X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FInstrumentation%2Fheading_indicator.cxx;h=d95a1a0844488106d0b5cf42a3f49b905793cd98;hb=9d995907db00728da7eac9297ecbab93ed8a7400;hp=a7e96e5502763152a03dc19bc0154dd2bfa3bad4;hpb=b9e4775a7a4bbeac9e3af2bf617ddacfbc2d47bf;p=flightgear.git

diff --git a/src/Instrumentation/heading_indicator.cxx b/src/Instrumentation/heading_indicator.cxx
index a7e96e550..d95a1a084 100644
--- a/src/Instrumentation/heading_indicator.cxx
+++ b/src/Instrumentation/heading_indicator.cxx
@@ -3,16 +3,21 @@
 //
 // 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 STL_IOSTREAM
-#include STL_STRING
+#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 ( SGPropertyNode *node )
     :
     _name(node->getStringValue("name", "heading-indicator")),
@@ -28,23 +33,36 @@ HeadingIndicator::~HeadingIndicator ()
 void
 HeadingIndicator::init ()
 {
-    string branch;
+    std::string branch;
     branch = "/instrumentation/" + _name;
 
     SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
-    _offset_node = node->getChild("offset-deg", 0, 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(_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 ()
 {
     std::ostringstream temp;
-    string branch;
+    std::string branch;
     temp << _num;
     branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
 
@@ -58,7 +76,7 @@ void
 HeadingIndicator::unbind ()
 {
     std::ostringstream temp;
-    string branch;
+    std::string branch;
     temp << _num;
     branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
 
@@ -77,17 +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
@@ -98,16 +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