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Add the ability for the AI to tumble in extreme attitudes, if

Browse source 
/instrumentation/attitude-indicator/config/tumble-flag

is true.  The AI will take up to five minutes to reerect itself
completely.
This commit is contained in:
david 2003-04-04 03:25:02 +00:00
parent 50984ecc67
commit ad6236cbe7
2 changed files with 47 additions and 6 deletions
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49
src/Instrumentation/attitude_indicator.cxx
View file

@ -4,14 +4,15 @@
// This file is in the Public Domain and comes with no warranty.
// TODO:
// - tumble
// - better spin-up
#include "attitude_indicator.hxx"
#include <Main/fg_props.hxx>
#include <Main/util.hxx>
AttitudeIndicator::AttitudeIndicator ()
: _tumble(0)
{
}
@ -27,6 +28,9 @@ AttitudeIndicator::init ()
_pitch_in_node = fgGetNode("/orientation/pitch-deg", true);
_roll_in_node = fgGetNode("/orientation/roll-deg", true);
_suction_node = fgGetNode("/systems/vacuum[0]/suction-inhg", true);
_tumble_flag_node =
fgGetNode("/instrumentation/attitude-indicator/config/tumble-flag",
true);
_pitch_out_node =
fgGetNode("/instrumentation/attitude-indicator/indicated-pitch-deg",
true);
@ -59,14 +63,47 @@ AttitudeIndicator::update (double dt)
_gyro.update(dt);
double spin = _gyro.get_spin_norm();
// Next, calculate the indicated roll
// and pitch, introducing errors.
double factor = 1.0 - ((1.0 - spin) * (1.0 - spin) * (1.0 - spin));
// Calculate the responsiveness
double responsiveness = spin * spin * spin * spin * spin * spin;
// Get the indicated roll and pitch
double roll = _roll_in_node->getDoubleValue();
double pitch = _pitch_in_node->getDoubleValue();
roll = 35 + (factor * (roll - 35));
pitch = 15 + (factor * (pitch - 15));
// Calculate the tumble for the
// next pass.
if (_tumble_flag_node->getBoolValue()) {
if (_tumble < 1.0) {
if (fabs(roll) > 45.0) {
double target = (fabs(roll) - 45.0) / 45.0;
if (_tumble < target)
_tumble = target;
}
if (fabs(pitch) > 45.0) {
double target = (fabs(pitch) - 45.0) / 45.0;
if (_tumble < target)
_tumble = target;
}
if (_tumble > 1.0) {
_tumble = 1.0;
}
}
// Reerect in 5 minutes
_tumble -= dt/300.0;
if (_tumble < 0.0)
_tumble = 0.0;
responsiveness *= ((1.0 - _tumble) * (1.0 - _tumble) *
(1.0 - _tumble) * (1.0 - _tumble));
}
roll = fgGetLowPass(_roll_out_node->getDoubleValue(), roll,
responsiveness);
pitch = fgGetLowPass(_pitch_out_node->getDoubleValue(), pitch,
responsiveness);
// Assign the new values
_roll_out_node->setDoubleValue(roll);
_pitch_out_node->setDoubleValue(pitch);
}

4
src/Instrumentation/attitude_indicator.hxx
View file

@ -24,6 +24,7 @@
*
* Input properties:
*
* /instrumentation/attitude-indicator/config/tumble-flag
* /instrumentation/attitude-indicator/serviceable
* /orientation/pitch-deg
* /orientation/roll-deg
@ -51,6 +52,9 @@ private:
Gyro _gyro;
double _tumble;
SGPropertyNode_ptr _tumble_flag_node;
SGPropertyNode_ptr _pitch_in_node;
SGPropertyNode_ptr _roll_in_node;
SGPropertyNode_ptr _suction_node;