Synced with latest JSBSim cvs.

reinit fix from Norman.

src/FDM/JSBSim/FGControls.cpp

@@ -53,8 +53,9 @@ FGControls::~FGControls() {
 
 
 // $Log$
-// Revision 1.23  2001/04/02 01:12:38  curt
+// Revision 1.24  2001/04/05 19:14:37  curt
-// Latest jsbsim updates.
+// Synced with latest JSBSim cvs.
+// reinit fix from Norman.
 //
 // Revision 1.7  2001/03/22 14:10:24  jberndt
 // Fixed ID comment

src/FDM/JSBSim/FGControls.h

@@ -178,8 +178,9 @@ extern FGControls controls;
 
 
 // $Log$
-// Revision 1.22  2001/04/02 01:12:38  curt
+// Revision 1.23  2001/04/05 19:14:37  curt
-// Latest jsbsim updates.
+// Synced with latest JSBSim cvs.
+// reinit fix from Norman.
 //
 // Revision 1.10  2001/03/22 14:10:24  jberndt
 // Fixed ID comment

src/FDM/JSBSim/FGDefs.h

@@ -94,7 +94,10 @@ enum eParam {
   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 {

src/FDM/JSBSim/FGFCS.h

@@ -172,25 +172,32 @@ public:
   /** 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; }
@@ -201,21 +208,27 @@ public:
   /** 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)*/
@@ -226,16 +239,20 @@ public:
       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);
 
@@ -244,24 +261,31 @@ public:
   /** 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 cmd throttle command in percent (0 - 100)*/
@@ -273,21 +297,27 @@ public:
   /** 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 cmd throttle setting in percent (0 - 100)*/
@@ -299,12 +329,15 @@ public:
   /** 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 */

src/FDM/JSBSim/FGLGear.cpp

@@ -2,6 +2,7 @@
 
  Module:       FGLGear.cpp
  Author:       Jon S. Berndt
+               Norman H. Princen
  Date started: 11/18/99
  Purpose:      Encapsulates the landing gear elements
  Called by:    FGAircraft
@@ -184,32 +185,48 @@ FGColumnVector FGLGear::Force(void)
 
   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,
+// vLocalGear now stores the vector from the cg to the wheel in local coords.
-// not the strut axis as it should be.  Will fix this later.
 
   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;
@@ -220,43 +237,42 @@ FGColumnVector FGLGear::Force(void)
 // 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;
+      SteerGain = -maxSteerAngle;
-        BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgLeft)) +
+      BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgLeft)) +
                                             staticFCoeff*FCS->GetBrake(bgLeft);
       break;
     case bgRight:
-        SteerGain = -maxSteerAngle;
+      SteerGain = -maxSteerAngle;
-        BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgRight)) +
+      BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgRight)) +
-                                            staticFCoeff*FCS->GetBrake(bgRight);
+                                           staticFCoeff*FCS->GetBrake(bgRight);
       break;
     case bgCenter:
-        SteerGain = -maxSteerAngle;
+      SteerGain = -maxSteerAngle;
-        BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgCenter)) +
+      BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgCenter)) +
-                                            staticFCoeff*FCS->GetBrake(bgCenter);
+                                           staticFCoeff*FCS->GetBrake(bgCenter);
       break;
     case bgNose:
-        SteerGain = maxSteerAngle;
+      SteerGain = maxSteerAngle;
-        BrakeFCoeff = rollingFCoeff;
+      BrakeFCoeff = rollingFCoeff;
       break;
     case bgTail:
-        SteerGain = -maxSteerAngle;
+      SteerGain = -maxSteerAngle;
-        BrakeFCoeff = rollingFCoeff;
+      BrakeFCoeff = rollingFCoeff;
       break;
     case bgNone:
-        SteerGain = -maxSteerAngle;
+      SteerGain = -maxSteerAngle;
-        BrakeFCoeff = rollingFCoeff;
+      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();
@@ -265,7 +281,6 @@ FGColumnVector FGLGear::Force(void)
       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;
@@ -277,7 +292,6 @@ FGColumnVector FGLGear::Force(void)
 // 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);
@@ -292,11 +306,11 @@ FGColumnVector FGLGear::Force(void)
       WheelSlip = RADTODEG*atan2(SideWhlVel, RollingWhlVel);
     }
 
-    // The following code normalizes the wheel velocity vector, reverses it, and zeroes out
+// 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
+// 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
+// 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 now points as a unit vector backwards and parallel to the wheel
-    // velocity vector. It acts AT 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();
@@ -323,7 +337,7 @@ FGColumnVector FGLGear::Force(void)
 // 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;

src/FDM/JSBSim/FGState.cpp

@@ -131,6 +131,9 @@ FGState::FGState(FGFDMExec* fdex) : mTb2l(3,3),
   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;
 }
@@ -287,6 +290,16 @@ void FGState::SetParameter(eParam val_idx, float val) {
     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;
   }

src/Main/fg_init.cxx

@@ -817,6 +817,11 @@ void fgReInitSubsystems( void )
     controls.reset_all();
     current_autopilot->reset();
 
+    fgUpdateSunPos();
+    fgUpdateMoonPos();
+    cur_light_params.Update();
+    fgUpdateLocalTime();
+
     if( !freeze )
         globals->set_freeze( false );
 }