*AC_cfg >> tmp >> name >> vXYZ(1) >> vXYZ(2) >> vXYZ(3)
>> kSpring >> bDamp>> dynamicFCoeff >> staticFCoeff
>> rollingFCoeff >> sSteerType >> sBrakeGroup
- >> maxSteerAngle >> Retractable;
+ >> maxSteerAngle >> sRetractable;
if (sBrakeGroup == "LEFT" ) eBrakeGrp = bgLeft;
else if (sBrakeGroup == "RIGHT" ) eBrakeGrp = bgRight;
<< sSteerType << " is undefined." << endl;
}
- if ( Retractable == "RETRACT" ) {
- isRetractable=true;
+ if ( sRetractable == "RETRACT" ) {
+ isRetractable = true;
} else {
- isRetractable=false;
+ isRetractable = false;
}
- GearUp=false; GearDown=true;
+ GearUp = false;
+ GearDown = true;
// Add some AI here to determine if gear is located properly according to its
// brake group type ??
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;
+ compressSpeed = 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);
}
Reported = lgear.Reported;
name = lgear.name;
sSteerType = lgear.sSteerType;
+ sRetractable = lgear.sRetractable;
eSteerType = lgear.eSteerType;
sBrakeGroup = lgear.sBrakeGroup;
eBrakeGrp = lgear.eBrakeGrp;
isRetractable = lgear.isRetractable;
GearUp = lgear.GearUp;
GearDown = lgear.GearDown;
-
- Debug(0);
+ WheelSlip = lgear.WheelSlip;
+ lastWheelSlip = lgear.lastWheelSlip;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FGColumnVector3& FGLGear::Force(void)
{
+ double SteerGain = 0;
+ double SinWheel, CosWheel;
+
vForce.InitMatrix();
vMoment.InitMatrix();
}
if (GearDown) {
- double SteerGain = 0;
- double SinWheel, CosWheel, SideWhlVel, RollingWhlVel;
- double RollingForce, SideForce, FCoeff;
- double WheelSlip;
vWhlBodyVec = (vXYZ - MassBalance->GetXYZcg()) / 12.0;
vWhlBodyVec(eX) = -vWhlBodyVec(eX);
switch (eBrakeGrp) {
case bgLeft:
- SteerGain = -0.10;
+ SteerGain = 0.10;
BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgLeft)) +
staticFCoeff*FCS->GetBrake(bgLeft);
break;
case bgRight:
- SteerGain = -0.10;
+ 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 = 0.10;
+ SteerGain = -0.50;
BrakeFCoeff = rollingFCoeff;
break;
case bgTail:
BrakeFCoeff = rollingFCoeff;
break;
case bgNone:
- SteerGain = -0.10;
+ 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);
}
-// The following code normalizes the wheel velocity vector, reverses it, and zeroes out
-// the z component of the velocity. The question is, should the Z axis velocity be zeroed
-// out first before the normalization takes place or not? Subsequent to that, the Wheel
-// Velocity vector now points as a unit vector backwards and parallel to the wheel
-// velocity vector. It acts AT the wheel.
-
-// Note to Jon: I commented out this line because I wasn't sure we want to do this.
-// vWhlVelVec = -1.0 * vWhlVelVec.Normalize();
-// vWhlVelVec(eZ) = 0.00;
+ 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;
}
// in paper AIAA-2000-4303 - see header prologue comments). We might consider
// allowing for both square and linear damping force calculation. Also need to
// possibly give a "rebound damping factor" that differs from the compression
-// case. NOTE: SQUARE LAW DAMPING NO GOOD!
+// case.
vLocalForce(eZ) = min(-compressLength * kSpring
- compressSpeed * bDamp, (double)0.0);
}
if (lastWOW != WOW) {
- PutMessage("GEAR_CONTACT", WOW);
+ PutMessage("GEAR_CONTACT: " + name, WOW);
}
lastWOW = WOW;
vMoment.Magnitude() > 5000000000.0 ||
SinkRate > 1.4666*30)
{
- PutMessage("Crash Detected");
+ PutMessage("Crash Detected: Simulation FREEZE.");
Exec->Freeze();
}
}
if (debug_lvl & 1) { // Standard console startup message output
if (from == 0) { // Constructor
- cout << " Name: " << name << endl;
- cout << " Location: " << vXYZ << endl;
- cout << " Spring Constant: " << kSpring << endl;
- cout << " Damping Constant: " << bDamp << endl;
+ cout << " Name: " << name << endl;
+ cout << " Location: " << vXYZ << endl;
+ cout << " Spring Constant: " << kSpring << endl;
+ cout << " Damping Constant: " << bDamp << endl;
cout << " Dynamic Friction: " << dynamicFCoeff << endl;
- cout << " Static Friction: " << staticFCoeff << endl;
+ cout << " Static Friction: " << staticFCoeff << endl;
cout << " Rolling Friction: " << rollingFCoeff << endl;
- cout << " Steering Type: " << sSteerType << endl;
- cout << " Grouping: " << sBrakeGroup << endl;
+ cout << " Steering Type: " << sSteerType << endl;
+ cout << " Grouping: " << sBrakeGroup << endl;
cout << " Max Steer Angle: " << maxSteerAngle << endl;
- cout << " Retractable: " << Retractable << endl;
+ cout << " Retractable: " << sRetractable << endl;
}
}
if (debug_lvl & 2 ) { // Instantiation/Destruction notification
}
if (debug_lvl & 16) { // Sanity checking
}
+ if (debug_lvl & 64) {
+ if (from == 0) { // Constructor
+ cout << IdSrc << endl;
+ cout << IdHdr << endl;
+ }
+ }
}