Merge pull request #1030 from n7275/IMU_drift

Add IMU and Gyro Drift Rates and Accelerometer Biases

Missions/ProjectApollo/Apollo 10.cfg

@@ -13,4 +13,34 @@ LMPVesselName=Gene Cernan
 CDRSuitName=T. STAFFORD
 CMPSuitName=J. YOUNG
 LMPSuitName=E. CERNAN
-CSMCueCard=1 SATURN_BOOST_A14
+CSMCueCard=1 SATURN_BOOST_A14
+CMPIPABIASX=-0.27
+CMPIPASCALEX=-100
+CMPIPABIASY=-0.07
+CMPIPASCALEY=-230
+CMPIPABIASZ=-0.05
+CMPIPASCALEZ=-80
+CMNBDX=0.4
+CMNBDY=-1.3
+CMNBDZ=1.2
+CMADIAX=1
+CMADIAY=13
+CMADIAZ=11
+CMADSRAX=10
+CMADSRAY=3
+CMADSRAZ=7
+LMPIPABIASX=-0.41
+LMPIPASCALEX=-430
+LMPIPABIASY=0.18
+LMPIPASCALEY=-840
+LMPIPABIASZ=-0.03
+LMPIPASCALEZ=-530
+LMNBDX=-3.2
+LMNBDY=1.5
+LMNBDZ=-1.2
+LMADIAX=1
+LMADIAY=20
+LMADIAZ=-24
+LMADSRAX=5
+LMADSRAY=2
+LMADSRAZ=-1

Missions/ProjectApollo/Apollo 11.cfg

@@ -9,4 +9,34 @@ LMPVesselName=Buzz Aldrin
 CDRSuitName=N. ARMSTRONG
 CMPSuitName=M. COLLINS
 LMPSuitName=E. ALDRIN
-CSMCueCard=1 SATURN_BOOST_A14
+CSMCueCard=1 SATURN_BOOST_A14
+CMPIPABIASX=-0.26
+CMPIPASCALEX=40
+CMPIPABIASY=-0.13
+CMPIPASCALEY=-80
+CMPIPABIASZ=0.14
+CMPIPASCALEZ=-30
+CMNBDX=-1.8
+CMNBDY=-0.6
+CMNBDZ=-0.2
+CMADIAX=15
+CMADIAY=5
+CMADIAZ=1
+CMADSRAX=-6
+CMADSRAY=3
+CMADSRAZ=5
+LMPIPABIASX=-0.12
+LMPIPASCALEX=-210
+LMPIPABIASY=0.17
+LMPIPASCALEY=-210
+LMPIPABIASZ=0.07
+LMPIPASCALEZ=-920
+LMNBDX=1.3
+LMNBDY=-1.5
+LMNBDZ=-1.9
+LMADIAX=57
+LMADIAY=-4
+LMADIAZ=20
+LMADSRAX=2
+LMADSRAY=26
+LMADSRAZ=-11

Missions/ProjectApollo/Apollo 12.cfg

@@ -9,4 +9,34 @@ LMPVesselName=Al Bean
 CDRSuitName=C. CONRAD
 CMPSuitName=R. GORDON
 LMPSuitName=A. BEAN
-CSMCueCard=1 SATURN_BOOST_A14
+CSMCueCard=1 SATURN_BOOST_A14
+CMPIPABIASX=-0.09
+CMPIPASCALEX=-220
+CMPIPABIASY=-0.09
+CMPIPASCALEY=-350
+CMPIPABIASZ=-0.160
+CMPIPASCALEZ=-370
+CMNBDX=-0.1
+CMNBDY=-0.1
+CMNBDZ=0.1
+CMADIAX=13
+CMADIAY=0
+CMADIAZ=-1
+CMADSRAX=-4
+CMADSRAY=-4
+CMADSRAZ=-6
+LMPIPABIASX=-0.38
+LMPIPASCALEX=-660
+LMPIPABIASY=0.02
+LMPIPASCALEY=-720
+LMPIPABIASZ=0.62
+LMPIPASCALEZ=-890
+LMNBDX=0.1
+LMNBDY=0.8
+LMNBDZ=3.0
+LMADIAX=17
+LMADIAY=-15
+LMADIAZ=13
+LMADSRAX=-2
+LMADSRAY=4
+LMADSRAZ=-2

Missions/ProjectApollo/Apollo 7.cfg

@@ -8,3 +8,18 @@ LMPVesselName=Walt Cunningham
 CDRSuitName=W. SCHIRRA
 CMPSuitName=D. EISELE
 LMPSuitName=W. CUNNINGHAM
+CMPIPABIASX=0.24
+CMPIPASCALEX=-300
+CMPIPABIASY=0.24
+CMPIPASCALEY=-190
+CMPIPABIASZ=0.14
+CMPIPASCALEZ=-340
+CMNBDX=-0.5
+CMNBDY=0
+CMNBDZ=-0.6
+CMADIAX=8.2
+CMADIAY=11.6
+CMADIAZ=20.8
+CMADSRAX=3.9
+CMADSRAY=-0.4
+CMADSRAZ=-8.8

Missions/ProjectApollo/Apollo 8.cfg

@@ -7,4 +7,19 @@ LMPVesselName=Bill Anders
 CDRSuitName=F. BORMAN
 CMPSuitName=J. LOVELL
 LMPSuitName=W. ANDERS
-CSMCueCard=1 SATURN_BOOST_A14
+CSMCueCard=1 SATURN_BOOST_A14
+CMPIPABIASX=-0.0013
+CMPIPASCALEX=-76.57
+CMPIPABIASY=0.803
+CMPIPASCALEY=-329.14
+CMPIPABIASZ=0.631
+CMPIPASCALEZ=-200.71
+CMNBDX=2.18
+CMNBDY=2.62
+CMNBDZ=3.22
+CMADIAX=17.88
+CMADIAY=-3.22
+CMADIAZ=28.23
+CMADSRAX=-2.24
+CMADSRAY=1.66
+CMADSRAZ=-3.22

Missions/ProjectApollo/Apollo 9.cfg

@@ -14,4 +14,34 @@ LMPVesselName=Rusty Schweickart
 CDRSuitName=J. MCDIVITT
 CMPSuitName=D. SCOTT
 LMPSuitName=R. SCHWEICKART
-CSMCueCard=1 SATURN_BOOST_A14
+CSMCueCard=1 SATURN_BOOST_A14
+CMPIPABIASX=0.64
+CMPIPASCALEX=-140
+CMPIPABIASY=-0.1
+CMPIPASCALEY=-330
+CMPIPABIASZ=0.44
+CMPIPASCALEZ=-280
+CMNBDX=2.4
+CMNBDY=0
+CMNBDZ=2.4
+CMADIAX=5
+CMADIAY=8
+CMADIAZ=-18
+CMADSRAX=7
+CMADSRAY=9
+CMADSRAZ=-4
+LMPIPABIASX=0.31
+LMPIPASCALEX=-968
+LMPIPABIASY=0.19
+LMPIPASCALEY=-941
+LMPIPABIASZ=0
+LMPIPASCALEZ=-852
+LMNBDX=4.6
+LMNBDY=5
+LMNBDZ=4.5
+LMADIAX=5.4
+LMADIAY=-0.3
+LMADIAZ=19.6
+LMADSRAX=-0.5
+LMADSRAY=16.3
+LMADSRAZ=-1.7

Orbitersdk/samples/ProjectApollo/src_aux/Mission.cpp

@@ -111,6 +111,14 @@ namespace mission {
 		iCMtoLMPowerConnectionVersion = 0;
 		EmptySMCG = _V(914.5916, -6.6712, 12.2940); //Includes: empty SM and SLA ring, but no SM RCS
 		bHasRateAidedOptics = false;
+
+		CM_IMUDriftRates = _M(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
+		CM_PIPABias = _V(0.0, 0.0, 0.0);
+		CM_PIPAScale = _V(0.0, 0.0, 0.0);
+
+		LM_IMUDriftRates = _M(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
+		LM_PIPABias = _V(0.0, 0.0, 0.0);;
+		LM_PIPAScale = _V(0.0, 0.0, 0.0);
 		bCrossPointerReversePolarity = false;
 		bCrossPointerShades = false;
 		iLMNumber = 5; //LM-5
@@ -313,12 +321,126 @@ namespace mission {
 			else if (!_strnicmp(line, "LMCueCard=", 10)) {
 				ReadCueCardLine(line + 10, 1);
 			}
+			else if (!_strnicmp(line, "CMNBDX=", 7)) {
+				sscanf(line + 7, "%lf", &CM_IMUDriftRates.m11);
+			}
+			else if (!_strnicmp(line, "CMNBDY=", 7)) {
+				sscanf(line + 7, "%lf", &CM_IMUDriftRates.m12);
+			}
+			else if (!_strnicmp(line, "CMNBDZ=", 7)) {
+				sscanf(line + 7, "%lf", &CM_IMUDriftRates.m13);
+			}
+			else if (!_strnicmp(line, "CMADSRAX=", 9)) {
+				sscanf(line + 9, "%lf", &CM_IMUDriftRates.m21);
+			}
+			else if (!_strnicmp(line, "CMADSRAY=", 9)) {
+				sscanf(line + 9, "%lf", &CM_IMUDriftRates.m22);
+			}
+			else if (!_strnicmp(line, "CMADSRAZ=", 9)) {
+				sscanf(line + 9, "%lf", &CM_IMUDriftRates.m23);
+			}
+			else if (!_strnicmp(line, "CMADIAX=", 8)) {
+				sscanf(line + 8, "%lf", &CM_IMUDriftRates.m31);
+			}
+			else if (!_strnicmp(line, "CMADIAY=", 8)) {
+				sscanf(line + 8, "%lf", &CM_IMUDriftRates.m32);
+			}
+			else if (!_strnicmp(line, "CMADIAZ=", 8)) {
+				sscanf(line + 8, "%lf", &CM_IMUDriftRates.m33);
+			}
+			else if (!_strnicmp(line, "CMPIPABIASX=", 12)) {
+				sscanf(line + 12, "%lf", &CM_PIPABias.x);
+			}
+			else if (!_strnicmp(line, "CMPIPABIASY=", 12)) {
+				sscanf(line + 12, "%lf", &CM_PIPABias.y);
+			}
+			else if (!_strnicmp(line, "CMPIPABIASZ=", 12)) {
+				sscanf(line + 12, "%lf", &CM_PIPABias.z);
+			}
+			else if (!_strnicmp(line, "CMPIPASCALEX=", 13)) {
+				sscanf(line + 13, "%lf", &CM_PIPAScale.x);
+			}
+			else if (!_strnicmp(line, "CMPIPASCALEY=", 13)) {
+				sscanf(line + 13, "%lf", &CM_PIPAScale.y);
+			}
+			else if (!_strnicmp(line, "CMPIPASCALEZ=", 13)) {
+				sscanf(line + 13, "%lf", &CM_PIPAScale.z);
+			}
+			else if (!_strnicmp(line, "LMNBDX=", 7)) {
+				sscanf(line + 7, "%lf", &LM_IMUDriftRates.m11);
+			}
+			else if (!_strnicmp(line, "LMNBDY=", 7)) {
+				sscanf(line + 7, "%lf", &LM_IMUDriftRates.m12);
+			}
+			else if (!_strnicmp(line, "LMNBDZ=", 7)) {
+				sscanf(line + 7, "%lf", &LM_IMUDriftRates.m13);
+			}
+			else if (!_strnicmp(line, "LMADSRAX=", 9)) {
+				sscanf(line + 9, "%lf", &LM_IMUDriftRates.m21);
+			}
+			else if (!_strnicmp(line, "LMADSRAY=", 9)) {
+				sscanf(line + 9, "%lf", &LM_IMUDriftRates.m22);
+			}
+			else if (!_strnicmp(line, "LMADSRAZ=", 9)) {
+				sscanf(line + 9, "%lf", &LM_IMUDriftRates.m23);
+			}
+			else if (!_strnicmp(line, "LMADIAX=", 8)) {
+				sscanf(line + 8, "%lf", &LM_IMUDriftRates.m31);
+			}
+			else if (!_strnicmp(line, "LMADIAY=", 8)) {
+				sscanf(line + 8, "%lf", &LM_IMUDriftRates.m32);
+			}
+			else if (!_strnicmp(line, "LMADIAZ=", 8)) {
+				sscanf(line + 8, "%lf", &LM_IMUDriftRates.m33);
+			}
+			else if (!_strnicmp(line, "LMPIPABIASX=", 12)) {
+				sscanf(line + 12, "%lf", &LM_PIPABias.x);
+			}
+			else if (!_strnicmp(line, "LMPIPABIASY=", 12)) {
+				sscanf(line + 12, "%lf", &LM_PIPABias.y);
+			}
+			else if (!_strnicmp(line, "LMPIPABIASZ=", 12)) {
+				sscanf(line + 12, "%lf", &LM_PIPABias.z);
+			}
+			else if (!_strnicmp(line, "LMPIPASCALEX=", 13)) {
+				sscanf(line + 13, "%lf", &LM_PIPAScale.x);
+			}
+			else if (!_strnicmp(line, "LMPIPASCALEY=", 13)) {
+				sscanf(line + 13, "%lf", &LM_PIPAScale.y);
+			}
+			else if (!_strnicmp(line, "LMPIPASCALEZ=", 13)) {
+				sscanf(line + 13, "%lf", &LM_PIPAScale.z);
+			}
 		}
 		hFile.close();
 
 		return true;
 	}
 
+	MATRIX3 Mission::GetCM_IMU_Drift() const {
+		return CM_IMUDriftRates;
+	}
+
+	MATRIX3 Mission::GetLM_IMU_Drift() const {
+		return LM_IMUDriftRates;
+	}
+
+	VECTOR3 Mission::GetCM_PIPA_Bias() const {
+		return CM_PIPABias;
+	}
+
+	VECTOR3 Mission::GetLM_PIPA_Bias() const {
+		return LM_PIPABias;
+	}
+
+	VECTOR3 Mission::GetCM_PIPA_Scale() const {
+		return CM_PIPAScale;
+	}
+
+	VECTOR3 Mission::GetLM_PIPA_Scale() const {
+		return LM_PIPAScale;
+	}
+
 	const std::string& Mission::GetMissionName(void) const
 	{
 		return strFileName;

Orbitersdk/samples/ProjectApollo/src_aux/Mission.h

@@ -89,6 +89,18 @@ namespace mission
 		VECTOR3 GetCGOfEmptySM() const;
 		//false = Optics mode switch is not bypassed for CMC to optics commands, true = optics mode switch is bypassed for CMC to optics commands (ECP 792)
 		bool HasRateAidedOptics() const;
+		//
+		MATRIX3 GetCM_IMU_Drift() const;
+		//
+		MATRIX3 GetLM_IMU_Drift() const;
+		//
+		VECTOR3 GetCM_PIPA_Bias() const;
+		//
+		VECTOR3 GetLM_PIPA_Bias() const;
+		//
+		VECTOR3 GetCM_PIPA_Scale() const;
+		//
+		VECTOR3 GetLM_PIPA_Scale() const;
 		//false = Normal polarity (Apollo 14 and earlier), Lateral axis for PGNS and LR input has switched polarity (Apollo 15 and later)
 		bool GetCrossPointerReversePolarity() const;
 		//false = No shades (Apollo 15 and earlier), Shades (Apollo 16 & 17)
@@ -164,11 +176,19 @@ namespace mission
 		int iLMNumber;
 		bool bLMEventTimerReverseAtZero;
 
+		MATRIX3 CM_IMUDriftRates;
+		VECTOR3 CM_PIPABias;
+		VECTOR3 CM_PIPAScale;
+
+		MATRIX3 LM_IMUDriftRates;
+		VECTOR3 LM_PIPABias;
+		VECTOR3 LM_PIPAScale;
+
 		void SetDefaultValues();
 	};
 }
 
 DLLCLBK mission::Mission* paGetDefaultMission();
 DLLCLBK mission::Mission* paGetMission(const std::string& filename);
 void ClearMissionManagementMemory();
-void InitMissionManagementMemory();
+void InitMissionManagementMemory();