Added support for calibration properties.
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curt
parent
e2313bfb55
commit
b92244ea7a
2 changed files with 114 additions and 9 deletions
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@ -44,6 +44,7 @@
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#include <simgear/io/iochannel.hxx>
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#include <simgear/math/sg_types.hxx>
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#include <simgear/misc/props.hxx>
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#include <simgear/misc/sg_path.hxx>
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#include <Main/fg_props.hxx>
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#include <Main/globals.hxx>
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@ -204,6 +205,19 @@ void ATC610xSetLamp( int fd, int channel, bool value ) {
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}
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void FGATC610x::init_config() {
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#if defined( unix ) || defined( __CYGWIN__ )
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// Next check home directory for .fgfsrc.hostname file
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char *envp = ::getenv( "HOME" );
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if ( envp != NULL ) {
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SGPath atc610x_config( envp );
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atc610x_config.append( ".fgfs-atc610x.xml" );
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readProperties( atc610x_config.str(), globals->get_props() );
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}
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#endif
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}
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// Open and initialize ATC 610x hardware
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bool FGATC610x::open() {
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if ( is_enabled() ) {
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@ -212,6 +226,9 @@ bool FGATC610x::open() {
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return false;
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}
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// This loads the config parameters generated by "simcal"
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init_config();
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SG_LOG( SG_IO, SG_ALERT,
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"Initializing ATC 610x hardware, please wait ..." );
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@ -434,6 +451,34 @@ bool FGATC610x::open() {
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xpdr_sby_ann = fgGetNode( "/radios/kt-70/annunciators/sby", true );
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xpdr_reply_ann = fgGetNode( "/radios/kt-70/annunciators/reply", true );
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elevator_center = fgGetNode( "/input/atc610x/elevator/center", 0 );
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elevator_min = fgGetNode( "/input/atc610x/elevator/min", 0 );
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elevator_max = fgGetNode( "/input/atc610x/elevator/max", 0 );
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ailerons_center = fgGetNode( "/input/atc610x/ailerons/center", 0 );
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ailerons_min = fgGetNode( "/input/atc610x/ailerons/min", 0 );
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ailerons_max = fgGetNode( "/input/atc610x/ailerons/max", 0 );
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rudder_center = fgGetNode( "/input/atc610x/rudder/center", 0 );
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rudder_min = fgGetNode( "/input/atc610x/rudder/min", 0 );
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rudder_max = fgGetNode( "/input/atc610x/rudder/max", 0 );
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throttle_min = fgGetNode( "/input/atc610x/throttle/min", 0 );
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throttle_max = fgGetNode( "/input/atc610x/throttle/max", 0 );
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mixture_min = fgGetNode( "/input/atc610x/mixture/min", 0 );
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mixture_max = fgGetNode( "/input/atc610x/mixture/max", 0 );
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trim_center = fgGetNode( "/input/atc610x/trim/center", 0 );
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trim_min = fgGetNode( "/input/atc610x/trim/min", 0 );
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trim_max = fgGetNode( "/input/atc610x/trim/max", 0 );
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nav1vol_min = fgGetNode( "/input/atc610x/nav1vol/min", 0 );
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nav1vol_max = fgGetNode( "/input/atc610x/nav1vol/max", 0 );
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nav2vol_min = fgGetNode( "/input/atc610x/nav2vol/min", 0 );
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nav2vol_max = fgGetNode( "/input/atc610x/nav2vol/max", 0 );
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return true;
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}
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@ -447,6 +492,48 @@ bool FGATC610x::open() {
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#define ATC_ELEVATOR_CENTER 543
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#define ATC_RUDDER_CENTER 519
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// scale a number between min and max (with center defined) to a scale
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// from -1.0 to 1.0
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static double scale( int center, int min, int max, int value ) {
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// cout << center << " " << min << " " << max << " " << value << " ";
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double result;
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double range;
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if ( value <= center ) {
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range = center - min;
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result = (value - center) / range;
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} else {
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range = max - center;
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result = (value - center) / range;
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}
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if ( result < -1.0 ) result = -1.0;
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if ( result > 1.0 ) result = 1.0;
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// cout << result << endl;
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return result;
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}
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// scale a number between min and max to a scale from 0.0 to 1.0
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static double scale( int min, int max, int value ) {
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// cout << center << " " << min << " " << max << " " << value << " ";
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double result;
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double range;
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range = max - min;
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result = (value - min) / range;
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if ( result < 0.0 ) result = 0.0;
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if ( result > 1.0 ) result = 1.0;
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// cout << result << endl;
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return result;
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}
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bool FGATC610x::do_analog_in() {
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// Read raw data in byte form
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ATC610xReadAnalogInputs( analog_in_fd, analog_in_bytes );
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@ -464,33 +551,39 @@ bool FGATC610x::do_analog_in() {
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float tmp, tmp1, tmp2;
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// aileron
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tmp = (float)(analog_in_data[0] - ATC_AILERON_CENTER) / 256.0f;
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tmp = scale( ailerons_center->getIntValue(), ailerons_min->getIntValue(),
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ailerons_max->getIntValue(), analog_in_data[0] );
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fgSetFloat( "/controls/aileron", tmp );
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// cout << "aileron = " << analog_in_data[0] << " = " << tmp;
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// elevator
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tmp = (float)(analog_in_data[4] - ATC_ELEVATOR_TRIM_CENTER) / 512.0f;
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fgSetFloat( "/controls/elevator-trim", tmp );
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tmp = -scale( elevator_center->getIntValue(), elevator_min->getIntValue(),
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elevator_max->getIntValue(), analog_in_data[5] );
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fgSetFloat( "/controls/elevator", tmp );
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// cout << "trim = " << analog_in_data[4] << " = " << tmp;
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// trim
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tmp = (float)(ATC_ELEVATOR_CENTER - analog_in_data[5]) / 100.0f;
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fgSetFloat( "/controls/elevator", tmp );
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// elevator trim
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tmp = scale( trim_center->getIntValue(), trim_min->getIntValue(),
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trim_max->getIntValue(), analog_in_data[4] );
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fgSetFloat( "/controls/elevator-trim", tmp );
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// cout << " elev = " << analog_in_data[5] << " = " << tmp << endl;
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// mixture
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tmp = (float)analog_in_data[7] / 680.0f;
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tmp = scale( mixture_min->getIntValue(), mixture_max->getIntValue(),
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analog_in_data[7] );
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fgSetFloat( "/controls/mixture[0]", tmp );
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fgSetFloat( "/controls/mixture[1]", tmp );
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// throttle
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tmp = ((float)analog_in_data[8] - 141.0) / 632.0f;
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tmp = scale( mixture_min->getIntValue(), mixture_max->getIntValue(),
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analog_in_data[8] );
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fgSetFloat( "/controls/throttle[0]", tmp );
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fgSetFloat( "/controls/throttle[1]", tmp );
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#if 0
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// rudder
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tmp = (float)(ATC_RUDDER_CENTER - analog_in_data[10]) / 145.0f;
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tmp = scale( rudder_center->getIntValue(), rudder_min->getIntValue(),
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rudder_max->getIntValue(), analog_in_data[10] );
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fgSetFloat( "/controls/rudder", tmp );
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#endif
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@ -70,6 +70,7 @@ class FGATC610x : public FGProtocol {
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unsigned char switch_data[ATC_SWITCH_BYTES];
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float compass_position;
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SGPropertyNode *mag_compass;
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SGPropertyNode *dme_min, *dme_kt, *dme_nm;
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SGPropertyNode *com1_freq, *com1_stby_freq;
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@ -90,6 +91,16 @@ class FGATC610x : public FGProtocol {
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SGPropertyNode *xpdr_fl_ann, *xpdr_alt_ann, *xpdr_gnd_ann, *xpdr_on_ann;
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SGPropertyNode *xpdr_sby_ann, *xpdr_reply_ann;
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// configuration values
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SGPropertyNode *elevator_center, *elevator_min, *elevator_max;
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SGPropertyNode *ailerons_center, *ailerons_min, *ailerons_max;
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SGPropertyNode *rudder_center, *rudder_min, *rudder_max;
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SGPropertyNode *throttle_min, *throttle_max;
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SGPropertyNode *mixture_min, *mixture_max;
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SGPropertyNode *trim_center, *trim_min, *trim_max;
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SGPropertyNode *nav1vol_min, *nav1vol_max;
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SGPropertyNode *nav2vol_min, *nav2vol_max;
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int dme_switch;
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bool do_analog_in();
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@ -106,6 +117,7 @@ public:
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~FGATC610x() { }
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bool open();
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void init_config();
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bool process();
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