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 an electrically-powered master reference gyro.
  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  *
  29  * Output properties:
  30  *
  31  * /instrumentation/"name"/indicated-pitch-deg
  32  * /instrumentation/"name"/indicated-roll-deg
  33  * /instrumentation/"name"/tumble-norm
  34  */
  35
  36 class MasterReferenceGyro : public SGSubsystem
  37 {
  38
  39 public:
  40
  41     MasterReferenceGyro ( SGPropertyNode *node );
  42     MasterReferenceGyro ();
  43     virtual ~MasterReferenceGyro ();
  44
  45     virtual void init ();
  46     virtual void bind ();
  47     virtual void unbind ();
  48     virtual void update (double dt);
  49
  50 private:
  51
  52     static const double gravity; //conversion factor
  53
  54     string _name;
  55     int _num;
  56
  57     double _last_roll;
  58     double _last_pitch;
  59     double _last_hdg;
  60     double _indicated_roll;
  61     double _indicated_pitch;
  62     double _indicated_hdg;
  63     double _indicated_pitch_rate;
  64     double _indicated_roll_rate;
  65     double _indicated_hdg_rate;
  66     double _last_roll_rate;
  67     double _last_pitch_rate;
  68     double _last_yaw_rate;
  69     double _last_g;
  70     double _erect_time;
  71     double _g_error;
  72
  73     Gyro _gyro;
  74
  75     SGPropertyNode_ptr _tumble_flag_node;
  76     SGPropertyNode_ptr _caged_node;
  77     SGPropertyNode_ptr _off_node;
  78     SGPropertyNode_ptr _tumble_node;
  79     SGPropertyNode_ptr _pitch_in_node;
  80     SGPropertyNode_ptr _roll_in_node;
  81     SGPropertyNode_ptr _hdg_in_node;
  82     SGPropertyNode_ptr _hdg_mag_in_node;
  83     SGPropertyNode_ptr _g_in_node;
  84     SGPropertyNode_ptr _electrical_node;
  85     SGPropertyNode_ptr _pitch_int_node;
  86     SGPropertyNode_ptr _roll_int_node;
  87     SGPropertyNode_ptr _hdg_int_node;
  88     SGPropertyNode_ptr _pitch_out_node;
  89     SGPropertyNode_ptr _roll_out_node;
  90     SGPropertyNode_ptr _hdg_out_node;
  91     SGPropertyNode_ptr _hdg_mag_out_node;
  92     SGPropertyNode_ptr _pitch_rate_out_node;
  93     SGPropertyNode_ptr _roll_rate_out_node;
  94     SGPropertyNode_ptr _hdg_rate_out_node;
  95     SGPropertyNode_ptr _error_out_node;
  96     SGPropertyNode_ptr _yaw_rate_node;
  97     SGPropertyNode_ptr _roll_rate_node;
  98     SGPropertyNode_ptr _pitch_rate_node;
  99     SGPropertyNode_ptr _responsiveness_node;
 100     SGPropertyNode_ptr _hdg_input_source_node;
 101     SGPropertyNode_ptr _fast_erect_node;
 102 };
 103
 104 #endif // __INSTRUMENTS_MRG_HXX