Updated to match changes in radiostack.[ch]xx

[flightgear.git] / src / FDM / JSBSim / FGLGear.cpp

diff --git a/src/FDM/JSBSim/FGLGear.cpp b/src/FDM/JSBSim/FGLGear.cpp
index e7cc9e4ef1b135d13cbb018b74ee6be0ad3ddec3..8f137f88bde4f0e5bd19ad376580eb8b03eaf637 100644 (file)
--- a/src/FDM/JSBSim/FGLGear.cpp
+++ b/src/FDM/JSBSim/FGLGear.cpp
@@ -64,7 +64,7 @@ FGLGear::FGLGear(FGConfigFile* AC_cfg, FGFDMExec* fdmex) : Exec(fdmex)
   *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;
@@ -85,13 +85,14 @@ FGLGear::FGLGear(FGConfigFile* AC_cfg, FGFDMExec* fdmex) : Exec(fdmex)
          << 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 ??
@@ -117,6 +118,11 @@ FGLGear::FGLGear(FGConfigFile* AC_cfg, FGFDMExec* fdmex) : Exec(fdmex)
 
   vLocalGear = State->GetTb2l() * vWhlBodyVec;
 
+  compressLength  = 0.0;
+  compressSpeed   = 0.0;
+  brakePct        = 0.0;
+  maxCompLen      = 0.0;
+
   Debug(0);
 }
 
@@ -159,6 +165,7 @@ FGLGear::FGLGear(const FGLGear& lgear)
   Reported        = lgear.Reported;
   name            = lgear.name;
   sSteerType      = lgear.sSteerType;
+  sRetractable    = lgear.sRetractable;
   eSteerType      = lgear.eSteerType;
   sBrakeGroup     = lgear.sBrakeGroup;
   eBrakeGrp       = lgear.eBrakeGrp;
@@ -166,8 +173,6 @@ FGLGear::FGLGear(const FGLGear& lgear)
   isRetractable   = lgear.isRetractable;
   GearUp          = lgear.GearUp;
   GearDown        = lgear.GearDown;
-
-  Debug(0);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -181,6 +186,9 @@ FGLGear::~FGLGear()
 
 FGColumnVector3& FGLGear::Force(void)
 {
+  double SteerGain = 0;
+  double SinWheel, CosWheel;
+
   vForce.InitMatrix();
   vMoment.InitMatrix();
 
@@ -201,10 +209,6 @@ FGColumnVector3& FGLGear::Force(void)
   }         
       
   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);
@@ -277,7 +281,7 @@ FGColumnVector3& FGLGear::Force(void)
                                              staticFCoeff*FCS->GetBrake(bgCenter);
         break;
       case bgNose:
-        SteerGain = 0.10;
+        SteerGain = -0.50;
         BrakeFCoeff = rollingFCoeff;
         break;
       case bgTail:
@@ -326,16 +330,6 @@ FGColumnVector3& FGLGear::Force(void)
         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;
-
 // 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
@@ -351,7 +345,7 @@ FGColumnVector3& FGLGear::Force(void)
 // 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);
@@ -424,7 +418,7 @@ FGColumnVector3& FGLGear::Force(void)
         vMoment.Magnitude() > 5000000000.0 ||
         SinkRate > 1.4666*30)
     {
-      PutMessage("Crash Detected");
+      PutMessage("Crash Detected: Simulation FREEZE.");
       Exec->Freeze();
     }
   } 
@@ -474,17 +468,17 @@ void FGLGear::Debug(int from)
 
   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
@@ -497,5 +491,11 @@ void FGLGear::Debug(int from)
   }
   if (debug_lvl & 16) { // Sanity checking
   }
+  if (debug_lvl & 64) {
+    if (from == 0) { // Constructor
+      cout << IdSrc << endl;
+      cout << IdHdr << endl;
+    }
+  }
 }