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flightgear/FDM/flight.h
curt 7320d0f346 c++-ified comments.
1998-09-29 14:56:30 +00:00

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// flight.h -- define shared flight model parameters
//
// Written by Curtis Olson, started May 1997.
//
// Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id$
// (Log is kept at end of this file)
#ifndef _FLIGHT_H
#define _FLIGHT_H
#include <Flight/Slew/slew.h>
#ifdef __cplusplus
extern "C" {
#endif
/* Define the various supported flight models (most not yet implemented) */
#define FG_SLEW 0 /* Slew (in MS terminology) */
#define FG_LARCSIM 1 /* The only "real" model that is currently
implemented */
#define FG_ACM 2
#define FG_SUPER_SONIC 3
#define FG_HELICOPTER 4
#define FG_AUTOGYRO 5
#define FG_BALLOON 6
#define FG_PARACHUTE 7
#define FG_EXTERN_GPS 8 /* Driven via a serially connected GPS */
#define FG_EXTERN_NET 9 /* Driven externally via the net */
#define FG_EXTERN_NASA 10 /* Track the space shuttle ? */
typedef double FG_VECTOR_3[3];
/* This is based heavily on LaRCsim/ls_generic.h */
typedef struct {
/*================== Mass properties and geometry values ==================*/
double mass, i_xx, i_yy, i_zz, i_xz; /* Inertias */
#define FG_Mass f->mass
#define FG_I_xx f->i_xx
#define FG_I_yy f->i_yy
#define FG_I_zz f->i_zz
#define FG_I_xz f->i_xz
FG_VECTOR_3 d_pilot_rp_body_v; /* Pilot location rel to ref pt */
#define FG_D_pilot_rp_body_v f->d_pilot_rp_body_v
#define FG_Dx_pilot f->d_pilot_rp_body_v[0]
#define FG_Dy_pilot f->d_pilot_rp_body_v[1]
#define FG_Dz_pilot f->d_pilot_rp_body_v[2]
FG_VECTOR_3 d_cg_rp_body_v; /* CG position w.r.t. ref. point */
#define FG_D_cg_rp_body_v f->d_cg_rp_body_v
#define FG_Dx_cg f->d_cg_rp_body_v[0]
#define FG_Dy_cg f->d_cg_rp_body_v[1]
#define FG_Dz_cg f->d_cg_rp_body_v[2]
/*================================ Forces =================================*/
FG_VECTOR_3 f_body_total_v;
#define FG_F_body_total_v f->f_body_total_v
#define FG_F_X f->f_body_total_v[0]
#define FG_F_Y f->f_body_total_v[1]
#define FG_F_Z f->f_body_total_v[2]
FG_VECTOR_3 f_local_total_v;
#define FG_F_local_total_v f->f_local_total_v
#define FG_F_north f->f_local_total_v[0]
#define FG_F_east f->f_local_total_v[1]
#define FG_F_down f->f_local_total_v[2]
FG_VECTOR_3 f_aero_v;
#define FG_F_aero_v f->f_aero_v
#define FG_F_X_aero f->f_aero_v[0]
#define FG_F_Y_aero f->f_aero_v[1]
#define FG_F_Z_aero f->f_aero_v[2]
FG_VECTOR_3 f_engine_v;
#define FG_F_engine_v f->f_engine_v
#define FG_F_X_engine f->f_engine_v[0]
#define FG_F_Y_engine f->f_engine_v[1]
#define FG_F_Z_engine f->f_engine_v[2]
FG_VECTOR_3 f_gear_v;
#define FG_F_gear_v f->f_gear_v
#define FG_F_X_gear f->f_gear_v[0]
#define FG_F_Y_gear f->f_gear_v[1]
#define FG_F_Z_gear f->f_gear_v[2]
/*================================ Moments ================================*/
FG_VECTOR_3 m_total_rp_v;
#define FG_M_total_rp_v f->m_total_rp_v
#define FG_M_l_rp f->m_total_rp_v[0]
#define FG_M_m_rp f->m_total_rp_v[1]
#define FG_M_n_rp f->m_total_rp_v[2]
FG_VECTOR_3 m_total_cg_v;
#define FG_M_total_cg_v f->m_total_cg_v
#define FG_M_l_cg f->m_total_cg_v[0]
#define FG_M_m_cg f->m_total_cg_v[1]
#define FG_M_n_cg f->m_total_cg_v[2]
FG_VECTOR_3 m_aero_v;
#define FG_M_aero_v f->m_aero_v
#define FG_M_l_aero f->m_aero_v[0]
#define FG_M_m_aero f->m_aero_v[1]
#define FG_M_n_aero f->m_aero_v[2]
FG_VECTOR_3 m_engine_v;
#define FG_M_engine_v f->m_engine_v
#define FG_M_l_engine f->m_engine_v[0]
#define FG_M_m_engine f->m_engine_v[1]
#define FG_M_n_engine f->m_engine_v[2]
FG_VECTOR_3 m_gear_v;
#define FG_M_gear_v f->m_gear_v
#define FG_M_l_gear f->m_gear_v[0]
#define FG_M_m_gear f->m_gear_v[1]
#define FG_M_n_gear f->m_gear_v[2]
/*============================== Accelerations ============================*/
FG_VECTOR_3 v_dot_local_v;
#define FG_V_dot_local_v f->v_dot_local_v
#define FG_V_dot_north f->v_dot_local_v[0]
#define FG_V_dot_east f->v_dot_local_v[1]
#define FG_V_dot_down f->v_dot_local_v[2]
FG_VECTOR_3 v_dot_body_v;
#define FG_V_dot_body_v f->v_dot_body_v
#define FG_U_dot_body f->v_dot_body_v[0]
#define FG_V_dot_body f->v_dot_body_v[1]
#define FG_W_dot_body f->v_dot_body_v[2]
FG_VECTOR_3 a_cg_body_v;
#define FG_A_cg_body_v f->a_cg_body_v
#define FG_A_X_cg f->a_cg_body_v[0]
#define FG_A_Y_cg f->a_cg_body_v[1]
#define FG_A_Z_cg f->a_cg_body_v[2]
FG_VECTOR_3 a_pilot_body_v;
#define FG_A_pilot_body_v f->a_pilot_body_v
#define FG_A_X_pilot f->a_pilot_body_v[0]
#define FG_A_Y_pilot f->a_pilot_body_v[1]
#define FG_A_Z_pilot f->a_pilot_body_v[2]
FG_VECTOR_3 n_cg_body_v;
#define FG_N_cg_body_v f->n_cg_body_v
#define FG_N_X_cg f->n_cg_body_v[0]
#define FG_N_Y_cg f->n_cg_body_v[1]
#define FG_N_Z_cg f->n_cg_body_v[2]
FG_VECTOR_3 n_pilot_body_v;
#define FG_N_pilot_body_v f->n_pilot_body_v
#define FG_N_X_pilot f->n_pilot_body_v[0]
#define FG_N_Y_pilot f->n_pilot_body_v[1]
#define FG_N_Z_pilot f->n_pilot_body_v[2]
FG_VECTOR_3 omega_dot_body_v;
#define FG_Omega_dot_body_v f->omega_dot_body_v
#define FG_P_dot_body f->omega_dot_body_v[0]
#define FG_Q_dot_body f->omega_dot_body_v[1]
#define FG_R_dot_body f->omega_dot_body_v[2]
/*============================== Velocities ===============================*/
FG_VECTOR_3 v_local_v;
#define FG_V_local_v f->v_local_v
#define FG_V_north f->v_local_v[0]
#define FG_V_east f->v_local_v[1]
#define FG_V_down f->v_local_v[2]
FG_VECTOR_3 v_local_rel_ground_v; /* V rel w.r.t. earth surface */
#define FG_V_local_rel_ground_v f->v_local_rel_ground_v
#define FG_V_north_rel_ground f->v_local_rel_ground_v[0]
#define FG_V_east_rel_ground f->v_local_rel_ground_v[1]
#define FG_V_down_rel_ground f->v_local_rel_ground_v[2]
FG_VECTOR_3 v_local_airmass_v; /* velocity of airmass (steady winds) */
#define FG_V_local_airmass_v f->v_local_airmass_v
#define FG_V_north_airmass f->v_local_airmass_v[0]
#define FG_V_east_airmass f->v_local_airmass_v[1]
#define FG_V_down_airmass f->v_local_airmass_v[2]
FG_VECTOR_3 v_local_rel_airmass_v; /* velocity of veh. relative to */
/* airmass */
#define FG_V_local_rel_airmass_v f->v_local_rel_airmass_v
#define FG_V_north_rel_airmass f->v_local_rel_airmass_v[0]
#define FG_V_east_rel_airmass f->v_local_rel_airmass_v[1]
#define FG_V_down_rel_airmass f->v_local_rel_airmass_v[2]
FG_VECTOR_3 v_local_gust_v; /* linear turbulence components, L frame */
#define FG_V_local_gust_v f->v_local_gust_v
#define FG_U_gust f->v_local_gust_v[0]
#define FG_V_gust f->v_local_gust_v[1]
#define FG_W_gust f->v_local_gust_v[2]
FG_VECTOR_3 v_wind_body_v; /* Wind-relative velocities in body axis */
#define FG_V_wind_body_v f->v_wind_body_v
#define FG_U_body f->v_wind_body_v[0]
#define FG_V_body f->v_wind_body_v[1]
#define FG_W_body f->v_wind_body_v[2]
double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
double v_ground_speed, v_equiv, v_equiv_kts;
double v_calibrated, v_calibrated_kts;
#define FG_V_rel_wind f->v_rel_wind
#define FG_V_true_kts f->v_true_kts
#define FG_V_rel_ground f->v_rel_ground
#define FG_V_inertial f->v_inertial
#define FG_V_ground_speed f->v_ground_speed
#define FG_V_equiv f->v_equiv
#define FG_V_equiv_kts f->v_equiv_kts
#define FG_V_calibrated f->v_calibrated
#define FG_V_calibrated_kts f->v_calibrated_kts
FG_VECTOR_3 omega_body_v; /* Angular B rates */
#define FG_Omega_body_v f->omega_body_v
#define FG_P_body f->omega_body_v[0]
#define FG_Q_body f->omega_body_v[1]
#define FG_R_body f->omega_body_v[2]
FG_VECTOR_3 omega_local_v; /* Angular L rates */
#define FG_Omega_local_v f->omega_local_v
#define FG_P_local f->omega_local_v[0]
#define FG_Q_local f->omega_local_v[1]
#define FG_R_local f->omega_local_v[2]
FG_VECTOR_3 omega_total_v; /* Diff btw B & L */
#define FG_Omega_total_v f->omega_total_v
#define FG_P_total f->omega_total_v[0]
#define FG_Q_total f->omega_total_v[1]
#define FG_R_total f->omega_total_v[2]
FG_VECTOR_3 euler_rates_v;
#define FG_Euler_rates_v f->euler_rates_v
#define FG_Phi_dot f->euler_rates_v[0]
#define FG_Theta_dot f->euler_rates_v[1]
#define FG_Psi_dot f->euler_rates_v[2]
FG_VECTOR_3 geocentric_rates_v; /* Geocentric linear velocities */
#define FG_Geocentric_rates_v f->geocentric_rates_v
#define FG_Latitude_dot f->geocentric_rates_v[0]
#define FG_Longitude_dot f->geocentric_rates_v[1]
#define FG_Radius_dot f->geocentric_rates_v[2]
/*=============================== Positions ===============================*/
FG_VECTOR_3 geocentric_position_v;
#define FG_Geocentric_position_v f->geocentric_position_v
#define FG_Lat_geocentric f->geocentric_position_v[0]
#define FG_Lon_geocentric f->geocentric_position_v[1]
#define FG_Radius_to_vehicle f->geocentric_position_v[2]
FG_VECTOR_3 geodetic_position_v;
#define FG_Geodetic_position_v f->geodetic_position_v
#define FG_Latitude f->geodetic_position_v[0]
#define FG_Longitude f->geodetic_position_v[1]
#define FG_Altitude f->geodetic_position_v[2]
FG_VECTOR_3 euler_angles_v;
#define FG_Euler_angles_v f->euler_angles_v
#define FG_Phi f->euler_angles_v[0]
#define FG_Theta f->euler_angles_v[1]
#define FG_Psi f->euler_angles_v[2]
/*======================= Miscellaneous quantities ========================*/
double t_local_to_body_m[3][3]; /* Transformation matrix L to B */
#define FG_T_local_to_body_m f->t_local_to_body_m
#define FG_T_local_to_body_11 f->t_local_to_body_m[0][0]
#define FG_T_local_to_body_12 f->t_local_to_body_m[0][1]
#define FG_T_local_to_body_13 f->t_local_to_body_m[0][2]
#define FG_T_local_to_body_21 f->t_local_to_body_m[1][0]
#define FG_T_local_to_body_22 f->t_local_to_body_m[1][1]
#define FG_T_local_to_body_23 f->t_local_to_body_m[1][2]
#define FG_T_local_to_body_31 f->t_local_to_body_m[2][0]
#define FG_T_local_to_body_32 f->t_local_to_body_m[2][1]
#define FG_T_local_to_body_33 f->t_local_to_body_m[2][2]
double gravity; /* Local acceleration due to G */
#define FG_Gravity f->gravity
double centrifugal_relief; /* load factor reduction due to speed */
#define FG_Centrifugal_relief f->centrifugal_relief
double alpha, beta, alpha_dot, beta_dot; /* in radians */
#define FG_Alpha f->alpha
#define FG_Beta f->beta
#define FG_Alpha_dot f->alpha_dot
#define FG_Beta_dot f->beta_dot
double cos_alpha, sin_alpha, cos_beta, sin_beta;
#define FG_Cos_alpha f->cos_alpha
#define FG_Sin_alpha f->sin_alpha
#define FG_Cos_beta f->cos_beta
#define FG_Sin_beta f->sin_beta
double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
#define FG_Cos_phi f->cos_phi
#define FG_Sin_phi f->sin_phi
#define FG_Cos_theta f->cos_theta
#define FG_Sin_theta f->sin_theta
#define FG_Cos_psi f->cos_psi
#define FG_Sin_psi f->sin_psi
double gamma_vert_rad, gamma_horiz_rad; /* Flight path angles */
#define FG_Gamma_vert_rad f->gamma_vert_rad
#define FG_Gamma_horiz_rad f->gamma_horiz_rad
double sigma, density, v_sound, mach_number;
#define FG_Sigma f->sigma
#define FG_Density f->density
#define FG_V_sound f->v_sound
#define FG_Mach_number f->mach_number
double static_pressure, total_pressure, impact_pressure;
double dynamic_pressure;
#define FG_Static_pressure f->static_pressure
#define FG_Total_pressure f->total_pressure
#define FG_Impact_pressure f->impact_pressure
#define FG_Dynamic_pressure f->dynamic_pressure
double static_temperature, total_temperature;
#define FG_Static_temperature f->static_temperature
#define FG_Total_temperature f->total_temperature
double sea_level_radius, earth_position_angle;
#define FG_Sea_level_radius f->sea_level_radius
#define FG_Earth_position_angle f->earth_position_angle
double runway_altitude, runway_latitude, runway_longitude;
double runway_heading;
#define FG_Runway_altitude f->runway_altitude
#define FG_Runway_latitude f->runway_latitude
#define FG_Runway_longitude f->runway_longitude
#define FG_Runway_heading f->runway_heading
double radius_to_rwy;
#define FG_Radius_to_rwy f->radius_to_rwy
FG_VECTOR_3 d_cg_rwy_local_v; /* CG rel. to rwy in local coords */
#define FG_D_cg_rwy_local_v f->d_cg_rwy_local_v
#define FG_D_cg_north_of_rwy f->d_cg_rwy_local_v[0]
#define FG_D_cg_east_of_rwy f->d_cg_rwy_local_v[1]
#define FG_D_cg_above_rwy f->d_cg_rwy_local_v[2]
FG_VECTOR_3 d_cg_rwy_rwy_v; /* CG relative to rwy, in rwy coordinates */
#define FG_D_cg_rwy_rwy_v f->d_cg_rwy_rwy_v
#define FG_X_cg_rwy f->d_cg_rwy_rwy_v[0]
#define FG_Y_cg_rwy f->d_cg_rwy_rwy_v[1]
#define FG_H_cg_rwy f->d_cg_rwy_rwy_v[2]
FG_VECTOR_3 d_pilot_rwy_local_v; /* pilot rel. to rwy in local coords */
#define FG_D_pilot_rwy_local_v f->d_pilot_rwy_local_v
#define FG_D_pilot_north_of_rwy f->d_pilot_rwy_local_v[0]
#define FG_D_pilot_east_of_rwy f->d_pilot_rwy_local_v[1]
#define FG_D_pilot_above_rwy f->d_pilot_rwy_local_v[2]
FG_VECTOR_3 d_pilot_rwy_rwy_v; /* pilot rel. to rwy, in rwy coords. */
#define FG_D_pilot_rwy_rwy_v f->d_pilot_rwy_rwy_v
#define FG_X_pilot_rwy f->d_pilot_rwy_rwy_v[0]
#define FG_Y_pilot_rwy f->d_pilot_rwy_rwy_v[1]
#define FG_H_pilot_rwy f->d_pilot_rwy_rwy_v[2]
double climb_rate; /* in feet per second */
#define FG_Climb_Rate f->climb_rate
} fgFLIGHT, *pfgFlight;
extern fgFLIGHT cur_flight_params;
/* General interface to the flight model routines */
/* Initialize the flight model parameters */
int fgFlightModelInit(int model, fgFLIGHT *f, double dt);
/* Run multiloop iterations of the flight model */
int fgFlightModelUpdate(int model, fgFLIGHT *f, int multiloop);
/* Set the altitude (force) */
int fgFlightModelSetAltitude(int model, fgFLIGHT *f, double alt_meters);
#ifdef __cplusplus
}
#endif
#endif /* _FLIGHT_H */
// $Log$
// 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.
//
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