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flightgear/src/FDM/flight.cxx
david 0c4c182f1e Fixed an uninitialized variable reported by Frederic Bouvier; this 
could cause the FDM occasionally to get caught in a very long loop.
2002-06-28 19:06:23 +00:00

756 lines
29 KiB
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// flight.cxx -- a general interface to the various flight models
//
// Written by Curtis Olson, started May 1997.
//
// Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id$
#include <stdio.h>
#include <plib/sg.h>
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/timing/timestamp.hxx>
#include <Scenery/scenery.hxx>
#include <FDM/LaRCsim/ls_interface.h>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
#include "flight.hxx"
// base_fdm_state is the internal state that is updated in integer
// multiples of "dt". This leads to "jitter" with respect to the real
// world time, so we introduce cur_fdm_state which is extrapolated by
// the difference between sim time and real world time
FGInterface *cur_fdm_state = 0;
FGInterface base_fdm_state;
inline void init_vec(FG_VECTOR_3 vec) {
vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0;
}
// Constructor
FGInterface::FGInterface()
: remainder(0)
{
_setup();
}
FGInterface::FGInterface( double dt )
: remainder(0)
{
_setup();
}
// Destructor
FGInterface::~FGInterface() {
// unbind(); // FIXME: should be called explicitly
}
int
FGInterface::_calc_multiloop (double dt)
{
int hz = fgGetInt("/sim/model-hz");
int speedup = fgGetInt("/sim/speed-up");
dt += remainder;
remainder = 0;
double ml = dt * hz;
int multiloop = int(floor(ml));
remainder = (ml - multiloop) / hz;
return (multiloop * speedup);
}
/**
* Set default values for the state of the FDM.
*
* This method is invoked by the constructors.
*/
void
FGInterface::_setup ()
{
inited = false;
bound = false;
init_vec( d_pilot_rp_body_v );
init_vec( d_cg_rp_body_v );
init_vec( f_body_total_v );
init_vec( f_local_total_v );
init_vec( f_aero_v );
init_vec( f_engine_v );
init_vec( f_gear_v );
init_vec( m_total_rp_v );
init_vec( m_total_cg_v );
init_vec( m_aero_v );
init_vec( m_engine_v );
init_vec( m_gear_v );
init_vec( v_dot_local_v );
init_vec( v_dot_body_v );
init_vec( a_cg_body_v );
init_vec( a_pilot_body_v );
init_vec( n_cg_body_v );
init_vec( n_pilot_body_v );
init_vec( omega_dot_body_v );
init_vec( v_local_v );
init_vec( v_local_rel_ground_v );
init_vec( v_local_airmass_v );
init_vec( v_local_rel_airmass_v );
init_vec( v_local_gust_v );
init_vec( v_wind_body_v );
init_vec( omega_body_v );
init_vec( omega_local_v );
init_vec( omega_total_v );
init_vec( euler_rates_v );
init_vec( geocentric_rates_v );
init_vec( geocentric_position_v );
init_vec( geodetic_position_v );
init_vec( euler_angles_v );
init_vec( d_cg_rwy_local_v );
init_vec( d_cg_rwy_rwy_v );
init_vec( d_pilot_rwy_local_v );
init_vec( d_pilot_rwy_rwy_v );
init_vec( t_local_to_body_m[0] );
init_vec( t_local_to_body_m[1] );
init_vec( t_local_to_body_m[2] );
mass=i_xx=i_yy=i_zz=i_xz=0;
nlf=0;
v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
v_ground_speed=v_equiv=v_equiv_kts=0;
v_calibrated=v_calibrated_kts=0;
gravity=0;
centrifugal_relief=0;
alpha=beta=alpha_dot=beta_dot=0;
cos_alpha=sin_alpha=cos_beta=sin_beta=0;
cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
gamma_vert_rad=gamma_horiz_rad=0;
sigma=density=v_sound=mach_number=0;
static_pressure=total_pressure=impact_pressure=0;
dynamic_pressure=0;
static_temperature=total_temperature=0;
sea_level_radius=earth_position_angle=0;
runway_altitude=runway_latitude=runway_longitude=0;
runway_heading=0;
radius_to_rwy=0;
climb_rate=0;
sin_lat_geocentric=cos_lat_geocentric=0;
sin_latitude=cos_latitude=0;
sin_longitude=cos_longitude=0;
altitude_agl=0;
_acmodel = 0;
}
void
FGInterface::init () {}
/**
* Initialize the state of the FDM.
*
* Subclasses of FGInterface may do their own, additional initialization,
* but there is some that is common to all. Normally, they should call
* this before they begin their own init to make sure the basic structures
* are set up properly.
*/
void
FGInterface::common_init ()
{
SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
set_inited( true );
// stamp();
// set_remainder( 0 );
// linking in FGAircraft instance...
// FIXME: when using multiple instances, then there will be more than
// one model so get_aircraft_model will have to be indexed to the correct
// model.
_acmodel = globals->get_aircraft_model();
// Set initial position
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
set_Longitude( fgGetDouble("/position/longitude-deg")
* SGD_DEGREES_TO_RADIANS );
set_Latitude( fgGetDouble("/position/latitude-deg")
* SGD_DEGREES_TO_RADIANS );
double ground_elev_m = globals->get_scenery()->get_cur_elev();
double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
_acmodel->get3DModel()->getFGLocation()->set_cur_elev_m( ground_elev_m );
_set_Runway_altitude ( ground_elev_ft );
if ( fgGetBool("/sim/startup/onground")
|| fgGetDouble("/position/altitude-ft") < ground_elev_ft ) {
fgSetDouble("/position/altitude-ft", ground_elev_ft);
}
set_Altitude( fgGetDouble("/position/altitude-ft") );
// Set ground elevation
SG_LOG( SG_FLIGHT, SG_INFO,
"...initializing ground elevation to " << ground_elev_ft
<< "ft..." );
// Set sea-level radius
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
<< fgGetDouble("/position/latitude-deg")
<< " alt = " << fgGetDouble("/position/altitude-ft") );
double sea_level_radius_meters;
double lat_geoc;
sgGeodToGeoc( fgGetDouble("/position/latitude-deg")
* SGD_DEGREES_TO_RADIANS,
fgGetDouble("/position/altitude-ft") * SG_FEET_TO_METER,
&sea_level_radius_meters, &lat_geoc );
_set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
// Set initial velocities
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
if ( !fgHasNode("/sim/startup/speed-set") ) {
set_V_calibrated_kts(0.0);
} else {
const string speedset = fgGetString("/sim/startup/speed-set");
if ( speedset == "knots" || speedset == "KNOTS" ) {
set_V_calibrated_kts( fgGetDouble("/velocities/airspeed-kt") );
} else if ( speedset == "mach" || speedset == "MACH" ) {
set_Mach_number( fgGetDouble("/velocities/mach") );
} else if ( speedset == "UVW" || speedset == "uvw" ) {
set_Velocities_Wind_Body(
fgGetDouble("/velocities/uBody-fps"),
fgGetDouble("/velocities/vBody-fps"),
fgGetDouble("/velocities/wBody-fps") );
} else if ( speedset == "NED" || speedset == "ned" ) {
set_Velocities_Local(
fgGetDouble("/velocities/speed-north-fps"),
fgGetDouble("/velocities/speed-east-fps"),
fgGetDouble("/velocities/speed-down-fps") );
} else {
SG_LOG( SG_FLIGHT, SG_ALERT,
"Unrecognized value for /sim/startup/speed-set: "
<< speedset);
set_V_calibrated_kts( 0.0 );
}
}
// Set initial Euler angles
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
set_Euler_Angles( fgGetDouble("/orientation/roll-deg")
* SGD_DEGREES_TO_RADIANS,
fgGetDouble("/orientation/pitch-deg")
* SGD_DEGREES_TO_RADIANS,
fgGetDouble("/orientation/heading-deg")
* SGD_DEGREES_TO_RADIANS );
SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
}
/**
* Bind getters and setters to properties.
*
* The bind() method will be invoked after init(). Note that unlike
* the usual implementations of FGSubsystem::bind(), this method does
* not automatically pick up existing values for the properties at
* bind time; instead, all values are set explicitly in the init()
* method.
*/
void
FGInterface::bind ()
{
bound = true;
// Time management (read-only)
// fgTie("/fdm/time/delta_t", this,
// &FGInterface::get_delta_t); // read-only
// fgTie("/fdm/time/elapsed", this,
// &FGInterface::get_elapsed); // read-only
// fgTie("/fdm/time/remainder", this,
// &FGInterface::get_remainder); // read-only
// fgTie("/fdm/time/multi_loop", this,
// &FGInterface::get_multi_loop); // read-only
// Aircraft position
fgTie("/position/latitude-deg", this,
&FGInterface::get_Latitude_deg,
&FGInterface::set_Latitude_deg,
false);
fgSetArchivable("/position/latitude-deg");
fgTie("/position/longitude-deg", this,
&FGInterface::get_Longitude_deg,
&FGInterface::set_Longitude_deg,
false);
fgSetArchivable("/position/longitude-deg");
fgTie("/position/altitude-ft", this,
&FGInterface::get_Altitude,
&FGInterface::set_Altitude,
false);
fgSetArchivable("/position/altitude-ft");
fgTie("/position/altitude-agl-ft", this,
&FGInterface::get_Altitude_AGL); // read-only
// Orientation
fgTie("/orientation/roll-deg", this,
&FGInterface::get_Phi_deg,
&FGInterface::set_Phi_deg);
fgSetArchivable("/orientation/roll-deg");
fgTie("/orientation/pitch-deg", this,
&FGInterface::get_Theta_deg,
&FGInterface::set_Theta_deg);
fgSetArchivable("/orientation/pitch-deg");
fgTie("/orientation/heading-deg", this,
&FGInterface::get_Psi_deg,
&FGInterface::set_Psi_deg);
fgSetArchivable("/orientation/heading-deg");
// Calibrated airspeed
fgTie("/velocities/airspeed-kt", this,
&FGInterface::get_V_calibrated_kts,
&FGInterface::set_V_calibrated_kts,
false);
// Local velocities
// fgTie("/velocities/speed-north-fps", this,
// &FGInterface::get_V_north,
// &FGInterface::set_V_north);
// fgSetArchivable("/velocities/speed-north-fps");
// fgTie("/velocities/speed-east-fps", this,
// &FGInterface::get_V_east,
// &FGInterface::set_V_east);
// fgSetArchivable("/velocities/speed-east-fps");
// fgTie("/velocities/speed-down-fps", this,
// &FGInterface::get_V_down,
// &FGInterface::set_V_down);
// fgSetArchivable("/velocities/speed-down-fps");
// FIXME: Temporarily read-only, until the
// incompatibilities between JSBSim and
// LaRCSim are fixed (LaRCSim adds the
// earth's rotation to the east velocity).
fgTie("/velocities/speed-north-fps", this,
&FGInterface::get_V_north);
fgTie("/velocities/speed-east-fps", this,
&FGInterface::get_V_east);
fgTie("/velocities/speed-down-fps", this,
&FGInterface::get_V_down);
// Relative wind
// FIXME: temporarily archivable, until
// the NED problem is fixed.
fgTie("/velocities/uBody-fps", this,
&FGInterface::get_uBody,
&FGInterface::set_uBody,
false);
fgSetArchivable("/velocities/uBody-fps");
fgTie("/velocities/vBody-fps", this,
&FGInterface::get_vBody,
&FGInterface::set_vBody,
false);
fgSetArchivable("/velocities/vBody-fps");
fgTie("/velocities/wBody-fps", this,
&FGInterface::get_wBody,
&FGInterface::set_wBody,
false);
fgSetArchivable("/velocities/wBody-fps");
// Climb and slip (read-only)
fgTie("/velocities/vertical-speed-fps", this,
&FGInterface::get_Climb_Rate,
&FGInterface::set_Climb_Rate );
fgTie("/velocities/glideslope", this,
&FGInterface::get_Gamma_vert_rad,
&FGInterface::set_Gamma_vert_rad );
fgTie("/velocities/side-slip-rad", this,
&FGInterface::get_Beta); // read-only
fgTie("/velocities/side-slip-deg", this,
&FGInterface::get_Beta_deg); // read-only
fgTie("/velocities/alpha-deg", this,
&FGInterface::get_Alpha_deg); // read-only
fgTie("/accelerations/nlf", this,
&FGInterface::get_Nlf); // read-only
}
/**
* Unbind any properties bound to this FDM.
*
* This method allows the FDM to release properties so that a new
* FDM can bind them instead.
*/
void
FGInterface::unbind ()
{
bound = false;
fgUntie("/fdm/time/delta_t");
fgUntie("/fdm/time/elapsed");
fgUntie("/fdm/time/remainder");
fgUntie("/fdm/time/multi_loop");
fgUntie("/position/latitude-deg");
fgUntie("/position/longitude-deg");
fgUntie("/position/altitude-ft");
fgUntie("/position/altitude-agl-ft");
fgUntie("/orientation/heading-deg");
fgUntie("/orientation/pitch-deg");
fgUntie("/orientation/roll-deg");
fgUntie("/velocities/airspeed-kt");
fgUntie("/velocities/speed-north-fps");
fgUntie("/velocities/speed-east-fps");
fgUntie("/velocities/speed-down-fps");
fgUntie("/velocities/uBody-fps");
fgUntie("/velocities/vBody-fps");
fgUntie("/velocities/wBody-fps");
fgUntie("/velocities/vertical-speed-fps");
fgUntie("/velocities/glideslope");
fgUntie("/velocities/side-slip-rad");
fgUntie("/velocities/side-slip-deg");
fgUntie("/velocities/alpha-deg");
fgUntie("/accelerations/nlf");
}
/**
* Update the state of the FDM (i.e. run the equations of motion).
*/
void
FGInterface::update (double dt)
{
SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
}
void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
{
double lat_geoc, sl_radius;
// cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc );
SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
<< " lat_geod = " << lat
<< " lat_geoc = " << lat_geoc
<< " alt = " << alt
<< " sl_radius = " << sl_radius * SG_METER_TO_FEET
<< " Equator = " << SG_EQUATORIAL_RADIUS_FT );
_set_Geocentric_Position( lat_geoc, lon,
sl_radius * SG_METER_TO_FEET + alt );
_set_Geodetic_Position( lat, lon, alt );
_set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
_set_Runway_altitude( getACModel()->get3DModel()->getFGLocation()->get_cur_elev_m() * SG_METER_TO_FEET );
_set_sin_lat_geocentric( lat_geoc );
_set_cos_lat_geocentric( lat_geoc );
_set_sin_cos_longitude( lon );
_set_sin_cos_latitude( lat );
/* Norman's code for slope of the terrain */
/* needs to be tested -- get it on the HUD and taxi around */
/* double *tnorm = scenery.cur_normal;
double sy = sin ( -get_Psi() ) ;
double cy = cos ( -get_Psi() ) ;
double phitb, thetatb, psitb;
if ( tnorm[1] != 0.0 ) {
psitb = -atan2 ( tnorm[0], tnorm[1] );
}
if ( tnorm[2] != 0.0 ) {
thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
}
_set_terrain_slope(phitb, thetatb, psitb)
*/
}
void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon,
double alt )
{
double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
// cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
&lat_geod, &tmp_alt, &sl_radius1 );
sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
<< " lat_geod = " << lat_geod
<< " lat_geoc = " << lat_geoc
<< " alt = " << alt
<< " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
<< " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
<< " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
<< " Equator = " << SG_EQUATORIAL_RADIUS_FT );
_set_Geocentric_Position( lat_geoc, lon,
sl_radius2 * SG_METER_TO_FEET + alt );
_set_Geodetic_Position( lat_geod, lon, alt );
_set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
_set_Runway_altitude( getACModel()->get3DModel()->getFGLocation()->get_cur_elev_m() * SG_METER_TO_FEET );
_set_sin_lat_geocentric( lat_geoc );
_set_cos_lat_geocentric( lat_geoc );
_set_sin_cos_longitude( lon );
_set_sin_cos_latitude( lat_geod );
/* Norman's code for slope of the terrain */
/* needs to be tested -- get it on the HUD and taxi around */
/* double *tnorm = scenery.cur_normal;
double sy = sin ( -get_Psi() ) ;
double cy = cos ( -get_Psi() ) ;
double phitb, thetatb, psitb;
if ( tnorm[1] != 0.0 ) {
psitb = -atan2 ( tnorm[0], tnorm[1] );
}
if ( tnorm[2] != 0.0 ) {
thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
}
_set_terrain_slope(phitb, thetatb, psitb)
*/
}
// Extrapolate fdm based on time_offset (in usec)
void FGInterface::extrapolate( int time_offset ) {
double dt = time_offset / 1000000.0;
// -dw- metrowerks complains about ambiguous access, not critical
// to keep this ;)
#ifndef __MWERKS__
SG_LOG(SG_FLIGHT, SG_INFO, "extrapolating FDM by dt = " << dt);
#endif
double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
geodetic_position_v[0] = lat;
geocentric_position_v[0] = lat_geoc;
geodetic_position_v[1] = lon;
geocentric_position_v[1] = lon_geoc;
geodetic_position_v[2] = alt;
geocentric_position_v[2] = radius;
}
// Positions
void FGInterface::set_Latitude(double lat) {
geodetic_position_v[0] = lat;
}
void FGInterface::set_Longitude(double lon) {
geodetic_position_v[1] = lon;
}
void FGInterface::set_Altitude(double alt) {
geodetic_position_v[2] = alt;
}
void FGInterface::set_AltitudeAGL(double altagl) {
altitude_agl=altagl;
}
// Velocities
void FGInterface::set_V_calibrated_kts(double vc) {
v_calibrated_kts = vc;
}
void FGInterface::set_Mach_number(double mach) {
mach_number = mach;
}
void FGInterface::set_Velocities_Local( double north,
double east,
double down ){
v_local_v[0] = north;
v_local_v[1] = east;
v_local_v[2] = down;
}
void FGInterface::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;
}
// Euler angles
void FGInterface::set_Euler_Angles( double phi,
double theta,
double psi ) {
euler_angles_v[0] = phi;
euler_angles_v[1] = theta;
euler_angles_v[2] = psi;
}
// Flight Path
void FGInterface::set_Climb_Rate( double roc) {
climb_rate = roc;
}
void FGInterface::set_Gamma_vert_rad( double gamma) {
gamma_vert_rad = gamma;
}
void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
void FGInterface::set_Density(double rho) { density = rho; }
void FGInterface::set_Velocities_Local_Airmass (double wnorth,
double weast,
double wdown ) {
v_local_airmass_v[0] = wnorth;
v_local_airmass_v[1] = weast;
v_local_airmass_v[2] = wdown;
}
void FGInterface::_busdump(void) {
SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rp_body_v[3]: " << d_pilot_rp_body_v[0] << ", " << d_pilot_rp_body_v[1] << ", " << d_pilot_rp_body_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v[3]: " << d_cg_rp_body_v[0] << ", " << d_cg_rp_body_v[1] << ", " << d_cg_rp_body_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"f_body_total_v[3]: " << f_body_total_v[0] << ", " << f_body_total_v[1] << ", " << f_body_total_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"f_local_total_v[3]: " << f_local_total_v[0] << ", " << f_local_total_v[1] << ", " << f_local_total_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"m_total_rp_v[3]: " << m_total_rp_v[0] << ", " << m_total_rp_v[1] << ", " << m_total_rp_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"m_total_cg_v[3]: " << m_total_cg_v[0] << ", " << m_total_cg_v[1] << ", " << m_total_cg_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v[3]: " << v_dot_local_v[0] << ", " << v_dot_local_v[1] << ", " << v_dot_local_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v[3]: " << v_dot_body_v[0] << ", " << v_dot_body_v[1] << ", " << v_dot_body_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v[3]: " << a_cg_body_v[0] << ", " << a_cg_body_v[1] << ", " << a_cg_body_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v[3]: " << a_pilot_body_v[0] << ", " << a_pilot_body_v[1] << ", " << a_pilot_body_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v[3]: " << n_cg_body_v[0] << ", " << n_cg_body_v[1] << ", " << n_cg_body_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"n_pilot_body_v[3]: " << n_pilot_body_v[0] << ", " << n_pilot_body_v[1] << ", " << n_pilot_body_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"omega_dot_body_v[3]: " << omega_dot_body_v[0] << ", " << omega_dot_body_v[1] << ", " << omega_dot_body_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v[3]: " << v_local_rel_ground_v[0] << ", " << v_local_rel_ground_v[1] << ", " << v_local_rel_ground_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v[3]: " << v_local_airmass_v[0] << ", " << v_local_airmass_v[1] << ", " << v_local_airmass_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_airmass_v[3]: " << v_local_rel_airmass_v[0] << ", " << v_local_rel_airmass_v[1] << ", " << v_local_rel_airmass_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"v_local_gust_v[3]: " << v_local_gust_v[0] << ", " << v_local_gust_v[1] << ", " << v_local_gust_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"v_wind_body_v[3]: " << v_wind_body_v[0] << ", " << v_wind_body_v[1] << ", " << v_wind_body_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rwy_local_v[3]: " << d_cg_rwy_local_v[0] << ", " << d_cg_rwy_local_v[1] << ", " << d_cg_rwy_local_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rwy_rwy_v[3]: " << d_cg_rwy_rwy_v[0] << ", " << d_cg_rwy_rwy_v[1] << ", " << d_cg_rwy_rwy_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rwy_local_v[3]: " << d_pilot_rwy_local_v[0] << ", " << d_pilot_rwy_local_v[1] << ", " << d_pilot_rwy_local_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rwy_rwy_v[3]: " << d_pilot_rwy_rwy_v[0] << ", " << d_pilot_rwy_rwy_v[1] << ", " << d_pilot_rwy_rwy_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[0][3]: " << t_local_to_body_m[0][0] << ", " << t_local_to_body_m[0][1] << ", " << t_local_to_body_m[0][2]);
SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[1][3]: " << t_local_to_body_m[1][0] << ", " << t_local_to_body_m[1][1] << ", " << t_local_to_body_m[1][2]);
SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[2][3]: " << t_local_to_body_m[2][0] << ", " << t_local_to_body_m[2][1] << ", " << t_local_to_body_m[2][2]);
SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass );
SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx );
SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy );
SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz );
SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz );
SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground );
SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial );
SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv );
SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated );
SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity );
SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief );
SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot );
SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot );
SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha );
SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha );
SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta );
SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta );
SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi );
SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi );
SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta );
SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta );
SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi );
SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi );
SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma );
SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound );
SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure );
SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude );
SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude );
SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading );
SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy );
SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude );
SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude );
SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
}
void fgToggleFDMdataLogging(void) {
cur_fdm_state->ToggleDataLogging();
}
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