//
// This file is in the Public Domain and comes with no warranty.
+#ifdef HAVE_CONFIG_H
+# include "config.h"
+#endif
+
+#include <simgear/compiler.h>
+#include <simgear/sg_inlines.h>
+#include <iostream>
+#include <string>
+#include <sstream>
+
#include "heading_indicator.hxx"
#include <Main/fg_props.hxx>
#include <Main/util.hxx>
+#include <simgear/magvar/magvar.hxx>
HeadingIndicator::HeadingIndicator ( SGPropertyNode *node )
:
- name("heading-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 = child->getIntValue();
- } else if ( cname == "vacuum-system" ) {
- vacuum_system = cval;
- } else {
- SG_LOG( SG_INSTR, SG_WARN, "Error in heading-indicator config logic" );
- if ( name.length() ) {
- SG_LOG( SG_INSTR, SG_WARN, "Section = " << name );
- }
- }
- }
-}
-
-HeadingIndicator::HeadingIndicator ()
+ _name(node->getStringValue("name", "heading-indicator")),
+ _num(node->getIntValue("number", 0)),
+ _suction(node->getStringValue("suction", "/systems/vacuum/suction-inhg"))
{
}
void
HeadingIndicator::init ()
{
- string branch;
- branch = "/instrumentation/" + name;
- vacuum_system += "/suction-inhg";
+ std::string branch;
+ branch = "/instrumentation/" + _name;
- SGPropertyNode *node = fgGetNode(branch.c_str(), num, true );
- _offset_node = node->getChild("offset-deg", 0, true);
+ SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
+ if( NULL == (_offset_node = node->getChild("offset-deg", 0, false)) ) {
+ _offset_node = node->getChild("offset-deg", 0, true);
+ _offset_node->setDoubleValue( -globals->get_mag()->get_magvar() * SGD_RADIANS_TO_DEGREES );
+ }
_heading_in_node = fgGetNode("/orientation/heading-deg", true);
- _suction_node = fgGetNode(vacuum_system.c_str(), true);
+ _suction_node = fgGetNode(_suction.c_str(), true);
_heading_out_node = node->getChild("indicated-heading-deg", 0, true);
+ _heading_bug_error_node = node->getChild("heading-bug-error-deg", 0, true);
+ _heading_bug_node = node->getChild("heading-bug-deg", 0, true);
_last_heading_deg = (_heading_in_node->getDoubleValue() +
_offset_node->getDoubleValue());
-
- //_serviceable_node->setBoolValue(true);
}
void
HeadingIndicator::bind ()
{
- string branch;
- branch = "/instrumentation/" + name + "/serviceable";
- fgTie(branch.c_str(),
+ std::ostringstream temp;
+ std::string branch;
+ temp << _num;
+ branch = "/instrumentation/" + _name + "[" + temp.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
HeadingIndicator::unbind ()
{
- string branch;
- branch = "/instrumentation/" + name + "/serviceable";
- fgUntie(branch.c_str());
- branch = "/instrumentation/" + name + "/spin";
- fgUntie(branch.c_str());
+ std::ostringstream temp;
+ std::string branch;
+ temp << _num;
+ branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
+
+ fgUntie((branch + "/serviceable").c_str());
+ fgUntie((branch + "/spin").c_str());
}
void
// Next, calculate time-based precession
double offset = _offset_node->getDoubleValue();
offset -= dt * (0.25 / 60.0); // 360deg/day
- while (offset < -360)
- offset += 360;
- while (offset > 360)
- offset -= 360;
- _offset_node->setDoubleValue(offset);
+ SG_NORMALIZE_RANGE(offset, -360.0, 360.0);
// TODO: movement-induced error
// Next, calculate the indicated heading,
// introducing errors.
- double factor = 0.01 / (spin * spin * spin * spin * spin * spin);
+ double factor = 100 * (spin * spin * spin * spin * spin * spin);
double heading = _heading_in_node->getDoubleValue();
// Now, we have to get the current
while ((heading - _last_heading_deg) < -180)
_last_heading_deg -= 360;
- heading = fgGetLowPass(_last_heading_deg, heading, dt/factor);
+ heading = fgGetLowPass(_last_heading_deg, heading, dt * factor);
_last_heading_deg = heading;
heading += offset;
- while (heading < 0)
- heading += 360;
- while (heading > 360)
- heading -= 360;
+ SG_NORMALIZE_RANGE(heading, 0.0, 360.0);
_heading_out_node->setDoubleValue(heading);
+
+ // Calculate heading bug error normalized to +/- 180.0
+ double heading_bug = _heading_bug_node->getDoubleValue();
+ double diff = heading_bug - heading;
+
+ SG_NORMALIZE_RANGE(diff, -180.0, 180.0);
+ _heading_bug_error_node->setDoubleValue( diff );
}
// end of heading_indicator.cxx