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
278 double daux[16]; // auxilliary doubles
279 float faux[16]; // auxilliary floats
280 int iaux[16]; // auxilliary ints
285 // SGTimeStamp valid_stamp; // time this record is valid
286 // SGTimeStamp next_stamp; // time this record is valid
291 // deliberately not virtual so that
292 // FGInterface constructor will call
297 void _updatePosition( double lat_geoc, double lon, double alt );
298 void _updateWeather( void );
300 inline void _set_Inertias( double m, double xx, double yy,
301 double zz, double xz)
309 inline void _set_CG_Position( double dx, double dy, double dz ) {
310 d_cg_rp_body_v[0] = dx;
311 d_cg_rp_body_v[1] = dy;
312 d_cg_rp_body_v[2] = dz;
314 inline void _set_Accels_Local( double north, double east, double down ) {
315 v_dot_local_v[0] = north;
316 v_dot_local_v[1] = east;
317 v_dot_local_v[2] = down;
319 inline void _set_Accels_Body( double u, double v, double w ) {
324 inline void _set_Accels_CG_Body( double x, double y, double z ) {
329 inline void _set_Accels_Pilot_Body( double x, double y, double z ) {
330 a_pilot_body_v[0] = x;
331 a_pilot_body_v[1] = y;
332 a_pilot_body_v[2] = z;
334 inline void _set_Accels_CG_Body_N( double x, double y, double z ) {
339 void _set_Nlf(double n) { nlf=n; }
340 inline void _set_Velocities_Local( double north, double east, double down ){
341 v_local_v[0] = north;
345 inline void _set_Velocities_Ground(double north, double east, double down) {
346 v_local_rel_ground_v[0] = north;
347 v_local_rel_ground_v[1] = east;
348 v_local_rel_ground_v[2] = down;
350 inline void _set_Velocities_Local_Airmass( double north, double east,
353 v_local_airmass_v[0] = north;
354 v_local_airmass_v[1] = east;
355 v_local_airmass_v[2] = down;
357 inline void _set_Velocities_Wind_Body( double u, double v, double w) {
358 v_wind_body_v[0] = u;
359 v_wind_body_v[1] = v;
360 v_wind_body_v[2] = w;
362 inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; }
363 inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
364 inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
365 inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
366 inline void _set_Omega_Body( double p, double q, double r ) {
371 inline void _set_Euler_Rates( double phi, double theta, double psi ) {
372 euler_rates_v[0] = phi;
373 euler_rates_v[1] = theta;
374 euler_rates_v[2] = psi;
376 inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
377 geocentric_rates_v[0] = lat;
378 geocentric_rates_v[1] = lon;
379 geocentric_rates_v[2] = rad;
382 inline void _set_Radius_to_vehicle(double radius) {
383 geocentric_position_v[2] = radius;
386 inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
387 geocentric_position_v[0] = lat;
388 geocentric_position_v[1] = lon;
389 geocentric_position_v[2] = rad;
391 inline void _set_Latitude(double lat) { geodetic_position_v[0] = lat; }
392 inline void _set_Longitude(double lon) { geodetic_position_v[1] = lon; }
393 inline void _set_Altitude(double altitude) {
394 geodetic_position_v[2] = altitude;
396 inline void _set_Altitude_AGL(double agl) {
399 inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
400 geodetic_position_v[0] = lat;
401 geodetic_position_v[1] = lon;
402 geodetic_position_v[2] = alt;
404 inline void _set_Euler_Angles( double phi, double theta, double psi ) {
405 euler_angles_v[0] = phi;
406 euler_angles_v[1] = theta;
407 euler_angles_v[2] = psi;
409 inline void _set_T_Local_to_Body( int i, int j, double value) {
410 t_local_to_body_m[i-1][j-1] = value;
412 inline void _set_T_Local_to_Body( double m[3][3] ) {
414 for ( i = 0; i < 3; i++ ) {
415 for ( j = 0; j < 3; j++ ) {
416 t_local_to_body_m[i][j] = m[i][j];
420 inline void _set_Alpha( double a ) { alpha = a; }
421 inline void _set_Beta( double b ) { beta = b; }
422 inline void _set_Cos_phi( double cp ) { cos_phi = cp; }
423 inline void _set_Cos_theta( double ct ) { cos_theta = ct; }
424 inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
425 inline void _set_Density( double d ) { density = d; }
426 inline void _set_Mach_number( double m ) { mach_number = m; }
427 inline void _set_Static_pressure( double sp ) { static_pressure = sp; }
428 inline void _set_Static_temperature( double t ) { static_temperature = t; }
429 inline void _set_Sea_level_radius( double r ) { sea_level_radius = r; }
430 inline void _set_Earth_position_angle(double a) {
431 earth_position_angle = a;
433 inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; }
434 inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
435 inline void _set_sin_lat_geocentric(double parm) {
436 sin_lat_geocentric = sin(parm);
438 inline void _set_cos_lat_geocentric(double parm) {
439 cos_lat_geocentric = cos(parm);
441 inline void _set_sin_cos_longitude(double parm) {
442 sin_longitude = sin(parm);
443 cos_longitude = cos(parm);
445 inline void _set_sin_cos_latitude(double parm) {
446 sin_latitude = sin(parm);
447 cos_latitude = cos(parm);
450 inline void _set_daux( int n, double value ) { daux[n] = value; }
451 inline void _set_faux( int n, float value ) { faux[n] = value; }
452 inline void _set_iaux( int n, int value ) { iaux[n] = value; }
457 FGInterface( double dt );
458 virtual ~FGInterface();
460 virtual void init ();
461 virtual void bind ();
462 virtual void unbind ();
463 virtual void update ();
464 virtual bool update( int multi_loop );
465 virtual bool ToggleDataLogging(bool state) { return false; }
466 virtual bool ToggleDataLogging(void) { return false; }
468 // Define the various supported flight models (many not yet implemented)
473 // The NASA LaRCsim (Navion) flight model
476 // Jon S. Berndt's new FDM written from the ground up in C++
479 // Christian's hot air balloon simulation
482 // Aeronautical DEvelopment AGEncy, Bangalore India
485 // The following aren't implemented but are here to spark
486 // thoughts and discussions, and maybe even action.
493 // Driven externally via a serial port, net, file, etc.
497 // time and update management values
498 inline double get_delta_t() const { return delta_t; }
499 inline void set_delta_t( double dt ) { delta_t = dt; }
500 inline SGTimeStamp get_time_stamp() const { return time_stamp; }
501 inline void set_time_stamp( SGTimeStamp s ) { time_stamp = s; }
502 inline void stamp() { time_stamp.stamp(); }
503 inline long get_elapsed() const { return elapsed; }
504 inline void set_elapsed( long e ) { elapsed = e; }
505 inline long get_remainder() const { return remainder; }
506 inline void set_remainder( long r ) { remainder = r; }
507 inline int get_multi_loop() const { return multi_loop; }
508 inline void set_multi_loop( int ml ) { multi_loop = ml; }
511 virtual void set_Latitude(double lat); // geocentric
512 virtual void set_Longitude(double lon);
513 virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
514 virtual void set_AltitudeAGL(double altagl); // and vice-versa
515 virtual void set_Latitude_deg (double lat) {
516 set_Latitude(lat * SGD_DEGREES_TO_RADIANS);
518 virtual void set_Longitude_deg (double lon) {
519 set_Longitude(lon * SGD_DEGREES_TO_RADIANS);
522 // Speeds -- setting any of these will trigger a re-calc of the rest
523 virtual void set_V_calibrated_kts(double vc);
524 virtual void set_Mach_number(double mach);
525 virtual void set_Velocities_Local( double north, double east, double down );
526 inline void set_V_north (double north) {
527 set_Velocities_Local(north, v_local_v[1], v_local_v[2]);
529 inline void set_V_east (double east) {
530 set_Velocities_Local(v_local_v[0], east, v_local_v[2]);
532 inline void set_V_down (double down) {
533 set_Velocities_Local(v_local_v[0], v_local_v[1], down);
535 virtual void set_Velocities_Wind_Body( double u, double v, double w);
536 virtual void set_uBody (double uBody) {
537 set_Velocities_Wind_Body(uBody, v_wind_body_v[1], v_wind_body_v[2]);
539 virtual void set_vBody (double vBody) {
540 set_Velocities_Wind_Body(v_wind_body_v[0], vBody, v_wind_body_v[2]);
542 virtual void set_wBody (double wBody) {
543 set_Velocities_Wind_Body(v_wind_body_v[0], v_wind_body_v[1], wBody);
547 virtual void set_Euler_Angles( double phi, double theta, double psi );
548 virtual void set_Phi (double phi) {
549 set_Euler_Angles(phi, get_Theta(), get_Psi());
551 virtual void set_Theta (double theta) {
552 set_Euler_Angles(get_Phi(), theta, get_Psi());
554 virtual void set_Psi (double psi) {
555 set_Euler_Angles(get_Phi(), get_Theta(), psi);
557 virtual void set_Phi_deg (double phi) { set_Phi(phi * SGD_DEGREES_TO_RADIANS); }
558 virtual void set_Theta_deg (double theta) {
559 set_Theta(theta * SGD_DEGREES_TO_RADIANS);
561 virtual void set_Psi_deg (double psi) { set_Psi(psi * SGD_DEGREES_TO_RADIANS); }
564 virtual void set_Climb_Rate( double roc);
565 virtual void set_Gamma_vert_rad( double gamma);
568 virtual void set_Sea_level_radius(double slr);
569 virtual void set_Runway_altitude(double ralt);
571 virtual void set_Static_pressure(double p);
572 virtual void set_Static_temperature(double T);
573 virtual void set_Density(double rho);
575 virtual void set_Velocities_Local_Airmass (double wnorth,
580 inline void set_Tank1Fuel( double f ) { Tank1Fuel = f; }
581 inline void set_Tank2Fuel( double f ) { Tank2Fuel = f; }
583 inline void reduce_Tank1Fuel( double f ) {
588 inline void reduce_Tank2Fuel( double f ) {
595 // ========== Mass properties and geometry values ==========
598 inline double get_Mass() const { return mass; }
599 inline double get_I_xx() const { return i_xx; }
600 inline double get_I_yy() const { return i_yy; }
601 inline double get_I_zz() const { return i_zz; }
602 inline double get_I_xz() const { return i_xz; }
604 // Pilot location rel to ref pt
605 // inline double * get_D_pilot_rp_body_v() {
606 // return d_pilot_rp_body_v;
608 // inline double get_Dx_pilot() const { return d_pilot_rp_body_v[0]; }
609 // inline double get_Dy_pilot() const { return d_pilot_rp_body_v[1]; }
610 // inline double get_Dz_pilot() const { return d_pilot_rp_body_v[2]; }
611 /* inline void set_Pilot_Location( double dx, double dy, double dz ) {
612 d_pilot_rp_body_v[0] = dx;
613 d_pilot_rp_body_v[1] = dy;
614 d_pilot_rp_body_v[2] = dz;
617 // CG position w.r.t. ref. point
618 // inline double * get_D_cg_rp_body_v() { return d_cg_rp_body_v; }
619 inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; }
620 inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; }
621 inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
623 // ========== Forces ==========
625 // inline double * get_F_body_total_v() { return f_body_total_v; }
626 // inline double get_F_X() const { return f_body_total_v[0]; }
627 // inline double get_F_Y() const { return f_body_total_v[1]; }
628 // inline double get_F_Z() const { return f_body_total_v[2]; }
629 /* inline void set_Forces_Body_Total( double x, double y, double z ) {
630 f_body_total_v[0] = x;
631 f_body_total_v[1] = y;
632 f_body_total_v[2] = z;
635 // inline double * get_F_local_total_v() { return f_local_total_v; }
636 // inline double get_F_north() const { return f_local_total_v[0]; }
637 // inline double get_F_east() const { return f_local_total_v[1]; }
638 // inline double get_F_down() const { return f_local_total_v[2]; }
639 /* inline void set_Forces_Local_Total( double x, double y, double z ) {
640 f_local_total_v[0] = x;
641 f_local_total_v[1] = y;
642 f_local_total_v[2] = z;
645 // inline double * get_F_aero_v() { return f_aero_v; }
646 // inline double get_F_X_aero() const { return f_aero_v[0]; }
647 // inline double get_F_Y_aero() const { return f_aero_v[1]; }
648 // inline double get_F_Z_aero() const { return f_aero_v[2]; }
649 /* inline void set_Forces_Aero( double x, double y, double z ) {
655 // inline double * get_F_engine_v() { return f_engine_v; }
656 // inline double get_F_X_engine() const { return f_engine_v[0]; }
657 // inline double get_F_Y_engine() const { return f_engine_v[1]; }
658 // inline double get_F_Z_engine() const { return f_engine_v[2]; }
659 /* inline void set_Forces_Engine( double x, double y, double z ) {
665 // inline double * get_F_gear_v() { return f_gear_v; }
666 // inline double get_F_X_gear() const { return f_gear_v[0]; }
667 // inline double get_F_Y_gear() const { return f_gear_v[1]; }
668 // inline double get_F_Z_gear() const { return f_gear_v[2]; }
669 /* inline void set_Forces_Gear( double x, double y, double z ) {
675 // ========== Moments ==========
677 // inline double * get_M_total_rp_v() { return m_total_rp_v; }
678 // inline double get_M_l_rp() const { return m_total_rp_v[0]; }
679 // inline double get_M_m_rp() const { return m_total_rp_v[1]; }
680 // inline double get_M_n_rp() const { return m_total_rp_v[2]; }
681 /* inline void set_Moments_Total_RP( double l, double m, double n ) {
687 // inline double * get_M_total_cg_v() { return m_total_cg_v; }
688 // inline double get_M_l_cg() const { return m_total_cg_v[0]; }
689 // inline double get_M_m_cg() const { return m_total_cg_v[1]; }
690 // inline double get_M_n_cg() const { return m_total_cg_v[2]; }
691 /* inline void set_Moments_Total_CG( double l, double m, double n ) {
697 // inline double * get_M_aero_v() { return m_aero_v; }
698 // inline double get_M_l_aero() const { return m_aero_v[0]; }
699 // inline double get_M_m_aero() const { return m_aero_v[1]; }
700 // inline double get_M_n_aero() const { return m_aero_v[2]; }
701 /* inline void set_Moments_Aero( double l, double m, double n ) {
707 // inline double * get_M_engine_v() { return m_engine_v; }
708 // inline double get_M_l_engine() const { return m_engine_v[0]; }
709 // inline double get_M_m_engine() const { return m_engine_v[1]; }
710 // inline double get_M_n_engine() const { return m_engine_v[2]; }
711 /* inline void set_Moments_Engine( double l, double m, double n ) {
717 // inline double * get_M_gear_v() { return m_gear_v; }
718 // inline double get_M_l_gear() const { return m_gear_v[0]; }
719 // inline double get_M_m_gear() const { return m_gear_v[1]; }
720 // inline double get_M_n_gear() const { return m_gear_v[2]; }
721 /* inline void set_Moments_Gear( double l, double m, double n ) {
727 // ========== Accelerations ==========
729 // inline double * get_V_dot_local_v() { return v_dot_local_v; }
730 inline double get_V_dot_north() const { return v_dot_local_v[0]; }
731 inline double get_V_dot_east() const { return v_dot_local_v[1]; }
732 inline double get_V_dot_down() const { return v_dot_local_v[2]; }
734 // inline double * get_V_dot_body_v() { return v_dot_body_v; }
735 inline double get_U_dot_body() const { return v_dot_body_v[0]; }
736 inline double get_V_dot_body() const { return v_dot_body_v[1]; }
737 inline double get_W_dot_body() const { return v_dot_body_v[2]; }
739 // inline double * get_A_cg_body_v() { return a_cg_body_v; }
740 inline double get_A_X_cg() const { return a_cg_body_v[0]; }
741 inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
742 inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
744 // inline double * get_A_pilot_body_v() { return a_pilot_body_v; }
745 inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
746 inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
747 inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
749 // inline double * get_N_cg_body_v() { return n_cg_body_v; }
750 inline double get_N_X_cg() const { return n_cg_body_v[0]; }
751 inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
752 inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
754 // inline double * get_N_pilot_body_v() { return n_pilot_body_v; }
755 // inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
756 // inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; }
757 // inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; }
758 // inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
759 // n_pilot_body_v[0] = x;
760 // n_pilot_body_v[1] = y;
761 // n_pilot_body_v[2] = z;
764 inline double get_Nlf(void) { return nlf; }
766 // inline double * get_Omega_dot_body_v() { return omega_dot_body_v; }
767 // inline double get_P_dot_body() const { return omega_dot_body_v[0]; }
768 // inline double get_Q_dot_body() const { return omega_dot_body_v[1]; }
769 // inline double get_R_dot_body() const { return omega_dot_body_v[2]; }
770 /* inline void set_Accels_Omega( double p, double q, double r ) {
771 omega_dot_body_v[0] = p;
772 omega_dot_body_v[1] = q;
773 omega_dot_body_v[2] = r;
777 // ========== Velocities ==========
779 // inline double * get_V_local_v() { return v_local_v; }
780 inline double get_V_north() const { return v_local_v[0]; }
781 inline double get_V_east() const { return v_local_v[1]; }
782 inline double get_V_down() const { return v_local_v[2]; }
783 inline double get_uBody () const { return v_wind_body_v[0]; }
784 inline double get_vBody () const { return v_wind_body_v[1]; }
785 inline double get_wBody () const { return v_wind_body_v[2]; }
787 // Please dont comment these out. fdm=ada uses these (see
789 inline double * get_V_local_rel_ground_v() {
790 return v_local_rel_ground_v;
792 inline double get_V_north_rel_ground() const {
793 return v_local_rel_ground_v[0];
795 inline double get_V_east_rel_ground() const {
796 return v_local_rel_ground_v[1];
798 inline double get_V_down_rel_ground() const {
799 return v_local_rel_ground_v[2];
801 // <--- fdm=ada uses these (see cockpit.cxx)
803 // inline double * get_V_local_airmass_v() { return v_local_airmass_v; }
804 inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
805 inline double get_V_east_airmass() const { return v_local_airmass_v[1]; }
806 inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
809 // inline double * get_V_local_rel_airmass_v() {
810 // return v_local_rel_airmass_v;
812 // inline double get_V_north_rel_airmass() const {
813 // return v_local_rel_airmass_v[0];
815 // inline double get_V_east_rel_airmass() const {
816 // return v_local_rel_airmass_v[1];
818 // inline double get_V_down_rel_airmass() const {
819 // return v_local_rel_airmass_v[2];
821 /* inline void set_Velocities_Local_Rel_Airmass( double north, double east,
824 v_local_rel_airmass_v[0] = north;
825 v_local_rel_airmass_v[1] = east;
826 v_local_rel_airmass_v[2] = down;
829 // inline double * get_V_local_gust_v() { return v_local_gust_v; }
830 // inline double get_U_gust() const { return v_local_gust_v[0]; }
831 // inline double get_V_gust() const { return v_local_gust_v[1]; }
832 // inline double get_W_gust() const { return v_local_gust_v[2]; }
833 /* inline void set_Velocities_Gust( double u, double v, double w)
835 v_local_gust_v[0] = u;
836 v_local_gust_v[1] = v;
837 v_local_gust_v[2] = w;
840 // inline double * get_V_wind_body_v() { return v_wind_body_v; }
841 inline double get_U_body() const { return v_wind_body_v[0]; }
842 inline double get_V_body() const { return v_wind_body_v[1]; }
843 inline double get_W_body() const { return v_wind_body_v[2]; }
845 inline double get_V_rel_wind() const { return v_rel_wind; }
846 // inline void set_V_rel_wind(double wind) { v_rel_wind = wind; }
848 // inline double get_V_true_kts() const { return v_true_kts; }
849 // inline void set_V_true_kts(double kts) { v_true_kts = kts; }
851 // inline double get_V_rel_ground() const { return v_rel_ground; }
852 // inline void set_V_rel_ground( double v ) { v_rel_ground = v; }
854 // inline double get_V_inertial() const { return v_inertial; }
855 // inline void set_V_inertial(double v) { v_inertial = v; }
857 inline double get_V_ground_speed() const { return v_ground_speed; }
859 // inline double get_V_equiv() const { return v_equiv; }
860 // inline void set_V_equiv( double v ) { v_equiv = v; }
862 inline double get_V_equiv_kts() const { return v_equiv_kts; }
864 //inline double get_V_calibrated() const { return v_calibrated; }
865 //inline void set_V_calibrated( double v ) { v_calibrated = v; }
867 inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
869 // inline double * get_Omega_body_v() { return omega_body_v; }
870 inline double get_P_body() const { return omega_body_v[0]; }
871 inline double get_Q_body() const { return omega_body_v[1]; }
872 inline double get_R_body() const { return omega_body_v[2]; }
874 // inline double * get_Omega_local_v() { return omega_local_v; }
875 // inline double get_P_local() const { return omega_local_v[0]; }
876 // inline double get_Q_local() const { return omega_local_v[1]; }
877 // inline double get_R_local() const { return omega_local_v[2]; }
878 /* inline void set_Omega_Local( double p, double q, double r ) {
879 omega_local_v[0] = p;
880 omega_local_v[1] = q;
881 omega_local_v[2] = r;
884 // inline double * get_Omega_total_v() { return omega_total_v; }
885 // inline double get_P_total() const { return omega_total_v[0]; }
886 // inline double get_Q_total() const { return omega_total_v[1]; }
887 // inline double get_R_total() const { return omega_total_v[2]; }
888 /* inline void set_Omega_Total( double p, double q, double r ) {
889 omega_total_v[0] = p;
890 omega_total_v[1] = q;
891 omega_total_v[2] = r;
894 // inline double * get_Euler_rates_v() { return euler_rates_v; }
895 inline double get_Phi_dot() const { return euler_rates_v[0]; }
896 inline double get_Theta_dot() const { return euler_rates_v[1]; }
897 inline double get_Psi_dot() const { return euler_rates_v[2]; }
899 // inline double * get_Geocentric_rates_v() { return geocentric_rates_v; }
900 inline double get_Latitude_dot() const { return geocentric_rates_v[0]; }
901 inline double get_Longitude_dot() const { return geocentric_rates_v[1]; }
902 inline double get_Radius_dot() const { return geocentric_rates_v[2]; }
904 // ========== Positions ==========
906 // inline double * get_Geocentric_position_v() {
907 // return geocentric_position_v;
909 inline double get_Lat_geocentric() const {
910 return geocentric_position_v[0];
912 inline double get_Lon_geocentric() const {
913 return geocentric_position_v[1];
915 inline double get_Radius_to_vehicle() const {
916 return geocentric_position_v[2];
919 // inline double * get_Geodetic_position_v() { return geodetic_position_v; }
920 inline double get_Latitude() const { return geodetic_position_v[0]; }
921 inline double get_Longitude() const { return geodetic_position_v[1]; }
922 inline double get_Altitude() const { return geodetic_position_v[2]; }
923 inline double get_Altitude_AGL(void) const { return altitude_agl; }
925 inline double get_Latitude_deg () const {
926 return get_Latitude() * SGD_RADIANS_TO_DEGREES;
928 inline double get_Longitude_deg () const {
929 return get_Longitude() * SGD_RADIANS_TO_DEGREES;
932 // inline double * get_Euler_angles_v() { return euler_angles_v; }
933 inline double get_Phi() const { return euler_angles_v[0]; }
934 inline double get_Theta() const { return euler_angles_v[1]; }
935 inline double get_Psi() const { return euler_angles_v[2]; }
936 inline double get_Phi_deg () const { return get_Phi() * SGD_RADIANS_TO_DEGREES; }
937 inline double get_Theta_deg () const { return get_Theta() * SGD_RADIANS_TO_DEGREES; }
938 inline double get_Psi_deg () const { return get_Psi() * SGD_RADIANS_TO_DEGREES; }
941 // ========== Miscellaneous quantities ==========
943 // inline double * get_T_local_to_body_m() { return t_local_to_body_m; }
944 inline double get_T_local_to_body_11() const {
945 return t_local_to_body_m[0][0];
947 inline double get_T_local_to_body_12() const {
948 return t_local_to_body_m[0][1];
950 inline double get_T_local_to_body_13() const {
951 return t_local_to_body_m[0][2];
953 inline double get_T_local_to_body_21() const {
954 return t_local_to_body_m[1][0];
956 inline double get_T_local_to_body_22() const {
957 return t_local_to_body_m[1][1];
959 inline double get_T_local_to_body_23() const {
960 return t_local_to_body_m[1][2];
962 inline double get_T_local_to_body_31() const {
963 return t_local_to_body_m[2][0];
965 inline double get_T_local_to_body_32() const {
966 return t_local_to_body_m[2][1];
968 inline double get_T_local_to_body_33() const {
969 return t_local_to_body_m[2][2];
972 // inline double get_Gravity() const { return gravity; }
973 // inline void set_Gravity(double g) { gravity = g; }
975 // inline double get_Centrifugal_relief() const {
976 // return centrifugal_relief;
978 // inline void set_Centrifugal_relief(double cr) {
979 // centrifugal_relief = cr;
982 inline double get_Alpha() const { return alpha; }
983 inline double get_Beta() const { return beta; }
984 // inline double get_Alpha_dot() const { return alpha_dot; }
985 // inline void set_Alpha_dot( double ad ) { alpha_dot = ad; }
986 // inline double get_Beta_dot() const { return beta_dot; }
987 // inline void set_Beta_dot( double bd ) { beta_dot = bd; }
989 // inline double get_Cos_alpha() const { return cos_alpha; }
990 // inline void set_Cos_alpha( double ca ) { cos_alpha = ca; }
991 // inline double get_Sin_alpha() const { return sin_alpha; }
992 // inline void set_Sin_alpha( double sa ) { sin_alpha = sa; }
993 // inline double get_Cos_beta() const { return cos_beta; }
994 // inline void set_Cos_beta( double cb ) { cos_beta = cb; }
995 // inline double get_Sin_beta() const { return sin_beta; }
996 // inline void set_Sin_beta( double sb ) { sin_beta = sb; }
998 inline double get_Cos_phi() const { return cos_phi; }
999 // inline double get_Sin_phi() const { return sin_phi; }
1000 // inline void set_Sin_phi( double sp ) { sin_phi = sp; }
1001 inline double get_Cos_theta() const { return cos_theta; }
1002 // inline double get_Sin_theta() const { return sin_theta; }
1003 // inline void set_Sin_theta( double st ) { sin_theta = st; }
1004 // inline double get_Cos_psi() const { return cos_psi; }
1005 // inline void set_Cos_psi( double cp ) { cos_psi = cp; }
1006 // inline double get_Sin_psi() const { return sin_psi; }
1007 // inline void set_Sin_psi( double sp ) { sin_psi = sp; }
1009 inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
1010 // inline double get_Gamma_horiz_rad() const { return gamma_horiz_rad; }
1011 // inline void set_Gamma_horiz_rad( double gh ) { gamma_horiz_rad = gh; }
1013 // inline double get_Sigma() const { return sigma; }
1014 // inline void set_Sigma( double s ) { sigma = s; }
1015 inline double get_Density() const { return density; }
1016 // inline double get_V_sound() const { return v_sound; }
1017 // inline void set_V_sound( double v ) { v_sound = v; }
1018 inline double get_Mach_number() const { return mach_number; }
1020 inline double get_Static_pressure() const { return static_pressure; }
1021 // inline double get_Total_pressure() const { return total_pressure; }
1022 // inline void set_Total_pressure( double tp ) { total_pressure = tp; }
1023 // inline double get_Impact_pressure() const { return impact_pressure; }
1024 // inline void set_Impact_pressure( double ip ) { impact_pressure = ip; }
1025 // inline double get_Dynamic_pressure() const { return dynamic_pressure; }
1026 // inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; }
1028 inline double get_Static_temperature() const { return static_temperature; }
1029 // inline double get_Total_temperature() const { return total_temperature; }
1030 // inline void set_Total_temperature( double t ) { total_temperature = t; }
1032 inline double get_Sea_level_radius() const { return sea_level_radius; }
1033 inline double get_Earth_position_angle() const {
1034 return earth_position_angle;
1037 inline double get_Runway_altitude() const { return runway_altitude; }
1038 // inline double get_Runway_latitude() const { return runway_latitude; }
1039 // inline void set_Runway_latitude( double lat ) { runway_latitude = lat; }
1040 // inline double get_Runway_longitude() const { return runway_longitude; }
1041 // inline void set_Runway_longitude( double lon ) {
1042 // runway_longitude = lon;
1044 // inline double get_Runway_heading() const { return runway_heading; }
1045 // inline void set_Runway_heading( double h ) { runway_heading = h; }
1047 // inline double get_Radius_to_rwy() const { return radius_to_rwy; }
1048 // inline void set_Radius_to_rwy( double r ) { radius_to_rwy = r; }
1050 // inline double * get_D_cg_rwy_local_v() { return d_cg_rwy_local_v; }
1051 // inline double get_D_cg_north_of_rwy() const {
1052 // return d_cg_rwy_local_v[0];
1054 // inline double get_D_cg_east_of_rwy() const {
1055 // return d_cg_rwy_local_v[1];
1057 // inline double get_D_cg_above_rwy() const { return d_cg_rwy_local_v[2]; }
1058 /* inline void set_CG_Rwy_Local( double north, double east, double above )
1060 d_cg_rwy_local_v[0] = north;
1061 d_cg_rwy_local_v[1] = east;
1062 d_cg_rwy_local_v[2] = above;
1065 // inline double * get_D_cg_rwy_rwy_v() { return d_cg_rwy_rwy_v; }
1066 // inline double get_X_cg_rwy() const { return d_cg_rwy_rwy_v[0]; }
1067 // inline double get_Y_cg_rwy() const { return d_cg_rwy_rwy_v[1]; }
1068 // inline double get_H_cg_rwy() const { return d_cg_rwy_rwy_v[2]; }
1069 /* inline void set_CG_Rwy_Rwy( double x, double y, double h )
1071 d_cg_rwy_rwy_v[0] = x;
1072 d_cg_rwy_rwy_v[1] = y;
1073 d_cg_rwy_rwy_v[2] = h;
1076 // inline double * get_D_pilot_rwy_local_v() { return d_pilot_rwy_local_v; }
1077 // inline double get_D_pilot_north_of_rwy() const {
1078 // return d_pilot_rwy_local_v[0];
1080 // inline double get_D_pilot_east_of_rwy() const {
1081 // return d_pilot_rwy_local_v[1];
1083 // inline double get_D_pilot_above_rwy() const {
1084 // return d_pilot_rwy_local_v[2];
1086 /* inline void set_Pilot_Rwy_Local( double north, double east, double above )
1088 d_pilot_rwy_local_v[0] = north;
1089 d_pilot_rwy_local_v[1] = east;
1090 d_pilot_rwy_local_v[2] = above;
1093 // inline double * get_D_pilot_rwy_rwy_v() { return d_pilot_rwy_rwy_v; }
1094 // inline double get_X_pilot_rwy() const { return d_pilot_rwy_rwy_v[0]; }
1095 // inline double get_Y_pilot_rwy() const { return d_pilot_rwy_rwy_v[1]; }
1096 // inline double get_H_pilot_rwy() const { return d_pilot_rwy_rwy_v[2]; }
1097 /* inline void set_Pilot_Rwy_Rwy( double x, double y, double h )
1099 d_pilot_rwy_rwy_v[0] = x;
1100 d_pilot_rwy_rwy_v[1] = y;
1101 d_pilot_rwy_rwy_v[2] = h;
1104 inline double get_Climb_Rate() const { return climb_rate; }
1106 // inline SGTimeStamp get_time_stamp() const { return valid_stamp; }
1107 // inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
1109 // Extrapolate FDM based on time_offset (in usec)
1110 void extrapolate( int time_offset );
1112 // sin/cos lat_geocentric
1113 inline double get_sin_lat_geocentric(void) const {
1114 return sin_lat_geocentric;
1116 inline double get_cos_lat_geocentric(void) const {
1117 return cos_lat_geocentric;
1120 inline double get_sin_longitude(void) const {
1121 return sin_longitude;
1123 inline double get_cos_longitude(void) const {
1124 return cos_longitude;
1127 inline double get_sin_latitude(void) const {
1128 return sin_latitude;
1130 inline double get_cos_latitude(void) const {
1131 return cos_latitude;
1134 // Auxilliary variables
1135 inline double get_daux( int n ) const { return daux[n]; }
1136 inline float get_faux( int n ) const { return faux[n]; }
1137 inline int get_iaux( int n ) const { return iaux[n]; }
1140 inline double get_Tank1Fuel() const { return Tank1Fuel; }
1141 inline double get_Tank2Fuel() const { return Tank2Fuel; }
1144 inline double get_num_engines() const {
1145 return engines.size();
1148 inline FGEngInterface* get_engine( int i ) {
1152 inline void add_engine( FGEngInterface e ) {
1153 engines.push_back( e );
1158 typedef list < FGInterface > fdm_state_list;
1159 typedef fdm_state_list::iterator fdm_state_list_iterator;
1160 typedef fdm_state_list::const_iterator const_fdm_state_list_iterator;
1163 extern FGInterface * cur_fdm_state;
1166 // General interface to the flight model routines
1168 // Set the altitude (force)
1169 void fgFDMForceAltitude(const string &model, double alt_meters);
1171 // Set the local ground elevation
1172 void fgFDMSetGroundElevation(const string &model, double alt_meters);
1174 // Toggle data logging on/off
1175 void fgToggleFDMdataLogging(void);
1178 #endif // _FLIGHT_HXX