Add Alignment settable at runtime, and add movement-induced errors.
Signed-off-by: Vivian Meazza <vivian.meazza@lineone.net>
This commit is contained in:
Vivian Meazza
parent
f51f15eb50
commit
a68b07e67a
2 changed files with 248 additions and 214 deletions
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@ -1,155 +1,184 @@
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// heading_indicator_dg.cxx - a Directional Gyro (DG) compass.
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// Based on the vacuum driven Heading Indicator Written by David Megginson,
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// started 2002.
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//
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// Written by Vivian Meazza, started 2005.
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//
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// This file is in the Public Domain and comes with no warranty.
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#include <simgear/compiler.h>
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#include <iostream>
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#include <string>
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#include <sstream>
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#include <Main/fg_props.hxx>
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#include <Main/util.hxx>
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#include "heading_indicator_dg.hxx"
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HeadingIndicatorDG::HeadingIndicatorDG ( SGPropertyNode *node ) :
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name("heading-indicator-dg"),
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num(0)
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{
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int i;
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for ( i = 0; i < node->nChildren(); ++i ) {
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SGPropertyNode *child = node->getChild(i);
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string cname = child->getName();
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string cval = child->getStringValue();
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if ( cname == "name" ) {
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name = cval;
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} else if ( cname == "number" ) {
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num = child->getIntValue();
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} else {
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SG_LOG( SG_INSTR, SG_WARN, "Error in DG heading-indicator config logic" );
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if ( name.length() ) {
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SG_LOG( SG_INSTR, SG_WARN, "Section = " << name );
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}
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}
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}
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}
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HeadingIndicatorDG::HeadingIndicatorDG ()
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{
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}
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HeadingIndicatorDG::~HeadingIndicatorDG ()
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{
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}
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void
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HeadingIndicatorDG::init ()
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{
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string branch;
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branch = "/instrumentation/" + name;
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// heading_indicator_dg.cxx - a Directional Gyro (DG) compass.
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// Based on the vacuum driven Heading Indicator Written by David Megginson,
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// started 2002.
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//
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// Written by Vivian Meazza, started 2005.
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//
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// This file is in the Public Domain and comes with no warranty.
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#include <simgear/compiler.h>
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#include <simgear/sg_inlines.h>
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#include <iostream>
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#include <string>
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#include <sstream>
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#include <Main/fg_props.hxx>
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#include <Main/util.hxx>
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#include "heading_indicator_dg.hxx"
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HeadingIndicatorDG::HeadingIndicatorDG ( SGPropertyNode *node ) :
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name("heading-indicator-dg"),
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num(0)
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{
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int i;
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for ( i = 0; i < node->nChildren(); ++i ) {
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SGPropertyNode *child = node->getChild(i);
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string cname = child->getName();
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string cval = child->getStringValue();
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if ( cname == "name" ) {
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name = cval;
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} else if ( cname == "number" ) {
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num = child->getIntValue();
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} else {
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SG_LOG( SG_INSTR, SG_WARN, "Error in DG heading-indicator config logic" );
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if ( name.length() ) {
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SG_LOG( SG_INSTR, SG_WARN, "Section = " << name );
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}
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}
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}
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}
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HeadingIndicatorDG::HeadingIndicatorDG ()
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{
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}
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HeadingIndicatorDG::~HeadingIndicatorDG ()
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{
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}
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void
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HeadingIndicatorDG::init ()
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{
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string branch;
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branch = "/instrumentation/" + name;
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_heading_in_node = fgGetNode("/orientation/heading-deg", true);
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SGPropertyNode *node = fgGetNode(branch.c_str(), num, true );
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_offset_node = node->getChild("offset-deg", 0, true);
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_serviceable_node = node->getChild("serviceable", 0, true);
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_error_node = node->getChild("heading-bug-error-deg", 0, true);
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_nav1_error_node = node->getChild("nav1-course-error-deg", 0, true);
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_heading_out_node = node->getChild("indicated-heading-deg", 0, true);
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_last_heading_deg = (_heading_in_node->getDoubleValue() +
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_offset_node->getDoubleValue());
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_electrical_node = fgGetNode("/systems/electrical/outputs/DG", true);
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}
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_yaw_rate_node = fgGetNode("/orientation/yaw-rate-degps", true);
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_g_node = fgGetNode("/accelerations/pilot-g", true);
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void
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HeadingIndicatorDG::bind ()
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{
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std::ostringstream temp;
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string branch;
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temp << num;
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branch = "/instrumentation/" + name + "[" + temp.str() + "]";
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SGPropertyNode *node = fgGetNode(branch.c_str(), num, true );
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_offset_node = node->getChild("offset-deg", 0, true);
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_serviceable_node = node->getChild("serviceable", 0, true);
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_heading_bug_error_node = node->getChild("heading-bug-error-deg", 0, true);
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_error_node = node->getChild("error-deg", 0, true);
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_nav1_error_node = node->getChild("nav1-course-error-deg", 0, true);
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_heading_out_node = node->getChild("indicated-heading-deg", 0, true);
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_align_node = node->getChild("align-deg", 0, true);
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_electrical_node = fgGetNode("/systems/electrical/outputs/DG", true);
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_align_node->setDoubleValue(0);
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_error_node->setDoubleValue(0);
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_last_heading_deg = (_heading_in_node->getDoubleValue() +
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_offset_node->getDoubleValue() + _align_node->getDoubleValue());
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}
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void
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HeadingIndicatorDG::bind ()
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{
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std::ostringstream temp;
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string branch;
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temp << num;
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branch = "/instrumentation/" + name + "[" + temp.str() + "]";
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fgTie((branch + "/serviceable").c_str(),
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&_gyro, &Gyro::is_serviceable, &Gyro::set_serviceable);
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fgTie((branch + "/spin").c_str(),
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&_gyro, &Gyro::get_spin_norm, &Gyro::set_spin_norm);
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}
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void
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HeadingIndicatorDG::unbind ()
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{
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std::ostringstream temp;
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string branch;
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temp << num;
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branch = "/instrumentation/" + name + "[" + temp.str() + "]";
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fgUntie((branch + "/serviceable").c_str());
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fgUntie((branch + "/spin").c_str());
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}
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void
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HeadingIndicatorDG::update (double dt)
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{
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// Get the spin from the gyro
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_gyro.set_power_norm(_electrical_node->getDoubleValue());
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_gyro.update(dt);
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double spin = _gyro.get_spin_norm();
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// Next, calculate time-based precession
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double offset = _offset_node->getDoubleValue();
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offset -= dt * (0.25 / 60.0); // 360deg/day
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SG_NORMALIZE_RANGE(offset, -360.0, 360.0);
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// No magvar - set the alignment manually
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double align = _align_node->getDoubleValue();
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// Movement-induced error
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double yaw_rate = _yaw_rate_node->getDoubleValue();
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double error = _error_node->getDoubleValue();
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double g = _g_node->getDoubleValue();
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int sign = 0;
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fgTie((branch + "/serviceable").c_str(),
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&_gyro, &Gyro::is_serviceable, &Gyro::set_serviceable);
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fgTie((branch + "/spin").c_str(),
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&_gyro, &Gyro::get_spin_norm, &Gyro::set_spin_norm);
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}
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void
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HeadingIndicatorDG::unbind ()
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{
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std::ostringstream temp;
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string branch;
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temp << num;
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branch = "/instrumentation/" + name + "[" + temp.str() + "]";
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fgUntie((branch + "/serviceable").c_str());
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fgUntie((branch + "/spin").c_str());
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}
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void
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HeadingIndicatorDG::update (double dt)
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{
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// Get the spin from the gyro
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_gyro.set_power_norm(_electrical_node->getDoubleValue());
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_gyro.update(dt);
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double spin = _gyro.get_spin_norm();
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// No time-based precession for a flux gate compass
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// No magvar
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double offset = 0;
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// TODO: movement-induced error
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// Next, calculate the indicated heading,
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// introducing errors.
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double factor = 100 * (spin * spin * spin * spin * spin * spin);
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double heading = _heading_in_node->getDoubleValue();
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// Now, we have to get the current
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// heading and the last heading into
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// the same range.
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while ((heading - _last_heading_deg) > 180)
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_last_heading_deg += 360;
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while ((heading - _last_heading_deg) < -180)
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_last_heading_deg -= 360;
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heading = fgGetLowPass(_last_heading_deg, heading, dt * factor);
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_last_heading_deg = heading;
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heading += offset;
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while (heading < 0)
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heading += 360;
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while (heading > 360)
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heading -= 360;
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_heading_out_node->setDoubleValue(heading);
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// calculate the difference between the indicacted heading
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// and the selected heading for use with an autopilot
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static SGPropertyNode *bnode
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= fgGetNode( "/autopilot/settings/heading-bug-deg", false );
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if ( bnode ) {
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double diff = bnode->getDoubleValue() - heading;
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if ( diff < -180.0 ) { diff += 360.0; }
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if ( diff > 180.0 ) { diff -= 360.0; }
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_error_node->setDoubleValue( diff );
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if ( fabs ( yaw_rate ) > 5 ) {
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sign = (yaw_rate < 0 ? -1 : 1);
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error += 0.033 * -yaw_rate * dt ;
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}
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// calculate the difference between the indicated heading
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// and the selected nav1 radial for use with an autopilot
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SGPropertyNode *nnode
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= fgGetNode( "/instrumentation/nav/radials/selected-deg", false );
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if ( nnode ) {
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double diff = nnode->getDoubleValue() - heading;
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if ( diff < -180.0 ) { diff += 360.0; }
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if ( diff > 180.0 ) { diff -= 360.0; }
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_nav1_error_node->setDoubleValue( diff );
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}
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}
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// end of heading_indicator_fg.cxx
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if ( g > 1.5 || g < -0.5){
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sign = (g < 0 ? -1 : 1);
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error += 0.033 * g * dt;
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}
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_error_node->setDoubleValue(error);
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// Next, calculate the indicated heading,
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// introducing errors.
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double factor = 100 * (spin * spin * spin * spin * spin * spin);
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double heading = _heading_in_node->getDoubleValue();
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// Now, we have to get the current
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// heading and the last heading into
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// the same range.
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while ((heading - _last_heading_deg) > 180)
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_last_heading_deg += 360;
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while ((heading - _last_heading_deg) < -180)
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_last_heading_deg -= 360;
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heading = fgGetLowPass(_last_heading_deg, heading, dt * factor);
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_last_heading_deg = heading;
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heading += offset + align + error;
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SG_NORMALIZE_RANGE(heading, 0.0, 360.0);
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_heading_out_node->setDoubleValue(heading);
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// calculate the difference between the indicacted heading
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// and the selected heading for use with an autopilot
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static SGPropertyNode *bnode
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= fgGetNode( "/autopilot/settings/heading-bug-deg", false );
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if ( bnode ) {
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double diff = bnode->getDoubleValue() - heading;
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if ( diff < -180.0 ) { diff += 360.0; }
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if ( diff > 180.0 ) { diff -= 360.0; }
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_heading_bug_error_node->setDoubleValue( diff );
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}
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// calculate the difference between the indicated heading
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// and the selected nav1 radial for use with an autopilot
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SGPropertyNode *nnode
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= fgGetNode( "/instrumentation/nav/radials/selected-deg", false );
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if ( nnode ) {
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double diff = nnode->getDoubleValue() - heading;
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if ( diff < -180.0 ) { diff += 360.0; }
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if ( diff > 180.0 ) { diff -= 360.0; }
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_nav1_error_node->setDoubleValue( diff );
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}
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}
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// end of heading_indicator_dg.cxx
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@ -1,64 +1,69 @@
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// heading_indicator.hxx - a vacuum-powered heading indicator.
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// Written by David Megginson, started 2002.
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//
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// This file is in the Public Domain and comes with no warranty.
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#ifndef __INSTRUMENTS_HEADING_INDICATOR_ELEC_HXX
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#define __INSTRUMENTS_HEADING_INDICATOR_ELEC_HXX 1
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#include <simgear/props/props.hxx>
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#include <simgear/structure/subsystem_mgr.hxx>
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#include "gyro.hxx"
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/**
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* Model an electrically-powered heading indicator.
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*
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* Input properties:
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*
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* /instrumentation/"name"/serviceable
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* /instrumentation/"name"/spin
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* /instrumentation/"name"/offset-deg
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* /orientation/heading-deg
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* /systems/electrical/outputs/DG
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*
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* Output properties:
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*
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* /instrumentation/"name"/indicated-heading-deg
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*/
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class HeadingIndicatorDG : public SGSubsystem
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{
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public:
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HeadingIndicatorDG ( SGPropertyNode *node );
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HeadingIndicatorDG ();
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virtual ~HeadingIndicatorDG ();
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virtual void init ();
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virtual void bind ();
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virtual void unbind ();
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virtual void update (double dt);
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private:
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Gyro _gyro;
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double _last_heading_deg;
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string name;
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int num;
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//string vacuum_system;
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SGPropertyNode_ptr _offset_node;
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SGPropertyNode_ptr _heading_in_node;
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SGPropertyNode_ptr _serviceable_node;
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SGPropertyNode_ptr _heading_out_node;
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SGPropertyNode_ptr _electrical_node;
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SGPropertyNode_ptr _error_node;
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SGPropertyNode_ptr _nav1_error_node;
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};
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#endif // __INSTRUMENTS_HEADING_INDICATOR_ELEC_HXX
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// heading_indicator.hxx - a vacuum-powered heading indicator.
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// Written by David Megginson, started 2002.
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//
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// This file is in the Public Domain and comes with no warranty.
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#ifndef __INSTRUMENTS_HEADING_INDICATOR_ELEC_HXX
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#define __INSTRUMENTS_HEADING_INDICATOR_ELEC_HXX 1
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#include <simgear/props/props.hxx>
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#include <simgear/structure/subsystem_mgr.hxx>
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#include <simgear/math/sg_random.h>
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#include "gyro.hxx"
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/**
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* Model an electrically-powered heading indicator.
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*
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* Input properties:
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*
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* /instrumentation/"name"/serviceable
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* /instrumentation/"name"/spin
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* /instrumentation/"name"/offset-deg
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* /orientation/heading-deg
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* /systems/electrical/outputs/DG
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*
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* Output properties:
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*
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* /instrumentation/"name"/indicated-heading-deg
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*/
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class HeadingIndicatorDG : public SGSubsystem
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{
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public:
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HeadingIndicatorDG ( SGPropertyNode *node );
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HeadingIndicatorDG ();
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virtual ~HeadingIndicatorDG ();
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virtual void init ();
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virtual void bind ();
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virtual void unbind ();
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virtual void update (double dt);
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private:
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Gyro _gyro;
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double _last_heading_deg;
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string name;
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int num;
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//string vacuum_system;
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SGPropertyNode_ptr _offset_node;
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SGPropertyNode_ptr _heading_in_node;
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SGPropertyNode_ptr _serviceable_node;
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SGPropertyNode_ptr _heading_out_node;
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SGPropertyNode_ptr _electrical_node;
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SGPropertyNode_ptr _error_node;
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SGPropertyNode_ptr _nav1_error_node;
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SGPropertyNode_ptr _align_node;
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SGPropertyNode_ptr _yaw_rate_node;
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SGPropertyNode_ptr _heading_bug_error_node;
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SGPropertyNode_ptr _g_node;
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};
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#endif // __INSTRUMENTS_HEADING_INDICATOR_ELEC_HXX
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