FCS = Exec->GetFCS();
MassBalance = Exec->GetMassBalance();
- WOW = lastWOW = false;
+ WOW = lastWOW = true; // should the value be initialized to true?
ReportEnable = true;
FirstContact = false;
Reported = false;
vWhlBodyVec = (vXYZ - MassBalance->GetXYZcg()) / 12.0;
vWhlBodyVec(eX) = -vWhlBodyVec(eX);
vWhlBodyVec(eZ) = -vWhlBodyVec(eZ);
-
+
vLocalGear = State->GetTb2l() * vWhlBodyVec;
compressLength = 0.0;
brakePct = 0.0;
maxCompLen = 0.0;
+ WheelSlip = lastWheelSlip = 0.0;
+
+ compressLength = 0.0;
+ compressSpeed = 0.0;
+ brakePct = 0.0;
+ maxCompLen = 0.0;
+
Debug(0);
}
isRetractable = lgear.isRetractable;
GearUp = lgear.GearUp;
GearDown = lgear.GearDown;
+ WheelSlip = lgear.WheelSlip;
+ lastWheelSlip = lgear.lastWheelSlip;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
switch (eBrakeGrp) {
case bgLeft:
- SteerGain = -1.0;
+ SteerGain = 0.10;
BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgLeft)) +
staticFCoeff*FCS->GetBrake(bgLeft);
break;
case bgRight:
- SteerGain = -1.0;
+ SteerGain = 0.10;
BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgRight)) +
staticFCoeff*FCS->GetBrake(bgRight);
break;
case bgCenter:
- SteerGain = -0.10;
+ SteerGain = 0.10;
BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgCenter)) +
staticFCoeff*FCS->GetBrake(bgCenter);
break;
case bgNose:
- SteerGain = 1.0;
+ SteerGain = -0.50;
BrakeFCoeff = rollingFCoeff;
break;
case bgTail:
- SteerGain = -1.0;
+ SteerGain = -0.10;
BrakeFCoeff = rollingFCoeff;
break;
case bgNone:
- SteerGain = -1.0;
+ SteerGain = 0.0;
BrakeFCoeff = rollingFCoeff;
break;
default:
if (RollingWhlVel == 0.0 && SideWhlVel == 0.0) {
WheelSlip = 0.0;
+ } else if (fabs(RollingWhlVel) < 0.10) {
+ WheelSlip = 0.05*radtodeg*atan2(SideWhlVel, RollingWhlVel) + 0.95*WheelSlip;
} else {
WheelSlip = radtodeg*atan2(SideWhlVel, RollingWhlVel);
}
+ if ((WheelSlip < 0.0 && lastWheelSlip > 0.0) ||
+ (WheelSlip > 0.0 && lastWheelSlip < 0.0))
+ {
+ WheelSlip = 0.0;
+ }
+
+ lastWheelSlip = WheelSlip;
+
// Compute the sideforce coefficients using similar assumptions to LaRCSim for now.
// Allow a maximum of 10 degrees tire slip angle before wheel slides. At that point,
// transition from static to dynamic friction. There are more complicated formulations
// of this that avoid the discrete jump. Will fix this later.
- if (fabs(WheelSlip) <= 10.0) {
- FCoeff = staticFCoeff*WheelSlip/10.0;
+ if (fabs(WheelSlip) <= 20.0) {
+ FCoeff = staticFCoeff*WheelSlip/20.0;
+ } else if (fabs(WheelSlip) <= 40.0) {
+// FCoeff = dynamicFCoeff*fabs(WheelSlip)/WheelSlip;
+ FCoeff = (dynamicFCoeff*(fabs(WheelSlip) - 20.0)/20.0 +
+ staticFCoeff*(40.0 - fabs(WheelSlip))/20.0)*fabs(WheelSlip)/WheelSlip;
} else {
FCoeff = dynamicFCoeff*fabs(WheelSlip)/WheelSlip;
}
}
if (lastWOW != WOW) {
- PutMessage("GEAR_CONTACT", WOW);
+ PutMessage("GEAR_CONTACT: " + name, WOW);
}
lastWOW = WOW;