Syncing with latest JSBSim code with retractable landing gear support.

src/FDM/JSBSim.cxx

@@ -54,6 +54,7 @@
 #include <FDM/JSBSim/FGAtmosphere.h>
 #include <FDM/JSBSim/FGMassBalance.h>
 #include <FDM/JSBSim/FGAerodynamics.h>
+#include <FDM/JSBSim/FGLGear.h>
 #include "JSBSim.hxx"
 
 /******************************************************************************/
@@ -218,6 +219,9 @@ void FGJSBsim::init() {
 
     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
     
+    SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " << 
+                                  globals->get_controls()->get_gear_down() );
+    
 
    
 }
@@ -264,20 +268,20 @@ bool FGJSBsim::update( int multiloop ) {
       msg = fdmex->ProcessMessage();
       switch (msg->type) {
       case FGJSBBase::Message::eText:
-        cout << msg->messageId << ": " << msg->text << endl;
+        SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
         break;
       case FGJSBBase::Message::eBool:
-        cout << msg->messageId << ": " << msg->text << " " << msg->bVal << endl;
+        SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
         break;
       case FGJSBBase::Message::eInteger:
-        cout << msg->messageId << ": " << msg->text << " " << msg->iVal << endl;
+        SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
         break;
       case FGJSBBase::Message::eDouble:
-        cout << msg->messageId << ": " << msg->text << " " << msg->dVal << endl;
+        SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
         break;
       default:
-        cerr << "Unrecognized message type." << endl;
+        SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
-              break;
+        break;
       }
     }
 
@@ -322,9 +326,11 @@ bool FGJSBsim::copy_to_JSBsim() {
     FCS->SetLBrake( globals->get_controls()->get_brake( 0 ) );
     FCS->SetRBrake( globals->get_controls()->get_brake( 1 ) );
     FCS->SetCBrake( globals->get_controls()->get_brake( 2 ) );
+    FCS->SetGearCmd( globals->get_controls()->get_gear_down());
     for (int i = 0; i < get_num_engines(); i++) {
       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
+      FCS->SetPropPitchCmd(i, globals->get_controls()->get_prop_advance(i));
     }
 
     Position->SetSeaLevelRadius( get_Sea_level_radius() );
@@ -644,9 +650,11 @@ void FGJSBsim::init_gear(void ) {
       if ( gr->GetGearUnit(i)->GetBrakeGroup() > 0 ) {
         gear->SetBrake(true);
       }
-      if ( gr->GetGearUp() ) {
+      if ( gr->GetGearUnit(i)->GetRetractable() ) {
-        gear->SetPosition( 0.0 );
+        gear->SetPosition( FCS->GetGearPos() );
-      }    
+      } else {
+        gear->SetPosition( 1.0 );
+      }  
     }  
 }
 
@@ -658,9 +666,9 @@ void FGJSBsim::update_gear(void) {
     for (int i=0;i<Ngear;i++) {
       gear=get_gear_unit(i);
       gear->SetWoW( gr->GetGearUnit(i)->GetWOW() );
-      if ( gr->GetGearUp() ) {
+      if ( gr->GetGearUnit(i)->GetRetractable() ) {
-        gear->SetPosition( 0.0 );
+        gear->SetPosition( FCS->GetGearPos() );
-      }    
+      }   
     }  
 }
 

src/FDM/JSBSim/FGAerodynamics.cpp

@@ -49,9 +49,9 @@ CLASS IMPLEMENTATION
 
 
 FGAerodynamics::FGAerodynamics(FGFDMExec* FDMExec) : FGModel(FDMExec),
-    vMoments(3),
-    vForces(3),
     vFs(3),
+    vForces(3),
+    vMoments(3),
     vLastFs(3),
     vDXYZcg(3)
 {
@@ -182,7 +182,6 @@ string FGAerodynamics::GetCoefficientStrings(void)
 string FGAerodynamics::GetCoefficientValues(void)
 {
   string SDValues = "";
-  char buffer[10];
   bool firstime = true;
 
   for (unsigned int axis = 0; axis < 6; axis++) {
@@ -203,8 +202,6 @@ string FGAerodynamics::GetCoefficientValues(void)
 
 double FGAerodynamics::GetLoD(void)
 {
-  double LoD;
-
   if (vFs(1) != 0.00) return vFs(3)/vFs(1);
   else                return 0.00;
 }

src/FDM/JSBSim/FGAtmosphere.cpp

@@ -69,14 +69,14 @@ CLASS IMPLEMENTATION
 
 
 FGAtmosphere::FGAtmosphere(FGFDMExec* fdmex) : FGModel(fdmex),
-                                               vWindNED(3),
                                                vDirectiondAccelDt(3),
                                                vDirectionAccel(3),
                                                vDirection(3),
                                                vTurbulence(3),
                                                vTurbulenceGrad(3),
                                                vBodyTurbGrad(3),
-                                               vTurbPQR(3)
+                                               vTurbPQR(3),
+                                               vWindNED(3)
 {
   Name = "FGAtmosphere";
   lastIndex=0;
@@ -169,7 +169,6 @@ void FGAtmosphere::Calculate(double altitude)
 {
   double slope, reftemp, refpress;
   int i = 0;
-  bool lookup = false;
 
   i = lastIndex;
   if (altitude < htab[lastIndex]) {
@@ -191,12 +190,6 @@ void FGAtmosphere::Calculate(double altitude)
   } 
 
   switch(i) {
-  case 0:     // sea level
-    slope     = -0.00356616; // R/ft.
-    reftemp   = 518.67;    // R
-    refpress  = 2116.22;    // psf
-    //refdens   = 0.00237767;  // slugs/cubic ft.
-    break;
   case 1:     // 36089 ft.
     slope     = 0;
     reftemp   = 389.97;
@@ -239,6 +232,14 @@ void FGAtmosphere::Calculate(double altitude)
     refpress  = 0.000122276;
     //refdens   = 2.19541e-10;
     break;
+  case 0:
+  default:     // sea level
+    slope     = -0.00356616; // R/ft.
+    reftemp   = 518.67;    // R
+    refpress  = 2116.22;    // psf
+    //refdens   = 0.00237767;  // slugs/cubic ft.
+    break;
+  
   }
  
   if (slope == 0) {

src/FDM/JSBSim/FGConfigFile.cpp

@@ -60,7 +60,7 @@ FGConfigFile::~FGConfigFile()
 
 string FGConfigFile::GetNextConfigLine(void)
 {
-  int deblank, not_found = string::npos;
+  
   int comment_starts_at;
   int comment_ends_at;
   int comment_length;

src/FDM/JSBSim/FGFCS.cpp

@@ -54,7 +54,7 @@ INCLUDES
 #include "filtersjb/FGGradient.h"
 #include "filtersjb/FGSwitch.h"
 #include "filtersjb/FGSummer.h"
-#include "filtersjb/FGFlaps.h"
+#include "filtersjb/FGKinemat.h"
 
 static const char *IdSrc = "$Id$";
 static const char *IdHdr = ID_FCS;
@@ -69,6 +69,7 @@ FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
 
   DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = PTrimCmd = 0.0;
   DaPos = DePos = DrPos = DfPos = DsbPos = DspPos = 0.0;
+  GearCmd = GearPos = 1; // default to gear down
   LeftBrake = RightBrake = CenterBrake = 0.0;
 
   if (debug_lvl & 2) cout << "Instantiated: " << Name << endl;
@@ -82,6 +83,8 @@ FGFCS::~FGFCS()
   ThrottlePos.clear();
   MixtureCmd.clear();
   MixturePos.clear();
+  PropPitchCmd.clear();
+  PropPitchPos.clear();
 
   unsigned int i;
 
@@ -98,6 +101,7 @@ bool FGFCS::Run(void)
   if (!FGModel::Run()) {
     for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
     for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
+    for (i=0; i<PropPitchPos.size(); i++) PropPitchPos[i] = PropPitchCmd[i];
     for (i=0; i<Components.size(); i++)  Components[i]->Run();
   } else {
   }
@@ -158,6 +162,7 @@ double FGFCS::GetThrottleCmd(int engineNum)
          << " engines exist, but throttle setting for engine " << engineNum
 	       << " is selected" << endl;
   }
+  return 0.0;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -175,6 +180,7 @@ double FGFCS::GetThrottlePos(int engineNum)
          << " engines exist, but attempted throttle position setting is for engine "
          << engineNum << endl;
   }
+  return 0.0; 
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -209,6 +215,36 @@ void FGFCS::SetMixturePos(int engineNum, double setting)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+void FGFCS::SetPropPitchCmd(int engineNum, double setting)
+{
+  unsigned int ctr;
+
+  if (engineNum < (int)ThrottlePos.size()) {
+    if (engineNum < 0) {
+      for (ctr=0;ctr<PropPitchCmd.size();ctr++) PropPitchCmd[ctr] = setting;
+    } else {
+      PropPitchCmd[engineNum] = setting;
+    }
+  }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFCS::SetPropPitchPos(int engineNum, double setting)
+{
+  unsigned int ctr;
+
+  if (engineNum < (int)ThrottlePos.size()) {
+    if (engineNum < 0) {
+      for (ctr=0;ctr<=PropPitchCmd.size();ctr++) PropPitchPos[ctr] = PropPitchCmd[ctr];
+    } else {
+      PropPitchPos[engineNum] = setting;
+    }
+  }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 bool FGFCS::Load(FGConfigFile* AC_cfg)
 {
   string token;
@@ -242,8 +278,8 @@ bool FGFCS::Load(FGConfigFile* AC_cfg)
         Components.push_back(new FGGradient(this, AC_cfg));
       } else if (token == "SWITCH") {
         Components.push_back(new FGSwitch(this, AC_cfg));
-      } else if (token == "FLAPS") {
+      } else if (token == "KINEMAT") {
-        Components.push_back(new FGFlaps(this, AC_cfg));
+        Components.push_back(new FGKinemat(this, AC_cfg));
       } else {
         cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
         return false;
@@ -330,6 +366,8 @@ void FGFCS::AddThrottle(void)
   ThrottlePos.push_back(0.0);
   MixtureCmd.push_back(0.0);	// assume throttle and mixture are coupled
   MixturePos.push_back(0.0);
+  PropPitchCmd.push_back(0.0);	// assume throttle and prop pitch are coupled
+  PropPitchPos.push_back(0.0);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

src/FDM/JSBSim/FGFCS.h

@@ -203,9 +203,19 @@ public:
       @return mixture command in percent ( 0 - 100) for the given engine */
   inline double GetMixtureCmd(int engine) { return MixtureCmd[engine]; }
 
+  /** Gets the prop pitch command.
+      @param engine engine ID number
+      @return pitch command in percent ( 0.0 - 1.0) for the given engine */
+  inline double GetPropPitchCmd(int engine) { return PropPitchCmd[engine]; }
+
   /** Gets the pitch trim command.
       @return pitch trim command in radians */
   inline double GetPitchTrimCmd(void) { return PTrimCmd; }
+  
+  /** Get the gear extend/retract command. 0 commands gear up, 1 down.
+      defaults to down.
+      @return the current value of the gear extend/retract command*/
+  inline double GetGearCmd(void) { return GearCmd; }    
   //@}
 
   /// @name Aerosurface position retrieval
@@ -243,6 +253,15 @@ public:
       @param engine engine ID number
       @return mixture position for the given engine in percent ( 0 - 100)*/
   inline double GetMixturePos(int engine) { return MixturePos[engine]; }
+  
+  /** Gets the gear position (0 up, 1 down), defaults to down
+      @return gear position (0 up, 1 down) */
+  inline double GetGearPos(void) { return GearPos; }    
+
+  /** Gets the prop pitch position.
+      @param engine engine ID number
+      @return prop pitch position for the given engine in percent ( 0.0-1.0)*/
+  inline double GetPropPitchPos(int engine) { return PropPitchPos[engine]; }
   //@}
 
   /** Retrieves the State object pointer.
@@ -305,6 +324,15 @@ public:
       @param engine engine ID number
       @param cmd mixture command in percent (0 - 100)*/
   void SetMixtureCmd(int engine, double cmd);
+  
+  /** Set the gear extend/retract command, defaults to down
+      @param gear command 0 for up, 1 for down */
+   void SetGearCmd(double gearcmd) { GearCmd = gearcmd; }   
+
+  /** Sets the propeller pitch command for the specified engine
+      @param engine engine ID number
+      @param cmd mixture command in percent (0.0 - 1.0)*/
+  void SetPropPitchCmd(int engine, double cmd);
   //@}
 
   /// @name Aerosurface position setting
@@ -342,6 +370,16 @@ public:
       @param engine engine ID number
       @param cmd mixture setting in percent (0 - 100)*/
   void SetMixturePos(int engine, double cmd);
+  
+  /** Set the gear extend/retract position, defaults to down
+      @param gear position 0 up, 1 down       */
+   void SetGearPos(double gearpos) { GearPos = gearpos; }   
+
+
+  /** Sets the actual prop pitch setting for the specified engine
+      @param engine engine ID number
+      @param cmd prop pitch setting in percent (0.0 - 1.0)*/
+  void SetPropPitchPos(int engine, double cmd);
   //@}
 
   /// @name Landing Gear brakes
@@ -382,7 +420,10 @@ private:
   vector <double> ThrottlePos;
   vector <double> MixtureCmd;
   vector <double> MixturePos;
+  vector <double> PropPitchCmd;
+  vector <double> PropPitchPos;
   double LeftBrake, RightBrake, CenterBrake; // Brake settings
+  double GearCmd,GearPos;
 
   vector <FGFCSComponent*> Components;
   void Debug(void);

src/FDM/JSBSim/FGFDMExec.cpp

@@ -415,7 +415,7 @@ bool FGFDMExec::LoadScript(string script)
   string initialize="";
   bool result=false;
   double dt=0.0;
-  int i;
+  unsigned i;
   struct condition *newCondition;
 
   if (!Script.IsOpen()) return false;
@@ -594,14 +594,12 @@ bool FGFDMExec::LoadScript(string script)
 void FGFDMExec::RunScript(void)
 {
   vector <struct condition>::iterator iC = Conditions.begin();
-  bool truth;
+  bool truth = false;
-  bool WholeTruth;
+  bool WholeTruth = false;
-  int i;
+  unsigned i;
-
-  int count=0;
 
   double currentTime = State->Getsim_time();
-  double newSetValue;
+  double newSetValue = 0;
 
   while (iC < Conditions.end()) {
     // determine whether the set of conditional tests for this condition equate

src/FDM/JSBSim/FGFactorGroup.cpp

@@ -77,7 +77,7 @@ FGFactorGroup::FGFactorGroup( FGFDMExec* fdmex ) : FGCoefficient( fdmex)
                           
 FGFactorGroup::~FGFactorGroup()
 {
-  int i;
+  unsigned i;
   for (i=0; i<sum.size(); i++) {
     delete sum[i];
   }
@@ -115,7 +115,7 @@ bool FGFactorGroup::Load(FGConfigFile *AC_cfg) {
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 double FGFactorGroup::TotalValue(void) {
-  int i;
+  unsigned i;
   double totalsum=0;
   SDtotal=0.0;
   for(i=0;i<sum.size();i++) {

src/FDM/JSBSim/FGForce.cpp

@@ -54,17 +54,18 @@ static const char *IdHdr = ID_FORCE;
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 FGForce::FGForce(FGFDMExec *FDMExec) :
+    ttype(tNone),
+    fdmex(FDMExec),
     vFn(3),
     vMn(3),
-    fdmex(FDMExec),
+    vH(3),
     vFb(3),
     vM(3),
     vXYZn(3),
     vDXYZ(3),
-    mT(3,3),
-    vH(3),
     vSense(3),
-    ttype(tNone)
+    mT(3,3)
+    
 {
   mT(1,1) = 1; //identity matrix
   mT(2,2) = 1;

src/FDM/JSBSim/FGForce.h

@@ -287,10 +287,11 @@ public:
   FGMatrix33 Transform(void);
 
 protected:
+  FGFDMExec *fdmex;
   FGColumnVector3 vFn;
   FGColumnVector3 vMn;
   FGColumnVector3 vH;
-  FGFDMExec *fdmex;
+  
   virtual void Debug(void);
 
 private:

src/FDM/JSBSim/FGGroundReactions.cpp

@@ -53,7 +53,6 @@ FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex),
 {
   Name = "FGGroundReactions";
 
-  GearUp = false;
   if (debug_lvl & 2) cout << "Instantiated: " << Name << endl;
 }
 
@@ -69,7 +68,7 @@ bool FGGroundReactions::Run(void)
     vMoments.InitMatrix();
 
     // Only execute gear force code below 300 feet
-    if ( !GearUp && Position->GetDistanceAGL() < 300.0 ) {
+    if ( Position->GetDistanceAGL() < 300.0 ) {
       vector <FGLGear>::iterator iGear = lGear.begin();
       // Sum forces and moments for all gear, here.
       // Some optimizations may be made here - or rather in the gear code itself.

src/FDM/JSBSim/FGGroundReactions.h

@@ -77,24 +77,17 @@ public:
   FGColumnVector3& GetMoments(void) {return vMoments;}
   string GetGroundReactionStrings(void);
   string GetGroundReactionValues(void);
-
+  
-  /** Gets the gear status
-      @return true if gear is not deployed */
-  inline bool GetGearUp(void) { return GearUp; }
-  /** Gets the number of gear units defined for the aircraft
-      @return number of gear units defined */
   inline int GetNumGearUnits(void) { return lGear.size(); }
   /** Gets a gear instance
       @param gear index of gear instance
       @return a pointer to the FGLGear instance of the gear unit requested */
+  
+  
   inline FGLGear* GetGearUnit(int gear) { return &(lGear[gear]); }
-  inline void SetGear(bool tt) { GearUp = tt; }
-  inline void SetGearUp(void) { GearUp = true; }
-  inline void SetGearDown(bool tt) { GearUp = false; }
   
 private:
   vector <FGLGear> lGear;
-  bool GearUp;
   FGColumnVector3 vForces;
   FGColumnVector3 vMoments;
   FGColumnVector3 vMaxStaticGrip;

src/FDM/JSBSim/FGInertial.cpp

@@ -48,8 +48,8 @@ CLASS IMPLEMENTATION
 
 
 FGInertial::FGInertial(FGFDMExec* fgex) : FGModel(fgex),
-    vForces(3),
     vOmegaLocal(3),
+    vForces(3),
     vRadius(3),
     vGravity(3)
 {

src/FDM/JSBSim/FGInitialCondition.cpp

@@ -536,7 +536,7 @@ bool FGInitialCondition::getTheta(void) {
 //******************************************************************************
 
 double FGInitialCondition::GammaEqOfTheta(double Theta) {
-  double a,b,c,d;
+  double a,b,c;
   double sTheta,cTheta;
 
   //theta=Theta; stheta=sin(theta); ctheta=cos(theta);
@@ -551,7 +551,7 @@ double FGInitialCondition::GammaEqOfTheta(double Theta) {
 //******************************************************************************
 
 double FGInitialCondition::GammaEqOfAlpha(double Alpha) {
-  double a,b,c,d;
+  double a,b,c;
   double sAlpha,cAlpha;
 
   sAlpha=sin(Alpha); cAlpha=cos(Alpha);
@@ -654,7 +654,7 @@ bool FGInitialCondition::solve(double *y,double x)
 
   //initializations
   d=1;
-
+  x2 = 0;
   x1=xlo;x3=xhi;
   f1=(this->*sfunc)(x1)-x;
   f3=(this->*sfunc)(x3)-x;

src/FDM/JSBSim/FGJSBBase.cpp

@@ -64,7 +64,7 @@ const double FGJSBBase::ktstofps = 1.68781;
 const double FGJSBBase::inchtoft = 0.08333333;
 const double FGJSBBase::Reng = 1716.0;
 const double FGJSBBase::SHRatio = 1.40;
-const string FGJSBBase::needed_cfg_version = "1.56";
+const string FGJSBBase::needed_cfg_version = "1.57";
 const string FGJSBBase::JSBSim_version = "0.9.1";
 
 queue <FGJSBBase::Message*> FGJSBBase::Messages;

src/FDM/JSBSim/FGJSBBase.h

@@ -136,7 +136,9 @@ enum eParam {
   FG_HTAILAREA,
   FG_VTAILAREA,
   FG_VBARH,    //horizontal tail volume 
-  FG_VBARV     //vertical tail volume 
+  FG_VBARV,     //vertical tail volume 
+  FG_GEAR_CMD,
+  FG_GEAR_POS
 };
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

src/FDM/JSBSim/FGLGear.cpp

@@ -66,9 +66,12 @@ FGLGear::FGLGear(FGConfigFile* AC_cfg, FGFDMExec* fdmex) : vXYZ(3),
                                                            Exec(fdmex)
 {
   string tmp;
+  string Retractable;
+  
   *AC_cfg >> tmp >> name >> vXYZ(1) >> vXYZ(2) >> vXYZ(3)
             >> kSpring >> bDamp>> dynamicFCoeff >> staticFCoeff
-                  >> rollingFCoeff >> sSteerType >> sBrakeGroup >> maxSteerAngle;
+                  >> rollingFCoeff >> sSteerType >> sBrakeGroup 
+                     >> maxSteerAngle >> Retractable;
 
   if (debug_lvl > 0) {
     cout << "    Name: " << name << endl;
@@ -81,6 +84,7 @@ FGLGear::FGLGear(FGConfigFile* AC_cfg, FGFDMExec* fdmex) : vXYZ(3),
     cout << "      Steering Type:    " << sSteerType << endl;
     cout << "      Grouping:         " << sBrakeGroup << endl;
     cout << "      Max Steer Angle:  " << maxSteerAngle << endl;
+    cout << "      Retractable:      " << Retractable << endl;
   }
 
   if      (sBrakeGroup == "LEFT"  ) eBrakeGrp = bgLeft;
@@ -101,6 +105,14 @@ FGLGear::FGLGear(FGConfigFile* AC_cfg, FGFDMExec* fdmex) : vXYZ(3),
     cerr << "Improper steering type specification in config file: "
          << sSteerType << " is undefined." << endl;
   }
+  
+  if( Retractable == "RETRACT" ) {
+    isRetractable=true;
+  } else  {
+    isRetractable=false;
+  }  
+  
+  GearUp=false; GearDown=true;
 
 // Add some AI here to determine if gear is located properly according to its
 // brake group type ??
@@ -172,6 +184,9 @@ FGLGear::FGLGear(const FGLGear& lgear)
   sBrakeGroup     = lgear.sBrakeGroup;
   eBrakeGrp       = lgear.eBrakeGrp;
   maxSteerAngle   = lgear.maxSteerAngle;
+  isRetractable   = lgear.isRetractable;
+  GearUp          = lgear.GearUp;
+  GearDown        = lgear.GearDown;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -185,31 +200,46 @@ FGLGear::~FGLGear()
 
 FGColumnVector3& FGLGear::Force(void)
 {
-  double SteerGain;
+  vForce.InitMatrix();
-  double SinWheel, CosWheel, SideWhlVel, RollingWhlVel;
+  vMoment.InitMatrix();
-  double RudderPedal, RollingForce, SideForce, FCoeff;
+  if(isRetractable ) {
-  double WheelSlip;
+    if( FCS->GetGearPos() < 0.01 ) {
+      GearUp=true;GearDown=false;
+     } else if(FCS->GetGearPos() > 0.99) {
+      GearDown=true;GearUp=false;
+     } else {
+      GearUp=false; GearDown=false;
+     }
+  } else {
+      GearUp=false; GearDown=true;
+  }         
+      
+  if( GearDown ) {
+    double SteerGain = 0;
+    double SinWheel, CosWheel, SideWhlVel, RollingWhlVel;
+    double RollingForce, SideForce, FCoeff;
+    double WheelSlip;
 
-  vWhlBodyVec     = (vXYZ - MassBalance->GetXYZcg()) / 12.0;
+    vWhlBodyVec     = (vXYZ - MassBalance->GetXYZcg()) / 12.0;
-  vWhlBodyVec(eX) = -vWhlBodyVec(eX);
+    vWhlBodyVec(eX) = -vWhlBodyVec(eX);
-  vWhlBodyVec(eZ) = -vWhlBodyVec(eZ);
+    vWhlBodyVec(eZ) = -vWhlBodyVec(eZ);
 
 // vWhlBodyVec now stores the vector from the cg to this wheel
 
-  vLocalGear = State->GetTb2l() * vWhlBodyVec;
+    vLocalGear = State->GetTb2l() * vWhlBodyVec;
 
 // vLocalGear now stores the vector from the cg to the wheel in local coords.
 
-  compressLength = vLocalGear(eZ) - Position->GetDistanceAGL();
+    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) {
+    if (compressLength > 0.00) {
 
-    WOW = true; // Weight-On-Wheels is 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.
@@ -222,20 +252,20 @@ FGColumnVector3& FGLGear::Force(void)
 // (used for calculating damping force) is found by taking the Z-component of the
 // wheel velocity.
 
-    vWhlVelVec      =  State->GetTb2l() * (Rotation->GetPQR() * vWhlBodyVec);
+      vWhlVelVec      =  State->GetTb2l() * (Rotation->GetPQR() * vWhlBodyVec);
 
-    vWhlVelVec     +=  Position->GetVel();
+      vWhlVelVec     +=  Position->GetVel();
 
-    compressSpeed   =  vWhlVelVec(eZ);
+      compressSpeed   =  vWhlVelVec(eZ);
 
 // If this is the first time the wheel has made contact, remember some values
 // for later printout.
 
-    if (!FirstContact) {
+      if (!FirstContact) {
-      FirstContact  = true;
+        FirstContact  = true;
-      SinkRate      =  compressSpeed;
+        SinkRate      =  compressSpeed;
-      GroundSpeed   =  Position->GetVel().Magnitude();
+        GroundSpeed   =  Position->GetVel().Magnitude();
-    }
+      }
 
 // The following needs work regarding friction coefficients and braking and
 // steering The BrakeFCoeff formula assumes that an anti-skid system is used.
@@ -244,71 +274,71 @@ FGColumnVector3& FGLGear::Force(void)
 // [JSB] The braking force coefficients include normal rolling coefficient +
 // a percentage of the static friction coefficient based on braking applied.
 
-    switch (eBrakeGrp) {
+      switch (eBrakeGrp) {
-    case bgLeft:
+      case bgLeft:
-      SteerGain = -0.10;
+        SteerGain = -0.10;
-      BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgLeft)) +
+        BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgLeft)) +
-                                            staticFCoeff*FCS->GetBrake(bgLeft);
+                                              staticFCoeff*FCS->GetBrake(bgLeft);
-      break;
+        break;
-    case bgRight:
+      case bgRight:
-      SteerGain = -0.10;
+        SteerGain = -0.10;
-      BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgRight)) +
+        BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgRight)) +
-                                           staticFCoeff*FCS->GetBrake(bgRight);
+                                             staticFCoeff*FCS->GetBrake(bgRight);
-      break;
+        break;
-    case bgCenter:
+      case bgCenter:
-      SteerGain = -0.10;
+        SteerGain = -0.10;
-      BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgCenter)) +
+        BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgCenter)) +
-                                           staticFCoeff*FCS->GetBrake(bgCenter);
+                                             staticFCoeff*FCS->GetBrake(bgCenter);
-      break;
+        break;
-    case bgNose:
+      case bgNose:
-      SteerGain = 0.10;
+        SteerGain = 0.10;
-      BrakeFCoeff = rollingFCoeff;
+        BrakeFCoeff = rollingFCoeff;
-      break;
+        break;
-    case bgTail:
+      case bgTail:
-      SteerGain = -0.10;
+        SteerGain = -0.10;
-      BrakeFCoeff = rollingFCoeff;
+        BrakeFCoeff = rollingFCoeff;
-      break;
+        break;
-    case bgNone:
+      case bgNone:
-      SteerGain = -0.10;
+        SteerGain = -0.10;
-      BrakeFCoeff = rollingFCoeff;
+        BrakeFCoeff = rollingFCoeff;
-      break;
+        break;
-    default:
+      default:
-      cerr << "Improper brake group membership detected for this gear." << endl;
+        cerr << "Improper brake group membership detected for this gear." << endl;
-      break;
+        break;
-    }
+      }
 
-    switch (eSteerType) {
+      switch (eSteerType) {
-    case stSteer:
+      case stSteer:
-      SteerAngle = SteerGain*FCS->GetDrPos();
+        SteerAngle = SteerGain*FCS->GetDrPos();
-      break;
+        break;
-    case stFixed:
+      case stFixed:
-      SteerAngle = 0.0;
+        SteerAngle = 0.0;
-      break;
+        break;
-    case stCaster:
+      case stCaster:
-    // Note to Jon: This is not correct for castering gear.  I'll fix it later.
+// Note to Jon: This is not correct for castering gear.  I'll fix it later.
-      SteerAngle = 0.0;
+        SteerAngle = 0.0;
-      break;
+        break;
-    default:
+      default:
-      cerr << "Improper steering type membership detected for this gear." << endl;
+        cerr << "Improper steering type membership detected for this gear." << endl;
-      break;
+        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.
 
-    SinWheel      = sin(Rotation->Getpsi() + SteerAngle);
+      SinWheel      = sin(Rotation->Getpsi() + SteerAngle);
-    CosWheel      = cos(Rotation->Getpsi() + SteerAngle);
+      CosWheel      = cos(Rotation->Getpsi() + SteerAngle);
-    RollingWhlVel = vWhlVelVec(eX)*CosWheel + vWhlVelVec(eY)*SinWheel;
+      RollingWhlVel = vWhlVelVec(eX)*CosWheel + vWhlVelVec(eY)*SinWheel;
-    SideWhlVel    = vWhlVelVec(eY)*CosWheel - vWhlVelVec(eX)*SinWheel;
+      SideWhlVel    = vWhlVelVec(eY)*CosWheel - vWhlVelVec(eX)*SinWheel;
 
 // Calculate tire slip angle.
 
-    if (RollingWhlVel == 0.0 && SideWhlVel == 0.0) {
+      if (RollingWhlVel == 0.0 && SideWhlVel == 0.0) {
-      WheelSlip = 0.0;
+        WheelSlip = 0.0;
-    } else {
+      } else {
-      WheelSlip = radtodeg*atan2(SideWhlVel, RollingWhlVel);
+        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
@@ -325,11 +355,11 @@ FGColumnVector3& FGLGear::Force(void)
 // transition from static to dynamic friction.  There are more complicated formulations
 // of this that avoid the discrete jump.  Will fix this later.
 
-    if (fabs(WheelSlip) <= 10.0) {
+      if (fabs(WheelSlip) <= 10.0) {
-      FCoeff = staticFCoeff*WheelSlip/10.0;
+        FCoeff = staticFCoeff*WheelSlip/10.0;
-    } else {
+      } else {
-      FCoeff = dynamicFCoeff*fabs(WheelSlip)/WheelSlip;
+        FCoeff = dynamicFCoeff*fabs(WheelSlip)/WheelSlip;
-    }
+      }
 
 // Compute the vertical force on the wheel using square-law damping (per comment
 // in paper AIAA-2000-4303 - see header prologue comments). We might consider
@@ -337,24 +367,24 @@ FGColumnVector3& FGLGear::Force(void)
 // possibly give a "rebound damping factor" that differs from the compression
 // case. NOTE: SQUARE LAW DAMPING NO GOOD!
 
-    vLocalForce(eZ) =  min(-compressLength * kSpring
+      vLocalForce(eZ) =  min(-compressLength * kSpring
-                           - compressSpeed * bDamp, (double)0.0);
+                             - compressSpeed * bDamp, (double)0.0);
 
-    MaximumStrutForce = max(MaximumStrutForce, fabs(vLocalForce(eZ)));
+      MaximumStrutForce = max(MaximumStrutForce, fabs(vLocalForce(eZ)));
-    MaximumStrutTravel = max(MaximumStrutTravel, fabs(compressLength));
+      MaximumStrutTravel = max(MaximumStrutTravel, fabs(compressLength));
 
 // Compute the forces in the wheel ground plane.
 
-    RollingForce = 0;
+      RollingForce = 0;
-    if (fabs(RollingWhlVel) > 1E-3) {
+      if (fabs(RollingWhlVel) > 1E-3) {
-      RollingForce = vLocalForce(eZ) * BrakeFCoeff * fabs(RollingWhlVel)/RollingWhlVel;
+        RollingForce = vLocalForce(eZ) * BrakeFCoeff * fabs(RollingWhlVel)/RollingWhlVel;
-    }
+      }
-    SideForce    = vLocalForce(eZ) * FCoeff;
+      SideForce    = vLocalForce(eZ) * FCoeff;
 
 // Transform these forces back to the local reference frame.
 
-    vLocalForce(eX) = RollingForce*CosWheel - SideForce*SinWheel;
+      vLocalForce(eX) = RollingForce*CosWheel - SideForce*SinWheel;
-    vLocalForce(eY) = SideForce*CosWheel    + RollingForce*SinWheel;
+      vLocalForce(eY) = SideForce*CosWheel    + RollingForce*SinWheel;
 
 // Note to Jon: At this point the forces will be too big when the airplane is
 // stopped or rolling to a stop.  We need to make sure that the gear forces just
@@ -370,52 +400,53 @@ FGColumnVector3& FGLGear::Force(void)
 
 // Transform the forces back to the body frame and compute the moment.
 
-    vForce  = State->GetTl2b() * vLocalForce;
+      vForce  = State->GetTl2b() * vLocalForce;
-    vMoment = vWhlBodyVec * vForce;
+      vMoment = vWhlBodyVec * vForce;
 
-  } else {
+    } else {
 
-    WOW = false;
+      WOW = false;
 
-    if (Position->GetDistanceAGL() > 200.0) {
+      if (Position->GetDistanceAGL() > 200.0) {
-      FirstContact = false;
+        FirstContact = false;
-      Reported = false;
+        Reported = false;
-      DistanceTraveled = 0.0;
+        DistanceTraveled = 0.0;
-      MaximumStrutForce = MaximumStrutTravel = 0.0;
+        MaximumStrutForce = MaximumStrutTravel = 0.0;
+      }
+
+      compressLength = 0.0;// reset compressLength to zero for data output validity
+
+      
     }
 
-    compressLength = 0.0; // reset compressLength to zero for data output validity
+    if (FirstContact) {
-
+      DistanceTraveled += Position->GetVel().Magnitude()*State->Getdt()*Aircraft->GetRate();
-    vForce.InitMatrix();
+    }
-    vMoment.InitMatrix();
-  }
-
-  if (FirstContact) {
-    DistanceTraveled += Position->GetVel().Magnitude()*State->Getdt()*Aircraft->GetRate();
-  }
-
-  if (ReportEnable && Position->GetVel().Magnitude() <= 0.05 && !Reported) {
-    if (debug_lvl > 0) Report();
-  }
-
-  if (lastWOW != WOW) {
-    PutMessage("GEAR_CONTACT", WOW);
-  }
-
-  lastWOW = WOW;
-
-  // Crash detection logic (really out-of-bounds detection)
   
-  if (compressLength > 500.0 ||
+    if (ReportEnable && Position->GetVel().Magnitude() <= 0.05 && !Reported) {
-      vForce.Magnitude() > 100000000.0 ||
+      if (debug_lvl > 0) Report();
-      vMoment.Magnitude() > 5000000000.0 ||
+    }
-      SinkRate > 1.4666*30)
-  {
-    PutMessage("Crash Detected");
-    Exec->Freeze();
-  }
 
-  return vForce;
+    if (lastWOW != WOW) {
+      PutMessage("GEAR_CONTACT", WOW);
+    }
+
+    lastWOW = WOW;
+
+// Crash detection logic (really out-of-bounds detection)
+
+    if (compressLength > 500.0 ||
+        vForce.Magnitude() > 100000000.0 ||
+        vMoment.Magnitude() > 5000000000.0 ||
+        SinkRate > 1.4666*30)
+    {
+      PutMessage("Crash Detected");
+      Exec->Freeze();
+    }
+
+    
+  } 
+  return vForce; 
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

src/FDM/JSBSim/FGLGear.h

@@ -231,7 +231,11 @@ public:
   
   inline int GetBrakeGroup(void) { return (int)eBrakeGrp; }
   inline int GetSteerType(void)  { return (int)eSteerType; }
-
+  
+  inline bool GetRetractable(void)  { return isRetractable; }
+  inline bool GetGearUnitUp(void)   { return GearUp; }
+  inline bool GetGearUnitDown(void) { return GearDown; }
+  
 private:
   FGColumnVector3 vXYZ;
   FGColumnVector3 vMoment;
@@ -259,9 +263,12 @@ private:
   bool FirstContact;
   bool Reported;
   bool ReportEnable;
+  bool isRetractable;
+  bool GearUp, GearDown;
   string name;
   string sSteerType;
   string sBrakeGroup;
+  
   BrakeGroup eBrakeGrp;
   SteerType  eSteerType;
   double  maxSteerAngle;

src/FDM/JSBSim/FGPiston.cpp

@@ -50,22 +50,27 @@ CLASS IMPLEMENTATION
 
 FGPiston::FGPiston(FGFDMExec* exec, FGConfigFile* Eng_cfg)
   : FGEngine(exec),
-    MinManifoldPressure_inHg(6.5),
+  //these must be initialized this way as they are declared const
-    MaxManifoldPressure_inHg(28.5),
+  CONVERT_CUBIC_INCHES_TO_METERS_CUBED(1.638706e-5),
-    Displacement(360),
+  R_air(287.3),
-    MaxHP(200),
+  rho_fuel(800),                 // estimate
-    Cycles(2),
+  calorific_value_fuel(47.3e6),
-    IdleRPM(600),
+  Cp_air(1005),
-    // Set constants
+  Cp_fuel(1700)
-    CONVERT_CUBIC_INCHES_TO_METERS_CUBED(1.638706e-5),
-    R_air(287.3),
-    rho_fuel(800),                 // estimate
-    calorific_value_fuel(47.3e6),
-    Cp_air(1005),
-    Cp_fuel(1700)
 {
+  
   string token;
 
+  MinManifoldPressure_inHg=6.5;
+  MaxManifoldPressure_inHg=28.5;
+  Displacement=360;
+  MaxHP=200;
+  Cycles=2;
+  IdleRPM=600;
+  // Set constants
+ 
+  
+  
   Name = Eng_cfg->GetValue("NAME");
   Eng_cfg->GetNextConfigLine();
   while (Eng_cfg->GetValue() != string("/FG_PISTON")) {
@@ -159,7 +164,6 @@ FGPiston::~FGPiston()
 
 double FGPiston::Calculate(double PowerRequired)
 {
-  double h,EngineMaxPower;
 
         // FIXME: calculate from actual fuel flow
   ConsumeFuel();

src/FDM/JSBSim/FGRocket.cpp

@@ -99,7 +99,7 @@ FGRocket::~FGRocket()
 
 double FGRocket::Calculate(double pe)
 {
-  double Cf;
+  double Cf=0;
 
   ConsumeFuel();
 

src/FDM/JSBSim/FGRotation.cpp

@@ -77,12 +77,12 @@ CLASS IMPLEMENTATION
 
 FGRotation::FGRotation(FGFDMExec* fdmex) : FGModel(fdmex),
         vPQR(3),
+        vAeroPQR(3),
         vPQRdot(3),
         vMoments(3),
         vEuler(3),
         vEulerRates(3),
-        vlastPQRdot(3),
+        vlastPQRdot(3)
-        vAeroPQR(3)
 {
   Name = "FGRotation";
   cTht=cPhi=cPsi=1.0;

src/FDM/JSBSim/FGState.cpp

@@ -73,18 +73,19 @@ CLASS IMPLEMENTATION
 // entry in the enum eParam definition in FGJSBBase.h. The ID is what must be used
 // in any config file entry which references that item.
 
-FGState::FGState(FGFDMExec* fdex) : mTb2l(3,3),
+FGState::FGState(FGFDMExec* fdex) : 
+    mTb2l(3,3),
     mTl2b(3,3),
     mTs2b(3,3),
     mTb2s(3,3),
     vQtrn(4),
     vlastQdot(4),
     vQdot(4),
-    vTmp(4),
-    vEuler(3),
     vUVW(3),
     vLocalVelNED(3),
-    vLocalEuler(3)
+    vLocalEuler(3),
+    vTmp(4),
+    vEuler(3)
 {
   FDMExec = fdex;
 
@@ -134,6 +135,7 @@ FGState::FGState(FGFDMExec* fdex) : mTb2l(3,3),
   RegisterVariable(FG_SPDBRAKE_POS,   " speedbrake_pos " );
   RegisterVariable(FG_SPOILERS_POS,   " spoiler_pos "    );
   RegisterVariable(FG_FLAPS_POS,      " flaps_pos "      );
+  RegisterVariable(FG_GEAR_POS,       " gear_pos "       );
   RegisterVariable(FG_ELEVATOR_CMD,   " elevator_cmd "   );
   RegisterVariable(FG_AILERON_CMD,    " aileron_cmd "    );
   RegisterVariable(FG_RUDDER_CMD,     " rudder_cmd "     );
@@ -141,11 +143,12 @@ FGState::FGState(FGFDMExec* fdex) : mTb2l(3,3),
   RegisterVariable(FG_SPOILERS_CMD,   " spoiler_cmd "    );
   RegisterVariable(FG_FLAPS_CMD,      " flaps_cmd "      );
   RegisterVariable(FG_THROTTLE_CMD,   " throttle_cmd "   );
+  RegisterVariable(FG_GEAR_CMD,       " gear_cmd "       );
   RegisterVariable(FG_THROTTLE_POS,   " throttle_pos "   );
-  RegisterVariable(FG_MIXTURE_CMD,    " mixture_cmd "   );
+  RegisterVariable(FG_MIXTURE_CMD,    " mixture_cmd "    );
-  RegisterVariable(FG_MIXTURE_POS,    " mixture_pos "   );
+  RegisterVariable(FG_MIXTURE_POS,    " mixture_pos "    );
-  RegisterVariable(FG_MAGNETO_CMD,    " magneto_cmd "   );
+  RegisterVariable(FG_MAGNETO_CMD,    " magneto_cmd "    );
-  RegisterVariable(FG_STARTER_CMD,    " starter_cmd "   );
+  RegisterVariable(FG_STARTER_CMD,    " starter_cmd "    );
   RegisterVariable(FG_ACTIVE_ENGINE,  " active_engine "  );
   RegisterVariable(FG_HOVERB,         " height/span "    );
   RegisterVariable(FG_PITCH_TRIM_CMD, " pitch_trim_cmd " );
@@ -301,6 +304,10 @@ double FGState::GetParameter(eParam val_idx) {
     return Position->GetHOverBMAC();
   case FG_PITCH_TRIM_CMD:
     return FCS->GetPitchTrimCmd();
+  case FG_GEAR_CMD:
+    return FCS->GetGearCmd();
+  case FG_GEAR_POS:
+    return FCS->GetGearPos();    
   default:
     cerr << "FGState::GetParameter() - No handler for parameter " << paramdef[val_idx] << endl;
     return 0.0;
@@ -374,7 +381,7 @@ void FGState::SetParameter(eParam val_idx, double val) {
     FCS->SetMixtureCmd(ActiveEngine,val);
     break;
   case FG_MAGNETO_CMD:
-    Propulsion->GetEngine(ActiveEngine)->SetMagnetos(val); // need to account for -1
+    Propulsion->GetEngine(ActiveEngine)->SetMagnetos((int)val); // need to account for -1
     break;
   case FG_STARTER_CMD:
     if      (val < 0.001) 
@@ -395,7 +402,12 @@ void FGState::SetParameter(eParam val_idx, double val) {
   case FG_RIGHT_BRAKE_CMD:
     FCS->SetRBrake(val);
     break;
-
+  case FG_GEAR_CMD:
+    FCS->SetGearCmd(val);
+    break;
+  case  FG_GEAR_POS:
+    FCS->SetGearPos(val);
+    break; 
   case FG_SET_LOGGING:
     if      (val < -0.01) Output->Disable();
     else if (val >  0.01) Output->Enable();
@@ -734,7 +746,7 @@ FGMatrix33& FGState::GetTb2s(void)
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 void FGState::ReportState(void) {
-  char out[80], flap[10], gear[10];
+  char out[80], flap[10], gear[12];
   
   cout << endl << "  JSBSim State" << endl;
   snprintf(out,80,"    Weight: %7.0f lbs.  CG: %5.1f, %5.1f, %5.1f inches\n",
@@ -747,11 +759,13 @@ void FGState::ReportState(void) {
     snprintf(flap,10,"Up");
   else
     snprintf(flap,10,"%2.0f",FCS->GetDfPos());
-  if(GroundReactions->GetGearUp() == true)
+  if(FCS->GetGearPos() < 0.01)
-    snprintf(gear,10,"Up");
+    snprintf(gear,12,"Up");
+  else if(FCS->GetGearPos() > 0.99)
+    snprintf(gear,12,"Down");
   else
-    snprintf(gear,10,"Down");
+    snprintf(gear,12,"In Transit");   
-  snprintf(out,80, "    Flaps: %3s  Gear: %4s\n",flap,gear);
+  snprintf(out,80, "    Flaps: %3s  Gear: %12s\n",flap,gear);
   cout << out;
   snprintf(out,80, "    Speed: %4.0f KCAS  Mach: %5.2f\n",
                     FDMExec->GetAuxiliary()->GetVcalibratedKTS(),

src/FDM/JSBSim/FGState.h

@@ -319,10 +319,11 @@ private:
   FGMatrix33 mTb2s;
   FGColumnVector4 vQtrn;
   FGColumnVector4 vlastQdot;
+  FGColumnVector4 vQdot;
   FGColumnVector3 vUVW;
   FGColumnVector3 vLocalVelNED;
   FGColumnVector3 vLocalEuler;
-  FGColumnVector4 vQdot;
+  
   FGColumnVector4 vTmp;
   FGColumnVector3 vEuler;
 

src/FDM/JSBSim/FGTable.h

@@ -102,8 +102,8 @@ private:
   enum type {tt1D, tt2D} Type;
   double** Data;
   int nRows, nCols;
-  unsigned int colCounter;
+  int colCounter;
-  unsigned int rowCounter;
+  int rowCounter;
   double** Allocate(void);
   void Debug(void);
 };

src/FDM/JSBSim/FGTrim.h

@@ -147,7 +147,7 @@ class FGTrim : public FGJSBBase
 private:
 
   vector<FGTrimAxis*> TrimAxes;
-  int current_axis;
+  unsigned int current_axis;
   int N, Nsub;
   TrimMode mode;
   int DebugLevel, Debug;
@@ -163,7 +163,7 @@ private:
   bool trimudot;
   bool gamma_fallback;
   bool trim_failed;
-  int axis_count;
+  unsigned int axis_count;
   int solutionDomain;
   double xlo,xhi,alo,ahi;
   double targetNlf;

src/FDM/JSBSim/JSBSim.cpp

@@ -1,182 +1,182 @@
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
+
- Module:       JSBSim.cpp
+ Module:       JSBSim.cpp
- Author:       Jon S. Berndt
+ Author:       Jon S. Berndt
- Date started: 08/17/99
+ Date started: 08/17/99
- Purpose:      Standalone version of JSBSim.
+ Purpose:      Standalone version of JSBSim.
- Called by:    The USER.
+ Called by:    The USER.
-
+
- ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------
+ ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------
-
+
- This program is free software; you can redistribute it and/or modify it under
+ This program is free software; you can redistribute it and/or modify it under
- the terms of the GNU General Public License as published by the Free Software
+ the terms of the GNU General Public License as published by the Free Software
- Foundation; either version 2 of the License, or (at your option) any later
+ Foundation; either version 2 of the License, or (at your option) any later
- version.
+ version.
-
+
- This program is distributed in the hope that it will be useful, but WITHOUT
+ This program is distributed in the hope that it will be useful, but WITHOUT
- ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
- FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+ FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
- details.
+ details.
-
+
- You should have received a copy of the GNU General Public License along with
+ 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
+ this program; if not, write to the Free Software Foundation, Inc., 59 Temple
- Place - Suite 330, Boston, MA  02111-1307, USA.
+ Place - Suite 330, Boston, MA  02111-1307, USA.
-
+
- Further information about the GNU General Public License can also be found on
+ Further information about the GNU General Public License can also be found on
- the world wide web at http://www.gnu.org.
+ the world wide web at http://www.gnu.org.
-
+
-FUNCTIONAL DESCRIPTION
+FUNCTIONAL DESCRIPTION
---------------------------------------------------------------------------------
+--------------------------------------------------------------------------------
-
+
-This class Handles calling JSBSim standalone. It is set up for compilation under
+This class Handles calling JSBSim standalone. It is set up for compilation under
-Borland C+Builder or other compiler.
+Borland C+Builder or other compiler.
-
+
-HISTORY
+HISTORY
---------------------------------------------------------------------------------
+--------------------------------------------------------------------------------
-08/17/99   JSB   Created
+08/17/99   JSB   Created
-
+
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
+INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
+
-#include "FGFDMExec.h"
+#include "FGFDMExec.h"
-#include "FGRotation.h"
+#include "FGRotation.h"
-#include "FGAtmosphere.h"
+#include "FGAtmosphere.h"
-#include "FGState.h"
+#include "FGState.h"
-#include "FGFCS.h"
+#include "FGFCS.h"
-#include "FGAircraft.h"
+#include "FGAircraft.h"
-#include "FGTranslation.h"
+#include "FGTranslation.h"
-#include "FGPosition.h"
+#include "FGPosition.h"
-#include "FGAuxiliary.h"
+#include "FGAuxiliary.h"
-#include "FGOutput.h"
+#include "FGOutput.h"
-#include "FGConfigFile.h"
+#include "FGConfigFile.h"
-
+
-#ifdef FGFS
+#ifdef FGFS
-#include <simgear/compiler.h>
+#include <simgear/compiler.h>
-#include STL_IOSTREAM
+#include STL_IOSTREAM
-#  ifdef SG_HAVE_STD_INCLUDES
+#  ifdef SG_HAVE_STD_INCLUDES
-#    include <ctime>
+#    include <ctime>
-#  else
+#  else
-#    include <time.h>
+#    include <time.h>
-#  endif
+#  endif
-#else
+#else
-#  if defined(sgi) && !defined(__GNUC__)
+#  if defined(sgi) && !defined(__GNUC__)
-#    include <iostream.h>
+#    include <iostream.h>
-#    include <time.h>
+#    include <time.h>
-#  else
+#  else
-#    include <iostream>
+#    include <iostream>
-#    include <ctime>
+#    include <ctime>
-#  endif
+#  endif
-#endif
+#endif
-
+
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
+DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
+
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-GLOBAL DATA
+GLOBAL DATA
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
+
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id$";
-
+
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
+COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
+
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DOCUMENTATION
+DOCUMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
+
-/** Standalone JSBSim main program
+/** Standalone JSBSim main program
-    This is the wrapper program used to instantiate the JSBSim system and control
+    This is the wrapper program used to instantiate the JSBSim system and control
-    it. Use this program to build a version of JSBSim that can be run from the
+    it. Use this program to build a version of JSBSim that can be run from the
-    command line. To get any use out of this, you will have to create a script
+    command line. To get any use out of this, you will have to create a script
-    to run a test case and specify what kind of output you would like.
+    to run a test case and specify what kind of output you would like.
-    @author Jon S. Berndt
+    @author Jon S. Berndt
-    @version $Id$
+    @version $Id$
-    @see -
+    @see -
-*/
+*/
-
+
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-IMPLEMENTATION
+IMPLEMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
+
-int main(int argc, char** argv)
+int main(int argc, char** argv)
-{
+{
-  FGFDMExec* FDMExec;
+  FGFDMExec* FDMExec;
-  float cmd = 0.0;
+  float cmd = 0.0;
-  bool result = false;
+  bool result = false;
-  bool scripted = false;
+  bool scripted = false;
-
+
-  if (argc == 2) {
+  if (argc == 2) {
-    FGConfigFile testFile(argv[1]);
+    FGConfigFile testFile(argv[1]);
-
+
-    if (!testFile.IsOpen()) {
+    if (!testFile.IsOpen()) {
-      cout << "Script file not opened" << endl;
+      cout << "Script file not opened" << endl;
-      exit(-1); 
+      exit(-1); 
-    }
+    }
-
+
-    testFile.GetNextConfigLine();
+    testFile.GetNextConfigLine();
-    if (testFile.GetValue("runscript").length() <= 0) {
+    if (testFile.GetValue("runscript").length() <= 0) {
-      cout << "File: " << argv[1] << " is not a script file" << endl;
+      cout << "File: " << argv[1] << " is not a script file" << endl;
-      exit(-1); 
+      exit(-1); 
-    }
+    }
-    scripted = true;
+    scripted = true;
-  } else if (argc != 3) {
+  } else if (argc != 3) {
-    cout << endl
+    cout << endl
-         << "  You must enter the name of a registered aircraft and reset point:"
+         << "  You must enter the name of a registered aircraft and reset point:"
-         << endl << endl << "  FDM <aircraft name> <reset file>" << endl;
+         << endl << endl << "  FDM <aircraft name> <reset file>" << endl;
-    cout << endl << "  Alternatively, you may specify only the name of a script file:"
+    cout << endl << "  Alternatively, you may specify only the name of a script file:"
-         << endl << endl << "  FDM <script file>" << endl << endl;
+         << endl << endl << "  FDM <script file>" << endl << endl;
-    exit(0);
+    exit(0);
-  }
+  }
-
+
-  FDMExec = new FGFDMExec();
+  FDMExec = new FGFDMExec();
-
+
-  if (scripted) { // form jsbsim <scriptfile>
+  if (scripted) { // form jsbsim <scriptfile>
-    result = FDMExec->LoadScript(argv[1]);
+    result = FDMExec->LoadScript(argv[1]);
-    if (!result) {
+    if (!result) {
-      cerr << "Script file " << argv[1] << " was not successfully loaded" << endl;
+      cerr << "Script file " << argv[1] << " was not successfully loaded" << endl;
-      exit(-1);
+      exit(-1);
-    }
+    }
-  } else {        // form jsbsim <acname> <resetfile>
+  } else {        // form jsbsim <acname> <resetfile>
-    if ( ! FDMExec->LoadModel("aircraft", "engine", string(argv[1]))) {
+    if ( ! FDMExec->LoadModel("aircraft", "engine", string(argv[1]))) {
-    	cerr << "  JSBSim could not be started" << endl << endl;
+    	cerr << "  JSBSim could not be started" << endl << endl;
-      exit(-1);
+      exit(-1);
-    }                   
+    }                   
-
+
-    FGInitialCondition IC(FDMExec);
+    FGInitialCondition IC(FDMExec);
-    if ( ! IC.Load("aircraft",string(argv[1]),string(argv[2]))) {
+    if ( ! IC.Load("aircraft",string(argv[1]),string(argv[2]))) {
-    	cerr << "Initialization unsuccessful" << endl;
+    	cerr << "Initialization unsuccessful" << endl;
-      exit(-1);
+      exit(-1);
-    }
+    }
-  }
+  }
-
+
-  FGJSBBase::Message* msg;
+  FGJSBBase::Message* msg;
-  while (FDMExec->Run()) {
+  while (FDMExec->Run()) {
-    while (FDMExec->ReadMessage()) {
+    while (FDMExec->ReadMessage()) {
-      msg = FDMExec->ProcessMessage();
+      msg = FDMExec->ProcessMessage();
-      switch (msg->type) {
+      switch (msg->type) {
-      case FGJSBBase::Message::eText:
+      case FGJSBBase::Message::eText:
-        cout << msg->messageId << ": " << msg->text << endl;
+        cout << msg->messageId << ": " << msg->text << endl;
-        break;
+        break;
-      case FGJSBBase::Message::eBool:
+      case FGJSBBase::Message::eBool:
-        cout << msg->messageId << ": " << msg->text << " " << msg->bVal << endl;
+        cout << msg->messageId << ": " << msg->text << " " << msg->bVal << endl;
-        break;
+        break;
-      case FGJSBBase::Message::eInteger:
+      case FGJSBBase::Message::eInteger:
-        cout << msg->messageId << ": " << msg->text << " " << msg->iVal << endl;
+        cout << msg->messageId << ": " << msg->text << " " << msg->iVal << endl;
-        break;
+        break;
-      case FGJSBBase::Message::eDouble:
+      case FGJSBBase::Message::eDouble:
-        cout << msg->messageId << ": " << msg->text << " " << msg->dVal << endl;
+        cout << msg->messageId << ": " << msg->text << " " << msg->dVal << endl;
-        break;
+        break;
-      default:
+      default:
-        cerr << "Unrecognized message type." << endl;
+        cerr << "Unrecognized message type." << endl;
-	      break;
+	      break;
-      }
+      }
-    }
+    }
-  }
+  }
-
+
-  delete FDMExec;
+  delete FDMExec;
-
+
-  return 0;
+  return 0;
-}
+}

src/FDM/JSBSim/filtersjb/FGFlaps.cpp

@@ -1,184 +0,0 @@
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- 
- Module:       FGFlap.cpp
- Author:       Tony Peden, for flight control system authored by Jon S. Berndt
- Date started: 5/11/00
- 
- ------------- Copyright (C) 2000 Anthony K. Peden -------------
- 
- This program is free software; you can redistribute it and/or modify it under
- the terms of the GNU General Public License as published by the Free Software
- Foundation; either version 2 of the License, or (at your option) any later
- version.
- 
- This program is distributed in the hope that it will be useful, but WITHOUT
- ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
- FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
- details.
- 
- 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.
- 
- Further information about the GNU General Public License can also be found on
- the world wide web at http://www.gnu.org.
- 
-FUNCTIONAL DESCRIPTION
---------------------------------------------------------------------------------
- 
-HISTORY
---------------------------------------------------------------------------------
- 
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-COMMENTS, REFERENCES,  and NOTES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- 
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#include "FGFlaps.h"
-
-static const char *IdSrc = "$Id$";
-static const char *IdHdr = ID_FLAPS;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-FGFlaps::FGFlaps(FGFCS* fcs, FGConfigFile* AC_cfg) : FGFCSComponent(fcs),
-AC_cfg(AC_cfg) {
-  string token;
-  double tmpDetent;
-  double tmpTime;
-
-  Detents.clear();
-  TransitionTimes.clear();
-
-  Type = AC_cfg->GetValue("TYPE");
-  Name = AC_cfg->GetValue("NAME");
-  AC_cfg->GetNextConfigLine();
-
-  while ((token = AC_cfg->GetValue()) != string("/COMPONENT")) {
-    *AC_cfg >> token;
-    if (token == "ID") {
-      *AC_cfg >> ID;
-    } else if (token == "INPUT") {
-      token = AC_cfg->GetValue("INPUT");
-      if (token.find("FG_") != token.npos) {
-        *AC_cfg >> token;
-        InputIdx = fcs->GetState()->GetParameterIndex(token);
-        InputType = itPilotAC;
-      }
-    } else if ( token == "DETENTS" ) {
-      *AC_cfg >> NumDetents;
-      for(int i=0;i<NumDetents;i++) {
-        *AC_cfg >> tmpDetent;
-        *AC_cfg >> tmpTime;
-        Detents.push_back(tmpDetent);
-        TransitionTimes.push_back(tmpTime);
-      }
-    } else if (token == "OUTPUT") {
-
-      IsOutput = true;
-      *AC_cfg >> sOutputIdx;
-      OutputIdx = fcs->GetState()->GetParameterIndex(sOutputIdx);
-    }
-  }
-
-  if (debug_lvl > 1) {
-    cout << "      ID: " << ID << endl;
-    cout << "      INPUT: " << InputIdx << endl;
-    cout << "      DETENTS: " << NumDetents << endl;
-    for(int i=0;i<NumDetents;i++) {
-      cout << "        " << Detents[i] << " " << TransitionTimes[i] << endl;
-    }
-    if (IsOutput) cout << "      OUTPUT: " <<sOutputIdx << endl;
-  }
-
-  if (debug_lvl & 2) cout << "Instantiated: FGFlaps" << endl;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGFlaps::~FGFlaps()
-{
-  if (debug_lvl & 2) cout << "Destroyed:    FGFlaps" << endl;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-bool FGFlaps::Run(void ) {
-  double dt=fcs->GetState()->Getdt();
-  double flap_transit_rate=0;
-
-  FGFCSComponent::Run(); // call the base class for initialization of Input
-  Flap_Handle = Input*Detents[NumDetents-1];
-  Flap_Position = fcs->GetState()->GetParameter(OutputIdx);
-
-  if(Flap_Handle < Detents[0]) {
-    fi=0;
-    Flap_Handle=Detents[0];
-    lastFlapHandle=Flap_Handle;
-    Flap_Position=Detents[0];
-    Output=Flap_Position;
-  } else if(Flap_Handle > Detents[NumDetents-1]) {
-    fi=NumDetents-1;
-    Flap_Handle=Detents[fi];
-    lastFlapHandle=Flap_Handle;
-    Flap_Position=Detents[fi];
-    Output=Flap_Position;
-  } else {
-    //cout << "FGFlaps::Run Handle: " << Flap_Handle << " Position: " << Flap_Position << endl;
-    if(dt <= 0)
-      Flap_Position=Flap_Handle;
-    else {
-      if(Flap_Handle != lastFlapHandle) {
-
-        Flaps_In_Transit=1;
-      }
-      if(Flaps_In_Transit) {
-
-        //fprintf(stderr,"Flap_Handle: %g, Flap_Position: %g\n",Flap_Handle,Flap_Position);
-        fi=0;
-        while(Detents[fi] < Flap_Handle) {
-          fi++;
-        }
-        if(Flap_Position < Flap_Handle) {
-          if(TransitionTimes[fi] > 0)
-            flap_transit_rate=(Detents[fi] - Detents[fi-1])/TransitionTimes[fi];
-          else
-            flap_transit_rate=(Detents[fi] - Detents[fi-1])/5;
-        } else {
-          if(TransitionTimes[fi+1] > 0)
-            flap_transit_rate=(Detents[fi] - Detents[fi+1])/TransitionTimes[fi+1];
-          else
-            flap_transit_rate=(Detents[fi] - Detents[fi+1])/5;
-        }
-        if(fabs(Flap_Position - Flap_Handle) > dt*flap_transit_rate)
-          Flap_Position+=flap_transit_rate*dt;
-        else {
-          Flaps_In_Transit=0;
-          Flap_Position=Flap_Handle;
-        }
-      }
-    }
-    lastFlapHandle=Flap_Handle;
-    Output=Flap_Position;
-  }
-  //cout << "FGFlaps::Run Handle: " << Flap_Handle << " Position: " << Flap_Position << " Output: " << Output << endl;
-  if (IsOutput) {
-    //cout << "Calling SetOutput()" << endl;
-    SetOutput();
-  }
-  //cout << "Out FGFlap::Run" << endl;
-  return true;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFlaps::Debug(void)
-{
-    //TODO: Add your source code here
-}
-

src/FDM/JSBSim/filtersjb/FGFlaps.h

@@ -1,88 +0,0 @@
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- 
- Header:       FGFlaps.h
- Author:       Tony Peden, for flight control system authored by Jon S. Berndt
- Date started: 5/11/00 
- 
- ------------- Copyright (C) Anthony K. Peden -------------
- 
- This program is free software; you can redistribute it and/or modify it under
- the terms of the GNU General Public License as published by the Free Software
- Foundation; either version 2 of the License, or (at your option) any later
- version.
- 
- This program is distributed in the hope that it will be useful, but WITHOUT
- ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
- FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
- details.
- 
- 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.
- 
- Further information about the GNU General Public License can also be found on
- the world wide web at http://www.gnu.org.
- 
-HISTORY
---------------------------------------------------------------------------------
- 
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-COMMENTS, REFERENCES,  and NOTES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- 
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-SENTRY
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifndef FGFLAPS_H
-#define FGFLAPS_H
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef FGFS
-#  include <simgear/compiler.h>
-#  ifdef SG_HAVE_STD_INCLUDES
-#    include <vector>
-#  else
-#    include <vector.h>
-#  endif
-#else
-#  include <vector>
-#endif
-
-#include <string>
-#include "FGFCSComponent.h"
-#include "../FGConfigFile.h"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#define ID_FLAPS "$Id$"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-class FGFlaps  : public FGFCSComponent {
-public:
-  FGFlaps(FGFCS* fcs, FGConfigFile* AC_cfg);
-  ~FGFlaps();
-  bool Run (void );
-  
-private:
-  FGConfigFile* AC_cfg;
-  vector<double> Detents;
-  vector<double> TransitionTimes;
-  int NumDetents,fi;
-  double lastFlapHandle;
-  double Flap_Handle;
-  double Flap_Position;
-  bool  Flaps_In_Transit;
-
-  void Debug(void);
-};
-
-#endif

src/FDM/JSBSim/filtersjb/FGSummer.cpp

@@ -93,7 +93,7 @@ FGSummer::FGSummer(FGFCS* fcs, FGConfigFile* AC_cfg) : FGFCSComponent(fcs),
   if (debug_lvl > 0) {
     cout << "      ID: " << ID << endl;
     cout << "      INPUTS: " << endl;
-    for (int i=0;i<InputIndices.size();i++) {
+    for (unsigned i=0;i<InputIndices.size();i++) {
       cout << "        " << InputIndices[i] << endl;
     }
     if (clipmax > clipmin) cout << "      CLIPTO: " << clipmin 

src/FDM/JSBSim/filtersjb/Makefile.am

@@ -6,9 +6,9 @@ libfiltersjb_a_SOURCES = \
 	FGDeadBand.cpp FGDeadBand.h \
 	FGFCSComponent.cpp FGFCSComponent.h \
 	FGFilter.cpp FGFilter.h \
-	FGFlaps.cpp FGFlaps.h \
 	FGGain.cpp FGGain.h \
 	FGGradient.cpp FGGradient.h \
+	FGKinemat.cpp FGKinemat.h \
 	FGSummer.cpp FGSummer.h \
 	FGSwitch.cpp FGSwitch.h