#include <Main/util.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_AUTOPILOT, SG_WARN, "Error in heading-indicator config logic" );
+ if ( name.length() ) {
+ SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << name );
+ }
+ }
+ }
+}
+
HeadingIndicator::HeadingIndicator ()
{
}
void
HeadingIndicator::init ()
{
- _serviceable_node =
- fgGetNode("/instrumentation/heading-indicator/serviceable", true);
- _offset_node =
- fgGetNode("/instrumentation/heading-indicator/offset-deg", true);
+ string branch;
+ branch = "/instrumentation/" + name;
+ vacuum_system += "/suction-inhg";
+
+ 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(vacuum_system.c_str(), true);
+ _heading_out_node = node->getChild("indicated-heading-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(),
+ &_gyro, &Gyro::is_serviceable, &Gyro::set_serviceable);
+ branch = "/instrumentation/" + name + "/spin";
+ fgTie(branch.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());
}
void
HeadingIndicator::update (double dt)
{
- // First, calculate the bogo-spin from 0 to 1.
- // All numbers are made up.
-
- _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;
+ // 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();
// Next, calculate the indicated heading,
// introducing errors.
- double factor = 0.01 / (_spin * _spin * _spin * _spin * _spin * _spin);
+ double factor = 0.01 / (spin * spin * spin * spin * spin * spin);
double heading = _heading_in_node->getDoubleValue();
+
+ // 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;