#include <simgear/compiler.h>
-#include STL_IOSTREAM
-#include STL_STRING
+#include <iostream>
+#include <string>
#include <sstream>
#include <math.h> // fabs()
AttitudeIndicator::AttitudeIndicator ( SGPropertyNode *node )
:
- name("attitude-indicator"),
- num(0),
- vacuum_system("/systems/vacuum")
-{
- int i;
- for ( i = 0; i < node->nChildren(); ++i ) {
- SGPropertyNode *child = node->getChild(i);
- string cname = child->getName();
- string cval = child->getStringValue();
- if ( cname == "name" ) {
- name = cval;
- } else if ( cname == "number" ) {
- num = (int) child->getDoubleValue();
- } else if ( cname == "vacuum-system" ) {
- vacuum_system = cval;
- } else {
- SG_LOG( SG_INSTR, SG_WARN, "Error in attitude-indicator config logic" );
- if ( name.length() ) {
- SG_LOG( SG_INSTR, SG_WARN, "Section = " << name );
- }
- }
- }
-}
-
-AttitudeIndicator::AttitudeIndicator ()
+ _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)
{
}
AttitudeIndicator::init ()
{
string branch;
- branch = "/instrumentation/" + name;
- vacuum_system += "/suction-inhg";
+ branch = "/instrumentation/" + _name;
- SGPropertyNode *node = fgGetNode(branch.c_str(), num, true );
+ 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(vacuum_system.c_str(), 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);
{
std::ostringstream temp;
string branch;
- temp << num;
- branch = "/instrumentation/" + name + "[" + temp.str() + "]";
+ temp << _num;
+ branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
fgTie((branch + "/serviceable").c_str(),
&_gyro, &Gyro::is_serviceable, &Gyro::set_serviceable);
{
std::ostringstream temp;
string branch;
- temp << num;
- branch = "/instrumentation/" + name + "[" + temp.str() + "]";
+ temp << _num;
+ branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
fgUntie((branch + "/serviceable").c_str());
fgUntie((branch + "/spin").c_str());
_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 ) {