934 lines
36 KiB
C++
934 lines
36 KiB
C++
// flight.hxx -- define shared flight model parameters
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//
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// Written by Curtis Olson, started May 1997.
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//
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// Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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//
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// $Id$
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// (Log is kept at end of this file)
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#ifndef _FLIGHT_HXX
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#define _FLIGHT_HXX
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#ifndef __cplusplus
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# error This library requires C++
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#endif
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/* Required get_()
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`FGInterface::get_Longitude ()'
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`FGInterface::get_Latitude ()'
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`FGInterface::get_Altitude ()'
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`FGInterface::get_Phi ()'
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`FGInterface::get_Theta ()'
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`FGInterface::get_Psi ()'
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`FGInterface::get_V_equiv_kts ()'
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`FGInterface::get_Mass ()'
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`FGInterface::get_I_xx ()'
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`FGInterface::get_I_yy ()'
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`FGInterface::get_I_zz ()'
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`FGInterface::get_I_xz ()'
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`FGInterface::get_V_north ()'
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`FGInterface::get_V_east ()'
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`FGInterface::get_V_down ()'
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`FGInterface::get_P_Body ()'
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`FGInterface::get_Q_Body ()'
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`FGInterface::get_R_Body ()'
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`FGInterface::get_Gamma_vert_rad ()'
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`FGInterface::get_Climb_Rate ()'
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`FGInterface::get_Alpha ()'
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`FGInterface::get_Beta ()'
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`FGInterface::get_Runway_altitude ()'
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`FGInterface::get_Lon_geocentric ()'
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`FGInterface::get_Lat_geocentric ()'
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`FGInterface::get_Sea_level_radius ()'
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`FGInterface::get_Earth_position_angle ()'
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`FGInterface::get_Latitude_dot()'
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`FGInterface::get_Longitude_dot()'
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`FGInterface::get_Radius_dot()'
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`FGInterface::get_Dx_cg ()'
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`FGInterface::get_Dy_cg ()'
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`FGInterface::get_Dz_cg ()'
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`FGInterface::get_T_local_to_body_11 ()' ... `FGInterface::get_T_local_to_body_33 ()'
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`FGInterface::get_Radius_to_vehicle ()'
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*/
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#include <Time/timestamp.hxx>
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#ifndef __cplusplus
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# error This library requires C++
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#endif
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typedef double FG_VECTOR_3[3];
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// This is based heavily on LaRCsim/ls_generic.h
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class FGInterface {
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public:
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// Define the various supported flight models (many not yet implemented)
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enum {
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// Slew (in MS terminology)
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FG_SLEW = 0,
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// The NASA LaRCsim (Navion) flight model
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FG_LARCSIM = 1,
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// Jon S. Berndt's new FDM written from the ground up in C++
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FG_JSBSIM = 2,
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// The following aren't implemented but are here to spark
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// thoughts and discussions, and maybe even action.
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FG_ACM = 3,
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FG_SUPER_SONIC = 4,
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FG_HELICOPTER = 5,
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FG_AUTOGYRO = 6,
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FG_BALLOON = 7,
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FG_PARACHUTE = 8,
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// Driven externally via a serial port, net, file, etc.
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FG_EXTERNAL = 9
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};
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/*================== Mass properties and geometry values ==================*/
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// Inertias
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double mass, i_xx, i_yy, i_zz, i_xz;
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inline double get_Mass() const { return mass; }
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inline double get_I_xx() const { return i_xx; }
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inline double get_I_yy() const { return i_yy; }
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inline double get_I_zz() const { return i_zz; }
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inline double get_I_xz() const { return i_xz; }
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inline void set_Inertias( double m, double xx, double yy,
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double zz, double xz)
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{
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mass = m;
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i_xx = xx;
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i_yy = yy;
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i_zz = zz;
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i_xz = xz;
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}
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// Pilot location rel to ref pt
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FG_VECTOR_3 d_pilot_rp_body_v;
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// inline double * get_D_pilot_rp_body_v() {
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// return d_pilot_rp_body_v;
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// }
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// inline double get_Dx_pilot() const { return d_pilot_rp_body_v[0]; }
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// inline double get_Dy_pilot() const { return d_pilot_rp_body_v[1]; }
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// inline double get_Dz_pilot() const { return d_pilot_rp_body_v[2]; }
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/* inline void set_Pilot_Location( double dx, double dy, double dz ) {
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d_pilot_rp_body_v[0] = dx;
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d_pilot_rp_body_v[1] = dy;
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d_pilot_rp_body_v[2] = dz;
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} */
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// CG position w.r.t. ref. point
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FG_VECTOR_3 d_cg_rp_body_v;
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// inline double * get_D_cg_rp_body_v() { return d_cg_rp_body_v; }
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inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; }
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inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; }
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inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
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inline void set_CG_Position( double dx, double dy, double dz ) {
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d_cg_rp_body_v[0] = dx;
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d_cg_rp_body_v[1] = dy;
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d_cg_rp_body_v[2] = dz;
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}
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/*================================ Forces =================================*/
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FG_VECTOR_3 f_body_total_v;
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// inline double * get_F_body_total_v() { return f_body_total_v; }
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// inline double get_F_X() const { return f_body_total_v[0]; }
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// inline double get_F_Y() const { return f_body_total_v[1]; }
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// inline double get_F_Z() const { return f_body_total_v[2]; }
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/* inline void set_Forces_Body_Total( double x, double y, double z ) {
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f_body_total_v[0] = x;
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f_body_total_v[1] = y;
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f_body_total_v[2] = z;
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} */
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FG_VECTOR_3 f_local_total_v;
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// inline double * get_F_local_total_v() { return f_local_total_v; }
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// inline double get_F_north() const { return f_local_total_v[0]; }
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// inline double get_F_east() const { return f_local_total_v[1]; }
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// inline double get_F_down() const { return f_local_total_v[2]; }
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/* inline void set_Forces_Local_Total( double x, double y, double z ) {
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f_local_total_v[0] = x;
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f_local_total_v[1] = y;
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f_local_total_v[2] = z;
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} */
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FG_VECTOR_3 f_aero_v;
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// inline double * get_F_aero_v() { return f_aero_v; }
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// inline double get_F_X_aero() const { return f_aero_v[0]; }
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// inline double get_F_Y_aero() const { return f_aero_v[1]; }
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// inline double get_F_Z_aero() const { return f_aero_v[2]; }
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/* inline void set_Forces_Aero( double x, double y, double z ) {
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f_aero_v[0] = x;
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f_aero_v[1] = y;
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f_aero_v[2] = z;
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} */
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FG_VECTOR_3 f_engine_v;
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// inline double * get_F_engine_v() { return f_engine_v; }
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// inline double get_F_X_engine() const { return f_engine_v[0]; }
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// inline double get_F_Y_engine() const { return f_engine_v[1]; }
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// inline double get_F_Z_engine() const { return f_engine_v[2]; }
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/* inline void set_Forces_Engine( double x, double y, double z ) {
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f_engine_v[0] = x;
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f_engine_v[1] = y;
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f_engine_v[2] = z;
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} */
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FG_VECTOR_3 f_gear_v;
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// inline double * get_F_gear_v() { return f_gear_v; }
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// inline double get_F_X_gear() const { return f_gear_v[0]; }
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// inline double get_F_Y_gear() const { return f_gear_v[1]; }
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// inline double get_F_Z_gear() const { return f_gear_v[2]; }
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/* inline void set_Forces_Gear( double x, double y, double z ) {
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f_gear_v[0] = x;
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f_gear_v[1] = y;
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f_gear_v[2] = z;
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} */
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/*================================ Moments ================================*/
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FG_VECTOR_3 m_total_rp_v;
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// inline double * get_M_total_rp_v() { return m_total_rp_v; }
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// inline double get_M_l_rp() const { return m_total_rp_v[0]; }
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// inline double get_M_m_rp() const { return m_total_rp_v[1]; }
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// inline double get_M_n_rp() const { return m_total_rp_v[2]; }
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/* inline void set_Moments_Total_RP( double l, double m, double n ) {
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m_total_rp_v[0] = l;
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m_total_rp_v[1] = m;
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m_total_rp_v[2] = n;
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} */
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FG_VECTOR_3 m_total_cg_v;
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// inline double * get_M_total_cg_v() { return m_total_cg_v; }
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// inline double get_M_l_cg() const { return m_total_cg_v[0]; }
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// inline double get_M_m_cg() const { return m_total_cg_v[1]; }
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// inline double get_M_n_cg() const { return m_total_cg_v[2]; }
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/* inline void set_Moments_Total_CG( double l, double m, double n ) {
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m_total_cg_v[0] = l;
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m_total_cg_v[1] = m;
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m_total_cg_v[2] = n;
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} */
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FG_VECTOR_3 m_aero_v;
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// inline double * get_M_aero_v() { return m_aero_v; }
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// inline double get_M_l_aero() const { return m_aero_v[0]; }
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// inline double get_M_m_aero() const { return m_aero_v[1]; }
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// inline double get_M_n_aero() const { return m_aero_v[2]; }
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/* inline void set_Moments_Aero( double l, double m, double n ) {
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m_aero_v[0] = l;
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m_aero_v[1] = m;
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m_aero_v[2] = n;
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} */
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FG_VECTOR_3 m_engine_v;
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// inline double * get_M_engine_v() { return m_engine_v; }
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// inline double get_M_l_engine() const { return m_engine_v[0]; }
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// inline double get_M_m_engine() const { return m_engine_v[1]; }
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// inline double get_M_n_engine() const { return m_engine_v[2]; }
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/* inline void set_Moments_Engine( double l, double m, double n ) {
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m_engine_v[0] = l;
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m_engine_v[1] = m;
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m_engine_v[2] = n;
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} */
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FG_VECTOR_3 m_gear_v;
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// inline double * get_M_gear_v() { return m_gear_v; }
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// inline double get_M_l_gear() const { return m_gear_v[0]; }
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// inline double get_M_m_gear() const { return m_gear_v[1]; }
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// inline double get_M_n_gear() const { return m_gear_v[2]; }
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/* inline void set_Moments_Gear( double l, double m, double n ) {
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m_gear_v[0] = l;
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m_gear_v[1] = m;
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m_gear_v[2] = n;
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} */
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/*============================== Accelerations ============================*/
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FG_VECTOR_3 v_dot_local_v;
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// inline double * get_V_dot_local_v() { return v_dot_local_v; }
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// inline double get_V_dot_north() const { return v_dot_local_v[0]; }
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// inline double get_V_dot_east() const { return v_dot_local_v[1]; }
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// inline double get_V_dot_down() const { return v_dot_local_v[2]; }
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/* inline void set_Accels_Local( double north, double east, double down ) {
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v_dot_local_v[0] = north;
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v_dot_local_v[1] = east;
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v_dot_local_v[2] = down;
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} */
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FG_VECTOR_3 v_dot_body_v;
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// inline double * get_V_dot_body_v() { return v_dot_body_v; }
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// inline double get_U_dot_body() const { return v_dot_body_v[0]; }
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// inline double get_V_dot_body() const { return v_dot_body_v[1]; }
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// inline double get_W_dot_body() const { return v_dot_body_v[2]; }
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/* inline void set_Accels_Body( double u, double v, double w ) {
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v_dot_local_v[0] = u;
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v_dot_local_v[1] = v;
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v_dot_local_v[2] = w;
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} */
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FG_VECTOR_3 a_cg_body_v;
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// inline double * get_A_cg_body_v() { return a_cg_body_v; }
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// inline double get_A_X_cg() const { return a_cg_body_v[0]; }
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// inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
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// inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
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/* inline void set_Accels_CG_Body( double x, double y, double z ) {
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a_cg_body_v[0] = x;
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a_cg_body_v[1] = y;
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a_cg_body_v[2] = z;
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} */
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FG_VECTOR_3 a_pilot_body_v;
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// inline double * get_A_pilot_body_v() { return a_pilot_body_v; }
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// inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
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// inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
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// inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
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/* inline void set_Accels_Pilot_Body( double x, double y, double z ) {
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a_pilot_body_v[0] = x;
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a_pilot_body_v[1] = y;
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a_pilot_body_v[2] = z;
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} */
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FG_VECTOR_3 n_cg_body_v;
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// inline double * get_N_cg_body_v() { return n_cg_body_v; }
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// inline double get_N_X_cg() const { return n_cg_body_v[0]; }
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// inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
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// inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
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/* inline void set_Accels_CG_Body_N( double x, double y, double z ) {
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n_cg_body_v[0] = x;
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n_cg_body_v[1] = y;
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n_cg_body_v[2] = z;
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} */
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FG_VECTOR_3 n_pilot_body_v;
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// inline double * get_N_pilot_body_v() { return n_pilot_body_v; }
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// inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
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// inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; }
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// inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; }
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/* inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
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n_pilot_body_v[0] = x;
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n_pilot_body_v[1] = y;
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n_pilot_body_v[2] = z;
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} */
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FG_VECTOR_3 omega_dot_body_v;
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// inline double * get_Omega_dot_body_v() { return omega_dot_body_v; }
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// inline double get_P_dot_body() const { return omega_dot_body_v[0]; }
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// inline double get_Q_dot_body() const { return omega_dot_body_v[1]; }
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// inline double get_R_dot_body() const { return omega_dot_body_v[2]; }
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/* inline void set_Accels_Omega( double p, double q, double r ) {
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omega_dot_body_v[0] = p;
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omega_dot_body_v[1] = q;
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omega_dot_body_v[2] = r;
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} */
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/*============================== Velocities ===============================*/
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FG_VECTOR_3 v_local_v;
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// inline double * get_V_local_v() { return v_local_v; }
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inline double get_V_north() const { return v_local_v[0]; }
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inline double get_V_east() const { return v_local_v[1]; }
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inline double get_V_down() const { return v_local_v[2]; }
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inline void set_Velocities_Local( double north, double east, double down ) {
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v_local_v[0] = north;
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v_local_v[1] = east;
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v_local_v[2] = down;
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}
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FG_VECTOR_3 v_local_rel_ground_v; // V rel w.r.t. earth surface
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// inline double * get_V_local_rel_ground_v() { return v_local_rel_ground_v; }
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// inline double get_V_north_rel_ground() const {
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// return v_local_rel_ground_v[0];
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// }
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// inline double get_V_east_rel_ground() const {
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// return v_local_rel_ground_v[1];
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// }
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// inline double get_V_down_rel_ground() const {
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// return v_local_rel_ground_v[2];
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// }
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/* inline void set_Velocities_Ground(double north, double east, double down) {
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v_local_rel_ground_v[0] = north;
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v_local_rel_ground_v[1] = east;
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v_local_rel_ground_v[2] = down;
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} */
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FG_VECTOR_3 v_local_airmass_v; // velocity of airmass (steady winds)
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// inline double * get_V_local_airmass_v() { return v_local_airmass_v; }
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// inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
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// inline double get_V_east_airmass() const { return v_local_airmass_v[1]; }
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// inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
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/* inline void set_Velocities_Local_Airmass( double north, double east,
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double down)
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{
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v_local_airmass_v[0] = north;
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v_local_airmass_v[1] = east;
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v_local_airmass_v[2] = down;
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} */
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FG_VECTOR_3 v_local_rel_airmass_v; // velocity of veh. relative to
|
|
// airmass
|
|
// inline double * get_V_local_rel_airmass_v() {
|
|
//return v_local_rel_airmass_v;
|
|
//}
|
|
// inline double get_V_north_rel_airmass() const {
|
|
//return v_local_rel_airmass_v[0];
|
|
//}
|
|
// inline double get_V_east_rel_airmass() const {
|
|
//return v_local_rel_airmass_v[1];
|
|
//}
|
|
// 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 ===============================*/
|
|
|
|
FG_VECTOR_3 geocentric_position_v;
|
|
// inline double * get_Geocentric_position_v() {
|
|
// return geocentric_position_v;
|
|
// }
|
|
inline double get_Lat_geocentric() const {
|
|
return geocentric_position_v[0];
|
|
}
|
|
inline double get_Lon_geocentric() const {
|
|
return geocentric_position_v[1];
|
|
}
|
|
inline double get_Radius_to_vehicle() const {
|
|
return geocentric_position_v[2];
|
|
}
|
|
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[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;
|
|
// 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 ========================*/
|
|
|
|
double t_local_to_body_m[3][3]; // Transformation matrix L to B
|
|
// inline double * get_T_local_to_body_m() { return t_local_to_body_m; }
|
|
inline double get_T_local_to_body_11() const {
|
|
return t_local_to_body_m[0][0];
|
|
}
|
|
inline double get_T_local_to_body_12() const {
|
|
return t_local_to_body_m[0][1];
|
|
}
|
|
inline double get_T_local_to_body_13() const {
|
|
return t_local_to_body_m[0][2];
|
|
}
|
|
inline double get_T_local_to_body_21() const {
|
|
return t_local_to_body_m[1][0];
|
|
}
|
|
inline double get_T_local_to_body_22() const {
|
|
return t_local_to_body_m[1][1];
|
|
}
|
|
inline double get_T_local_to_body_23() const {
|
|
return t_local_to_body_m[1][2];
|
|
}
|
|
inline double get_T_local_to_body_31() const {
|
|
return t_local_to_body_m[2][0];
|
|
}
|
|
inline double get_T_local_to_body_32() const {
|
|
return t_local_to_body_m[2][1];
|
|
}
|
|
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 a) {
|
|
earth_position_angle = a;
|
|
}
|
|
|
|
double runway_altitude, runway_latitude, runway_longitude;
|
|
double runway_heading;
|
|
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; }
|
|
// inline double get_D_pilot_north_of_rwy() const {
|
|
//return d_pilot_rwy_local_v[0];
|
|
// }
|
|
// inline double get_D_pilot_east_of_rwy() const {
|
|
// return d_pilot_rwy_local_v[1];
|
|
// }
|
|
// 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]; }
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/* inline void set_Pilot_Rwy_Rwy( double x, double y, double h )
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|
{
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d_pilot_rwy_rwy_v[0] = x;
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d_pilot_rwy_rwy_v[1] = y;
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d_pilot_rwy_rwy_v[2] = h;
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} */
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|
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double climb_rate; // in feet per second
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inline double get_Climb_Rate() const { return climb_rate; }
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inline void set_Climb_Rate(double rate) { climb_rate = rate; }
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|
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FGTimeStamp valid_stamp; // time this record is valid
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FGTimeStamp next_stamp; // time this record is valid
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inline FGTimeStamp get_time_stamp() const { return valid_stamp; }
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inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
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|
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// Extrapolate FDM based on time_offset (in usec)
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void extrapolate( int time_offset );
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|
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};
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|
|
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extern FGInterface cur_fdm_state;
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|
|
|
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// General interface to the flight model routines
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|
|
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// Initialize the flight model parameters
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int fgFDMInit(int model, FGInterface& f, double dt);
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|
|
|
// Run multiloop iterations of the flight model
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int fgFDMUpdate(int model, FGInterface& f, int multiloop, int jitter);
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|
|
|
// Set the altitude (force)
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|
void fgFDMForceAltitude(int model, double alt_meters);
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|
|
|
// Set the local ground elevation
|
|
void fgFDMSetGroundElevation(int model, double alt_meters);
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|
|
|
|
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#endif // _FLIGHT_HXX
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|
|
|
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// $Log$
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// Revision 1.13 1999/02/05 21:29:02 curt
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// Modifications to incorporate Jon S. Berndts flight model code.
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//
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|
// Revision 1.12 1999/01/20 13:42:23 curt
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|
// Tweaked FDM interface.
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|
// Testing check sum support for NMEA serial output.
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|
//
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|
// Revision 1.11 1999/01/19 17:52:07 curt
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|
// Working on being able to extrapolate a new position and orientation
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|
// based on a position, orientation, and time offset.
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|
//
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|
// Revision 1.10 1999/01/09 13:37:33 curt
|
|
// Convert fgTIMESTAMP to FGTimeStamp which holds usec instead of ms.
|
|
//
|
|
// Revision 1.9 1999/01/08 19:27:38 curt
|
|
// Fixed AOA reading on HUD.
|
|
// Continued work on time jitter compensation.
|
|
//
|
|
// Revision 1.8 1999/01/08 03:23:52 curt
|
|
// Beginning work on compensating for sim time vs. real world time "jitter".
|
|
//
|
|
// Revision 1.7 1998/12/18 23:37:09 curt
|
|
// Collapsed out the FGState variables not currently needed. They are just
|
|
// commented out and can be readded easily at any time. The point of this
|
|
// exersize is to determine which variables were or were not currently being
|
|
// used.
|
|
//
|
|
// Revision 1.6 1998/12/05 15:54:12 curt
|
|
// Renamed class fgFLIGHT to class FGState as per request by JSB.
|
|
//
|
|
// Revision 1.5 1998/12/04 01:29:40 curt
|
|
// Stubbed in a new flight model called "External" which is expected to be driven
|
|
// from some external source.
|
|
//
|
|
// 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.
|
|
//
|
|
// Revision 1.2 1998/10/16 23:27:41 curt
|
|
// C++-ifying.
|
|
//
|
|
// Revision 1.1 1998/10/16 20:16:44 curt
|
|
// Renamed flight.[ch] to flight.[ch]xx
|
|
//
|
|
// Revision 1.20 1998/09/29 14:57:39 curt
|
|
// c++-ified comments.
|
|
//
|
|
// Revision 1.19 1998/09/29 02:02:41 curt
|
|
// Added a rate of climb calculation.
|
|
//
|
|
// Revision 1.18 1998/07/30 23:44:36 curt
|
|
// Beginning to add support for multiple flight models.
|
|
//
|
|
// Revision 1.17 1998/07/12 03:08:28 curt
|
|
// Added fgFlightModelSetAltitude() to force the altitude to something
|
|
// other than the current altitude. LaRCsim doesn't let you do this by just
|
|
// changing FG_Altitude.
|
|
//
|
|
// Revision 1.16 1998/04/22 13:26:20 curt
|
|
// C++ - ifing the code a bit.
|
|
//
|
|
// Revision 1.15 1998/04/21 16:59:33 curt
|
|
// Integrated autopilot.
|
|
// Prepairing for C++ integration.
|
|
//
|
|
// Revision 1.14 1998/02/07 15:29:37 curt
|
|
// Incorporated HUD changes and struct/typedef changes from Charlie Hotchkiss
|
|
// <chotchkiss@namg.us.anritsu.com>
|
|
//
|
|
// Revision 1.13 1998/01/24 00:04:59 curt
|
|
// misc. tweaks.
|
|
//
|
|
// Revision 1.12 1998/01/22 02:59:32 curt
|
|
// Changed #ifdef FILE_H to #ifdef _FILE_H
|
|
//
|
|
// Revision 1.11 1998/01/19 19:27:03 curt
|
|
// Merged in make system changes from Bob Kuehne <rpk@sgi.com>
|
|
// This should simplify things tremendously.
|
|
//
|
|
// Revision 1.10 1997/12/10 22:37:43 curt
|
|
// Prepended "fg" on the name of all global structures that didn't have it yet.
|
|
// i.e. "struct WEATHER {}" became "struct fgWEATHER {}"
|
|
//
|
|
// Revision 1.9 1997/09/04 02:17:33 curt
|
|
// Shufflin' stuff.
|
|
//
|
|
// Revision 1.8 1997/08/27 03:30:06 curt
|
|
// Changed naming scheme of basic shared structures.
|
|
//
|
|
// Revision 1.7 1997/07/23 21:52:19 curt
|
|
// Put comments around the text after an #endif for increased portability.
|
|
//
|
|
// 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.
|
|
//
|