src/Instrumentation/mrg.hxx

   1 // attitude_indicator.hxx - a vacuum-powered attitude indicator.
   2 // Written by David Megginson, started 2002.
   3 //
   4 // This file is in the Public Domain and comes with no warranty.
   5
   6
   7 #ifndef __INSTRUMENTS_MRG_HXX
   8 #define __INSTRUMENTS_MRG_HXX 1
   9
  10
  11 #include <simgear/props/props.hxx>
  12 #include <simgear/structure/subsystem_mgr.hxx>
  13
  14 #include "gyro.hxx"
  15
  16
  17 /**
  18  * Model a vacuum-powered attitude indicator.
  19  *
  20  * Input properties:
  21  *
  22  * /instrumentation/"name"/config/tumble-flag
  23  * /instrumentation/"name"/serviceable
  24  * /instrumentation/"name"/caged-flag
  25  * /instrumentation/"name"/tumble-norm
  26  * /orientation/pitch-deg
  27  * /orientation/roll-deg
  28  * "vacuum-system"/suction-inhg
  29  *
  30  * Output properties:
  31  *
  32  * /instrumentation/"name"/indicated-pitch-deg
  33  * /instrumentation/"name"/indicated-roll-deg
  34  * /instrumentation/"name"/tumble-norm
  35  */
  36
  37 class MasterReferenceGyro : public SGSubsystem
  38 {
  39
  40 public:
  41
  42     MasterReferenceGyro ( SGPropertyNode *node );
  43     MasterReferenceGyro ();
  44     virtual ~MasterReferenceGyro ();
  45
  46     virtual void init ();
  47     virtual void bind ();
  48     virtual void unbind ();
  49     virtual void update (double dt);
  50
  51 private:
  52
  53     string name;
  54     int num;
  55
  56     double _last_roll;
  57     double _last_pitch;
  58     double _last_hdg;
  59     double _indicated_roll;
  60     double _indicated_pitch;
  61     double _indicated_hdg;
  62     double _indicated_pitch_rate;
  63     double _indicated_roll_rate;
  64     double _indicated_hdg_rate;
  65     double _last_roll_rate;
  66     double _last_pitch_rate;
  67     double _last_yaw_rate;
  68
  69     Gyro _gyro;
  70
  71     SGPropertyNode_ptr _tumble_flag_node;
  72     SGPropertyNode_ptr _caged_node;
  73     SGPropertyNode_ptr _off_node;
  74     SGPropertyNode_ptr _tumble_node;
  75     SGPropertyNode_ptr _pitch_in_node;
  76     SGPropertyNode_ptr _roll_in_node;
  77     SGPropertyNode_ptr _hdg_in_node;
  78     SGPropertyNode_ptr _g_in_node;
  79     SGPropertyNode_ptr _electrical_node;
  80     SGPropertyNode_ptr _pitch_int_node;
  81     SGPropertyNode_ptr _roll_int_node;
  82     SGPropertyNode_ptr _hdg_int_node;
  83     SGPropertyNode_ptr _pitch_out_node;
  84     SGPropertyNode_ptr _roll_out_node;
  85     SGPropertyNode_ptr _hdg_out_node;
  86     SGPropertyNode_ptr _pitch_rate_out_node;
  87     SGPropertyNode_ptr _roll_rate_out_node;
  88     SGPropertyNode_ptr _hdg_rate_out_node;
  89     SGPropertyNode_ptr _error_out_node;
  90     SGPropertyNode_ptr _yaw_rate_node;
  91     SGPropertyNode_ptr _roll_rate_node;
  92     SGPropertyNode_ptr _pitch_rate_node;
  93     SGPropertyNode_ptr _responsiveness_node;
  94 };
  95
  96 #endif // __INSTRUMENTS_MRG_HXX