heading_indicator_dg.hxx

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/*
 * SPDX-FileName: heading_indicator_dg.hxx
 * SPDX-FileComment: a Directional Gyro (DG) compass.
 * SPDX-License-Identifier: GPL-2.0-or-later
 * SPDX-FileContributor: Written by Vivian Meazza, started 2005.
 * SPDX-FileContributor: Enhanced by Benedikt Hallinger, 2023
 */
 
#pragma once
 
 
#include <Instrumentation/AbstractInstrument.hxx>
 
#include "gyro.hxx"
 

class HeadingIndicatorDG : public AbstractInstrument
{
public:
    HeadingIndicatorDG ( SGPropertyNode *node );
    HeadingIndicatorDG ();
    virtual ~HeadingIndicatorDG ();
 
    // Subsystem API.
    void init() override;
    void reinit() override;
    void update(double dt) override;
 
    // Subsystem identification.
    static const char* staticSubsystemClassId() { return "heading-indicator-dg"; };
 
private:
    Gyro _gyro;
    double _last_heading_deg, _last_indicated_heading_dg;
 
    std::string _powerSupplyPath;
    std::string _suctionPath;
    std::string _gnodePath;
    std::string _heading_in_nodePath;
    std::string _yaw_rate_nodePath;
    bool _vacuumDriven = false;
 
    SGPropertyNode_ptr _limits_node;
    double _minVacuum = 4.0; // inHg
    SGPropertyNode_ptr _minVacuum_node;
 
    double _gyro_lag, _gyro_spin_up, _gyro_spin_down;
    double _minSpin, _yaw_error_factor, _g_error_factor,
        _yaw_limit_rate, _last_g, _g_filtertime, _g_limit_lower, _g_limit_upper, _g_limit_tumble;
    SGPropertyNode_ptr _minSpin_node, _yaw_error_factor_node, _g_error_factor_node,
        _yaw_limit_rate_node, _g_limit_lower_node, _g_limit_upper_node;
 
    SGPropertyNode_ptr _offset_node;
    SGPropertyNode_ptr _heading_in_node;
    SGPropertyNode_ptr _serviceable_node;
    SGPropertyNode_ptr _heading_out_node;
    SGPropertyNode_ptr _drift_ph_out_node;
    SGPropertyNode_ptr _transp_wander_out_node;
    SGPropertyNode_ptr _we_speed_node;
    SGPropertyNode_ptr _lat_nut_node;
    SGPropertyNode_ptr _caged_node;
    SGPropertyNode_ptr _tumble_node, _tumble_flag_node, _g_limit_tumble_node;
    SGPropertyNode_ptr _electrical_node;
    SGPropertyNode_ptr _error_node;
    SGPropertyNode_ptr _nav1_error_node;
    SGPropertyNode_ptr _align_node;
    SGPropertyNode_ptr _yaw_rate_node;
    SGPropertyNode_ptr _heading_bug_error_node;
    SGPropertyNode_ptr _g_node, _g_filtertime_node;
    SGPropertyNode_ptr _spin_node, _gyro_spin_up_node, _gyro_spin_down_node;
    SGPropertyNode_ptr _suction_node;
};