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[Jsbsim-devel] CVS: JSBSim FGLGear.cpp,1.65,1.66 FGLGear.h,1.43,1.44
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From: Tony P. <ap...@us...> - 2001-12-02 15:58:19
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Update of /cvsroot/jsbsim/JSBSim
In directory usw-pr-cvs1:/tmp/cvs-serv5177
Modified Files:
FGLGear.cpp FGLGear.h
Log Message:
Added support for retractable landing gear
Index: FGLGear.cpp
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/FGLGear.cpp,v
retrieving revision 1.65
retrieving revision 1.66
diff -C2 -r1.65 -r1.66
*** FGLGear.cpp 2001/12/01 17:58:42 1.65
--- FGLGear.cpp 2001/12/02 15:58:16 1.66
***************
*** 67,73 ****
{
string tmp;
*AC_cfg >> tmp >> name >> vXYZ(1) >> vXYZ(2) >> vXYZ(3)
>> kSpring >> bDamp>> dynamicFCoeff >> staticFCoeff
! >> rollingFCoeff >> sSteerType >> sBrakeGroup >> maxSteerAngle;
if (debug_lvl > 0) {
--- 67,76 ----
{
string tmp;
+ string Retractable;
+
*AC_cfg >> tmp >> name >> vXYZ(1) >> vXYZ(2) >> vXYZ(3)
>> kSpring >> bDamp>> dynamicFCoeff >> staticFCoeff
! >> rollingFCoeff >> sSteerType >> sBrakeGroup
! >> maxSteerAngle >> Retractable;
if (debug_lvl > 0) {
***************
*** 82,85 ****
--- 85,89 ----
cout << " Grouping: " << sBrakeGroup << endl;
cout << " Max Steer Angle: " << maxSteerAngle << endl;
+ cout << " Retractable: " << Retractable << endl;
}
***************
*** 102,105 ****
--- 106,117 ----
<< 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
***************
*** 173,176 ****
--- 185,191 ----
eBrakeGrp = lgear.eBrakeGrp;
maxSteerAngle = lgear.maxSteerAngle;
+ isRetractable = lgear.isRetractable;
+ GearUp = lgear.GearUp;
+ GearDown = lgear.GearDown;
}
***************
*** 186,205 ****
FGColumnVector3& FGLGear::Force(void)
{
! double SteerGain = 0;
! double SinWheel, CosWheel, SideWhlVel, RollingWhlVel;
! double RollingForce, SideForce, FCoeff;
! double WheelSlip;
!
! vWhlBodyVec = (vXYZ - MassBalance->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;
// vLocalGear now stores the vector from the cg to the wheel in local coords.
! compressLength = vLocalGear(eZ) - Position->GetDistanceAGL();
// The compression length is currently measured in the Z-axis, only, at this time.
--- 201,235 ----
FGColumnVector3& FGLGear::Force(void)
{
! vForce.InitMatrix();
! vMoment.InitMatrix();
! if(isRetractable ) {
! 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(eX) = -vWhlBodyVec(eX);
! vWhlBodyVec(eZ) = -vWhlBodyVec(eZ);
// vWhlBodyVec now stores the vector from the cg to this wheel
! vLocalGear = State->GetTb2l() * vWhlBodyVec;
// vLocalGear now stores the vector from the cg to the wheel in local coords.
! compressLength = vLocalGear(eZ) - Position->GetDistanceAGL();
// The compression length is currently measured in the Z-axis, only, at this time.
***************
*** 208,214 ****
// will be positive - i.e. the gear will have made contact.
! if (compressLength > 0.00) {
! WOW = true; // Weight-On-Wheels is true
// The next equation should really use the vector to the contact patch of the tire
--- 238,244 ----
// will be positive - i.e. the gear will have made contact.
! if (compressLength > 0.00) {
! WOW = true;// Weight-On-Wheels is true
// The next equation should really use the vector to the contact patch of the tire
***************
*** 223,240 ****
// 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;
! GroundSpeed = Position->GetVel().Magnitude();
! }
// The following needs work regarding friction coefficients and braking and
--- 253,270 ----
// 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;
! GroundSpeed = Position->GetVel().Magnitude();
! }
// The following needs work regarding friction coefficients and braking and
***************
*** 244,296 ****
// [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 = -0.10;
- BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgLeft)) +
- staticFCoeff*FCS->GetBrake(bgLeft);
- break;
- case bgRight:
- SteerGain = -0.10;
- BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgRight)) +
- staticFCoeff*FCS->GetBrake(bgRight);
- break;
- case bgCenter:
- SteerGain = -0.10;
- BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgCenter)) +
- staticFCoeff*FCS->GetBrake(bgCenter);
- break;
- case bgNose:
- SteerGain = 0.10;
- BrakeFCoeff = rollingFCoeff;
- break;
- case bgTail:
- SteerGain = -0.10;
- BrakeFCoeff = rollingFCoeff;
- break;
- case bgNone:
- SteerGain = -0.10;
- BrakeFCoeff = rollingFCoeff;
- break;
- default:
- cerr << "Improper brake group membership detected for this gear." << endl;
- break;
- }
! switch (eSteerType) {
! case stSteer:
! SteerAngle = SteerGain*FCS->GetDrPos();
! break;
! case stFixed:
! 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;
! default:
! cerr << "Improper steering type membership detected for this gear." << endl;
! break;
! }
// Transform the wheel velocities from the local axis system to the wheel axis system.
--- 274,326 ----
// [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 = -0.10;
! BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgLeft)) +
! staticFCoeff*FCS->GetBrake(bgLeft);
! break;
! case bgRight:
! SteerGain = -0.10;
! BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgRight)) +
! staticFCoeff*FCS->GetBrake(bgRight);
! break;
! case bgCenter:
! SteerGain = -0.10;
! BrakeFCoeff = rollingFCoeff*(1.0 - FCS->GetBrake(bgCenter)) +
! staticFCoeff*FCS->GetBrake(bgCenter);
! break;
! case bgNose:
! SteerGain = 0.10;
! BrakeFCoeff = rollingFCoeff;
! break;
! case bgTail:
! SteerGain = -0.10;
! BrakeFCoeff = rollingFCoeff;
! break;
! case bgNone:
! SteerGain = -0.10;
! BrakeFCoeff = rollingFCoeff;
! break;
! default:
! cerr << "Improper brake group membership detected for this gear." << endl;
! break;
! }
!
! switch (eSteerType) {
! case stSteer:
! SteerAngle = SteerGain*FCS->GetDrPos();
! break;
! case stFixed:
! 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;
! default:
! cerr << "Improper steering type membership detected for this gear." << endl;
! break;
! }
// Transform the wheel velocities from the local axis system to the wheel axis system.
***************
*** 298,313 ****
// not the strut axis as it should be. Will fix this later.
! SinWheel = sin(Rotation->Getpsi() + SteerAngle);
! CosWheel = cos(Rotation->Getpsi() + SteerAngle);
! RollingWhlVel = vWhlVelVec(eX)*CosWheel + vWhlVelVec(eY)*SinWheel;
! SideWhlVel = vWhlVelVec(eY)*CosWheel - vWhlVelVec(eX)*SinWheel;
// Calculate tire slip angle.
! if (RollingWhlVel == 0.0 && SideWhlVel == 0.0) {
! WheelSlip = 0.0;
! } else {
! WheelSlip = radtodeg*atan2(SideWhlVel, RollingWhlVel);
! }
// The following code normalizes the wheel velocity vector, reverses it, and zeroes out
--- 328,343 ----
// not the strut axis as it should be. Will fix this later.
! SinWheel = sin(Rotation->Getpsi() + SteerAngle);
! CosWheel = cos(Rotation->Getpsi() + SteerAngle);
! RollingWhlVel = vWhlVelVec(eX)*CosWheel + vWhlVelVec(eY)*SinWheel;
! SideWhlVel = vWhlVelVec(eY)*CosWheel - vWhlVelVec(eX)*SinWheel;
// Calculate tire slip angle.
! if (RollingWhlVel == 0.0 && SideWhlVel == 0.0) {
! WheelSlip = 0.0;
! } else {
! WheelSlip = radtodeg*atan2(SideWhlVel, RollingWhlVel);
! }
// The following code normalizes the wheel velocity vector, reverses it, and zeroes out
***************
*** 326,334 ****
// of this that avoid the discrete jump. Will fix this later.
! if (fabs(WheelSlip) <= 10.0) {
! FCoeff = staticFCoeff*WheelSlip/10.0;
! } else {
! FCoeff = dynamicFCoeff*fabs(WheelSlip)/WheelSlip;
! }
// Compute the vertical force on the wheel using square-law damping (per comment
--- 356,364 ----
// of this that avoid the discrete jump. Will fix this later.
! if (fabs(WheelSlip) <= 10.0) {
! FCoeff = staticFCoeff*WheelSlip/10.0;
! } else {
! FCoeff = dynamicFCoeff*fabs(WheelSlip)/WheelSlip;
! }
// Compute the vertical force on the wheel using square-law damping (per comment
***************
*** 338,359 ****
// case. NOTE: SQUARE LAW DAMPING NO GOOD!
! vLocalForce(eZ) = min(-compressLength * kSpring
! - compressSpeed * bDamp, (double)0.0);
! MaximumStrutForce = max(MaximumStrutForce, fabs(vLocalForce(eZ)));
! MaximumStrutTravel = max(MaximumStrutTravel, fabs(compressLength));
// Compute the forces in the wheel ground plane.
! RollingForce = 0;
! if (fabs(RollingWhlVel) > 1E-3) {
! RollingForce = vLocalForce(eZ) * BrakeFCoeff * fabs(RollingWhlVel)/RollingWhlVel;
! }
! SideForce = vLocalForce(eZ) * FCoeff;
// Transform these forces back to the local reference frame.
! vLocalForce(eX) = RollingForce*CosWheel - SideForce*SinWheel;
! vLocalForce(eY) = SideForce*CosWheel + RollingForce*SinWheel;
// Note to Jon: At this point the forces will be too big when the airplane is
--- 368,389 ----
// case. NOTE: SQUARE LAW DAMPING NO GOOD!
! vLocalForce(eZ) = min(-compressLength * kSpring
! - compressSpeed * bDamp, (double)0.0);
! MaximumStrutForce = max(MaximumStrutForce, fabs(vLocalForce(eZ)));
! MaximumStrutTravel = max(MaximumStrutTravel, fabs(compressLength));
// Compute the forces in the wheel ground plane.
! RollingForce = 0;
! if (fabs(RollingWhlVel) > 1E-3) {
! RollingForce = vLocalForce(eZ) * BrakeFCoeff * fabs(RollingWhlVel)/RollingWhlVel;
! }
! SideForce = vLocalForce(eZ) * FCoeff;
// Transform these forces back to the local reference frame.
! vLocalForce(eX) = RollingForce*CosWheel - SideForce*SinWheel;
! vLocalForce(eY) = SideForce*CosWheel + RollingForce*SinWheel;
// Note to Jon: At this point the forces will be too big when the airplane is
***************
*** 371,420 ****
// Transform the forces back to the body frame and compute the moment.
! vForce = State->GetTl2b() * vLocalForce;
! vMoment = vWhlBodyVec * vForce;
! } else {
! WOW = false;
! if (Position->GetDistanceAGL() > 200.0) {
! FirstContact = false;
! Reported = false;
! DistanceTraveled = 0.0;
! MaximumStrutForce = MaximumStrutTravel = 0.0;
! }
! compressLength = 0.0; // reset compressLength to zero for data output validity
! 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 ||
! vForce.Magnitude() > 100000000.0 ||
! vMoment.Magnitude() > 5000000000.0 ||
! SinkRate > 1.4666*30)
! {
! PutMessage("Crash Detected");
! Exec->Freeze();
! }
! return vForce;
}
--- 401,451 ----
// Transform the forces back to the body frame and compute the moment.
! vForce = State->GetTl2b() * vLocalForce;
! vMoment = vWhlBodyVec * vForce;
! } else {
! WOW = false;
! if (Position->GetDistanceAGL() > 200.0) {
! FirstContact = false;
! Reported = false;
! DistanceTraveled = 0.0;
! MaximumStrutForce = MaximumStrutTravel = 0.0;
! }
! compressLength = 0.0;// reset compressLength to zero for data output validity
!
! }
! 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 ||
! vForce.Magnitude() > 100000000.0 ||
! vMoment.Magnitude() > 5000000000.0 ||
! SinkRate > 1.4666*30)
! {
! PutMessage("Crash Detected");
! Exec->Freeze();
! }
!
! }
! return vForce;
}
Index: FGLGear.h
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/FGLGear.h,v
retrieving revision 1.43
retrieving revision 1.44
diff -C2 -r1.43 -r1.44
*** FGLGear.h 2001/11/14 23:53:27 1.43
--- FGLGear.h 2001/12/02 15:58:16 1.44
***************
*** 232,236 ****
inline int GetBrakeGroup(void) { return (int)eBrakeGrp; }
inline int GetSteerType(void) { return (int)eSteerType; }
!
private:
FGColumnVector3 vXYZ;
--- 232,240 ----
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;
***************
*** 260,266 ****
--- 264,273 ----
bool Reported;
bool ReportEnable;
+ bool isRetractable;
+ bool GearUp, GearDown;
string name;
string sSteerType;
string sBrakeGroup;
+
BrakeGroup eBrakeGrp;
SteerType eSteerType;
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