gyro.cxx gyro.hxx \
heading_indicator.cxx heading_indicator.hxx \
heading_indicator_fg.cxx heading_indicator_fg.hxx \
+ heading_indicator_dg.cxx heading_indicator_dg.hxx \
kr_87.hxx kr_87.cxx \
kt_70.cxx kt_70.hxx \
mag_compass.cxx mag_compass.hxx \
marker_beacon.cxx marker_beacon.hxx \
+ mrg.cxx mrg.hxx\
navradio.cxx navradio.hxx \
slip_skid_ball.cxx slip_skid_ball.hxx \
transponder.cxx transponder.hxx \
--- /dev/null
+// heading_indicator_dg.cxx - a Directional Gyro (DG) compass.
+// Based on the vacuum driven Heading Indicator Written by David Megginson,
+// started 2002.
+//
+// Written by Vivian Meazza, started 2005.
+//
+// This file is in the Public Domain and comes with no warranty.
+
+#include <simgear/compiler.h>
+#include STL_IOSTREAM
+#include STL_STRING
+#include <sstream>
+
+#include <Main/fg_props.hxx>
+#include <Main/util.hxx>
+
+#include "heading_indicator_dg.hxx"
+
+
+HeadingIndicatorDG::HeadingIndicatorDG ( SGPropertyNode *node ) :
+ name("heading-indicator-dg"),
+ num(0)
+{
+ int i;
+ for ( i = 0; i < node->nChildren(); ++i ) {
+ SGPropertyNode *child = node->getChild(i);
+ string cname = child->getName();
+ string cval = child->getStringValue();
+ if ( cname == "name" ) {
+ name = cval;
+ } else if ( cname == "number" ) {
+ num = child->getIntValue();
+ } else {
+ SG_LOG( SG_INSTR, SG_WARN, "Error in DG heading-indicator config logic" );
+ if ( name.length() ) {
+ SG_LOG( SG_INSTR, SG_WARN, "Section = " << name );
+ }
+ }
+ }
+}
+
+HeadingIndicatorDG::HeadingIndicatorDG ()
+{
+}
+
+HeadingIndicatorDG::~HeadingIndicatorDG ()
+{
+}
+
+void
+HeadingIndicatorDG::init ()
+{
+ string branch;
+ 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);
+ _last_heading_deg = (_heading_in_node->getDoubleValue() +
+ _offset_node->getDoubleValue());
+ _electrical_node = fgGetNode("/systems/electrical/outputs/DG", true);
+}
+
+void
+HeadingIndicatorDG::bind ()
+{
+ std::ostringstream temp;
+ 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
+HeadingIndicatorDG::unbind ()
+{
+ std::ostringstream temp;
+ string branch;
+ temp << num;
+ branch = "/instrumentation/" + name + "[" + temp.str() + "]";
+
+ fgUntie((branch + "/serviceable").c_str());
+ fgUntie((branch + "/spin").c_str());
+}
+
+void
+HeadingIndicatorDG::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();
+
+ // No time-based precession for a flux gate compass
+ // No magvar
+ double offset = 0;
+
+ // TODO: movement-induced error
+
+ // Next, calculate the indicated heading,
+ // introducing errors.
+ double factor = 0.01 / (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)
+ _last_heading_deg += 360;
+ while ((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)
+ heading += 360;
+ while (heading > 360)
+ heading -= 360;
+
+ _heading_out_node->setDoubleValue(heading);
+
+ // calculate the difference between the indicacted heading
+ // and the selected heading for use with an autopilot
+ static SGPropertyNode *bnode
+ = fgGetNode( "/autopilot/settings/heading-bug-deg", false );
+ if ( bnode ) {
+ double diff = bnode->getDoubleValue() - heading;
+ if ( diff < -180.0 ) { diff += 360.0; }
+ if ( diff > 180.0 ) { diff -= 360.0; }
+ _error_node->setDoubleValue( diff );
+ }
+ // calculate the difference between the indicated heading
+ // and the selected nav1 radial for use with an autopilot
+ SGPropertyNode *nnode
+ = fgGetNode( "/instrumentation/nav/radials/selected-deg", false );
+ if ( nnode ) {
+ double diff = nnode->getDoubleValue() - heading;
+ if ( diff < -180.0 ) { diff += 360.0; }
+ if ( diff > 180.0 ) { diff -= 360.0; }
+ _nav1_error_node->setDoubleValue( diff );
+ }
+}
+
+// end of heading_indicator_fg.cxx
--- /dev/null
+// heading_indicator.hxx - a vacuum-powered heading indicator.
+// Written by David Megginson, started 2002.
+//
+// This file is in the Public Domain and comes with no warranty.
+
+
+#ifndef __INSTRUMENTS_HEADING_INDICATOR_ELEC_HXX
+#define __INSTRUMENTS_HEADING_INDICATOR_ELEC_HXX 1
+
+
+#include <simgear/props/props.hxx>
+#include <simgear/structure/subsystem_mgr.hxx>
+
+#include "gyro.hxx"
+
+
+/**
+ * Model an electrically-powered heading indicator.
+ *
+ * Input properties:
+ *
+ * /instrumentation/"name"/serviceable
+ * /instrumentation/"name"/spin
+ * /instrumentation/"name"/offset-deg
+ * /orientation/heading-deg
+ * /systems/electrical/outputs/DG
+ *
+ * Output properties:
+ *
+ * /instrumentation/"name"/indicated-heading-deg
+ */
+class HeadingIndicatorDG : public SGSubsystem
+{
+
+public:
+
+ HeadingIndicatorDG ( SGPropertyNode *node );
+ HeadingIndicatorDG ();
+ virtual ~HeadingIndicatorDG ();
+
+ virtual void init ();
+ virtual void bind ();
+ virtual void unbind ();
+ virtual void update (double dt);
+
+private:
+
+ Gyro _gyro;
+ double _last_heading_deg;
+
+ string name;
+ int num;
+ //string vacuum_system;
+
+ SGPropertyNode_ptr _offset_node;
+ SGPropertyNode_ptr _heading_in_node;
+ SGPropertyNode_ptr _serviceable_node;
+ SGPropertyNode_ptr _heading_out_node;
+ SGPropertyNode_ptr _electrical_node;
+ SGPropertyNode_ptr _error_node;
+ SGPropertyNode_ptr _nav1_error_node;
+};
+
+#endif // __INSTRUMENTS_HEADING_INDICATOR_ELEC_HXX
--- /dev/null
+// MRG.cxx - an electrcally powered master reference gyro.
+// Written by Vivian Meazza based on wrok by David Megginson, started 2006.
+//
+// This file is in the Public Domain and comes with no warranty.
+
+// TODO:
+// - better spin-up
+
+#include <simgear/compiler.h>
+
+#include STL_IOSTREAM
+#include STL_STRING
+#include <sstream>
+#include <math.h> // fabs()
+
+#include <Main/fg_props.hxx>
+#include <Main/util.hxx>
+
+#include "mrg.hxx"
+
+
+MasterReferenceGyro::MasterReferenceGyro ( SGPropertyNode *node ) :
+ name("master-reference-gyro"),
+ num(0)
+{
+ int i;
+ for ( i = 0; i < node->nChildren(); ++i ) {
+ SGPropertyNode *child = node->getChild(i);
+ string cname = child->getName();
+ string cval = child->getStringValue();
+ if ( cname == "name" ) {
+ name = cval;
+ } else if ( cname == "number" ) {
+ num = (int) child->getDoubleValue();
+ } else {
+ SG_LOG( SG_INSTR, SG_WARN, "Error in mrg config logic" );
+ if ( name.length() ) {
+ SG_LOG( SG_INSTR, SG_WARN, "Section = " << name );
+ }
+ }
+ }
+}
+
+MasterReferenceGyro::MasterReferenceGyro ()
+{
+}
+
+MasterReferenceGyro::~MasterReferenceGyro ()
+{
+}
+
+void
+MasterReferenceGyro::init ()
+{
+ _last_hdg = 0;
+ _last_roll = 0;
+ _last_pitch = 0;
+ _indicated_hdg = 0;
+ _indicated_roll = 0;
+ _indicated_pitch = 0;
+ _indicated_hdg_rate = 0;
+ _indicated_roll_rate = 0;
+ _indicated_pitch_rate = 0;
+
+ string branch;
+ branch = "/instrumentation/" + name;
+
+ _pitch_in_node = fgGetNode("/orientation/pitch-deg", true);
+ _roll_in_node = fgGetNode("/orientation/roll-deg", true);
+ _hdg_in_node = fgGetNode("/orientation/heading-deg", true);
+ _pitch_rate_node = fgGetNode("/orientation/pitch-rate-degps", true);
+ _roll_rate_node = fgGetNode("/orientation/roll-rate-degps", true);
+ _yaw_rate_node = fgGetNode("/orientation/yaw-rate-degps", true);
+ _g_in_node = fgGetNode("/accelerations/pilot-g-damped", true);
+ _electrical_node = fgGetNode("/systems/electrical/outputs/MRG", true);
+
+ SGPropertyNode *node = fgGetNode(branch.c_str(), num, true );
+ _off_node = node->getChild("off-flag", 0, true);
+ _pitch_out_node = node->getChild("indicated-pitch-deg", 0, true);
+ _roll_out_node = node->getChild("indicated-roll-deg", 0, true);
+ _hdg_out_node = node->getChild("indicated-hdg-deg", 0, true);
+ _pitch_rate_out_node = node->getChild("indicated-pitch-rate-degps", 0, true);
+ _roll_rate_out_node = node->getChild("indicated-roll-rate-degps", 0, true);
+ _hdg_rate_out_node = node->getChild("indicated-hdg-rate-degps", 0, true);
+ _responsiveness_node = node->getChild("responsiveness", 0, true);
+ _error_out_node = node->getChild("heading-error-deg", 0, true);
+
+ _electrical_node->setDoubleValue(0);
+ _responsiveness_node->setDoubleValue(0.75);
+ _off_node->setBoolValue(false);
+}
+
+void
+MasterReferenceGyro::bind ()
+{
+ std::ostringstream temp;
+ 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
+MasterReferenceGyro::unbind ()
+{
+ std::ostringstream temp;
+ string branch;
+ temp << num;
+ branch = "/instrumentation/" + name + "[" + temp.str() + "]";
+
+ fgUntie((branch + "/serviceable").c_str());
+ fgUntie((branch + "/spin").c_str());
+}
+
+void
+MasterReferenceGyro::update (double dt)
+{
+ double indicated_roll = 0;
+ double indicated_pitch = 0;
+ double indicated_hdg = 0;
+ double indicated_roll_rate = 0;
+ double indicated_pitch_rate = 0;
+ double indicated_hdg_rate = 0;
+
+ // Get the spin from the gyro
+ _gyro.set_power_norm( _electrical_node->getDoubleValue()/24 );
+ _gyro.update(dt);
+ double spin = _gyro.get_spin_norm();
+
+ // set the "off-flag"
+ if ( _electrical_node->getDoubleValue() == 0 ) {
+ _off_node->setBoolValue(true);
+ } else if ( spin == 1 ) {
+ _off_node->setBoolValue(false);
+ } else {
+ _off_node->setBoolValue(true);
+ }
+
+ // Get the input values
+ double roll = _roll_in_node->getDoubleValue();
+ double pitch = _pitch_in_node->getDoubleValue();
+ double hdg = _hdg_in_node->getDoubleValue();
+ double roll_rate = _yaw_rate_node->getDoubleValue();
+ double pitch_rate = _yaw_rate_node->getDoubleValue();
+ double yaw_rate = _yaw_rate_node->getDoubleValue();
+
+ //modulate the input by the spin rate
+ double responsiveness = spin * spin * spin * spin * spin * spin;
+ roll = fgGetLowPass( _last_roll, roll, responsiveness );
+ pitch = fgGetLowPass( _last_pitch , pitch, responsiveness );
+ hdg = fgGetLowPass( _last_hdg , hdg, responsiveness );
+
+ //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 );
+
+ // store the new values
+ _last_roll = roll;
+ _last_pitch = pitch;
+ _last_hdg = hdg;
+ _last_roll_rate = roll_rate;
+ _last_pitch_rate = pitch_rate;
+ _last_yaw_rate = yaw_rate;
+
+ //the gyro only erects inside limits
+ if ( abs ( yaw_rate ) <= 5
+ && (_g_in_node->getDoubleValue() <= 1.5
+ || _g_in_node->getDoubleValue() >= -0.5) ) {
+ indicated_roll = _last_roll;
+ indicated_pitch = _last_pitch;
+ indicated_hdg = _last_hdg;
+ indicated_roll_rate = _last_roll_rate;
+ indicated_pitch_rate = _last_pitch_rate;
+ indicated_hdg_rate = _last_yaw_rate;
+ } else {
+ indicated_roll_rate = 0;
+ indicated_pitch_rate = 0;
+ indicated_hdg_rate = 0;
+ }
+
+ // calculate the difference between the indicated heading
+ // and the selected heading for use with an autopilot
+ static SGPropertyNode *bnode
+ = fgGetNode( "autopilot/settings/target-heading-deg", false );
+
+ if ( bnode ) {
+ double diff = bnode->getDoubleValue() - indicated_hdg;
+ if ( diff < -180.0 ) { diff += 360.0; }
+ if ( diff > 180.0 ) { diff -= 360.0; }
+ _error_out_node->setDoubleValue( diff );
+ }
+ //cout << "autopilot input " << bnode->getDoubleValue() << "output " << _error_out_node->getDoubleValue()<<endl ;
+ //smooth the output
+ double factor = _responsiveness_node->getDoubleValue() * dt;
+
+ indicated_roll = fgGetLowPass( _indicated_roll, indicated_roll, factor );
+ indicated_pitch = fgGetLowPass( _indicated_pitch , indicated_pitch, factor );
+ indicated_hdg = fgGetLowPass( _indicated_hdg , indicated_hdg, factor );
+
+ indicated_roll_rate = fgGetLowPass( _indicated_roll_rate, indicated_roll_rate, factor );
+ indicated_pitch_rate = fgGetLowPass( _indicated_pitch_rate , indicated_pitch_rate, factor );
+ indicated_hdg_rate = fgGetLowPass( _indicated_hdg_rate , indicated_hdg_rate, factor );
+
+ // store the new values
+ _indicated_roll = indicated_roll;
+ _indicated_pitch = indicated_pitch;
+ _indicated_hdg = indicated_hdg;
+
+ _indicated_roll_rate = indicated_roll_rate;
+ _indicated_pitch_rate = indicated_pitch_rate;
+ _indicated_hdg_rate = indicated_hdg_rate;
+
+ // add in a gyro underspin "error" if gyro is spinning too slowly
+ const double spin_thresh = 0.8;
+ const double max_roll_error = 40.0;
+ const double max_pitch_error = 12.0;
+ const double max_hdg_error = 140.0;
+ double roll_error;
+ double pitch_error;
+ double hdg_error;
+
+ if ( spin <= spin_thresh ) {
+ double roll_error_factor = ( spin_thresh - spin ) / spin_thresh;
+ double pitch_error_factor = ( spin_thresh - spin ) / spin_thresh;
+ double hdg_error_factor = ( spin_thresh - spin ) / spin_thresh;
+ roll_error = roll_error_factor * roll_error_factor * max_roll_error;
+ pitch_error = pitch_error_factor * pitch_error_factor * max_pitch_error;
+ hdg_error = hdg_error_factor * hdg_error_factor * max_hdg_error;
+ } else {
+ roll_error = 0.0;
+ pitch_error = 0.0;
+ hdg_error = 0.0;
+ }
+
+ _roll_out_node->setDoubleValue( _indicated_roll + roll_error );
+ _pitch_out_node->setDoubleValue( _indicated_pitch + pitch_error );
+ _hdg_out_node->setDoubleValue( _indicated_hdg + hdg_error );
+ _pitch_rate_out_node ->setDoubleValue( _indicated_pitch_rate );
+ _roll_rate_out_node ->setDoubleValue( _indicated_roll_rate );
+ _hdg_rate_out_node ->setDoubleValue( _indicated_hdg_rate );
+}
+
+// end of mrg.cxx
--- /dev/null
+// attitude_indicator.hxx - a vacuum-powered attitude indicator.
+// Written by David Megginson, started 2002.
+//
+// This file is in the Public Domain and comes with no warranty.
+
+
+#ifndef __INSTRUMENTS_MRG_HXX
+#define __INSTRUMENTS_MRG_HXX 1
+
+
+#include <simgear/props/props.hxx>
+#include <simgear/structure/subsystem_mgr.hxx>
+
+#include "gyro.hxx"
+
+
+/**
+ * Model a vacuum-powered attitude indicator.
+ *
+ * Input properties:
+ *
+ * /instrumentation/"name"/config/tumble-flag
+ * /instrumentation/"name"/serviceable
+ * /instrumentation/"name"/caged-flag
+ * /instrumentation/"name"/tumble-norm
+ * /orientation/pitch-deg
+ * /orientation/roll-deg
+ * "vacuum-system"/suction-inhg
+ *
+ * Output properties:
+ *
+ * /instrumentation/"name"/indicated-pitch-deg
+ * /instrumentation/"name"/indicated-roll-deg
+ * /instrumentation/"name"/tumble-norm
+ */
+
+class MasterReferenceGyro : public SGSubsystem
+{
+
+public:
+
+ MasterReferenceGyro ( SGPropertyNode *node );
+ MasterReferenceGyro ();
+ virtual ~MasterReferenceGyro ();
+
+ virtual void init ();
+ virtual void bind ();
+ virtual void unbind ();
+ virtual void update (double dt);
+
+private:
+
+ string name;
+ int num;
+
+ double _last_roll;
+ double _last_pitch;
+ double _last_hdg;
+ double _indicated_roll;
+ double _indicated_pitch;
+ double _indicated_hdg;
+ double _indicated_pitch_rate;
+ double _indicated_roll_rate;
+ double _indicated_hdg_rate;
+ double _last_roll_rate;
+ double _last_pitch_rate;
+ double _last_yaw_rate;
+
+ Gyro _gyro;
+
+ SGPropertyNode_ptr _tumble_flag_node;
+ SGPropertyNode_ptr _caged_node;
+ SGPropertyNode_ptr _off_node;
+ SGPropertyNode_ptr _tumble_node;
+ SGPropertyNode_ptr _pitch_in_node;
+ SGPropertyNode_ptr _roll_in_node;
+ SGPropertyNode_ptr _hdg_in_node;
+ SGPropertyNode_ptr _g_in_node;
+ SGPropertyNode_ptr _electrical_node;
+ SGPropertyNode_ptr _pitch_int_node;
+ SGPropertyNode_ptr _roll_int_node;
+ SGPropertyNode_ptr _hdg_int_node;
+ SGPropertyNode_ptr _pitch_out_node;
+ SGPropertyNode_ptr _roll_out_node;
+ SGPropertyNode_ptr _hdg_out_node;
+ SGPropertyNode_ptr _pitch_rate_out_node;
+ SGPropertyNode_ptr _roll_rate_out_node;
+ SGPropertyNode_ptr _hdg_rate_out_node;
+ SGPropertyNode_ptr _error_out_node;
+ SGPropertyNode_ptr _yaw_rate_node;
+ SGPropertyNode_ptr _roll_rate_node;
+ SGPropertyNode_ptr _pitch_rate_node;
+ SGPropertyNode_ptr _responsiveness_node;
+};
+
+#endif // __INSTRUMENTS_MRG_HXX
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