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 {
113 // int Magnetos; // 0=off, 1=left, 2=right, 3=both
114 // bool Starter; // flag to indicate the starter switch is on
118 double Manifold_Pressure; //inches
120 double Percentage_Power; //HP
123 double prop_thrust; //lbs
124 double Fuel_Flow; //Gals/hr
125 double Oil_Temp; //deg F
126 double Oil_Pressure; //PSI
127 bool running; //flag to indicate the engine is running self-sustained
128 bool cranking; //flag to indicate the engine is being turned by the starter
131 double PercentN1,N1; //GE,CFM
133 double EPR; //P&W, RR?
136 double InletAngles[3];
137 double InletPosition[3];
138 double ThrustVector[3];
142 FGEngInterface(void);
143 ~FGEngInterface(void);
145 inline double get_Throttle() const { return Throttle; }
146 inline double get_Mixture() const { return Mixture; }
147 inline double get_Prop_Advance() const { return Prop_Advance; }
148 inline double get_RPM() const { return RPM; }
149 inline double get_Manifold_Pressure() const { return Manifold_Pressure; }
150 inline double get_MaxHP() const { return MaxHP; }
151 inline double get_Percentage_Power() const { return Percentage_Power; }
152 inline double get_EGT() const { return EGT; }
153 inline double get_CHT() const { return CHT; }
154 inline double get_prop_thrust() const { return prop_thrust; }
155 inline double get_Fuel_Flow() const { return Fuel_Flow; }
156 inline double get_Oil_Temp() const { return Oil_Temp; }
157 inline double get_Oil_Pressure() const { return Oil_Pressure; }
158 inline bool get_Running_Flag() const { return running; }
159 inline bool get_Cranking_Flag() const { return cranking; }
161 inline void set_Throttle( double t ) { Throttle = t; }
162 inline void set_Mixture( double m ) { Mixture = m; }
163 inline void set_Prop_Advance( double p ) { Prop_Advance = p; }
164 inline void set_RPM( double r ) { RPM = r; }
165 inline void set_Manifold_Pressure( double mp ) { Manifold_Pressure = mp; }
166 inline void set_MaxHP( double hp ) { MaxHP = hp; }
167 inline void set_Percentage_Power( double p ) { Percentage_Power = p; }
168 inline void set_EGT( double e ) { EGT = e; }
169 inline void set_CHT( double c ) { CHT = c; }
170 inline void set_prop_thrust( double t ) { prop_thrust = t; }
171 inline void set_Fuel_Flow( double f ) { Fuel_Flow = f; }
172 inline void set_Oil_Temp (double o) { Oil_Temp = o; }
173 inline void set_Running_Flag (bool r) { running = r; }
174 inline void set_Cranking_Flag (bool c) { cranking = c; }
178 typedef vector < FGEngInterface > engine_list;
180 class FGGearInterface {
184 float x,y,z; // >0 forward of cg, >0 right, >0 down
185 bool brake; // true if this gear unit has a brake mechanism
186 bool rolls; // true if this gear unit has a wheel
187 bool WoW; // true if this gear unit is touching the ground
188 float position; // 0 if retracted, 1 if extended
191 FGGearInterface(void);
192 ~FGGearInterface(void);
193 inline string GetName(void) { return name; }
194 inline void SetName(string nm) { name=nm; }
195 inline float GetX(void) { return x; }
196 inline void SetX(float xloc) { x=xloc; }
197 inline float GetY(void) { return y; }
198 inline void SetY(float yloc) { y=yloc; }
199 inline float GetZ(void) { return z; }
200 inline void SetZ(float zloc) { z=zloc; }
201 inline bool GetBrake(void) { return brake; }
202 inline void SetBrake(bool brk) { brake=brk; }
204 // no good way to implement these right now
205 //inline bool GetRolls(void) { return rolls; }
206 //inline SetRolls(bool rl) { rolls=rl; }
208 inline bool GetWoW(void) { return WoW; }
209 inline void SetWoW(bool wow) { WoW=wow; }
210 inline float GetPosition(void) { return position; }
211 inline void SetPosition(float pos) { position=pos; }
214 typedef vector < FGGearInterface > gear_list;
218 // This is based heavily on LaRCsim/ls_generic.h
219 class FGInterface : public FGSubsystem {
223 // Has the init() method been called. This is used to delay
224 // initialization until scenery can be loaded and we know the true
228 // Have we bound to the property system
231 // periodic update management variable. This is a scheme to run
232 // the fdm with a fixed delta-t. We control how many iteration of
233 // the fdm to run with the fixed dt based on the elapsed time from
234 // the last update. This allows us to maintain sync with the real
235 // time clock, even though each frame could take a random amount
236 // of time. Since "dt" is unlikely to divide evenly into the
237 // elapse time, we keep track of the remainder and add it into the
238 // next elapsed time. This yields a small amount of temporal
239 // jitter ( < dt ) but in practice seems to work well.
241 double delta_t; // delta "t"
242 SGTimeStamp time_stamp; // time stamp of last run
243 long elapsed; // time elapsed since last run
244 long remainder; // remainder time from last run
245 int multi_loop; // number of iterations of "delta_t" to run
247 // Pilot location rel to ref pt
248 FG_VECTOR_3 d_pilot_rp_body_v;
250 // CG position w.r.t. ref. point
251 FG_VECTOR_3 d_cg_rp_body_v;
254 FG_VECTOR_3 f_body_total_v;
255 FG_VECTOR_3 f_local_total_v;
256 FG_VECTOR_3 f_aero_v;
257 FG_VECTOR_3 f_engine_v;
258 FG_VECTOR_3 f_gear_v;
261 FG_VECTOR_3 m_total_rp_v;
262 FG_VECTOR_3 m_total_cg_v;
263 FG_VECTOR_3 m_aero_v;
264 FG_VECTOR_3 m_engine_v;
265 FG_VECTOR_3 m_gear_v;
268 FG_VECTOR_3 v_dot_local_v;
269 FG_VECTOR_3 v_dot_body_v;
270 FG_VECTOR_3 a_cg_body_v;
271 FG_VECTOR_3 a_pilot_body_v;
272 FG_VECTOR_3 n_cg_body_v;
273 FG_VECTOR_3 n_pilot_body_v;
274 FG_VECTOR_3 omega_dot_body_v;
277 FG_VECTOR_3 v_local_v;
278 FG_VECTOR_3 v_local_rel_ground_v; // V rel w.r.t. earth surface
279 FG_VECTOR_3 v_local_airmass_v; // velocity of airmass (steady winds)
280 FG_VECTOR_3 v_local_rel_airmass_v; // velocity of veh. relative to airmass
281 FG_VECTOR_3 v_local_gust_v; // linear turbulence components, L frame
282 FG_VECTOR_3 v_wind_body_v; // Wind-relative velocities in body axis
284 FG_VECTOR_3 omega_body_v; // Angular B rates
285 FG_VECTOR_3 omega_local_v; // Angular L rates
286 FG_VECTOR_3 omega_total_v; // Diff btw B & L
287 FG_VECTOR_3 euler_rates_v;
288 FG_VECTOR_3 geocentric_rates_v; // Geocentric linear velocities
291 FG_VECTOR_3 geocentric_position_v;
292 FG_VECTOR_3 geodetic_position_v;
293 FG_VECTOR_3 euler_angles_v;
295 // Miscellaneous Quantities
296 FG_VECTOR_3 d_cg_rwy_local_v; // CG rel. to rwy in local coords
297 FG_VECTOR_3 d_cg_rwy_rwy_v; // CG relative to rwy, in rwy coordinates
298 FG_VECTOR_3 d_pilot_rwy_local_v; // pilot rel. to rwy in local coords
299 FG_VECTOR_3 d_pilot_rwy_rwy_v; // pilot rel. to rwy, in rwy coords.
302 double mass, i_xx, i_yy, i_zz, i_xz;
304 // Normal Load Factor
308 double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
309 double v_ground_speed, v_equiv, v_equiv_kts;
310 double v_calibrated, v_calibrated_kts;
312 // Miscellaneious Quantities
313 double t_local_to_body_m[3][3]; // Transformation matrix L to B
314 double gravity; // Local acceleration due to G
315 double centrifugal_relief; // load factor reduction due to speed
316 double alpha, beta, alpha_dot, beta_dot; // in radians
317 double cos_alpha, sin_alpha, cos_beta, sin_beta;
318 double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
319 double gamma_vert_rad, gamma_horiz_rad; // Flight path angles
320 double sigma, density, v_sound, mach_number;
321 double static_pressure, total_pressure, impact_pressure;
322 double dynamic_pressure;
323 double static_temperature, total_temperature;
324 double sea_level_radius, earth_position_angle;
325 double runway_altitude, runway_latitude, runway_longitude;
326 double runway_heading;
327 double radius_to_rwy;
328 double climb_rate; // in feet per second
329 double sin_lat_geocentric, cos_lat_geocentric;
330 double sin_longitude, cos_longitude;
331 double sin_latitude, cos_latitude;
333 double Tank1Fuel; // Gals
334 double Tank2Fuel; // Gals
336 double daux[16]; // auxilliary doubles
337 float faux[16]; // auxilliary floats
338 int iaux[16]; // auxilliary ints
346 // SGTimeStamp valid_stamp; // time this record is valid
347 // SGTimeStamp next_stamp; // time this record is valid
352 // deliberately not virtual so that
353 // FGInterface constructor will call
358 void _updatePosition( double lat_geoc, double lon, double alt );
359 void _updateWeather( void );
361 inline void _set_Inertias( double m, double xx, double yy,
362 double zz, double xz)
370 inline void _set_CG_Position( double dx, double dy, double dz ) {
371 d_cg_rp_body_v[0] = dx;
372 d_cg_rp_body_v[1] = dy;
373 d_cg_rp_body_v[2] = dz;
375 inline void _set_Accels_Local( double north, double east, double down ) {
376 v_dot_local_v[0] = north;
377 v_dot_local_v[1] = east;
378 v_dot_local_v[2] = down;
380 inline void _set_Accels_Body( double u, double v, double w ) {
385 inline void _set_Accels_CG_Body( double x, double y, double z ) {
390 inline void _set_Accels_Pilot_Body( double x, double y, double z ) {
391 a_pilot_body_v[0] = x;
392 a_pilot_body_v[1] = y;
393 a_pilot_body_v[2] = z;
395 inline void _set_Accels_CG_Body_N( double x, double y, double z ) {
400 void _set_Nlf(double n) { nlf=n; }
401 inline void _set_Velocities_Local( double north, double east, double down ){
402 v_local_v[0] = north;
406 inline void _set_Velocities_Ground(double north, double east, double down) {
407 v_local_rel_ground_v[0] = north;
408 v_local_rel_ground_v[1] = east;
409 v_local_rel_ground_v[2] = down;
411 inline void _set_Velocities_Local_Airmass( double north, double east,
414 v_local_airmass_v[0] = north;
415 v_local_airmass_v[1] = east;
416 v_local_airmass_v[2] = down;
418 inline void _set_Velocities_Wind_Body( double u, double v, double w) {
419 v_wind_body_v[0] = u;
420 v_wind_body_v[1] = v;
421 v_wind_body_v[2] = w;
423 inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; }
424 inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
425 inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
426 inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
427 inline void _set_Omega_Body( double p, double q, double r ) {
432 inline void _set_Euler_Rates( double phi, double theta, double psi ) {
433 euler_rates_v[0] = phi;
434 euler_rates_v[1] = theta;
435 euler_rates_v[2] = psi;
437 inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
438 geocentric_rates_v[0] = lat;
439 geocentric_rates_v[1] = lon;
440 geocentric_rates_v[2] = rad;
443 inline void _set_Radius_to_vehicle(double radius) {
444 geocentric_position_v[2] = radius;
447 inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
448 geocentric_position_v[0] = lat;
449 geocentric_position_v[1] = lon;
450 geocentric_position_v[2] = rad;
452 inline void _set_Latitude(double lat) { geodetic_position_v[0] = lat; }
453 inline void _set_Longitude(double lon) { geodetic_position_v[1] = lon; }
454 inline void _set_Altitude(double altitude) {
455 geodetic_position_v[2] = altitude;
457 inline void _set_Altitude_AGL(double agl) {
460 inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
461 geodetic_position_v[0] = lat;
462 geodetic_position_v[1] = lon;
463 geodetic_position_v[2] = alt;
465 inline void _set_Euler_Angles( double phi, double theta, double psi ) {
466 euler_angles_v[0] = phi;
467 euler_angles_v[1] = theta;
468 euler_angles_v[2] = psi;
470 inline void _set_T_Local_to_Body( int i, int j, double value) {
471 t_local_to_body_m[i-1][j-1] = value;
473 inline void _set_T_Local_to_Body( double m[3][3] ) {
475 for ( i = 0; i < 3; i++ ) {
476 for ( j = 0; j < 3; j++ ) {
477 t_local_to_body_m[i][j] = m[i][j];
481 inline void _set_Alpha( double a ) { alpha = a; }
482 inline void _set_Beta( double b ) { beta = b; }
483 inline void _set_Cos_phi( double cp ) { cos_phi = cp; }
484 inline void _set_Cos_theta( double ct ) { cos_theta = ct; }
485 inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
486 inline void _set_Density( double d ) { density = d; }
487 inline void _set_Mach_number( double m ) { mach_number = m; }
488 inline void _set_Static_pressure( double sp ) { static_pressure = sp; }
489 inline void _set_Static_temperature( double t ) { static_temperature = t; }
490 inline void _set_Sea_level_radius( double r ) { sea_level_radius = r; }
491 inline void _set_Earth_position_angle(double a) {
492 earth_position_angle = a;
494 inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; }
495 inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
496 inline void _set_sin_lat_geocentric(double parm) {
497 sin_lat_geocentric = sin(parm);
499 inline void _set_cos_lat_geocentric(double parm) {
500 cos_lat_geocentric = cos(parm);
502 inline void _set_sin_cos_longitude(double parm) {
503 sin_longitude = sin(parm);
504 cos_longitude = cos(parm);
506 inline void _set_sin_cos_latitude(double parm) {
507 sin_latitude = sin(parm);
508 cos_latitude = cos(parm);
511 inline void _set_daux( int n, double value ) { daux[n] = value; }
512 inline void _set_faux( int n, float value ) { faux[n] = value; }
513 inline void _set_iaux( int n, int value ) { iaux[n] = value; }
518 FGInterface( double dt );
519 virtual ~FGInterface();
521 virtual void init ();
522 virtual void bind ();
523 virtual void unbind ();
524 virtual void update ();
525 virtual bool update( int multi_loop );
526 virtual bool ToggleDataLogging(bool state) { return false; }
527 virtual bool ToggleDataLogging(void) { return false; }
529 // Define the various supported flight models (many not yet implemented)
534 // The NASA LaRCsim (Navion) flight model
537 // Jon S. Berndt's new FDM written from the ground up in C++
540 // Christian's hot air balloon simulation
543 // Aeronautical DEvelopment AGEncy, Bangalore India
546 // The following aren't implemented but are here to spark
547 // thoughts and discussions, and maybe even action.
554 // Driven externally via a serial port, net, file, etc.
559 inline bool get_inited() const { return inited; }
560 inline void set_inited( bool value ) { inited = value; }
562 inline bool get_bound() const { return bound; }
564 //perform initializion that is common to all FDM's
567 // time and update management values
568 inline double get_delta_t() const { return delta_t; }
569 inline void set_delta_t( double dt ) { delta_t = dt; }
570 inline SGTimeStamp get_time_stamp() const { return time_stamp; }
571 inline void set_time_stamp( SGTimeStamp s ) { time_stamp = s; }
572 inline void stamp() { time_stamp.stamp(); }
573 inline long get_elapsed() const { return elapsed; }
574 inline void set_elapsed( long e ) { elapsed = e; }
575 inline long get_remainder() const { return remainder; }
576 inline void set_remainder( long r ) { remainder = r; }
577 inline int get_multi_loop() const { return multi_loop; }
578 inline void set_multi_loop( int ml ) { multi_loop = ml; }
581 virtual void set_Latitude(double lat); // geocentric
582 virtual void set_Longitude(double lon);
583 virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
584 virtual void set_AltitudeAGL(double altagl); // and vice-versa
585 virtual void set_Latitude_deg (double lat) {
586 set_Latitude(lat * SGD_DEGREES_TO_RADIANS);
588 virtual void set_Longitude_deg (double lon) {
589 set_Longitude(lon * SGD_DEGREES_TO_RADIANS);
592 // Speeds -- setting any of these will trigger a re-calc of the rest
593 virtual void set_V_calibrated_kts(double vc);
594 virtual void set_Mach_number(double mach);
595 virtual void set_Velocities_Local( double north, double east, double down );
596 inline void set_V_north (double north) {
597 set_Velocities_Local(north, v_local_v[1], v_local_v[2]);
599 inline void set_V_east (double east) {
600 set_Velocities_Local(v_local_v[0], east, v_local_v[2]);
602 inline void set_V_down (double down) {
603 set_Velocities_Local(v_local_v[0], v_local_v[1], down);
605 virtual void set_Velocities_Wind_Body( double u, double v, double w);
606 virtual void set_uBody (double uBody) {
607 set_Velocities_Wind_Body(uBody, v_wind_body_v[1], v_wind_body_v[2]);
609 virtual void set_vBody (double vBody) {
610 set_Velocities_Wind_Body(v_wind_body_v[0], vBody, v_wind_body_v[2]);
612 virtual void set_wBody (double wBody) {
613 set_Velocities_Wind_Body(v_wind_body_v[0], v_wind_body_v[1], wBody);
617 virtual void set_Euler_Angles( double phi, double theta, double psi );
618 virtual void set_Phi (double phi) {
619 set_Euler_Angles(phi, get_Theta(), get_Psi());
621 virtual void set_Theta (double theta) {
622 set_Euler_Angles(get_Phi(), theta, get_Psi());
624 virtual void set_Psi (double psi) {
625 set_Euler_Angles(get_Phi(), get_Theta(), psi);
627 virtual void set_Phi_deg (double phi) { set_Phi(phi * SGD_DEGREES_TO_RADIANS); }
628 virtual void set_Theta_deg (double theta) {
629 set_Theta(theta * SGD_DEGREES_TO_RADIANS);
631 virtual void set_Psi_deg (double psi) { set_Psi(psi * SGD_DEGREES_TO_RADIANS); }
634 virtual void set_Climb_Rate( double roc);
635 virtual void set_Gamma_vert_rad( double gamma);
638 virtual void set_Sea_level_radius(double slr);
639 virtual void set_Runway_altitude(double ralt);
641 virtual void set_Static_pressure(double p);
642 virtual void set_Static_temperature(double T);
643 virtual void set_Density(double rho);
645 virtual void set_Velocities_Local_Airmass (double wnorth,
650 inline void set_Tank1Fuel( double f ) { Tank1Fuel = f; }
651 inline void set_Tank2Fuel( double f ) { Tank2Fuel = f; }
653 inline void reduce_Tank1Fuel( double f ) {
658 inline void reduce_Tank2Fuel( double f ) {
665 // ========== Mass properties and geometry values ==========
668 inline double get_Mass() const { return mass; }
669 inline double get_I_xx() const { return i_xx; }
670 inline double get_I_yy() const { return i_yy; }
671 inline double get_I_zz() const { return i_zz; }
672 inline double get_I_xz() const { return i_xz; }
674 // Pilot location rel to ref pt
675 // inline double * get_D_pilot_rp_body_v() {
676 // return d_pilot_rp_body_v;
678 // inline double get_Dx_pilot() const { return d_pilot_rp_body_v[0]; }
679 // inline double get_Dy_pilot() const { return d_pilot_rp_body_v[1]; }
680 // inline double get_Dz_pilot() const { return d_pilot_rp_body_v[2]; }
681 /* inline void set_Pilot_Location( double dx, double dy, double dz ) {
682 d_pilot_rp_body_v[0] = dx;
683 d_pilot_rp_body_v[1] = dy;
684 d_pilot_rp_body_v[2] = dz;
687 // CG position w.r.t. ref. point
688 // inline double * get_D_cg_rp_body_v() { return d_cg_rp_body_v; }
689 inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; }
690 inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; }
691 inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
693 // ========== Forces ==========
695 // inline double * get_F_body_total_v() { return f_body_total_v; }
696 // inline double get_F_X() const { return f_body_total_v[0]; }
697 // inline double get_F_Y() const { return f_body_total_v[1]; }
698 // inline double get_F_Z() const { return f_body_total_v[2]; }
699 /* inline void set_Forces_Body_Total( double x, double y, double z ) {
700 f_body_total_v[0] = x;
701 f_body_total_v[1] = y;
702 f_body_total_v[2] = z;
705 // inline double * get_F_local_total_v() { return f_local_total_v; }
706 // inline double get_F_north() const { return f_local_total_v[0]; }
707 // inline double get_F_east() const { return f_local_total_v[1]; }
708 // inline double get_F_down() const { return f_local_total_v[2]; }
709 /* inline void set_Forces_Local_Total( double x, double y, double z ) {
710 f_local_total_v[0] = x;
711 f_local_total_v[1] = y;
712 f_local_total_v[2] = z;
715 // inline double * get_F_aero_v() { return f_aero_v; }
716 // inline double get_F_X_aero() const { return f_aero_v[0]; }
717 // inline double get_F_Y_aero() const { return f_aero_v[1]; }
718 // inline double get_F_Z_aero() const { return f_aero_v[2]; }
719 /* inline void set_Forces_Aero( double x, double y, double z ) {
725 // inline double * get_F_engine_v() { return f_engine_v; }
726 // inline double get_F_X_engine() const { return f_engine_v[0]; }
727 // inline double get_F_Y_engine() const { return f_engine_v[1]; }
728 // inline double get_F_Z_engine() const { return f_engine_v[2]; }
729 /* inline void set_Forces_Engine( double x, double y, double z ) {
735 // inline double * get_F_gear_v() { return f_gear_v; }
736 // inline double get_F_X_gear() const { return f_gear_v[0]; }
737 // inline double get_F_Y_gear() const { return f_gear_v[1]; }
738 // inline double get_F_Z_gear() const { return f_gear_v[2]; }
739 /* inline void set_Forces_Gear( double x, double y, double z ) {
745 // ========== Moments ==========
747 // inline double * get_M_total_rp_v() { return m_total_rp_v; }
748 // inline double get_M_l_rp() const { return m_total_rp_v[0]; }
749 // inline double get_M_m_rp() const { return m_total_rp_v[1]; }
750 // inline double get_M_n_rp() const { return m_total_rp_v[2]; }
751 /* inline void set_Moments_Total_RP( double l, double m, double n ) {
757 // inline double * get_M_total_cg_v() { return m_total_cg_v; }
758 // inline double get_M_l_cg() const { return m_total_cg_v[0]; }
759 // inline double get_M_m_cg() const { return m_total_cg_v[1]; }
760 // inline double get_M_n_cg() const { return m_total_cg_v[2]; }
761 /* inline void set_Moments_Total_CG( double l, double m, double n ) {
767 // inline double * get_M_aero_v() { return m_aero_v; }
768 // inline double get_M_l_aero() const { return m_aero_v[0]; }
769 // inline double get_M_m_aero() const { return m_aero_v[1]; }
770 // inline double get_M_n_aero() const { return m_aero_v[2]; }
771 /* inline void set_Moments_Aero( double l, double m, double n ) {
777 // inline double * get_M_engine_v() { return m_engine_v; }
778 // inline double get_M_l_engine() const { return m_engine_v[0]; }
779 // inline double get_M_m_engine() const { return m_engine_v[1]; }
780 // inline double get_M_n_engine() const { return m_engine_v[2]; }
781 /* inline void set_Moments_Engine( double l, double m, double n ) {
787 // inline double * get_M_gear_v() { return m_gear_v; }
788 // inline double get_M_l_gear() const { return m_gear_v[0]; }
789 // inline double get_M_m_gear() const { return m_gear_v[1]; }
790 // inline double get_M_n_gear() const { return m_gear_v[2]; }
791 /* inline void set_Moments_Gear( double l, double m, double n ) {
797 // ========== Accelerations ==========
799 // inline double * get_V_dot_local_v() { return v_dot_local_v; }
800 inline double get_V_dot_north() const { return v_dot_local_v[0]; }
801 inline double get_V_dot_east() const { return v_dot_local_v[1]; }
802 inline double get_V_dot_down() const { return v_dot_local_v[2]; }
804 // inline double * get_V_dot_body_v() { return v_dot_body_v; }
805 inline double get_U_dot_body() const { return v_dot_body_v[0]; }
806 inline double get_V_dot_body() const { return v_dot_body_v[1]; }
807 inline double get_W_dot_body() const { return v_dot_body_v[2]; }
809 // inline double * get_A_cg_body_v() { return a_cg_body_v; }
810 inline double get_A_X_cg() const { return a_cg_body_v[0]; }
811 inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
812 inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
814 // inline double * get_A_pilot_body_v() { return a_pilot_body_v; }
815 inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
816 inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
817 inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
819 // inline double * get_N_cg_body_v() { return n_cg_body_v; }
820 inline double get_N_X_cg() const { return n_cg_body_v[0]; }
821 inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
822 inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
824 // inline double * get_N_pilot_body_v() { return n_pilot_body_v; }
825 // inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
826 // inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; }
827 // inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; }
828 // inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
829 // n_pilot_body_v[0] = x;
830 // n_pilot_body_v[1] = y;
831 // n_pilot_body_v[2] = z;
834 inline double get_Nlf(void) { return nlf; }
836 // inline double * get_Omega_dot_body_v() { return omega_dot_body_v; }
837 // inline double get_P_dot_body() const { return omega_dot_body_v[0]; }
838 // inline double get_Q_dot_body() const { return omega_dot_body_v[1]; }
839 // inline double get_R_dot_body() const { return omega_dot_body_v[2]; }
840 /* inline void set_Accels_Omega( double p, double q, double r ) {
841 omega_dot_body_v[0] = p;
842 omega_dot_body_v[1] = q;
843 omega_dot_body_v[2] = r;
847 // ========== Velocities ==========
849 // inline double * get_V_local_v() { return v_local_v; }
850 inline double get_V_north() const { return v_local_v[0]; }
851 inline double get_V_east() const { return v_local_v[1]; }
852 inline double get_V_down() const { return v_local_v[2]; }
853 inline double get_uBody () const { return v_wind_body_v[0]; }
854 inline double get_vBody () const { return v_wind_body_v[1]; }
855 inline double get_wBody () const { return v_wind_body_v[2]; }
857 // Please dont comment these out. fdm=ada uses these (see
859 inline double * get_V_local_rel_ground_v() {
860 return v_local_rel_ground_v;
862 inline double get_V_north_rel_ground() const {
863 return v_local_rel_ground_v[0];
865 inline double get_V_east_rel_ground() const {
866 return v_local_rel_ground_v[1];
868 inline double get_V_down_rel_ground() const {
869 return v_local_rel_ground_v[2];
871 // <--- fdm=ada uses these (see cockpit.cxx)
873 // inline double * get_V_local_airmass_v() { return v_local_airmass_v; }
874 inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
875 inline double get_V_east_airmass() const { return v_local_airmass_v[1]; }
876 inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
879 // inline double * get_V_local_rel_airmass_v() {
880 // return v_local_rel_airmass_v;
882 // inline double get_V_north_rel_airmass() const {
883 // return v_local_rel_airmass_v[0];
885 // inline double get_V_east_rel_airmass() const {
886 // return v_local_rel_airmass_v[1];
888 // inline double get_V_down_rel_airmass() const {
889 // return v_local_rel_airmass_v[2];
891 /* inline void set_Velocities_Local_Rel_Airmass( double north, double east,
894 v_local_rel_airmass_v[0] = north;
895 v_local_rel_airmass_v[1] = east;
896 v_local_rel_airmass_v[2] = down;
899 // inline double * get_V_local_gust_v() { return v_local_gust_v; }
900 // inline double get_U_gust() const { return v_local_gust_v[0]; }
901 // inline double get_V_gust() const { return v_local_gust_v[1]; }
902 // inline double get_W_gust() const { return v_local_gust_v[2]; }
903 /* inline void set_Velocities_Gust( double u, double v, double w)
905 v_local_gust_v[0] = u;
906 v_local_gust_v[1] = v;
907 v_local_gust_v[2] = w;
910 // inline double * get_V_wind_body_v() { return v_wind_body_v; }
911 inline double get_U_body() const { return v_wind_body_v[0]; }
912 inline double get_V_body() const { return v_wind_body_v[1]; }
913 inline double get_W_body() const { return v_wind_body_v[2]; }
915 inline double get_V_rel_wind() const { return v_rel_wind; }
916 // inline void set_V_rel_wind(double wind) { v_rel_wind = wind; }
918 // inline double get_V_true_kts() const { return v_true_kts; }
919 // inline void set_V_true_kts(double kts) { v_true_kts = kts; }
921 // inline double get_V_rel_ground() const { return v_rel_ground; }
922 // inline void set_V_rel_ground( double v ) { v_rel_ground = v; }
924 // inline double get_V_inertial() const { return v_inertial; }
925 // inline void set_V_inertial(double v) { v_inertial = v; }
927 inline double get_V_ground_speed() const { return v_ground_speed; }
929 // inline double get_V_equiv() const { return v_equiv; }
930 // inline void set_V_equiv( double v ) { v_equiv = v; }
932 inline double get_V_equiv_kts() const { return v_equiv_kts; }
934 //inline double get_V_calibrated() const { return v_calibrated; }
935 //inline void set_V_calibrated( double v ) { v_calibrated = v; }
937 inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
939 // inline double * get_Omega_body_v() { return omega_body_v; }
940 inline double get_P_body() const { return omega_body_v[0]; }
941 inline double get_Q_body() const { return omega_body_v[1]; }
942 inline double get_R_body() const { return omega_body_v[2]; }
944 // inline double * get_Omega_local_v() { return omega_local_v; }
945 // inline double get_P_local() const { return omega_local_v[0]; }
946 // inline double get_Q_local() const { return omega_local_v[1]; }
947 // inline double get_R_local() const { return omega_local_v[2]; }
948 /* inline void set_Omega_Local( double p, double q, double r ) {
949 omega_local_v[0] = p;
950 omega_local_v[1] = q;
951 omega_local_v[2] = r;
954 // inline double * get_Omega_total_v() { return omega_total_v; }
955 // inline double get_P_total() const { return omega_total_v[0]; }
956 // inline double get_Q_total() const { return omega_total_v[1]; }
957 // inline double get_R_total() const { return omega_total_v[2]; }
958 /* inline void set_Omega_Total( double p, double q, double r ) {
959 omega_total_v[0] = p;
960 omega_total_v[1] = q;
961 omega_total_v[2] = r;
964 // inline double * get_Euler_rates_v() { return euler_rates_v; }
965 inline double get_Phi_dot() const { return euler_rates_v[0]; }
966 inline double get_Theta_dot() const { return euler_rates_v[1]; }
967 inline double get_Psi_dot() const { return euler_rates_v[2]; }
969 // inline double * get_Geocentric_rates_v() { return geocentric_rates_v; }
970 inline double get_Latitude_dot() const { return geocentric_rates_v[0]; }
971 inline double get_Longitude_dot() const { return geocentric_rates_v[1]; }
972 inline double get_Radius_dot() const { return geocentric_rates_v[2]; }
974 // ========== Positions ==========
976 // inline double * get_Geocentric_position_v() {
977 // return geocentric_position_v;
979 inline double get_Lat_geocentric() const {
980 return geocentric_position_v[0];
982 inline double get_Lon_geocentric() const {
983 return geocentric_position_v[1];
985 inline double get_Radius_to_vehicle() const {
986 return geocentric_position_v[2];
989 // inline double * get_Geodetic_position_v() { return geodetic_position_v; }
990 inline double get_Latitude() const { return geodetic_position_v[0]; }
991 inline double get_Longitude() const { return geodetic_position_v[1]; }
992 inline double get_Altitude() const { return geodetic_position_v[2]; }
993 inline double get_Altitude_AGL(void) const { return altitude_agl; }
995 inline double get_Latitude_deg () const {
996 return get_Latitude() * SGD_RADIANS_TO_DEGREES;
998 inline double get_Longitude_deg () const {
999 return get_Longitude() * SGD_RADIANS_TO_DEGREES;
1002 // inline double * get_Euler_angles_v() { return euler_angles_v; }
1003 inline double get_Phi() const { return euler_angles_v[0]; }
1004 inline double get_Theta() const { return euler_angles_v[1]; }
1005 inline double get_Psi() const { return euler_angles_v[2]; }
1006 inline double get_Phi_deg () const { return get_Phi() * SGD_RADIANS_TO_DEGREES; }
1007 inline double get_Theta_deg () const { return get_Theta() * SGD_RADIANS_TO_DEGREES; }
1008 inline double get_Psi_deg () const { return get_Psi() * SGD_RADIANS_TO_DEGREES; }
1011 // ========== Miscellaneous quantities ==========
1013 // inline double * get_T_local_to_body_m() { return t_local_to_body_m; }
1014 inline double get_T_local_to_body_11() const {
1015 return t_local_to_body_m[0][0];
1017 inline double get_T_local_to_body_12() const {
1018 return t_local_to_body_m[0][1];
1020 inline double get_T_local_to_body_13() const {
1021 return t_local_to_body_m[0][2];
1023 inline double get_T_local_to_body_21() const {
1024 return t_local_to_body_m[1][0];
1026 inline double get_T_local_to_body_22() const {
1027 return t_local_to_body_m[1][1];
1029 inline double get_T_local_to_body_23() const {
1030 return t_local_to_body_m[1][2];
1032 inline double get_T_local_to_body_31() const {
1033 return t_local_to_body_m[2][0];
1035 inline double get_T_local_to_body_32() const {
1036 return t_local_to_body_m[2][1];
1038 inline double get_T_local_to_body_33() const {
1039 return t_local_to_body_m[2][2];
1042 // inline double get_Gravity() const { return gravity; }
1043 // inline void set_Gravity(double g) { gravity = g; }
1045 // inline double get_Centrifugal_relief() const {
1046 // return centrifugal_relief;
1048 // inline void set_Centrifugal_relief(double cr) {
1049 // centrifugal_relief = cr;
1052 inline double get_Alpha() const { return alpha; }
1053 inline double get_Beta() const { return beta; }
1054 // inline double get_Alpha_dot() const { return alpha_dot; }
1055 // inline void set_Alpha_dot( double ad ) { alpha_dot = ad; }
1056 // inline double get_Beta_dot() const { return beta_dot; }
1057 // inline void set_Beta_dot( double bd ) { beta_dot = bd; }
1059 // inline double get_Cos_alpha() const { return cos_alpha; }
1060 // inline void set_Cos_alpha( double ca ) { cos_alpha = ca; }
1061 // inline double get_Sin_alpha() const { return sin_alpha; }
1062 // inline void set_Sin_alpha( double sa ) { sin_alpha = sa; }
1063 // inline double get_Cos_beta() const { return cos_beta; }
1064 // inline void set_Cos_beta( double cb ) { cos_beta = cb; }
1065 // inline double get_Sin_beta() const { return sin_beta; }
1066 // inline void set_Sin_beta( double sb ) { sin_beta = sb; }
1068 inline double get_Cos_phi() const { return cos_phi; }
1069 // inline double get_Sin_phi() const { return sin_phi; }
1070 // inline void set_Sin_phi( double sp ) { sin_phi = sp; }
1071 inline double get_Cos_theta() const { return cos_theta; }
1072 // inline double get_Sin_theta() const { return sin_theta; }
1073 // inline void set_Sin_theta( double st ) { sin_theta = st; }
1074 // inline double get_Cos_psi() const { return cos_psi; }
1075 // inline void set_Cos_psi( double cp ) { cos_psi = cp; }
1076 // inline double get_Sin_psi() const { return sin_psi; }
1077 // inline void set_Sin_psi( double sp ) { sin_psi = sp; }
1079 inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
1080 // inline double get_Gamma_horiz_rad() const { return gamma_horiz_rad; }
1081 // inline void set_Gamma_horiz_rad( double gh ) { gamma_horiz_rad = gh; }
1083 // inline double get_Sigma() const { return sigma; }
1084 // inline void set_Sigma( double s ) { sigma = s; }
1085 inline double get_Density() const { return density; }
1086 // inline double get_V_sound() const { return v_sound; }
1087 // inline void set_V_sound( double v ) { v_sound = v; }
1088 inline double get_Mach_number() const { return mach_number; }
1090 inline double get_Static_pressure() const { return static_pressure; }
1091 // inline double get_Total_pressure() const { return total_pressure; }
1092 // inline void set_Total_pressure( double tp ) { total_pressure = tp; }
1093 // inline double get_Impact_pressure() const { return impact_pressure; }
1094 // inline void set_Impact_pressure( double ip ) { impact_pressure = ip; }
1095 // inline double get_Dynamic_pressure() const { return dynamic_pressure; }
1096 // inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; }
1098 inline double get_Static_temperature() const { return static_temperature; }
1099 // inline double get_Total_temperature() const { return total_temperature; }
1100 // inline void set_Total_temperature( double t ) { total_temperature = t; }
1102 inline double get_Sea_level_radius() const { return sea_level_radius; }
1103 inline double get_Earth_position_angle() const {
1104 return earth_position_angle;
1107 inline double get_Runway_altitude() const { return runway_altitude; }
1108 // inline double get_Runway_latitude() const { return runway_latitude; }
1109 // inline void set_Runway_latitude( double lat ) { runway_latitude = lat; }
1110 // inline double get_Runway_longitude() const { return runway_longitude; }
1111 // inline void set_Runway_longitude( double lon ) {
1112 // runway_longitude = lon;
1114 // inline double get_Runway_heading() const { return runway_heading; }
1115 // inline void set_Runway_heading( double h ) { runway_heading = h; }
1117 // inline double get_Radius_to_rwy() const { return radius_to_rwy; }
1118 // inline void set_Radius_to_rwy( double r ) { radius_to_rwy = r; }
1120 // inline double * get_D_cg_rwy_local_v() { return d_cg_rwy_local_v; }
1121 // inline double get_D_cg_north_of_rwy() const {
1122 // return d_cg_rwy_local_v[0];
1124 // inline double get_D_cg_east_of_rwy() const {
1125 // return d_cg_rwy_local_v[1];
1127 // inline double get_D_cg_above_rwy() const { return d_cg_rwy_local_v[2]; }
1128 /* inline void set_CG_Rwy_Local( double north, double east, double above )
1130 d_cg_rwy_local_v[0] = north;
1131 d_cg_rwy_local_v[1] = east;
1132 d_cg_rwy_local_v[2] = above;
1135 // inline double * get_D_cg_rwy_rwy_v() { return d_cg_rwy_rwy_v; }
1136 // inline double get_X_cg_rwy() const { return d_cg_rwy_rwy_v[0]; }
1137 // inline double get_Y_cg_rwy() const { return d_cg_rwy_rwy_v[1]; }
1138 // inline double get_H_cg_rwy() const { return d_cg_rwy_rwy_v[2]; }
1139 /* inline void set_CG_Rwy_Rwy( double x, double y, double h )
1141 d_cg_rwy_rwy_v[0] = x;
1142 d_cg_rwy_rwy_v[1] = y;
1143 d_cg_rwy_rwy_v[2] = h;
1146 // inline double * get_D_pilot_rwy_local_v() { return d_pilot_rwy_local_v; }
1147 // inline double get_D_pilot_north_of_rwy() const {
1148 // return d_pilot_rwy_local_v[0];
1150 // inline double get_D_pilot_east_of_rwy() const {
1151 // return d_pilot_rwy_local_v[1];
1153 // inline double get_D_pilot_above_rwy() const {
1154 // return d_pilot_rwy_local_v[2];
1156 /* inline void set_Pilot_Rwy_Local( double north, double east, double above )
1158 d_pilot_rwy_local_v[0] = north;
1159 d_pilot_rwy_local_v[1] = east;
1160 d_pilot_rwy_local_v[2] = above;
1163 // inline double * get_D_pilot_rwy_rwy_v() { return d_pilot_rwy_rwy_v; }
1164 // inline double get_X_pilot_rwy() const { return d_pilot_rwy_rwy_v[0]; }
1165 // inline double get_Y_pilot_rwy() const { return d_pilot_rwy_rwy_v[1]; }
1166 // inline double get_H_pilot_rwy() const { return d_pilot_rwy_rwy_v[2]; }
1167 /* inline void set_Pilot_Rwy_Rwy( double x, double y, double h )
1169 d_pilot_rwy_rwy_v[0] = x;
1170 d_pilot_rwy_rwy_v[1] = y;
1171 d_pilot_rwy_rwy_v[2] = h;
1174 inline double get_Climb_Rate() const { return climb_rate; }
1176 // inline SGTimeStamp get_time_stamp() const { return valid_stamp; }
1177 // inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
1179 // Extrapolate FDM based on time_offset (in usec)
1180 void extrapolate( int time_offset );
1182 // sin/cos lat_geocentric
1183 inline double get_sin_lat_geocentric(void) const {
1184 return sin_lat_geocentric;
1186 inline double get_cos_lat_geocentric(void) const {
1187 return cos_lat_geocentric;
1190 inline double get_sin_longitude(void) const {
1191 return sin_longitude;
1193 inline double get_cos_longitude(void) const {
1194 return cos_longitude;
1197 inline double get_sin_latitude(void) const {
1198 return sin_latitude;
1200 inline double get_cos_latitude(void) const {
1201 return cos_latitude;
1204 // Auxilliary variables
1205 inline double get_daux( int n ) const { return daux[n]; }
1206 inline float get_faux( int n ) const { return faux[n]; }
1207 inline int get_iaux( int n ) const { return iaux[n]; }
1210 inline double get_Tank1Fuel() const { return Tank1Fuel; }
1211 inline double get_Tank2Fuel() const { return Tank2Fuel; }
1214 inline int get_num_engines() const {
1215 return engines.size();
1218 inline FGEngInterface* get_engine( int i ) {
1222 inline void add_engine( FGEngInterface e ) {
1223 engines.push_back( e );
1227 inline int get_num_gear() const {
1231 inline FGGearInterface* get_gear_unit( int i ) {
1235 inline void add_gear_unit( FGGearInterface fgi ) {
1236 gear.push_back( fgi );
1241 typedef list < FGInterface > fdm_state_list;
1242 typedef fdm_state_list::iterator fdm_state_list_iterator;
1243 typedef fdm_state_list::const_iterator const_fdm_state_list_iterator;
1246 extern FGInterface * cur_fdm_state;
1249 // General interface to the flight model routines
1251 // Set the altitude (force)
1252 void fgFDMForceAltitude(const string &model, double alt_meters);
1254 // Toggle data logging on/off
1255 void fgToggleFDMdataLogging(void);
1258 #endif // _FLIGHT_HXX