1]; }
738 inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
741 // inline double * get_V_local_rel_airmass_v() {
742 // return v_local_rel_airmass_v;
744 // inline double get_V_north_rel_airmass() const {
745 // return v_local_rel_airmass_v[0];
747 // inline double get_V_east_rel_airmass() const {
748 // return v_local_rel_airmass_v[1];
750 // inline double get_V_down_rel_airmass() const {
751 // return v_local_rel_airmass_v[2];
753 /* inline void set_Velocities_Local_Rel_Airmass( double north, double east,
756 v_local_rel_airmass_v[0] = north;
757 v_local_rel_airmass_v[1] = east;
758 v_local_rel_airmass_v[2] = down;
761 // inline double * get_V_local_gust_v() { return v_local_gust_v; }
762 // inline double get_U_gust() const { return v_local_gust_v[0]; }
763 // inline double get_V_gust() const { return v_local_gust_v[1]; }
764 // inline double get_W_gust() const { return v_local_gust_v[2]; }
765 /* inline void set_Velocities_Gust( double u, double v, double w)
767 v_local_gust_v[0] = u;
768 v_local_gust_v[1] = v;
769 v_local_gust_v[2] = w;
772 // inline double * get_V_wind_body_v() { return v_wind_body_v; }
773 inline double get_U_body() const { return v_wind_body_v[0]; }
774 inline double get_V_body() const { return v_wind_body_v[1]; }
775 inline double get_W_body() const { return v_wind_body_v[2]; }
777 inline double get_V_rel_wind() const { return v_rel_wind; }
778 // inline void set_V_rel_wind(double wind) { v_rel_wind = wind; }
780 inline double get_V_true_kts() const { return v_true_kts; }
781 // inline void set_V_true_kts(double kts) { v_true_kts = kts; }
783 // inline double get_V_rel_ground() const { return v_rel_ground; }
784 // inline void set_V_rel_ground( double v ) { v_rel_ground = v; }
786 // inline double get_V_inertial() const { return v_inertial; }
787 // inline void set_V_inertial(double v) { v_inertial = v; }
789 inline double get_V_ground_speed() const { return v_ground_speed; }
791 // inline double get_V_equiv() const { return v_equiv; }
792 // inline void set_V_equiv( double v ) { v_equiv = v; }
794 inline double get_V_equiv_kts() const { return v_equiv_kts; }
796 //inline double get_V_calibrated() const { return v_calibrated; }
797 //inline void set_V_calibrated( double v ) { v_calibrated = v; }
799 inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
801 // inline double * get_Omega_body_v() { return omega_body_v; }
802 inline double get_P_body() const { return omega_body_v[0]; }
803 inline double get_Q_body() const { return omega_body_v[1]; }
804 inline double get_R_body() const { return omega_body_v[2]; }
806 // inline double * get_Omega_local_v() { return omega_local_v; }
807 // inline double get_P_local() const { return omega_local_v[0]; }
808 // inline double get_Q_local() const { return omega_local_v[1]; }
809 // inline double get_R_local() const { return omega_local_v[2]; }
810 /* inline void set_Omega_Local( double p, double q, double r ) {
811 omega_local_v[0] = p;
812 omega_local_v[1] = q;
813 omega_local_v[2] = r;
816 // inline double * get_Omega_total_v() { return omega_total_v; }
817 // inline double get_P_total() const { return omega_total_v[0]; }
818 // inline double get_Q_total() const { return omega_total_v[1]; }
819 // inline double get_R_total() const { return omega_total_v[2]; }
820 /* inline void set_Omega_Total( double p, double q, double r ) {
821 omega_total_v[0] = p;
822 omega_total_v[1] = q;
823 omega_total_v[2] = r;
826 // inline double * get_Euler_rates_v() { return euler_rates_v; }
827 inline double get_Phi_dot() const { return euler_rates_v[0]; }
828 inline double get_Theta_dot() const { return euler_rates_v[1]; }
829 inline double get_Psi_dot() const { return euler_rates_v[2]; }
831 // inline double * get_Geocentric_rates_v() { return geocentric_rates_v; }
832 inline double get_Latitude_dot() const { return geocentric_rates_v[0]; }
833 inline double get_Longitude_dot() const { return geocentric_rates_v[1]; }
834 inline double get_Radius_dot() const { return geocentric_rates_v[2]; }
836 // ========== Positions ==========
838 // inline double * get_Geocentric_position_v() {
839 // return geocentric_position_v;
841 inline double get_Lat_geocentric() const {
842 return geocentric_position_v[0];
844 inline double get_Lon_geocentric() const {
845 return geocentric_position_v[1];
847 inline double get_Radius_to_vehicle() const {
848 return geocentric_position_v[2];
851 // inline double * get_Geodetic_position_v() { return geodetic_position_v; }
852 inline double get_Latitude() const { return geodetic_position_v[0]; }
853 inline double get_Longitude() const { return geodetic_position_v[1]; }
854 inline double get_Altitude() const { return geodetic_position_v[2]; }
855 inline double get_Altitude_AGL(void) const { return altitude_agl; }
857 inline double get_Latitude_deg () const {
858 return get_Latitude() * SGD_RADIANS_TO_DEGREES;
860 inline double get_Longitude_deg () const {
861 return get_Longitude() * SGD_RADIANS_TO_DEGREES;
864 // inline double * get_Euler_angles_v() { return euler_angles_v; }
865 inline double get_Phi() const { return euler_angles_v[0]; }
866 inline double get_Theta() const { return euler_angles_v[1]; }
867 inline double get_Psi() const { return euler_angles_v[2]; }
868 inline double get_Phi_deg () const { return get_Phi() * SGD_RADIANS_TO_DEGREES; }
869 inline double get_Theta_deg () const { return get_Theta() * SGD_RADIANS_TO_DEGREES; }
870 inline double get_Psi_deg () const { return get_Psi() * SGD_RADIANS_TO_DEGREES; }
873 // ========== Miscellaneous quantities ==========
875 // inline double * get_T_local_to_body_m() { return t_local_to_body_m; }
876 inline double get_T_local_to_body_11() const {
877 return t_local_to_body_m[0][0];
879 inline double get_T_local_to_body_12() const {
880 return t_local_to_body_m[0][1];
882 inline double get_T_local_to_body_13() const {
883 return t_local_to_body_m[0][2];
885 inline double get_T_local_to_body_21() const {
886 return t_local_to_body_m[1][0];
888 inline double get_T_local_to_body_22() const {
889 return t_local_to_body_m[1][1];
891 inline double get_T_local_to_body_23() const {
892 return t_local_to_body_m[1][2];
894 inline double get_T_local_to_body_31() const {
895 return t_local_to_body_m[2][0];
897 inline double get_T_local_to_body_32() const {
898 return t_local_to_body_m[2][1];
900 inline double get_T_local_to_body_33() const {
901 return t_local_to_body_m[2][2];
904 // inline double get_Gravity() const { return gravity; }
905 // inline void set_Gravity(double g) { gravity = g; }
907 // inline double get_Centrifugal_relief() const {
908 // return centrifugal_relief;
910 // inline void set_Centrifugal_relief(double cr) {
911 // centrifugal_relief = cr;
914 inline double get_Alpha() const { return alpha; }
915 inline double get_Beta() const { return beta; }
916 inline double get_Alpha_dot() const { return alpha_dot; }
917 // inline void set_Alpha_dot( double ad ) { alpha_dot = ad; }
918 inline double get_Beta_dot() const { return beta_dot; }
919 // inline void set_Beta_dot( double bd ) { beta_dot = bd; }
921 // inline double get_Cos_alpha() const { return cos_alpha; }
922 // inline void set_Cos_alpha( double ca ) { cos_alpha = ca; }
923 // inline double get_Sin_alpha() const { return sin_alpha; }
924 // inline void set_Sin_alpha( double sa ) { sin_alpha = sa; }
925 // inline double get_Cos_beta() const { return cos_beta; }
926 // inline void set_Cos_beta( double cb ) { cos_beta = cb; }
927 // inline double get_Sin_beta() const { return sin_beta; }
928 // inline void set_Sin_beta( double sb ) { sin_beta = sb; }
930 inline double get_Cos_phi() const { return cos_phi; }
931 // inline double get_Sin_phi() const { return sin_phi; }
932 // inline void set_Sin_phi( double sp ) { sin_phi = sp; }
933 inline double get_Cos_theta() const { return cos_theta; }
934 // inline double get_Sin_theta() const { return sin_theta; }
935 // inline void set_Sin_theta( double st ) { sin_theta = st; }
936 // inline double get_Cos_psi() const { return cos_psi; }
937 // inline void set_Cos_psi( double cp ) { cos_psi = cp; }
938 // inline double get_Sin_psi() const { return sin_psi; }
939 // inline void set_Sin_psi( double sp ) { sin_psi = sp; }
941 inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
942 // inline double get_Gamma_horiz_rad() const { return gamma_horiz_rad; }
943 // inline void set_Gamma_horiz_rad( double gh ) { gamma_horiz_rad = gh; }
945 // inline double get_Sigma() const { return sigma; }
946 // inline void set_Sigma( double s ) { sigma = s; }
947 inline double get_Density() const { return density; }
948 // inline double get_V_sound() const { return v_sound; }
949 // inline void set_V_sound( double v ) { v_sound = v; }
950 inline double get_Mach_number() const { return mach_number; }
952 inline double get_Static_pressure() const { return static_pressure; }
953 inline double get_Total_pressure() const { return total_pressure; }
954 // inline void set_Total_pressure( double tp ) { total_pressure = tp; }
955 // inline double get_Impact_pressure() const { return impact_pressure; }
956 // inline void set_Impact_pressure( double ip ) { impact_pressure = ip; }
957 inline double get_Dynamic_pressure() const { return dynamic_pressure; }
958 // inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; }
960 inline double get_Static_temperature() const { return static_temperature; }
961 inline double get_Total_temperature() const { return total_temperature; }
962 // inline void set_Total_temperature( double t ) { total_temperature = t; }
964 inline double get_Sea_level_radius() const { return sea_level_radius; }
965 inline double get_Earth_position_angle() const {
966 return earth_position_angle;
969 inline double get_Runway_altitude() const { return runway_altitude; }
970 // inline double get_Runway_latitude() const { return runway_latitude; }
971 // inline void set_Runway_latitude( double lat ) { runway_latitude = lat; }
972 // inline double get_Runway_longitude() const { return runway_longitude; }
973 // inline void set_Runway_longitude( double lon ) {
974 // runway_longitude = lon;
976 // inline double get_Runway_heading() const { return runway_heading; }
977 // inline void set_Runway_heading( double h ) { runway_heading = h; }
979 // inline double get_Radius_to_rwy() const { return radius_to_rwy; }
980 // inline void set_Radius_to_rwy( double r ) { radius_to_rwy = r; }
982 // inline double * get_D_cg_rwy_local_v() { return d_cg_rwy_local_v; }
983 // inline double get_D_cg_north_of_rwy() const {
984 // return d_cg_rwy_local_v[0];
986 // inline double get_D_cg_east_of_rwy() const {
987 // return d_cg_rwy_local_v[1];
989 // inline double get_D_cg_above_rwy() const { return d_cg_rwy_local_v[2]; }
990 /* inline void set_CG_Rwy_Local( double north, double east, double above )
992 d_cg_rwy_local_v[0] = north;
993 d_cg_rwy_local_v[1] = east;
994 d_cg_rwy_local_v[2] = above;
997 // inline double * get_D_cg_rwy_rwy_v() { return d_cg_rwy_rwy_v; }
998 // inline double get_X_cg_rwy() const { return d_cg_rwy_rwy_v[0]; }
999 // inline double get_Y_cg_rwy() const { return d_cg_rwy_rwy_v[1]; }
1000 // inline double get_H_cg_rwy() const { return d_cg_rwy_rwy_v[2]; }
1001 /* inline void set_CG_Rwy_Rwy( double x, double y, double h )
1003 d_cg_rwy_rwy_v[0] = x;
1004 d_cg_rwy_rwy_v[1] = y;
1005 d_cg_rwy_rwy_v[2] = h;
1008 // inline double * get_D_pilot_rwy_local_v() { return d_pilot_rwy_local_v; }
1009 // inline double get_D_pilot_north_of_rwy() const {
1010 // return d_pilot_rwy_local_v[0];
1012 // inline double get_D_pilot_east_of_rwy() const {
1013 // return d_pilot_rwy_local_v[1];
1015 // inline double get_D_pilot_above_rwy() const {
1016 // return d_pilot_rwy_local_v[2];
1018 /* inline void set_Pilot_Rwy_Local( double north, double east, double above )
1020 d_pilot_rwy_local_v[0] = north;
1021 d_pilot_rwy_local_v[1] = east;
1022 d_pilot_rwy_local_v[2] = above;
1025 // inline double * get_D_pilot_rwy_rwy_v() { return d_pilot_rwy_rwy_v; }
1026 // inline double get_X_pilot_rwy() const { return d_pilot_rwy_rwy_v[0]; }
1027 // inline double get_Y_pilot_rwy() const { return d_pilot_rwy_rwy_v[1]; }
1028 // inline double get_H_pilot_rwy() const { return d_pilot_rwy_rwy_v[2]; }
1029 /* inline void set_Pilot_Rwy_Rwy( double x, double y, double h )
1031 d_pilot_rwy_rwy_v[0] = x;
1032 d_pilot_rwy_rwy_v[1] = y;
1033 d_pilot_rwy_rwy_v[2] = h;
1036 inline double get_Climb_Rate() const { return climb_rate; }
1038 // inline SGTimeStamp get_time_stamp() const { return valid_stamp; }
1039 // inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
1041 // Extrapolate FDM based on time_offset (in usec)
1042 void extrapolate( int time_offset );
1044 // sin/cos lat_geocentric
1045 inline double get_sin_lat_geocentric(void) const {
1046 return sin_lat_geocentric;
1048 inline double get_cos_lat_geocentric(void) const {
1049 return cos_lat_geocentric;
1052 inline double get_sin_longitude(void) const {
1053 return sin_longitude;
1055 inline double get_cos_longitude(void) const {
1056 return cos_longitude;
1059 inline double get_sin_latitude(void) const {
1060 return sin_latitude;
1062 inline double get_cos_latitude(void) const {
1063 return cos_latitude;
1066 // Auxilliary variables
1067 inline double get_daux( int n ) const { return daux[n]; }
1068 inline float get_faux( int n ) const { return faux[n]; }
1069 inline int get_iaux( int n ) const { return iaux[n]; }
1074 typedef list < FGInterface > fdm_state_list;
1075 typedef fdm_state_list::iterator fdm_state_list_iterator;
1076 typedef fdm_state_list::const_iterator const_fdm_state_list_iterator;
1079 extern FGInterface * cur_fdm_state;
1082 // General interface to the flight model routines
1084 // Set the altitude (force)
1085 void fgFDMForceAltitude(const string &model, double alt_meters);
1087 // Toggle data logging on/off
1088 void fgToggleFDMdataLogging(void);
1091 #endif // _FLIGHT_HXX