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gyro heading indicator: realism when spin is low

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Low spin or switched off gyros result in the indicator being stuck.
When the gyros are repowered, the indication doesn't jump to the correct
indication, but keeps the current error.
This commit is contained in:
ThorstenB 2012-09-21 15:59:04 +02:00
parent 2003e7cf2a
commit 002cada172
1 changed files with 9 additions and 5 deletions
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14
src/Instrumentation/heading_indicator_dg.cxx
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@ -148,12 +148,17 @@ HeadingIndicatorDG::update (double dt)
error += 0.033 * g * dt;
}
_error_node->setDoubleValue(error);
// Next, calculate the indicated heading,
// introducing errors.
double factor = 100 * (spin * spin * spin * spin * spin * spin);
double factor = spin * spin * spin * spin * spin * spin;
double heading = _heading_in_node->getDoubleValue();
if (spin < 0.9)
{
// when gyro spin is low, then any heading change results in
// increasing the error (spin=0 => indicator is stuck)
error += (_last_heading_deg - heading)*(1-factor);
}
_error_node->setDoubleValue(error);
// Now, we have to get the current
// heading and the last heading into
@ -162,8 +167,7 @@ HeadingIndicatorDG::update (double dt)
_last_heading_deg += 360;
while ((heading - _last_heading_deg) < -180)
_last_heading_deg -= 360;
heading = fgGetLowPass(_last_heading_deg, heading, dt * factor);
heading = fgGetLowPass(_last_heading_deg, heading, dt * factor * 100);
_last_heading_deg = heading;
heading += offset + align + error;