Merge branch 'master' of git://gitorious.org/fg/fgdata

Aircraft/Instruments-3d/RAF_Mk9_bubble_sextant/RAF_Mk9_bubble_sextant.nas

@@ -0,0 +1,477 @@
+###############################################################################
+##
+##  RAF mk9 bubble sextant.
+##
+##  Copyright (C) 2007 - 2010  Anders Gidenstam  (anders(at)gidenstam.org)
+##  This file is licensed under the GPL license version 2 or later.
+##
+###############################################################################
+
+## NOTE: This module MUST be loaded as RAFmk9sextant;
+
+## You can override these parameters when loading this file.
+#   Field of view when looking through the sextant
+var FOV = 25;
+#   Distance from the eye to the sextant when looking through the sextant.
+var VIEW_DISTANCE = 0.15;
+#   The view in which the sextant will be used.
+var VIEW_NAME = "Cockpit View";
+#   The storage location and orientation.
+#   The location is relative to the default center for the view.
+var STOWED = { position    : {x:-0.3, y: 0.0, z: -0.2},
+               orientation : {heading : 320.0,
+                              pitch   : -45.0,
+                              roll    : 0.0}
+             };
+
+## Interface functions.
+var pick_up = func {
+    if (handling.lookthrough) return;
+
+    handling.toggle();
+    if (handling.enabled) {
+        handling.view_angle.setValue(-90.0);
+        handling.view_distance.setValue(2.0*VIEW_DISTANCE);
+    }
+}
+
+var toggle_look_through = func {
+    handling.toggle_look_through();
+}
+
+###############################################################################
+# Bindings for mouse X and Y movements. Install these to the appropriate
+# mouse mode and axes, e.g. in the -set file.
+var mouseX = func {
+    if (!handling.enabled) return;
+    if(__kbd.alt.getValue()) {
+        var delta = 3*cmdarg().getNode("offset").getValue();
+        if(__kbd.shift.getValue() and handling.enabled) {
+            # Roll adjustment
+            var orient = sextant.get_orientation();
+            var roll = orient[2] - delta;
+            if(roll < -180) roll = -180;
+            if(roll > 180)  roll = 180;
+            sextant.set_orientation(orient[0], orient[1], roll);
+        } else {
+            var view = "/sim/current-view/heading-offset-deg";
+            var val = getprop(view) - delta;
+            if(val < 0)   val = 0;
+            if(val > 360) val = 360;
+            setprop(view, val);
+        }
+    }
+}
+
+var mouseY = func {
+    if (!handling.enabled) return;
+    if(__kbd.alt.getValue()) {
+        var delta = 3*cmdarg().getNode("offset").getValue();
+        if(__kbd.shift.getValue() and handling.enabled) {
+            # Altitude adjustment   
+            sextant.adjust_altitude_fine(delta);
+        } else {
+            var view = "/sim/current-view/pitch-offset-deg";
+            var val = getprop(view) - delta;
+            if(val < -90) val = -90;
+            if(val > 90)  val = 90;
+            setprop(view, val);
+        }
+    }
+}
+
+var RAD = math.pi/180;
+var DEG = 180/math.pi;
+
+###############################################################################
+# Class for managing one RAF mk9 bubble sextant instrument.
+var sextant = {
+    ##################################################
+    init : func (n=0) {
+        me.UPDATE_INTERVAL = 0.0;
+        me.loopid = 0;
+        me.base =
+            props.globals.getNode("instrumentation/sextant["~ n ~"]/", 1);
+
+        ## Instrument properties
+        me.pitch_err = me.base.getNode("pitch-error-deg", 1);
+        me.pitch_err.setDoubleValue(0);
+        me.roll_err = me.base.getNode("roll-error-deg", 1);
+        me.roll_err.setDoubleValue(0);
+        me.setting_min = me.base.getNode("setting/min", 1);
+        me.setting_min.setDoubleValue(0);
+        me.setting_deg1 = me.base.getNode("setting/deg1", 1);
+        me.setting_deg1.setDoubleValue(0); # 0 - 10 deg fractional.
+        me.setting_deg10 = me.base.getNode("setting/deg10", 1);
+        me.setting_deg10.setDoubleValue(0);
+        me.bubble = me.base.getNode("bubble-norm", 1);
+        me.bubble.setDoubleValue(0);
+        me.serviceable = me.base.getNode("serviceable", 1);
+        me.serviceable.setBoolValue(1);
+
+        ## The instrument's orientation in the aircraft frame
+        ## and position offset relative its initial position.
+        me.position = [me.base.getNode("offsets/x-m", 1),
+                       me.base.getNode("offsets/y-m", 1),
+                       me.base.getNode("offsets/z-m", 1)];
+        me.heading  = me.base.getNode("offsets/heading-deg", 1);
+        me.pitch    = me.base.getNode("offsets/pitch-deg", 1);
+        me.roll     = me.base.getNode("offsets/roll-deg", 1);
+
+        me.position[0].setValue(0);
+        me.position[1].setValue(0);
+        me.position[2].setValue(0);
+        me.heading.setValue(0);
+        me.pitch.setValue(0);
+        me.roll.setValue(0);
+
+        me.reset();
+
+        print("RAF Mk9 bubble sextant ... initialized");
+    },
+    ##################################################
+    set_position : func (x, y ,z) {
+        me.position[0].setValue(x);
+        me.position[1].setValue(y);
+        me.position[2].setValue(z);
+    },
+    ##################################################
+    get_position : func (x, y ,z) {
+        return [me.position[0].getValue(),
+                me.position[1].getValue(),
+                me.position[2].getValue()];
+    },
+    ##################################################
+    set_orientation : func (heading, pitch, roll) {
+        me.heading.setValue(heading);
+        me.pitch.setValue(pitch);
+        me.roll.setValue(roll);
+    },
+    ##################################################
+    get_orientation : func () {
+        return [me.heading.getValue(),
+                me.pitch.getValue(),
+                me.roll.getValue()];
+    },
+    ##################################################
+    step_10deg_knob : func (d) {
+        var val = me.setting_deg10.getValue() + (d < 0 ? -1 : 1);
+        if(val < 0)  val = 0;
+        if(val > 8)  val = 8;
+        me.setting_deg10.setValue(val);
+    },
+    ##################################################
+    step_5deg_knob : func (d) {
+        var val = me.setting_deg1.getValue();
+        var new = val;
+        if (d <= 0 and val >= 5.0) new -= 5.0;
+        if (d >= 0 and val <  5.0) new += 5.0;
+        if(new < 0.0)  new = 0;
+        if(new > 10.0) new = 10;
+        me.setting_deg1.setValue(new);
+    },
+    ##################################################
+    step_bubble_knob : func (d) {
+        var val = me.bubble.getValue() + d;
+        if(val < 0)  val = 0;
+        if(val > 1)  val = 1;
+        me.bubble.setValue(val);
+    },
+    ##################################################
+    adjust_altitude_fine : func (d) {
+        var val = me.setting_deg1.getValue() - d;
+        if(val < 0) val = 0;
+        if(val > 10) val = 10;
+
+        me.setting_deg1.setValue(val);
+        me.setting_min.setValue(60.0*val - 60*int(val));
+    },
+    ##################################################
+    get_altitude : func {
+        return 10.0 * me.setting_deg10.getValue() + me.setting_deg1.getValue();
+    },
+    ##################################################
+    reset : func {
+        me.loopid += 1;
+        me._loop_(me.loopid);
+    },
+    ##################################################
+    update : func {
+        ## State data we need.
+        var heading_ac = getprop("/orientation/heading-deg") * RAD;
+        var pitch_ac   = getprop("/orientation/pitch-deg") * RAD;
+        var roll_ac    = getprop("/orientation/roll-deg") * RAD;
+        
+        var yaw_v      = me.heading.getValue() * RAD;
+        var pitch_v    = me.pitch.getValue() * RAD;
+        var roll_v     = me.roll.getValue() * RAD;
+
+        ##  Compute local aircraft axes vectors in the local frame
+        ##    Account for aircraft orientation. (x/y/z = front/left/up)
+        var T_ac = mulMM(mulMM(rotateZ(heading_ac), rotateY(pitch_ac)),
+                         rotateX(roll_ac));
+        ##  Account for view orientation and sextant settings.
+        ##    The sextant frame is assumed to coincide with the view frame
+        ##    except that it is pitched down altitude deg around its local
+        ##    Y axis.
+        var T_bs =  mulMM(mulMM(mulMM(mulMM(
+                      T_ac,
+                      rotateZ(yaw_v)),
+                      rotateY(pitch_v)),
+                      rotateX(roll_v)),
+                      rotateY(-me.get_altitude() * RAD));
+
+        var X_bs = mulMv(T_bs, X);
+        var Y_bs = mulMv(T_bs, Y);
+        var Z_bs = mulMv(T_bs, Z);
+
+        ## Transform up in the local frame to the sextant frame.
+        var Up = mulMv([X_bs, Y_bs, Z_bs], Z);
+        var Up_xz = [Up[0], 0, Up[2]];
+        var Up_yz = [0, Up[1], Up[2]];
+
+        ## Compute interesting angles in the sextant frame.
+        var p_err = angleV(Z, Up_xz);
+        if (scalar(Up_xz, X) < 0.0) {
+             p_err *= -1;
+        }
+        me.pitch_err.setValue(p_err*DEG);
+
+        var r_err = angleV(Z, Up_yz);
+        if (scalar(Up_yz, Y) < 0.0) {
+             r_err *= -1;
+        }
+        me.roll_err.setValue(r_err*DEG);
+    },
+    ##################################################
+    _loop_ : func(id) {
+        id == me.loopid or return;
+        me.update();
+        settimer(func { me._loop_(id); }, me.UPDATE_INTERVAL, 1);
+    }
+};
+
+###############################################################################
+## Singleton class for handling (i.e. moving / rotating) a sextant.
+var handling = {
+    enabled : 0,
+    ##################################################
+    init : func (n=0) {
+        me.UPDATE_INTERVAL = 0.0;
+        me.loopid = 0;
+        me.lookthrough = 0;
+
+        me.base =
+            props.globals.getNode("instrumentation/sextant["~ n ~"]/", 1);
+
+        ## Instrument properties
+        me.altitude_deg = me.base.getNode("altitude-deg", 1);
+        me.altitude_deg.setDoubleValue(0);
+
+        ## 3d model position properties
+        me.source_view = view.views[view.indexof(VIEW_NAME)];
+        var src = me.source_view.getNode("config");
+        me.offset = {x: src.getNode("z-offset-m").getValue(),
+                     y: src.getNode("x-offset-m").getValue(),
+                     z: src.getNode("y-offset-m").getValue()};
+
+        me.view_distance = me.base.getNode("view-distance-m", 1);
+        me.view_distance.setDoubleValue(2.0*VIEW_DISTANCE);
+        me.view_angle = me.base.getNode("view-angle-deg", 1);
+        me.view_angle.setDoubleValue(0.0);
+
+        sextant.init();
+        sextant.set_position
+            (STOWED.position.x,
+             STOWED.position.y,
+             STOWED.position.z);
+        sextant.set_orientation
+            (STOWED.orientation.heading,
+             STOWED.orientation.pitch,
+             STOWED.orientation.roll);
+
+        ## Instrument "display"
+        me.display = screen.display.new(20, 10);
+        me.display.add(me.altitude_deg,
+                       props.globals.getNode("/sim/time/gmt"));
+
+        me.disable();
+
+        print("RAF Mk9 bubble sextant handling ... initialized");
+    },
+    ##################################################
+    toggle : func {
+        if (me.enabled) {
+            me.disable();
+        } else {
+            me.enable();
+        }
+    },
+    ##################################################
+    enable : func {
+        me.enabled = 1;
+        me.display.toggle();
+
+        me.loopid += 1;
+        me._loop_(me.loopid);
+    },
+    ##################################################
+    toggle_look_through : func {
+        if (!me.enabled) return;
+        if (!me.lookthrough) {
+            me.lookthrough = 1;
+            
+            me.view_distance.setDoubleValue(VIEW_DISTANCE);
+            me.view_angle.setValue(0.0);
+
+            me.old_view = view.point.save();
+            setprop("/sim/current-view/field-of-view", FOV);
+        } else {
+            me.lookthrough = 0;
+            setprop("/sim/current-view/field-of-view",
+                    me.old_view.getChild("field-of-view").getValue());
+#            view.point.restore();            
+            me.view_angle.setValue(-90.0);
+            me.view_distance.setValue(2.0*VIEW_DISTANCE);
+        }
+    },
+    ##################################################
+    disable : func {
+        me.enabled = 0;
+        me.lookthrough = 0;
+        me.display.toggle();
+
+        sextant.set_position
+            (STOWED.position.x,
+             STOWED.position.y,
+             STOWED.position.z);
+        sextant.set_orientation
+            (STOWED.orientation.heading,
+             STOWED.orientation.pitch,
+             STOWED.orientation.roll);
+        me.view_distance.setDoubleValue(0.0);
+        me.view_angle.setValue(0.0);
+
+        if (me.lookthrough) {
+            me.toggle_look_through();
+        }
+    },
+    ##################################################
+    update : func {
+        ## Move the 3d model.
+        if (view.current == me.source_view) {
+            var src = props.globals.getNode("/sim/current-view");
+            sextant.set_position
+                (src.getNode("z-offset-m").getValue() - me.offset.x,
+                 src.getNode("x-offset-m").getValue() - me.offset.y,
+                 src.getNode("y-offset-m").getValue() - me.offset.z);
+            var old = sextant.get_orientation();
+            sextant.set_orientation
+                (getprop("/sim/current-view/heading-offset-deg"),
+                 getprop("/sim/current-view/pitch-offset-deg"),
+                 old[2]);
+            me.altitude_deg.setValue(sextant.get_altitude());
+        }
+    },
+    ##################################################
+    _loop_ : func(id) {
+        id == me.loopid and me.enabled or return;
+        me.update();
+        settimer(func { me._loop_(id); }, me.UPDATE_INTERVAL, 1);
+    }
+};
+
+###############################################################################
+setlistener("/sim/signals/fdm-initialized", func {
+    handling.init();
+});
+
+###############################################################################
+## Ugly matrix math as needed.
+## Probably horribly inefficient matrix representation:
+##   M[row][col] = [[row1], [row2], [row3]]
+##   v[row] = [x, y, z]
+
+var X = [1, 0, 0];
+var Y = [0, 1, 0];
+var Z = [0, 0, 1];
+var id = [X, Y, Z];
+
+var mulMv = func(M, v) {
+    return [M[0][0]*v[0] + M[0][1]*v[1] + M[0][2]*v[2],
+            M[1][0]*v[0] + M[1][1]*v[1] + M[1][2]*v[2],
+            M[2][0]*v[0] + M[2][1]*v[1] + M[2][2]*v[2]];
+}
+
+var mulMM = func(A, B) {
+    return [[A[0][0]*B[0][0] + A[0][1]*B[1][0] + A[0][2]*B[2][0],
+             A[0][0]*B[0][1] + A[0][1]*B[1][1] + A[0][2]*B[2][1],
+             A[0][0]*B[0][2] + A[0][1]*B[1][2] + A[0][2]*B[2][2]],
+            [A[1][0]*B[0][0] + A[1][1]*B[1][0] + A[1][2]*B[2][0],
+             A[1][0]*B[0][1] + A[1][1]*B[1][1] + A[1][2]*B[2][1],
+             A[1][0]*B[0][2] + A[1][1]*B[1][2] + A[1][2]*B[2][2]],
+            [A[2][0]*B[0][0] + A[2][1]*B[1][0] + A[2][2]*B[2][0],
+             A[2][0]*B[0][1] + A[2][1]*B[1][1] + A[2][2]*B[2][1],
+             A[2][0]*B[0][2] + A[2][1]*B[1][2] + A[2][2]*B[2][2]]];
+}
+
+var scalar = func(a, b) {
+    return a[0]*b[0] + a[1]*b[1] + a[2]*b[2];
+}
+
+var absV = func(a) {
+    return math.sqrt(scalar(a, a));
+}
+
+var crossV = func(a, b) {
+    return [a[1]*b[2] - a[2]*b[1],
+            a[2]*b[0] - a[0]*b[2],
+            a[0]*b[1] - a[1]*b[0]];
+}
+
+var rotateX = func (r) {
+    return [[1, 0, 0],
+            [0, math.cos(-r), -math.sin(-r)],
+            [0, math.sin(-r), math.cos(-r)]];
+}
+
+var rotateY = func (r) {
+    return [[math.cos(-r), 0, math.sin(-r)],
+            [0, 1, 0],
+            [-math.sin(-r), 0, math.cos(-r)]];
+}
+
+var rotateZ = func (r) {
+    return [[math.cos(r), -math.sin(r), 0],
+            [math.sin(r), math.cos(r), 0],
+            [0, 0, 1]];
+}
+
+var printMat = func (m) {
+    foreach (var e; m) {
+        if (typeof(e) == "scalar") {
+            print(" " ~ e);
+        } else {
+            var line = ""; 
+            foreach (var ee; e) {
+                line = line ~ " " ~ ee;
+            }
+            print(line);
+        }
+    }
+}
+
+var angleV = func (a, b) {
+    return math.acos(math.abs(scalar(a,b)) / (absV(a) * absV(b)));
+}
+
+#print("id*id=");
+#printMat(mulMM(id,id));
+
+#print("X=");
+#printMat(X);
+
+#print("RotY(45)*X=");
+#printMat(mulMv(rotateY(45*math.pi/180),X));
+
+#print("Y*X= " ~scalar(Y,X));

Aircraft/Instruments-3d/RAF_Mk9_bubble_sextant/RAF_Mk9_bubble_sextant.xml

@@ -0,0 +1,520 @@
+<?xml version="1.0"?>
+<!--
+  RAF Mk9 bubble sextant.
+
+  Copyright (C) 2008 - 2010  Anders Gidenstam  (anders(at)gidenstam.org)
+  This file is licensed under the GPL license version 2 or later.
+-->
+<PropertyList>
+
+ <path>RAF_Mk9_bubble_sextant.ac</path>
+ <!-- x/y/z == back/right/up -->
+
+ <!-- =========================================================================
+      Instrument function animations.
+      ===================================================================== -->
+
+ <!-- ===================================================================== -->
+ <!-- Bubble movement -->
+ <animation>
+  <type>translate</type>
+  <object-name>bubble</object-name>
+  <property>instrumentation/sextant/roll-error-deg</property>
+  <axis>
+   <x>0</x>
+   <y>1</y>
+   <z>0</z>
+  </axis>
+  <interpolation>
+   <entry>
+    <ind>-4</ind>
+    <dep>0.008</dep>
+   </entry>
+   <entry>
+    <ind>0</ind>
+    <dep>0</dep>
+   </entry>
+   <entry>
+    <ind>4</ind>
+    <dep>-0.008</dep>
+   </entry>
+  </interpolation>
+ </animation>
+ <animation>
+  <type>translate</type>
+  <object-name>bubble</object-name>
+  <property>instrumentation/sextant/pitch-error-deg</property>
+  <axis>
+   <x>0</x>
+   <y>0</y>
+   <z>1</z>
+  </axis>
+  <interpolation>
+   <entry>
+    <ind>-4</ind>
+    <dep>0.008</dep>
+   </entry>
+   <entry>
+    <ind>0</ind>
+    <dep>0</dep>
+   </entry>
+   <entry>
+    <ind>4</ind>
+    <dep>-0.008</dep>
+   </entry>
+  </interpolation>
+ </animation>
+ <animation>
+  <type>scale</type>
+  <object-name>bubble</object-name>
+  <property>instrumentation/sextant/bubble-norm</property>
+  <x-factor>0.0</x-factor>
+  <x-offset>1.0</x-offset>
+  <y-factor>1.0</y-factor>
+  <y-offset>0.0</y-offset>
+  <z-factor>1.0</z-factor>
+  <z-offset>0.0</z-offset>
+  <center>
+   <x-m> -0.060 </x-m>
+   <y-m>  0.000 </y-m>
+   <z-m>  0.000 </z-m>
+  </center>
+ </animation> 
+
+ <!-- If the bubble is gone the instrument is unserviceable. -->
+ <animation>
+  <type>select</type>
+  <object-name>bubble</object-name>
+  <condition>
+   <property>instrumentation/sextant/serviceable</property>
+  </condition>
+ </animation>
+
+ <!-- ===================================================================== -->
+ <!-- 10 deg setting knob -->
+ <animation>
+  <type>rotate</type>
+  <object-name>10_setting_knob</object-name>
+  <property>instrumentation/sextant/setting/deg10</property>
+  <factor>5.0</factor>
+  <offset-deg>-15.0</offset-deg>
+  <center>
+   <x-m> -0.057 </x-m>
+   <y-m>  0.035 </y-m>
+   <z-m>  0.038 </z-m>
+  </center>
+  <axis>
+   <x> 0.0 </x>
+   <y> 1.0 </y>
+   <z> 0.0 </z>
+  </axis>
+ </animation>
+ <animation>
+  <type>rotate</type>
+  <object-name>10_setting_knob_scale</object-name>
+  <property>instrumentation/sextant/setting/deg10</property>
+  <factor>5.0</factor>
+  <offset-deg>-15.0</offset-deg>
+  <center>
+   <x-m> -0.057 </x-m>
+   <y-m>  0.035 </y-m>
+   <z-m>  0.038 </z-m>
+  </center>
+  <axis>
+   <x> 0.0 </x>
+   <y> 1.0 </y>
+   <z> 0.0 </z>
+  </axis>
+ </animation>
+
+ <!-- ===================================================================== -->
+ <!-- Degree drum -->
+ <animation>
+  <type>rotate</type>
+  <object-name>degree_drum</object-name>
+  <property>instrumentation/sextant/setting/deg1</property>
+  <factor>36.0</factor>
+  <offset-deg>18</offset-deg>
+  <center>
+   <x-m> -0.1110 </x-m>
+   <y-m>  0.0150 </y-m>
+   <z-m> -0.0450 </z-m>
+  </center>
+  <axis>
+   <x> 1.0 </x>
+   <y> 0.0 </y>
+   <z> 0.0 </z>
+  </axis>
+ </animation>
+
+ <!-- ===================================================================== -->
+ <!-- Minute drum -->
+ <animation>
+  <type>rotate</type>
+  <object-name>minute_drum</object-name>
+  <property>instrumentation/sextant/setting/min</property>
+  <factor>6.0</factor>
+  <offset-deg>30.0</offset-deg>
+  <center>
+   <x-m> -0.1270 </x-m>
+   <y-m>  0.0040 </y-m>
+   <z-m> -0.0315 </z-m>
+  </center>
+  <axis>
+   <x>-1.0 </x>
+   <y> 0.0 </y>
+   <z> 0.0 </z>
+  </axis>
+ </animation>
+
+ <!-- ===================================================================== -->
+ <animation>
+  <type>rotate</type>
+  <object-name>slow_motion_knob</object-name>
+  <property>instrumentation/sextant/setting/deg1</property>
+  <factor>120.0</factor>
+  <offset-deg>0</offset-deg>
+  <center>
+   <x-m> -0.0680 </x-m>
+   <y-m>  0.0230 </y-m>
+   <z-m>  0.0090 </z-m>
+  </center>
+  <axis>
+   <x> 0.0 </x>
+   <y> 1.0 </y>
+   <z> 0.0 </z>
+  </axis>
+ </animation>
+
+ <!-- ===================================================================== -->
+ <animation>
+  <type>rotate</type>
+  <object-name>bubble_knob</object-name>
+  <property>instrumentation/sextant/bubble-norm</property>
+  <factor>360.0</factor>
+  <offset-deg>0</offset-deg>
+  <center>
+   <x-m> -0.0350 </x-m>
+   <y-m> -0.0230 </y-m>
+   <z-m>  0.0390 </z-m>
+  </center>
+  <axis>
+   <x> 0.0 </x>
+   <y> 1.0 </y>
+   <z> 0.0 </z>
+  </axis>
+ </animation>
+
+ <!-- ===================================================================== -->
+ <!-- Instrument control pick animations. -->
+ <animation>
+  <type>pick</type>
+  <object-name>10_setting_knob</object-name>
+  <action>
+   <button>0</button>
+   <repeatable>false</repeatable>
+   <binding>
+    <command>nasal</command>
+    <script>
+      RAFmk9sextant.sextant.step_10deg_knob(1);
+    </script>
+   </binding>
+  </action>
+  <action>
+   <button>1</button>
+   <repeatable>false</repeatable>
+   <binding>
+    <command>nasal</command>
+    <script>
+      RAFmk9sextant.sextant.step_10deg_knob(-1);
+    </script>
+   </binding>
+  </action>
+  <action>
+   <button>3</button>
+   <repeatable>false</repeatable>
+   <binding>
+    <command>nasal</command>
+    <script>
+      RAFmk9sextant.sextant.step_10deg_knob(-1);
+    </script>
+   </binding>
+  </action>
+  <action>
+   <button>4</button>
+   <repeatable>false</repeatable>
+   <binding>
+    <command>nasal</command>
+    <script>
+      RAFmk9sextant.sextant.step_10deg_knob(1);
+    </script>
+   </binding>
+  </action>
+ </animation>
+
+ <animation>
+  <type>pick</type>
+  <object-name>slow_motion_knob</object-name>
+  <action>
+   <button>0</button>
+   <repeatable>true</repeatable>
+   <binding>
+    <command>nasal</command>
+    <script>
+      RAFmk9sextant.sextant.adjust_altitude_fine(0.01667);
+    </script>
+   </binding>
+  </action>
+  <action>
+   <button>1</button>
+   <repeatable>true</repeatable>
+   <binding>
+    <command>nasal</command>
+    <script>
+      RAFmk9sextant.sextant.adjust_altitude_fine(-0.01667);
+    </script>
+   </binding>
+  </action>
+  <action>
+   <button>3</button>
+   <repeatable>false</repeatable>
+   <binding>
+    <command>nasal</command>
+    <script>
+      RAFmk9sextant.sextant.adjust_altitude_fine(-0.01667);
+    </script>
+   </binding>
+  </action>
+  <action>
+   <button>4</button>
+   <repeatable>false</repeatable>
+   <binding>
+    <command>nasal</command>
+    <script>
+      RAFmk9sextant.sextant.adjust_altitude_fine(0.01667);
+    </script>
+   </binding>
+  </action>
+ </animation>
+
+ <animation>
+  <type>pick</type>
+  <object-name>5_deg_knob</object-name>
+  <action>
+   <button>0</button>
+   <repeatable>false</repeatable>
+   <binding>
+    <command>nasal</command>
+    <script>
+      RAFmk9sextant.sextant.step_5deg_knob(0);
+    </script>
+   </binding>
+  </action>
+ </animation>
+
+ <animation>
+  <type>pick</type>
+  <object-name>bubble_knob</object-name>
+  <action>
+   <button>0</button>
+   <repeatable>true</repeatable>
+   <binding>
+    <command>nasal</command>
+    <script>
+      RAFmk9sextant.sextant.step_bubble_knob(0.01);
+    </script>
+   </binding>
+  </action>
+  <action>
+   <button>1</button>
+   <repeatable>true</repeatable>
+   <binding>
+    <command>nasal</command>
+    <script>
+      RAFmk9sextant.sextant.step_bubble_knob(-0.01);
+    </script>
+   </binding>
+  </action>
+  <action>
+   <button>3</button>
+   <repeatable>false</repeatable>
+   <binding>
+    <command>nasal</command>
+    <script>
+      RAFmk9sextant.sextant.step_bubble_knob(-0.01);
+    </script>
+   </binding>
+  </action>
+  <action>
+   <button>4</button>
+   <repeatable>false</repeatable>
+   <binding>
+    <command>nasal</command>
+    <script>
+      RAFmk9sextant.sextant.step_bubble_knob(0.01);
+    </script>
+   </binding>
+  </action>
+ </animation>
+
+ <!-- =========================================================================
+      Instrument handling animations.
+      ===================================================================== -->
+
+ <!-- ===================================================================== -->
+ <animation>
+  <type>rotate</type>
+  <property>instrumentation/sextant/view-angle-deg</property>
+  <factor>1.0</factor>
+  <center>
+   <x-m> -0.10 </x-m>
+   <y-m>  0.00 </y-m>
+   <z-m>  0.00 </z-m>
+  </center>
+  <axis>
+   <x>  0.0 </x>
+   <y>  0.3 </y>
+   <z>  1.0 </z>
+  </axis>
+ </animation>
+
+ <!-- ===================================================================== -->
+ <!-- Offset from eye position -->
+ <animation>
+  <type>translate</type>
+  <property>instrumentation/sextant/view-distance-m</property>
+  <axis>
+   <x>-1.0 </x>
+   <y> 0.0 </y>
+   <z> 0.0 </z>
+  </axis>
+  <factor>1.0</factor>
+ </animation>
+
+ <!-- ===================================================================== -->
+ <animation>
+  <type>rotate</type>
+  <property>instrumentation/sextant/offsets/roll-deg</property>
+  <factor>1.0</factor>
+  <center>
+   <x-m>  0.00 </x-m>
+   <y-m>  0.00 </y-m>
+   <z-m>  0.00 </z-m>
+  </center>
+  <axis>
+   <x> 1.0 </x>
+   <y> 0.0 </y>
+   <z> 0.0 </z>
+  </axis>
+ </animation>
+
+ <animation>
+  <type>rotate</type>
+  <property>instrumentation/sextant/offsets/pitch-deg</property>
+  <factor>1.0</factor>
+  <center>
+   <x-m>  0.00 </x-m>
+   <y-m>  0.00 </y-m>
+   <z-m>  0.00 </z-m>
+  </center>
+  <axis>
+   <x> 0.0 </x>
+   <y> 1.0 </y>
+   <z> 0.0 </z>
+  </axis>
+ </animation>
+
+ <animation>
+  <type>rotate</type>
+  <property>instrumentation/sextant/offsets/heading-deg</property>
+  <factor>1.0</factor>
+  <center>
+   <x-m>  0.00 </x-m>
+   <y-m>  0.00 </y-m>
+   <z-m>  0.00 </z-m>
+  </center>
+  <axis>
+   <x> 0.0 </x>
+   <y> 0.0 </y>
+   <z> 1.0 </z>
+  </axis>
+ </animation>
+
+ <!-- ===================================================================== -->
+ <!-- Translations for user's view. -->
+ <animation>
+  <type>translate</type>
+  <property>instrumentation/sextant/offsets/x-m</property>
+  <axis>
+   <x>1</x>
+   <y>0</y>
+   <z>0</z>
+  </axis>
+  <factor>1.0</factor>
+ </animation>
+ <animation>
+  <type>translate</type>
+  <property>instrumentation/sextant/offsets/y-m</property>
+  <axis>
+   <x>0</x>
+   <y>1</y>
+   <z>0</z>
+  </axis>
+  <factor>1.0</factor>
+ </animation>
+ <animation>
+  <type>translate</type>
+  <property>instrumentation/sextant/offsets/z-m</property>
+  <axis>
+   <x>0</x>
+   <y>0</y>
+   <z>1</z>
+  </axis>
+  <factor>1.0</factor>
+ </animation>
+
+ <!-- ===================================================================== -->
+ <animation>
+  <type>pick</type>
+  <object-name>eye_piece</object-name>
+  <action>
+   <button>0</button>
+   <repeatable>false</repeatable>
+   <binding>
+    <command>nasal</command>
+    <script>
+      RAFmk9sextant.toggle_look_through();
+    </script>
+   </binding>
+  </action>
+ </animation>
+ <animation>
+  <type>pick</type>
+  <object-name>left_handle</object-name>
+  <action>
+   <button>0</button>
+   <repeatable>false</repeatable>
+   <binding>
+    <command>nasal</command>
+    <script>
+      RAFmk9sextant.pick_up();
+    </script>
+   </binding>
+  </action>
+ </animation>
+ <animation>
+  <type>pick</type>
+  <object-name>right_handle</object-name>
+  <action>
+   <button>0</button>
+   <repeatable>false</repeatable>
+   <binding>
+    <command>nasal</command>
+    <script>
+      RAFmk9sextant.pick_up();
+    </script>
+   </binding>
+  </action>
+ </animation>
+
+</PropertyList>

Aircraft/Instruments-3d/RAF_Mk9_bubble_sextant/README

@@ -0,0 +1,210 @@
+
+Bubble sextant for Celestial Navigation in FlightGear
+-----------------------------------------------------
+
+Copyright 2007 - 2010  Anders Gidenstam
+
+ *  These programs are free software; you can redistribute them and/or modify
+ *  them under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  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., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+
+Yes, the stars on the night sky in FlightGear can be used for navigation.
+This short text gives a hint to how it is done. The references explain it
+much better, though, so have a look there both for introduction and more
+advanced topics. 
+
+
+Part 0 - Installing the tools: 3d bubble sextant model for FlightGear
+---------------------------------------------------------------------
+
+  - The bubble sextant 3d model RAF_Mk9_bubble_sextant.xml need to be
+    loaded from the aircraft 3d model file and placed at the center of
+    the view it is intended to be used from. For example for a view located
+    2.5 meter behind and 2.0 meter above the aircraft origin:
+    (Note that any offsets of the main 3d model needs to be accounted for
+    in translating the view position to a 3d model position and that the
+    axes order differs.)
+
+ <!-- Star observer's instruments -->
+ <model>
+  <name>Bubble_sextant</name>
+  <path>Aircraft/Short_Empire/Instruments/BubbleSextant/RAF_Mk9_bubble_sextant.xml</path>
+  <offsets>
+   <x-m> 2.50 </x-m>
+   <y-m> 0.50 </y-m>
+   <z-m> 2.00 </z-m>
+  </offsets>
+ </model>
+
+  - The Nasal module needs to be loaded from the main aircraft -set file.
+    The name of the view in which the sextant will be used and 
+    the stowed (= inactive) location of the instrument needs to be set.
+    The stored location is specified in a frame axis parallel with the
+    aircraft frame but centered at the location given for the sextant
+    3d model in the 3d model file.
+    For example:
+ <nasal>
+  <RAFmk9sextant>
+   <file>Aircraft/Short_Empire/Instruments/BubbleSextant/RAF_Mk9_bubble_sextant.nas</file>
+   <script>
+    var VIEW_NAME = "Star Observation View";
+    var STOWED = { position    : {x:-0.3, y: 0.0, z: -0.2},
+                   orientation : {heading : 320.0,
+                                  pitch   : -45.0,
+                                  roll    : 0.0}
+                 };
+   </script>
+  </RAFmk9sextant>
+ </nasal>
+
+  - To allow fine control of the sextant using the mouse add the following
+    XML snippet to the aircraft's -set file.
+    It binds moves movements in mode 0/pointer mode to the sextant.
+    alt + move mouse         - precision movement of view direction.
+    alt + shift + move mouse - up/down changes the altitude setting of the
+                               sextant.
+                             - left/right tilts the sextant to align with
+                               the horizon.
+
+ <input>
+  <!-- Install the sextant controls in mouse mode 0. -->
+  <mice n="0">
+   <mouse n="0">
+    <mode n="0">
+     <x-axis>
+      <binding>
+       <command>nasal</command>
+       <script>
+         RAFmk9sextant.mouseX();
+       </script>
+      </binding>
+     </x-axis>
+     <y-axis>
+      <binding>
+       <command>nasal</command>
+       <script>
+         RAFmk9sextant.mouseY();
+       </script>
+      </binding>
+     </y-axis>
+    </mode>
+   </mouse>
+  </mice>
+ </input>
+
+
+  To correctly measure the altitude of a heavenly body the instrument
+  must be level, i.e. the bubble must be centered.
+  The instrument is configured for an aim-then-level method, i.e.
+  one first center the view on the desired object then change the altitude
+  and tilt settings until the instrument is level. (I.e. changing altitude
+  behaves as if the user changes the setting and rotates the instrument so
+  that it remains aimed in the same direction).
+
+  NOTE: Tilting of the instrument might still be somewhat buggy.
+
+
+Part 1 - Taking sextant sights in FlightGear
+-------------------------------------
+
+What is needed?
+- The celestial altitude (~angle from the horizon) for some (at least 2)
+  stars and the precise time of observation. 
+
+How?
+
+- Pick up the sextant by clicking on either of its handles.
+
+- Enter the sextant view by clicking on the sextant eye piece.
+
+- Obtain a bubble by turning the bubble knob on the left side of
+  the instrument. It is possible to reach the bubble knob while in
+  sextant view.
+
+- Aim the center of the view on the star. Alt + move mouse in pointer mode
+  enables high precision view rotation.
+
+- Level the instrument. This is done by changing the altitude setting,
+  first in 10 degree steps by the coarse motion knob on the right side
+  of the instrument (reachable also while in sextant view) and then
+  with the slow motion knob (or alt+shift+move mouse up/down).
+  Tilt the instrument (alt+shift+move mouse right/left) as needed to
+  center the bubble.
+
+- Time + celestial altitude constitutes a sighting. Make sure that
+  the instrument is level and aimed at the star when you note the time
+  and altitude.
+
+
+But where are those bl**dy stars?
+
+- I use the star charts around page 256 in "The American Practical Navigator",
+  http://www.nga.mil/MSISiteContent/StaticFiles/NAV_PUBS/APN/pub9.zip
+  to find some. For me the ones in Ursa Major was easiest to find (though
+  one should use a wider spread).
+ 
+  Suggestion (northern hemisphere):
+  * Dubhe  (Right upper corner star of the Ursa Major "wagon".)
+  * Alkaid (Third and last (leftmost) star in the Ursa Major "wagon" handle.)
+  * Arcturus (Brightest star found to the "left" of Alkaid just below the
+              extended line between Alkaid and the star immediately to the
+              right in the Ursa Major "wagon" handle.
+              See star chart in [Bowditch] page 256.)
+              
+
+Part 2 - Computing a position
+-----------------------------
+
+The Intercept method
+
+- Assume a position. It should be close to ones actual position - usually one
+  has a dead reckoning position to start from. (The assumed position need
+  not be equal to the DR one - one can choose a more convenient one e.g.
+  when using tables.) 
+
+- Compute the expected locations of the observed stars for
+  that position.
+  Use a program/website, like http://www.tecepe.com.br/cgi-win/cgiasvis.exe ,
+  or a Nautical Almenac + tables.
+- Compare the observed star locations with the computed ones.
+  This gives a position line for each star. Plot the position
+  lines to (hopefully) get a fix. 
+  Further info and plotting sheets: http://www.efalk.org/Navigation/ 
+
+
+References
+----------
+
+http://www.celestialnavigation.net/
+  Good place to start.
+
+http://www.efalk.org/Navigation/
+  Intercept method tutorial and downloadable plot sheets. 
+
+http://www.ludd.luth.se/users/kavli/peck_celestial/space.html
+  Longer tutorial and description. Focuses on the use of tables for sight
+  reductions.
+
+http://www.tecepe.com.br/cgi-win/cgiasvis.exe
+  Computes star locations. Use instead of tables.
+
+[Bowditch]
+  "The American Practical Navigator",
+  http://www.nga.mil/MSISiteContent/StaticFiles/NAV_PUBS/APN/pub9.zip
+  For those that really really want to learn it all :)
+
+RAF Mk9 bubble sextant manuals and more information
+  http://www.users.bigpond.com/bgrobler/sextant/RAF_Mk9_manual.pdf
+  http://www.users.bigpond.com/bgrobler/sextant/sextant.html
+  http://www.physics.uq.edu.au/physics_museum/bblsex.html
+