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First pass at trying to add back in the AI effect where it starts drifting

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off it's correct position once the gyro spins down below a certain threshold
(such as what would happen in a vacuum failure.)
This commit is contained in:
curt 2003-04-25 02:22:06 +00:00
parent a16d03a6cd
commit 6d4ea1494c
2 changed files with 34 additions and 6 deletions
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38
src/Instrumentation/attitude_indicator.cxx
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@ -36,6 +36,12 @@ AttitudeIndicator::init ()
fgGetNode("/instrumentation/attitude-indicator/caged-flag", true);
_tumble_node =
fgGetNode("/instrumentation/attitude-indicator/tumble-norm", true);
_pitch_int_node =
fgGetNode("/instrumentation/attitude-indicator/internal-pitch-deg",
true);
_roll_int_node =
fgGetNode("/instrumentation/attitude-indicator/internal-roll-deg",
true);
_pitch_out_node =
fgGetNode("/instrumentation/attitude-indicator/indicated-pitch-deg",
true);
@ -65,8 +71,8 @@ AttitudeIndicator::update (double dt)
{
// If it's caged, it doesn't indicate
if (_caged_node->getBoolValue()) {
_roll_out_node->setDoubleValue(0.0);
_pitch_out_node->setDoubleValue(0.0);
_roll_int_node->setDoubleValue(0.0);
_pitch_int_node->setDoubleValue(0.0);
return;
}
@ -111,14 +117,34 @@ AttitudeIndicator::update (double dt)
_tumble_node->setDoubleValue(tumble);
}
roll = fgGetLowPass(_roll_out_node->getDoubleValue(), roll,
roll = fgGetLowPass(_roll_int_node->getDoubleValue(), roll,
responsiveness);
pitch = fgGetLowPass(_pitch_out_node->getDoubleValue(), pitch,
pitch = fgGetLowPass(_pitch_int_node->getDoubleValue(), pitch,
responsiveness);
// Assign the new values
_roll_out_node->setDoubleValue(roll);
_pitch_out_node->setDoubleValue(pitch);
_roll_int_node->setDoubleValue(roll);
_pitch_int_node->setDoubleValue(pitch);
// add in a gyro underspin "error" if gyro is spinning too slowly
const double spin_thresh = 0.4;
const double max_roll_error = 40.0;
const double max_pitch_error = 15.0;
double roll_error;
double pitch_error;
if ( spin <= spin_thresh ) {
double roll_error_factor = (spin_thresh - spin) / spin_thresh;
double pitch_error_factor = (spin_thresh - spin) / spin_thresh;
roll_error = roll_error_factor * roll_error_factor * max_roll_error;
pitch_error = pitch_error_factor * pitch_error_factor * max_pitch_error;
} else {
roll_error = 0.0;
pitch_error = 0.0;
}
_roll_out_node->setDoubleValue(roll + roll_error);
_pitch_out_node->setDoubleValue(pitch + pitch_error);
}
// end of attitude_indicator.cxx

2
src/Instrumentation/attitude_indicator.hxx
View file

@ -61,6 +61,8 @@ private:
SGPropertyNode_ptr _pitch_in_node;
SGPropertyNode_ptr _roll_in_node;
SGPropertyNode_ptr _suction_node;
SGPropertyNode_ptr _pitch_int_node;
SGPropertyNode_ptr _roll_int_node;
SGPropertyNode_ptr _pitch_out_node;
SGPropertyNode_ptr _roll_out_node;