ad6236cbe7
/instrumentation/attitude-indicator/config/tumble-flag is true. The AI will take up to five minutes to reerect itself completely.
111 lines
3.4 KiB
C++
111 lines
3.4 KiB
C++
// attitude_indicator.cxx - 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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// TODO:
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// - better spin-up
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#include "attitude_indicator.hxx"
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#include <Main/fg_props.hxx>
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#include <Main/util.hxx>
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AttitudeIndicator::AttitudeIndicator ()
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: _tumble(0)
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{
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}
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AttitudeIndicator::~AttitudeIndicator ()
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{
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}
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void
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AttitudeIndicator::init ()
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{
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// TODO: allow index of pump and AI
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// to be configured.
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_pitch_in_node = fgGetNode("/orientation/pitch-deg", true);
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_roll_in_node = fgGetNode("/orientation/roll-deg", true);
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_suction_node = fgGetNode("/systems/vacuum[0]/suction-inhg", true);
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_tumble_flag_node =
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fgGetNode("/instrumentation/attitude-indicator/config/tumble-flag",
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true);
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_pitch_out_node =
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fgGetNode("/instrumentation/attitude-indicator/indicated-pitch-deg",
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true);
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_roll_out_node =
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fgGetNode("/instrumentation/attitude-indicator/indicated-roll-deg",
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true);
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}
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void
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AttitudeIndicator::bind ()
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{
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fgTie("/instrumentation/attitude-indicator/serviceable",
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&_gyro, &Gyro::is_serviceable, &Gyro::set_serviceable);
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fgTie("/instrumentation/attitude-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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AttitudeIndicator::unbind ()
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{
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fgUntie("/instrumentation/attitude-indicator/serviceable");
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fgUntie("/instrumentation/attitude-indicator/spin");
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}
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void
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AttitudeIndicator::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(_suction_node->getDoubleValue()/5.0);
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_gyro.update(dt);
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double spin = _gyro.get_spin_norm();
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// Calculate the responsiveness
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double responsiveness = spin * spin * spin * spin * spin * spin;
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// Get the indicated roll and pitch
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double roll = _roll_in_node->getDoubleValue();
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double pitch = _pitch_in_node->getDoubleValue();
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// Calculate the tumble for the
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// next pass.
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if (_tumble_flag_node->getBoolValue()) {
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if (_tumble < 1.0) {
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if (fabs(roll) > 45.0) {
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double target = (fabs(roll) - 45.0) / 45.0;
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if (_tumble < target)
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_tumble = target;
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}
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if (fabs(pitch) > 45.0) {
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double target = (fabs(pitch) - 45.0) / 45.0;
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if (_tumble < target)
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_tumble = target;
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}
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if (_tumble > 1.0) {
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_tumble = 1.0;
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}
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}
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// Reerect in 5 minutes
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_tumble -= dt/300.0;
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if (_tumble < 0.0)
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_tumble = 0.0;
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responsiveness *= ((1.0 - _tumble) * (1.0 - _tumble) *
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(1.0 - _tumble) * (1.0 - _tumble));
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}
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roll = fgGetLowPass(_roll_out_node->getDoubleValue(), roll,
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responsiveness);
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pitch = fgGetLowPass(_pitch_out_node->getDoubleValue(), pitch,
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responsiveness);
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// Assign the new values
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_roll_out_node->setDoubleValue(roll);
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_pitch_out_node->setDoubleValue(pitch);
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}
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// end of attitude_indicator.cxx
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