reinit fix from Norman.
// $Log$
-// Revision 1.23 2001/04/02 01:12:38 curt
-// Latest jsbsim updates.
+// Revision 1.24 2001/04/05 19:14:37 curt
+// Synced with latest JSBSim cvs.
+// reinit fix from Norman.
//
// Revision 1.7 2001/03/22 14:10:24 jberndt
// Fixed ID comment
// $Log$
-// Revision 1.22 2001/04/02 01:12:38 curt
-// Latest jsbsim updates.
+// Revision 1.23 2001/04/05 19:14:37 curt
+// Synced with latest JSBSim cvs.
+// reinit fix from Norman.
//
// Revision 1.10 2001/03/22 14:10:24 jberndt
// Fixed ID comment
FG_THROTTLE_POS,
FG_ACTIVE_ENGINE,
FG_HOVERB,
- FG_PITCH_TRIM_CMD
+ FG_PITCH_TRIM_CMD,
+ FG_LEFT_BRAKE_CMD,
+ FG_CENTER_BRAKE_CMD,
+ FG_RIGHT_BRAKE_CMD
};
enum eAction {
/** Gets the aileron command.
@return aileron command in radians */
inline float GetDaCmd(void) { return DaCmd; }
+
/** Gets the elevator command.
@return elevator command in radians */
inline float GetDeCmd(void) { return DeCmd; }
+
/** Gets the rudder command.
@return rudder command in radians */
inline float GetDrCmd(void) { return DrCmd; }
+
/** Gets the flaps command.
@return flaps command in radians */
inline float GetDfCmd(void) { return DfCmd; }
+
/** Gets the speedbrake command.
@return speedbrake command in radians */
inline float GetDsbCmd(void) { return DsbCmd; }
+
/** Gets the spoiler command.
@return spoiler command in radians */
inline float GetDspCmd(void) { return DspCmd; }
+
/** Gets the throttle command.
@param engine engine ID number
@return throttle command in percent ( 0 - 100) for the given engine */
inline float GetThrottleCmd(int engine) { return ThrottleCmd[engine]; }
+
/** Gets the pitch trim command.
@return pitch trim command in radians */
inline float GetPitchTrimCmd(void) { return PTrimCmd; }
//@}
-
+
/// @name Aerosurface position retrieval
//@{
/** Gets the aileron position.
@return aileron position in radians */
inline float GetDaPos(void) { return DaPos; }
+
/** Gets the elevator position.
@return elevator position in radians */
inline float GetDePos(void) { return DePos; }
+
/** Gets the rudder position.
@return rudder position in radians */
inline float GetDrPos(void) { return DrPos; }
+
/** Gets the flaps position.
@return flaps position in radians */
inline float GetDfPos(void) { return DfPos; }
+
/** Gets the speedbrake position.
@return speedbrake position in radians */
inline float GetDsbPos(void) { return DsbPos; }
+
/** Gets the spoiler position.
@return spoiler position in radians */
inline float GetDspPos(void) { return DspPos; }
+
/** Gets the throttle position.
@param engine engine ID number
@return throttle position for the given engine in percent ( 0 - 100)*/
This is used by the FGFCS-owned components.
@return pointer to the State object */
inline FGState* GetState(void) { return State; }
+
/** Retrieves a components output value
@param idx the index of the component (the component ID)
@return output value from the component */
float GetComponentOutput(eParam idx);
+
/** Retrieves the component name
@param idx the index of the component (the component ID)
@return name of the component */
string GetComponentName(int idx);
+
/** Retrieves all component names for inclusion in output stream */
string GetComponentStrings(void);
+
/** Retrieves all component outputs for inclusion in output stream */
string GetComponentValues(void);
/** Sets the aileron command
@param cmd aileron command in radians*/
inline void SetDaCmd(float cmd) { DaCmd = cmd; }
+
/** Sets the elevator command
@param cmd elevator command in radians*/
inline void SetDeCmd(float cmd) { DeCmd = cmd; }
+
/** Sets the rudder command
@param cmd rudder command in radians*/
inline void SetDrCmd(float cmd) { DrCmd = cmd; }
+
/** Sets the flaps command
@param cmd flaps command in radians*/
inline void SetDfCmd(float cmd) { DfCmd = cmd; }
+
/** Sets the speedbrake command
@param cmd speedbrake command in radians*/
inline void SetDsbCmd(float cmd) { DsbCmd = cmd; }
+
/** Sets the spoilers command
@param cmd spoilers command in radians*/
inline void SetDspCmd(float cmd) { DspCmd = cmd; }
+
/** Sets the pitch trim command
@param cmd pitch trim command in radians*/
inline void SetPitchTrimCmd(float cmd) { PTrimCmd = cmd; }
+
/** Sets the throttle command for the specified engine
- @param engine engine ID number
+ @param engine engine ID number
@param cmd throttle command in percent (0 - 100)*/
inline void SetThrottleCmd(int engine, float cmd);
//@}
/** Sets the aileron position
@param cmd aileron position in radians*/
inline void SetDaPos(float cmd) { DaPos = cmd; }
+
/** Sets the elevator position
@param cmd elevator position in radians*/
inline void SetDePos(float cmd) { DePos = cmd; }
+
/** Sets the rudder position
@param cmd rudder position in radians*/
inline void SetDrPos(float cmd) { DrPos = cmd; }
+
/** Sets the flaps position
@param cmd flaps position in radians*/
inline void SetDfPos(float cmd) { DfPos = cmd; }
+
/** Sets the speedbrake position
@param cmd speedbrake position in radians*/
inline void SetDsbPos(float cmd) { DsbPos = cmd; }
+
/** Sets the spoiler position
@param cmd spoiler position in radians*/
inline void SetDspPos(float cmd) { DspPos = cmd; }
+
/** Sets the actual throttle setting for the specified engine
- @param engine engine ID number
+ @param engine engine ID number
@param cmd throttle setting in percent (0 - 100)*/
inline void SetThrottlePos(int engine, float cmd);
//@}
/** Sets the left brake group
@param cmd brake setting in percent (0.0 - 1.0) */
void SetLBrake(float cmd) {LeftBrake = cmd;}
+
/** Sets the right brake group
@param cmd brake setting in percent (0.0 - 1.0) */
void SetRBrake(float cmd) {RightBrake = cmd;}
+
/** Sets the center brake group
@param cmd brake setting in percent (0.0 - 1.0) */
void SetCBrake(float cmd) {CenterBrake = cmd;}
+
/** Gets the brake for a specified group.
@param bg which brakegroup to retrieve the command for
@return the brake setting for the supplied brake group argument */
Module: FGLGear.cpp
Author: Jon S. Berndt
+ Norman H. Princen
Date started: 11/18/99
Purpose: Encapsulates the landing gear elements
Called by: FGAircraft
Exec(fdmex)
{
string tmp;
- *AC_cfg >> tmp >> name >> vXYZ(1) >> vXYZ(2) >> vXYZ(3)
+ *AC_cfg >> tmp >> name >> vXYZ(1) >> vXYZ(2) >> vXYZ(3)
>> kSpring >> bDamp>> dynamicFCoeff >> staticFCoeff
>> rollingFCoeff >> sSteerType >> sBrakeGroup >> maxSteerAngle;
-
+
cout << " Name: " << name << endl;
cout << " Location: " << vXYZ << endl;
cout << " Spring Constant: " << kSpring << endl;
Position = Exec->GetPosition();
Rotation = Exec->GetRotation();
FCS = Exec->GetFCS();
-
+
WOW = false;
ReportEnable = true;
FirstContact = false;
Reported = false;
DistanceTraveled = 0.0;
MaximumStrutForce = MaximumStrutTravel = 0.0;
-
+
vWhlBodyVec = (vXYZ - Aircraft->GetXYZcg()) / 12.0;
vWhlBodyVec(eX) = -vWhlBodyVec(eX);
vWhlBodyVec(eZ) = -vWhlBodyVec(eZ);
FGColumnVector vForce(3);
FGColumnVector vLocalForce(3);
- //FGColumnVector vLocalGear(3); // Vector: CG to this wheel (Local)
FGColumnVector vWhlVelVec(3); // Velocity of this wheel (Local)
vWhlBodyVec = (vXYZ - Aircraft->GetXYZcg()) / 12.0;
vWhlBodyVec(eX) = -vWhlBodyVec(eX);
vWhlBodyVec(eZ) = -vWhlBodyVec(eZ);
+// vWhlBodyVec now stores the vector from the cg to this wheel
+
vLocalGear = State->GetTb2l() * vWhlBodyVec;
-
-// For now, gear compression is assumed to happen in the Local Z axis,
-// not the strut axis as it should be. Will fix this later.
+
+// vLocalGear now stores the vector from the cg to the wheel in local coords.
compressLength = vLocalGear(eZ) - Position->GetDistanceAGL();
+// The compression length is currently measured in the Z-axis, only, at this time.
+// It should be measured along the strut axis. If the local-frame gear position
+// "hangs down" below the CG greater than the altitude, then the compressLength
+// will be positive - i.e. the gear will have made contact.
+
if (compressLength > 0.00) {
-
- WOW = true;
+
+ WOW = true; // Weight-On-Wheels is true
// The next equation should really use the vector to the contact patch of the tire
// including the strut compression and not vWhlBodyVec. Will fix this later.
+// As it stands, now, the following equation takes the aircraft body-frame
+// rotational rate and calculates the cross-product with the vector from the CG
+// to the wheel, thus producing the instantaneous velocity vector of the tire
+// in Body coords. The frame is also converted to local coordinates. When the
+// aircraft local-frame velocity is added to this quantity, the total velocity of
+// the wheel in local frame is then known. Subsequently, the compression speed
+// (used for calculating damping force) is found by taking the Z-component of the
+// wheel velocity.
vWhlVelVec = State->GetTb2l() * (Rotation->GetPQR() * vWhlBodyVec);
vWhlVelVec += Position->GetVel();
compressSpeed = vWhlVelVec(eZ);
+// If this is the first time the wheel has made contact, remember some values
+// for later printout.
+
if (!FirstContact) {
FirstContact = true;
SinkRate = compressSpeed;
// steering The BrakeFCoeff formula assumes that an anti-skid system is used.
// It also assumes that we won't be turning and braking at the same time.
// Will fix this later.
+// [JSB] The braking force coefficients include normal rolling coefficient +
+// a percentage of the static friction coefficient based on braking applied.
switch (eBrakeGrp) {
case bgLeft:
- SteerGain = -maxSteerAngle;
- BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgLeft)) +
+ SteerGain = -maxSteerAngle;
+ BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgLeft)) +
staticFCoeff*FCS->GetBrake(bgLeft);
break;
case bgRight:
- SteerGain = -maxSteerAngle;
- BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgRight)) +
- staticFCoeff*FCS->GetBrake(bgRight);
+ SteerGain = -maxSteerAngle;
+ BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgRight)) +
+ staticFCoeff*FCS->GetBrake(bgRight);
break;
case bgCenter:
- SteerGain = -maxSteerAngle;
- BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgCenter)) +
- staticFCoeff*FCS->GetBrake(bgCenter);
+ SteerGain = -maxSteerAngle;
+ BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgCenter)) +
+ staticFCoeff*FCS->GetBrake(bgCenter);
break;
case bgNose:
- SteerGain = maxSteerAngle;
- BrakeFCoeff = rollingFCoeff;
+ SteerGain = maxSteerAngle;
+ BrakeFCoeff = rollingFCoeff;
break;
case bgTail:
- SteerGain = -maxSteerAngle;
- BrakeFCoeff = rollingFCoeff;
+ SteerGain = -maxSteerAngle;
+ BrakeFCoeff = rollingFCoeff;
break;
case bgNone:
- SteerGain = -maxSteerAngle;
- BrakeFCoeff = rollingFCoeff;
+ SteerGain = -maxSteerAngle;
+ BrakeFCoeff = rollingFCoeff;
break;
default:
cerr << "Improper brake group membership detected for this gear." << endl;
break;
}
-// Note to Jon: Need to substitute the correct variable for RudderPedal.
-// It is assumed that rudder pedal has a range of -1.0 to 1.0.
-
switch (eSteerType) {
case stSteer:
SteerAngle = SteerGain*FCS->GetDrCmd();
SteerAngle = 0.0;
break;
case stCaster:
-
// Note to Jon: This is not correct for castering gear. I'll fix it later.
SteerAngle = 0.0;
break;
// Transform the wheel velocities from the local axis system to the wheel axis system.
// For now, steering angle is assumed to happen in the Local Z axis,
// not the strut axis as it should be. Will fix this later.
-// Note to Jon: Please substitute the correct variable for Deg2Rad conversion.
SinWheel = sin(Rotation->Getpsi() + SteerAngle*DEGTORAD);
CosWheel = cos(Rotation->Getpsi() + SteerAngle*DEGTORAD);
WheelSlip = RADTODEG*atan2(SideWhlVel, RollingWhlVel);
}
- // The following code normalizes the wheel velocity vector, reverses it, and zeroes out
- // the z component of the velocity. The question is, should the Z axis velocity be zeroed
- // out first before the normalization takes place or not? Subsequent to that, the Wheel
- // Velocity vector now points as a unit vector backwards and parallel to the wheel
- // velocity vector. It acts AT the wheel.
+// The following code normalizes the wheel velocity vector, reverses it, and zeroes out
+// the z component of the velocity. The question is, should the Z axis velocity be zeroed
+// out first before the normalization takes place or not? Subsequent to that, the Wheel
+// Velocity vector now points as a unit vector backwards and parallel to the wheel
+// velocity vector. It acts AT the wheel.
// Note to Jon: I commented out this line because I wasn't sure we want to do this.
// vWhlVelVec = -1.0 * vWhlVelVec.Normalize();
// Compute the forces in the wheel ground plane.
RollingForce = 0;
- if(fabs(RollingWhlVel) > 1E-3) {
+ if (fabs(RollingWhlVel) > 1E-3) {
RollingForce = vLocalForce(eZ) * BrakeFCoeff * fabs(RollingWhlVel)/RollingWhlVel;
}
SideForce = vLocalForce(eZ) * FCoeff;
if (ReportEnable && Position->GetVel().Magnitude() <= 0.05 && !Reported) {
Report();
}
-
+
return vForce;
}
RegisterVariable(FG_ACTIVE_ENGINE, " active_engine " );
RegisterVariable(FG_HOVERB, " height/span " );
RegisterVariable(FG_PITCH_TRIM_CMD, " pitch_trim_cmd " );
+ RegisterVariable(FG_LEFT_BRAKE_CMD, " left_brake_cmd " );
+ RegisterVariable(FG_RIGHT_BRAKE_CMD," right_brake_cmd ");
+ RegisterVariable(FG_CENTER_BRAKE_CMD," center_brake_cmd ");
if (debug_lvl & 2) cout << "Instantiated: FGState" << endl;
}
ActiveEngine = (int)val;
break;
+ case FG_LEFT_BRAKE_CMD:
+ FDMExec->GetFCS()->SetLBrake(val);
+ break;
+ case FG_CENTER_BRAKE_CMD:
+ FDMExec->GetFCS()->SetCBrake(val);
+ break;
+ case FG_RIGHT_BRAKE_CMD:
+ FDMExec->GetFCS()->SetRBrake(val);
+ break;
+
default:
cerr << "Parameter '" << val_idx << "' (" << paramdef[val_idx] << ") not handled" << endl;
}
controls.reset_all();
current_autopilot->reset();
+ fgUpdateSunPos();
+ fgUpdateMoonPos();
+ cur_light_params.Update();
+ fgUpdateLocalTime();
+
if( !freeze )
globals->set_freeze( false );
}
projects / flightgear.git / commitdiff