03/03/2003 (RD) changed flap code to call
uiuc_find_position to determine
flap position
+ 08/20/2003 (RD) changed spoiler variables and code
+ to match flap conventions. Changed
+ flap_pos_pct to flap_pos_norm
----------------------------------------------------------------------
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
- Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307,
- USA or view http://www.gnu.org/copyleft/gpl.html.
+ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
**********************************************************************/
rudder_sas = rudder_sas_KR * R_body;
if (use_rudder_sas_max && (fabs(rudder_sas) > (rudder_sas_max*DEG_TO_RAD)))
if (rudder_sas >= 0) {
- rudder -= rudder_sas_max * DEG_TO_RAD;
+ rudder += rudder_sas_max * DEG_TO_RAD;
//rudder_sas = rudder_sas_max;
} else {
- rudder -= -rudder_sas_max * DEG_TO_RAD;
+ rudder += -rudder_sas_max * DEG_TO_RAD;
//rudder_sas = rudder_sas_max;
}
else
- rudder -= rudder_sas;
+ rudder += rudder_sas;
// don't exceed rudder deflection limits, assumes drmax = drmin,
// i.e. equal rudder throws left and right
if (fabs(rudder) > drmax)
// determine flap position [rad] with respect to flap command
flap_pos = uiuc_find_position(flap_cmd,flap_increment_per_timestep,flap_pos);
// get the normalized position
- flap_pos_pct = flap_pos/(flap_max * DEG_TO_RAD);
+ flap_pos_norm = flap_pos/(flap_max * DEG_TO_RAD);
}
if(use_spoilers) {
- // angle of spoilers desired [deg]
- spoiler_cmd_deg = Spoiler_handle;
- // amount spoilers move per time step [deg]
- spoiler_increment_per_timestep = spoiler_rate * dt;
- // determine spoiler position with respect to spoiler command
- if (spoiler_pos_deg < spoiler_cmd_deg) {
- spoiler_pos_deg += spoiler_increment_per_timestep;
- if (spoiler_pos_deg > spoiler_cmd_deg)
- spoiler_pos_deg = spoiler_cmd_deg;
- } else if (spoiler_pos_deg > spoiler_cmd_deg) {
- spoiler_pos_deg -= spoiler_increment_per_timestep;
- if (spoiler_pos_deg < spoiler_cmd_deg)
- spoiler_pos_deg = spoiler_cmd_deg;
- }
- spoiler_pos = spoiler_pos_deg * DEG_TO_RAD;
+ // angle of spoilers desired [rad]
+ spoiler_cmd = Spoiler_handle * DEG_TO_RAD;
+ // amount spoilers move per time step [rad/sec]
+ spoiler_increment_per_timestep = spoiler_rate * dt * DEG_TO_RAD;
+ // determine spoiler position [rad] with respect to spoiler command
+ spoiler_pos = uiuc_find_position(spoiler_cmd,spoiler_increment_per_timestep,spoiler_pos);
+ // get the normailized position
+ spoiler_pos_norm = spoiler_pos/(spoiler_max * DEG_TO_RAD);
}