# include <simgear/compiler.h>
#endif
-#include <string>
-#include "FGConfigFile.h"
-#include "FGMatrix.h"
+#include "FGJSBBase.h"
#include "FGFDMExec.h"
-#include "FGState.h"
+#include "FGConfigFile.h"
+#include "FGColumnVector3.h"
+#include <string>
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#define ID_LGEAR "$Header"
+#define ID_LGEAR "$Id$"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+namespace JSBSim {
+
class FGAircraft;
-class FGPosition;
-class FGRotation;
+class FGPropagate;
+class FGFCS;
+class FGState;
+class FGMassBalance;
+class FGAuxiliary;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
length times the spring coefficient and the gear velocity times the damping
coefficient.</li>
<li>The lateral/directional force acting on the aircraft through the landing
+
gear (along the local frame X and Y axes) is calculated next. First, the
friction coefficient is multiplied by the recently calculated Z-force. This
is the friction force. It must be given direction in addition to magnitude.
@author Jon S. Berndt
@version $Id$
@see Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
- NASA-Ames", NASA CR-2497, January 1975
+ NASA-Ames", NASA CR-2497, January 1975
@see Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
- Wiley & Sons, 1979 ISBN 0-471-03032-5
+ Wiley & Sons, 1979 ISBN 0-471-03032-5
+ @see W. A. Ragsdale, "A Generic Landing Gear Dynamics Model for LASRS++",
+ AIAA-2000-4303
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGLGear
+class FGLGear : public FGJSBBase
{
public:
/// Brake grouping enumerators
- enum eBrakeGroup {bgNone=0, bgLeft, bgRight, bgCenter, bgNose, bgTail };
+ enum BrakeGroup {bgNone=0, bgLeft, bgRight, bgCenter, bgNose, bgTail };
+ /// Steering group membership enumerators
+ enum SteerType {stSteer, stFixed, stCaster};
+ /// Report type enumerators
+ enum ReportType {erNone=0, erTakeoff, erLand};
/** Constructor
@param Executive a pointer to the parent executive object
@param File a pointer to the config file instance */
- FGLGear(FGConfigFile* File, FGFDMExec* Executive);
+ FGLGear(FGConfigFile* File, FGFDMExec* Executive, int number);
/** Constructor
@param lgear a reference to an existing FGLGear object */
FGLGear(const FGLGear& lgear);
/// Destructor
- ~FGLGear(void);
+ ~FGLGear();
/// The Force vector for this gear
- FGColumnVector Force(void);
+ FGColumnVector3& Force(void);
/// The Moment vector for this gear
- FGColumnVector Moment(void) {return vMoment;}
+ FGColumnVector3& Moment(void) {return vMoment;}
+
/// Gets the location of the gear in Body axes
- FGColumnVector GetBodyLocation(void) { return vWhlBodyVec; }
-
- FGColumnVector GetLocalGear(void) { return vLocalGear; }
+ FGColumnVector3& GetBodyLocation(void) { return vWhlBodyVec; }
+ double GetBodyLocation(int idx) { return vWhlBodyVec(idx); }
+
+ FGColumnVector3& GetLocalGear(void) { return vLocalGear; }
+ double GetLocalGear(int idx) { return vLocalGear(idx); }
/// Gets the name of the gear
inline string GetName(void) {return name; }
/// Gets the Weight On Wheels flag value
inline bool GetWOW(void) {return WOW; }
/// Gets the current compressed length of the gear in feet
- inline float GetCompLen(void) {return compressLength;}
+ inline double GetCompLen(void) {return compressLength;}
/// Gets the current gear compression velocity in ft/sec
- inline float GetCompVel(void) {return compressSpeed; }
+ inline double GetCompVel(void) {return compressSpeed; }
/// Gets the gear compression force in pounds
- inline float GetCompForce(void) {return Force()(3); }
-
+ inline double GetCompForce(void) {return Force()(3); }
+ inline double GetBrakeFCoeff(void) {return BrakeFCoeff;}
+ inline double GetXYZ(int i) {return vXYZ(i);}
+
+ /// Gets the current normalized tire pressure
+ inline double GetTirePressure(void) { return TirePressureNorm; }
+ /// Sets the new normalized tire pressure
+ inline void SetTirePressure(double p) { TirePressureNorm = p; }
+
/// Sets the brake value in percent (0 - 100)
inline void SetBrake(double bp) {brakePct = bp;}
/** Get the console touchdown reporting feature
@return true if reporting is turned on */
inline bool GetReport(void) { return ReportEnable; }
+ double GetSteerNorm(void) const { return radtodeg/maxSteerAngle*SteerAngle; }
+ double GetDefaultSteerAngle(double cmd) const { return cmd*maxSteerAngle; }
+ double GetstaticFCoeff(void) { return staticFCoeff; }
+ double GetdynamicFCoeff(void) { return dynamicFCoeff; }
+ double GetrollingFCoeff(void) { return rollingFCoeff; }
+
+ inline int GetBrakeGroup(void) { return (int)eBrakeGrp; }
+ inline int GetSteerType(void) { return (int)eSteerType; }
+
+ bool GetSteerable(void) const { return eSteerType != stFixed; }
+ inline bool GetRetractable(void) const { return isRetractable; }
+ inline bool GetGearUnitUp(void) const { return GearUp; }
+ inline bool GetGearUnitDown(void) const { return GearDown; }
+ inline double GetWheelSideForce(void) const { return SideForce; }
+ inline double GetWheelRollForce(void) const { return RollingForce; }
+ inline double GetBodyXForce(void) const { return vLocalForce(eX); }
+ inline double GetBodyYForce(void) const { return vLocalForce(eY); }
+ inline double GetWheelSlipAngle(void) const { return WheelSlip; }
+ double GetWheelVel(int axis) const { return vWhlVelVec(axis);}
+ double GetkSpring(void) const { return kSpring; }
+ double GetbDamp(void) const { return bDamp; }
+ double GetmaxSteerAngle(void) const { return maxSteerAngle; }
+ string GetsBrakeGroup(void) const { return sBrakeGroup; }
+ string GetsRetractable(void) const { return sRetractable; }
+ string GetsSteerType(void) const { return sSteerType; }
private:
- enum {eX=1, eY, eZ};
- FGColumnVector vXYZ;
- FGColumnVector vMoment;
- FGColumnVector vWhlBodyVec;
- FGColumnVector vLocalGear;
- float kSpring;
- float bDamp;
- float compressLength;
- float compressSpeed;
- float staticFCoeff, dynamicFCoeff;
- float brakePct;
- float maxCompLen;
+ int GearNumber;
+ FGColumnVector3 vXYZ;
+ FGColumnVector3 vMoment;
+ FGColumnVector3 vWhlBodyVec;
+ FGColumnVector3 vLocalGear;
+ FGColumnVector3 vForce;
+ FGColumnVector3 vLocalForce;
+ FGColumnVector3 vWhlVelVec; // Velocity of this wheel (Local)
+ double SteerAngle;
+ double kSpring;
+ double bDamp;
+ double compressLength;
+ double compressSpeed;
+ double staticFCoeff, dynamicFCoeff, rollingFCoeff;
+ double brakePct;
+ double BrakeFCoeff;
+ double maxCompLen;
double SinkRate;
double GroundSpeed;
- double DistanceTraveled;
+ double TakeoffDistanceTraveled;
+ double TakeoffDistanceTraveled50ft;
+ double LandingDistanceTraveled;
double MaximumStrutForce;
double MaximumStrutTravel;
+ double SideWhlVel, RollingWhlVel;
+ double RollingForce, SideForce, FCoeff;
+ double WheelSlip;
+ double lastWheelSlip;
+ double TirePressureNorm;
bool WOW;
+ bool lastWOW;
bool FirstContact;
- bool Reported;
+ bool StartedGroundRun;
+ bool LandingReported;
+ bool TakeoffReported;
bool ReportEnable;
+ bool isRetractable;
+ bool GearUp, GearDown;
+ bool Servicable;
string name;
- string SteerType;
- string BrakeGroup;
- eBrakeGroup eBrakeGrp;
- float maxSteerAngle;
+ string sSteerType;
+ string sBrakeGroup;
+ string sRetractable;
+
+ BrakeGroup eBrakeGrp;
+ SteerType eSteerType;
+ double maxSteerAngle;
FGFDMExec* Exec;
FGState* State;
FGAircraft* Aircraft;
- FGPosition* Position;
- FGRotation* Rotation;
+ FGPropagate* Propagate;
+ FGAuxiliary* Auxiliary;
+ FGFCS* FCS;
+ FGMassBalance* MassBalance;
- void Report(void);
+ void Report(ReportType rt);
+ void Debug(int from);
};
-
+}
#include "FGAircraft.h"
-#include "FGPosition.h"
-#include "FGRotation.h"
+#include "FGPropagate.h"
+#include "FGAuxiliary.h"
+#include "FGFCS.h"
+#include "FGMassBalance.h"
+#include "FGState.h"
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
#endif
projects / flightgear.git / blobdiff