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Removed useless divisions - As a side effect, it removes the risk of divisions by...
[flightgear.git] / src / FDM / flight.cxx
diff --git a/src/FDM/flight.cxx b/src/FDM/flight.cxx
index 10ce9948a18722f84d4b596a6726c574d70b5f5a..431605a9f9957713c977c6857376578e6580e7d4 100644 (file)
--- a/src/FDM/flight.cxx
+++ b/src/FDM/flight.cxx
@@ -44,8 +44,6 @@ static inline void assign(double* ptr, const SGVec3d& vec)
   ptr[2] = vec[2];
 }
 
-FGInterface *cur_fdm_state = 0;
-
 // Constructor
 FGInterface::FGInterface()
 {
@@ -181,6 +179,15 @@ FGInterface::common_init ()
     double slr = SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v);
     _set_Sea_level_radius( slr * SG_METER_TO_FEET );
 
+    // Set initial Euler angles
+    SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
+    set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
+                        * SGD_DEGREES_TO_RADIANS,
+                      fgGetDouble("/sim/presets/pitch-deg")
+                        * SGD_DEGREES_TO_RADIANS,
+                      fgGetDouble("/sim/presets/heading-deg")
+                        * SGD_DEGREES_TO_RADIANS );
+
     // Set initial velocities
     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
     if ( !fgHasNode("/sim/presets/speed-set") ) {
@@ -209,14 +216,11 @@ FGInterface::common_init ()
         }
     }
 
-    // Set initial Euler angles
-    SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
-    set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
-                        * SGD_DEGREES_TO_RADIANS,
-                      fgGetDouble("/sim/presets/pitch-deg")
-                        * SGD_DEGREES_TO_RADIANS,
-                      fgGetDouble("/sim/presets/heading-deg")
-                        * SGD_DEGREES_TO_RADIANS );
+    if ( fgHasNode("/sim/presets/glideslope-deg") )
+        set_Gamma_vert_rad( fgGetDouble("/sim/presets/glideslope-deg")
+                              * SGD_DEGREES_TO_RADIANS );
+    else if ( fgHasNode( "/velocities/vertical-speed-fps") )
+        set_Climb_Rate( fgGetDouble("/velocities/vertical-speed-fps") );
 
     SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
 }
@@ -253,7 +257,7 @@ FGInterface::bind ()
         false);
   fgSetArchivable("/position/altitude-ft");
   fgTie("/position/altitude-agl-ft", this,
-        &FGInterface::get_Altitude_AGL); // read-only
+        &FGInterface::get_Altitude_AGL, &FGInterface::set_AltitudeAGL, false);
   fgSetArchivable("/position/ground-elev-ft");
   fgTie("/position/ground-elev-ft", this,
         &FGInterface::get_Runway_altitude); // read-only
@@ -264,36 +268,44 @@ FGInterface::bind ()
         &FGInterface::get_Runway_altitude_m); // read-only
   fgSetArchivable("/position/sea-level-radius-ft");
   fgTie("/position/sea-level-radius-ft", this,
-        &FGInterface::get_Sea_level_radius); // read-only
+        &FGInterface::get_Sea_level_radius,
+        &FGInterface::_set_Sea_level_radius, false);
 
                                // Orientation
   fgTie("/orientation/roll-deg", this,
        &FGInterface::get_Phi_deg,
-       &FGInterface::set_Phi_deg);
+       &FGInterface::set_Phi_deg, false);
   fgSetArchivable("/orientation/roll-deg");
   fgTie("/orientation/pitch-deg", this,
        &FGInterface::get_Theta_deg,
-       &FGInterface::set_Theta_deg);
+       &FGInterface::set_Theta_deg, false);
   fgSetArchivable("/orientation/pitch-deg");
   fgTie("/orientation/heading-deg", this,
        &FGInterface::get_Psi_deg,
-       &FGInterface::set_Psi_deg);
+       &FGInterface::set_Psi_deg, false);
   fgSetArchivable("/orientation/heading-deg");
   fgTie("/orientation/track-deg", this,
-       &FGInterface::get_Track);
+       &FGInterface::get_Track); // read-only
 
   // Body-axis "euler rates" (rotation speed, but in a funny
   // representation).
   fgTie("/orientation/roll-rate-degps", this,
-       &FGInterface::get_Phi_dot_degps);
+       &FGInterface::get_Phi_dot_degps,
+       &FGInterface::set_Phi_dot_degps, false);
   fgTie("/orientation/pitch-rate-degps", this,
-       &FGInterface::get_Theta_dot_degps);
+       &FGInterface::get_Theta_dot_degps,
+       &FGInterface::set_Theta_dot_degps, false);
   fgTie("/orientation/yaw-rate-degps", this,
-       &FGInterface::get_Psi_dot_degps);
+       &FGInterface::get_Psi_dot_degps,
+       &FGInterface::set_Psi_dot_degps, false);
 
+  fgTie("/orientation/p-body", this, &FGInterface::get_P_body); // read-only
+  fgTie("/orientation/q-body", this, &FGInterface::get_Q_body); // read-only
+  fgTie("/orientation/r-body", this, &FGInterface::get_R_body); // read-only
+  
                                 // Ground speed knots
   fgTie("/velocities/groundspeed-kt", this,
-        &FGInterface::get_V_ground_speed_kt);
+        &FGInterface::get_V_ground_speed_kt); // read-only
 
                                // Calibrated airspeed
   fgTie("/velocities/airspeed-kt", this,
@@ -301,6 +313,9 @@ FGInterface::bind ()
        &FGInterface::set_V_calibrated_kts,
        false);
 
+    fgTie("/velocities/equivalent-kt", this,
+        &FGInterface::get_V_equiv_kts); // read-only
+
                                // Mach number
   fgTie("/velocities/mach", this,
        &FGInterface::get_Mach_number,
@@ -325,11 +340,19 @@ FGInterface::bind ()
                                // LaRCSim are fixed (LaRCSim adds the
                                // earth's rotation to the east velocity).
   fgTie("/velocities/speed-north-fps", this,
-       &FGInterface::get_V_north);
+       &FGInterface::get_V_north, &FGInterface::set_V_north, false);
   fgTie("/velocities/speed-east-fps", this,
-       &FGInterface::get_V_east);
+       &FGInterface::get_V_east, &FGInterface::set_V_east, false);
   fgTie("/velocities/speed-down-fps", this,
-       &FGInterface::get_V_down);
+       &FGInterface::get_V_down, &FGInterface::set_V_down, false);
+
+  fgTie("/velocities/north-relground-fps", this,
+    &FGInterface::get_V_north_rel_ground); // read-only
+  fgTie("/velocities/east-relground-fps", this,
+    &FGInterface::get_V_east_rel_ground); // read-only
+  fgTie("/velocities/down-relground-fps", this,
+    &FGInterface::get_V_down_rel_ground); // read-only
+
 
                                // Relative wind
                                // FIXME: temporarily archivable, until
@@ -353,34 +376,37 @@ FGInterface::bind ()
                                // Climb and slip (read-only)
   fgTie("/velocities/vertical-speed-fps", this,
        &FGInterface::get_Climb_Rate,
-  &FGInterface::set_Climb_Rate ); 
+        &FGInterface::set_Climb_Rate, false );
   fgTie("/velocities/glideslope", this,
   &FGInterface::get_Gamma_vert_rad,
-  &FGInterface::set_Gamma_vert_rad );
+  &FGInterface::set_Gamma_vert_rad, false );
   fgTie("/orientation/side-slip-rad", this,
-       &FGInterface::get_Beta); // read-only
+       &FGInterface::get_Beta, &FGInterface::_set_Beta, false);
   fgTie("/orientation/side-slip-deg", this,
   &FGInterface::get_Beta_deg); // read-only
   fgTie("/orientation/alpha-deg", this,
-  &FGInterface::get_Alpha_deg); // read-only
+  &FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg, false);
   fgTie("/accelerations/nlf", this,
   &FGInterface::get_Nlf); // read-only
 
                                 // NED accelerations
   fgTie("/accelerations/ned/north-accel-fps_sec",
-        this, &FGInterface::get_V_dot_north);
+        this, &FGInterface::get_V_dot_north); // read-only
   fgTie("/accelerations/ned/east-accel-fps_sec",
-        this, &FGInterface::get_V_dot_east);
+        this, &FGInterface::get_V_dot_east); // read-only
   fgTie("/accelerations/ned/down-accel-fps_sec",
-        this, &FGInterface::get_V_dot_down);
+        this, &FGInterface::get_V_dot_down); // read-only
 
                                 // Pilot accelerations
   fgTie("/accelerations/pilot/x-accel-fps_sec",
-        this, &FGInterface::get_A_X_pilot);
+        this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot, false);
   fgTie("/accelerations/pilot/y-accel-fps_sec",
-        this, &FGInterface::get_A_Y_pilot);
+        this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot, false);
   fgTie("/accelerations/pilot/z-accel-fps_sec",
-        this, &FGInterface::get_A_Z_pilot);
+        this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot, false);
+        
+  fgTie("/accelerations/n-z-cg-fps_sec",
+        this, &FGInterface::get_N_Z_cg); // read-only
 
 }
 
@@ -394,6 +420,10 @@ FGInterface::bind ()
 void
 FGInterface::unbind ()
 {
+  if (!bound) {
+    return;
+  }
+  
   bound = false;
 
   fgUntie("/position/latitude-deg");
@@ -411,15 +441,22 @@ FGInterface::unbind ()
   fgUntie("/orientation/roll-rate-degps");
   fgUntie("/orientation/pitch-rate-degps");
   fgUntie("/orientation/yaw-rate-degps");
+  fgUntie("/orientation/p-body");
+  fgUntie("/orientation/q-body");
+  fgUntie("/orientation/r-body");
   fgUntie("/orientation/side-slip-rad");
   fgUntie("/orientation/side-slip-deg");
   fgUntie("/orientation/alpha-deg");
   fgUntie("/velocities/airspeed-kt");
   fgUntie("/velocities/groundspeed-kt");
+  fgUntie("/velocities/equivalent-kt");
   fgUntie("/velocities/mach");
   fgUntie("/velocities/speed-north-fps");
   fgUntie("/velocities/speed-east-fps");
   fgUntie("/velocities/speed-down-fps");
+  fgUntie("/velocities/north-relground-fps");
+  fgUntie("/velocities/east-relground-fps");
+  fgUntie("/velocities/down-relground-fps");
   fgUntie("/velocities/uBody-fps");
   fgUntie("/velocities/vBody-fps");
   fgUntie("/velocities/wBody-fps");
@@ -432,6 +469,7 @@ FGInterface::unbind ()
   fgUntie("/accelerations/ned/north-accel-fps_sec");
   fgUntie("/accelerations/ned/east-accel-fps_sec");
   fgUntie("/accelerations/ned/down-accel-fps_sec");
+  fgUntie("/accelerations/n-z-cg-fps_sec");
 }
 
 /**
@@ -893,6 +931,3 @@ FGInterface::release_wire(void)
   ground_cache.release_wire();
 }
 
-void fgToggleFDMdataLogging(void) {
-  cur_fdm_state->ToggleDataLogging();
-}
Personal clone of the FlightGear source code, the free-libre OpenSource flight simulator.