X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;ds=sidebyside;f=src%2FFDM%2Fflight.hxx;h=f5533625c090772cc5012ff3b55c1247acf617b9;hb=3ec74d79c23347add2afa088b05ad29af975f65f;hp=99e916b8043198a25665fd4af422357eb80960c2;hpb=137da58a70a6caca205f829eb8a547e72b68f9e7;p=flightgear.git

diff --git a/src/FDM/flight.hxx b/src/FDM/flight.hxx
index 99e916b80..f5533625c 100644
--- a/src/FDM/flight.hxx
+++ b/src/FDM/flight.hxx
@@ -2,7 +2,7 @@
 //
 // Written by Curtis Olson, started May 1997.
 //
-// Copyright (C) 1997  Curtis L. Olson  - curt@infoplane.com
+// Copyright (C) 1997  Curtis L. Olson  - http://www.flightgear.org/~curt
 //
 // This program is free software; you can redistribute it and/or
 // modify it under the terms of the GNU General Public License as
@@ -16,7 +16,7 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$
 
@@ -81,71 +81,52 @@
  */
 
 
-#include <simgear/compiler.h>
-
 #include <math.h>
 
 #include <list>
 #include <vector>
+#include <string>
 
-#include <Time/timestamp.hxx>
-
-FG_USING_STD(list);
-FG_USING_STD(vector);
+#include <simgear/compiler.h>
+#include <simgear/constants.h>
+#include <simgear/structure/subsystem_mgr.hxx>
+#include <FDM/groundcache.hxx>
 
+SG_USING_STD(list);
+SG_USING_STD(vector);
+SG_USING_STD(string);
 
 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 {
+class FGInterface : public SGSubsystem {
 
 private:
   
+    // Has the init() method been called.  This is used to delay
+    // initialization until scenery can be loaded and we know the true
+    // ground elevation.
+    bool inited;
+
+    // Have we bound to the property system
+    bool bound; 
+
+    // periodic update management variable.  This is a scheme to run
+    // the fdm with a fixed delta-t.  We control how many iteration of
+    // the fdm to run with the fixed dt based on the elapsed time from
+    // the last update.  This allows us to maintain sync with the real
+    // time clock, even though each frame could take a random amount
+    // of time.  Since "dt" is unlikely to divide evenly into the
+    // elapse time, we keep track of the remainder and add it into the
+    // next elapsed time.  This yields a small amount of temporal
+    // jitter ( < dt ) but in practice seems to work well.
+
+//     double delta_t;		// delta "t"
+//     SGTimeStamp time_stamp;	// time stamp of last run
+//     long elapsed;		// time elapsed since last run
+    double remainder;		// remainder time from last run
+//     int multi_loop;		// number of iterations of "delta_t" to run
+
     // Pilot location rel to ref pt
     FG_VECTOR_3 d_pilot_rp_body_v;
 
@@ -231,20 +212,200 @@ private:
     double sin_lat_geocentric, cos_lat_geocentric;
     double sin_longitude, cos_longitude;
     double sin_latitude, cos_latitude;
+    double altitude_agl;
+
+    double daux[16];		// auxilliary doubles
+    float  faux[16];		// auxilliary floats
+    int    iaux[16];		// auxilliary ints
+
+    // SGTimeStamp valid_stamp;          // time this record is valid
+    // SGTimeStamp next_stamp;           // time this record is valid
+
+    // the ground cache object itself.
+    FGGroundCache ground_cache;
+
+protected:
+
+    int _calc_multiloop (double dt);
+
+public:
 
-    // Engine list
-    engine_list engines;
+				// deliberately not virtual so that
+				// FGInterface constructor will call
+				// the right version
+    void _setup();
+
+    void _busdump(void);
+    void _updateGeodeticPosition( double lat, double lon, double alt );
+    void _updateGeocentricPosition( double lat_geoc, double lon, double alt );
+    void _update_ground_elev_at_pos( void );
+    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_Total_temperature( double tat ) { total_temperature = tat; } //JW
+    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);
+    }
 
-    FGTimeStamp valid_stamp;          // time this record is valid
-    FGTimeStamp next_stamp;           // time this record is valid
+    inline void _set_daux( int n, double value ) { daux[n] = value; }
+    inline void _set_faux( int n, float value ) { faux[n] = value; }
+    inline void _set_iaux( int n, int value ) { iaux[n] = value; }
 
 public:
   
-    FGInterface(void);
+    FGInterface();
+    FGInterface( double dt );
     virtual ~FGInterface();
 
-    virtual int init( double dt );
-    virtual int update( int multi_loop );
+    virtual void init ();
+    virtual void bind ();
+    virtual void unbind ();
+    virtual void update(double dt);
+    virtual bool ToggleDataLogging(bool state) { return false; }
+    virtual bool ToggleDataLogging(void) { return false; }
 
     // Define the various supported flight models (many not yet implemented)
     enum {
@@ -260,18 +421,114 @@ public:
 	// Christian's hot air balloon simulation
 	FG_BALLOONSIM = 3,
 
+	// Aeronautical DEvelopment AGEncy, Bangalore India
+	FG_ADA = 4,
+
 	// The following aren't implemented but are here to spark
 	// thoughts and discussions, and maybe even action.
-	FG_ACM = 4,
-	FG_SUPER_SONIC = 5,
-	FG_HELICOPTER = 6,
-	FG_AUTOGYRO = 7,
-	FG_PARACHUTE = 8,
+	FG_ACM = 5,
+	FG_SUPER_SONIC = 6,
+	FG_HELICOPTER = 7,
+	FG_AUTOGYRO = 8,
+	FG_PARACHUTE = 9,
 
 	// Driven externally via a serial port, net, file, etc.
-	FG_EXTERNAL = 9
+	FG_EXTERNAL = 10
     };
 
+    // initialization
+    inline bool get_inited() const { return inited; }
+    inline void set_inited( bool value ) { inited = value; }
+
+    inline bool get_bound() const { return bound; }
+
+    //perform initializion that is common to all FDM's
+    void common_init();
+
+    // time and update management values
+//     inline double get_delta_t() const { return delta_t; }
+//     inline void set_delta_t( double dt ) { delta_t = dt; }
+//     inline SGTimeStamp get_time_stamp() const { return time_stamp; }
+//     inline void set_time_stamp( SGTimeStamp s ) { time_stamp = s; }
+//     inline void stamp() { time_stamp.stamp(); }
+//     inline long get_elapsed() const { return elapsed; }
+//     inline void set_elapsed( long e ) { elapsed = e; }
+//     inline long get_remainder() const { return remainder; }
+//     inline void set_remainder( long r ) { remainder = r; }
+//     inline int get_multi_loop() const { return multi_loop; }
+//     inline void set_multi_loop( int ml ) { multi_loop = ml; }
+
+    // Positions
+    virtual void set_Latitude(double lat);       // geocentric
+    virtual void set_Longitude(double lon);    
+    virtual void set_Altitude(double alt);  // triggers re-calc of AGL altitude
+    virtual void set_AltitudeAGL(double altagl); // and vice-versa
+    virtual void set_Latitude_deg (double lat) {
+      set_Latitude(lat * SGD_DEGREES_TO_RADIANS);
+    }
+    virtual void set_Longitude_deg (double lon) {
+      set_Longitude(lon * SGD_DEGREES_TO_RADIANS);
+    }
+    
+    // Speeds -- setting any of these will trigger a re-calc of the rest
+    virtual void set_V_calibrated_kts(double vc);
+    virtual void set_Mach_number(double mach);
+    virtual void set_Velocities_Local( double north, double east, double down );
+    inline void set_V_north (double north) { 
+      set_Velocities_Local(north, v_local_v[1], v_local_v[2]);
+    }
+    inline void set_V_east (double east) { 
+      set_Velocities_Local(v_local_v[0], east, v_local_v[2]);
+    }
+    inline void set_V_down (double down) { 
+      set_Velocities_Local(v_local_v[0], v_local_v[1], down);
+    }
+    virtual void set_Velocities_Wind_Body( double u, double v, double w);
+    virtual void set_uBody (double uBody) { 
+      set_Velocities_Wind_Body(uBody, v_wind_body_v[1], v_wind_body_v[2]);
+    }
+    virtual void set_vBody (double vBody) { 
+      set_Velocities_Wind_Body(v_wind_body_v[0], vBody, v_wind_body_v[2]);
+    }
+    virtual void set_wBody (double wBody) {
+      set_Velocities_Wind_Body(v_wind_body_v[0], v_wind_body_v[1], wBody);
+    }
+    
+    // Euler angles 
+    virtual void set_Euler_Angles( double phi, double theta, double psi );
+    virtual void set_Phi (double phi) {
+      set_Euler_Angles(phi, get_Theta(), get_Psi());
+    }
+    virtual void set_Theta (double theta) {
+      set_Euler_Angles(get_Phi(), theta, get_Psi());
+    }
+    virtual void set_Psi (double psi) { 
+      set_Euler_Angles(get_Phi(), get_Theta(), psi);
+    }
+    virtual void set_Phi_deg (double phi) {
+      set_Phi(phi * SGD_DEGREES_TO_RADIANS);
+    }
+    virtual void set_Theta_deg (double theta) {
+      set_Theta(theta * SGD_DEGREES_TO_RADIANS); 
+    }
+    virtual void set_Psi_deg (double psi) {
+      set_Psi(psi * SGD_DEGREES_TO_RADIANS);
+    }
+    
+    // Flight Path
+    virtual void set_Climb_Rate( double roc);
+    virtual void set_Gamma_vert_rad( double gamma);
+    
+    // Earth
+    
+    virtual void set_Static_pressure(double p);
+    virtual void set_Static_temperature(double T);
+    virtual void set_Density(double rho);
+    
+    virtual void set_Velocities_Local_Airmass (double wnorth, 
+					       double weast, 
+					       double wdown );
+
     // ========== Mass properties and geometry values ==========
 
     // Inertias
@@ -280,15 +537,6 @@ public:
     inline double get_I_yy() const { return i_yy; }
     inline double get_I_zz() const { return i_zz; }
     inline double get_I_xz() const { return i_xz; }
-    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;
-    }
 
     // Pilot location rel to ref pt
     // inline double * get_D_pilot_rp_body_v() {
@@ -308,11 +556,6 @@ public:
     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]; }
     inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
-    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;
-    }
 
     // ========== Forces ==========
 
@@ -424,51 +667,26 @@ public:
     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;
-    }
 
     // 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_body_v[0] = u;
-	v_dot_body_v[1] = v;
-	v_dot_body_v[2] = w;
-    }
 
     // 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 ) {
-	a_cg_body_v[0] = x;
-	a_cg_body_v[1] = y;
-	a_cg_body_v[2] = z;
-    }
 
     // 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 ) {
-	a_pilot_body_v[0] = x;
-	a_pilot_body_v[1] = y;
-	a_pilot_body_v[2] = z;
-    }
 
     // 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 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 double * get_N_pilot_body_v() { return n_pilot_body_v; }
     // inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
@@ -480,8 +698,7 @@ public:
     //    n_pilot_body_v[2] = z;
     // }
 
-    double get_Nlf(void) { return nlf; }
-    void set_Nlf(double n) { nlf=n;  }
+    inline double get_Nlf(void) const { return nlf; }
 
     // 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]; }
@@ -500,42 +717,30 @@ public:
     inline double get_V_north() const { return v_local_v[0]; }
     inline double get_V_east() const { return v_local_v[1]; }
     inline double get_V_down() const { return v_local_v[2]; }
-    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 double get_uBody () const { return v_wind_body_v[0]; }
+    inline double get_vBody () const { return v_wind_body_v[1]; }
+    inline double get_wBody () const { return v_wind_body_v[2]; }
+
+    // Please dont comment these out. fdm=ada uses these (see
+    // cockpit.cxx) --->
+    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];
-    // }
-    // inline double get_V_east_rel_ground() const {
-    //     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;
-    // }
+    inline double get_V_north_rel_ground() const {
+        return v_local_rel_ground_v[0];
+    }
+    inline double get_V_east_rel_ground() const {
+        return v_local_rel_ground_v[1];
+    }
+    inline double get_V_down_rel_ground() const {
+        return v_local_rel_ground_v[2];
+    }
+    // <--- fdm=ada uses these (see cockpit.cxx)
 
     // 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, 
-					      double down)
-    {
-	v_local_airmass_v[0] = north;
-	v_local_airmass_v[1] = east;
-	v_local_airmass_v[2] = down;
-    }
 
     // airmass
     // inline double * get_V_local_rel_airmass_v() {
@@ -573,16 +778,11 @@ public:
     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;
-    }
 
-    // inline double get_V_rel_wind() const { return v_rel_wind; }
+    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_true_kts() const { return v_true_kts; }
+    inline double get_V_true_kts() const { return v_true_kts; }
     // inline void set_V_true_kts(double kts) { v_true_kts = kts; }
 
     // inline double get_V_rel_ground() const { return v_rel_ground; }
@@ -592,29 +792,21 @@ public:
     // 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_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_kts() const { return v_calibrated_kts; }
-    inline void set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
 
     // 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]; }
     inline double get_R_body() const { return omega_body_v[2]; }
-    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 double * get_Omega_local_v() { return omega_local_v; }
     // inline double get_P_local() const { return omega_local_v[0]; }
@@ -640,21 +832,14 @@ public:
     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;
-    }
+    inline double get_Phi_dot_degps() const { return euler_rates_v[0] * SGD_RADIANS_TO_DEGREES; }
+    inline double get_Theta_dot_degps() const { return euler_rates_v[1] * SGD_RADIANS_TO_DEGREES; }
+    inline double get_Psi_dot_degps() const { return euler_rates_v[2] * SGD_RADIANS_TO_DEGREES; }
 
     // 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]; }
     inline double get_Radius_dot() const { return geocentric_rates_v[2]; }
-    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;
-    }
 
     // ========== Positions ==========
 
@@ -670,40 +855,27 @@ public:
     inline double get_Radius_to_vehicle() const {
 	return geocentric_position_v[2];
     }
-    inline void set_Radius_to_vehicle(double radius) {
-	geocentric_position_v[2] = radius;
-    }
-
-    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 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; }
     inline double get_Longitude() const { return geodetic_position_v[1]; }
-    inline void set_Longitude(double lon) { geodetic_position_v[1] = lon; }
     inline double get_Altitude() const { return geodetic_position_v[2]; }
-    inline void set_Altitude(double altitude) {
-	geodetic_position_v[2] = altitude;
+    inline double get_Altitude_AGL(void) const { return altitude_agl; }
+
+    inline double get_Latitude_deg () const {
+      return get_Latitude() * SGD_RADIANS_TO_DEGREES;
     }
-    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 double get_Longitude_deg () const {
+      return get_Longitude() * SGD_RADIANS_TO_DEGREES;
     }
 
     // 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]; }
     inline double get_Psi() const { return euler_angles_v[2]; }
-    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 double get_Phi_deg () const { return get_Phi() * SGD_RADIANS_TO_DEGREES; }
+    inline double get_Theta_deg () const { return get_Theta() * SGD_RADIANS_TO_DEGREES; }
+    inline double get_Psi_deg () const { return get_Psi() * SGD_RADIANS_TO_DEGREES; }
 
 
     // ========== Miscellaneous quantities ==========
@@ -736,17 +908,6 @@ public:
     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++ ) {
-	    for ( j = 0; j < 3; j++ ) {
-		t_local_to_body_m[i][j] = m[i][j];
-	    }
-	}
-    }
 
     // inline double get_Gravity() const { return gravity; }
     // inline void set_Gravity(double g) { gravity = g; }
@@ -759,12 +920,12 @@ public:
     // }
 
     inline double get_Alpha() const { return alpha; }
-    inline void set_Alpha( double a ) { alpha = a; }
+    inline double get_Alpha_deg() const { return alpha * SGD_RADIANS_TO_DEGREES; }
     inline double get_Beta() const { return beta; }
-    inline void set_Beta( double b ) { beta = b; }
-    // inline double get_Alpha_dot() const { return alpha_dot; }
+    inline double get_Beta_deg() const { return beta * SGD_RADIANS_TO_DEGREES; }
+    inline double get_Alpha_dot() const { return alpha_dot; }
     // inline void set_Alpha_dot( double ad ) { alpha_dot = ad; }
-    // inline double get_Beta_dot() const { return beta_dot; }
+    inline double get_Beta_dot() const { return beta_dot; }
     // inline void set_Beta_dot( double bd ) { beta_dot = bd; }
 
     // inline double get_Cos_alpha() const { return cos_alpha; }
@@ -777,11 +938,9 @@ public:
     // inline void set_Sin_beta( double sb ) { sin_beta = sb; }
 
     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_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; }
@@ -790,44 +949,35 @@ public:
     // inline void set_Sin_psi( double sp ) { sin_psi = sp; }
 
     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; }
 
     // 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_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_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 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 void set_Impact_pressure( double ip ) { impact_pressure = ip; }
-    // inline double get_Dynamic_pressure() const { return dynamic_pressure; }
+    inline double get_Dynamic_pressure() const { return dynamic_pressure; }
     // inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; }
 
     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 double get_Total_temperature() const { return total_temperature; }
     // inline void set_Total_temperature( double t ) { total_temperature = t; }
 
     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) {
-	earth_position_angle = a;
-    }
 
     inline double get_Runway_altitude() const { return runway_altitude; }
-    inline void set_Runway_altitude( double alt ) { runway_altitude = alt; }
+    inline double get_Runway_altitude_m() const { return SG_FEET_TO_METER * runway_altitude; }
     // 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; }
@@ -895,21 +1045,14 @@ public:
     } */
 
     inline double get_Climb_Rate() const { return climb_rate; }
-    inline void set_Climb_Rate(double rate) { climb_rate = rate; }
 
-    inline FGTimeStamp get_time_stamp() const { return valid_stamp; }
-    inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
+    // inline SGTimeStamp get_time_stamp() const { return valid_stamp; }
+    // inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
 
     // Extrapolate FDM based on time_offset (in usec)
     void extrapolate( int time_offset );
 
     // sin/cos lat_geocentric
-    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 double get_sin_lat_geocentric(void) const {
 	return sin_lat_geocentric;
     }
@@ -917,10 +1060,6 @@ public:
 	return cos_lat_geocentric;
     }
 
-    inline void set_sin_cos_longitude(double parm) {
-	sin_longitude = sin(parm);
-	cos_longitude = cos(parm);
-    }
     inline double get_sin_longitude(void) const {
 	return sin_longitude;
     }
@@ -928,10 +1067,6 @@ public:
 	return cos_longitude;
     }
 
-    inline void set_sin_cos_latitude(double parm) {
-	sin_latitude = sin(parm);
-	cos_latitude = cos(parm);
-    }
     inline double get_sin_latitude(void) const {
 	return sin_latitude;
     }
@@ -939,42 +1074,102 @@ public:
 	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 );
-    }
-};
-
+    // Auxilliary variables
+    inline double get_daux( int n ) const { return daux[n]; }
+    inline float  get_faux( int n ) const { return faux[n]; }
+    inline int    get_iaux( int n ) const { return iaux[n]; }
 
-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;
+    // Note that currently this is the "same" value runway altitude...
+    inline double get_ground_elev_ft() const { return runway_altitude; }
 
 
-extern FGInterface * cur_fdm_state;
+    //////////////////////////////////////////////////////////////////////////
+    // Ground handling routines
+    //////////////////////////////////////////////////////////////////////////
 
+    enum GroundType {
+      Unknown = 0, //??
+      Solid, // Whatever we will roll on with infinite load factor.
+      Water, // For the beaver ...
+      Catapult, // Carrier cats.
+      Wire // Carrier wires.
+    };
 
-// General interface to the flight model routines
+    // Prepare the ground cache for the wgs84 position pt_*.
+    // That is take all vertices in the ball with radius rad around the
+    // position given by the pt_* and store them in a local scene graph.
+    bool prepare_ground_cache_m(double ref_time, const double pt[3],
+                                double rad);
+    bool prepare_ground_cache_ft(double ref_time, const double pt[3],
+                                 double rad);
+
+
+    // Returns true if the cache is valid.
+    // Also the reference time, point and radius values where the cache
+    // is valid for are returned.
+    bool is_valid_m(double *ref_time, double pt[3], double *rad);
+    bool is_valid_ft(double *ref_time, double pt[3], double *rad);
+
+    // Return the nearest catapult to the given point
+    // pt in wgs84 coordinates.
+    double get_cat_m(double t, const double pt[3],
+                     double end[2][3], double vel[2][3]);
+    double get_cat_ft(double t, const double pt[3],
+                      double end[2][3], double vel[2][3]);
+  
 
-// Initialize the flight model parameters
-int fgFDMInit(int model, FGInterface& f, double dt);
+    // Return the altitude above ground below the wgs84 point pt
+    // Search for the nearest triangle to pt.
+    // Return ground properties like the ground type, the maximum load
+    // this kind kind of ground can carry, the friction factor between
+    // 0 and 1 which can be used to model lower friction with wet runways
+    // and finally the altitude above ground.
+    bool get_agl_m(double t, const double pt[3],
+                   double contact[3], double normal[3], double vel[3],
+                   int *type, double *loadCapacity,
+                   double *frictionFactor, double *agl);
+    bool get_agl_m(double t, const double pt[3],
+                       double contact[3], double normal[3], double vel[3],
+                       int *type, const SGMaterial **material,double *agl);
+    bool get_agl_ft(double t, const double pt[3],
+                    double contact[3], double normal[3], double vel[3],
+                    int *type, double *loadCapacity,
+                    double *frictionFactor, double *agl);
+
+    // Return the altitude above ground below the wgs84 point pt
+    // Search for the nearest triangle to pt.
+    // Return ground properties like the ground type, a pointer to the
+    // material and finally the altitude above ground.
+    bool get_agl_m(double t, const double pt[3], double max_altoff,
+                   double contact[3], double normal[3], double vel[3],
+                   int *type, const SGMaterial** material, double *agl);
+    bool get_agl_ft(double t, const double pt[3], double max_altoff,
+                    double contact[3], double normal[3], double vel[3],
+                    int *type, const SGMaterial** material, double *agl);
+    double get_groundlevel_m(double lat, double lon, double alt);
+
+
+    // Return 1 if the hook intersects with a wire.
+    // That test is done by checking if the quad spanned by the points pt*
+    // intersects with the line representing the wire.
+    // If the wire is caught, the cache will trace this wires endpoints until
+    // the FDM calls release_wire().
+    bool caught_wire_m(double t, const double pt[4][3]);
+    bool caught_wire_ft(double t, const double pt[4][3]);
+  
+    // Return the location and speed of the wire endpoints.
+    bool get_wire_ends_m(double t, double end[2][3], double vel[2][3]);
+    bool get_wire_ends_ft(double t, double end[2][3], double vel[2][3]);
 
-// Run multiloop iterations of the flight model
-int fgFDMUpdate(int model, FGInterface& f, int multiloop, int jitter);
+    // Tell the cache code that it does no longer need to care for
+    // the wire end position.
+    void release_wire(void);
+};
 
-// Set the altitude (force)
-void fgFDMForceAltitude(int model, double alt_meters);
+extern FGInterface * cur_fdm_state;
 
-// Set the local ground elevation
-void fgFDMSetGroundElevation(int model, double alt_meters);
+// Toggle data logging on/off
+void fgToggleFDMdataLogging(void);
 
 
 #endif // _FLIGHT_HXX