124 lines
3.2 KiB
C++
124 lines
3.2 KiB
C++
// turn_indicator.cxx - an electric-powered turn indicator.
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// Written by David Megginson, started 2003.
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//
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// This file is in the Public Domain and comes with no warranty.
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#ifdef HAVE_CONFIG_H
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# include "config.h"
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#endif
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#include <simgear/compiler.h>
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#include <iostream>
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#include <string>
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#include <sstream>
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#include "turn_indicator.hxx"
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#include <Main/fg_props.hxx>
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#include <Main/util.hxx>
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using std::string;
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// Use a bigger number to be more responsive, or a smaller number
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// to be more sluggish.
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#define RESPONSIVENESS 0.5
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TurnIndicator::TurnIndicator ( SGPropertyNode *node) :
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_last_rate(0),
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_name(node->getStringValue("name", "turn-indicator")),
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_num(node->getIntValue("number", 0)),
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_electrical(node->getIntValue("electrical", 0))
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{
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}
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TurnIndicator::~TurnIndicator ()
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{
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}
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void
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TurnIndicator::init ()
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{
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string branch;
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branch = "/instrumentation/" + _name;
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SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
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_roll_rate_node = fgGetNode("/orientation/roll-rate-degps", true);
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_yaw_rate_node = fgGetNode("/orientation/yaw-rate-degps", true);
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_electric_current_node =
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fgGetNode("/systems/electrical/outputs/turn-coordinator", _electrical, true);
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_rate_out_node = node->getChild("indicated-turn-rate", 0, true);
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reinit();
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}
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void
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TurnIndicator::reinit ()
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{
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_last_rate = 0;
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_gyro.reinit();
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}
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void
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TurnIndicator::bind ()
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{
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std::ostringstream temp;
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string branch;
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temp << _num;
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branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
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fgTie((branch + "/serviceable").c_str(),
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&_gyro, &Gyro::is_serviceable, &Gyro::set_serviceable);
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fgTie((branch + "/spin").c_str(),
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&_gyro, &Gyro::get_spin_norm, &Gyro::set_spin_norm);
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}
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void
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TurnIndicator::unbind ()
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{
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std::ostringstream temp;
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string branch;
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temp << _num;
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branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
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fgUntie((branch + "/serviceable").c_str());
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fgUntie((branch + "/serviceable").c_str());
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}
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void
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TurnIndicator::update (double dt)
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{
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// Get the spin from the gyro
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double power = _electric_current_node->getDoubleValue() / 12.0;
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_gyro.set_power_norm(power);
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_gyro.update(dt);
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double spin = _gyro.get_spin_norm();
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// Calculate the indicated rate
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double factor = 1.0 - ((1.0 - spin) * (1.0 - spin) * (1.0 - spin));
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double rate = ((_roll_rate_node->getDoubleValue() / 20.0) +
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(_yaw_rate_node->getDoubleValue() / 3.0));
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// Clamp the rate
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if (rate < -2.5)
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rate = -2.5;
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else if (rate > 2.5)
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rate = 2.5;
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// Lag left, based on gyro spin
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rate = -2.5 + (factor * (rate + 2.5));
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rate = fgGetLowPass(_last_rate, rate, dt*RESPONSIVENESS);
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_last_rate = rate;
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// Publish the indicated rate
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_rate_out_node->setDoubleValue(rate);
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}
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// Register the subsystem.
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#if 0
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SGSubsystemMgr::InstancedRegistrant<TurnIndicator> registrantTurnIndicator(
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SGSubsystemMgr::FDM,
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{{"instrumentation", SGSubsystemMgr::Dependency::HARD}});
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#endif
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// end of turn_indicator.cxx
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