//
// 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 <iostream>
#include <string>
#include <sstream>
-#include "heading_indicator_fg.hxx"
+#include <simgear/math/SGMath.hxx>
+
#include <Main/fg_props.hxx>
-#include <Main/util.hxx>
+#include <Main/util.hxx>
+
+#include "heading_indicator_fg.hxx"
+using std::string;
HeadingIndicatorFG::HeadingIndicatorFG ( SGPropertyNode *node )
:
string branch;
branch = "/instrumentation/" + name;
- _heading_in_node = fgGetNode("/orientation/heading-deg", true);
+ _heading_in_node = fgGetNode("/orientation/heading-deg", true);
+
SGPropertyNode *node = fgGetNode(branch.c_str(), num, true );
- _offset_node = node->getChild("offset-deg", 0, true);
+ if( NULL == (_offset_node = node->getChild("offset-deg", 0, false)) ) {
+ _offset_node = node->getChild("offset-deg", 0, true);
+ _offset_node->setDoubleValue( -fgGetDouble("/environment/magnetic-variation-deg") );
+ }
_serviceable_node = node->getChild("serviceable", 0, true);
- _error_node = node->getChild("heading-bug-error-deg", 0, true);
- _nav1_error_node = node->getChild("nav1-course-error-deg", 0, true);
+ _error_node = node->getChild("heading-bug-error-deg", 0, true);
+ _nav1_error_node = node->getChild("nav1-course-error-deg", 0, true);
_heading_out_node = node->getChild("indicated-heading-deg", 0, true);
+ _off_node = node->getChild("off-flag", 0, true);
+
+ _electrical_node = fgGetNode("/systems/electrical/outputs/DG", true);
+
+ reinit();
+}
+
+void
+HeadingIndicatorFG::reinit ()
+{
_last_heading_deg = (_heading_in_node->getDoubleValue() +
_offset_node->getDoubleValue());
- _electrical_node = fgGetNode("/systems/electrical/outputs/DG", true);
+ _gyro.reinit();
}
void
&_gyro, &Gyro::is_serviceable, &Gyro::set_serviceable);
fgTie((branch + "/spin").c_str(),
&_gyro, &Gyro::get_spin_norm, &Gyro::set_spin_norm);
-
}
void
{
// Get the spin from the gyro
_gyro.set_power_norm(_electrical_node->getDoubleValue());
-
_gyro.update(dt);
double spin = _gyro.get_spin_norm();
+ if ( _electrical_node->getDoubleValue() > 0 && spin >= 0.25) {
+ _off_node->setBoolValue(false);
+ } else {
+ _off_node->setBoolValue(true);
+ return;
+ }
+
// No time-based precession for a flux gate compass
// We just use offset to get the magvar
-
double offset = _offset_node->getDoubleValue();
// 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
// heading and the last heading into
// the same range.
- while ((heading - _last_heading_deg) > 180)
+ if ((heading - _last_heading_deg) > 180)
_last_heading_deg += 360;
- while ((heading - _last_heading_deg) < -180)
+ if ((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)
+
+ if (heading < 0)
heading += 360;
- while (heading > 360)
+ if (heading > 360)
heading -= 360;
_heading_out_node->setDoubleValue(heading);
// calculate the difference between the indicated heading
// and the selected heading for use with an autopilot
- static SGPropertyNode *bnode
+ SGPropertyNode *bnode
= fgGetNode( "/autopilot/settings/heading-bug-deg", false );
double diff = 0;
if ( bnode ){