// attitude_indicator.hxx - a vacuum-powered attitude indicator.
// Written by David Megginson, started 2002.
//
// This file is in the Public Domain and comes with no warranty.


#ifndef __INSTRUMENTS_ATTITUDE_INDICATOR_HXX
#define __INSTRUMENTS_ATTITUDE_INDICATOR_HXX 1

#ifndef __cplusplus
# error This library requires C++
#endif

#include <simgear/props/props.hxx>
#include <simgear/structure/subsystem_mgr.hxx>

#include "gyro.hxx"


/**
 * Model a vacuum-powered attitude indicator.
 *
 * Input properties:
 *
 * /instrumentation/"name"/config/tumble-flag
 * /instrumentation/"name"/serviceable
 * /instrumentation/"name"/caged-flag
 * /instrumentation/"name"/tumble-norm
 * /orientation/pitch-deg
 * /orientation/roll-deg
 * "vacuum-system"/suction-inhg
 *
 * Output properties:
 *
 * /instrumentation/"name"/indicated-pitch-deg
 * /instrumentation/"name"/indicated-roll-deg
 * /instrumentation/"name"/tumble-norm
 */
class AttitudeIndicator : public SGSubsystem
{

public:

    AttitudeIndicator ( SGPropertyNode *node );
    virtual ~AttitudeIndicator ();

    virtual void init ();
    virtual void bind ();
    virtual void unbind ();
    virtual void update (double dt);

private:

    string _name;
    int _num;
    string _suction;

    Gyro _gyro;

    SGPropertyNode_ptr _tumble_flag_node;
    SGPropertyNode_ptr _caged_node;
    SGPropertyNode_ptr _tumble_node;
    SGPropertyNode_ptr _pitch_in_node;
    SGPropertyNode_ptr _roll_in_node;
    SGPropertyNode_ptr _suction_node;
    SGPropertyNode_ptr _pitch_int_node;
    SGPropertyNode_ptr _roll_int_node;
    SGPropertyNode_ptr _pitch_out_node;
    SGPropertyNode_ptr _roll_out_node;
    
    double spin_thresh;
    double max_roll_error;
    double max_pitch_error;
};

#endif // __INSTRUMENTS_ATTITUDE_INDICATOR_HXX