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towing: replace 3 JSBSim-forces with one direction with 1 force and 3 directions

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D-NXKT 2014-03-16 22:24:35 +01:00 committed by Gijs de Rooy
parent 70ba8b931e
commit dd8f8f8c8a
1 changed files with 43 additions and 58 deletions
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101
Nasal/towing/hitch.nas
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@ -44,45 +44,19 @@
# (x points to the tail, y points to the right wing, z points upwards). Be careful! This # (x points to the tail, y points to the right wing, z points upwards). Be careful! This
# coordinates don't appear in the property tree. You can only check them with test flights! # coordinates don't appear in the property tree. You can only check them with test flights!
# The visible towrope is NOT an indicator of correct settings! # The visible towrope is NOT an indicator of correct settings!
# Unit must be "LBS", frame must be "BODY". The force name is arbitrary but MUST end with "_x", "_y","_z", respectively. # Unit must be "LBS", frame must be "BODY". The force name is arbitrary.
# #
# <external_reactions> # <external_reactions>
# <force name="hitch_x" frame="BODY" unit="LBS" > # <force name="hitch" frame="BODY" unit="LBS" >
# <location unit="M"> # <location unit="M">
# <x>3.65</x> # <x>3.65</x>
# <y> 0.0</y> # <y> 0.0</y>
# <z>-0.12</z> # <z>-0.12</z>
# </location> # </location>
# <direction> # <direction>
# <x> 1.0</x> # <x>0.0</x>
# <y> 0.0</y> # <y>0.0</y>
# <z> 0.0</z> # <z>0.0</z>
# </direction>
# </force>
#
# <force name="hitch_y" frame="BODY" unit="LBS" >
# <location unit="M">
# <x>3.65</x>
# <y> 0.0</y>
# <z>-0.12</z>
# </location>
# <direction>
# <x> 0.0</x>
# <y> 1.0</y>
# <z> 0.0</z>
# </direction>
# </force>
#
# <force name="hitch_z" frame="BODY" unit="LBS" >
# <location unit="M">
# <x>3.65</x>
# <y> 0.0</y>
# <z>-0.12</z>
# </location>
# <direction>
# <x> 0.0</x>
# <y> 0.0</y>
# <z> 1.0</z>
# </direction> # </direction>
# </force> # </force>
# </external_reactions> # </external_reactions>
@ -156,7 +130,7 @@
#<sim> #<sim>
# <hitches> # <hitches>
# <aerotow> # <aerotow>
# <basename_force_jsbsim type="string">hitch</basename_force_jsbsim> # <force_name_jsbsim type="string">hitch</force_name_jsbsim>
# <local-pos-x type="float">1.5</local-pos-x> # <local-pos-x type="float">1.5</local-pos-x>
# <local-pos-y type="float"> 0.00</local-pos-y> # <local-pos-y type="float"> 0.00</local-pos-y>
# <local-pos-z type="float">-0.3</local-pos-z> # <local-pos-z type="float">-0.3</local-pos-z>
@ -164,7 +138,7 @@
# <mp-auto-connect-period type="float">0.0</mp-auto-connect-period> # <mp-auto-connect-period type="float">0.0</mp-auto-connect-period>
# </aerotow> # </aerotow>
# <winch> # <winch>
# <basename_force_jsbsim type="string">hitch</basename_force_jsbsim> # <force_name_jsbsim type="string">hitch</force_name_jsbsim>
# <local-pos-x type="float">0.0</local-pos-x> # <local-pos-x type="float">0.0</local-pos-x>
# <local-pos-y type="float">0.0</local-pos-y> # <local-pos-y type="float">0.0</local-pos-y>
# <local-pos-z type="float">0.0</local-pos-z> # <local-pos-z type="float">0.0</local-pos-z>
@ -172,7 +146,7 @@
# </hitches> # </hitches>
#</sim> #</sim>
# #
# "basename_force_jsbsim" must be the external force name in JSBSim but without the ending "_x", "_y", "_z". # "force_name_jsbsim" must be the external force name in JSBSim.
# #
# IMPORTANT: # IMPORTANT:
# JSBSim doesn't provide the hitch coordinates in the property tree. Hence you must set them again to get a # JSBSim doesn't provide the hitch coordinates in the property tree. Hence you must set them again to get a
@ -205,11 +179,13 @@
# <max-power-kW type="float">100.</max-power-kW> # <max-power-kW type="float">100.</max-power-kW>
# <max-spool-speed-m-s type="float">15.</max-spool-speed-m-s> # <max-spool-speed-m-s type="float">15.</max-spool-speed-m-s>
# <max-unspool-speed-m-s type="float">20.</max-unspool-speed-m-s> # <max-unspool-speed-m-s type="float">20.</max-unspool-speed-m-s>
# <spool-acceleration-m-s-s type="float">8.</spool-acceleration-m-s-s>
# <rel-speed alias="/sim/hitches/winch/winch/actual-spool-speed-m-s"/> # <rel-speed alias="/sim/hitches/winch/winch/actual-spool-speed-m-s"/>
# </winch> # </winch>
# <tow> # <tow>
# <break-force type="float">10000</break-force> # <break-force type="float">10000</break-force>
# <elastic-constant type="float">40000</elastic-constant> # <elastic-constant type="float">40000</elastic-constant>
# <weight-per-m-kg-m type="float">0.01</weight-per-m-kg-m>
# </tow> # </tow>
# <rope> # <rope>
# <rope-diameter-mm type="float">40</rope-diameter-mm> # <rope-diameter-mm type="float">40</rope-diameter-mm>
@ -335,8 +311,8 @@
# new properties for JSBSim aerotow # new properties for JSBSim aerotow
if ( getprop("sim/flight-model") == "jsb" ) { if ( getprop("sim/flight-model") == "jsb" ) {
if (props.globals.getNode("sim/hitches/aerotow/basename_force_jsbsim") == nil ) if (props.globals.getNode("sim/hitches/aerotow/force_name_jsbsim") == nil )
props.globals.getNode("sim/hitches/aerotow/basename_force_jsbsim", 1).setValue("hitch"); props.globals.getNode("sim/hitches/aerotow/force_name_jsbsim", 1).setValue("hitch");
if (props.globals.getNode("sim/hitches/aerotow/mp_oldOpen") == nil ) if (props.globals.getNode("sim/hitches/aerotow/mp_oldOpen") == nil )
props.globals.getNode("sim/hitches/aerotow/mp_oldOpen", 1).setBoolValue(1); props.globals.getNode("sim/hitches/aerotow/mp_oldOpen", 1).setBoolValue(1);
if (props.globals.getNode("sim/hitches/aerotow/tow/mp_last_reporded_dist") == nil ) if (props.globals.getNode("sim/hitches/aerotow/tow/mp_last_reporded_dist") == nil )
@ -388,8 +364,8 @@
# new properties for JSBSim winch # new properties for JSBSim winch
if ( getprop("sim/flight-model") == "jsb" ) { if ( getprop("sim/flight-model") == "jsb" ) {
if (props.globals.getNode("sim/hitches/winch/basename_force_jsbsim") == nil ) if (props.globals.getNode("sim/hitches/winch/force_name_jsbsim") == nil )
props.globals.getNode("sim/hitches/winch/basename_force_jsbsim", 1).setValue("hitch"); props.globals.getNode("sim/hitches/winch/force_name_jsbsim", 1).setValue("hitch");
if (props.globals.getNode("sim/hitches/winch/automatic-release-angle-deg") == nil ) if (props.globals.getNode("sim/hitches/winch/automatic-release-angle-deg") == nil )
props.globals.getNode("sim/hitches/winch/automatic-release-angle-deg", 1).setValue(361.); props.globals.getNode("sim/hitches/winch/automatic-release-angle-deg", 1).setValue(361.);
if (props.globals.getNode("sim/hitches/winch/winch/clutched") == nil ) if (props.globals.getNode("sim/hitches/winch/winch/clutched") == nil )
@ -879,10 +855,13 @@ var aerotow = func (open){
#var forcetow = forcetow_N; # we deliver N to JSBSim #var forcetow = forcetow_N; # we deliver N to JSBSim
var forcetow = forcetow_LBS; # we deliver LBS to JSBSim var forcetow = forcetow_LBS; # we deliver LBS to JSBSim
# calculate unit vector of force direction in JSBSim-system
var force = 1;
# global forces: alpha beta # global forces: alpha beta
var fglobalx = forcetow * cosa * cosb; var fglobalx = force * cosa * cosb;
var fglobaly = forcetow * cosa * sinb; var fglobaly = force * cosa * sinb;
var fglobalz = forcetow * sina; var fglobalz = force * sina;
# local forces by pitch: gamma # local forces by pitch: gamma
var flpitchx = fglobalx * cosg - fglobalz * sing; var flpitchx = fglobalx * cosg - fglobalz * sing;
@ -902,10 +881,11 @@ var aerotow = func (open){
# JSBSim-body-frame: x-> nose / y -> right wing / z -> down # JSBSim-body-frame: x-> nose / y -> right wing / z -> down
# apply forces to hook (forces are in LBS or N see above) # apply forces to hook (forces are in LBS or N see above)
var hitchname = getprop("sim/hitches/aerotow/basename_force_jsbsim"); var hitchname = getprop("sim/hitches/aerotow/force_name_jsbsim");
setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "_x/magnitude", forcex); setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "/magnitude", forcetow);
setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "_y/magnitude", forcey); setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "/x", forcex);
setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "_z/magnitude", forcez); setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "/y", forcey);
setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "/z", forcez);
} # end force < break force } # end force < break force
else { # rope is broken else { # rope is broken
@ -1163,11 +1143,14 @@ var winch = func (open){
#var forcetow = forcetow_N; # we deliver N to JSBSim #var forcetow = forcetow_N; # we deliver N to JSBSim
var forcetow = forcetow_LBS; # we deliver LBS to JSBSim var forcetow = forcetow_LBS; # we deliver LBS to JSBSim
# calculate unit vector of force direction in JSBSim-system
var force = 1;
# global forces: alpha beta # global forces: alpha beta
var fglobalx = forcetow * cosa * cosb; var fglobalx = force * cosa * cosb;
var fglobaly = forcetow * cosa * sinb; var fglobaly = force * cosa * sinb;
var fglobalz = forcetow * sina; var fglobalz = force * sina;
# local forces by pitch: gamma # local forces by pitch: gamma
var flpitchx = fglobalx * cosg - fglobalz * sing; var flpitchx = fglobalx * cosg - fglobalz * sing;
@ -1187,10 +1170,11 @@ var winch = func (open){
# JSBSim-body-frame: x-> nose / y -> right wing / z -> down # JSBSim-body-frame: x-> nose / y -> right wing / z -> down
# apply forces to hook (forces are in LBS or N see above) # apply forces to hook (forces are in LBS or N see above)
var hitchname = getprop("sim/hitches/winch/basename_force_jsbsim"); var hitchname = getprop("sim/hitches/winch/force_name_jsbsim");
setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "_x/magnitude", forcex); setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "/magnitude", forcetow);
setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "_y/magnitude", forcey); setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "/x", forcex );
setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "_z/magnitude", forcez); setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "/y", forcey );
setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "/z", forcez );
# check, if auto-release condition is reached # check, if auto-release condition is reached
var rope_angle_deg = math.atan2(forcez , forcex ) * RAD2DEG; var rope_angle_deg = math.atan2(forcez , forcex ) * RAD2DEG;
@ -1302,11 +1286,12 @@ var releaseHitch = func (device){
setprop("sim/hitches/" ~ device ~ "/open", "true"); setprop("sim/hitches/" ~ device ~ "/open", "true");
var hitchname = getprop("sim/hitches/" ~ device ~ "/basename_force_jsbsim"); var hitchname = getprop("sim/hitches/" ~ device ~ "/force_name_jsbsim");
setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "_x/magnitude", 0.); setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "/magnitude", 0.);
setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "_y/magnitude", 0.); setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "/x", 0.);
setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "_z/magnitude", 0.); setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "/y", 0.);
setprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "/z", 0.);
if ( device == "aerotow" ) { if ( device == "aerotow" ) {
setprop("sim/hitches/aerotow/tow/end-force-x", 0.); # MP tow-end forces setprop("sim/hitches/aerotow/tow/end-force-x", 0.); # MP tow-end forces
setprop("sim/hitches/aerotow/tow/end-force-y", 0.); # setprop("sim/hitches/aerotow/tow/end-force-y", 0.); #