#define _FLIGHT_HXX
-#ifndef __cplusplus
+#ifndef __cplusplus
# error This library requires C++
-#endif
+#endif
/* Required get_()
*/
+#include <simgear/compiler.h>
+
#include <math.h>
+#include <list>
+#include <vector>
+
#include <Time/timestamp.hxx>
-#ifndef __cplusplus
-# error This library requires C++
-#endif
+FG_USING_STD(list);
+FG_USING_STD(vector);
typedef double FG_VECTOR_3[3];
+class FGEngInterface {
+
+private:
+
+ // inputs
+ double Throttle;
+ double Mixture;
+ double Prop_Advance;
+
+ // outputs
+ double RPM;
+ double Manifold_Pressure;
+ double MaxHP;
+ double Percentage_Power;
+ double EGT;
+ double prop_thrust;
+
+public:
+
+ inline double get_Throttle() const { return Throttle; }
+ inline double get_Mixture() const { return Mixture; }
+ inline double get_Prop_Advance() const { return Prop_Advance; }
+ inline double get_RPM() const { return RPM; }
+ inline double get_Manifold_Pressure() const { return Manifold_Pressure; }
+ inline double get_MaxHP() const { return MaxHP; }
+ inline double get_Percentage_Power() const { return Percentage_Power; }
+ inline double get_EGT() const { return EGT; }
+ inline double get_prop_thrust() const { return prop_thrust; }
+
+ inline void set_Throttle( double t ) { Throttle = t; }
+ inline void set_Mixture( double m ) { Mixture = m; }
+ inline void set_Prop_Advance( double p ) { Prop_Advance = p; }
+ inline void set_RPM( double r ) { RPM = r; }
+ inline void set_Manifold_Pressure( double mp ) { Manifold_Pressure = mp; }
+ inline void set_MaxHP( double hp ) { MaxHP = hp; }
+ inline void set_Percentage_Power( double p ) { Percentage_Power = p; }
+ inline void set_EGT( double e ) { EGT = e; }
+ inline void set_prop_thrust( double t ) { prop_thrust = t; }
+
+};
+
+typedef vector < FGEngInterface > engine_list;
+
+
// This is based heavily on LaRCsim/ls_generic.h
class FGInterface {
+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;
+
+ // Engine list
+ engine_list engines;
+
+ FGTimeStamp valid_stamp; // time this record is valid
+ FGTimeStamp next_stamp; // time this record is valid
+
public:
+
+ FGInterface(void);
+ virtual ~FGInterface();
+
+ virtual int init( double dt );
+ virtual int update( int multi_loop );
// Define the various supported flight models (many not yet implemented)
enum {
- // Slew (in MS terminology)
- FG_SLEW = 0,
-
+ // Magic Carpet mode
+ FG_MAGICCARPET = 0,
+
// The NASA LaRCsim (Navion) flight model
FG_LARCSIM = 1,
// Jon S. Berndt's new FDM written from the ground up in C++
FG_JSBSIM = 2,
+ // Christian's hot air balloon simulation
+ FG_BALLOONSIM = 3,
+
// The following aren't implemented but are here to spark
// thoughts and discussions, and maybe even action.
- FG_ACM = 3,
- FG_SUPER_SONIC = 4,
- FG_HELICOPTER = 5,
- FG_AUTOGYRO = 6,
- FG_BALLOON = 7,
+ FG_ACM = 4,
+ FG_SUPER_SONIC = 5,
+ FG_HELICOPTER = 6,
+ FG_AUTOGYRO = 7,
FG_PARACHUTE = 8,
// Driven externally via a serial port, net, file, etc.
FG_EXTERNAL = 9
};
-/*================== Mass properties and geometry values ==================*/
+ // ========== Mass properties and geometry values ==========
// Inertias
- double mass, i_xx, i_yy, i_zz, i_xz;
inline double get_Mass() const { return mass; }
inline double get_I_xx() const { return i_xx; }
inline double get_I_yy() const { return i_yy; }
i_zz = zz;
i_xz = xz;
}
-
+
// Pilot location rel to ref pt
- FG_VECTOR_3 d_pilot_rp_body_v;
- // inline double * get_D_pilot_rp_body_v() {
- // return d_pilot_rp_body_v;
+ // inline double * get_D_pilot_rp_body_v() {
+ // return d_pilot_rp_body_v;
// }
// inline double get_Dx_pilot() const { return d_pilot_rp_body_v[0]; }
// inline double get_Dy_pilot() const { return d_pilot_rp_body_v[1]; }
} */
// CG position w.r.t. ref. point
- FG_VECTOR_3 d_cg_rp_body_v;
// inline double * get_D_cg_rp_body_v() { return d_cg_rp_body_v; }
inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; }
inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; }
d_cg_rp_body_v[2] = dz;
}
-/*================================ Forces =================================*/
+ // ========== Forces ==========
- FG_VECTOR_3 f_body_total_v;
// inline double * get_F_body_total_v() { return f_body_total_v; }
// inline double get_F_X() const { return f_body_total_v[0]; }
// inline double get_F_Y() const { return f_body_total_v[1]; }
f_body_total_v[2] = z;
} */
- FG_VECTOR_3 f_local_total_v;
// inline double * get_F_local_total_v() { return f_local_total_v; }
// inline double get_F_north() const { return f_local_total_v[0]; }
// inline double get_F_east() const { return f_local_total_v[1]; }
f_local_total_v[2] = z;
} */
- FG_VECTOR_3 f_aero_v;
// inline double * get_F_aero_v() { return f_aero_v; }
// inline double get_F_X_aero() const { return f_aero_v[0]; }
// inline double get_F_Y_aero() const { return f_aero_v[1]; }
f_aero_v[2] = z;
} */
- FG_VECTOR_3 f_engine_v;
// inline double * get_F_engine_v() { return f_engine_v; }
// inline double get_F_X_engine() const { return f_engine_v[0]; }
// inline double get_F_Y_engine() const { return f_engine_v[1]; }
f_engine_v[2] = z;
} */
- FG_VECTOR_3 f_gear_v;
// inline double * get_F_gear_v() { return f_gear_v; }
// inline double get_F_X_gear() const { return f_gear_v[0]; }
// inline double get_F_Y_gear() const { return f_gear_v[1]; }
f_gear_v[2] = z;
} */
- /*================================ Moments ================================*/
+ // ========== Moments ==========
- FG_VECTOR_3 m_total_rp_v;
// inline double * get_M_total_rp_v() { return m_total_rp_v; }
// inline double get_M_l_rp() const { return m_total_rp_v[0]; }
// inline double get_M_m_rp() const { return m_total_rp_v[1]; }
m_total_rp_v[2] = n;
} */
- FG_VECTOR_3 m_total_cg_v;
// inline double * get_M_total_cg_v() { return m_total_cg_v; }
// inline double get_M_l_cg() const { return m_total_cg_v[0]; }
// inline double get_M_m_cg() const { return m_total_cg_v[1]; }
m_total_cg_v[2] = n;
} */
- FG_VECTOR_3 m_aero_v;
// inline double * get_M_aero_v() { return m_aero_v; }
// inline double get_M_l_aero() const { return m_aero_v[0]; }
// inline double get_M_m_aero() const { return m_aero_v[1]; }
m_aero_v[2] = n;
} */
- FG_VECTOR_3 m_engine_v;
// inline double * get_M_engine_v() { return m_engine_v; }
// inline double get_M_l_engine() const { return m_engine_v[0]; }
// inline double get_M_m_engine() const { return m_engine_v[1]; }
m_engine_v[2] = n;
} */
- FG_VECTOR_3 m_gear_v;
// inline double * get_M_gear_v() { return m_gear_v; }
// inline double get_M_l_gear() const { return m_gear_v[0]; }
// inline double get_M_m_gear() const { return m_gear_v[1]; }
m_gear_v[2] = n;
} */
- /*============================== Accelerations ============================*/
+ // ========== Accelerations ==========
- FG_VECTOR_3 v_dot_local_v;
// inline double * get_V_dot_local_v() { return v_dot_local_v; }
- // inline double get_V_dot_north() const { return v_dot_local_v[0]; }
- // inline double get_V_dot_east() const { return v_dot_local_v[1]; }
- // inline double get_V_dot_down() const { return v_dot_local_v[2]; }
- /* inline void set_Accels_Local( double north, double east, double down ) {
+ inline double get_V_dot_north() const { return v_dot_local_v[0]; }
+ inline double get_V_dot_east() const { return v_dot_local_v[1]; }
+ inline double get_V_dot_down() const { return v_dot_local_v[2]; }
+ 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;
- } */
+ }
- FG_VECTOR_3 v_dot_body_v;
// inline double * get_V_dot_body_v() { return v_dot_body_v; }
- // inline double get_U_dot_body() const { return v_dot_body_v[0]; }
- // inline double get_V_dot_body() const { return v_dot_body_v[1]; }
- // inline double get_W_dot_body() const { return v_dot_body_v[2]; }
- /* inline void set_Accels_Body( double u, double v, double w ) {
- v_dot_local_v[0] = u;
- v_dot_local_v[1] = v;
- v_dot_local_v[2] = w;
- } */
+ inline double get_U_dot_body() const { return v_dot_body_v[0]; }
+ inline double get_V_dot_body() const { return v_dot_body_v[1]; }
+ inline double get_W_dot_body() const { return v_dot_body_v[2]; }
+ 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;
+ }
- FG_VECTOR_3 a_cg_body_v;
// inline double * get_A_cg_body_v() { return a_cg_body_v; }
- // inline double get_A_X_cg() const { return a_cg_body_v[0]; }
- // inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
- // inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
- /* inline void set_Accels_CG_Body( double x, double y, double z ) {
+ inline double get_A_X_cg() const { return a_cg_body_v[0]; }
+ inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
+ inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
+ 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;
- } */
+ }
- FG_VECTOR_3 a_pilot_body_v;
// inline double * get_A_pilot_body_v() { return a_pilot_body_v; }
- // inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
- // inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
- // inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
- /* inline void set_Accels_Pilot_Body( double x, double y, double z ) {
+ inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
+ inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
+ inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
+ 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;
- } */
+ }
- FG_VECTOR_3 n_cg_body_v;
// inline double * get_N_cg_body_v() { return n_cg_body_v; }
// inline double get_N_X_cg() const { return n_cg_body_v[0]; }
// inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
// inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
- /* 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;
- } */
+ // 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;
+ // }
- FG_VECTOR_3 n_pilot_body_v;
// inline double * get_N_pilot_body_v() { return n_pilot_body_v; }
// inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
// inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; }
// inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; }
- /* inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
- n_pilot_body_v[0] = x;
- n_pilot_body_v[1] = y;
- n_pilot_body_v[2] = z;
- } */
+ // inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
+ // n_pilot_body_v[0] = x;
+ // n_pilot_body_v[1] = y;
+ // n_pilot_body_v[2] = z;
+ // }
+
+ double get_Nlf(void) { return nlf; }
+ void set_Nlf(double n) { nlf=n; }
- FG_VECTOR_3 omega_dot_body_v;
// inline double * get_Omega_dot_body_v() { return omega_dot_body_v; }
// inline double get_P_dot_body() const { return omega_dot_body_v[0]; }
// inline double get_Q_dot_body() const { return omega_dot_body_v[1]; }
} */
- /*============================== Velocities ===============================*/
+ // ========== Velocities ==========
- FG_VECTOR_3 v_local_v;
// inline double * get_V_local_v() { return v_local_v; }
inline double get_V_north() const { return v_local_v[0]; }
inline double get_V_east() const { return v_local_v[1]; }
v_local_v[2] = down;
}
- FG_VECTOR_3 v_local_rel_ground_v; // V rel w.r.t. earth surface
- // inline double * get_V_local_rel_ground_v() { return v_local_rel_ground_v; }
+ // inline double * get_V_local_rel_ground_v() {
+ // return v_local_rel_ground_v;
+ // }
// inline double get_V_north_rel_ground() const {
- // return v_local_rel_ground_v[0];
- // }
+ // return v_local_rel_ground_v[0];
+ // }
// inline double get_V_east_rel_ground() const {
- // return v_local_rel_ground_v[1];
- // }
+ // return v_local_rel_ground_v[1];
+ // }
// inline double get_V_down_rel_ground() const {
- // return v_local_rel_ground_v[2];
- // }
- /* 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;
- } */
+ // return v_local_rel_ground_v[2];
+ // }
+ // 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;
+ // }
- FG_VECTOR_3 v_local_airmass_v; // velocity of airmass (steady winds)
// inline double * get_V_local_airmass_v() { return v_local_airmass_v; }
- // inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
- // inline double get_V_east_airmass() const { return v_local_airmass_v[1]; }
- // inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
- /* inline void set_Velocities_Local_Airmass( double north, double east,
+ inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
+ inline double get_V_east_airmass() const { return v_local_airmass_v[1]; }
+ inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
+ 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;
- } */
+ }
- FG_VECTOR_3 v_local_rel_airmass_v; // velocity of veh. relative to
// airmass
// inline double * get_V_local_rel_airmass_v() {
- //return v_local_rel_airmass_v;
- //}
+ // return v_local_rel_airmass_v;
+ // }
// inline double get_V_north_rel_airmass() const {
- //return v_local_rel_airmass_v[0];
- //}
+ // return v_local_rel_airmass_v[0];
+ // }
// inline double get_V_east_rel_airmass() const {
- //return v_local_rel_airmass_v[1];
- //}
+ // return v_local_rel_airmass_v[1];
+ // }
// inline double get_V_down_rel_airmass() const {
- //return v_local_rel_airmass_v[2];
- //}
+ // return v_local_rel_airmass_v[2];
+ // }
/* inline void set_Velocities_Local_Rel_Airmass( double north, double east,
double down)
{
v_local_rel_airmass_v[2] = down;
} */
- FG_VECTOR_3 v_local_gust_v; // linear turbulence components, L frame
// inline double * get_V_local_gust_v() { return v_local_gust_v; }
// inline double get_U_gust() const { return v_local_gust_v[0]; }
// inline double get_V_gust() const { return v_local_gust_v[1]; }
v_local_gust_v[2] = w;
} */
- FG_VECTOR_3 v_wind_body_v; // Wind-relative velocities in body axis
// inline double * get_V_wind_body_v() { return v_wind_body_v; }
- // inline double get_U_body() const { return v_wind_body_v[0]; }
- // inline double get_V_body() const { return v_wind_body_v[1]; }
- // inline double get_W_body() const { return v_wind_body_v[2]; }
- /* inline void set_Velocities_Wind_Body( double u, double v, double w)
- {
+ inline double get_U_body() const { return v_wind_body_v[0]; }
+ inline double get_V_body() const { return v_wind_body_v[1]; }
+ inline double get_W_body() const { return v_wind_body_v[2]; }
+ 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;
- } */
-
- 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;
+ }
// inline double get_V_rel_wind() const { return v_rel_wind; }
// inline void set_V_rel_wind(double wind) { v_rel_wind = wind; }
// inline double get_V_inertial() const { return v_inertial; }
// inline void set_V_inertial(double v) { v_inertial = v; }
- // inline double get_V_ground_speed() const { return v_ground_speed; }
- // inline void set_V_ground_speed( double v) { v_ground_speed = v; }
+ inline double get_V_ground_speed() const { return v_ground_speed; }
+ inline void set_V_ground_speed( double v) { v_ground_speed = v; }
// inline double get_V_equiv() const { return v_equiv; }
// inline void set_V_equiv( double v ) { v_equiv = v; }
inline double get_V_equiv_kts() const { return v_equiv_kts; }
inline void set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
- // inline double get_V_calibrated() const { return v_calibrated; }
- // inline void set_V_calibrated( double v ) { v_calibrated = v; }
+ //inline double get_V_calibrated() const { return v_calibrated; }
+ //inline void set_V_calibrated( double v ) { v_calibrated = v; }
- // inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
- // inline void set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
+ inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
+ inline void set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
- FG_VECTOR_3 omega_body_v; // Angular B rates
// inline double * get_Omega_body_v() { return omega_body_v; }
inline double get_P_body() const { return omega_body_v[0]; }
inline double get_Q_body() const { return omega_body_v[1]; }
omega_body_v[2] = r;
}
- FG_VECTOR_3 omega_local_v; // Angular L rates
// inline double * get_Omega_local_v() { return omega_local_v; }
// inline double get_P_local() const { return omega_local_v[0]; }
// inline double get_Q_local() const { return omega_local_v[1]; }
omega_local_v[2] = r;
} */
- FG_VECTOR_3 omega_total_v; // Diff btw B & L
// inline double * get_Omega_total_v() { return omega_total_v; }
// inline double get_P_total() const { return omega_total_v[0]; }
// inline double get_Q_total() const { return omega_total_v[1]; }
omega_total_v[2] = r;
} */
- FG_VECTOR_3 euler_rates_v;
// inline double * get_Euler_rates_v() { return euler_rates_v; }
- // inline double get_Phi_dot() const { return euler_rates_v[0]; }
- // inline double get_Theta_dot() const { return euler_rates_v[1]; }
- // inline double get_Psi_dot() const { return euler_rates_v[2]; }
- /* inline void set_Euler_Rates( double phi, double theta, double psi ) {
+ inline double get_Phi_dot() const { return euler_rates_v[0]; }
+ inline double get_Theta_dot() const { return euler_rates_v[1]; }
+ inline double get_Psi_dot() const { return euler_rates_v[2]; }
+ 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;
- } */
+ }
- FG_VECTOR_3 geocentric_rates_v; // Geocentric linear velocities
// inline double * get_Geocentric_rates_v() { return geocentric_rates_v; }
inline double get_Latitude_dot() const { return geocentric_rates_v[0]; }
inline double get_Longitude_dot() const { return geocentric_rates_v[1]; }
geocentric_rates_v[1] = lon;
geocentric_rates_v[2] = rad;
}
-
- /*=============================== Positions ===============================*/
- FG_VECTOR_3 geocentric_position_v;
+ // ========== Positions ==========
+
// inline double * get_Geocentric_position_v() {
// return geocentric_position_v;
// }
inline double get_Lat_geocentric() const {
return geocentric_position_v[0];
}
- inline double get_Lon_geocentric() const {
+ inline double get_Lon_geocentric() const {
return geocentric_position_v[1];
}
inline double get_Radius_to_vehicle() const {
geocentric_position_v[2] = rad;
}
- FG_VECTOR_3 geodetic_position_v;
// inline double * get_Geodetic_position_v() { return geodetic_position_v; }
inline double get_Latitude() const { return geodetic_position_v[0]; }
inline void set_Latitude(double lat) { geodetic_position_v[0] = lat; }
geodetic_position_v[2] = alt;
}
- FG_VECTOR_3 euler_angles_v;
// inline double * get_Euler_angles_v() { return euler_angles_v; }
inline double get_Phi() const { return euler_angles_v[0]; }
inline double get_Theta() const { return euler_angles_v[1]; }
}
- /*======================= Miscellaneous quantities ========================*/
+ // ========== Miscellaneous quantities ==========
- double t_local_to_body_m[3][3]; // Transformation matrix L to B
// inline double * get_T_local_to_body_m() { return t_local_to_body_m; }
inline double get_T_local_to_body_11() const {
return t_local_to_body_m[0][0];
inline double get_T_local_to_body_33() const {
return t_local_to_body_m[2][2];
}
+ 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++ ) {
}
}
- double gravity; // Local acceleration due to G
// inline double get_Gravity() const { return gravity; }
// inline void set_Gravity(double g) { gravity = g; }
-
- double centrifugal_relief; // load factor reduction due to speed
- // inline double get_Centrifugal_relief() const { return centrifugal_relief; }
- // inline void set_Centrifugal_relief(double cr) { centrifugal_relief = cr; }
- double alpha, beta, alpha_dot, beta_dot; // in radians
+ // inline double get_Centrifugal_relief() const {
+ // return centrifugal_relief;
+ // }
+ // inline void set_Centrifugal_relief(double cr) {
+ // centrifugal_relief = cr;
+ // }
+
inline double get_Alpha() const { return alpha; }
inline void set_Alpha( double a ) { alpha = a; }
inline double get_Beta() const { return beta; }
// inline double get_Beta_dot() const { return beta_dot; }
// inline void set_Beta_dot( double bd ) { beta_dot = bd; }
- double cos_alpha, sin_alpha, cos_beta, sin_beta;
// inline double get_Cos_alpha() const { return cos_alpha; }
// inline void set_Cos_alpha( double ca ) { cos_alpha = ca; }
// inline double get_Sin_alpha() const { return sin_alpha; }
// inline double get_Sin_beta() const { return sin_beta; }
// inline void set_Sin_beta( double sb ) { sin_beta = sb; }
- double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
- // inline double get_Cos_phi() const { return cos_phi; }
- // inline void set_Cos_phi( double cp ) { cos_phi = cp; }
+ inline double get_Cos_phi() const { return cos_phi; }
+ inline void set_Cos_phi( double cp ) { cos_phi = cp; }
// inline double get_Sin_phi() const { return sin_phi; }
// inline void set_Sin_phi( double sp ) { sin_phi = sp; }
- // inline double get_Cos_theta() const { return cos_theta; }
- // inline void set_Cos_theta( double ct ) { cos_theta = ct; }
+ inline double get_Cos_theta() const { return cos_theta; }
+ inline void set_Cos_theta( double ct ) { cos_theta = ct; }
// inline double get_Sin_theta() const { return sin_theta; }
// inline void set_Sin_theta( double st ) { sin_theta = st; }
// inline double get_Cos_psi() const { return cos_psi; }
// inline double get_Sin_psi() const { return sin_psi; }
// inline void set_Sin_psi( double sp ) { sin_psi = sp; }
- double gamma_vert_rad, gamma_horiz_rad; // Flight path angles
inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
inline void set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
// inline double get_Gamma_horiz_rad() const { return gamma_horiz_rad; }
// inline void set_Gamma_horiz_rad( double gh ) { gamma_horiz_rad = gh; }
- double sigma, density, v_sound, mach_number;
// inline double get_Sigma() const { return sigma; }
// inline void set_Sigma( double s ) { sigma = s; }
- // inline double get_Density() const { return density; }
- // inline void set_Density( double d ) { density = d; }
+ inline double get_Density() const { return density; }
+ inline void set_Density( double d ) { density = d; }
// inline double get_V_sound() const { return v_sound; }
// inline void set_V_sound( double v ) { v_sound = v; }
- // inline double get_Mach_number() const { return mach_number; }
- // inline void set_Mach_number( double m ) { mach_number = m; }
+ inline double get_Mach_number() const { return mach_number; }
+ inline void set_Mach_number( double m ) { mach_number = m; }
- double static_pressure, total_pressure, impact_pressure;
- double dynamic_pressure;
- // inline double get_Static_pressure() const { return static_pressure; }
- // inline void set_Static_pressure( double sp ) { static_pressure = sp; }
+ inline double get_Static_pressure() const { return static_pressure; }
+ inline void set_Static_pressure( double sp ) { static_pressure = sp; }
// inline double get_Total_pressure() const { return total_pressure; }
// inline void set_Total_pressure( double tp ) { total_pressure = tp; }
// inline double get_Impact_pressure() const { return impact_pressure; }
// inline double get_Dynamic_pressure() const { return dynamic_pressure; }
// inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; }
- double static_temperature, total_temperature;
- // inline double get_Static_temperature() const { return static_temperature; }
- // inline void set_Static_temperature( double t ) { static_temperature = t; }
+ inline double get_Static_temperature() const { return static_temperature; }
+ inline void set_Static_temperature( double t ) { static_temperature = t; }
// inline double get_Total_temperature() const { return total_temperature; }
// inline void set_Total_temperature( double t ) { total_temperature = t; }
- double sea_level_radius, earth_position_angle;
inline double get_Sea_level_radius() const { return sea_level_radius; }
inline void set_Sea_level_radius( double r ) { sea_level_radius = r; }
inline double get_Earth_position_angle() const {
return earth_position_angle;
}
- inline void set_Earth_position_angle(double a) {
+ inline void set_Earth_position_angle(double a) {
earth_position_angle = a;
}
- double runway_altitude, runway_latitude, runway_longitude;
- double runway_heading;
inline double get_Runway_altitude() const { return runway_altitude; }
inline void set_Runway_altitude( double alt ) { runway_altitude = alt; }
// inline double get_Runway_latitude() const { return runway_latitude; }
// inline void set_Runway_latitude( double lat ) { runway_latitude = lat; }
// inline double get_Runway_longitude() const { return runway_longitude; }
- // inline void set_Runway_longitude( double lon ) { runway_longitude = lon; }
+ // inline void set_Runway_longitude( double lon ) {
+ // runway_longitude = lon;
+ // }
// inline double get_Runway_heading() const { return runway_heading; }
// inline void set_Runway_heading( double h ) { runway_heading = h; }
- double radius_to_rwy;
// inline double get_Radius_to_rwy() const { return radius_to_rwy; }
// inline void set_Radius_to_rwy( double r ) { radius_to_rwy = r; }
- FG_VECTOR_3 d_cg_rwy_local_v; // CG rel. to rwy in local coords
// inline double * get_D_cg_rwy_local_v() { return d_cg_rwy_local_v; }
- // inline double get_D_cg_north_of_rwy() const { return d_cg_rwy_local_v[0]; }
- // inline double get_D_cg_east_of_rwy() const { return d_cg_rwy_local_v[1]; }
+ // inline double get_D_cg_north_of_rwy() const {
+ // return d_cg_rwy_local_v[0];
+ // }
+ // inline double get_D_cg_east_of_rwy() const {
+ // return d_cg_rwy_local_v[1];
+ // }
// inline double get_D_cg_above_rwy() const { return d_cg_rwy_local_v[2]; }
/* inline void set_CG_Rwy_Local( double north, double east, double above )
{
d_cg_rwy_local_v[2] = above;
} */
- FG_VECTOR_3 d_cg_rwy_rwy_v; // CG relative to rwy, in rwy coordinates
// inline double * get_D_cg_rwy_rwy_v() { return d_cg_rwy_rwy_v; }
// inline double get_X_cg_rwy() const { return d_cg_rwy_rwy_v[0]; }
// inline double get_Y_cg_rwy() const { return d_cg_rwy_rwy_v[1]; }
d_cg_rwy_rwy_v[2] = h;
} */
- FG_VECTOR_3 d_pilot_rwy_local_v; // pilot rel. to rwy in local coords
// inline double * get_D_pilot_rwy_local_v() { return d_pilot_rwy_local_v; }
// inline double get_D_pilot_north_of_rwy() const {
- //return d_pilot_rwy_local_v[0];
- // }
+ // return d_pilot_rwy_local_v[0];
+ // }
// inline double get_D_pilot_east_of_rwy() const {
-// return d_pilot_rwy_local_v[1];
-// }
+ // return d_pilot_rwy_local_v[1];
+ // }
// inline double get_D_pilot_above_rwy() const {
- //return d_pilot_rwy_local_v[2];
- // }
+ // return d_pilot_rwy_local_v[2];
+ // }
/* inline void set_Pilot_Rwy_Local( double north, double east, double above )
{
d_pilot_rwy_local_v[0] = north;
d_pilot_rwy_local_v[2] = above;
} */
- FG_VECTOR_3 d_pilot_rwy_rwy_v; // pilot rel. to rwy, in rwy coords.
// inline double * get_D_pilot_rwy_rwy_v() { return d_pilot_rwy_rwy_v; }
// inline double get_X_pilot_rwy() const { return d_pilot_rwy_rwy_v[0]; }
// inline double get_Y_pilot_rwy() const { return d_pilot_rwy_rwy_v[1]; }
d_pilot_rwy_rwy_v[2] = h;
} */
- double climb_rate; // in feet per second
inline double get_Climb_Rate() const { return climb_rate; }
inline void set_Climb_Rate(double rate) { climb_rate = rate; }
- FGTimeStamp valid_stamp; // time this record is valid
- FGTimeStamp next_stamp; // time this record is valid
inline FGTimeStamp get_time_stamp() const { return valid_stamp; }
inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
void extrapolate( int time_offset );
// sin/cos lat_geocentric
- double sin_lat_geocentric;
- double cos_lat_geocentric;
inline void set_sin_lat_geocentric(double parm) {
sin_lat_geocentric = sin(parm);
}
return cos_lat_geocentric;
}
- double sin_longitude;
- double cos_longitude;
inline void set_sin_cos_longitude(double parm) {
sin_longitude = sin(parm);
cos_longitude = cos(parm);
inline double get_cos_longitude(void) const {
return cos_longitude;
}
-
- double sin_latitude;
- double cos_latitude;
+
inline void set_sin_cos_latitude(double parm) {
sin_latitude = sin(parm);
cos_latitude = cos(parm);
inline double get_cos_latitude(void) const {
return cos_latitude;
}
+
+ // engines
+ inline double get_num_engines() const {
+ return engines.size();
+ }
+
+ inline FGEngInterface* get_engine( int i ) {
+ return &engines[i];
+ }
+
+ inline void add_engine( FGEngInterface e ) {
+ return engines.push_back( e );
+ }
};
-extern FGInterface cur_fdm_state;
+typedef list < FGInterface > fdm_state_list;
+typedef fdm_state_list::iterator fdm_state_list_iterator;
+typedef fdm_state_list::const_iterator const_fdm_state_list_iterator;
+
+
+extern FGInterface * cur_fdm_state;
// General interface to the flight model routines
#endif // _FLIGHT_HXX
-
-
projects / flightgear.git / blobdiff