X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FInstrumentation%2Fheading_indicator_fg.cxx;h=32332a3e1a648a257cabee0e140e8eaef96909e3;hb=1867ccb4a8484b9bc856c88629e09e25bcc35d42;hp=14027a412a3be522e3d1fc2aa82eadd886646b57;hpb=98c03f95e15da580f1c1442f00198ac670779a18;p=flightgear.git

diff --git a/src/Instrumentation/heading_indicator_fg.cxx b/src/Instrumentation/heading_indicator_fg.cxx
index 14027a412..32332a3e1 100644
--- a/src/Instrumentation/heading_indicator_fg.cxx
+++ b/src/Instrumentation/heading_indicator_fg.cxx
@@ -5,15 +5,23 @@
 //
 // 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 <iostream>
+#include <string>
 #include <sstream>
 
-#include "heading_indicator_fg.hxx"
+#include <simgear/math/SGMath.hxx>
+
 #include <Main/fg_props.hxx>
-#include <Main/util.hxx>			    
+#include <Main/util.hxx>
+
+#include "heading_indicator_fg.hxx"
 
+using std::string;
 
 HeadingIndicatorFG::HeadingIndicatorFG ( SGPropertyNode *node )
     :
@@ -52,16 +60,30 @@ HeadingIndicatorFG::init ()
     string branch;
     branch = "/instrumentation/" + name;
     
-	_heading_in_node = fgGetNode("/orientation/heading-deg", true);
+    _heading_in_node = fgGetNode("/orientation/heading-deg", true);
+
     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") );
+    }
     _serviceable_node = node->getChild("serviceable", 0, true);
-	_error_node = node->getChild("heading-bug-error-deg", 0, true);
-	_nav1_error_node = node->getChild("nav1-course-error-deg", 0, true);
+    _error_node = node->getChild("heading-bug-error-deg", 0, true);
+    _nav1_error_node = node->getChild("nav1-course-error-deg", 0, true);
     _heading_out_node = node->getChild("indicated-heading-deg", 0, true);
+    _off_node         = node->getChild("off-flag", 0, true);
+
+    _electrical_node = fgGetNode("/systems/electrical/outputs/DG", true);
+
+    reinit();
+}
+
+void
+HeadingIndicatorFG::reinit ()
+{
     _last_heading_deg = (_heading_in_node->getDoubleValue() +
                          _offset_node->getDoubleValue());
-	_electrical_node = fgGetNode("/systems/electrical/outputs/DG", true);
+    _gyro.reinit();
 }
 
 void
@@ -76,7 +98,6 @@ HeadingIndicatorFG::bind ()
           &_gyro, &Gyro::is_serviceable, &Gyro::set_serviceable);
     fgTie((branch + "/spin").c_str(),
           &_gyro, &Gyro::get_spin_norm, &Gyro::set_spin_norm);
-	
 }
 
 void
@@ -96,44 +117,50 @@ HeadingIndicatorFG::update (double dt)
 {
                                 // Get the spin from the gyro
 	 _gyro.set_power_norm(_electrical_node->getDoubleValue());
-
 	_gyro.update(dt);
     double spin = _gyro.get_spin_norm();
 
+    if ( _electrical_node->getDoubleValue() > 0 && spin >= 0.25) {
+        _off_node->setBoolValue(false);
+    } else {
+        _off_node->setBoolValue(true);
+        return;
+    }
+
                                 // No time-based precession	for a flux gate compass
 	                            // We just use offset to get the magvar
-
 	double offset = _offset_node->getDoubleValue();
 	   
                                 // 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
                                 // heading and the last heading into
                                 // the same range.
-    while ((heading - _last_heading_deg) > 180)
+    if ((heading - _last_heading_deg) > 180)
         _last_heading_deg += 360;
-    while ((heading - _last_heading_deg) < -180)
+    if ((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)
+
+    if (heading < 0)
         heading += 360;
-    while (heading > 360)
+    if (heading > 360)
         heading -= 360;
 
     _heading_out_node->setDoubleValue(heading);
 
-	                             // calculate the difference between the indicacted heading
+	                             // calculate the difference between the indicated heading
 	                             // and the selected heading for use with an autopilot
-	static SGPropertyNode *bnode
+	SGPropertyNode *bnode
         = fgGetNode( "/autopilot/settings/heading-bug-deg", false );
 	double diff = 0;
 	if ( bnode ){