1043 lines
37 KiB
C++
1043 lines
37 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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#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 <simgear/compiler.h>
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#include <math.h>
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#include <list>
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#include <vector>
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#include <Time/timestamp.hxx>
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FG_USING_STD(list);
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FG_USING_STD(vector);
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typedef double FG_VECTOR_3[3];
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class FGEngInterface {
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private:
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// inputs
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double Throttle;
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double Mixture;
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double Prop_Advance;
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// outputs
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double RPM;
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double Manifold_Pressure;
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double MaxHP;
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double Percentage_Power;
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double EGT;
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double CHT;
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double prop_thrust;
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/* others...
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double PercentN1,N1; //GE,CFM
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double PercentN2,N2;
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double EPR; //P&W, RR?
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double FuelFlow;
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bool AfterBurner;
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double InletAngles[3];
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double InletPosition[3];
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double ThrustVector[3];
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*/
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public:
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FGEngInterface(void);
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~FGEngInterface(void);
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inline double get_Throttle() const { return Throttle; }
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inline double get_Mixture() const { return Mixture; }
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inline double get_Prop_Advance() const { return Prop_Advance; }
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inline double get_RPM() const { return RPM; }
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inline double get_Manifold_Pressure() const { return Manifold_Pressure; }
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inline double get_MaxHP() const { return MaxHP; }
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inline double get_Percentage_Power() const { return Percentage_Power; }
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inline double get_EGT() const { return EGT; }
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inline double get_CHT() const { return CHT; }
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inline double get_prop_thrust() const { return prop_thrust; }
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inline void set_Throttle( double t ) { Throttle = t; }
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inline void set_Mixture( double m ) { Mixture = m; }
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inline void set_Prop_Advance( double p ) { Prop_Advance = p; }
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inline void set_RPM( double r ) { RPM = r; }
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inline void set_Manifold_Pressure( double mp ) { Manifold_Pressure = mp; }
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inline void set_MaxHP( double hp ) { MaxHP = hp; }
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inline void set_Percentage_Power( double p ) { Percentage_Power = p; }
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inline void set_EGT( double e ) { EGT = e; }
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inline void set_CHT( double c ) { CHT = c; }
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inline void set_prop_thrust( double t ) { prop_thrust = t; }
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};
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typedef vector < FGEngInterface > engine_list;
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// This is based heavily on LaRCsim/ls_generic.h
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class FGInterface {
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private:
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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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// CG position w.r.t. ref. point
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FG_VECTOR_3 d_cg_rp_body_v;
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// Forces
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FG_VECTOR_3 f_body_total_v;
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FG_VECTOR_3 f_local_total_v;
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FG_VECTOR_3 f_aero_v;
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FG_VECTOR_3 f_engine_v;
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FG_VECTOR_3 f_gear_v;
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// Moments
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FG_VECTOR_3 m_total_rp_v;
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FG_VECTOR_3 m_total_cg_v;
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FG_VECTOR_3 m_aero_v;
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FG_VECTOR_3 m_engine_v;
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FG_VECTOR_3 m_gear_v;
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// Accelerations
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FG_VECTOR_3 v_dot_local_v;
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FG_VECTOR_3 v_dot_body_v;
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FG_VECTOR_3 a_cg_body_v;
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FG_VECTOR_3 a_pilot_body_v;
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FG_VECTOR_3 n_cg_body_v;
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FG_VECTOR_3 n_pilot_body_v;
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FG_VECTOR_3 omega_dot_body_v;
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// Velocities
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FG_VECTOR_3 v_local_v;
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FG_VECTOR_3 v_local_rel_ground_v; // V rel w.r.t. earth surface
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FG_VECTOR_3 v_local_airmass_v; // velocity of airmass (steady winds)
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FG_VECTOR_3 v_local_rel_airmass_v; // velocity of veh. relative to airmass
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FG_VECTOR_3 v_local_gust_v; // linear turbulence components, L frame
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FG_VECTOR_3 v_wind_body_v; // Wind-relative velocities in body axis
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FG_VECTOR_3 omega_body_v; // Angular B rates
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FG_VECTOR_3 omega_local_v; // Angular L rates
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FG_VECTOR_3 omega_total_v; // Diff btw B & L
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FG_VECTOR_3 euler_rates_v;
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FG_VECTOR_3 geocentric_rates_v; // Geocentric linear velocities
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// Positions
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FG_VECTOR_3 geocentric_position_v;
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FG_VECTOR_3 geodetic_position_v;
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FG_VECTOR_3 euler_angles_v;
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// Miscellaneous Quantities
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FG_VECTOR_3 d_cg_rwy_local_v; // CG rel. to rwy in local coords
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FG_VECTOR_3 d_cg_rwy_rwy_v; // CG relative to rwy, in rwy coordinates
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FG_VECTOR_3 d_pilot_rwy_local_v; // pilot rel. to rwy in local coords
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FG_VECTOR_3 d_pilot_rwy_rwy_v; // pilot rel. to rwy, in rwy coords.
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// Inertias
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double mass, i_xx, i_yy, i_zz, i_xz;
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// Normal Load Factor
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double nlf;
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// Velocities
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double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
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double v_ground_speed, v_equiv, v_equiv_kts;
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double v_calibrated, v_calibrated_kts;
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// Miscellaneious Quantities
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double t_local_to_body_m[3][3]; // Transformation matrix L to B
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double gravity; // Local acceleration due to G
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double centrifugal_relief; // load factor reduction due to speed
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double alpha, beta, alpha_dot, beta_dot; // in radians
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double cos_alpha, sin_alpha, cos_beta, sin_beta;
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double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
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double gamma_vert_rad, gamma_horiz_rad; // Flight path angles
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double sigma, density, v_sound, mach_number;
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double static_pressure, total_pressure, impact_pressure;
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double dynamic_pressure;
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double static_temperature, total_temperature;
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double sea_level_radius, earth_position_angle;
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double runway_altitude, runway_latitude, runway_longitude;
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double runway_heading;
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double radius_to_rwy;
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double climb_rate; // in feet per second
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double sin_lat_geocentric, cos_lat_geocentric;
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double sin_longitude, cos_longitude;
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double sin_latitude, cos_latitude;
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double altitude_agl;
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// Engine list
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engine_list engines;
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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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protected:
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void _busdump(void);
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void _updatePosition( double lat_geoc, double lon, double alt );
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void _updateWeather( void );
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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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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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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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inline void _set_Accels_Body( double u, double v, double w ) {
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v_dot_body_v[0] = u;
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v_dot_body_v[1] = v;
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v_dot_body_v[2] = w;
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}
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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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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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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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void _set_Nlf(double n) { nlf=n; }
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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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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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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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inline void _set_Velocities_Wind_Body( double u, double v, double w) {
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v_wind_body_v[0] = u;
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v_wind_body_v[1] = v;
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v_wind_body_v[2] = w;
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}
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inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; }
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inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
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inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
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inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
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inline void _set_Omega_Body( double p, double q, double r ) {
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omega_body_v[0] = p;
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omega_body_v[1] = q;
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omega_body_v[2] = r;
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}
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inline void _set_Euler_Rates( double phi, double theta, double psi ) {
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euler_rates_v[0] = phi;
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euler_rates_v[1] = theta;
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euler_rates_v[2] = psi;
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}
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inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
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geocentric_rates_v[0] = lat;
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geocentric_rates_v[1] = lon;
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geocentric_rates_v[2] = rad;
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}
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#if 0
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inline void _set_Radius_to_vehicle(double radius) {
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geocentric_position_v[2] = radius;
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}
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#endif
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inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
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geocentric_position_v[0] = lat;
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geocentric_position_v[1] = lon;
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geocentric_position_v[2] = rad;
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}
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inline void _set_Latitude(double lat) { geodetic_position_v[0] = lat; }
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inline void _set_Longitude(double lon) { geodetic_position_v[1] = lon; }
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inline void _set_Altitude(double altitude) {
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geodetic_position_v[2] = altitude;
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}
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inline void _set_Altitude_AGL(double agl) {
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altitude_agl = agl;
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}
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inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
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geodetic_position_v[0] = lat;
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geodetic_position_v[1] = lon;
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geodetic_position_v[2] = alt;
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}
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inline void _set_Euler_Angles( double phi, double theta, double psi ) {
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euler_angles_v[0] = phi;
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euler_angles_v[1] = theta;
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euler_angles_v[2] = psi;
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}
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inline void _set_T_Local_to_Body( int i, int j, double value) {
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t_local_to_body_m[i-1][j-1] = value;
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}
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inline void _set_T_Local_to_Body( double m[3][3] ) {
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int i, j;
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for ( i = 0; i < 3; i++ ) {
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for ( j = 0; j < 3; j++ ) {
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t_local_to_body_m[i][j] = m[i][j];
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}
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}
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}
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inline void _set_Alpha( double a ) { alpha = a; }
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inline void _set_Beta( double b ) { beta = b; }
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inline void _set_Cos_phi( double cp ) { cos_phi = cp; }
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inline void _set_Cos_theta( double ct ) { cos_theta = ct; }
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inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
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inline void _set_Density( double d ) { density = d; }
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inline void _set_Mach_number( double m ) { mach_number = m; }
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inline void _set_Static_pressure( double sp ) { static_pressure = sp; }
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inline void _set_Static_temperature( double t ) { static_temperature = t; }
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inline void _set_Sea_level_radius( double r ) { sea_level_radius = r; }
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inline void _set_Earth_position_angle(double a) {
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earth_position_angle = a;
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}
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inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; }
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inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
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inline void _set_sin_lat_geocentric(double parm) {
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sin_lat_geocentric = sin(parm);
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}
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inline void _set_cos_lat_geocentric(double parm) {
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cos_lat_geocentric = cos(parm);
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}
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inline void _set_sin_cos_longitude(double parm) {
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sin_longitude = sin(parm);
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cos_longitude = cos(parm);
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}
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inline void _set_sin_cos_latitude(double parm) {
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sin_latitude = sin(parm);
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cos_latitude = cos(parm);
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}
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public:
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FGInterface(void);
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virtual ~FGInterface();
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virtual bool init( double dt );
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virtual bool update( int multi_loop );
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// Define the various supported flight models (many not yet implemented)
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enum {
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// Magic Carpet mode
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FG_MAGICCARPET = 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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// Christian's hot air balloon simulation
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FG_BALLOONSIM = 3,
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// Aeronautical DEvelopment AGEncy, Bangalore India
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FG_ADA = 4,
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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 = 5,
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FG_SUPER_SONIC = 6,
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FG_HELICOPTER = 7,
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FG_AUTOGYRO = 8,
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FG_PARACHUTE = 9,
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// Driven externally via a serial port, net, file, etc.
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FG_EXTERNAL = 10
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};
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// Positions
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virtual void set_Latitude(double lat); // geocentric
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virtual void set_Longitude(double lon);
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virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
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virtual void set_AltitudeAGL(double altagl); // and vice-versa
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// Speeds -- setting any of these will trigger a re-calc of the rest
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virtual void set_V_calibrated_kts(double vc);
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virtual void set_Mach_number(double mach);
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virtual void set_Velocities_Local( double north, double east, double down );
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virtual void set_Velocities_Wind_Body( double u, double v, double w);
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|
|
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// Euler angles
|
|
virtual void set_Euler_Angles( double phi, double theta, double psi );
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|
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// Flight Path
|
|
virtual void set_Climb_Rate( double roc);
|
|
virtual void set_Gamma_vert_rad( double gamma);
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|
|
|
// Earth
|
|
virtual void set_Sea_level_radius(double slr);
|
|
virtual void set_Runway_altitude(double ralt);
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|
|
virtual void set_Static_pressure(double p);
|
|
virtual void set_Static_temperature(double T);
|
|
virtual void set_Density(double rho);
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|
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virtual void set_Velocities_Local_Airmass (double wnorth,
|
|
double weast,
|
|
double wdown );
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// ========== Mass properties and geometry values ==========
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|
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// Inertias
|
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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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|
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// Pilot location rel to ref pt
|
|
// inline double * get_D_pilot_rp_body_v() {
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|
// return d_pilot_rp_body_v;
|
|
// }
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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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// 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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|
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// ========== Forces ==========
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|
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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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// 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]; }
|
|
/* 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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|
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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]; }
|
|
// 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 ) {
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|
f_aero_v[0] = x;
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|
f_aero_v[1] = y;
|
|
f_aero_v[2] = z;
|
|
} */
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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]; }
|
|
// inline double get_F_Z_engine() const { return f_engine_v[2]; }
|
|
/* 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;
|
|
f_engine_v[2] = z;
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|
} */
|
|
|
|
// 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 ==========
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|
|
|
// 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;
|
|
} */
|
|
|
|
// 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;
|
|
} */
|
|
|
|
// 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;
|
|
} */
|
|
|
|
// 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;
|
|
} */
|
|
|
|
// 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 ==========
|
|
|
|
// inline double * get_V_dot_local_v() { return v_dot_local_v; }
|
|
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 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 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 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 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 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;
|
|
// }
|
|
|
|
inline double get_Nlf(void) { return nlf; }
|
|
|
|
// 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 ==========
|
|
|
|
// inline double * get_V_local_v() { return v_local_v; }
|
|
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 double * get_V_local_rel_ground_v() {
|
|
// return v_local_rel_ground_v;
|
|
// }
|
|
// inline double get_V_north_rel_ground() const {
|
|
// return v_local_rel_ground_v[0];
|
|
// }
|
|
// inline double get_V_east_rel_ground() const {
|
|
// return v_local_rel_ground_v[1];
|
|
// }
|
|
// inline double get_V_down_rel_ground() const {
|
|
// return v_local_rel_ground_v[2];
|
|
// }
|
|
|
|
// 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]; }
|
|
|
|
// 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;
|
|
} */
|
|
|
|
// 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;
|
|
} */
|
|
|
|
// 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 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 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 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 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 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;
|
|
} */
|
|
|
|
// 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;
|
|
} */
|
|
|
|
// 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 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]; }
|
|
|
|
// ========== Positions ==========
|
|
|
|
// 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 double * get_Geodetic_position_v() { return geodetic_position_v; }
|
|
inline double get_Latitude() const { return geodetic_position_v[0]; }
|
|
inline double get_Longitude() const { return geodetic_position_v[1]; }
|
|
inline double get_Altitude() const { return geodetic_position_v[2]; }
|
|
inline double get_Altitude_AGL(void) { return altitude_agl; }
|
|
|
|
// 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]; }
|
|
|
|
|
|
// ========== Miscellaneous quantities ==========
|
|
|
|
// 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];
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|
}
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|
|
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// inline double get_Gravity() const { return gravity; }
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// inline void set_Gravity(double g) { gravity = g; }
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|
|
|
// inline double get_Centrifugal_relief() const {
|
|
// return centrifugal_relief;
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|
// }
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|
// inline void set_Centrifugal_relief(double cr) {
|
|
// centrifugal_relief = cr;
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|
// }
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|
|
|
inline double get_Alpha() const { return alpha; }
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|
inline double get_Beta() const { return beta; }
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|
// inline double get_Alpha_dot() const { return alpha_dot; }
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// inline void set_Alpha_dot( double ad ) { alpha_dot = ad; }
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// inline double get_Beta_dot() const { return beta_dot; }
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|
// inline void set_Beta_dot( double bd ) { beta_dot = bd; }
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|
|
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// inline double get_Cos_alpha() const { return cos_alpha; }
|
|
// inline void set_Cos_alpha( double ca ) { cos_alpha = ca; }
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|
// inline double get_Sin_alpha() const { return sin_alpha; }
|
|
// inline void set_Sin_alpha( double sa ) { sin_alpha = sa; }
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|
// inline double get_Cos_beta() const { return cos_beta; }
|
|
// inline void set_Cos_beta( double cb ) { cos_beta = cb; }
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|
// inline double get_Sin_beta() const { return sin_beta; }
|
|
// inline void set_Sin_beta( double sb ) { sin_beta = sb; }
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|
|
|
inline double get_Cos_phi() const { return cos_phi; }
|
|
// inline double get_Sin_phi() const { return sin_phi; }
|
|
// inline void set_Sin_phi( double sp ) { sin_phi = sp; }
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|
inline double get_Cos_theta() const { return cos_theta; }
|
|
// 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; }
|
|
|
|
inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
|
|
// inline double get_Gamma_horiz_rad() const { return gamma_horiz_rad; }
|
|
// inline void set_Gamma_horiz_rad( double gh ) { gamma_horiz_rad = gh; }
|
|
|
|
// inline double get_Sigma() const { return sigma; }
|
|
// inline void set_Sigma( double s ) { sigma = s; }
|
|
inline double get_Density() const { return density; }
|
|
// 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 double get_Static_pressure() const { return static_pressure; }
|
|
// 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; }
|
|
|
|
inline double get_Static_temperature() const { return static_temperature; }
|
|
// inline double get_Total_temperature() const { return total_temperature; }
|
|
// inline void set_Total_temperature( double t ) { total_temperature = t; }
|
|
|
|
inline double get_Sea_level_radius() const { return sea_level_radius; }
|
|
inline double get_Earth_position_angle() const {
|
|
return earth_position_angle;
|
|
}
|
|
|
|
inline double get_Runway_altitude() const { return runway_altitude; }
|
|
// 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; }
|
|
|
|
// inline double get_Radius_to_rwy() const { return radius_to_rwy; }
|
|
// inline void set_Radius_to_rwy( double r ) { radius_to_rwy = r; }
|
|
|
|
// 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;
|
|
} */
|
|
|
|
// 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;
|
|
} */
|
|
|
|
// 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;
|
|
} */
|
|
|
|
// 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;
|
|
} */
|
|
|
|
inline double get_Climb_Rate() const { return climb_rate; }
|
|
|
|
inline FGTimeStamp get_time_stamp() const { return valid_stamp; }
|
|
inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
|
|
|
|
// Extrapolate FDM based on time_offset (in usec)
|
|
void extrapolate( int time_offset );
|
|
|
|
// sin/cos lat_geocentric
|
|
inline double get_sin_lat_geocentric(void) const {
|
|
return sin_lat_geocentric;
|
|
}
|
|
inline double get_cos_lat_geocentric(void) const {
|
|
return cos_lat_geocentric;
|
|
}
|
|
|
|
inline double get_sin_longitude(void) const {
|
|
return sin_longitude;
|
|
}
|
|
inline double get_cos_longitude(void) const {
|
|
return cos_longitude;
|
|
}
|
|
|
|
inline double get_sin_latitude(void) const {
|
|
return sin_latitude;
|
|
}
|
|
inline double get_cos_latitude(void) const {
|
|
return cos_latitude;
|
|
}
|
|
|
|
// engines
|
|
inline double get_num_engines() const {
|
|
return engines.size();
|
|
}
|
|
|
|
inline FGEngInterface* get_engine( int i ) {
|
|
return &engines[i];
|
|
}
|
|
|
|
inline void add_engine( FGEngInterface e ) {
|
|
engines.push_back( e );
|
|
}
|
|
};
|
|
|
|
|
|
typedef list < FGInterface > fdm_state_list;
|
|
typedef fdm_state_list::iterator fdm_state_list_iterator;
|
|
typedef fdm_state_list::const_iterator const_fdm_state_list_iterator;
|
|
|
|
|
|
extern FGInterface * cur_fdm_state;
|
|
|
|
|
|
// General interface to the flight model routines
|
|
|
|
// Initialize the flight model parameters
|
|
int fgFDMInit(int model, FGInterface& f, double dt);
|
|
|
|
// Run multiloop iterations of the flight model
|
|
int fgFDMUpdate(int model, FGInterface& f, int multiloop, int jitter);
|
|
|
|
// Set the altitude (force)
|
|
void fgFDMForceAltitude(int model, double alt_meters);
|
|
|
|
// Set the local ground elevation
|
|
void fgFDMSetGroundElevation(int model, double alt_meters);
|
|
|
|
|
|
#endif // _FLIGHT_HXX
|