X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2Fflight.cxx;h=1caf20c99885648d04d7eb726ada81a615a22a41;hb=98b90a2a377108dd645449224b4f2430f436cbde;hp=5e3dac21d84b7bb832f2f8ce6bc28e3c28c9479a;hpb=d346e53aeec57c83bcfb560b5ef8b7de465741c9;p=flightgear.git diff --git a/src/FDM/flight.cxx b/src/FDM/flight.cxx index 5e3dac21d..1caf20c99 100644 --- a/src/FDM/flight.cxx +++ b/src/FDM/flight.cxx @@ -1,4 +1,4 @@ -// 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. // @@ -74,6 +74,30 @@ FGEngInterface::~FGEngInterface(void) { // Constructor 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 () +{ init_vec( d_pilot_rp_body_v ); init_vec( d_cg_rp_body_v ); init_vec( f_body_total_v ); @@ -139,103 +163,204 @@ FGInterface::FGInterface() { sin_latitude=cos_latitude=0; sin_longitude=cos_longitude=0; altitude_agl=0; -} - -FGInterface::FGInterface( double dt ) { - FGInterface(); - - delta_t = dt; - remainder = elapsed = multi_loop = 0; -} - -// Destructor -FGInterface::~FGInterface() { -// unbind(); // FIXME: should be called explicitly } +/** + * Initialize the state of the FDM. + * + * Subclasses of FGInterface may do their own, additional initialization, + * but normally they should invoke this method explicitly first as + * FGInterface::init() to make sure the basic structures are set up + * properly. + */ void FGInterface::init () { + SG_LOG(SG_FLIGHT, SG_INFO, "Start initializing FGInterface"); + + 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.cur_elev + 1; + double ground_elev_ft = ground_elev_m * METERS_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..."); + fgFDMSetGroundElevation("jsb", ground_elev_m); + + // Set sea-level radius + SG_LOG(SG_FLIGHT, SG_INFO, "...initializing sea-level radius..."); + double sea_level_radius_meters; + double lat_geoc; + sgGeodToGeoc(get_Latitude(), get_Altitude(), + &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 initializing FGInterface"); } + +/** + * 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 () { - // Time management + // Time management (read-only) fgTie("/fdm/time/delta_t", this, - &(FGInterface::get_delta_t), - &(FGInterface::set_delta_t)); - - // The following two can't be uncommented until we have support for - // the "long" data type in the property manager - /* fgTie("/fdm/time/elapsed", this, - &(FGInterface::get_elapsed), - &(FGInterface::set_elapsed)); + &FGInterface::get_delta_t); // read-only + fgTie("/fdm/time/elapsed", this, + &FGInterface::get_elapsed); // read-only fgTie("/fdm/time/remainder", this, - &(FGInterface::get_remainder), - &(FGInterface::set_remainder)); */ + &FGInterface::get_remainder); // read-only fgTie("/fdm/time/multi_loop", this, - &(FGInterface::get_multi_loop), - &(FGInterface::set_multi_loop)); + &FGInterface::get_multi_loop); // read-only // Aircraft position - fgTie("/position/latitude", this, - &(FGInterface::get_Latitude_deg), - &(FGInterface::set_Latitude_deg)); - fgTie("/position/longitude", this, - &(FGInterface::get_Longitude_deg), - &(FGInterface::set_Longitude_deg)); - fgTie("/position/altitude", this, - &(FGInterface::get_Altitude), - &(FGInterface::set_Altitude)); - fgTie("/position/altitude-agl", this, - &(FGInterface::get_Altitude_AGL)); // read-only + 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", this, - &(FGInterface::get_Phi_deg), - &(FGInterface::set_Phi_deg)); - fgTie("/orientation/pitch", this, - &(FGInterface::get_Theta_deg), - &(FGInterface::set_Theta_deg)); - fgTie("/orientation/heading", this, - &(FGInterface::get_Psi_deg), - &(FGInterface::set_Psi_deg)); + 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", this, - &(FGInterface::get_V_calibrated_kts), - &(FGInterface::set_V_calibrated_kts)); + fgTie("/velocities/airspeed-kt", this, + &FGInterface::get_V_calibrated_kts, + &FGInterface::set_V_calibrated_kts, + false); // Local velocities - fgTie("/velocities/speed-north", this, - &(FGInterface::get_V_north)); - fgTie("/velocities/speed-east", this, - &(FGInterface::get_V_east), - &(FGInterface::set_V_east)); - fgTie("/velocities/speed-down", this, - &(FGInterface::get_V_down), - &(FGInterface::set_V_down)); +// 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 - fgTie("/velocities/uBody", this, - &(FGInterface::get_uBody), - &(FGInterface::set_uBody)); - fgTie("/velocities/vBody", this, - &(FGInterface::get_vBody), - &(FGInterface::set_vBody)); - fgTie("/velocities/wBody", this, - &(FGInterface::get_wBody), - &(FGInterface::set_wBody)); + // 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", this, - &(FGInterface::get_Climb_Rate)); // read-only - fgTie("/velocities/side-slip", this, - &(FGInterface::get_Beta)); // read-only + fgTie("/velocities/vertical-speed-fps", this, + &FGInterface::get_Climb_Rate); // read-only + fgTie("/velocities/side-slip-rad", this, + &FGInterface::get_Beta); // read-only } + +/** + * 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 () { @@ -243,23 +368,27 @@ FGInterface::unbind () fgUntie("/fdm/time/elapsed"); fgUntie("/fdm/time/remainder"); fgUntie("/fdm/time/multi_loop"); - fgUntie("/position/latitude"); - fgUntie("/position/longitude"); - fgUntie("/position/altitude"); + fgUntie("/position/latitude-deg"); + fgUntie("/position/longitude-deg"); + fgUntie("/position/altitude-ft"); fgUntie("/position/heading"); fgUntie("/position/pitch"); fgUntie("/position/roll"); - fgUntie("/velocities/airspeed"); - fgUntie("/velocities/speed-north"); - fgUntie("/velocities/speed-east"); - fgUntie("/velocities/speed-down"); - fgUntie("/velocities/uBody"); - fgUntie("/velocities/vBody"); - fgUntie("/velocities/wBody"); - fgUntie("/velocities/vertical-speed"); - fgUntie("/velocities/side-slip"); + 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/side-slip-rad"); } + +/** + * Update the state of the FDM (i.e. run the equations of motion). + */ void FGInterface::update () { @@ -276,25 +405,25 @@ bool FGInterface::update( int multi_loop ) { void FGInterface::_updatePosition( double lat_geoc, double lon, double alt ) { double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc; - sgGeocToGeod( lat_geoc, EQUATORIAL_RADIUS_M + alt * FEET_TO_METER, + sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER, &lat_geod, &tmp_alt, &sl_radius1 ); - sgGeodToGeoc( lat_geod, alt * FEET_TO_METER, &sl_radius2, &tmp_lat_geoc ); + sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc ); - FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << lon + SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon << " lat_geod = " << lat_geod << " lat_geoc = " << lat_geoc << " alt = " << alt - << " tmp_alt = " << tmp_alt * METER_TO_FEET - << " sl_radius1 = " << sl_radius1 * METER_TO_FEET - << " sl_radius2 = " << sl_radius2 * METER_TO_FEET - << " Equator = " << EQUATORIAL_RADIUS_FT ); + << " 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 * METER_TO_FEET + alt ); + sl_radius2 * SG_METER_TO_FEET + alt ); _set_Geodetic_Position( lat_geod, lon, alt ); - _set_Sea_level_radius( sl_radius2 * METER_TO_FEET ); + _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET ); _set_Runway_altitude( scenery.cur_elev*METERS_TO_FEET ); _set_sin_lat_geocentric( lat_geoc ); @@ -357,6 +486,8 @@ void FGInterface::extrapolate( int time_offset ) { // Set the altitude (force) void fgFDMForceAltitude(const string &model, double alt_meters) { + SG_LOG(SG_FLIGHT,SG_INFO, "fgFDMForceAltitude: " << alt_meters ); + double sea_level_radius_meters; double lat_geoc; @@ -364,10 +495,13 @@ void fgFDMForceAltitude(const string &model, double alt_meters) { sgGeodToGeoc( base_fdm_state.get_Latitude(), alt_meters, &sea_level_radius_meters, &lat_geoc); - base_fdm_state.set_Altitude( alt_meters * METER_TO_FEET ); + base_fdm_state.set_Altitude( alt_meters * SG_METER_TO_FEET ); base_fdm_state.set_Sea_level_radius( sea_level_radius_meters * - METER_TO_FEET ); - + SG_METER_TO_FEET ); + + cur_fdm_state->set_Altitude( alt_meters * SG_METER_TO_FEET ); + cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters * + SG_METER_TO_FEET ); // additional work needed for some flight models if ( model == "larcsim" ) { @@ -378,10 +512,10 @@ void fgFDMForceAltitude(const string &model, double alt_meters) { // Set the local ground elevation void fgFDMSetGroundElevation(const string &model, double ground_meters) { - FG_LOG( FG_FLIGHT,FG_INFO, "fgFDMSetGroundElevation: " - << ground_meters*METER_TO_FEET ); - base_fdm_state.set_Runway_altitude( ground_meters * METER_TO_FEET ); - cur_fdm_state->set_Runway_altitude( ground_meters * METER_TO_FEET ); + SG_LOG( SG_FLIGHT,SG_INFO, "fgFDMSetGroundElevation: " + << ground_meters*SG_METER_TO_FEET ); + base_fdm_state.set_Runway_altitude( ground_meters * SG_METER_TO_FEET ); + cur_fdm_state->set_Runway_altitude( ground_meters * SG_METER_TO_FEET ); } @@ -469,105 +603,110 @@ void FGInterface::set_Velocities_Local_Airmass (double wnorth, void FGInterface::_busdump(void) { - FG_LOG(FG_FLIGHT,FG_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]); - FG_LOG(FG_FLIGHT,FG_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]); - FG_LOG(FG_FLIGHT,FG_INFO,"f_body_total_v[3]: " << f_body_total_v[0] << ", " << f_body_total_v[1] << ", " << f_body_total_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"f_local_total_v[3]: " << f_local_total_v[0] << ", " << f_local_total_v[1] << ", " << f_local_total_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"m_total_rp_v[3]: " << m_total_rp_v[0] << ", " << m_total_rp_v[1] << ", " << m_total_rp_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"m_total_cg_v[3]: " << m_total_cg_v[0] << ", " << m_total_cg_v[1] << ", " << m_total_cg_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"v_dot_local_v[3]: " << v_dot_local_v[0] << ", " << v_dot_local_v[1] << ", " << v_dot_local_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"v_dot_body_v[3]: " << v_dot_body_v[0] << ", " << v_dot_body_v[1] << ", " << v_dot_body_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"a_cg_body_v[3]: " << a_cg_body_v[0] << ", " << a_cg_body_v[1] << ", " << a_cg_body_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"a_pilot_body_v[3]: " << a_pilot_body_v[0] << ", " << a_pilot_body_v[1] << ", " << a_pilot_body_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"n_cg_body_v[3]: " << n_cg_body_v[0] << ", " << n_cg_body_v[1] << ", " << n_cg_body_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"n_pilot_body_v[3]: " << n_pilot_body_v[0] << ", " << n_pilot_body_v[1] << ", " << n_pilot_body_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"omega_dot_body_v[3]: " << omega_dot_body_v[0] << ", " << omega_dot_body_v[1] << ", " << omega_dot_body_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]); - FG_LOG(FG_FLIGHT,FG_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]); - FG_LOG(FG_FLIGHT,FG_INFO,"v_local_airmass_v[3]: " << v_local_airmass_v[0] << ", " << v_local_airmass_v[1] << ", " << v_local_airmass_v[2]); - FG_LOG(FG_FLIGHT,FG_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]); - FG_LOG(FG_FLIGHT,FG_INFO,"v_local_gust_v[3]: " << v_local_gust_v[0] << ", " << v_local_gust_v[1] << ", " << v_local_gust_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"v_wind_body_v[3]: " << v_wind_body_v[0] << ", " << v_wind_body_v[1] << ", " << v_wind_body_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]); - FG_LOG(FG_FLIGHT,FG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]); - FG_LOG(FG_FLIGHT,FG_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]); - FG_LOG(FG_FLIGHT,FG_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]); - FG_LOG(FG_FLIGHT,FG_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]); - FG_LOG(FG_FLIGHT,FG_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,"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]); - FG_LOG(FG_FLIGHT,FG_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]); - FG_LOG(FG_FLIGHT,FG_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]); - FG_LOG(FG_FLIGHT,FG_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]); - - FG_LOG(FG_FLIGHT,FG_INFO,"mass: " << mass ); - FG_LOG(FG_FLIGHT,FG_INFO,"i_xx: " << i_xx ); - FG_LOG(FG_FLIGHT,FG_INFO,"i_yy: " << i_yy ); - FG_LOG(FG_FLIGHT,FG_INFO,"i_zz: " << i_zz ); - FG_LOG(FG_FLIGHT,FG_INFO,"i_xz: " << i_xz ); - FG_LOG(FG_FLIGHT,FG_INFO,"nlf: " << nlf ); - FG_LOG(FG_FLIGHT,FG_INFO,"v_rel_wind: " << v_rel_wind ); - FG_LOG(FG_FLIGHT,FG_INFO,"v_true_kts: " << v_true_kts ); - FG_LOG(FG_FLIGHT,FG_INFO,"v_rel_ground: " << v_rel_ground ); - FG_LOG(FG_FLIGHT,FG_INFO,"v_inertial: " << v_inertial ); - FG_LOG(FG_FLIGHT,FG_INFO,"v_ground_speed: " << v_ground_speed ); - FG_LOG(FG_FLIGHT,FG_INFO,"v_equiv: " << v_equiv ); - FG_LOG(FG_FLIGHT,FG_INFO,"v_equiv_kts: " << v_equiv_kts ); - FG_LOG(FG_FLIGHT,FG_INFO,"v_calibrated: " << v_calibrated ); - FG_LOG(FG_FLIGHT,FG_INFO,"v_calibrated_kts: " << v_calibrated_kts ); - FG_LOG(FG_FLIGHT,FG_INFO,"gravity: " << gravity ); - FG_LOG(FG_FLIGHT,FG_INFO,"centrifugal_relief: " << centrifugal_relief ); - FG_LOG(FG_FLIGHT,FG_INFO,"alpha: " << alpha ); - FG_LOG(FG_FLIGHT,FG_INFO,"beta: " << beta ); - FG_LOG(FG_FLIGHT,FG_INFO,"alpha_dot: " << alpha_dot ); - FG_LOG(FG_FLIGHT,FG_INFO,"beta_dot: " << beta_dot ); - FG_LOG(FG_FLIGHT,FG_INFO,"cos_alpha: " << cos_alpha ); - FG_LOG(FG_FLIGHT,FG_INFO,"sin_alpha: " << sin_alpha ); - FG_LOG(FG_FLIGHT,FG_INFO,"cos_beta: " << cos_beta ); - FG_LOG(FG_FLIGHT,FG_INFO,"sin_beta: " << sin_beta ); - FG_LOG(FG_FLIGHT,FG_INFO,"cos_phi: " << cos_phi ); - FG_LOG(FG_FLIGHT,FG_INFO,"sin_phi: " << sin_phi ); - FG_LOG(FG_FLIGHT,FG_INFO,"cos_theta: " << cos_theta ); - FG_LOG(FG_FLIGHT,FG_INFO,"sin_theta: " << sin_theta ); - FG_LOG(FG_FLIGHT,FG_INFO,"cos_psi: " << cos_psi ); - FG_LOG(FG_FLIGHT,FG_INFO,"sin_psi: " << sin_psi ); - FG_LOG(FG_FLIGHT,FG_INFO,"gamma_vert_rad: " << gamma_vert_rad ); - FG_LOG(FG_FLIGHT,FG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad ); - FG_LOG(FG_FLIGHT,FG_INFO,"sigma: " << sigma ); - FG_LOG(FG_FLIGHT,FG_INFO,"density: " << density ); - FG_LOG(FG_FLIGHT,FG_INFO,"v_sound: " << v_sound ); - FG_LOG(FG_FLIGHT,FG_INFO,"mach_number: " << mach_number ); - FG_LOG(FG_FLIGHT,FG_INFO,"static_pressure: " << static_pressure ); - FG_LOG(FG_FLIGHT,FG_INFO,"total_pressure: " << total_pressure ); - FG_LOG(FG_FLIGHT,FG_INFO,"impact_pressure: " << impact_pressure ); - FG_LOG(FG_FLIGHT,FG_INFO,"dynamic_pressure: " << dynamic_pressure ); - FG_LOG(FG_FLIGHT,FG_INFO,"static_temperature: " << static_temperature ); - FG_LOG(FG_FLIGHT,FG_INFO,"total_temperature: " << total_temperature ); - FG_LOG(FG_FLIGHT,FG_INFO,"sea_level_radius: " << sea_level_radius ); - FG_LOG(FG_FLIGHT,FG_INFO,"earth_position_angle: " << earth_position_angle ); - FG_LOG(FG_FLIGHT,FG_INFO,"runway_altitude: " << runway_altitude ); - FG_LOG(FG_FLIGHT,FG_INFO,"runway_latitude: " << runway_latitude ); - FG_LOG(FG_FLIGHT,FG_INFO,"runway_longitude: " << runway_longitude ); - FG_LOG(FG_FLIGHT,FG_INFO,"runway_heading: " << runway_heading ); - FG_LOG(FG_FLIGHT,FG_INFO,"radius_to_rwy: " << radius_to_rwy ); - FG_LOG(FG_FLIGHT,FG_INFO,"climb_rate: " << climb_rate ); - FG_LOG(FG_FLIGHT,FG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric ); - FG_LOG(FG_FLIGHT,FG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric ); - FG_LOG(FG_FLIGHT,FG_INFO,"sin_longitude: " << sin_longitude ); - FG_LOG(FG_FLIGHT,FG_INFO,"cos_longitude: " << cos_longitude ); - FG_LOG(FG_FLIGHT,FG_INFO,"sin_latitude: " << sin_latitude ); - FG_LOG(FG_FLIGHT,FG_INFO,"cos_latitude: " << cos_latitude ); - FG_LOG(FG_FLIGHT,FG_INFO,"altitude_agl: " << altitude_agl ); + 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(); +} +