1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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4 Author: Jon S. Berndt
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6 Date started: 11/18/99
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7 Purpose: Encapsulates the landing gear elements
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8 Called by: FGAircraft
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10 ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
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12 This program is free software; you can redistribute it and/or modify it under
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13 the terms of the GNU General Public License as published by the Free Software
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14 Foundation; either version 2 of the License, or (at your option) any later
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17 This program is distributed in the hope that it will be useful, but WITHOUT
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18 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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19 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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22 You should have received a copy of the GNU General Public License along with
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23 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
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24 Place - Suite 330, Boston, MA 02111-1307, USA.
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26 Further information about the GNU General Public License can also be found on
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27 the world wide web at http://www.gnu.org.
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29 FUNCTIONAL DESCRIPTION
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30 --------------------------------------------------------------------------------
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33 --------------------------------------------------------------------------------
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34 11/18/99 JSB Created
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35 01/30/01 NHP Extended gear model to properly simulate steering and braking
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37 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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41 #include "FGLGear.h"
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45 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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47 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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49 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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51 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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53 static const char *IdSrc = "$Id$";
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54 static const char *IdHdr = ID_LGEAR;
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56 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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57 CLASS IMPLEMENTATION
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58 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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60 FGLGear::FGLGear(FGConfigFile* AC_cfg, FGFDMExec* fdmex) : Exec(fdmex)
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64 *AC_cfg >> tmp >> name >> vXYZ(1) >> vXYZ(2) >> vXYZ(3)
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65 >> kSpring >> bDamp>> dynamicFCoeff >> staticFCoeff
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66 >> rollingFCoeff >> sSteerType >> sBrakeGroup
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67 >> maxSteerAngle >> sRetractable;
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69 if (sBrakeGroup == "LEFT" ) eBrakeGrp = bgLeft;
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70 else if (sBrakeGroup == "RIGHT" ) eBrakeGrp = bgRight;
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71 else if (sBrakeGroup == "CENTER") eBrakeGrp = bgCenter;
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72 else if (sBrakeGroup == "NOSE" ) eBrakeGrp = bgNose;
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73 else if (sBrakeGroup == "TAIL" ) eBrakeGrp = bgTail;
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74 else if (sBrakeGroup == "NONE" ) eBrakeGrp = bgNone;
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76 cerr << "Improper braking group specification in config file: "
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77 << sBrakeGroup << " is undefined." << endl;
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80 if (sSteerType == "STEERABLE") eSteerType = stSteer;
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81 else if (sSteerType == "FIXED" ) eSteerType = stFixed;
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82 else if (sSteerType == "CASTERED" ) eSteerType = stCaster;
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84 cerr << "Improper steering type specification in config file: "
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85 << sSteerType << " is undefined." << endl;
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88 if ( sRetractable == "RETRACT" ) {
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89 isRetractable = true;
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91 isRetractable = false;
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98 // Add some AI here to determine if gear is located properly according to its
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99 // brake group type ??
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101 State = Exec->GetState();
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102 Aircraft = Exec->GetAircraft();
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103 Position = Exec->GetPosition();
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104 Rotation = Exec->GetRotation();
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105 FCS = Exec->GetFCS();
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106 MassBalance = Exec->GetMassBalance();
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108 WOW = lastWOW = true; // should the value be initialized to true?
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109 ReportEnable = true;
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110 FirstContact = false;
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111 StartedGroundRun = false;
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112 TakeoffReported = LandingReported = false;
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113 LandingDistanceTraveled = TakeoffDistanceTraveled = TakeoffDistanceTraveled50ft = 0.0;
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114 MaximumStrutForce = MaximumStrutTravel = 0.0;
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115 SideForce = RollingForce = 0.0;
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116 SinkRate = GroundSpeed = 0.0;
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118 vWhlBodyVec = MassBalance->StructuralToBody(vXYZ);
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120 vLocalGear = State->GetTb2l() * vWhlBodyVec;
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122 compressLength = 0.0;
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123 compressSpeed = 0.0;
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127 WheelSlip = lastWheelSlip = 0.0;
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129 compressLength = 0.0;
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130 compressSpeed = 0.0;
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134 TirePressureNorm = 1.0;
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139 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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141 FGLGear::FGLGear(const FGLGear& lgear)
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143 State = lgear.State;
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144 Aircraft = lgear.Aircraft;
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145 Position = lgear.Position;
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146 Rotation = lgear.Rotation;
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149 MassBalance = lgear.MassBalance;
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152 vMoment = lgear.vMoment;
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153 vWhlBodyVec = lgear.vWhlBodyVec;
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154 vLocalGear = lgear.vLocalGear;
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157 lastWOW = lgear.lastWOW;
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158 ReportEnable = lgear.ReportEnable;
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159 FirstContact = lgear.FirstContact;
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160 StartedGroundRun = lgear.StartedGroundRun;
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161 LandingDistanceTraveled = lgear.LandingDistanceTraveled;
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162 TakeoffDistanceTraveled = lgear.TakeoffDistanceTraveled;
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163 TakeoffDistanceTraveled50ft = lgear.TakeoffDistanceTraveled50ft;
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164 MaximumStrutForce = lgear.MaximumStrutForce;
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165 MaximumStrutTravel = lgear.MaximumStrutTravel;
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166 SideForce = lgear.SideForce;
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167 RollingForce = lgear.RollingForce;
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169 kSpring = lgear.kSpring;
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170 bDamp = lgear.bDamp;
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171 compressLength = lgear.compressLength;
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172 compressSpeed = lgear.compressSpeed;
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173 staticFCoeff = lgear.staticFCoeff;
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174 dynamicFCoeff = lgear.dynamicFCoeff;
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175 rollingFCoeff = lgear.rollingFCoeff;
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176 brakePct = lgear.brakePct;
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177 maxCompLen = lgear.maxCompLen;
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178 SinkRate = lgear.SinkRate;
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179 GroundSpeed = lgear.GroundSpeed;
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180 LandingReported = lgear.LandingReported;
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181 TakeoffReported = lgear.TakeoffReported;
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183 sSteerType = lgear.sSteerType;
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184 sRetractable = lgear.sRetractable;
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185 eSteerType = lgear.eSteerType;
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186 sBrakeGroup = lgear.sBrakeGroup;
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187 eBrakeGrp = lgear.eBrakeGrp;
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188 maxSteerAngle = lgear.maxSteerAngle;
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189 isRetractable = lgear.isRetractable;
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190 GearUp = lgear.GearUp;
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191 GearDown = lgear.GearDown;
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192 WheelSlip = lgear.WheelSlip;
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193 lastWheelSlip = lgear.lastWheelSlip;
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194 TirePressureNorm = lgear.TirePressureNorm;
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195 Servicable = lgear.Servicable;
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198 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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200 FGLGear::~FGLGear()
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205 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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207 FGColumnVector3& FGLGear::Force(void)
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209 double SteerGain = 0;
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210 double SinWheel, CosWheel;
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212 double deltaT = State->Getdt()*Aircraft->GetRate();
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214 vForce.InitMatrix();
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215 vMoment.InitMatrix();
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217 if (isRetractable) {
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218 if (FCS->GetGearPos() < 0.01) {
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221 } else if (FCS->GetGearPos() > 0.99) {
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235 vWhlBodyVec = MassBalance->StructuralToBody(vXYZ);
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237 // vWhlBodyVec now stores the vector from the cg to this wheel
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239 vLocalGear = State->GetTb2l() * vWhlBodyVec;
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241 // vLocalGear now stores the vector from the cg to the wheel in local coords.
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243 compressLength = vLocalGear(eZ) - Position->GetDistanceAGL();
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245 // The compression length is currently measured in the Z-axis, only, at this time.
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246 // It should be measured along the strut axis. If the local-frame gear position
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247 // "hangs down" below the CG greater than the altitude, then the compressLength
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248 // will be positive - i.e. the gear will have made contact.
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250 if (compressLength > 0.00) {
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252 WOW = true; // Weight-On-Wheels is true
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254 // The next equation should really use the vector to the contact patch of the tire
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255 // including the strut compression and not vWhlBodyVec. Will fix this later.
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256 // As it stands, now, the following equation takes the aircraft body-frame
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257 // rotational rate and calculates the cross-product with the vector from the CG
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258 // to the wheel, thus producing the instantaneous velocity vector of the tire
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259 // in Body coords. The frame is also converted to local coordinates. When the
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260 // aircraft local-frame velocity is added to this quantity, the total velocity of
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261 // the wheel in local frame is then known. Subsequently, the compression speed
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262 // (used for calculating damping force) is found by taking the Z-component of the
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265 vWhlVelVec = State->GetTb2l() * (Rotation->GetPQR() * vWhlBodyVec);
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266 vWhlVelVec += Position->GetVel();
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267 compressSpeed = vWhlVelVec(eZ);
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269 // If this is the first time the wheel has made contact, remember some values
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270 // for later printout.
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272 if (!FirstContact) {
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273 FirstContact = true;
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274 SinkRate = compressSpeed;
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275 GroundSpeed = Position->GetVel().Magnitude();
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276 TakeoffReported = false;
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279 // If the takeoff run is starting, initialize.
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281 if ((Position->GetVel().Magnitude() > 0.1) &&
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282 (FCS->GetBrake(bgLeft) == 0) &&
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283 (FCS->GetBrake(bgRight) == 0) &&
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284 (FCS->GetThrottlePos(0) == 1) && !StartedGroundRun)
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286 TakeoffDistanceTraveled = 0;
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287 TakeoffDistanceTraveled50ft = 0;
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288 StartedGroundRun = true;
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291 // The following needs work regarding friction coefficients and braking and
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292 // steering The BrakeFCoeff formula assumes that an anti-skid system is used.
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293 // It also assumes that we won't be turning and braking at the same time.
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294 // Will fix this later.
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295 // [JSB] The braking force coefficients include normal rolling coefficient +
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296 // a percentage of the static friction coefficient based on braking applied.
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298 switch (eBrakeGrp) {
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300 BrakeFCoeff = ( rollingFCoeff*(1.0 - FCS->GetBrake(bgLeft)) +
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301 staticFCoeff*FCS->GetBrake(bgLeft) );
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304 BrakeFCoeff = ( rollingFCoeff*(1.0 - FCS->GetBrake(bgRight)) +
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305 staticFCoeff*FCS->GetBrake(bgRight) );
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308 BrakeFCoeff = ( rollingFCoeff*(1.0 - FCS->GetBrake(bgCenter)) +
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309 staticFCoeff*FCS->GetBrake(bgCenter) );
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312 BrakeFCoeff = ( rollingFCoeff*(1.0 - FCS->GetBrake(bgCenter)) +
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313 staticFCoeff*FCS->GetBrake(bgCenter) );
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316 BrakeFCoeff = ( rollingFCoeff*(1.0 - FCS->GetBrake(bgCenter)) +
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317 staticFCoeff*FCS->GetBrake(bgCenter) );
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320 BrakeFCoeff = rollingFCoeff;
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323 cerr << "Improper brake group membership detected for this gear." << endl;
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327 switch (eSteerType) {
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329 SteerAngle = -maxSteerAngle * FCS->GetDrCmd() * 0.01745;
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335 // Note to Jon: This is not correct for castering gear. I'll fix it later.
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339 cerr << "Improper steering type membership detected for this gear." << endl;
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343 // Transform the wheel velocities from the local axis system to the wheel axis system.
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344 // For now, steering angle is assumed to happen in the Local Z axis,
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345 // not the strut axis as it should be. Will fix this later.
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347 SinWheel = sin(Rotation->Getpsi() + SteerAngle);
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348 CosWheel = cos(Rotation->Getpsi() + SteerAngle);
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349 RollingWhlVel = vWhlVelVec(eX)*CosWheel + vWhlVelVec(eY)*SinWheel;
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350 SideWhlVel = vWhlVelVec(eY)*CosWheel - vWhlVelVec(eX)*SinWheel;
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352 // Calculate tire slip angle.
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354 if (RollingWhlVel == 0.0 && SideWhlVel == 0.0) {
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356 } else if (fabs(RollingWhlVel) < 1.0) {
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357 WheelSlip = 0.05*radtodeg*atan2(SideWhlVel, RollingWhlVel) + 0.95*WheelSlip;
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359 WheelSlip = radtodeg*atan2(SideWhlVel, RollingWhlVel);
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362 double maxdeltaSlip = 0.5*deltaT;
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364 if (RollingWhlVel == 0.0 && SideWhlVel == 0.0) {
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366 } else if (RollingWhlVel < 1.0) {
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367 WheelSlip = radtodeg*atan2(SideWhlVel, RollingWhlVel);
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368 deltaSlip = WheelSlip - lastWheelSlip;
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369 if (fabs(deltaSlip) > maxdeltaSlip) {
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370 if (WheelSlip > lastWheelSlip) {
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371 WheelSlip = lastWheelSlip + maxdeltaSlip;
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372 } else if (WheelSlip < lastWheelSlip) {
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373 WheelSlip = lastWheelSlip - maxdeltaSlip;
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377 WheelSlip = radtodeg*atan2(SideWhlVel, RollingWhlVel);
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380 if ((WheelSlip < 0.0 && lastWheelSlip > 0.0) ||
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381 (WheelSlip > 0.0 && lastWheelSlip < 0.0))
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386 lastWheelSlip = WheelSlip;
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388 // Compute the sideforce coefficients using similar assumptions to LaRCSim for now.
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389 // Allow a maximum of 10 degrees tire slip angle before wheel slides. At that point,
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390 // transition from static to dynamic friction. There are more complicated formulations
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391 // of this that avoid the discrete jump. Will fix this later.
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393 if (fabs(WheelSlip) <= 20.0) {
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394 FCoeff = staticFCoeff*WheelSlip/20.0;
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395 } else if (fabs(WheelSlip) <= 40.0) {
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396 // FCoeff = dynamicFCoeff*fabs(WheelSlip)/WheelSlip;
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397 FCoeff = (dynamicFCoeff*(fabs(WheelSlip) - 20.0)/20.0 +
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398 staticFCoeff*(40.0 - fabs(WheelSlip))/20.0)*fabs(WheelSlip)/WheelSlip;
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400 FCoeff = dynamicFCoeff*fabs(WheelSlip)/WheelSlip;
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403 // Compute the vertical force on the wheel using square-law damping (per comment
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404 // in paper AIAA-2000-4303 - see header prologue comments). We might consider
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405 // allowing for both square and linear damping force calculation. Also need to
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406 // possibly give a "rebound damping factor" that differs from the compression
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409 vLocalForce(eZ) = min(-compressLength * kSpring
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410 - compressSpeed * bDamp, (double)0.0);
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412 MaximumStrutForce = max(MaximumStrutForce, fabs(vLocalForce(eZ)));
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413 MaximumStrutTravel = max(MaximumStrutTravel, fabs(compressLength));
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415 // Compute the forces in the wheel ground plane.
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418 if (fabs(RollingWhlVel) > 1E-3) {
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419 RollingForce = (1.0 - TirePressureNorm) * 30
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420 + vLocalForce(eZ) * BrakeFCoeff
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421 * fabs(RollingWhlVel)/RollingWhlVel;
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423 SideForce = vLocalForce(eZ) * FCoeff;
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425 // Transform these forces back to the local reference frame.
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427 vLocalForce(eX) = RollingForce*CosWheel - SideForce*SinWheel;
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428 vLocalForce(eY) = SideForce*CosWheel + RollingForce*SinWheel;
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430 // Note to Jon: At this point the forces will be too big when the airplane is
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431 // stopped or rolling to a stop. We need to make sure that the gear forces just
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432 // balance out the non-gear forces when the airplane is stopped. That way the
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433 // airplane won't start to accelerate until the non-gear/ forces are larger than
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434 // the gear forces. I think that the proper fix should go into FGAircraft::FMGear.
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435 // This routine would only compute the local strut forces and return them to
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436 // FMGear. All of the gear forces would get adjusted in FMGear using the total
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437 // non-gear forces. Then the gear moments would be calculated. If strange things
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438 // start happening to the airplane during testing as it rolls to a stop, then we
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439 // need to implement this change. I ran out of time to do it now but have the
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442 // Transform the forces back to the body frame and compute the moment.
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444 vForce = State->GetTl2b() * vLocalForce;
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445 vMoment = vWhlBodyVec * vForce;
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447 } else { // Gear is NOT compressed
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451 if (Position->GetDistanceAGL() > 200.0) {
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452 FirstContact = false;
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453 StartedGroundRun = false;
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454 LandingReported = false;
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455 LandingDistanceTraveled = 0.0;
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456 MaximumStrutForce = MaximumStrutTravel = 0.0;
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459 compressLength = 0.0; // reset compressLength to zero for data output validity
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462 if (FirstContact) LandingDistanceTraveled += Position->GetVground()*deltaT;
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464 if (StartedGroundRun) {
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465 TakeoffDistanceTraveled50ft += Position->GetVground()*deltaT;
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466 if (WOW) TakeoffDistanceTraveled += Position->GetVground()*deltaT;
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469 if (ReportEnable && Position->GetVground() <= 0.05 && !LandingReported) {
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470 if (debug_lvl > 0) Report(erLand);
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473 if (ReportEnable && !TakeoffReported &&
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474 (vLocalGear(eZ) - Position->GetDistanceAGL()) < -50.0)
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476 if (debug_lvl > 0) Report(erTakeoff);
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479 if (lastWOW != WOW) {
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480 PutMessage("GEAR_CONTACT: " + name, WOW);
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485 // Crash detection logic (really out-of-bounds detection)
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487 if (compressLength > 500.0 ||
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488 vForce.Magnitude() > 100000000.0 ||
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489 vMoment.Magnitude() > 5000000000.0 ||
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490 SinkRate > 1.4666*30)
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492 PutMessage("Crash Detected: Simulation FREEZE.");
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499 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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501 void FGLGear::Report(ReportType repType)
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505 cout << endl << "Touchdown report for " << name << endl;
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506 cout << " Sink rate at contact: " << SinkRate << " fps, "
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507 << SinkRate*0.3048 << " mps" << endl;
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508 cout << " Contact ground speed: " << GroundSpeed*.5925 << " knots, "
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509 << GroundSpeed*0.3048 << " mps" << endl;
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510 cout << " Maximum contact force: " << MaximumStrutForce << " lbs, "
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511 << MaximumStrutForce*4.448 << " Newtons" << endl;
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512 cout << " Maximum strut travel: " << MaximumStrutTravel*12.0 << " inches, "
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513 << MaximumStrutTravel*30.48 << " cm" << endl;
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514 cout << " Distance traveled: " << LandingDistanceTraveled << " ft, "
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515 << LandingDistanceTraveled*0.3048 << " meters" << endl;
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516 LandingReported = true;
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519 cout << endl << "Takeoff report for " << name << endl;
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520 cout << " Distance traveled: " << TakeoffDistanceTraveled
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521 << " ft, " << TakeoffDistanceTraveled*0.3048 << " meters" << endl;
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522 cout << " Distance traveled (over 50'): " << TakeoffDistanceTraveled50ft
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523 << " ft, " << TakeoffDistanceTraveled50ft*0.3048 << " meters" << endl;
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524 TakeoffReported = true;
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529 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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530 // The bitmasked value choices are as follows:
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531 // unset: In this case (the default) JSBSim would only print
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532 // out the normally expected messages, essentially echoing
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533 // the config files as they are read. If the environment
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534 // variable is not set, debug_lvl is set to 1 internally
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535 // 0: This requests JSBSim not to output any messages
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537 // 1: This value explicity requests the normal JSBSim
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538 // startup messages
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539 // 2: This value asks for a message to be printed out when
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540 // a class is instantiated
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541 // 4: When this value is set, a message is displayed when a
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542 // FGModel object executes its Run() method
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543 // 8: When this value is set, various runtime state variables
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544 // are printed out periodically
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545 // 16: When set various parameters are sanity checked and
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546 // a message is printed out when they go out of bounds
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548 void FGLGear::Debug(int from)
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550 if (debug_lvl <= 0) return;
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552 if (debug_lvl & 1) { // Standard console startup message output
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553 if (from == 0) { // Constructor
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554 cout << " Name: " << name << endl;
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555 cout << " Location: " << vXYZ << endl;
\r
556 cout << " Spring Constant: " << kSpring << endl;
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557 cout << " Damping Constant: " << bDamp << endl;
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558 cout << " Dynamic Friction: " << dynamicFCoeff << endl;
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559 cout << " Static Friction: " << staticFCoeff << endl;
\r
560 cout << " Rolling Friction: " << rollingFCoeff << endl;
\r
561 cout << " Steering Type: " << sSteerType << endl;
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562 cout << " Grouping: " << sBrakeGroup << endl;
\r
563 cout << " Max Steer Angle: " << maxSteerAngle << endl;
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564 cout << " Retractable: " << sRetractable << endl;
\r
567 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
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568 if (from == 0) cout << "Instantiated: FGLGear" << endl;
\r
569 if (from == 1) cout << "Destroyed: FGLGear" << endl;
\r
571 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
\r
573 if (debug_lvl & 8 ) { // Runtime state variables
\r
575 if (debug_lvl & 16) { // Sanity checking
\r
577 if (debug_lvl & 64) {
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578 if (from == 0) { // Constructor
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579 cout << IdSrc << endl;
\r
580 cout << IdHdr << endl;
\r
585 } // namespace JSBSim
\r