Attempt #1 to sort out confusion between left / right / parking brake

controls in the cockpit vs. which wheels they apply to.  FlightGear now
sets /controls/gear/brake-left, /controls/gear/brake-right, and
/controls/gear/brake-parking.  It should be up to the FDM to sort out
which wheels under which circumstances are affected by these controls
and ultimately what happens to the physical motion of the aircraft.

docs-mini/README.properties

@@ -52,13 +52,14 @@ Fuel
 
 Gear
 ----
-/controls/gear/parking-brake
+/controls/gear/brake-left
+/controls/gear/brake-right
+/controls/gear/brake-parking
 /controls/gear/steering
 /controls/gear/gear-down
 /controls/gear/antiskid
 /controls/gear/tailhook
 /controls/gear/tailwheel-lock
-/controls/gear/wheel[%d]/brake
 /controls/gear/wheel[%d]/alternate-extension
 
 Anti-Ice

scripts/perl/web/mkindex.pl

@@ -289,9 +289,7 @@ while ( <MASTER> ) {
 	print OUT "</A>\n";
 
 	if ( -f "$mdir/$linkname.txt" ) {
-	    if ( $twidth < $swidth ) {
             print OUT "<BR>\n";
-	    }
 	    print OUT "<FONT SIZE=-1 id=\"fgfs\">\n";
 	    open( IN, "<$mdir/$linkname.txt" );
 	    while ( <IN> ) {
@@ -300,9 +298,7 @@ while ( <MASTER> ) {
 	    close( IN );
 	    print OUT "</FONT>\n";
 	} else {
-	    if ( $twidth < $swidth ) {
             print OUT "<BR>\n";
-            }
 	    print OUT "<FONT SIZE=-1 id=\"fgfs\">\n";
 	    print OUT "$linkname\n";
 	    print OUT "</FONT>\n";

scripts/python/FlightGear.py

@@ -87,7 +87,7 @@ class FlightGear:
     # Connect to flightgear telnet server.
     fg = FlightGear('myhost', 5500)
     # parking brake on
-    fg['/controls/parking-brake'] = 1
+    fg['/controls/gear/brake-parking'] = 1
     # Get current heading
     heading = fg['/orientation/heading-deg']
 

src/Autopilot/newauto.cxx

@@ -756,15 +756,23 @@ FGAutopilot::update (double dt)
 	    double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
 
 	    double target_angle = current_radiostack->get_navcom1()->get_nav_target_gs();
-
 	    double gs_diff = target_angle - current_angle;
 
 	    // convert desired vertical path angle into a climb rate
 	    double des_angle = current_angle - 10 * gs_diff;
 
-	    // convert to meter/min
+            // estimate horizontal speed towards ILS in meters per minute
-	    double horiz_vel = cur_fdm_state->get_V_ground_speed()
+            static double horiz_vel = 0.0;
-		* SG_FEET_TO_METER * 60.0;
+            static double last_x = 0.0;
+            double dist = last_x - x;
+            last_x = x;
+            double new_vel = ( dist / dt ) * 60.0;
+            horiz_vel = 0.75 * horiz_vel + 0.25 * new_vel;
+	    // double horiz_vel = cur_fdm_state->get_V_ground_speed()
+            //    * SG_FEET_TO_METER * 60.0;
+            // double horiz_vel = airspeed_node->getFloatValue()
+            //    * SG_FEET_TO_METER * 60.0;
+
 	    climb_rate = -sin( des_angle * SGD_DEGREES_TO_RADIANS ) * horiz_vel;
 	    /* climb_error_accum += gs_diff * 2.0; */
 	    /* climb_rate = gs_diff * 200.0 + climb_error_accum; */

src/Controls/controls.cxx

@@ -72,7 +72,9 @@ FGControls::FGControls() :
     drag_chute( false ),
     throttle_idle( true ),
     dump_valve( false ),
-    parking_brake( 0.0 ),
+    brake_left( 0.0 ),
+    brake_right( 0.0 ),
+    brake_parking( 0.0 ),
     steering( 0.0 ),
     gear_down( true ),
     antiskid( true ),
@@ -202,8 +204,8 @@ FGControls::init ()
         condition[engine] = 0;
     }
 
+    brake_left = brake_right = brake_parking = 0.0;
     for ( int wheel = 0; wheel < MAX_WHEELS; wheel++ ) {
-        brake[wheel] = 0.0;
         alternate_extension[wheel] = false;
     }
 
@@ -420,10 +422,20 @@ FGControls::bind ()
   }
 
   // gear
-  fgTie("/controls/gear/parking-brake", this,
+  fgTie("/controls/gear/brake-left", this,
-	&FGControls::get_parking_brake, 
+	&FGControls::get_brake_left, 
-        &FGControls::set_parking_brake);
+        &FGControls::set_brake_left);
-  fgSetArchivable("/controls/gear/parking-brake");
+  fgSetArchivable("/controls/gear/brake-left");
+
+  fgTie("/controls/gear/brake-right", this,
+	&FGControls::get_brake_right, 
+        &FGControls::set_brake_right);
+  fgSetArchivable("/controls/gear/brake-right");
+
+  fgTie("/controls/gear/brake-parking", this,
+	&FGControls::get_brake_parking, 
+        &FGControls::set_brake_parking);
+  fgSetArchivable("/controls/gear/brake-parking");
 
   fgTie("/controls/gear/steering", this,
 	&FGControls::get_steering, &FGControls::set_steering);
@@ -448,11 +460,6 @@ FGControls::bind ()
 
   for (index = 0; index < MAX_WHEELS; index++) {
       char name[MAX_NAME_LEN];
-      snprintf(name, MAX_NAME_LEN, "/controls/gear/wheel[%d]/brake", index);
-      fgTie(name, this, index,
-            &FGControls::get_brake, &FGControls::set_brake);
-      fgSetArchivable(name);
-
       snprintf(name, MAX_NAME_LEN,
                "/controls/gear/wheel[%d]/alternate-extension", index);
       fgTie(name, this, index,
@@ -868,7 +875,9 @@ void FGControls::unbind ()
       fgUntie(name);
     }
   }
-  fgUntie("/controls/gear/parking_brake");
+  fgUntie("/controls/gear/brake-left");
+  fgUntie("/controls/gear/brake-right");
+  fgUntie("/controls/gear/brake-parking");
   fgUntie("/controls/gear/steering");
   fgUntie("/controls/gear/gear_down");
   fgUntie("/controls/gear/antiskid");
@@ -876,8 +885,6 @@ void FGControls::unbind ()
   fgUntie("/controls/gear/tailwheel-lock");
   for (index = 0; index < MAX_WHEELS; index++) {
     char name[MAX_NAME_LEN];
-    snprintf(name, MAX_NAME_LEN, "/controls/gear/wheel[%d]/brakes", index);
-    fgUntie(name);
     snprintf(name, MAX_NAME_LEN, 
        "/controls/gear/wheel[%d]/alternate-extension", index);
     fgUntie(name);
@@ -1594,10 +1601,38 @@ FGControls::set_boost_pump( int index, bool val )
 
 
 void
-FGControls::set_parking_brake( double pos )
+FGControls::set_brake_left( double pos )
 {
-    parking_brake = pos;
+    brake_left = pos;
-    CLAMP(&parking_brake, 0.0, 1.0);
+    CLAMP(&brake_left, 0.0, 1.0);
+}
+
+void
+FGControls::move_brake_left( double amt )
+{
+    brake_left += amt;
+    CLAMP( &brake_left, 0.0, 1.0 );
+}
+
+void
+FGControls::set_brake_right( double pos )
+{
+    brake_right = pos;
+    CLAMP(&brake_right, 0.0, 1.0);
+}
+
+void
+FGControls::move_brake_right( double amt )
+{
+    brake_right += amt;
+    CLAMP( &brake_right, 0.0, 1.0 );
+}
+
+void
+FGControls::set_brake_parking( double pos )
+{
+    brake_parking = pos;
+    CLAMP(&brake_parking, 0.0, 1.0);
 }
 
 void
@@ -1639,38 +1674,6 @@ FGControls::set_tailwheel_lock( bool state )
 }
 
 
-void
-FGControls::set_brake( int wheel, double pos )
-{
-    if ( wheel == ALL_WHEELS ) {
-	for ( int i = 0; i < MAX_WHEELS; i++ ) {
-	    brake[i] = pos;
-	    CLAMP( &brake[i], 0.0, 1.0 );
-	}
-    } else {
-	if ( (wheel >= 0) && (wheel < MAX_WHEELS) ) {
-	    brake[wheel] = pos;
-	    CLAMP( &brake[wheel], 0.0, 1.0 );
-	}
-    }
-}
-
-void
-FGControls::move_brake( int wheel, double amt )
-{
-    if ( wheel == ALL_WHEELS ) {
-	for ( int i = 0; i < MAX_WHEELS; i++ ) {
-	    brake[i] += amt;
-	    CLAMP( &brake[i], 0.0, 1.0 );
-	}
-    } else {
-	if ( (wheel >= 0) && (wheel < MAX_WHEELS) ) {
-	    brake[wheel] += amt;
-	    CLAMP( &brake[wheel], 0.0, 1.0 );
-	}
-    }
-}
-
 void
 FGControls::set_alternate_extension( int wheel, bool val )
 {

src/Controls/controls.hxx

@@ -154,7 +154,9 @@ private:
     bool boost_pump[MAX_TANKS * MAX_BOOSTPUMPS];
 
     // controls/gear/
-    double parking_brake;
+    double brake_left;
+    double brake_right;
+    double brake_parking;
     double steering;
     bool gear_down;
     bool antiskid;
@@ -162,7 +164,6 @@ private:
     bool tailwheel_lock;
 
     // controls/gear/wheel[n]/
-    double brake[MAX_WHEELS];
     bool alternate_extension[MAX_WHEELS];
 
     // controls/anti-ice/
@@ -333,7 +334,9 @@ public:
     }
 
     // controls/gear/
-    inline double get_parking_brake() const { return parking_brake; }
+    inline double get_brake_left() const { return brake_left; }
+    inline double get_brake_right() const { return brake_right; }
+    inline double get_brake_parking() const { return brake_parking; }
     inline double get_steering() const { return steering; }
     inline bool get_gear_down() const { return gear_down; }
     inline bool get_antiskid() const { return antiskid; }
@@ -341,7 +344,6 @@ public:
     inline bool get_tailwheel_lock() const { return tailwheel_lock; }
 
     // controls/gear/wheel[n]/
-    inline double get_brake(int wheel) const { return brake[wheel]; }
     inline bool get_alternate_extension(int wheel) const {
         return alternate_extension[wheel];
     }
@@ -513,7 +515,11 @@ public:
     void set_boost_pump( int index, bool val );
 
     // controls/gear/
-    void set_parking_brake( double pos );
+    void set_brake_left( double pos );
+    void move_brake_left( double amt );
+    void set_brake_right( double pos );
+    void move_brake_right( double amt );
+    void set_brake_parking( double pos );
     void set_steering( double pos );
     void move_steering( double amt );
     void set_gear_down( bool gear );
@@ -522,8 +528,6 @@ public:
     void set_tailwheel_lock( bool val );
 
     // controls/gear/wheel[n]/
-    void set_brake( int wheel, double pos );
-    void move_brake( int wheel, double amt );
     void set_alternate_extension( int wheel, bool val );
 
     // controls/anti-ice/

src/FDM/JSBSim/JSBSim.cxx

@@ -413,10 +413,10 @@ bool FGJSBsim::copy_to_JSBsim() {
 
 				// Parking brake sets minimum braking
 				// level for mains.
-    double parking_brake = globals->get_controls()->get_parking_brake();
+    double parking_brake = globals->get_controls()->get_brake_parking();
-    FCS->SetLBrake(FMAX(globals->get_controls()->get_brake(0), parking_brake));
+    FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
-    FCS->SetRBrake(FMAX(globals->get_controls()->get_brake(1), parking_brake));
+    FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
-    FCS->SetCBrake( globals->get_controls()->get_brake(2) );
+    FCS->SetCBrake( 0.0 );
 
     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
     for (i = 0; i < Propulsion->GetNumEngines(); i++) {

src/FDM/LaRCsim/LaRCsim.cxx

@@ -281,8 +281,8 @@ void FGLaRCsim::update( double dt ) {
 
     Throttle_pct = globals->get_controls()->get_throttle( 0 ) * 1.0;
 
-    Brake_pct[0] = globals->get_controls()->get_brake( 1 );
+    Brake_pct[0] = globals->get_controls()->get_brake_right();
-    Brake_pct[1] = globals->get_controls()->get_brake( 0 );
+    Brake_pct[1] = globals->get_controls()->get_brake_left();
 
     // Inform LaRCsim of the local terrain altitude
     // Runway_altitude = get_Runway_altitude();

src/FDM/MagicCarpet.cxx

@@ -61,7 +61,9 @@ void FGMagicCarpet::update( double dt ) {
 
     // speed and distance traveled
     double speed = globals->get_controls()->get_throttle( 0 ) * 2000; // meters/sec
-    if ( globals->get_controls()->get_brake( 0 ) ) {
+    if ( globals->get_controls()->get_brake_left() > 0.0
+         || globals->get_controls()->get_brake_right() > 0.0 )
+    {
         speed = -speed;
     }
 

src/FDM/UFO.cxx

@@ -68,7 +68,9 @@ void FGUFO::update( double dt ) {
 
     // read the throttle
     double th = globals->get_controls()->get_throttle( 0 );
-    if (globals->get_controls()->get_brake(0)) {
+    if ( globals->get_controls()->get_brake_left() > 0.0 
+         || globals->get_controls()->get_brake_right() > 0.0 )
+    {
         th = -th;
     }
     Throttle = th * throttle_damp + Throttle * (1 - throttle_damp);

src/GUI/mouse.cxx

@@ -198,7 +198,8 @@ static inline float get_goal_view_offset() {
 }
 
 static inline void move_brake(float offset) {
-	globals->get_controls()->move_brake(FGControls::ALL_WHEELS, offset);
+	globals->get_controls()->move_brake_left(offset);
+	globals->get_controls()->move_brake_right(offset);
 }
 
 static inline void move_throttle(float offset) {

src/Input/fgjs.cxx

@@ -48,22 +48,24 @@ string axes_propnames[8]={ "/controls/flight/elevator","/controls/flight/aileron
 bool half_range[8]={ false,false,false,true,true,true,false,false };
 
 
-string button_humannames[7]= { "apply all brakes", "apply left brake", 
+string button_humannames[6]= { "apply left brake", 
                                "apply right brake", "step flaps up", 
                                "step flaps down","apply nose-up trim",
                                "apply nose-down trim"
                              }; 
 
-string button_propnames[7]={ "/controls/gear/wheel[-1]/brake", "/controls/gear/wheel[0]/brake",
+string button_propnames[6]={ "/controls/gear/brake-left",
-                             "/controls/gear/wheel[1]/brake", "/controls/flight/flaps",
+                             "/controls/gear/brake-right",
-                             "/controls/flight/flaps","/controls/flight/elevator-trim",
+                             "/controls/flight/flaps",
+                             "/controls/flight/flaps",
+                             "/controls/flight/elevator-trim",
                              "/controls/flight/elevator-trim" 
                            };                                                   
  
 
-float button_step[7]={ 1.0, 1.0, 1.0, 0.34, -0.34, 0.001, -0.001 };
+float button_step[6]={ 1.0, 1.0, 0.34, -0.34, 0.001, -0.001 };
 
-string button_repeat[7]={ "false", "false", "false", "false", "false", 
+string button_repeat[6]={ "false", "false", "false", "false", 
                           "true", "true" };
 
 
@@ -166,7 +168,7 @@ int main(void) {
       cout << endl;
   }
   
-  for(control=0;control<=6;control++) {
+  for(control=0;control<=5;control++) {
       cout << "Press the button you wish to use to " 
            << button_humannames[control]
            << endl;

src/Network/atc610x.cxx

@@ -744,11 +744,11 @@ bool FGATC610x::do_analog_in() {
         tmp = scale( brake_left_min->getIntValue(),
                      brake_left_max->getIntValue(),
                      analog_in_data[20] );
-        fgSetFloat( "/controls/gear/wheel[0]/brake", tmp );
+        fgSetFloat( "/controls/gear/brake-left", tmp );
         tmp = scale( brake_right_min->getIntValue(),
                      brake_right_max->getIntValue(),
                      analog_in_data[21] );
-        fgSetFloat( "/controls/gear/wheel[1]/brake", tmp );
+        fgSetFloat( "/controls/gear/brake-right", tmp );
     }
 
     // nav1 volume
@@ -1888,7 +1888,7 @@ bool FGATC610x::do_switches() {
     fgSetBool( "/controls/circuit-breakers/annunciators", true );
 #endif
 
-    fgSetDouble( "/controls/gear/parking-brake",
+    fgSetDouble( "/controls/gear/brake-parking",
                  switch_matrix[board][7][3] );
     fgSetDouble( "/radios/marker-beacon/power-btn",
                  switch_matrix[board][6][1] );

src/Network/native_ctrls.cxx

@@ -164,21 +164,10 @@ void FGProps2NetCtrls( FGNetCtrls *net, bool honor_freezes,
             net->fuel_selector[i] = false;
         }
     }
-    net->num_wheels = FGNetCtrls::FG_MAX_WHEELS;
+    node = fgGetNode("/controls/gear", true);
-    tempnode = fgGetNode("/controls/gear", true);
+    net->brake_left = node->getChild("brake-left")->getDoubleValue();
-    for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
+    net->brake_right = node->getChild("brake-right")->getDoubleValue();
-        node = fgGetNode("/controls/gear/wheel", i);
+    net->brake_parking = node->getChild("brake-parking")->getDoubleValue();
-        if ( node != NULL && node->getChild("brake") != NULL ) {
-            if ( tempnode->getChild("parking-brake")->getDoubleValue() > 0.0 ) {
-                net->brake[i] = 1.0;
-           } else {
-                net->brake[i]
-                    = node->getChild("brake")->getDoubleValue();
-            }
-        } else {
-            net->brake[i] = 0.0;
-        }
-    }
 
     node = fgGetNode("/controls/switches", true);
     tempnode = node->getChild("master-bat");
@@ -252,10 +241,9 @@ void FGProps2NetCtrls( FGNetCtrls *net, bool honor_freezes,
             net->fuel_selector[i] = htonl(net->fuel_selector[i]);
         }
         net->num_tanks = htonl(net->num_tanks);
-        for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
+        htond(net->brake_left);
-            htond(net->brake[i]);
+        htond(net->brake_right);
-        }
+        htond(net->brake_parking);
-        net->num_wheels = htonl(net->num_wheels);
         net->gear_handle = htonl(net->gear_handle);
         net->master_bat = htonl(net->master_bat);
         net->master_alt = htonl(net->master_alt);
@@ -310,10 +298,9 @@ void FGNetCtrls2Props( FGNetCtrls *net, bool honor_freezes,
         for ( i = 0; i < net->num_tanks; ++i ) {
             net->fuel_selector[i] = htonl(net->fuel_selector[i]);
         }
-        net->num_wheels = htonl(net->num_wheels);
+        htond(net->brake_left);
-        for ( i = 0; i < net->num_wheels; ++i ) {
+        htond(net->brake_right);
-            htond(net->brake[i]);
+        htond(net->brake_parking);
-        }
         net->gear_handle = htonl(net->gear_handle);
         net->master_bat = htonl(net->master_bat);
         net->master_alt = htonl(net->master_alt);
@@ -377,11 +364,11 @@ void FGNetCtrls2Props( FGNetCtrls *net, bool honor_freezes,
         node->getChild( "fuel_selector" )
             ->setBoolValue( net->fuel_selector[i] );
     }
-    for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
+    node = fgGetNode( "/controls/gear" );
-        node = fgGetNode( "/controls/gear/wheel", i );
     if ( node != NULL ) {
-            node->getChild( "brake" )->setDoubleValue( net->brake[i] );
+        node->getChild( "brake-left" )->setDoubleValue( net->brake_left );
-        }
+        node->getChild( "brake-right" )->setDoubleValue( net->brake_right );
+        node->getChild( "brake-parking" )->setDoubleValue( net->brake_parking );
     }
 
     node = fgGetNode( "/controls/gear", true );

src/Network/net_ctrls.hxx

@@ -16,7 +16,7 @@
 # error This library requires C++
 #endif                                   
 
-const int FG_NET_CTRLS_VERSION = 18;
+const int FG_NET_CTRLS_VERSION = 19;
 
 
 // Define a structure containing the control parameters
@@ -66,8 +66,9 @@ public:
     bool fuel_selector[FG_MAX_TANKS];    // false = off, true = on
 
     // Brake controls
-    int num_wheels;		         // number of valid wheels
+    double brake_left;
-    double brake[FG_MAX_WHEELS];         //  0 ... 1
+    double brake_right;
+    double brake_parking;
     
     // Landing Gear
     bool gear_handle; // true=gear handle down; false= gear handle up

src/Replay/replay.cxx

@@ -343,10 +343,12 @@ static FGReplayData interpolate( double time, FGReplayData f1, FGReplayData f2 )
     }
 
     // Brake controls
-    for ( i = 0; i < ctrls1.num_wheels; ++i ) {
+    result.ctrls.brake_left
-        result.ctrls.brake[i]
+            = weight( ctrls1.brake_left, ctrls2.brake_right, ratio );
-            = weight( ctrls1.brake[i], ctrls2.brake[i], ratio );
+    result.ctrls.brake_right
-    }
+            = weight( ctrls1.brake_right, ctrls2.brake_right, ratio );
+    result.ctrls.brake_parking
+            = weight( ctrls1.brake_parking, ctrls2.brake_parking, ratio );
 
     // Landing Gear
     result.ctrls.gear_handle = ctrls1.gear_handle;