01/10/11 T.Kreitler changed to single rotor model
03/06/11 T.Kreitler added brake, clutch, and experimental free-wheeling-unit,
reasonable estimate for inflowlag
+02/05/12 T.Kreitler brake, clutch, and FWU now in FGTransmission,
+ downwash angles relate to shaft orientation
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#include <iostream>
#include <sstream>
#include "FGRotor.h"
-#include "input_output/FGXMLElement.h"
#include "models/FGMassBalance.h"
+#include "models/FGPropulsion.h" // to get the GearRatio from a linked rotor
using std::cerr;
+using std::cout;
using std::endl;
using std::ostringstream;
-using std::cout;
namespace JSBSim {
-static const char *IdSrc = "$Id: FGRotor.cpp,v 1.17 2011/09/24 14:26:46 jentron Exp $";
+static const char *IdSrc = "$Id: FGRotor.cpp,v 1.20 2012/03/18 15:48:36 jentron Exp $";
static const char *IdHdr = ID_ROTOR;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
// Constructor
FGRotor::FGRotor(FGFDMExec *exec, Element* rotor_element, int num)
rho(0.002356), // environment
Radius(0.0), BladeNum(0), // configuration parameters
Sense(1.0), NominalRPM(0.0), MinimalRPM(0.0), MaximalRPM(0.0),
- ExternalRPM(0), RPMdefinition(0), ExtRPMsource(NULL),
+ ExternalRPM(0), RPMdefinition(0), ExtRPMsource(NULL), SourceGearRatio(1.0),
BladeChord(0.0), LiftCurveSlope(0.0), BladeTwist(0.0), HingeOffset(0.0),
BladeFlappingMoment(0.0), BladeMassMoment(0.0), PolarMoment(0.0),
InflowLag(0.0), TipLossB(0.0),
- GroundEffectExp(0.0), GroundEffectShift(0.0),
+ GroundEffectExp(0.0), GroundEffectShift(0.0), GroundEffectScaleNorm(1.0),
LockNumberByRho(0.0), Solidity(0.0), // derived parameters
RPM(0.0), Omega(0.0), // dynamic values
beta_orient(0.0),
theta_downwash(0.0), phi_downwash(0.0),
ControlMap(eMainCtrl), // control
CollectiveCtrl(0.0), LateralCtrl(0.0), LongitudinalCtrl(0.0),
- BrakeCtrlNorm(0.0), MaxBrakePower(0.0),
- FreeWheelPresent(0), FreeWheelThresh(0.0), // free-wheeling-unit (FWU)
- FreeWheelTransmission(0.0)
+ Transmission(NULL), // interaction with engine
+ EngineRPM(0.0), MaxBrakePower(0.0), GearLoss(0.0), GearMoment(0.0)
{
FGColumnVector3 location(0.0, 0.0, 0.0), orientation(0.0, 0.0, 0.0);
Element *thruster_element;
+ double engine_power_est = 0.0;
// initialise/set remaining variables
SetTransformType(FGForce::tCustom);
SetLocation(location);
SetAnglesToBody(orientation);
- InvTransform = Transform().Transposed();
+ InvTransform = Transform().Transposed(); // body to custom/native
// wire controls
ControlMap = eMainCtrl;
// ExternalRPM -- is the RPM dictated ?
if (rotor_element->FindElement("ExternalRPM")) {
ExternalRPM = 1;
+ SourceGearRatio = 1.0;
RPMdefinition = (int) rotor_element->FindElementValueAsNumber("ExternalRPM");
+ int rdef = RPMdefinition;
+ if (RPMdefinition>=0) {
+ // avoid ourself and (still) unknown engines.
+ if (!exec->GetPropulsion()->GetEngine(RPMdefinition) || RPMdefinition==num) {
+ RPMdefinition = -1;
+ } else {
+ FGThruster *tr = exec->GetPropulsion()->GetEngine(RPMdefinition)->GetThruster();
+ SourceGearRatio = tr->GetGearRatio();
+ // cout << "# got sources' GearRatio: " << SourceGearRatio << endl;
+ }
+ }
+ if (RPMdefinition != rdef) {
+ cerr << "# discarded given RPM source (" << rdef << ") and switched to external control (-1)." << endl;
+ }
}
- // configure the rotor parameters
- Configure(rotor_element);
+ // process rotor parameters
+ engine_power_est = Configure(rotor_element);
+
+ // setup transmission if needed
+ if (!ExternalRPM) {
+
+ Transmission = new FGTransmission(exec, num, dt);
+
+ Transmission->SetThrusterMoment(PolarMoment);
+
+ // The MOI sensed behind the gear ( MOI_engine*sqr(GearRatio) ).
+ GearMoment = ConfigValueConv(rotor_element, "gearmoment", 0.1*PolarMoment, "SLUG*FT2");
+ GearMoment = Constrain(1e-6, GearMoment, 1e9);
+ Transmission->SetEngineMoment(GearMoment);
+
+ Transmission->SetMaxBrakePower(MaxBrakePower);
+
+ GearLoss = ConfigValueConv(rotor_element, "gearloss", 0.0025 * engine_power_est, "HP");
+ GearLoss = Constrain(0.0, GearLoss, 1e9);
+ GearLoss *= hptoftlbssec;
+ Transmission->SetEngineFriction(GearLoss);
+
+ }
- // shaft representation - a rather simple transform,
+ // shaft representation - a rather simple transform,
// but using a matrix is safer.
TboToHsr.InitMatrix( 0.0, 0.0, 1.0,
0.0, 1.0, 0.0,
// calculation would cause jumps too. 1Hz seems sufficient.
damp_hagl = Filter(1.0, dt);
- // avoid too abrupt changes in power transmission
- FreeWheelLag = Filter(200.0,dt);
-
// enable import-export
BindModel();
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FGRotor::~FGRotor(){
+ if (Transmission) delete Transmission;
Debug(1);
}
-
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// 5in1: value-fetch-convert-default-return function
+// 5in1: value-fetch-convert-default-return function
-double FGRotor::ConfigValueConv( Element* el, const string& ename, double default_val,
+double FGRotor::ConfigValueConv( Element* el, const string& ename, double default_val,
const string& unit, bool tell)
{
// 1. read configuration and try to fill holes, ymmv
// 2. calculate derived parameters
-void FGRotor::Configure(Element* rotor_element)
+double FGRotor::Configure(Element* rotor_element)
{
- double estimate;
+ double estimate, engine_power_est=0.0;
const bool yell = true;
const bool silent = false;
- Radius = 0.5 * ConfigValueConv(rotor_element, "diameter", 42.0, "FT", yell);
+ Radius = 0.5 * ConfigValueConv(rotor_element, "diameter", 42.0, "FT", yell);
Radius = Constrain(1e-3, Radius, 1e9);
BladeNum = (int) ConfigValue(rotor_element, "numblades", 3 , yell);
GearRatio = ConfigValue(rotor_element, "gearratio", 1.0, yell);
+ GearRatio = Constrain(1e-9, GearRatio, 1e9);
// make sure that v_tip (omega*r) is below 0.7mach ~ 750ft/s
estimate = (750.0/Radius)/(2.0*M_PI) * 60.0; // 7160/Radius
estimate = sqr(BladeChord) * sqr(Radius - HingeOffset) * 0.57;
BladeFlappingMoment = ConfigValueConv(rotor_element, "flappingmoment", estimate, "SLUG*FT2");
- BladeFlappingMoment = Constrain(1.0e-6, BladeFlappingMoment, 1e9);
+ BladeFlappingMoment = Constrain(1e-9, BladeFlappingMoment, 1e9);
// guess mass from moment of a thin stick, and multiply by the blades cg distance
estimate = ( 3.0 * BladeFlappingMoment / sqr(Radius) ) * (0.45 * Radius) ;
BladeMassMoment = ConfigValue(rotor_element, "massmoment", estimate); // unit is slug-ft
- BladeMassMoment = Constrain(0.001, BladeMassMoment, 1e9);
+ BladeMassMoment = Constrain(1e-9, BladeMassMoment, 1e9);
estimate = 1.1 * BladeFlappingMoment * BladeNum;
PolarMoment = ConfigValueConv(rotor_element, "polarmoment", estimate, "SLUG*FT2");
- PolarMoment = Constrain(1e-6, PolarMoment, 1e9);
+ PolarMoment = Constrain(1e-9, PolarMoment, 1e9);
// "inflowlag" is treated further down.
TipLossB = ConfigValue(rotor_element, "tiplossfactor", 1.0, silent);
- estimate = 0.01 * PolarMoment ; // guesses for huey, bo105 20-30hp
+ // estimate engine power (bit of a pity, cause our caller already knows)
+ engine_power_est = 0.5 * BladeNum*BladeChord*Radius*Radius;
+
+ estimate = engine_power_est / 30.0;
MaxBrakePower = ConfigValueConv(rotor_element, "maxbrakepower", estimate, "HP");
MaxBrakePower *= hptoftlbssec;
- // ground effect
- if (rotor_element->FindElement("cgroundeffect")) {
- double cge,gee;
- cge = rotor_element->FindElementValueAsNumber("cgroundeffect");
- cge = Constrain(1e-9, cge, 1.0);
- gee = 1.0 / ( 2.0*Radius * cge );
- cerr << "# *** 'cgroundeffect' is defunct." << endl;
- cerr << "# *** use 'groundeffectexp' with: " << gee << endl;
- }
-
GroundEffectExp = ConfigValue(rotor_element, "groundeffectexp", 0.0);
GroundEffectShift = ConfigValueConv(rotor_element, "groundeffectshift", 0.0, "FT");
- // handle optional free-wheeling-unit (FWU)
- FreeWheelPresent = 0;
- FreeWheelTransmission = 1.0;
- if (rotor_element->FindElement("freewheelthresh")) {
- FreeWheelThresh = rotor_element->FindElementValueAsNumber("freewheelthresh");
- if (FreeWheelThresh > 1.0) {
- FreeWheelPresent = 1;
- FreeWheelTransmission = 0.0;
- }
- }
-
// precalc often used powers
R[0]=1.0; R[1]=Radius; R[2]=R[1]*R[1]; R[3]=R[2]*R[1]; R[4]=R[3]*R[1];
B[0]=1.0; B[1]=TipLossB; B[2]=B[1]*B[1]; B[3]=B[2]*B[1]; B[4]=B[3]*B[1];
estimate = 16.0/(LockNumberByRho*rho * omega_tmp ); // 16/(gamma*Omega)
// printf("# Est. InflowLag: %f\n", estimate);
InflowLag = ConfigValue(rotor_element, "inflowlag", estimate, yell);
- InflowLag = Constrain(1.0e-6, InflowLag, 2.0);
+ InflowLag = Constrain(1e-6, InflowLag, 2.0);
- return;
+ return engine_power_est;
} // Configure
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FGColumnVector3 FGRotor::fus_angvel_body2ca( const FGColumnVector3 &pqr)
{
- FGColumnVector3 av_s_fus, av_w_fus;
+ FGColumnVector3 av_s_fus, av_w_fus;
// for comparison:
- // av_s_fus = BodyToShaft * pqr; /SH79/
+ // av_s_fus = BodyToShaft * pqr; /SH79/
// BodyToShaft = TboToHsr * InvTransform
av_s_fus = TboToHsr * InvTransform * pqr;
// reduction of inflow if the helicopter is close to the ground, yielding to
// higher thrust, see /TA77/ eqn(10a).
-void FGRotor::calc_flow_and_thrust( double theta_0, double Uw, double Ww,
+void FGRotor::calc_flow_and_thrust( double theta_0, double Uw, double Ww,
double flow_scale)
{
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// The coning angle doesn't apply for teetering rotors, but calculating
-// doesn't hurt. /SH79/ eqn(29)
+// Two blade teetering rotors are often 'preconed' to a fixed angle, but the
+// calculated value is pretty close to the real one. /SH79/ eqn(29)
void FGRotor::calc_coning_angle(double theta_0)
{
// estimate blade drag
double delta_dr = 0.009 + 0.3*sqr(6.0*C_T/(LiftCurveSlope*Solidity));
- Torque = rho * BladeNum * BladeChord * delta_dr * sqr(Omega*Radius) * R[2] *
+ Torque = rho * BladeNum * BladeChord * delta_dr * sqr(Omega*Radius) * R[2] *
(1.0+4.5*sqr(mu))/8.0
- (Thrust*lambda + H_drag*mu)*Radius;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// Get the downwash angles with respect to the shaft axis.
+// Given a 'regular' main rotor, the angles are zero when the downwash points
+// down, positive theta values mean that the downwash turns towards the nose,
+// and positive phi values mean it turns to the left side. (Note: only airspeed
+// is transformed, the rotational speed contribution is ignored.)
+
+void FGRotor::calc_downwash_angles()
+{
+ FGColumnVector3 v_shaft;
+ v_shaft = TboToHsr * InvTransform * in.AeroUVW;
+
+ theta_downwash = atan2( -v_shaft(eU), v_induced - v_shaft(eW)) + a1s;
+ phi_downwash = atan2( v_shaft(eV), v_induced - v_shaft(eW)) + b1s;
+
+ return;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
// transform rotor forces from control axes to shaft axes, and express
// in body axes /SH79/ eqn(40,41)
FGColumnVector3 F_s(
- H_drag*cos(beta_orient) - J_side*sin(beta_orient) + Thrust*b_ic,
- H_drag*sin(beta_orient) + J_side*cos(beta_orient) + Thrust*a_ic,
- - Thrust);
+ - Thrust);
return HsrToTbo * F_s;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGRotor::CalcStatePart1(void)
+void FGRotor::CalcRotorState(void)
{
double A_IC; // lateral (roll) control in radians
double B_IC; // longitudinal (pitch) control in radians
// fetch needed values from environment
rho = in.Density; // slugs/ft^3.
double h_agl_ft = in.H_agl;
+
// update InvTransform, the rotor orientation could have been altered
InvTransform = Transform().Transposed();
// handle RPM requirements, calc omega.
if (ExternalRPM && ExtRPMsource) {
- RPM = ExtRPMsource->getDoubleValue() / GearRatio;
+ RPM = ExtRPMsource->getDoubleValue() * ( SourceGearRatio / GearRatio );
}
// MinimalRPM is always >= 1. MaximalRPM is always >= NominalRPM
B_IC = LongitudinalCtrl;
theta_col = CollectiveCtrl;
- // ground effect
+ // optional ground effect, a ge_factor of 1.0 gives no effect
+ // and 0.5 yields to maximal influence.
if (GroundEffectExp > 1e-5) {
if (h_agl_ft<0.0) h_agl_ft = 0.0; // clamp
filtered_hagl = damp_hagl.execute(h_agl_ft) + GroundEffectShift;
// actual/nominal factor avoids absurd scales at startup
- ge_factor -= exp(-filtered_hagl*GroundEffectExp) * (RPM / NominalRPM);
- if (ge_factor<0.5) ge_factor=0.5; // clamp
+ ge_factor -= GroundEffectScaleNorm *
+ ( exp(-filtered_hagl*GroundEffectExp) * (RPM / NominalRPM) );
+ ge_factor = Constrain(0.5, ge_factor, 1.0);
}
- // all set, start calculations
+ // all set, start calculations ...
vHub_ca = hub_vel_body2ca(in.AeroUVW, in.AeroPQR, A_IC, B_IC);
calc_torque(theta_col);
- // Fixme: only valid for a 'decent' rotor
- theta_downwash = atan2( -in.AeroUVW(eU), v_induced - in.AeroUVW(eW));
- phi_downwash = atan2( in.AeroUVW(eV), v_induced - in.AeroUVW(eW));
+ calc_downwash_angles();
+ // ... and assign to inherited vFn and vMn members
+ // (for processing see FGForce::GetBodyForces).
vFn = body_forces(A_IC, B_IC);
- vMn = Transform() * body_moments(A_IC, B_IC);
-
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGRotor::CalcStatePart2(double PowerAvailable)
-{
- if (! ExternalRPM) {
- // calculate new RPM
- double ExcessTorque = PowerAvailable / Omega;
- double deltaOmega = ExcessTorque / PolarMoment * in.TotalDeltaT;
- RPM += deltaOmega/(2.0*M_PI) * 60.0;
- }
- RPM = Constrain(MinimalRPM, RPM, MaximalRPM); // trim again
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-// Simulation of a free-wheeling-unit (FWU). Might need improvements.
-
-void FGRotor::calc_freewheel_state(double p_source, double p_load) {
+ vMn = Transform() * body_moments(A_IC, B_IC);
- // engine is off/detached, release.
- if (p_source<1e-3) {
- FreeWheelTransmission = 0.0;
- return;
- }
-
- // engine is driving the rotor, engage.
- if (p_source >= p_load) {
- FreeWheelTransmission = 1.0;
- return;
- }
-
- // releases if engine is detached, but stays calm if
- // the load changes due to rotor dynamics.
- if (p_source > 0.0 && p_load/(p_source+0.1) > FreeWheelThresh ) {
- FreeWheelTransmission = 0.0;
- return;
- }
-
- return;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
double FGRotor::Calculate(double EnginePower)
{
- double FWmult = 1.0;
- double DeltaPower;
- CalcStatePart1();
+ CalcRotorState();
- PowerRequired = Torque * Omega + BrakeCtrlNorm * MaxBrakePower;
+ if (! ExternalRPM) {
+ // the RPM values are handled inside Transmission
+ Transmission->Calculate(EnginePower, Torque, in.TotalDeltaT);
- if (FreeWheelPresent) {
- calc_freewheel_state(EnginePower * ClutchCtrlNorm, PowerRequired);
- FWmult = FreeWheelLag.execute(FreeWheelTransmission);
+ EngineRPM = Transmission->GetEngineRPM() * GearRatio;
+ RPM = Transmission->GetThrusterRPM();
+ } else {
+ EngineRPM = RPM * GearRatio;
}
- DeltaPower = EnginePower * ClutchCtrlNorm * FWmult - PowerRequired;
-
- CalcStatePart2(DeltaPower);
+ RPM = Constrain(MinimalRPM, RPM, MaximalRPM); // trim again
return Thrust;
}
property_name = base_property_name + "/engine-rpm";
PropertyManager->Tie( property_name.c_str(), this, &FGRotor::GetEngineRPM );
- property_name = base_property_name + "/rotor-thrust-lbs"; // might be redundant - check!
- PropertyManager->Tie( property_name.c_str(), this, &FGRotor::GetThrust );
-
property_name = base_property_name + "/a0-rad";
PropertyManager->Tie( property_name.c_str(), this, &FGRotor::GetA0 );
property_name = base_property_name + "/phi-downwash-rad";
PropertyManager->Tie( property_name.c_str(), this, &FGRotor::GetPhiDW );
+ property_name = base_property_name + "/groundeffect-scale-norm";
+ PropertyManager->Tie( property_name.c_str(), this, &FGRotor::GetGroundEffectScaleNorm,
+ &FGRotor::SetGroundEffectScaleNorm );
+
switch (ControlMap) {
case eTailCtrl:
property_name = base_property_name + "/antitorque-ctrl-rad";
PropertyManager->Tie( property_name.c_str(), this, &FGRotor::GetLongitudinalCtrl, &FGRotor::SetLongitudinalCtrl);
}
- property_name = base_property_name + "/brake-ctrl-norm";
- PropertyManager->Tie( property_name.c_str(), this, &FGRotor::GetBrakeCtrl, &FGRotor::SetBrakeCtrl);
- property_name = base_property_name + "/free-wheel-transmission";
- PropertyManager->Tie( property_name.c_str(), this, &FGRotor::GetFreeWheelTransmission);
-
if (ExternalRPM) {
if (RPMdefinition == -1) {
property_name = base_property_name + "/x-rpm-dict";
ExtRPMsource = PropertyManager->GetNode(property_name, true);
} else if (RPMdefinition >= 0 && RPMdefinition != EngineNum) {
string ipn = CreateIndexedPropertyName("propulsion/engine", RPMdefinition);
- property_name = ipn + "/engine-rpm";
+ property_name = ipn + "/rotor-rpm";
ExtRPMsource = PropertyManager->GetNode(property_name, false);
if (! ExtRPMsource) {
cerr << "# Warning: Engine number " << EngineNum << "." << endl;
- cerr << "# No 'engine-rpm' property found for engine " << RPMdefinition << "." << endl;
+ cerr << "# No 'rotor-rpm' property found for engine " << RPMdefinition << "." << endl;
cerr << "# Please check order of engine definitons." << endl;
}
} else {
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-string FGRotor::GetThrusterLabels(int id, string delimeter)
+string FGRotor::GetThrusterLabels(int id, const string& delimeter)
{
ostringstream buf;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-string FGRotor::GetThrusterValues(int id, string delimeter)
+string FGRotor::GetThrusterValues(int id, const string& delimeter)
{
ostringstream buf;
if (RPMdefinition == -1) {
cout << " RPM is controlled externally" << endl;
} else {
- cout << " RPM source set to engine " << RPMdefinition << endl;
+ cout << " RPM source set to thruster " << RPMdefinition << endl;
}
}
cout << " Lock Number = " << LockNumberByRho * 0.002356 << " (SL)" << endl;
cout << " Solidity = " << Solidity << endl;
cout << " Max Brake Power = " << MaxBrakePower/hptoftlbssec << " HP" << endl;
+ cout << " Gear Loss = " << GearLoss/hptoftlbssec << " HP" << endl;
+ cout << " Gear Moment = " << GearMoment << endl;
switch (ControlMap) {
case eTailCtrl: ControlMapName = "Tail Rotor"; break;
}
cout << " Control Mapping = " << ControlMapName << endl;
- if (FreeWheelPresent) {
- cout << " Free Wheel Threshold = " << FreeWheelThresh << endl;
- } else {
- cout << " No FWU present" << endl;
- }
-
}
}
if (debug_lvl & 2 ) { // Instantiation/Destruction notification
}
-} // namespace JSBSim
+} // namespace JSBSim
projects / flightgear.git / blobdiff