Division by zero fixes from Vivian Meazza.

diff --git a/src/AIModel/AIBallistic.cxx b/src/AIModel/AIBallistic.cxx
index 0de56a46d63d4578fddc7cb25093941ac6857de7..ccb9371e1c7b4652789bb384c0cd0aaba7ea3f2c 100644 (file)
--- a/src/AIModel/AIBallistic.cxx
+++ b/src/AIModel/AIBallistic.cxx
@@ -35,11 +35,11 @@
 
 #include <Main/util.hxx>
 
+using namespace simgear;
+
 const double FGAIBallistic::slugs_to_kgs = 14.5939029372;
 const double FGAIBallistic::slugs_to_lbs = 32.1740485564;
 
-using namespace simgear;
-
 FGAIBallistic::FGAIBallistic(object_type ot) :
 FGAIBase(ot),
     _elevation(0),
@@ -56,6 +56,7 @@ _gravity(32.1740485564),
     _report_impact(false),
 _wind(true),
     _impact_report_node(fgGetNode("/ai/models/model-impact", true)),
+    _force_stabilised(false),
 _external_force(false),
 _slave_to_ac(false),
 _slave_load_to_ac(false),
@@ -92,7 +93,7 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
     setCd(scFileNode->getDoubleValue("cd", 0.029));
     //setMass(scFileNode->getDoubleValue("mass", 0.007));
     setWeight(scFileNode->getDoubleValue("weight", 0.25));
-    setStabilisation(scFileNode->getBoolValue("aero_stabilized", false));
+    setStabilisation(scFileNode->getBoolValue("aero-stabilized", false));
     setNoRoll(scFileNode->getBoolValue("no-roll", false));
     setRandom(scFileNode->getBoolValue("random", false));
     setImpact(scFileNode->getBoolValue("impact", false));
@@ -103,7 +104,7 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
     setSubID(scFileNode->getIntValue("SubID", 0));
     setExternalForce(scFileNode->getBoolValue("external-force", false));
     setForcePath(scFileNode->getStringValue("force-path", ""));
-    setForceStabilisation(scFileNode->getBoolValue("force_stabilized", false));
+    setForceStabilisation(scFileNode->getBoolValue("force-stabilized", false));
     setXoffset(scFileNode->getDoubleValue("x-offset", 0.0));
     setYoffset(scFileNode->getDoubleValue("y-offset", 0.0));
     setZoffset(scFileNode->getDoubleValue("z-offset", 0.0));

diff --git a/src/AIModel/AICarrier.cxx b/src/AIModel/AICarrier.cxx
index ffb4fc5466162d26588318fe5160cdc91bfca437..182bcad874f3a34cc63bfde25474f401507c7697 100644 (file)
--- a/src/AIModel/AICarrier.cxx
+++ b/src/AIModel/AICarrier.cxx
@@ -426,6 +426,8 @@ void FGAICarrier::bind() {
     props->setBoolValue("controls/crew", false);
     props->setStringValue("navaids/tacan/channel-ID", TACAN_channel_id.c_str());
     props->setStringValue("sign", sign.c_str());
+    props->setBoolValue("controls/lighting/deck-lights", false);
+    props->setDoubleValue("controls/lighting/flood-lights-red-norm", 0);
 }
 
 

diff --git a/src/AIModel/AIManager.cxx b/src/AIModel/AIManager.cxx
index 82036872706b613ef91a2aba3ea465ffb42c8072..b01a1ac104685249c79a5bba9089243eb930f11e 100644 (file)
--- a/src/AIModel/AIManager.cxx
+++ b/src/AIModel/AIManager.cxx
@@ -386,9 +386,8 @@ const FGAIBase *
 FGAIManager::calcCollision(double alt, double lat, double lon, double fuse_range)
 {
     // we specify tgt extent (ft) according to the AIObject type
-    double tgt_ht[]     = {0, 50 ,100, 250, 0, 100, 0, 0, 50, 50};
-    double tgt_length[] = {0, 100, 200, 750, 0, 50, 0, 0, 200, 100};
-
+    double tgt_ht[]     = {0, 50 ,100, 250, 0, 100, 0, 0, 50, 50, 50};
+    double tgt_length[] = {0, 100, 200, 750, 0, 50, 0, 0, 200, 100, 100};
     ai_list_iterator ai_list_itr = ai_list.begin();
     ai_list_iterator end = ai_list.end();
 

diff --git a/src/AIModel/submodel.cxx b/src/AIModel/submodel.cxx
index a7c79f4a46028292ff8ba08fef7329ab8156a454..808a963494be8172e3e3f5f12d8746e0c2455886 100644 (file)
--- a/src/AIModel/submodel.cxx
+++ b/src/AIModel/submodel.cxx
@@ -116,13 +116,13 @@ void FGSubmodelMgr::update(double dt)
         _impact = (*sm_list_itr)->_getImpactData();
         _hit = (*sm_list_itr)->_getCollisionData();
         int parent_subID = (*sm_list_itr)->_getSubID();
-        SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! "
-                << _hit <<" parent_subID " << parent_subID);
+        //SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! "
+        //        << _hit <<" parent_subID " << parent_subID);
         if ( parent_subID == 0) // this entry in the list has no associated submodel
             continue;           // so we can continue
 
         if (_impact || _hit) {
-            SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! " << _hit );
+            //SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! " << _hit );
 
             submodel_iterator = submodels.begin();
 
@@ -161,10 +161,10 @@ void FGSubmodelMgr::update(double dt)
         i++;
         in_range = true;
 
-        SG_LOG(SG_GENERAL, SG_DEBUG,
+        /*SG_LOG(SG_GENERAL, SG_DEBUG,
                 "Submodels:  " << (*submodel_iterator)->id
                 << " name " << (*submodel_iterator)->name
-                << " in range " << in_range);
+                << " in range " << in_range);*/
 
         if ((*submodel_iterator)->trigger_node != 0) {
             _trigger_node = (*submodel_iterator)->trigger_node;
@@ -188,8 +188,8 @@ void FGSubmodelMgr::update(double dt)
                 in_range = true;
 
                 if (id == 0) {
-                    SG_LOG(SG_GENERAL, SG_DEBUG,
-                            "Submodels: continuing: " << id << " name " << name );
+                    //SG_LOG(SG_GENERAL, SG_DEBUG,
+                    //        "Submodels: continuing: " << id << " name " << name );
                     ++sm_list_itr;
                     continue;
                 }
@@ -207,8 +207,8 @@ void FGSubmodelMgr::update(double dt)
                     //cout << "own name " << own_lat << ", " << own_lon << " range " << range_nm << endl;
 
                     if (range_nm > 15) {
-                        SG_LOG(SG_GENERAL, SG_DEBUG,
-                            "Submodels: skipping release, out of range: " << id);
+                        //SG_LOG(SG_GENERAL, SG_DEBUG,
+                        //    "Submodels: skipping release, out of range: " << id);
                         in_range = false;
                     }
                 }
@@ -216,11 +216,11 @@ void FGSubmodelMgr::update(double dt)
                 ++sm_list_itr;
             } // end while
 
-            SG_LOG(SG_GENERAL, SG_DEBUG,
+            /*SG_LOG(SG_GENERAL, SG_DEBUG,
                     "Submodels end:  " << (*submodel_iterator)->id
                     << " name " << (*submodel_iterator)->name
                     << " count " << (*submodel_iterator)->count
-                    << " in range " << in_range);
+                    << " in range " << in_range);*/
 
             if ((*submodel_iterator)->count != 0 && in_range)
                 release(*submodel_iterator, dt);
@@ -286,6 +286,7 @@ bool FGSubmodelMgr::release(submodel *sm, double dt)
     ballist->setFuseRange(sm->fuse_range);
     ballist->setSubmodel(sm->submodel.c_str());
     ballist->setSubID(sm->sub_id);
+    ballist->setForceStabilisation(sm->force_stabilised);
     ballist->setExternalForce(sm->ext_force);
     ballist->setForcePath(sm->force_path.c_str());
     ai->attach(ballist);
@@ -600,6 +601,7 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
         sm->contents_node   = fgGetNode(entry_node->getStringValue("contents", "none"), false);
         sm->speed_node      = fgGetNode(entry_node->getStringValue("speed-node", "none"), false);
         sm->submodel        = entry_node->getStringValue("submodel-path", "");
+        sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
         sm->ext_force       = entry_node->getBoolValue("external-force", false);
         sm->force_path      = entry_node->getStringValue("force-path", "");
         //cout <<  "sm->contents_node " << sm->contents_node << endl;
@@ -614,8 +616,6 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
             sm->trigger_node = 0;
         }
 
-        SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: trigger " << sm->trigger_node->getBoolValue() );
-
         if (sm->speed_node != 0)
             sm->speed = sm->speed_node->getDoubleValue();
 
@@ -630,7 +630,6 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
         sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
         sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
         sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
-
         sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
         string name = sm->name;
         sm->prop->setStringValue("name", name.c_str());
@@ -765,10 +764,10 @@ void FGSubmodelMgr::loadSubmodels()
         if (!submodel.empty()) {
             //int id = (*submodel_iterator)->id;
             bool serviceable = true;
-            SG_LOG(SG_GENERAL, SG_DEBUG, "found path sub sub "
-                    << submodel
-                    << " index " << index
-                    << "name " << (*submodel_iterator)->name);
+            //SG_LOG(SG_GENERAL, SG_DEBUG, "found path sub sub "
+            //        << submodel
+            //        << " index " << index
+            //        << "name " << (*submodel_iterator)->name);
 
             (*submodel_iterator)->sub_id = index;
             setSubData(index, submodel, serviceable);
@@ -788,10 +787,10 @@ void FGSubmodelMgr::loadSubmodels()
 
     while (submodel_iterator != submodels.end()) {
         int id = (*submodel_iterator)->id;
-        SG_LOG(SG_GENERAL, SG_DEBUG,"after pushback "
-                << " id " << id
-                << " name " << (*submodel_iterator)->name
-                << " sub id " << (*submodel_iterator)->sub_id);
+        //SG_LOG(SG_GENERAL, SG_DEBUG,"after pushback "
+        //        << " id " << id
+        //        << " name " << (*submodel_iterator)->name
+        //        << " sub id " << (*submodel_iterator)->sub_id);
 
         ++submodel_iterator;
     }

diff --git a/src/AIModel/submodel.hxx b/src/AIModel/submodel.hxx
index d054033cd6555e7430836df3d0a81660fe063895..7ca046f9dc0789f8334c3a572634772d7635ea15 100644 (file)
--- a/src/AIModel/submodel.hxx
+++ b/src/AIModel/submodel.hxx
@@ -68,6 +68,7 @@ public:
         double             fuse_range;
         string             submodel;
         int                sub_id;
+        bool               force_stabilised;
         bool               ext_force;
         string             force_path;
     }   submodel;

diff --git a/src/Instrumentation/heading_indicator_fg.cxx b/src/Instrumentation/heading_indicator_fg.cxx
index e35df2d63d3dd754495d9be8685d1ecca18492ac..091d097f68a4add6dfb2b7239531d463fc540dac 100644 (file)
--- a/src/Instrumentation/heading_indicator_fg.cxx
+++ b/src/Instrumentation/heading_indicator_fg.cxx
@@ -53,12 +53,15 @@ HeadingIndicatorFG::init ()
     branch = "/instrumentation/" + name;
     
        _heading_in_node = fgGetNode("/orientation/heading-deg", true);
+
     SGPropertyNode *node = fgGetNode(branch.c_str(), num, true );
     _offset_node = node->getChild("offset-deg", 0, true);
     _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);
     _heading_out_node = node->getChild("indicated-heading-deg", 0, true);
+    _off_node         = node->getChild("off-flag", 0, true);
+
     _last_heading_deg = (_heading_in_node->getDoubleValue() +
                          _offset_node->getDoubleValue());
        _electrical_node = fgGetNode("/systems/electrical/outputs/DG", true);
@@ -96,37 +99,43 @@ 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 = 100 * (spin * spin * spin * spin * spin * spin);
+    double factor = 0.1 / (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);
     _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);

diff --git a/src/Instrumentation/heading_indicator_fg.hxx b/src/Instrumentation/heading_indicator_fg.hxx
index 0ddf98506d503d3f2bb4ca35f6570876894c4191..bb42824915c6b35fa307df6ea15c71481d68238a 100644 (file)
--- a/src/Instrumentation/heading_indicator_fg.hxx
+++ b/src/Instrumentation/heading_indicator_fg.hxx
@@ -18,7 +18,7 @@
 
 
 /**
- * Model an electicallym-powered fluxgate compass
+ * Model an electically-powered fluxgate compass
  *
  * Input properties:
  *
@@ -61,6 +61,7 @@ private:
        SGPropertyNode_ptr _electrical_node;
        SGPropertyNode_ptr _error_node;
        SGPropertyNode_ptr _nav1_error_node;
+    SGPropertyNode_ptr _off_node;
 
 
     

diff --git a/src/Instrumentation/mrg.cxx b/src/Instrumentation/mrg.cxx
index 69b220d7f9204554d58ba6f529d9481be5cc59a4..539231da46bd85c12d7f724045f6c5cffa27f18c 100644 (file)
--- a/src/Instrumentation/mrg.cxx
+++ b/src/Instrumentation/mrg.cxx
@@ -43,6 +43,7 @@ MasterReferenceGyro::init ()
        _indicated_hdg_rate = 0;
        _indicated_roll_rate = 0;
        _indicated_pitch_rate = 0;
+        _erect_time = 0;
        
        string branch;
        branch = "/instrumentation/" + _name;
@@ -70,11 +71,13 @@ MasterReferenceGyro::init ()
        _responsiveness_node = node->getChild("responsiveness", 0, true);
        _error_out_node = node->getChild("heading-bug-error-deg", 0, true);
        _hdg_input_source_node = node->getChild("heading-source", 0, true);
+        _fast_erect_node = node->getChild("fast-erect", 0, true);
 
        _electrical_node->setDoubleValue(0);
        _responsiveness_node->setDoubleValue(0.75);
        _off_node->setBoolValue(false);
        _hdg_input_source_node->setBoolValue(false);
+        _fast_erect_node->setBoolValue(false);
 }
 
 void
@@ -119,12 +122,11 @@ MasterReferenceGyro::update (double dt)
        double spin = _gyro.get_spin_norm();
        
        // set the "off-flag"
-       if ( _electrical_node->getDoubleValue() == 0 ) {
-               _off_node->setBoolValue(true);
-       } else if ( spin == 1 ) {
+        if ( _electrical_node->getDoubleValue() > 0 && spin >= 0.25) {
                _off_node->setBoolValue(false);
        } else {
                _off_node->setBoolValue(true);
+        return;
        }
 
        // Get the input values
@@ -156,7 +158,8 @@ MasterReferenceGyro::update (double dt)
        //but we need to filter the hdg and yaw_rate as well - yuk!
        responsiveness = 0.1 / (spin * spin * spin * spin * spin * spin);
        yaw_rate = fgGetLowPass( _last_yaw_rate , yaw_rate, responsiveness );
-       g = fgGetLowPass( _last_g , yaw_rate, 0.15 );
+        g = fgGetLowPass( _last_g , g, 0.015 );
+
 
        // store the new values
        _last_roll = roll;
@@ -167,10 +170,22 @@ MasterReferenceGyro::update (double dt)
        _last_yaw_rate = yaw_rate;
        _last_g = g;
 
+    if (_erect_time > 0){
+
+        if ( !_fast_erect_node->getBoolValue() )
+            _erect_time -= dt;
+        else 
+            _erect_time -= 2 * dt;
+
+    }
+
+    //SG_LOG(SG_GENERAL, SG_ALERT,
+    //    "g input " << g <<" _erect_time " << _erect_time << " spin " << spin);
+
        //the gyro only erects inside limits
        if ( fabs ( yaw_rate ) <= 5
-                       && (_g_in_node->getDoubleValue() <= 1.5
-                       || _g_in_node->getDoubleValue() >= -0.5) ) {
+            && ( g <= 1.5 || g >= -0.5)
+            && _erect_time <=0 ) {
                indicated_roll = _last_roll;
                indicated_pitch = _last_pitch;
                indicated_hdg = _last_hdg;
@@ -181,6 +196,10 @@ MasterReferenceGyro::update (double dt)
                indicated_roll_rate = 0;
                indicated_pitch_rate = 0;
                indicated_hdg_rate = 0;
+        
+        if (_erect_time <= 0 )
+            _erect_time = 34;
+
        }
 
        // calculate the difference between the indicated heading

diff --git a/src/Instrumentation/mrg.hxx b/src/Instrumentation/mrg.hxx
index 9bfaf741f07a289d0f733a537bd6c598aa64994c..4fc8fdee3610ceaac0063c179ad07f5107bbe464 100644 (file)
--- a/src/Instrumentation/mrg.hxx
+++ b/src/Instrumentation/mrg.hxx
@@ -65,6 +65,7 @@ private:
     double _last_pitch_rate;
     double _last_yaw_rate;
     double _last_g;
+    double _erect_time;
 
     Gyro _gyro;
 
@@ -94,6 +95,7 @@ private:
     SGPropertyNode_ptr _pitch_rate_node;
     SGPropertyNode_ptr _responsiveness_node;
     SGPropertyNode_ptr _hdg_input_source_node;
+    SGPropertyNode_ptr _fast_erect_node;
 };
 
 #endif // __INSTRUMENTS_MRG_HXX