X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FInstrumentation%2Fheading_indicator.cxx;h=d95a1a0844488106d0b5cf42a3f49b905793cd98;hb=9d995907db00728da7eac9297ecbab93ed8a7400;hp=66fdd833c70c461d833941cc0ad728e58cb0d70e;hpb=677c3e3e9ab9598c40a23cc89f99235d618b3a6f;p=flightgear.git

diff --git a/src/Instrumentation/heading_indicator.cxx b/src/Instrumentation/heading_indicator.cxx
index 66fdd833c..d95a1a084 100644
--- a/src/Instrumentation/heading_indicator.cxx
+++ b/src/Instrumentation/heading_indicator.cxx
@@ -3,12 +3,26 @@
 //
 // This file is in the Public Domain and comes with no warranty.
 
+#ifdef HAVE_CONFIG_H
+#  include "config.h"
+#endif
+
+#include <simgear/compiler.h>
+#include <simgear/sg_inlines.h>
+#include <simgear/math/SGMath.hxx>
+#include <iostream>
+#include <string>
+#include <sstream>
+
 #include "heading_indicator.hxx"
 #include <Main/fg_props.hxx>
 #include <Main/util.hxx>
 
-
-HeadingIndicator::HeadingIndicator ()
+HeadingIndicator::HeadingIndicator ( SGPropertyNode *node )
+    :
+    _name(node->getStringValue("name", "heading-indicator")),
+    _num(node->getIntValue("number", 0)),
+    _suction(node->getStringValue("suction", "/systems/vacuum/suction-inhg"))
 {
 }
 
@@ -19,31 +33,55 @@ HeadingIndicator::~HeadingIndicator ()
 void
 HeadingIndicator::init ()
 {
-    _offset_node =
-        fgGetNode("/instrumentation/heading-indicator/offset-deg", true);
+    std::string branch;
+    branch = "/instrumentation/" + _name;
+
+    SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
+    if( NULL == (_offset_node = node->getChild("offset-deg", 0, false)) ) {
+      _offset_node = node->getChild("offset-deg", 0, true);
+      _offset_node->setDoubleValue( -fgGetDouble("/environment/magnetic-variation-deg") );
+    }
     _heading_in_node = fgGetNode("/orientation/heading-deg", true);
-    _suction_node = fgGetNode("/systems/vacuum[0]/suction-inhg", true);
-    _heading_out_node =
-        fgGetNode("/instrumentation/heading-indicator/indicated-heading-deg",
-                  true);
+    _suction_node = fgGetNode(_suction.c_str(), true);
+    _heading_out_node = node->getChild("indicated-heading-deg", 0, true);
+    _heading_bug_error_node = node->getChild("heading-bug-error-deg", 0, true);
+    _heading_bug_node = node->getChild("heading-bug-deg", 0, true);
+  
+    reinit();
+}
+
+void
+HeadingIndicator::reinit ()
+{
     _last_heading_deg = (_heading_in_node->getDoubleValue() +
                          _offset_node->getDoubleValue());
+    _gyro.reinit();
 }
 
 void
 HeadingIndicator::bind ()
 {
-    fgTie("/instrumentation/heading-indicator/serviceable",
-          &_gyro, &Gyro::is_serviceable);
-    fgTie("/instrumentation/heading-indicator/spin",
+    std::ostringstream temp;
+    std::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
 HeadingIndicator::unbind ()
 {
-    fgUntie("/instrumentation/heading-indicator/serviceable");
-    fgUntie("/instrumentation/heading-indicator/spin");
+    std::ostringstream temp;
+    std::string branch;
+    temp << _num;
+    branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
+
+    fgUntie((branch + "/serviceable").c_str());
+    fgUntie((branch + "/spin").c_str());
 }
 
 void
@@ -57,17 +95,13 @@ HeadingIndicator::update (double dt)
                                 // Next, calculate time-based precession
     double offset = _offset_node->getDoubleValue();
     offset -= dt * (0.25 / 60.0); // 360deg/day
-    while (offset < -360)
-        offset += 360;
-    while (offset > 360)
-        offset -= 360;
-    _offset_node->setDoubleValue(offset);
+    SG_NORMALIZE_RANGE(offset, -360.0, 360.0);
 
                                 // TODO: movement-induced error
 
                                 // Next, calculate the indicated heading,
                                 // introducing errors.
-    double factor = 0.01 / (spin * spin * spin * spin * spin * spin);
+    double factor = 100 * (spin * spin * spin * spin * spin * spin);
     double heading = _heading_in_node->getDoubleValue();
 
                                 // Now, we have to get the current
@@ -78,16 +112,20 @@ HeadingIndicator::update (double dt)
     while ((heading - _last_heading_deg) < -180)
         _last_heading_deg -= 360;
 
-    heading = fgGetLowPass(_last_heading_deg, heading, dt/factor);
+    heading = fgGetLowPass(_last_heading_deg, heading, dt * factor);
     _last_heading_deg = heading;
 
     heading += offset;
-    while (heading < 0)
-        heading += 360;
-    while (heading > 360)
-        heading -= 360;
+    SG_NORMALIZE_RANGE(heading, 0.0, 360.0);
 
     _heading_out_node->setDoubleValue(heading);
+
+    // Calculate heading bug error normalized to +/- 180.0
+    double heading_bug = _heading_bug_node->getDoubleValue();
+    double diff = heading_bug - heading;
+
+    SG_NORMALIZE_RANGE(diff, -180.0, 180.0);
+    _heading_bug_error_node->setDoubleValue( diff );
 }
 
 // end of heading_indicator.cxx