[Flightgear-commitlogs] [FlightGear] branch next updated: Edit turn_indicator.cxx

[<fli...@li...>]

unknown user pushed a commit to branch next
in repository flightgear.

The following commit(s) were added to refs/heads/next by this push:
     new 7f0d77359 Edit turn_indicator.cxx
7f0d77359 is described below

SF URL:  http://sourceforge.net/p/flightgear/flightgear/ci/7f0d773599501c1ecf64749a775c71acf1a18d81/

Commit:    7f0d773599501c1ecf64749a775c71acf1a18d81
Author:    Mariusz Matuszek
Committer: James Turner
AuthorDate:    Mon May 18 09:49:56 2026 +0200

Edit turn_indicator.cxx




---
 src/Instrumentation/turn_indicator.cxx | 57 ++++++++++++++++++++++++----------
 src/Instrumentation/turn_indicator.hxx | 16 ++++++----
 2 files changed, 50 insertions(+), 23 deletions(-)

diff --git a/src/Instrumentation/turn_indicator.cxx b/src/Instrumentation/turn_indicator.cxx
index 9aacede77..665966512 100644
--- a/src/Instrumentation/turn_indicator.cxx
+++ b/src/Instrumentation/turn_indicator.cxx
@@ -33,9 +33,12 @@ TurnIndicator::TurnIndicator ( SGPropertyNode *node) :
        setDefaultPowerSupplyPath("/systems/electrical/outputs/turn-coordinator");
     }
 
+    _max_out_degsec = node->getDoubleValue("max-indicated-degsec", 6.0);
+
     SGPropertyNode* gyro_cfg = node->getChild("gyro", 0, true);
     _gyro_spin_up = gyro_cfg->getDoubleValue("spin-up-sec", 4.0);
     _gyro_spin_down = gyro_cfg->getDoubleValue("spin-down-sec", 180.0);
+    _gyro_spin_valid_from = gyro_cfg->getDoubleValue("gyro-spin-valid-norm", 0.93);
 
     readConfig(node, "turn-indicator");
 }
@@ -53,14 +56,18 @@ TurnIndicator::init ()
     _roll_rate_node = fgGetNode("/orientation/roll-rate-degps", true);
     _yaw_rate_node = fgGetNode("/orientation/yaw-rate-degps", true);
     _rate_out_node = node->getChild("indicated-turn-rate", 0, true);
-    _spin_node = node->getChild("spin", 0, true);
+    _is_valid_node = node->getChild("is-valid", 0, true);
     SGPropertyNode* gyro_node = node->getChild("gyro", 0, true);
+    _spin_node = gyro_node->getChild("spin", 0.0, true);
     _gyro_spin_up_node = gyro_node->getChild("spin-up-sec", 0, true);
     _gyro_spin_down_node = gyro_node->getChild("spin-down-sec", 0, true);
+    _gyro_spin_valid_from_node = gyro_node->getChild("gyro-spin-valid-norm", 0, true);
     if (!_gyro_spin_up_node->hasValue())
         _gyro_spin_up_node->setDoubleValue(_gyro_spin_up);
     if (!_gyro_spin_down_node->hasValue())
         _gyro_spin_down_node->setDoubleValue(_gyro_spin_down);
+    if (!_gyro_spin_valid_from_node->hasValue())
+        _gyro_spin_valid_from_node->setDoubleValue(_gyro_spin_valid_from);
 
     initServicePowerProperties(node);
 
@@ -77,7 +84,7 @@ TurnIndicator::reinit ()
 void
 TurnIndicator::update (double dt)
 {
-                                // Get the spin from the gyro
+    // Get the spin from the gyro
     _gyro.set_power_norm(isServiceableAndPowered());
     _gyro.set_spin_up(_gyro_spin_up_node->getDoubleValue());
     _gyro.set_spin_down(_gyro_spin_down_node->getDoubleValue());
@@ -86,24 +93,40 @@ TurnIndicator::update (double dt)
     double spin = _gyro.get_spin_norm();
     _spin_node->setDoubleValue( spin );
 
-                                // Calculate the indicated rate
-    double factor = 1.0 - ((1.0 - spin) * (1.0 - spin) * (1.0 - spin));
-    double rate = ((_roll_rate_node->getDoubleValue() / 20.0) +
-                   (_yaw_rate_node->getDoubleValue() / 3.0));
+    //Set 'indication is valid'
+    _is_valid_node->setBoolValue(spin >= _gyro_spin_valid_from_node->getDoubleValue());
+
+    // Calculate gyro responsiveness
+    double gyro_responsiveness_factor = 1.0 - pow((1.0 - spin), 3);
+
+    // Calculate the indicated turn rate
+    const double instrument_yaw_sensitivity = 1.0;   // TODO: make it configurable?
+    const double instrument_roll_sensitivity = 0.15; // TODO: make it configurable?
+
+    double yaw_rate = instrument_yaw_sensitivity * _yaw_rate_node->getDoubleValue();
+    double roll_rate = instrument_roll_sensitivity * _roll_rate_node->getDoubleValue();
+
+    // Get sign of the dominant vector
+    double sign = (fabs(roll_rate) > fabs(yaw_rate) ? roll_rate : yaw_rate);
+
+    // Add vectors (always perpendicular)
+    double indicated_turn_rate = sqrt(
+        pow(gyro_responsiveness_factor * yaw_rate, 2) +
+        pow(gyro_responsiveness_factor * roll_rate, 2));
+
+    indicated_turn_rate = std::copysign(indicated_turn_rate, sign);
+
+    // Clamp the output
+    indicated_turn_rate = std::clamp(indicated_turn_rate, -_max_out_degsec, _max_out_degsec);
 
-                                // Clamp the rate
-    if (rate < -2.5)
-        rate = -2.5;
-    else if (rate > 2.5)
-        rate = 2.5;
+    // Lag left, based on gyro spin
+    indicated_turn_rate = indicated_turn_rate - (1.0 - gyro_responsiveness_factor) * _max_out_degsec;
 
-                                // Lag left, based on gyro spin
-    rate = -2.5 + (factor * (rate + 2.5));
-    rate = fgGetLowPass(_last_rate, rate, dt*RESPONSIVENESS);
-    _last_rate = rate;
+    // Dampen instrument response
+    indicated_turn_rate = fgGetLowPass(_last_rate, indicated_turn_rate, dt * RESPONSIVENESS);
 
-                                // Publish the indicated rate
-    _rate_out_node->setDoubleValue(rate);
+    _last_rate = indicated_turn_rate;
+    _rate_out_node->setDoubleValue(indicated_turn_rate);
 }
 
 // end of turn_indicator.cxx
diff --git a/src/Instrumentation/turn_indicator.hxx b/src/Instrumentation/turn_indicator.hxx
index 0f502f61c..9ba250e20 100644
--- a/src/Instrumentation/turn_indicator.hxx
+++ b/src/Instrumentation/turn_indicator.hxx
@@ -22,7 +22,7 @@
  * Input properties:
  *
  * /instrumentation/"name"/serviceable
- * /instrumentation/"name"/spin
+ * /instrumentation/"name"/gyro/spin
  * /orientation/roll-rate-degps
  * /orientation/yaw-rate-degps
  * /systems/electrical/outputs/turn-coordinator (see below)
@@ -30,6 +30,7 @@
  * Output properties:
  *
  * /instrumentation/"name"/indicated-turn-rate
+ * /instrumentation/"name"/is-valid
  *
  * Configuration:
  *
@@ -40,8 +41,10 @@
  *                           supply path (not used when power-supply is set)
  *   power-supply
  *   minimum-supply-volts
- *   gyro-spin-up-sec        If given, seconds to spin up until power-norm (from 0->100%)
- *   gyro-spin-down-sec      If given, seconds the gyro will loose spin without power (from 100%->0)
+ *   gyro-spin-up-sec        If given, seconds to spin up until power-norm (from 0->100%). Defaults to 4s
+ *   gyro-spin-down-sec      If given, seconds the gyro will loose spin without power (from 100%->0). Defaults to 180s
+ *   gyro-spin-valid-norm    If given, 'is-valid' turns to 'true' from this norm. gyro rotation value. Defaults to 0.93
+ *
  *
  * Notes on the power supply path:
  *
@@ -72,10 +75,11 @@ public:
 private:
     Gyro _gyro;
     double _last_rate;
-    double _gyro_spin_up, _gyro_spin_down;
+    double _max_out_degsec;
+    double _gyro_spin_up, _gyro_spin_down, _gyro_spin_valid_from;
 
     SGPropertyNode_ptr _roll_rate_node;
     SGPropertyNode_ptr _yaw_rate_node;
-    SGPropertyNode_ptr _rate_out_node;
-    SGPropertyNode_ptr _spin_node, _gyro_spin_up_node, _gyro_spin_down_node;
+    SGPropertyNode_ptr _rate_out_node, _is_valid_node;
+    SGPropertyNode_ptr _spin_node, _gyro_spin_up_node, _gyro_spin_down_node, _gyro_spin_valid_from_node;
 };