1 // flight.hxx -- define shared flight model parameters
3 // Written by Curtis Olson, started May 1997.
5 // Copyright (C) 1997 Curtis L. Olson - http://www.flightgear.org/~curt
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>
93 #include <FDM/groundcache.hxx>
99 typedef double FG_VECTOR_3[3];
101 // This is based heavily on LaRCsim/ls_generic.h
102 class FGInterface : public SGSubsystem {
106 // Has the init() method been called. This is used to delay
107 // initialization until scenery can be loaded and we know the true
111 // Have we bound to the property system
114 // periodic update management variable. This is a scheme to run
115 // the fdm with a fixed delta-t. We control how many iteration of
116 // the fdm to run with the fixed dt based on the elapsed time from
117 // the last update. This allows us to maintain sync with the real
118 // time clock, even though each frame could take a random amount
119 // of time. Since "dt" is unlikely to divide evenly into the
120 // elapse time, we keep track of the remainder and add it into the
121 // next elapsed time. This yields a small amount of temporal
122 // jitter ( < dt ) but in practice seems to work well.
124 // double delta_t; // delta "t"
125 // SGTimeStamp time_stamp; // time stamp of last run
126 // long elapsed; // time elapsed since last run
127 double remainder; // remainder time from last run
128 // int multi_loop; // number of iterations of "delta_t" to run
130 // Pilot location rel to ref pt
131 FG_VECTOR_3 d_pilot_rp_body_v;
133 // CG position w.r.t. ref. point
134 FG_VECTOR_3 d_cg_rp_body_v;
137 FG_VECTOR_3 f_body_total_v;
138 FG_VECTOR_3 f_local_total_v;
139 FG_VECTOR_3 f_aero_v;
140 FG_VECTOR_3 f_engine_v;
141 FG_VECTOR_3 f_gear_v;
144 FG_VECTOR_3 m_total_rp_v;
145 FG_VECTOR_3 m_total_cg_v;
146 FG_VECTOR_3 m_aero_v;
147 FG_VECTOR_3 m_engine_v;
148 FG_VECTOR_3 m_gear_v;
151 FG_VECTOR_3 v_dot_local_v;
152 FG_VECTOR_3 v_dot_body_v;
153 FG_VECTOR_3 a_cg_body_v;
154 FG_VECTOR_3 a_pilot_body_v;
155 FG_VECTOR_3 n_cg_body_v;
156 FG_VECTOR_3 n_pilot_body_v;
157 FG_VECTOR_3 omega_dot_body_v;
160 FG_VECTOR_3 v_local_v;
161 FG_VECTOR_3 v_local_rel_ground_v; // V rel w.r.t. earth surface
162 FG_VECTOR_3 v_local_airmass_v; // velocity of airmass (steady winds)
163 FG_VECTOR_3 v_local_rel_airmass_v; // velocity of veh. relative to airmass
164 FG_VECTOR_3 v_local_gust_v; // linear turbulence components, L frame
165 FG_VECTOR_3 v_wind_body_v; // Wind-relative velocities in body axis
167 FG_VECTOR_3 omega_body_v; // Angular B rates
168 FG_VECTOR_3 omega_local_v; // Angular L rates
169 FG_VECTOR_3 omega_total_v; // Diff btw B & L
170 FG_VECTOR_3 euler_rates_v;
171 FG_VECTOR_3 geocentric_rates_v; // Geocentric linear velocities
174 FG_VECTOR_3 geocentric_position_v;
175 FG_VECTOR_3 geodetic_position_v;
176 FG_VECTOR_3 euler_angles_v;
178 // Miscellaneous Quantities
179 FG_VECTOR_3 d_cg_rwy_local_v; // CG rel. to rwy in local coords
180 FG_VECTOR_3 d_cg_rwy_rwy_v; // CG relative to rwy, in rwy coordinates
181 FG_VECTOR_3 d_pilot_rwy_local_v; // pilot rel. to rwy in local coords
182 FG_VECTOR_3 d_pilot_rwy_rwy_v; // pilot rel. to rwy, in rwy coords.
185 double mass, i_xx, i_yy, i_zz, i_xz;
187 // Normal Load Factor
191 double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
192 double v_ground_speed, v_equiv, v_equiv_kts;
193 double v_calibrated, v_calibrated_kts;
195 // Miscellaneious Quantities
196 double t_local_to_body_m[3][3]; // Transformation matrix L to B
197 double gravity; // Local acceleration due to G
198 double centrifugal_relief; // load factor reduction due to speed
199 double alpha, beta, alpha_dot, beta_dot; // in radians
200 double cos_alpha, sin_alpha, cos_beta, sin_beta;
201 double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
202 double gamma_vert_rad, gamma_horiz_rad; // Flight path angles
203 double sigma, density, v_sound, mach_number;
204 double static_pressure, total_pressure, impact_pressure;
205 double dynamic_pressure;
206 double static_temperature, total_temperature;
207 double sea_level_radius, earth_position_angle;
208 double runway_altitude, runway_latitude, runway_longitude;
209 double runway_heading;
210 double radius_to_rwy;
211 double climb_rate; // in feet per second
212 double sin_lat_geocentric, cos_lat_geocentric;
213 double sin_longitude, cos_longitude;
214 double sin_latitude, cos_latitude;
217 double daux[16]; // auxilliary doubles
218 float faux[16]; // auxilliary floats
219 int iaux[16]; // auxilliary ints
221 // SGTimeStamp valid_stamp; // time this record is valid
222 // SGTimeStamp next_stamp; // time this record is valid
224 // the ground cache object itself.
225 FGGroundCache ground_cache;
229 int _calc_multiloop (double dt);
233 // deliberately not virtual so that
234 // FGInterface constructor will call
239 void _updateGeodeticPosition( double lat, double lon, double alt );
240 void _updateGeocentricPosition( double lat_geoc, double lon, double alt );
241 void _update_ground_elev_at_pos( void );
242 void _updateWeather( void );
244 inline void _set_Inertias( double m, double xx, double yy,
245 double zz, double xz)
253 inline void _set_CG_Position( double dx, double dy, double dz ) {
254 d_cg_rp_body_v[0] = dx;
255 d_cg_rp_body_v[1] = dy;
256 d_cg_rp_body_v[2] = dz;
258 inline void _set_Accels_Local( double north, double east, double down ) {
259 v_dot_local_v[0] = north;
260 v_dot_local_v[1] = east;
261 v_dot_local_v[2] = down;
263 inline void _set_Accels_Body( double u, double v, double w ) {
268 inline void _set_Accels_CG_Body( double x, double y, double z ) {
273 inline void _set_Accels_Pilot_Body( double x, double y, double z ) {
274 a_pilot_body_v[0] = x;
275 a_pilot_body_v[1] = y;
276 a_pilot_body_v[2] = z;
278 inline void _set_Accels_CG_Body_N( double x, double y, double z ) {
283 void _set_Nlf(double n) { nlf=n; }
284 inline void _set_Velocities_Local( double north, double east, double down ){
285 v_local_v[0] = north;
289 inline void _set_Velocities_Ground(double north, double east, double down) {
290 v_local_rel_ground_v[0] = north;
291 v_local_rel_ground_v[1] = east;
292 v_local_rel_ground_v[2] = down;
294 inline void _set_Velocities_Local_Airmass( double north, double east,
297 v_local_airmass_v[0] = north;
298 v_local_airmass_v[1] = east;
299 v_local_airmass_v[2] = down;
301 inline void _set_Velocities_Wind_Body( double u, double v, double w) {
302 v_wind_body_v[0] = u;
303 v_wind_body_v[1] = v;
304 v_wind_body_v[2] = w;
306 inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; }
307 inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
308 inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
309 inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
310 inline void _set_Omega_Body( double p, double q, double r ) {
315 inline void _set_Euler_Rates( double phi, double theta, double psi ) {
316 euler_rates_v[0] = phi;
317 euler_rates_v[1] = theta;
318 euler_rates_v[2] = psi;
320 inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
321 geocentric_rates_v[0] = lat;
322 geocentric_rates_v[1] = lon;
323 geocentric_rates_v[2] = rad;
326 inline void _set_Radius_to_vehicle(double radius) {
327 geocentric_position_v[2] = radius;
330 inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
331 geocentric_position_v[0] = lat;
332 geocentric_position_v[1] = lon;
333 geocentric_position_v[2] = rad;
335 inline void _set_Latitude(double lat) { geodetic_position_v[0] = lat; }
336 inline void _set_Longitude(double lon) { geodetic_position_v[1] = lon; }
337 inline void _set_Altitude(double altitude) {
338 geodetic_position_v[2] = altitude;
340 inline void _set_Altitude_AGL(double agl) {
343 inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
344 geodetic_position_v[0] = lat;
345 geodetic_position_v[1] = lon;
346 geodetic_position_v[2] = alt;
348 inline void _set_Euler_Angles( double phi, double theta, double psi ) {
349 euler_angles_v[0] = phi;
350 euler_angles_v[1] = theta;
351 euler_angles_v[2] = psi;
353 inline void _set_T_Local_to_Body( int i, int j, double value) {
354 t_local_to_body_m[i-1][j-1] = value;
356 inline void _set_T_Local_to_Body( double m[3][3] ) {
358 for ( i = 0; i < 3; i++ ) {
359 for ( j = 0; j < 3; j++ ) {
360 t_local_to_body_m[i][j] = m[i][j];
364 inline void _set_Alpha( double a ) { alpha = a; }
365 inline void _set_Beta( double b ) { beta = b; }
366 inline void _set_Cos_phi( double cp ) { cos_phi = cp; }
367 inline void _set_Cos_theta( double ct ) { cos_theta = ct; }
368 inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
369 inline void _set_Density( double d ) { density = d; }
370 inline void _set_Mach_number( double m ) { mach_number = m; }
371 inline void _set_Static_pressure( double sp ) { static_pressure = sp; }
372 inline void _set_Static_temperature( double t ) { static_temperature = t; }
373 inline void _set_Sea_level_radius( double r ) { sea_level_radius = r; }
374 inline void _set_Earth_position_angle(double a) {
375 earth_position_angle = a;
377 inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; }
378 inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
379 inline void _set_sin_lat_geocentric(double parm) {
380 sin_lat_geocentric = sin(parm);
382 inline void _set_cos_lat_geocentric(double parm) {
383 cos_lat_geocentric = cos(parm);
385 inline void _set_sin_cos_longitude(double parm) {
386 sin_longitude = sin(parm);
387 cos_longitude = cos(parm);
389 inline void _set_sin_cos_latitude(double parm) {
390 sin_latitude = sin(parm);
391 cos_latitude = cos(parm);
394 inline void _set_daux( int n, double value ) { daux[n] = value; }
395 inline void _set_faux( int n, float value ) { faux[n] = value; }
396 inline void _set_iaux( int n, int value ) { iaux[n] = value; }
401 FGInterface( double dt );
402 virtual ~FGInterface();
404 virtual void init ();
405 virtual void bind ();
406 virtual void unbind ();
407 virtual void update(double dt);
408 virtual bool ToggleDataLogging(bool state) { return false; }
409 virtual bool ToggleDataLogging(void) { return false; }
411 // Define the various supported flight models (many not yet implemented)
416 // The NASA LaRCsim (Navion) flight model
419 // Jon S. Berndt's new FDM written from the ground up in C++
422 // Christian's hot air balloon simulation
425 // Aeronautical DEvelopment AGEncy, Bangalore India
428 // The following aren't implemented but are here to spark
429 // thoughts and discussions, and maybe even action.
436 // Driven externally via a serial port, net, file, etc.
441 inline bool get_inited() const { return inited; }
442 inline void set_inited( bool value ) { inited = value; }
444 inline bool get_bound() const { return bound; }
446 //perform initializion that is common to all FDM's
449 // time and update management values
450 // inline double get_delta_t() const { return delta_t; }
451 // inline void set_delta_t( double dt ) { delta_t = dt; }
452 // inline SGTimeStamp get_time_stamp() const { return time_stamp; }
453 // inline void set_time_stamp( SGTimeStamp s ) { time_stamp = s; }
454 // inline void stamp() { time_stamp.stamp(); }
455 // inline long get_elapsed() const { return elapsed; }
456 // inline void set_elapsed( long e ) { elapsed = e; }
457 // inline long get_remainder() const { return remainder; }
458 // inline void set_remainder( long r ) { remainder = r; }
459 // inline int get_multi_loop() const { return multi_loop; }
460 // inline void set_multi_loop( int ml ) { multi_loop = ml; }
463 virtual void set_Latitude(double lat); // geocentric
464 virtual void set_Longitude(double lon);
465 virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
466 virtual void set_AltitudeAGL(double altagl); // and vice-versa
467 virtual void set_Latitude_deg (double lat) {
468 set_Latitude(lat * SGD_DEGREES_TO_RADIANS);
470 virtual void set_Longitude_deg (double lon) {
471 set_Longitude(lon * SGD_DEGREES_TO_RADIANS);
474 // Speeds -- setting any of these will trigger a re-calc of the rest
475 virtual void set_V_calibrated_kts(double vc);
476 virtual void set_Mach_number(double mach);
477 virtual void set_Velocities_Local( double north, double east, double down );
478 inline void set_V_north (double north) {
479 set_Velocities_Local(north, v_local_v[1], v_local_v[2]);
481 inline void set_V_east (double east) {
482 set_Velocities_Local(v_local_v[0], east, v_local_v[2]);
484 inline void set_V_down (double down) {
485 set_Velocities_Local(v_local_v[0], v_local_v[1], down);
487 virtual void set_Velocities_Wind_Body( double u, double v, double w);
488 virtual void set_uBody (double uBody) {
489 set_Velocities_Wind_Body(uBody, v_wind_body_v[1], v_wind_body_v[2]);
491 virtual void set_vBody (double vBody) {
492 set_Velocities_Wind_Body(v_wind_body_v[0], vBody, v_wind_body_v[2]);
494 virtual void set_wBody (double wBody) {
495 set_Velocities_Wind_Body(v_wind_body_v[0], v_wind_body_v[1], wBody);
499 virtual void set_Euler_Angles( double phi, double theta, double psi );
500 virtual void set_Phi (double phi) {
501 set_Euler_Angles(phi, get_Theta(), get_Psi());
503 virtual void set_Theta (double theta) {
504 set_Euler_Angles(get_Phi(), theta, get_Psi());
506 virtual void set_Psi (double psi) {
507 set_Euler_Angles(get_Phi(), get_Theta(), psi);
509 virtual void set_Phi_deg (double phi) {
510 set_Phi(phi * SGD_DEGREES_TO_RADIANS);
512 virtual void set_Theta_deg (double theta) {
513 set_Theta(theta * SGD_DEGREES_TO_RADIANS);
515 virtual void set_Psi_deg (double psi) {
516 set_Psi(psi * SGD_DEGREES_TO_RADIANS);
520 virtual void set_Climb_Rate( double roc);
521 virtual void set_Gamma_vert_rad( double gamma);
525 virtual void set_Static_pressure(double p);
526 virtual void set_Static_temperature(double T);
527 virtual void set_Density(double rho);
529 virtual void set_Velocities_Local_Airmass (double wnorth,
533 // ========== Mass properties and geometry values ==========
536 inline double get_Mass() const { return mass; }
537 inline double get_I_xx() const { return i_xx; }
538 inline double get_I_yy() const { return i_yy; }
539 inline double get_I_zz() const { return i_zz; }
540 inline double get_I_xz() const { return i_xz; }
542 // Pilot location rel to ref pt
543 // inline double * get_D_pilot_rp_body_v() {
544 // return d_pilot_rp_body_v;
546 // inline double get_Dx_pilot() const { return d_pilot_rp_body_v[0]; }
547 // inline double get_Dy_pilot() const { return d_pilot_rp_body_v[1]; }
548 // inline double get_Dz_pilot() const { return d_pilot_rp_body_v[2]; }
549 /* inline void set_Pilot_Location( double dx, double dy, double dz ) {
550 d_pilot_rp_body_v[0] = dx;
551 d_pilot_rp_body_v[1] = dy;
552 d_pilot_rp_body_v[2] = dz;
555 // CG position w.r.t. ref. point
556 // inline double * get_D_cg_rp_body_v() { return d_cg_rp_body_v; }
557 inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; }
558 inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; }
559 inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
561 // ========== Forces ==========
563 // inline double * get_F_body_total_v() { return f_body_total_v; }
564 // inline double get_F_X() const { return f_body_total_v[0]; }
565 // inline double get_F_Y() const { return f_body_total_v[1]; }
566 // inline double get_F_Z() const { return f_body_total_v[2]; }
567 /* inline void set_Forces_Body_Total( double x, double y, double z ) {
568 f_body_total_v[0] = x;
569 f_body_total_v[1] = y;
570 f_body_total_v[2] = z;
573 // inline double * get_F_local_total_v() { return f_local_total_v; }
574 // inline double get_F_north() const { return f_local_total_v[0]; }
575 // inline double get_F_east() const { return f_local_total_v[1]; }
576 // inline double get_F_down() const { return f_local_total_v[2]; }
577 /* inline void set_Forces_Local_Total( double x, double y, double z ) {
578 f_local_total_v[0] = x;
579 f_local_total_v[1] = y;
580 f_local_total_v[2] = z;
583 // inline double * get_F_aero_v() { return f_aero_v; }
584 // inline double get_F_X_aero() const { return f_aero_v[0]; }
585 // inline double get_F_Y_aero() const { return f_aero_v[1]; }
586 // inline double get_F_Z_aero() const { return f_aero_v[2]; }
587 /* inline void set_Forces_Aero( double x, double y, double z ) {
593 // inline double * get_F_engine_v() { return f_engine_v; }
594 // inline double get_F_X_engine() const { return f_engine_v[0]; }
595 // inline double get_F_Y_engine() const { return f_engine_v[1]; }
596 // inline double get_F_Z_engine() const { return f_engine_v[2]; }
597 /* inline void set_Forces_Engine( double x, double y, double z ) {
603 // inline double * get_F_gear_v() { return f_gear_v; }
604 // inline double get_F_X_gear() const { return f_gear_v[0]; }
605 // inline double get_F_Y_gear() const { return f_gear_v[1]; }
606 // inline double get_F_Z_gear() const { return f_gear_v[2]; }
607 /* inline void set_Forces_Gear( double x, double y, double z ) {
613 // ========== Moments ==========
615 // inline double * get_M_total_rp_v() { return m_total_rp_v; }
616 // inline double get_M_l_rp() const { return m_total_rp_v[0]; }
617 // inline double get_M_m_rp() const { return m_total_rp_v[1]; }
618 // inline double get_M_n_rp() const { return m_total_rp_v[2]; }
619 /* inline void set_Moments_Total_RP( double l, double m, double n ) {
625 // inline double * get_M_total_cg_v() { return m_total_cg_v; }
626 // inline double get_M_l_cg() const { return m_total_cg_v[0]; }
627 // inline double get_M_m_cg() const { return m_total_cg_v[1]; }
628 // inline double get_M_n_cg() const { return m_total_cg_v[2]; }
629 /* inline void set_Moments_Total_CG( double l, double m, double n ) {
635 // inline double * get_M_aero_v() { return m_aero_v; }
636 // inline double get_M_l_aero() const { return m_aero_v[0]; }
637 // inline double get_M_m_aero() const { return m_aero_v[1]; }
638 // inline double get_M_n_aero() const { return m_aero_v[2]; }
639 /* inline void set_Moments_Aero( double l, double m, double n ) {
645 // inline double * get_M_engine_v() { return m_engine_v; }
646 // inline double get_M_l_engine() const { return m_engine_v[0]; }
647 // inline double get_M_m_engine() const { return m_engine_v[1]; }
648 // inline double get_M_n_engine() const { return m_engine_v[2]; }
649 /* inline void set_Moments_Engine( double l, double m, double n ) {
655 // inline double * get_M_gear_v() { return m_gear_v; }
656 // inline double get_M_l_gear() const { return m_gear_v[0]; }
657 // inline double get_M_m_gear() const { return m_gear_v[1]; }
658 // inline double get_M_n_gear() const { return m_gear_v[2]; }
659 /* inline void set_Moments_Gear( double l, double m, double n ) {
665 // ========== Accelerations ==========
667 // inline double * get_V_dot_local_v() { return v_dot_local_v; }
668 inline double get_V_dot_north() const { return v_dot_local_v[0]; }
669 inline double get_V_dot_east() const { return v_dot_local_v[1]; }
670 inline double get_V_dot_down() const { return v_dot_local_v[2]; }
672 // inline double * get_V_dot_body_v() { return v_dot_body_v; }
673 inline double get_U_dot_body() const { return v_dot_body_v[0]; }
674 inline double get_V_dot_body() const { return v_dot_body_v[1]; }
675 inline double get_W_dot_body() const { return v_dot_body_v[2]; }
677 // inline double * get_A_cg_body_v() { return a_cg_body_v; }
678 inline double get_A_X_cg() const { return a_cg_body_v[0]; }
679 inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
680 inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
682 // inline double * get_A_pilot_body_v() { return a_pilot_body_v; }
683 inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
684 inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
685 inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
687 // inline double * get_N_cg_body_v() { return n_cg_body_v; }
688 inline double get_N_X_cg() const { return n_cg_body_v[0]; }
689 inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
690 inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
692 // inline double * get_N_pilot_body_v() { return n_pilot_body_v; }
693 // inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
694 // inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; }
695 // inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; }
696 // inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
697 // n_pilot_body_v[0] = x;
698 // n_pilot_body_v[1] = y;
699 // n_pilot_body_v[2] = z;
702 inline double get_Nlf(void) const { return nlf; }
704 // inline double * get_Omega_dot_body_v() { return omega_dot_body_v; }
705 // inline double get_P_dot_body() const { return omega_dot_body_v[0]; }
706 // inline double get_Q_dot_body() const { return omega_dot_body_v[1]; }
707 // inline double get_R_dot_body() const { return omega_dot_body_v[2]; }
708 /* inline void set_Accels_Omega( double p, double q, double r ) {
709 omega_dot_body_v[0] = p;
710 omega_dot_body_v[1] = q;
711 omega_dot_body_v[2] = r;
715 // ========== Velocities ==========
717 // inline double * get_V_local_v() { return v_local_v; }
718 inline double get_V_north() const { return v_local_v[0]; }
719 inline double get_V_east() const { return v_local_v[1]; }
720 inline double get_V_down() const { return v_local_v[2]; }
721 inline double get_uBody () const { return v_wind_body_v[0]; }
722 inline double get_vBody () const { return v_wind_body_v[1]; }
723 inline double get_wBody () const { return v_wind_body_v[2]; }
725 // Please dont comment these out. fdm=ada uses these (see
727 inline double * get_V_local_rel_ground_v() {
728 return v_local_rel_ground_v;
730 inline double get_V_north_rel_ground() const {
731 return v_local_rel_ground_v[0];
733 inline double get_V_east_rel_ground() const {
734 return v_local_rel_ground_v[1];
736 inline double get_V_down_rel_ground() const {
737 return v_local_rel_ground_v[2];
739 // <--- fdm=ada uses these (see cockpit.cxx)
741 // inline double * get_V_local_airmass_v() { return v_local_airmass_v; }
742 inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
743 inline double get_V_east_airmass() const { return v_local_airmass_v[1]; }
744 inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
747 // inline double * get_V_local_rel_airmass_v() {
748 // return v_local_rel_airmass_v;
750 // inline double get_V_north_rel_airmass() const {
751 // return v_local_rel_airmass_v[0];
753 // inline double get_V_east_rel_airmass() const {
754 // return v_local_rel_airmass_v[1];
756 // inline double get_V_down_rel_airmass() const {
757 // return v_local_rel_airmass_v[2];
759 /* inline void set_Velocities_Local_Rel_Airmass( double north, double east,
762 v_local_rel_airmass_v[0] = north;
763 v_local_rel_airmass_v[1] = east;
764 v_local_rel_airmass_v[2] = down;
767 // inline double * get_V_local_gust_v() { return v_local_gust_v; }
768 // inline double get_U_gust() const { return v_local_gust_v[0]; }
769 // inline double get_V_gust() const { return v_local_gust_v[1]; }
770 // inline double get_W_gust() const { return v_local_gust_v[2]; }
771 /* inline void set_Velocities_Gust( double u, double v, double w)
773 v_local_gust_v[0] = u;
774 v_local_gust_v[1] = v;
775 v_local_gust_v[2] = w;
778 // inline double * get_V_wind_body_v() { return v_wind_body_v; }
779 inline double get_U_body() const { return v_wind_body_v[0]; }
780 inline double get_V_body() const { return v_wind_body_v[1]; }
781 inline double get_W_body() const { return v_wind_body_v[2]; }
783 inline double get_V_rel_wind() const { return v_rel_wind; }
784 // inline void set_V_rel_wind(double wind) { v_rel_wind = wind; }
786 inline double get_V_true_kts() const { return v_true_kts; }
787 // inline void set_V_true_kts(double kts) { v_true_kts = kts; }
789 // inline double get_V_rel_ground() const { return v_rel_ground; }
790 // inline void set_V_rel_ground( double v ) { v_rel_ground = v; }
792 // inline double get_V_inertial() const { return v_inertial; }
793 // inline void set_V_inertial(double v) { v_inertial = v; }
795 inline double get_V_ground_speed() const { return v_ground_speed; }
797 // inline double get_V_equiv() const { return v_equiv; }
798 // inline void set_V_equiv( double v ) { v_equiv = v; }
800 inline double get_V_equiv_kts() const { return v_equiv_kts; }
802 //inline double get_V_calibrated() const { return v_calibrated; }
803 //inline void set_V_calibrated( double v ) { v_calibrated = v; }
805 inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
807 // inline double * get_Omega_body_v() { return omega_body_v; }
808 inline double get_P_body() const { return omega_body_v[0]; }
809 inline double get_Q_body() const { return omega_body_v[1]; }
810 inline double get_R_body() const { return omega_body_v[2]; }
812 // inline double * get_Omega_local_v() { return omega_local_v; }
813 // inline double get_P_local() const { return omega_local_v[0]; }
814 // inline double get_Q_local() const { return omega_local_v[1]; }
815 // inline double get_R_local() const { return omega_local_v[2]; }
816 /* inline void set_Omega_Local( double p, double q, double r ) {
817 omega_local_v[0] = p;
818 omega_local_v[1] = q;
819 omega_local_v[2] = r;
822 // inline double * get_Omega_total_v() { return omega_total_v; }
823 // inline double get_P_total() const { return omega_total_v[0]; }
824 // inline double get_Q_total() const { return omega_total_v[1]; }
825 // inline double get_R_total() const { return omega_total_v[2]; }
826 /* inline void set_Omega_Total( double p, double q, double r ) {
827 omega_total_v[0] = p;
828 omega_total_v[1] = q;
829 omega_total_v[2] = r;
832 // inline double * get_Euler_rates_v() { return euler_rates_v; }
833 inline double get_Phi_dot() const { return euler_rates_v[0]; }
834 inline double get_Theta_dot() const { return euler_rates_v[1]; }
835 inline double get_Psi_dot() const { return euler_rates_v[2]; }
836 inline double get_Phi_dot_degps() const { return euler_rates_v[0] * SGD_RADIANS_TO_DEGREES; }
837 inline double get_Theta_dot_degps() const { return euler_rates_v[1] * SGD_RADIANS_TO_DEGREES; }
838 inline double get_Psi_dot_degps() const { return euler_rates_v[2] * SGD_RADIANS_TO_DEGREES; }
840 // inline double * get_Geocentric_rates_v() { return geocentric_rates_v; }
841 inline double get_Latitude_dot() const { return geocentric_rates_v[0]; }
842 inline double get_Longitude_dot() const { return geocentric_rates_v[1]; }
843 inline double get_Radius_dot() const { return geocentric_rates_v[2]; }
845 // ========== Positions ==========
847 // inline double * get_Geocentric_position_v() {
848 // return geocentric_position_v;
850 inline double get_Lat_geocentric() const {
851 return geocentric_position_v[0];
853 inline double get_Lon_geocentric() const {
854 return geocentric_position_v[1];
856 inline double get_Radius_to_vehicle() const {
857 return geocentric_position_v[2];
860 // inline double * get_Geodetic_position_v() { return geodetic_position_v; }
861 inline double get_Latitude() const { return geodetic_position_v[0]; }
862 inline double get_Longitude() const { return geodetic_position_v[1]; }
863 inline double get_Altitude() const { return geodetic_position_v[2]; }
864 inline double get_Altitude_AGL(void) const { return altitude_agl; }
866 inline double get_Latitude_deg () const {
867 return get_Latitude() * SGD_RADIANS_TO_DEGREES;
869 inline double get_Longitude_deg () const {
870 return get_Longitude() * SGD_RADIANS_TO_DEGREES;
873 // inline double * get_Euler_angles_v() { return euler_angles_v; }
874 inline double get_Phi() const { return euler_angles_v[0]; }
875 inline double get_Theta() const { return euler_angles_v[1]; }
876 inline double get_Psi() const { return euler_angles_v[2]; }
877 inline double get_Phi_deg () const { return get_Phi() * SGD_RADIANS_TO_DEGREES; }
878 inline double get_Theta_deg () const { return get_Theta() * SGD_RADIANS_TO_DEGREES; }
879 inline double get_Psi_deg () const { return get_Psi() * SGD_RADIANS_TO_DEGREES; }
882 // ========== Miscellaneous quantities ==========
884 // inline double * get_T_local_to_body_m() { return t_local_to_body_m; }
885 inline double get_T_local_to_body_11() const {
886 return t_local_to_body_m[0][0];
888 inline double get_T_local_to_body_12() const {
889 return t_local_to_body_m[0][1];
891 inline double get_T_local_to_body_13() const {
892 return t_local_to_body_m[0][2];
894 inline double get_T_local_to_body_21() const {
895 return t_local_to_body_m[1][0];
897 inline double get_T_local_to_body_22() const {
898 return t_local_to_body_m[1][1];
900 inline double get_T_local_to_body_23() const {
901 return t_local_to_body_m[1][2];
903 inline double get_T_local_to_body_31() const {
904 return t_local_to_body_m[2][0];
906 inline double get_T_local_to_body_32() const {
907 return t_local_to_body_m[2][1];
909 inline double get_T_local_to_body_33() const {
910 return t_local_to_body_m[2][2];
913 // inline double get_Gravity() const { return gravity; }
914 // inline void set_Gravity(double g) { gravity = g; }
916 // inline double get_Centrifugal_relief() const {
917 // return centrifugal_relief;
919 // inline void set_Centrifugal_relief(double cr) {
920 // centrifugal_relief = cr;
923 inline double get_Alpha() const { return alpha; }
924 inline double get_Alpha_deg() const { return alpha * SGD_RADIANS_TO_DEGREES; }
925 inline double get_Beta() const { return beta; }
926 inline double get_Beta_deg() const { return beta * SGD_RADIANS_TO_DEGREES; }
927 inline double get_Alpha_dot() const { return alpha_dot; }
928 // inline void set_Alpha_dot( double ad ) { alpha_dot = ad; }
929 inline double get_Beta_dot() const { return beta_dot; }
930 // inline void set_Beta_dot( double bd ) { beta_dot = bd; }
932 // inline double get_Cos_alpha() const { return cos_alpha; }
933 // inline void set_Cos_alpha( double ca ) { cos_alpha = ca; }
934 // inline double get_Sin_alpha() const { return sin_alpha; }
935 // inline void set_Sin_alpha( double sa ) { sin_alpha = sa; }
936 // inline double get_Cos_beta() const { return cos_beta; }
937 // inline void set_Cos_beta( double cb ) { cos_beta = cb; }
938 // inline double get_Sin_beta() const { return sin_beta; }
939 // inline void set_Sin_beta( double sb ) { sin_beta = sb; }
941 inline double get_Cos_phi() const { return cos_phi; }
942 // inline double get_Sin_phi() const { return sin_phi; }
943 // inline void set_Sin_phi( double sp ) { sin_phi = sp; }
944 inline double get_Cos_theta() const { return cos_theta; }
945 // inline double get_Sin_theta() const { return sin_theta; }
946 // inline void set_Sin_theta( double st ) { sin_theta = st; }
947 // inline double get_Cos_psi() const { return cos_psi; }
948 // inline void set_Cos_psi( double cp ) { cos_psi = cp; }
949 // inline double get_Sin_psi() const { return sin_psi; }
950 // inline void set_Sin_psi( double sp ) { sin_psi = sp; }
952 inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
953 // inline double get_Gamma_horiz_rad() const { return gamma_horiz_rad; }
954 // inline void set_Gamma_horiz_rad( double gh ) { gamma_horiz_rad = gh; }
956 // inline double get_Sigma() const { return sigma; }
957 // inline void set_Sigma( double s ) { sigma = s; }
958 inline double get_Density() const { return density; }
959 // inline double get_V_sound() const { return v_sound; }
960 // inline void set_V_sound( double v ) { v_sound = v; }
961 inline double get_Mach_number() const { return mach_number; }
963 inline double get_Static_pressure() const { return static_pressure; }
964 inline double get_Total_pressure() const { return total_pressure; }
965 // inline void set_Total_pressure( double tp ) { total_pressure = tp; }
966 // inline double get_Impact_pressure() const { return impact_pressure; }
967 // inline void set_Impact_pressure( double ip ) { impact_pressure = ip; }
968 inline double get_Dynamic_pressure() const { return dynamic_pressure; }
969 // inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; }
971 inline double get_Static_temperature() const { return static_temperature; }
972 inline double get_Total_temperature() const { return total_temperature; }
973 // inline void set_Total_temperature( double t ) { total_temperature = t; }
975 inline double get_Sea_level_radius() const { return sea_level_radius; }
976 inline double get_Earth_position_angle() const {
977 return earth_position_angle;
980 inline double get_Runway_altitude() const { return runway_altitude; }
981 inline double get_Runway_altitude_m() const { return SG_FEET_TO_METER * 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 // Note that currently this is the "same" value runway altitude...
1084 inline double get_ground_elev_ft() const { return runway_altitude; }
1087 //////////////////////////////////////////////////////////////////////////
1088 // Ground handling routines
1089 //////////////////////////////////////////////////////////////////////////
1093 Solid, // Whatever we will roll on with infinite load factor.
1094 Forest, // Ground unsuitable for taxiing.
1095 Water, // For the beaver ...
1096 Catapult, // Carrier cats.
1097 Wire // Carrier wires.
1100 // Prepare the ground cache for the wgs84 position pt_*.
1101 // That is take all vertices in the ball with radius rad around the
1102 // position given by the pt_* and store them in a local scene graph.
1103 bool prepare_ground_cache_m(double ref_time, const double pt[3],
1105 bool prepare_ground_cache_ft(double ref_time, const double pt[3],
1109 // Returns true if the cache is valid.
1110 // Also the reference time, point and radius values where the cache
1111 // is valid for are returned.
1112 bool is_valid_m(double *ref_time, double pt[3], double *rad);
1113 bool is_valid_ft(double *ref_time, double pt[3], double *rad);
1115 // Return the nearest catapult to the given point
1116 // pt in wgs84 coordinates.
1117 double get_cat_m(double t, const double pt[3],
1118 double end[2][3], double vel[2][3]);
1119 double get_cat_ft(double t, const double pt[3],
1120 double end[2][3], double vel[2][3]);
1123 // Return the altitude above ground below the wgs84 point pt
1124 // Search for the nearest triangle to pt.
1125 // Return ground properties like the ground type, the maximum load
1126 // this kind kind of ground can carry, the friction factor between
1127 // 0 and 1 which can be used to model lower friction with wet runways
1128 // and finally the altitude above ground.
1129 bool get_agl_m(double t, const double pt[3],
1130 double contact[3], double normal[3], double vel[3],
1131 int *type, double *loadCapacity,
1132 double *frictionFactor, double *agl);
1133 bool get_agl_ft(double t, const double pt[3],
1134 double contact[3], double normal[3], double vel[3],
1135 int *type, double *loadCapacity,
1136 double *frictionFactor, double *agl);
1137 bool get_agl_m(double t, const double pt[3], double max_altoff,
1138 double contact[3], double normal[3], double vel[3],
1139 int *type, double *loadCapacity,
1140 double *frictionFactor, double *agl);
1141 bool get_agl_ft(double t, const double pt[3], double max_altoff,
1142 double contact[3], double normal[3], double vel[3],
1143 int *type, double *loadCapacity,
1144 double *frictionFactor, double *agl);
1145 double get_groundlevel_m(double lat, double lon, double alt);
1148 // Return 1 if the hook intersects with a wire.
1149 // That test is done by checking if the quad spanned by the points pt*
1150 // intersects with the line representing the wire.
1151 // If the wire is caught, the cache will trace this wires endpoints until
1152 // the FDM calls release_wire().
1153 bool caught_wire_m(double t, const double pt[4][3]);
1154 bool caught_wire_ft(double t, const double pt[4][3]);
1156 // Return the location and speed of the wire endpoints.
1157 bool get_wire_ends_m(double t, double end[2][3], double vel[2][3]);
1158 bool get_wire_ends_ft(double t, double end[2][3], double vel[2][3]);
1160 // Tell the cache code that it does no longer need to care for
1161 // the wire end position.
1162 void release_wire(void);
1165 extern FGInterface * cur_fdm_state;
1167 // Toggle data logging on/off
1168 void fgToggleFDMdataLogging(void);
1171 #endif // _FLIGHT_HXX