79 lines
2.2 KiB
C++
79 lines
2.2 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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#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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// Use a bigger number to be more responsive, or a smaller number
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// to be more sluggish (the base time is 1.0).
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#define RESPONSIVENESS 0.25
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TurnIndicator::TurnIndicator ()
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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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_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", true);
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_rate_out_node =
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fgGetNode("/instrumentation/turn-indicator/indicated-turn-rate", true);
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}
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void
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TurnIndicator::bind ()
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{
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fgTie("/instrumentation/turn-indicator/serviceable",
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&_gyro, &Gyro::is_serviceable, &Gyro::set_serviceable);
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fgTie("/instrumentation/turn-indicator/spin",
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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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fgUntie("/instrumentation/turn-indicator/serviceable");
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fgUntie("/instrumentation/turn-indicator/spin");
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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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_gyro.set_power_norm(_electric_current_node->getDoubleValue()/60.0);
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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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// end of turn_indicator.cxx
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