X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FInstrumentation%2Fattitude_indicator.cxx;h=de79e811df38e939f610c9b55d92569a0abb743f;hb=e89df85817619290067d20391817b831356c4532;hp=5378e15ed8fd29630ef362355c5fe5ea4f3a71c0;hpb=598db3d5281c75ac25b0e1566bb8e45ac10d061d;p=flightgear.git diff --git a/src/Instrumentation/attitude_indicator.cxx b/src/Instrumentation/attitude_indicator.cxx index 5378e15ed..de79e811d 100644 --- a/src/Instrumentation/attitude_indicator.cxx +++ b/src/Instrumentation/attitude_indicator.cxx @@ -4,14 +4,34 @@ // This file is in the Public Domain and comes with no warranty. // TODO: -// - tumble // - better spin-up +#ifdef HAVE_CONFIG_H +# include "config.h" +#endif + +#include + +#include +#include +#include + +#include // fabs() + #include "attitude_indicator.hxx" #include
+#include
+using std::string; -AttitudeIndicator::AttitudeIndicator () +AttitudeIndicator::AttitudeIndicator ( SGPropertyNode *node ) + : + _name(node->getStringValue("name", "attitude-indicator")), + _num(node->getIntValue("number", 0)), + _suction(node->getStringValue("suction", "/systems/vacuum/suction-inhg")), + spin_thresh(0.8), + max_roll_error(40.0), + max_pitch_error(12.0) { } @@ -22,66 +42,142 @@ AttitudeIndicator::~AttitudeIndicator () void AttitudeIndicator::init () { - // TODO: allow index of pump and AI - // to be configured. - _serviceable_node = - fgGetNode("/instrumentation/attitude-indicator/serviceable", true); - _spin_node = fgGetNode("/instrumentation/attitude-indicator/spin", true); + string branch; + branch = "/instrumentation/" + _name; + + SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true ); + SGPropertyNode *n; + _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(_suction.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); + if( ( n = cnode->getChild("spin-thresh", 0, false ) ) != NULL ) + spin_thresh = n->getDoubleValue(); + if( ( n = cnode->getChild("max-roll-error-deg", 0, false ) ) != NULL ) + max_roll_error = n->getDoubleValue(); + if( ( n = cnode->getChild("max-pitch-error-deg", 0, false ) ) != NULL ) + max_pitch_error = n->getDoubleValue(); + _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); + + reinit(); +} + +void +AttitudeIndicator::reinit () +{ + _roll_int_node->setDoubleValue(0.0); + _pitch_int_node->setDoubleValue(0.0); + _gyro.reinit(); } 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. - - double spin = _spin_node->getDoubleValue(); - 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; - _spin_node->setDoubleValue(spin); - - // Next, calculate the indicated roll - // and pitch, introducing errors. - double factor = 1.0 - ((1.0 - spin) * (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 + 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