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
125 double PercentN1,N1; //GE,CFM
127 double EPR; //P&W, RR?
130 double InletAngles[3];
131 double InletPosition[3];
132 double ThrustVector[3];
136 FGEngInterface(void);
137 ~FGEngInterface(void);
139 inline double get_Throttle() const { return Throttle; }
140 inline double get_Mixture() const { return Mixture; }
141 inline double get_Prop_Advance() const { return Prop_Advance; }
142 inline double get_RPM() const { return RPM; }
143 inline double get_Manifold_Pressure() const { return Manifold_Pressure; }
144 inline double get_MaxHP() const { return MaxHP; }
145 inline double get_Percentage_Power() const { return Percentage_Power; }
146 inline double get_EGT() const { return EGT; }
147 inline double get_CHT() const { return CHT; }
148 inline double get_prop_thrust() const { return prop_thrust; }
149 inline double get_Fuel_Flow() const { return Fuel_Flow; }
151 inline void set_Throttle( double t ) { Throttle = t; }
152 inline void set_Mixture( double m ) { Mixture = m; }
153 inline void set_Prop_Advance( double p ) { Prop_Advance = p; }
154 inline void set_RPM( double r ) { RPM = r; }
155 inline void set_Manifold_Pressure( double mp ) { Manifold_Pressure = mp; }
156 inline void set_MaxHP( double hp ) { MaxHP = hp; }
157 inline void set_Percentage_Power( double p ) { Percentage_Power = p; }
158 inline void set_EGT( double e ) { EGT = e; }
159 inline void set_CHT( double c ) { CHT = c; }
160 inline void set_prop_thrust( double t ) { prop_thrust = t; }
161 inline void set_Fuel_Flow( double f ) { Fuel_Flow = f; }
165 typedef vector < FGEngInterface > engine_list;
168 // This is based heavily on LaRCsim/ls_generic.h
169 class FGInterface : public FGSubsystem {
173 // periodic update management variable. This is a scheme to run
174 // the fdm with a fixed delta-t. We control how many iteration of
175 // the fdm to run with the fixed dt based on the elapsed time from
176 // the last update. This allows us to maintain sync with the real
177 // time clock, even though each frame could take a random amount
178 // of time. Since "dt" is unlikely to divide evenly into the
179 // elapse time, we keep track of the remainder and add it into the
180 // next elapsed time. This yields a small amount of temporal
181 // jitter ( < dt ) but in practice seems to work well.
183 double delta_t; // delta "t"
184 SGTimeStamp time_stamp; // time stamp of last run
185 long elapsed; // time elapsed since last run
186 long remainder; // remainder time from last run
187 int multi_loop; // number of iterations of "delta_t" to run
189 // Pilot location rel to ref pt
190 FG_VECTOR_3 d_pilot_rp_body_v;
192 // CG position w.r.t. ref. point
193 FG_VECTOR_3 d_cg_rp_body_v;
196 FG_VECTOR_3 f_body_total_v;
197 FG_VECTOR_3 f_local_total_v;
198 FG_VECTOR_3 f_aero_v;
199 FG_VECTOR_3 f_engine_v;
200 FG_VECTOR_3 f_gear_v;
203 FG_VECTOR_3 m_total_rp_v;
204 FG_VECTOR_3 m_total_cg_v;
205 FG_VECTOR_3 m_aero_v;
206 FG_VECTOR_3 m_engine_v;
207 FG_VECTOR_3 m_gear_v;
210 FG_VECTOR_3 v_dot_local_v;
211 FG_VECTOR_3 v_dot_body_v;
212 FG_VECTOR_3 a_cg_body_v;
213 FG_VECTOR_3 a_pilot_body_v;
214 FG_VECTOR_3 n_cg_body_v;
215 FG_VECTOR_3 n_pilot_body_v;
216 FG_VECTOR_3 omega_dot_body_v;
219 FG_VECTOR_3 v_local_v;
220 FG_VECTOR_3 v_local_rel_ground_v; // V rel w.r.t. earth surface
221 FG_VECTOR_3 v_local_airmass_v; // velocity of airmass (steady winds)
222 FG_VECTOR_3 v_local_rel_airmass_v; // velocity of veh. relative to airmass
223 FG_VECTOR_3 v_local_gust_v; // linear turbulence components, L frame
224 FG_VECTOR_3 v_wind_body_v; // Wind-relative velocities in body axis
226 FG_VECTOR_3 omega_body_v; // Angular B rates
227 FG_VECTOR_3 omega_local_v; // Angular L rates
228 FG_VECTOR_3 omega_total_v; // Diff btw B & L
229 FG_VECTOR_3 euler_rates_v;
230 FG_VECTOR_3 geocentric_rates_v; // Geocentric linear velocities
233 FG_VECTOR_3 geocentric_position_v;
234 FG_VECTOR_3 geodetic_position_v;
235 FG_VECTOR_3 euler_angles_v;
237 // Miscellaneous Quantities
238 FG_VECTOR_3 d_cg_rwy_local_v; // CG rel. to rwy in local coords
239 FG_VECTOR_3 d_cg_rwy_rwy_v; // CG relative to rwy, in rwy coordinates
240 FG_VECTOR_3 d_pilot_rwy_local_v; // pilot rel. to rwy in local coords
241 FG_VECTOR_3 d_pilot_rwy_rwy_v; // pilot rel. to rwy, in rwy coords.
244 double mass, i_xx, i_yy, i_zz, i_xz;
246 // Normal Load Factor
250 double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
251 double v_ground_speed, v_equiv, v_equiv_kts;
252 double v_calibrated, v_calibrated_kts;
254 // Miscellaneious Quantities
255 double t_local_to_body_m[3][3]; // Transformation matrix L to B
256 double gravity; // Local acceleration due to G
257 double centrifugal_relief; // load factor reduction due to speed
258 double alpha, beta, alpha_dot, beta_dot; // in radians
259 double cos_alpha, sin_alpha, cos_beta, sin_beta;
260 double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
261 double gamma_vert_rad, gamma_horiz_rad; // Flight path angles
262 double sigma, density, v_sound, mach_number;
263 double static_pressure, total_pressure, impact_pressure;
264 double dynamic_pressure;
265 double static_temperature, total_temperature;
266 double sea_level_radius, earth_position_angle;
267 double runway_altitude, runway_latitude, runway_longitude;
268 double runway_heading;
269 double radius_to_rwy;
270 double climb_rate; // in feet per second
271 double sin_lat_geocentric, cos_lat_geocentric;
272 double sin_longitude, cos_longitude;
273 double sin_latitude, cos_latitude;
275 double Tank1Fuel; // Gals
276 double Tank2Fuel; // Gals
281 // SGTimeStamp valid_stamp; // time this record is valid
282 // SGTimeStamp next_stamp; // time this record is valid
286 void _updatePosition( double lat_geoc, double lon, double alt );
287 void _updateWeather( void );
289 inline void _set_Inertias( double m, double xx, double yy,
290 double zz, double xz)
298 inline void _set_CG_Position( double dx, double dy, double dz ) {
299 d_cg_rp_body_v[0] = dx;
300 d_cg_rp_body_v[1] = dy;
301 d_cg_rp_body_v[2] = dz;
303 inline void _set_Accels_Local( double north, double east, double down ) {
304 v_dot_local_v[0] = north;
305 v_dot_local_v[1] = east;
306 v_dot_local_v[2] = down;
308 inline void _set_Accels_Body( double u, double v, double w ) {
313 inline void _set_Accels_CG_Body( double x, double y, double z ) {
318 inline void _set_Accels_Pilot_Body( double x, double y, double z ) {
319 a_pilot_body_v[0] = x;
320 a_pilot_body_v[1] = y;
321 a_pilot_body_v[2] = z;
323 inline void _set_Accels_CG_Body_N( double x, double y, double z ) {
328 void _set_Nlf(double n) { nlf=n; }
329 inline void _set_Velocities_Local( double north, double east, double down ){
330 v_local_v[0] = north;
334 inline void _set_Velocities_Ground(double north, double east, double down) {
335 v_local_rel_ground_v[0] = north;
336 v_local_rel_ground_v[1] = east;
337 v_local_rel_ground_v[2] = down;
339 inline void _set_Velocities_Local_Airmass( double north, double east,
342 v_local_airmass_v[0] = north;
343 v_local_airmass_v[1] = east;
344 v_local_airmass_v[2] = down;
346 inline void _set_Velocities_Wind_Body( double u, double v, double w) {
347 v_wind_body_v[0] = u;
348 v_wind_body_v[1] = v;
349 v_wind_body_v[2] = w;
351 inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; }
352 inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
353 inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
354 inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
355 inline void _set_Omega_Body( double p, double q, double r ) {
360 inline void _set_Euler_Rates( double phi, double theta, double psi ) {
361 euler_rates_v[0] = phi;
362 euler_rates_v[1] = theta;
363 euler_rates_v[2] = psi;
365 inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
366 geocentric_rates_v[0] = lat;
367 geocentric_rates_v[1] = lon;
368 geocentric_rates_v[2] = rad;
371 inline void _set_Radius_to_vehicle(double radius) {
372 geocentric_position_v[2] = radius;
375 inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
376 geocentric_position_v[0] = lat;
377 geocentric_position_v[1] = lon;
378 geocentric_position_v[2] = rad;
380 inline void _set_Latitude(double lat) { geodetic_position_v[0] = lat; }
381 inline void _set_Longitude(double lon) { geodetic_position_v[1] = lon; }
382 inline void _set_Altitude(double altitude) {
383 geodetic_position_v[2] = altitude;
385 inline void _set_Altitude_AGL(double agl) {
388 inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
389 geodetic_position_v[0] = lat;
390 geodetic_position_v[1] = lon;
391 geodetic_position_v[2] = alt;
393 inline void _set_Euler_Angles( double phi, double theta, double psi ) {
394 euler_angles_v[0] = phi;
395 euler_angles_v[1] = theta;
396 euler_angles_v[2] = psi;
398 inline void _set_T_Local_to_Body( int i, int j, double value) {
399 t_local_to_body_m[i-1][j-1] = value;
401 inline void _set_T_Local_to_Body( double m[3][3] ) {
403 for ( i = 0; i < 3; i++ ) {
404 for ( j = 0; j < 3; j++ ) {
405 t_local_to_body_m[i][j] = m[i][j];
409 inline void _set_Alpha( double a ) { alpha = a; }
410 inline void _set_Beta( double b ) { beta = b; }
411 inline void _set_Cos_phi( double cp ) { cos_phi = cp; }
412 inline void _set_Cos_theta( double ct ) { cos_theta = ct; }
413 inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
414 inline void _set_Density( double d ) { density = d; }
415 inline void _set_Mach_number( double m ) { mach_number = m; }
416 inline void _set_Static_pressure( double sp ) { static_pressure = sp; }
417 inline void _set_Static_temperature( double t ) { static_temperature = t; }
418 inline void _set_Sea_level_radius( double r ) { sea_level_radius = r; }
419 inline void _set_Earth_position_angle(double a) {
420 earth_position_angle = a;
422 inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; }
423 inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
424 inline void _set_sin_lat_geocentric(double parm) {
425 sin_lat_geocentric = sin(parm);
427 inline void _set_cos_lat_geocentric(double parm) {
428 cos_lat_geocentric = cos(parm);
430 inline void _set_sin_cos_longitude(double parm) {
431 sin_longitude = sin(parm);
432 cos_longitude = cos(parm);
434 inline void _set_sin_cos_latitude(double parm) {
435 sin_latitude = sin(parm);
436 cos_latitude = cos(parm);
442 FGInterface( double dt );
443 virtual ~FGInterface();
445 virtual void init ();
446 virtual void bind ();
447 virtual void unbind ();
448 virtual void update ();
449 virtual bool update( int multi_loop );
450 virtual bool ToggleDataLogging(bool state) {};
451 virtual bool ToggleDataLogging(void) {};
453 // Define the various supported flight models (many not yet implemented)
458 // The NASA LaRCsim (Navion) flight model
461 // Jon S. Berndt's new FDM written from the ground up in C++
464 // Christian's hot air balloon simulation
467 // Aeronautical DEvelopment AGEncy, Bangalore India
470 // The following aren't implemented but are here to spark
471 // thoughts and discussions, and maybe even action.
478 // Driven externally via a serial port, net, file, etc.
482 // time and update management values
483 inline double get_delta_t() const { return delta_t; }
484 inline void set_delta_t( double dt ) { delta_t = dt; }
485 inline SGTimeStamp get_time_stamp() const { return time_stamp; }
486 inline void set_time_stamp( SGTimeStamp s ) { time_stamp = s; }
487 inline void stamp() { time_stamp.stamp(); }
488 inline long get_elapsed() const { return elapsed; }
489 inline void set_elapsed( long e ) { elapsed = e; }
490 inline long get_remainder() const { return remainder; }
491 inline void set_remainder( long r ) { remainder = r; }
492 inline int get_multi_loop() const { return multi_loop; }
493 inline void set_multi_loop( int ml ) { multi_loop = ml; }
496 virtual void set_Latitude(double lat); // geocentric
497 virtual void set_Longitude(double lon);
498 virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
499 virtual void set_AltitudeAGL(double altagl); // and vice-versa
500 virtual void set_Latitude_deg (double lat) {
501 set_Latitude(lat * SGD_DEGREES_TO_RADIANS);
503 virtual void set_Longitude_deg (double lon) {
504 set_Longitude(lon * SGD_DEGREES_TO_RADIANS);
507 // Speeds -- setting any of these will trigger a re-calc of the rest
508 virtual void set_V_calibrated_kts(double vc);
509 virtual void set_Mach_number(double mach);
510 virtual void set_Velocities_Local( double north, double east, double down );
511 inline void set_V_north (double north) { v_local_v[0] = north; }
512 inline void set_V_east (double east) { v_local_v[1] = east; }
513 inline void set_V_down (double down) { v_local_v[2] = down; }
514 virtual void set_Velocities_Wind_Body( double u, double v, double w);
515 virtual void set_uBody (double uBody) { v_wind_body_v[0] = uBody; }
516 virtual void set_vBody (double vBody) { v_wind_body_v[1] = vBody; }
517 virtual void set_wBody (double wBody) { v_wind_body_v[2] = wBody; }
520 virtual void set_Euler_Angles( double phi, double theta, double psi );
521 virtual void set_Phi (double phi) {
522 set_Euler_Angles(phi, get_Theta(), get_Psi());
524 virtual void set_Theta (double theta) {
525 set_Euler_Angles(get_Phi(), theta, get_Psi());
527 virtual void set_Psi (double psi) {
528 set_Euler_Angles(get_Phi(), get_Theta(), psi);
530 virtual void set_Phi_deg (double phi) { set_Phi(phi * SGD_DEGREES_TO_RADIANS); }
531 virtual void set_Theta_deg (double theta) {
532 set_Theta(theta * SGD_DEGREES_TO_RADIANS);
534 virtual void set_Psi_deg (double psi) { set_Psi(psi * SGD_DEGREES_TO_RADIANS); }
537 virtual void set_Climb_Rate( double roc);
538 virtual void set_Gamma_vert_rad( double gamma);
541 virtual void set_Sea_level_radius(double slr);
542 virtual void set_Runway_altitude(double ralt);
544 virtual void set_Static_pressure(double p);
545 virtual void set_Static_temperature(double T);
546 virtual void set_Density(double rho);
548 virtual void set_Velocities_Local_Airmass (double wnorth,
553 inline void set_Tank1Fuel( double f ) { Tank1Fuel = f; }
554 inline void set_Tank2Fuel( double f ) { Tank2Fuel = f; }
556 inline void reduce_Tank1Fuel( double f ) {
561 inline void reduce_Tank2Fuel( double f ) {
568 // ========== Mass properties and geometry values ==========
571 inline double get_Mass() const { return mass; }
572 inline double get_I_xx() const { return i_xx; }
573 inline double get_I_yy() const { return i_yy; }
574 inline double get_I_zz() const { return i_zz; }
575 inline double get_I_xz() const { return i_xz; }
577 // Pilot location rel to ref pt
578 // inline double * get_D_pilot_rp_body_v() {
579 // return d_pilot_rp_body_v;
581 // inline double get_Dx_pilot() const { return d_pilot_rp_body_v[0]; }
582 // inline double get_Dy_pilot() const { return d_pilot_rp_body_v[1]; }
583 // inline double get_Dz_pilot() const { return d_pilot_rp_body_v[2]; }
584 /* inline void set_Pilot_Location( double dx, double dy, double dz ) {
585 d_pilot_rp_body_v[0] = dx;
586 d_pilot_rp_body_v[1] = dy;
587 d_pilot_rp_body_v[2] = dz;
590 // CG position w.r.t. ref. point
591 // inline double * get_D_cg_rp_body_v() { return d_cg_rp_body_v; }
592 inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; }
593 inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; }
594 inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
596 // ========== Forces ==========
598 // inline double * get_F_body_total_v() { return f_body_total_v; }
599 // inline double get_F_X() const { return f_body_total_v[0]; }
600 // inline double get_F_Y() const { return f_body_total_v[1]; }
601 // inline double get_F_Z() const { return f_body_total_v[2]; }
602 /* inline void set_Forces_Body_Total( double x, double y, double z ) {
603 f_body_total_v[0] = x;
604 f_body_total_v[1] = y;
605 f_body_total_v[2] = z;
608 // inline double * get_F_local_total_v() { return f_local_total_v; }
609 // inline double get_F_north() const { return f_local_total_v[0]; }
610 // inline double get_F_east() const { return f_local_total_v[1]; }
611 // inline double get_F_down() const { return f_local_total_v[2]; }
612 /* inline void set_Forces_Local_Total( double x, double y, double z ) {
613 f_local_total_v[0] = x;
614 f_local_total_v[1] = y;
615 f_local_total_v[2] = z;
618 // inline double * get_F_aero_v() { return f_aero_v; }
619 // inline double get_F_X_aero() const { return f_aero_v[0]; }
620 // inline double get_F_Y_aero() const { return f_aero_v[1]; }
621 // inline double get_F_Z_aero() const { return f_aero_v[2]; }
622 /* inline void set_Forces_Aero( double x, double y, double z ) {
628 // inline double * get_F_engine_v() { return f_engine_v; }
629 // inline double get_F_X_engine() const { return f_engine_v[0]; }
630 // inline double get_F_Y_engine() const { return f_engine_v[1]; }
631 // inline double get_F_Z_engine() const { return f_engine_v[2]; }
632 /* inline void set_Forces_Engine( double x, double y, double z ) {
638 // inline double * get_F_gear_v() { return f_gear_v; }
639 // inline double get_F_X_gear() const { return f_gear_v[0]; }
640 // inline double get_F_Y_gear() const { return f_gear_v[1]; }
641 // inline double get_F_Z_gear() const { return f_gear_v[2]; }
642 /* inline void set_Forces_Gear( double x, double y, double z ) {
648 // ========== Moments ==========
650 // inline double * get_M_total_rp_v() { return m_total_rp_v; }
651 // inline double get_M_l_rp() const { return m_total_rp_v[0]; }
652 // inline double get_M_m_rp() const { return m_total_rp_v[1]; }
653 // inline double get_M_n_rp() const { return m_total_rp_v[2]; }
654 /* inline void set_Moments_Total_RP( double l, double m, double n ) {
660 // inline double * get_M_total_cg_v() { return m_total_cg_v; }
661 // inline double get_M_l_cg() const { return m_total_cg_v[0]; }
662 // inline double get_M_m_cg() const { return m_total_cg_v[1]; }
663 // inline double get_M_n_cg() const { return m_total_cg_v[2]; }
664 /* inline void set_Moments_Total_CG( double l, double m, double n ) {
670 // inline double * get_M_aero_v() { return m_aero_v; }
671 // inline double get_M_l_aero() const { return m_aero_v[0]; }
672 // inline double get_M_m_aero() const { return m_aero_v[1]; }
673 // inline double get_M_n_aero() const { return m_aero_v[2]; }
674 /* inline void set_Moments_Aero( double l, double m, double n ) {
680 // inline double * get_M_engine_v() { return m_engine_v; }
681 // inline double get_M_l_engine() const { return m_engine_v[0]; }
682 // inline double get_M_m_engine() const { return m_engine_v[1]; }
683 // inline double get_M_n_engine() const { return m_engine_v[2]; }
684 /* inline void set_Moments_Engine( double l, double m, double n ) {
690 // inline double * get_M_gear_v() { return m_gear_v; }
691 // inline double get_M_l_gear() const { return m_gear_v[0]; }
692 // inline double get_M_m_gear() const { return m_gear_v[1]; }
693 // inline double get_M_n_gear() const { return m_gear_v[2]; }
694 /* inline void set_Moments_Gear( double l, double m, double n ) {
700 // ========== Accelerations ==========
702 // inline double * get_V_dot_local_v() { return v_dot_local_v; }
703 inline double get_V_dot_north() const { return v_dot_local_v[0]; }
704 inline double get_V_dot_east() const { return v_dot_local_v[1]; }
705 inline double get_V_dot_down() const { return v_dot_local_v[2]; }
707 // inline double * get_V_dot_body_v() { return v_dot_body_v; }
708 inline double get_U_dot_body() const { return v_dot_body_v[0]; }
709 inline double get_V_dot_body() const { return v_dot_body_v[1]; }
710 inline double get_W_dot_body() const { return v_dot_body_v[2]; }
712 // inline double * get_A_cg_body_v() { return a_cg_body_v; }
713 inline double get_A_X_cg() const { return a_cg_body_v[0]; }
714 inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
715 inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
717 // inline double * get_A_pilot_body_v() { return a_pilot_body_v; }
718 inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
719 inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
720 inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
722 // inline double * get_N_cg_body_v() { return n_cg_body_v; }
723 inline double get_N_X_cg() const { return n_cg_body_v[0]; }
724 inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
725 inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
727 // inline double * get_N_pilot_body_v() { return n_pilot_body_v; }
728 // inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
729 // inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; }
730 // inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; }
731 // inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
732 // n_pilot_body_v[0] = x;
733 // n_pilot_body_v[1] = y;
734 // n_pilot_body_v[2] = z;
737 inline double get_Nlf(void) { return nlf; }
739 // inline double * get_Omega_dot_body_v() { return omega_dot_body_v; }
740 // inline double get_P_dot_body() const { return omega_dot_body_v[0]; }
741 // inline double get_Q_dot_body() const { return omega_dot_body_v[1]; }
742 // inline double get_R_dot_body() const { return omega_dot_body_v[2]; }
743 /* inline void set_Accels_Omega( double p, double q, double r ) {
744 omega_dot_body_v[0] = p;
745 omega_dot_body_v[1] = q;
746 omega_dot_body_v[2] = r;
750 // ========== Velocities ==========
752 // inline double * get_V_local_v() { return v_local_v; }
753 inline double get_V_north() const { return v_local_v[0]; }
754 inline double get_V_east() const { return v_local_v[1]; }
755 inline double get_V_down() const { return v_local_v[2]; }
756 inline double get_uBody () const { return v_wind_body_v[0]; }
757 inline double get_vBody () const { return v_wind_body_v[1]; }
758 inline double get_wBody () const { return v_wind_body_v[2]; }
760 // inline double * get_V_local_rel_ground_v() {
761 // return v_local_rel_ground_v;
763 // inline double get_V_north_rel_ground() const {
764 // return v_local_rel_ground_v[0];
766 // inline double get_V_east_rel_ground() const {
767 // return v_local_rel_ground_v[1];
769 // inline double get_V_down_rel_ground() const {
770 // return v_local_rel_ground_v[2];
773 // inline double * get_V_local_airmass_v() { return v_local_airmass_v; }
774 inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
775 inline double get_V_east_airmass() const { return v_local_airmass_v[1]; }
776 inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
779 // inline double * get_V_local_rel_airmass_v() {
780 // return v_local_rel_airmass_v;
782 // inline double get_V_north_rel_airmass() const {
783 // return v_local_rel_airmass_v[0];
785 // inline double get_V_east_rel_airmass() const {
786 // return v_local_rel_airmass_v[1];
788 // inline double get_V_down_rel_airmass() const {
789 // return v_local_rel_airmass_v[2];
791 /* inline void set_Velocities_Local_Rel_Airmass( double north, double east,
794 v_local_rel_airmass_v[0] = north;
795 v_local_rel_airmass_v[1] = east;
796 v_local_rel_airmass_v[2] = down;
799 // inline double * get_V_local_gust_v() { return v_local_gust_v; }
800 // inline double get_U_gust() const { return v_local_gust_v[0]; }
801 // inline double get_V_gust() const { return v_local_gust_v[1]; }
802 // inline double get_W_gust() const { return v_local_gust_v[2]; }
803 /* inline void set_Velocities_Gust( double u, double v, double w)
805 v_local_gust_v[0] = u;
806 v_local_gust_v[1] = v;
807 v_local_gust_v[2] = w;
810 // inline double * get_V_wind_body_v() { return v_wind_body_v; }
811 inline double get_U_body() const { return v_wind_body_v[0]; }
812 inline double get_V_body() const { return v_wind_body_v[1]; }
813 inline double get_W_body() const { return v_wind_body_v[2]; }
815 inline double get_V_rel_wind() const { return v_rel_wind; }
816 // inline void set_V_rel_wind(double wind) { v_rel_wind = wind; }
818 // inline double get_V_true_kts() const { return v_true_kts; }
819 // inline void set_V_true_kts(double kts) { v_true_kts = kts; }
821 // inline double get_V_rel_ground() const { return v_rel_ground; }
822 // inline void set_V_rel_ground( double v ) { v_rel_ground = v; }
824 // inline double get_V_inertial() const { return v_inertial; }
825 // inline void set_V_inertial(double v) { v_inertial = v; }
827 inline double get_V_ground_speed() const { return v_ground_speed; }
829 // inline double get_V_equiv() const { return v_equiv; }
830 // inline void set_V_equiv( double v ) { v_equiv = v; }
832 inline double get_V_equiv_kts() const { return v_equiv_kts; }
834 //inline double get_V_calibrated() const { return v_calibrated; }
835 //inline void set_V_calibrated( double v ) { v_calibrated = v; }
837 inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
839 // inline double * get_Omega_body_v() { return omega_body_v; }
840 inline double get_P_body() const { return omega_body_v[0]; }
841 inline double get_Q_body() const { return omega_body_v[1]; }
842 inline double get_R_body() const { return omega_body_v[2]; }
844 // inline double * get_Omega_local_v() { return omega_local_v; }
845 // inline double get_P_local() const { return omega_local_v[0]; }
846 // inline double get_Q_local() const { return omega_local_v[1]; }
847 // inline double get_R_local() const { return omega_local_v[2]; }
848 /* inline void set_Omega_Local( double p, double q, double r ) {
849 omega_local_v[0] = p;
850 omega_local_v[1] = q;
851 omega_local_v[2] = r;
854 // inline double * get_Omega_total_v() { return omega_total_v; }
855 // inline double get_P_total() const { return omega_total_v[0]; }
856 // inline double get_Q_total() const { return omega_total_v[1]; }
857 // inline double get_R_total() const { return omega_total_v[2]; }
858 /* inline void set_Omega_Total( double p, double q, double r ) {
859 omega_total_v[0] = p;
860 omega_total_v[1] = q;
861 omega_total_v[2] = r;
864 // inline double * get_Euler_rates_v() { return euler_rates_v; }
865 inline double get_Phi_dot() const { return euler_rates_v[0]; }
866 inline double get_Theta_dot() const { return euler_rates_v[1]; }
867 inline double get_Psi_dot() const { return euler_rates_v[2]; }
869 // inline double * get_Geocentric_rates_v() { return geocentric_rates_v; }
870 inline double get_Latitude_dot() const { return geocentric_rates_v[0]; }
871 inline double get_Longitude_dot() const { return geocentric_rates_v[1]; }
872 inline double get_Radius_dot() const { return geocentric_rates_v[2]; }
874 // ========== Positions ==========
876 // inline double * get_Geocentric_position_v() {
877 // return geocentric_position_v;
879 inline double get_Lat_geocentric() const {
880 return geocentric_position_v[0];
882 inline double get_Lon_geocentric() const {
883 return geocentric_position_v[1];
885 inline double get_Radius_to_vehicle() const {
886 return geocentric_position_v[2];
889 // inline double * get_Geodetic_position_v() { return geodetic_position_v; }
890 inline double get_Latitude() const { return geodetic_position_v[0]; }
891 inline double get_Longitude() const { return geodetic_position_v[1]; }
892 inline double get_Altitude() const { return geodetic_position_v[2]; }
893 inline double get_Altitude_AGL(void) const { return altitude_agl; }
895 inline double get_Latitude_deg () const {
896 return get_Latitude() * SGD_RADIANS_TO_DEGREES;
898 inline double get_Longitude_deg () const {
899 return get_Longitude() * SGD_RADIANS_TO_DEGREES;
902 // inline double * get_Euler_angles_v() { return euler_angles_v; }
903 inline double get_Phi() const { return euler_angles_v[0]; }
904 inline double get_Theta() const { return euler_angles_v[1]; }
905 inline double get_Psi() const { return euler_angles_v[2]; }
906 inline double get_Phi_deg () const { return get_Phi() * SGD_RADIANS_TO_DEGREES; }
907 inline double get_Theta_deg () const { return get_Theta() * SGD_RADIANS_TO_DEGREES; }
908 inline double get_Psi_deg () const { return get_Psi() * SGD_RADIANS_TO_DEGREES; }
911 // ========== Miscellaneous quantities ==========
913 // inline double * get_T_local_to_body_m() { return t_local_to_body_m; }
914 inline double get_T_local_to_body_11() const {
915 return t_local_to_body_m[0][0];
917 inline double get_T_local_to_body_12() const {
918 return t_local_to_body_m[0][1];
920 inline double get_T_local_to_body_13() const {
921 return t_local_to_body_m[0][2];
923 inline double get_T_local_to_body_21() const {
924 return t_local_to_body_m[1][0];
926 inline double get_T_local_to_body_22() const {
927 return t_local_to_body_m[1][1];
929 inline double get_T_local_to_body_23() const {
930 return t_local_to_body_m[1][2];
932 inline double get_T_local_to_body_31() const {
933 return t_local_to_body_m[2][0];
935 inline double get_T_local_to_body_32() const {
936 return t_local_to_body_m[2][1];
938 inline double get_T_local_to_body_33() const {
939 return t_local_to_body_m[2][2];
942 // inline double get_Gravity() const { return gravity; }
943 // inline void set_Gravity(double g) { gravity = g; }
945 // inline double get_Centrifugal_relief() const {
946 // return centrifugal_relief;
948 // inline void set_Centrifugal_relief(double cr) {
949 // centrifugal_relief = cr;
952 inline double get_Alpha() const { return alpha; }
953 inline double get_Beta() const { return beta; }
954 // inline double get_Alpha_dot() const { return alpha_dot; }
955 // inline void set_Alpha_dot( double ad ) { alpha_dot = ad; }
956 // inline double get_Beta_dot() const { return beta_dot; }
957 // inline void set_Beta_dot( double bd ) { beta_dot = bd; }
959 // inline double get_Cos_alpha() const { return cos_alpha; }
960 // inline void set_Cos_alpha( double ca ) { cos_alpha = ca; }
961 // inline double get_Sin_alpha() const { return sin_alpha; }
962 // inline void set_Sin_alpha( double sa ) { sin_alpha = sa; }
963 // inline double get_Cos_beta() const { return cos_beta; }
964 // inline void set_Cos_beta( double cb ) { cos_beta = cb; }
965 // inline double get_Sin_beta() const { return sin_beta; }
966 // inline void set_Sin_beta( double sb ) { sin_beta = sb; }
968 inline double get_Cos_phi() const { return cos_phi; }
969 // inline double get_Sin_phi() const { return sin_phi; }
970 // inline void set_Sin_phi( double sp ) { sin_phi = sp; }
971 inline double get_Cos_theta() const { return cos_theta; }
972 // inline double get_Sin_theta() const { return sin_theta; }
973 // inline void set_Sin_theta( double st ) { sin_theta = st; }
974 // inline double get_Cos_psi() const { return cos_psi; }
975 // inline void set_Cos_psi( double cp ) { cos_psi = cp; }
976 // inline double get_Sin_psi() const { return sin_psi; }
977 // inline void set_Sin_psi( double sp ) { sin_psi = sp; }
979 inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
980 // inline double get_Gamma_horiz_rad() const { return gamma_horiz_rad; }
981 // inline void set_Gamma_horiz_rad( double gh ) { gamma_horiz_rad = gh; }
983 // inline double get_Sigma() const { return sigma; }
984 // inline void set_Sigma( double s ) { sigma = s; }
985 inline double get_Density() const { return density; }
986 // inline double get_V_sound() const { return v_sound; }
987 // inline void set_V_sound( double v ) { v_sound = v; }
988 inline double get_Mach_number() const { return mach_number; }
990 inline double get_Static_pressure() const { return static_pressure; }
991 // inline double get_Total_pressure() const { return total_pressure; }
992 // inline void set_Total_pressure( double tp ) { total_pressure = tp; }
993 // inline double get_Impact_pressure() const { return impact_pressure; }
994 // inline void set_Impact_pressure( double ip ) { impact_pressure = ip; }
995 // inline double get_Dynamic_pressure() const { return dynamic_pressure; }
996 // inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; }
998 inline double get_Static_temperature() const { return static_temperature; }
999 // inline double get_Total_temperature() const { return total_temperature; }
1000 // inline void set_Total_temperature( double t ) { total_temperature = t; }
1002 inline double get_Sea_level_radius() const { return sea_level_radius; }
1003 inline double get_Earth_position_angle() const {
1004 return earth_position_angle;
1007 inline double get_Runway_altitude() const { return runway_altitude; }
1008 // inline double get_Runway_latitude() const { return runway_latitude; }
1009 // inline void set_Runway_latitude( double lat ) { runway_latitude = lat; }
1010 // inline double get_Runway_longitude() const { return runway_longitude; }
1011 // inline void set_Runway_longitude( double lon ) {
1012 // runway_longitude = lon;
1014 // inline double get_Runway_heading() const { return runway_heading; }
1015 // inline void set_Runway_heading( double h ) { runway_heading = h; }
1017 // inline double get_Radius_to_rwy() const { return radius_to_rwy; }
1018 // inline void set_Radius_to_rwy( double r ) { radius_to_rwy = r; }
1020 // inline double * get_D_cg_rwy_local_v() { return d_cg_rwy_local_v; }
1021 // inline double get_D_cg_north_of_rwy() const {
1022 // return d_cg_rwy_local_v[0];
1024 // inline double get_D_cg_east_of_rwy() const {
1025 // return d_cg_rwy_local_v[1];
1027 // inline double get_D_cg_above_rwy() const { return d_cg_rwy_local_v[2]; }
1028 /* inline void set_CG_Rwy_Local( double north, double east, double above )
1030 d_cg_rwy_local_v[0] = north;
1031 d_cg_rwy_local_v[1] = east;
1032 d_cg_rwy_local_v[2] = above;
1035 // inline double * get_D_cg_rwy_rwy_v() { return d_cg_rwy_rwy_v; }
1036 // inline double get_X_cg_rwy() const { return d_cg_rwy_rwy_v[0]; }
1037 // inline double get_Y_cg_rwy() const { return d_cg_rwy_rwy_v[1]; }
1038 // inline double get_H_cg_rwy() const { return d_cg_rwy_rwy_v[2]; }
1039 /* inline void set_CG_Rwy_Rwy( double x, double y, double h )
1041 d_cg_rwy_rwy_v[0] = x;
1042 d_cg_rwy_rwy_v[1] = y;
1043 d_cg_rwy_rwy_v[2] = h;
1046 // inline double * get_D_pilot_rwy_local_v() { return d_pilot_rwy_local_v; }
1047 // inline double get_D_pilot_north_of_rwy() const {
1048 // return d_pilot_rwy_local_v[0];
1050 // inline double get_D_pilot_east_of_rwy() const {
1051 // return d_pilot_rwy_local_v[1];
1053 // inline double get_D_pilot_above_rwy() const {
1054 // return d_pilot_rwy_local_v[2];
1056 /* inline void set_Pilot_Rwy_Local( double north, double east, double above )
1058 d_pilot_rwy_local_v[0] = north;
1059 d_pilot_rwy_local_v[1] = east;
1060 d_pilot_rwy_local_v[2] = above;
1063 // inline double * get_D_pilot_rwy_rwy_v() { return d_pilot_rwy_rwy_v; }
1064 // inline double get_X_pilot_rwy() const { return d_pilot_rwy_rwy_v[0]; }
1065 // inline double get_Y_pilot_rwy() const { return d_pilot_rwy_rwy_v[1]; }
1066 // inline double get_H_pilot_rwy() const { return d_pilot_rwy_rwy_v[2]; }
1067 /* inline void set_Pilot_Rwy_Rwy( double x, double y, double h )
1069 d_pilot_rwy_rwy_v[0] = x;
1070 d_pilot_rwy_rwy_v[1] = y;
1071 d_pilot_rwy_rwy_v[2] = h;
1074 inline double get_Climb_Rate() const { return climb_rate; }
1076 // inline SGTimeStamp get_time_stamp() const { return valid_stamp; }
1077 // inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
1079 // Extrapolate FDM based on time_offset (in usec)
1080 void extrapolate( int time_offset );
1082 // sin/cos lat_geocentric
1083 inline double get_sin_lat_geocentric(void) const {
1084 return sin_lat_geocentric;
1086 inline double get_cos_lat_geocentric(void) const {
1087 return cos_lat_geocentric;
1090 inline double get_sin_longitude(void) const {
1091 return sin_longitude;
1093 inline double get_cos_longitude(void) const {
1094 return cos_longitude;
1097 inline double get_sin_latitude(void) const {
1098 return sin_latitude;
1100 inline double get_cos_latitude(void) const {
1101 return cos_latitude;
1105 inline double get_Tank1Fuel() const { return Tank1Fuel; }
1106 inline double get_Tank2Fuel() const { return Tank2Fuel; }
1109 inline double get_num_engines() const {
1110 return engines.size();
1113 inline FGEngInterface* get_engine( int i ) {
1117 inline void add_engine( FGEngInterface e ) {
1118 engines.push_back( e );
1123 typedef list < FGInterface > fdm_state_list;
1124 typedef fdm_state_list::iterator fdm_state_list_iterator;
1125 typedef fdm_state_list::const_iterator const_fdm_state_list_iterator;
1128 extern FGInterface * cur_fdm_state;
1131 // General interface to the flight model routines
1133 // Set the altitude (force)
1134 void fgFDMForceAltitude(const string &model, double alt_meters);
1136 // Set the local ground elevation
1137 void fgFDMSetGroundElevation(const string &model, double alt_meters);
1139 // Toggle data logging on/off
1140 void fgToggleFDMdataLogging(void);
1143 #endif // _FLIGHT_HXX