f614545fc5
Instrumentation and systems are now configureable from xml files. The two generic configurations generic-systems.xml and generic-instrumentation.xml configures the systems and instrumentation as it was hardcoded. You can override the generic configurations in a similar way as you override the autopilot configuration.
129 lines
3.8 KiB
C++
129 lines
3.8 KiB
C++
// heading_indicator.cxx - a vacuum-powered heading 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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#include "heading_indicator.hxx"
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#include <Main/fg_props.hxx>
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#include <Main/util.hxx>
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HeadingIndicator::HeadingIndicator ( SGPropertyNode *node )
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:
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name("heading-indicator"),
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num(0),
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vacuum_system("/systems/vacuum")
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{
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int i;
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for ( i = 0; i < node->nChildren(); ++i ) {
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SGPropertyNode *child = node->getChild(i);
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string cname = child->getName();
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string cval = child->getStringValue();
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if ( cname == "name" ) {
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name = cval;
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} else if ( cname == "number" ) {
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num = child->getIntValue();
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} else if ( cname == "vacuum-system" ) {
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vacuum_system = cval;
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} else {
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SG_LOG( SG_AUTOPILOT, SG_WARN, "Error in heading-indicator config logic" );
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if ( name.length() ) {
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SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << name );
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}
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}
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}
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}
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HeadingIndicator::HeadingIndicator ()
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{
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}
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HeadingIndicator::~HeadingIndicator ()
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{
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}
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void
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HeadingIndicator::init ()
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{
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string branch;
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branch = "/instrumentation/" + name;
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vacuum_system += "/suction-inhg";
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SGPropertyNode *node = fgGetNode(branch.c_str(), num, true );
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_offset_node = node->getChild("offset-deg", 0, true);
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_heading_in_node = fgGetNode("/orientation/heading-deg", true);
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_suction_node = fgGetNode(vacuum_system.c_str(), true);
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_heading_out_node = node->getChild("indicated-heading-deg", 0, true);
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_last_heading_deg = (_heading_in_node->getDoubleValue() +
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_offset_node->getDoubleValue());
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//_serviceable_node->setBoolValue(true);
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}
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void
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HeadingIndicator::bind ()
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{
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string branch;
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branch = "/instrumentation/" + name + "/serviceable";
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fgTie(branch.c_str(),
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&_gyro, &Gyro::is_serviceable, &Gyro::set_serviceable);
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branch = "/instrumentation/" + name + "/spin";
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fgTie(branch.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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HeadingIndicator::unbind ()
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{
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string branch;
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branch = "/instrumentation/" + name + "/serviceable";
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fgUntie(branch.c_str());
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branch = "/instrumentation/" + name + "/spin";
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fgUntie(branch.c_str());
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}
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void
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HeadingIndicator::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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// Next, calculate time-based precession
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double offset = _offset_node->getDoubleValue();
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offset -= dt * (0.25 / 60.0); // 360deg/day
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while (offset < -360)
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offset += 360;
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while (offset > 360)
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offset -= 360;
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_offset_node->setDoubleValue(offset);
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// TODO: movement-induced error
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// Next, calculate the indicated heading,
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// introducing errors.
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double factor = 0.01 / (spin * spin * spin * spin * spin * spin);
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double heading = _heading_in_node->getDoubleValue();
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// Now, we have to get the current
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// heading and the last heading into
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// the same range.
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while ((heading - _last_heading_deg) > 180)
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_last_heading_deg += 360;
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while ((heading - _last_heading_deg) < -180)
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_last_heading_deg -= 360;
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heading = fgGetLowPass(_last_heading_deg, heading, dt/factor);
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_last_heading_deg = heading;
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heading += offset;
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while (heading < 0)
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heading += 360;
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while (heading > 360)
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heading -= 360;
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_heading_out_node->setDoubleValue(heading);
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}
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// end of heading_indicator.cxx
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