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Roy V. OVESEN: add support for heading bug

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mfranz 2009-03-15 19:18:14 +00:00 committed by Tim Moore
parent 8f660b97ad
commit 51b46283df
2 changed files with 15 additions and 10 deletions
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21
src/Instrumentation/heading_indicator.cxx
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@ -4,6 +4,7 @@
// This file is in the Public Domain and comes with no warranty.
#include <simgear/compiler.h>
#include <simgear/sg_inlines.h>
#include <iostream>
#include <string>
#include <sstream>
@ -36,6 +37,8 @@ HeadingIndicator::init ()
_heading_in_node = fgGetNode("/orientation/heading-deg", true);
_suction_node = fgGetNode(_suction.c_str(), true);
_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);
_last_heading_deg = (_heading_in_node->getDoubleValue() +
_offset_node->getDoubleValue());
}
@ -77,11 +80,7 @@ HeadingIndicator::update (double dt)
// Next, calculate time-based precession
double offset = _offset_node->getDoubleValue();
offset -= dt * (0.25 / 60.0); // 360deg/day
while (offset < -360)
offset += 360;
while (offset > 360)
offset -= 360;
_offset_node->setDoubleValue(offset);
SG_NORMALIZE_RANGE(offset, -360.0, 360.0);
// TODO: movement-induced error
@ -102,12 +101,16 @@ HeadingIndicator::update (double dt)
_last_heading_deg = heading;
heading += offset;
while (heading < 0)
heading += 360;
while (heading > 360)
heading -= 360;
SG_NORMALIZE_RANGE(heading, 0.0, 360.0);
_heading_out_node->setDoubleValue(heading);
// Calculate heading bug error normalized to +/- 180.0
double heading_bug = _heading_bug_node->getDoubleValue();
double diff = heading_bug - heading;
SG_NORMALIZE_RANGE(diff, -180.0, 180.0);
_heading_bug_error_node->setDoubleValue( diff );
}
// end of heading_indicator.cxx

2
src/Instrumentation/heading_indicator.hxx
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@ -59,6 +59,8 @@ private:
SGPropertyNode_ptr _heading_in_node;
SGPropertyNode_ptr _suction_node;
SGPropertyNode_ptr _heading_out_node;
SGPropertyNode_ptr _heading_bug_error_node;
SGPropertyNode_ptr _heading_bug_node;
};