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Merge commit 'refs/merge-requests/14' of git://gitorious.org/fg/flightgear into next

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Csaba Halasz 2010-11-30 00:42:34 +01:00
commit c5c895dae2
2 changed files with 111 additions and 78 deletions
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56
src/Instrumentation/heading_indicator_dg.cxx
View file

@ -7,6 +7,7 @@
// This file is in the Public Domain and comes with no warranty. // This file is in the Public Domain and comes with no warranty.
#include <simgear/compiler.h> #include <simgear/compiler.h>
#include <simgear/sg_inlines.h>
#include <iostream> #include <iostream>
#include <string> #include <string>
#include <sstream> #include <sstream>
@ -54,15 +55,26 @@ HeadingIndicatorDG::init ()
branch = "/instrumentation/" + name; branch = "/instrumentation/" + name;
_heading_in_node = fgGetNode("/orientation/heading-deg", true); _heading_in_node = fgGetNode("/orientation/heading-deg", true);
_yaw_rate_node = fgGetNode("/orientation/yaw-rate-degps", true);
_g_node = fgGetNode("/accelerations/pilot-g", true);
SGPropertyNode *node = fgGetNode(branch.c_str(), num, true ); SGPropertyNode *node = fgGetNode(branch.c_str(), num, true );
_offset_node = node->getChild("offset-deg", 0, true); _offset_node = node->getChild("offset-deg", 0, true);
_serviceable_node = node->getChild("serviceable", 0, true); _serviceable_node = node->getChild("serviceable", 0, true);
_error_node = node->getChild("heading-bug-error-deg", 0, true); _heading_bug_error_node = node->getChild("heading-bug-error-deg", 0, true);
_error_node = node->getChild("error-deg", 0, true);
_nav1_error_node = node->getChild("nav1-course-error-deg", 0, true); _nav1_error_node = node->getChild("nav1-course-error-deg", 0, true);
_heading_out_node = node->getChild("indicated-heading-deg", 0, true); _heading_out_node = node->getChild("indicated-heading-deg", 0, true);
_last_heading_deg = (_heading_in_node->getDoubleValue() + _align_node = node->getChild("align-deg", 0, true);
_offset_node->getDoubleValue());
_electrical_node = fgGetNode("/systems/electrical/outputs/DG", true); _electrical_node = fgGetNode("/systems/electrical/outputs/DG", true);
_align_node->setDoubleValue(0);
_error_node->setDoubleValue(0);
_last_heading_deg = (_heading_in_node->getDoubleValue() +
_offset_node->getDoubleValue() + _align_node->getDoubleValue());
} }
void void
@ -100,11 +112,30 @@ HeadingIndicatorDG::update (double dt)
_gyro.update(dt); _gyro.update(dt);
double spin = _gyro.get_spin_norm(); double spin = _gyro.get_spin_norm();
// No time-based precession for a flux gate compass // Next, calculate time-based precession
// No magvar double offset = _offset_node->getDoubleValue();
double offset = 0; offset -= dt * (0.25 / 60.0); // 360deg/day
SG_NORMALIZE_RANGE(offset, -360.0, 360.0);
_offset_node->setDoubleValue(offset);
// TODO: movement-induced error // No magvar - set the alignment manually
double align = _align_node->getDoubleValue();
// Movement-induced error
double yaw_rate = _yaw_rate_node->getDoubleValue();
double error = _error_node->getDoubleValue();
double g = _g_node->getDoubleValue();
int sign = 0;
if ( fabs ( yaw_rate ) > 5 ) {
error += 0.033 * -yaw_rate * dt ;
}
if ( g > 1.5 || g < -0.5){
error += 0.033 * g * dt;
}
_error_node->setDoubleValue(error);
// Next, calculate the indicated heading, // Next, calculate the indicated heading,
// introducing errors. // introducing errors.
@ -122,11 +153,8 @@ HeadingIndicatorDG::update (double dt)
heading = fgGetLowPass(_last_heading_deg, heading, dt * factor); heading = fgGetLowPass(_last_heading_deg, heading, dt * factor);
_last_heading_deg = heading; _last_heading_deg = heading;
heading += offset; heading += offset + align + error;
while (heading < 0) SG_NORMALIZE_RANGE(heading, 0.0, 360.0);
heading += 360;
while (heading > 360)
heading -= 360;
_heading_out_node->setDoubleValue(heading); _heading_out_node->setDoubleValue(heading);
@ -138,7 +166,7 @@ HeadingIndicatorDG::update (double dt)
double diff = bnode->getDoubleValue() - heading; double diff = bnode->getDoubleValue() - heading;
if ( diff < -180.0 ) { diff += 360.0; } if ( diff < -180.0 ) { diff += 360.0; }
if ( diff > 180.0 ) { diff -= 360.0; } if ( diff > 180.0 ) { diff -= 360.0; }
_error_node->setDoubleValue( diff ); _heading_bug_error_node->setDoubleValue( diff );
} }
// calculate the difference between the indicated heading // calculate the difference between the indicated heading
// and the selected nav1 radial for use with an autopilot // and the selected nav1 radial for use with an autopilot
@ -152,4 +180,4 @@ HeadingIndicatorDG::update (double dt)
} }
} }
// end of heading_indicator_fg.cxx // end of heading_indicator_dg.cxx

133
src/Instrumentation/heading_indicator_dg.hxx
View file

@ -1,64 +1,69 @@
// heading_indicator.hxx - a vacuum-powered heading indicator. // heading_indicator.hxx - a vacuum-powered heading indicator.
// Written by David Megginson, started 2002. // Written by David Megginson, started 2002.
// //
// This file is in the Public Domain and comes with no warranty. // This file is in the Public Domain and comes with no warranty.
#ifndef __INSTRUMENTS_HEADING_INDICATOR_ELEC_HXX #ifndef __INSTRUMENTS_HEADING_INDICATOR_ELEC_HXX
#define __INSTRUMENTS_HEADING_INDICATOR_ELEC_HXX 1 #define __INSTRUMENTS_HEADING_INDICATOR_ELEC_HXX 1
#include <simgear/props/props.hxx> #include <simgear/props/props.hxx>
#include <simgear/structure/subsystem_mgr.hxx> #include <simgear/structure/subsystem_mgr.hxx>
#include <simgear/math/sg_random.h>
#include "gyro.hxx"
#include "gyro.hxx"
/**
* Model an electrically-powered heading indicator. /**
* * Model an electrically-powered heading indicator.
* Input properties: *
* * Input properties:
* /instrumentation/"name"/serviceable *
* /instrumentation/"name"/spin * /instrumentation/"name"/serviceable
* /instrumentation/"name"/offset-deg * /instrumentation/"name"/spin
* /orientation/heading-deg * /instrumentation/"name"/offset-deg
* /systems/electrical/outputs/DG * /orientation/heading-deg
* * /systems/electrical/outputs/DG
* Output properties: *
* * Output properties:
* /instrumentation/"name"/indicated-heading-deg *
*/ * /instrumentation/"name"/indicated-heading-deg
class HeadingIndicatorDG : public SGSubsystem */
{ class HeadingIndicatorDG : public SGSubsystem
{
public:
public:
HeadingIndicatorDG ( SGPropertyNode *node );
HeadingIndicatorDG (); HeadingIndicatorDG ( SGPropertyNode *node );
virtual ~HeadingIndicatorDG (); HeadingIndicatorDG ();
virtual ~HeadingIndicatorDG ();
virtual void init ();
virtual void bind (); virtual void init ();
virtual void unbind (); virtual void bind ();
virtual void update (double dt); virtual void unbind ();
virtual void update (double dt);
private:
private:
Gyro _gyro;
double _last_heading_deg; Gyro _gyro;
double _last_heading_deg;
string name;
int num; string name;
//string vacuum_system; int num;
//string vacuum_system;
SGPropertyNode_ptr _offset_node;
SGPropertyNode_ptr _heading_in_node; SGPropertyNode_ptr _offset_node;
SGPropertyNode_ptr _serviceable_node; SGPropertyNode_ptr _heading_in_node;
SGPropertyNode_ptr _heading_out_node; SGPropertyNode_ptr _serviceable_node;
SGPropertyNode_ptr _electrical_node; SGPropertyNode_ptr _heading_out_node;
SGPropertyNode_ptr _error_node; SGPropertyNode_ptr _electrical_node;
SGPropertyNode_ptr _nav1_error_node; SGPropertyNode_ptr _error_node;
}; SGPropertyNode_ptr _nav1_error_node;
SGPropertyNode_ptr _align_node;
#endif // __INSTRUMENTS_HEADING_INDICATOR_ELEC_HXX SGPropertyNode_ptr _yaw_rate_node;
SGPropertyNode_ptr _heading_bug_error_node;
SGPropertyNode_ptr _g_node;
};
#endif // __INSTRUMENTS_HEADING_INDICATOR_ELEC_HXX