#include <Main/util.hxx>
+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 ()
{
}
void
AttitudeIndicator::init ()
{
- // TODO: allow index of pump and AI
- // to be configured.
+ string branch;
+ branch = "/instrumentation/" + name;
+ vacuum_system += "/suction-inhg";
+
+ SGPropertyNode *node = fgGetNode(branch.c_str(), num, true );
+
_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(vacuum_system.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);
+ _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);
+
+ //_serviceable_node->setBoolValue(true);
}
void
AttitudeIndicator::bind ()
{
- fgTie("/instrumentation/attitude-indicator/serviceable",
+ string branch;
+ branch = "/instrumentation/" + name + "/serviceable";
+
+ fgTie(branch.c_str(),
&_gyro, &Gyro::is_serviceable, &Gyro::set_serviceable);
- fgTie("/instrumentation/attitude-indicator/spin",
+ branch = "/instrumentation/" + name + "/spin";
+ fgTie(branch.c_str(),
&_gyro, &Gyro::get_spin_norm, &Gyro::set_spin_norm);
}
void
AttitudeIndicator::unbind ()
{
- fgUntie("/instrumentation/attitude-indicator/serviceable");
- fgUntie("/instrumentation/attitude-indicator/spin");
+ string branch;
+ branch = "/instrumentation/" + name + "/serviceable";
+
+ fgUntie(branch.c_str());
+ branch = "/instrumentation/" + name + "/spin";
+ fgUntie(branch.c_str());
}
void
_pitch_int_node->setDoubleValue(pitch);
// add in a gyro underspin "error" if gyro is spinning too slowly
- const double spin_thresh = 0.4;
+ const double spin_thresh = 0.8;
const double max_roll_error = 40.0;
- const double max_pitch_error = 15.0;
+ const double max_pitch_error = 12.0;
double roll_error;
double pitch_error;
if ( spin <= spin_thresh ) {
_roll_out_node->setDoubleValue(roll + roll_error);
_pitch_out_node->setDoubleValue(pitch + pitch_error);
-
}
// end of attitude_indicator.cxx