%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGGroundReactions.h"
+#include "FGPropertyManager.h"
static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_GROUNDREACTIONS;
+#if defined (__APPLE__)
+/* Not all systems have the gcvt function */
+inline char* gcvt (double value, int ndigits, char *buf) {
+ /* note that this is not exactly what gcvt is supposed to do! */
+ snprintf (buf, ndigits+1, "%f", value);
+ return buf;
+}
+#endif
+
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex),
- vForces(3),
- vMoments(3),
- vMaxStaticGrip(3),
- vMaxMomentResist(3)
+FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex)
{
Name = "FGGroundReactions";
+
+ bind();
- GearUp = false;
- if (debug_lvl & 2) cout << "Instantiated: " << Name << endl;
+ Debug(0);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGGroundReactions::Run(void)
+FGGroundReactions::~FGGroundReactions(void)
{
- float steerAngle = 0.0;
- float xForces = 0.0, yForces = 0.0;
+ unbind();
+
+ Debug(1);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+bool FGGroundReactions::Run(void)
+{
if (!FGModel::Run()) {
vForces.InitMatrix();
vMoments.InitMatrix();
// Only execute gear force code below 300 feet
- if ( !GearUp && Position->GetDistanceAGL() < 300.0 ) {
+ if ( Position->GetDistanceAGL() < 300.0 ) {
vector <FGLGear>::iterator iGear = lGear.begin();
// Sum forces and moments for all gear, here.
// Some optimizations may be made here - or rather in the gear code itself.
iGear++;
}
- // Only execute this code when the aircraft ground speed is very, very small.
- if (fabs(Translation->GetUVW(eX)) < 0.1 &&
- fabs(Translation->GetUVW(eZ)) < 0.1)
- {
- // Initialize the comparison matrices.
- vMaxStaticGrip.InitMatrix();
- vMaxMomentResist.InitMatrix();
- iGear = lGear.begin();
- // For each gear that is touching the ground (which had better be all of them!)
- // calculate the X and Y direction maximum "gripping" power. Also, keep track
- // of the number of gear that have weight on wheels. This is probably unnecessary.
- while (iGear != lGear.end()) {
- // calculate maximum gripping power for each gear here based on brake
- // and steering settings
- // also calculate total number of wheels with WOW set true?
- if (iGear->GetWOW()) {
- steerAngle = iGear->GetSteerAngle();
- vMaxStaticGrip(eX) += (iGear->GetBrakeFCoeff()*cos(steerAngle) -
- iGear->GetstaticFCoeff()*sin(steerAngle))*iGear->GetCompForce();
- vMaxStaticGrip(eY) += iGear->GetBrakeFCoeff()*sin(steerAngle) +
- iGear->GetstaticFCoeff()*cos(steerAngle)*iGear->GetCompForce();
- vMaxStaticGrip(eZ) = 0.0;
-// vMaxMomentResist += 1;
- }
- iGear++;
- }
-
- // Calculate the X and Y direction non-gear forces to counteract if needed.
- xForces = -1.0 * ( Aerodynamics->GetForces(eX)
- + Propulsion->GetForces(eX)
- + Inertial->GetForces(eX));
-
- yForces = -1.0 * ( Aerodynamics->GetForces(eY)
- + Propulsion->GetForces(eY)
- + Inertial->GetForces(eY));
-
- // These if statement comparisons probably need some validation and work
- if (fabs(xForces) < fabs(vMaxStaticGrip(eX))) { // forces exceed gear power
- vForces(eX) = xForces;
- }
-
- if (fabs(yForces) < fabs(vMaxStaticGrip(eY))) { // forces exceed gear power
- vForces(eY) = yForces;
- }
-
- vMoments(eZ) = -(Aerodynamics->GetMoments(eZ) + Propulsion->GetMoments(eZ));
- }
} else {
// Crash Routine
}
AC_cfg->GetNextConfigLine();
- while ((token = AC_cfg->GetValue()) != "/UNDERCARRIAGE") {
+ while ((token = AC_cfg->GetValue()) != string("/UNDERCARRIAGE")) {
lGear.push_back(FGLGear(AC_cfg, FDMExec));
}
for (unsigned int i=0;i<lGear.size();i++) {
if (!firstime) GroundReactionStrings += ", ";
GroundReactionStrings += (lGear[i].GetName() + "_WOW, ");
- GroundReactionStrings += (lGear[i].GetName() + "_compressLength, ");
- GroundReactionStrings += (lGear[i].GetName() + "_compressSpeed, ");
- GroundReactionStrings += (lGear[i].GetName() + "_Force");
+ GroundReactionStrings += (lGear[i].GetName() + "_stroke, ");
+ GroundReactionStrings += (lGear[i].GetName() + "_strokeVel, ");
+ GroundReactionStrings += (lGear[i].GetName() + "_CompressForce, ");
+ GroundReactionStrings += (lGear[i].GetName() + "_WhlSideForce, ");
+ GroundReactionStrings += (lGear[i].GetName() + "_WhlRollForce, ");
+ GroundReactionStrings += (lGear[i].GetName() + "_BodyXForce, ");
+ GroundReactionStrings += (lGear[i].GetName() + "_BodyYForce, ");
+ GroundReactionStrings += (lGear[i].GetName() + "_WhlSlipDegrees");
firstime = false;
}
GroundReactionValues += string( lGear[i].GetWOW()?"1":"0" ) + ", ";
GroundReactionValues += (string(gcvt(lGear[i].GetCompLen(), 5, buff)) + ", ");
GroundReactionValues += (string(gcvt(lGear[i].GetCompVel(), 6, buff)) + ", ");
- GroundReactionValues += (string(gcvt(lGear[i].GetCompForce(), 10, buff)));
+ GroundReactionValues += (string(gcvt(lGear[i].GetCompForce(), 10, buff)) + ", ");
+ GroundReactionValues += (string(gcvt(lGear[i].GetWheelSideForce(), 6, buff)) + ", ");
+ GroundReactionValues += (string(gcvt(lGear[i].GetWheelRollForce(), 6, buff)) + ", ");
+ GroundReactionValues += (string(gcvt(lGear[i].GetBodyXForce(), 6, buff)) + ", ");
+ GroundReactionValues += (string(gcvt(lGear[i].GetBodyYForce(), 6, buff)) + ", ");
+ GroundReactionValues += (string(gcvt(lGear[i].GetWheelSlipAngle(), 6, buff)));
firstime = false;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGGroundReactions::Debug(void)
+void FGGroundReactions::bind(void)
+{
+ typedef double (FGGroundReactions::*PMF)(int) const;
+ PropertyManager->Tie("gear/num-units", this,
+ &FGGroundReactions::GetNumGearUnits);
+ PropertyManager->Tie("moments/l-gear-lbsft", this,1,
+ (PMF)&FGGroundReactions::GetMoments);
+ PropertyManager->Tie("moments/m-gear-lbsft", this,2,
+ (PMF)&FGGroundReactions::GetMoments);
+ PropertyManager->Tie("moments/n-gear-lbsft", this,3,
+ (PMF)&FGGroundReactions::GetMoments);
+ PropertyManager->Tie("forces/fbx-gear-lbs", this,1,
+ (PMF)&FGGroundReactions::GetForces);
+ PropertyManager->Tie("forces/fby-gear-lbs", this,2,
+ (PMF)&FGGroundReactions::GetForces);
+ PropertyManager->Tie("forces/fbz-gear-lbs", this,3,
+ (PMF)&FGGroundReactions::GetForces);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGGroundReactions::unbind(void)
{
- //TODO: Add your source code here
+ PropertyManager->Untie("gear/num-units");
+ PropertyManager->Untie("moments/l-gear-lbsft");
+ PropertyManager->Untie("moments/m-gear-lbsft");
+ PropertyManager->Untie("moments/n-gear-lbsft");
+ PropertyManager->Untie("forces/fbx-gear-lbs");
+ PropertyManager->Untie("forces/fby-gear-lbs");
+ PropertyManager->Untie("forces/fbz-gear-lbs");
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// The bitmasked value choices are as follows:
+// unset: In this case (the default) JSBSim would only print
+// out the normally expected messages, essentially echoing
+// the config files as they are read. If the environment
+// variable is not set, debug_lvl is set to 1 internally
+// 0: This requests JSBSim not to output any messages
+// whatsoever.
+// 1: This value explicity requests the normal JSBSim
+// startup messages
+// 2: This value asks for a message to be printed out when
+// a class is instantiated
+// 4: When this value is set, a message is displayed when a
+// FGModel object executes its Run() method
+// 8: When this value is set, various runtime state variables
+// are printed out periodically
+// 16: When set various parameters are sanity checked and
+// a message is printed out when they go out of bounds
+
+void FGGroundReactions::Debug(int from)
+{
+ if (debug_lvl <= 0) return;
+
+ if (debug_lvl & 1) { // Standard console startup message output
+ if (from == 0) { // Constructor
+
+ }
+ }
+ if (debug_lvl & 2 ) { // Instantiation/Destruction notification
+ if (from == 0) cout << "Instantiated: FGGroundReactions" << endl;
+ if (from == 1) cout << "Destroyed: FGGroundReactions" << endl;
+ }
+ if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
+ }
+ if (debug_lvl & 8 ) { // Runtime state variables
+ }
+ if (debug_lvl & 16) { // Sanity checking
+ }
+ if (debug_lvl & 64) {
+ if (from == 0) { // Constructor
+ cout << IdSrc << endl;
+ cout << IdHdr << endl;
+ }
+ }
}
projects / flightgear.git / blobdiff