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Master reference gyro changes from Vivian Meazza.

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This commit is contained in:
timoore 2008-11-11 21:20:02 +00:00
parent d46f0a42ec
commit aa716b350f
2 changed files with 35 additions and 7 deletions
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36
src/Instrumentation/mrg.cxx
View file

@ -7,6 +7,8 @@
// - better spin-up
#include <simgear/compiler.h>
#include <simgear/sg_inlines.h>
#include <iostream>
#include <string>
@ -48,26 +50,31 @@ MasterReferenceGyro::init ()
_pitch_in_node = fgGetNode("/orientation/pitch-deg", true);
_roll_in_node = fgGetNode("/orientation/roll-deg", true);
_hdg_in_node = fgGetNode("/orientation/heading-deg", true);
_hdg_mag_in_node = fgGetNode("/orientation/heading-magnetic-deg", true);
_pitch_rate_node = fgGetNode("/orientation/pitch-rate-degps", true);
_roll_rate_node = fgGetNode("/orientation/roll-rate-degps", true);
_yaw_rate_node = fgGetNode("/orientation/yaw-rate-degps", true);
_g_in_node = fgGetNode("/accelerations/pilot-g-damped", true);
_g_in_node = fgGetNode("/accelerations/pilot-g", true);
_electrical_node = fgGetNode("/systems/electrical/outputs/MRG", true);
_hdg_mag_in_node = fgGetNode("/orientation/heading-magnetic-deg", true);
SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
_off_node = node->getChild("off-flag", 0, true);
_pitch_out_node = node->getChild("indicated-pitch-deg", 0, true);
_roll_out_node = node->getChild("indicated-roll-deg", 0, true);
_hdg_out_node = node->getChild("indicated-hdg-deg", 0, true);
_hdg_mag_out_node = node->getChild("indicated-mag-hdg-deg", 0, true);
_pitch_rate_out_node = node->getChild("indicated-pitch-rate-degps", 0, true);
_roll_rate_out_node = node->getChild("indicated-roll-rate-degps", 0, true);
_hdg_rate_out_node = node->getChild("indicated-hdg-rate-degps", 0, true);
_responsiveness_node = node->getChild("responsiveness", 0, true);
_error_out_node = node->getChild("heading-error-deg", 0, true);
_error_out_node = node->getChild("heading-bug-error-deg", 0, true);
_hdg_input_source_node = node->getChild("heading-source", 0, true);
_electrical_node->setDoubleValue(0);
_responsiveness_node->setDoubleValue(0.75);
_off_node->setBoolValue(false);
_hdg_input_source_node->setBoolValue(false);
}
void
@ -121,22 +128,35 @@ MasterReferenceGyro::update (double dt)
}
// Get the input values
double hdg = _hdg_mag_in_node->getDoubleValue();
if(_hdg_input_source_node->getBoolValue())
hdg = _hdg_in_node->getDoubleValue();
double roll = _roll_in_node->getDoubleValue();
double pitch = _pitch_in_node->getDoubleValue();
double hdg = _hdg_in_node->getDoubleValue();
double roll_rate = _yaw_rate_node->getDoubleValue();
double pitch_rate = _yaw_rate_node->getDoubleValue();
double yaw_rate = _yaw_rate_node->getDoubleValue();
double g = _g_in_node->getDoubleValue();
//modulate the input by the spin rate
double responsiveness = spin * spin * spin * spin * spin * spin;
roll = fgGetLowPass( _last_roll, roll, responsiveness );
pitch = fgGetLowPass( _last_pitch , pitch, responsiveness );
if ((hdg - _last_hdg) > 180)
_last_hdg += 360;
if ((hdg - _last_hdg) < -180)
_last_hdg -= 360;
hdg = fgGetLowPass( _last_hdg , hdg, responsiveness );
//but we need to filter the hdg and yaw_rate as well - yuk!
responsiveness = 0.1 / (spin * spin * spin * spin * spin * spin);
yaw_rate = fgGetLowPass( _last_yaw_rate , yaw_rate, responsiveness );
g = fgGetLowPass( _last_g , yaw_rate, 0.15 );
// store the new values
_last_roll = roll;
@ -145,6 +165,7 @@ MasterReferenceGyro::update (double dt)
_last_roll_rate = roll_rate;
_last_pitch_rate = pitch_rate;
_last_yaw_rate = yaw_rate;
_last_g = g;
//the gyro only erects inside limits
if ( fabs ( yaw_rate ) <= 5
@ -165,21 +186,24 @@ MasterReferenceGyro::update (double dt)
// calculate the difference between the indicated heading
// and the selected heading for use with an autopilot
static SGPropertyNode *bnode
= fgGetNode( "autopilot/settings/target-heading-deg", false );
= fgGetNode( "/autopilot/settings/heading-bug-deg", false );
if ( bnode ) {
double diff = bnode->getDoubleValue() - indicated_hdg;
if ( diff < -180.0 ) { diff += 360.0; }
if ( diff > 180.0 ) { diff -= 360.0; }
_error_out_node->setDoubleValue( diff );
//SG_LOG(SG_GENERAL, SG_ALERT,
//"autopilot input " << bnode->getDoubleValue()
//<< " output " << _error_out_node->getDoubleValue()<<);
}
//cout << "autopilot input " << bnode->getDoubleValue() << "output " << _error_out_node->getDoubleValue()<<endl ;
//smooth the output
double factor = _responsiveness_node->getDoubleValue() * dt;
indicated_roll = fgGetLowPass( _indicated_roll, indicated_roll, factor );
indicated_pitch = fgGetLowPass( _indicated_pitch , indicated_pitch, factor );
indicated_hdg = fgGetLowPass( _indicated_hdg , indicated_hdg, factor );
//indicated_hdg = fgGetLowPass( _indicated_hdg , indicated_hdg, factor );
indicated_roll_rate = fgGetLowPass( _indicated_roll_rate, indicated_roll_rate, factor );
indicated_pitch_rate = fgGetLowPass( _indicated_pitch_rate , indicated_pitch_rate, factor );

6
src/Instrumentation/mrg.hxx
View file

@ -15,7 +15,7 @@
/**
* Model a vacuum-powered attitude indicator.
* Model an electrically-powered master reference gyro.
*
* Input properties:
*
@ -64,6 +64,7 @@ private:
double _last_roll_rate;
double _last_pitch_rate;
double _last_yaw_rate;
double _last_g;
Gyro _gyro;
@ -74,6 +75,7 @@ private:
SGPropertyNode_ptr _pitch_in_node;
SGPropertyNode_ptr _roll_in_node;
SGPropertyNode_ptr _hdg_in_node;
SGPropertyNode_ptr _hdg_mag_in_node;
SGPropertyNode_ptr _g_in_node;
SGPropertyNode_ptr _electrical_node;
SGPropertyNode_ptr _pitch_int_node;
@ -82,6 +84,7 @@ private:
SGPropertyNode_ptr _pitch_out_node;
SGPropertyNode_ptr _roll_out_node;
SGPropertyNode_ptr _hdg_out_node;
SGPropertyNode_ptr _hdg_mag_out_node;
SGPropertyNode_ptr _pitch_rate_out_node;
SGPropertyNode_ptr _roll_rate_out_node;
SGPropertyNode_ptr _hdg_rate_out_node;
@ -90,6 +93,7 @@ private:
SGPropertyNode_ptr _roll_rate_node;
SGPropertyNode_ptr _pitch_rate_node;
SGPropertyNode_ptr _responsiveness_node;
SGPropertyNode_ptr _hdg_input_source_node;
};
#endif // __INSTRUMENTS_MRG_HXX