X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2Fflight.cxx;h=ed670fa8b81e4a80b7c620367c9be06e2456466e;hb=f0e6716953604730579a5e45f785fd063737dce4;hp=ec8707dc37a39ad1ebeb9ccfcf439c58e4b93898;hpb=0262c560593795c4ae4f3aa91d52ae2480d4e647;p=flightgear.git diff --git a/src/FDM/flight.cxx b/src/FDM/flight.cxx index ec8707dc3..ed670fa8b 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. // @@ -23,6 +23,8 @@ #include +#include + #include #include #include @@ -50,10 +52,10 @@ FGInterface base_fdm_state; inline void init_vec(FG_VECTOR_3 vec) { vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0; -} +} FGEngInterface::FGEngInterface() { - + // inputs Throttle=0; Mixture=0; @@ -71,9 +73,43 @@ FGEngInterface::FGEngInterface() { FGEngInterface::~FGEngInterface(void) { } +FGGearInterface::FGGearInterface(void) { + x=y=z=0.0; + brake=rolls=WoW=false; + position=1.0; +} + +FGGearInterface::~FGGearInterface() { +} // 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 () +{ + inited = false; + bound = false; + init_vec( d_pilot_rp_body_v ); init_vec( d_cg_rp_body_v ); init_vec( f_body_total_v ); @@ -94,38 +130,38 @@ FGInterface::FGInterface() { init_vec( n_pilot_body_v ); init_vec( omega_dot_body_v ); init_vec( v_local_v ); - init_vec( v_local_rel_ground_v ); - init_vec( v_local_airmass_v ); - init_vec( v_local_rel_airmass_v ); - init_vec( v_local_gust_v ); - init_vec( v_wind_body_v ); - init_vec( omega_body_v ); - init_vec( omega_local_v ); - init_vec( omega_total_v ); + init_vec( v_local_rel_ground_v ); + init_vec( v_local_airmass_v ); + init_vec( v_local_rel_airmass_v ); + init_vec( v_local_gust_v ); + init_vec( v_wind_body_v ); + init_vec( omega_body_v ); + init_vec( omega_local_v ); + init_vec( omega_total_v ); init_vec( euler_rates_v ); - init_vec( geocentric_rates_v ); + init_vec( geocentric_rates_v ); init_vec( geocentric_position_v ); init_vec( geodetic_position_v ); init_vec( euler_angles_v ); - init_vec( d_cg_rwy_local_v ); - init_vec( d_cg_rwy_rwy_v ); - init_vec( d_pilot_rwy_local_v ); - init_vec( d_pilot_rwy_rwy_v ); + init_vec( d_cg_rwy_local_v ); + init_vec( d_cg_rwy_rwy_v ); + init_vec( d_pilot_rwy_local_v ); + init_vec( d_pilot_rwy_rwy_v ); init_vec( t_local_to_body_m[0] ); init_vec( t_local_to_body_m[1] ); init_vec( t_local_to_body_m[2] ); - + mass=i_xx=i_yy=i_zz=i_xz=0; - nlf=0; + nlf=0; v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0; v_ground_speed=v_equiv=v_equiv_kts=0; v_calibrated=v_calibrated_kts=0; - gravity=0; - centrifugal_relief=0; - alpha=beta=alpha_dot=beta_dot=0; + gravity=0; + centrifugal_relief=0; + alpha=beta=alpha_dot=beta_dot=0; cos_alpha=sin_alpha=cos_beta=sin_beta=0; cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0; - gamma_vert_rad=gamma_horiz_rad=0; + gamma_vert_rad=gamma_horiz_rad=0; sigma=density=v_sound=mach_number=0; static_pressure=total_pressure=impact_pressure=0; dynamic_pressure=0; @@ -134,186 +170,437 @@ FGInterface::FGInterface() { runway_altitude=runway_latitude=runway_longitude=0; runway_heading=0; radius_to_rwy=0; - climb_rate=0; + climb_rate=0; sin_lat_geocentric=cos_lat_geocentric=0; 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 -} - - void -FGInterface::init () +FGInterface::init () {} + +/** + * Initialize the state of the FDM. + * + * Subclasses of FGInterface may do their own, additional initialization, + * but there is some that is common to all. Normally, they should call + * this before they begin their own init to make sure the basic structures + * are set up properly. + */ +void +FGInterface::common_init () { + SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" ); + + set_inited( true ); + + 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.get_cur_elev(); + double ground_elev_ft = ground_elev_m * SG_METER_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..." ); + SG_LOG( SG_FLIGHT, SG_INFO, "common_init(): set ground elevation " + << ground_elev_ft ); + base_fdm_state.set_Runway_altitude( ground_elev_ft ); + set_Runway_altitude( ground_elev_ft ); + + // Set sea-level radius + SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." ); + SG_LOG( SG_FLIGHT, SG_INFO, " lat = " + << fgGetDouble("/position/latitude-deg") + << " alt = " << fgGetDouble("/position/altitude-ft") ); + double sea_level_radius_meters; + double lat_geoc; + sgGeodToGeoc( fgGetDouble("/position/latitude-deg") + * SGD_DEGREES_TO_RADIANS, + fgGetDouble("/position/altitude-ft") * SG_FEET_TO_METER, + &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 common FDM init" ); } + +/** + * 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 - fgTie("/fdm/time/delta_t", this, - &(FGInterface::get_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)); - fgTie("/fdm/time/remainder", this, - &(FGInterface::get_remainder); */ - fgTie("/fdm/time/multi_loop", this, - &(FGInterface::get_multi_loop)); + 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", 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 + + // Powerplant + for (int i = 0; i < get_num_engines(); i++) { + char buf[64]; + + sprintf(buf, "/engines/engine[%d]/rpm", i); + fgTie(buf, get_engine(i), &FGEngInterface::get_RPM); + + sprintf(buf, "/engines/engine[%d]/egt-degf", i); + fgTie(buf, get_engine(i), &FGEngInterface::get_EGT); + + sprintf(buf, "/engines/engine[%d]/cht-degf", i); + fgTie(buf, get_engine(i), &FGEngInterface::get_CHT); + + sprintf(buf, "/engines/engine[%d]/oil-temperature-degf", i); + fgTie(buf, get_engine(i), &FGEngInterface::get_Oil_Temp); + + sprintf(buf, "/engines/engine[%d]/mp-osi", i); + fgTie(buf, get_engine(i), &FGEngInterface::get_Manifold_Pressure); + + sprintf(buf, "/engines/engine[%d]/fuel-flow-gph", i); + fgTie(buf, get_engine(i), &FGEngInterface::get_Fuel_Flow); + + sprintf(buf, "/engines/engine[%d]/running", i); + fgTie(buf, get_engine(i), &FGEngInterface::get_Running_Flag); + + sprintf(buf, "/engines/engine[%d]/cranking", i); + fgTie(buf, get_engine(i), &FGEngInterface::get_Cranking_Flag); + + } } + +/** + * 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 () { + bound = false; + fgUntie("/fdm/time/delta_t"); fgUntie("/fdm/time/elapsed"); fgUntie("/fdm/time/remainder"); fgUntie("/fdm/time/multi_loop"); - fgUntie("/position/latitude"); - fgUntie("/position/longitude"); - fgUntie("/position/altitude"); - 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("/position/latitude-deg"); + fgUntie("/position/longitude-deg"); + fgUntie("/position/altitude-ft"); + fgUntie("/position/altitude-agl-ft"); + fgUntie("/orientation/heading-deg"); + fgUntie("/orientation/pitch-deg"); + fgUntie("/orientation/roll-deg"); + 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"); + for (int i = 0; i < get_num_engines(); i++) { + char buf[64]; + sprintf(buf, "/engines/engine[%d]/rpm", i); + fgUntie(buf); + sprintf(buf, "/engines/engine[%d]/egt-degf", i); + fgUntie(buf); + sprintf(buf, "/engines/engine[%d]/cht-degf", i); + fgUntie(buf); + sprintf(buf, "/engines/engine[%d]/oil-temperature-degf", i); + fgUntie(buf); + sprintf(buf, "/engines/engine[%d]/mp-osi", i); + fgUntie(buf); + sprintf(buf, "/engines/engine[%d]/fuel-flow-gph", i); + fgUntie(buf); + sprintf(buf, "/engines/engine[%d]/running", i); + fgUntie(buf); + sprintf(buf, "/engines/engine[%d]/cranking", i); + fgUntie(buf); + } } void -FGInterface::update () +FGInterface::free_engines () { - update(1); + int i; + for ( i = 0; i < get_num_engines(); ++i ) { + delete get_engine(i); + } + engines.clear(); } +void +FGInterface::free_gear_units () +{ + int i; + for ( i = 0; i < get_num_gear(); ++i ) { + delete [] get_gear_unit(i); + } + gear.clear(); +} -bool FGInterface::update( int multi_loop ) { +/** + * Update the state of the FDM (i.e. run the equations of motion). + */ +void +FGInterface::update (int dt) +{ cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl; - return false; } - -void FGInterface::_updatePosition( double lat_geoc, double lon, double alt ) { - double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc; + +void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt ) +{ + double lat_geoc, sl_radius; + + // cout << "starting sea level rad = " << get_Sea_level_radius() << endl; + + sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc ); + + SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon + << " lat_geod = " << lat + << " lat_geoc = " << lat_geoc + << " alt = " << alt + << " sl_radius = " << sl_radius * SG_METER_TO_FEET + << " Equator = " << SG_EQUATORIAL_RADIUS_FT ); + + _set_Geocentric_Position( lat_geoc, lon, + sl_radius * SG_METER_TO_FEET + alt ); - sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * FEET_TO_METER, + _set_Geodetic_Position( lat, lon, alt ); + + _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET ); + _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET ); + + _set_sin_lat_geocentric( lat_geoc ); + _set_cos_lat_geocentric( lat_geoc ); + + _set_sin_cos_longitude( lon ); + + _set_sin_cos_latitude( lat ); + + /* Norman's code for slope of the terrain */ + /* needs to be tested -- get it on the HUD and taxi around */ + /* double *tnorm = scenery.cur_normal; + + double sy = sin ( -get_Psi() ) ; + double cy = cos ( -get_Psi() ) ; + + double phitb, thetatb, psitb; + if ( tnorm[1] != 0.0 ) { + psitb = -atan2 ( tnorm[0], tnorm[1] ); + } + if ( tnorm[2] != 0.0 ) { + thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] ); + phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] ); + } + + _set_terrain_slope(phitb, thetatb, psitb) + */ +} + + +void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon, + double alt ) +{ + double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc; + + // cout << "starting sea level rad = " << get_Sea_level_radius() << endl; + + 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_Runway_altitude( scenery.cur_elev*METERS_TO_FEET ); - + + _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET ); + _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET ); + _set_sin_lat_geocentric( lat_geoc ); _set_cos_lat_geocentric( lat_geoc ); - + _set_sin_cos_longitude( lon ); - + _set_sin_cos_latitude( lat_geod ); - + /* Norman's code for slope of the terrain */ /* needs to be tested -- get it on the HUD and taxi around */ /* double *tnorm = scenery.cur_normal; - + double sy = sin ( -get_Psi() ) ; double cy = cos ( -get_Psi() ) ; double phitb, thetatb, psitb; - if(tnorm[1] != 0.0) { - psitb = -atan2 ( tnorm[0], tnorm[1] ); + if ( tnorm[1] != 0.0 ) { + psitb = -atan2 ( tnorm[0], tnorm[1] ); } - if(tnorm[2] != 0.0) { - thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] ); - phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] ); + if ( tnorm[2] != 0.0 ) { + thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] ); + phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] ); } _set_terrain_slope(phitb, thetatb, psitb) @@ -353,6 +640,8 @@ 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; @@ -360,10 +649,13 @@ 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" ) { @@ -372,48 +664,39 @@ 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 ); -} - - // Positions -void FGInterface::set_Latitude(double lat) { +void FGInterface::set_Latitude(double lat) { geodetic_position_v[0] = lat; -} +} void FGInterface::set_Longitude(double lon) { geodetic_position_v[1] = lon; -} +} void FGInterface::set_Altitude(double alt) { geodetic_position_v[2] = alt; -} +} void FGInterface::set_AltitudeAGL(double altagl) { altitude_agl=altagl; -} +} // Velocities void FGInterface::set_V_calibrated_kts(double vc) { v_calibrated_kts = vc; -} +} void FGInterface::set_Mach_number(double mach) { mach_number = mach; -} +} void FGInterface::set_Velocities_Local( double north, double east, double down ){ v_local_v[0] = north; v_local_v[1] = east; - v_local_v[2] = down; -} + v_local_v[2] = down; +} void FGInterface::set_Velocities_Wind_Body( double u, double v, @@ -421,7 +704,7 @@ void FGInterface::set_Velocities_Wind_Body( double u, v_wind_body_v[0] = u; v_wind_body_v[1] = v; v_wind_body_v[2] = w; -} +} // Euler angles void FGInterface::set_Euler_Angles( double phi, @@ -435,20 +718,20 @@ void FGInterface::set_Euler_Angles( double phi, // Flight Path void FGInterface::set_Climb_Rate( double roc) { climb_rate = roc; -} +} void FGInterface::set_Gamma_vert_rad( double gamma) { gamma_vert_rad = gamma; -} +} // Earth void FGInterface::set_Sea_level_radius(double slr) { sea_level_radius = slr; -} +} void FGInterface::set_Runway_altitude(double ralt) { runway_altitude = ralt; -} +} void FGInterface::set_Static_pressure(double p) { static_pressure = p; } void FGInterface::set_Static_temperature(double T) { static_temperature = T; } @@ -460,110 +743,114 @@ void FGInterface::set_Velocities_Local_Airmass (double wnorth, v_local_airmass_v[0] = wnorth; v_local_airmass_v[1] = weast; v_local_airmass_v[2] = wdown; -} +} 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]); - - 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,"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]); + + 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(); +}