Merge branch 'jmt/gps' into next
Conflicts: src/Instrumentation/gps.cxx
This commit is contained in:
commit
70ebde4488
4 changed files with 115 additions and 124 deletions
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@ -188,75 +188,27 @@ GPS::Config::Config() :
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_turnRate(3.0), // degrees-per-second, so 180 degree turn takes 60 seconds
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_overflightArmDistance(1.0),
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_waypointAlertTime(30.0),
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_tuneRadio1ToRefVor(false),
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_minRunwayLengthFt(0.0),
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_requireHardSurface(true),
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_cdiMaxDeflectionNm(3.0), // linear mode, 3nm at the peg
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_driveAutopilot(true)
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_driveAutopilot(true),
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_courseSelectable(false)
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{
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_enableTurnAnticipation = false;
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_extCourseSource = fgGetNode("/instrumentation/nav[0]/radials/selected-deg", true);
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}
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void GPS::Config::bind(GPS* aOwner, SGPropertyNode* aCfg)
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{
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aOwner->tie(aCfg, "turn-rate-deg-sec", SGRawValuePointer<double>(&_turnRate));
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aOwner->tie(aCfg, "turn-anticipation", SGRawValuePointer<bool>(&_enableTurnAnticipation));
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aOwner->tie(aCfg, "wpt-alert-time", SGRawValuePointer<double>(&_waypointAlertTime));
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aOwner->tie(aCfg, "tune-nav-radio-to-ref-vor", SGRawValuePointer<bool>(&_tuneRadio1ToRefVor));
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aOwner->tie(aCfg, "min-runway-length-ft", SGRawValuePointer<double>(&_minRunwayLengthFt));
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aOwner->tie(aCfg, "hard-surface-runways-only", SGRawValuePointer<bool>(&_requireHardSurface));
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aOwner->tie(aCfg, "course-source", SGRawValueMethods<GPS::Config, const char*>
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(*this, &GPS::Config::getCourseSource, &GPS::Config::setCourseSource));
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aOwner->tie(aCfg, "cdi-max-deflection-nm", SGRawValuePointer<double>(&_cdiMaxDeflectionNm));
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aOwner->tie(aCfg, "drive-autopilot", SGRawValuePointer<bool>(&_driveAutopilot));
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aOwner->tie(aCfg, "course-selectable", SGRawValuePointer<bool>(&_courseSelectable));
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}
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const char*
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GPS::Config::getCourseSource() const
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{
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if (!_extCourseSource) {
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return "";
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}
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return _extCourseSource->getPath(true).c_str();
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}
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void
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GPS::Config::setCourseSource(const char* aPath)
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{
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SGPropertyNode* nd = fgGetNode(aPath, false);
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if (!nd) {
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SG_LOG(SG_INSTR, SG_WARN, "couldn't find course source at:" << aPath);
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_extCourseSource = NULL;
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}
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_extCourseSource = nd;
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}
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double
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GPS::Config::getExternalCourse() const
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{
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if (!_extCourseSource) {
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return 0.0;
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}
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return _extCourseSource->getDoubleValue();
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}
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void
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GPS::Config::setExternalCourse(double aCourseDeg)
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{
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if (!_extCourseSource) {
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return;
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}
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_extCourseSource->setDoubleValue(aCourseDeg);
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}
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////////////////////////////////////////////////////////////////////////////
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GPS::GPS ( SGPropertyNode *node) :
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@ -297,6 +249,8 @@ GPS::init ()
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_trip_odometer_node = _gpsNode->getChild("trip-odometer", 0, true);
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_true_bug_error_node = _gpsNode->getChild("true-bug-error-deg", 0, true);
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_magnetic_bug_error_node = _gpsNode->getChild("magnetic-bug-error-deg", 0, true);
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_eastWestVelocity = _gpsNode->getChild("ew-velocity-msec", 0, true);
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_northSouthVelocity = _gpsNode->getChild("ns-velocity-msec", 0, true);
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// waypoints
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SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
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@ -304,7 +258,7 @@ GPS::init ()
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// for compatability, alias selected course down to wp/wp[1]/desired-course-deg
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SGPropertyNode* wp1Crs = wp1_node->getChild("desired-course-deg", 0, true);
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wp1Crs->alias(_gpsNode->getChild("selected-course-deg"));
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wp1Crs->alias(_gpsNode->getChild("desired-course-deg", 0, true));
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// _true_wp1_bearing_error_node =
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// wp1_node->getChild("true-bearing-error-deg", 0, true);
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@ -371,9 +325,12 @@ GPS::bind()
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_config.bind(this, _gpsNode->getChild("config", 0, true));
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// basic GPS outputs
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tie(_gpsNode, "selected-course-deg", SGRawValueMethods<GPS, double>
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(*this, &GPS::getSelectedCourse, NULL));
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(*this, &GPS::getSelectedCourse, &GPS::setSelectedCourse));
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tie(_gpsNode, "desired-course-deg", SGRawValueMethods<GPS, double>
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(*this, &GPS::getDesiredCourse, NULL));
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_desiredCourseNode = _gpsNode->getChild("desired-course-deg");
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tieSGGeodReadOnly(_gpsNode, _indicated_pos, "indicated-longitude-deg",
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"indicated-latitude-deg", "indicated-altitude-ft");
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@ -465,6 +422,7 @@ GPS::clearOutput()
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_indicated_pos = SGGeod();
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_last_vertical_speed = 0.0;
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_last_true_track = 0.0;
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_lastEWVelocity = _lastNSVelocity = 0.0;
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_raim_node->setDoubleValue(0.0);
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_indicated_pos = SGGeod();
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@ -476,6 +434,8 @@ GPS::clearOutput()
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_tracking_bug_node->setDoubleValue(0);
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_true_bug_error_node->setDoubleValue(0);
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_magnetic_bug_error_node->setDoubleValue(0);
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_northSouthVelocity->setDoubleValue(0.0);
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_eastWestVelocity->setDoubleValue(0.0);
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}
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void
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@ -539,9 +499,7 @@ GPS::update (double delta_time_sec)
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updateBasicData(delta_time_sec);
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if (_dataValid) {
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if (_mode == "obs") {
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_selectedCourse = _config.getExternalCourse();
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} else {
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if (_mode != "obs") {
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updateTurn();
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}
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@ -555,9 +513,7 @@ GPS::update (double delta_time_sec)
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if (_dataValid && (_mode == "init")) {
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// allow a realistic delay in the future, here
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SG_LOG(SG_INSTR, SG_INFO, "GPS initialisation complete");
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_selectedCourse = _config.getExternalCourse();
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if (_route_active_node->getBoolValue()) {
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// GPS init with active route
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SG_LOG(SG_INSTR, SG_INFO, "GPS init with active route");
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@ -594,9 +550,28 @@ GPS::updateBasicData(double dt)
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double vertical_speed_mpm = ((_indicated_pos.getElevationM() - _last_pos.getElevationM()) * 60 / dt);
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_last_vertical_speed = vertical_speed_mpm * SG_METER_TO_FEET;
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speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, dt/20.0);
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speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, dt/10.0);
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_last_speed_kts = speed_kt;
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SGGeod g = _indicated_pos;
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g.setLongitudeDeg(_last_pos.getLongitudeDeg());
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double northSouthM = SGGeodesy::distanceM(_last_pos, g);
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northSouthM = copysign(northSouthM, _indicated_pos.getLatitudeDeg() - _last_pos.getLatitudeDeg());
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double nsMSec = fgGetLowPass(_lastNSVelocity, northSouthM / dt, dt/2.0);
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_lastNSVelocity = nsMSec;
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_northSouthVelocity->setDoubleValue(nsMSec);
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g = _indicated_pos;
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g.setLatitudeDeg(_last_pos.getLatitudeDeg());
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double eastWestM = SGGeodesy::distanceM(_last_pos, g);
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eastWestM = copysign(eastWestM, _indicated_pos.getLongitudeDeg() - _last_pos.getLongitudeDeg());
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double ewMSec = fgGetLowPass(_lastEWVelocity, eastWestM / dt, dt/2.0);
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_lastEWVelocity = ewMSec;
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_eastWestVelocity->setDoubleValue(ewMSec);
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double odometer = _odometer_node->getDoubleValue();
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_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
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odometer = _trip_odometer_node->getDoubleValue();
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@ -655,7 +630,6 @@ void GPS::updateReferenceNavaid(double dt)
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FGNavRecord* vor = (FGNavRecord*) nav.ptr();
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_ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
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_listener->setGuard(false);
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tuneNavRadios();
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} else {
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// SG_LOG(SG_INSTR, SG_ALERT, "matched existing");
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}
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@ -694,29 +668,12 @@ void GPS::referenceNavaidSet(const std::string& aNavaid)
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_ref_navaid_name_node->setStringValue(_ref_navaid->name().c_str());
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FGNavRecord* vor = (FGNavRecord*) _ref_navaid.ptr();
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_ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
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tuneNavRadios();
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} else {
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_ref_navaid_set = false;
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_ref_navaid_elapsed = 9999.0; // update next tick
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}
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}
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void GPS::tuneNavRadios()
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{
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if (!_ref_navaid || !_config.tuneNavRadioToRefVor()) {
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return;
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}
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SGPropertyNode_ptr navRadio1 = fgGetNode("/instrumentation/nav", false);
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if (!navRadio1) {
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return;
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}
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FGNavRecord* vor = (FGNavRecord*) _ref_navaid.ptr();
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SGPropertyNode_ptr freqs = navRadio1->getChild("frequencies");
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freqs->setDoubleValue("selected-mhz", vor->get_freq() / 100.0);
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}
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void GPS::routeActivated()
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{
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if (_route_active_node->getBoolValue()) {
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@ -763,7 +720,8 @@ void GPS::routeManagerSequenced()
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_wp1Name = wp1.get_name();
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_wp1_position = wp1.get_target();
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_selectedCourse = getLegMagCourse();
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_desiredCourse = getLegMagCourse();
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_desiredCourseNode->fireValueChanged();
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wp1Changed();
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}
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@ -917,7 +875,7 @@ void GPS::computeTurnData()
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return;
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}
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_turnStartBearing = _selectedCourse;
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_turnStartBearing = _desiredCourse;
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// compute next leg course
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SGWayPoint wp1(_routeMgr->get_waypoint(curIndex)),
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wp2(_routeMgr->get_waypoint(curIndex + 1));
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@ -1013,9 +971,6 @@ void GPS::driveAutopilot()
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void GPS::wp1Changed()
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{
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// update external HSI/CDI/NavDisplay/PFD/etc
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_config.setExternalCourse(getLegMagCourse());
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if (!_config.driveAutopilot()) {
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return;
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}
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@ -1029,6 +984,19 @@ void GPS::wp1Changed()
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/////////////////////////////////////////////////////////////////////////////
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// property getter/setters
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void GPS::setSelectedCourse(double crs)
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{
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if (_selectedCourse == crs) {
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return;
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}
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_selectedCourse = crs;
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if ((_mode == "obs") || _config.courseSelectable()) {
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_desiredCourse = _selectedCourse;
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_desiredCourseNode->fireValueChanged();
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}
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}
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double GPS::getLegDistance() const
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{
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if (!_dataValid || (_mode == "obs")) {
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@ -1197,7 +1165,7 @@ double GPS::getWP1CourseDeviation() const
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return 0.0;
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}
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double dev = getWP1MagBearing() - _selectedCourse;
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double dev = getWP1MagBearing() - _desiredCourse;
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SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
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if (fabs(dev) > 90.0) {
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@ -1227,7 +1195,7 @@ bool GPS::getWP1ToFlag() const
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return false;
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}
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double dev = getWP1MagBearing() - _selectedCourse;
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double dev = getWP1MagBearing() - _desiredCourse;
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SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
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return (fabs(dev) < 90.0);
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@ -1357,20 +1325,18 @@ bool GPS::isScratchPositionValid() const
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void GPS::directTo()
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{
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if (!isScratchPositionValid()) {
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SG_LOG(SG_INSTR, SG_WARN, "invalid DTO lat/lon");
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return;
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_wp0_position = _indicated_pos;
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if (isScratchPositionValid()) {
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_wp1Ident = _scratchNode->getStringValue("ident");
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_wp1Name = _scratchNode->getStringValue("name");
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_wp1_position = _scratchPos;
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}
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_wp0_position = _indicated_pos;
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_wp1Ident = _scratchNode->getStringValue("ident");
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_wp1Name = _scratchNode->getStringValue("name");
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_wp1_position = _scratchPos;
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_mode = "dto";
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_selectedCourse = getLegMagCourse();
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_desiredCourse = getLegMagCourse();
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_desiredCourseNode->fireValueChanged();
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clearScratch();
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wp1Changed();
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}
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@ -1640,17 +1606,14 @@ void GPS::addAirportToScratch(FGAirport* aAirport)
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void GPS::selectOBSMode()
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{
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if (!isScratchPositionValid()) {
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SG_LOG(SG_INSTR, SG_WARN, "invalid OBS lat/lon");
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return;
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if (isScratchPositionValid()) {
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_wp1Ident = _scratchNode->getStringValue("ident");
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_wp1Name = _scratchNode->getStringValue("name");
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_wp1_position = _scratchPos;
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}
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SG_LOG(SG_INSTR, SG_INFO, "GPS switching to OBS mode");
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_mode = "obs";
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_wp1Ident = _scratchNode->getStringValue("ident");
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_wp1Name = _scratchNode->getStringValue("name");
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_wp1_position = _scratchPos;
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_wp0_position = _indicated_pos;
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wp1Changed();
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}
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@ -123,19 +123,12 @@ private:
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double waypointAlertTime() const
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{ return _waypointAlertTime; }
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bool tuneNavRadioToRefVor() const
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{ return _tuneRadio1ToRefVor; }
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bool requireHardSurface() const
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{ return _requireHardSurface; }
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double minRunwayLengthFt() const
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{ return _minRunwayLengthFt; }
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double getExternalCourse() const;
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void setExternalCourse(double aCourseDeg);
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bool cdiDeflectionIsAngular() const
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{ return (_cdiMaxDeflectionNm <= 0.0); }
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@ -147,6 +140,9 @@ private:
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bool driveAutopilot() const
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{ return _driveAutopilot; }
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bool courseSelectable() const
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{ return _courseSelectable; }
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private:
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bool _enableTurnAnticipation;
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@ -160,25 +156,19 @@ private:
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// (in seconds)
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double _waypointAlertTime;
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// should GPS automatically tune NAV1 to the reference VOR?
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bool _tuneRadio1ToRefVor;
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// minimum runway length to require when filtering
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double _minRunwayLengthFt;
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// should we require a hard-surfaced runway when filtering?
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bool _requireHardSurface;
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// helpers to tie course-source property
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const char* getCourseSource() const;
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void setCourseSource(const char* aPropPath);
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// property to retrieve the external course from
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SGPropertyNode_ptr _extCourseSource;
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double _cdiMaxDeflectionNm;
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// should we drive the autopilot directly or not?
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bool _driveAutopilot;
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// is selected-course-deg read to set desired-course or not?
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bool _courseSelectable;
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};
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class SearchFilter : public FGPositioned::Filter
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@ -201,7 +191,6 @@ private:
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void updateTrackingBug();
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void updateReferenceNavaid(double dt);
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void referenceNavaidSet(const std::string& aNavaid);
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void tuneNavRadios();
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void updateRouteData();
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void driveAutopilot();
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|
@ -276,6 +265,9 @@ private:
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bool getScratchHasNext() const { return _searchHasNext; }
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double getSelectedCourse() const { return _selectedCourse; }
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void setSelectedCourse(double crs);
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double getDesiredCourse() const { return _desiredCourse; }
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double getCDIDeflection() const;
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double getLegDistance() const;
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@ -341,6 +333,8 @@ private:
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SGPropertyNode_ptr _trip_odometer_node;
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SGPropertyNode_ptr _true_bug_error_node;
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SGPropertyNode_ptr _magnetic_bug_error_node;
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SGPropertyNode_ptr _eastWestVelocity;
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SGPropertyNode_ptr _northSouthVelocity;
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SGPropertyNode_ptr _ref_navaid_id_node;
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SGPropertyNode_ptr _ref_navaid_bearing_node;
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|
@ -355,8 +349,10 @@ private:
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SGPropertyNode_ptr _routeETE;
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SGPropertyNode_ptr _routeEditedSignal;
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SGPropertyNode_ptr _routeFinishedSignal;
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SGPropertyNode_ptr _desiredCourseNode;
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double _selectedCourse;
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double _desiredCourse;
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bool _dataValid;
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SGGeod _last_pos;
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|
@ -364,6 +360,8 @@ private:
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double _last_speed_kts;
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double _last_true_track;
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double _last_vertical_speed;
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double _lastEWVelocity;
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double _lastNSVelocity;
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std::string _mode;
|
||||
GPSListener* _listener;
|
||||
|
|
|
@ -129,6 +129,9 @@ FGNavRadio::FGNavRadio(SGPropertyNode *node) :
|
|||
// Destructor
|
||||
FGNavRadio::~FGNavRadio()
|
||||
{
|
||||
gps_course_node->removeChangeListener(this);
|
||||
nav_slaved_to_gps_node->removeChangeListener(this);
|
||||
|
||||
delete term_tbl;
|
||||
delete low_tbl;
|
||||
delete high_tbl;
|
||||
|
@ -220,11 +223,15 @@ FGNavRadio::init ()
|
|||
|
||||
// gps slaving support
|
||||
nav_slaved_to_gps_node = node->getChild("slaved-to-gps", 0, true);
|
||||
nav_slaved_to_gps_node->addChangeListener(this);
|
||||
|
||||
gps_cdi_deflection_node = fgGetNode("/instrumentation/gps/cdi-deflection", true);
|
||||
gps_to_flag_node = fgGetNode("/instrumentation/gps/to-flag", true);
|
||||
gps_from_flag_node = fgGetNode("/instrumentation/gps/from-flag", true);
|
||||
gps_has_gs_node = fgGetNode("/instrumentation/gps/has-gs", true);
|
||||
gps_course_node = fgGetNode("/instrumentation/gps/selected-course-deg", true);
|
||||
gps_course_node = fgGetNode("/instrumentation/gps/desired-course-deg", true);
|
||||
gps_course_node->addChangeListener(this);
|
||||
|
||||
gps_xtrack_error_nm_node = fgGetNode("/instrumentation/gps/wp/wp[1]/course-error-nm", true);
|
||||
_magvarNode = fgGetNode("/environment/magnetic-variation-deg", true);
|
||||
|
||||
|
@ -625,6 +632,26 @@ void FGNavRadio::updateDME(const SGVec3d& aircraft)
|
|||
_dmeInRange = (dme_distance < _dme->get_range() * SG_NM_TO_METER);
|
||||
}
|
||||
|
||||
void FGNavRadio::valueChanged (SGPropertyNode* prop)
|
||||
{
|
||||
if (prop == gps_course_node) {
|
||||
if (!nav_slaved_to_gps_node->getBoolValue()) {
|
||||
return;
|
||||
}
|
||||
|
||||
// GPS desired course has changed, sync up our selected-course
|
||||
double v = prop->getDoubleValue();
|
||||
if (v != sel_radial_node->getDoubleValue()) {
|
||||
sel_radial_node->setDoubleValue(v);
|
||||
}
|
||||
} else if (prop == nav_slaved_to_gps_node) {
|
||||
if (prop->getBoolValue()) {
|
||||
// slaved-to-GPS activated, sync up selected course
|
||||
sel_radial_node->setDoubleValue(gps_course_node->getDoubleValue());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void FGNavRadio::updateGPSSlaved()
|
||||
{
|
||||
has_gs_node->setBoolValue(gps_has_gs_node->getBoolValue());
|
||||
|
|
|
@ -39,7 +39,7 @@ class SGSampleGroup;
|
|||
class FGNavRecord;
|
||||
typedef SGSharedPtr<FGNavRecord> FGNavRecordPtr;
|
||||
|
||||
class FGNavRadio : public SGSubsystem
|
||||
class FGNavRadio : public SGSubsystem, public SGPropertyChangeListener
|
||||
{
|
||||
FGMorse morse;
|
||||
|
||||
|
@ -212,6 +212,9 @@ class FGNavRadio : public SGSubsystem
|
|||
_tiedNodes.push_back(nd);
|
||||
nd->tie(aRawValue);
|
||||
}
|
||||
|
||||
// implement SGPropertyChangeListener
|
||||
virtual void valueChanged (SGPropertyNode * prop);
|
||||
public:
|
||||
|
||||
FGNavRadio(SGPropertyNode *node);
|
||||
|
|
Loading…
Add table
Reference in a new issue