X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=FDM%2Fflight.h;h=2f978bc75a39a62a2ffde094baf664d887b0a7b9;hb=3698b6ec3d3cdf52ec06446a989ddbe6bc0ea729;hp=2cc7233b05dd95ba220681e83c611f52990bef72;hpb=61456137368096439a57ab535ddbe7b49c9d3d28;p=flightgear.git diff --git a/FDM/flight.h b/FDM/flight.h index 2cc7233b0..2f978bc75 100644 --- a/FDM/flight.h +++ b/FDM/flight.h @@ -42,35 +42,377 @@ /* Define a structure containing the shared flight model parameters */ -struct flight_params { - double pos_x, pos_y, pos_z; /* temporary position variables */ - double vel_x, vel_y, vel_z; /* temporary velocity variables */ +/* struct flight_params { + double pos_x, pos_y, pos_z; + double vel_x, vel_y, vel_z; - double Phi; /* Roll angle */ - double Theta; /* Pitch angle */ - double Psi; /* Heading angle */ + double Phi; + double Theta; + double Psi; double vel_Phi; double vel_Theta; double vel_Psi; +}; */ + + +typedef double FG_VECTOR_3[3]; + +/* This is based heavily on LaRCsim/ls_generic.h */ +struct flight_params { + +/*================== Mass properties and geometry values ==================*/ + + double mass, i_xx, i_yy, i_zz, i_xz; /* Inertias */ +#define FG_Mass f->mass +#define FG_I_xx f->i_xx +#define FG_I_yy f->i_yy +#define FG_I_zz f->i_zz +#define FG_I_xz f->i_xz + + FG_VECTOR_3 d_pilot_rp_body_v; /* Pilot location rel to ref pt */ +#define FG_D_pilot_rp_body_v f->d_pilot_rp_body_v +#define FG_Dx_pilot f->d_pilot_rp_body_v[0] +#define FG_Dy_pilot f->d_pilot_rp_body_v[1] +#define FG_Dz_pilot f->d_pilot_rp_body_v[2] + + FG_VECTOR_3 d_cg_rp_body_v; /* CG position w.r.t. ref. point */ +#define FG_D_cg_rp_body_v f->d_cg_rp_body_v +#define FG_Dx_cg f->d_cg_rp_body_v[0] +#define FG_Dy_cg f->d_cg_rp_body_v[1] +#define FG_Dz_cg f->d_cg_rp_body_v[2] + +/*================================ Forces =================================*/ + + FG_VECTOR_3 f_body_total_v; +#define FG_F_body_total_v f->f_body_total_v +#define FG_F_X f->f_body_total_v[0] +#define FG_F_Y f->f_body_total_v[1] +#define FG_F_Z f->f_body_total_v[2] + + FG_VECTOR_3 f_local_total_v; +#define FG_F_local_total_v f->f_local_total_v +#define FG_F_north f->f_local_total_v[0] +#define FG_F_east f->f_local_total_v[1] +#define FG_F_down f->f_local_total_v[2] + + FG_VECTOR_3 f_aero_v; +#define FG_F_aero_v f->f_aero_v +#define FG_F_X_aero f->f_aero_v[0] +#define FG_F_Y_aero f->f_aero_v[1] +#define FG_F_Z_aero f->f_aero_v[2] + + FG_VECTOR_3 f_engine_v; +#define FG_F_engine_v f->f_engine_v +#define FG_F_X_engine f->f_engine_v[0] +#define FG_F_Y_engine f->f_engine_v[1] +#define FG_F_Z_engine f->f_engine_v[2] + + FG_VECTOR_3 f_gear_v; +#define FG_F_gear_v f->f_gear_v +#define FG_F_X_gear f->f_gear_v[0] +#define FG_F_Y_gear f->f_gear_v[1] +#define FG_F_Z_gear f->f_gear_v[2] + +/*================================ Moments ================================*/ + + FG_VECTOR_3 m_total_rp_v; +#define FG_M_total_rp_v f->m_total_rp_v +#define FG_M_l_rp f->m_total_rp_v[0] +#define FG_M_m_rp f->m_total_rp_v[1] +#define FG_M_n_rp f->m_total_rp_v[2] + + FG_VECTOR_3 m_total_cg_v; +#define FG_M_total_cg_v f->m_total_cg_v +#define FG_M_l_cg f->m_total_cg_v[0] +#define FG_M_m_cg f->m_total_cg_v[1] +#define FG_M_n_cg f->m_total_cg_v[2] + + FG_VECTOR_3 m_aero_v; +#define FG_M_aero_v f->m_aero_v +#define FG_M_l_aero f->m_aero_v[0] +#define FG_M_m_aero f->m_aero_v[1] +#define FG_M_n_aero f->m_aero_v[2] + + FG_VECTOR_3 m_engine_v; +#define FG_M_engine_v f->m_engine_v +#define FG_M_l_engine f->m_engine_v[0] +#define FG_M_m_engine f->m_engine_v[1] +#define FG_M_n_engine f->m_engine_v[2] + + FG_VECTOR_3 m_gear_v; +#define FG_M_gear_v f->m_gear_v +#define FG_M_l_gear f->m_gear_v[0] +#define FG_M_m_gear f->m_gear_v[1] +#define FG_M_n_gear f->m_gear_v[2] + +/*============================== Accelerations ============================*/ + + FG_VECTOR_3 v_dot_local_v; +#define FG_V_dot_local_v f->v_dot_local_v +#define FG_V_dot_north f->v_dot_local_v[0] +#define FG_V_dot_east f->v_dot_local_v[1] +#define FG_V_dot_down f->v_dot_local_v[2] + + FG_VECTOR_3 v_dot_body_v; +#define FG_V_dot_body_v f->v_dot_body_v +#define FG_U_dot_body f->v_dot_body_v[0] +#define FG_V_dot_body f->v_dot_body_v[1] +#define FG_W_dot_body f->v_dot_body_v[2] + + FG_VECTOR_3 a_cg_body_v; +#define FG_A_cg_body_v f->a_cg_body_v +#define FG_A_X_cg f->a_cg_body_v[0] +#define FG_A_Y_cg f->a_cg_body_v[1] +#define FG_A_Z_cg f->a_cg_body_v[2] + + FG_VECTOR_3 a_pilot_body_v; +#define FG_A_pilot_body_v f->a_pilot_body_v +#define FG_A_X_pilot f->a_pilot_body_v[0] +#define FG_A_Y_pilot f->a_pilot_body_v[1] +#define FG_A_Z_pilot f->a_pilot_body_v[2] + + FG_VECTOR_3 n_cg_body_v; +#define FG_N_cg_body_v f->n_cg_body_v +#define FG_N_X_cg f->n_cg_body_v[0] +#define FG_N_Y_cg f->n_cg_body_v[1] +#define FG_N_Z_cg f->n_cg_body_v[2] + + FG_VECTOR_3 n_pilot_body_v; +#define FG_N_pilot_body_v f->n_pilot_body_v +#define FG_N_X_pilot f->n_pilot_body_v[0] +#define FG_N_Y_pilot f->n_pilot_body_v[1] +#define FG_N_Z_pilot f->n_pilot_body_v[2] + + FG_VECTOR_3 omega_dot_body_v; +#define FG_Omega_dot_body_v f->omega_dot_body_v +#define FG_P_dot_body f->omega_dot_body_v[0] +#define FG_Q_dot_body f->omega_dot_body_v[1] +#define FG_R_dot_body f->omega_dot_body_v[2] + + +/*============================== Velocities ===============================*/ + + FG_VECTOR_3 v_local_v; +#define FG_V_local_v f->v_local_v +#define FG_V_north f->v_local_v[0] +#define FG_V_east f->v_local_v[1] +#define FG_V_down f->v_local_v[2] + + FG_VECTOR_3 v_local_rel_ground_v; /* V rel w.r.t. earth surface */ +#define FG_V_local_rel_ground_v f->v_local_rel_ground_v +#define FG_V_north_rel_ground f->v_local_rel_ground_v[0] +#define FG_V_east_rel_ground f->v_local_rel_ground_v[1] +#define FG_V_down_rel_ground f->v_local_rel_ground_v[2] + + FG_VECTOR_3 v_local_airmass_v; /* velocity of airmass (steady winds) */ +#define FG_V_local_airmass_v f->v_local_airmass_v +#define FG_V_north_airmass f->v_local_airmass_v[0] +#define FG_V_east_airmass f->v_local_airmass_v[1] +#define FG_V_down_airmass f->v_local_airmass_v[2] + + FG_VECTOR_3 v_local_rel_airmass_v; /* velocity of veh. relative to */ + /* airmass */ +#define FG_V_local_rel_airmass_v f->v_local_rel_airmass_v +#define FG_V_north_rel_airmass f->v_local_rel_airmass_v[0] +#define FG_V_east_rel_airmass f->v_local_rel_airmass_v[1] +#define FG_V_down_rel_airmass f->v_local_rel_airmass_v[2] + + FG_VECTOR_3 v_local_gust_v; /* linear turbulence components, L frame */ +#define FG_V_local_gust_v f->v_local_gust_v +#define FG_U_gust f->v_local_gust_v[0] +#define FG_V_gust f->v_local_gust_v[1] +#define FG_W_gust f->v_local_gust_v[2] + + FG_VECTOR_3 v_wind_body_v; /* Wind-relative velocities in body axis */ +#define FG_V_wind_body_v f->v_wind_body_v +#define FG_U_body f->v_wind_body_v[0] +#define FG_V_body f->v_wind_body_v[1] +#define FG_W_body f->v_wind_body_v[2] + + double v_rel_wind, v_true_kts, v_rel_ground, v_inertial; + double v_ground_speed, v_equiv, v_equiv_kts; + double v_calibrated, v_calibrated_kts; +#define FG_V_rel_wind f->v_rel_wind +#define FG_V_true_kts f->v_true_kts +#define FG_V_rel_ground f->v_rel_ground +#define FG_V_inertial f->v_inertial +#define FG_V_ground_speed f->v_ground_speed +#define FG_V_equiv f->v_equiv +#define FG_V_equiv_kts f->v_equiv_kts +#define FG_V_calibrated f->v_calibrated +#define FG_V_calibrated_kts f->v_calibrated_kts + + FG_VECTOR_3 omega_body_v; /* Angular B rates */ +#define FG_Omega_body_v f->omega_body_v +#define FG_P_body f->omega_body_v[0] +#define FG_Q_body f->omega_body_v[1] +#define FG_R_body f->omega_body_v[2] + + FG_VECTOR_3 omega_local_v; /* Angular L rates */ +#define FG_Omega_local_v f->omega_local_v +#define FG_P_local f->omega_local_v[0] +#define FG_Q_local f->omega_local_v[1] +#define FG_R_local f->omega_local_v[2] + + FG_VECTOR_3 omega_total_v; /* Diff btw B & L */ +#define FG_Omega_total_v f->omega_total_v +#define FG_P_total f->omega_total_v[0] +#define FG_Q_total f->omega_total_v[1] +#define FG_R_total f->omega_total_v[2] + + FG_VECTOR_3 euler_rates_v; +#define FG_Euler_rates_v f->euler_rates_v +#define FG_Phi_dot f->euler_rates_v[0] +#define FG_Theta_dot f->euler_rates_v[1] +#define FG_Psi_dot f->euler_rates_v[2] + + FG_VECTOR_3 geocentric_rates_v; /* Geocentric linear velocities */ +#define FG_Geocentric_rates_v f->geocentric_rates_v +#define FG_Latitude_dot f->geocentric_rates_v[0] +#define FG_Longitude_dot f->geocentric_rates_v[1] +#define FG_Radius_dot f->geocentric_rates_v[2] + +/*=============================== Positions ===============================*/ + + FG_VECTOR_3 geocentric_position_v; +#define FG_Geocentric_position_v f->geocentric_position_v +#define FG_Lat_geocentric f->geocentric_position_v[0] +#define FG_Lon_geocentric f->geocentric_position_v[1] +#define FG_Radius_to_vehicle f->geocentric_position_v[2] + + FG_VECTOR_3 geodetic_position_v; +#define FG_Geodetic_position_v f->geodetic_position_v +#define FG_Latitude f->geodetic_position_v[0] +#define FG_Longitude f->geodetic_position_v[1] +#define FG_Altitude f->geodetic_position_v[2] + + FG_VECTOR_3 euler_angles_v; +#define FG_Euler_angles_v f->euler_angles_v +#define FG_Phi f->euler_angles_v[0] +#define FG_Theta f->euler_angles_v[1] +#define FG_Psi f->euler_angles_v[2] + +/*======================= Miscellaneous quantities ========================*/ + + double t_local_to_body_m[3][3]; /* Transformation matrix L to B */ +#define FG_T_local_to_body_m f->t_local_to_body_m +#define FG_T_local_to_body_11 f->t_local_to_body_m[0][0] +#define FG_T_local_to_body_12 f->t_local_to_body_m[0][1] +#define FG_T_local_to_body_13 f->t_local_to_body_m[0][2] +#define FG_T_local_to_body_21 f->t_local_to_body_m[1][0] +#define FG_T_local_to_body_22 f->t_local_to_body_m[1][1] +#define FG_T_local_to_body_23 f->t_local_to_body_m[1][2] +#define FG_T_local_to_body_31 f->t_local_to_body_m[2][0] +#define FG_T_local_to_body_32 f->t_local_to_body_m[2][1] +#define FG_T_local_to_body_33 f->t_local_to_body_m[2][2] + + double gravity; /* Local acceleration due to G */ +#define FG_Gravity f->gravity + + double centrifugal_relief; /* load factor reduction due to speed */ +#define FG_Centrifugal_relief f->centrifugal_relief + + double alpha, beta, alpha_dot, beta_dot; /* in radians */ +#define FG_Alpha f->alpha +#define FG_Beta f->beta +#define FG_Alpha_dot f->alpha_dot +#define FG_Beta_dot f->beta_dot + + double cos_alpha, sin_alpha, cos_beta, sin_beta; +#define FG_Cos_alpha f->cos_alpha +#define FG_Sin_alpha f->sin_alpha +#define FG_Cos_beta f->cos_beta +#define FG_Sin_beta f->sin_beta + + double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi; +#define FG_Cos_phi f->cos_phi +#define FG_Sin_phi f->sin_phi +#define FG_Cos_theta f->cos_theta +#define FG_Sin_theta f->sin_theta +#define FG_Cos_psi f->cos_psi +#define FG_Sin_psi f->sin_psi + + double gamma_vert_rad, gamma_horiz_rad; /* Flight path angles */ +#define FG_Gamma_vert_rad f->gamma_vert_rad +#define FG_Gamma_horiz_rad f->gamma_horiz_rad + + double sigma, density, v_sound, mach_number; +#define FG_Sigma f->sigma +#define FG_Density f->density +#define FG_V_sound f->v_sound +#define FG_Mach_number f->mach_number + + double static_pressure, total_pressure, impact_pressure; + double dynamic_pressure; +#define FG_Static_pressure f->static_pressure +#define FG_Total_pressure f->total_pressure +#define FG_Impact_pressure f->impact_pressure +#define FG_Dynamic_pressure f->dynamic_pressure + + double static_temperature, total_temperature; +#define FG_Static_temperature f->static_temperature +#define FG_Total_temperature f->total_temperature + + double sea_level_radius, earth_position_angle; +#define FG_Sea_level_radius f->sea_level_radius +#define FG_Earth_position_angle f->earth_position_angle + + double runway_altitude, runway_latitude, runway_longitude; + double runway_heading; +#define FG_Runway_altitude f->runway_altitude +#define FG_Runway_latitude f->runway_latitude +#define FG_Runway_longitude f->runway_longitude +#define FG_Runway_heading f->runway_heading + + double radius_to_rwy; +#define FG_Radius_to_rwy f->radius_to_rwy + + FG_VECTOR_3 d_cg_rwy_local_v; /* CG rel. to rwy in local coords */ +#define FG_D_cg_rwy_local_v f->d_cg_rwy_local_v +#define FG_D_cg_north_of_rwy f->d_cg_rwy_local_v[0] +#define FG_D_cg_east_of_rwy f->d_cg_rwy_local_v[1] +#define FG_D_cg_above_rwy f->d_cg_rwy_local_v[2] + + FG_VECTOR_3 d_cg_rwy_rwy_v; /* CG relative to rwy, in rwy coordinates */ +#define FG_D_cg_rwy_rwy_v f->d_cg_rwy_rwy_v +#define FG_X_cg_rwy f->d_cg_rwy_rwy_v[0] +#define FG_Y_cg_rwy f->d_cg_rwy_rwy_v[1] +#define FG_H_cg_rwy f->d_cg_rwy_rwy_v[2] + + FG_VECTOR_3 d_pilot_rwy_local_v; /* pilot rel. to rwy in local coords */ +#define FG_D_pilot_rwy_local_v f->d_pilot_rwy_local_v +#define FG_D_pilot_north_of_rwy f->d_pilot_rwy_local_v[0] +#define FG_D_pilot_east_of_rwy f->d_pilot_rwy_local_v[1] +#define FG_D_pilot_above_rwy f->d_pilot_rwy_local_v[2] + + FG_VECTOR_3 d_pilot_rwy_rwy_v; /* pilot rel. to rwy, in rwy coords. */ +#define FG_D_pilot_rwy_rwy_v f->d_pilot_rwy_rwy_v +#define FG_X_pilot_rwy f->d_pilot_rwy_rwy_v[0] +#define FG_Y_pilot_rwy f->d_pilot_rwy_rwy_v[1] +#define FG_H_pilot_rwy f->d_pilot_rwy_rwy_v[2] + }; /* General interface to the flight model routines */ /* Initialize the flight model parameters */ -int fgFlightModelInit(int model); +int fgFlightModelInit(int model, struct flight_params *f, double dt); -/* Run an iteration of the flight model */ -int fgFlightModelUpdate(int model); +/* Run multiloop iterations of the flight model */ +int fgFlightModelUpdate(int model, struct flight_params *f, int multiloop); #endif FLIGHT_H /* $Log$ -/* Revision 1.3 1997/05/29 02:32:25 curt -/* Starting to build generic flight model interface. +/* Revision 1.4 1997/05/29 22:39:57 curt +/* Working on incorporating the LaRCsim flight model. /* + * Revision 1.3 1997/05/29 02:32:25 curt + * Starting to build generic flight model interface. + * * Revision 1.2 1997/05/23 15:40:37 curt * Added GNU copyright headers. *