Prepare and implement reinit methods for instruments

to clear error conditions, drifts, offsets etc

src/Instrumentation/airspeed_indicator.cxx

@@ -80,6 +80,12 @@ AirspeedIndicator::init ()
     _environmentManager = (FGEnvironmentMgr*) globals->get_subsystem("environment");
 }
 
+void
+AirspeedIndicator::reinit ()
+{
+    _speed_node->setDoubleValue(0.0);
+}
+
 #ifndef FPSTOKTS
 # define FPSTOKTS 0.592484
 #endif

src/Instrumentation/airspeed_indicator.hxx

@@ -40,6 +40,7 @@ public:
     virtual ~AirspeedIndicator ();
 
     virtual void init ();
+    virtual void reinit ();
     virtual void update (double dt);
 
 private:

src/Instrumentation/altimeter.cxx

@@ -75,13 +75,20 @@ Altimeter::setSettingHPa( double value )
 void
 Altimeter::init ()
 {
-    raw_PA = 0.0;
-    _kollsman = 0.0;
     _pressure_node     = fgGetNode(_static_pressure.c_str(), true);
     _serviceable_node  = _rootNode->getChild("serviceable", 0, true);
     _press_alt_node    = _rootNode->getChild("pressure-alt-ft", 0, true);
     _mode_c_node       = _rootNode->getChild("mode-c-alt-ft", 0, true);
     _altitude_node     = _rootNode->getChild("indicated-altitude-ft", 0, true);
+
+    reinit();
+}
+
+void
+Altimeter::reinit ()
+{
+    _raw_PA = 0.0;
+    _kollsman = 0.0;
 }
 
 void
@@ -105,13 +112,13 @@ Altimeter::update (double dt)
         double pressure = _pressure_node->getDoubleValue();
         double press_alt = _press_alt_node->getDoubleValue();
         // The mechanism settles slowly toward new pressure altitude:
-        raw_PA = fgGetLowPass(raw_PA, _altimeter.press_alt_ft(pressure), trat);
+        _raw_PA = fgGetLowPass(_raw_PA, _altimeter.press_alt_ft(pressure), trat);
-        _mode_c_node->setDoubleValue(100 * SGMiscd::round(raw_PA/100));
+        _mode_c_node->setDoubleValue(100 * SGMiscd::round(_raw_PA/100));
         _kollsman = fgGetLowPass(_kollsman, _altimeter.kollsman_ft(_settingInHg), trat);
         if (_quantum)
-            press_alt = _quantum * SGMiscd::round(raw_PA/_quantum);
+            press_alt = _quantum * SGMiscd::round(_raw_PA/_quantum);
         else
-            press_alt = raw_PA;
+            press_alt = _raw_PA;
         _press_alt_node->setDoubleValue(press_alt);
         _altitude_node->setDoubleValue(press_alt - _kollsman);
     }

src/Instrumentation/altimeter.hxx

@@ -36,6 +36,7 @@ public:
     virtual ~Altimeter ();
 
     virtual void init ();
+    virtual void reinit ();
     virtual void update (double dt);
     virtual void bind();
     virtual void unbind();
@@ -51,7 +52,7 @@ private:
     double _tau;
     double _quantum;
     double _kollsman;
-    double raw_PA;
+    double _raw_PA;
     double _settingInHg;
 
     SGPropertyNode_ptr _serviceable_node;

src/Instrumentation/attitude_indicator.cxx

@@ -65,6 +65,16 @@ AttitudeIndicator::init ()
     _roll_int_node = node->getChild("internal-roll-deg", 0, true);
     _pitch_out_node = node->getChild("indicated-pitch-deg", 0, true);
     _roll_out_node = node->getChild("indicated-roll-deg", 0, true);
+
+    reinit();
+}
+
+void
+AttitudeIndicator::reinit ()
+{
+    _roll_int_node->setDoubleValue(0.0);
+    _pitch_int_node->setDoubleValue(0.0);
+    _gyro.reinit();
 }
 
 void

src/Instrumentation/attitude_indicator.hxx

@@ -45,6 +45,7 @@ public:
     virtual ~AttitudeIndicator ();
 
     virtual void init ();
+    virtual void reinit ();
     virtual void bind ();
     virtual void unbind ();
     virtual void update (double dt);

src/Instrumentation/dme.cxx

@@ -88,6 +88,14 @@ DME::init ()
     if( NULL == _audioIdent ) 
         _audioIdent = new DMEAudioIdent( temp.str() );
     _audioIdent->init();
+
+    reinit();
+}
+
+void
+DME::reinit ()
+{
+    _time_before_search_sec = 0;
 }
 
 void

src/Instrumentation/dme.hxx

@@ -39,6 +39,7 @@ public:
     virtual ~DME ();
 
     virtual void init ();
+    virtual void reinit ();
     virtual void update (double delta_time_sec);
 
 private:

src/Instrumentation/gps.cxx

@@ -328,7 +328,11 @@ GPS::init ()
   
   // last thing, add the deprecated prop watcher
   new DeprecatedPropListener(_gpsNode);
+}
 
+void
+GPS::reinit ()
+{
   clearOutput();
 }
 

src/Instrumentation/gps.hxx

@@ -84,6 +84,7 @@ public:
 
   // SGSubsystem interface
     virtual void init ();
+    virtual void reinit ();
     virtual void update (double delta_time_sec);
 
     virtual void bind();

src/Instrumentation/gyro.cxx

@@ -13,6 +13,12 @@ Gyro::~Gyro ()
 {
 }
 
+void Gyro::reinit(void)
+{
+    _power_norm = 0.0;
+    _spin_norm = 0.0;
+}
+
 void
 Gyro::update (double delta_time_sec)
 {

src/Instrumentation/gyro.hxx

@@ -18,12 +18,15 @@ public:
      */
     Gyro ();
 
-
     /**
      * Destructor.
      */
     virtual ~Gyro ();
 
+    /**
+     * Reset the gyro.
+     */
+    void reinit(void);
 
     /**
      * Update the gyro.

src/Instrumentation/heading_indicator.cxx

@@ -48,8 +48,16 @@ HeadingIndicator::init ()
     _heading_out_node = node->getChild("indicated-heading-deg", 0, true);
     _heading_bug_error_node = node->getChild("heading-bug-error-deg", 0, true);
     _heading_bug_node = node->getChild("heading-bug-deg", 0, true);
+
+    reinit();
+}
+
+void
+HeadingIndicator::reinit ()
+{
     _last_heading_deg = (_heading_in_node->getDoubleValue() +
                          _offset_node->getDoubleValue());
+    _gyro.reinit();
 }
 
 void

src/Instrumentation/heading_indicator.hxx

@@ -42,6 +42,7 @@ public:
     virtual ~HeadingIndicator ();
 
     virtual void init ();
+    virtual void reinit ();
     virtual void bind ();
     virtual void unbind ();
     virtual void update (double dt);

src/Instrumentation/heading_indicator_dg.cxx

@@ -63,7 +63,6 @@ HeadingIndicatorDG::init ()
     _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);
@@ -75,11 +74,7 @@ HeadingIndicatorDG::init ()
 
     _electrical_node = fgGetNode("/systems/electrical/outputs/DG", true);
 
-    _align_node->setDoubleValue(0);
+    reinit();
-    _error_node->setDoubleValue(0);
-
-    _last_heading_deg = (_heading_in_node->getDoubleValue() +
-        _offset_node->getDoubleValue() + _align_node->getDoubleValue());
 }
 
 void
@@ -108,6 +103,20 @@ HeadingIndicatorDG::unbind ()
     fgUntie((branch + "/spin").c_str());
 }
 
+void
+HeadingIndicatorDG::reinit (void)
+{
+    // reset errors/drift values
+    _align_node->setDoubleValue(0.0);
+    _error_node->setDoubleValue(0.0);
+    _offset_node->setDoubleValue(0.0);
+
+    _last_heading_deg = (_heading_in_node->getDoubleValue() +
+        _offset_node->getDoubleValue() + _align_node->getDoubleValue());
+
+    _gyro.reinit();
+}
+
 void
 HeadingIndicatorDG::update (double dt)
 {
@@ -162,7 +171,7 @@ HeadingIndicatorDG::update (double dt)
 
     _heading_out_node->setDoubleValue(heading);
 
-                                 // calculate the difference between the indicacted heading
+                                 // calculate the difference between the indicated heading
                                  // and the selected heading for use with an autopilot
     static SGPropertyNode *bnode
         = fgGetNode( "/autopilot/settings/heading-bug-deg", false );

src/Instrumentation/heading_indicator_dg.hxx

@@ -40,6 +40,7 @@ public:
     virtual ~HeadingIndicatorDG ();
 
     virtual void init ();
+    virtual void reinit ();
     virtual void bind ();
     virtual void unbind ();
     virtual void update (double dt);
@@ -51,7 +52,6 @@ private:
 
     std::string name;
     int num;
-    //string vacuum_system;
 
     SGPropertyNode_ptr _offset_node;
     SGPropertyNode_ptr _heading_in_node;

src/Instrumentation/heading_indicator_fg.cxx

@@ -74,9 +74,17 @@ HeadingIndicatorFG::init ()
     _heading_out_node = node->getChild("indicated-heading-deg", 0, true);
     _off_node         = node->getChild("off-flag", 0, true);
 
+    _electrical_node = fgGetNode("/systems/electrical/outputs/DG", true);
+
+    reinit();
+}
+
+void
+HeadingIndicatorFG::reinit ()
+{
     _last_heading_deg = (_heading_in_node->getDoubleValue() +
                          _offset_node->getDoubleValue());
-	_electrical_node = fgGetNode("/systems/electrical/outputs/DG", true);
+    _gyro.reinit();
 }
 
 void
@@ -91,7 +99,6 @@ HeadingIndicatorFG::bind ()
           &_gyro, &Gyro::is_serviceable, &Gyro::set_serviceable);
     fgTie((branch + "/spin").c_str(),
           &_gyro, &Gyro::get_spin_norm, &Gyro::set_spin_norm);
-	
 }
 
 void

src/Instrumentation/heading_indicator_fg.hxx

@@ -42,6 +42,7 @@ public:
     virtual ~HeadingIndicatorFG ();
 
     virtual void init ();
+    virtual void reinit ();
     virtual void bind ();
     virtual void unbind ();
     virtual void update (double dt);

src/Instrumentation/inst_vertical_speed_indicator.cxx

@@ -185,9 +185,14 @@ void InstVerticalSpeedIndicator::init ()
         node->getNode("indicated-speed-fps", true);
     _speed_min_node =
         node->getNode("indicated-speed-fpm", true);
+}
 
+void InstVerticalSpeedIndicator::reinit ()
+{
     // Initialize at ambient pressure
     _internal_pressure_inhg = _pressure_node->getDoubleValue();
+    _speed_ft_per_s = 0.0;
+    _internal_sea_inhg = _sea_node->getDoubleValue();
 }
 
 

src/Instrumentation/inst_vertical_speed_indicator.hxx

@@ -58,6 +58,7 @@ public:
     virtual ~InstVerticalSpeedIndicator ();
 
     virtual void init ();
+    virtual void reinit ();
     virtual void update (double dt);
 
 private:

src/Instrumentation/kr_87.cxx

@@ -118,6 +118,9 @@ void FGKR_87::init () {
     _sgr->tie_to_listener();
 }
 
+void FGKR_87::reinit () {
+    _time_before_search_sec = 0;
+}
 
 void FGKR_87::bind () {
     _tiedProperties.setRoot(fgGetNode("/instrumentation/kr-87", true));

src/Instrumentation/kr_87.hxx

@@ -109,6 +109,7 @@ public:
     ~FGKR_87();
 
     void init ();
+    void reinit ();
     void bind ();
     void unbind ();
     void update (double dt_sec);

src/Instrumentation/mag_compass.cxx

@@ -48,8 +48,16 @@ MagCompass::init ()
     _y_accel_node = fgGetNode("/accelerations/pilot/y-accel-fps_sec", true);
     _z_accel_node = fgGetNode("/accelerations/pilot/z-accel-fps_sec", true);
     _out_node = node->getChild("indicated-heading-deg", 0, true);
+
+    reinit();
 }
 
+void
+MagCompass::reinit ()
+{
+    _error_deg = 0.0;
+    _rate_degps = 0.0;
+}
 
 void
 MagCompass::update (double delta_time_sec)

src/Instrumentation/mag_compass.hxx

@@ -44,6 +44,7 @@ public:
     virtual ~MagCompass ();
 
     virtual void init ();
+    virtual void reinit ();
     virtual void update (double dt);
 
 private:

src/Instrumentation/marker_beacon.cxx

@@ -43,7 +43,6 @@ using std::string;
 // Constructor
 FGMarkerBeacon::FGMarkerBeacon(SGPropertyNode *node) :
     audio_vol(NULL),
-    need_update(true),
     outer_blink(false),
     middle_blink(false),
     inner_blink(false),
@@ -121,11 +120,16 @@ FGMarkerBeacon::init ()
     _sgr = smgr->find("avionics", true);
     _sgr->tie_to_listener();
 
-    blink.stamp();
+    reinit();
-
-    outer_marker = middle_marker = inner_marker = false;
 }
 
+void
+FGMarkerBeacon::reinit ()
+{
+    blink.stamp();
+    outer_marker = middle_marker = inner_marker = false;
+    _time_before_search_sec = 0.0;
+}
 
 void
 FGMarkerBeacon::bind ()
@@ -160,8 +164,6 @@ FGMarkerBeacon::unbind ()
 void
 FGMarkerBeacon::update(double dt)
 {
-    need_update = false;
-
     // On timeout, scan again, this needs to run every iteration no
     // matter what the power or serviceable state.  If power is turned
     // off or the unit becomes unserviceable while a beacon sound is

src/Instrumentation/marker_beacon.hxx

@@ -51,8 +51,6 @@ class FGMarkerBeacon : public SGSubsystem
     SGPropertyNode_ptr serviceable;
     SGPropertyNode_ptr sound_working;
 
-    bool need_update;
-
     bool outer_marker;
     bool middle_marker;
     bool inner_marker;
@@ -83,6 +81,7 @@ public:
     ~FGMarkerBeacon();
 
     void init ();
+    void reinit ();
     void bind ();
     void unbind ();
     void update (double dt);

src/Instrumentation/mrg.cxx

@@ -41,19 +41,6 @@ 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;
-    _erect_time = 180;
-    _last_g = 1;
-    _g_error = 10;
-
     string branch;
     branch = "/instrumentation/" + _name;
 
@@ -83,12 +70,32 @@ MasterReferenceGyro::init ()
     _hdg_input_source_node = node->getChild("heading-source", 0, true);
     _fast_erect_node = node->getChild("fast-erect", 0, true);
 
+    reinit();
+}
+
+void
+MasterReferenceGyro::reinit ()
+{
+    _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;
+    _erect_time = 180;
+    _last_g = 1;
+    _g_error = 10;
+
     _electrical_node->setDoubleValue(0);
     _responsiveness_node->setDoubleValue(0.75);
     _off_node->setBoolValue(false);
     _hdg_input_source_node->setBoolValue(false);
     _fast_erect_node->setBoolValue(false);
     _g_in_node->setDoubleValue(1);
+    _gyro.reinit();
 }
 
 void

src/Instrumentation/mrg.hxx

@@ -43,6 +43,7 @@ public:
     virtual ~MasterReferenceGyro ();
 
     virtual void init ();
+    virtual void reinit ();
     virtual void bind ();
     virtual void unbind ();
     virtual void update (double dt);

src/Instrumentation/navradio.cxx

@@ -267,6 +267,12 @@ FGNavRadio::init ()
     node->getNode( "dme-in-range", true )->alias( fgGetNode("/instrumentation/dme[0]/in-range", true ) );
 }
 
+void
+FGNavRadio::reinit ()
+{
+    _time_before_search_sec = -1.0;
+}
+
 void
 FGNavRadio::bind ()
 {

src/Instrumentation/navradio.hxx

@@ -190,6 +190,7 @@ public:
     ~FGNavRadio();
 
     void init ();
+    void reinit ();
     void bind ();
     void unbind ();
     void update (double dt);

src/Instrumentation/slip_skid_ball.cxx

@@ -36,6 +36,14 @@ SlipSkidBall::init ()
     _z_accel_node = fgGetNode("/accelerations/pilot/z-accel-fps_sec", true);
     _out_node = node->getChild("indicated-slip-skid", 0, true);
     _override_node = node->getChild("override", 0, true);
+
+    reinit();
+}
+
+void
+SlipSkidBall::reinit ()
+{
+    _out_node->setDoubleValue(0.0);
 }
 
 void

src/Instrumentation/slip_skid_ball.hxx

@@ -37,6 +37,7 @@ public:
     virtual ~SlipSkidBall ();
 
     virtual void init ();
+    virtual void reinit ();
     virtual void update (double dt);
 
 private:

src/Instrumentation/tacan.cxx

@@ -124,6 +124,12 @@ TACAN::init ()
     _electrical_node = fgGetNode("/systems/electrical/outputs/tacan", true);
 }
 
+void
+TACAN::reinit ()
+{
+    _time_before_search_sec = 0;
+}
+
 void
 TACAN::update (double delta_time_sec)
 {

src/Instrumentation/tacan.hxx

@@ -40,6 +40,7 @@ public:
     virtual ~TACAN ();
 
     virtual void init ();
+    virtual void reinit ();
     virtual void update (double delta_time_sec);
 
 private:

src/Instrumentation/tcas.cxx

@@ -377,6 +377,12 @@ TCAS::AdvisoryCoordinator::AdvisoryCoordinator(TCAS* _tcas) :
 
 void
 TCAS::AdvisoryCoordinator::init(void)
+{
+    reinit();
+}
+
+void
+TCAS::AdvisoryCoordinator::reinit(void)
 {
     clear();
     previous = current;
@@ -1181,6 +1187,13 @@ TCAS::init(void)
     threatDetector.init();
 }
 
+void
+TCAS::reinit(void)
+{
+    nextUpdateTime = 0;
+    advisoryCoordinator.reinit();
+}
+
 void
 TCAS::bind(void)
 {

src/Instrumentation/tcas.hxx

@@ -238,6 +238,7 @@ class TCAS : public SGSubsystem
 
         void bind            (SGPropertyNode* node);
         void init            (void);
+        void reinit          (void);
         void update          (int mode);
 
         void clear           (void);
@@ -385,6 +386,7 @@ public:
     virtual void bind   (void);
     virtual void unbind (void);
     virtual void init   (void);
+    virtual void reinit (void);
     virtual void update (double dt);
 };
 

src/Instrumentation/turn_indicator.cxx

@@ -46,6 +46,15 @@ TurnIndicator::init ()
     _electric_current_node = 
         fgGetNode("/systems/electrical/outputs/turn-coordinator", true);
     _rate_out_node = node->getChild("indicated-turn-rate", 0, true);
+
+    reinit();
+}
+
+void
+TurnIndicator::reinit ()
+{
+    _last_rate = 0;
+    _gyro.reinit();
 }
 
 void

src/Instrumentation/turn_indicator.hxx

@@ -44,6 +44,7 @@ public:
     virtual ~TurnIndicator ();
 
     virtual void init ();
+    virtual void reinit ();
     virtual void bind ();
     virtual void unbind ();
     virtual void update (double dt);

src/Instrumentation/vertical_speed_indicator.cxx

@@ -39,6 +39,12 @@ VerticalSpeedIndicator::init ()
     _speed_node = node->getChild("indicated-speed-fpm", 0, true);
     _speed_up_node = fgGetNode("/sim/speed-up", true);
 
+    reinit();
+}
+
+void
+VerticalSpeedIndicator::reinit ()
+{
     // Initialize at ambient pressure
     _internal_pressure_inhg = _pressure_node->getDoubleValue();
 }

src/Instrumentation/vertical_speed_indicator.hxx

@@ -36,6 +36,7 @@ public:
     virtual ~VerticalSpeedIndicator ();
 
     virtual void init ();
+    virtual void reinit ();
     virtual void update (double dt);
 
 private:

src/Systems/static.cxx

@@ -37,6 +37,15 @@ StaticSystem::init ()
     _serviceable_node = node->getChild("serviceable", 0, true);
     _pressure_in_node = fgGetNode("/environment/pressure-inhg", true);
     _pressure_out_node = node->getChild("pressure-inhg", 0, true);
+
+    reinit();
+}
+
+void
+StaticSystem::reinit ()
+{
+    // start with settled static pressure
+    _pressure_out_node->setDoubleValue(_pressure_in_node->getDoubleValue());
 }
 
 void
@@ -56,7 +65,6 @@ StaticSystem::update (double dt)
         double trat = _tau ? dt/_tau : 100;
         double target = _pressure_in_node->getDoubleValue();
         double current = _pressure_out_node->getDoubleValue();
-        // double delta = target - current;
         _pressure_out_node->setDoubleValue(fgGetLowPass(current, target, trat));
     }
 }

src/Systems/static.hxx

@@ -40,6 +40,7 @@ public:
     virtual ~StaticSystem ();
 
     virtual void init ();
+    virtual void reinit ();
     virtual void bind ();
     virtual void unbind ();
     virtual void update (double dt);

src/Systems/vacuum.cxx

@@ -46,6 +46,14 @@ VacuumSystem::init()
     }
     _pressure_node = fgGetNode("/environment/pressure-inhg", true);
     _suction_node = node->getChild("suction-inhg", 0, true);
+
+    reinit();
+}
+
+void
+VacuumSystem::reinit()
+{
+    _suction_node->setDoubleValue(0.0);
 }
 
 void

src/Systems/vacuum.hxx

@@ -43,6 +43,7 @@ public:
     virtual ~VacuumSystem ();
 
     virtual void init ();
+    virtual void reinit ();
     virtual void bind ();
     virtual void unbind ();
     virtual void update (double dt);