fix NAV receiver vs GPS bugs

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

diff --git a/src/Instrumentation/attitude_indicator.cxx b/src/Instrumentation/attitude_indicator.cxx
index a6cdfba2628a0e66192f4c1e90c9afefcc12455c..54e7f24fc7269f02c8d2e251808ebfd90c252b0b 100644 (file)
--- a/src/Instrumentation/attitude_indicator.cxx
+++ b/src/Instrumentation/attitude_indicator.cxx
@@ -6,6 +6,12 @@
 // TODO:
 // - better spin-up
 
+#include <simgear/compiler.h>
+
+#include <iostream>
+#include <string>
+#include <sstream>
+
 #include <math.h>      // fabs()
 
 #include "attitude_indicator.hxx"
@@ -13,7 +19,14 @@
 #include <Main/util.hxx>
 
 
-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)
 {
 }
 
@@ -24,46 +37,55 @@ 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_int_node =
-        fgGetNode("/instrumentation/attitude-indicator/internal-pitch-deg",
-                  true);
-    _roll_int_node =
-        fgGetNode("/instrumentation/attitude-indicator/internal-roll-deg",
-                  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
@@ -127,9 +149,6 @@ AttitudeIndicator::update (double dt)
     _pitch_int_node->setDoubleValue(pitch);
 
     // add in a gyro underspin "error" if gyro is spinning too slowly
-    const double spin_thresh = 0.8;
-    const double max_roll_error = 40.0;
-    const double max_pitch_error = 12.0;
     double roll_error;
     double pitch_error;
     if ( spin <= spin_thresh ) {