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Merge branches 'jmt/xmlauto', 'luff/kln89' and 'curt/radial'

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This commit is contained in:
Tim Moore 2009-10-12 11:03:35 +02:00
commit 40639d38a8
13 changed files with 474 additions and 497 deletions
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288
src/Autopilot/xmlauto.cxx
View file

@ -40,6 +40,20 @@
using std::cout;
using std::endl;
FGXMLAutoInput::FGXMLAutoInput( SGPropertyNode_ptr node, double value, double offset, double scale) :
value(0.0),
abs(false),
property(NULL),
offset(NULL),
scale(NULL),
min(NULL),
max(NULL),
_condition(NULL)
{
parse( node, value, offset, scale );
}
void FGXMLAutoInput::parse( SGPropertyNode_ptr node, double aValue, double aOffset, double aScale )
{
value = aValue;
@ -151,7 +165,7 @@ double FGXMLAutoInput::get_value()
return abs ? fabs(value) : value;
}
FGXMLAutoComponent::FGXMLAutoComponent( SGPropertyNode * node ) :
FGXMLAutoComponent::FGXMLAutoComponent() :
_condition( NULL ),
enable_prop( NULL ),
enable_value( NULL ),
@ -162,22 +176,28 @@ FGXMLAutoComponent::FGXMLAutoComponent( SGPropertyNode * node ) :
debug(false),
enabled( false )
{
int i;
}
FGXMLAutoComponent::~FGXMLAutoComponent()
{
delete enable_value;
}
void FGXMLAutoComponent::parseNode(SGPropertyNode* aNode)
{
SGPropertyNode *prop;
for (int i = 0; i < aNode->nChildren(); ++i ) {
SGPropertyNode *child = aNode->getChild(i);
string cname(child->getName());
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;
if (parseNodeHook(cname, child)) {
// derived class handled it, fine
} else if ( cname == "name" ) {
name = child->getStringValue();
} else if ( cname == "feedback-if-disabled" ) {
feedback_if_disabled = child->getBoolValue();
} else if ( cname == "debug" ) {
debug = child->getBoolValue();
} else if ( cname == "enable" ) {
if( (prop = child->getChild("condition")) != NULL ) {
_condition = sgReadCondition(child, prop);
@ -194,15 +214,10 @@ FGXMLAutoComponent::FGXMLAutoComponent( SGPropertyNode * node ) :
if ( (prop = child->getChild( "honor-passive" )) != NULL ) {
honor_passive = prop->getBoolValue();
}
} else if ( cname == "input" ) {
valueInput.push_back( new FGXMLAutoInput( child ) );
} else if ( cname == "reference" ) {
referenceInput.push_back( new FGXMLAutoInput( child ) );
} else if ( cname == "output" ) {
// grab all <prop> and <property> childs
int found = 0;
@ -221,20 +236,8 @@ FGXMLAutoComponent::FGXMLAutoComponent( SGPropertyNode * node ) :
// no <prop> elements, text node of <output> is property name
if( found == 0 )
output_list.push_back( fgGetNode(child->getStringValue(), true ) );
} else if ( cname == "config" ) {
if( (prop = child->getChild("min")) != NULL ) {
uminInput.push_back( new FGXMLAutoInput( prop ) );
}
if( (prop = child->getChild("u_min")) != NULL ) {
uminInput.push_back( new FGXMLAutoInput( prop ) );
}
if( (prop = child->getChild("max")) != NULL ) {
umaxInput.push_back( new FGXMLAutoInput( prop ) );
}
if( (prop = child->getChild("u_max")) != NULL ) {
umaxInput.push_back( new FGXMLAutoInput( prop ) );
}
parseConfig(child);
} else if ( cname == "min" ) {
uminInput.push_back( new FGXMLAutoInput( child ) );
} else if ( cname == "u_min" ) {
@ -243,13 +246,46 @@ FGXMLAutoComponent::FGXMLAutoComponent( SGPropertyNode * node ) :
umaxInput.push_back( new FGXMLAutoInput( child ) );
} else if ( cname == "u_max" ) {
umaxInput.push_back( new FGXMLAutoInput( child ) );
} else {
SG_LOG(SG_AUTOPILOT, SG_ALERT, "malformed autopilot definition - unrecognized node:"
<< cname << " in section " << name);
throw sg_io_exception("XMLAuto: unrecognized component node:" + cname, "Section=" + name);
}
}
} // of top-level iteration
}
FGXMLAutoComponent::~FGXMLAutoComponent()
void FGXMLAutoComponent::parseConfig(SGPropertyNode* aConfig)
{
delete enable_value;
for (int i = 0; i < aConfig->nChildren(); ++i ) {
SGPropertyNode *child = aConfig->getChild(i);
string cname(child->getName());
if (parseConfigHook(cname, child)) {
// derived class handled it, fine
} else if ( cname == "min" ) {
uminInput.push_back( new FGXMLAutoInput( child ) );
} else if ( cname == "u_min" ) {
uminInput.push_back( new FGXMLAutoInput( child ) );
} else if ( cname == "max" ) {
umaxInput.push_back( new FGXMLAutoInput( child ) );
} else if ( cname == "u_max" ) {
umaxInput.push_back( new FGXMLAutoInput( child ) );
} else {
SG_LOG(SG_AUTOPILOT, SG_ALERT, "malformed autopilot definition - unrecognized config node:"
<< cname << " in section " << name);
throw sg_io_exception("XMLAuto: unrecognized config node:" + cname, "Section=" + name);
}
} // of config iteration
}
bool FGXMLAutoComponent::parseNodeHook(const string& aName, SGPropertyNode* aNode)
{
return false;
}
bool FGXMLAutoComponent::parseConfigHook(const string& aName, SGPropertyNode* aNode)
{
return false;
}
bool FGXMLAutoComponent::isPropertyEnabled()
@ -289,7 +325,7 @@ double FGXMLAutoComponent::clamp( double value )
}
FGPIDController::FGPIDController( SGPropertyNode *node ):
FGXMLAutoComponent( node ),
FGXMLAutoComponent(),
alpha( 0.1 ),
beta( 1.0 ),
gamma( 0.0 ),
@ -300,46 +336,32 @@ FGPIDController::FGPIDController( SGPropertyNode *node ):
desiredTs( 0.0 ),
elapsedTime( 0.0 )
{
int i;
for ( i = 0; i < node->nChildren(); ++i ) {
SGPropertyNode *child = node->getChild(i);
string cname = child->getName();
string cval = child->getStringValue();
if ( cname == "config" ) {
SGPropertyNode *config;
if ( (config = child->getChild( "Ts" )) != NULL ) {
desiredTs = config->getDoubleValue();
}
Kp.push_back( new FGXMLAutoInput( child->getChild( "Kp" ) ) );
Ti.push_back( new FGXMLAutoInput( child->getChild( "Ti" ) ) );
Td.push_back( new FGXMLAutoInput( child->getChild( "Td" ) ) );
config = child->getChild( "beta" );
if ( config != NULL ) {
beta = config->getDoubleValue();
}
config = child->getChild( "alpha" );
if ( config != NULL ) {
alpha = config->getDoubleValue();
}
config = child->getChild( "gamma" );
if ( config != NULL ) {
gamma = config->getDoubleValue();
parseNode(node);
}
bool FGPIDController::parseConfigHook(const string& aName, SGPropertyNode* aNode)
{
if (aName == "Ts") {
desiredTs = aNode->getDoubleValue();
} else if (aName == "Kp") {
Kp.push_back( new FGXMLAutoInput(aNode) );
} else if (aName == "Ti") {
Ti.push_back( new FGXMLAutoInput(aNode) );
} else if (aName == "Td") {
Td.push_back( new FGXMLAutoInput(aNode) );
} else if (aName == "beta") {
beta = aNode->getDoubleValue();
} else if (aName == "alpha") {
alpha = aNode->getDoubleValue();
} else if (aName == "gamma") {
gamma = aNode->getDoubleValue();
} else {
SG_LOG( SG_AUTOPILOT, SG_WARN, "Error in autopilot config logic" );
if ( get_name().length() ) {
SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << get_name() );
}
}
}
// unhandled by us, let the base class try it
return false;
}
return true;
}
/*
* Roy Vegard Ovesen:
@ -512,26 +534,25 @@ void FGPIDController::update( double dt ) {
FGPISimpleController::FGPISimpleController( SGPropertyNode *node ):
FGXMLAutoComponent( node ),
FGXMLAutoComponent(),
int_sum( 0.0 )
{
int i;
for ( i = 0; i < node->nChildren(); ++i ) {
SGPropertyNode *child = node->getChild(i);
string cname = child->getName();
string cval = child->getStringValue();
if ( cname == "config" ) {
Kp.push_back( new FGXMLAutoInput( child->getChild( "Kp" ) ) );
Ki.push_back( new FGXMLAutoInput( child->getChild( "Ki" ) ) );
} else {
SG_LOG( SG_AUTOPILOT, SG_WARN, "Error in autopilot config logic" );
if ( get_name().length() ) {
SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << get_name() );
}
}
}
parseNode(node);
}
bool FGPISimpleController::parseConfigHook(const string& aName, SGPropertyNode* aNode)
{
if (aName == "Kp") {
Kp.push_back( new FGXMLAutoInput(aNode) );
} else if (aName == "Ki") {
Ki.push_back( new FGXMLAutoInput(aNode) );
} else {
// unhandled by us, let the base class try it
return false;
}
return true;
}
void FGPISimpleController::update( double dt ) {
@ -573,19 +594,23 @@ void FGPISimpleController::update( double dt ) {
FGPredictor::FGPredictor ( SGPropertyNode *node ):
FGXMLAutoComponent( node ),
FGXMLAutoComponent(),
average(0.0)
{
int i;
for ( i = 0; i < node->nChildren(); ++i ) {
SGPropertyNode *child = node->getChild(i);
string cname = child->getName();
if ( cname == "seconds" ) {
seconds.push_back( new FGXMLAutoInput( child, 0 ) );
} else if ( cname == "filter-gain" ) {
filter_gain.push_back( new FGXMLAutoInput( child, 0 ) );
parseNode(node);
}
bool FGPredictor::parseNodeHook(const string& aName, SGPropertyNode* aNode)
{
if (aName == "seconds") {
seconds.push_back( new FGXMLAutoInput( aNode, 0 ) );
} else if (aName == "filter-gain") {
filter_gain.push_back( new FGXMLAutoInput( aNode, 0 ) );
} else {
return false;
}
return true;
}
void FGPredictor::update( double dt ) {
@ -634,47 +659,52 @@ void FGPredictor::update( double dt ) {
FGDigitalFilter::FGDigitalFilter(SGPropertyNode *node):
FGXMLAutoComponent( node ),
FGXMLAutoComponent(),
filterType(none)
{
int i;
for ( i = 0; i < node->nChildren(); ++i ) {
SGPropertyNode *child = node->getChild(i);
string cname = child->getName();
string cval = child->getStringValue();
if ( cname == "type" ) {
if ( cval == "exponential" ) {
filterType = exponential;
} else if (cval == "double-exponential") {
filterType = doubleExponential;
} else if (cval == "moving-average") {
filterType = movingAverage;
} else if (cval == "noise-spike") {
filterType = noiseSpike;
} else if (cval == "gain") {
filterType = gain;
} else if (cval == "reciprocal") {
filterType = reciprocal;
}
} else if ( cname == "filter-time" ) {
TfInput.push_back( new FGXMLAutoInput( child, 1.0 ) );
if( filterType == none ) filterType = exponential;
} else if ( cname == "samples" ) {
samplesInput.push_back( new FGXMLAutoInput( child, 1 ) );
if( filterType == none ) filterType = movingAverage;
} else if ( cname == "max-rate-of-change" ) {
rateOfChangeInput.push_back( new FGXMLAutoInput( child, 1 ) );
if( filterType == none ) filterType = noiseSpike;
} else if ( cname == "gain" ) {
gainInput.push_back( new FGXMLAutoInput( child, 1 ) );
if( filterType == none ) filterType = gain;
}
}
parseNode(node);
output.resize(2, 0.0);
input.resize(samplesInput.get_value() + 1, 0.0);
}
bool FGDigitalFilter::parseNodeHook(const string& aName, SGPropertyNode* aNode)
{
if (aName == "type" ) {
string val(aNode->getStringValue());
if ( val == "exponential" ) {
filterType = exponential;
} else if (val == "double-exponential") {
filterType = doubleExponential;
} else if (val == "moving-average") {
filterType = movingAverage;
} else if (val == "noise-spike") {
filterType = noiseSpike;
} else if (val == "gain") {
filterType = gain;
} else if (val == "reciprocal") {
filterType = reciprocal;
}
} else if (aName == "filter-time" ) {
TfInput.push_back( new FGXMLAutoInput( aNode, 1.0 ) );
if( filterType == none ) filterType = exponential;
} else if (aName == "samples" ) {
samplesInput.push_back( new FGXMLAutoInput( aNode, 1 ) );
if( filterType == none ) filterType = movingAverage;
} else if (aName == "max-rate-of-change" ) {
rateOfChangeInput.push_back( new FGXMLAutoInput( aNode, 1 ) );
if( filterType == none ) filterType = noiseSpike;
} else if (aName == "gain" ) {
gainInput.push_back( new FGXMLAutoInput( aNode, 1 ) );
if( filterType == none ) filterType = gain;
} else {
return false; // not handled by us, let the base class try
}
return true;
}
void FGDigitalFilter::update(double dt)
{
if ( isPropertyEnabled() ) {
@ -795,9 +825,9 @@ void FGXMLAutopilot::init() {
" details.");
exit(-1);
}
} catch (const sg_exception&) {
} catch (const sg_exception& e) {
SG_LOG( SG_ALL, SG_ALERT, "Failed to load autopilot configuration: "
<< config.str() );
<< config.str() << ":" << e.getMessage() );
}
} else {

80
src/Autopilot/xmlauto.hxx
View file

@ -24,30 +24,16 @@
#ifndef _XMLAUTO_HXX
#define _XMLAUTO_HXX 1
#ifndef __cplusplus
# error This library requires C++
#endif
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <simgear/compiler.h>
#include <string>
#include <vector>
#include <deque>
using std::string;
using std::vector;
using std::deque;
#include <simgear/props/props.hxx>
#include <simgear/structure/subsystem_mgr.hxx>
#include <simgear/props/condition.hxx>
#include <Main/fg_props.hxx>
class FGXMLAutoInput : public SGReferenced {
private:
@ -61,17 +47,7 @@ private:
SGSharedPtr<const SGCondition> _condition;
public:
FGXMLAutoInput( SGPropertyNode_ptr node = NULL, double value = 0.0, double offset = 0.0, double scale = 1.0 ) :
value(0.0),
abs(false),
property(NULL),
offset(NULL),
scale(NULL),
min(NULL),
max(NULL),
_condition(NULL) {
parse( node, value, offset, scale );
}
FGXMLAutoInput( SGPropertyNode_ptr node = NULL, double value = 0.0, double offset = 0.0, double scale = 1.0 );
void parse( SGPropertyNode_ptr, double value = 0.0, double offset = 0.0, double scale = 1.0 );
@ -95,7 +71,7 @@ public:
};
class FGXMLAutoInputList : public vector<SGSharedPtr<FGXMLAutoInput> > {
class FGXMLAutoInputList : public std::vector<SGSharedPtr<FGXMLAutoInput> > {
public:
FGXMLAutoInput * get_active() {
for (iterator it = begin(); it != end(); ++it) {
@ -119,16 +95,16 @@ class FGXMLAutoInputList : public vector<SGSharedPtr<FGXMLAutoInput> > {
class FGXMLAutoComponent : public SGReferenced {
private:
vector <SGPropertyNode_ptr> output_list;
std::vector <SGPropertyNode_ptr> output_list;
SGSharedPtr<const SGCondition> _condition;
SGPropertyNode_ptr enable_prop;
string * enable_value;
std::string * enable_value;
SGPropertyNode_ptr passive_mode;
bool honor_passive;
string name;
std::string name;
/* Feed back output property to input property if
this filter is disabled. This is for multi-stage
@ -141,6 +117,31 @@ private:
void do_feedback_if_disabled();
protected:
FGXMLAutoComponent();
/*
* Parse a component specification read from a property-list.
* Calls the hook methods below to allow derived classes to
* specialise parsing bevaiour.
*/
void parseNode(SGPropertyNode* aNode);
/**
* Helper to parse the config section
*/
void parseConfig(SGPropertyNode* aConfig);
/*
* Over-rideable hook method to allow derived classes to refine top-level
* node parsing. Return true if the node was handled, false otherwise.
*/
virtual bool parseNodeHook(const std::string& aName, SGPropertyNode* aNode);
/**
* Over-rideable hook method to allow derived classes to refine config
* node parsing. Return true if the node was handled, false otherwise.
*/
virtual bool parseConfigHook(const std::string& aName, SGPropertyNode* aNode);
FGXMLAutoInputList valueInput;
FGXMLAutoInputList referenceInput;
@ -157,12 +158,11 @@ protected:
public:
FGXMLAutoComponent( SGPropertyNode *node);
virtual ~FGXMLAutoComponent();
virtual void update (double dt)=0;
inline const string& get_name() { return name; }
inline const std::string& get_name() { return name; }
double clamp( double value );
@ -173,7 +173,7 @@ public:
// helpful for things like flight directors which position
// their vbars from the autopilot computations.
if ( honor_passive && passive_mode->getBoolValue() ) return;
for( vector <SGPropertyNode_ptr>::iterator it = output_list.begin(); it != output_list.end(); ++it)
for( std::vector <SGPropertyNode_ptr>::iterator it = output_list.begin(); it != output_list.end(); ++it)
(*it)->setDoubleValue( clamp( value ) );
}
@ -253,6 +253,8 @@ private:
double elapsedTime; // elapsed time (sec)
protected:
bool parseConfigHook(const std::string& aName, SGPropertyNode* aNode);
public:
@ -279,6 +281,8 @@ private:
FGXMLAutoInputList Ki;
double int_sum;
protected:
bool parseConfigHook(const std::string& aName, SGPropertyNode* aNode);
public:
@ -301,6 +305,9 @@ private:
FGXMLAutoInputList seconds;
FGXMLAutoInputList filter_gain;
protected:
bool parseNodeHook(const std::string& aName, SGPropertyNode* aNode);
public:
FGPredictor( SGPropertyNode *node );
~FGPredictor() {}
@ -329,12 +336,15 @@ private:
FGXMLAutoInputList gainInput; //
FGXMLAutoInputList TfInput; // Filter time [s]
deque <double> output;
deque <double> input;
std::deque <double> output;
std::deque <double> input;
enum filterTypes { exponential, doubleExponential, movingAverage,
noiseSpike, gain, reciprocal, none };
filterTypes filterType;
protected:
bool parseNodeHook(const std::string& aName, SGPropertyNode* aNode);
public:
FGDigitalFilter(SGPropertyNode *node);
~FGDigitalFilter() {}
@ -365,7 +375,7 @@ public:
protected:
typedef vector<SGSharedPtr<FGXMLAutoComponent> > comp_list;
typedef std::vector<SGSharedPtr<FGXMLAutoComponent> > comp_list;
private:

126
src/Instrumentation/KLN89/kln89.cxx
View file

@ -46,10 +46,90 @@
#include <ATCDCL/ATCProjection.hxx>
#include <Main/fg_props.hxx>
#include <simgear/math/SGMath.hxx>
#include <simgear/structure/commands.hxx>
#include <Airports/simple.hxx>
using std::cout;
// Command callbacks for FlightGear
static bool do_kln89_msg_pressed(const SGPropertyNode* arg) {
//cout << "do_kln89_msg_pressed called!\n";
KLN89* gps = (KLN89*)globals->get_subsystem("kln89");
gps->MsgPressed();
return(true);
}
static bool do_kln89_obs_pressed(const SGPropertyNode* arg) {
//cout << "do_kln89_obs_pressed called!\n";
KLN89* gps = (KLN89*)globals->get_subsystem("kln89");
gps->OBSPressed();
return(true);
}
static bool do_kln89_alt_pressed(const SGPropertyNode* arg) {
//cout << "do_kln89_alt_pressed called!\n";
KLN89* gps = (KLN89*)globals->get_subsystem("kln89");
gps->AltPressed();
return(true);
}
static bool do_kln89_nrst_pressed(const SGPropertyNode* arg) {
KLN89* gps = (KLN89*)globals->get_subsystem("kln89");
gps->NrstPressed();
return(true);
}
static bool do_kln89_dto_pressed(const SGPropertyNode* arg) {
KLN89* gps = (KLN89*)globals->get_subsystem("kln89");
gps->DtoPressed();
return(true);
}
static bool do_kln89_clr_pressed(const SGPropertyNode* arg) {
KLN89* gps = (KLN89*)globals->get_subsystem("kln89");
gps->ClrPressed();
return(true);
}
static bool do_kln89_ent_pressed(const SGPropertyNode* arg) {
KLN89* gps = (KLN89*)globals->get_subsystem("kln89");
gps->EntPressed();
return(true);
}
static bool do_kln89_crsr_pressed(const SGPropertyNode* arg) {
KLN89* gps = (KLN89*)globals->get_subsystem("kln89");
gps->CrsrPressed();
return(true);
}
static bool do_kln89_knob1left1(const SGPropertyNode* arg) {
KLN89* gps = (KLN89*)globals->get_subsystem("kln89");
gps->Knob1Left1();
return(true);
}
static bool do_kln89_knob1right1(const SGPropertyNode* arg) {
KLN89* gps = (KLN89*)globals->get_subsystem("kln89");
gps->Knob1Right1();
return(true);
}
static bool do_kln89_knob2left1(const SGPropertyNode* arg) {
KLN89* gps = (KLN89*)globals->get_subsystem("kln89");
gps->Knob2Left1();
return(true);
}
static bool do_kln89_knob2right1(const SGPropertyNode* arg) {
KLN89* gps = (KLN89*)globals->get_subsystem("kln89");
gps->Knob2Right1();
return(true);
}
// End command callbacks
KLN89::KLN89(RenderArea2D* instrument)
: DCLGPS(instrument) {
_mode = KLN89_MODE_DISP;
@ -77,27 +157,28 @@ KLN89::KLN89(RenderArea2D* instrument)
_pixelated = false;
// Cyclic pages
GPSPage* apt_page = new KLN89AptPage(this);
_pages.clear();
KLN89Page* apt_page = new KLN89AptPage(this);
_pages.push_back(apt_page);
GPSPage* vor_page = new KLN89VorPage(this);
KLN89Page* vor_page = new KLN89VorPage(this);
_pages.push_back(vor_page);
GPSPage* ndb_page = new KLN89NDBPage(this);
KLN89Page* ndb_page = new KLN89NDBPage(this);
_pages.push_back(ndb_page);
GPSPage* int_page = new KLN89IntPage(this);
KLN89Page* int_page = new KLN89IntPage(this);
_pages.push_back(int_page);
GPSPage* usr_page = new KLN89UsrPage(this);
KLN89Page* usr_page = new KLN89UsrPage(this);
_pages.push_back(usr_page);
GPSPage* act_page = new KLN89ActPage(this);
KLN89Page* act_page = new KLN89ActPage(this);
_pages.push_back(act_page);
GPSPage* nav_page = new KLN89NavPage(this);
KLN89Page* nav_page = new KLN89NavPage(this);
_pages.push_back(nav_page);
GPSPage* fpl_page = new KLN89FplPage(this);
KLN89Page* fpl_page = new KLN89FplPage(this);
_pages.push_back(fpl_page);
GPSPage* cal_page = new KLN89CalPage(this);
KLN89Page* cal_page = new KLN89CalPage(this);
_pages.push_back(cal_page);
GPSPage* set_page = new KLN89SetPage(this);
KLN89Page* set_page = new KLN89SetPage(this);
_pages.push_back(set_page);
GPSPage* oth_page = new KLN89OthPage(this);
KLN89Page* oth_page = new KLN89OthPage(this);
_pages.push_back(oth_page);
_nPages = _pages.size();
_curPage = 0;
@ -196,6 +277,23 @@ void KLN89::unbind() {
DCLGPS::unbind();
}
void KLN89::init() {
globals->get_commands()->addCommand("kln89_msg_pressed", do_kln89_msg_pressed);
globals->get_commands()->addCommand("kln89_obs_pressed", do_kln89_obs_pressed);
globals->get_commands()->addCommand("kln89_alt_pressed", do_kln89_alt_pressed);
globals->get_commands()->addCommand("kln89_nrst_pressed", do_kln89_nrst_pressed);
globals->get_commands()->addCommand("kln89_dto_pressed", do_kln89_dto_pressed);
globals->get_commands()->addCommand("kln89_clr_pressed", do_kln89_clr_pressed);
globals->get_commands()->addCommand("kln89_ent_pressed", do_kln89_ent_pressed);
globals->get_commands()->addCommand("kln89_crsr_pressed", do_kln89_crsr_pressed);
globals->get_commands()->addCommand("kln89_knob1left1", do_kln89_knob1left1);
globals->get_commands()->addCommand("kln89_knob1right1", do_kln89_knob1right1);
globals->get_commands()->addCommand("kln89_knob2left1", do_kln89_knob2left1);
globals->get_commands()->addCommand("kln89_knob2right1", do_kln89_knob2right1);
DCLGPS::init();
}
void KLN89::update(double dt) {
// Run any positional calc's required first
DCLGPS::update(dt);
@ -476,7 +574,7 @@ void KLN89::NrstPressed() {
void KLN89::AltPressed() {}
void KLN89::OBSPressed() {
DCLGPS::OBSPressed();
ToggleOBSMode();
if(_obsMode) {
// if(ORS 02)
_mode = KLN89_MODE_CRSR;
@ -494,6 +592,10 @@ void KLN89::MsgPressed() {
_dispMsg = !_dispMsg;
}
void KLN89::ToggleOBSMode() {
DCLGPS::ToggleOBSMode();
}
void KLN89::DrawBar(int page) {
int px = 1 + (page * 15);
int py = 1;

24
src/Instrumentation/KLN89/kln89.hxx
View file

@ -31,6 +31,8 @@
#include <Instrumentation/dclgps.hxx>
#include "kln89_page.hxx"
class KLN89Page;
const int KLN89MapScales[2][21] = {{1, 2, 3, 5, 7, 10, 12, 15, 17, 20, 25, 30, 40, 60, 80, 100, 120, 160, 240, 320, 500},
{2, 4, 6, 9, 13, 18, 22, 28, 32, 37, 46, 55, 75, 110, 150, 185, 220, 300, 440, 600, 925}};
@ -48,6 +50,9 @@ const char* KLN89TimeCodes[20] = { "UTC", "GST", "GDT", "ATS", "ATD", "EST", "ED
typedef map<string, string> airport_id_str_map_type;
typedef airport_id_str_map_type::iterator airport_id_str_map_iterator;
typedef vector<KLN89Page*> kln89_page_list_type;
typedef kln89_page_list_type::iterator kln89_page_list_itr;
class KLN89 : public DCLGPS {
friend class KLN89Page;
@ -71,6 +76,7 @@ public:
void bind();
void unbind();
void init();
void update(double dt);
inline void SetTurnAnticipation(bool b) { _turnAnticipationEnabled = b; }
@ -100,6 +106,8 @@ public:
void CreateDefaultFlightPlans();
private:
void ToggleOBSMode();
//----------------------- Drawing functions which take CHARACTER units -------------------------
// Render string s in display field field at position x, y
// WHERE POSITION IS IN CHARACTER UNITS!
@ -193,15 +201,25 @@ private:
char IncChar(char c, bool gap = false, bool wrap = true);
char DecChar(char c, bool gap = false, bool wrap = true);
// ==================== Page organisation stuff =============
// The list of cyclical pages that the user can cycle through
kln89_page_list_type _pages;
// The currently active page
KLN89Page* _activePage;
// And a facility to save the immediately preceeding active page
KLN89Page* _lastActivePage;
// Hackish
int _entJump; // The page to jump back to if ent is pressed. -1 indicates no jump
bool _entRestoreCrsr; // Indicates that pressing ENT at this point should restore cursor mode
// Misc pages
// Misc pages that aren't in the cyclic list.
// Direct To
GPSPage* _dir_page;
KLN89Page* _dir_page;
// Nearest
GPSPage* _nrst_page;
KLN89Page* _nrst_page;
// ====================== end of page stuff ===================
// Moving-map display stuff
int _mapOrientation; // 0 => North (true) up, 1 => DTK up, 2 => TK up, 3 => heading up (only when connected to external heading source).

27
src/Instrumentation/KLN89/kln89_page.cxx
View file

@ -24,11 +24,11 @@
#include "kln89_page.hxx"
#include <Main/fg_props.hxx>
KLN89Page::KLN89Page(KLN89* parent)
: GPSPage(parent) {
_kln89 = (KLN89*)parent;
KLN89Page::KLN89Page(KLN89* parent) {
_kln89 = parent;
_entInvert = false;
_to_flag = true;
_subPage = 0;
}
KLN89Page::~KLN89Page() {
@ -74,14 +74,14 @@ void KLN89Page::Update(double dt) {
}
}
_kln89->DrawText((_kln89->GetDistVelUnitsSI() ? "km" : "nm"), 1, 4, 3);
GPSWaypoint* awp = _parent->GetActiveWaypoint();
GPSWaypoint* awp = _kln89->GetActiveWaypoint();
if(_kln89->_navFlagged) {
_kln89->DrawText("--.-", 1, 0 ,3);
// Only nav1 still gets speed drawn if nav is flagged - not ACT
if(!nav1) _kln89->DrawText("------", 1, 0, 2);
} else {
char buf[8];
float f = _parent->GetDistToActiveWaypoint() * (_kln89->GetDistVelUnitsSI() ? 0.001 : SG_METER_TO_NM);
float f = _kln89->GetDistToActiveWaypoint() * (_kln89->GetDistVelUnitsSI() ? 0.001 : SG_METER_TO_NM);
snprintf(buf, 5, (f >= 100.0 ? "%4.0f" : "%4.1f"), f);
string s = buf;
_kln89->DrawText(s, 1, 4 - s.size(), 3, true);
@ -132,7 +132,9 @@ void KLN89Page::Knob1Right1() {
void KLN89Page::Knob2Left1() {
if(_kln89->_mode != KLN89_MODE_CRSR && !fgGetBool("/instrumentation/kln89/scan-pull")) {
GPSPage::Knob2Left1();
_kln89->_activePage->LooseFocus();
_subPage--;
if(_subPage < 0) _subPage = _nSubPages - 1;
} else {
if(_uLinePos == 0 && _kln89->_obsMode) {
_kln89->_obsHeading--;
@ -146,7 +148,9 @@ void KLN89Page::Knob2Left1() {
void KLN89Page::Knob2Right1() {
if(_kln89->_mode != KLN89_MODE_CRSR && !fgGetBool("/instrumentation/kln89/scan-pull")) {
GPSPage::Knob2Right1();
_kln89->_activePage->LooseFocus();
_subPage++;
if(_subPage >= _nSubPages) _subPage = 0;
} else {
if(_uLinePos == 0 && _kln89->_obsMode) {
_kln89->_obsHeading++;
@ -203,3 +207,12 @@ void KLN89Page::SetId(const string& s) {
const string& KLN89Page::GetId() {
return(_id);
}
// TODO - this function probably shouldn't be here - FG almost certainly has better handling
// of this somewhere already.
string KLN89Page::GPSitoa(int n) {
char buf[6];
snprintf(buf, 6, "%i", n);
string s = buf;
return(s);
}

26
src/Instrumentation/KLN89/kln89_page.hxx
View file

@ -29,7 +29,7 @@
class KLN89;
class KLN89Page : public GPSPage {
class KLN89Page {
public:
KLN89Page(KLN89* parent);
@ -51,10 +51,15 @@ public:
virtual void OBSPressed();
virtual void MsgPressed();
// See base class comments for this.
// Sometimes a page needs to maintain state for some return paths,
// but change it for others. The CleanUp function can be used for
// changing state for non-ENT return paths in conjunction with
// GPS::_cleanUpPage
virtual void CleanUp();
// ditto
// The LooseFocus function is called when a page or subpage looses focus
// and allows pages to clean up state that is maintained whilst focus is
// retained, but lost on return.
virtual void LooseFocus();
inline void SetEntInvert(bool b) { _entInvert = b; }
@ -63,9 +68,21 @@ public:
virtual void SetId(const string& s);
virtual const string& GetId();
inline int GetSubPage() { return(_subPage); }
inline int GetNSubPages() { return(_nSubPages); }
inline const string& GetName() { return(_name); }
protected:
KLN89* _kln89;
string _name; // eg. "APT", "NAV" etc
int _nSubPages;
// _subpage is zero based
int _subPage; // The subpage gets remembered when other pages are displayed
// Underline position in cursor mode is not persistant when subpage is changed - hence we only need one variable per page for it.
// Note that pos 0 is special - this is the leg pos in field 1, so pos will normally be set to 1 when crsr is pressed.
// Also note that in general it doesn't seem to wrap.
@ -88,6 +105,9 @@ protected:
double _scratchpadTimer; // Used for displaying the scratchpad messages for the right amount of time.
string _scratchpadLine1;
string _scratchpadLine2;
// TODO - remove this function from this class and use a built in method instead.
string GPSitoa(int n);
};
#endif // _KLN89_PAGE_HXX

12
src/Instrumentation/KLN89/kln89_page_act.hxx
View file

@ -52,13 +52,13 @@ private:
GPSWaypoint* _actWp;
// The actual ACT page that gets displayed...
GPSPage* _actPage;
KLN89Page* _actPage;
// ...which points to one of the below.
GPSPage* _aptPage;
GPSPage* _vorPage;
GPSPage* _ndbPage;
GPSPage* _intPage;
GPSPage* _usrPage;
KLN89Page* _aptPage;
KLN89Page* _vorPage;
KLN89Page* _ndbPage;
KLN89Page* _intPage;
KLN89Page* _usrPage;
};
#endif // _KLN89_PAGE_ACT_HXX

12
src/Instrumentation/KLN89/kln89_page_fpl.cxx
View file

@ -144,7 +144,7 @@ void KLN89FplPage::Update(double dt) {
//----------------------------------------- end active FP copy ------------------------------------------------
// Recalculate which waypoint is displayed at the top of the list if required (generally if this page has lost focus).
int idx = _parent->GetActiveWaypointIndex();
int idx = _kln89->GetActiveWaypointIndex();
if(_resetFplPos0) {
if(waylist.size() <= 1) {
_fplPos = 0;
@ -679,7 +679,7 @@ void KLN89FplPage::LooseFocus() {
void KLN89FplPage::EntPressed() {
if(_delFP) {
_parent->ClearFlightPlan(_subPage);
_kln89->ClearFlightPlan(_subPage);
CrsrPressed();
} else if(_delWp) {
int pos = _uLinePos - 4 + _fplPos;
@ -750,7 +750,7 @@ void KLN89FplPage::EntPressed() {
}
} else {
// Use
_parent->ClearFlightPlan(0);
_kln89->ClearFlightPlan(0);
for(unsigned int i=0; i<_kln89->_flightPlans[_subPage]->waypoints.size(); ++i) {
GPSWaypoint* wp = new GPSWaypoint;
*wp = *(_kln89->_flightPlans[_subPage]->waypoints[i]);
@ -759,13 +759,13 @@ void KLN89FplPage::EntPressed() {
_kln89->OrientateToActiveFlightPlan();
_subPage = 0;
}
_parent->CrsrPressed();
_kln89->CrsrPressed();
} else if(_uLinePos == 2) {
if(_kln89->_flightPlans[_subPage]->IsEmpty()) {
// ERROR !!!
} else {
// Use Invert
_parent->ClearFlightPlan(0);
_kln89->ClearFlightPlan(0);
for(unsigned int i=0; i<_kln89->_flightPlans[_subPage]->waypoints.size(); ++i) {
GPSWaypoint* wp = new GPSWaypoint;
*wp = *(_kln89->_flightPlans[_subPage]->waypoints[i]);
@ -774,7 +774,7 @@ void KLN89FplPage::EntPressed() {
}
_kln89->OrientateToActiveFlightPlan();
}
_parent->CrsrPressed();
_kln89->CrsrPressed();
_subPage = 0;
}
}

4
src/Instrumentation/KLN89/kln89_page_nav.cxx
View file

@ -48,8 +48,8 @@ KLN89NavPage::~KLN89NavPage() {
}
void KLN89NavPage::Update(double dt) {
GPSFlightPlan* fp = ((KLN89*)_parent)->_activeFP;
GPSWaypoint* awp = _parent->GetActiveWaypoint();
GPSFlightPlan* fp = _kln89->_activeFP;
GPSWaypoint* awp = _kln89->GetActiveWaypoint();
// Scan-pull out on nav4 page switches off the cursor
if(3 == _subPage && fgGetBool("/instrumentation/kln89/scan-pull")) { _kln89->_mode = KLN89_MODE_DISP; }
bool crsr = (_kln89->_mode == KLN89_MODE_CRSR);

162
src/Instrumentation/dclgps.cxx
View file

@ -26,7 +26,6 @@
#include "dclgps.hxx"
#include <simgear/sg_inlines.h>
#include <simgear/structure/commands.hxx>
#include <simgear/timing/sg_time.hxx>
#include <simgear/magvar/magvar.hxx>
@ -39,85 +38,6 @@
using namespace std;
// Command callbacks for FlightGear
static bool do_kln89_msg_pressed(const SGPropertyNode* arg) {
//cout << "do_kln89_msg_pressed called!\n";
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->MsgPressed();
return(true);
}
static bool do_kln89_obs_pressed(const SGPropertyNode* arg) {
//cout << "do_kln89_obs_pressed called!\n";
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->OBSPressed();
return(true);
}
static bool do_kln89_alt_pressed(const SGPropertyNode* arg) {
//cout << "do_kln89_alt_pressed called!\n";
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->AltPressed();
return(true);
}
static bool do_kln89_nrst_pressed(const SGPropertyNode* arg) {
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->NrstPressed();
return(true);
}
static bool do_kln89_dto_pressed(const SGPropertyNode* arg) {
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->DtoPressed();
return(true);
}
static bool do_kln89_clr_pressed(const SGPropertyNode* arg) {
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->ClrPressed();
return(true);
}
static bool do_kln89_ent_pressed(const SGPropertyNode* arg) {
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->EntPressed();
return(true);
}
static bool do_kln89_crsr_pressed(const SGPropertyNode* arg) {
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->CrsrPressed();
return(true);
}
static bool do_kln89_knob1left1(const SGPropertyNode* arg) {
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->Knob1Left1();
return(true);
}
static bool do_kln89_knob1right1(const SGPropertyNode* arg) {
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->Knob1Right1();
return(true);
}
static bool do_kln89_knob2left1(const SGPropertyNode* arg) {
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->Knob2Left1();
return(true);
}
static bool do_kln89_knob2right1(const SGPropertyNode* arg) {
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->Knob2Right1();
return(true);
}
// End command callbacks
GPSWaypoint::GPSWaypoint() {
appType = GPS_APP_NONE;
}
@ -222,58 +142,12 @@ ClockTime::ClockTime(int hr, int min) {
ClockTime::~ClockTime() {
}
GPSPage::GPSPage(DCLGPS* parent) {
_parent = parent;
_subPage = 0;
}
GPSPage::~GPSPage() {
}
void GPSPage::Update(double dt) {}
void GPSPage::Knob1Left1() {}
void GPSPage::Knob1Right1() {}
void GPSPage::Knob2Left1() {
_parent->_activePage->LooseFocus();
_subPage--;
if(_subPage < 0) _subPage = _nSubPages - 1;
}
void GPSPage::Knob2Right1() {
_parent->_activePage->LooseFocus();
_subPage++;
if(_subPage >= _nSubPages) _subPage = 0;
}
void GPSPage::CrsrPressed() {}
void GPSPage::EntPressed() {}
void GPSPage::ClrPressed() {}
void GPSPage::DtoPressed() {}
void GPSPage::NrstPressed() {}
void GPSPage::AltPressed() {}
void GPSPage::OBSPressed() {}
void GPSPage::MsgPressed() {}
string GPSPage::GPSitoa(int n) {
char buf[6];
snprintf(buf, 6, "%i", n);
string s = buf;
return(s);
}
void GPSPage::CleanUp() {}
void GPSPage::LooseFocus() {}
void GPSPage::SetId(const string& s) {}
// ------------------------------------------------------------------------------------- //
DCLGPS::DCLGPS(RenderArea2D* instrument) {
_instrument = instrument;
_nFields = 1;
_maxFields = 2;
_pages.clear();
// Units - lets default to US units - FG can set them to other units from config during startup if desired.
_altUnits = GPS_ALT_UNITS_FT;
@ -361,18 +235,6 @@ void DCLGPS::draw(osg::State& state) {
}
void DCLGPS::init() {
globals->get_commands()->addCommand("kln89_msg_pressed", do_kln89_msg_pressed);
globals->get_commands()->addCommand("kln89_obs_pressed", do_kln89_obs_pressed);
globals->get_commands()->addCommand("kln89_alt_pressed", do_kln89_alt_pressed);
globals->get_commands()->addCommand("kln89_nrst_pressed", do_kln89_nrst_pressed);
globals->get_commands()->addCommand("kln89_dto_pressed", do_kln89_dto_pressed);
globals->get_commands()->addCommand("kln89_clr_pressed", do_kln89_clr_pressed);
globals->get_commands()->addCommand("kln89_ent_pressed", do_kln89_ent_pressed);
globals->get_commands()->addCommand("kln89_crsr_pressed", do_kln89_crsr_pressed);
globals->get_commands()->addCommand("kln89_knob1left1", do_kln89_knob1left1);
globals->get_commands()->addCommand("kln89_knob1right1", do_kln89_knob1right1);
globals->get_commands()->addCommand("kln89_knob2left1", do_kln89_knob2left1);
globals->get_commands()->addCommand("kln89_knob2right1", do_kln89_knob2right1);
// Not sure if this should be here, but OK for now.
CreateDefaultFlightPlans();
@ -659,6 +521,15 @@ void DCLGPS::update(double dt) {
}
}
GPSWaypoint* DCLGPS::GetActiveWaypoint() {
return &_activeWaypoint;
}
// Returns meters
float DCLGPS::GetDistToActiveWaypoint() {
return _dist2Act;
}
// I don't yet fully understand all the gotchas about where to source time from.
// This function sets the initial timer before the clock exports properties
// and the one below uses the clock to be consistent with the rest of the code.
@ -709,18 +580,7 @@ void DCLGPS::DtoCancel() {
_dto = false;
}
void DCLGPS::Knob1Left1() {}
void DCLGPS::Knob1Right1() {}
void DCLGPS::Knob2Left1() {}
void DCLGPS::Knob2Right1() {}
void DCLGPS::CrsrPressed() { _activePage->CrsrPressed(); }
void DCLGPS::EntPressed() { _activePage->EntPressed(); }
void DCLGPS::ClrPressed() { _activePage->ClrPressed(); }
void DCLGPS::DtoPressed() {}
void DCLGPS::NrstPressed() {}
void DCLGPS::AltPressed() {}
void DCLGPS::OBSPressed() {
void DCLGPS::ToggleOBSMode() {
_obsMode = !_obsMode;
if(_obsMode) {
if(!_activeWaypoint.id.empty()) {
@ -742,8 +602,6 @@ void DCLGPS::SetOBSFromWaypoint() {
_fromWaypoint.id = "OBSWP";
}
void DCLGPS::MsgPressed() {}
void DCLGPS::CDIFSDIncrease() {
if(_currentCdiScaleIndex == 0) {
_currentCdiScaleIndex = _cdiScales.size() - 1;

83
src/Instrumentation/dclgps.hxx
View file

@ -186,67 +186,9 @@ private:
// ------------------------------------------------------------------------------
class DCLGPS;
class GPSPage {
public:
GPSPage(DCLGPS* parent);
virtual ~GPSPage() = 0;
virtual void Update(double dt);
virtual void Knob1Left1();
virtual void Knob1Right1();
virtual void Knob2Left1();
virtual void Knob2Right1();
virtual void CrsrPressed();
virtual void EntPressed();
virtual void ClrPressed();
virtual void DtoPressed();
virtual void NrstPressed();
virtual void AltPressed();
virtual void OBSPressed();
virtual void MsgPressed();
// Sometimes a page needs to maintain state for some return paths,
// but change it for others. The CleanUp function can be used for
// changing state for non-ENT return paths in conjunction with
// GPS::_cleanUpPage
virtual void CleanUp();
// The LooseFocus function is called when a page or subpage looses focus
// and allows pages to clean up state that is maintained whilst focus is
// retained, but lost on return.
virtual void LooseFocus();
// Allows pages that display info for a given ID to have it set/get if they implement these functions.
virtual void SetId(const string& s);
virtual const string& GetId()=0;
inline int GetSubPage() { return(_subPage); }
inline int GetNSubPages() { return(_nSubPages); }
inline const string& GetName() { return(_name); }
protected:
DCLGPS* _parent;
string _name; // eg. "APT", "NAV" etc
int _nSubPages;
// _subpage is zero based
int _subPage; // The subpage gets remembered when other pages are displayed
string GPSitoa(int n);
};
/*-----------------------------------------------------------------------*/
typedef vector<GPSPage*> gps_page_list_type;
typedef gps_page_list_type::iterator gps_page_list_itr;
// TODO - merge generic GPS functions instead and split out KLN specific stuff.
class DCLGPS : public SGSubsystem {
friend class GPSPage;
public:
DCLGPS(RenderArea2D* instrument);
virtual ~DCLGPS() = 0;
@ -266,18 +208,7 @@ public:
// Render a char at a given position as above
virtual void DrawChar(char c, int field, int px, int py, bool bold = false);
virtual void Knob1Right1();
virtual void Knob1Left1();
virtual void Knob2Right1();
virtual void Knob2Left1();
virtual void CrsrPressed();
virtual void EntPressed();
virtual void ClrPressed();
virtual void DtoPressed();
virtual void NrstPressed();
virtual void AltPressed();
virtual void OBSPressed();
virtual void MsgPressed();
virtual void ToggleOBSMode();
// Set the number of fields
inline void SetNumFields(int n) { _nFields = (n > _maxFields ? _maxFields : (n < 1 ? 1 : n)); }
@ -309,7 +240,7 @@ public:
void SetOBSFromWaypoint();
inline GPSWaypoint* GetActiveWaypoint() { return &_activeWaypoint; }
GPSWaypoint* GetActiveWaypoint();
// Get the (zero-based) position of the active waypoint in the active flightplan
// Returns -1 if no active waypoint.
int GetActiveWaypointIndex();
@ -317,7 +248,7 @@ public:
int GetWaypointIndex(const string& id);
// Returns meters
inline float GetDistToActiveWaypoint() { return _dist2Act; }
float GetDistToActiveWaypoint();
// Returns degrees (magnetic)
float GetHeadingToActiveWaypoint();
// Returns degrees (magnetic)
@ -383,14 +314,6 @@ protected:
// 2D rendering area
RenderArea2D* _instrument;
// The actual pages
gps_page_list_type _pages;
// The currently active page
GPSPage* _activePage;
// And a facility to save the immediately preceeding active page
GPSPage* _lastActivePage;
// Units
GPSSpeedUnits _velUnits;
GPSDistanceUnits _distUnits;

4
src/Instrumentation/navradio.cxx
View file

@ -150,6 +150,7 @@ FGNavRadio::FGNavRadio(SGPropertyNode *node) :
last_x(0.0),
last_loc_dist(0.0),
last_xtrack_error(0.0),
xrate_ms(0.0),
_localizerWidth(5.0),
_name(node->getStringValue("name", "nav")),
_num(node->getIntValue("number", 0)),
@ -740,7 +741,8 @@ void FGNavRadio::updateCDI(double dt)
//////////////////////////////////////////////////////////
double t = 0.0;
if ( inrange && cdi_serviceable ) {
double xrate_ms = (last_xtrack_error - _cdiCrossTrackErrorM) / dt;
double cur_rate = (last_xtrack_error - _cdiCrossTrackErrorM) / dt;
xrate_ms = 0.99 * xrate_ms + 0.01 * cur_rate;
if ( fabs(xrate_ms) > 0.00001 ) {
t = _cdiCrossTrackErrorM / xrate_ms;
} else {

1
src/Instrumentation/navradio.hxx
View file

@ -136,6 +136,7 @@ class FGNavRadio : public SGSubsystem
double last_x;
double last_loc_dist;
double last_xtrack_error;
double xrate_ms;
double _localizerWidth; // cached localizer width in degrees
string _name;