Fix a dumb bug in NavDisplay text-enable.

[flightgear.git] / src / Instrumentation / attitude_indicator.cxx

diff --git a/src/Instrumentation/attitude_indicator.cxx b/src/Instrumentation/attitude_indicator.cxx
index 3558e6486045aa1779721db866e15b4a05968d2d..19f6d4c708ad0d20973eabc01650603efadc4006 100644 (file)
--- a/src/Instrumentation/attitude_indicator.cxx
+++ b/src/Instrumentation/attitude_indicator.cxx
@@ -6,14 +6,32 @@
 // TODO:
 // - better spin-up
 
+#ifdef HAVE_CONFIG_H
+#  include "config.h"
+#endif
+
+#include <simgear/compiler.h>
+
+#include <iostream>
+#include <string>
+#include <sstream>
+
 #include <math.h>      // fabs()
 
 #include "attitude_indicator.hxx"
 #include <Main/fg_props.hxx>
 #include <Main/util.hxx>
 
+using std::string;
 
-AttitudeIndicator::AttitudeIndicator ()
+AttitudeIndicator::AttitudeIndicator ( SGPropertyNode *node )
+    :
+    _name(node->getStringValue("name", "attitude-indicator")),
+    _num(node->getIntValue("number", 0)),
+    _suction(node->getStringValue("suction", "/systems/vacuum/suction-inhg")),
+    spin_thresh(0.8),
+    max_roll_error(40.0),
+    max_pitch_error(12.0)
 {
 }
 
@@ -24,40 +42,55 @@ AttitudeIndicator::~AttitudeIndicator ()
 void
 AttitudeIndicator::init ()
 {
-                                // TODO: allow index of pump and AI
-                                // to be configured.
+    string branch;
+    branch = "/instrumentation/" + _name;
+
+    SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
+    SGPropertyNode *n;
+    
     _pitch_in_node = fgGetNode("/orientation/pitch-deg", true);
     _roll_in_node = fgGetNode("/orientation/roll-deg", true);
-    _suction_node = fgGetNode("/systems/vacuum[0]/suction-inhg", true);
-    _tumble_flag_node =
-        fgGetNode("/instrumentation/attitude-indicator/config/tumble-flag",
-                  true);
-    _caged_node =
-        fgGetNode("/instrumentation/attitude-indicator/caged-flag", true);
-    _tumble_node =
-        fgGetNode("/instrumentation/attitude-indicator/tumble-norm", true);
-    _pitch_out_node =
-        fgGetNode("/instrumentation/attitude-indicator/indicated-pitch-deg",
-                  true);
-    _roll_out_node =
-        fgGetNode("/instrumentation/attitude-indicator/indicated-roll-deg",
-                  true);
+    _suction_node = fgGetNode(_suction.c_str(), true);
+    SGPropertyNode *cnode = node->getChild("config", 0, true);
+    _tumble_flag_node = cnode->getChild("tumble-flag", 0, true);
+    _caged_node = node->getChild("caged-flag", 0, true);
+    _tumble_node = node->getChild("tumble-norm", 0, true);
+    if( ( n = cnode->getChild("spin-thresh", 0, false ) ) != NULL )
+      spin_thresh = n->getDoubleValue();
+    if( ( n = cnode->getChild("max-roll-error-deg", 0, false ) ) != NULL )
+      max_roll_error = n->getDoubleValue();
+    if( ( n = cnode->getChild("max-pitch-error-deg", 0, false ) ) != NULL )
+      max_pitch_error = n->getDoubleValue();
+    _pitch_int_node = node->getChild("internal-pitch-deg", 0, true);
+    _roll_int_node = node->getChild("internal-roll-deg", 0, true);
+    _pitch_out_node = node->getChild("indicated-pitch-deg", 0, true);
+    _roll_out_node = node->getChild("indicated-roll-deg", 0, true);
 }
 
 void
 AttitudeIndicator::bind ()
 {
-    fgTie("/instrumentation/attitude-indicator/serviceable",
+    std::ostringstream temp;
+    string branch;
+    temp << _num;
+    branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
+
+    fgTie((branch + "/serviceable").c_str(),
           &_gyro, &Gyro::is_serviceable, &Gyro::set_serviceable);
-    fgTie("/instrumentation/attitude-indicator/spin",
+    fgTie((branch + "/spin").c_str(),
           &_gyro, &Gyro::get_spin_norm, &Gyro::set_spin_norm);
 }
 
 void
 AttitudeIndicator::unbind ()
 {
-    fgUntie("/instrumentation/attitude-indicator/serviceable");
-    fgUntie("/instrumentation/attitude-indicator/spin");
+    std::ostringstream temp;
+    string branch;
+    temp << _num;
+    branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
+
+    fgUntie((branch + "/serviceable").c_str());
+    fgUntie((branch + "/spin").c_str());
 }
 
 void
@@ -65,8 +98,8 @@ AttitudeIndicator::update (double dt)
 {
                                 // If it's caged, it doesn't indicate
     if (_caged_node->getBoolValue()) {
-        _roll_out_node->setDoubleValue(0.0);
-        _pitch_out_node->setDoubleValue(0.0);
+        _roll_int_node->setDoubleValue(0.0);
+        _pitch_int_node->setDoubleValue(0.0);
         return;
     }
 
@@ -111,14 +144,30 @@ AttitudeIndicator::update (double dt)
         _tumble_node->setDoubleValue(tumble);
     }
 
-    roll = fgGetLowPass(_roll_out_node->getDoubleValue(), roll,
+    roll = fgGetLowPass(_roll_int_node->getDoubleValue(), roll,
                         responsiveness);
-    pitch = fgGetLowPass(_pitch_out_node->getDoubleValue(), pitch,
+    pitch = fgGetLowPass(_pitch_int_node->getDoubleValue(), pitch,
                          responsiveness);
 
                                 // Assign the new values
-    _roll_out_node->setDoubleValue(roll);
-    _pitch_out_node->setDoubleValue(pitch);
+    _roll_int_node->setDoubleValue(roll);
+    _pitch_int_node->setDoubleValue(pitch);
+
+    // add in a gyro underspin "error" if gyro is spinning too slowly
+    double roll_error;
+    double pitch_error;
+    if ( spin <= spin_thresh ) {
+        double roll_error_factor = (spin_thresh - spin) / spin_thresh;
+        double pitch_error_factor = (spin_thresh - spin) / spin_thresh;
+        roll_error = roll_error_factor * roll_error_factor * max_roll_error;
+        pitch_error = pitch_error_factor * pitch_error_factor * max_pitch_error;
+    } else {
+        roll_error = 0.0;
+        pitch_error = 0.0;
+    }
+
+    _roll_out_node->setDoubleValue(roll + roll_error);
+    _pitch_out_node->setDoubleValue(pitch + pitch_error);
 }
 
 // end of attitude_indicator.cxx