106 lines
2.8 KiB
C++
106 lines
2.8 KiB
C++
// attitude_indicator.hxx - a vacuum-powered attitude indicator.
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// Written by David Megginson, started 2002.
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//
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// This file is in the Public Domain and comes with no warranty.
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#ifndef __INSTRUMENTS_MRG_HXX
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#define __INSTRUMENTS_MRG_HXX 1
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#include <simgear/props/props.hxx>
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#include <simgear/structure/subsystem_mgr.hxx>
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#include "gyro.hxx"
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/**
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* Model an electrically-powered master reference gyro.
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*
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* Input properties:
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*
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* /instrumentation/"name"/config/tumble-flag
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* /instrumentation/"name"/serviceable
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* /instrumentation/"name"/caged-flag
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* /instrumentation/"name"/tumble-norm
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* /orientation/pitch-deg
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* /orientation/roll-deg
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*
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* Output properties:
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*
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* /instrumentation/"name"/indicated-pitch-deg
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* /instrumentation/"name"/indicated-roll-deg
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* /instrumentation/"name"/tumble-norm
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*/
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class MasterReferenceGyro : public SGSubsystem
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{
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public:
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MasterReferenceGyro ( SGPropertyNode *node );
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MasterReferenceGyro ();
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virtual ~MasterReferenceGyro ();
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// Subsystem API.
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void bind() override;
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void init() override;
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void reinit() override;
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void unbind() override;
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void update(double dt) override;
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// Subsystem identification.
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static const char* staticSubsystemClassId() { return "master-reference-gyro"; }
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private:
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static const double gravity; //conversion factor
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std::string _name;
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int _num;
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double _last_roll;
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double _last_pitch;
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double _last_hdg;
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double _indicated_roll;
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double _indicated_pitch;
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double _indicated_hdg;
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double _indicated_pitch_rate;
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double _indicated_roll_rate;
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double _indicated_hdg_rate;
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double _last_roll_rate;
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double _last_pitch_rate;
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double _last_yaw_rate;
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double _last_g;
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double _erect_time;
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double _g_error;
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Gyro _gyro;
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SGPropertyNode_ptr _tumble_flag_node;
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SGPropertyNode_ptr _caged_node;
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SGPropertyNode_ptr _off_node;
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SGPropertyNode_ptr _tumble_node;
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SGPropertyNode_ptr _pitch_in_node;
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SGPropertyNode_ptr _roll_in_node;
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SGPropertyNode_ptr _hdg_in_node;
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SGPropertyNode_ptr _hdg_mag_in_node;
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SGPropertyNode_ptr _g_in_node;
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SGPropertyNode_ptr _electrical_node;
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SGPropertyNode_ptr _pitch_int_node;
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SGPropertyNode_ptr _roll_int_node;
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SGPropertyNode_ptr _hdg_int_node;
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SGPropertyNode_ptr _pitch_out_node;
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SGPropertyNode_ptr _roll_out_node;
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SGPropertyNode_ptr _hdg_out_node;
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SGPropertyNode_ptr _hdg_mag_out_node;
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SGPropertyNode_ptr _pitch_rate_out_node;
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SGPropertyNode_ptr _roll_rate_out_node;
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SGPropertyNode_ptr _hdg_rate_out_node;
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SGPropertyNode_ptr _error_out_node;
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SGPropertyNode_ptr _yaw_rate_node;
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SGPropertyNode_ptr _roll_rate_node;
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SGPropertyNode_ptr _pitch_rate_node;
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SGPropertyNode_ptr _responsiveness_node;
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SGPropertyNode_ptr _hdg_input_source_node;
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SGPropertyNode_ptr _fast_erect_node;
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};
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#endif // __INSTRUMENTS_MRG_HXX
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