//
// 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>
void
HeadingIndicator::init ()
{
- string branch;
+ std::string branch;
branch = "/instrumentation/" + _name;
SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
_heading_in_node = fgGetNode("/orientation/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());
}
HeadingIndicator::bind ()
{
std::ostringstream temp;
- string branch;
+ std::string branch;
temp << _num;
branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
HeadingIndicator::unbind ()
{
std::ostringstream temp;
- string branch;
+ std::string branch;
temp << _num;
branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
// 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