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;
181 // This is based heavily on LaRCsim/ls_generic.h
182 class FGInterface : public FGSubsystem {
186 // periodic update management variable. This is a scheme to run
187 // the fdm with a fixed delta-t. We control how many iteration of
188 // the fdm to run with the fixed dt based on the elapsed time from
189 // the last update. This allows us to maintain sync with the real
190 // time clock, even though each frame could take a random amount
191 // of time. Since "dt" is unlikely to divide evenly into the
192 // elapse time, we keep track of the remainder and add it into the
193 // next elapsed time. This yields a small amount of temporal
194 // jitter ( < dt ) but in practice seems to work well.
196 double delta_t; // delta "t"
197 SGTimeStamp time_stamp; // time stamp of last run
198 long elapsed; // time elapsed since last run
199 long remainder; // remainder time from last run
200 int multi_loop; // number of iterations of "delta_t" to run
202 // Pilot location rel to ref pt
203 FG_VECTOR_3 d_pilot_rp_body_v;
205 // CG position w.r.t. ref. point
206 FG_VECTOR_3 d_cg_rp_body_v;
209 FG_VECTOR_3 f_body_total_v;
210 FG_VECTOR_3 f_local_total_v;
211 FG_VECTOR_3 f_aero_v;
212 FG_VECTOR_3 f_engine_v;
213 FG_VECTOR_3 f_gear_v;
216 FG_VECTOR_3 m_total_rp_v;
217 FG_VECTOR_3 m_total_cg_v;
218 FG_VECTOR_3 m_aero_v;
219 FG_VECTOR_3 m_engine_v;
220 FG_VECTOR_3 m_gear_v;
223 FG_VECTOR_3 v_dot_local_v;
224 FG_VECTOR_3 v_dot_body_v;
225 FG_VECTOR_3 a_cg_body_v;
226 FG_VECTOR_3 a_pilot_body_v;
227 FG_VECTOR_3 n_cg_body_v;
228 FG_VECTOR_3 n_pilot_body_v;
229 FG_VECTOR_3 omega_dot_body_v;
232 FG_VECTOR_3 v_local_v;
233 FG_VECTOR_3 v_local_rel_ground_v; // V rel w.r.t. earth surface
234 FG_VECTOR_3 v_local_airmass_v; // velocity of airmass (steady winds)
235 FG_VECTOR_3 v_local_rel_airmass_v; // velocity of veh. relative to airmass
236 FG_VECTOR_3 v_local_gust_v; // linear turbulence components, L frame
237 FG_VECTOR_3 v_wind_body_v; // Wind-relative velocities in body axis
239 FG_VECTOR_3 omega_body_v; // Angular B rates
240 FG_VECTOR_3 omega_local_v; // Angular L rates
241 FG_VECTOR_3 omega_total_v; // Diff btw B & L
242 FG_VECTOR_3 euler_rates_v;
243 FG_VECTOR_3 geocentric_rates_v; // Geocentric linear velocities
246 FG_VECTOR_3 geocentric_position_v;
247 FG_VECTOR_3 geodetic_position_v;
248 FG_VECTOR_3 euler_angles_v;
250 // Miscellaneous Quantities
251 FG_VECTOR_3 d_cg_rwy_local_v; // CG rel. to rwy in local coords
252 FG_VECTOR_3 d_cg_rwy_rwy_v; // CG relative to rwy, in rwy coordinates
253 FG_VECTOR_3 d_pilot_rwy_local_v; // pilot rel. to rwy in local coords
254 FG_VECTOR_3 d_pilot_rwy_rwy_v; // pilot rel. to rwy, in rwy coords.
257 double mass, i_xx, i_yy, i_zz, i_xz;
259 // Normal Load Factor
263 double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
264 double v_ground_speed, v_equiv, v_equiv_kts;
265 double v_calibrated, v_calibrated_kts;
267 // Miscellaneious Quantities
268 double t_local_to_body_m[3][3]; // Transformation matrix L to B
269 double gravity; // Local acceleration due to G
270 double centrifugal_relief; // load factor reduction due to speed
271 double alpha, beta, alpha_dot, beta_dot; // in radians
272 double cos_alpha, sin_alpha, cos_beta, sin_beta;
273 double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
274 double gamma_vert_rad, gamma_horiz_rad; // Flight path angles
275 double sigma, density, v_sound, mach_number;
276 double static_pressure, total_pressure, impact_pressure;
277 double dynamic_pressure;
278 double static_temperature, total_temperature;
279 double sea_level_radius, earth_position_angle;
280 double runway_altitude, runway_latitude, runway_longitude;
281 double runway_heading;
282 double radius_to_rwy;
283 double climb_rate; // in feet per second
284 double sin_lat_geocentric, cos_lat_geocentric;
285 double sin_longitude, cos_longitude;
286 double sin_latitude, cos_latitude;
288 double Tank1Fuel; // Gals
289 double Tank2Fuel; // Gals
291 double daux[16]; // auxilliary doubles
292 float faux[16]; // auxilliary floats
293 int iaux[16]; // auxilliary ints
298 // SGTimeStamp valid_stamp; // time this record is valid
299 // SGTimeStamp next_stamp; // time this record is valid
304 // deliberately not virtual so that
305 // FGInterface constructor will call
310 void _updatePosition( double lat_geoc, double lon, double alt );
311 void _updateWeather( void );
313 inline void _set_Inertias( double m, double xx, double yy,
314 double zz, double xz)
322 inline void _set_CG_Position( double dx, double dy, double dz ) {
323 d_cg_rp_body_v[0] = dx;
324 d_cg_rp_body_v[1] = dy;
325 d_cg_rp_body_v[2] = dz;
327 inline void _set_Accels_Local( double north, double east, double down ) {
328 v_dot_local_v[0] = north;
329 v_dot_local_v[1] = east;
330 v_dot_local_v[2] = down;
332 inline void _set_Accels_Body( double u, double v, double w ) {
337 inline void _set_Accels_CG_Body( double x, double y, double z ) {
342 inline void _set_Accels_Pilot_Body( double x, double y, double z ) {
343 a_pilot_body_v[0] = x;
344 a_pilot_body_v[1] = y;
345 a_pilot_body_v[2] = z;
347 inline void _set_Accels_CG_Body_N( double x, double y, double z ) {
352 void _set_Nlf(double n) { nlf=n; }
353 inline void _set_Velocities_Local( double north, double east, double down ){
354 v_local_v[0] = north;
358 inline void _set_Velocities_Ground(double north, double east, double down) {
359 v_local_rel_ground_v[0] = north;
360 v_local_rel_ground_v[1] = east;
361 v_local_rel_ground_v[2] = down;
363 inline void _set_Velocities_Local_Airmass( double north, double east,
366 v_local_airmass_v[0] = north;
367 v_local_airmass_v[1] = east;
368 v_local_airmass_v[2] = down;
370 inline void _set_Velocities_Wind_Body( double u, double v, double w) {
371 v_wind_body_v[0] = u;
372 v_wind_body_v[1] = v;
373 v_wind_body_v[2] = w;
375 inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; }
376 inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
377 inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
378 inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
379 inline void _set_Omega_Body( double p, double q, double r ) {
384 inline void _set_Euler_Rates( double phi, double theta, double psi ) {
385 euler_rates_v[0] = phi;
386 euler_rates_v[1] = theta;
387 euler_rates_v[2] = psi;
389 inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
390 geocentric_rates_v[0] = lat;
391 geocentric_rates_v[1] = lon;
392 geocentric_rates_v[2] = rad;
395 inline void _set_Radius_to_vehicle(double radius) {
396 geocentric_position_v[2] = radius;
399 inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
400 geocentric_position_v[0] = lat;
401 geocentric_position_v[1] = lon;
402 geocentric_position_v[2] = rad;
404 inline void _set_Latitude(double lat) { geodetic_position_v[0] = lat; }
405 inline void _set_Longitude(double lon) { geodetic_position_v[1] = lon; }
406 inline void _set_Altitude(double altitude) {
407 geodetic_position_v[2] = altitude;
409 inline void _set_Altitude_AGL(double agl) {
412 inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
413 geodetic_position_v[0] = lat;
414 geodetic_position_v[1] = lon;
415 geodetic_position_v[2] = alt;
417 inline void _set_Euler_Angles( double phi, double theta, double psi ) {
418 euler_angles_v[0] = phi;
419 euler_angles_v[1] = theta;
420 euler_angles_v[2] = psi;
422 inline void _set_T_Local_to_Body( int i, int j, double value) {
423 t_local_to_body_m[i-1][j-1] = value;
425 inline void _set_T_Local_to_Body( double m[3][3] ) {
427 for ( i = 0; i < 3; i++ ) {
428 for ( j = 0; j < 3; j++ ) {
429 t_local_to_body_m[i][j] = m[i][j];
433 inline void _set_Alpha( double a ) { alpha = a; }
434 inline void _set_Beta( double b ) { beta = b; }
435 inline void _set_Cos_phi( double cp ) { cos_phi = cp; }
436 inline void _set_Cos_theta( double ct ) { cos_theta = ct; }
437 inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
438 inline void _set_Density( double d ) { density = d; }
439 inline void _set_Mach_number( double m ) { mach_number = m; }
440 inline void _set_Static_pressure( double sp ) { static_pressure = sp; }
441 inline void _set_Static_temperature( double t ) { static_temperature = t; }
442 inline void _set_Sea_level_radius( double r ) { sea_level_radius = r; }
443 inline void _set_Earth_position_angle(double a) {
444 earth_position_angle = a;
446 inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; }
447 inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
448 inline void _set_sin_lat_geocentric(double parm) {
449 sin_lat_geocentric = sin(parm);
451 inline void _set_cos_lat_geocentric(double parm) {
452 cos_lat_geocentric = cos(parm);
454 inline void _set_sin_cos_longitude(double parm) {
455 sin_longitude = sin(parm);
456 cos_longitude = cos(parm);
458 inline void _set_sin_cos_latitude(double parm) {
459 sin_latitude = sin(parm);
460 cos_latitude = cos(parm);
463 inline void _set_daux( int n, double value ) { daux[n] = value; }
464 inline void _set_faux( int n, float value ) { faux[n] = value; }
465 inline void _set_iaux( int n, int value ) { iaux[n] = value; }
470 FGInterface( double dt );
471 virtual ~FGInterface();
473 virtual void init ();
474 virtual void bind ();
475 virtual void unbind ();
476 virtual void update ();
477 virtual bool update( int multi_loop );
478 virtual bool ToggleDataLogging(bool state) { return false; }
479 virtual bool ToggleDataLogging(void) { return false; }
481 // Define the various supported flight models (many not yet implemented)
486 // The NASA LaRCsim (Navion) flight model
489 // Jon S. Berndt's new FDM written from the ground up in C++
492 // Christian's hot air balloon simulation
495 // Aeronautical DEvelopment AGEncy, Bangalore India
498 // The following aren't implemented but are here to spark
499 // thoughts and discussions, and maybe even action.
506 // Driven externally via a serial port, net, file, etc.
510 // time and update management values
511 inline double get_delta_t() const { return delta_t; }
512 inline void set_delta_t( double dt ) { delta_t = dt; }
513 inline SGTimeStamp get_time_stamp() const { return time_stamp; }
514 inline void set_time_stamp( SGTimeStamp s ) { time_stamp = s; }
515 inline void stamp() { time_stamp.stamp(); }
516 inline long get_elapsed() const { return elapsed; }
517 inline void set_elapsed( long e ) { elapsed = e; }
518 inline long get_remainder() const { return remainder; }
519 inline void set_remainder( long r ) { remainder = r; }
520 inline int get_multi_loop() const { return multi_loop; }
521 inline void set_multi_loop( int ml ) { multi_loop = ml; }
524 virtual void set_Latitude(double lat); // geocentric
525 virtual void set_Longitude(double lon);
526 virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
527 virtual void set_AltitudeAGL(double altagl); // and vice-versa
528 virtual void set_Latitude_deg (double lat) {
529 set_Latitude(lat * SGD_DEGREES_TO_RADIANS);
531 virtual void set_Longitude_deg (double lon) {
532 set_Longitude(lon * SGD_DEGREES_TO_RADIANS);
535 // Speeds -- setting any of these will trigger a re-calc of the rest
536 virtual void set_V_calibrated_kts(double vc);
537 virtual void set_Mach_number(double mach);
538 virtual void set_Velocities_Local( double north, double east, double down );
539 inline void set_V_north (double north) {
540 set_Velocities_Local(north, v_local_v[1], v_local_v[2]);
542 inline void set_V_east (double east) {
543 set_Velocities_Local(v_local_v[0], east, v_local_v[2]);
545 inline void set_V_down (double down) {
546 set_Velocities_Local(v_local_v[0], v_local_v[1], down);
548 virtual void set_Velocities_Wind_Body( double u, double v, double w);
549 virtual void set_uBody (double uBody) {
550 set_Velocities_Wind_Body(uBody, v_wind_body_v[1], v_wind_body_v[2]);
552 virtual void set_vBody (double vBody) {
553 set_Velocities_Wind_Body(v_wind_body_v[0], vBody, v_wind_body_v[2]);
555 virtual void set_wBody (double wBody) {
556 set_Velocities_Wind_Body(v_wind_body_v[0], v_wind_body_v[1], wBody);
560 virtual void set_Euler_Angles( double phi, double theta, double psi );
561 virtual void set_Phi (double phi) {
562 set_Euler_Angles(phi, get_Theta(), get_Psi());
564 virtual void set_Theta (double theta) {
565 set_Euler_Angles(get_Phi(), theta, get_Psi());
567 virtual void set_Psi (double psi) {
568 set_Euler_Angles(get_Phi(), get_Theta(), psi);
570 virtual void set_Phi_deg (double phi) { set_Phi(phi * SGD_DEGREES_TO_RADIANS); }
571 virtual void set_Theta_deg (double theta) {
572 set_Theta(theta * SGD_DEGREES_TO_RADIANS);
574 virtual void set_Psi_deg (double psi) { set_Psi(psi * SGD_DEGREES_TO_RADIANS); }
577 virtual void set_Climb_Rate( double roc);
578 virtual void set_Gamma_vert_rad( double gamma);
581 virtual void set_Sea_level_radius(double slr);
582 virtual void set_Runway_altitude(double ralt);
584 virtual void set_Static_pressure(double p);
585 virtual void set_Static_temperature(double T);
586 virtual void set_Density(double rho);
588 virtual void set_Velocities_Local_Airmass (double wnorth,
593 inline void set_Tank1Fuel( double f ) { Tank1Fuel = f; }
594 inline void set_Tank2Fuel( double f ) { Tank2Fuel = f; }
596 inline void reduce_Tank1Fuel( double f ) {
601 inline void reduce_Tank2Fuel( double f ) {
608 // ========== Mass properties and geometry values ==========
611 inline double get_Mass() const { return mass; }
612 inline double get_I_xx() const { return i_xx; }
613 inline double get_I_yy() const { return i_yy; }
614 inline double get_I_zz() const { return i_zz; }
615 inline double get_I_xz() const { return i_xz; }
617 // Pilot location rel to ref pt
618 // inline double * get_D_pilot_rp_body_v() {
619 // return d_pilot_rp_body_v;
621 // inline double get_Dx_pilot() const { return d_pilot_rp_body_v[0]; }
622 // inline double get_Dy_pilot() const { return d_pilot_rp_body_v[1]; }
623 // inline double get_Dz_pilot() const { return d_pilot_rp_body_v[2]; }
624 /* inline void set_Pilot_Location( double dx, double dy, double dz ) {
625 d_pilot_rp_body_v[0] = dx;
626 d_pilot_rp_body_v[1] = dy;
627 d_pilot_rp_body_v[2] = dz;
630 // CG position w.r.t. ref. point
631 // inline double * get_D_cg_rp_body_v() { return d_cg_rp_body_v; }
632 inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; }
633 inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; }
634 inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
636 // ========== Forces ==========
638 // inline double * get_F_body_total_v() { return f_body_total_v; }
639 // inline double get_F_X() const { return f_body_total_v[0]; }
640 // inline double get_F_Y() const { return f_body_total_v[1]; }
641 // inline double get_F_Z() const { return f_body_total_v[2]; }
642 /* inline void set_Forces_Body_Total( double x, double y, double z ) {
643 f_body_total_v[0] = x;
644 f_body_total_v[1] = y;
645 f_body_total_v[2] = z;
648 // inline double * get_F_local_total_v() { return f_local_total_v; }
649 // inline double get_F_north() const { return f_local_total_v[0]; }
650 // inline double get_F_east() const { return f_local_total_v[1]; }
651 // inline double get_F_down() const { return f_local_total_v[2]; }
652 /* inline void set_Forces_Local_Total( double x, double y, double z ) {
653 f_local_total_v[0] = x;
654 f_local_total_v[1] = y;
655 f_local_total_v[2] = z;
658 // inline double * get_F_aero_v() { return f_aero_v; }
659 // inline double get_F_X_aero() const { return f_aero_v[0]; }
660 // inline double get_F_Y_aero() const { return f_aero_v[1]; }
661 // inline double get_F_Z_aero() const { return f_aero_v[2]; }
662 /* inline void set_Forces_Aero( double x, double y, double z ) {
668 // inline double * get_F_engine_v() { return f_engine_v; }
669 // inline double get_F_X_engine() const { return f_engine_v[0]; }
670 // inline double get_F_Y_engine() const { return f_engine_v[1]; }
671 // inline double get_F_Z_engine() const { return f_engine_v[2]; }
672 /* inline void set_Forces_Engine( double x, double y, double z ) {
678 // inline double * get_F_gear_v() { return f_gear_v; }
679 // inline double get_F_X_gear() const { return f_gear_v[0]; }
680 // inline double get_F_Y_gear() const { return f_gear_v[1]; }
681 // inline double get_F_Z_gear() const { return f_gear_v[2]; }
682 /* inline void set_Forces_Gear( double x, double y, double z ) {
688 // ========== Moments ==========
690 // inline double * get_M_total_rp_v() { return m_total_rp_v; }
691 // inline double get_M_l_rp() const { return m_total_rp_v[0]; }
692 // inline double get_M_m_rp() const { return m_total_rp_v[1]; }
693 // inline double get_M_n_rp() const { return m_total_rp_v[2]; }
694 /* inline void set_Moments_Total_RP( double l, double m, double n ) {
700 // inline double * get_M_total_cg_v() { return m_total_cg_v; }
701 // inline double get_M_l_cg() const { return m_total_cg_v[0]; }
702 // inline double get_M_m_cg() const { return m_total_cg_v[1]; }
703 // inline double get_M_n_cg() const { return m_total_cg_v[2]; }
704 /* inline void set_Moments_Total_CG( double l, double m, double n ) {
710 // inline double * get_M_aero_v() { return m_aero_v; }
711 // inline double get_M_l_aero() const { return m_aero_v[0]; }
712 // inline double get_M_m_aero() const { return m_aero_v[1]; }
713 // inline double get_M_n_aero() const { return m_aero_v[2]; }
714 /* inline void set_Moments_Aero( double l, double m, double n ) {
720 // inline double * get_M_engine_v() { return m_engine_v; }
721 // inline double get_M_l_engine() const { return m_engine_v[0]; }
722 // inline double get_M_m_engine() const { return m_engine_v[1]; }
723 // inline double get_M_n_engine() const { return m_engine_v[2]; }
724 /* inline void set_Moments_Engine( double l, double m, double n ) {
730 // inline double * get_M_gear_v() { return m_gear_v; }
731 // inline double get_M_l_gear() const { return m_gear_v[0]; }
732 // inline double get_M_m_gear() const { return m_gear_v[1]; }
733 // inline double get_M_n_gear() const { return m_gear_v[2]; }
734 /* inline void set_Moments_Gear( double l, double m, double n ) {
740 // ========== Accelerations ==========
742 // inline double * get_V_dot_local_v() { return v_dot_local_v; }
743 inline double get_V_dot_north() const { return v_dot_local_v[0]; }
744 inline double get_V_dot_east() const { return v_dot_local_v[1]; }
745 inline double get_V_dot_down() const { return v_dot_local_v[2]; }
747 // inline double * get_V_dot_body_v() { return v_dot_body_v; }
748 inline double get_U_dot_body() const { return v_dot_body_v[0]; }
749 inline double get_V_dot_body() const { return v_dot_body_v[1]; }
750 inline double get_W_dot_body() const { return v_dot_body_v[2]; }
752 // inline double * get_A_cg_body_v() { return a_cg_body_v; }
753 inline double get_A_X_cg() const { return a_cg_body_v[0]; }
754 inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
755 inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
757 // inline double * get_A_pilot_body_v() { return a_pilot_body_v; }
758 inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
759 inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
760 inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
762 // inline double * get_N_cg_body_v() { return n_cg_body_v; }
763 inline double get_N_X_cg() const { return n_cg_body_v[0]; }
764 inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
765 inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
767 // inline double * get_N_pilot_body_v() { return n_pilot_body_v; }
768 // inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
769 // inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; }
770 // inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; }
771 // inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
772 // n_pilot_body_v[0] = x;
773 // n_pilot_body_v[1] = y;
774 // n_pilot_body_v[2] = z;
777 inline double get_Nlf(void) { return nlf; }
779 // inline double * get_Omega_dot_body_v() { return omega_dot_body_v; }
780 // inline double get_P_dot_body() const { return omega_dot_body_v[0]; }
781 // inline double get_Q_dot_body() const { return omega_dot_body_v[1]; }
782 // inline double get_R_dot_body() const { return omega_dot_body_v[2]; }
783 /* inline void set_Accels_Omega( double p, double q, double r ) {
784 omega_dot_body_v[0] = p;
785 omega_dot_body_v[1] = q;
786 omega_dot_body_v[2] = r;
790 // ========== Velocities ==========
792 // inline double * get_V_local_v() { return v_local_v; }
793 inline double get_V_north() const { return v_local_v[0]; }
794 inline double get_V_east() const { return v_local_v[1]; }
795 inline double get_V_down() const { return v_local_v[2]; }
796 inline double get_uBody () const { return v_wind_body_v[0]; }
797 inline double get_vBody () const { return v_wind_body_v[1]; }
798 inline double get_wBody () const { return v_wind_body_v[2]; }
800 // Please dont comment these out. fdm=ada uses these (see
802 inline double * get_V_local_rel_ground_v() {
803 return v_local_rel_ground_v;
805 inline double get_V_north_rel_ground() const {
806 return v_local_rel_ground_v[0];
808 inline double get_V_east_rel_ground() const {
809 return v_local_rel_ground_v[1];
811 inline double get_V_down_rel_ground() const {
812 return v_local_rel_ground_v[2];
814 // <--- fdm=ada uses these (see cockpit.cxx)
816 // inline double * get_V_local_airmass_v() { return v_local_airmass_v; }
817 inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
818 inline double get_V_east_airmass() const { return v_local_airmass_v[1]; }
819 inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
822 // inline double * get_V_local_rel_airmass_v() {
823 // return v_local_rel_airmass_v;
825 // inline double get_V_north_rel_airmass() const {
826 // return v_local_rel_airmass_v[0];
828 // inline double get_V_east_rel_airmass() const {
829 // return v_local_rel_airmass_v[1];
831 // inline double get_V_down_rel_airmass() const {
832 // return v_local_rel_airmass_v[2];
834 /* inline void set_Velocities_Local_Rel_Airmass( double north, double east,
837 v_local_rel_airmass_v[0] = north;
838 v_local_rel_airmass_v[1] = east;
839 v_local_rel_airmass_v[2] = down;
842 // inline double * get_V_local_gust_v() { return v_local_gust_v; }
843 // inline double get_U_gust() const { return v_local_gust_v[0]; }
844 // inline double get_V_gust() const { return v_local_gust_v[1]; }
845 // inline double get_W_gust() const { return v_local_gust_v[2]; }
846 /* inline void set_Velocities_Gust( double u, double v, double w)
848 v_local_gust_v[0] = u;
849 v_local_gust_v[1] = v;
850 v_local_gust_v[2] = w;
853 // inline double * get_V_wind_body_v() { return v_wind_body_v; }
854 inline double get_U_body() const { return v_wind_body_v[0]; }
855 inline double get_V_body() const { return v_wind_body_v[1]; }
856 inline double get_W_body() const { return v_wind_body_v[2]; }
858 inline double get_V_rel_wind() const { return v_rel_wind; }
859 // inline void set_V_rel_wind(double wind) { v_rel_wind = wind; }
861 // inline double get_V_true_kts() const { return v_true_kts; }
862 // inline void set_V_true_kts(double kts) { v_true_kts = kts; }
864 // inline double get_V_rel_ground() const { return v_rel_ground; }
865 // inline void set_V_rel_ground( double v ) { v_rel_ground = v; }
867 // inline double get_V_inertial() const { return v_inertial; }
868 // inline void set_V_inertial(double v) { v_inertial = v; }
870 inline double get_V_ground_speed() const { return v_ground_speed; }
872 // inline double get_V_equiv() const { return v_equiv; }
873 // inline void set_V_equiv( double v ) { v_equiv = v; }
875 inline double get_V_equiv_kts() const { return v_equiv_kts; }
877 //inline double get_V_calibrated() const { return v_calibrated; }
878 //inline void set_V_calibrated( double v ) { v_calibrated = v; }
880 inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
882 // inline double * get_Omega_body_v() { return omega_body_v; }
883 inline double get_P_body() const { return omega_body_v[0]; }
884 inline double get_Q_body() const { return omega_body_v[1]; }
885 inline double get_R_body() const { return omega_body_v[2]; }
887 // inline double * get_Omega_local_v() { return omega_local_v; }
888 // inline double get_P_local() const { return omega_local_v[0]; }
889 // inline double get_Q_local() const { return omega_local_v[1]; }
890 // inline double get_R_local() const { return omega_local_v[2]; }
891 /* inline void set_Omega_Local( double p, double q, double r ) {
892 omega_local_v[0] = p;
893 omega_local_v[1] = q;
894 omega_local_v[2] = r;
897 // inline double * get_Omega_total_v() { return omega_total_v; }
898 // inline double get_P_total() const { return omega_total_v[0]; }
899 // inline double get_Q_total() const { return omega_total_v[1]; }
900 // inline double get_R_total() const { return omega_total_v[2]; }
901 /* inline void set_Omega_Total( double p, double q, double r ) {
902 omega_total_v[0] = p;
903 omega_total_v[1] = q;
904 omega_total_v[2] = r;
907 // inline double * get_Euler_rates_v() { return euler_rates_v; }
908 inline double get_Phi_dot() const { return euler_rates_v[0]; }
909 inline double get_Theta_dot() const { return euler_rates_v[1]; }
910 inline double get_Psi_dot() const { return euler_rates_v[2]; }
912 // inline double * get_Geocentric_rates_v() { return geocentric_rates_v; }
913 inline double get_Latitude_dot() const { return geocentric_rates_v[0]; }
914 inline double get_Longitude_dot() const { return geocentric_rates_v[1]; }
915 inline double get_Radius_dot() const { return geocentric_rates_v[2]; }
917 // ========== Positions ==========
919 // inline double * get_Geocentric_position_v() {
920 // return geocentric_position_v;
922 inline double get_Lat_geocentric() const {
923 return geocentric_position_v[0];
925 inline double get_Lon_geocentric() const {
926 return geocentric_position_v[1];
928 inline double get_Radius_to_vehicle() const {
929 return geocentric_position_v[2];
932 // inline double * get_Geodetic_position_v() { return geodetic_position_v; }
933 inline double get_Latitude() const { return geodetic_position_v[0]; }
934 inline double get_Longitude() const { return geodetic_position_v[1]; }
935 inline double get_Altitude() const { return geodetic_position_v[2]; }
936 inline double get_Altitude_AGL(void) const { return altitude_agl; }
938 inline double get_Latitude_deg () const {
939 return get_Latitude() * SGD_RADIANS_TO_DEGREES;
941 inline double get_Longitude_deg () const {
942 return get_Longitude() * SGD_RADIANS_TO_DEGREES;
945 // inline double * get_Euler_angles_v() { return euler_angles_v; }
946 inline double get_Phi() const { return euler_angles_v[0]; }
947 inline double get_Theta() const { return euler_angles_v[1]; }
948 inline double get_Psi() const { return euler_angles_v[2]; }
949 inline double get_Phi_deg () const { return get_Phi() * SGD_RADIANS_TO_DEGREES; }
950 inline double get_Theta_deg () const { return get_Theta() * SGD_RADIANS_TO_DEGREES; }
951 inline double get_Psi_deg () const { return get_Psi() * SGD_RADIANS_TO_DEGREES; }
954 // ========== Miscellaneous quantities ==========
956 // inline double * get_T_local_to_body_m() { return t_local_to_body_m; }
957 inline double get_T_local_to_body_11() const {
958 return t_local_to_body_m[0][0];
960 inline double get_T_local_to_body_12() const {
961 return t_local_to_body_m[0][1];
963 inline double get_T_local_to_body_13() const {
964 return t_local_to_body_m[0][2];
966 inline double get_T_local_to_body_21() const {
967 return t_local_to_body_m[1][0];
969 inline double get_T_local_to_body_22() const {
970 return t_local_to_body_m[1][1];
972 inline double get_T_local_to_body_23() const {
973 return t_local_to_body_m[1][2];
975 inline double get_T_local_to_body_31() const {
976 return t_local_to_body_m[2][0];
978 inline double get_T_local_to_body_32() const {
979 return t_local_to_body_m[2][1];
981 inline double get_T_local_to_body_33() const {
982 return t_local_to_body_m[2][2];
985 // inline double get_Gravity() const { return gravity; }
986 // inline void set_Gravity(double g) { gravity = g; }
988 // inline double get_Centrifugal_relief() const {
989 // return centrifugal_relief;
991 // inline void set_Centrifugal_relief(double cr) {
992 // centrifugal_relief = cr;
995 inline double get_Alpha() const { return alpha; }
996 inline double get_Beta() const { return beta; }
997 // inline double get_Alpha_dot() const { return alpha_dot; }
998 // inline void set_Alpha_dot( double ad ) { alpha_dot = ad; }
999 // inline double get_Beta_dot() const { return beta_dot; }
1000 // inline void set_Beta_dot( double bd ) { beta_dot = bd; }
1002 // inline double get_Cos_alpha() const { return cos_alpha; }
1003 // inline void set_Cos_alpha( double ca ) { cos_alpha = ca; }
1004 // inline double get_Sin_alpha() const { return sin_alpha; }
1005 // inline void set_Sin_alpha( double sa ) { sin_alpha = sa; }
1006 // inline double get_Cos_beta() const { return cos_beta; }
1007 // inline void set_Cos_beta( double cb ) { cos_beta = cb; }
1008 // inline double get_Sin_beta() const { return sin_beta; }
1009 // inline void set_Sin_beta( double sb ) { sin_beta = sb; }
1011 inline double get_Cos_phi() const { return cos_phi; }
1012 // inline double get_Sin_phi() const { return sin_phi; }
1013 // inline void set_Sin_phi( double sp ) { sin_phi = sp; }
1014 inline double get_Cos_theta() const { return cos_theta; }
1015 // inline double get_Sin_theta() const { return sin_theta; }
1016 // inline void set_Sin_theta( double st ) { sin_theta = st; }
1017 // inline double get_Cos_psi() const { return cos_psi; }
1018 // inline void set_Cos_psi( double cp ) { cos_psi = cp; }
1019 // inline double get_Sin_psi() const { return sin_psi; }
1020 // inline void set_Sin_psi( double sp ) { sin_psi = sp; }
1022 inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
1023 // inline double get_Gamma_horiz_rad() const { return gamma_horiz_rad; }
1024 // inline void set_Gamma_horiz_rad( double gh ) { gamma_horiz_rad = gh; }
1026 // inline double get_Sigma() const { return sigma; }
1027 // inline void set_Sigma( double s ) { sigma = s; }
1028 inline double get_Density() const { return density; }
1029 // inline double get_V_sound() const { return v_sound; }
1030 // inline void set_V_sound( double v ) { v_sound = v; }
1031 inline double get_Mach_number() const { return mach_number; }
1033 inline double get_Static_pressure() const { return static_pressure; }
1034 // inline double get_Total_pressure() const { return total_pressure; }
1035 // inline void set_Total_pressure( double tp ) { total_pressure = tp; }
1036 // inline double get_Impact_pressure() const { return impact_pressure; }
1037 // inline void set_Impact_pressure( double ip ) { impact_pressure = ip; }
1038 // inline double get_Dynamic_pressure() const { return dynamic_pressure; }
1039 // inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; }
1041 inline double get_Static_temperature() const { return static_temperature; }
1042 // inline double get_Total_temperature() const { return total_temperature; }
1043 // inline void set_Total_temperature( double t ) { total_temperature = t; }
1045 inline double get_Sea_level_radius() const { return sea_level_radius; }
1046 inline double get_Earth_position_angle() const {
1047 return earth_position_angle;
1050 inline double get_Runway_altitude() const { return runway_altitude; }
1051 // inline double get_Runway_latitude() const { return runway_latitude; }
1052 // inline void set_Runway_latitude( double lat ) { runway_latitude = lat; }
1053 // inline double get_Runway_longitude() const { return runway_longitude; }
1054 // inline void set_Runway_longitude( double lon ) {
1055 // runway_longitude = lon;
1057 // inline double get_Runway_heading() const { return runway_heading; }
1058 // inline void set_Runway_heading( double h ) { runway_heading = h; }
1060 // inline double get_Radius_to_rwy() const { return radius_to_rwy; }
1061 // inline void set_Radius_to_rwy( double r ) { radius_to_rwy = r; }
1063 // inline double * get_D_cg_rwy_local_v() { return d_cg_rwy_local_v; }
1064 // inline double get_D_cg_north_of_rwy() const {
1065 // return d_cg_rwy_local_v[0];
1067 // inline double get_D_cg_east_of_rwy() const {
1068 // return d_cg_rwy_local_v[1];
1070 // inline double get_D_cg_above_rwy() const { return d_cg_rwy_local_v[2]; }
1071 /* inline void set_CG_Rwy_Local( double north, double east, double above )
1073 d_cg_rwy_local_v[0] = north;
1074 d_cg_rwy_local_v[1] = east;
1075 d_cg_rwy_local_v[2] = above;
1078 // inline double * get_D_cg_rwy_rwy_v() { return d_cg_rwy_rwy_v; }
1079 // inline double get_X_cg_rwy() const { return d_cg_rwy_rwy_v[0]; }
1080 // inline double get_Y_cg_rwy() const { return d_cg_rwy_rwy_v[1]; }
1081 // inline double get_H_cg_rwy() const { return d_cg_rwy_rwy_v[2]; }
1082 /* inline void set_CG_Rwy_Rwy( double x, double y, double h )
1084 d_cg_rwy_rwy_v[0] = x;
1085 d_cg_rwy_rwy_v[1] = y;
1086 d_cg_rwy_rwy_v[2] = h;
1089 // inline double * get_D_pilot_rwy_local_v() { return d_pilot_rwy_local_v; }
1090 // inline double get_D_pilot_north_of_rwy() const {
1091 // return d_pilot_rwy_local_v[0];
1093 // inline double get_D_pilot_east_of_rwy() const {
1094 // return d_pilot_rwy_local_v[1];
1096 // inline double get_D_pilot_above_rwy() const {
1097 // return d_pilot_rwy_local_v[2];
1099 /* inline void set_Pilot_Rwy_Local( double north, double east, double above )
1101 d_pilot_rwy_local_v[0] = north;
1102 d_pilot_rwy_local_v[1] = east;
1103 d_pilot_rwy_local_v[2] = above;
1106 // inline double * get_D_pilot_rwy_rwy_v() { return d_pilot_rwy_rwy_v; }
1107 // inline double get_X_pilot_rwy() const { return d_pilot_rwy_rwy_v[0]; }
1108 // inline double get_Y_pilot_rwy() const { return d_pilot_rwy_rwy_v[1]; }
1109 // inline double get_H_pilot_rwy() const { return d_pilot_rwy_rwy_v[2]; }
1110 /* inline void set_Pilot_Rwy_Rwy( double x, double y, double h )
1112 d_pilot_rwy_rwy_v[0] = x;
1113 d_pilot_rwy_rwy_v[1] = y;
1114 d_pilot_rwy_rwy_v[2] = h;
1117 inline double get_Climb_Rate() const { return climb_rate; }
1119 // inline SGTimeStamp get_time_stamp() const { return valid_stamp; }
1120 // inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
1122 // Extrapolate FDM based on time_offset (in usec)
1123 void extrapolate( int time_offset );
1125 // sin/cos lat_geocentric
1126 inline double get_sin_lat_geocentric(void) const {
1127 return sin_lat_geocentric;
1129 inline double get_cos_lat_geocentric(void) const {
1130 return cos_lat_geocentric;
1133 inline double get_sin_longitude(void) const {
1134 return sin_longitude;
1136 inline double get_cos_longitude(void) const {
1137 return cos_longitude;
1140 inline double get_sin_latitude(void) const {
1141 return sin_latitude;
1143 inline double get_cos_latitude(void) const {
1144 return cos_latitude;
1147 // Auxilliary variables
1148 inline double get_daux( int n ) const { return daux[n]; }
1149 inline float get_faux( int n ) const { return faux[n]; }
1150 inline int get_iaux( int n ) const { return iaux[n]; }
1153 inline double get_Tank1Fuel() const { return Tank1Fuel; }
1154 inline double get_Tank2Fuel() const { return Tank2Fuel; }
1157 inline double get_num_engines() const {
1158 return engines.size();
1161 inline FGEngInterface* get_engine( int i ) {
1165 inline void add_engine( FGEngInterface e ) {
1166 engines.push_back( e );
1171 typedef list < FGInterface > fdm_state_list;
1172 typedef fdm_state_list::iterator fdm_state_list_iterator;
1173 typedef fdm_state_list::const_iterator const_fdm_state_list_iterator;
1176 extern FGInterface * cur_fdm_state;
1179 // General interface to the flight model routines
1181 // Set the altitude (force)
1182 void fgFDMForceAltitude(const string &model, double alt_meters);
1184 // Set the local ground elevation
1185 void fgFDMSetGroundElevation(const string &model, double alt_meters);
1187 // Toggle data logging on/off
1188 void fgToggleFDMdataLogging(void);
1191 #endif // _FLIGHT_HXX