1 // flight.hxx -- define shared flight model parameters
3 // Written by Curtis Olson, started May 1997.
5 // Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
29 # error This library requires C++
35 `FGInterface::get_Longitude ()'
36 `FGInterface::get_Latitude ()'
37 `FGInterface::get_Altitude ()'
38 `FGInterface::get_Phi ()'
39 `FGInterface::get_Theta ()'
40 `FGInterface::get_Psi ()'
41 `FGInterface::get_V_equiv_kts ()'
43 `FGInterface::get_Mass ()'
44 `FGInterface::get_I_xx ()'
45 `FGInterface::get_I_yy ()'
46 `FGInterface::get_I_zz ()'
47 `FGInterface::get_I_xz ()'
49 `FGInterface::get_V_north ()'
50 `FGInterface::get_V_east ()'
51 `FGInterface::get_V_down ()'
53 `FGInterface::get_P_Body ()'
54 `FGInterface::get_Q_Body ()'
55 `FGInterface::get_R_Body ()'
57 `FGInterface::get_Gamma_vert_rad ()'
58 `FGInterface::get_Climb_Rate ()'
59 `FGInterface::get_Alpha ()'
60 `FGInterface::get_Beta ()'
62 `FGInterface::get_Runway_altitude ()'
64 `FGInterface::get_Lon_geocentric ()'
65 `FGInterface::get_Lat_geocentric ()'
66 `FGInterface::get_Sea_level_radius ()'
67 `FGInterface::get_Earth_position_angle ()'
69 `FGInterface::get_Latitude_dot()'
70 `FGInterface::get_Longitude_dot()'
71 `FGInterface::get_Radius_dot()'
73 `FGInterface::get_Dx_cg ()'
74 `FGInterface::get_Dy_cg ()'
75 `FGInterface::get_Dz_cg ()'
77 `FGInterface::get_T_local_to_body_11 ()' ... `FGInterface::get_T_local_to_body_33 ()'
79 `FGInterface::get_Radius_to_vehicle ()'
84 #include <simgear/compiler.h>
92 #include <simgear/constants.h>
93 #include <simgear/timing/timestamp.hxx>
95 #include <Main/fgfs.hxx>
102 typedef double FG_VECTOR_3[3];
105 class FGEngInterface {
116 double Manifold_Pressure; //inches
118 double Percentage_Power; //HP
121 double prop_thrust; //lbs
122 double Fuel_Flow; //Gals/hr
123 double Oil_Temp; //deg F
126 double PercentN1,N1; //GE,CFM
128 double EPR; //P&W, RR?
131 double InletAngles[3];
132 double InletPosition[3];
133 double ThrustVector[3];
137 FGEngInterface(void);
138 ~FGEngInterface(void);
140 inline double get_Throttle() const { return Throttle; }
141 inline double get_Mixture() const { return Mixture; }
142 inline double get_Prop_Advance() const { return Prop_Advance; }
143 inline double get_RPM() const { return RPM; }
144 inline double get_Manifold_Pressure() const { return Manifold_Pressure; }
145 inline double get_MaxHP() const { return MaxHP; }
146 inline double get_Percentage_Power() const { return Percentage_Power; }
147 inline double get_EGT() const { return EGT; }
148 inline double get_CHT() const { return CHT; }
149 inline double get_prop_thrust() const { return prop_thrust; }
150 inline double get_Fuel_Flow() const { return Fuel_Flow; }
151 inline double get_Oil_Temp() const { return Oil_Temp; }
153 inline void set_Throttle( double t ) { Throttle = t; }
154 inline void set_Mixture( double m ) { Mixture = m; }
155 inline void set_Prop_Advance( double p ) { Prop_Advance = p; }
156 inline void set_RPM( double r ) { RPM = r; }
157 inline void set_Manifold_Pressure( double mp ) { Manifold_Pressure = mp; }
158 inline void set_MaxHP( double hp ) { MaxHP = hp; }
159 inline void set_Percentage_Power( double p ) { Percentage_Power = p; }
160 inline void set_EGT( double e ) { EGT = e; }
161 inline void set_CHT( double c ) { CHT = c; }
162 inline void set_prop_thrust( double t ) { prop_thrust = t; }
163 inline void set_Fuel_Flow( double f ) { Fuel_Flow = f; }
164 inline void set_Oil_Temp (double o) { Oil_Temp = o; }
168 typedef vector < FGEngInterface > engine_list;
171 // This is based heavily on LaRCsim/ls_generic.h
172 class FGInterface : public FGSubsystem {
176 // periodic update management variable. This is a scheme to run
177 // the fdm with a fixed delta-t. We control how many iteration of
178 // the fdm to run with the fixed dt based on the elapsed time from
179 // the last update. This allows us to maintain sync with the real
180 // time clock, even though each frame could take a random amount
181 // of time. Since "dt" is unlikely to divide evenly into the
182 // elapse time, we keep track of the remainder and add it into the
183 // next elapsed time. This yields a small amount of temporal
184 // jitter ( < dt ) but in practice seems to work well.
186 double delta_t; // delta "t"
187 SGTimeStamp time_stamp; // time stamp of last run
188 long elapsed; // time elapsed since last run
189 long remainder; // remainder time from last run
190 int multi_loop; // number of iterations of "delta_t" to run
192 // Pilot location rel to ref pt
193 FG_VECTOR_3 d_pilot_rp_body_v;
195 // CG position w.r.t. ref. point
196 FG_VECTOR_3 d_cg_rp_body_v;
199 FG_VECTOR_3 f_body_total_v;
200 FG_VECTOR_3 f_local_total_v;
201 FG_VECTOR_3 f_aero_v;
202 FG_VECTOR_3 f_engine_v;
203 FG_VECTOR_3 f_gear_v;
206 FG_VECTOR_3 m_total_rp_v;
207 FG_VECTOR_3 m_total_cg_v;
208 FG_VECTOR_3 m_aero_v;
209 FG_VECTOR_3 m_engine_v;
210 FG_VECTOR_3 m_gear_v;
213 FG_VECTOR_3 v_dot_local_v;
214 FG_VECTOR_3 v_dot_body_v;
215 FG_VECTOR_3 a_cg_body_v;
216 FG_VECTOR_3 a_pilot_body_v;
217 FG_VECTOR_3 n_cg_body_v;
218 FG_VECTOR_3 n_pilot_body_v;
219 FG_VECTOR_3 omega_dot_body_v;
222 FG_VECTOR_3 v_local_v;
223 FG_VECTOR_3 v_local_rel_ground_v; // V rel w.r.t. earth surface
224 FG_VECTOR_3 v_local_airmass_v; // velocity of airmass (steady winds)
225 FG_VECTOR_3 v_local_rel_airmass_v; // velocity of veh. relative to airmass
226 FG_VECTOR_3 v_local_gust_v; // linear turbulence components, L frame
227 FG_VECTOR_3 v_wind_body_v; // Wind-relative velocities in body axis
229 FG_VECTOR_3 omega_body_v; // Angular B rates
230 FG_VECTOR_3 omega_local_v; // Angular L rates
231 FG_VECTOR_3 omega_total_v; // Diff btw B & L
232 FG_VECTOR_3 euler_rates_v;
233 FG_VECTOR_3 geocentric_rates_v; // Geocentric linear velocities
236 FG_VECTOR_3 geocentric_position_v;
237 FG_VECTOR_3 geodetic_position_v;
238 FG_VECTOR_3 euler_angles_v;
240 // Miscellaneous Quantities
241 FG_VECTOR_3 d_cg_rwy_local_v; // CG rel. to rwy in local coords
242 FG_VECTOR_3 d_cg_rwy_rwy_v; // CG relative to rwy, in rwy coordinates
243 FG_VECTOR_3 d_pilot_rwy_local_v; // pilot rel. to rwy in local coords
244 FG_VECTOR_3 d_pilot_rwy_rwy_v; // pilot rel. to rwy, in rwy coords.
247 double mass, i_xx, i_yy, i_zz, i_xz;
249 // Normal Load Factor
253 double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
254 double v_ground_speed, v_equiv, v_equiv_kts;
255 double v_calibrated, v_calibrated_kts;
257 // Miscellaneious Quantities
258 double t_local_to_body_m[3][3]; // Transformation matrix L to B
259 double gravity; // Local acceleration due to G
260 double centrifugal_relief; // load factor reduction due to speed
261 double alpha, beta, alpha_dot, beta_dot; // in radians
262 double cos_alpha, sin_alpha, cos_beta, sin_beta;
263 double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
264 double gamma_vert_rad, gamma_horiz_rad; // Flight path angles
265 double sigma, density, v_sound, mach_number;
266 double static_pressure, total_pressure, impact_pressure;
267 double dynamic_pressure;
268 double static_temperature, total_temperature;
269 double sea_level_radius, earth_position_angle;
270 double runway_altitude, runway_latitude, runway_longitude;
271 double runway_heading;
272 double radius_to_rwy;
273 double climb_rate; // in feet per second
274 double sin_lat_geocentric, cos_lat_geocentric;
275 double sin_longitude, cos_longitude;
276 double sin_latitude, cos_latitude;
278 double Tank1Fuel; // Gals
279 double Tank2Fuel; // Gals
281 double daux[16]; // auxilliary doubles
282 float faux[16]; // auxilliary floats
283 int iaux[16]; // auxilliary ints
288 // SGTimeStamp valid_stamp; // time this record is valid
289 // SGTimeStamp next_stamp; // time this record is valid
294 // deliberately not virtual so that
295 // FGInterface constructor will call
300 void _updatePosition( double lat_geoc, double lon, double alt );
301 void _updateWeather( void );
303 inline void _set_Inertias( double m, double xx, double yy,
304 double zz, double xz)
312 inline void _set_CG_Position( double dx, double dy, double dz ) {
313 d_cg_rp_body_v[0] = dx;
314 d_cg_rp_body_v[1] = dy;
315 d_cg_rp_body_v[2] = dz;
317 inline void _set_Accels_Local( double north, double east, double down ) {
318 v_dot_local_v[0] = north;
319 v_dot_local_v[1] = east;
320 v_dot_local_v[2] = down;
322 inline void _set_Accels_Body( double u, double v, double w ) {
327 inline void _set_Accels_CG_Body( double x, double y, double z ) {
332 inline void _set_Accels_Pilot_Body( double x, double y, double z ) {
333 a_pilot_body_v[0] = x;
334 a_pilot_body_v[1] = y;
335 a_pilot_body_v[2] = z;
337 inline void _set_Accels_CG_Body_N( double x, double y, double z ) {
342 void _set_Nlf(double n) { nlf=n; }
343 inline void _set_Velocities_Local( double north, double east, double down ){
344 v_local_v[0] = north;
348 inline void _set_Velocities_Ground(double north, double east, double down) {
349 v_local_rel_ground_v[0] = north;
350 v_local_rel_ground_v[1] = east;
351 v_local_rel_ground_v[2] = down;
353 inline void _set_Velocities_Local_Airmass( double north, double east,
356 v_local_airmass_v[0] = north;
357 v_local_airmass_v[1] = east;
358 v_local_airmass_v[2] = down;
360 inline void _set_Velocities_Wind_Body( double u, double v, double w) {
361 v_wind_body_v[0] = u;
362 v_wind_body_v[1] = v;
363 v_wind_body_v[2] = w;
365 inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; }
366 inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
367 inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
368 inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
369 inline void _set_Omega_Body( double p, double q, double r ) {
374 inline void _set_Euler_Rates( double phi, double theta, double psi ) {
375 euler_rates_v[0] = phi;
376 euler_rates_v[1] = theta;
377 euler_rates_v[2] = psi;
379 inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
380 geocentric_rates_v[0] = lat;
381 geocentric_rates_v[1] = lon;
382 geocentric_rates_v[2] = rad;
385 inline void _set_Radius_to_vehicle(double radius) {
386 geocentric_position_v[2] = radius;
389 inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
390 geocentric_position_v[0] = lat;
391 geocentric_position_v[1] = lon;
392 geocentric_position_v[2] = rad;
394 inline void _set_Latitude(double lat) { geodetic_position_v[0] = lat; }
395 inline void _set_Longitude(double lon) { geodetic_position_v[1] = lon; }
396 inline void _set_Altitude(double altitude) {
397 geodetic_position_v[2] = altitude;
399 inline void _set_Altitude_AGL(double agl) {
402 inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
403 geodetic_position_v[0] = lat;
404 geodetic_position_v[1] = lon;
405 geodetic_position_v[2] = alt;
407 inline void _set_Euler_Angles( double phi, double theta, double psi ) {
408 euler_angles_v[0] = phi;
409 euler_angles_v[1] = theta;
410 euler_angles_v[2] = psi;
412 inline void _set_T_Local_to_Body( int i, int j, double value) {
413 t_local_to_body_m[i-1][j-1] = value;
415 inline void _set_T_Local_to_Body( double m[3][3] ) {
417 for ( i = 0; i < 3; i++ ) {
418 for ( j = 0; j < 3; j++ ) {
419 t_local_to_body_m[i][j] = m[i][j];
423 inline void _set_Alpha( double a ) { alpha = a; }
424 inline void _set_Beta( double b ) { beta = b; }
425 inline void _set_Cos_phi( double cp ) { cos_phi = cp; }
426 inline void _set_Cos_theta( double ct ) { cos_theta = ct; }
427 inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
428 inline void _set_Density( double d ) { density = d; }
429 inline void _set_Mach_number( double m ) { mach_number = m; }
430 inline void _set_Static_pressure( double sp ) { static_pressure = sp; }
431 inline void _set_Static_temperature( double t ) { static_temperature = t; }
432 inline void _set_Sea_level_radius( double r ) { sea_level_radius = r; }
433 inline void _set_Earth_position_angle(double a) {
434 earth_position_angle = a;
436 inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; }
437 inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
438 inline void _set_sin_lat_geocentric(double parm) {
439 sin_lat_geocentric = sin(parm);
441 inline void _set_cos_lat_geocentric(double parm) {
442 cos_lat_geocentric = cos(parm);
444 inline void _set_sin_cos_longitude(double parm) {
445 sin_longitude = sin(parm);
446 cos_longitude = cos(parm);
448 inline void _set_sin_cos_latitude(double parm) {
449 sin_latitude = sin(parm);
450 cos_latitude = cos(parm);
453 inline void _set_daux( int n, double value ) { daux[n] = value; }
454 inline void _set_faux( int n, float value ) { faux[n] = value; }
455 inline void _set_iaux( int n, int value ) { iaux[n] = value; }
460 FGInterface( double dt );
461 virtual ~FGInterface();
463 virtual void init ();
464 virtual void bind ();
465 virtual void unbind ();
466 virtual void update ();
467 virtual bool update( int multi_loop );
468 virtual bool ToggleDataLogging(bool state) { return false; }
469 virtual bool ToggleDataLogging(void) { return false; }
471 // Define the various supported flight models (many not yet implemented)
476 // The NASA LaRCsim (Navion) flight model
479 // Jon S. Berndt's new FDM written from the ground up in C++
482 // Christian's hot air balloon simulation
485 // Aeronautical DEvelopment AGEncy, Bangalore India
488 // The following aren't implemented but are here to spark
489 // thoughts and discussions, and maybe even action.
496 // Driven externally via a serial port, net, file, etc.
500 // time and update management values
501 inline double get_delta_t() const { return delta_t; }
502 inline void set_delta_t( double dt ) { delta_t = dt; }
503 inline SGTimeStamp get_time_stamp() const { return time_stamp; }
504 inline void set_time_stamp( SGTimeStamp s ) { time_stamp = s; }
505 inline void stamp() { time_stamp.stamp(); }
506 inline long get_elapsed() const { return elapsed; }
507 inline void set_elapsed( long e ) { elapsed = e; }
508 inline long get_remainder() const { return remainder; }
509 inline void set_remainder( long r ) { remainder = r; }
510 inline int get_multi_loop() const { return multi_loop; }
511 inline void set_multi_loop( int ml ) { multi_loop = ml; }
514 virtual void set_Latitude(double lat); // geocentric
515 virtual void set_Longitude(double lon);
516 virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
517 virtual void set_AltitudeAGL(double altagl); // and vice-versa
518 virtual void set_Latitude_deg (double lat) {
519 set_Latitude(lat * SGD_DEGREES_TO_RADIANS);
521 virtual void set_Longitude_deg (double lon) {
522 set_Longitude(lon * SGD_DEGREES_TO_RADIANS);
525 // Speeds -- setting any of these will trigger a re-calc of the rest
526 virtual void set_V_calibrated_kts(double vc);
527 virtual void set_Mach_number(double mach);
528 virtual void set_Velocities_Local( double north, double east, double down );
529 inline void set_V_north (double north) {
530 set_Velocities_Local(north, v_local_v[1], v_local_v[2]);
532 inline void set_V_east (double east) {
533 set_Velocities_Local(v_local_v[0], east, v_local_v[2]);
535 inline void set_V_down (double down) {
536 set_Velocities_Local(v_local_v[0], v_local_v[1], down);
538 virtual void set_Velocities_Wind_Body( double u, double v, double w);
539 virtual void set_uBody (double uBody) {
540 set_Velocities_Wind_Body(uBody, v_wind_body_v[1], v_wind_body_v[2]);
542 virtual void set_vBody (double vBody) {
543 set_Velocities_Wind_Body(v_wind_body_v[0], vBody, v_wind_body_v[2]);
545 virtual void set_wBody (double wBody) {
546 set_Velocities_Wind_Body(v_wind_body_v[0], v_wind_body_v[1], wBody);
550 virtual void set_Euler_Angles( double phi, double theta, double psi );
551 virtual void set_Phi (double phi) {
552 set_Euler_Angles(phi, get_Theta(), get_Psi());
554 virtual void set_Theta (double theta) {
555 set_Euler_Angles(get_Phi(), theta, get_Psi());
557 virtual void set_Psi (double psi) {
558 set_Euler_Angles(get_Phi(), get_Theta(), psi);
560 virtual void set_Phi_deg (double phi) { set_Phi(phi * SGD_DEGREES_TO_RADIANS); }
561 virtual void set_Theta_deg (double theta) {
562 set_Theta(theta * SGD_DEGREES_TO_RADIANS);
564 virtual void set_Psi_deg (double psi) { set_Psi(psi * SGD_DEGREES_TO_RADIANS); }
567 virtual void set_Climb_Rate( double roc);
568 virtual void set_Gamma_vert_rad( double gamma);
571 virtual void set_Sea_level_radius(double slr);
572 virtual void set_Runway_altitude(double ralt);
574 virtual void set_Static_pressure(double p);
575 virtual void set_Static_temperature(double T);
576 virtual void set_Density(double rho);
578 virtual void set_Velocities_Local_Airmass (double wnorth,
583 inline void set_Tank1Fuel( double f ) { Tank1Fuel = f; }
584 inline void set_Tank2Fuel( double f ) { Tank2Fuel = f; }
586 inline void reduce_Tank1Fuel( double f ) {
591 inline void reduce_Tank2Fuel( double f ) {
598 // ========== Mass properties and geometry values ==========
601 inline double get_Mass() const { return mass; }
602 inline double get_I_xx() const { return i_xx; }
603 inline double get_I_yy() const { return i_yy; }
604 inline double get_I_zz() const { return i_zz; }
605 inline double get_I_xz() const { return i_xz; }
607 // Pilot location rel to ref pt
608 // inline double * get_D_pilot_rp_body_v() {
609 // return d_pilot_rp_body_v;
611 // inline double get_Dx_pilot() const { return d_pilot_rp_body_v[0]; }
612 // inline double get_Dy_pilot() const { return d_pilot_rp_body_v[1]; }
613 // inline double get_Dz_pilot() const { return d_pilot_rp_body_v[2]; }
614 /* inline void set_Pilot_Location( double dx, double dy, double dz ) {
615 d_pilot_rp_body_v[0] = dx;
616 d_pilot_rp_body_v[1] = dy;
617 d_pilot_rp_body_v[2] = dz;
620 // CG position w.r.t. ref. point
621 // inline double * get_D_cg_rp_body_v() { return d_cg_rp_body_v; }
622 inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; }
623 inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; }
624 inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
626 // ========== Forces ==========
628 // inline double * get_F_body_total_v() { return f_body_total_v; }
629 // inline double get_F_X() const { return f_body_total_v[0]; }
630 // inline double get_F_Y() const { return f_body_total_v[1]; }
631 // inline double get_F_Z() const { return f_body_total_v[2]; }
632 /* inline void set_Forces_Body_Total( double x, double y, double z ) {
633 f_body_total_v[0] = x;
634 f_body_total_v[1] = y;
635 f_body_total_v[2] = z;
638 // inline double * get_F_local_total_v() { return f_local_total_v; }
639 // inline double get_F_north() const { return f_local_total_v[0]; }
640 // inline double get_F_east() const { return f_local_total_v[1]; }
641 // inline double get_F_down() const { return f_local_total_v[2]; }
642 /* inline void set_Forces_Local_Total( double x, double y, double z ) {
643 f_local_total_v[0] = x;
644 f_local_total_v[1] = y;
645 f_local_total_v[2] = z;
648 // inline double * get_F_aero_v() { return f_aero_v; }
649 // inline double get_F_X_aero() const { return f_aero_v[0]; }
650 // inline double get_F_Y_aero() const { return f_aero_v[1]; }
651 // inline double get_F_Z_aero() const { return f_aero_v[2]; }
652 /* inline void set_Forces_Aero( double x, double y, double z ) {
658 // inline double * get_F_engine_v() { return f_engine_v; }
659 // inline double get_F_X_engine() const { return f_engine_v[0]; }
660 // inline double get_F_Y_engine() const { return f_engine_v[1]; }
661 // inline double get_F_Z_engine() const { return f_engine_v[2]; }
662 /* inline void set_Forces_Engine( double x, double y, double z ) {
668 // inline double * get_F_gear_v() { return f_gear_v; }
669 // inline double get_F_X_gear() const { return f_gear_v[0]; }
670 // inline double get_F_Y_gear() const { return f_gear_v[1]; }
671 // inline double get_F_Z_gear() const { return f_gear_v[2]; }
672 /* inline void set_Forces_Gear( double x, double y, double z ) {
678 // ========== Moments ==========
680 // inline double * get_M_total_rp_v() { return m_total_rp_v; }
681 // inline double get_M_l_rp() const { return m_total_rp_v[0]; }
682 // inline double get_M_m_rp() const { return m_total_rp_v[1]; }
683 // inline double get_M_n_rp() const { return m_total_rp_v[2]; }
684 /* inline void set_Moments_Total_RP( double l, double m, double n ) {
690 // inline double * get_M_total_cg_v() { return m_total_cg_v; }
691 // inline double get_M_l_cg() const { return m_total_cg_v[0]; }
692 // inline double get_M_m_cg() const { return m_total_cg_v[1]; }
693 // inline double get_M_n_cg() const { return m_total_cg_v[2]; }
694 /* inline void set_Moments_Total_CG( double l, double m, double n ) {
700 // inline double * get_M_aero_v() { return m_aero_v; }
701 // inline double get_M_l_aero() const { return m_aero_v[0]; }
702 // inline double get_M_m_aero() const { return m_aero_v[1]; }
703 // inline double get_M_n_aero() const { return m_aero_v[2]; }
704 /* inline void set_Moments_Aero( double l, double m, double n ) {
710 // inline double * get_M_engine_v() { return m_engine_v; }
711 // inline double get_M_l_engine() const { return m_engine_v[0]; }
712 // inline double get_M_m_engine() const { return m_engine_v[1]; }
713 // inline double get_M_n_engine() const { return m_engine_v[2]; }
714 /* inline void set_Moments_Engine( double l, double m, double n ) {
720 // inline double * get_M_gear_v() { return m_gear_v; }
721 // inline double get_M_l_gear() const { return m_gear_v[0]; }
722 // inline double get_M_m_gear() const { return m_gear_v[1]; }
723 // inline double get_M_n_gear() const { return m_gear_v[2]; }
724 /* inline void set_Moments_Gear( double l, double m, double n ) {
730 // ========== Accelerations ==========
732 // inline double * get_V_dot_local_v() { return v_dot_local_v; }
733 inline double get_V_dot_north() const { return v_dot_local_v[0]; }
734 inline double get_V_dot_east() const { return v_dot_local_v[1]; }
735 inline double get_V_dot_down() const { return v_dot_local_v[2]; }
737 // inline double * get_V_dot_body_v() { return v_dot_body_v; }
738 inline double get_U_dot_body() const { return v_dot_body_v[0]; }
739 inline double get_V_dot_body() const { return v_dot_body_v[1]; }
740 inline double get_W_dot_body() const { return v_dot_body_v[2]; }
742 // inline double * get_A_cg_body_v() { return a_cg_body_v; }
743 inline double get_A_X_cg() const { return a_cg_body_v[0]; }
744 inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
745 inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
747 // inline double * get_A_pilot_body_v() { return a_pilot_body_v; }
748 inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
749 inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
750 inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
752 // inline double * get_N_cg_body_v() { return n_cg_body_v; }
753 inline double get_N_X_cg() const { return n_cg_body_v[0]; }
754 inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
755 inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
757 // inline double * get_N_pilot_body_v() { return n_pilot_body_v; }
758 // inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
759 // inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; }
760 // inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; }
761 // inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
762 // n_pilot_body_v[0] = x;
763 // n_pilot_body_v[1] = y;
764 // n_pilot_body_v[2] = z;
767 inline double get_Nlf(void) { return nlf; }
769 // inline double * get_Omega_dot_body_v() { return omega_dot_body_v; }
770 // inline double get_P_dot_body() const { return omega_dot_body_v[0]; }
771 // inline double get_Q_dot_body() const { return omega_dot_body_v[1]; }
772 // inline double get_R_dot_body() const { return omega_dot_body_v[2]; }
773 /* inline void set_Accels_Omega( double p, double q, double r ) {
774 omega_dot_body_v[0] = p;
775 omega_dot_body_v[1] = q;
776 omega_dot_body_v[2] = r;
780 // ========== Velocities ==========
782 // inline double * get_V_local_v() { return v_local_v; }
783 inline double get_V_north() const { return v_local_v[0]; }
784 inline double get_V_east() const { return v_local_v[1]; }
785 inline double get_V_down() const { return v_local_v[2]; }
786 inline double get_uBody () const { return v_wind_body_v[0]; }
787 inline double get_vBody () const { return v_wind_body_v[1]; }
788 inline double get_wBody () const { return v_wind_body_v[2]; }
790 // Please dont comment these out. fdm=ada uses these (see
792 inline double * get_V_local_rel_ground_v() {
793 return v_local_rel_ground_v;
795 inline double get_V_north_rel_ground() const {
796 return v_local_rel_ground_v[0];
798 inline double get_V_east_rel_ground() const {
799 return v_local_rel_ground_v[1];
801 inline double get_V_down_rel_ground() const {
802 return v_local_rel_ground_v[2];
804 // <--- fdm=ada uses these (see cockpit.cxx)
806 // inline double * get_V_local_airmass_v() { return v_local_airmass_v; }
807 inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
808 inline double get_V_east_airmass() const { return v_local_airmass_v[1]; }
809 inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
812 // inline double * get_V_local_rel_airmass_v() {
813 // return v_local_rel_airmass_v;
815 // inline double get_V_north_rel_airmass() const {
816 // return v_local_rel_airmass_v[0];
818 // inline double get_V_east_rel_airmass() const {
819 // return v_local_rel_airmass_v[1];
821 // inline double get_V_down_rel_airmass() const {
822 // return v_local_rel_airmass_v[2];
824 /* inline void set_Velocities_Local_Rel_Airmass( double north, double east,
827 v_local_rel_airmass_v[0] = north;
828 v_local_rel_airmass_v[1] = east;
829 v_local_rel_airmass_v[2] = down;
832 // inline double * get_V_local_gust_v() { return v_local_gust_v; }
833 // inline double get_U_gust() const { return v_local_gust_v[0]; }
834 // inline double get_V_gust() const { return v_local_gust_v[1]; }
835 // inline double get_W_gust() const { return v_local_gust_v[2]; }
836 /* inline void set_Velocities_Gust( double u, double v, double w)
838 v_local_gust_v[0] = u;
839 v_local_gust_v[1] = v;
840 v_local_gust_v[2] = w;
843 // inline double * get_V_wind_body_v() { return v_wind_body_v; }
844 inline double get_U_body() const { return v_wind_body_v[0]; }
845 inline double get_V_body() const { return v_wind_body_v[1]; }
846 inline double get_W_body() const { return v_wind_body_v[2]; }
848 inline double get_V_rel_wind() const { return v_rel_wind; }
849 // inline void set_V_rel_wind(double wind) { v_rel_wind = wind; }
851 // inline double get_V_true_kts() const { return v_true_kts; }
852 // inline void set_V_true_kts(double kts) { v_true_kts = kts; }
854 // inline double get_V_rel_ground() const { return v_rel_ground; }
855 // inline void set_V_rel_ground( double v ) { v_rel_ground = v; }
857 // inline double get_V_inertial() const { return v_inertial; }
858 // inline void set_V_inertial(double v) { v_inertial = v; }
860 inline double get_V_ground_speed() const { return v_ground_speed; }
862 // inline double get_V_equiv() const { return v_equiv; }
863 // inline void set_V_equiv( double v ) { v_equiv = v; }
865 inline double get_V_equiv_kts() const { return v_equiv_kts; }
867 //inline double get_V_calibrated() const { return v_calibrated; }
868 //inline void set_V_calibrated( double v ) { v_calibrated = v; }
870 inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
872 // inline double * get_Omega_body_v() { return omega_body_v; }
873 inline double get_P_body() const { return omega_body_v[0]; }
874 inline double get_Q_body() const { return omega_body_v[1]; }
875 inline double get_R_body() const { return omega_body_v[2]; }
877 // inline double * get_Omega_local_v() { return omega_local_v; }
878 // inline double get_P_local() const { return omega_local_v[0]; }
879 // inline double get_Q_local() const { return omega_local_v[1]; }
880 // inline double get_R_local() const { return omega_local_v[2]; }
881 /* inline void set_Omega_Local( double p, double q, double r ) {
882 omega_local_v[0] = p;
883 omega_local_v[1] = q;
884 omega_local_v[2] = r;
887 // inline double * get_Omega_total_v() { return omega_total_v; }
888 // inline double get_P_total() const { return omega_total_v[0]; }
889 // inline double get_Q_total() const { return omega_total_v[1]; }
890 // inline double get_R_total() const { return omega_total_v[2]; }
891 /* inline void set_Omega_Total( double p, double q, double r ) {
892 omega_total_v[0] = p;
893 omega_total_v[1] = q;
894 omega_total_v[2] = r;
897 // inline double * get_Euler_rates_v() { return euler_rates_v; }
898 inline double get_Phi_dot() const { return euler_rates_v[0]; }
899 inline double get_Theta_dot() const { return euler_rates_v[1]; }
900 inline double get_Psi_dot() const { return euler_rates_v[2]; }
902 // inline double * get_Geocentric_rates_v() { return geocentric_rates_v; }
903 inline double get_Latitude_dot() const { return geocentric_rates_v[0]; }
904 inline double get_Longitude_dot() const { return geocentric_rates_v[1]; }
905 inline double get_Radius_dot() const { return geocentric_rates_v[2]; }
907 // ========== Positions ==========
909 // inline double * get_Geocentric_position_v() {
910 // return geocentric_position_v;
912 inline double get_Lat_geocentric() const {
913 return geocentric_position_v[0];
915 inline double get_Lon_geocentric() const {
916 return geocentric_position_v[1];
918 inline double get_Radius_to_vehicle() const {
919 return geocentric_position_v[2];
922 // inline double * get_Geodetic_position_v() { return geodetic_position_v; }
923 inline double get_Latitude() const { return geodetic_position_v[0]; }
924 inline double get_Longitude() const { return geodetic_position_v[1]; }
925 inline double get_Altitude() const { return geodetic_position_v[2]; }
926 inline double get_Altitude_AGL(void) const { return altitude_agl; }
928 inline double get_Latitude_deg () const {
929 return get_Latitude() * SGD_RADIANS_TO_DEGREES;
931 inline double get_Longitude_deg () const {
932 return get_Longitude() * SGD_RADIANS_TO_DEGREES;
935 // inline double * get_Euler_angles_v() { return euler_angles_v; }
936 inline double get_Phi() const { return euler_angles_v[0]; }
937 inline double get_Theta() const { return euler_angles_v[1]; }
938 inline double get_Psi() const { return euler_angles_v[2]; }
939 inline double get_Phi_deg () const { return get_Phi() * SGD_RADIANS_TO_DEGREES; }
940 inline double get_Theta_deg () const { return get_Theta() * SGD_RADIANS_TO_DEGREES; }
941 inline double get_Psi_deg () const { return get_Psi() * SGD_RADIANS_TO_DEGREES; }
944 // ========== Miscellaneous quantities ==========
946 // inline double * get_T_local_to_body_m() { return t_local_to_body_m; }
947 inline double get_T_local_to_body_11() const {
948 return t_local_to_body_m[0][0];
950 inline double get_T_local_to_body_12() const {
951 return t_local_to_body_m[0][1];
953 inline double get_T_local_to_body_13() const {
954 return t_local_to_body_m[0][2];
956 inline double get_T_local_to_body_21() const {
957 return t_local_to_body_m[1][0];
959 inline double get_T_local_to_body_22() const {
960 return t_local_to_body_m[1][1];
962 inline double get_T_local_to_body_23() const {
963 return t_local_to_body_m[1][2];
965 inline double get_T_local_to_body_31() const {
966 return t_local_to_body_m[2][0];
968 inline double get_T_local_to_body_32() const {
969 return t_local_to_body_m[2][1];
971 inline double get_T_local_to_body_33() const {
972 return t_local_to_body_m[2][2];
975 // inline double get_Gravity() const { return gravity; }
976 // inline void set_Gravity(double g) { gravity = g; }
978 // inline double get_Centrifugal_relief() const {
979 // return centrifugal_relief;
981 // inline void set_Centrifugal_relief(double cr) {
982 // centrifugal_relief = cr;
985 inline double get_Alpha() const { return alpha; }
986 inline double get_Beta() const { return beta; }
987 // inline double get_Alpha_dot() const { return alpha_dot; }
988 // inline void set_Alpha_dot( double ad ) { alpha_dot = ad; }
989 // inline double get_Beta_dot() const { return beta_dot; }
990 // inline void set_Beta_dot( double bd ) { beta_dot = bd; }
992 // inline double get_Cos_alpha() const { return cos_alpha; }
993 // inline void set_Cos_alpha( double ca ) { cos_alpha = ca; }
994 // inline double get_Sin_alpha() const { return sin_alpha; }
995 // inline void set_Sin_alpha( double sa ) { sin_alpha = sa; }
996 // inline double get_Cos_beta() const { return cos_beta; }
997 // inline void set_Cos_beta( double cb ) { cos_beta = cb; }
998 // inline double get_Sin_beta() const { return sin_beta; }
999 // inline void set_Sin_beta( double sb ) { sin_beta = sb; }
1001 inline double get_Cos_phi() const { return cos_phi; }
1002 // inline double get_Sin_phi() const { return sin_phi; }
1003 // inline void set_Sin_phi( double sp ) { sin_phi = sp; }
1004 inline double get_Cos_theta() const { return cos_theta; }
1005 // inline double get_Sin_theta() const { return sin_theta; }
1006 // inline void set_Sin_theta( double st ) { sin_theta = st; }
1007 // inline double get_Cos_psi() const { return cos_psi; }
1008 // inline void set_Cos_psi( double cp ) { cos_psi = cp; }
1009 // inline double get_Sin_psi() const { return sin_psi; }
1010 // inline void set_Sin_psi( double sp ) { sin_psi = sp; }
1012 inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
1013 // inline double get_Gamma_horiz_rad() const { return gamma_horiz_rad; }
1014 // inline void set_Gamma_horiz_rad( double gh ) { gamma_horiz_rad = gh; }
1016 // inline double get_Sigma() const { return sigma; }
1017 // inline void set_Sigma( double s ) { sigma = s; }
1018 inline double get_Density() const { return density; }
1019 // inline double get_V_sound() const { return v_sound; }
1020 // inline void set_V_sound( double v ) { v_sound = v; }
1021 inline double get_Mach_number() const { return mach_number; }
1023 inline double get_Static_pressure() const { return static_pressure; }
1024 // inline double get_Total_pressure() const { return total_pressure; }
1025 // inline void set_Total_pressure( double tp ) { total_pressure = tp; }
1026 // inline double get_Impact_pressure() const { return impact_pressure; }
1027 // inline void set_Impact_pressure( double ip ) { impact_pressure = ip; }
1028 // inline double get_Dynamic_pressure() const { return dynamic_pressure; }
1029 // inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; }
1031 inline double get_Static_temperature() const { return static_temperature; }
1032 // inline double get_Total_temperature() const { return total_temperature; }
1033 // inline void set_Total_temperature( double t ) { total_temperature = t; }
1035 inline double get_Sea_level_radius() const { return sea_level_radius; }
1036 inline double get_Earth_position_angle() const {
1037 return earth_position_angle;
1040 inline double get_Runway_altitude() const { return runway_altitude; }
1041 // inline double get_Runway_latitude() const { return runway_latitude; }
1042 // inline void set_Runway_latitude( double lat ) { runway_latitude = lat; }
1043 // inline double get_Runway_longitude() const { return runway_longitude; }
1044 // inline void set_Runway_longitude( double lon ) {
1045 // runway_longitude = lon;
1047 // inline double get_Runway_heading() const { return runway_heading; }
1048 // inline void set_Runway_heading( double h ) { runway_heading = h; }
1050 // inline double get_Radius_to_rwy() const { return radius_to_rwy; }
1051 // inline void set_Radius_to_rwy( double r ) { radius_to_rwy = r; }
1053 // inline double * get_D_cg_rwy_local_v() { return d_cg_rwy_local_v; }
1054 // inline double get_D_cg_north_of_rwy() const {
1055 // return d_cg_rwy_local_v[0];
1057 // inline double get_D_cg_east_of_rwy() const {
1058 // return d_cg_rwy_local_v[1];
1060 // inline double get_D_cg_above_rwy() const { return d_cg_rwy_local_v[2]; }
1061 /* inline void set_CG_Rwy_Local( double north, double east, double above )
1063 d_cg_rwy_local_v[0] = north;
1064 d_cg_rwy_local_v[1] = east;
1065 d_cg_rwy_local_v[2] = above;
1068 // inline double * get_D_cg_rwy_rwy_v() { return d_cg_rwy_rwy_v; }
1069 // inline double get_X_cg_rwy() const { return d_cg_rwy_rwy_v[0]; }
1070 // inline double get_Y_cg_rwy() const { return d_cg_rwy_rwy_v[1]; }
1071 // inline double get_H_cg_rwy() const { return d_cg_rwy_rwy_v[2]; }
1072 /* inline void set_CG_Rwy_Rwy( double x, double y, double h )
1074 d_cg_rwy_rwy_v[0] = x;
1075 d_cg_rwy_rwy_v[1] = y;
1076 d_cg_rwy_rwy_v[2] = h;
1079 // inline double * get_D_pilot_rwy_local_v() { return d_pilot_rwy_local_v; }
1080 // inline double get_D_pilot_north_of_rwy() const {
1081 // return d_pilot_rwy_local_v[0];
1083 // inline double get_D_pilot_east_of_rwy() const {
1084 // return d_pilot_rwy_local_v[1];
1086 // inline double get_D_pilot_above_rwy() const {
1087 // return d_pilot_rwy_local_v[2];
1089 /* inline void set_Pilot_Rwy_Local( double north, double east, double above )
1091 d_pilot_rwy_local_v[0] = north;
1092 d_pilot_rwy_local_v[1] = east;
1093 d_pilot_rwy_local_v[2] = above;
1096 // inline double * get_D_pilot_rwy_rwy_v() { return d_pilot_rwy_rwy_v; }
1097 // inline double get_X_pilot_rwy() const { return d_pilot_rwy_rwy_v[0]; }
1098 // inline double get_Y_pilot_rwy() const { return d_pilot_rwy_rwy_v[1]; }
1099 // inline double get_H_pilot_rwy() const { return d_pilot_rwy_rwy_v[2]; }
1100 /* inline void set_Pilot_Rwy_Rwy( double x, double y, double h )
1102 d_pilot_rwy_rwy_v[0] = x;
1103 d_pilot_rwy_rwy_v[1] = y;
1104 d_pilot_rwy_rwy_v[2] = h;
1107 inline double get_Climb_Rate() const { return climb_rate; }
1109 // inline SGTimeStamp get_time_stamp() const { return valid_stamp; }
1110 // inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
1112 // Extrapolate FDM based on time_offset (in usec)
1113 void extrapolate( int time_offset );
1115 // sin/cos lat_geocentric
1116 inline double get_sin_lat_geocentric(void) const {
1117 return sin_lat_geocentric;
1119 inline double get_cos_lat_geocentric(void) const {
1120 return cos_lat_geocentric;
1123 inline double get_sin_longitude(void) const {
1124 return sin_longitude;
1126 inline double get_cos_longitude(void) const {
1127 return cos_longitude;
1130 inline double get_sin_latitude(void) const {
1131 return sin_latitude;
1133 inline double get_cos_latitude(void) const {
1134 return cos_latitude;
1137 // Auxilliary variables
1138 inline double get_daux( int n ) const { return daux[n]; }
1139 inline float get_faux( int n ) const { return faux[n]; }
1140 inline int get_iaux( int n ) const { return iaux[n]; }
1143 inline double get_Tank1Fuel() const { return Tank1Fuel; }
1144 inline double get_Tank2Fuel() const { return Tank2Fuel; }
1147 inline double get_num_engines() const {
1148 return engines.size();
1151 inline FGEngInterface* get_engine( int i ) {
1155 inline void add_engine( FGEngInterface e ) {
1156 engines.push_back( e );
1161 typedef list < FGInterface > fdm_state_list;
1162 typedef fdm_state_list::iterator fdm_state_list_iterator;
1163 typedef fdm_state_list::const_iterator const_fdm_state_list_iterator;
1166 extern FGInterface * cur_fdm_state;
1169 // General interface to the flight model routines
1171 // Set the altitude (force)
1172 void fgFDMForceAltitude(const string &model, double alt_meters);
1174 // Set the local ground elevation
1175 void fgFDMSetGroundElevation(const string &model, double alt_meters);
1177 // Toggle data logging on/off
1178 void fgToggleFDMdataLogging(void);
1181 #endif // _FLIGHT_HXX