From: Vivian Meazza Date: Thu, 18 Nov 2010 23:48:58 +0000 (+0000) Subject: Add Alignment settable at runtime, and add movement-induced errors. X-Git-Url: https://git.mxchange.org/?a=commitdiff_plain;h=a68b07e67a34b571e0f7f3644917596bd5680fab;p=flightgear.git Add Alignment settable at runtime, and add movement-induced errors. Signed-off-by: Vivian Meazza --- diff --git a/src/Instrumentation/heading_indicator_dg.cxx b/src/Instrumentation/heading_indicator_dg.cxx index d9923c2e5..82a35d309 100644 --- a/src/Instrumentation/heading_indicator_dg.cxx +++ b/src/Instrumentation/heading_indicator_dg.cxx @@ -1,155 +1,184 @@ -// 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 -#include -#include -#include - -#include
-#include
- -#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_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 +#include +#include +#include +#include + +#include
+#include
+ +#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 = 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) - _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 ); + _yaw_rate_node = fgGetNode("/orientation/yaw-rate-degps", true); + _g_node = fgGetNode("/accelerations/pilot-g", true); + + + SGPropertyNode *node = fgGetNode(branch.c_str(), num, true ); + _offset_node = node->getChild("offset-deg", 0, true); + _serviceable_node = node->getChild("serviceable", 0, true); + _heading_bug_error_node = node->getChild("heading-bug-error-deg", 0, true); + _error_node = node->getChild("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); + _align_node = node->getChild("align-deg", 0, true); + + _electrical_node = fgGetNode("/systems/electrical/outputs/DG", true); + + _align_node->setDoubleValue(0); + _error_node->setDoubleValue(0); + + _last_heading_deg = (_heading_in_node->getDoubleValue() + + _offset_node->getDoubleValue() + _align_node->getDoubleValue()); +} + +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(); + + // Next, calculate time-based precession + double offset = _offset_node->getDoubleValue(); + offset -= dt * (0.25 / 60.0); // 360deg/day + SG_NORMALIZE_RANGE(offset, -360.0, 360.0); + + // No magvar - set the alignment manually + double align = _align_node->getDoubleValue(); + + // Movement-induced error + double yaw_rate = _yaw_rate_node->getDoubleValue(); + double error = _error_node->getDoubleValue(); + double g = _g_node->getDoubleValue(); + int sign = 0; + + if ( fabs ( yaw_rate ) > 5 ) { + sign = (yaw_rate < 0 ? -1 : 1); + error += 0.033 * -yaw_rate * dt ; } - // 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 ); + + if ( g > 1.5 || g < -0.5){ + sign = (g < 0 ? -1 : 1); + error += 0.033 * g * dt; } -} -// end of heading_indicator_fg.cxx + _error_node->setDoubleValue(error); + + // Next, calculate the indicated heading, + // introducing errors. + 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) + _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 + align + error; + SG_NORMALIZE_RANGE(heading, 0.0, 360.0); + + _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; } + _heading_bug_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_dg.cxx diff --git a/src/Instrumentation/heading_indicator_dg.hxx b/src/Instrumentation/heading_indicator_dg.hxx index 89c22f3b9..d016ca45b 100644 --- a/src/Instrumentation/heading_indicator_dg.hxx +++ b/src/Instrumentation/heading_indicator_dg.hxx @@ -1,64 +1,69 @@ -// 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 -#include - -#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 +// 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 +#include +#include + +#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; + SGPropertyNode_ptr _align_node; + SGPropertyNode_ptr _yaw_rate_node; + SGPropertyNode_ptr _heading_bug_error_node; + SGPropertyNode_ptr _g_node; +}; + +#endif // __INSTRUMENTS_HEADING_INDICATOR_ELEC_HXX