Branch data Line data Source code
1 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2 : :
3 : : Module: FGLGear.cpp
4 : : Author: Jon S. Berndt
5 : : Norman H. Princen
6 : : Bertrand Coconnier
7 : : Date started: 11/18/99
8 : : Purpose: Encapsulates the landing gear elements
9 : : Called by: FGAircraft
10 : :
11 : : ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
12 : :
13 : : This program is free software; you can redistribute it and/or modify it under
14 : : the terms of the GNU Lesser General Public License as published by the Free Software
15 : : Foundation; either version 2 of the License, or (at your option) any later
16 : : version.
17 : :
18 : : This program is distributed in the hope that it will be useful, but WITHOUT
19 : : ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
20 : : FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
21 : : details.
22 : :
23 : : You should have received a copy of the GNU Lesser General Public License along with
24 : : this program; if not, write to the Free Software Foundation, Inc., 59 Temple
25 : : Place - Suite 330, Boston, MA 02111-1307, USA.
26 : :
27 : : Further information about the GNU Lesser General Public License can also be found on
28 : : the world wide web at http://www.gnu.org.
29 : :
30 : : FUNCTIONAL DESCRIPTION
31 : : --------------------------------------------------------------------------------
32 : :
33 : : HISTORY
34 : : --------------------------------------------------------------------------------
35 : : 11/18/99 JSB Created
36 : : 01/30/01 NHP Extended gear model to properly simulate steering and braking
37 : : 07/08/09 BC Modified gear model to support large angles between aircraft and ground
38 : :
39 : : /%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
40 : : INCLUDES
41 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
42 : :
43 : : #include "FGLGear.h"
44 : : #include "FGGroundReactions.h"
45 : : #include "FGFCS.h"
46 : : #include "FGAuxiliary.h"
47 : : #include "FGAtmosphere.h"
48 : : #include "FGMassBalance.h"
49 : : #include "math/FGTable.h"
50 : : #include <cstdlib>
51 : :
52 : : using namespace std;
53 : :
54 : : namespace JSBSim {
55 : :
56 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
57 : : DEFINITIONS
58 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
59 : :
60 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
61 : : GLOBAL DATA
62 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
63 : :
64 : : static const char *IdSrc = "$Id: FGLGear.cpp,v 1.76 2010/07/30 11:50:01 jberndt Exp $";
65 : : static const char *IdHdr = ID_LGEAR;
66 : :
67 : : // Body To Structural (body frame is rotated 180 deg about Y and lengths are given in
68 : : // ft instead of inches)
69 [ + + ][ + - ]: 4 : const FGMatrix33 FGLGear::Tb2s(-1./inchtoft, 0., 0., 0., 1./inchtoft, 0., 0., 0., -1./inchtoft);
70 : :
71 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
72 : : CLASS IMPLEMENTATION
73 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
74 : :
75 : 0 : FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number) :
76 : : FGForce(fdmex),
77 : : GearNumber(number),
78 : : SteerAngle(0.0),
79 [ # # ][ # # ]: 0 : Castered(false)
[ # # ][ # # ]
[ # # ][ # # ]
80 : : {
81 : 0 : Element *force_table=0;
82 : 0 : Element *dampCoeff=0;
83 : 0 : Element *dampCoeffRebound=0;
84 : 0 : string force_type="";
85 : :
86 : 0 : kSpring = bDamp = bDampRebound = dynamicFCoeff = staticFCoeff = rollingFCoeff = maxSteerAngle = 0;
87 : 0 : sSteerType = sBrakeGroup = sSteerType = "";
88 : 0 : isRetractable = 0;
89 : 0 : eDampType = dtLinear;
90 : 0 : eDampTypeRebound = dtLinear;
91 : :
92 : 0 : name = el->GetAttributeValue("name");
93 : 0 : sContactType = el->GetAttributeValue("type");
94 [ # # # # ]: 0 : if (sContactType == "BOGEY") {
95 : 0 : eContactType = ctBOGEY;
96 [ # # ][ # # ]: 0 : } else if (sContactType == "STRUCTURE") {
97 : 0 : eContactType = ctSTRUCTURE;
98 : : } else {
99 : : // Unknown contact point types will be treated as STRUCTURE.
100 : 0 : eContactType = ctSTRUCTURE;
101 : : }
102 : :
103 [ # # ][ # # ]: 0 : if (el->FindElement("spring_coeff"))
104 : 0 : kSpring = el->FindElementValueAsNumberConvertTo("spring_coeff", "LBS/FT");
105 [ # # ][ # # ]: 0 : if (el->FindElement("damping_coeff")) {
106 : 0 : dampCoeff = el->FindElement("damping_coeff");
107 [ # # ][ # # ]: 0 : if (dampCoeff->GetAttributeValue("type") == "SQUARE") {
108 : 0 : eDampType = dtSquare;
109 : 0 : bDamp = el->FindElementValueAsNumberConvertTo("damping_coeff", "LBS/FT2/SEC2");
110 : : } else {
111 : 0 : bDamp = el->FindElementValueAsNumberConvertTo("damping_coeff", "LBS/FT/SEC");
112 : : }
113 : : }
114 : :
115 [ # # ][ # # ]: 0 : if (el->FindElement("damping_coeff_rebound")) {
116 : 0 : dampCoeffRebound = el->FindElement("damping_coeff_rebound");
117 [ # # ][ # # ]: 0 : if (dampCoeffRebound->GetAttributeValue("type") == "SQUARE") {
118 : 0 : eDampTypeRebound = dtSquare;
119 : 0 : bDampRebound = el->FindElementValueAsNumberConvertTo("damping_coeff_rebound", "LBS/FT2/SEC2");
120 : : } else {
121 : 0 : bDampRebound = el->FindElementValueAsNumberConvertTo("damping_coeff_rebound", "LBS/FT/SEC");
122 : : }
123 : : } else {
124 : 0 : bDampRebound = bDamp;
125 : 0 : eDampTypeRebound = eDampType;
126 : : }
127 : :
128 [ # # ][ # # ]: 0 : if (el->FindElement("dynamic_friction"))
129 : 0 : dynamicFCoeff = el->FindElementValueAsNumber("dynamic_friction");
130 [ # # ][ # # ]: 0 : if (el->FindElement("static_friction"))
131 : 0 : staticFCoeff = el->FindElementValueAsNumber("static_friction");
132 [ # # ][ # # ]: 0 : if (el->FindElement("rolling_friction"))
133 : 0 : rollingFCoeff = el->FindElementValueAsNumber("rolling_friction");
134 [ # # ][ # # ]: 0 : if (el->FindElement("max_steer"))
135 : 0 : maxSteerAngle = el->FindElementValueAsNumberConvertTo("max_steer", "DEG");
136 [ # # ][ # # ]: 0 : if (el->FindElement("retractable"))
137 : 0 : isRetractable = ((unsigned int)el->FindElementValueAsNumber("retractable"))>0.0?true:false;
138 : :
139 : 0 : ForceY_Table = 0;
140 : 0 : force_table = el->FindElement("table");
141 [ # # ][ # # ]: 0 : while (force_table) {
142 : 0 : force_type = force_table->GetAttributeValue("type");
143 [ # # # # ]: 0 : if (force_type == "CORNERING_COEFF") {
144 : 0 : ForceY_Table = new FGTable(fdmex->GetPropertyManager(), force_table);
145 : : } else {
146 : 0 : cerr << "Undefined force table for " << name << " contact point" << endl;
147 : : }
148 : 0 : force_table = el->FindNextElement("table");
149 : : }
150 : :
151 : 0 : sBrakeGroup = el->FindElementValue("brake_group");
152 : :
153 [ # # # # ]: 0 : if (maxSteerAngle == 360) sSteerType = "CASTERED";
154 [ # # ][ # # ]: 0 : else if (maxSteerAngle == 0.0) sSteerType = "FIXED";
155 : 0 : else sSteerType = "STEERABLE";
156 : :
157 : 0 : Element* element = el->FindElement("location");
158 [ # # ][ # # ]: 0 : if (element) vXYZn = element->FindElementTripletConvertTo("IN");
159 : 0 : else {cerr << "No location given for contact " << name << endl; exit(-1);}
160 : 0 : SetTransformType(FGForce::tCustom);
161 : :
162 : 0 : element = el->FindElement("orientation");
163 [ # # ]: 0 : if (element && (eContactType == ctBOGEY)) {
[ # # # # ]
[ # # ]
164 : 0 : vGearOrient = element->FindElementTripletConvertTo("RAD");
165 : :
166 : : double cp,sp,cr,sr,cy,sy;
167 : :
168 : 0 : cp=cos(vGearOrient(ePitch)); sp=sin(vGearOrient(ePitch));
169 : 0 : cr=cos(vGearOrient(eRoll)); sr=sin(vGearOrient(eRoll));
170 : 0 : cy=cos(vGearOrient(eYaw)); sy=sin(vGearOrient(eYaw));
171 : :
172 : 0 : mTGear(1,1) = cp*cy;
173 : 0 : mTGear(2,1) = cp*sy;
174 : 0 : mTGear(3,1) = -sp;
175 : :
176 : 0 : mTGear(1,2) = sr*sp*cy - cr*sy;
177 : 0 : mTGear(2,2) = sr*sp*sy + cr*cy;
178 : 0 : mTGear(3,2) = sr*cp;
179 : :
180 : 0 : mTGear(1,3) = cr*sp*cy + sr*sy;
181 : 0 : mTGear(2,3) = cr*sp*sy - sr*cy;
182 : 0 : mTGear(3,3) = cr*cp;
183 : : }
184 : : else {
185 : 0 : mTGear(1,1) = 1.;
186 : 0 : mTGear(2,2) = 1.;
187 : 0 : mTGear(3,3) = 1.;
188 : : }
189 : :
190 [ # # ][ # # ]: 0 : if (sBrakeGroup == "LEFT" ) eBrakeGrp = bgLeft;
191 [ # # ][ # # ]: 0 : else if (sBrakeGroup == "RIGHT" ) eBrakeGrp = bgRight;
192 [ # # ][ # # ]: 0 : else if (sBrakeGroup == "CENTER") eBrakeGrp = bgCenter;
193 [ # # ][ # # ]: 0 : else if (sBrakeGroup == "NOSE" ) eBrakeGrp = bgNose;
194 [ # # ][ # # ]: 0 : else if (sBrakeGroup == "TAIL" ) eBrakeGrp = bgTail;
195 [ # # ][ # # ]: 0 : else if (sBrakeGroup == "NONE" ) eBrakeGrp = bgNone;
196 [ # # ][ # # ]: 0 : else if (sBrakeGroup.empty() ) {eBrakeGrp = bgNone;
197 : 0 : sBrakeGroup = "NONE (defaulted)";}
198 : : else {
199 : : cerr << "Improper braking group specification in config file: "
200 : 0 : << sBrakeGroup << " is undefined." << endl;
201 : : }
202 : :
203 [ # # ][ # # ]: 0 : if (sSteerType == "STEERABLE") eSteerType = stSteer;
204 [ # # ][ # # ]: 0 : else if (sSteerType == "FIXED" ) eSteerType = stFixed;
205 [ # # ][ # # ]: 0 : else if (sSteerType == "CASTERED" ) {eSteerType = stCaster; Castered = true;}
206 [ # # ][ # # ]: 0 : else if (sSteerType.empty() ) {eSteerType = stFixed;
207 : 0 : sSteerType = "FIXED (defaulted)";}
208 : : else {
209 : : cerr << "Improper steering type specification in config file: "
210 : 0 : << sSteerType << " is undefined." << endl;
211 : : }
212 : :
213 : 0 : Auxiliary = fdmex->GetAuxiliary();
214 : 0 : Propagate = fdmex->GetPropagate();
215 : 0 : FCS = fdmex->GetFCS();
216 : 0 : MassBalance = fdmex->GetMassBalance();
217 : 0 : GroundReactions = fdmex->GetGroundReactions();
218 : :
219 : 0 : GearUp = false;
220 : 0 : GearDown = true;
221 : 0 : GearPos = 1.0;
222 : 0 : useFCSGearPos = false;
223 : 0 : Servicable = true;
224 : :
225 : : // Add some AI here to determine if gear is located properly according to its
226 : : // brake group type ??
227 : :
228 : 0 : WOW = lastWOW = false;
229 : 0 : ReportEnable = true;
230 : 0 : FirstContact = false;
231 : 0 : StartedGroundRun = false;
232 : 0 : TakeoffReported = LandingReported = false;
233 : 0 : LandingDistanceTraveled = TakeoffDistanceTraveled = TakeoffDistanceTraveled50ft = 0.0;
234 : 0 : MaximumStrutForce = MaximumStrutTravel = 0.0;
235 : 0 : SinkRate = GroundSpeed = 0.0;
236 : :
237 : 0 : vWhlBodyVec = MassBalance->StructuralToBody(vXYZn);
238 : 0 : vLocalGear = Propagate->GetTb2l() * vWhlBodyVec;
239 : 0 : vWhlVelVec.InitMatrix();
240 : :
241 : 0 : compressLength = 0.0;
242 : 0 : compressSpeed = 0.0;
243 : 0 : brakePct = 0.0;
244 : 0 : maxCompLen = 0.0;
245 : :
246 : 0 : WheelSlip = 0.0;
247 : 0 : TirePressureNorm = 1.0;
248 : :
249 : : // Set Pacejka terms
250 : :
251 : 0 : Stiffness = 0.06;
252 : 0 : Shape = 2.8;
253 : 0 : Peak = staticFCoeff;
254 : 0 : Curvature = 1.03;
255 : :
256 : : // Initialize Lagrange multipliers
257 : 0 : LMultiplier[ftRoll].value = 0.;
258 : 0 : LMultiplier[ftSide].value = 0.;
259 : 0 : LMultiplier[ftRoll].value = 0.;
260 : :
261 : 0 : Debug(0);
262 [ # # ][ # # ]: 0 : }
[ # # ][ # # ]
263 : :
264 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
265 : :
266 : 0 : FGLGear::~FGLGear()
267 : : {
268 [ # # ][ # # ]: 0 : delete ForceY_Table;
269 : 0 : Debug(1);
270 [ # # ]: 0 : }
[ # # # # ]
[ # # ][ # # ]
[ # # # # ]
[ # # ]
271 : :
272 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
273 : :
274 : 0 : FGColumnVector3& FGLGear::GetBodyForces(void)
275 : : {
276 : 0 : double t = fdmex->GetSimTime();
277 : 0 : dT = fdmex->GetDeltaT()*GroundReactions->GetRate();
278 : :
279 : 0 : vFn.InitMatrix();
280 : :
281 [ # # ]: 0 : if (isRetractable) ComputeRetractionState();
282 : :
283 [ # # ]: 0 : if (GearDown) {
284 : 0 : vWhlBodyVec = MassBalance->StructuralToBody(vXYZn); // Get wheel in body frame
285 : 0 : vLocalGear = Propagate->GetTb2l() * vWhlBodyVec; // Get local frame wheel location
286 : :
287 : 0 : gearLoc = Propagate->GetLocation().LocalToLocation(vLocalGear);
288 : : // Compute the height of the theoretical location of the wheel (if strut is
289 : : // not compressed) with respect to the ground level
290 : 0 : double height = fdmex->GetGroundCallback()->GetAGLevel(t, gearLoc, contact, normal, cvel);
291 : 0 : vGroundNormal = Propagate->GetTec2b() * normal;
292 : :
293 : : // The height returned above is the AGL and is expressed in the Z direction
294 : : // of the ECEF coordinate frame. We now need to transform this height in
295 : : // actual compression of the strut (BOGEY) of in the normal direction to the
296 : : // ground (STRUCTURE)
297 : 0 : double normalZ = (Propagate->GetTec2l()*normal)(eZ);
298 : 0 : double LGearProj = -(mTGear.Transposed() * vGroundNormal)(eZ);
299 : :
300 [ # # # ]: 0 : switch (eContactType) {
301 : : case ctBOGEY:
302 [ # # ]: 0 : compressLength = LGearProj > 0.0 ? height * normalZ / LGearProj : 0.0;
303 : 0 : break;
304 : : case ctSTRUCTURE:
305 : 0 : compressLength = height * normalZ / DotProduct(normal, normal);
306 : : break;
307 : : }
308 : :
309 [ # # ]: 0 : if (compressLength > 0.00) {
310 : :
311 : 0 : WOW = true;
312 : :
313 : : // The following equations use the vector to the tire contact patch
314 : : // including the strut compression.
315 : 0 : FGColumnVector3 vWhlDisplVec;
316 : :
317 [ # # # ]: 0 : switch(eContactType) {
318 : : case ctBOGEY:
319 : 0 : vWhlDisplVec = mTGear * FGColumnVector3(0., 0., -compressLength);
320 : : break;
321 : : case ctSTRUCTURE:
322 : 0 : vWhlDisplVec = compressLength * vGroundNormal;
323 : : break;
324 : : }
325 : :
326 : 0 : FGColumnVector3 vWhlContactVec = vWhlBodyVec + vWhlDisplVec;
327 : 0 : vActingXYZn = vXYZn + Tb2s * vWhlDisplVec;
328 : 0 : FGColumnVector3 vBodyWhlVel = Propagate->GetPQR() * vWhlContactVec;
329 : 0 : vBodyWhlVel += Propagate->GetUVW() - Propagate->GetTec2b() * cvel;
330 : :
331 : 0 : vWhlVelVec = mTGear.Transposed() * vBodyWhlVel;
332 : :
333 : 0 : InitializeReporting();
334 : 0 : ComputeSteeringAngle();
335 : 0 : ComputeGroundCoordSys();
336 : :
337 : 0 : vLocalWhlVel = Transform().Transposed() * vBodyWhlVel;
338 : :
339 : 0 : compressSpeed = -vLocalWhlVel(eX);
340 [ # # ]: 0 : if (eContactType == ctBOGEY)
341 : 0 : compressSpeed /= LGearProj;
342 : :
343 : 0 : ComputeVerticalStrutForce();
344 : :
345 : : // Compute the friction coefficients in the wheel ground plane.
346 [ # # ]: 0 : if (eContactType == ctBOGEY) {
347 : 0 : ComputeSlipAngle();
348 : 0 : ComputeBrakeForceCoefficient();
349 : 0 : ComputeSideForceCoefficient();
350 : : }
351 : :
352 : : // Prepare the Jacobians and the Lagrange multipliers for later friction
353 : : // forces calculations.
354 : 0 : ComputeJacobian(vWhlContactVec);
355 : :
356 : : } else { // Gear is NOT compressed
357 : :
358 : 0 : WOW = false;
359 : 0 : compressLength = 0.0;
360 : 0 : compressSpeed = 0.0;
361 : 0 : WheelSlip = 0.0;
362 : 0 : StrutForce = 0.0;
363 : :
364 : : // Let wheel spin down slowly
365 : 0 : vWhlVelVec(eX) -= 13.0*dT;
366 [ # # ]: 0 : if (vWhlVelVec(eX) < 0.0) vWhlVelVec(eX) = 0.0;
367 : :
368 : : // Return to neutral position between 1.0 and 0.8 gear pos.
369 : 0 : SteerAngle *= max(GetGearUnitPos()-0.8, 0.0)/0.2;
370 : :
371 : 0 : ResetReporting();
372 : : }
373 : : }
374 : :
375 : 0 : ReportTakeoffOrLanding();
376 : :
377 : : // Require both WOW and LastWOW to be true before checking crash conditions
378 : : // to allow the WOW flag to be used in terminating a scripted run.
379 [ # # ][ # # ]: 0 : if (WOW && lastWOW) CrashDetect();
380 : :
381 : 0 : lastWOW = WOW;
382 : :
383 : 0 : return FGForce::GetBodyForces();
384 : : }
385 : :
386 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
387 : : // Build a local "ground" coordinate system defined by
388 : : // eX : normal to the ground
389 : : // eY : projection of the rolling direction on the ground
390 : : // eZ : projection of the sliping direction on the ground
391 : :
392 : 0 : void FGLGear::ComputeGroundCoordSys(void)
393 : : {
394 : : // Euler angles are built up to create a local frame to describe the forces
395 : : // applied to the gear by the ground. Here pitch, yaw and roll do not have
396 : : // any physical meaning. It is just a convenient notation.
397 : : // First, "pitch" and "yaw" are determined in order to align eX with the
398 : : // ground normal.
399 [ # # ]: 0 : if (vGroundNormal(eZ) < -1.0)
400 : 0 : vOrient(ePitch) = 0.5*M_PI;
401 [ # # ]: 0 : else if (1.0 < vGroundNormal(eZ))
402 : 0 : vOrient(ePitch) = -0.5*M_PI;
403 : : else
404 : 0 : vOrient(ePitch) = asin(-vGroundNormal(eZ));
405 : :
406 [ # # ]: 0 : if (fabs(vOrient(ePitch)) == 0.5*M_PI)
407 : 0 : vOrient(eYaw) = 0.;
408 : : else
409 : 0 : vOrient(eYaw) = atan2(vGroundNormal(eY), vGroundNormal(eX));
410 : :
411 : 0 : vOrient(eRoll) = 0.;
412 : 0 : UpdateCustomTransformMatrix();
413 : :
414 [ # # ]: 0 : if (eContactType == ctBOGEY) {
415 : : // In the case of a bogey, the third angle "roll" is used to align the axis eY and eZ
416 : : // to the rolling and sliping direction respectively.
417 : : FGColumnVector3 updatedRollingAxis = Transform().Transposed() * mTGear
418 : 0 : * FGColumnVector3(-sin(SteerAngle), cos(SteerAngle), 0.);
419 : :
420 : 0 : vOrient(eRoll) = atan2(updatedRollingAxis(eY), -updatedRollingAxis(eZ));
421 : 0 : UpdateCustomTransformMatrix();
422 : : }
423 : 0 : }
424 : :
425 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
426 : :
427 : 0 : void FGLGear::ComputeRetractionState(void)
428 : : {
429 : 0 : double gearPos = GetGearUnitPos();
430 [ # # ]: 0 : if (gearPos < 0.01) {
431 : 0 : GearUp = true;
432 : 0 : WOW = false;
433 : 0 : GearDown = false;
434 : 0 : vWhlVelVec.InitMatrix();
435 [ # # ]: 0 : } else if (gearPos > 0.99) {
436 : 0 : GearDown = true;
437 : 0 : GearUp = false;
438 : : } else {
439 : 0 : GearUp = false;
440 : 0 : GearDown = false;
441 : : }
442 : 0 : }
443 : :
444 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
445 : : // Calculate tire slip angle.
446 : :
447 : 0 : void FGLGear::ComputeSlipAngle(void)
448 : : {
449 : : // Check that the speed is non-null otherwise use the current angle
450 [ # # ]: 0 : if (vLocalWhlVel.Magnitude(eY,eZ) > 1E-3)
451 : 0 : WheelSlip = -atan2(vLocalWhlVel(eZ), fabs(vLocalWhlVel(eY)))*radtodeg;
452 : 0 : }
453 : :
454 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
455 : : // Compute the steering angle in any case.
456 : : // This will also make sure that animations will look right.
457 : :
458 : 0 : void FGLGear::ComputeSteeringAngle(void)
459 : : {
460 [ # # # # ]: 0 : switch (eSteerType) {
461 : : case stSteer:
462 : 0 : SteerAngle = degtorad * FCS->GetSteerPosDeg(GearNumber);
463 : 0 : break;
464 : : case stFixed:
465 : 0 : SteerAngle = 0.0;
466 : 0 : break;
467 : : case stCaster:
468 [ # # ]: 0 : if (!Castered)
469 : 0 : SteerAngle = degtorad * FCS->GetSteerPosDeg(GearNumber);
470 : : else {
471 : : // Check that the speed is non-null otherwise use the current angle
472 [ # # ]: 0 : if (vWhlVelVec.Magnitude(eX,eY) > 0.1)
473 : 0 : SteerAngle = atan2(vWhlVelVec(eY), fabs(vWhlVelVec(eX)));
474 : : }
475 : : break;
476 : : default:
477 : 0 : cerr << "Improper steering type membership detected for this gear." << endl;
478 : : break;
479 : : }
480 : 0 : }
481 : :
482 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
483 : : // Reset reporting functionality after takeoff
484 : :
485 : 0 : void FGLGear::ResetReporting(void)
486 : : {
487 [ # # ]: 0 : if (Propagate->GetDistanceAGL() > 200.0) {
488 : 0 : FirstContact = false;
489 : 0 : StartedGroundRun = false;
490 : 0 : LandingReported = false;
491 : 0 : TakeoffReported = true;
492 : 0 : LandingDistanceTraveled = 0.0;
493 : 0 : MaximumStrutForce = MaximumStrutTravel = 0.0;
494 : : }
495 : 0 : }
496 : :
497 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
498 : :
499 : 0 : void FGLGear::InitializeReporting(void)
500 : : {
501 : : // If this is the first time the wheel has made contact, remember some values
502 : : // for later printout.
503 : :
504 [ # # ]: 0 : if (!FirstContact) {
505 : 0 : FirstContact = true;
506 : 0 : SinkRate = compressSpeed;
507 : 0 : GroundSpeed = Propagate->GetVel().Magnitude();
508 : 0 : TakeoffReported = false;
509 : : }
510 : :
511 : : // If the takeoff run is starting, initialize.
512 : :
513 [ # # ][ # # ]: 0 : if ((Propagate->GetVel().Magnitude() > 0.1) &&
[ # # ][ # # ]
[ # # ][ # # ]
514 : : (FCS->GetBrake(bgLeft) == 0) &&
515 : : (FCS->GetBrake(bgRight) == 0) &&
516 : : (FCS->GetThrottlePos(0) > 0.90) && !StartedGroundRun)
517 : : {
518 : 0 : TakeoffDistanceTraveled = 0;
519 : 0 : TakeoffDistanceTraveled50ft = 0;
520 : 0 : StartedGroundRun = true;
521 : : }
522 : 0 : }
523 : :
524 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
525 : : // Takeoff and landing reporting functionality
526 : :
527 : 0 : void FGLGear::ReportTakeoffOrLanding(void)
528 : : {
529 [ # # ]: 0 : if (FirstContact)
530 : 0 : LandingDistanceTraveled += Auxiliary->GetVground()*dT;
531 : :
532 [ # # ]: 0 : if (StartedGroundRun) {
533 : 0 : TakeoffDistanceTraveled50ft += Auxiliary->GetVground()*dT;
534 [ # # ]: 0 : if (WOW) TakeoffDistanceTraveled += Auxiliary->GetVground()*dT;
535 : : }
536 : :
537 [ # # ][ # # ]: 0 : if ( ReportEnable
[ # # ][ # # ]
[ # # ]
538 : : && Auxiliary->GetVground() <= 0.05
539 : : && !LandingReported
540 : : && GroundReactions->GetWOW())
541 : : {
542 [ # # ]: 0 : if (debug_lvl > 0) Report(erLand);
543 : : }
544 : :
545 [ # # ][ # # ]: 0 : if ( ReportEnable
[ # # ][ # # ]
[ # # ]
546 : : && !TakeoffReported
547 : : && (Propagate->GetDistanceAGL() - vLocalGear(eZ)) > 50.0
548 : : && !GroundReactions->GetWOW())
549 : : {
550 [ # # ]: 0 : if (debug_lvl > 0) Report(erTakeoff);
551 : : }
552 : :
553 [ # # ]: 0 : if (lastWOW != WOW) PutMessage("GEAR_CONTACT: " + name, WOW);
554 : 0 : }
555 : :
556 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
557 : : // Crash detection logic (really out-of-bounds detection)
558 : :
559 : 0 : void FGLGear::CrashDetect(void)
560 : : {
561 [ # # ][ # # ]: 0 : if ( (compressLength > 500.0 ||
[ # # ][ # # ]
[ # # ][ # # ]
562 : : vFn.Magnitude() > 100000000.0 ||
563 : : GetMoments().Magnitude() > 5000000000.0 ||
564 : : SinkRate > 1.4666*30 ) && !fdmex->IntegrationSuspended())
565 : : {
566 : 0 : PutMessage("Crash Detected: Simulation FREEZE.");
567 : 0 : fdmex->SuspendIntegration();
568 : : }
569 : 0 : }
570 : :
571 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
572 : : // The following needs work regarding friction coefficients and braking and
573 : : // steering The BrakeFCoeff formula assumes that an anti-skid system is used.
574 : : // It also assumes that we won't be turning and braking at the same time.
575 : : // Will fix this later.
576 : : // [JSB] The braking force coefficients include normal rolling coefficient +
577 : : // a percentage of the static friction coefficient based on braking applied.
578 : :
579 : 0 : void FGLGear::ComputeBrakeForceCoefficient(void)
580 : : {
581 [ # # # # : 0 : switch (eBrakeGrp) {
# # # ]
582 : : case bgLeft:
583 : : BrakeFCoeff = ( rollingFCoeff*(1.0 - FCS->GetBrake(bgLeft)) +
584 : 0 : staticFCoeff*FCS->GetBrake(bgLeft) );
585 : 0 : break;
586 : : case bgRight:
587 : : BrakeFCoeff = ( rollingFCoeff*(1.0 - FCS->GetBrake(bgRight)) +
588 : 0 : staticFCoeff*FCS->GetBrake(bgRight) );
589 : 0 : break;
590 : : case bgCenter:
591 : : BrakeFCoeff = ( rollingFCoeff*(1.0 - FCS->GetBrake(bgCenter)) +
592 : 0 : staticFCoeff*FCS->GetBrake(bgCenter) );
593 : 0 : break;
594 : : case bgNose:
595 : : BrakeFCoeff = ( rollingFCoeff*(1.0 - FCS->GetBrake(bgCenter)) +
596 : 0 : staticFCoeff*FCS->GetBrake(bgCenter) );
597 : 0 : break;
598 : : case bgTail:
599 : : BrakeFCoeff = ( rollingFCoeff*(1.0 - FCS->GetBrake(bgCenter)) +
600 : 0 : staticFCoeff*FCS->GetBrake(bgCenter) );
601 : 0 : break;
602 : : case bgNone:
603 : 0 : BrakeFCoeff = rollingFCoeff;
604 : 0 : break;
605 : : default:
606 : 0 : cerr << "Improper brake group membership detected for this gear." << endl;
607 : : break;
608 : : }
609 : 0 : }
610 : :
611 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
612 : : // Compute the sideforce coefficients using Pacejka's Magic Formula.
613 : : //
614 : : // y(x) = D sin {C arctan [Bx - E(Bx - arctan Bx)]}
615 : : //
616 : : // Where: B = Stiffness Factor (0.06, here)
617 : : // C = Shape Factor (2.8, here)
618 : : // D = Peak Factor (0.8, here)
619 : : // E = Curvature Factor (1.03, here)
620 : :
621 : 0 : void FGLGear::ComputeSideForceCoefficient(void)
622 : : {
623 [ # # ]: 0 : if (ForceY_Table) {
624 : 0 : FCoeff = ForceY_Table->GetValue(WheelSlip);
625 : : } else {
626 : 0 : double StiffSlip = Stiffness*WheelSlip;
627 : 0 : FCoeff = Peak * sin(Shape*atan(StiffSlip - Curvature*(StiffSlip - atan(StiffSlip))));
628 : : }
629 : 0 : }
630 : :
631 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
632 : : // Compute the vertical force on the wheel using square-law damping (per comment
633 : : // in paper AIAA-2000-4303 - see header prologue comments). We might consider
634 : : // allowing for both square and linear damping force calculation. Also need to
635 : : // possibly give a "rebound damping factor" that differs from the compression
636 : : // case.
637 : :
638 : 0 : void FGLGear::ComputeVerticalStrutForce(void)
639 : : {
640 : 0 : double springForce = 0;
641 : 0 : double dampForce = 0;
642 : :
643 : 0 : springForce = -compressLength * kSpring;
644 : :
645 [ # # ]: 0 : if (compressSpeed >= 0.0) {
646 : :
647 [ # # ]: 0 : if (eDampType == dtLinear) dampForce = -compressSpeed * bDamp;
648 : 0 : else dampForce = -compressSpeed * compressSpeed * bDamp;
649 : :
650 : : } else {
651 : :
652 [ # # ]: 0 : if (eDampTypeRebound == dtLinear)
653 : 0 : dampForce = -compressSpeed * bDampRebound;
654 : : else
655 : 0 : dampForce = compressSpeed * compressSpeed * bDampRebound;
656 : :
657 : : }
658 : :
659 : 0 : StrutForce = min(springForce + dampForce, (double)0.0);
660 : :
661 : : // The reaction force of the wheel is always normal to the ground
662 [ # # # ]: 0 : switch (eContactType) {
663 : : case ctBOGEY:
664 : : // Project back the strut force in the local coordinate frame of the ground
665 : 0 : vFn(eX) = StrutForce / (mTGear.Transposed()*vGroundNormal)(eZ);
666 : : break;
667 : : case ctSTRUCTURE:
668 : 0 : vFn(eX) = -StrutForce;
669 : : break;
670 : : }
671 : :
672 : : // Remember these values for reporting
673 : 0 : MaximumStrutForce = max(MaximumStrutForce, fabs(StrutForce));
674 : 0 : MaximumStrutTravel = max(MaximumStrutTravel, fabs(compressLength));
675 : 0 : }
676 : :
677 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
678 : :
679 : 0 : double FGLGear::GetGearUnitPos(void)
680 : : {
681 : : // hack to provide backward compatibility to gear/gear-pos-norm property
682 [ # # ][ # # ]: 0 : if( useFCSGearPos || FCS->GetGearPos() != 1.0 ) {
[ # # ][ # # ]
[ # # ][ # # ]
[ # # ][ # # ]
[ # # ]
683 : 0 : useFCSGearPos = true;
684 : 0 : return FCS->GetGearPos();
685 : : }
686 : 0 : return GearPos;
687 : : }
688 : :
689 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
690 : : // Compute the jacobian entries for the friction forces resolution later
691 : : // in FGPropagate
692 : :
693 : 0 : void FGLGear::ComputeJacobian(const FGColumnVector3& vWhlContactVec)
694 : : {
695 : : // When the point of contact is moving, dynamic friction is used
696 : : // This type of friction is limited to ctSTRUCTURE elements because their
697 : : // friction coefficient is the same in every directions
698 [ # # # # ]: 0 : if ((eContactType == ctSTRUCTURE) && (vLocalWhlVel.Magnitude(eY,eZ) > 1E-3)) {
[ # # ]
699 : 0 : FGColumnVector3 velocityDirection = vLocalWhlVel;
700 : :
701 : 0 : StaticFriction = false;
702 : :
703 : 0 : velocityDirection(eX) = 0.;
704 : 0 : velocityDirection.Normalize();
705 : :
706 : 0 : LMultiplier[ftDynamic].ForceJacobian = Transform()*velocityDirection;
707 : 0 : LMultiplier[ftDynamic].MomentJacobian = vWhlContactVec * LMultiplier[ftDynamic].ForceJacobian;
708 : 0 : LMultiplier[ftDynamic].Max = 0.;
709 : 0 : LMultiplier[ftDynamic].Min = -fabs(dynamicFCoeff * vFn(eX));
710 : 0 : LMultiplier[ftDynamic].value = Constrain(LMultiplier[ftDynamic].Min, LMultiplier[ftDynamic].value, LMultiplier[ftDynamic].Max);
711 : : }
712 : : else {
713 : : // Static friction is used for ctSTRUCTURE when the contact point is not moving.
714 : : // It is always used for ctBOGEY elements because the friction coefficients
715 : : // of a tyre depend on the direction of the movement (roll & side directions).
716 : : // This cannot be handled properly by the so-called "dynamic friction".
717 : 0 : StaticFriction = true;
718 : :
719 : 0 : LMultiplier[ftRoll].ForceJacobian = Transform()*FGColumnVector3(0.,1.,0.);
720 : 0 : LMultiplier[ftSide].ForceJacobian = Transform()*FGColumnVector3(0.,0.,1.);
721 : 0 : LMultiplier[ftRoll].MomentJacobian = vWhlContactVec * LMultiplier[ftRoll].ForceJacobian;
722 : 0 : LMultiplier[ftSide].MomentJacobian = vWhlContactVec * LMultiplier[ftSide].ForceJacobian;
723 : :
724 [ # # # ]: 0 : switch(eContactType) {
725 : : case ctBOGEY:
726 : 0 : LMultiplier[ftRoll].Max = fabs(BrakeFCoeff * vFn(eX));
727 : 0 : LMultiplier[ftSide].Max = fabs(FCoeff * vFn(eX));
728 : 0 : break;
729 : : case ctSTRUCTURE:
730 : 0 : LMultiplier[ftRoll].Max = fabs(staticFCoeff * vFn(eX));
731 : 0 : LMultiplier[ftSide].Max = fabs(staticFCoeff * vFn(eX));
732 : : break;
733 : : }
734 : :
735 : 0 : LMultiplier[ftRoll].Min = -LMultiplier[ftRoll].Max;
736 : 0 : LMultiplier[ftSide].Min = -LMultiplier[ftSide].Max;
737 : 0 : LMultiplier[ftRoll].value = Constrain(LMultiplier[ftRoll].Min, LMultiplier[ftRoll].value, LMultiplier[ftRoll].Max);
738 : 0 : LMultiplier[ftSide].value = Constrain(LMultiplier[ftSide].Min, LMultiplier[ftSide].value, LMultiplier[ftSide].Max);
739 : : }
740 : 0 : }
741 : :
742 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
743 : : // This function is used by the MultiplierIterator class to enumerate the
744 : : // Lagrange multipliers of a landing gear. This allows to encapsulate the storage
745 : : // of the multipliers in FGLGear without exposing it. From an outside point of
746 : : // view, each FGLGear instance has a number of Lagrange multipliers which can be
747 : : // accessed through this routine without knowing the exact constraint which they
748 : : // model.
749 : :
750 : 0 : FGPropagate::LagrangeMultiplier* FGLGear::GetMultiplierEntry(int entry)
751 : : {
752 [ # # # ]: 0 : switch(entry) {
753 : : case 0:
754 [ # # ]: 0 : if (StaticFriction)
755 : 0 : return &LMultiplier[ftRoll];
756 : : else
757 : 0 : return &LMultiplier[ftDynamic];
758 : : case 1:
759 [ # # ]: 0 : if (StaticFriction)
760 : 0 : return &LMultiplier[ftSide];
761 : : default:
762 : 0 : return NULL;
763 : : }
764 : : }
765 : :
766 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
767 : : // This routine is called after the Lagrange multiplier has been computed. The
768 : : // friction forces of the landing gear are then updated accordingly.
769 : 0 : FGColumnVector3& FGLGear::UpdateForces(void)
770 : : {
771 [ # # ]: 0 : if (StaticFriction) {
772 : 0 : vFn(eY) = LMultiplier[ftRoll].value;
773 : 0 : vFn(eZ) = LMultiplier[ftSide].value;
774 : : }
775 : : else
776 : 0 : vFn += LMultiplier[ftDynamic].value * (Transform ().Transposed() * LMultiplier[ftDynamic].ForceJacobian);
777 : :
778 : : // Return the updated force in the body frame
779 : 0 : return FGForce::GetBodyForces();
780 : : }
781 : :
782 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
783 : :
784 : 0 : void FGLGear::bind(void)
785 : : {
786 : 0 : string property_name;
787 : 0 : string base_property_name;
788 : 0 : base_property_name = CreateIndexedPropertyName("gear/unit", GearNumber);
789 [ # # ]: 0 : if (eContactType == ctBOGEY) {
790 : 0 : property_name = base_property_name + "/slip-angle-deg";
791 : 0 : fdmex->GetPropertyManager()->Tie( property_name.c_str(), &WheelSlip );
792 : 0 : property_name = base_property_name + "/WOW";
793 : 0 : fdmex->GetPropertyManager()->Tie( property_name.c_str(), &WOW );
794 : 0 : property_name = base_property_name + "/wheel-speed-fps";
795 : : fdmex->GetPropertyManager()->Tie( property_name.c_str(), (FGLGear*)this,
796 : 0 : &FGLGear::GetWheelRollVel);
797 : 0 : property_name = base_property_name + "/z-position";
798 : : fdmex->GetPropertyManager()->Tie( property_name.c_str(), (FGForce*)this,
799 : 0 : &FGForce::GetLocationZ, &FGForce::SetLocationZ);
800 : 0 : property_name = base_property_name + "/compression-ft";
801 : 0 : fdmex->GetPropertyManager()->Tie( property_name.c_str(), &compressLength );
802 : 0 : property_name = base_property_name + "/side_friction_coeff";
803 : 0 : fdmex->GetPropertyManager()->Tie( property_name.c_str(), &FCoeff );
804 : :
805 : 0 : property_name = base_property_name + "/static_friction_coeff";
806 : 0 : fdmex->GetPropertyManager()->Tie( property_name.c_str(), &staticFCoeff );
807 : :
808 [ # # ]: 0 : if (eSteerType == stCaster) {
809 : 0 : property_name = base_property_name + "/steering-angle-deg";
810 : 0 : fdmex->GetPropertyManager()->Tie( property_name.c_str(), this, &FGLGear::GetSteerAngleDeg );
811 : 0 : property_name = base_property_name + "/castered";
812 : 0 : fdmex->GetPropertyManager()->Tie( property_name.c_str(), &Castered);
813 : : }
814 : : }
815 : :
816 [ # # ]: 0 : if( isRetractable ) {
817 : 0 : property_name = base_property_name + "/pos-norm";
818 : 0 : fdmex->GetPropertyManager()->Tie( property_name.c_str(), &GearPos );
819 : 0 : }
820 : 0 : }
821 : :
822 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
823 : :
824 : 0 : void FGLGear::Report(ReportType repType)
825 : : {
826 [ # # ]: 0 : if (fabs(TakeoffDistanceTraveled) < 0.001) return; // Don't print superfluous reports
827 : :
828 [ # # # ]: 0 : switch(repType) {
829 : : case erLand:
830 : : cout << endl << "Touchdown report for " << name << " (WOW at time: "
831 : 0 : << fdmex->GetSimTime() << " seconds)" << endl;
832 : : cout << " Sink rate at contact: " << SinkRate << " fps, "
833 : 0 : << SinkRate*0.3048 << " mps" << endl;
834 : : cout << " Contact ground speed: " << GroundSpeed*.5925 << " knots, "
835 : 0 : << GroundSpeed*0.3048 << " mps" << endl;
836 : : cout << " Maximum contact force: " << MaximumStrutForce << " lbs, "
837 : 0 : << MaximumStrutForce*4.448 << " Newtons" << endl;
838 : : cout << " Maximum strut travel: " << MaximumStrutTravel*12.0 << " inches, "
839 : 0 : << MaximumStrutTravel*30.48 << " cm" << endl;
840 : : cout << " Distance traveled: " << LandingDistanceTraveled << " ft, "
841 : 0 : << LandingDistanceTraveled*0.3048 << " meters" << endl;
842 : 0 : LandingReported = true;
843 : 0 : break;
844 : : case erTakeoff:
845 : : cout << endl << "Takeoff report for " << name << " (Liftoff at time: "
846 : 0 : << fdmex->GetSimTime() << " seconds)" << endl;
847 : : cout << " Distance traveled: " << TakeoffDistanceTraveled
848 : 0 : << " ft, " << TakeoffDistanceTraveled*0.3048 << " meters" << endl;
849 : : cout << " Distance traveled (over 50'): " << TakeoffDistanceTraveled50ft
850 : 0 : << " ft, " << TakeoffDistanceTraveled50ft*0.3048 << " meters" << endl;
851 : : cout << " [Altitude (ASL): " << Propagate->GetAltitudeASL() << " ft. / "
852 : : << Propagate->GetAltitudeASLmeters() << " m | Temperature: "
853 : : << fdmex->GetAtmosphere()->GetTemperature() - 459.67 << " F / "
854 : 0 : << RankineToCelsius(fdmex->GetAtmosphere()->GetTemperature()) << " C]" << endl;
855 : 0 : cout << " [Velocity (KCAS): " << Auxiliary->GetVcalibratedKTS() << "]" << endl;
856 : 0 : TakeoffReported = true;
857 : : break;
858 : : case erNone:
859 : : break;
860 : : }
861 : : }
862 : :
863 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
864 : : // The bitmasked value choices are as follows:
865 : : // unset: In this case (the default) JSBSim would only print
866 : : // out the normally expected messages, essentially echoing
867 : : // the config files as they are read. If the environment
868 : : // variable is not set, debug_lvl is set to 1 internally
869 : : // 0: This requests JSBSim not to output any messages
870 : : // whatsoever.
871 : : // 1: This value explicity requests the normal JSBSim
872 : : // startup messages
873 : : // 2: This value asks for a message to be printed out when
874 : : // a class is instantiated
875 : : // 4: When this value is set, a message is displayed when a
876 : : // FGModel object executes its Run() method
877 : : // 8: When this value is set, various runtime state variables
878 : : // are printed out periodically
879 : : // 16: When set various parameters are sanity checked and
880 : : // a message is printed out when they go out of bounds
881 : :
882 : 0 : void FGLGear::Debug(int from)
883 : : {
884 [ # # ]: 0 : if (debug_lvl <= 0) return;
885 : :
886 [ # # ]: 0 : if (debug_lvl & 1) { // Standard console startup message output
887 [ # # ]: 0 : if (from == 0) { // Constructor - loading and initialization
888 : 0 : cout << " " << sContactType << " " << name << endl;
889 : 0 : cout << " Location: " << vXYZn << endl;
890 : 0 : cout << " Spring Constant: " << kSpring << endl;
891 : :
892 [ # # ]: 0 : if (eDampType == dtLinear)
893 : 0 : cout << " Damping Constant: " << bDamp << " (linear)" << endl;
894 : : else
895 : 0 : cout << " Damping Constant: " << bDamp << " (square law)" << endl;
896 : :
897 [ # # ]: 0 : if (eDampTypeRebound == dtLinear)
898 : 0 : cout << " Rebound Damping Constant: " << bDampRebound << " (linear)" << endl;
899 : : else
900 : 0 : cout << " Rebound Damping Constant: " << bDampRebound << " (square law)" << endl;
901 : :
902 : 0 : cout << " Dynamic Friction: " << dynamicFCoeff << endl;
903 : 0 : cout << " Static Friction: " << staticFCoeff << endl;
904 [ # # ]: 0 : if (eContactType == ctBOGEY) {
905 : 0 : cout << " Rolling Friction: " << rollingFCoeff << endl;
906 : 0 : cout << " Steering Type: " << sSteerType << endl;
907 : 0 : cout << " Grouping: " << sBrakeGroup << endl;
908 : 0 : cout << " Max Steer Angle: " << maxSteerAngle << endl;
909 : 0 : cout << " Retractable: " << isRetractable << endl;
910 : : }
911 : : }
912 : : }
913 [ # # ]: 0 : if (debug_lvl & 2 ) { // Instantiation/Destruction notification
914 [ # # ]: 0 : if (from == 0) cout << "Instantiated: FGLGear" << endl;
915 [ # # ]: 0 : if (from == 1) cout << "Destroyed: FGLGear" << endl;
916 : : }
917 : 0 : if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
918 : : }
919 : 0 : if (debug_lvl & 8 ) { // Runtime state variables
920 : : }
921 : 0 : if (debug_lvl & 16) { // Sanity checking
922 : : }
923 [ # # ]: 0 : if (debug_lvl & 64) {
924 [ # # ]: 0 : if (from == 0) { // Constructor
925 : 0 : cout << IdSrc << endl;
926 : 0 : cout << IdHdr << endl;
927 : : }
928 : : }
929 : : }
930 : :
931 [ + + ][ + - ]: 12 : } // namespace JSBSim
932 : :
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