/* Define a structure containing the shared flight model parameters */
-struct flight_params {
- double pos_x, pos_y, pos_z; /* temporary position variables */
- double vel_x, vel_y, vel_z; /* temporary velocity variables */
+/* struct flight_params {
+ double pos_x, pos_y, pos_z;
+ double vel_x, vel_y, vel_z;
- double Phi; /* Roll angle */
- double Theta; /* Pitch angle */
- double Psi; /* Heading angle */
+ double Phi;
+ double Theta;
+ double Psi;
double vel_Phi;
double vel_Theta;
double vel_Psi;
+}; */
+
+
+typedef double FG_VECTOR_3[3];
+
+/* This is based heavily on LaRCsim/ls_generic.h */
+struct flight_params {
+
+/*================== Mass properties and geometry values ==================*/
+
+ double mass, i_xx, i_yy, i_zz, i_xz; /* Inertias */
+#define FG_Mass f->mass
+#define FG_I_xx f->i_xx
+#define FG_I_yy f->i_yy
+#define FG_I_zz f->i_zz
+#define FG_I_xz f->i_xz
+
+ FG_VECTOR_3 d_pilot_rp_body_v; /* Pilot location rel to ref pt */
+#define FG_D_pilot_rp_body_v f->d_pilot_rp_body_v
+#define FG_Dx_pilot f->d_pilot_rp_body_v[0]
+#define FG_Dy_pilot f->d_pilot_rp_body_v[1]
+#define FG_Dz_pilot f->d_pilot_rp_body_v[2]
+
+ FG_VECTOR_3 d_cg_rp_body_v; /* CG position w.r.t. ref. point */
+#define FG_D_cg_rp_body_v f->d_cg_rp_body_v
+#define FG_Dx_cg f->d_cg_rp_body_v[0]
+#define FG_Dy_cg f->d_cg_rp_body_v[1]
+#define FG_Dz_cg f->d_cg_rp_body_v[2]
+
+/*================================ Forces =================================*/
+
+ FG_VECTOR_3 f_body_total_v;
+#define FG_F_body_total_v f->f_body_total_v
+#define FG_F_X f->f_body_total_v[0]
+#define FG_F_Y f->f_body_total_v[1]
+#define FG_F_Z f->f_body_total_v[2]
+
+ FG_VECTOR_3 f_local_total_v;
+#define FG_F_local_total_v f->f_local_total_v
+#define FG_F_north f->f_local_total_v[0]
+#define FG_F_east f->f_local_total_v[1]
+#define FG_F_down f->f_local_total_v[2]
+
+ FG_VECTOR_3 f_aero_v;
+#define FG_F_aero_v f->f_aero_v
+#define FG_F_X_aero f->f_aero_v[0]
+#define FG_F_Y_aero f->f_aero_v[1]
+#define FG_F_Z_aero f->f_aero_v[2]
+
+ FG_VECTOR_3 f_engine_v;
+#define FG_F_engine_v f->f_engine_v
+#define FG_F_X_engine f->f_engine_v[0]
+#define FG_F_Y_engine f->f_engine_v[1]
+#define FG_F_Z_engine f->f_engine_v[2]
+
+ FG_VECTOR_3 f_gear_v;
+#define FG_F_gear_v f->f_gear_v
+#define FG_F_X_gear f->f_gear_v[0]
+#define FG_F_Y_gear f->f_gear_v[1]
+#define FG_F_Z_gear f->f_gear_v[2]
+
+/*================================ Moments ================================*/
+
+ FG_VECTOR_3 m_total_rp_v;
+#define FG_M_total_rp_v f->m_total_rp_v
+#define FG_M_l_rp f->m_total_rp_v[0]
+#define FG_M_m_rp f->m_total_rp_v[1]
+#define FG_M_n_rp f->m_total_rp_v[2]
+
+ FG_VECTOR_3 m_total_cg_v;
+#define FG_M_total_cg_v f->m_total_cg_v
+#define FG_M_l_cg f->m_total_cg_v[0]
+#define FG_M_m_cg f->m_total_cg_v[1]
+#define FG_M_n_cg f->m_total_cg_v[2]
+
+ FG_VECTOR_3 m_aero_v;
+#define FG_M_aero_v f->m_aero_v
+#define FG_M_l_aero f->m_aero_v[0]
+#define FG_M_m_aero f->m_aero_v[1]
+#define FG_M_n_aero f->m_aero_v[2]
+
+ FG_VECTOR_3 m_engine_v;
+#define FG_M_engine_v f->m_engine_v
+#define FG_M_l_engine f->m_engine_v[0]
+#define FG_M_m_engine f->m_engine_v[1]
+#define FG_M_n_engine f->m_engine_v[2]
+
+ FG_VECTOR_3 m_gear_v;
+#define FG_M_gear_v f->m_gear_v
+#define FG_M_l_gear f->m_gear_v[0]
+#define FG_M_m_gear f->m_gear_v[1]
+#define FG_M_n_gear f->m_gear_v[2]
+
+/*============================== Accelerations ============================*/
+
+ FG_VECTOR_3 v_dot_local_v;
+#define FG_V_dot_local_v f->v_dot_local_v
+#define FG_V_dot_north f->v_dot_local_v[0]
+#define FG_V_dot_east f->v_dot_local_v[1]
+#define FG_V_dot_down f->v_dot_local_v[2]
+
+ FG_VECTOR_3 v_dot_body_v;
+#define FG_V_dot_body_v f->v_dot_body_v
+#define FG_U_dot_body f->v_dot_body_v[0]
+#define FG_V_dot_body f->v_dot_body_v[1]
+#define FG_W_dot_body f->v_dot_body_v[2]
+
+ FG_VECTOR_3 a_cg_body_v;
+#define FG_A_cg_body_v f->a_cg_body_v
+#define FG_A_X_cg f->a_cg_body_v[0]
+#define FG_A_Y_cg f->a_cg_body_v[1]
+#define FG_A_Z_cg f->a_cg_body_v[2]
+
+ FG_VECTOR_3 a_pilot_body_v;
+#define FG_A_pilot_body_v f->a_pilot_body_v
+#define FG_A_X_pilot f->a_pilot_body_v[0]
+#define FG_A_Y_pilot f->a_pilot_body_v[1]
+#define FG_A_Z_pilot f->a_pilot_body_v[2]
+
+ FG_VECTOR_3 n_cg_body_v;
+#define FG_N_cg_body_v f->n_cg_body_v
+#define FG_N_X_cg f->n_cg_body_v[0]
+#define FG_N_Y_cg f->n_cg_body_v[1]
+#define FG_N_Z_cg f->n_cg_body_v[2]
+
+ FG_VECTOR_3 n_pilot_body_v;
+#define FG_N_pilot_body_v f->n_pilot_body_v
+#define FG_N_X_pilot f->n_pilot_body_v[0]
+#define FG_N_Y_pilot f->n_pilot_body_v[1]
+#define FG_N_Z_pilot f->n_pilot_body_v[2]
+
+ FG_VECTOR_3 omega_dot_body_v;
+#define FG_Omega_dot_body_v f->omega_dot_body_v
+#define FG_P_dot_body f->omega_dot_body_v[0]
+#define FG_Q_dot_body f->omega_dot_body_v[1]
+#define FG_R_dot_body f->omega_dot_body_v[2]
+
+
+/*============================== Velocities ===============================*/
+
+ FG_VECTOR_3 v_local_v;
+#define FG_V_local_v f->v_local_v
+#define FG_V_north f->v_local_v[0]
+#define FG_V_east f->v_local_v[1]
+#define FG_V_down f->v_local_v[2]
+
+ FG_VECTOR_3 v_local_rel_ground_v; /* V rel w.r.t. earth surface */
+#define FG_V_local_rel_ground_v f->v_local_rel_ground_v
+#define FG_V_north_rel_ground f->v_local_rel_ground_v[0]
+#define FG_V_east_rel_ground f->v_local_rel_ground_v[1]
+#define FG_V_down_rel_ground f->v_local_rel_ground_v[2]
+
+ FG_VECTOR_3 v_local_airmass_v; /* velocity of airmass (steady winds) */
+#define FG_V_local_airmass_v f->v_local_airmass_v
+#define FG_V_north_airmass f->v_local_airmass_v[0]
+#define FG_V_east_airmass f->v_local_airmass_v[1]
+#define FG_V_down_airmass f->v_local_airmass_v[2]
+
+ FG_VECTOR_3 v_local_rel_airmass_v; /* velocity of veh. relative to */
+ /* airmass */
+#define FG_V_local_rel_airmass_v f->v_local_rel_airmass_v
+#define FG_V_north_rel_airmass f->v_local_rel_airmass_v[0]
+#define FG_V_east_rel_airmass f->v_local_rel_airmass_v[1]
+#define FG_V_down_rel_airmass f->v_local_rel_airmass_v[2]
+
+ FG_VECTOR_3 v_local_gust_v; /* linear turbulence components, L frame */
+#define FG_V_local_gust_v f->v_local_gust_v
+#define FG_U_gust f->v_local_gust_v[0]
+#define FG_V_gust f->v_local_gust_v[1]
+#define FG_W_gust f->v_local_gust_v[2]
+
+ FG_VECTOR_3 v_wind_body_v; /* Wind-relative velocities in body axis */
+#define FG_V_wind_body_v f->v_wind_body_v
+#define FG_U_body f->v_wind_body_v[0]
+#define FG_V_body f->v_wind_body_v[1]
+#define FG_W_body f->v_wind_body_v[2]
+
+ 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;
+#define FG_V_rel_wind f->v_rel_wind
+#define FG_V_true_kts f->v_true_kts
+#define FG_V_rel_ground f->v_rel_ground
+#define FG_V_inertial f->v_inertial
+#define FG_V_ground_speed f->v_ground_speed
+#define FG_V_equiv f->v_equiv
+#define FG_V_equiv_kts f->v_equiv_kts
+#define FG_V_calibrated f->v_calibrated
+#define FG_V_calibrated_kts f->v_calibrated_kts
+
+ FG_VECTOR_3 omega_body_v; /* Angular B rates */
+#define FG_Omega_body_v f->omega_body_v
+#define FG_P_body f->omega_body_v[0]
+#define FG_Q_body f->omega_body_v[1]
+#define FG_R_body f->omega_body_v[2]
+
+ FG_VECTOR_3 omega_local_v; /* Angular L rates */
+#define FG_Omega_local_v f->omega_local_v
+#define FG_P_local f->omega_local_v[0]
+#define FG_Q_local f->omega_local_v[1]
+#define FG_R_local f->omega_local_v[2]
+
+ FG_VECTOR_3 omega_total_v; /* Diff btw B & L */
+#define FG_Omega_total_v f->omega_total_v
+#define FG_P_total f->omega_total_v[0]
+#define FG_Q_total f->omega_total_v[1]
+#define FG_R_total f->omega_total_v[2]
+
+ FG_VECTOR_3 euler_rates_v;
+#define FG_Euler_rates_v f->euler_rates_v
+#define FG_Phi_dot f->euler_rates_v[0]
+#define FG_Theta_dot f->euler_rates_v[1]
+#define FG_Psi_dot f->euler_rates_v[2]
+
+ FG_VECTOR_3 geocentric_rates_v; /* Geocentric linear velocities */
+#define FG_Geocentric_rates_v f->geocentric_rates_v
+#define FG_Latitude_dot f->geocentric_rates_v[0]
+#define FG_Longitude_dot f->geocentric_rates_v[1]
+#define FG_Radius_dot f->geocentric_rates_v[2]
+
+/*=============================== Positions ===============================*/
+
+ FG_VECTOR_3 geocentric_position_v;
+#define FG_Geocentric_position_v f->geocentric_position_v
+#define FG_Lat_geocentric f->geocentric_position_v[0]
+#define FG_Lon_geocentric f->geocentric_position_v[1]
+#define FG_Radius_to_vehicle f->geocentric_position_v[2]
+
+ FG_VECTOR_3 geodetic_position_v;
+#define FG_Geodetic_position_v f->geodetic_position_v
+#define FG_Latitude f->geodetic_position_v[0]
+#define FG_Longitude f->geodetic_position_v[1]
+#define FG_Altitude f->geodetic_position_v[2]
+
+ FG_VECTOR_3 euler_angles_v;
+#define FG_Euler_angles_v f->euler_angles_v
+#define FG_Phi f->euler_angles_v[0]
+#define FG_Theta f->euler_angles_v[1]
+#define FG_Psi f->euler_angles_v[2]
+
+/*======================= Miscellaneous quantities ========================*/
+
+ double t_local_to_body_m[3][3]; /* Transformation matrix L to B */
+#define FG_T_local_to_body_m f->t_local_to_body_m
+#define FG_T_local_to_body_11 f->t_local_to_body_m[0][0]
+#define FG_T_local_to_body_12 f->t_local_to_body_m[0][1]
+#define FG_T_local_to_body_13 f->t_local_to_body_m[0][2]
+#define FG_T_local_to_body_21 f->t_local_to_body_m[1][0]
+#define FG_T_local_to_body_22 f->t_local_to_body_m[1][1]
+#define FG_T_local_to_body_23 f->t_local_to_body_m[1][2]
+#define FG_T_local_to_body_31 f->t_local_to_body_m[2][0]
+#define FG_T_local_to_body_32 f->t_local_to_body_m[2][1]
+#define FG_T_local_to_body_33 f->t_local_to_body_m[2][2]
+
+ double gravity; /* Local acceleration due to G */
+#define FG_Gravity f->gravity
+
+ double centrifugal_relief; /* load factor reduction due to speed */
+#define FG_Centrifugal_relief f->centrifugal_relief
+
+ double alpha, beta, alpha_dot, beta_dot; /* in radians */
+#define FG_Alpha f->alpha
+#define FG_Beta f->beta
+#define FG_Alpha_dot f->alpha_dot
+#define FG_Beta_dot f->beta_dot
+
+ double cos_alpha, sin_alpha, cos_beta, sin_beta;
+#define FG_Cos_alpha f->cos_alpha
+#define FG_Sin_alpha f->sin_alpha
+#define FG_Cos_beta f->cos_beta
+#define FG_Sin_beta f->sin_beta
+
+ double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
+#define FG_Cos_phi f->cos_phi
+#define FG_Sin_phi f->sin_phi
+#define FG_Cos_theta f->cos_theta
+#define FG_Sin_theta f->sin_theta
+#define FG_Cos_psi f->cos_psi
+#define FG_Sin_psi f->sin_psi
+
+ double gamma_vert_rad, gamma_horiz_rad; /* Flight path angles */
+#define FG_Gamma_vert_rad f->gamma_vert_rad
+#define FG_Gamma_horiz_rad f->gamma_horiz_rad
+
+ double sigma, density, v_sound, mach_number;
+#define FG_Sigma f->sigma
+#define FG_Density f->density
+#define FG_V_sound f->v_sound
+#define FG_Mach_number f->mach_number
+
+ double static_pressure, total_pressure, impact_pressure;
+ double dynamic_pressure;
+#define FG_Static_pressure f->static_pressure
+#define FG_Total_pressure f->total_pressure
+#define FG_Impact_pressure f->impact_pressure
+#define FG_Dynamic_pressure f->dynamic_pressure
+
+ double static_temperature, total_temperature;
+#define FG_Static_temperature f->static_temperature
+#define FG_Total_temperature f->total_temperature
+
+ double sea_level_radius, earth_position_angle;
+#define FG_Sea_level_radius f->sea_level_radius
+#define FG_Earth_position_angle f->earth_position_angle
+
+ double runway_altitude, runway_latitude, runway_longitude;
+ double runway_heading;
+#define FG_Runway_altitude f->runway_altitude
+#define FG_Runway_latitude f->runway_latitude
+#define FG_Runway_longitude f->runway_longitude
+#define FG_Runway_heading f->runway_heading
+
+ double radius_to_rwy;
+#define FG_Radius_to_rwy f->radius_to_rwy
+
+ FG_VECTOR_3 d_cg_rwy_local_v; /* CG rel. to rwy in local coords */
+#define FG_D_cg_rwy_local_v f->d_cg_rwy_local_v
+#define FG_D_cg_north_of_rwy f->d_cg_rwy_local_v[0]
+#define FG_D_cg_east_of_rwy f->d_cg_rwy_local_v[1]
+#define FG_D_cg_above_rwy f->d_cg_rwy_local_v[2]
+
+ FG_VECTOR_3 d_cg_rwy_rwy_v; /* CG relative to rwy, in rwy coordinates */
+#define FG_D_cg_rwy_rwy_v f->d_cg_rwy_rwy_v
+#define FG_X_cg_rwy f->d_cg_rwy_rwy_v[0]
+#define FG_Y_cg_rwy f->d_cg_rwy_rwy_v[1]
+#define FG_H_cg_rwy f->d_cg_rwy_rwy_v[2]
+
+ FG_VECTOR_3 d_pilot_rwy_local_v; /* pilot rel. to rwy in local coords */
+#define FG_D_pilot_rwy_local_v f->d_pilot_rwy_local_v
+#define FG_D_pilot_north_of_rwy f->d_pilot_rwy_local_v[0]
+#define FG_D_pilot_east_of_rwy f->d_pilot_rwy_local_v[1]
+#define FG_D_pilot_above_rwy f->d_pilot_rwy_local_v[2]
+
+ FG_VECTOR_3 d_pilot_rwy_rwy_v; /* pilot rel. to rwy, in rwy coords. */
+#define FG_D_pilot_rwy_rwy_v f->d_pilot_rwy_rwy_v
+#define FG_X_pilot_rwy f->d_pilot_rwy_rwy_v[0]
+#define FG_Y_pilot_rwy f->d_pilot_rwy_rwy_v[1]
+#define FG_H_pilot_rwy f->d_pilot_rwy_rwy_v[2]
+
};
/* General interface to the flight model routines */
/* Initialize the flight model parameters */
-int fgFlightModelInit(int model);
+int fgFlightModelInit(int model, struct flight_params *f, double dt);
-/* Run an iteration of the flight model */
-int fgFlightModelUpdate(int model);
+/* Run multiloop iterations of the flight model */
+int fgFlightModelUpdate(int model, struct flight_params *f, int multiloop);
#endif FLIGHT_H
/* $Log$
-/* Revision 1.3 1997/05/29 02:32:25 curt
-/* Starting to build generic flight model interface.
+/* Revision 1.4 1997/05/29 22:39:57 curt
+/* Working on incorporating the LaRCsim flight model.
/*
+ * Revision 1.3 1997/05/29 02:32:25 curt
+ * Starting to build generic flight model interface.
+ *
* Revision 1.2 1997/05/23 15:40:37 curt
* Added GNU copyright headers.
*
projects / flightgear.git / blobdiff