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>
91 #include <Time/timestamp.hxx>
97 typedef double FG_VECTOR_3[3];
100 class FGEngInterface {
111 double Manifold_Pressure;
113 double Percentage_Power;
119 double PercentN1,N1; //GE,CFM
121 double EPR; //P&W, RR?
124 double InletAngles[3];
125 double InletPosition[3];
126 double ThrustVector[3];
130 FGEngInterface(void);
131 ~FGEngInterface(void);
133 inline double get_Throttle() const { return Throttle; }
134 inline double get_Mixture() const { return Mixture; }
135 inline double get_Prop_Advance() const { return Prop_Advance; }
136 inline double get_RPM() const { return RPM; }
137 inline double get_Manifold_Pressure() const { return Manifold_Pressure; }
138 inline double get_MaxHP() const { return MaxHP; }
139 inline double get_Percentage_Power() const { return Percentage_Power; }
140 inline double get_EGT() const { return EGT; }
141 inline double get_CHT() const { return CHT; }
142 inline double get_prop_thrust() const { return prop_thrust; }
144 inline void set_Throttle( double t ) { Throttle = t; }
145 inline void set_Mixture( double m ) { Mixture = m; }
146 inline void set_Prop_Advance( double p ) { Prop_Advance = p; }
147 inline void set_RPM( double r ) { RPM = r; }
148 inline void set_Manifold_Pressure( double mp ) { Manifold_Pressure = mp; }
149 inline void set_MaxHP( double hp ) { MaxHP = hp; }
150 inline void set_Percentage_Power( double p ) { Percentage_Power = p; }
151 inline void set_EGT( double e ) { EGT = e; }
152 inline void set_CHT( double c ) { CHT = c; }
153 inline void set_prop_thrust( double t ) { prop_thrust = t; }
157 typedef vector < FGEngInterface > engine_list;
160 // This is based heavily on LaRCsim/ls_generic.h
169 // Pilot location rel to ref pt
170 FG_VECTOR_3 d_pilot_rp_body_v;
172 // CG position w.r.t. ref. point
173 FG_VECTOR_3 d_cg_rp_body_v;
176 FG_VECTOR_3 f_body_total_v;
177 FG_VECTOR_3 f_local_total_v;
178 FG_VECTOR_3 f_aero_v;
179 FG_VECTOR_3 f_engine_v;
180 FG_VECTOR_3 f_gear_v;
183 FG_VECTOR_3 m_total_rp_v;
184 FG_VECTOR_3 m_total_cg_v;
185 FG_VECTOR_3 m_aero_v;
186 FG_VECTOR_3 m_engine_v;
187 FG_VECTOR_3 m_gear_v;
190 FG_VECTOR_3 v_dot_local_v;
191 FG_VECTOR_3 v_dot_body_v;
192 FG_VECTOR_3 a_cg_body_v;
193 FG_VECTOR_3 a_pilot_body_v;
194 FG_VECTOR_3 n_cg_body_v;
195 FG_VECTOR_3 n_pilot_body_v;
196 FG_VECTOR_3 omega_dot_body_v;
199 FG_VECTOR_3 v_local_v;
200 FG_VECTOR_3 v_local_rel_ground_v; // V rel w.r.t. earth surface
201 FG_VECTOR_3 v_local_airmass_v; // velocity of airmass (steady winds)
202 FG_VECTOR_3 v_local_rel_airmass_v; // velocity of veh. relative to airmass
203 FG_VECTOR_3 v_local_gust_v; // linear turbulence components, L frame
204 FG_VECTOR_3 v_wind_body_v; // Wind-relative velocities in body axis
206 FG_VECTOR_3 omega_body_v; // Angular B rates
207 FG_VECTOR_3 omega_local_v; // Angular L rates
208 FG_VECTOR_3 omega_total_v; // Diff btw B & L
209 FG_VECTOR_3 euler_rates_v;
210 FG_VECTOR_3 geocentric_rates_v; // Geocentric linear velocities
213 FG_VECTOR_3 geocentric_position_v;
214 FG_VECTOR_3 geodetic_position_v;
215 FG_VECTOR_3 euler_angles_v;
217 // Miscellaneous Quantities
218 FG_VECTOR_3 d_cg_rwy_local_v; // CG rel. to rwy in local coords
219 FG_VECTOR_3 d_cg_rwy_rwy_v; // CG relative to rwy, in rwy coordinates
220 FG_VECTOR_3 d_pilot_rwy_local_v; // pilot rel. to rwy in local coords
221 FG_VECTOR_3 d_pilot_rwy_rwy_v; // pilot rel. to rwy, in rwy coords.
224 double mass, i_xx, i_yy, i_zz, i_xz;
226 // Normal Load Factor
230 double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
231 double v_ground_speed, v_equiv, v_equiv_kts;
232 double v_calibrated, v_calibrated_kts;
234 // Miscellaneious Quantities
235 double t_local_to_body_m[3][3]; // Transformation matrix L to B
236 double gravity; // Local acceleration due to G
237 double centrifugal_relief; // load factor reduction due to speed
238 double alpha, beta, alpha_dot, beta_dot; // in radians
239 double cos_alpha, sin_alpha, cos_beta, sin_beta;
240 double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
241 double gamma_vert_rad, gamma_horiz_rad; // Flight path angles
242 double sigma, density, v_sound, mach_number;
243 double static_pressure, total_pressure, impact_pressure;
244 double dynamic_pressure;
245 double static_temperature, total_temperature;
246 double sea_level_radius, earth_position_angle;
247 double runway_altitude, runway_latitude, runway_longitude;
248 double runway_heading;
249 double radius_to_rwy;
250 double climb_rate; // in feet per second
251 double sin_lat_geocentric, cos_lat_geocentric;
252 double sin_longitude, cos_longitude;
253 double sin_latitude, cos_latitude;
262 FGTimeStamp valid_stamp; // time this record is valid
263 FGTimeStamp next_stamp; // time this record is valid
267 inline void _set_Inertias( double m, double xx, double yy,
268 double zz, double xz)
276 inline void _set_CG_Position( double dx, double dy, double dz ) {
277 d_cg_rp_body_v[0] = dx;
278 d_cg_rp_body_v[1] = dy;
279 d_cg_rp_body_v[2] = dz;
281 inline void _set_Accels_Local( double north, double east, double down ) {
282 v_dot_local_v[0] = north;
283 v_dot_local_v[1] = east;
284 v_dot_local_v[2] = down;
286 inline void _set_Accels_Body( double u, double v, double w ) {
291 inline void _set_Accels_CG_Body( double x, double y, double z ) {
296 inline void _set_Accels_Pilot_Body( double x, double y, double z ) {
297 a_pilot_body_v[0] = x;
298 a_pilot_body_v[1] = y;
299 a_pilot_body_v[2] = z;
301 inline void _set_Accels_CG_Body_N( double x, double y, double z ) {
306 void _set_Nlf(double n) { nlf=n; }
307 inline void _set_Velocities_Local( double north, double east, double down ){
308 v_local_v[0] = north;
312 inline void _set_Velocities_Ground(double north, double east, double down) {
313 v_local_rel_ground_v[0] = north;
314 v_local_rel_ground_v[1] = east;
315 v_local_rel_ground_v[2] = down;
317 inline void _set_Velocities_Local_Airmass( double north, double east,
320 v_local_airmass_v[0] = north;
321 v_local_airmass_v[1] = east;
322 v_local_airmass_v[2] = down;
324 inline void _set_Velocities_Wind_Body( double u, double v, double w) {
325 v_wind_body_v[0] = u;
326 v_wind_body_v[1] = v;
327 v_wind_body_v[2] = w;
329 inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
330 inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
331 inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
332 inline void _set_Omega_Body( double p, double q, double r ) {
337 inline void _set_Euler_Rates( double phi, double theta, double psi ) {
338 euler_rates_v[0] = phi;
339 euler_rates_v[1] = theta;
340 euler_rates_v[2] = psi;
342 inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
343 geocentric_rates_v[0] = lat;
344 geocentric_rates_v[1] = lon;
345 geocentric_rates_v[2] = rad;
348 inline void _set_Radius_to_vehicle(double radius) {
349 geocentric_position_v[2] = radius;
352 inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
353 geocentric_position_v[0] = lat;
354 geocentric_position_v[1] = lon;
355 geocentric_position_v[2] = rad;
357 inline void _set_Latitude(double lat) { geodetic_position_v[0] = lat; }
358 inline void _set_Longitude(double lon) { geodetic_position_v[1] = lon; }
359 inline void _set_Altitude(double altitude) {
360 geodetic_position_v[2] = altitude;
362 inline void _set_Altitude_AGL(double agl) {
365 inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
366 geodetic_position_v[0] = lat;
367 geodetic_position_v[1] = lon;
368 geodetic_position_v[2] = alt;
370 inline void _set_Euler_Angles( double phi, double theta, double psi ) {
371 euler_angles_v[0] = phi;
372 euler_angles_v[1] = theta;
373 euler_angles_v[2] = psi;
375 inline void _set_T_Local_to_Body( int i, int j, double value) {
376 t_local_to_body_m[i-1][j-1] = value;
378 inline void _set_T_Local_to_Body( double m[3][3] ) {
380 for ( i = 0; i < 3; i++ ) {
381 for ( j = 0; j < 3; j++ ) {
382 t_local_to_body_m[i][j] = m[i][j];
386 inline void _set_Alpha( double a ) { alpha = a; }
387 inline void _set_Beta( double b ) { beta = b; }
388 inline void _set_Cos_phi( double cp ) { cos_phi = cp; }
389 inline void _set_Cos_theta( double ct ) { cos_theta = ct; }
390 inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
391 inline void _set_Density( double d ) { density = d; }
392 inline void _set_Mach_number( double m ) { mach_number = m; }
393 inline void _set_Static_pressure( double sp ) { static_pressure = sp; }
394 inline void _set_Static_temperature( double t ) { static_temperature = t; }
395 inline void _set_Sea_level_radius( double r ) { sea_level_radius = r; }
396 inline void _set_Earth_position_angle(double a) {
397 earth_position_angle = a;
399 inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; }
400 inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
401 inline void _set_sin_lat_geocentric(double parm) {
402 sin_lat_geocentric = sin(parm);
404 inline void _set_cos_lat_geocentric(double parm) {
405 cos_lat_geocentric = cos(parm);
407 inline void _set_sin_cos_longitude(double parm) {
408 sin_longitude = sin(parm);
409 cos_longitude = cos(parm);
411 inline void _set_sin_cos_latitude(double parm) {
412 sin_latitude = sin(parm);
413 cos_latitude = cos(parm);
419 virtual ~FGInterface();
421 virtual bool init( double dt );
422 virtual bool update( int multi_loop );
424 // Define the various supported flight models (many not yet implemented)
429 // The NASA LaRCsim (Navion) flight model
432 // Jon S. Berndt's new FDM written from the ground up in C++
435 // Christian's hot air balloon simulation
438 // Aeronautical DEvelopment AGEncy, Bangalore India
441 // The following aren't implemented but are here to spark
442 // thoughts and discussions, and maybe even action.
449 // Driven externally via a serial port, net, file, etc.
454 virtual void set_Latitude(double lat); // geocentric
455 virtual void set_Longitude(double lon);
456 virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
457 virtual void set_AltitudeAGL(double altagl); // and vice-versa
459 // Speeds -- setting any of these will trigger a re-calc of the rest
460 virtual void set_V_calibrated_kts(double vc);
461 virtual void set_Mach_number(double mach);
462 virtual void set_Velocities_Local( double north, double east, double down );
463 virtual void set_Velocities_Wind_Body( double u, double v, double w);
466 virtual void set_Euler_Angles( double phi, double theta, double psi );
469 virtual void set_Climb_Rate( double roc);
470 virtual void set_Gamma_vert_rad( double gamma);
473 virtual void set_Sea_level_radius(double slr);
474 virtual void set_Runway_altitude(double ralt);
476 virtual void set_Static_pressure(double p);
477 virtual void set_Static_temperature(double T);
478 virtual void set_Density(double rho);
480 virtual void set_Velocities_Local_Airmass (double wnorth,
485 // ========== Mass properties and geometry values ==========
488 inline double get_Mass() const { return mass; }
489 inline double get_I_xx() const { return i_xx; }
490 inline double get_I_yy() const { return i_yy; }
491 inline double get_I_zz() const { return i_zz; }
492 inline double get_I_xz() const { return i_xz; }
494 // Pilot location rel to ref pt
495 // inline double * get_D_pilot_rp_body_v() {
496 // return d_pilot_rp_body_v;
498 // inline double get_Dx_pilot() const { return d_pilot_rp_body_v[0]; }
499 // inline double get_Dy_pilot() const { return d_pilot_rp_body_v[1]; }
500 // inline double get_Dz_pilot() const { return d_pilot_rp_body_v[2]; }
501 /* inline void set_Pilot_Location( double dx, double dy, double dz ) {
502 d_pilot_rp_body_v[0] = dx;
503 d_pilot_rp_body_v[1] = dy;
504 d_pilot_rp_body_v[2] = dz;
507 // CG position w.r.t. ref. point
508 // inline double * get_D_cg_rp_body_v() { return d_cg_rp_body_v; }
509 inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; }
510 inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; }
511 inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
513 // ========== Forces ==========
515 // inline double * get_F_body_total_v() { return f_body_total_v; }
516 // inline double get_F_X() const { return f_body_total_v[0]; }
517 // inline double get_F_Y() const { return f_body_total_v[1]; }
518 // inline double get_F_Z() const { return f_body_total_v[2]; }
519 /* inline void set_Forces_Body_Total( double x, double y, double z ) {
520 f_body_total_v[0] = x;
521 f_body_total_v[1] = y;
522 f_body_total_v[2] = z;
525 // inline double * get_F_local_total_v() { return f_local_total_v; }
526 // inline double get_F_north() const { return f_local_total_v[0]; }
527 // inline double get_F_east() const { return f_local_total_v[1]; }
528 // inline double get_F_down() const { return f_local_total_v[2]; }
529 /* inline void set_Forces_Local_Total( double x, double y, double z ) {
530 f_local_total_v[0] = x;
531 f_local_total_v[1] = y;
532 f_local_total_v[2] = z;
535 // inline double * get_F_aero_v() { return f_aero_v; }
536 // inline double get_F_X_aero() const { return f_aero_v[0]; }
537 // inline double get_F_Y_aero() const { return f_aero_v[1]; }
538 // inline double get_F_Z_aero() const { return f_aero_v[2]; }
539 /* inline void set_Forces_Aero( double x, double y, double z ) {
545 // inline double * get_F_engine_v() { return f_engine_v; }
546 // inline double get_F_X_engine() const { return f_engine_v[0]; }
547 // inline double get_F_Y_engine() const { return f_engine_v[1]; }
548 // inline double get_F_Z_engine() const { return f_engine_v[2]; }
549 /* inline void set_Forces_Engine( double x, double y, double z ) {
555 // inline double * get_F_gear_v() { return f_gear_v; }
556 // inline double get_F_X_gear() const { return f_gear_v[0]; }
557 // inline double get_F_Y_gear() const { return f_gear_v[1]; }
558 // inline double get_F_Z_gear() const { return f_gear_v[2]; }
559 /* inline void set_Forces_Gear( double x, double y, double z ) {
565 // ========== Moments ==========
567 // inline double * get_M_total_rp_v() { return m_total_rp_v; }
568 // inline double get_M_l_rp() const { return m_total_rp_v[0]; }
569 // inline double get_M_m_rp() const { return m_total_rp_v[1]; }
570 // inline double get_M_n_rp() const { return m_total_rp_v[2]; }
571 /* inline void set_Moments_Total_RP( double l, double m, double n ) {
577 // inline double * get_M_total_cg_v() { return m_total_cg_v; }
578 // inline double get_M_l_cg() const { return m_total_cg_v[0]; }
579 // inline double get_M_m_cg() const { return m_total_cg_v[1]; }
580 // inline double get_M_n_cg() const { return m_total_cg_v[2]; }
581 /* inline void set_Moments_Total_CG( double l, double m, double n ) {
587 // inline double * get_M_aero_v() { return m_aero_v; }
588 // inline double get_M_l_aero() const { return m_aero_v[0]; }
589 // inline double get_M_m_aero() const { return m_aero_v[1]; }
590 // inline double get_M_n_aero() const { return m_aero_v[2]; }
591 /* inline void set_Moments_Aero( double l, double m, double n ) {
597 // inline double * get_M_engine_v() { return m_engine_v; }
598 // inline double get_M_l_engine() const { return m_engine_v[0]; }
599 // inline double get_M_m_engine() const { return m_engine_v[1]; }
600 // inline double get_M_n_engine() const { return m_engine_v[2]; }
601 /* inline void set_Moments_Engine( double l, double m, double n ) {
607 // inline double * get_M_gear_v() { return m_gear_v; }
608 // inline double get_M_l_gear() const { return m_gear_v[0]; }
609 // inline double get_M_m_gear() const { return m_gear_v[1]; }
610 // inline double get_M_n_gear() const { return m_gear_v[2]; }
611 /* inline void set_Moments_Gear( double l, double m, double n ) {
617 // ========== Accelerations ==========
619 // inline double * get_V_dot_local_v() { return v_dot_local_v; }
620 inline double get_V_dot_north() const { return v_dot_local_v[0]; }
621 inline double get_V_dot_east() const { return v_dot_local_v[1]; }
622 inline double get_V_dot_down() const { return v_dot_local_v[2]; }
624 // inline double * get_V_dot_body_v() { return v_dot_body_v; }
625 inline double get_U_dot_body() const { return v_dot_body_v[0]; }
626 inline double get_V_dot_body() const { return v_dot_body_v[1]; }
627 inline double get_W_dot_body() const { return v_dot_body_v[2]; }
629 // inline double * get_A_cg_body_v() { return a_cg_body_v; }
630 inline double get_A_X_cg() const { return a_cg_body_v[0]; }
631 inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
632 inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
634 // inline double * get_A_pilot_body_v() { return a_pilot_body_v; }
635 inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
636 inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
637 inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
639 // inline double * get_N_cg_body_v() { return n_cg_body_v; }
640 inline double get_N_X_cg() const { return n_cg_body_v[0]; }
641 inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
642 inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
644 // inline double * get_N_pilot_body_v() { return n_pilot_body_v; }
645 // inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
646 // inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; }
647 // inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; }
648 // inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
649 // n_pilot_body_v[0] = x;
650 // n_pilot_body_v[1] = y;
651 // n_pilot_body_v[2] = z;
654 inline double get_Nlf(void) { return nlf; }
656 // inline double * get_Omega_dot_body_v() { return omega_dot_body_v; }
657 // inline double get_P_dot_body() const { return omega_dot_body_v[0]; }
658 // inline double get_Q_dot_body() const { return omega_dot_body_v[1]; }
659 // inline double get_R_dot_body() const { return omega_dot_body_v[2]; }
660 /* inline void set_Accels_Omega( double p, double q, double r ) {
661 omega_dot_body_v[0] = p;
662 omega_dot_body_v[1] = q;
663 omega_dot_body_v[2] = r;
667 // ========== Velocities ==========
669 // inline double * get_V_local_v() { return v_local_v; }
670 inline double get_V_north() const { return v_local_v[0]; }
671 inline double get_V_east() const { return v_local_v[1]; }
672 inline double get_V_down() const { return v_local_v[2]; }
674 // inline double * get_V_local_rel_ground_v() {
675 // return v_local_rel_ground_v;
677 // inline double get_V_north_rel_ground() const {
678 // return v_local_rel_ground_v[0];
680 // inline double get_V_east_rel_ground() const {
681 // return v_local_rel_ground_v[1];
683 // inline double get_V_down_rel_ground() const {
684 // return v_local_rel_ground_v[2];
687 // inline double * get_V_local_airmass_v() { return v_local_airmass_v; }
688 inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
689 inline double get_V_east_airmass() const { return v_local_airmass_v[1]; }
690 inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
693 // inline double * get_V_local_rel_airmass_v() {
694 // return v_local_rel_airmass_v;
696 // inline double get_V_north_rel_airmass() const {
697 // return v_local_rel_airmass_v[0];
699 // inline double get_V_east_rel_airmass() const {
700 // return v_local_rel_airmass_v[1];
702 // inline double get_V_down_rel_airmass() const {
703 // return v_local_rel_airmass_v[2];
705 /* inline void set_Velocities_Local_Rel_Airmass( double north, double east,
708 v_local_rel_airmass_v[0] = north;
709 v_local_rel_airmass_v[1] = east;
710 v_local_rel_airmass_v[2] = down;
713 // inline double * get_V_local_gust_v() { return v_local_gust_v; }
714 // inline double get_U_gust() const { return v_local_gust_v[0]; }
715 // inline double get_V_gust() const { return v_local_gust_v[1]; }
716 // inline double get_W_gust() const { return v_local_gust_v[2]; }
717 /* inline void set_Velocities_Gust( double u, double v, double w)
719 v_local_gust_v[0] = u;
720 v_local_gust_v[1] = v;
721 v_local_gust_v[2] = w;
724 // inline double * get_V_wind_body_v() { return v_wind_body_v; }
725 inline double get_U_body() const { return v_wind_body_v[0]; }
726 inline double get_V_body() const { return v_wind_body_v[1]; }
727 inline double get_W_body() const { return v_wind_body_v[2]; }
729 // inline double get_V_rel_wind() const { return v_rel_wind; }
730 // inline void set_V_rel_wind(double wind) { v_rel_wind = wind; }
732 // inline double get_V_true_kts() const { return v_true_kts; }
733 // inline void set_V_true_kts(double kts) { v_true_kts = kts; }
735 // inline double get_V_rel_ground() const { return v_rel_ground; }
736 // inline void set_V_rel_ground( double v ) { v_rel_ground = v; }
738 // inline double get_V_inertial() const { return v_inertial; }
739 // inline void set_V_inertial(double v) { v_inertial = v; }
741 inline double get_V_ground_speed() const { return v_ground_speed; }
743 // inline double get_V_equiv() const { return v_equiv; }
744 // inline void set_V_equiv( double v ) { v_equiv = v; }
746 inline double get_V_equiv_kts() const { return v_equiv_kts; }
748 //inline double get_V_calibrated() const { return v_calibrated; }
749 //inline void set_V_calibrated( double v ) { v_calibrated = v; }
751 inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
753 // inline double * get_Omega_body_v() { return omega_body_v; }
754 inline double get_P_body() const { return omega_body_v[0]; }
755 inline double get_Q_body() const { return omega_body_v[1]; }
756 inline double get_R_body() const { return omega_body_v[2]; }
758 // inline double * get_Omega_local_v() { return omega_local_v; }
759 // inline double get_P_local() const { return omega_local_v[0]; }
760 // inline double get_Q_local() const { return omega_local_v[1]; }
761 // inline double get_R_local() const { return omega_local_v[2]; }
762 /* inline void set_Omega_Local( double p, double q, double r ) {
763 omega_local_v[0] = p;
764 omega_local_v[1] = q;
765 omega_local_v[2] = r;
768 // inline double * get_Omega_total_v() { return omega_total_v; }
769 // inline double get_P_total() const { return omega_total_v[0]; }
770 // inline double get_Q_total() const { return omega_total_v[1]; }
771 // inline double get_R_total() const { return omega_total_v[2]; }
772 /* inline void set_Omega_Total( double p, double q, double r ) {
773 omega_total_v[0] = p;
774 omega_total_v[1] = q;
775 omega_total_v[2] = r;
778 // inline double * get_Euler_rates_v() { return euler_rates_v; }
779 inline double get_Phi_dot() const { return euler_rates_v[0]; }
780 inline double get_Theta_dot() const { return euler_rates_v[1]; }
781 inline double get_Psi_dot() const { return euler_rates_v[2]; }
783 // inline double * get_Geocentric_rates_v() { return geocentric_rates_v; }
784 inline double get_Latitude_dot() const { return geocentric_rates_v[0]; }
785 inline double get_Longitude_dot() const { return geocentric_rates_v[1]; }
786 inline double get_Radius_dot() const { return geocentric_rates_v[2]; }
788 // ========== Positions ==========
790 // inline double * get_Geocentric_position_v() {
791 // return geocentric_position_v;
793 inline double get_Lat_geocentric() const {
794 return geocentric_position_v[0];
796 inline double get_Lon_geocentric() const {
797 return geocentric_position_v[1];
799 inline double get_Radius_to_vehicle() const {
800 return geocentric_position_v[2];
803 // inline double * get_Geodetic_position_v() { return geodetic_position_v; }
804 inline double get_Latitude() const { return geodetic_position_v[0]; }
805 inline double get_Longitude() const { return geodetic_position_v[1]; }
806 inline double get_Altitude() const { return geodetic_position_v[2]; }
807 inline double get_Altitude_AGL(void) { return altitude_agl; }
809 // inline double * get_Euler_angles_v() { return euler_angles_v; }
810 inline double get_Phi() const { return euler_angles_v[0]; }
811 inline double get_Theta() const { return euler_angles_v[1]; }
812 inline double get_Psi() const { return euler_angles_v[2]; }
815 // ========== Miscellaneous quantities ==========
817 // inline double * get_T_local_to_body_m() { return t_local_to_body_m; }
818 inline double get_T_local_to_body_11() const {
819 return t_local_to_body_m[0][0];
821 inline double get_T_local_to_body_12() const {
822 return t_local_to_body_m[0][1];
824 inline double get_T_local_to_body_13() const {
825 return t_local_to_body_m[0][2];
827 inline double get_T_local_to_body_21() const {
828 return t_local_to_body_m[1][0];
830 inline double get_T_local_to_body_22() const {
831 return t_local_to_body_m[1][1];
833 inline double get_T_local_to_body_23() const {
834 return t_local_to_body_m[1][2];
836 inline double get_T_local_to_body_31() const {
837 return t_local_to_body_m[2][0];
839 inline double get_T_local_to_body_32() const {
840 return t_local_to_body_m[2][1];
842 inline double get_T_local_to_body_33() const {
843 return t_local_to_body_m[2][2];
846 // inline double get_Gravity() const { return gravity; }
847 // inline void set_Gravity(double g) { gravity = g; }
849 // inline double get_Centrifugal_relief() const {
850 // return centrifugal_relief;
852 // inline void set_Centrifugal_relief(double cr) {
853 // centrifugal_relief = cr;
856 inline double get_Alpha() const { return alpha; }
857 inline double get_Beta() const { return beta; }
858 // inline double get_Alpha_dot() const { return alpha_dot; }
859 // inline void set_Alpha_dot( double ad ) { alpha_dot = ad; }
860 // inline double get_Beta_dot() const { return beta_dot; }
861 // inline void set_Beta_dot( double bd ) { beta_dot = bd; }
863 // inline double get_Cos_alpha() const { return cos_alpha; }
864 // inline void set_Cos_alpha( double ca ) { cos_alpha = ca; }
865 // inline double get_Sin_alpha() const { return sin_alpha; }
866 // inline void set_Sin_alpha( double sa ) { sin_alpha = sa; }
867 // inline double get_Cos_beta() const { return cos_beta; }
868 // inline void set_Cos_beta( double cb ) { cos_beta = cb; }
869 // inline double get_Sin_beta() const { return sin_beta; }
870 // inline void set_Sin_beta( double sb ) { sin_beta = sb; }
872 inline double get_Cos_phi() const { return cos_phi; }
873 // inline double get_Sin_phi() const { return sin_phi; }
874 // inline void set_Sin_phi( double sp ) { sin_phi = sp; }
875 inline double get_Cos_theta() const { return cos_theta; }
876 // inline double get_Sin_theta() const { return sin_theta; }
877 // inline void set_Sin_theta( double st ) { sin_theta = st; }
878 // inline double get_Cos_psi() const { return cos_psi; }
879 // inline void set_Cos_psi( double cp ) { cos_psi = cp; }
880 // inline double get_Sin_psi() const { return sin_psi; }
881 // inline void set_Sin_psi( double sp ) { sin_psi = sp; }
883 inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
884 // inline double get_Gamma_horiz_rad() const { return gamma_horiz_rad; }
885 // inline void set_Gamma_horiz_rad( double gh ) { gamma_horiz_rad = gh; }
887 // inline double get_Sigma() const { return sigma; }
888 // inline void set_Sigma( double s ) { sigma = s; }
889 inline double get_Density() const { return density; }
890 // inline double get_V_sound() const { return v_sound; }
891 // inline void set_V_sound( double v ) { v_sound = v; }
892 inline double get_Mach_number() const { return mach_number; }
894 inline double get_Static_pressure() const { return static_pressure; }
895 // inline double get_Total_pressure() const { return total_pressure; }
896 // inline void set_Total_pressure( double tp ) { total_pressure = tp; }
897 // inline double get_Impact_pressure() const { return impact_pressure; }
898 // inline void set_Impact_pressure( double ip ) { impact_pressure = ip; }
899 // inline double get_Dynamic_pressure() const { return dynamic_pressure; }
900 // inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; }
902 inline double get_Static_temperature() const { return static_temperature; }
903 // inline double get_Total_temperature() const { return total_temperature; }
904 // inline void set_Total_temperature( double t ) { total_temperature = t; }
906 inline double get_Sea_level_radius() const { return sea_level_radius; }
907 inline double get_Earth_position_angle() const {
908 return earth_position_angle;
911 inline double get_Runway_altitude() const { return runway_altitude; }
912 // inline double get_Runway_latitude() const { return runway_latitude; }
913 // inline void set_Runway_latitude( double lat ) { runway_latitude = lat; }
914 // inline double get_Runway_longitude() const { return runway_longitude; }
915 // inline void set_Runway_longitude( double lon ) {
916 // runway_longitude = lon;
918 // inline double get_Runway_heading() const { return runway_heading; }
919 // inline void set_Runway_heading( double h ) { runway_heading = h; }
921 // inline double get_Radius_to_rwy() const { return radius_to_rwy; }
922 // inline void set_Radius_to_rwy( double r ) { radius_to_rwy = r; }
924 // inline double * get_D_cg_rwy_local_v() { return d_cg_rwy_local_v; }
925 // inline double get_D_cg_north_of_rwy() const {
926 // return d_cg_rwy_local_v[0];
928 // inline double get_D_cg_east_of_rwy() const {
929 // return d_cg_rwy_local_v[1];
931 // inline double get_D_cg_above_rwy() const { return d_cg_rwy_local_v[2]; }
932 /* inline void set_CG_Rwy_Local( double north, double east, double above )
934 d_cg_rwy_local_v[0] = north;
935 d_cg_rwy_local_v[1] = east;
936 d_cg_rwy_local_v[2] = above;
939 // inline double * get_D_cg_rwy_rwy_v() { return d_cg_rwy_rwy_v; }
940 // inline double get_X_cg_rwy() const { return d_cg_rwy_rwy_v[0]; }
941 // inline double get_Y_cg_rwy() const { return d_cg_rwy_rwy_v[1]; }
942 // inline double get_H_cg_rwy() const { return d_cg_rwy_rwy_v[2]; }
943 /* inline void set_CG_Rwy_Rwy( double x, double y, double h )
945 d_cg_rwy_rwy_v[0] = x;
946 d_cg_rwy_rwy_v[1] = y;
947 d_cg_rwy_rwy_v[2] = h;
950 // inline double * get_D_pilot_rwy_local_v() { return d_pilot_rwy_local_v; }
951 // inline double get_D_pilot_north_of_rwy() const {
952 // return d_pilot_rwy_local_v[0];
954 // inline double get_D_pilot_east_of_rwy() const {
955 // return d_pilot_rwy_local_v[1];
957 // inline double get_D_pilot_above_rwy() const {
958 // return d_pilot_rwy_local_v[2];
960 /* inline void set_Pilot_Rwy_Local( double north, double east, double above )
962 d_pilot_rwy_local_v[0] = north;
963 d_pilot_rwy_local_v[1] = east;
964 d_pilot_rwy_local_v[2] = above;
967 // inline double * get_D_pilot_rwy_rwy_v() { return d_pilot_rwy_rwy_v; }
968 // inline double get_X_pilot_rwy() const { return d_pilot_rwy_rwy_v[0]; }
969 // inline double get_Y_pilot_rwy() const { return d_pilot_rwy_rwy_v[1]; }
970 // inline double get_H_pilot_rwy() const { return d_pilot_rwy_rwy_v[2]; }
971 /* inline void set_Pilot_Rwy_Rwy( double x, double y, double h )
973 d_pilot_rwy_rwy_v[0] = x;
974 d_pilot_rwy_rwy_v[1] = y;
975 d_pilot_rwy_rwy_v[2] = h;
978 inline double get_Climb_Rate() const { return climb_rate; }
980 inline FGTimeStamp get_time_stamp() const { return valid_stamp; }
981 inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
983 // Extrapolate FDM based on time_offset (in usec)
984 void extrapolate( int time_offset );
986 // sin/cos lat_geocentric
987 inline double get_sin_lat_geocentric(void) const {
988 return sin_lat_geocentric;
990 inline double get_cos_lat_geocentric(void) const {
991 return cos_lat_geocentric;
994 inline double get_sin_longitude(void) const {
995 return sin_longitude;
997 inline double get_cos_longitude(void) const {
998 return cos_longitude;
1001 inline double get_sin_latitude(void) const {
1002 return sin_latitude;
1004 inline double get_cos_latitude(void) const {
1005 return cos_latitude;
1009 inline double get_num_engines() const {
1010 return engines.size();
1013 inline FGEngInterface* get_engine( int i ) {
1017 inline void add_engine( FGEngInterface e ) {
1018 engines.push_back( e );
1023 typedef list < FGInterface > fdm_state_list;
1024 typedef fdm_state_list::iterator fdm_state_list_iterator;
1025 typedef fdm_state_list::const_iterator const_fdm_state_list_iterator;
1028 extern FGInterface * cur_fdm_state;
1031 // General interface to the flight model routines
1033 // Initialize the flight model parameters
1034 int fgFDMInit(int model, FGInterface& f, double dt);
1036 // Run multiloop iterations of the flight model
1037 int fgFDMUpdate(int model, FGInterface& f, int multiloop, int jitter);
1039 // Set the altitude (force)
1040 void fgFDMForceAltitude(int model, double alt_meters);
1042 // Set the local ground elevation
1043 void fgFDMSetGroundElevation(int model, double alt_meters);
1046 #endif // _FLIGHT_HXX