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;
118 double Percentage_Power;
124 double PercentN1,N1; //GE,CFM
126 double EPR; //P&W, RR?
129 double InletAngles[3];
130 double InletPosition[3];
131 double ThrustVector[3];
135 FGEngInterface(void);
136 ~FGEngInterface(void);
138 inline double get_Throttle() const { return Throttle; }
139 inline double get_Mixture() const { return Mixture; }
140 inline double get_Prop_Advance() const { return Prop_Advance; }
141 inline double get_RPM() const { return RPM; }
142 inline double get_Manifold_Pressure() const { return Manifold_Pressure; }
143 inline double get_MaxHP() const { return MaxHP; }
144 inline double get_Percentage_Power() const { return Percentage_Power; }
145 inline double get_EGT() const { return EGT; }
146 inline double get_CHT() const { return CHT; }
147 inline double get_prop_thrust() const { return prop_thrust; }
149 inline void set_Throttle( double t ) { Throttle = t; }
150 inline void set_Mixture( double m ) { Mixture = m; }
151 inline void set_Prop_Advance( double p ) { Prop_Advance = p; }
152 inline void set_RPM( double r ) { RPM = r; }
153 inline void set_Manifold_Pressure( double mp ) { Manifold_Pressure = mp; }
154 inline void set_MaxHP( double hp ) { MaxHP = hp; }
155 inline void set_Percentage_Power( double p ) { Percentage_Power = p; }
156 inline void set_EGT( double e ) { EGT = e; }
157 inline void set_CHT( double c ) { CHT = c; }
158 inline void set_prop_thrust( double t ) { prop_thrust = t; }
162 typedef vector < FGEngInterface > engine_list;
165 // This is based heavily on LaRCsim/ls_generic.h
166 class FGInterface : public FGSubsystem {
170 // periodic update management variable. This is a scheme to run
171 // the fdm with a fixed delta-t. We control how many iteration of
172 // the fdm to run with the fixed dt based on the elapsed time from
173 // the last update. This allows us to maintain sync with the real
174 // time clock, even though each frame could take a random amount
175 // of time. Since "dt" is unlikely to divide evenly into the
176 // elapse time, we keep track of the remainder and add it into the
177 // next elapsed time. This yields a small amount of temporal
178 // jitter ( < dt ) but in practice seems to work well.
180 double delta_t; // delta "t"
181 long elapsed; // time elapsed since last run
182 long remainder; // remainder time from last run
183 int multi_loop; // number of iterations of "delta_t" to run
185 // Pilot location rel to ref pt
186 FG_VECTOR_3 d_pilot_rp_body_v;
188 // CG position w.r.t. ref. point
189 FG_VECTOR_3 d_cg_rp_body_v;
192 FG_VECTOR_3 f_body_total_v;
193 FG_VECTOR_3 f_local_total_v;
194 FG_VECTOR_3 f_aero_v;
195 FG_VECTOR_3 f_engine_v;
196 FG_VECTOR_3 f_gear_v;
199 FG_VECTOR_3 m_total_rp_v;
200 FG_VECTOR_3 m_total_cg_v;
201 FG_VECTOR_3 m_aero_v;
202 FG_VECTOR_3 m_engine_v;
203 FG_VECTOR_3 m_gear_v;
206 FG_VECTOR_3 v_dot_local_v;
207 FG_VECTOR_3 v_dot_body_v;
208 FG_VECTOR_3 a_cg_body_v;
209 FG_VECTOR_3 a_pilot_body_v;
210 FG_VECTOR_3 n_cg_body_v;
211 FG_VECTOR_3 n_pilot_body_v;
212 FG_VECTOR_3 omega_dot_body_v;
215 FG_VECTOR_3 v_local_v;
216 FG_VECTOR_3 v_local_rel_ground_v; // V rel w.r.t. earth surface
217 FG_VECTOR_3 v_local_airmass_v; // velocity of airmass (steady winds)
218 FG_VECTOR_3 v_local_rel_airmass_v; // velocity of veh. relative to airmass
219 FG_VECTOR_3 v_local_gust_v; // linear turbulence components, L frame
220 FG_VECTOR_3 v_wind_body_v; // Wind-relative velocities in body axis
222 FG_VECTOR_3 omega_body_v; // Angular B rates
223 FG_VECTOR_3 omega_local_v; // Angular L rates
224 FG_VECTOR_3 omega_total_v; // Diff btw B & L
225 FG_VECTOR_3 euler_rates_v;
226 FG_VECTOR_3 geocentric_rates_v; // Geocentric linear velocities
229 FG_VECTOR_3 geocentric_position_v;
230 FG_VECTOR_3 geodetic_position_v;
231 FG_VECTOR_3 euler_angles_v;
233 // Miscellaneous Quantities
234 FG_VECTOR_3 d_cg_rwy_local_v; // CG rel. to rwy in local coords
235 FG_VECTOR_3 d_cg_rwy_rwy_v; // CG relative to rwy, in rwy coordinates
236 FG_VECTOR_3 d_pilot_rwy_local_v; // pilot rel. to rwy in local coords
237 FG_VECTOR_3 d_pilot_rwy_rwy_v; // pilot rel. to rwy, in rwy coords.
240 double mass, i_xx, i_yy, i_zz, i_xz;
242 // Normal Load Factor
246 double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
247 double v_ground_speed, v_equiv, v_equiv_kts;
248 double v_calibrated, v_calibrated_kts;
250 // Miscellaneious Quantities
251 double t_local_to_body_m[3][3]; // Transformation matrix L to B
252 double gravity; // Local acceleration due to G
253 double centrifugal_relief; // load factor reduction due to speed
254 double alpha, beta, alpha_dot, beta_dot; // in radians
255 double cos_alpha, sin_alpha, cos_beta, sin_beta;
256 double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
257 double gamma_vert_rad, gamma_horiz_rad; // Flight path angles
258 double sigma, density, v_sound, mach_number;
259 double static_pressure, total_pressure, impact_pressure;
260 double dynamic_pressure;
261 double static_temperature, total_temperature;
262 double sea_level_radius, earth_position_angle;
263 double runway_altitude, runway_latitude, runway_longitude;
264 double runway_heading;
265 double radius_to_rwy;
266 double climb_rate; // in feet per second
267 double sin_lat_geocentric, cos_lat_geocentric;
268 double sin_longitude, cos_longitude;
269 double sin_latitude, cos_latitude;
275 SGTimeStamp valid_stamp; // time this record is valid
276 SGTimeStamp next_stamp; // time this record is valid
280 void _updatePosition( double lat_geoc, double lon, double alt );
281 void _updateWeather( void );
283 inline void _set_Inertias( double m, double xx, double yy,
284 double zz, double xz)
292 inline void _set_CG_Position( double dx, double dy, double dz ) {
293 d_cg_rp_body_v[0] = dx;
294 d_cg_rp_body_v[1] = dy;
295 d_cg_rp_body_v[2] = dz;
297 inline void _set_Accels_Local( double north, double east, double down ) {
298 v_dot_local_v[0] = north;
299 v_dot_local_v[1] = east;
300 v_dot_local_v[2] = down;
302 inline void _set_Accels_Body( double u, double v, double w ) {
307 inline void _set_Accels_CG_Body( double x, double y, double z ) {
312 inline void _set_Accels_Pilot_Body( double x, double y, double z ) {
313 a_pilot_body_v[0] = x;
314 a_pilot_body_v[1] = y;
315 a_pilot_body_v[2] = z;
317 inline void _set_Accels_CG_Body_N( double x, double y, double z ) {
322 void _set_Nlf(double n) { nlf=n; }
323 inline void _set_Velocities_Local( double north, double east, double down ){
324 v_local_v[0] = north;
328 inline void _set_Velocities_Ground(double north, double east, double down) {
329 v_local_rel_ground_v[0] = north;
330 v_local_rel_ground_v[1] = east;
331 v_local_rel_ground_v[2] = down;
333 inline void _set_Velocities_Local_Airmass( double north, double east,
336 v_local_airmass_v[0] = north;
337 v_local_airmass_v[1] = east;
338 v_local_airmass_v[2] = down;
340 inline void _set_Velocities_Wind_Body( double u, double v, double w) {
341 v_wind_body_v[0] = u;
342 v_wind_body_v[1] = v;
343 v_wind_body_v[2] = w;
345 inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; }
346 inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
347 inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
348 inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
349 inline void _set_Omega_Body( double p, double q, double r ) {
354 inline void _set_Euler_Rates( double phi, double theta, double psi ) {
355 euler_rates_v[0] = phi;
356 euler_rates_v[1] = theta;
357 euler_rates_v[2] = psi;
359 inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
360 geocentric_rates_v[0] = lat;
361 geocentric_rates_v[1] = lon;
362 geocentric_rates_v[2] = rad;
365 inline void _set_Radius_to_vehicle(double radius) {
366 geocentric_position_v[2] = radius;
369 inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
370 geocentric_position_v[0] = lat;
371 geocentric_position_v[1] = lon;
372 geocentric_position_v[2] = rad;
374 inline void _set_Latitude(double lat) { geodetic_position_v[0] = lat; }
375 inline void _set_Longitude(double lon) { geodetic_position_v[1] = lon; }
376 inline void _set_Altitude(double altitude) {
377 geodetic_position_v[2] = altitude;
379 inline void _set_Altitude_AGL(double agl) {
382 inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
383 geodetic_position_v[0] = lat;
384 geodetic_position_v[1] = lon;
385 geodetic_position_v[2] = alt;
387 inline void _set_Euler_Angles( double phi, double theta, double psi ) {
388 euler_angles_v[0] = phi;
389 euler_angles_v[1] = theta;
390 euler_angles_v[2] = psi;
392 inline void _set_T_Local_to_Body( int i, int j, double value) {
393 t_local_to_body_m[i-1][j-1] = value;
395 inline void _set_T_Local_to_Body( double m[3][3] ) {
397 for ( i = 0; i < 3; i++ ) {
398 for ( j = 0; j < 3; j++ ) {
399 t_local_to_body_m[i][j] = m[i][j];
403 inline void _set_Alpha( double a ) { alpha = a; }
404 inline void _set_Beta( double b ) { beta = b; }
405 inline void _set_Cos_phi( double cp ) { cos_phi = cp; }
406 inline void _set_Cos_theta( double ct ) { cos_theta = ct; }
407 inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
408 inline void _set_Density( double d ) { density = d; }
409 inline void _set_Mach_number( double m ) { mach_number = m; }
410 inline void _set_Static_pressure( double sp ) { static_pressure = sp; }
411 inline void _set_Static_temperature( double t ) { static_temperature = t; }
412 inline void _set_Sea_level_radius( double r ) { sea_level_radius = r; }
413 inline void _set_Earth_position_angle(double a) {
414 earth_position_angle = a;
416 inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; }
417 inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
418 inline void _set_sin_lat_geocentric(double parm) {
419 sin_lat_geocentric = sin(parm);
421 inline void _set_cos_lat_geocentric(double parm) {
422 cos_lat_geocentric = cos(parm);
424 inline void _set_sin_cos_longitude(double parm) {
425 sin_longitude = sin(parm);
426 cos_longitude = cos(parm);
428 inline void _set_sin_cos_latitude(double parm) {
429 sin_latitude = sin(parm);
430 cos_latitude = cos(parm);
436 FGInterface( double dt );
437 virtual ~FGInterface();
439 virtual void init ();
440 virtual void bind ();
441 virtual void unbind ();
442 virtual void update ();
443 virtual bool update( int multi_loop );
445 // Define the various supported flight models (many not yet implemented)
450 // The NASA LaRCsim (Navion) flight model
453 // Jon S. Berndt's new FDM written from the ground up in C++
456 // Christian's hot air balloon simulation
459 // Aeronautical DEvelopment AGEncy, Bangalore India
462 // The following aren't implemented but are here to spark
463 // thoughts and discussions, and maybe even action.
470 // Driven externally via a serial port, net, file, etc.
474 // time and update management values
475 inline double get_delta_t() const { return delta_t; }
476 inline void set_delta_t( double dt ) { delta_t = dt; }
477 inline long get_elapsed() const { return elapsed; }
478 inline void set_elapsed( long e ) { elapsed = e; }
479 inline long get_remainder() const { return remainder; }
480 inline void set_remainder( long r ) { remainder = r; }
481 inline int get_multi_loop() const { return multi_loop; }
482 inline void set_multi_loop( int ml ) { multi_loop = ml; }
485 virtual void set_Latitude(double lat); // geocentric
486 virtual void set_Longitude(double lon);
487 virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
488 virtual void set_AltitudeAGL(double altagl); // and vice-versa
489 virtual void set_Latitude_deg (double lat) {
490 set_Latitude(lat * DEG_TO_RAD);
492 virtual void set_Longitude_deg (double lon) {
493 set_Longitude(lon * DEG_TO_RAD);
496 // Speeds -- setting any of these will trigger a re-calc of the rest
497 virtual void set_V_calibrated_kts(double vc);
498 virtual void set_Mach_number(double mach);
499 virtual void set_Velocities_Local( double north, double east, double down );
500 inline void set_V_north (double north) { v_local_v[0] = north; }
501 inline void set_V_east (double east) { v_local_v[1] = east; }
502 inline void set_V_down (double down) { v_local_v[2] = down; }
503 virtual void set_Velocities_Wind_Body( double u, double v, double w);
504 virtual void set_uBody (double uBody) { v_wind_body_v[0] = uBody; }
505 virtual void set_vBody (double vBody) { v_wind_body_v[1] = vBody; }
506 virtual void set_wBody (double wBody) { v_wind_body_v[2] = wBody; }
509 virtual void set_Euler_Angles( double phi, double theta, double psi );
510 virtual void set_Phi (double phi) {
511 set_Euler_Angles(phi, get_Theta(), get_Psi());
513 virtual void set_Theta (double theta) {
514 set_Euler_Angles(get_Phi(), theta, get_Psi());
516 virtual void set_Psi (double psi) {
517 set_Euler_Angles(get_Phi(), get_Theta(), psi);
519 virtual void set_Phi_deg (double phi) { set_Phi(phi * DEG_TO_RAD); }
520 virtual void set_Theta_deg (double theta) {
521 set_Theta(theta * DEG_TO_RAD);
523 virtual void set_Psi_deg (double psi) { set_Psi(psi * DEG_TO_RAD); }
526 virtual void set_Climb_Rate( double roc);
527 virtual void set_Gamma_vert_rad( double gamma);
530 virtual void set_Sea_level_radius(double slr);
531 virtual void set_Runway_altitude(double ralt);
533 virtual void set_Static_pressure(double p);
534 virtual void set_Static_temperature(double T);
535 virtual void set_Density(double rho);
537 virtual void set_Velocities_Local_Airmass (double wnorth,
542 // ========== Mass properties and geometry values ==========
545 inline double get_Mass() const { return mass; }
546 inline double get_I_xx() const { return i_xx; }
547 inline double get_I_yy() const { return i_yy; }
548 inline double get_I_zz() const { return i_zz; }
549 inline double get_I_xz() const { return i_xz; }
551 // Pilot location rel to ref pt
552 // inline double * get_D_pilot_rp_body_v() {
553 // return d_pilot_rp_body_v;
555 // inline double get_Dx_pilot() const { return d_pilot_rp_body_v[0]; }
556 // inline double get_Dy_pilot() const { return d_pilot_rp_body_v[1]; }
557 // inline double get_Dz_pilot() const { return d_pilot_rp_body_v[2]; }
558 /* inline void set_Pilot_Location( double dx, double dy, double dz ) {
559 d_pilot_rp_body_v[0] = dx;
560 d_pilot_rp_body_v[1] = dy;
561 d_pilot_rp_body_v[2] = dz;
564 // CG position w.r.t. ref. point
565 // inline double * get_D_cg_rp_body_v() { return d_cg_rp_body_v; }
566 inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; }
567 inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; }
568 inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
570 // ========== Forces ==========
572 // inline double * get_F_body_total_v() { return f_body_total_v; }
573 // inline double get_F_X() const { return f_body_total_v[0]; }
574 // inline double get_F_Y() const { return f_body_total_v[1]; }
575 // inline double get_F_Z() const { return f_body_total_v[2]; }
576 /* inline void set_Forces_Body_Total( double x, double y, double z ) {
577 f_body_total_v[0] = x;
578 f_body_total_v[1] = y;
579 f_body_total_v[2] = z;
582 // inline double * get_F_local_total_v() { return f_local_total_v; }
583 // inline double get_F_north() const { return f_local_total_v[0]; }
584 // inline double get_F_east() const { return f_local_total_v[1]; }
585 // inline double get_F_down() const { return f_local_total_v[2]; }
586 /* inline void set_Forces_Local_Total( double x, double y, double z ) {
587 f_local_total_v[0] = x;
588 f_local_total_v[1] = y;
589 f_local_total_v[2] = z;
592 // inline double * get_F_aero_v() { return f_aero_v; }
593 // inline double get_F_X_aero() const { return f_aero_v[0]; }
594 // inline double get_F_Y_aero() const { return f_aero_v[1]; }
595 // inline double get_F_Z_aero() const { return f_aero_v[2]; }
596 /* inline void set_Forces_Aero( double x, double y, double z ) {
602 // inline double * get_F_engine_v() { return f_engine_v; }
603 // inline double get_F_X_engine() const { return f_engine_v[0]; }
604 // inline double get_F_Y_engine() const { return f_engine_v[1]; }
605 // inline double get_F_Z_engine() const { return f_engine_v[2]; }
606 /* inline void set_Forces_Engine( double x, double y, double z ) {
612 // inline double * get_F_gear_v() { return f_gear_v; }
613 // inline double get_F_X_gear() const { return f_gear_v[0]; }
614 // inline double get_F_Y_gear() const { return f_gear_v[1]; }
615 // inline double get_F_Z_gear() const { return f_gear_v[2]; }
616 /* inline void set_Forces_Gear( double x, double y, double z ) {
622 // ========== Moments ==========
624 // inline double * get_M_total_rp_v() { return m_total_rp_v; }
625 // inline double get_M_l_rp() const { return m_total_rp_v[0]; }
626 // inline double get_M_m_rp() const { return m_total_rp_v[1]; }
627 // inline double get_M_n_rp() const { return m_total_rp_v[2]; }
628 /* inline void set_Moments_Total_RP( double l, double m, double n ) {
634 // inline double * get_M_total_cg_v() { return m_total_cg_v; }
635 // inline double get_M_l_cg() const { return m_total_cg_v[0]; }
636 // inline double get_M_m_cg() const { return m_total_cg_v[1]; }
637 // inline double get_M_n_cg() const { return m_total_cg_v[2]; }
638 /* inline void set_Moments_Total_CG( double l, double m, double n ) {
644 // inline double * get_M_aero_v() { return m_aero_v; }
645 // inline double get_M_l_aero() const { return m_aero_v[0]; }
646 // inline double get_M_m_aero() const { return m_aero_v[1]; }
647 // inline double get_M_n_aero() const { return m_aero_v[2]; }
648 /* inline void set_Moments_Aero( double l, double m, double n ) {
654 // inline double * get_M_engine_v() { return m_engine_v; }
655 // inline double get_M_l_engine() const { return m_engine_v[0]; }
656 // inline double get_M_m_engine() const { return m_engine_v[1]; }
657 // inline double get_M_n_engine() const { return m_engine_v[2]; }
658 /* inline void set_Moments_Engine( double l, double m, double n ) {
664 // inline double * get_M_gear_v() { return m_gear_v; }
665 // inline double get_M_l_gear() const { return m_gear_v[0]; }
666 // inline double get_M_m_gear() const { return m_gear_v[1]; }
667 // inline double get_M_n_gear() const { return m_gear_v[2]; }
668 /* inline void set_Moments_Gear( double l, double m, double n ) {
674 // ========== Accelerations ==========
676 // inline double * get_V_dot_local_v() { return v_dot_local_v; }
677 inline double get_V_dot_north() const { return v_dot_local_v[0]; }
678 inline double get_V_dot_east() const { return v_dot_local_v[1]; }
679 inline double get_V_dot_down() const { return v_dot_local_v[2]; }
681 // inline double * get_V_dot_body_v() { return v_dot_body_v; }
682 inline double get_U_dot_body() const { return v_dot_body_v[0]; }
683 inline double get_V_dot_body() const { return v_dot_body_v[1]; }
684 inline double get_W_dot_body() const { return v_dot_body_v[2]; }
686 // inline double * get_A_cg_body_v() { return a_cg_body_v; }
687 inline double get_A_X_cg() const { return a_cg_body_v[0]; }
688 inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
689 inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
691 // inline double * get_A_pilot_body_v() { return a_pilot_body_v; }
692 inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
693 inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
694 inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
696 // inline double * get_N_cg_body_v() { return n_cg_body_v; }
697 inline double get_N_X_cg() const { return n_cg_body_v[0]; }
698 inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
699 inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
701 // inline double * get_N_pilot_body_v() { return n_pilot_body_v; }
702 // inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
703 // inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; }
704 // inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; }
705 // inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
706 // n_pilot_body_v[0] = x;
707 // n_pilot_body_v[1] = y;
708 // n_pilot_body_v[2] = z;
711 inline double get_Nlf(void) { return nlf; }
713 // inline double * get_Omega_dot_body_v() { return omega_dot_body_v; }
714 // inline double get_P_dot_body() const { return omega_dot_body_v[0]; }
715 // inline double get_Q_dot_body() const { return omega_dot_body_v[1]; }
716 // inline double get_R_dot_body() const { return omega_dot_body_v[2]; }
717 /* inline void set_Accels_Omega( double p, double q, double r ) {
718 omega_dot_body_v[0] = p;
719 omega_dot_body_v[1] = q;
720 omega_dot_body_v[2] = r;
724 // ========== Velocities ==========
726 // inline double * get_V_local_v() { return v_local_v; }
727 inline double get_V_north() const { return v_local_v[0]; }
728 inline double get_V_east() const { return v_local_v[1]; }
729 inline double get_V_down() const { return v_local_v[2]; }
730 inline double get_uBody () const { return v_wind_body_v[0]; }
731 inline double get_vBody () const { return v_wind_body_v[1]; }
732 inline double get_wBody () const { return v_wind_body_v[2]; }
734 // inline double * get_V_local_rel_ground_v() {
735 // return v_local_rel_ground_v;
737 // inline double get_V_north_rel_ground() const {
738 // return v_local_rel_ground_v[0];
740 // inline double get_V_east_rel_ground() const {
741 // return v_local_rel_ground_v[1];
743 // inline double get_V_down_rel_ground() const {
744 // return v_local_rel_ground_v[2];
747 // inline double * get_V_local_airmass_v() { return v_local_airmass_v; }
748 inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
749 inline double get_V_east_airmass() const { return v_local_airmass_v[1]; }
750 inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
753 // inline double * get_V_local_rel_airmass_v() {
754 // return v_local_rel_airmass_v;
756 // inline double get_V_north_rel_airmass() const {
757 // return v_local_rel_airmass_v[0];
759 // inline double get_V_east_rel_airmass() const {
760 // return v_local_rel_airmass_v[1];
762 // inline double get_V_down_rel_airmass() const {
763 // return v_local_rel_airmass_v[2];
765 /* inline void set_Velocities_Local_Rel_Airmass( double north, double east,
768 v_local_rel_airmass_v[0] = north;
769 v_local_rel_airmass_v[1] = east;
770 v_local_rel_airmass_v[2] = down;
773 // inline double * get_V_local_gust_v() { return v_local_gust_v; }
774 // inline double get_U_gust() const { return v_local_gust_v[0]; }
775 // inline double get_V_gust() const { return v_local_gust_v[1]; }
776 // inline double get_W_gust() const { return v_local_gust_v[2]; }
777 /* inline void set_Velocities_Gust( double u, double v, double w)
779 v_local_gust_v[0] = u;
780 v_local_gust_v[1] = v;
781 v_local_gust_v[2] = w;
784 // inline double * get_V_wind_body_v() { return v_wind_body_v; }
785 inline double get_U_body() const { return v_wind_body_v[0]; }
786 inline double get_V_body() const { return v_wind_body_v[1]; }
787 inline double get_W_body() const { return v_wind_body_v[2]; }
789 inline double get_V_rel_wind() const { return v_rel_wind; }
790 // inline void set_V_rel_wind(double wind) { v_rel_wind = wind; }
792 // inline double get_V_true_kts() const { return v_true_kts; }
793 // inline void set_V_true_kts(double kts) { v_true_kts = kts; }
795 // inline double get_V_rel_ground() const { return v_rel_ground; }
796 // inline void set_V_rel_ground( double v ) { v_rel_ground = v; }
798 // inline double get_V_inertial() const { return v_inertial; }
799 // inline void set_V_inertial(double v) { v_inertial = v; }
801 inline double get_V_ground_speed() const { return v_ground_speed; }
803 // inline double get_V_equiv() const { return v_equiv; }
804 // inline void set_V_equiv( double v ) { v_equiv = v; }
806 inline double get_V_equiv_kts() const { return v_equiv_kts; }
808 //inline double get_V_calibrated() const { return v_calibrated; }
809 //inline void set_V_calibrated( double v ) { v_calibrated = v; }
811 inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
813 // inline double * get_Omega_body_v() { return omega_body_v; }
814 inline double get_P_body() const { return omega_body_v[0]; }
815 inline double get_Q_body() const { return omega_body_v[1]; }
816 inline double get_R_body() const { return omega_body_v[2]; }
818 // inline double * get_Omega_local_v() { return omega_local_v; }
819 // inline double get_P_local() const { return omega_local_v[0]; }
820 // inline double get_Q_local() const { return omega_local_v[1]; }
821 // inline double get_R_local() const { return omega_local_v[2]; }
822 /* inline void set_Omega_Local( double p, double q, double r ) {
823 omega_local_v[0] = p;
824 omega_local_v[1] = q;
825 omega_local_v[2] = r;
828 // inline double * get_Omega_total_v() { return omega_total_v; }
829 // inline double get_P_total() const { return omega_total_v[0]; }
830 // inline double get_Q_total() const { return omega_total_v[1]; }
831 // inline double get_R_total() const { return omega_total_v[2]; }
832 /* inline void set_Omega_Total( double p, double q, double r ) {
833 omega_total_v[0] = p;
834 omega_total_v[1] = q;
835 omega_total_v[2] = r;
838 // inline double * get_Euler_rates_v() { return euler_rates_v; }
839 inline double get_Phi_dot() const { return euler_rates_v[0]; }
840 inline double get_Theta_dot() const { return euler_rates_v[1]; }
841 inline double get_Psi_dot() const { return euler_rates_v[2]; }
843 // inline double * get_Geocentric_rates_v() { return geocentric_rates_v; }
844 inline double get_Latitude_dot() const { return geocentric_rates_v[0]; }
845 inline double get_Longitude_dot() const { return geocentric_rates_v[1]; }
846 inline double get_Radius_dot() const { return geocentric_rates_v[2]; }
848 // ========== Positions ==========
850 // inline double * get_Geocentric_position_v() {
851 // return geocentric_position_v;
853 inline double get_Lat_geocentric() const {
854 return geocentric_position_v[0];
856 inline double get_Lon_geocentric() const {
857 return geocentric_position_v[1];
859 inline double get_Radius_to_vehicle() const {
860 return geocentric_position_v[2];
863 // inline double * get_Geodetic_position_v() { return geodetic_position_v; }
864 inline double get_Latitude() const { return geodetic_position_v[0]; }
865 inline double get_Longitude() const { return geodetic_position_v[1]; }
866 inline double get_Altitude() const { return geodetic_position_v[2]; }
867 inline double get_Altitude_AGL(void) const { return altitude_agl; }
869 inline double get_Latitude_deg () const {
870 return get_Latitude() * RAD_TO_DEG;
872 inline double get_Longitude_deg () const {
873 return get_Longitude() * RAD_TO_DEG;
876 // inline double * get_Euler_angles_v() { return euler_angles_v; }
877 inline double get_Phi() const { return euler_angles_v[0]; }
878 inline double get_Theta() const { return euler_angles_v[1]; }
879 inline double get_Psi() const { return euler_angles_v[2]; }
880 inline double get_Phi_deg () const { return get_Phi() * RAD_TO_DEG; }
881 inline double get_Theta_deg () const { return get_Theta() * RAD_TO_DEG; }
882 inline double get_Psi_deg () const { return get_Psi() * RAD_TO_DEG; }
885 // ========== Miscellaneous quantities ==========
887 // inline double * get_T_local_to_body_m() { return t_local_to_body_m; }
888 inline double get_T_local_to_body_11() const {
889 return t_local_to_body_m[0][0];
891 inline double get_T_local_to_body_12() const {
892 return t_local_to_body_m[0][1];
894 inline double get_T_local_to_body_13() const {
895 return t_local_to_body_m[0][2];
897 inline double get_T_local_to_body_21() const {
898 return t_local_to_body_m[1][0];
900 inline double get_T_local_to_body_22() const {
901 return t_local_to_body_m[1][1];
903 inline double get_T_local_to_body_23() const {
904 return t_local_to_body_m[1][2];
906 inline double get_T_local_to_body_31() const {
907 return t_local_to_body_m[2][0];
909 inline double get_T_local_to_body_32() const {
910 return t_local_to_body_m[2][1];
912 inline double get_T_local_to_body_33() const {
913 return t_local_to_body_m[2][2];
916 // inline double get_Gravity() const { return gravity; }
917 // inline void set_Gravity(double g) { gravity = g; }
919 // inline double get_Centrifugal_relief() const {
920 // return centrifugal_relief;
922 // inline void set_Centrifugal_relief(double cr) {
923 // centrifugal_relief = cr;
926 inline double get_Alpha() const { return alpha; }
927 inline double get_Beta() const { return beta; }
928 // inline double get_Alpha_dot() const { return alpha_dot; }
929 // inline void set_Alpha_dot( double ad ) { alpha_dot = ad; }
930 // inline double get_Beta_dot() const { return beta_dot; }
931 // inline void set_Beta_dot( double bd ) { beta_dot = bd; }
933 // inline double get_Cos_alpha() const { return cos_alpha; }
934 // inline void set_Cos_alpha( double ca ) { cos_alpha = ca; }
935 // inline double get_Sin_alpha() const { return sin_alpha; }
936 // inline void set_Sin_alpha( double sa ) { sin_alpha = sa; }
937 // inline double get_Cos_beta() const { return cos_beta; }
938 // inline void set_Cos_beta( double cb ) { cos_beta = cb; }
939 // inline double get_Sin_beta() const { return sin_beta; }
940 // inline void set_Sin_beta( double sb ) { sin_beta = sb; }
942 inline double get_Cos_phi() const { return cos_phi; }
943 // inline double get_Sin_phi() const { return sin_phi; }
944 // inline void set_Sin_phi( double sp ) { sin_phi = sp; }
945 inline double get_Cos_theta() const { return cos_theta; }
946 // inline double get_Sin_theta() const { return sin_theta; }
947 // inline void set_Sin_theta( double st ) { sin_theta = st; }
948 // inline double get_Cos_psi() const { return cos_psi; }
949 // inline void set_Cos_psi( double cp ) { cos_psi = cp; }
950 // inline double get_Sin_psi() const { return sin_psi; }
951 // inline void set_Sin_psi( double sp ) { sin_psi = sp; }
953 inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
954 // inline double get_Gamma_horiz_rad() const { return gamma_horiz_rad; }
955 // inline void set_Gamma_horiz_rad( double gh ) { gamma_horiz_rad = gh; }
957 // inline double get_Sigma() const { return sigma; }
958 // inline void set_Sigma( double s ) { sigma = s; }
959 inline double get_Density() const { return density; }
960 // inline double get_V_sound() const { return v_sound; }
961 // inline void set_V_sound( double v ) { v_sound = v; }
962 inline double get_Mach_number() const { return mach_number; }
964 inline double get_Static_pressure() const { return static_pressure; }
965 // inline double get_Total_pressure() const { return total_pressure; }
966 // inline void set_Total_pressure( double tp ) { total_pressure = tp; }
967 // inline double get_Impact_pressure() const { return impact_pressure; }
968 // inline void set_Impact_pressure( double ip ) { impact_pressure = ip; }
969 // inline double get_Dynamic_pressure() const { return dynamic_pressure; }
970 // inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; }
972 inline double get_Static_temperature() const { return static_temperature; }
973 // inline double get_Total_temperature() const { return total_temperature; }
974 // inline void set_Total_temperature( double t ) { total_temperature = t; }
976 inline double get_Sea_level_radius() const { return sea_level_radius; }
977 inline double get_Earth_position_angle() const {
978 return earth_position_angle;
981 inline double get_Runway_altitude() const { return runway_altitude; }
982 // inline double get_Runway_latitude() const { return runway_latitude; }
983 // inline void set_Runway_latitude( double lat ) { runway_latitude = lat; }
984 // inline double get_Runway_longitude() const { return runway_longitude; }
985 // inline void set_Runway_longitude( double lon ) {
986 // runway_longitude = lon;
988 // inline double get_Runway_heading() const { return runway_heading; }
989 // inline void set_Runway_heading( double h ) { runway_heading = h; }
991 // inline double get_Radius_to_rwy() const { return radius_to_rwy; }
992 // inline void set_Radius_to_rwy( double r ) { radius_to_rwy = r; }
994 // inline double * get_D_cg_rwy_local_v() { return d_cg_rwy_local_v; }
995 // inline double get_D_cg_north_of_rwy() const {
996 // return d_cg_rwy_local_v[0];
998 // inline double get_D_cg_east_of_rwy() const {
999 // return d_cg_rwy_local_v[1];
1001 // inline double get_D_cg_above_rwy() const { return d_cg_rwy_local_v[2]; }
1002 /* inline void set_CG_Rwy_Local( double north, double east, double above )
1004 d_cg_rwy_local_v[0] = north;
1005 d_cg_rwy_local_v[1] = east;
1006 d_cg_rwy_local_v[2] = above;
1009 // inline double * get_D_cg_rwy_rwy_v() { return d_cg_rwy_rwy_v; }
1010 // inline double get_X_cg_rwy() const { return d_cg_rwy_rwy_v[0]; }
1011 // inline double get_Y_cg_rwy() const { return d_cg_rwy_rwy_v[1]; }
1012 // inline double get_H_cg_rwy() const { return d_cg_rwy_rwy_v[2]; }
1013 /* inline void set_CG_Rwy_Rwy( double x, double y, double h )
1015 d_cg_rwy_rwy_v[0] = x;
1016 d_cg_rwy_rwy_v[1] = y;
1017 d_cg_rwy_rwy_v[2] = h;
1020 // inline double * get_D_pilot_rwy_local_v() { return d_pilot_rwy_local_v; }
1021 // inline double get_D_pilot_north_of_rwy() const {
1022 // return d_pilot_rwy_local_v[0];
1024 // inline double get_D_pilot_east_of_rwy() const {
1025 // return d_pilot_rwy_local_v[1];
1027 // inline double get_D_pilot_above_rwy() const {
1028 // return d_pilot_rwy_local_v[2];
1030 /* inline void set_Pilot_Rwy_Local( double north, double east, double above )
1032 d_pilot_rwy_local_v[0] = north;
1033 d_pilot_rwy_local_v[1] = east;
1034 d_pilot_rwy_local_v[2] = above;
1037 // inline double * get_D_pilot_rwy_rwy_v() { return d_pilot_rwy_rwy_v; }
1038 // inline double get_X_pilot_rwy() const { return d_pilot_rwy_rwy_v[0]; }
1039 // inline double get_Y_pilot_rwy() const { return d_pilot_rwy_rwy_v[1]; }
1040 // inline double get_H_pilot_rwy() const { return d_pilot_rwy_rwy_v[2]; }
1041 /* inline void set_Pilot_Rwy_Rwy( double x, double y, double h )
1043 d_pilot_rwy_rwy_v[0] = x;
1044 d_pilot_rwy_rwy_v[1] = y;
1045 d_pilot_rwy_rwy_v[2] = h;
1048 inline double get_Climb_Rate() const { return climb_rate; }
1050 inline SGTimeStamp get_time_stamp() const { return valid_stamp; }
1051 inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
1053 // Extrapolate FDM based on time_offset (in usec)
1054 void extrapolate( int time_offset );
1056 // sin/cos lat_geocentric
1057 inline double get_sin_lat_geocentric(void) const {
1058 return sin_lat_geocentric;
1060 inline double get_cos_lat_geocentric(void) const {
1061 return cos_lat_geocentric;
1064 inline double get_sin_longitude(void) const {
1065 return sin_longitude;
1067 inline double get_cos_longitude(void) const {
1068 return cos_longitude;
1071 inline double get_sin_latitude(void) const {
1072 return sin_latitude;
1074 inline double get_cos_latitude(void) const {
1075 return cos_latitude;
1079 inline double get_num_engines() const {
1080 return engines.size();
1083 inline FGEngInterface* get_engine( int i ) {
1087 inline void add_engine( FGEngInterface e ) {
1088 engines.push_back( e );
1093 typedef list < FGInterface > fdm_state_list;
1094 typedef fdm_state_list::iterator fdm_state_list_iterator;
1095 typedef fdm_state_list::const_iterator const_fdm_state_list_iterator;
1098 extern FGInterface * cur_fdm_state;
1101 // General interface to the flight model routines
1103 // Set the altitude (force)
1104 void fgFDMForceAltitude(const string &model, double alt_meters);
1106 // Set the local ground elevation
1107 void fgFDMSetGroundElevation(const string &model, double alt_meters);
1110 #endif // _FLIGHT_HXX