/************************************************************************** * flight.h -- define shared flight model parameters * * Written by Curtis Olson, started May 1997. * * Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com * * This program is free software; you can redistribute it and/or * modify it under the terms of the GNU General Public License as * published by the Free Software Foundation; either version 2 of the * License, or (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. * * $Id$ * (Log is kept at end of this file) **************************************************************************/ #ifndef FLIGHT_H #define FLIGHT_H #include "Slew/slew.h" #include "LaRCsim/ls_interface.h" /* Define the various supported flight models (not all implemented) */ #define FG_LARCSIM 0 #define FG_ACM 1 #define FG_HELICOPTER 2 #define FG_AUTOGYRO 3 #define FG_BALLOON 4 #define FG_PARACHUTE 5 #define FG_SLEW 6 #define FG_EXTERN_GPS 7 /* Define a structure containing the shared flight model parameters */ /* struct flight_params { double pos_x, pos_y, pos_z; double vel_x, vel_y, vel_z; double Phi; double Theta; double Psi; double vel_Phi; double vel_Theta; double vel_Psi; }; */ typedef double FG_VECTOR_3[3]; /* This is based heavily on LaRCsim/ls_generic.h */ struct flight_params { /*================== Mass properties and geometry values ==================*/ double mass, i_xx, i_yy, i_zz, i_xz; /* Inertias */ #define FG_Mass f->mass #define FG_I_xx f->i_xx #define FG_I_yy f->i_yy #define FG_I_zz f->i_zz #define FG_I_xz f->i_xz FG_VECTOR_3 d_pilot_rp_body_v; /* Pilot location rel to ref pt */ #define FG_D_pilot_rp_body_v f->d_pilot_rp_body_v #define FG_Dx_pilot f->d_pilot_rp_body_v[0] #define FG_Dy_pilot f->d_pilot_rp_body_v[1] #define FG_Dz_pilot f->d_pilot_rp_body_v[2] FG_VECTOR_3 d_cg_rp_body_v; /* CG position w.r.t. ref. point */ #define FG_D_cg_rp_body_v f->d_cg_rp_body_v #define FG_Dx_cg f->d_cg_rp_body_v[0] #define FG_Dy_cg f->d_cg_rp_body_v[1] #define FG_Dz_cg f->d_cg_rp_body_v[2] /*================================ Forces =================================*/ FG_VECTOR_3 f_body_total_v; #define FG_F_body_total_v f->f_body_total_v #define FG_F_X f->f_body_total_v[0] #define FG_F_Y f->f_body_total_v[1] #define FG_F_Z f->f_body_total_v[2] FG_VECTOR_3 f_local_total_v; #define FG_F_local_total_v f->f_local_total_v #define FG_F_north f->f_local_total_v[0] #define FG_F_east f->f_local_total_v[1] #define FG_F_down f->f_local_total_v[2] FG_VECTOR_3 f_aero_v; #define FG_F_aero_v f->f_aero_v #define FG_F_X_aero f->f_aero_v[0] #define FG_F_Y_aero f->f_aero_v[1] #define FG_F_Z_aero f->f_aero_v[2] FG_VECTOR_3 f_engine_v; #define FG_F_engine_v f->f_engine_v #define FG_F_X_engine f->f_engine_v[0] #define FG_F_Y_engine f->f_engine_v[1] #define FG_F_Z_engine f->f_engine_v[2] FG_VECTOR_3 f_gear_v; #define FG_F_gear_v f->f_gear_v #define FG_F_X_gear f->f_gear_v[0] #define FG_F_Y_gear f->f_gear_v[1] #define FG_F_Z_gear f->f_gear_v[2] /*================================ Moments ================================*/ FG_VECTOR_3 m_total_rp_v; #define FG_M_total_rp_v f->m_total_rp_v #define FG_M_l_rp f->m_total_rp_v[0] #define FG_M_m_rp f->m_total_rp_v[1] #define FG_M_n_rp f->m_total_rp_v[2] FG_VECTOR_3 m_total_cg_v; #define FG_M_total_cg_v f->m_total_cg_v #define FG_M_l_cg f->m_total_cg_v[0] #define FG_M_m_cg f->m_total_cg_v[1] #define FG_M_n_cg f->m_total_cg_v[2] FG_VECTOR_3 m_aero_v; #define FG_M_aero_v f->m_aero_v #define FG_M_l_aero f->m_aero_v[0] #define FG_M_m_aero f->m_aero_v[1] #define FG_M_n_aero f->m_aero_v[2] FG_VECTOR_3 m_engine_v; #define FG_M_engine_v f->m_engine_v #define FG_M_l_engine f->m_engine_v[0] #define FG_M_m_engine f->m_engine_v[1] #define FG_M_n_engine f->m_engine_v[2] FG_VECTOR_3 m_gear_v; #define FG_M_gear_v f->m_gear_v #define FG_M_l_gear f->m_gear_v[0] #define FG_M_m_gear f->m_gear_v[1] #define FG_M_n_gear f->m_gear_v[2] /*============================== Accelerations ============================*/ FG_VECTOR_3 v_dot_local_v; #define FG_V_dot_local_v f->v_dot_local_v #define FG_V_dot_north f->v_dot_local_v[0] #define FG_V_dot_east f->v_dot_local_v[1] #define FG_V_dot_down f->v_dot_local_v[2] FG_VECTOR_3 v_dot_body_v; #define FG_V_dot_body_v f->v_dot_body_v #define FG_U_dot_body f->v_dot_body_v[0] #define FG_V_dot_body f->v_dot_body_v[1] #define FG_W_dot_body f->v_dot_body_v[2] FG_VECTOR_3 a_cg_body_v; #define FG_A_cg_body_v f->a_cg_body_v #define FG_A_X_cg f->a_cg_body_v[0] #define FG_A_Y_cg f->a_cg_body_v[1] #define FG_A_Z_cg f->a_cg_body_v[2] FG_VECTOR_3 a_pilot_body_v; #define FG_A_pilot_body_v f->a_pilot_body_v #define FG_A_X_pilot f->a_pilot_body_v[0] #define FG_A_Y_pilot f->a_pilot_body_v[1] #define FG_A_Z_pilot f->a_pilot_body_v[2] FG_VECTOR_3 n_cg_body_v; #define FG_N_cg_body_v f->n_cg_body_v #define FG_N_X_cg f->n_cg_body_v[0] #define FG_N_Y_cg f->n_cg_body_v[1] #define FG_N_Z_cg f->n_cg_body_v[2] FG_VECTOR_3 n_pilot_body_v; #define FG_N_pilot_body_v f->n_pilot_body_v #define FG_N_X_pilot f->n_pilot_body_v[0] #define FG_N_Y_pilot f->n_pilot_body_v[1] #define FG_N_Z_pilot f->n_pilot_body_v[2] FG_VECTOR_3 omega_dot_body_v; #define FG_Omega_dot_body_v f->omega_dot_body_v #define FG_P_dot_body f->omega_dot_body_v[0] #define FG_Q_dot_body f->omega_dot_body_v[1] #define FG_R_dot_body f->omega_dot_body_v[2] /*============================== Velocities ===============================*/ FG_VECTOR_3 v_local_v; #define FG_V_local_v f->v_local_v #define FG_V_north f->v_local_v[0] #define FG_V_east f->v_local_v[1] #define FG_V_down f->v_local_v[2] FG_VECTOR_3 v_local_rel_ground_v; /* V rel w.r.t. earth surface */ #define FG_V_local_rel_ground_v f->v_local_rel_ground_v #define FG_V_north_rel_ground f->v_local_rel_ground_v[0] #define FG_V_east_rel_ground f->v_local_rel_ground_v[1] #define FG_V_down_rel_ground f->v_local_rel_ground_v[2] FG_VECTOR_3 v_local_airmass_v; /* velocity of airmass (steady winds) */ #define FG_V_local_airmass_v f->v_local_airmass_v #define FG_V_north_airmass f->v_local_airmass_v[0] #define FG_V_east_airmass f->v_local_airmass_v[1] #define FG_V_down_airmass f->v_local_airmass_v[2] FG_VECTOR_3 v_local_rel_airmass_v; /* velocity of veh. relative to */ /* airmass */ #define FG_V_local_rel_airmass_v f->v_local_rel_airmass_v #define FG_V_north_rel_airmass f->v_local_rel_airmass_v[0] #define FG_V_east_rel_airmass f->v_local_rel_airmass_v[1] #define FG_V_down_rel_airmass f->v_local_rel_airmass_v[2] FG_VECTOR_3 v_local_gust_v; /* linear turbulence components, L frame */ #define FG_V_local_gust_v f->v_local_gust_v #define FG_U_gust f->v_local_gust_v[0] #define FG_V_gust f->v_local_gust_v[1] #define FG_W_gust f->v_local_gust_v[2] FG_VECTOR_3 v_wind_body_v; /* Wind-relative velocities in body axis */ #define FG_V_wind_body_v f->v_wind_body_v #define FG_U_body f->v_wind_body_v[0] #define FG_V_body f->v_wind_body_v[1] #define FG_W_body f->v_wind_body_v[2] double v_rel_wind, v_true_kts, v_rel_ground, v_inertial; double v_ground_speed, v_equiv, v_equiv_kts; double v_calibrated, v_calibrated_kts; #define FG_V_rel_wind f->v_rel_wind #define FG_V_true_kts f->v_true_kts #define FG_V_rel_ground f->v_rel_ground #define FG_V_inertial f->v_inertial #define FG_V_ground_speed f->v_ground_speed #define FG_V_equiv f->v_equiv #define FG_V_equiv_kts f->v_equiv_kts #define FG_V_calibrated f->v_calibrated #define FG_V_calibrated_kts f->v_calibrated_kts FG_VECTOR_3 omega_body_v; /* Angular B rates */ #define FG_Omega_body_v f->omega_body_v #define FG_P_body f->omega_body_v[0] #define FG_Q_body f->omega_body_v[1] #define FG_R_body f->omega_body_v[2] FG_VECTOR_3 omega_local_v; /* Angular L rates */ #define FG_Omega_local_v f->omega_local_v #define FG_P_local f->omega_local_v[0] #define FG_Q_local f->omega_local_v[1] #define FG_R_local f->omega_local_v[2] FG_VECTOR_3 omega_total_v; /* Diff btw B & L */ #define FG_Omega_total_v f->omega_total_v #define FG_P_total f->omega_total_v[0] #define FG_Q_total f->omega_total_v[1] #define FG_R_total f->omega_total_v[2] FG_VECTOR_3 euler_rates_v; #define FG_Euler_rates_v f->euler_rates_v #define FG_Phi_dot f->euler_rates_v[0] #define FG_Theta_dot f->euler_rates_v[1] #define FG_Psi_dot f->euler_rates_v[2] FG_VECTOR_3 geocentric_rates_v; /* Geocentric linear velocities */ #define FG_Geocentric_rates_v f->geocentric_rates_v #define FG_Latitude_dot f->geocentric_rates_v[0] #define FG_Longitude_dot f->geocentric_rates_v[1] #define FG_Radius_dot f->geocentric_rates_v[2] /*=============================== Positions ===============================*/ FG_VECTOR_3 geocentric_position_v; #define FG_Geocentric_position_v f->geocentric_position_v #define FG_Lat_geocentric f->geocentric_position_v[0] #define FG_Lon_geocentric f->geocentric_position_v[1] #define FG_Radius_to_vehicle f->geocentric_position_v[2] FG_VECTOR_3 geodetic_position_v; #define FG_Geodetic_position_v f->geodetic_position_v #define FG_Latitude f->geodetic_position_v[0] #define FG_Longitude f->geodetic_position_v[1] #define FG_Altitude f->geodetic_position_v[2] FG_VECTOR_3 euler_angles_v; #define FG_Euler_angles_v f->euler_angles_v #define FG_Phi f->euler_angles_v[0] #define FG_Theta f->euler_angles_v[1] #define FG_Psi f->euler_angles_v[2] /*======================= Miscellaneous quantities ========================*/ double t_local_to_body_m[3][3]; /* Transformation matrix L to B */ #define FG_T_local_to_body_m f->t_local_to_body_m #define FG_T_local_to_body_11 f->t_local_to_body_m[0][0] #define FG_T_local_to_body_12 f->t_local_to_body_m[0][1] #define FG_T_local_to_body_13 f->t_local_to_body_m[0][2] #define FG_T_local_to_body_21 f->t_local_to_body_m[1][0] #define FG_T_local_to_body_22 f->t_local_to_body_m[1][1] #define FG_T_local_to_body_23 f->t_local_to_body_m[1][2] #define FG_T_local_to_body_31 f->t_local_to_body_m[2][0] #define FG_T_local_to_body_32 f->t_local_to_body_m[2][1] #define FG_T_local_to_body_33 f->t_local_to_body_m[2][2] double gravity; /* Local acceleration due to G */ #define FG_Gravity f->gravity double centrifugal_relief; /* load factor reduction due to speed */ #define FG_Centrifugal_relief f->centrifugal_relief double alpha, beta, alpha_dot, beta_dot; /* in radians */ #define FG_Alpha f->alpha #define FG_Beta f->beta #define FG_Alpha_dot f->alpha_dot #define FG_Beta_dot f->beta_dot double cos_alpha, sin_alpha, cos_beta, sin_beta; #define FG_Cos_alpha f->cos_alpha #define FG_Sin_alpha f->sin_alpha #define FG_Cos_beta f->cos_beta #define FG_Sin_beta f->sin_beta double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi; #define FG_Cos_phi f->cos_phi #define FG_Sin_phi f->sin_phi #define FG_Cos_theta f->cos_theta #define FG_Sin_theta f->sin_theta #define FG_Cos_psi f->cos_psi #define FG_Sin_psi f->sin_psi double gamma_vert_rad, gamma_horiz_rad; /* Flight path angles */ #define FG_Gamma_vert_rad f->gamma_vert_rad #define FG_Gamma_horiz_rad f->gamma_horiz_rad double sigma, density, v_sound, mach_number; #define FG_Sigma f->sigma #define FG_Density f->density #define FG_V_sound f->v_sound #define FG_Mach_number f->mach_number double static_pressure, total_pressure, impact_pressure; double dynamic_pressure; #define FG_Static_pressure f->static_pressure #define FG_Total_pressure f->total_pressure #define FG_Impact_pressure f->impact_pressure #define FG_Dynamic_pressure f->dynamic_pressure double static_temperature, total_temperature; #define FG_Static_temperature f->static_temperature #define FG_Total_temperature f->total_temperature double sea_level_radius, earth_position_angle; #define FG_Sea_level_radius f->sea_level_radius #define FG_Earth_position_angle f->earth_position_angle double runway_altitude, runway_latitude, runway_longitude; double runway_heading; #define FG_Runway_altitude f->runway_altitude #define FG_Runway_latitude f->runway_latitude #define FG_Runway_longitude f->runway_longitude #define FG_Runway_heading f->runway_heading double radius_to_rwy; #define FG_Radius_to_rwy f->radius_to_rwy FG_VECTOR_3 d_cg_rwy_local_v; /* CG rel. to rwy in local coords */ #define FG_D_cg_rwy_local_v f->d_cg_rwy_local_v #define FG_D_cg_north_of_rwy f->d_cg_rwy_local_v[0] #define FG_D_cg_east_of_rwy f->d_cg_rwy_local_v[1] #define FG_D_cg_above_rwy f->d_cg_rwy_local_v[2] FG_VECTOR_3 d_cg_rwy_rwy_v; /* CG relative to rwy, in rwy coordinates */ #define FG_D_cg_rwy_rwy_v f->d_cg_rwy_rwy_v #define FG_X_cg_rwy f->d_cg_rwy_rwy_v[0] #define FG_Y_cg_rwy f->d_cg_rwy_rwy_v[1] #define FG_H_cg_rwy f->d_cg_rwy_rwy_v[2] FG_VECTOR_3 d_pilot_rwy_local_v; /* pilot rel. to rwy in local coords */ #define FG_D_pilot_rwy_local_v f->d_pilot_rwy_local_v #define FG_D_pilot_north_of_rwy f->d_pilot_rwy_local_v[0] #define FG_D_pilot_east_of_rwy f->d_pilot_rwy_local_v[1] #define FG_D_pilot_above_rwy f->d_pilot_rwy_local_v[2] FG_VECTOR_3 d_pilot_rwy_rwy_v; /* pilot rel. to rwy, in rwy coords. */ #define FG_D_pilot_rwy_rwy_v f->d_pilot_rwy_rwy_v #define FG_X_pilot_rwy f->d_pilot_rwy_rwy_v[0] #define FG_Y_pilot_rwy f->d_pilot_rwy_rwy_v[1] #define FG_H_pilot_rwy f->d_pilot_rwy_rwy_v[2] }; /* General interface to the flight model routines */ /* Initialize the flight model parameters */ int fgFlightModelInit(int model, struct flight_params *f, double dt); /* Run multiloop iterations of the flight model */ int fgFlightModelUpdate(int model, struct flight_params *f, int multiloop); #endif FLIGHT_H /* $Log$ /* Revision 1.6 1997/06/21 17:52:22 curt /* Continue directory shuffling ... everything should be compilable/runnable /* again. /* * Revision 1.5 1997/06/21 17:12:49 curt * Capitalized subdirectory names. * * Revision 1.4 1997/05/29 22:39:57 curt * Working on incorporating the LaRCsim flight model. * * Revision 1.3 1997/05/29 02:32:25 curt * Starting to build generic flight model interface. * * Revision 1.2 1997/05/23 15:40:37 curt * Added GNU copyright headers. * * Revision 1.1 1997/05/16 16:04:45 curt * Initial revision. * */