Author: Jon S. Berndt
Date started: 11/18/99
- ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
+ ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU Lesser General Public License as published by the Free Software
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#include <FGJSBBase.h>
-#include <FGFDMExec.h>
-#include <input_output/FGXMLElement.h>
-#include <math/FGColumnVector3.h>
-#include <math/FGTable.h>
#include <string>
+#include "models/propulsion/FGForce.h"
+#include "math/FGColumnVector3.h"
+#include "math/LagrangeMultiplier.h"
+
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#define ID_LGEAR "$Id$"
+#define ID_LGEAR "$Id: FGLGear.h,v 1.54 2012/04/01 17:05:51 bcoconni Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
namespace JSBSim {
-class FGAircraft;
-class FGPropagate;
-class FGFCS;
-class FGState;
-class FGMassBalance;
-class FGAuxiliary;
+class FGTable;
+class Element;
+class FGPropertyManager;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
<h3>Operational Properties</h3>
<ol>
<li>Name</li>
- <li>Steerability attribute {one of STEERABLE | FIXED | CASTERED}</li>
<li>Brake Group Membership {one of LEFT | CENTER | RIGHT | NOSE | TAIL | NONE}</li>
<li>Max Steer Angle, in degrees</li>
</ol></p>
<y> {number} </y>
<z> {number} </z>
</location>
+ <orientation unit="{RAD | DEG}">
+ <pitch> {number} </pitch>
+ <roll> {number} </roll>
+ <yaw> {number} </yaw>
+ </orientation>
<static_friction> {number} </static_friction>
<dynamic_friction> {number} </dynamic_friction>
<rolling_friction> {number} </rolling_friction>
<spring_coeff unit="{LBS/FT | N/M}"> {number} </spring_coeff>
- <damping_coeff unit="{LBS/FT/SEC | N/M/SEC}"> {number} </damping_coeff>
- <damping_coeff_rebound unit="{LBS/FT/SEC | N/M/SEC}"> {number} </damping_coeff_rebound>
+ <damping_coeff [type="SQUARE"] unit="{LBS/FT/SEC | N/M/SEC}"> {number} </damping_coeff>
+ <damping_coeff_rebound [type="SQUARE"] unit="{LBS/FT/SEC | N/M/SEC}"> {number} </damping_coeff_rebound>
<max_steer unit="DEG"> {number | 0 | 360} </max_steer>
<brake_group> {NONE | LEFT | RIGHT | CENTER | NOSE | TAIL} </brake_group>
<retractable>{0 | 1}</retractable>
<table type="{CORNERING_COEFF}">
</table>
- <relaxation_velocity>
- <rolling unit="{FT/SEC | KTS | M/S}"> {number} </rolling>
- <side unit="{FT/SEC | KTS | M/S}"> {number} </side>
- </relaxation_velocity>
- <force_lag_filter>
- <rolling> {number} </rolling>
- <side> {number} </side>
- </force_lag_filter>
- <wheel_slip_filter> {number} </wheel_slip_filter>
</contact>
@endcode
@author Jon S. Berndt
- @version $Id$
+ @version $Id: FGLGear.h,v 1.54 2012/04/01 17:05:51 bcoconni Exp $
@see Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
NASA-Ames", NASA CR-2497, January 1975
@see Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGLGear : public FGJSBBase
+class FGLGear : public FGForce
{
public:
+ struct Inputs {
+ double Vground;
+ double VcalibratedKts;
+ double Temperature;
+ double DistanceAGL;
+ double DistanceASL;
+ double TotalDeltaT;
+ bool TakeoffThrottle;
+ bool WOW;
+ FGMatrix33 Tb2l;
+ FGMatrix33 Tec2l;
+ FGMatrix33 Tec2b;
+ FGColumnVector3 PQR;
+ FGColumnVector3 UVW;
+ FGColumnVector3 vXYZcg; // CG coordinates expressed in the structural frame
+ FGLocation Location;
+ std::vector <double> SteerPosDeg;
+ std::vector <double> BrakePos;
+ double FCSGearPos;
+ double EmptyWeight;
+ };
+
/// Brake grouping enumerators
- enum BrakeGroup {bgNone=0, bgLeft, bgRight, bgCenter, bgNose, bgTail };
+ enum BrakeGroup {bgNone=0, bgLeft, bgRight, bgCenter, bgNose, bgTail, bgNumBrakeGroups };
/// Steering group membership enumerators
enum SteerType {stSteer, stFixed, stCaster};
/// Contact point type
- enum ContactType {ctBOGEY, ctSTRUCTURE, ctUNKNOWN};
+ enum ContactType {ctBOGEY, ctSTRUCTURE};
/// Report type enumerators
enum ReportType {erNone=0, erTakeoff, erLand};
/// Damping types
enum DampType {dtLinear=0, dtSquare};
+ /// Friction types
+ enum FrictionType {ftRoll=0, ftSide, ftDynamic};
/** Constructor
@param el a pointer to the XML element that contains the CONTACT info.
@param Executive a pointer to the parent executive object
@param number integer identifier for this instance of FGLGear
*/
- FGLGear(Element* el, FGFDMExec* Executive, int number);
+ FGLGear(Element* el, FGFDMExec* Executive, int number, const struct Inputs& input);
/// Destructor
~FGLGear();
/// The Force vector for this gear
- FGColumnVector3& Force(void);
- /// The Moment vector for this gear
- FGColumnVector3& Moment(void) {return vMoment;}
+ const FGColumnVector3& GetBodyForces(void);
/// Gets the location of the gear in Body axes
- FGColumnVector3& GetBodyLocation(void) { return vWhlBodyVec; }
- double GetBodyLocation(int idx) const { return vWhlBodyVec(idx); }
-
- FGColumnVector3& GetLocalGear(void) { return vLocalGear; }
+ FGColumnVector3 GetBodyLocation(void) const {
+ return Ts2b * (vXYZn - in.vXYZcg);
+ }
+ double GetBodyLocation(int idx) const {
+ FGColumnVector3 vWhlBodyVec = Ts2b * (vXYZn - in.vXYZcg);
+ return vWhlBodyVec(idx);
+ }
+
+ const FGColumnVector3& GetLocalGear(void) const { return vLocalGear; }
double GetLocalGear(int idx) const { return vLocalGear(idx); }
/// Gets the name of the gear
- inline string GetName(void) const {return name; }
+ const string& GetName(void) const {return name; }
/// Gets the Weight On Wheels flag value
- inline bool GetWOW(void) const {return WOW; }
+ bool GetWOW(void) const {return WOW; }
/// Gets the current compressed length of the gear in feet
- inline double GetCompLen(void) const {return compressLength;}
+ double GetCompLen(void) const {return compressLength;}
/// Gets the current gear compression velocity in ft/sec
- inline double GetCompVel(void) const {return compressSpeed; }
+ double GetCompVel(void) const {return compressSpeed; }
/// Gets the gear compression force in pounds
- inline double GetCompForce(void) const {return vForce(eZ); }
- inline double GetBrakeFCoeff(void) const {return BrakeFCoeff;}
-
- /// Gets the current normalized tire pressure
- inline double GetTirePressure(void) const { 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;}
+ double GetCompForce(void) const {return StrutForce; }
/// Sets the weight-on-wheels flag.
void SetWOW(bool wow) {WOW = wow;}
/** Set the console touchdown reporting feature
@param flag true turns on touchdown reporting, false turns it off */
- inline void SetReport(bool flag) { ReportEnable = flag; }
+ void SetReport(bool flag) { ReportEnable = flag; }
/** Get the console touchdown reporting feature
@return true if reporting is turned on */
- inline bool GetReport(void) const { return ReportEnable; }
- double GetSteerNorm(void) const { return radtodeg/maxSteerAngle*SteerAngle; }
+ bool GetReport(void) const { return ReportEnable; }
+ double GetSteerNorm(void) const { return radtodeg/maxSteerAngle*SteerAngle; }
double GetDefaultSteerAngle(double cmd) const { return cmd*maxSteerAngle; }
double GetstaticFCoeff(void) const { return staticFCoeff; }
- inline int GetBrakeGroup(void) const { return (int)eBrakeGrp; }
- inline int GetSteerType(void) const { return (int)eSteerType; }
-
- inline double GetZPosition(void) const { return vXYZ(3); }
- inline void SetZPosition(double z) { vXYZ(3) = z; }
-
- 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 GetWheelSideVel(void) const { return SideWhlVel; }
- inline double GetWheelRollVel(void) const { return RollingWhlVel; }
- 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);}
- bool IsBogey(void) const { return (eContactType == ctBOGEY);}
- double GetGearUnitPos(void);
+ int GetBrakeGroup(void) const { return (int)eBrakeGrp; }
+ int GetSteerType(void) const { return (int)eSteerType; }
+
+ bool GetSteerable(void) const { return eSteerType != stFixed; }
+ bool GetRetractable(void) const { return isRetractable; }
+ bool GetGearUnitUp(void) const { return isRetractable ? (GetGearUnitPos() < 0.01) : false; }
+ bool GetGearUnitDown(void) const { return isRetractable ? (GetGearUnitPos() > 0.99) : true; }
+
+ double GetWheelRollForce(void) {
+ UpdateForces();
+ FGColumnVector3 vForce = mTGear.Transposed() * FGForce::GetBodyForces();
+ return vForce(eX)*cos(SteerAngle) + vForce(eY)*sin(SteerAngle); }
+ double GetWheelSideForce(void) {
+ UpdateForces();
+ FGColumnVector3 vForce = mTGear.Transposed() * FGForce::GetBodyForces();
+ return vForce(eY)*cos(SteerAngle) - vForce(eX)*sin(SteerAngle); }
+ double GetWheelRollVel(void) const { return vWhlVelVec(eX)*cos(SteerAngle)
+ + vWhlVelVec(eY)*sin(SteerAngle); }
+ double GetWheelSideVel(void) const { return vWhlVelVec(eY)*cos(SteerAngle)
+ - vWhlVelVec(eX)*sin(SteerAngle); }
+ double GetWheelSlipAngle(void) const { return WheelSlip; }
+ double GetWheelVel(int axis) const { return vWhlVelVec(axis);}
+ bool IsBogey(void) const { return (eContactType == ctBOGEY);}
+ double GetGearUnitPos(void) const;
+ double GetSteerAngleDeg(void) const { return radtodeg*SteerAngle; }
+
+ const struct Inputs& in;
void bind(void);
private:
int GearNumber;
- FGColumnVector3 vXYZ;
- FGColumnVector3 vMoment;
- FGColumnVector3 vWhlBodyVec;
+ static const FGMatrix33 Tb2s, Ts2b;
+ FGMatrix33 mTGear;
FGColumnVector3 vLocalGear;
- FGColumnVector3 vForce;
- FGColumnVector3 last_vForce; // remove this
- FGColumnVector3 vLocalForce;
- FGColumnVector3 vWhlVelVec; // Velocity of this wheel (Local)
- FGColumnVector3 normal, cvel;
- FGLocation contact, gearLoc;
+ FGColumnVector3 vWhlVelVec, vGroundWhlVel; // Velocity of this wheel
+ FGColumnVector3 vGroundNormal;
FGTable *ForceY_Table;
- double dT;
double SteerAngle;
double kSpring;
double bDamp;
double compressSpeed;
double staticFCoeff, dynamicFCoeff, rollingFCoeff;
double Stiffness, Shape, Peak, Curvature; // Pacejka factors
- double brakePct;
double BrakeFCoeff;
double maxCompLen;
double SinkRate;
double TakeoffDistanceTraveled;
double TakeoffDistanceTraveled50ft;
double LandingDistanceTraveled;
- double MaximumStrutForce;
+ double MaximumStrutForce, StrutForce;
double MaximumStrutTravel;
- double SideWhlVel, RollingWhlVel;
- double RollingForce, SideForce, FCoeff;
+ double FCoeff;
double WheelSlip;
- double TirePressureNorm;
- double SinWheel, CosWheel;
double GearPos;
- bool useFCSGearPos;
bool WOW;
bool lastWOW;
bool FirstContact;
bool TakeoffReported;
bool ReportEnable;
bool isRetractable;
- bool GearUp, GearDown;
- bool Servicable;
- string name;
- string sSteerType;
- string sBrakeGroup;
- string sRetractable;
- string sContactType;
+ bool Castered;
+ bool StaticFriction;
+ std::string name;
BrakeGroup eBrakeGrp;
ContactType eContactType;
DampType eDampType;
DampType eDampTypeRebound;
double maxSteerAngle;
- double RFRV; // Rolling force relaxation velocity
- double SFRV; // Side force relaxation velocity
- double LongForceLagFilterCoeff; // Longitudinal Force Lag Filter Coefficient
- double LatForceLagFilterCoeff; // Lateral Force Lag Filter Coefficient
- double WheelSlipLagFilterCoeff; // Wheel slip angle lag filter coefficient
-
- Filter LongForceFilter;
- Filter LatForceFilter;
- Filter WheelSlipFilter;
-
- FGFDMExec* Exec;
- FGState* State;
- FGAircraft* Aircraft;
- FGPropagate* Propagate;
- FGAuxiliary* Auxiliary;
- FGFCS* FCS;
- FGMassBalance* MassBalance;
-
- void ComputeRetractionState(void);
+
+ LagrangeMultiplier LMultiplier[3];
+
+ FGGroundReactions* GroundReactions;
+ FGPropertyManager* PropertyManager;
+
+ mutable bool useFCSGearPos;
+
void ComputeBrakeForceCoefficient(void);
void ComputeSteeringAngle(void);
void ComputeSlipAngle(void);
void ComputeSideForceCoefficient(void);
void ComputeVerticalStrutForce(void);
+ void ComputeGroundFrame(void);
+ void ComputeJacobian(const FGColumnVector3& vWhlContactVec);
+ void UpdateForces(void);
void CrashDetect(void);
void InitializeReporting(void);
void ResetReporting(void);
void Debug(int from);
};
}
-#include "FGAircraft.h"
-#include "FGPropagate.h"
-#include "FGAuxiliary.h"
-#include "FGFCS.h"
-#include "FGMassBalance.h"
-#include "FGState.h"
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
projects / flightgear.git / blobdiff