+private:
+
+ // Pilot location rel to ref pt
+ FG_VECTOR_3 d_pilot_rp_body_v;
+
+ // CG position w.r.t. ref. point
+ FG_VECTOR_3 d_cg_rp_body_v;
+
+ // Forces
+ FG_VECTOR_3 f_body_total_v;
+ FG_VECTOR_3 f_local_total_v;
+ FG_VECTOR_3 f_aero_v;
+ FG_VECTOR_3 f_engine_v;
+ FG_VECTOR_3 f_gear_v;
+
+ // Moments
+ FG_VECTOR_3 m_total_rp_v;
+ FG_VECTOR_3 m_total_cg_v;
+ FG_VECTOR_3 m_aero_v;
+ FG_VECTOR_3 m_engine_v;
+ FG_VECTOR_3 m_gear_v;
+
+ // Accelerations
+ FG_VECTOR_3 v_dot_local_v;
+ FG_VECTOR_3 v_dot_body_v;
+ FG_VECTOR_3 a_cg_body_v;
+ FG_VECTOR_3 a_pilot_body_v;
+ FG_VECTOR_3 n_cg_body_v;
+ FG_VECTOR_3 n_pilot_body_v;
+ FG_VECTOR_3 omega_dot_body_v;
+
+ // Velocities
+ FG_VECTOR_3 v_local_v;
+ FG_VECTOR_3 v_local_rel_ground_v; // V rel w.r.t. earth surface
+ FG_VECTOR_3 v_local_airmass_v; // velocity of airmass (steady winds)
+ FG_VECTOR_3 v_local_rel_airmass_v; // velocity of veh. relative to airmass
+ FG_VECTOR_3 v_local_gust_v; // linear turbulence components, L frame
+ FG_VECTOR_3 v_wind_body_v; // Wind-relative velocities in body axis
+
+ FG_VECTOR_3 omega_body_v; // Angular B rates
+ FG_VECTOR_3 omega_local_v; // Angular L rates
+ FG_VECTOR_3 omega_total_v; // Diff btw B & L
+ FG_VECTOR_3 euler_rates_v;
+ FG_VECTOR_3 geocentric_rates_v; // Geocentric linear velocities
+
+ // Positions
+ FG_VECTOR_3 geocentric_position_v;
+ FG_VECTOR_3 geodetic_position_v;
+ FG_VECTOR_3 euler_angles_v;
+
+ // Miscellaneous Quantities
+ FG_VECTOR_3 d_cg_rwy_local_v; // CG rel. to rwy in local coords
+ FG_VECTOR_3 d_cg_rwy_rwy_v; // CG relative to rwy, in rwy coordinates
+ FG_VECTOR_3 d_pilot_rwy_local_v; // pilot rel. to rwy in local coords
+ FG_VECTOR_3 d_pilot_rwy_rwy_v; // pilot rel. to rwy, in rwy coords.
+
+ // Inertias
+ double mass, i_xx, i_yy, i_zz, i_xz;
+
+ // Normal Load Factor
+ double nlf;
+
+ // Velocities
+ double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
+ double v_ground_speed, v_equiv, v_equiv_kts;
+ double v_calibrated, v_calibrated_kts;
+
+ // Miscellaneious Quantities
+ double t_local_to_body_m[3][3]; // Transformation matrix L to B
+ double gravity; // Local acceleration due to G
+ double centrifugal_relief; // load factor reduction due to speed
+ double alpha, beta, alpha_dot, beta_dot; // in radians
+ double cos_alpha, sin_alpha, cos_beta, sin_beta;
+ double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
+ double gamma_vert_rad, gamma_horiz_rad; // Flight path angles
+ double sigma, density, v_sound, mach_number;
+ double static_pressure, total_pressure, impact_pressure;
+ double dynamic_pressure;
+ double static_temperature, total_temperature;
+ double sea_level_radius, earth_position_angle;
+ double runway_altitude, runway_latitude, runway_longitude;
+ double runway_heading;
+ double radius_to_rwy;
+ double climb_rate; // in feet per second
+ double sin_lat_geocentric, cos_lat_geocentric;
+ double sin_longitude, cos_longitude;
+ double sin_latitude, cos_latitude;
+ double altitude_agl;
+
+ // Engine list
+ engine_list engines;
+
+ FGTimeStamp valid_stamp; // time this record is valid
+ FGTimeStamp next_stamp; // time this record is valid
+
+protected:
+ void _busdump(void);
+ void _updatePosition( double lat_geoc, double lon, double alt );
+ void _updateWeather( void );
+
+ inline void _set_Inertias( double m, double xx, double yy,
+ double zz, double xz)
+ {
+ mass = m;
+ i_xx = xx;
+ i_yy = yy;
+ i_zz = zz;
+ i_xz = xz;
+ }
+ inline void _set_CG_Position( double dx, double dy, double dz ) {
+ d_cg_rp_body_v[0] = dx;
+ d_cg_rp_body_v[1] = dy;
+ d_cg_rp_body_v[2] = dz;
+ }
+ inline void _set_Accels_Local( double north, double east, double down ) {
+ v_dot_local_v[0] = north;
+ v_dot_local_v[1] = east;
+ v_dot_local_v[2] = down;
+ }
+ inline void _set_Accels_Body( double u, double v, double w ) {
+ v_dot_body_v[0] = u;
+ v_dot_body_v[1] = v;
+ v_dot_body_v[2] = w;
+ }
+ inline void _set_Accels_CG_Body( double x, double y, double z ) {
+ a_cg_body_v[0] = x;
+ a_cg_body_v[1] = y;
+ a_cg_body_v[2] = z;
+ }
+ inline void _set_Accels_Pilot_Body( double x, double y, double z ) {
+ a_pilot_body_v[0] = x;
+ a_pilot_body_v[1] = y;
+ a_pilot_body_v[2] = z;
+ }
+ inline void _set_Accels_CG_Body_N( double x, double y, double z ) {
+ n_cg_body_v[0] = x;
+ n_cg_body_v[1] = y;
+ n_cg_body_v[2] = z;
+ }
+ void _set_Nlf(double n) { nlf=n; }
+ inline void _set_Velocities_Local( double north, double east, double down ){
+ v_local_v[0] = north;
+ v_local_v[1] = east;
+ v_local_v[2] = down;
+ }
+ inline void _set_Velocities_Ground(double north, double east, double down) {
+ v_local_rel_ground_v[0] = north;
+ v_local_rel_ground_v[1] = east;
+ v_local_rel_ground_v[2] = down;
+ }
+ inline void _set_Velocities_Local_Airmass( double north, double east,
+ double down)
+ {
+ v_local_airmass_v[0] = north;
+ v_local_airmass_v[1] = east;
+ v_local_airmass_v[2] = down;
+ }
+ inline void _set_Velocities_Wind_Body( double u, double v, double w) {
+ v_wind_body_v[0] = u;
+ v_wind_body_v[1] = v;
+ v_wind_body_v[2] = w;
+ }
+ inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; }
+ inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
+ inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
+ inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
+ inline void _set_Omega_Body( double p, double q, double r ) {
+ omega_body_v[0] = p;
+ omega_body_v[1] = q;
+ omega_body_v[2] = r;
+ }
+ inline void _set_Euler_Rates( double phi, double theta, double psi ) {
+ euler_rates_v[0] = phi;
+ euler_rates_v[1] = theta;
+ euler_rates_v[2] = psi;
+ }
+ inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
+ geocentric_rates_v[0] = lat;
+ geocentric_rates_v[1] = lon;
+ geocentric_rates_v[2] = rad;
+ }
+#if 0
+ inline void _set_Radius_to_vehicle(double radius) {
+ geocentric_position_v[2] = radius;
+ }
+#endif
+ inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
+ geocentric_position_v[0] = lat;
+ geocentric_position_v[1] = lon;
+ geocentric_position_v[2] = rad;
+ }
+ inline void _set_Latitude(double lat) { geodetic_position_v[0] = lat; }
+ inline void _set_Longitude(double lon) { geodetic_position_v[1] = lon; }
+ inline void _set_Altitude(double altitude) {
+ geodetic_position_v[2] = altitude;
+ }
+ inline void _set_Altitude_AGL(double agl) {
+ altitude_agl = agl;
+ }
+ inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
+ geodetic_position_v[0] = lat;
+ geodetic_position_v[1] = lon;
+ geodetic_position_v[2] = alt;
+ }
+ inline void _set_Euler_Angles( double phi, double theta, double psi ) {
+ euler_angles_v[0] = phi;
+ euler_angles_v[1] = theta;
+ euler_angles_v[2] = psi;
+ }
+ inline void _set_T_Local_to_Body( int i, int j, double value) {
+ t_local_to_body_m[i-1][j-1] = value;
+ }
+ inline void _set_T_Local_to_Body( double m[3][3] ) {
+ int i, j;
+ for ( i = 0; i < 3; i++ ) {
+ for ( j = 0; j < 3; j++ ) {
+ t_local_to_body_m[i][j] = m[i][j];
+ }
+ }
+ }
+ inline void _set_Alpha( double a ) { alpha = a; }
+ inline void _set_Beta( double b ) { beta = b; }
+ inline void _set_Cos_phi( double cp ) { cos_phi = cp; }
+ inline void _set_Cos_theta( double ct ) { cos_theta = ct; }
+ inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
+ inline void _set_Density( double d ) { density = d; }
+ inline void _set_Mach_number( double m ) { mach_number = m; }
+ inline void _set_Static_pressure( double sp ) { static_pressure = sp; }
+ inline void _set_Static_temperature( double t ) { static_temperature = t; }
+ inline void _set_Sea_level_radius( double r ) { sea_level_radius = r; }
+ inline void _set_Earth_position_angle(double a) {
+ earth_position_angle = a;
+ }
+ inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; }
+ inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
+ inline void _set_sin_lat_geocentric(double parm) {
+ sin_lat_geocentric = sin(parm);
+ }
+ inline void _set_cos_lat_geocentric(double parm) {
+ cos_lat_geocentric = cos(parm);
+ }
+ inline void _set_sin_cos_longitude(double parm) {
+ sin_longitude = sin(parm);
+ cos_longitude = cos(parm);
+ }
+ inline void _set_sin_cos_latitude(double parm) {
+ sin_latitude = sin(parm);
+ cos_latitude = cos(parm);
+ }