//
// This file is in the Public Domain and comes with no warranty.
+#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>
-HeadingIndicator::HeadingIndicator ()
+HeadingIndicator::HeadingIndicator ( SGPropertyNode *node )
+ :
+ _name(node->getStringValue("name", "heading-indicator")),
+ _num(node->getIntValue("number", 0)),
+ _suction(node->getStringValue("suction", "/systems/vacuum/suction-inhg"))
{
}
void
HeadingIndicator::init ()
{
- _serviceable_node =
- fgGetNode("/instrumentation/heading-indicator/serviceable", true);
- _spin_node =
- fgGetNode("/instrumentation/heading-indicator/spin", true);
- _offset_node =
- fgGetNode("/instrumentation/heading-indicator/offset-deg", true);
+ string branch;
+ branch = "/instrumentation/" + _name;
+
+ SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
+ _offset_node = node->getChild("offset-deg", 0, true);
_heading_in_node = fgGetNode("/orientation/heading-deg", true);
- _suction_node = fgGetNode("/systems/vacuum[0]/suction-inhg", true);
- _heading_out_node =
- fgGetNode("/instrumentation/heading-indicator/indicated-heading-deg",
- 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());
}
void
HeadingIndicator::bind ()
{
+ 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((branch + "/spin").c_str(),
+ &_gyro, &Gyro::get_spin_norm, &Gyro::set_spin_norm);
}
void
HeadingIndicator::unbind ()
{
+ std::ostringstream temp;
+ string branch;
+ temp << _num;
+ branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
+
+ fgUntie((branch + "/serviceable").c_str());
+ fgUntie((branch + "/spin").c_str());
}
void
HeadingIndicator::update (double dt)
{
- // First, calculate the bogo-spin from 0 to 1.
- // All numbers are made up.
-
- double spin = _spin_node->getDoubleValue();
- spin -= 0.005 * dt; // spin decays every 0.5% every second.
-
- // spin increases up to 25% every second
- // if suction is available and the gauge
- // is serviceable.
- if (_serviceable_node->getBoolValue()) {
- double suction = _suction_node->getDoubleValue();
- double step = 0.25 * (suction / 5.0) * dt;
- if ((spin + step) <= (suction / 5.0))
- spin += step;
- }
- if (spin > 1.0)
- spin = 1.0;
- else if (spin < 0.0)
- spin = 0.0;
- _spin_node->setDoubleValue(spin);
+ // Get the spin from the gyro
+ _gyro.set_power_norm(_suction_node->getDoubleValue()/5.0);
+ _gyro.update(dt);
+ double spin = _gyro.get_spin_norm();
// 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();
- heading = fgGetLowPass(_last_heading_deg, heading, dt/factor);
+
+ // Now, we have to get the current
+ // heading and the last heading into
+ // the same range.
+ while ((heading - _last_heading_deg) > 180)
+ _last_heading_deg += 360;
+ while ((heading - _last_heading_deg) < -180)
+ _last_heading_deg -= 360;
+
+ 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