GPSs uses FlightPlans directly.

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

diff --git a/src/Instrumentation/attitude_indicator.cxx b/src/Instrumentation/attitude_indicator.cxx
index 82cb4c6a0f24bc871d2b412184d363eadcbc80bc..de79e811df38e939f610c9b55d92569a0abb743f 100644 (file)
--- a/src/Instrumentation/attitude_indicator.cxx
+++ b/src/Instrumentation/attitude_indicator.cxx
@@ -6,40 +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 ( 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_AUTOPILOT, SG_WARN, "Error in attitude-indicator config logic" );
-            if ( name.length() ) {
-                SG_LOG( SG_AUTOPILOT, 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)
 {
 }
 
@@ -51,48 +43,64 @@ void
 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);
     _roll_out_node = node->getChild("indicated-roll-deg", 0, true);
 
-    //_serviceable_node->setBoolValue(true);
+    reinit();
+}
+
+void
+AttitudeIndicator::reinit ()
+{
+    _roll_int_node->setDoubleValue(0.0);
+    _pitch_int_node->setDoubleValue(0.0);
+    _gyro.reinit();
 }
 
 void
 AttitudeIndicator::bind ()
 {
+    std::ostringstream temp;
     string branch;
-    branch = "/instrumentation/" + name + "/serviceable";
+    temp << _num;
+    branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
 
-    fgTie(branch.c_str(),
+    fgTie((branch + "/serviceable").c_str(),
           &_gyro, &Gyro::is_serviceable, &Gyro::set_serviceable);
-    branch = "/instrumentation/" + name + "/spin";
-    fgTie(branch.c_str(),
+    fgTie((branch + "/spin").c_str(),
           &_gyro, &Gyro::get_spin_norm, &Gyro::set_spin_norm);
 }
 
 void
 AttitudeIndicator::unbind ()
 {
+    std::ostringstream temp;
     string branch;
-    branch = "/instrumentation/" + name + "/serviceable";
+    temp << _num;
+    branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
 
-    fgUntie(branch.c_str());
-    branch = "/instrumentation/" + name + "/spin";
-    fgUntie(branch.c_str());
+    fgUntie((branch + "/serviceable").c_str());
+    fgUntie((branch + "/spin").c_str());
 }
 
 void
@@ -156,9 +164,6 @@ 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 ) {