SG_USING_STD(string);
+
// Lock the ATC 610 hardware
static int ATC610xLock( int fd ) {
// rewind
bool home = false;
int timeout = 900; // about 30 seconds
+ timeout = 0;
while ( ! home && timeout > 0 ) {
if ( timeout % 150 == 0 ) {
SG_LOG( SG_IO, SG_INFO, "waiting for compass = " << timeout );
nav1_freq = fgGetNode( "/radios/nav[0]/frequencies/selected-mhz", true );
nav1_stby_freq
= fgGetNode( "/radios/nav[0]/frequencies/standby-mhz", true );
+ nav1_obs = fgGetNode( "/radios/nav[0]/radials/selected-deg", true );
nav2_freq = fgGetNode( "/radios/nav[1]/frequencies/selected-mhz", true );
nav2_stby_freq
= fgGetNode( "/radios/nav[1]/frequencies/standby-mhz", true );
+ nav2_obs = fgGetNode( "/radios/nav[1]/radials/selected-deg", true );
adf_power_btn = fgGetNode( "/radios/kr-87/inputs/power-btn", true );
adf_vol = fgGetNode( "/radios/kr-87/inputs/volume", true );
xpdr_sby_ann = fgGetNode( "/radios/kt-70/annunciators/sby", true );
xpdr_reply_ann = fgGetNode( "/radios/kt-70/annunciators/reply", true );
- elevator_center = fgGetNode( "/input/atc610x/elevator/center", 0 );
- elevator_min = fgGetNode( "/input/atc610x/elevator/min", 0 );
- elevator_max = fgGetNode( "/input/atc610x/elevator/max", 0 );
+ elevator_center = fgGetNode( "/input/atc610x/elevator/center", true );
+ elevator_min = fgGetNode( "/input/atc610x/elevator/min", true );
+ elevator_max = fgGetNode( "/input/atc610x/elevator/max", true );
+
+ ailerons_center = fgGetNode( "/input/atc610x/ailerons/center", true );
+ ailerons_min = fgGetNode( "/input/atc610x/ailerons/min", true );
+ ailerons_max = fgGetNode( "/input/atc610x/ailerons/max", true );
- ailerons_center = fgGetNode( "/input/atc610x/ailerons/center", 0 );
- ailerons_min = fgGetNode( "/input/atc610x/ailerons/min", 0 );
- ailerons_max = fgGetNode( "/input/atc610x/ailerons/max", 0 );
+ rudder_center = fgGetNode( "/input/atc610x/rudder/center", true );
+ rudder_min = fgGetNode( "/input/atc610x/rudder/min", true );
+ rudder_max = fgGetNode( "/input/atc610x/rudder/max", true );
- rudder_center = fgGetNode( "/input/atc610x/rudder/center", 0 );
- rudder_min = fgGetNode( "/input/atc610x/rudder/min", 0 );
- rudder_max = fgGetNode( "/input/atc610x/rudder/max", 0 );
+ throttle_min = fgGetNode( "/input/atc610x/throttle/min", true );
+ throttle_max = fgGetNode( "/input/atc610x/throttle/max", true );
- throttle_min = fgGetNode( "/input/atc610x/throttle/min", 0 );
- throttle_max = fgGetNode( "/input/atc610x/throttle/max", 0 );
+ mixture_min = fgGetNode( "/input/atc610x/mixture/min", true );
+ mixture_max = fgGetNode( "/input/atc610x/mixture/max", true );
- mixture_min = fgGetNode( "/input/atc610x/mixture/min", 0 );
- mixture_max = fgGetNode( "/input/atc610x/mixture/max", 0 );
+ trim_center = fgGetNode( "/input/atc610x/trim/center", true );
+ trim_min = fgGetNode( "/input/atc610x/trim/min", true );
+ trim_max = fgGetNode( "/input/atc610x/trim/max", true );
- trim_center = fgGetNode( "/input/atc610x/trim/center", 0 );
- trim_min = fgGetNode( "/input/atc610x/trim/min", 0 );
- trim_max = fgGetNode( "/input/atc610x/trim/max", 0 );
+ nav1vol_min = fgGetNode( "/input/atc610x/nav1vol/min", true );
+ nav1vol_max = fgGetNode( "/input/atc610x/nav1vol/max", true );
- nav1vol_min = fgGetNode( "/input/atc610x/nav1vol/min", 0 );
- nav1vol_max = fgGetNode( "/input/atc610x/nav1vol/max", 0 );
+ nav2vol_min = fgGetNode( "/input/atc610x/nav2vol/min", true );
+ nav2vol_max = fgGetNode( "/input/atc610x/nav2vol/max", true );
+
+ comm1_servicable = fgGetNode( "/instrumentation/comm[0]/servicable", true );
+ comm2_servicable = fgGetNode( "/instrumentation/comm[1]/servicable", true );
+ nav1_servicable = fgGetNode( "/instrumentation/nav[0]/servicable", true );
+ nav2_servicable = fgGetNode( "/instrumentation/nav[1]/servicable", true );
+ adf_servicable = fgGetNode( "/instrumentation/adf/servicable", true );
+ xpdr_servicable = fgGetNode( "/instrumentation/transponder/servicable",
+ true );
+ dme_servicable = fgGetNode( "/instrumentation/dme/servicable", true );
- nav2vol_min = fgGetNode( "/input/atc610x/nav2vol/min", 0 );
- nav2vol_max = fgGetNode( "/input/atc610x/nav2vol/max", 0 );
+ // default to having everything servicable
+ comm1_servicable->setBoolValue( true );
+ comm2_servicable->setBoolValue( true );
+ nav1_servicable->setBoolValue( true );
+ nav2_servicable->setBoolValue( true );
+ adf_servicable->setBoolValue( true );
+ xpdr_servicable->setBoolValue( true );
+ dme_servicable->setBoolValue( true );
return true;
}
// Read analog inputs
/////////////////////////////////////////////////////////////////////
-#define ATC_AILERON_CENTER 535
-#define ATC_ELEVATOR_TRIM_CENTER 512
-#define ATC_ELEVATOR_CENTER 543
-#define ATC_RUDDER_CENTER 519
-
// scale a number between min and max (with center defined) to a scale
// from -1.0 to 1.0
static double scale( int center, int min, int max, int value ) {
// printf("%04d ", value );
}
- float tmp, tmp1, tmp2;
+ float tmp;
// aileron
tmp = scale( ailerons_center->getIntValue(), ailerons_min->getIntValue(),
// mixture
tmp = scale( mixture_min->getIntValue(), mixture_max->getIntValue(),
- analog_in_data[7] );
+ analog_in_data[6] );
fgSetFloat( "/controls/mixture[0]", tmp );
fgSetFloat( "/controls/mixture[1]", tmp );
// throttle
- tmp = scale( mixture_min->getIntValue(), mixture_max->getIntValue(),
+ tmp = scale( throttle_min->getIntValue(), throttle_max->getIntValue(),
analog_in_data[8] );
fgSetFloat( "/controls/throttle[0]", tmp );
fgSetFloat( "/controls/throttle[1]", tmp );
+ // cout << "throttle = " << tmp << endl;
-#if 0
// rudder
+ /*
tmp = scale( rudder_center->getIntValue(), rudder_min->getIntValue(),
rudder_max->getIntValue(), analog_in_data[10] );
- fgSetFloat( "/controls/rudder", tmp );
-#endif
+ fgSetFloat( "/controls/rudder", -tmp );
+ */
// nav1 volume
tmp = (float)analog_in_data[25] / 1024.0f;
tmp = (float)analog_in_data[26] / 1024.0f;
fgSetFloat( "/radios/kr-87/inputs/volume", tmp );
- // nav2 obs tuner
- tmp = (float)analog_in_data[29] * 360.0f / 1024.0f;
- fgSetFloat( "/radios/nav[1]/radials/selected-deg", tmp );
+#define FG_SECOND_TRY
// nav1 obs tuner
- tmp1 = (float)analog_in_data[30] * 360.0f / 1024.0f;
- tmp2 = (float)analog_in_data[31] * 360.0f / 1024.0f;
- fgSetFloat( "/radios/nav[0]/radials/selected-deg", tmp1 );
+ static int last_obs1 = analog_in_data[29];
+ static double diff1_ave = 0.0;
+ int diff1 = 0;
+
+#if defined( FG_FIRST_TRY )
+ if ( analog_in_data[29] < 150 || analog_in_data[29] > 990 ) {
+ if ( last_obs1 > 512 && last_obs1 <= 990 ) {
+ diff1 = 1;
+ } else if ( last_obs1 >= 150 && last_obs1 <= 990 ) {
+ diff1 = -1;
+ }
+ } else if ( last_obs1 < 150 || last_obs1 > 990 ) {
+ if ( analog_in_data[29] > 512 && analog_in_data[29] <= 990 ) {
+ diff1 = -1;
+ } else if ( analog_in_data[29] >= 150 && analog_in_data[29] <= 990 ) {
+ diff1 = 1;
+ }
+ } else {
+ diff1 = analog_in_data[29] - last_obs1;
+ }
+#elif defined( FG_SECOND_TRY )
+ if ( analog_in_data[29] < 20 ) {
+ if ( last_obs1 >= 110 && last_obs1 < 512 ) {
+ diff1 = -6;
+ } else if ( last_obs1 >= 512 ) {
+ diff1 = 6;
+ }
+ last_obs1 = analog_in_data[29];
+ } else if ( analog_in_data[29] < 110 ) {
+ // do nothing
+ } else if ( last_obs1 < 20 ) {
+ if ( analog_in_data[29] >= 110 && analog_in_data[29] < 512 ) {
+ diff1 = 6;
+ } else if ( analog_in_data[29] >= 512 ) {
+ diff1 = -6;
+ }
+ last_obs1 = analog_in_data[29];
+ } else {
+ diff1 = analog_in_data[29] - last_obs1;
+ if ( abs(diff1) > 200 ) {
+ // ignore
+ diff1 = 0;
+ }
+ last_obs1 = analog_in_data[29];
+ }
+#elif defined( FG_FOURTH_TRY )
+ static bool ignore_next = false;
+ diff1 = analog_in_data[29] - last_obs1;
+ if ( abs(diff1) > 200 ) {
+ // ignore
+ diff1 = 0;
+ ignore_next = true;
+ } else if ( ignore_next ) {
+ diff1 = 0;
+ ignore_next = false;
+ }
+ last_obs1 = analog_in_data[29];
+#endif
+
+ // cout << " diff1 = " << diff1 << endl;
+ if ( diff1 < -500 ) { diff1 += 1024; }
+ if ( diff1 > 500 ) { diff1 -= 1024; }
+
+ if ( fabs(diff1_ave - diff1) < 200 || fabs(diff1) < fabs(diff1_ave) ) {
+ diff1_ave = (2.0/3.0) * diff1_ave + (1.0/3.0) * diff1;
+ }
+
+ tmp = nav1_obs->getDoubleValue() + (diff1_ave * (72.0/914.0) );
+ while ( tmp >= 360.0 ) { tmp -= 360.0; }
+ while ( tmp < 0.0 ) { tmp += 360.0; }
+
+ fgSetFloat( "/radios/nav[0]/radials/selected-deg", tmp );
+
+ // nav2 obs tuner
+ static int last_obs2 = analog_in_data[30];
+ static double diff2_ave = 0.0;
+ int diff2 = 0;
+
+ // cout << "obs2 = " << analog_in_data[30] << " last obs2 = " << last_obs2;
+
+#if defined( FG_FIRST_TRY )
+ if ( analog_in_data[30] < 150 || analog_in_data[30] > 990 ) {
+ if ( last_obs2 > 512 && last_obs2 <= 990 ) {
+ diff2 = 1;
+ } else if ( last_obs2 >= 150 && last_obs2 <= 990 ) {
+ diff2 = -1;
+ }
+ } else if ( last_obs2 < 150 || last_obs2 > 990 ) {
+ if ( analog_in_data[30] > 512 && analog_in_data[30] <= 990 ) {
+ diff2 = -1;
+ } else if ( analog_in_data[30] >= 150 && analog_in_data[30] <= 990 ) {
+ diff2 = 1;
+ }
+ } else {
+ diff2 = analog_in_data[30] - last_obs2;
+ }
+#elif defined( FG_SECOND_TRY )
+ if ( analog_in_data[30] < 30 ) {
+ if ( last_obs2 >= 43 && last_obs2 < 480 ) {
+ diff2 = -6;
+ } else if ( last_obs2 >= 480 ) {
+ diff2 = 6;
+ }
+ last_obs2 = analog_in_data[30];
+ } else if ( analog_in_data[30] < 43 ) {
+ // do nothing
+ } else if ( last_obs2 < 30 ) {
+ if ( analog_in_data[30] >= 23 && analog_in_data[30] < 480 ) {
+ diff2 = 6;
+ } else if ( analog_in_data[30] >= 480 ) {
+ diff2 = -6;
+ }
+ last_obs2 = analog_in_data[30];
+ } else if ( analog_in_data[30] > 930 ) {
+ if ( last_obs2 <= 924 && last_obs2 > 480 ) {
+ diff2 = 6;
+ } else if ( last_obs2 <= 480 ) {
+ diff2 = -6;
+ }
+ last_obs2 = analog_in_data[30];
+ } else if ( analog_in_data[30] > 924 ) {
+ // do nothing
+ } else if ( last_obs2 > 930 ) {
+ if ( analog_in_data[30] <= 924 && analog_in_data[30] > 480 ) {
+ diff2 = -6;
+ } else if ( analog_in_data[30] <= 480 ) {
+ diff2 = 6;
+ }
+ last_obs2 = analog_in_data[30];
+ } else {
+ diff2 = analog_in_data[30] - last_obs2;
+ if ( abs(diff2) > 200 ) {
+ // ignore
+ diff2 = 0;
+ }
+ last_obs2 = analog_in_data[30];
+ }
+#elif defined( FG_FOURTH_TRY )
+ static bool ignore_next = false;
+ diff2 = analog_in_data[30] - last_obs2;
+ if ( abs(diff2) > 200 ) {
+ // ignore
+ diff2 = 0;
+ ignore_next = true;
+ } else if ( ignore_next ) {
+ diff2 = 0;
+ ignore_next = false;
+ }
+ last_obs2 = analog_in_data[30];
+#endif
+
+ // cout << " diff2 = " << diff2 << endl;
+ if ( diff2 < -500 ) { diff2 += 1024; }
+ if ( diff2 > 500 ) { diff2 -= 1024; }
+
+ if ( fabs(diff2_ave - diff2) < 200 || fabs(diff2) < fabs(diff2_ave) ) {
+ diff2_ave = (2.0/3.0) * diff2_ave + (1.0/3.0) * diff2;
+ }
+
+ tmp = nav2_obs->getDoubleValue() + (diff2_ave * (72.0/880.0) );
+ while ( tmp >= 360.0 ) { tmp -= 360.0; }
+ while ( tmp < 0.0 ) { tmp += 360.0; }
+ // cout << " obs = " << tmp << endl;
+ fgSetFloat( "/radios/nav[1]/radials/selected-deg", tmp );
return true;
}
fgSetBool( "/radios/comm[0]/inputs/power-btn",
radio_switch_data[7] & 0x01 );
- if ( navcom1_has_power() ) {
+ if ( navcom1_has_power() && comm1_servicable->getBoolValue() ) {
// Com1 Swap
int com1_swap = !((radio_switch_data[7] >> 1) & 0x01);
static int last_com1_swap;
fgSetBool( "/radios/comm[1]/inputs/power-btn",
radio_switch_data[15] & 0x01 );
- if ( navcom2_has_power() ) {
+ if ( navcom2_has_power() && comm2_servicable->getBoolValue() ) {
// Com2 Swap
int com2_swap = !((radio_switch_data[15] >> 1) & 0x01);
static int last_com2_swap;
last_com2_swap = com2_swap;
}
- if ( navcom1_has_power() ) {
+ if ( navcom1_has_power() && nav1_servicable->getBoolValue() ) {
// Nav1 Swap
int nav1_swap = radio_switch_data[11] & 0x01;
static int last_nav1_swap;
last_nav1_swap = nav1_swap;
}
- if ( navcom2_has_power() ) {
+ if ( navcom2_has_power() && nav2_servicable->getBoolValue() ) {
// Nav2 Swap
int nav2_swap = !(radio_switch_data[19] & 0x01);
static int last_nav2_swap;
last_nav2_swap = nav2_swap;
}
- if ( navcom1_has_power() ) {
+ if ( navcom1_has_power() && comm1_servicable->getBoolValue() ) {
// Com1 Tuner
int com1_tuner_fine = ((radio_switch_data[5] >> 4) & 0x0f) - 1;
int com1_tuner_coarse = (radio_switch_data[5] & 0x0f) - 1;
coarse_freq + fine_freq / 40.0 );
}
- if ( navcom2_has_power() ) {
+ if ( navcom2_has_power() && comm2_servicable->getBoolValue() ) {
// Com2 Tuner
int com2_tuner_fine = ((radio_switch_data[13] >> 4) & 0x0f) - 1;
int com2_tuner_coarse = (radio_switch_data[13] & 0x0f) - 1;
coarse_freq + fine_freq / 40.0 );
}
- if ( navcom1_has_power() ) {
+ if ( navcom1_has_power() && nav1_servicable->getBoolValue() ) {
// Nav1 Tuner
int nav1_tuner_fine = ((radio_switch_data[9] >> 4) & 0x0f) - 1;
int nav1_tuner_coarse = (radio_switch_data[9] & 0x0f) - 1;
coarse_freq + fine_freq / 20.0 );
}
- if ( navcom2_has_power() ) {
+ if ( navcom2_has_power() && nav2_servicable->getBoolValue() ) {
// Nav2 Tuner
int nav2_tuner_fine = ((radio_switch_data[17] >> 4) & 0x0f) - 1;
int nav2_tuner_coarse = (radio_switch_data[17] & 0x0f) - 1;
static int last_adf_tuner_fine = adf_tuner_fine;
static int last_adf_tuner_coarse = adf_tuner_coarse;
- if ( adf_has_power() ) {
+ if ( adf_has_power() && adf_servicable->getBoolValue() ) {
// cout << "adf_stby_mode = " << adf_stby_mode->getIntValue() << endl;
if ( adf_count_mode->getIntValue() == 2 ) {
// tune count down timer
fgSetInt( "/radios/kr-87/inputs/bfo-btn",
!(radio_switch_data[23] >> 1 & 0x01) );
fgSetInt( "/radios/kr-87/inputs/frq-btn",
- (radio_switch_data[23] >> 2 & 0x01) );
+ !(radio_switch_data[23] >> 2 & 0x01) );
fgSetInt( "/radios/kr-87/inputs/flt-et-btn",
- !(radio_switch_data[23] >> 3 & 0x01) );
+ !(radio_switch_data[23] >> 3 & 0x01) );
fgSetInt( "/radios/kr-87/inputs/set-rst-btn",
!(radio_switch_data[23] >> 4 & 0x01) );
fgSetInt( "/radios/kr-87/inputs/power-btn",
radio_switch_data[23] >> 5 & 0x01 );
/* cout << "adf = " << !(radio_switch_data[23] & 0x01)
<< " bfo = " << !(radio_switch_data[23] >> 1 & 0x01)
- << " stby = " << !(radio_switch_data[23] >> 2 & 0x01)
- << " timer = " << !(radio_switch_data[23] >> 3 & 0x01)
+ << " frq = " << !(radio_switch_data[23] >> 2 & 0x01)
+ << " flt/et = " << !(radio_switch_data[23] >> 3 & 0x01)
<< " set/rst = " << !(radio_switch_data[23] >> 4 & 0x01)
<< endl; */
}
}
- if ( xpdr_has_power() ) {
+ if ( xpdr_has_power() && xpdr_servicable->getBoolValue() ) {
int id_code = xpdr_id_code->getIntValue();
int digit[4];
int place = 1000;
fgSetInt( "/radios/kt-70/inputs/ident-btn",
!(radio_switch_data[27] >> 5 & 0x01) );
+ // Audio panel switches
+ fgSetInt( "/radios/nav[0]/audio-btn",
+ (radio_switch_data[3] & 0x01) );
+ fgSetInt( "/radios/nav[1]/audio-btn",
+ (radio_switch_data[3] >> 2 & 0x01) );
+ fgSetInt( "/radios/kr-87/inputs/audio-btn",
+ (radio_switch_data[3] >> 4 & 0x01) );
+ fgSetInt( "/radios/marker-beacon/audio-btn",
+ (radio_switch_data[3] >> 6 & 0x01) );
+
return true;
}
char digits[10];
int i;
- if ( dme_has_power() ) {
+ if ( dme_has_power() && dme_servicable->getBoolValue() ) {
// DME minutes
float minutes = dme_min->getFloatValue();
if ( minutes > 999 ) {
}
}
- if ( navcom1_has_power() ) {
+ if ( navcom1_has_power() && comm1_servicable->getBoolValue() ) {
// Com1 standby frequency
float com1_stby = com1_stby_freq->getFloatValue();
if ( fabs(com1_stby) > 999.99 ) {
radio_display_data[11] = 0xff;
}
- if ( navcom2_has_power() ) {
+ if ( navcom2_has_power() && comm2_servicable->getBoolValue() ) {
// Com2 standby frequency
float com2_stby = com2_stby_freq->getFloatValue();
if ( fabs(com2_stby) > 999.99 ) {
radio_display_data[23] = 0xff;
}
- if ( navcom1_has_power() ) {
+ if ( navcom1_has_power() && nav1_servicable->getBoolValue() ) {
// Nav1 standby frequency
float nav1_stby = nav1_stby_freq->getFloatValue();
if ( fabs(nav1_stby) > 999.99 ) {
radio_display_data[17] = 0xff;
}
- if ( navcom2_has_power() ) {
+ if ( navcom2_has_power() && nav2_servicable->getBoolValue() ) {
// Nav2 standby frequency
float nav2_stby = nav2_stby_freq->getFloatValue();
if ( fabs(nav2_stby) > 999.99 ) {
}
// ADF standby frequency / timer
- if ( adf_has_power() ) {
+ if ( adf_has_power() && adf_servicable->getBoolValue() ) {
if ( adf_stby_mode->getIntValue() == 0 ) {
// frequency
float adf_stby = adf_stby_freq->getFloatValue();
for ( i = 0; i < 6; ++i ) {
digits[i] -= '0';
}
- radio_display_data[30] = digits[3] << 4 | 0x0f;
- radio_display_data[31] = digits[1] << 4 | digits[2];
- radio_display_data[32] = 0xf0 | digits[0];
+ radio_display_data[30] = digits[2] << 4 | digits[3];
+ radio_display_data[31] = digits[0] << 4 | digits[1];
+ radio_display_data[32] = 0xff;
}
// ADF in use frequency
} else {
radio_display_data[34] = digits[0] << 4 | digits[1];
}
+ if ( adf_stby_mode->getIntValue() == 0 ) {
+ radio_display_data[35] = 0xff;
+ } else {
+ radio_display_data[35] = 0x0f;
+ }
} else {
radio_display_data[30] = 0xff;
radio_display_data[31] = 0xff;
radio_display_data[32] = 0xff;
radio_display_data[33] = 0xff;
radio_display_data[34] = 0xff;
+ radio_display_data[35] = 0xff;
}
// Transponder code and flight level
- if ( xpdr_has_power() ) {
+ if ( xpdr_has_power() && xpdr_servicable->getBoolValue() ) {
if ( xpdr_func_knob->getIntValue() == 2 ) {
// test mode
radio_display_data[36] = 8 << 4 | 8;
fgSetBool( "/controls/circuit-breakers/annunciators",
switch_matrix[board][7][0] );
+ fgSetDouble( "/controls/parking-brake",
+ switch_matrix[board][7][3] );
+ fgSetDouble( "/radios/marker-beacon/power-btn",
+ switch_matrix[board][6][1] );
+
return true;
}
projects / flightgear.git / blobdiff