$Header$
$Log$
-Revision 1.11 1999/11/15 22:54:07 curt
-Updates from Tony, mostly to landing gear.
+Revision 1.1 2002/09/10 01:14:01 curt
+Initial revision
+
+Revision 1.20 2001/07/30 20:53:54 curt
+Various MSVC tweaks and warning fixes.
+
+Revision 1.19 2001/03/02 21:37:01 curt
+Added a first pass at a C++ sound manager class.
+
+Revision 1.18 2000/12/13 22:02:02 curt
+MacOS changes contributed by Darrell Walisser (12/13/2000)
+
+Revision 1.17 2000/09/14 15:36:25 curt
+Tweaks to ground steering sensitivity.
+
+Revision 1.16 2000/09/13 19:51:09 curt
+MacOS changes by Darrell Walisser.
+
+Revision 1.15 2000/06/12 18:52:37 curt
+Added differential braking (Alex and David).
+
+Revision 1.14 2000/04/10 18:09:41 curt
+David Megginson made a few (mostly minor) mods to the LaRCsim files, and
+it's now possible to choose the LaRCsim model at runtime, as in
+
+ fgfs --aircraft=c172
+
+or
+
+ fgfs --aircraft=uiuc --aircraft-dir=Aircraft-uiuc/Boeing747
+
+I did this so that I could play with the UIUC stuff without losing
+Tony's C172 with its flaps, etc. I did my best to respect the design
+of the LaRCsim code by staying in C, making only minimal changes, and
+not introducing any dependencies on the rest of FlightGear. The
+modified files are attached.
+
+Revision 1.13 1999/12/13 20:43:41 curt
+Updates from Tony.
----------------------------------------------------------------------------
#define HEIGHT_AGL_WHEEL d_wheel_rwy_local_v[2]
-sub3( DATA v1[], DATA v2[], DATA result[] )
+static void sub3( DATA v1[], DATA v2[], DATA result[] )
{
result[0] = v1[0] - v2[0];
result[1] = v1[1] - v2[1];
result[2] = v1[2] - v2[2];
}
-add3( DATA v1[], DATA v2[], DATA result[] )
+static void add3( DATA v1[], DATA v2[], DATA result[] )
{
result[0] = v1[0] + v2[0];
result[1] = v1[1] + v2[1];
result[2] = v1[2] + v2[2];
}
-cross3( DATA v1[], DATA v2[], DATA result[] )
+static void cross3( DATA v1[], DATA v2[], DATA result[] )
{
result[0] = v1[1]*v2[2] - v1[2]*v2[1];
result[1] = v1[2]*v2[0] - v1[0]*v2[2];
result[2] = v1[0]*v2[1] - v1[1]*v2[0];
}
-multtrans3x3by3( DATA m[][3], DATA v[], DATA result[] )
+static void multtrans3x3by3( DATA m[][3], DATA v[], DATA result[] )
{
result[0] = m[0][0]*v[0] + m[1][0]*v[1] + m[2][0]*v[2];
result[1] = m[0][1]*v[0] + m[1][1]*v[1] + m[2][1]*v[2];
result[2] = m[0][2]*v[0] + m[1][2]*v[1] + m[2][2]*v[2];
}
-mult3x3by3( DATA m[][3], DATA v[], DATA result[] )
+static void mult3x3by3( DATA m[][3], DATA v[], DATA result[] )
{
result[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2];
result[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2];
result[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2];
}
-clear3( DATA v[] )
+static void clear3( DATA v[] )
{
v[0] = 0.; v[1] = 0.; v[2] = 0.;
}
-gear()
+void c172_gear()
{
char rcsid[] = "$Id$";
-char gear_strings[3][12]={"nose","right main", "left main"};
+#define NUM_WHEELS 4
+// char gear_strings[NUM_WHEELS][12]={"nose","right main", "left main", "tail skid"};
/*
* Aircraft specific initializations and data goes here
*/
-#define NUM_WHEELS 3
static int num_wheels = NUM_WHEELS; /* number of wheels */
- static DATA d_wheel_rp_body_v[NUM_WHEELS][3] = /* X, Y, Z locations */
+ static DATA d_wheel_rp_body_v[NUM_WHEELS][3] = /* X, Y, Z locations,full extension */
{
- { 5, 0., 7.0 }, /*nose*/ /* in feet */
- { -2.0, 3.6, 6.5 }, /*right main*/
- { -2.0, -3.6, 6.5 } /*left main*/
+ { 3.91, 0., 6.67 }, /*nose*/ /* in feet */
+ { -1.47, 3.58, 6.71 }, /*right main*/
+ { -1.47, -3.58, 6.71 }, /*left main*/
+ { -15.67, 0, 2.42 } /*tail skid */
};
+ // static DATA gear_travel[NUM_WHEELS] = /*in Z-axis*/
+ // { -0.5, 2.5, 2.5, 0};
static DATA spring_constant[NUM_WHEELS] = /* springiness, lbs/ft */
- { 1500., 5000., 5000. };
+ { 1200., 900., 900., 10000. };
static DATA spring_damping[NUM_WHEELS] = /* damping, lbs/ft/sec */
- { 1000., 1500., 1500. };
+ { 200., 300., 300., 400. };
static DATA percent_brake[NUM_WHEELS] = /* percent applied braking */
- { 0., 0., 0. }; /* 0 = none, 1 = full */
+ { 0., 0., 0., 0. }; /* 0 = none, 1 = full */
static DATA caster_angle_rad[NUM_WHEELS] = /* steerable tires - in */
- { 0., 0., 0.}; /* radians, +CW */
+ { 0., 0., 0., 0}; /* radians, +CW */
/*
* End of aircraft specific code
*/
*/
- static DATA sliding_mu = 0.5;
- static DATA rolling_mu = 0.01;
- static DATA max_brake_mu = 0.6;
+ static int it_rolls[NUM_WHEELS] = { 1,1,1,0};
+ static DATA sliding_mu[NUM_WHEELS] = { 0.5, 0.5, 0.5, 0.3};
+ static DATA rolling_mu[NUM_WHEELS] = { 0.01, 0.01, 0.01, 0.0};
+ static DATA max_brake_mu[NUM_WHEELS] ={ 0.0, 0.6, 0.6, 0.0};
static DATA max_mu = 0.8;
static DATA bkout_v = 0.1;
static DATA skid_v = 1.0;
DATA d_wheel_cg_body_v[3]; /* wheel offset from cg, X-Y-Z */
DATA d_wheel_cg_local_v[3]; /* wheel offset from cg, N-E-D */
DATA d_wheel_rwy_local_v[3]; /* wheel offset from rwy, N-E-U */
- DATA v_wheel_body_v[3]; /* wheel velocity, X-Y-Z */
+ DATA v_wheel_cg_local_v[3]; /*wheel velocity rel to cg N-E-D*/
+ // DATA v_wheel_body_v[3]; /* wheel velocity, X-Y-Z */
DATA v_wheel_local_v[3]; /* wheel velocity, N-E-D */
DATA f_wheel_local_v[3]; /* wheel reaction force, N-E-D */
- DATA temp3a[3], temp3b[3], tempF[3], tempM[3];
+ // DATA altitude_local_v[3]; /*altitude vector in local (N-E-D) i.e. (0,0,h)*/
+ // DATA altitude_body_v[3]; /*altitude vector in body (X,Y,Z)*/
+ DATA temp3a[3];
+ // DATA temp3b[3];
+ DATA tempF[3];
+ DATA tempM[3];
DATA reaction_normal_force; /* wheel normal (to rwy) force */
DATA cos_wheel_hdg_angle, sin_wheel_hdg_angle; /* temp storage */
DATA v_wheel_forward, v_wheel_sideward, abs_v_wheel_sideward;
* Put aircraft specific executable code here
*/
- percent_brake[1] = Brake_pct; /* replace with cockpit brake handle connection code */
- percent_brake[2] = percent_brake[1];
+ percent_brake[1] = Brake_pct[0];
+ percent_brake[2] = Brake_pct[1];
- caster_angle_rad[0] = 0.52*Rudder_pedal;
+ caster_angle_rad[0] =
+ (0.01 + 0.04 * (1 - V_calibrated_kts / 130)) * Rudder_pedal;
for (i=0;i<num_wheels;i++) /* Loop for each wheel */
{
/* printf("%s:\n",gear_strings[i]); */
+
+
/*========================================*/
/* Calculate wheel position w.r.t. runway */
/*========================================*/
- /* First calculate wheel location w.r.t. cg in body (X-Y-Z) axes... */
+
+ /* printf("\thgcg: %g, theta: %g,phi: %g\n",D_cg_above_rwy,Theta*RAD_TO_DEG,Phi*RAD_TO_DEG); */
+
+
+ /* First calculate wheel location w.r.t. cg in body (X-Y-Z) axes... */
sub3( d_wheel_rp_body_v[i], D_cg_rp_body_v, d_wheel_cg_body_v );
/* then converting to local (North-East-Down) axes... */
multtrans3x3by3( T_local_to_body_m, d_wheel_cg_body_v, d_wheel_cg_local_v );
+
/* Runway axes correction - third element is Altitude, not (-)Z... */
/* transform into local axes */
- multtrans3x3by3( T_local_to_body_m, temp3a, temp3b );
+ multtrans3x3by3( T_local_to_body_m, temp3a,v_wheel_cg_local_v );
/* plus contribution due to cg velocities */
- add3( temp3b, V_local_rel_ground_v, v_wheel_local_v );
+ add3( v_wheel_cg_local_v, V_local_rel_ground_v, v_wheel_local_v );
clear3(f_wheel_local_v);
reaction_normal_force=0;
+ v_wheel_local_v[1]*sin_wheel_hdg_angle;
v_wheel_sideward = v_wheel_local_v[1]*cos_wheel_hdg_angle
- v_wheel_local_v[0]*sin_wheel_hdg_angle;
-
+
+
/* Calculate normal load force (simple spring constant) */
reaction_normal_force = 0.;
-
- reaction_normal_force = spring_constant[i]*HEIGHT_AGL_WHEEL
+
+ reaction_normal_force = spring_constant[i]*d_wheel_rwy_local_v[2]
- v_wheel_local_v[2]*spring_damping[i];
+ /* printf("\treaction_normal_force: %g\n",reaction_normal_force); */
+
if (reaction_normal_force > 0.) reaction_normal_force = 0.;
/* to prevent damping component from swamping spring component */
/* Calculate friction coefficients */
- forward_mu = (max_brake_mu - rolling_mu)*percent_brake[i] + rolling_mu;
- abs_v_wheel_sideward = sqrt(v_wheel_sideward*v_wheel_sideward);
- sideward_mu = sliding_mu;
- if (abs_v_wheel_sideward < skid_v)
- sideward_mu = (abs_v_wheel_sideward - bkout_v)*beta_mu;
- if (abs_v_wheel_sideward < bkout_v) sideward_mu = 0.;
+ if(it_rolls[i])
+ {
+ forward_mu = (max_brake_mu[i] - rolling_mu[i])*percent_brake[i] + rolling_mu[i];
+ abs_v_wheel_sideward = sqrt(v_wheel_sideward*v_wheel_sideward);
+ sideward_mu = sliding_mu[i];
+ if (abs_v_wheel_sideward < skid_v)
+ sideward_mu = (abs_v_wheel_sideward - bkout_v)*beta_mu;
+ if (abs_v_wheel_sideward < bkout_v) sideward_mu = 0.;
+ }
+ else
+ {
+ forward_mu=sliding_mu[i];
+ sideward_mu=sliding_mu[i];
+ }
/* Calculate foreward and sideward reaction forces */
add3( tempM, M_gear_v, M_gear_v );
- }
+ }
+
+ /* printf("\tN: %g,dZrwy: %g dZdotrwy: %g\n",reaction_normal_force,HEIGHT_AGL_WHEEL,v_wheel_cg_local_v[2]); */
- /* printf("\tN: %g,dZrwy: %g\n",reaction_normal_force,HEIGHT_AGL_WHEEL);
- printf("\tFxgear: %g Fygear: %g, Fzgear: %g\n",F_X_gear,F_Y_gear,F_Z_gear);
+ /*printf("\tFxgear: %g Fygear: %g, Fzgear: %g\n",F_X_gear,F_Y_gear,F_Z_gear);
printf("\tMgear: %g, Lgear: %g, Ngear: %g\n\n",M_m_gear,M_l_gear,M_n_gear); */
projects / flightgear.git / blobdiff