X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FInstrumentation%2Fattitude_indicator.cxx;h=1555c2c74eeddc49dda9b2656043e8c89544b711;hb=f620af29cdc18ab7924055092e8f75cbe37aae2c;hp=36a8a2d8686a28965a72e2d9c65c8d09c0a8c8de;hpb=ad6236cbe7ae6d12842d4904cac5f899cd148435;p=flightgear.git

diff --git a/src/Instrumentation/attitude_indicator.cxx b/src/Instrumentation/attitude_indicator.cxx
index 36a8a2d86..1555c2c74 100644
--- a/src/Instrumentation/attitude_indicator.cxx
+++ b/src/Instrumentation/attitude_indicator.cxx
@@ -6,13 +6,46 @@
 // TODO:
 // - better spin-up
 
+#include <simgear/compiler.h>
+
+#include STL_IOSTREAM
+#include STL_STRING
+#include <sstream>
+
+#include <math.h>	// fabs()
+
 #include "attitude_indicator.hxx"
 #include <Main/fg_props.hxx>
 #include <Main/util.hxx>
 
 
+AttitudeIndicator::AttitudeIndicator ( SGPropertyNode *node )
+    :
+    name("attitude-indicator"),
+    num(0),
+    vacuum_system("/systems/vacuum")
+{
+    int i;
+    for ( i = 0; i < node->nChildren(); ++i ) {
+        SGPropertyNode *child = node->getChild(i);
+        string cname = child->getName();
+        string cval = child->getStringValue();
+        if ( cname == "name" ) {
+            name = cval;
+        } else if ( cname == "number" ) {
+            num = (int) child->getDoubleValue();
+        } else if ( cname == "vacuum-system" ) {
+            vacuum_system = cval;
+        } else {
+            SG_LOG( SG_INSTR, SG_WARN, "Error in attitude-indicator config logic" );
+            if ( name.length() ) {
+                SG_LOG( SG_INSTR, SG_WARN, "Section = " << name );
+            }
+        }
+    }
+}
+
 AttitudeIndicator::AttitudeIndicator ()
-    : _tumble(0)
 {
 }
 
@@ -23,41 +56,61 @@ AttitudeIndicator::~AttitudeIndicator ()
 void
 AttitudeIndicator::init ()
 {
-                                // TODO: allow index of pump and AI
-                                // to be configured.
+    string branch;
+    branch = "/instrumentation/" + name;
+    vacuum_system += "/suction-inhg";
+
+    SGPropertyNode *node = fgGetNode(branch.c_str(), num, true );
+    
     _pitch_in_node = fgGetNode("/orientation/pitch-deg", true);
     _roll_in_node = fgGetNode("/orientation/roll-deg", true);
-    _suction_node = fgGetNode("/systems/vacuum[0]/suction-inhg", true);
-    _tumble_flag_node =
-        fgGetNode("/instrumentation/attitude-indicator/config/tumble-flag",
-                  true);
-    _pitch_out_node =
-        fgGetNode("/instrumentation/attitude-indicator/indicated-pitch-deg",
-                  true);
-    _roll_out_node =
-        fgGetNode("/instrumentation/attitude-indicator/indicated-roll-deg",
-                  true);
+    _suction_node = fgGetNode(vacuum_system.c_str(), true);
+    SGPropertyNode *cnode = node->getChild("config", 0, true);
+    _tumble_flag_node = cnode->getChild("tumble-flag", 0, true);
+    _caged_node = node->getChild("caged-flag", 0, true);
+    _tumble_node = node->getChild("tumble-norm", 0, true);
+    _pitch_int_node = node->getChild("internal-pitch-deg", 0, true);
+    _roll_int_node = node->getChild("internal-roll-deg", 0, true);
+    _pitch_out_node = node->getChild("indicated-pitch-deg", 0, true);
+    _roll_out_node = node->getChild("indicated-roll-deg", 0, true);
 }
 
 void
 AttitudeIndicator::bind ()
 {
-    fgTie("/instrumentation/attitude-indicator/serviceable",
+    std::ostringstream temp;
+    string branch;
+    temp << num;
+    branch = "/instrumentation/" + name + "[" + temp.str() + "]";
+
+    fgTie((branch + "/serviceable").c_str(),
           &_gyro, &Gyro::is_serviceable, &Gyro::set_serviceable);
-    fgTie("/instrumentation/attitude-indicator/spin",
+    fgTie((branch + "/spin").c_str(),
           &_gyro, &Gyro::get_spin_norm, &Gyro::set_spin_norm);
 }
 
 void
 AttitudeIndicator::unbind ()
 {
-    fgUntie("/instrumentation/attitude-indicator/serviceable");
-    fgUntie("/instrumentation/attitude-indicator/spin");
+    std::ostringstream temp;
+    string branch;
+    temp << num;
+    branch = "/instrumentation/" + name + "[" + temp.str() + "]";
+
+    fgUntie((branch + "/serviceable").c_str());
+    fgUntie((branch + "/spin").c_str());
 }
 
 void
 AttitudeIndicator::update (double dt)
 {
+                                // If it's caged, it doesn't indicate
+    if (_caged_node->getBoolValue()) {
+        _roll_int_node->setDoubleValue(0.0);
+        _pitch_int_node->setDoubleValue(0.0);
+        return;
+    }
+
                                 // Get the spin from the gyro
     _gyro.set_power_norm(_suction_node->getDoubleValue()/5.0);
     _gyro.update(dt);
@@ -73,39 +126,59 @@ AttitudeIndicator::update (double dt)
                                 // Calculate the tumble for the
                                 // next pass.
     if (_tumble_flag_node->getBoolValue()) {
-        if (_tumble < 1.0) {
-            if (fabs(roll) > 45.0) {
-                double target = (fabs(roll) - 45.0) / 45.0;
-                if (_tumble < target)
-                    _tumble = target;
-            }
-            if (fabs(pitch) > 45.0) {
-                double target = (fabs(pitch) - 45.0) / 45.0;
-                if (_tumble < target)
-                    _tumble = target;
-            }
-            if (_tumble > 1.0) {
-                _tumble = 1.0;
-            }
+        double tumble = _tumble_node->getDoubleValue();
+        if (fabs(roll) > 45.0) {
+            double target = (fabs(roll) - 45.0) / 45.0;
+            target *= target;   // exponential past +-45 degrees
+            if (roll < 0)
+                target = -target;
+
+            if (fabs(target) > fabs(tumble))
+                tumble = target;
+
+            if (tumble > 1.0)
+                tumble = 1.0;
+            else if (tumble < -1.0)
+                tumble = -1.0;
         }
-                                // Reerect in 5 minutes
-        _tumble -= dt/300.0;
-        if (_tumble < 0.0)
-            _tumble = 0.0;
-
-        responsiveness *= ((1.0 - _tumble) * (1.0 - _tumble) *
-                           (1.0 - _tumble) * (1.0 - _tumble));
-
+                                    // Reerect in 5 minutes
+        double step = dt/300.0;
+        if (tumble < -step)
+            tumble += step;
+        else if (tumble > step)
+            tumble -= step;
+
+        roll += tumble * 45;
+        _tumble_node->setDoubleValue(tumble);
     }
 
-    roll = fgGetLowPass(_roll_out_node->getDoubleValue(), roll,
+    roll = fgGetLowPass(_roll_int_node->getDoubleValue(), roll,
                         responsiveness);
-    pitch = fgGetLowPass(_pitch_out_node->getDoubleValue(), pitch,
+    pitch = fgGetLowPass(_pitch_int_node->getDoubleValue(), pitch,
                          responsiveness);
 
                                 // Assign the new values
-    _roll_out_node->setDoubleValue(roll);
-    _pitch_out_node->setDoubleValue(pitch);
+    _roll_int_node->setDoubleValue(roll);
+    _pitch_int_node->setDoubleValue(pitch);
+
+    // add in a gyro underspin "error" if gyro is spinning too slowly
+    const double spin_thresh = 0.8;
+    const double max_roll_error = 40.0;
+    const double max_pitch_error = 12.0;
+    double roll_error;
+    double pitch_error;
+    if ( spin <= spin_thresh ) {
+        double roll_error_factor = (spin_thresh - spin) / spin_thresh;
+        double pitch_error_factor = (spin_thresh - spin) / spin_thresh;
+        roll_error = roll_error_factor * roll_error_factor * max_roll_error;
+        pitch_error = pitch_error_factor * pitch_error_factor * max_pitch_error;
+    } else {
+        roll_error = 0.0;
+        pitch_error = 0.0;
+    }
+
+    _roll_out_node->setDoubleValue(roll + roll_error);
+    _pitch_out_node->setDoubleValue(pitch + pitch_error);
 }
 
 // end of attitude_indicator.cxx