Merge branch 'jmt/track-bug' into next

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

diff --git a/src/Network/ray.cxx b/src/Network/ray.cxx
index ea6b7e82db4094a683a6f797589a7217a11454b7..97a0c1262e83ff2052cb40150da0a5e5d1aa528a 100644 (file)
--- a/src/Network/ray.cxx
+++ b/src/Network/ray.cxx
@@ -16,18 +16,20 @@
 //
 // 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>
-#include <simgear/math/fg_geodesy.hxx>
-#include <simgear/timing/fg_time.hxx>
+#include <simgear/io/iochannel.hxx>
 
 #include <FDM/flight.hxx>
 
-#include "iochannel.hxx"
 #include "ray.hxx"
 
 
@@ -46,11 +48,14 @@ FGRAY::~FGRAY() {
 }
 
 
-// Ray Woodworth's motion chair has between 3 and 5 axes installed.
+// Ray Woodworth (949) 262-9118 has a three axis motion chair.
+//
 // It expects +/- 5V signals for full scale.  In channel order, axes are:
 //     roll, pitch, yaw, sway, surge, heave
 // The drivers are capable of generating (in the same order)
-//     +/- 30deg, 30deg, 15deg, 12in, 12in, 12in
+//     +/- 30deg, 30deg, 30deg, 12in, 12in, 12in
+// The signs of the motion are such that positive volts gives
+//     head right, head back, feet right, body right, body back, body up
 //
 // In this code implementation, the voltage outputs are generated
 // using a ComputerBoards DDA06/Jr card and the associated Linux driver.
@@ -63,7 +68,7 @@ bool FGRAY::gen_message() {
     // cout << "generating RayWoodworth message" << endl;
     FGInterface *f = cur_fdm_state;
     int axis, subaxis;
-    const double fullscale[6] = { -0.8, -0.8, -0.25, /* radians */
+    const double fullscale[6] = { -0.5, -0.5, -0.5, /* radians */
                                  -0.3, -0.3, -0.15  /* meters */ };
 
     /* Figure out how big our timesteps are */
@@ -100,11 +105,13 @@ bool FGRAY::gen_message() {
        }
 
        /* Make sure the angles are reasonable onscale */
-       while ( ang_pos < -M_PI ) {
-               ang_pos += 2 * M_PI;
+       /* We use an asymmetric mapping so that the chair behaves
+          reasonably when upside down.  Otherwise it oscillates. */
+       while ( ang_pos < -SGD_2PI/3 ) {
+               ang_pos += SGD_2PI;
        }
-       while ( ang_pos > M_PI ) {
-               ang_pos -= 2 * M_PI;
+       while ( ang_pos >  2*SGD_2PI/3 ) {
+               ang_pos -= SGD_2PI;
        }
 
        /* Tell interested parties what the situation is */
@@ -127,20 +134,20 @@ bool FGRAY::gen_message() {
 
        /* yaw */
                /* Make sure that we walk through North cleanly */
-               if ( fabs ( ang_pos - chair_heading ) > M_PI )
+               if ( fabs ( ang_pos - chair_heading ) > SGD_PI )
                {       /* Need to swing chair by 360 degrees */
                        if ( ang_pos < chair_heading )
-                               chair_heading -= 2 * M_PI;
-                       else    chair_heading += 2 * M_PI;
+                               chair_heading -= SGD_2PI;
+                       else    chair_heading +=  SGD_2PI;
                }
                /* Remove the chair heading from the true heading */
                ang_pos -= chair_heading;
                /* Wash out the error at 5 sec timeconstant because
                   a standard rate turn is 3 deg/sec and the chair
-                  can represent 15 degrees full scale.  */
+                  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) > M_PI / 2 )
+               if ( fabs(ang_pos) > SGD_PI_2 )
                        chair_heading += ang_pos / 3;
 
        } else
@@ -174,8 +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 < -M_PI / 2 ) *dac = 0x0000; else
-               if ( propose >  M_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 ) ) );
        }
@@ -192,7 +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;
 }
@@ -200,16 +207,16 @@ bool FGRAY::parse_message() {
 
 // process work for this port
 bool FGRAY::process() {
-    FGIOChannel *io = get_io_channel();
+    SGIOChannel *io = get_io_channel();
 
-    if ( get_direction() == out ) {
+    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() == in ) {
-       FG_LOG( FG_IO, FG_ALERT, "in direction not supported for RAY." );
+    } else if ( get_direction() == SG_IO_IN ) {
+       SG_LOG( SG_IO, SG_ALERT, "in direction not supported for RAY." );
        return false;
     }