Sync. w. JSBSim CVS

[flightgear.git] / src / Network / ray.cxx

diff --git a/src/Network/ray.cxx b/src/Network/ray.cxx
index 4f8d1c473a0e33a91183d648573998841833b472..97a0c1262e83ff2052cb40150da0a5e5d1aa528a 100644 (file)
--- a/src/Network/ray.cxx
+++ b/src/Network/ray.cxx
@@ -16,10 +16,13 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$
 
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
 
 #include <simgear/constants.h>
 #include <simgear/debug/logstream.hxx>
@@ -104,11 +107,11 @@ bool FGRAY::gen_message() {
        /* Make sure the angles are reasonable onscale */
        /* We use an asymmetric mapping so that the chair behaves
           reasonably when upside down.  Otherwise it oscillates. */
-       while ( ang_pos < -2*FG_PI/3 ) {
-               ang_pos += 2 * FG_PI;
+       while ( ang_pos < -SGD_2PI/3 ) {
+               ang_pos += SGD_2PI;
        }
-       while ( ang_pos >  4*FG_PI/3 ) {
-               ang_pos -= 2 * FG_PI;
+       while ( ang_pos >  2*SGD_2PI/3 ) {
+               ang_pos -= SGD_2PI;
        }
 
        /* Tell interested parties what the situation is */
@@ -131,11 +134,11 @@ bool FGRAY::gen_message() {
 
        /* yaw */
                /* Make sure that we walk through North cleanly */
-               if ( fabs ( ang_pos - chair_heading ) > FG_PI )
+               if ( fabs ( ang_pos - chair_heading ) > SGD_PI )
                {       /* Need to swing chair by 360 degrees */
                        if ( ang_pos < chair_heading )
-                               chair_heading -= 2 * FG_PI;
-                       else    chair_heading += 2 * FG_PI;
+                               chair_heading -= SGD_2PI;
+                       else    chair_heading +=  SGD_2PI;
                }
                /* Remove the chair heading from the true heading */
                ang_pos -= chair_heading;
@@ -144,7 +147,7 @@ bool FGRAY::gen_message() {
                   can just about represent 30 degrees full scale.  */
                chair_heading += ang_pos * dt * 0.2;
                /* If they turn fast, at 90 deg error subtract 30 deg */
-               if ( fabs(ang_pos) > FG_PI / 2 )
+               if ( fabs(ang_pos) > SGD_PI_2 )
                        chair_heading += ang_pos / 3;
 
        } else
@@ -178,8 +181,8 @@ bool FGRAY::gen_message() {
                /* Scale to the hardware's full scale range */
                propose /= fullscale [ subaxis ];
                /* Use a sine shaped washout on all axes */
-               if ( propose < -FG_PI / 2 ) *dac = 0x0000; else
-               if ( propose >  FG_PI / 2 ) *dac = 0xFFFF; else
+               if ( propose < -SGD_PI_2 ) *dac = 0x0000; else
+               if ( propose >  SGD_PI_2 ) *dac = 0xFFFF; else
                   *dac = (unsigned short) ( 32767 * 
                                ( 1.0 + sin ( propose ) ) );
        }
@@ -196,7 +199,7 @@ bool FGRAY::gen_message() {
 
 // parse RUL message
 bool FGRAY::parse_message() {
-    FG_LOG( FG_IO, FG_ALERT, "RAY input not supported" );
+    SG_LOG( SG_IO, SG_ALERT, "RAY input not supported" );
 
     return false;
 }
@@ -209,11 +212,11 @@ bool FGRAY::process() {
     if ( get_direction() == SG_IO_OUT ) {
        gen_message();
        if ( ! io->write( buf, length ) ) {
-           FG_LOG( FG_IO, FG_ALERT, "Error writing data." );
+           SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
            return false;
        }
     } else if ( get_direction() == SG_IO_IN ) {
-       FG_LOG( FG_IO, FG_ALERT, "in direction not supported for RAY." );
+       SG_LOG( SG_IO, SG_ALERT, "in direction not supported for RAY." );
        return false;
     }