X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FNetwork%2Fray.cxx;h=b85831087d68c83e8998b0483de4dd71506fb89f;hb=ae50c054a9007b98f1a8dafe6d589d0b4cab8873;hp=ece2b67fc0559f34be147988775d9409edeb5be7;hpb=17f3d48e03c889e0e10dfc7ea4123caa230ee55a;p=flightgear.git

diff --git a/src/Network/ray.cxx b/src/Network/ray.cxx
index ece2b67fc..b85831087 100644
--- a/src/Network/ray.cxx
+++ b/src/Network/ray.cxx
@@ -16,16 +16,19 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$
 
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
 
 #include <simgear/constants.h>
 #include <simgear/debug/logstream.hxx>
 #include <simgear/io/iochannel.hxx>
 
-#include <FDM/flight.hxx>
+#include <FDM/flightProperties.hxx>
 
 #include "ray.hxx"
 
@@ -63,7 +66,8 @@ FGRAY::~FGRAY() {
 
 bool FGRAY::gen_message() {
     // cout << "generating RayWoodworth message" << endl;
-    FGInterface *f = cur_fdm_state;
+    FlightProperties f;
+    
     int axis, subaxis;
     const double fullscale[6] = { -0.5, -0.5, -0.5, /* radians */
 				  -0.3, -0.3, -0.15  /* meters */ };
@@ -73,7 +77,7 @@ bool FGRAY::gen_message() {
 
     /* get basic information about gravity */
     double grav_acc = -9.81;
-    double vert_acc = f->get_A_Z_pilot() * 0.3;
+    double vert_acc = f.get_A_Z_pilot() * 0.3;
     if ( -3.0 < vert_acc )
 	vert_acc = -3.0;
 
@@ -86,13 +90,13 @@ bool FGRAY::gen_message() {
 
 	/* Retrieve the desired components */
 	switch ( axis ) {
-	case 0: ang_pos = f->get_Phi();
-		lin_acc = f->get_A_Y_pilot() * 0.3;
+	case 0: ang_pos = f.get_Phi();
+		lin_acc = f.get_A_Y_pilot() * 0.3;
 		break;
-	case 1: ang_pos = f->get_Theta();
-		lin_acc = f->get_A_X_pilot() * 0.3;
+	case 1: ang_pos = f.get_Theta();
+		lin_acc = f.get_A_X_pilot() * 0.3;
 		break;
-	case 2: ang_pos = f->get_Psi();
+	case 2: ang_pos = f.get_Psi();
 		lin_acc = grav_acc - vert_acc;
 		break;
 	default:
@@ -104,11 +108,11 @@ bool FGRAY::gen_message() {
 	/* Make sure the angles are reasonable onscale */
  	/* We use an asymmetric mapping so that the chair behaves
  	   reasonably when upside down.  Otherwise it oscillates. */
- 	while ( ang_pos < -2*SGD_PI/3 ) {
-		ang_pos += 2 * SGD_PI;
+ 	while ( ang_pos < -SGD_2PI/3 ) {
+		ang_pos += SGD_2PI;
 	}
- 	while ( ang_pos >  4*SGD_PI/3 ) {
-		ang_pos -= 2 * SGD_PI;
+ 	while ( ang_pos >  2*SGD_2PI/3 ) {
+		ang_pos -= SGD_2PI;
 	}
 
 	/* Tell interested parties what the situation is */
@@ -134,8 +138,8 @@ bool FGRAY::gen_message() {
 		if ( fabs ( ang_pos - chair_heading ) > SGD_PI )
 		{	/* Need to swing chair by 360 degrees */
 			if ( ang_pos < chair_heading )
-				chair_heading -= 2 * SGD_PI;
-			else	chair_heading += 2 * SGD_PI;
+				chair_heading -= SGD_2PI;
+			else	chair_heading +=  SGD_2PI;
 		}
 		/* Remove the chair heading from the true heading */
 		ang_pos -= chair_heading;
@@ -144,7 +148,7 @@ bool FGRAY::gen_message() {
  		   can just about represent 30 degrees full scale.  */
 		chair_heading += ang_pos * dt * 0.2;
 		/* If they turn fast, at 90 deg error subtract 30 deg */
-		if ( fabs(ang_pos) > SGD_PI / 2 )
+		if ( fabs(ang_pos) > SGD_PI_2 )
 			chair_heading += ang_pos / 3;
 
 	} else
@@ -178,8 +182,8 @@ bool FGRAY::gen_message() {
 		/* Scale to the hardware's full scale range */
 		propose /= fullscale [ subaxis ];
 		/* Use a sine shaped washout on all axes */
-		if ( propose < -SGD_PI / 2 ) *dac = 0x0000; else
-		if ( propose >  SGD_PI / 2 ) *dac = 0xFFFF; else
+		if ( propose < -SGD_PI_2 ) *dac = 0x0000; else
+		if ( propose >  SGD_PI_2 ) *dac = 0xFFFF; else
 		   *dac = (unsigned short) ( 32767 * 
 				( 1.0 + sin ( propose ) ) );
 	}
@@ -196,7 +200,7 @@ bool FGRAY::gen_message() {
 
 // parse RUL message
 bool FGRAY::parse_message() {
-    FG_LOG( FG_IO, FG_ALERT, "RAY input not supported" );
+    SG_LOG( SG_IO, SG_ALERT, "RAY input not supported" );
 
     return false;
 }
@@ -209,11 +213,11 @@ bool FGRAY::process() {
     if ( get_direction() == SG_IO_OUT ) {
 	gen_message();
 	if ( ! io->write( buf, length ) ) {
-	    FG_LOG( FG_IO, FG_ALERT, "Error writing data." );
+	    SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
 	    return false;
 	}
     } else if ( get_direction() == SG_IO_IN ) {
-	FG_LOG( FG_IO, FG_ALERT, "in direction not supported for RAY." );
+	SG_LOG( SG_IO, SG_ALERT, "in direction not supported for RAY." );
 	return false;
     }