X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FInstrumentation%2Fattitude_indicator.cxx;h=1555c2c74eeddc49dda9b2656043e8c89544b711;hb=f620af29cdc18ab7924055092e8f75cbe37aae2c;hp=87bd0f19145db288eaa8b02e9642ada3f43d2a65;hpb=6a8371c44cbe2b0164957f5699b9ec85f8567979;p=flightgear.git

diff --git a/src/Instrumentation/attitude_indicator.cxx b/src/Instrumentation/attitude_indicator.cxx
index 87bd0f191..1555c2c74 100644
--- a/src/Instrumentation/attitude_indicator.cxx
+++ b/src/Instrumentation/attitude_indicator.cxx
@@ -3,9 +3,47 @@
 //
 // This file is in the Public Domain and comes with no warranty.
 
+// 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 ()
 {
@@ -18,63 +56,129 @@ AttitudeIndicator::~AttitudeIndicator ()
 void
 AttitudeIndicator::init ()
 {
-                                // TODO: allow index of pump and AI
-                                // to be configured.
-    _serviceable_node =
-        fgGetNode("/instrumentation/attitude-indicator/serviceable", true);
+    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);
-    _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 ()
 {
+    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((branch + "/spin").c_str(),
+          &_gyro, &Gyro::get_spin_norm, &Gyro::set_spin_norm);
 }
 
 void
 AttitudeIndicator::unbind ()
 {
+    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)
 {
-                                // First, calculate the bogo-spin from 0 to 1.
-                                // All numbers are made up.
-
-    _spin -= 0.005 * dt;         // spin decays every 0.5% every second.
-
-                                // spin increases up to 25% every second
-                                // if suction is available and the gauge
-                                // is serviceable.
-    if (_serviceable_node->getBoolValue()) {
-        double suction = _suction_node->getDoubleValue();
-        double step = 0.25 * (suction / 5.0) * dt;
-        if ((_spin + step) <= (suction / 5.0))
-            _spin += step;
+                                // 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;
     }
-    if (_spin > 1.0)
-        _spin = 1.0;
-    else if (_spin < 0.0)
-        _spin = 0.0;
-
-                                // Next, calculate the indicated roll
-                                // and pitch, introducing errors.
-    double factor = 1.0 - ((1.0 - _spin) * (1.0 - _spin));
+
+                                // Get the spin from the gyro
+    _gyro.set_power_norm(_suction_node->getDoubleValue()/5.0);
+    _gyro.update(dt);
+    double spin = _gyro.get_spin_norm();
+
+                                // Calculate the responsiveness
+    double responsiveness = spin * spin * spin * spin * spin * spin;
+
+                                // Get the indicated roll and pitch
     double roll = _roll_in_node->getDoubleValue();
     double pitch = _pitch_in_node->getDoubleValue();
-    roll = 35 + (factor * (roll - 35));
-    pitch = 15 + (factor * (pitch - 15));
 
-    _roll_out_node->setDoubleValue(roll);
-    _pitch_out_node->setDoubleValue(pitch);
+                                // Calculate the tumble for the
+                                // next pass.
+    if (_tumble_flag_node->getBoolValue()) {
+        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
+        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_int_node->getDoubleValue(), roll,
+                        responsiveness);
+    pitch = fgGetLowPass(_pitch_int_node->getDoubleValue(), pitch,
+                         responsiveness);
+
+                                // Assign the new values
+    _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