-// flight.c -- a general interface to the various flight models
+// flight.cxx -- a general interface to the various flight models
//
// Written by Curtis Olson, started May 1997.
//
#include <stdio.h>
+#include <plib/sg.h>
+
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
-#include <simgear/math/fg_geodesy.hxx>
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/timing/timestamp.hxx>
+#include <Scenery/scenery.hxx>
#include <FDM/LaRCsim/ls_interface.h>
-#include <Main/options.hxx>
-#include <Time/timestamp.hxx>
+#include <Main/globals.hxx>
+#include <Main/fg_props.hxx>
#include "External.hxx"
#include "flight.hxx"
// world time, so we introduce cur_fdm_state which is extrapolated by
// the difference between sim time and real world time
-FGInterface *cur_fdm_state;
+FGInterface *cur_fdm_state = 0;
FGInterface base_fdm_state;
+inline void init_vec(FG_VECTOR_3 vec) {
+ vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0;
+}
// Constructor
-FGInterface::FGInterface(void) {
- mass=i_xx=i_yy=i_zz=i_xz=0;
- nlf=0;
- v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
- v_ground_speed=v_equiv=v_equiv_kts=0;
- v_calibrated=v_calibrated_kts=0;
- gravity=0;
- centrifugal_relief=0;
- alpha=beta=alpha_dot=beta_dot=0;
- cos_alpha=sin_alpha=cos_beta=sin_beta=0;
- cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
- gamma_vert_rad=gamma_horiz_rad=0;
- sigma=density=v_sound=mach_number=0;
- static_pressure=total_pressure=impact_pressure=0;
- dynamic_pressure=0;
- static_temperature=total_temperature=0;
- sea_level_radius=earth_position_angle=0;
- runway_altitude=runway_latitude=runway_longitude=0;
- runway_heading=0;
- radius_to_rwy=0;
- climb_rate=0;
- sin_lat_geocentric=cos_lat_geocentric=0;
- sin_longitude=cos_longitude=0;
-}
+FGInterface::FGInterface() {
+ _setup();
+}
+FGInterface::FGInterface( double dt ) {
+ _setup();
+ delta_t = dt;
+ remainder = elapsed = multi_loop = 0;
+}
// Destructor
FGInterface::~FGInterface() {
+ // unbind(); // FIXME: should be called explicitly
+}
+
+
+/**
+ * Set default values for the state of the FDM.
+ *
+ * This method is invoked by the constructors.
+ */
+void
+FGInterface::_setup ()
+{
+ inited = false;
+ bound = false;
+
+ init_vec( d_pilot_rp_body_v );
+ init_vec( d_cg_rp_body_v );
+ init_vec( f_body_total_v );
+ init_vec( f_local_total_v );
+ init_vec( f_aero_v );
+ init_vec( f_engine_v );
+ init_vec( f_gear_v );
+ init_vec( m_total_rp_v );
+ init_vec( m_total_cg_v );
+ init_vec( m_aero_v );
+ init_vec( m_engine_v );
+ init_vec( m_gear_v );
+ init_vec( v_dot_local_v );
+ init_vec( v_dot_body_v );
+ init_vec( a_cg_body_v );
+ init_vec( a_pilot_body_v );
+ init_vec( n_cg_body_v );
+ init_vec( n_pilot_body_v );
+ init_vec( omega_dot_body_v );
+ init_vec( v_local_v );
+ init_vec( v_local_rel_ground_v );
+ init_vec( v_local_airmass_v );
+ init_vec( v_local_rel_airmass_v );
+ init_vec( v_local_gust_v );
+ init_vec( v_wind_body_v );
+ init_vec( omega_body_v );
+ init_vec( omega_local_v );
+ init_vec( omega_total_v );
+ init_vec( euler_rates_v );
+ init_vec( geocentric_rates_v );
+ init_vec( geocentric_position_v );
+ init_vec( geodetic_position_v );
+ init_vec( euler_angles_v );
+ init_vec( d_cg_rwy_local_v );
+ init_vec( d_cg_rwy_rwy_v );
+ init_vec( d_pilot_rwy_local_v );
+ init_vec( d_pilot_rwy_rwy_v );
+ init_vec( t_local_to_body_m[0] );
+ init_vec( t_local_to_body_m[1] );
+ init_vec( t_local_to_body_m[2] );
+
+ mass=i_xx=i_yy=i_zz=i_xz=0;
+ nlf=0;
+ v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
+ v_ground_speed=v_equiv=v_equiv_kts=0;
+ v_calibrated=v_calibrated_kts=0;
+ gravity=0;
+ centrifugal_relief=0;
+ alpha=beta=alpha_dot=beta_dot=0;
+ cos_alpha=sin_alpha=cos_beta=sin_beta=0;
+ cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
+ gamma_vert_rad=gamma_horiz_rad=0;
+ sigma=density=v_sound=mach_number=0;
+ static_pressure=total_pressure=impact_pressure=0;
+ dynamic_pressure=0;
+ static_temperature=total_temperature=0;
+ sea_level_radius=earth_position_angle=0;
+ runway_altitude=runway_latitude=runway_longitude=0;
+ runway_heading=0;
+ radius_to_rwy=0;
+ climb_rate=0;
+ sin_lat_geocentric=cos_lat_geocentric=0;
+ sin_latitude=cos_latitude=0;
+ sin_longitude=cos_longitude=0;
+ altitude_agl=0;
+}
+
+void
+FGInterface::init () {}
+
+/**
+ * Initialize the state of the FDM.
+ *
+ * Subclasses of FGInterface may do their own, additional initialization,
+ * but there is some that is common to all. Normally, they should call
+ * this before they begin their own init to make sure the basic structures
+ * are set up properly.
+ */
+void
+FGInterface::common_init ()
+{
+ SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
+
+ set_inited( true );
+
+ stamp();
+ set_remainder( 0 );
+
+ // Set initial position
+ SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
+ set_Longitude( fgGetDouble("/position/longitude-deg")
+ * SGD_DEGREES_TO_RADIANS );
+ set_Latitude( fgGetDouble("/position/latitude-deg")
+ * SGD_DEGREES_TO_RADIANS );
+ double ground_elev_m = scenery.get_cur_elev();
+ double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
+ if ( fgGetBool("/sim/startup/onground")
+ || fgGetDouble("/position/altitude-ft") < ground_elev_ft ) {
+ fgSetDouble("/position/altitude-ft", ground_elev_ft);
+ }
+ set_Altitude( fgGetDouble("/position/altitude-ft") );
+
+ // Set ground elevation
+ SG_LOG( SG_FLIGHT, SG_INFO,
+ "...initializing ground elevation to " << ground_elev_ft
+ << "ft..." );
+
+ // Set sea-level radius
+ SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
+ SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
+ << fgGetDouble("/position/latitude-deg")
+ << " alt = " << fgGetDouble("/position/altitude-ft") );
+ double sea_level_radius_meters;
+ double lat_geoc;
+ sgGeodToGeoc( fgGetDouble("/position/latitude-deg")
+ * SGD_DEGREES_TO_RADIANS,
+ fgGetDouble("/position/altitude-ft") * SG_FEET_TO_METER,
+ &sea_level_radius_meters, &lat_geoc );
+ _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
+
+ // Set initial velocities
+ SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
+ if ( !fgHasNode("/sim/startup/speed-set") ) {
+ set_V_calibrated_kts(0.0);
+ } else {
+ const string speedset = fgGetString("/sim/startup/speed-set");
+ if ( speedset == "knots" || speedset == "KNOTS" ) {
+ set_V_calibrated_kts( fgGetDouble("/velocities/airspeed-kt") );
+ } else if ( speedset == "mach" || speedset == "MACH" ) {
+ set_Mach_number( fgGetDouble("/velocities/mach") );
+ } else if ( speedset == "UVW" || speedset == "uvw" ) {
+ set_Velocities_Wind_Body(
+ fgGetDouble("/velocities/uBody-fps"),
+ fgGetDouble("/velocities/vBody-fps"),
+ fgGetDouble("/velocities/wBody-fps") );
+ } else if ( speedset == "NED" || speedset == "ned" ) {
+ set_Velocities_Local(
+ fgGetDouble("/velocities/speed-north-fps"),
+ fgGetDouble("/velocities/speed-east-fps"),
+ fgGetDouble("/velocities/speed-down-fps") );
+ } else {
+ SG_LOG( SG_FLIGHT, SG_ALERT,
+ "Unrecognized value for /sim/startup/speed-set: "
+ << speedset);
+ set_V_calibrated_kts( 0.0 );
+ }
+ }
+
+ // Set initial Euler angles
+ SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
+ set_Euler_Angles( fgGetDouble("/orientation/roll-deg")
+ * SGD_DEGREES_TO_RADIANS,
+ fgGetDouble("/orientation/pitch-deg")
+ * SGD_DEGREES_TO_RADIANS,
+ fgGetDouble("/orientation/heading-deg")
+ * SGD_DEGREES_TO_RADIANS );
+
+ SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
}
-int FGInterface::init( double dt ) {
- cout << "dummy init() ... SHOULDN'T BE CALLED!" << endl;
- return 0;
+/**
+ * Bind getters and setters to properties.
+ *
+ * The bind() method will be invoked after init(). Note that unlike
+ * the usual implementations of FGSubsystem::bind(), this method does
+ * not automatically pick up existing values for the properties at
+ * bind time; instead, all values are set explicitly in the init()
+ * method.
+ */
+void
+FGInterface::bind ()
+{
+ bound = true;
+
+ // Time management (read-only)
+ fgTie("/fdm/time/delta_t", this,
+ &FGInterface::get_delta_t); // read-only
+ fgTie("/fdm/time/elapsed", this,
+ &FGInterface::get_elapsed); // read-only
+ fgTie("/fdm/time/remainder", this,
+ &FGInterface::get_remainder); // read-only
+ fgTie("/fdm/time/multi_loop", this,
+ &FGInterface::get_multi_loop); // read-only
+
+ // Aircraft position
+ fgTie("/position/latitude-deg", this,
+ &FGInterface::get_Latitude_deg,
+ &FGInterface::set_Latitude_deg,
+ false);
+ fgSetArchivable("/position/latitude-deg");
+ fgTie("/position/longitude-deg", this,
+ &FGInterface::get_Longitude_deg,
+ &FGInterface::set_Longitude_deg,
+ false);
+ fgSetArchivable("/position/longitude-deg");
+ fgTie("/position/altitude-ft", this,
+ &FGInterface::get_Altitude,
+ &FGInterface::set_Altitude,
+ false);
+ fgSetArchivable("/position/altitude-ft");
+ fgTie("/position/altitude-agl-ft", this,
+ &FGInterface::get_Altitude_AGL); // read-only
+
+ // Orientation
+ fgTie("/orientation/roll-deg", this,
+ &FGInterface::get_Phi_deg,
+ &FGInterface::set_Phi_deg);
+ fgSetArchivable("/orientation/roll-deg");
+ fgTie("/orientation/pitch-deg", this,
+ &FGInterface::get_Theta_deg,
+ &FGInterface::set_Theta_deg);
+ fgSetArchivable("/orientation/pitch-deg");
+ fgTie("/orientation/heading-deg", this,
+ &FGInterface::get_Psi_deg,
+ &FGInterface::set_Psi_deg);
+ fgSetArchivable("/orientation/heading-deg");
+
+ // Calibrated airspeed
+ fgTie("/velocities/airspeed-kt", this,
+ &FGInterface::get_V_calibrated_kts,
+ &FGInterface::set_V_calibrated_kts,
+ false);
+
+ // Local velocities
+// fgTie("/velocities/speed-north-fps", this,
+// &FGInterface::get_V_north,
+// &FGInterface::set_V_north);
+// fgSetArchivable("/velocities/speed-north-fps");
+// fgTie("/velocities/speed-east-fps", this,
+// &FGInterface::get_V_east,
+// &FGInterface::set_V_east);
+// fgSetArchivable("/velocities/speed-east-fps");
+// fgTie("/velocities/speed-down-fps", this,
+// &FGInterface::get_V_down,
+// &FGInterface::set_V_down);
+// fgSetArchivable("/velocities/speed-down-fps");
+ // FIXME: Temporarily read-only, until the
+ // incompatibilities between JSBSim and
+ // LaRCSim are fixed (LaRCSim adds the
+ // earth's rotation to the east velocity).
+ fgTie("/velocities/speed-north-fps", this,
+ &FGInterface::get_V_north);
+ fgTie("/velocities/speed-east-fps", this,
+ &FGInterface::get_V_east);
+ fgTie("/velocities/speed-down-fps", this,
+ &FGInterface::get_V_down);
+
+ // Relative wind
+ // FIXME: temporarily archivable, until
+ // the NED problem is fixed.
+ fgTie("/velocities/uBody-fps", this,
+ &FGInterface::get_uBody,
+ &FGInterface::set_uBody,
+ false);
+ fgSetArchivable("/velocities/uBody-fps");
+ fgTie("/velocities/vBody-fps", this,
+ &FGInterface::get_vBody,
+ &FGInterface::set_vBody,
+ false);
+ fgSetArchivable("/velocities/vBody-fps");
+ fgTie("/velocities/wBody-fps", this,
+ &FGInterface::get_wBody,
+ &FGInterface::set_wBody,
+ false);
+ fgSetArchivable("/velocities/wBody-fps");
+
+ // Climb and slip (read-only)
+ fgTie("/velocities/vertical-speed-fps", this,
+ &FGInterface::get_Climb_Rate,
+ &FGInterface::set_Climb_Rate );
+ fgTie("/velocities/glideslope", this,
+ &FGInterface::get_Gamma_vert_rad,
+ &FGInterface::set_Gamma_vert_rad );
+ fgTie("/velocities/side-slip-rad", this,
+ &FGInterface::get_Beta); // read-only
+ fgTie("/velocities/side-slip-deg", this,
+ &FGInterface::get_Beta_deg); // read-only
+ fgTie("/velocities/alpha-deg", this,
+ &FGInterface::get_Alpha_deg); // read-only
+ fgTie("/accelerations/nlf", this,
+ &FGInterface::get_Nlf); // read-only
}
-int FGInterface::update( int multi_loop ) {
+/**
+ * Unbind any properties bound to this FDM.
+ *
+ * This method allows the FDM to release properties so that a new
+ * FDM can bind them instead.
+ */
+void
+FGInterface::unbind ()
+{
+ bound = false;
+
+ fgUntie("/fdm/time/delta_t");
+ fgUntie("/fdm/time/elapsed");
+ fgUntie("/fdm/time/remainder");
+ fgUntie("/fdm/time/multi_loop");
+ fgUntie("/position/latitude-deg");
+ fgUntie("/position/longitude-deg");
+ fgUntie("/position/altitude-ft");
+ fgUntie("/position/altitude-agl-ft");
+ fgUntie("/orientation/heading-deg");
+ fgUntie("/orientation/pitch-deg");
+ fgUntie("/orientation/roll-deg");
+ fgUntie("/velocities/airspeed-kt");
+ fgUntie("/velocities/speed-north-fps");
+ fgUntie("/velocities/speed-east-fps");
+ fgUntie("/velocities/speed-down-fps");
+ fgUntie("/velocities/uBody-fps");
+ fgUntie("/velocities/vBody-fps");
+ fgUntie("/velocities/wBody-fps");
+ fgUntie("/velocities/vertical-speed-fps");
+ fgUntie("/velocities/glideslope");
+ fgUntie("/velocities/side-slip-rad");
+ fgUntie("/velocities/side-slip-deg");
+ fgUntie("/velocities/alpha-deg");
+ fgUntie("/accelerations/nlf");
+
+}
+
+/**
+ * Update the state of the FDM (i.e. run the equations of motion).
+ */
+void
+FGInterface::update (int dt)
+{
cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl;
- return 0;
+}
+
+
+void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
+{
+ double lat_geoc, sl_radius;
+
+ // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
+
+ sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc );
+
+ SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
+ << " lat_geod = " << lat
+ << " lat_geoc = " << lat_geoc
+ << " alt = " << alt
+ << " sl_radius = " << sl_radius * SG_METER_TO_FEET
+ << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
+
+ _set_Geocentric_Position( lat_geoc, lon,
+ sl_radius * SG_METER_TO_FEET + alt );
+
+ _set_Geodetic_Position( lat, lon, alt );
+
+ _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
+ _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
+
+ _set_sin_lat_geocentric( lat_geoc );
+ _set_cos_lat_geocentric( lat_geoc );
+
+ _set_sin_cos_longitude( lon );
+
+ _set_sin_cos_latitude( lat );
+
+ /* Norman's code for slope of the terrain */
+ /* needs to be tested -- get it on the HUD and taxi around */
+ /* double *tnorm = scenery.cur_normal;
+
+ double sy = sin ( -get_Psi() ) ;
+ double cy = cos ( -get_Psi() ) ;
+
+ double phitb, thetatb, psitb;
+ if ( tnorm[1] != 0.0 ) {
+ psitb = -atan2 ( tnorm[0], tnorm[1] );
+ }
+ if ( tnorm[2] != 0.0 ) {
+ thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
+ phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
+ }
+
+ _set_terrain_slope(phitb, thetatb, psitb)
+ */
+}
+
+
+void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon,
+ double alt )
+{
+ double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
+
+ // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
+
+ sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
+ &lat_geod, &tmp_alt, &sl_radius1 );
+ sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
+
+ SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
+ << " lat_geod = " << lat_geod
+ << " lat_geoc = " << lat_geoc
+ << " alt = " << alt
+ << " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
+ << " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
+ << " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
+ << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
+
+ _set_Geocentric_Position( lat_geoc, lon,
+ sl_radius2 * SG_METER_TO_FEET + alt );
+
+ _set_Geodetic_Position( lat_geod, lon, alt );
+
+ _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
+ _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
+
+ _set_sin_lat_geocentric( lat_geoc );
+ _set_cos_lat_geocentric( lat_geoc );
+
+ _set_sin_cos_longitude( lon );
+
+ _set_sin_cos_latitude( lat_geod );
+
+ /* Norman's code for slope of the terrain */
+ /* needs to be tested -- get it on the HUD and taxi around */
+ /* double *tnorm = scenery.cur_normal;
+
+ double sy = sin ( -get_Psi() ) ;
+ double cy = cos ( -get_Psi() ) ;
+
+ double phitb, thetatb, psitb;
+ if ( tnorm[1] != 0.0 ) {
+ psitb = -atan2 ( tnorm[0], tnorm[1] );
+ }
+ if ( tnorm[2] != 0.0 ) {
+ thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
+ phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
+ }
+
+ _set_terrain_slope(phitb, thetatb, psitb)
+ */
}
geocentric_position_v[2] = radius;
}
+// Positions
+void FGInterface::set_Latitude(double lat) {
+ geodetic_position_v[0] = lat;
+}
-// Set the altitude (force)
-void fgFDMForceAltitude(int model, double alt_meters) {
- double sea_level_radius_meters;
- double lat_geoc;
+void FGInterface::set_Longitude(double lon) {
+ geodetic_position_v[1] = lon;
+}
+
+void FGInterface::set_Altitude(double alt) {
+ geodetic_position_v[2] = alt;
+}
- // Set the FG variables first
- fgGeodToGeoc( base_fdm_state.get_Latitude(), alt_meters,
- &sea_level_radius_meters, &lat_geoc);
+void FGInterface::set_AltitudeAGL(double altagl) {
+ altitude_agl=altagl;
+}
- base_fdm_state.set_Altitude( alt_meters * METER_TO_FEET );
- base_fdm_state.set_Radius_to_vehicle( base_fdm_state.get_Altitude() +
- (sea_level_radius_meters *
- METER_TO_FEET) );
+// Velocities
+void FGInterface::set_V_calibrated_kts(double vc) {
+ v_calibrated_kts = vc;
+}
- // additional work needed for some flight models
- if ( model == FGInterface::FG_LARCSIM ) {
- ls_ForceAltitude( base_fdm_state.get_Altitude() );
- }
+void FGInterface::set_Mach_number(double mach) {
+ mach_number = mach;
+}
+
+void FGInterface::set_Velocities_Local( double north,
+ double east,
+ double down ){
+ v_local_v[0] = north;
+ v_local_v[1] = east;
+ v_local_v[2] = down;
+}
+
+void FGInterface::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;
+}
+
+// Euler angles
+void FGInterface::set_Euler_Angles( double phi,
+ double theta,
+ double psi ) {
+ euler_angles_v[0] = phi;
+ euler_angles_v[1] = theta;
+ euler_angles_v[2] = psi;
+}
+
+// Flight Path
+void FGInterface::set_Climb_Rate( double roc) {
+ climb_rate = roc;
+}
+
+void FGInterface::set_Gamma_vert_rad( double gamma) {
+ gamma_vert_rad = gamma;
}
+void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
+void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
+void FGInterface::set_Density(double rho) { density = rho; }
-// Set the local ground elevation
-void fgFDMSetGroundElevation(int model, double ground_meters) {
- base_fdm_state.set_Runway_altitude( ground_meters * METER_TO_FEET );
- cur_fdm_state->set_Runway_altitude( ground_meters * METER_TO_FEET );
+void FGInterface::set_Velocities_Local_Airmass (double wnorth,
+ double weast,
+ double wdown ) {
+ v_local_airmass_v[0] = wnorth;
+ v_local_airmass_v[1] = weast;
+ v_local_airmass_v[2] = wdown;
}
+void FGInterface::_busdump(void) {
+
+ SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rp_body_v[3]: " << d_pilot_rp_body_v[0] << ", " << d_pilot_rp_body_v[1] << ", " << d_pilot_rp_body_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v[3]: " << d_cg_rp_body_v[0] << ", " << d_cg_rp_body_v[1] << ", " << d_cg_rp_body_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"f_body_total_v[3]: " << f_body_total_v[0] << ", " << f_body_total_v[1] << ", " << f_body_total_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"f_local_total_v[3]: " << f_local_total_v[0] << ", " << f_local_total_v[1] << ", " << f_local_total_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"m_total_rp_v[3]: " << m_total_rp_v[0] << ", " << m_total_rp_v[1] << ", " << m_total_rp_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"m_total_cg_v[3]: " << m_total_cg_v[0] << ", " << m_total_cg_v[1] << ", " << m_total_cg_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v[3]: " << v_dot_local_v[0] << ", " << v_dot_local_v[1] << ", " << v_dot_local_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v[3]: " << v_dot_body_v[0] << ", " << v_dot_body_v[1] << ", " << v_dot_body_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v[3]: " << a_cg_body_v[0] << ", " << a_cg_body_v[1] << ", " << a_cg_body_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v[3]: " << a_pilot_body_v[0] << ", " << a_pilot_body_v[1] << ", " << a_pilot_body_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v[3]: " << n_cg_body_v[0] << ", " << n_cg_body_v[1] << ", " << n_cg_body_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"n_pilot_body_v[3]: " << n_pilot_body_v[0] << ", " << n_pilot_body_v[1] << ", " << n_pilot_body_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"omega_dot_body_v[3]: " << omega_dot_body_v[0] << ", " << omega_dot_body_v[1] << ", " << omega_dot_body_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v[3]: " << v_local_rel_ground_v[0] << ", " << v_local_rel_ground_v[1] << ", " << v_local_rel_ground_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v[3]: " << v_local_airmass_v[0] << ", " << v_local_airmass_v[1] << ", " << v_local_airmass_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_airmass_v[3]: " << v_local_rel_airmass_v[0] << ", " << v_local_rel_airmass_v[1] << ", " << v_local_rel_airmass_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_local_gust_v[3]: " << v_local_gust_v[0] << ", " << v_local_gust_v[1] << ", " << v_local_gust_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_wind_body_v[3]: " << v_wind_body_v[0] << ", " << v_wind_body_v[1] << ", " << v_wind_body_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rwy_local_v[3]: " << d_cg_rwy_local_v[0] << ", " << d_cg_rwy_local_v[1] << ", " << d_cg_rwy_local_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rwy_rwy_v[3]: " << d_cg_rwy_rwy_v[0] << ", " << d_cg_rwy_rwy_v[1] << ", " << d_cg_rwy_rwy_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rwy_local_v[3]: " << d_pilot_rwy_local_v[0] << ", " << d_pilot_rwy_local_v[1] << ", " << d_pilot_rwy_local_v[2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rwy_rwy_v[3]: " << d_pilot_rwy_rwy_v[0] << ", " << d_pilot_rwy_rwy_v[1] << ", " << d_pilot_rwy_rwy_v[2]);
+
+ SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[0][3]: " << t_local_to_body_m[0][0] << ", " << t_local_to_body_m[0][1] << ", " << t_local_to_body_m[0][2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[1][3]: " << t_local_to_body_m[1][0] << ", " << t_local_to_body_m[1][1] << ", " << t_local_to_body_m[1][2]);
+ SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[2][3]: " << t_local_to_body_m[2][0] << ", " << t_local_to_body_m[2][1] << ", " << t_local_to_body_m[2][2]);
+
+ SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass );
+ SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx );
+ SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy );
+ SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz );
+ SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz );
+ SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground );
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial );
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv );
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated );
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
+ SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity );
+ SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief );
+ SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
+ SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
+ SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot );
+ SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot );
+ SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha );
+ SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha );
+ SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta );
+ SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta );
+ SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi );
+ SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi );
+ SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta );
+ SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta );
+ SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi );
+ SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi );
+ SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
+ SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
+ SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma );
+ SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound );
+ SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
+ SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
+ SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
+ SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure );
+ SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
+ SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
+ SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
+ SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
+ SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
+ SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
+ SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude );
+ SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude );
+ SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading );
+ SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy );
+ SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
+ SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
+ SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
+ SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude );
+ SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude );
+ SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
+ SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
+ SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
+}
+
+
+void fgToggleFDMdataLogging(void) {
+ cur_fdm_state->ToggleDataLogging();
+}
projects / flightgear.git / blobdiff