From 87a670d524da5755c03f9d556420d7aae13deb73 Mon Sep 17 00:00:00 2001 From: curt Date: Thu, 3 Dec 1998 04:25:02 +0000 Subject: [PATCH] Working on fixing up new fgFLIGHT class. --- FDM/LaRCsim.cxx | 284 ++++++++++++++++---------------------- FDM/flight.hxx | 344 ++++++++++++++++++++++++++++++++++++++--------- Main/fg_init.cxx | 15 ++- 3 files changed, 407 insertions(+), 236 deletions(-) diff --git a/FDM/LaRCsim.cxx b/FDM/LaRCsim.cxx index 1f2d06942..bd7570b4d 100644 --- a/FDM/LaRCsim.cxx +++ b/FDM/LaRCsim.cxx @@ -262,179 +262,129 @@ int fgFlight_2_LaRCsim (fgFLIGHT& f) { // Convert from the LaRCsim generic_ struct to the fgFLIGHT struct int fgLaRCsim_2_Flight (fgFLIGHT& f) { + // Mass properties and geometry values f.set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz ); + f.set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot ); + f.set_CG_Position( Dx_cg, Dy_cg, Dz_cg ); - /* - f.get_Dx_pilot() = Dx_pilot; - f.get_Dy_pilot() = Dy_pilot; - f.get_Dz_pilot() = Dz_pilot; - f.get_Dx_cg() = Dx_cg; - f.get_Dy_cg() = Dy_cg; - f.get_Dz_cg() = Dz_cg; - f.get_F_X() = F_X; - f.get_F_Y() = F_Y; - f.get_F_Z() = F_Z; - f.get_F_north() = F_north; - f.get_F_east() = F_east; - f.get_F_down() = F_down; - f.get_F_X_aero() = F_X_aero; - f.get_F_Y_aero() = F_Y_aero; - f.get_F_Z_aero() = F_Z_aero; - f.get_F_X_engine() = F_X_engine; - f.get_F_Y_engine() = F_Y_engine; - f.get_F_Z_engine() = F_Z_engine; - f.get_F_X_gear() = F_X_gear; - f.get_F_Y_gear() = F_Y_gear; - f.get_F_Z_gear() = F_Z_gear; - f.get_M_l_rp() = M_l_rp; - f.get_M_m_rp() = M_m_rp; - f.get_M_n_rp() = M_n_rp; - f.get_M_l_cg() = M_l_cg; - f.get_M_m_cg() = M_m_cg; - f.get_M_n_cg() = M_n_cg; - f.get_M_l_aero() = M_l_aero; - f.get_M_m_aero() = M_m_aero; - f.get_M_n_aero() = M_n_aero; - f.get_M_l_engine() = M_l_engine; - f.get_M_m_engine() = M_m_engine; - f.get_M_n_engine() = M_n_engine; - f.get_M_l_gear() = M_l_gear; - f.get_M_m_gear() = M_m_gear; - f.get_M_n_gear() = M_n_gear; - f.get_V_dot_north() = V_dot_north; - f.get_V_dot_east() = V_dot_east; - f.get_V_dot_down() = V_dot_down; - f.get_U_dot_body() = U_dot_body; - f.get_V_dot_body() = V_dot_body; - f.get_W_dot_body() = W_dot_body; - f.get_A_X_cg() = A_X_cg; - f.get_A_Y_cg() = A_Y_cg; - f.get_A_Z_cg() = A_Z_cg; - f.get_A_X_pilot() = A_X_pilot; - f.get_A_Y_pilot() = A_Y_pilot; - f.get_A_Z_pilot() = A_Z_pilot; - f.get_N_X_cg() = N_X_cg; - f.get_N_Y_cg() = N_Y_cg; - f.get_N_Z_cg() = N_Z_cg; - f.get_N_X_pilot() = N_X_pilot; - f.get_N_Y_pilot() = N_Y_pilot; - f.get_N_Z_pilot() = N_Z_pilot; - f.get_P_dot_body() = P_dot_body; - f.get_Q_dot_body() = Q_dot_body; - f.get_R_dot_body() = R_dot_body; - f.get_V_north() = V_north; - f.get_V_east() = V_east; - f.get_V_down() = V_down; - f.get_V_north_rel_ground() = V_north_rel_ground; - f.get_V_east_rel_ground() = V_east_rel_ground; - f.get_V_down_rel_ground() = V_down_rel_ground; - f.get_V_north_airmass() = V_north_airmass; - f.get_V_east_airmass() = V_east_airmass; - f.get_V_down_airmass() = V_down_airmass; - f.get_V_north_rel_airmass() = V_north_rel_airmass; - f.get_V_east_rel_airmass() = V_east_rel_airmass; - f.get_V_down_rel_airmass() = V_down_rel_airmass; - f.get_U_gust() = U_gust; - f.get_V_gust() = V_gust; - f.get_W_gust() = W_gust; - f.get_U_body() = U_body; - f.get_V_body() = V_body; - f.get_W_body() = W_body; - f.get_V_rel_wind() = V_rel_wind; - f.get_V_true_kts() = V_true_kts; - f.get_V_rel_ground() = V_rel_ground; - f.get_V_inertial() = V_inertial; - f.get_V_ground_speed() = V_ground_speed; - f.get_V_equiv() = V_equiv; - f.get_V_equiv_kts() = V_equiv_kts; - f.get_V_calibrated() = V_calibrated; - f.get_V_calibrated_kts() = V_calibrated_kts; - f.get_P_body() = P_body; - f.get_Q_body() = Q_body; - f.get_R_body() = R_body; - f.get_P_local() = P_local; - f.get_Q_local() = Q_local; - f.get_R_local() = R_local; - f.get_P_total() = P_total; - f.get_Q_total() = Q_total; - f.get_R_total() = R_total; - f.get_Phi_dot() = Phi_dot; - f.get_Theta_dot() = Theta_dot; - f.get_Psi_dot() = Psi_dot; - f.get_Latitude_dot() = Latitude_dot; - f.get_Longitude_dot() = Longitude_dot; - f.get_Radius_dot() = Radius_dot; - f.get_Lat_geocentric() = Lat_geocentric; - f.get_Lon_geocentric() = Lon_geocentric; - f.get_Radius_to_vehicle() = Radius_to_vehicle; - f.get_Latitude() = Latitude; - f.get_Longitude() = Longitude; - f.get_Altitude() = Altitude; - f.get_Phi() = Phi; - f.get_Theta() = Theta; - f.get_Psi() = Psi; - f.get_T_local_to_body_11() = T_local_to_body_11; - f.get_T_local_to_body_12() = T_local_to_body_12; - f.get_T_local_to_body_13() = T_local_to_body_13; - f.get_T_local_to_body_21() = T_local_to_body_21; - f.get_T_local_to_body_22() = T_local_to_body_22; - f.get_T_local_to_body_23() = T_local_to_body_23; - f.get_T_local_to_body_31() = T_local_to_body_31; - f.get_T_local_to_body_32() = T_local_to_body_32; - f.get_T_local_to_body_33() = T_local_to_body_33; - f.get_Gravity() = Gravity; - f.get_Centrifugal_relief() = Centrifugal_relief; - f.get_Alpha() = Alpha; - f.get_Beta() = Beta; - f.get_Alpha_dot() = Alpha_dot; - f.get_Beta_dot() = Beta_dot; - f.get_Cos_alpha() = Cos_alpha; - f.get_Sin_alpha() = Sin_alpha; - f.get_Cos_beta() = Cos_beta; - f.get_Sin_beta() = Sin_beta; - f.get_Cos_phi() = Cos_phi; - f.get_Sin_phi() = Sin_phi; - f.get_Cos_theta() = Cos_theta; - f.get_Sin_theta() = Sin_theta; - f.get_Cos_psi() = Cos_psi; - f.get_Sin_psi() = Sin_psi; - f.get_Gamma_vert_rad() = Gamma_vert_rad; - f.get_Gamma_horiz_rad() = Gamma_horiz_rad; - f.get_Sigma() = Sigma; - f.get_Density() = Density; - f.get_V_sound() = V_sound; - f.get_Mach_number() = Mach_number; - f.get_Static_pressure() = Static_pressure; - f.get_Total_pressure() = Total_pressure; - f.get_Impact_pressure() = Impact_pressure; - f.get_Dynamic_pressure() = Dynamic_pressure; - f.get_Static_temperature() = Static_temperature; - f.get_Total_temperature() = Total_temperature; - f.get_Sea_level_radius() = Sea_level_radius; - f.get_Earth_position_angle() = Earth_position_angle; - f.get_Runway_altitude() = Runway_altitude; - f.get_Runway_latitude() = Runway_latitude; - f.get_Runway_longitude() = Runway_longitude; - f.get_Runway_heading() = Runway_heading; - f.get_Radius_to_rwy() = Radius_to_rwy; - f.get_D_cg_north_of_rwy() = D_cg_north_of_rwy; - f.get_D_cg_east_of_rwy() = D_cg_east_of_rwy; - f.get_D_cg_above_rwy() = D_cg_above_rwy; - f.get_X_cg_rwy() = X_cg_rwy; - f.get_Y_cg_rwy() = Y_cg_rwy; - f.get_H_cg_rwy() = H_cg_rwy; - f.get_D_pilot_north_of_rwy() = D_pilot_north_of_rwy; - f.get_D_pilot_east_of_rwy() = D_pilot_east_of_rwy; - f.get_D_pilot_above_rwy() = D_pilot_above_rwy; - f.get_X_pilot_rwy() = X_pilot_rwy; - f.get_Y_pilot_rwy() = Y_pilot_rwy; - f.get_H_pilot_rwy() = H_pilot_rwy; - */ - return ( 0 ); + // Forces + f.set_Forces_Body_Total( F_X, F_Y, F_Z ); + f.set_Forces_Local_Total( F_north, F_east, F_down ); + f.set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero ); + f.set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine ); + f.set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear ); + + // Moments + f.set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp ); + f.set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg ); + f.set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero ); + f.set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine ); + f.set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear ); + + // Accelerations + f.set_Accels_Local( V_dot_north, V_dot_east, V_dot_down ); + f.set_Accels_Body( U_dot_body, V_dot_body, W_dot_body ); + f.set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg ); + f.set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot ); + f.set_Accels_CG_Body_N( N_X_cg, N_Y_cg, N_Z_cg ); + f.set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot ); + f.set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body ); + + // Velocities + f.set_Velocities_Local( V_north, V_east, V_down ); + f.set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground, + V_down_rel_ground ); + f.set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass, + V_down_airmass ); + f.set_Velocities_Local_Rel_Airmass( V_north_rel_airmass, V_east_rel_airmass, + V_down_rel_airmass ); + f.set_Velocities_Gust( U_gust, V_gust, W_gust ); + f.set_Velocities_Wind_Body( U_body, V_body, W_body ); + + f.set_V_rel_wind( V_rel_wind ); + f.set_V_true_kts( V_true_kts ); + f.set_V_rel_ground( V_rel_ground ); + f.set_V_inertial( V_inertial ); + f.set_V_ground_speed( V_ground_speed ); + f.set_V_equiv( V_equiv ); + f.set_V_equiv_kts( V_equiv_kts ); + f.set_V_calibrated( V_calibrated ); + f.set_V_calibrated_kts( V_calibrated_kts ); + + f.set_Omega_Body( P_body, Q_body, R_body ); + f.set_Omega_Local( P_local, Q_local, R_local ); + f.set_Omega_Total( P_total, Q_total, R_total ); + + f.set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot ); + f.set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot ); + + // Positions + f.set_Geocentric_Position( Lat_geocentric, Lon_geocentric, + Radius_to_vehicle ); + f.set_Geodetic_Position( Latitude, Longitude, Altitude ); + f.set_Euler_Angles( Phi, Theta, Psi ); + + // Miscellaneous quantities + f.set_T_Local_to_Body(T_local_to_body_m); + f.set_Gravity( Gravity ); + f.set_Centrifugal_relief( Centrifugal_relief ); + + f.set_Alpha( Alpha ); + f.set_Beta( Beta ); + f.set_Alpha_dot( Alpha_dot ); + f.set_Beta_dot( Beta_dot ); + + f.set_Cos_alpha( Cos_alpha ); + f.set_Sin_alpha( Sin_alpha ); + f.set_Cos_beta( Cos_beta ); + f.set_Sin_beta( Sin_beta ); + + f.set_Cos_phi( Cos_phi ); + f.set_Sin_phi( Sin_phi ); + f.set_Cos_theta( Cos_theta ); + f.set_Sin_theta( Sin_theta ); + f.set_Cos_psi( Cos_psi ); + f.set_Sin_psi( Sin_psi ); + + f.set_Gamma_vert_rad( Gamma_vert_rad ); + f.set_Gamma_horiz_rad( Gamma_horiz_rad ); + + f.set_Sigma( Sigma ); + f.set_Density( Density ); + f.set_V_sound( V_sound ); + f.set_Mach_number( Mach_number ); + + f.set_Static_pressure( Static_pressure ); + f.set_Total_pressure( Total_pressure ); + f.set_Impact_pressure( Impact_pressure ); + f.set_Dynamic_pressure( Dynamic_pressure ); + + f.set_Static_temperature( Static_temperature ); + f.set_Total_temperature( Total_temperature ); + + f.set_Sea_level_radius( Sea_level_radius ); + f.set_Earth_position_angle( Earth_position_angle ); + + f.set_Runway_altitude( Runway_altitude ); + f.set_Runway_latitude( Runway_latitude ); + f.set_Runway_longitude( Runway_longitude ); + f.set_Runway_heading( Runway_heading ); + f.set_Radius_to_rwy( Radius_to_rwy ); + + f.set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy ); + f.set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy ); + f.set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy, + D_pilot_above_rwy ); + f.set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy ); + + return 0; } // $Log$ +// Revision 1.5 1998/12/03 04:25:02 curt +// Working on fixing up new fgFLIGHT class. +// // Revision 1.4 1998/12/03 01:16:37 curt // Converted fgFLIGHT to a class. // diff --git a/FDM/flight.hxx b/FDM/flight.hxx index e2417ce44..24301e71a 100644 --- a/FDM/flight.hxx +++ b/FDM/flight.hxx @@ -1,4 +1,4 @@ -// flight.h -- define shared flight model parameters +// flight.hxx -- define shared flight model parameters // // Written by Curtis Olson, started May 1997. // @@ -22,8 +22,8 @@ // (Log is kept at end of this file) -#ifndef _FLIGHT_H -#define _FLIGHT_H +#ifndef _FLIGHT_HXX +#define _FLIGHT_HXX #include @@ -72,7 +72,16 @@ public: inline double get_I_yy() const { return i_yy; } inline double get_I_zz() const { return i_zz; } inline double get_I_xz() const { return i_xz; } - + inline void set_Inertias( double m, double xx, double yy, + double zz, double xz) + { + mass = m; + i_xx = xx; + i_yy = yy; + i_zz = zz; + i_xz = xz; + } + // Pilot location rel to ref pt FG_VECTOR_3 d_pilot_rp_body_v; inline double * get_D_pilot_rp_body_v() { @@ -81,6 +90,11 @@ public: inline double get_Dx_pilot() const { return d_pilot_rp_body_v[0]; } inline double get_Dy_pilot() const { return d_pilot_rp_body_v[1]; } inline double get_Dz_pilot() const { return d_pilot_rp_body_v[2]; } + inline void set_Pilot_Location( double dx, double dy, double dz ) { + d_pilot_rp_body_v[0] = dx; + d_pilot_rp_body_v[1] = dy; + d_pilot_rp_body_v[2] = dz; + } // CG position w.r.t. ref. point FG_VECTOR_3 d_cg_rp_body_v; @@ -88,6 +102,11 @@ public: inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; } inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; } inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; } + inline void set_CG_Position( double dx, double dy, double dz ) { + d_cg_rp_body_v[0] = dx; + d_cg_rp_body_v[1] = dy; + d_cg_rp_body_v[2] = dz; + } /*================================ Forces =================================*/ @@ -96,62 +115,112 @@ public: inline double get_F_X() const { return f_body_total_v[0]; } inline double get_F_Y() const { return f_body_total_v[1]; } inline double get_F_Z() const { return f_body_total_v[2]; } + inline void set_Forces_Body_Total( double x, double y, double z ) { + f_body_total_v[0] = x; + f_body_total_v[1] = y; + f_body_total_v[2] = z; + } FG_VECTOR_3 f_local_total_v; inline double * get_F_local_total_v() { return f_local_total_v; } inline double get_F_north() const { return f_local_total_v[0]; } inline double get_F_east() const { return f_local_total_v[1]; } inline double get_F_down() const { return f_local_total_v[2]; } + inline void set_Forces_Local_Total( double x, double y, double z ) { + f_local_total_v[0] = x; + f_local_total_v[1] = y; + f_local_total_v[2] = z; + } FG_VECTOR_3 f_aero_v; inline double * get_F_aero_v() { return f_aero_v; } inline double get_F_X_aero() const { return f_aero_v[0]; } inline double get_F_Y_aero() const { return f_aero_v[1]; } inline double get_F_Z_aero() const { return f_aero_v[2]; } + inline void set_Forces_Aero( double x, double y, double z ) { + f_aero_v[0] = x; + f_aero_v[1] = y; + f_aero_v[2] = z; + } FG_VECTOR_3 f_engine_v; inline double * get_F_engine_v() { return f_engine_v; } inline double get_F_X_engine() const { return f_engine_v[0]; } inline double get_F_Y_engine() const { return f_engine_v[1]; } inline double get_F_Z_engine() const { return f_engine_v[2]; } + inline void set_Forces_Engine( double x, double y, double z ) { + f_engine_v[0] = x; + f_engine_v[1] = y; + f_engine_v[2] = z; + } FG_VECTOR_3 f_gear_v; inline double * get_F_gear_v() { return f_gear_v; } inline double get_F_X_gear() const { return f_gear_v[0]; } inline double get_F_Y_gear() const { return f_gear_v[1]; } inline double get_F_Z_gear() const { return f_gear_v[2]; } + inline void set_Forces_Gear( double x, double y, double z ) { + f_gear_v[0] = x; + f_gear_v[1] = y; + f_gear_v[2] = z; + } /*================================ Moments ================================*/ - FG_VECTOR_3 m_total_rp_v; + FG_VECTOR_3 m_total_rp_v; inline double * get_M_total_rp_v() { return m_total_rp_v; } inline double get_M_l_rp() const { return m_total_rp_v[0]; } inline double get_M_m_rp() const { return m_total_rp_v[1]; } inline double get_M_n_rp() const { return m_total_rp_v[2]; } + inline void set_Moments_Total_RP( double l, double m, double n ) { + m_total_rp_v[0] = l; + m_total_rp_v[1] = m; + m_total_rp_v[2] = n; + } - FG_VECTOR_3 m_total_cg_v; + FG_VECTOR_3 m_total_cg_v; inline double * get_M_total_cg_v() { return m_total_cg_v; } inline double get_M_l_cg() const { return m_total_cg_v[0]; } inline double get_M_m_cg() const { return m_total_cg_v[1]; } inline double get_M_n_cg() const { return m_total_cg_v[2]; } + inline void set_Moments_Total_CG( double l, double m, double n ) { + m_total_cg_v[0] = l; + m_total_cg_v[1] = m; + m_total_cg_v[2] = n; + } - FG_VECTOR_3 m_aero_v; + FG_VECTOR_3 m_aero_v; inline double * get_M_aero_v() { return m_aero_v; } inline double get_M_l_aero() const { return m_aero_v[0]; } inline double get_M_m_aero() const { return m_aero_v[1]; } inline double get_M_n_aero() const { return m_aero_v[2]; } + inline void set_Moments_Aero( double l, double m, double n ) { + m_aero_v[0] = l; + m_aero_v[1] = m; + m_aero_v[2] = n; + } FG_VECTOR_3 m_engine_v; inline double * get_M_engine_v() { return m_engine_v; } inline double get_M_l_engine() const { return m_engine_v[0]; } inline double get_M_m_engine() const { return m_engine_v[1]; } inline double get_M_n_engine() const { return m_engine_v[2]; } + inline void set_Moments_Engine( double l, double m, double n ) { + m_engine_v[0] = l; + m_engine_v[1] = m; + m_engine_v[2] = n; + } FG_VECTOR_3 m_gear_v; inline double * get_M_gear_v() { return m_gear_v; } inline double get_M_l_gear() const { return m_gear_v[0]; } inline double get_M_m_gear() const { return m_gear_v[1]; } inline double get_M_n_gear() const { return m_gear_v[2]; } + inline void set_Moments_Gear( double l, double m, double n ) { + m_gear_v[0] = l; + m_gear_v[1] = m; + m_gear_v[2] = n; + } /*============================== Accelerations ============================*/ @@ -160,42 +229,77 @@ public: inline double get_V_dot_north() const { return v_dot_local_v[0]; } inline double get_V_dot_east() const { return v_dot_local_v[1]; } inline double get_V_dot_down() const { return v_dot_local_v[2]; } + inline void set_Accels_Local( double north, double east, double down ) { + v_dot_local_v[0] = north; + v_dot_local_v[1] = east; + v_dot_local_v[2] = down; + } FG_VECTOR_3 v_dot_body_v; inline double * get_V_dot_body_v() { return v_dot_body_v; } inline double get_U_dot_body() const { return v_dot_body_v[0]; } inline double get_V_dot_body() const { return v_dot_body_v[1]; } inline double get_W_dot_body() const { return v_dot_body_v[2]; } + inline void set_Accels_Body( double u, double v, double w ) { + v_dot_local_v[0] = u; + v_dot_local_v[1] = v; + v_dot_local_v[2] = w; + } FG_VECTOR_3 a_cg_body_v; inline double * get_A_cg_body_v() { return a_cg_body_v; } inline double get_A_X_cg() const { return a_cg_body_v[0]; } inline double get_A_Y_cg() const { return a_cg_body_v[1]; } inline double get_A_Z_cg() const { return a_cg_body_v[2]; } + inline void set_Accels_CG_Body( double x, double y, double z ) { + a_cg_body_v[0] = x; + a_cg_body_v[1] = y; + a_cg_body_v[2] = z; + } FG_VECTOR_3 a_pilot_body_v; inline double * get_A_pilot_body_v() { return a_pilot_body_v; } inline double get_A_X_pilot() const { return a_pilot_body_v[0]; } inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; } inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; } + inline void set_Accels_Pilot_Body( double x, double y, double z ) { + a_pilot_body_v[0] = x; + a_pilot_body_v[1] = y; + a_pilot_body_v[2] = z; + } FG_VECTOR_3 n_cg_body_v; inline double * get_N_cg_body_v() { return n_cg_body_v; } inline double get_N_X_cg() const { return n_cg_body_v[0]; } inline double get_N_Y_cg() const { return n_cg_body_v[1]; } inline double get_N_Z_cg() const { return n_cg_body_v[2]; } + inline void set_Accels_CG_Body_N( double x, double y, double z ) { + n_cg_body_v[0] = x; + n_cg_body_v[1] = y; + n_cg_body_v[2] = z; + } FG_VECTOR_3 n_pilot_body_v; inline double * get_N_pilot_body_v() { return n_pilot_body_v; } inline double get_N_X_pilot() const { return n_pilot_body_v[0]; } inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; } inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; } + inline void set_Accels_Pilot_Body_N( double x, double y, double z ) { + n_pilot_body_v[0] = x; + n_pilot_body_v[1] = y; + n_pilot_body_v[2] = z; + } FG_VECTOR_3 omega_dot_body_v; inline double * get_Omega_dot_body_v() { return omega_dot_body_v; } inline double get_P_dot_body() const { return omega_dot_body_v[0]; } inline double get_Q_dot_body() const { return omega_dot_body_v[1]; } inline double get_R_dot_body() const { return omega_dot_body_v[2]; } + inline void set_Accels_Omega( double p, double q, double r ) { + omega_dot_body_v[0] = p; + omega_dot_body_v[1] = q; + omega_dot_body_v[2] = r; + } /*============================== Velocities ===============================*/ @@ -205,6 +309,11 @@ public: inline double get_V_north() const { return v_local_v[0]; } inline double get_V_east() const { return v_local_v[1]; } inline double get_V_down() const { return v_local_v[2]; } + inline void set_Velocities_Local( double north, double east, double down ) { + v_local_v[0] = north; + v_local_v[1] = east; + v_local_v[2] = down; + } FG_VECTOR_3 v_local_rel_ground_v; /* V rel w.r.t. earth surface */ inline double * get_V_local_rel_ground_v() { return v_local_rel_ground_v; } @@ -217,12 +326,24 @@ public: inline double get_V_down_rel_ground() const { return v_local_rel_ground_v[2]; } + inline void set_Velocities_Ground(double north, double east, double down) { + v_local_rel_ground_v[0] = north; + v_local_rel_ground_v[1] = east; + v_local_rel_ground_v[2] = down; + } FG_VECTOR_3 v_local_airmass_v; /* velocity of airmass (steady winds) */ inline double * get_V_local_airmass_v() { return v_local_airmass_v; } inline double get_V_north_airmass() const { return v_local_airmass_v[0]; } inline double get_V_east_airmass() const { return v_local_airmass_v[1]; } inline double get_V_down_airmass() const { return v_local_airmass_v[2]; } + inline void set_Velocities_Local_Airmass( double north, double east, + double down) + { + v_local_airmass_v[0] = north; + v_local_airmass_v[1] = east; + v_local_airmass_v[2] = down; + } FG_VECTOR_3 v_local_rel_airmass_v; /* velocity of veh. relative to */ /* airmass */ @@ -238,61 +359,123 @@ public: inline double get_V_down_rel_airmass() const { return v_local_rel_airmass_v[2]; } + inline void set_Velocities_Local_Rel_Airmass( double north, double east, + double down) + { + v_local_rel_airmass_v[0] = north; + v_local_rel_airmass_v[1] = east; + v_local_rel_airmass_v[2] = down; + } FG_VECTOR_3 v_local_gust_v; /* linear turbulence components, L frame */ inline double * get_V_local_gust_v() { return v_local_gust_v; } inline double get_U_gust() const { return v_local_gust_v[0]; } inline double get_V_gust() const { return v_local_gust_v[1]; } inline double get_W_gust() const { return v_local_gust_v[2]; } - + inline void set_Velocities_Gust( double u, double v, double w) + { + v_local_gust_v[0] = u; + v_local_gust_v[1] = v; + v_local_gust_v[2] = w; + } + FG_VECTOR_3 v_wind_body_v; /* Wind-relative velocities in body axis */ inline double * get_V_wind_body_v() { return v_wind_body_v; } inline double get_U_body() const { return v_wind_body_v[0]; } inline double get_V_body() const { return v_wind_body_v[1]; } inline double get_W_body() const { return v_wind_body_v[2]; } + inline void set_Velocities_Wind_Body( double u, double v, double w) + { + v_wind_body_v[0] = u; + v_wind_body_v[1] = v; + v_wind_body_v[2] = w; + } double v_rel_wind, v_true_kts, v_rel_ground, v_inertial; double v_ground_speed, v_equiv, v_equiv_kts; double v_calibrated, v_calibrated_kts; + inline double get_V_rel_wind() const { return v_rel_wind; } + inline void set_V_rel_wind(double wind) { v_rel_wind = wind; } + inline double get_V_true_kts() const { return v_true_kts; } + inline void set_V_true_kts(double kts) { v_true_kts = kts; } + inline double get_V_rel_ground() const { return v_rel_ground; } + inline void set_V_rel_ground( double v ) { v_rel_ground = v; } + inline double get_V_inertial() const { return v_inertial; } + inline void set_V_inertial(double v) { v_inertial = v; } + inline double get_V_ground_speed() const { return v_ground_speed; } + inline void set_V_ground_speed( double v) { v_ground_speed = v; } + inline double get_V_equiv() const { return v_equiv; } + inline void set_V_equiv( double v ) { v_equiv = v; } + inline double get_V_equiv_kts() const { return v_equiv_kts; } + inline void set_V_equiv_kts( double kts ) { v_equiv_kts = kts; } + inline double get_V_calibrated() const { return v_calibrated; } + inline void set_V_calibrated( double v ) { v_calibrated = v; } + inline double get_V_calibrated_kts() const { return v_calibrated_kts; } + inline void set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; } FG_VECTOR_3 omega_body_v; /* Angular B rates */ inline double * get_Omega_body_v() { return omega_body_v; } inline double get_P_body() const { return omega_body_v[0]; } inline double get_Q_body() const { return omega_body_v[1]; } inline double get_R_body() const { return omega_body_v[2]; } + inline void set_Omega_Body( double p, double q, double r ) { + omega_body_v[0] = p; + omega_body_v[1] = q; + omega_body_v[2] = r; + } FG_VECTOR_3 omega_local_v; /* Angular L rates */ inline double * get_Omega_local_v() { return omega_local_v; } inline double get_P_local() const { return omega_local_v[0]; } inline double get_Q_local() const { return omega_local_v[1]; } inline double get_R_local() const { return omega_local_v[2]; } + inline void set_Omega_Local( double p, double q, double r ) { + omega_local_v[0] = p; + omega_local_v[1] = q; + omega_local_v[2] = r; + } FG_VECTOR_3 omega_total_v; /* Diff btw B & L */ inline double * get_Omega_total_v() { return omega_total_v; } inline double get_P_total() const { return omega_total_v[0]; } inline double get_Q_total() const { return omega_total_v[1]; } inline double get_R_total() const { return omega_total_v[2]; } + inline void set_Omega_Total( double p, double q, double r ) { + omega_total_v[0] = p; + omega_total_v[1] = q; + omega_total_v[2] = r; + } FG_VECTOR_3 euler_rates_v; inline double * get_Euler_rates_v() { return euler_rates_v; } inline double get_Phi_dot() const { return euler_rates_v[0]; } inline double get_Theta_dot() const { return euler_rates_v[1]; } inline double get_Psi_dot() const { return euler_rates_v[2]; } + inline void set_Euler_Rates( double phi, double theta, double psi ) { + euler_rates_v[0] = phi; + euler_rates_v[1] = theta; + euler_rates_v[2] = psi; + } FG_VECTOR_3 geocentric_rates_v; /* Geocentric linear velocities */ inline double * get_Geocentric_rates_v() { return geocentric_rates_v; } inline double get_Latitude_dot() const { return geocentric_rates_v[0]; } inline double get_Longitude_dot() const { return geocentric_rates_v[1]; } inline double get_Radius_dot() const { return geocentric_rates_v[2]; } + inline void set_Geocentric_Rates( double lat, double lon, double rad ) { + geocentric_rates_v[0] = lat; + geocentric_rates_v[1] = lon; + geocentric_rates_v[2] = rad; + } /*=============================== Positions ===============================*/ @@ -312,23 +495,39 @@ public: inline void set_Radius_to_vehicle(double radius) { geocentric_position_v[2] = radius; } + inline void set_Geocentric_Position( double lat, double lon, double rad ) { + geocentric_position_v[0] = lat; + geocentric_position_v[1] = lon; + geocentric_position_v[2] = rad; + } FG_VECTOR_3 geodetic_position_v; inline double * get_Geodetic_position_v() { return geodetic_position_v; } inline double get_Latitude() const { return geodetic_position_v[0]; } inline void set_Latitude(double lat) { geodetic_position_v[0] = lat; } inline double get_Longitude() const { return geodetic_position_v[1]; } - inline void set_Longitude(double lon) { geodetic_position_v[0] = lon; } + inline void set_Longitude(double lon) { geodetic_position_v[1] = lon; } inline double get_Altitude() const { return geodetic_position_v[2]; } inline void set_Altitude(double altitude) { geodetic_position_v[2] = altitude; } + inline void set_Geodetic_Position( double lat, double lon, double alt ) { + geodetic_position_v[0] = lat; + geodetic_position_v[1] = lon; + geodetic_position_v[2] = alt; + } - FG_VECTOR_3 euler_angles_v; + FG_VECTOR_3 euler_angles_v; inline double * get_Euler_angles_v() { return euler_angles_v; } inline double get_Phi() const { return euler_angles_v[0]; } inline double get_Theta() const { return euler_angles_v[1]; } inline double get_Psi() const { return euler_angles_v[2]; } + inline void set_Euler_Angles( double phi, double theta, double psi ) { + euler_angles_v[0] = phi; + euler_angles_v[1] = theta; + euler_angles_v[2] = psi; + } + /*======================= Miscellaneous quantities ========================*/ @@ -361,61 +560,98 @@ public: inline double get_T_local_to_body_33() const { return t_local_to_body_m[2][2]; } + inline void set_T_Local_to_Body( double m[3][3] ) { + int i, j; + for ( i = 0; i < 3; i++ ) { + for ( j = 0; j < 3; j++ ) { + t_local_to_body_m[i][j] = m[i][j]; + } + } + } double gravity; /* Local acceleration due to G */ inline double get_Gravity() const { return gravity; } - + inline void set_Gravity(double g) { gravity = g; } + double centrifugal_relief; /* load factor reduction due to speed */ inline double get_Centrifugal_relief() const { return centrifugal_relief; } + inline void set_Centrifugal_relief(double cr) { centrifugal_relief = cr; } double alpha, beta, alpha_dot, beta_dot; /* in radians */ inline double get_Alpha() const { return alpha; } + inline void set_Alpha( double a ) { alpha = a; } inline double get_Beta() const { return beta; } + inline void set_Beta( double b ) { beta = b; } inline double get_Alpha_dot() const { return alpha_dot; } + inline void set_Alpha_dot( double ad ) { alpha_dot = ad; } inline double get_Beta_dot() const { return beta_dot; } + inline void set_Beta_dot( double bd ) { beta_dot = bd; } double cos_alpha, sin_alpha, cos_beta, sin_beta; inline double get_Cos_alpha() const { return cos_alpha; } + inline void set_Cos_alpha( double ca ) { cos_alpha = ca; } inline double get_Sin_alpha() const { return sin_alpha; } + inline void set_Sin_alpha( double sa ) { sin_alpha = sa; } inline double get_Cos_beta() const { return cos_beta; } + inline void set_Cos_beta( double cb ) { cos_beta = cb; } inline double get_Sin_beta() const { return sin_beta; } + inline void set_Sin_beta( double sb ) { sin_beta = sb; } double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi; inline double get_Cos_phi() const { return cos_phi; } + inline void set_Cos_phi( double cp ) { cos_phi = cp; } inline double get_Sin_phi() const { return sin_phi; } + inline void set_Sin_phi( double sp ) { sin_phi = sp; } inline double get_Cos_theta() const { return cos_theta; } + inline void set_Cos_theta( double ct ) { cos_theta = ct; } inline double get_Sin_theta() const { return sin_theta; } + inline void set_Sin_theta( double st ) { sin_theta = st; } inline double get_Cos_psi() const { return cos_psi; } + inline void set_Cos_psi( double cp ) { cos_psi = cp; } inline double get_Sin_psi() const { return sin_psi; } + inline void set_Sin_psi( double sp ) { sin_psi = sp; } double gamma_vert_rad, gamma_horiz_rad; /* Flight path angles */ inline double get_Gamma_vert_rad() const { return gamma_vert_rad; } + inline void set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; } inline double get_Gamma_horiz_rad() const { return gamma_horiz_rad; } + inline void set_Gamma_horiz_rad( double gh ) { gamma_horiz_rad = gh; } double sigma, density, v_sound, mach_number; inline double get_Sigma() const { return sigma; } + inline void set_Sigma( double s ) { sigma = s; } inline double get_Density() const { return density; } + inline void set_Density( double d ) { density = d; } inline double get_V_sound() const { return v_sound; } + inline void set_V_sound( double v ) { v_sound = v; } inline double get_Mach_number() const { return mach_number; } + inline void set_Mach_number( double m ) { mach_number = m; } double static_pressure, total_pressure, impact_pressure; double dynamic_pressure; inline double get_Static_pressure() const { return static_pressure; } + inline void set_Static_pressure( double sp ) { static_pressure = sp; } inline double get_Total_pressure() const { return total_pressure; } + inline void set_Total_pressure( double tp ) { total_pressure = tp; } inline double get_Impact_pressure() const { return impact_pressure; } + inline void set_Impact_pressure( double ip ) { impact_pressure = ip; } inline double get_Dynamic_pressure() const { return dynamic_pressure; } + inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; } double static_temperature, total_temperature; inline double get_Static_temperature() const { return static_temperature; } + inline void set_Static_temperature( double t ) { static_temperature = t; } inline double get_Total_temperature() const { return total_temperature; } + inline void set_Total_temperature( double t ) { total_temperature = t; } double sea_level_radius, earth_position_angle; inline double get_Sea_level_radius() const { return sea_level_radius; } + inline void set_Sea_level_radius( double r ) { sea_level_radius = r; } inline double get_Earth_position_angle() const { return earth_position_angle; } - inline void set_Earth_position_angle(double angle) { - earth_position_angle = angle; + inline void set_Earth_position_angle(double a) { + earth_position_angle = a; } double runway_altitude, runway_latitude, runway_longitude; @@ -423,23 +659,39 @@ public: inline double get_Runway_altitude() const { return runway_altitude; } inline void set_Runway_altitude( double alt ) { runway_altitude = alt; } inline double get_Runway_latitude() const { return runway_latitude; } + inline void set_Runway_latitude( double lat ) { runway_latitude = lat; } inline double get_Runway_longitude() const { return runway_longitude; } + inline void set_Runway_longitude( double lon ) { runway_longitude = lon; } inline double get_Runway_heading() const { return runway_heading; } + inline void set_Runway_heading( double h ) { runway_heading = h; } double radius_to_rwy; inline double get_Radius_to_rwy() const { return radius_to_rwy; } + inline void set_Radius_to_rwy( double r ) { radius_to_rwy = r; } FG_VECTOR_3 d_cg_rwy_local_v; /* CG rel. to rwy in local coords */ inline double * get_D_cg_rwy_local_v() { return d_cg_rwy_local_v; } inline double get_D_cg_north_of_rwy() const { return d_cg_rwy_local_v[0]; } inline double get_D_cg_east_of_rwy() const { return d_cg_rwy_local_v[1]; } inline double get_D_cg_above_rwy() const { return d_cg_rwy_local_v[2]; } + inline void set_CG_Rwy_Local( double north, double east, double above ) + { + d_cg_rwy_local_v[0] = north; + d_cg_rwy_local_v[1] = east; + d_cg_rwy_local_v[2] = above; + } FG_VECTOR_3 d_cg_rwy_rwy_v; /* CG relative to rwy, in rwy coordinates */ inline double * get_D_cg_rwy_rwy_v() { return d_cg_rwy_rwy_v; } inline double get_X_cg_rwy() const { return d_cg_rwy_rwy_v[0]; } inline double get_Y_cg_rwy() const { return d_cg_rwy_rwy_v[1]; } inline double get_H_cg_rwy() const { return d_cg_rwy_rwy_v[2]; } + inline void set_CG_Rwy_Rwy( double x, double y, double h ) + { + d_cg_rwy_rwy_v[0] = x; + d_cg_rwy_rwy_v[1] = y; + d_cg_rwy_rwy_v[2] = h; + } FG_VECTOR_3 d_pilot_rwy_local_v; /* pilot rel. to rwy in local coords */ inline double * get_D_pilot_rwy_local_v() { return d_pilot_rwy_local_v; } @@ -452,65 +704,28 @@ public: inline double get_D_pilot_above_rwy() const { return d_pilot_rwy_local_v[2]; } + inline void set_Pilot_Rwy_Local( double north, double east, double above ) + { + d_pilot_rwy_local_v[0] = north; + d_pilot_rwy_local_v[1] = east; + d_pilot_rwy_local_v[2] = above; + } FG_VECTOR_3 d_pilot_rwy_rwy_v; /* pilot rel. to rwy, in rwy coords. */ inline double * get_D_pilot_rwy_rwy_v() { return d_pilot_rwy_rwy_v; } inline double get_X_pilot_rwy() const { return d_pilot_rwy_rwy_v[0]; } inline double get_Y_pilot_rwy() const { return d_pilot_rwy_rwy_v[1]; } inline double get_H_pilot_rwy() const { return d_pilot_rwy_rwy_v[2]; } + inline void set_Pilot_Rwy_Rwy( double x, double y, double h ) + { + d_pilot_rwy_rwy_v[0] = x; + d_pilot_rwy_rwy_v[1] = y; + d_pilot_rwy_rwy_v[2] = h; + } double climb_rate; /* in feet per second */ inline double get_Climb_Rate() const { return climb_rate; } inline void set_Climb_Rate(double rate) { climb_rate = rate; } - - // Additional convenience functions - - // Inertias - inline void set_Inertias( double m, double xx, double yy, - double zz, double xz) - { - mass = m; - i_xx = xx; - i_yy = yy; - i_zz = zz; - i_xz = xz; - } - - // Local velocities - inline void set_Local_Velocities( double v_north, - double v_east, - double v_down ) - { - v_local_v[0] = v_north; - v_local_v[1] = v_east; - v_local_v[2] = v_down; - } - - // Orientation - inline void set_Euler_Orientation( double phi, - double theta, - double psi ) - { - euler_angles_v[0] = phi; - euler_angles_v[1] = theta; - euler_angles_v[2] = psi; - } - - // Body Rates - inline void set_Body_Rates( double p_body, double q_body, double r_body ) - { - omega_body_v[0] = p_body; - omega_body_v[1] = q_body; - omega_body_v[2] = r_body; - } - - // Center of Gravity position w.r.t. ref. point - inline void set_CG_Position( double dx, double dy, double dz ) - { - d_cg_rp_body_v[0] = dx; - d_cg_rp_body_v[1] = dy; - d_cg_rp_body_v[2] = dz; - } }; @@ -529,10 +744,13 @@ int fgFlightModelUpdate(int model, fgFLIGHT& f, int multiloop); void fgFlightModelSetAltitude(int model, fgFLIGHT& f, double alt_meters); -#endif /* _FLIGHT_H */ +#endif // _FLIGHT_HXX // $Log$ +// Revision 1.4 1998/12/03 04:25:03 curt +// Working on fixing up new fgFLIGHT class. +// // Revision 1.3 1998/12/03 01:16:41 curt // Converted fgFLIGHT to a class. // diff --git a/Main/fg_init.cxx b/Main/fg_init.cxx index 720c24893..67b54b311 100644 --- a/Main/fg_init.cxx +++ b/Main/fg_init.cxx @@ -230,17 +230,17 @@ int fgInitSubsystems( void ) // and should really be read in from one or more files. // Initial Velocity - f->set_Local_Velocities( 0.0, 0.0, 0.0 ); + f->set_Velocities_Local( 0.0, 0.0, 0.0 ); // Initial Orientation - f->set_Euler_Orientation( current_options.get_roll() * DEG_TO_RAD, - current_options.get_pitch() * DEG_TO_RAD, - current_options.get_heading() * DEG_TO_RAD ); + f->set_Euler_Angles( current_options.get_roll() * DEG_TO_RAD, + current_options.get_pitch() * DEG_TO_RAD, + current_options.get_heading() * DEG_TO_RAD ); // Initial Angular Body rates - f->set_Body_Rates( 7.206685E-05, 0.000000E+00, 9.492658E-05 ); + f->set_Omega_Body( 7.206685E-05, 0.0, 9.492658E-05 ); - f->set_Earth_position_angle( 0.000000E+00 ); + f->set_Earth_position_angle( 0.0 ); // Mass properties and geometry values f->set_Inertias( 8.547270E+01, @@ -369,6 +369,9 @@ int fgInitSubsystems( void ) // $Log$ +// Revision 1.53 1998/12/03 04:25:05 curt +// Working on fixing up new fgFLIGHT class. +// // Revision 1.52 1998/12/03 01:17:17 curt // Converted fgFLIGHT to a class. // -- 2.39.2