%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGLGear.h"
+#include "FGState.h"
+#include "FGGroundReactions.h"
+#include "FGFCS.h"
+#include "FGAuxiliary.h"
+#include "FGAtmosphere.h"
+#include "FGMassBalance.h"
+#include "math/FGTable.h"
+#include <cstdlib>
+
+using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_LGEAR;
+// Body To Structural (body frame is rotated 180 deg about Y and lengths are given in
+// ft instead of inches)
+const FGMatrix33 FGLGear::Tb2s(-1./inchtoft, 0., 0., 0., 1./inchtoft, 0., 0., 0., -1./inchtoft);
+
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number) :
+ FGForce(fdmex),
GearNumber(number),
- Exec(fdmex)
+ SteerAngle(0.0)
{
Element *force_table=0;
Element *dampCoeff=0;
} else if (sContactType == "STRUCTURE") {
eContactType = ctSTRUCTURE;
} else {
- eContactType = ctUNKNOWN;
+ // Unknown contact point types will be treated as STRUCTURE.
+ eContactType = ctSTRUCTURE;
}
if (el->FindElement("spring_coeff"))
while (force_table) {
force_type = force_table->GetAttributeValue("type");
if (force_type == "CORNERING_COEFF") {
- ForceY_Table = new FGTable(Exec->GetPropertyManager(), force_table);
+ ForceY_Table = new FGTable(fdmex->GetPropertyManager(), force_table);
} else {
cerr << "Undefined force table for " << name << " contact point" << endl;
}
else sSteerType = "STEERABLE";
Element* element = el->FindElement("location");
- if (element) vXYZ = element->FindElementTripletConvertTo("IN");
+ if (element) vXYZn = element->FindElementTripletConvertTo("IN");
else {cerr << "No location given for contact " << name << endl; exit(-1);}
+ SetTransformType(FGForce::tCustom);
+
+ element = el->FindElement("orientation");
+ if (element && (eContactType == ctBOGEY)) {
+ vGearOrient = element->FindElementTripletConvertTo("RAD");
+
+ double cp,sp,cr,sr,cy,sy;
+
+ cp=cos(vGearOrient(ePitch)); sp=sin(vGearOrient(ePitch));
+ cr=cos(vGearOrient(eRoll)); sr=sin(vGearOrient(eRoll));
+ cy=cos(vGearOrient(eYaw)); sy=sin(vGearOrient(eYaw));
+
+ mTGear(1,1) = cp*cy;
+ mTGear(2,1) = cp*sy;
+ mTGear(3,1) = -sp;
+
+ mTGear(1,2) = sr*sp*cy - cr*sy;
+ mTGear(2,2) = sr*sp*sy + cr*cy;
+ mTGear(3,2) = sr*cp;
+
+ mTGear(1,3) = cr*sp*cy + sr*sy;
+ mTGear(2,3) = cr*sp*sy - sr*cy;
+ mTGear(3,3) = cr*cp;
+ }
+ else {
+ mTGear(1,1) = 1.;
+ mTGear(2,2) = 1.;
+ mTGear(3,3) = 1.;
+ }
if (sBrakeGroup == "LEFT" ) eBrakeGrp = bgLeft;
else if (sBrakeGroup == "RIGHT" ) eBrakeGrp = bgRight;
}
}
- State = Exec->GetState();
+ State = fdmex->GetState();
+ Aircraft = fdmex->GetAircraft();
+ Propagate = fdmex->GetPropagate();
+ Auxiliary = fdmex->GetAuxiliary();
+ FCS = fdmex->GetFCS();
+ MassBalance = fdmex->GetMassBalance();
+
LongForceLagFilterCoeff = 1/State->Getdt(); // default longitudinal force filter coefficient
LatForceLagFilterCoeff = 1/State->Getdt(); // default lateral force filter coefficient
// Add some AI here to determine if gear is located properly according to its
// brake group type ??
- State = Exec->GetState();
- Aircraft = Exec->GetAircraft();
- Propagate = Exec->GetPropagate();
- Auxiliary = Exec->GetAuxiliary();
- FCS = Exec->GetFCS();
- MassBalance = Exec->GetMassBalance();
-
WOW = lastWOW = false;
ReportEnable = true;
FirstContact = false;
MaximumStrutForce = MaximumStrutTravel = 0.0;
SinkRate = GroundSpeed = 0.0;
- vWhlBodyVec = MassBalance->StructuralToBody(vXYZ);
-
+ vWhlBodyVec = MassBalance->StructuralToBody(vXYZn);
vLocalGear = Propagate->GetTb2l() * vWhlBodyVec;
-
- vLocalWhlVel.InitMatrix();
+ vWhlVelVec.InitMatrix();
compressLength = 0.0;
compressSpeed = 0.0;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGColumnVector3& FGLGear::Force(void)
+FGColumnVector3& FGLGear::GetBodyForces(void)
{
- double t = Exec->GetState()->Getsim_time();
- dT = State->Getdt()*Exec->GetGroundReactions()->GetRate();
+ double t = fdmex->GetState()->Getsim_time();
+ dT = State->Getdt()*fdmex->GetGroundReactions()->GetRate();
- vForce.InitMatrix();
- vLocalForce.InitMatrix();
- vMoment.InitMatrix();
+ vFn.InitMatrix();
if (isRetractable) ComputeRetractionState();
if (GearDown) {
+ double verticalZProj = 0.;
- vWhlBodyVec = MassBalance->StructuralToBody(vXYZ); // Get wheel in body frame
+ vWhlBodyVec = MassBalance->StructuralToBody(vXYZn); // Get wheel in body frame
vLocalGear = Propagate->GetTb2l() * vWhlBodyVec; // Get local frame wheel location
gearLoc = Propagate->GetLocation().LocalToLocation(vLocalGear);
// Compute the height of the theoretical location of the wheel (if strut is not compressed) with
// respect to the ground level
- double height = Exec->GetGroundCallback()->GetAGLevel(t, gearLoc, contact, normal, cvel);
+ double height = fdmex->GetGroundCallback()->GetAGLevel(t, gearLoc, contact, normal, cvel);
vGroundNormal = -1. * Propagate->GetTec2b() * normal;
+ // The height returned above is the AGL and is expressed in the Z direction of the local
+ // coordinate frame. We now need to transform this height in actual compression of the strut (BOGEY)
+ // of in the normal direction to the ground (STRUCTURE)
switch (eContactType) {
case ctBOGEY:
- // Project the height in the local coordinate frame of the strut to compute the actual compression
- // length. The strut is assumed to be parallel to Z in the body frame.
- compressLength = vGroundNormal(eZ) < 0.0 ? height / vGroundNormal(eZ) : 0.0;
+ verticalZProj = (Propagate->GetTb2l()*mTGear*FGColumnVector3(0.,0.,1.))(eZ);
+ compressLength = verticalZProj > 0.0 ? -height / verticalZProj : 0.0;
break;
case ctSTRUCTURE:
- compressLength = -height;
+ verticalZProj = (Propagate->GetTec2l()*normal)(eZ);
+ compressLength = fabs(verticalZProj) > 0.0 ? -height / verticalZProj : 0.0;
break;
}
// [The next equation should really use the vector to the contact patch of
// the tire including the strut compression and not the original vWhlBodyVec.]
- FGColumnVector3 vWhlContactVec = vWhlBodyVec - FGColumnVector3(0., 0., compressLength);
- vWhlVelVec = Propagate->GetPQR() * vWhlContactVec;
- vWhlVelVec += Propagate->GetUVW() - Propagate->GetTec2b() * cvel;
+ FGColumnVector3 vWhlDisplVec = mTGear * FGColumnVector3(0., 0., compressLength);
+ FGColumnVector3 vWhlContactVec = vWhlBodyVec - vWhlDisplVec;
+ vActingXYZn = vXYZn - Tb2s * vWhlDisplVec;
+ FGColumnVector3 vBodyWhlVel = Propagate->GetPQR() * vWhlContactVec;
+ vBodyWhlVel += Propagate->GetUVW() - Propagate->GetTec2b() * cvel;
+
+ vWhlVelVec = mTGear.Transposed() * vBodyWhlVel;
InitializeReporting();
ComputeSteeringAngle();
ComputeGroundCoordSys();
- vLocalWhlVel = Tb2g * vWhlVelVec;
+ vLocalWhlVel = Transform().Transposed() * vBodyWhlVel;
- compressSpeed = -vLocalWhlVel(eZ);
- if (eContactType == ctBOGEY)
- // Project the compression speed in the local coordinate frame of the strut
- compressSpeed /= -vGroundNormal(eZ);
+ switch (eContactType) {
+ case ctBOGEY:
+ // Compression speed along the strut
+ compressSpeed = -vWhlVelVec(eZ);
+ case ctSTRUCTURE:
+ // Compression speed along the ground normal
+ compressSpeed = -vLocalWhlVel(eX);
+ }
ComputeVerticalStrutForce();
ComputeSlipAngle();
ComputeBrakeForceCoefficient();
ComputeSideForceCoefficient();
- double sign = vLocalWhlVel(eX)>0?1.0:(vLocalWhlVel(eX)<0?-1.0:0.0);
- vLocalForce(eX) = - ((1.0 - TirePressureNorm) * 30 + vLocalForce(eZ) * BrakeFCoeff) * sign;
- vLocalForce(eY) = vLocalForce(eZ) * FCoeff;
+ double sign = vLocalWhlVel(eY)>0?1.0:(vLocalWhlVel(eY)<0?-1.0:0.0);
+ vFn(eY) = - ((1.0 - TirePressureNorm) * 30 + vFn(eX) * BrakeFCoeff) * sign;
+ vFn(eZ) = vFn(eX) * FCoeff;
}
else if (eContactType == ctSTRUCTURE) {
FGColumnVector3 vSlipVec = vLocalWhlVel;
- vSlipVec(eZ) = 0.;
+ vSlipVec(eX) = 0.;
vSlipVec.Normalize();
- vLocalForce -= staticFCoeff * vLocalForce(eZ) * vSlipVec;
+ vFn -= staticFCoeff * vFn(eX) * vSlipVec;
}
// Lag and attenuate the XY-plane forces dependent on velocity. This code
// If a coefficient is set to something equal to or less than zero, the
// filter is bypassed.
- if (LongForceLagFilterCoeff > 0) vLocalForce(eX) = LongForceFilter.execute(vLocalForce(eX));
- if (LatForceLagFilterCoeff > 0) vLocalForce(eY) = LatForceFilter.execute(vLocalForce(eY));
+ if (LongForceLagFilterCoeff > 0) vFn(eY) = LongForceFilter.execute(vFn(eY));
+ if (LatForceLagFilterCoeff > 0) vFn(eZ) = LatForceFilter.execute(vFn(eZ));
- if ((fabs(vLocalWhlVel(eX)) <= RFRV) && RFRV > 0) vLocalForce(eX) *= fabs(vLocalWhlVel(eX))/RFRV;
- if ((fabs(vLocalWhlVel(eY)) <= SFRV) && SFRV > 0) vLocalForce(eY) *= fabs(vLocalWhlVel(eY))/SFRV;
+ if ((fabs(vLocalWhlVel(eY)) <= RFRV) && RFRV > 0) vFn(eY) *= fabs(vLocalWhlVel(eY))/RFRV;
+ if ((fabs(vLocalWhlVel(eZ)) <= SFRV) && SFRV > 0) vFn(eZ) *= fabs(vLocalWhlVel(eZ))/SFRV;
// End section for attenuating gear jitter
- // Transform the forces back to the body frame and compute the moment.
-
- vForce = Tg2b * vLocalForce;
- vMoment = vWhlContactVec * vForce;
-
} else { // Gear is NOT compressed
WOW = false;
compressLength = 0.0;
compressSpeed = 0.0;
+ WheelSlip = 0.0;
+ StrutForce = 0.0;
// Let wheel spin down slowly
- vLocalWhlVel(eX) -= 13.0*dT;
- if (vLocalWhlVel(eX) < 0.0) vLocalWhlVel(eX) = 0.0;
+ vWhlVelVec(eX) -= 13.0*dT;
+ if (vWhlVelVec(eX) < 0.0) vWhlVelVec(eX) = 0.0;
// Return to neutral position between 1.0 and 0.8 gear pos.
SteerAngle *= max(GetGearUnitPos()-0.8, 0.0)/0.2;
lastWOW = WOW;
- return vForce;
+ return FGForce::GetBodyForces();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Build a local "ground" coordinate system defined by
-// eX : projection of the rolling direction on the ground
-// eY : projection of the sliping direction on the ground
-// eZ : normal to the ground
+// eX : normal to the ground
+// eY : projection of the rolling direction on the ground
+// eZ : projection of the sliping direction on the ground
void FGLGear::ComputeGroundCoordSys(void)
{
- FGColumnVector3 vRollingGroundVec;
+ // Euler angles are built up to create a local frame to describe the forces
+ // applied to the gear by the ground. Here pitch, yaw and roll do not have
+ // any physical meaning. It is just a convenient notation.
+ // First, "pitch" and "yaw" are determined in order to align eX with the
+ // ground normal.
+ if (vGroundNormal(eZ) < -1.0)
+ vOrient(ePitch) = 0.5*M_PI;
+ else if (1.0 < vGroundNormal(eZ))
+ vOrient(ePitch) = -0.5*M_PI;
+ else
+ vOrient(ePitch) = asin(-vGroundNormal(eZ));
+
+ if (fabs(vOrient(ePitch)) == 0.5*M_PI)
+ vOrient(eYaw) = 0.;
+ else
+ vOrient(eYaw) = atan2(vGroundNormal(eY), vGroundNormal(eX));
+
+ vOrient(eRoll) = 0.;
+ UpdateCustomTransformMatrix();
if (eContactType == ctBOGEY) {
- // Compute the rolling direction projected on the ground
- // It consists in finding a vector 'r' such that 'r' lies in the plane (w,z) and r.n = 0 (scalar
- // product) where:
- // 'n' is the normal to the ground,
- // (x,y,z) are the directions defined in the body coord system
- // and 'w' is 'x' rotated by the steering angle (SteerAngle) in the plane (x,y).
- // r = u * w + v * z and r.n = 0 => v/u = -w.n/z.n = a
- // We also want u**2+v**2=1 and u > 0 (i.e. r orientated in the same 'direction' than w)
- // after some arithmetic, one finds that :
- double a = -(vGroundNormal(eX)*cos(SteerAngle)+vGroundNormal(eY)*sin(SteerAngle)) / vGroundNormal(eZ);
- double u = 1. / sqrt(1. + a*a);
- double v = a * u;
- vRollingGroundVec = FGColumnVector3(u * cos(SteerAngle), u * sin(SteerAngle), v);
- }
- else {
- // Here the only significant direction is the normal to the ground "vGroundNormal". Since there is
- // no wheel the 2 other vectors of the orthonormal basis are not meaningful and are only used to
- // create the transformation matrix Tg2b. So we are building vRollingGroundVec as an arbitrary
- // vector normal to vGroundNormal
- if (fabs(vGroundNormal(eX)) > 0.)
- vRollingGroundVec = FGColumnVector3(-vGroundNormal(eZ)/vGroundNormal(eX), 0., 1.);
- else if (fabs(vGroundNormal(eY)) > 0.)
- vRollingGroundVec = FGColumnVector3(0., -vGroundNormal(eZ)/vGroundNormal(eY), 1.);
- else
- vRollingGroundVec = FGColumnVector3(1., 0., -vGroundNormal(eX)/vGroundNormal(eZ));
+ // In the case of a bogey, the third angle "roll" is used to align the axis eY and eZ
+ // to the rolling and sliping direction respectively.
+ FGColumnVector3 updatedRollingAxis = Transform().Transposed() * mTGear
+ * FGColumnVector3(-sin(SteerAngle), cos(SteerAngle), 0.);
- vRollingGroundVec.Normalize();
+ vOrient(eRoll) = atan2(updatedRollingAxis(eY), -updatedRollingAxis(eZ));
+ UpdateCustomTransformMatrix();
}
-
- // The sliping direction is the cross product multiplication of the ground normal and rolling
- // directions
- FGColumnVector3 vSlipGroundVec = vGroundNormal * vRollingGroundVec;
-
- Tg2b(1,1) = vRollingGroundVec(eX);
- Tg2b(2,1) = vRollingGroundVec(eY);
- Tg2b(3,1) = vRollingGroundVec(eZ);
- Tg2b(1,2) = vSlipGroundVec(eX);
- Tg2b(2,2) = vSlipGroundVec(eY);
- Tg2b(3,2) = vSlipGroundVec(eZ);
- Tg2b(1,3) = vGroundNormal(eX);
- Tg2b(2,3) = vGroundNormal(eY);
- Tg2b(3,3) = vGroundNormal(eZ);
-
- Tb2g = Tg2b.Transposed();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
GearUp = true;
WOW = false;
GearDown = false;
- vLocalWhlVel.InitMatrix();
+ vWhlVelVec.InitMatrix();
} else if (gearPos > 0.99) {
GearDown = true;
GearUp = false;
void FGLGear::ComputeSlipAngle(void)
{
// Calculate tire slip angle.
- WheelSlip = -atan2(vLocalWhlVel(eY), fabs(vLocalWhlVel(eX)))*radtodeg;
+ WheelSlip = -atan2(vLocalWhlVel(eZ), fabs(vLocalWhlVel(eY)))*radtodeg;
// Filter the wheel slip angle
if (WheelSlipLagFilterCoeff > 0) WheelSlip = WheelSlipFilter.execute(WheelSlip);
SteerAngle = 0.0;
break;
case stCaster:
- SteerAngle = atan2(fabs(vWhlVelVec(eX)), vWhlVelVec(eY));
+ SteerAngle = atan2(vWhlVelVec(eY), fabs(vWhlVelVec(eX)));
break;
default:
cerr << "Improper steering type membership detected for this gear." << endl;
void FGLGear::ReportTakeoffOrLanding(void)
{
- double deltaT = State->Getdt()*Exec->GetGroundReactions()->GetRate();
+ double deltaT = State->Getdt()*fdmex->GetGroundReactions()->GetRate();
if (FirstContact)
LandingDistanceTraveled += Auxiliary->GetVground()*deltaT;
if ( ReportEnable
&& Auxiliary->GetVground() <= 0.05
&& !LandingReported
- && Exec->GetGroundReactions()->GetWOW())
+ && fdmex->GetGroundReactions()->GetWOW())
{
if (debug_lvl > 0) Report(erLand);
}
if ( ReportEnable
&& !TakeoffReported
&& (Propagate->GetDistanceAGL() - vLocalGear(eZ)) > 50.0
- && !Exec->GetGroundReactions()->GetWOW())
+ && !fdmex->GetGroundReactions()->GetWOW())
{
if (debug_lvl > 0) Report(erTakeoff);
}
void FGLGear::CrashDetect(void)
{
if ( (compressLength > 500.0 ||
- vForce.Magnitude() > 100000000.0 ||
- vMoment.Magnitude() > 5000000000.0 ||
+ vFn.Magnitude() > 100000000.0 ||
+ GetMoments().Magnitude() > 5000000000.0 ||
SinkRate > 1.4666*30 ) && !State->IntegrationSuspended())
{
PutMessage("Crash Detected: Simulation FREEZE.");
switch (eContactType) {
case ctBOGEY:
// Project back the strut force in the local coordinate frame of the ground
- vLocalForce(eZ) = StrutForce / vGroundNormal(eZ);
+ vFn(eX) = StrutForce / (mTGear.Transposed()*vGroundNormal)(eZ);
break;
case ctSTRUCTURE:
- vLocalForce(eZ) = -StrutForce;
+ vFn(eX) = -StrutForce;
break;
}
base_property_name = CreateIndexedPropertyName("gear/unit", GearNumber);
if (eContactType == ctBOGEY) {
property_name = base_property_name + "/slip-angle-deg";
- Exec->GetPropertyManager()->Tie( property_name.c_str(), &WheelSlip );
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), &WheelSlip );
property_name = base_property_name + "/WOW";
- Exec->GetPropertyManager()->Tie( property_name.c_str(), &WOW );
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), &WOW );
property_name = base_property_name + "/wheel-speed-fps";
- Exec->GetPropertyManager()->Tie( property_name.c_str(), (FGLGear*)this,
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), (FGLGear*)this,
&FGLGear::GetWheelRollVel);
property_name = base_property_name + "/z-position";
- Exec->GetPropertyManager()->Tie( property_name.c_str(), (FGLGear*)this,
- &FGLGear::GetZPosition, &FGLGear::SetZPosition);
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), (FGForce*)this,
+ &FGForce::GetLocationZ, &FGForce::SetLocationZ);
property_name = base_property_name + "/compression-ft";
- Exec->GetPropertyManager()->Tie( property_name.c_str(), &compressLength );
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), &compressLength );
property_name = base_property_name + "/side_friction_coeff";
- Exec->GetPropertyManager()->Tie( property_name.c_str(), &FCoeff );
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), &FCoeff );
property_name = base_property_name + "/static_friction_coeff";
- Exec->GetPropertyManager()->Tie( property_name.c_str(), &staticFCoeff );
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), &staticFCoeff );
+ if (eSteerType == stCaster) {
+ property_name = base_property_name + "/steering-angle-rad";
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), &SteerAngle );
+ }
}
if( isRetractable ) {
property_name = base_property_name + "/pos-norm";
- Exec->GetPropertyManager()->Tie( property_name.c_str(), &GearPos );
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), &GearPos );
}
-
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
switch(repType) {
case erLand:
cout << endl << "Touchdown report for " << name << " (WOW at time: "
- << Exec->GetState()->Getsim_time() << " seconds)" << endl;
+ << fdmex->GetState()->Getsim_time() << " seconds)" << endl;
cout << " Sink rate at contact: " << SinkRate << " fps, "
<< SinkRate*0.3048 << " mps" << endl;
cout << " Contact ground speed: " << GroundSpeed*.5925 << " knots, "
break;
case erTakeoff:
cout << endl << "Takeoff report for " << name << " (Liftoff at time: "
- << Exec->GetState()->Getsim_time() << " seconds)" << endl;
+ << fdmex->GetState()->Getsim_time() << " seconds)" << endl;
cout << " Distance traveled: " << TakeoffDistanceTraveled
<< " ft, " << TakeoffDistanceTraveled*0.3048 << " meters" << endl;
cout << " Distance traveled (over 50'): " << TakeoffDistanceTraveled50ft
<< " ft, " << TakeoffDistanceTraveled50ft*0.3048 << " meters" << endl;
- cout << " [Altitude (ASL): " << Exec->GetPropagate()->GetAltitudeASL() << " ft. / "
- << Exec->GetPropagate()->GetAltitudeASLmeters() << " m | Temperature: "
- << Exec->GetAtmosphere()->GetTemperature() - 459.67 << " F / "
- << RankineToCelsius(Exec->GetAtmosphere()->GetTemperature()) << " C]" << endl;
- cout << " [Velocity (KCAS): " << Exec->GetAuxiliary()->GetVcalibratedKTS() << "]" << endl;
+ cout << " [Altitude (ASL): " << fdmex->GetPropagate()->GetAltitudeASL() << " ft. / "
+ << fdmex->GetPropagate()->GetAltitudeASLmeters() << " m | Temperature: "
+ << fdmex->GetAtmosphere()->GetTemperature() - 459.67 << " F / "
+ << RankineToCelsius(fdmex->GetAtmosphere()->GetTemperature()) << " C]" << endl;
+ cout << " [Velocity (KCAS): " << fdmex->GetAuxiliary()->GetVcalibratedKTS() << "]" << endl;
TakeoffReported = true;
break;
+ case erNone:
+ break;
}
}
if (debug_lvl & 1) { // Standard console startup message output
if (from == 0) { // Constructor - loading and initialization
cout << " " << sContactType << " " << name << endl;
- cout << " Location: " << vXYZ << endl;
+ cout << " Location: " << vXYZn << endl;
cout << " Spring Constant: " << kSpring << endl;
if (eDampType == dtLinear)
projects / flightgear.git / blobdiff