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Add Bertrand Coconnier's latest landing gear code

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This commit is contained in:
ehofman 2009-08-20 05:33:20 +00:00 committed by Tim Moore
parent 5a04b82dfc
commit 5ee9cd1fcc
6 changed files with 161 additions and 105 deletions
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4
src/FDM/JSBSim/JSBSim.cxx
View file

@ -103,8 +103,8 @@ public:
double contact[3], normal[3], vel[3], agl = 0; double contact[3], normal[3], vel[3], agl = 0;
mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal, mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
vel, &agl); vel, &agl);
n = l.GetTec2l()*FGColumnVector3( normal[0], normal[1], normal[2] ); n = FGColumnVector3( -normal[0], -normal[1], -normal[2] );
v = l.GetTec2l()*FGColumnVector3( vel[0], vel[1], vel[2] ); v = FGColumnVector3( vel[0], vel[1], vel[2] );
cont = FGColumnVector3( contact[0], contact[1], contact[2] ); cont = FGColumnVector3( contact[0], contact[1], contact[2] );
return agl; return agl;
} }

13
src/FDM/JSBSim/input_output/FGPropertyManager.h
View file

@ -35,14 +35,17 @@ SENTRY
INCLUDES INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <string> #include <string>
#include <iostream> #include <iostream>
#include <simgear/props/props.hxx> #include <simgear/props/props.hxx>
#include <simgear/math/SGMath.hxx> #if !PROPS_STANDALONE
// This is needed by MSVC9 when included in FlightGear because of
// the new Vec4d class in props.hxx
# if defined( HAVE_CONFIG_H )
# include <config.h>
# endif
# include <simgear/math/SGMath.hxx>
#endif
#include "FGJSBBase.h" #include "FGJSBBase.h"

12
src/FDM/JSBSim/input_output/FGScript.cpp
View file

@ -274,14 +274,14 @@ bool FGScript::LoadScript( string script )
newEvent->newValue.push_back(0.0); newEvent->newValue.push_back(0.0);
newEvent->ValueSpan.push_back(0.0); newEvent->ValueSpan.push_back(0.0);
string tempCompare = set_element->GetAttributeValue("type"); string tempCompare = set_element->GetAttributeValue("type");
if (tempCompare == "FG_DELTA") newEvent->Type.push_back(FG_DELTA); if (to_lower(tempCompare).find("delta") != string::npos) newEvent->Type.push_back(FG_DELTA);
else if (tempCompare == "FG_BOOL") newEvent->Type.push_back(FG_BOOL); else if (to_lower(tempCompare).find("bool") != string::npos) newEvent->Type.push_back(FG_BOOL);
else if (tempCompare == "FG_VALUE") newEvent->Type.push_back(FG_VALUE); else if (to_lower(tempCompare).find("value") != string::npos) newEvent->Type.push_back(FG_VALUE);
else newEvent->Type.push_back(FG_VALUE); // DEFAULT else newEvent->Type.push_back(FG_VALUE); // DEFAULT
tempCompare = set_element->GetAttributeValue("action"); tempCompare = set_element->GetAttributeValue("action");
if (tempCompare == "FG_RAMP") newEvent->Action.push_back(FG_RAMP); if (to_lower(tempCompare).find("ramp") != string::npos) newEvent->Action.push_back(FG_RAMP);
else if (tempCompare == "FG_STEP") newEvent->Action.push_back(FG_STEP); else if (to_lower(tempCompare).find("step") != string::npos) newEvent->Action.push_back(FG_STEP);
else if (tempCompare == "FG_EXP") newEvent->Action.push_back(FG_EXP); else if (to_lower(tempCompare).find("exp") != string::npos) newEvent->Action.push_back(FG_EXP);
else newEvent->Action.push_back(FG_STEP); // DEFAULT else newEvent->Action.push_back(FG_STEP); // DEFAULT
if (!set_element->GetAttributeValue("tc").empty()) if (!set_element->GetAttributeValue("tc").empty())

170
src/FDM/JSBSim/models/FGLGear.cpp
View file

@ -3,6 +3,7 @@
Module: FGLGear.cpp Module: FGLGear.cpp
Author: Jon S. Berndt Author: Jon S. Berndt
Norman H. Princen Norman H. Princen
Bertrand Coconnier
Date started: 11/18/99 Date started: 11/18/99
Purpose: Encapsulates the landing gear elements Purpose: Encapsulates the landing gear elements
Called by: FGAircraft Called by: FGAircraft
@ -33,6 +34,7 @@ HISTORY
-------------------------------------------------------------------------------- --------------------------------------------------------------------------------
11/18/99 JSB Created 11/18/99 JSB Created
01/30/01 NHP Extended gear model to properly simulate steering and braking 01/30/01 NHP Extended gear model to properly simulate steering and braking
07/08/09 BC Modified gear model to support large angles between aircraft and ground
/%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% /%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES INCLUDES
@ -225,13 +227,14 @@ FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number) :
TakeoffReported = LandingReported = false; TakeoffReported = LandingReported = false;
LandingDistanceTraveled = TakeoffDistanceTraveled = TakeoffDistanceTraveled50ft = 0.0; LandingDistanceTraveled = TakeoffDistanceTraveled = TakeoffDistanceTraveled50ft = 0.0;
MaximumStrutForce = MaximumStrutTravel = 0.0; MaximumStrutForce = MaximumStrutTravel = 0.0;
SideForce = RollingForce = 0.0;
SinkRate = GroundSpeed = 0.0; SinkRate = GroundSpeed = 0.0;
vWhlBodyVec = MassBalance->StructuralToBody(vXYZ); vWhlBodyVec = MassBalance->StructuralToBody(vXYZ);
vLocalGear = Propagate->GetTb2l() * vWhlBodyVec; vLocalGear = Propagate->GetTb2l() * vWhlBodyVec;
vLocalWhlVel.InitMatrix();
compressLength = 0.0; compressLength = 0.0;
compressSpeed = 0.0; compressSpeed = 0.0;
brakePct = 0.0; brakePct = 0.0;
@ -240,12 +243,6 @@ FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number) :
WheelSlip = 0.0; WheelSlip = 0.0;
TirePressureNorm = 1.0; TirePressureNorm = 1.0;
SideWhlVel = 0.0;
RollingWhlVel = 0.0;
SinWheel = 0.0;
CosWheel = 0.0;
// Set Pacejka terms // Set Pacejka terms
Stiffness = 0.06; Stiffness = 0.06;
@ -272,6 +269,7 @@ FGColumnVector3& FGLGear::Force(void)
dT = State->Getdt()*Exec->GetGroundReactions()->GetRate(); dT = State->Getdt()*Exec->GetGroundReactions()->GetRate();
vForce.InitMatrix(); vForce.InitMatrix();
vLocalForce.InitMatrix();
vMoment.InitMatrix(); vMoment.InitMatrix();
if (isRetractable) ComputeRetractionState(); if (isRetractable) ComputeRetractionState();
@ -282,9 +280,21 @@ FGColumnVector3& FGLGear::Force(void)
vLocalGear = Propagate->GetTb2l() * vWhlBodyVec; // Get local frame wheel location vLocalGear = Propagate->GetTb2l() * vWhlBodyVec; // Get local frame wheel location
gearLoc = Propagate->GetLocation().LocalToLocation(vLocalGear); gearLoc = Propagate->GetLocation().LocalToLocation(vLocalGear);
compressLength = -Exec->GetGroundCallback()->GetAGLevel(t, gearLoc, contact, normal, cvel); // Compute the height of the theoritical location of the wheel (if struct was not compressed) with
// respect to the ground level
double height = Exec->GetGroundCallback()->GetAGLevel(t, gearLoc, contact, normal, cvel);
vGroundNormal = -1. * Propagate->GetTec2b() * normal;
// The compression length is measured in the Z-axis, only, at this time. switch (eContactType) {
case ctBOGEY:
// Project the height in the local coordinate frame of the strut to compute the actual compression
// length. The strut is assumed to be parallel to Z in the body frame.
compressLength = vGroundNormal(eZ) < 0.0 ? height / vGroundNormal(eZ) : 0.0;
break;
case ctSTRUCTURE:
compressLength = -height;
break;
}
if (compressLength > 0.00) { if (compressLength > 0.00) {
@ -293,22 +303,38 @@ FGColumnVector3& FGLGear::Force(void)
// [The next equation should really use the vector to the contact patch of // [The next equation should really use the vector to the contact patch of
// the tire including the strut compression and not the original vWhlBodyVec.] // the tire including the strut compression and not the original vWhlBodyVec.]
vWhlVelVec = Propagate->GetTb2l() * (Propagate->GetPQR() * vWhlBodyVec); FGColumnVector3 vWhlContactVec = vWhlBodyVec - FGColumnVector3(0., 0., compressLength);
vWhlVelVec += Propagate->GetVel() - cvel; vWhlVelVec = Propagate->GetPQR() * vWhlContactVec;
compressSpeed = vWhlVelVec(eZ); vWhlVelVec += Propagate->GetUVW() - Propagate->GetTec2b() * cvel;
InitializeReporting(); InitializeReporting();
ComputeBrakeForceCoefficient();
ComputeSteeringAngle(); ComputeSteeringAngle();
ComputeSlipAngle(); ComputeGroundCoordSys();
ComputeSideForceCoefficient();
vLocalWhlVel = Tb2g * vWhlVelVec;
compressSpeed = -vLocalWhlVel(eZ);
if (eContactType == ctBOGEY)
// Project the compression speed in the local coordinate frame of the strut
compressSpeed /= -vGroundNormal(eZ);
ComputeVerticalStrutForce(); ComputeVerticalStrutForce();
// Compute the forces in the wheel ground plane. // Compute the forces in the wheel ground plane.
if (eContactType == ctBOGEY) {
double sign = RollingWhlVel>0?1.0:(RollingWhlVel<0?-1.0:0.0); ComputeSlipAngle();
RollingForce = ((1.0 - TirePressureNorm) * 30 + vLocalForce(eZ) * BrakeFCoeff) * sign; ComputeBrakeForceCoefficient();
SideForce = vLocalForce(eZ) * FCoeff; ComputeSideForceCoefficient();
double sign = vLocalWhlVel(eX)>0?1.0:(vLocalWhlVel(eX)<0?-1.0:0.0);
vLocalForce(eX) = - ((1.0 - TirePressureNorm) * 30 + vLocalForce(eZ) * BrakeFCoeff) * sign;
vLocalForce(eY) = vLocalForce(eZ) * FCoeff;
}
else if (eContactType == ctSTRUCTURE) {
FGColumnVector3 vSlipVec = vLocalWhlVel;
vSlipVec(eZ) = 0.;
vSlipVec.Normalize();
vLocalForce -= staticFCoeff * vLocalForce(eZ) * vSlipVec;
}
// Lag and attenuate the XY-plane forces dependent on velocity. This code // Lag and attenuate the XY-plane forces dependent on velocity. This code
// uses a lag filter, C/(s + C) where "C" is the filter coefficient. When // uses a lag filter, C/(s + C) where "C" is the filter coefficient. When
@ -317,24 +343,18 @@ FGColumnVector3& FGLGear::Force(void)
// If a coefficient is set to something equal to or less than zero, the // If a coefficient is set to something equal to or less than zero, the
// filter is bypassed. // filter is bypassed.
if (LongForceLagFilterCoeff > 0) RollingForce = LongForceFilter.execute(RollingForce); if (LongForceLagFilterCoeff > 0) vLocalForce(eX) = LongForceFilter.execute(vLocalForce(eX));
if (LatForceLagFilterCoeff > 0) SideForce = LatForceFilter.execute(SideForce); if (LatForceLagFilterCoeff > 0) vLocalForce(eY) = LatForceFilter.execute(vLocalForce(eY));
if ((fabs(RollingWhlVel) <= RFRV) && RFRV > 0) RollingForce *= fabs(RollingWhlVel)/RFRV; if ((fabs(vLocalWhlVel(eX)) <= RFRV) && RFRV > 0) vLocalForce(eX) *= fabs(vLocalWhlVel(eX))/RFRV;
if ((fabs(SideWhlVel) <= SFRV) && SFRV > 0) SideForce *= fabs(SideWhlVel)/SFRV; if ((fabs(vLocalWhlVel(eY)) <= SFRV) && SFRV > 0) vLocalForce(eY) *= fabs(vLocalWhlVel(eY))/SFRV;
// Transform these forces back to the local reference frame. // End section for attenuating gear jitter
vLocalForce(eX) = RollingForce*CosWheel - SideForce*SinWheel;
vLocalForce(eY) = SideForce*CosWheel + RollingForce*SinWheel;
// Transform the forces back to the body frame and compute the moment. // Transform the forces back to the body frame and compute the moment.
vForce = Propagate->GetTl2b() * vLocalForce; vForce = Tg2b * vLocalForce;
vMoment = vWhlContactVec * vForce;
// End section for attentuating gear jitter
vMoment = vWhlBodyVec * vForce;
} else { // Gear is NOT compressed } else { // Gear is NOT compressed
@ -342,12 +362,9 @@ FGColumnVector3& FGLGear::Force(void)
compressLength = 0.0; compressLength = 0.0;
compressSpeed = 0.0; compressSpeed = 0.0;
// No wheel conditions
SideWhlVel = WheelSlip = 0.0;
// Let wheel spin down slowly // Let wheel spin down slowly
RollingWhlVel -= 13.0*dT; vLocalWhlVel(eX) -= 13.0*dT;
if (RollingWhlVel < 0.0) RollingWhlVel = 0.0; if (vLocalWhlVel(eX) < 0.0) vLocalWhlVel(eX) = 0.0;
// Return to neutral position between 1.0 and 0.8 gear pos. // Return to neutral position between 1.0 and 0.8 gear pos.
SteerAngle *= max(GetGearUnitPos()-0.8, 0.0)/0.2; SteerAngle *= max(GetGearUnitPos()-0.8, 0.0)/0.2;
@ -367,6 +384,45 @@ FGColumnVector3& FGLGear::Force(void)
return vForce; return vForce;
} }
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Build a local "ground" coordinate system defined by
// eX : projection of the rolling direction on the ground
// eY : projection of the sliping direction on the ground
// eZ : normal to the ground
void FGLGear::ComputeGroundCoordSys(void)
{
// Compute the rolling direction projected on the ground
// It consists in finding a vector 'r' such that 'r' lies in the plane (w,z) and r.n = 0 (scalar
// product) where:
// 'n' is the normal to the ground,
// (x,y,z) are the directions defined in the body coord system
// and 'w' is 'x' rotated by the steering angle (SteerAngle) in the plane (x,y).
// r = u * w + v * z and r.n = 0 => v/u = -w.n/z.n = a
// We also want u**2+v**2=1 and u > 0 (i.e. r orientated in the same 'direction' than w)
// after some arithmetic, one finds that :
double a = -(vGroundNormal(eX)*cos(SteerAngle)+vGroundNormal(eY)*sin(SteerAngle)) / vGroundNormal(eZ);
double u = 1. / sqrt(1. + a*a);
double v = a * u;
FGColumnVector3 vRollingGroundVec = FGColumnVector3(u * cos(SteerAngle), u * sin(SteerAngle), v);
// The sliping direction is the cross product multiplication of the ground normal and rolling
// directions
FGColumnVector3 vSlipGroundVec = vGroundNormal * vRollingGroundVec;
Tg2b(1,1) = vRollingGroundVec(eX);
Tg2b(2,1) = vRollingGroundVec(eY);
Tg2b(3,1) = vRollingGroundVec(eZ);
Tg2b(1,2) = vSlipGroundVec(eX);
Tg2b(2,2) = vSlipGroundVec(eY);
Tg2b(3,2) = vSlipGroundVec(eZ);
Tg2b(1,3) = vGroundNormal(eX);
Tg2b(2,3) = vGroundNormal(eY);
Tg2b(3,3) = vGroundNormal(eZ);
Tb2g = Tg2b.Transposed();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGLGear::ComputeRetractionState(void) void FGLGear::ComputeRetractionState(void)
@ -376,7 +432,7 @@ void FGLGear::ComputeRetractionState(void)
GearUp = true; GearUp = true;
WOW = false; WOW = false;
GearDown = false; GearDown = false;
RollingWhlVel = 0.0; vLocalWhlVel.InitMatrix();
} else if (gearPos > 0.99) { } else if (gearPos > 0.99) {
GearDown = true; GearDown = true;
GearUp = false; GearUp = false;
@ -390,12 +446,8 @@ void FGLGear::ComputeRetractionState(void)
void FGLGear::ComputeSlipAngle(void) void FGLGear::ComputeSlipAngle(void)
{ {
// Transform the wheel velocities from the local axis system to the wheel axis system.
RollingWhlVel = vWhlVelVec(eX)*CosWheel + vWhlVelVec(eY)*SinWheel;
SideWhlVel = vWhlVelVec(eY)*CosWheel - vWhlVelVec(eX)*SinWheel;
// Calculate tire slip angle. // Calculate tire slip angle.
WheelSlip = atan2(SideWhlVel, fabs(RollingWhlVel))*radtodeg; WheelSlip = -atan2(vLocalWhlVel(eY), fabs(vLocalWhlVel(eX)))*radtodeg;
// Filter the wheel slip angle // Filter the wheel slip angle
if (WheelSlipLagFilterCoeff > 0) WheelSlip = WheelSlipFilter.execute(WheelSlip); if (WheelSlipLagFilterCoeff > 0) WheelSlip = WheelSlipFilter.execute(WheelSlip);
@ -407,9 +459,6 @@ void FGLGear::ComputeSlipAngle(void)
void FGLGear::ComputeSteeringAngle(void) void FGLGear::ComputeSteeringAngle(void)
{ {
double casterLocalFrameAngleRad = 0.0;
double casterAngle = 0.0;
switch (eSteerType) { switch (eSteerType) {
case stSteer: case stSteer:
SteerAngle = degtorad * FCS->GetSteerPosDeg(GearNumber); SteerAngle = degtorad * FCS->GetSteerPosDeg(GearNumber);
@ -418,20 +467,12 @@ void FGLGear::ComputeSteeringAngle(void)
SteerAngle = 0.0; SteerAngle = 0.0;
break; break;
case stCaster: case stCaster:
// This is not correct for castering gear. Should make steer angle parallel SteerAngle = atan2(fabs(vWhlVelVec(eX)), vWhlVelVec(eY));
// to the actual velocity vector of the wheel, given aircraft velocity vector
// and omega.
SteerAngle = 0.0;
casterLocalFrameAngleRad = acos(vWhlVelVec(eX)/vWhlVelVec.Magnitude());
casterAngle = casterLocalFrameAngleRad - Propagate->GetEuler(ePsi);
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;
} }
SinWheel = sin(Propagate->GetEuler(ePsi) + SteerAngle);
CosWheel = cos(Propagate->GetEuler(ePsi) + SteerAngle);
} }
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -612,10 +653,22 @@ void FGLGear::ComputeVerticalStrutForce(void)
dampForce = compressSpeed * compressSpeed * bDampRebound; dampForce = compressSpeed * compressSpeed * bDampRebound;
} }
vLocalForce(eZ) = min(springForce + dampForce, (double)0.0);
StrutForce = min(springForce + dampForce, (double)0.0);
// The reaction force of the wheel is always normal to the ground
switch (eContactType) {
case ctBOGEY:
// Project back the strut force in the local coordinate frame of the ground
vLocalForce(eZ) = StrutForce / vGroundNormal(eZ);
break;
case ctSTRUCTURE:
vLocalForce(eZ) = -StrutForce;
break;
}
// Remember these values for reporting // Remember these values for reporting
MaximumStrutForce = max(MaximumStrutForce, fabs(vLocalForce(eZ))); MaximumStrutForce = max(MaximumStrutForce, fabs(StrutForce));
MaximumStrutTravel = max(MaximumStrutTravel, fabs(compressLength)); MaximumStrutTravel = max(MaximumStrutTravel, fabs(compressLength));
} }
@ -644,7 +697,8 @@ void FGLGear::bind(void)
property_name = base_property_name + "/WOW"; property_name = base_property_name + "/WOW";
Exec->GetPropertyManager()->Tie( property_name.c_str(), &WOW ); Exec->GetPropertyManager()->Tie( property_name.c_str(), &WOW );
property_name = base_property_name + "/wheel-speed-fps"; property_name = base_property_name + "/wheel-speed-fps";
Exec->GetPropertyManager()->Tie( property_name.c_str(), &RollingWhlVel ); Exec->GetPropertyManager()->Tie( property_name.c_str(), (FGLGear*)this,
&FGLGear::GetWheelRollVel);
property_name = base_property_name + "/z-position"; property_name = base_property_name + "/z-position";
Exec->GetPropertyManager()->Tie( property_name.c_str(), (FGLGear*)this, Exec->GetPropertyManager()->Tie( property_name.c_str(), (FGLGear*)this,
&FGLGear::GetZPosition, &FGLGear::SetZPosition); &FGLGear::GetZPosition, &FGLGear::SetZPosition);

63
src/FDM/JSBSim/models/FGLGear.h
View file

@ -234,55 +234,55 @@ public:
double GetLocalGear(int idx) const { return vLocalGear(idx); } double GetLocalGear(int idx) const { return vLocalGear(idx); }
/// Gets the name of the gear /// Gets the name of the gear
inline string GetName(void) const {return name; } string GetName(void) const {return name; }
/// Gets the Weight On Wheels flag value /// Gets the Weight On Wheels flag value
inline bool GetWOW(void) const {return WOW; } bool GetWOW(void) const {return WOW; }
/// Gets the current compressed length of the gear in feet /// Gets the current compressed length of the gear in feet
inline double GetCompLen(void) const {return compressLength;} double GetCompLen(void) const {return compressLength;}
/// Gets the current gear compression velocity in ft/sec /// Gets the current gear compression velocity in ft/sec
inline double GetCompVel(void) const {return compressSpeed; } double GetCompVel(void) const {return compressSpeed; }
/// Gets the gear compression force in pounds /// Gets the gear compression force in pounds
inline double GetCompForce(void) const {return vForce(eZ); } double GetCompForce(void) const {return StrutForce; }
inline double GetBrakeFCoeff(void) const {return BrakeFCoeff;} double GetBrakeFCoeff(void) const {return BrakeFCoeff;}
/// Gets the current normalized tire pressure /// Gets the current normalized tire pressure
inline double GetTirePressure(void) const { return TirePressureNorm; } double GetTirePressure(void) const { return TirePressureNorm; }
/// Sets the new normalized tire pressure /// Sets the new normalized tire pressure
inline void SetTirePressure(double p) { TirePressureNorm = p; } void SetTirePressure(double p) { TirePressureNorm = p; }
/// Sets the brake value in percent (0 - 100) /// Sets the brake value in percent (0 - 100)
inline void SetBrake(double bp) {brakePct = bp;} void SetBrake(double bp) {brakePct = bp;}
/// Sets the weight-on-wheels flag. /// Sets the weight-on-wheels flag.
void SetWOW(bool wow) {WOW = wow;} void SetWOW(bool wow) {WOW = wow;}
/** Set the console touchdown reporting feature /** Set the console touchdown reporting feature
@param flag true turns on touchdown reporting, false turns it off */ @param flag true turns on touchdown reporting, false turns it off */
inline void SetReport(bool flag) { ReportEnable = flag; } void SetReport(bool flag) { ReportEnable = flag; }
/** Get the console touchdown reporting feature /** Get the console touchdown reporting feature
@return true if reporting is turned on */ @return true if reporting is turned on */
inline bool GetReport(void) const { return ReportEnable; } bool GetReport(void) const { return ReportEnable; }
double GetSteerNorm(void) const { return radtodeg/maxSteerAngle*SteerAngle; } double GetSteerNorm(void) const { return radtodeg/maxSteerAngle*SteerAngle; }
double GetDefaultSteerAngle(double cmd) const { return cmd*maxSteerAngle; } double GetDefaultSteerAngle(double cmd) const { return cmd*maxSteerAngle; }
double GetstaticFCoeff(void) const { return staticFCoeff; } double GetstaticFCoeff(void) const { return staticFCoeff; }
inline int GetBrakeGroup(void) const { return (int)eBrakeGrp; } int GetBrakeGroup(void) const { return (int)eBrakeGrp; }
inline int GetSteerType(void) const { return (int)eSteerType; } int GetSteerType(void) const { return (int)eSteerType; }
inline double GetZPosition(void) const { return vXYZ(3); } double GetZPosition(void) const { return vXYZ(3); }
inline void SetZPosition(double z) { vXYZ(3) = z; } void SetZPosition(double z) { vXYZ(3) = z; }
bool GetSteerable(void) const { return eSteerType != stFixed; } bool GetSteerable(void) const { return eSteerType != stFixed; }
inline bool GetRetractable(void) const { return isRetractable; } bool GetRetractable(void) const { return isRetractable; }
inline bool GetGearUnitUp(void) const { return GearUp; } bool GetGearUnitUp(void) const { return GearUp; }
inline bool GetGearUnitDown(void) const { return GearDown; } bool GetGearUnitDown(void) const { return GearDown; }
inline double GetWheelSideForce(void) const { return SideForce; } double GetWheelSideForce(void) const { return vLocalForce(eY); }
inline double GetWheelRollForce(void) const { return RollingForce; } double GetWheelRollForce(void) const { return vLocalForce(eX); }
inline double GetWheelSideVel(void) const { return SideWhlVel; } double GetWheelSideVel(void) const { return vWhlVelVec(eY); }
inline double GetWheelRollVel(void) const { return RollingWhlVel; } double GetWheelRollVel(void) const { return vWhlVelVec(eX); }
inline double GetBodyXForce(void) const { return vLocalForce(eX); } double GetBodyXForce(void) const { return vForce(eX); }
inline double GetBodyYForce(void) const { return vLocalForce(eY); } double GetBodyYForce(void) const { return vForce(eY); }
inline double GetWheelSlipAngle(void) const { return WheelSlip; } double GetWheelSlipAngle(void) const { return WheelSlip; }
double GetWheelVel(int axis) const { return vWhlVelVec(axis);} double GetWheelVel(int axis) const { return vWhlVelVec(axis);}
bool IsBogey(void) const { return (eContactType == ctBOGEY);} bool IsBogey(void) const { return (eContactType == ctBOGEY);}
double GetGearUnitPos(void); double GetGearUnitPos(void);
@ -291,15 +291,15 @@ public:
private: private:
int GearNumber; int GearNumber;
FGMatrix33 Tg2b, Tb2g;
FGColumnVector3 vXYZ; FGColumnVector3 vXYZ;
FGColumnVector3 vMoment; FGColumnVector3 vMoment;
FGColumnVector3 vWhlBodyVec; FGColumnVector3 vWhlBodyVec;
FGColumnVector3 vLocalGear; FGColumnVector3 vLocalGear;
FGColumnVector3 vForce; FGColumnVector3 vForce;
FGColumnVector3 last_vForce; // remove this
FGColumnVector3 vLocalForce; FGColumnVector3 vLocalForce;
FGColumnVector3 vWhlVelVec; // Velocity of this wheel (Local) FGColumnVector3 vWhlVelVec, vLocalWhlVel; // Velocity of this wheel
FGColumnVector3 normal, cvel; FGColumnVector3 normal, cvel, vGroundNormal;
FGLocation contact, gearLoc; FGLocation contact, gearLoc;
FGTable *ForceY_Table; FGTable *ForceY_Table;
double dT; double dT;
@ -319,13 +319,11 @@ private:
double TakeoffDistanceTraveled; double TakeoffDistanceTraveled;
double TakeoffDistanceTraveled50ft; double TakeoffDistanceTraveled50ft;
double LandingDistanceTraveled; double LandingDistanceTraveled;
double MaximumStrutForce; double MaximumStrutForce, StrutForce;
double MaximumStrutTravel; double MaximumStrutTravel;
double SideWhlVel, RollingWhlVel; double FCoeff;
double RollingForce, SideForce, FCoeff;
double WheelSlip; double WheelSlip;
double TirePressureNorm; double TirePressureNorm;
double SinWheel, CosWheel;
double GearPos; double GearPos;
bool useFCSGearPos; bool useFCSGearPos;
bool WOW; bool WOW;
@ -374,6 +372,7 @@ private:
void ComputeSlipAngle(void); void ComputeSlipAngle(void);
void ComputeSideForceCoefficient(void); void ComputeSideForceCoefficient(void);
void ComputeVerticalStrutForce(void); void ComputeVerticalStrutForce(void);
void ComputeGroundCoordSys(void);
void CrashDetect(void); void CrashDetect(void);
void InitializeReporting(void); void InitializeReporting(void);
void ResetReporting(void); void ResetReporting(void);

4
src/FDM/JSBSim/models/FGOutput.h
View file

@ -83,7 +83,7 @@ CLASS DOCUMENTATION
FLIGHTGEAR A socket is created for sending binary data packets to FLIGHTGEAR A socket is created for sending binary data packets to
an external instance of FlightGear for visuals. Parameters an external instance of FlightGear for visuals. Parameters
defining the socket are given on the \<output> line. defining the socket are given on the \<output> line.
TABULAR Columnar data. NOT IMPLEMENTED YET! TABULAR Columnar data.
TERMINAL Output to terminal. NOT IMPLEMENTED YET! TERMINAL Output to terminal. NOT IMPLEMENTED YET!
NONE Specifies to do nothing. This setting makes it easy to turn on and NONE Specifies to do nothing. This setting makes it easy to turn on and
off the data output without having to mess with anything else. off the data output without having to mess with anything else.
@ -91,7 +91,7 @@ CLASS DOCUMENTATION
Examples: Examples:
</pre> </pre>
@code @code
<output name="localhost" type="FLIGHTGEAR" port="5500" protocol="tcp" rate="10"></output> <output name="localhost" type="FLIGHTGEAR" port="5500" protocol="tcp" rate="10"/>
@endcode @endcode
@code @code
<output name="B737_datalog.csv" type="CSV" rate="20"> <output name="B737_datalog.csv" type="CSV" rate="20">