X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2Fflight.cxx;h=458320257ac2865386b58fcedebc1a607e5f0851;hb=0abf252ec8bc933b9b7c045f8782cfc7f16c0465;hp=50ebaed51f4d3622636b095eeae4ed5075207da5;hpb=db2d4a7a68bde08a2b80496d9842e78b7df55fe6;p=flightgear.git diff --git a/src/FDM/flight.cxx b/src/FDM/flight.cxx index 50ebaed51..458320257 100644 --- a/src/FDM/flight.cxx +++ b/src/FDM/flight.cxx @@ -44,23 +44,13 @@ static inline void assign(double* ptr, const SGVec3d& vec) ptr[2] = vec[2]; } -// base_fdm_state is the internal state that is updated in integer -// multiples of "dt". This leads to "jitter" with respect to the real -// world time, so we introduce cur_fdm_state which is extrapolated by -// the difference between sim time and real world time - -FGInterface *cur_fdm_state = 0; -FGInterface base_fdm_state; - // Constructor FGInterface::FGInterface() - : remainder(0) { _setup(); } FGInterface::FGInterface( double dt ) - : remainder(0) { _setup(); } @@ -70,33 +60,18 @@ FGInterface::~FGInterface() { // unbind(); // FIXME: should be called explicitly } - int FGInterface::_calc_multiloop (double dt) { + // Since some time the simulation time increments we get here are + // already a multiple of the basic update freqency. + // So, there is no need to do our own multiloop rounding with all bad + // roundoff problems when we already have nearly accurate values. + // Only the speedup thing must be still handled here int hz = fgGetInt("/sim/model-hz"); + int multiloop = SGMiscd::roundToInt(dt*hz); int speedup = fgGetInt("/sim/speed-up"); - - dt += remainder; - remainder = 0; - double ml = dt * hz; - // Avoid roundoff problems by adding the roundoff itself. - // ... ok, two times the roundoff to have enough room. - int multiloop = int(floor(ml * (1.0 + 2.0*DBL_EPSILON))); - remainder = (ml - multiloop) / hz; - - // If we artificially inflate ml above by a tiny amount to get the - // closest integer, then subtract the integer from the original - // slightly smaller value, we can get a negative remainder. - // Logically this should never happen, and we definitely don't want - // to carry a negative remainder over to the next iteration, so - // never let the remainder go below zero. - // - // Note: this fixes a problem where we run 1, 3, 1, 3, 1, 3... loops - // of the FDM when in fact we want to run 2, 2, 2, 2, 2... - if ( remainder < 0 ) { remainder = 0; } - - return (multiloop * speedup); + return multiloop * speedup; } @@ -143,6 +118,7 @@ FGInterface::_setup () runway_altitude=0; climb_rate=0; altitude_agl=0; + track=0; } void @@ -163,8 +139,7 @@ FGInterface::common_init () set_inited( true ); -// stamp(); -// set_remainder( 0 ); + ground_cache.set_cache_time_offset(globals->get_sim_time_sec()); // Set initial position SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." ); @@ -204,6 +179,15 @@ FGInterface::common_init () double slr = SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v); _set_Sea_level_radius( slr * SG_METER_TO_FEET ); + // Set initial Euler angles + SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." ); + set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg") + * SGD_DEGREES_TO_RADIANS, + fgGetDouble("/sim/presets/pitch-deg") + * SGD_DEGREES_TO_RADIANS, + fgGetDouble("/sim/presets/heading-deg") + * SGD_DEGREES_TO_RADIANS ); + // Set initial velocities SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." ); if ( !fgHasNode("/sim/presets/speed-set") ) { @@ -232,14 +216,11 @@ FGInterface::common_init () } } - // Set initial Euler angles - SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." ); - set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg") - * SGD_DEGREES_TO_RADIANS, - fgGetDouble("/sim/presets/pitch-deg") - * SGD_DEGREES_TO_RADIANS, - fgGetDouble("/sim/presets/heading-deg") - * SGD_DEGREES_TO_RADIANS ); + if ( fgHasNode("/sim/presets/glideslope-deg") ) + set_Gamma_vert_rad( fgGetDouble("/sim/presets/glideslope-deg") + * SGD_DEGREES_TO_RADIANS ); + else if ( fgHasNode( "/velocities/vertical-speed-fps") ) + set_Climb_Rate( fgGetDouble("/velocities/vertical-speed-fps") ); SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" ); } @@ -259,160 +240,174 @@ FGInterface::bind () { bound = true; - // Time management (read-only) -// fgTie("/fdm/time/delta_t", this, -// &FGInterface::get_delta_t); // read-only -// fgTie("/fdm/time/elapsed", this, -// &FGInterface::get_elapsed); // read-only -// fgTie("/fdm/time/remainder", this, -// &FGInterface::get_remainder); // read-only -// fgTie("/fdm/time/multi_loop", this, -// &FGInterface::get_multi_loop); // read-only - - // Aircraft position - fgTie("/position/latitude-deg", this, - &FGInterface::get_Latitude_deg, - &FGInterface::set_Latitude_deg, - false); + _tiedProperties.setRoot(globals->get_props()); + // Aircraft position + _tiedProperties.Tie("/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); + _tiedProperties.Tie("/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); + _tiedProperties.Tie("/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 + _tiedProperties.Tie("/position/altitude-agl-ft", this, + &FGInterface::get_Altitude_AGL, &FGInterface::set_AltitudeAGL, false); fgSetArchivable("/position/ground-elev-ft"); - fgTie("/position/ground-elev-ft", this, - &FGInterface::get_Runway_altitude); // read-only + _tiedProperties.Tie("/position/ground-elev-ft", this, + &FGInterface::get_Runway_altitude); // read-only fgSetArchivable("/position/ground-elev-m"); - fgTie("/position/ground-elev-m", this, - &FGInterface::get_Runway_altitude_m); // read-only - fgTie("/environment/ground-elevation-m", this, - &FGInterface::get_Runway_altitude_m); // read-only + _tiedProperties.Tie("/position/ground-elev-m", this, + &FGInterface::get_Runway_altitude_m); // read-only + _tiedProperties.Tie("/environment/ground-elevation-m", this, + &FGInterface::get_Runway_altitude_m); // read-only fgSetArchivable("/position/sea-level-radius-ft"); - fgTie("/position/sea-level-radius-ft", this, - &FGInterface::get_Sea_level_radius); // read-only - - // Orientation - fgTie("/orientation/roll-deg", this, - &FGInterface::get_Phi_deg, - &FGInterface::set_Phi_deg); + _tiedProperties.Tie("/position/sea-level-radius-ft", this, + &FGInterface::get_Sea_level_radius, + &FGInterface::_set_Sea_level_radius, false); + + // Orientation + _tiedProperties.Tie("/orientation/roll-deg", this, + &FGInterface::get_Phi_deg, + &FGInterface::set_Phi_deg, false); fgSetArchivable("/orientation/roll-deg"); - fgTie("/orientation/pitch-deg", this, - &FGInterface::get_Theta_deg, - &FGInterface::set_Theta_deg); + _tiedProperties.Tie("/orientation/pitch-deg", this, + &FGInterface::get_Theta_deg, + &FGInterface::set_Theta_deg, false); fgSetArchivable("/orientation/pitch-deg"); - fgTie("/orientation/heading-deg", this, - &FGInterface::get_Psi_deg, - &FGInterface::set_Psi_deg); + _tiedProperties.Tie("/orientation/heading-deg", this, + &FGInterface::get_Psi_deg, + &FGInterface::set_Psi_deg, false); fgSetArchivable("/orientation/heading-deg"); + _tiedProperties.Tie("/orientation/track-deg", this, + &FGInterface::get_Track); // read-only // Body-axis "euler rates" (rotation speed, but in a funny // representation). - fgTie("/orientation/roll-rate-degps", this, - &FGInterface::get_Phi_dot_degps); - fgTie("/orientation/pitch-rate-degps", this, - &FGInterface::get_Theta_dot_degps); - fgTie("/orientation/yaw-rate-degps", this, - &FGInterface::get_Psi_dot_degps); - - // Ground speed knots - fgTie("/velocities/groundspeed-kt", this, - &FGInterface::get_V_ground_speed_kt); - - // Calibrated airspeed - fgTie("/velocities/airspeed-kt", this, - &FGInterface::get_V_calibrated_kts, - &FGInterface::set_V_calibrated_kts, - false); - - // Mach number - fgTie("/velocities/mach", this, - &FGInterface::get_Mach_number, - &FGInterface::set_Mach_number, - false); - - // Local velocities -// fgTie("/velocities/speed-north-fps", this, -// &FGInterface::get_V_north, -// &FGInterface::set_V_north); + _tiedProperties.Tie("/orientation/roll-rate-degps", this, + &FGInterface::get_Phi_dot_degps, + &FGInterface::set_Phi_dot_degps, false); + _tiedProperties.Tie("/orientation/pitch-rate-degps", this, + &FGInterface::get_Theta_dot_degps, + &FGInterface::set_Theta_dot_degps, false); + _tiedProperties.Tie("/orientation/yaw-rate-degps", this, + &FGInterface::get_Psi_dot_degps, + &FGInterface::set_Psi_dot_degps, false); + + _tiedProperties.Tie("/orientation/p-body", this, &FGInterface::get_P_body); // read-only + _tiedProperties.Tie("/orientation/q-body", this, &FGInterface::get_Q_body); // read-only + _tiedProperties.Tie("/orientation/r-body", this, &FGInterface::get_R_body); // read-only + + // Ground speed knots + _tiedProperties.Tie("/velocities/groundspeed-kt", this, + &FGInterface::get_V_ground_speed_kt, + &FGInterface::set_V_ground_speed_kt); // read-only + + // Calibrated airspeed + _tiedProperties.Tie("/velocities/airspeed-kt", this, + &FGInterface::get_V_calibrated_kts, + &FGInterface::set_V_calibrated_kts, + false); + + _tiedProperties.Tie("/velocities/equivalent-kt", this, + &FGInterface::get_V_equiv_kts); // read-only + + // Mach number + _tiedProperties.Tie("/velocities/mach", this, + &FGInterface::get_Mach_number, + &FGInterface::set_Mach_number, + false); + + // Local velocities +// _tiedProperties.Tie("/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); +// _tiedProperties.Tie("/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); +// _tiedProperties.Tie("/velocities/speed-down-fps", this, +// &FGInterface::get_V_down, +// &FGInterface::set_V_down); // fgSetArchivable("/velocities/speed-down-fps"); - // FIXME: Temporarily read-only, until the - // incompatibilities between JSBSim and - // LaRCSim are fixed (LaRCSim adds the - // earth's rotation to the east velocity). - fgTie("/velocities/speed-north-fps", this, - &FGInterface::get_V_north); - fgTie("/velocities/speed-east-fps", this, - &FGInterface::get_V_east); - fgTie("/velocities/speed-down-fps", this, - &FGInterface::get_V_down); - - // Relative wind - // FIXME: temporarily archivable, until - // the NED problem is fixed. - fgTie("/velocities/uBody-fps", this, - &FGInterface::get_uBody, - &FGInterface::set_uBody, - false); + + // FIXME: Temporarily read-only, until the + // incompatibilities between JSBSim and + // LaRCSim are fixed (LaRCSim adds the + // earth's rotation to the east velocity). + _tiedProperties.Tie("/velocities/speed-north-fps", this, + &FGInterface::get_V_north, &FGInterface::set_V_north, false); + _tiedProperties.Tie("/velocities/speed-east-fps", this, + &FGInterface::get_V_east, &FGInterface::set_V_east, false); + _tiedProperties.Tie("/velocities/speed-down-fps", this, + &FGInterface::get_V_down, &FGInterface::set_V_down, false); + + _tiedProperties.Tie("/velocities/north-relground-fps", this, + &FGInterface::get_V_north_rel_ground); // read-only + _tiedProperties.Tie("/velocities/east-relground-fps", this, + &FGInterface::get_V_east_rel_ground); // read-only + _tiedProperties.Tie("/velocities/down-relground-fps", this, + &FGInterface::get_V_down_rel_ground); // read-only + + // Relative wind + // FIXME: temporarily archivable, until the NED problem is fixed. + _tiedProperties.Tie("/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); + _tiedProperties.Tie("/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); + _tiedProperties.Tie("/velocities/wBody-fps", this, + &FGInterface::get_wBody, + &FGInterface::set_wBody, + false); fgSetArchivable("/velocities/wBody-fps"); - // Climb and slip (read-only) - fgTie("/velocities/vertical-speed-fps", this, - &FGInterface::get_Climb_Rate, - &FGInterface::set_Climb_Rate ); - fgTie("/velocities/glideslope", this, - &FGInterface::get_Gamma_vert_rad, - &FGInterface::set_Gamma_vert_rad ); - fgTie("/orientation/side-slip-rad", this, - &FGInterface::get_Beta); // read-only - fgTie("/orientation/side-slip-deg", this, - &FGInterface::get_Beta_deg); // read-only - fgTie("/orientation/alpha-deg", this, - &FGInterface::get_Alpha_deg); // read-only - fgTie("/accelerations/nlf", this, - &FGInterface::get_Nlf); // read-only - - // NED accelerations - fgTie("/accelerations/ned/north-accel-fps_sec", - this, &FGInterface::get_V_dot_north); - fgTie("/accelerations/ned/east-accel-fps_sec", - this, &FGInterface::get_V_dot_east); - fgTie("/accelerations/ned/down-accel-fps_sec", - this, &FGInterface::get_V_dot_down); - - // Pilot accelerations - fgTie("/accelerations/pilot/x-accel-fps_sec", - this, &FGInterface::get_A_X_pilot); - fgTie("/accelerations/pilot/y-accel-fps_sec", - this, &FGInterface::get_A_Y_pilot); - fgTie("/accelerations/pilot/z-accel-fps_sec", - this, &FGInterface::get_A_Z_pilot); - + // Climb and slip (read-only) + _tiedProperties.Tie("/velocities/vertical-speed-fps", this, + &FGInterface::get_Climb_Rate, + &FGInterface::set_Climb_Rate, false ); + _tiedProperties.Tie("/velocities/glideslope", this, + &FGInterface::get_Gamma_vert_rad, + &FGInterface::set_Gamma_vert_rad, false ); + _tiedProperties.Tie("/orientation/side-slip-rad", this, + &FGInterface::get_Beta, &FGInterface::_set_Beta, false); + _tiedProperties.Tie("/orientation/side-slip-deg", this, + &FGInterface::get_Beta_deg); // read-only + _tiedProperties.Tie("/orientation/alpha-deg", this, + &FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg, false); + _tiedProperties.Tie("/accelerations/nlf", this, + &FGInterface::get_Nlf); // read-only + + // NED accelerations + _tiedProperties.Tie("/accelerations/ned/north-accel-fps_sec", + this, &FGInterface::get_V_dot_north); // read-only + _tiedProperties.Tie("/accelerations/ned/east-accel-fps_sec", + this, &FGInterface::get_V_dot_east); // read-only + _tiedProperties.Tie("/accelerations/ned/down-accel-fps_sec", + this, &FGInterface::get_V_dot_down); // read-only + + // Pilot accelerations + _tiedProperties.Tie("/accelerations/pilot/x-accel-fps_sec", + this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot, false); + _tiedProperties.Tie("/accelerations/pilot/y-accel-fps_sec", + this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot, false); + _tiedProperties.Tie("/accelerations/pilot/z-accel-fps_sec", + this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot, false); + + _tiedProperties.Tie("/accelerations/n-z-cg-fps_sec", + this, &FGInterface::get_N_Z_cg); // read-only } @@ -425,47 +420,8 @@ FGInterface::bind () void FGInterface::unbind () { + _tiedProperties.Untie(); bound = false; - - // fgUntie("/fdm/time/delta_t"); - // fgUntie("/fdm/time/elapsed"); - // fgUntie("/fdm/time/remainder"); - // fgUntie("/fdm/time/multi_loop"); - fgUntie("/position/latitude-deg"); - fgUntie("/position/longitude-deg"); - fgUntie("/position/altitude-ft"); - fgUntie("/position/altitude-agl-ft"); - fgUntie("/position/ground-elev-ft"); - fgUntie("/position/ground-elev-m"); - fgUntie("/environment/ground-elevation-m"); - fgUntie("/position/sea-level-radius-ft"); - fgUntie("/orientation/roll-deg"); - fgUntie("/orientation/pitch-deg"); - fgUntie("/orientation/heading-deg"); - fgUntie("/orientation/roll-rate-degps"); - fgUntie("/orientation/pitch-rate-degps"); - fgUntie("/orientation/yaw-rate-degps"); - fgUntie("/orientation/side-slip-rad"); - fgUntie("/orientation/side-slip-deg"); - fgUntie("/orientation/alpha-deg"); - fgUntie("/velocities/airspeed-kt"); - fgUntie("/velocities/groundspeed-kt"); - fgUntie("/velocities/mach"); - fgUntie("/velocities/speed-north-fps"); - fgUntie("/velocities/speed-east-fps"); - fgUntie("/velocities/speed-down-fps"); - fgUntie("/velocities/uBody-fps"); - fgUntie("/velocities/vBody-fps"); - fgUntie("/velocities/wBody-fps"); - fgUntie("/velocities/vertical-speed-fps"); - fgUntie("/velocities/glideslope"); - fgUntie("/accelerations/nlf"); - fgUntie("/accelerations/pilot/x-accel-fps_sec"); - fgUntie("/accelerations/pilot/y-accel-fps_sec"); - fgUntie("/accelerations/pilot/z-accel-fps_sec"); - fgUntie("/accelerations/ned/north-accel-fps_sec"); - fgUntie("/accelerations/ned/east-accel-fps_sec"); - fgUntie("/accelerations/ned/down-accel-fps_sec"); } /** @@ -480,6 +436,7 @@ FGInterface::update (double dt) void FGInterface::_updatePositionM(const SGVec3d& cartPos) { + TrackComputer tracker( track, geodetic_position_v ); cartesian_position_v = cartPos; geodetic_position_v = SGGeod::fromCart(cartesian_position_v); geocentric_position_v = SGGeoc::fromCart(cartesian_position_v); @@ -490,6 +447,7 @@ void FGInterface::_updatePositionM(const SGVec3d& cartPos) void FGInterface::_updatePosition(const SGGeod& geod) { + TrackComputer tracker( track, geodetic_position_v ); geodetic_position_v = geod; cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v); geocentric_position_v = SGGeoc::fromCart(cartesian_position_v); @@ -501,6 +459,7 @@ void FGInterface::_updatePosition(const SGGeod& geod) void FGInterface::_updatePosition(const SGGeoc& geoc) { + TrackComputer tracker( track, geodetic_position_v ); geocentric_position_v = geoc; cartesian_position_v = SGVec3d::fromGeoc(geocentric_position_v); geodetic_position_v = SGGeod::fromCart(cartesian_position_v); @@ -517,7 +476,7 @@ void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt ) void FGInterface::_updateGeocentricPosition( double lat, double lon, - double alt ) + double alt ) { _updatePosition(SGGeoc::fromRadFt(lon, lat, get_Sea_level_radius() + alt)); } @@ -554,16 +513,16 @@ void FGInterface::set_Mach_number(double mach) { } void FGInterface::set_Velocities_Local( double north, - double east, - double down ){ + double east, + double down ){ v_local_v[0] = north; v_local_v[1] = east; v_local_v[2] = down; } void FGInterface::set_Velocities_Wind_Body( double u, - double v, - double w){ + double v, + double w){ v_wind_body_v[0] = u; v_wind_body_v[1] = v; v_wind_body_v[2] = w; @@ -571,11 +530,11 @@ void FGInterface::set_Velocities_Wind_Body( double u, // Euler angles void FGInterface::set_Euler_Angles( double phi, - double theta, - double psi ) { + double theta, + double psi ) { euler_angles_v[0] = phi; euler_angles_v[1] = theta; - euler_angles_v[2] = psi; + euler_angles_v[2] = psi; } // Flight Path @@ -592,16 +551,16 @@ void FGInterface::set_Static_temperature(double T) { static_temperature = T; } void FGInterface::set_Density(double rho) { density = rho; } void FGInterface::set_Velocities_Local_Airmass (double wnorth, - double weast, - double wdown ) { + double weast, + double wdown ) { v_local_airmass_v[0] = wnorth; v_local_airmass_v[1] = weast; v_local_airmass_v[2] = wdown; } -void FGInterface::_busdump(void) { - +void FGInterface::_busdump(void) +{ SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v: " << d_cg_rp_body_v); SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v: " << v_dot_local_v); SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v: " << v_dot_body_v); @@ -825,10 +784,10 @@ FGInterface::get_groundlevel_m(const SGGeod& geod) // FIXME: how to handle t - ref_time differences ??? SGVec3d cpos; - double ref_time, radius; + double ref_time = 0, radius; // Prepare the ground cache for that position. if (!is_valid_m(&ref_time, cpos.data(), &radius)) { - double startTime = globals->get_sim_time_sec(); + double startTime = ref_time; double endTime = startTime + 1; bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), 10); /// This is most likely the case when the given altitude is @@ -841,7 +800,7 @@ FGInterface::get_groundlevel_m(const SGGeod& geod) return 0; } } else if (radius*radius <= distSqr(pos, cpos)) { - double startTime = globals->get_sim_time_sec(); + double startTime = ref_time; double endTime = startTime + 1; /// We reuse the old radius value, but only if it is at least 10 Meters .. @@ -924,6 +883,3 @@ FGInterface::release_wire(void) ground_cache.release_wire(); } -void fgToggleFDMdataLogging(void) { - cur_fdm_state->ToggleDataLogging(); -}