1 // newauto.cxx -- autopilot defines and prototypes (very alpha)
3 // Started April 1998 Copyright (C) 1998
5 // Contributions by Jeff Goeke-Smith <jgoeke@voyager.net>
6 // Norman Vine <nhv@cape.com>
7 // Curtis Olson <curt@flightgear.org>
9 // This program is free software; you can redistribute it and/or
10 // modify it under the terms of the GNU General Public License as
11 // published by the Free Software Foundation; either version 2 of the
12 // License, or (at your option) any later version.
14 // This program is distributed in the hope that it will be useful, but
15 // WITHOUT ANY WARRANTY; without even the implied warranty of
16 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
17 // General Public License for more details.
19 // You should have received a copy of the GNU General Public License
20 // along with this program; if not, write to the Free Software
21 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
30 #include <stdio.h> // sprintf()
31 #include <string.h> // strcmp()
33 #include <simgear/constants.h>
34 #include <simgear/sg_inlines.h>
35 #include <simgear/debug/logstream.hxx>
36 #include <simgear/math/sg_geodesy.hxx>
37 #include <simgear/math/sg_random.h>
38 #include <simgear/route/route.hxx>
40 #include <Cockpit/steam.hxx>
41 #include <Cockpit/radiostack.hxx>
42 #include <Controls/controls.hxx>
43 #include <FDM/flight.hxx>
44 #include <Main/globals.hxx>
45 #include <Scenery/scenery.hxx>
47 #include "newauto.hxx"
50 /// These statics will eventually go into the class
51 /// they are just here while I am experimenting -- NHV :-)
52 // AutoPilot Gain Adjuster members
53 static double MaxRollAdjust; // MaxRollAdjust = 2 * APData->MaxRoll;
54 static double RollOutAdjust; // RollOutAdjust = 2 * APData->RollOut;
55 static double MaxAileronAdjust; // MaxAileronAdjust = 2 * APData->MaxAileron;
56 static double RollOutSmoothAdjust; // RollOutSmoothAdjust = 2 * APData->RollOutSmooth;
58 static char NewTgtAirportId[16];
59 // static char NewTgtAirportLabel[] = "Enter New TgtAirport ID";
61 extern char *coord_format_lat(float);
62 extern char *coord_format_lon(float);
66 FGAutopilot::FGAutopilot()
71 FGAutopilot::~FGAutopilot() {}
74 void FGAutopilot::MakeTargetLatLonStr( double lat, double lon ) {
75 sprintf( TargetLatitudeStr , "%s", coord_format_lat(get_TargetLatitude()));
76 sprintf( TargetLongitudeStr, "%s", coord_format_lon(get_TargetLongitude()));
77 sprintf( TargetLatLonStr, "%s %s", TargetLatitudeStr, TargetLongitudeStr );
81 void FGAutopilot::MakeTargetAltitudeStr( double altitude ) {
82 if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
83 sprintf( TargetAltitudeStr, "APAltitude %6.0f+", altitude );
85 sprintf( TargetAltitudeStr, "APAltitude %6.0f", altitude );
90 void FGAutopilot::MakeTargetHeadingStr( double bearing ) {
93 } else if (bearing > 360. ) {
96 sprintf( TargetHeadingStr, "APHeading %6.1f", bearing );
100 static inline double get_speed( void ) {
101 return( cur_fdm_state->get_V_equiv_kts() );
104 static inline double get_ground_speed() {
105 // starts in ft/s so we convert to kts
106 static const SGPropertyNode * speedup_node = fgGetNode("/sim/speed-up");
108 double ft_s = cur_fdm_state->get_V_ground_speed()
109 * speedup_node->getIntValue();
110 double kts = ft_s * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM;
116 void FGAutopilot::MakeTargetWPStr( double distance ) {
117 static time_t last_time = 0;
118 time_t current_time = time(NULL);
119 if ( last_time == current_time ) {
123 last_time = current_time;
127 int size = globals->get_route()->size();
129 // start by wiping the strings
136 SGWayPoint wp1 = globals->get_route()->get_waypoint( 0 );
138 double eta = accum * SG_METER_TO_NM / get_ground_speed();
139 if ( eta >= 100.0 ) { eta = 99.999; }
141 if ( eta < (1.0/6.0) ) {
142 // within 10 minutes, bump up to min/secs
146 minor = (int)((eta - (int)eta) * 60.0);
147 sprintf( TargetWP1Str, "%s %.2f NM ETA %d:%02d",
148 wp1.get_id().c_str(),
149 accum*SG_METER_TO_NM, major, minor );
154 SGWayPoint wp2 = globals->get_route()->get_waypoint( 1 );
155 accum += wp2.get_distance();
157 double eta = accum * SG_METER_TO_NM / get_ground_speed();
158 if ( eta >= 100.0 ) { eta = 99.999; }
160 if ( eta < (1.0/6.0) ) {
161 // within 10 minutes, bump up to min/secs
165 minor = (int)((eta - (int)eta) * 60.0);
166 sprintf( TargetWP2Str, "%s %.2f NM ETA %d:%02d",
167 wp2.get_id().c_str(),
168 accum*SG_METER_TO_NM, major, minor );
173 for ( int i = 2; i < size; ++i ) {
174 accum += globals->get_route()->get_waypoint( i ).get_distance();
177 SGWayPoint wpn = globals->get_route()->get_waypoint( size - 1 );
179 double eta = accum * SG_METER_TO_NM / get_ground_speed();
180 if ( eta >= 100.0 ) { eta = 99.999; }
182 if ( eta < (1.0/6.0) ) {
183 // within 10 minutes, bump up to min/secs
187 minor = (int)((eta - (int)eta) * 60.0);
188 sprintf( TargetWP3Str, "%s %.2f NM ETA %d:%02d",
189 wpn.get_id().c_str(),
190 accum*SG_METER_TO_NM, major, minor );
195 void FGAutopilot::update_old_control_values() {
196 old_aileron = globals->get_controls()->get_aileron();
197 old_elevator = globals->get_controls()->get_elevator();
198 old_elevator_trim = globals->get_controls()->get_elevator_trim();
199 old_rudder = globals->get_controls()->get_rudder();
203 // Initialize autopilot subsystem
205 void FGAutopilot::init ()
207 SG_LOG( SG_AUTOPILOT, SG_INFO, "Init AutoPilot Subsystem" );
209 // bind data input property nodes...
210 latitude_node = fgGetNode("/position/latitude-deg", true);
211 longitude_node = fgGetNode("/position/longitude-deg", true);
212 altitude_node = fgGetNode("/position/altitude-ft", true);
213 altitude_agl_node = fgGetNode("/position/altitude-agl-ft", true);
214 vertical_speed_node = fgGetNode("/velocities/vertical-speed-fps", true);
215 heading_node = fgGetNode("/orientation/heading-deg", true);
217 = fgGetNode("/instrumentation/heading-indicator/indicated-heading-deg",
219 roll_node = fgGetNode("/orientation/roll-deg", true);
220 pitch_node = fgGetNode("/orientation/pitch-deg", true);
224 // bind config property nodes...
226 = fgGetNode("/autopilot/config/target-climb-rate-fpm", true);
228 = fgGetNode("/autopilot/config/target-descent-rate-fpm", true);
229 min_climb = fgGetNode("/autopilot/config/min-climb-speed-kt", true);
230 best_climb = fgGetNode("/autopilot/config/best-climb-speed-kt", true);
232 = fgGetNode("/autopilot/config/elevator-adj-factor", true);
234 = fgGetNode("/autopilot/config/integral-contribution", true);
236 = fgGetNode("/autopilot/config/zero-pitch-throttle", true);
237 zero_pitch_trim_full_throttle
238 = fgGetNode("/autopilot/config/zero-pitch-trim-full-throttle", true);
239 max_aileron_node = fgGetNode("/autopilot/config/max-aileron", true);
240 max_roll_node = fgGetNode("/autopilot/config/max-roll-deg", true);
241 roll_out_node = fgGetNode("/autopilot/config/roll-out-deg", true);
242 roll_out_smooth_node = fgGetNode("/autopilot/config/roll-out-smooth-deg", true);
244 current_throttle = fgGetNode("/controls/throttle");
246 // initialize config properties with defaults (in case config isn't there)
247 if ( TargetClimbRate->getFloatValue() < 1 )
248 fgSetFloat( "/autopilot/config/target-climb-rate-fpm", 500);
249 if ( TargetDescentRate->getFloatValue() < 1 )
250 fgSetFloat( "/autopilot/config/target-descent-rate-fpm", 1000 );
251 if ( min_climb->getFloatValue() < 1)
252 fgSetFloat( "/autopilot/config/min-climb-speed-kt", 70 );
253 if (best_climb->getFloatValue() < 1)
254 fgSetFloat( "/autopilot/config/best-climb-speed-kt", 120 );
255 if (elevator_adj_factor->getFloatValue() < 1)
256 fgSetFloat( "/autopilot/config/elevator-adj-factor", 5000 );
257 if ( integral_contrib->getFloatValue() < 0.0000001 )
258 fgSetFloat( "/autopilot/config/integral-contribution", 0.01 );
259 if ( zero_pitch_throttle->getFloatValue() < 0.0000001 )
260 fgSetFloat( "/autopilot/config/zero-pitch-throttle", 0.60 );
261 if ( zero_pitch_trim_full_throttle->getFloatValue() < 0.0000001 )
262 fgSetFloat( "/autopilot/config/zero-pitch-trim-full-throttle", 0.15 );
263 if ( max_aileron_node->getFloatValue() < 0.0000001 )
264 fgSetFloat( "/autopilot/config/max-aileron", 0.2 );
265 if ( max_roll_node->getFloatValue() < 0.0000001 )
266 fgSetFloat( "/autopilot/config/max-roll-deg", 20 );
267 if ( roll_out_node->getFloatValue() < 0.0000001 )
268 fgSetFloat( "/autopilot/config/roll-out-deg", 20 );
269 if ( roll_out_smooth_node->getFloatValue() < 0.0000001 )
270 fgSetFloat( "/autopilot/config/roll-out-smooth-deg", 10 );
273 heading_hold = false ; // turn the heading hold off
274 altitude_hold = false ; // turn the altitude hold off
275 auto_throttle = false ; // turn the auto throttle off
276 heading_mode = DEFAULT_AP_HEADING_LOCK;
277 altitude_mode = DEFAULT_AP_ALTITUDE_LOCK;
279 DGTargetHeading = fgGetDouble("/autopilot/settings/heading-bug-deg");
280 TargetHeading = fgGetDouble("/autopilot/settings/heading-bug-deg");
281 TargetAltitude = fgGetDouble("/autopilot/settings/altitude-ft") * SG_FEET_TO_METER;
283 // Initialize target location to startup location
284 old_lat = latitude_node->getDoubleValue();
285 old_lon = longitude_node->getDoubleValue();
286 // set_WayPoint( old_lon, old_lat, 0.0, "default" );
288 MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() );
290 alt_error_accum = 0.0;
291 climb_error_accum = 0.0;
293 MakeTargetAltitudeStr( TargetAltitude );
294 MakeTargetHeadingStr( TargetHeading );
296 // These eventually need to be read from current_aircaft somehow.
298 // the maximum roll, in Deg
301 // the deg from heading to start rolling out at, in Deg
304 // Smoothing distance for alerion control
307 // Hardwired for now should be in options
308 // 25% max control variablilty 0.5 / 2.0
309 disengage_threshold = 1.0;
311 // set default aileron max deflection
314 #if !defined( USING_SLIDER_CLASS )
315 MaxRollAdjust = 2 * MaxRoll;
316 RollOutAdjust = 2 * RollOut;
317 //MaxAileronAdjust = 2 * MaxAileron;
318 RollOutSmoothAdjust = 2 * RollOutSmooth;
319 #endif // !defined( USING_SLIDER_CLASS )
321 update_old_control_values();
327 // Autopilot control property get/set bindings
328 fgTie("/autopilot/locks/altitude", this,
329 &FGAutopilot::getAPAltitudeLock, &FGAutopilot::setAPAltitudeLock);
330 fgSetArchivable("/autopilot/locks/altitude");
331 fgTie("/autopilot/settings/altitude-ft", this,
332 &FGAutopilot::getAPAltitude, &FGAutopilot::setAPAltitude);
333 fgSetArchivable("/autopilot/settings/altitude-ft");
334 fgTie("/autopilot/locks/glide-slope", this,
335 &FGAutopilot::getAPGSLock, &FGAutopilot::setAPGSLock);
336 fgSetArchivable("/autopilot/locks/glide-slope");
337 fgSetDouble("/autopilot/settings/altitude-ft", 3000.0f);
338 fgTie("/autopilot/locks/terrain", this,
339 &FGAutopilot::getAPTerrainLock, &FGAutopilot::setAPTerrainLock);
340 fgSetArchivable("/autopilot/locks/terrain");
341 fgTie("/autopilot/settings/climb-rate-fpm", this,
342 &FGAutopilot::getAPClimb, &FGAutopilot::setAPClimb, false);
343 fgSetArchivable("/autopilot/settings/climb-rate-fpm");
344 fgTie("/autopilot/locks/heading", this,
345 &FGAutopilot::getAPHeadingLock, &FGAutopilot::setAPHeadingLock);
346 fgSetArchivable("/autopilot/locks/heading");
347 fgTie("/autopilot/settings/heading-bug-deg", this,
348 &FGAutopilot::getAPHeadingBug, &FGAutopilot::setAPHeadingBug);
349 fgSetArchivable("/autopilot/settings/heading-bug-deg");
350 fgSetDouble("/autopilot/settings/heading-bug-deg", 0.0f);
351 fgTie("/autopilot/locks/wing-leveler", this,
352 &FGAutopilot::getAPWingLeveler, &FGAutopilot::setAPWingLeveler);
353 fgSetArchivable("/autopilot/locks/wing-leveler");
354 fgTie("/autopilot/locks/nav[0]", this,
355 &FGAutopilot::getAPNAV1Lock, &FGAutopilot::setAPNAV1Lock);
356 fgSetArchivable("/autopilot/locks/nav[0]");
357 fgTie("/autopilot/locks/auto-throttle", this,
358 &FGAutopilot::getAPAutoThrottleLock,
359 &FGAutopilot::setAPAutoThrottleLock);
360 fgSetArchivable("/autopilot/locks/auto-throttle");
361 fgTie("/autopilot/control-overrides/rudder", this,
362 &FGAutopilot::getAPRudderControl,
363 &FGAutopilot::setAPRudderControl);
364 fgSetArchivable("/autopilot/control-overrides/rudder");
365 fgTie("/autopilot/control-overrides/elevator", this,
366 &FGAutopilot::getAPElevatorControl,
367 &FGAutopilot::setAPElevatorControl);
368 fgSetArchivable("/autopilot/control-overrides/elevator");
369 fgTie("/autopilot/control-overrides/throttle", this,
370 &FGAutopilot::getAPThrottleControl,
371 &FGAutopilot::setAPThrottleControl);
372 fgSetArchivable("/autopilot/control-overrides/throttle");
376 FGAutopilot::unbind ()
380 // Reset the autopilot system
381 void FGAutopilot::reset() {
383 heading_hold = false ; // turn the heading hold off
384 altitude_hold = false ; // turn the altitude hold off
385 auto_throttle = false ; // turn the auto throttle off
386 heading_mode = DEFAULT_AP_HEADING_LOCK;
388 // TargetHeading = 0.0; // default direction, due north
389 MakeTargetHeadingStr( TargetHeading );
391 // TargetAltitude = 3000; // default altitude in meters
392 MakeTargetAltitudeStr( TargetAltitude );
394 alt_error_accum = 0.0;
395 climb_error_accum = 0.0;
397 update_old_control_values();
399 sprintf( NewTgtAirportId, "%s", fgGetString("/sim/presets/airport-id") );
401 MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() );
405 static double NormalizeDegrees( double Input ) {
406 // normalize the input to the range (-180,180]
407 // Input should not be greater than -360 to 360.
408 // Current rules send the output to an undefined state.
409 while ( Input > 180.0 ) { Input -= 360.0; }
410 while ( Input <= -180.0 ) { Input += 360.0; }
415 static double LinearExtrapolate( double x, double x1, double y1, double x2, double y2 ) {
416 // This procedure extrapolates the y value for the x posistion on a line defined by x1,y1; x2,y2
417 //assert(x1 != x2); // Divide by zero error. Cold abort for now
420 // static double y = 0.0;
421 // double dx = x2 -x1;
422 // if( (dx < -SG_EPSILON ) || ( dx > SG_EPSILON ) )
425 double m, b, y; // the constants to find in y=mx+b
428 m = ( y2 - y1 ) / ( x2 - x1 ); // calculate the m
430 b = y1 - m * x1; // calculate the b
432 y = m * x + b; // the final calculation
442 FGAutopilot::update (double dt)
444 // Remove the following lines when the calling funcitons start
445 // passing in the data pointer
447 // get control settings
449 double lat = latitude_node->getDoubleValue();
450 double lon = longitude_node->getDoubleValue();
451 double alt = altitude_node->getDoubleValue() * SG_FEET_TO_METER;
453 // get config settings
454 MaxAileron = max_aileron_node->getDoubleValue();
455 MaxRoll = max_roll_node->getDoubleValue();
456 RollOut = roll_out_node->getDoubleValue();
457 RollOutSmooth = roll_out_smooth_node->getDoubleValue();
459 SG_LOG( SG_ALL, SG_DEBUG, "FGAutopilot::run() lat = " << lat <<
460 " lon = " << lon << " alt = " << alt );
462 #ifdef FG_FORCE_AUTO_DISENGAGE
463 // see if somebody else has changed them
464 if( fabs(aileron - old_aileron) > disengage_threshold ||
465 fabs(elevator - old_elevator) > disengage_threshold ||
466 fabs(elevator_trim - old_elevator_trim) >
467 disengage_threshold ||
468 fabs(rudder - old_rudder) > disengage_threshold )
470 // if controls changed externally turn autopilot off
471 waypoint_hold = false ; // turn the target hold off
472 heading_hold = false ; // turn the heading hold off
473 altitude_hold = false ; // turn the altitude hold off
474 terrain_follow = false; // turn the terrain_follow hold off
475 // auto_throttle = false; // turn the auto_throttle off
477 // stash this runs control settings
478 old_aileron = aileron;
479 old_elevator = elevator;
480 old_elevator_trim = elevator_trim;
488 if ( heading_hold == true ) {
489 if ( heading_mode == FG_DG_HEADING_LOCK ) {
490 double dg_error = heading_node->getDoubleValue()
491 - dg_heading_node->getDoubleValue();
492 TargetHeading = DGTargetHeading + dg_error;
493 // cout << "dg_error = " << dg_error << endl;
494 while ( TargetHeading < 0.0 ) { TargetHeading += 360.0; }
495 while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; }
496 MakeTargetHeadingStr( TargetHeading );
497 } else if ( heading_mode == FG_TC_HEADING_LOCK ) {
498 // we don't set a specific target heading in
499 // TC_HEADING_LOCK mode, we instead try to keep the turn
500 // coordinator zero'd
501 } else if ( heading_mode == FG_TRUE_HEADING_LOCK ) {
502 // leave "true" target heading as is
503 while ( TargetHeading < 0.0 ) { TargetHeading += 360.0; }
504 while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; }
505 MakeTargetHeadingStr( TargetHeading );
506 } else if ( heading_mode == FG_HEADING_NAV1 ) {
507 // track the NAV1 heading needle deflection
509 // determine our current radial position relative to the
510 // navaid in "true" heading.
511 double cur_radial = current_radiostack->get_navcom1()->get_nav_heading();
512 if ( current_radiostack->get_navcom1()->get_nav_loc() ) {
513 // ILS localizers radials are already "true" in our
516 cur_radial += current_radiostack->get_navcom1()->get_nav_magvar();
518 if ( current_radiostack->get_navcom1()->get_nav_from_flag() ) {
520 while ( cur_radial >= 360.0 ) { cur_radial -= 360.0; }
523 // determine the target radial in "true" heading
524 double tgt_radial = current_radiostack->get_navcom1()->get_nav_radial();
525 if ( current_radiostack->get_navcom1()->get_nav_loc() ) {
526 // ILS localizers radials are already "true" in our
529 // VOR radials need to have that vor's offset added in
530 tgt_radial += current_radiostack->get_navcom1()->get_nav_magvar();
533 // determine the heading adjustment needed.
535 current_radiostack->get_navcom1()->get_nav_heading_needle_deflection()
536 * (current_radiostack->get_navcom1()->get_nav_loc_dist() * SG_METER_TO_NM);
537 SG_CLAMP_RANGE( adjustment, -30.0, 30.0 );
539 // clamp closer when inside cone when beyond 5km...
540 if (current_radiostack->get_navcom1()->get_nav_loc_dist() > 5000) {
541 double clamp_angle = fabs(current_radiostack->get_navcom1()->get_nav_heading_needle_deflection()) * 3;
542 if (clamp_angle < 30)
543 SG_CLAMP_RANGE( adjustment, -clamp_angle, clamp_angle);
546 // determine the target heading to fly to intercept the
548 TargetHeading = tgt_radial + adjustment;
549 while ( TargetHeading < 0.0 ) { TargetHeading += 360.0; }
550 while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; }
552 MakeTargetHeadingStr( TargetHeading );
553 } else if ( heading_mode == FG_HEADING_WAYPOINT ) {
554 // update target heading to waypoint
556 double wp_course, wp_distance;
558 #ifdef DO_fgAP_CORRECTED_COURSE
559 // compute course made good
560 // this needs lots of special casing before use
561 double course, reverse, distance, corrected_course;
562 // need to test for iter
563 geo_inverse_wgs_84( 0, //fgAPget_altitude(),
571 #endif // DO_fgAP_CORRECTED_COURSE
573 // compute course to way_point
574 // need to test for iter
575 SGWayPoint wp = globals->get_route()->get_first();
576 wp.CourseAndDistance( lon, lat, alt,
577 &wp_course, &wp_distance );
579 #ifdef DO_fgAP_CORRECTED_COURSE
580 corrected_course = course - wp_course;
581 if( fabs(corrected_course) > 0.1 )
582 printf("fgAP: course %f wp_course %f %f %f\n",
583 course, wp_course, fabs(corrected_course),
585 #endif // DO_fgAP_CORRECTED_COURSE
587 if ( wp_distance > 100 ) {
588 // corrected_course = course - wp_course;
589 TargetHeading = NormalizeDegrees(wp_course);
591 // pop off this waypoint from the list
592 if ( globals->get_route()->size() ) {
593 globals->get_route()->delete_first();
596 // see if there are more waypoints on the list
597 if ( globals->get_route()->size() ) {
599 set_HeadingMode( FG_HEADING_WAYPOINT );
602 heading_mode = DEFAULT_AP_HEADING_LOCK;
603 // use current heading
604 TargetHeading = heading_node->getDoubleValue();
607 MakeTargetHeadingStr( TargetHeading );
608 // Force this just in case
609 TargetDistance = wp_distance;
610 MakeTargetWPStr( wp_distance );
613 if ( heading_mode == FG_TC_HEADING_LOCK ) {
614 // drive the turn coordinator to zero
615 double turn = globals->get_steam()->get_TC_std();
616 double AileronSet = -turn / 2.0;
617 SG_CLAMP_RANGE( AileronSet, -1.0, 1.0 );
618 globals->get_controls()->set_aileron( AileronSet );
619 globals->get_controls()->set_rudder( AileronSet / 4.0 );
621 // steer towards the target heading
629 = NormalizeDegrees( TargetHeading
630 - heading_node->getDoubleValue() );
631 // figure out how far off we are from desired heading
633 // Now it is time to deterime how far we should be rolled.
634 SG_LOG( SG_AUTOPILOT, SG_DEBUG,
635 "Heading = " << heading_node->getDoubleValue() <<
636 " TargetHeading = " << TargetHeading <<
637 " RelHeading = " << RelHeading );
639 // Check if we are further from heading than the roll out point
640 if ( fabs( RelHeading ) > RollOut ) {
641 // set Target Roll to Max in desired direction
642 if ( RelHeading < 0 ) {
643 TargetRoll = 0 - MaxRoll;
645 TargetRoll = MaxRoll;
648 // We have to calculate the Target roll
650 // This calculation engine thinks that the Target roll
651 // should be a line from (RollOut,MaxRoll) to (-RollOut,
652 // -MaxRoll) I hope this works well. If I get ambitious
653 // some day this might become a fancier curve or
656 TargetRoll = LinearExtrapolate( RelHeading, -RollOut,
661 // Target Roll has now been Found.
663 // Compare Target roll to Current Roll, Generate Rel Roll
665 SG_LOG( SG_COCKPIT, SG_BULK, "TargetRoll: " << TargetRoll );
667 RelRoll = NormalizeDegrees( TargetRoll
668 - roll_node->getDoubleValue() );
670 // Check if we are further from heading than the roll out
672 if ( fabs( RelRoll ) > RollOutSmooth ) {
673 // set Target Roll to Max in desired direction
675 AileronSet = 0 - MaxAileron;
677 AileronSet = MaxAileron;
680 AileronSet = LinearExtrapolate( RelRoll, -RollOutSmooth,
686 globals->get_controls()->set_aileron( AileronSet );
687 globals->get_controls()->set_rudder( AileronSet / 4.0 );
688 // controls.set_rudder( 0.0 );
693 if ( altitude_hold ) {
695 double speed, max_climb, error;
696 double prop_error, int_error;
697 double prop_adj, int_adj, total_adj;
699 if ( altitude_mode == FG_ALTITUDE_LOCK ) {
702 globals->get_steam()->get_ALT_ft() * SG_FEET_TO_METER ) * 8.0;
703 } else if ( altitude_mode == FG_TRUE_ALTITUDE_LOCK ) {
704 climb_rate = ( TargetAltitude - alt ) * 8.0;
705 } else if ( altitude_mode == FG_ALTITUDE_GS1 ) {
706 double x = current_radiostack->get_navcom1()->get_nav_gs_dist();
707 double y = (altitude_node->getDoubleValue()
708 - current_radiostack->get_navcom1()->get_nav_elev()) * SG_FEET_TO_METER;
709 double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
711 double target_angle = current_radiostack->get_navcom1()->get_nav_target_gs();
713 double gs_diff = target_angle - current_angle;
715 // convert desired vertical path angle into a climb rate
716 double des_angle = current_angle - 10 * gs_diff;
718 // convert to meter/min
719 double horiz_vel = cur_fdm_state->get_V_ground_speed()
720 * SG_FEET_TO_METER * 60.0;
721 climb_rate = -sin( des_angle * SGD_DEGREES_TO_RADIANS ) * horiz_vel;
722 /* climb_error_accum += gs_diff * 2.0; */
723 /* climb_rate = gs_diff * 200.0 + climb_error_accum; */
724 } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
725 // brain dead ground hugging with no look ahead
727 ( TargetAGL - altitude_agl_node->getDoubleValue()
728 * SG_FEET_TO_METER ) * 16.0;
730 // just try to zero out rate of climb ...
736 if ( speed < min_climb->getFloatValue() ) {
738 } else if ( speed < best_climb->getFloatValue() ) {
739 max_climb = ((best_climb->getFloatValue()
740 - min_climb->getFloatValue())
741 - (best_climb->getFloatValue() - speed))
742 * fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER)
743 / (best_climb->getFloatValue() - min_climb->getFloatValue());
745 max_climb = ( speed - best_climb->getFloatValue() ) * 10.0
746 + fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER);
749 // this first one could be optional if we wanted to allow
750 // better climb performance assuming we have the airspeed to
753 fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER) ) {
755 = fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER);
758 if ( climb_rate > max_climb ) {
759 climb_rate = max_climb;
763 -fabs(TargetDescentRate->getFloatValue() * SG_FEET_TO_METER) ) {
765 = -fabs(TargetDescentRate->getFloatValue() * SG_FEET_TO_METER);
768 error = vertical_speed_node->getDoubleValue() * 60
769 - climb_rate * SG_METER_TO_FEET;
771 // accumulate the error under the curve ... this really should
773 alt_error_accum += error;
775 // calculate integral error, and adjustment amount
776 int_error = alt_error_accum;
777 // printf("error = %.2f int_error = %.2f\n", error, int_error);
779 // scale elev_adj_factor by speed of aircraft in relation to min climb
780 double elev_adj_factor = elevator_adj_factor->getFloatValue();
782 pow(float(speed / min_climb->getFloatValue()), 3.0f);
784 int_adj = int_error / elev_adj_factor;
786 // caclulate proportional error
788 prop_adj = prop_error / elev_adj_factor;
790 total_adj = ((double) 1.0 - (double) integral_contrib->getFloatValue()) * prop_adj
791 + (double) integral_contrib->getFloatValue() * int_adj;
793 // stop on autopilot trim at 30% +/-
794 // if ( total_adj > 0.3 ) {
796 // } else if ( total_adj < -0.3 ) {
800 // adjust for throttle pitch gain
801 total_adj += ((current_throttle->getFloatValue() - zero_pitch_throttle->getFloatValue())
802 / (1 - zero_pitch_throttle->getFloatValue()))
803 * zero_pitch_trim_full_throttle->getFloatValue();
805 globals->get_controls()->set_elevator_trim( total_adj );
809 if ( auto_throttle ) {
811 double prop_error, int_error;
812 double prop_adj, int_adj, total_adj;
814 error = TargetSpeed - get_speed();
816 // accumulate the error under the curve ... this really should
818 speed_error_accum += error;
819 if ( speed_error_accum > 2000.0 ) {
820 speed_error_accum = 2000.0;
822 else if ( speed_error_accum < -2000.0 ) {
823 speed_error_accum = -2000.0;
826 // calculate integral error, and adjustment amount
827 int_error = speed_error_accum;
829 // printf("error = %.2f int_error = %.2f\n", error, int_error);
830 int_adj = int_error / 200.0;
832 // caclulate proportional error
834 prop_adj = 0.5 + prop_error / 50.0;
836 total_adj = 0.9 * prop_adj + 0.1 * int_adj;
837 if ( total_adj > 1.0 ) {
840 else if ( total_adj < 0.0 ) {
844 globals->get_controls()->set_throttle( FGControls::ALL_ENGINES,
848 #ifdef THIS_CODE_IS_NOT_USED
849 if (Mode == 2) // Glide slope hold
854 // First, calculate Relative slope and normalize it
855 RelSlope = NormalizeDegrees( TargetSlope - get_pitch());
857 // Now calculate the elevator offset from current angle
858 if ( abs(RelSlope) > SlopeSmooth )
860 if ( RelSlope < 0 ) // set RelElevator to max in the correct direction
861 RelElevator = -MaxElevator;
863 RelElevator = MaxElevator;
867 RelElevator = LinearExtrapolate(RelSlope,-SlopeSmooth,-MaxElevator,SlopeSmooth,MaxElevator);
870 fgElevMove(RelElevator);
873 #endif // THIS_CODE_IS_NOT_USED
875 // stash this runs control settings
876 // update_old_control_values();
877 old_aileron = globals->get_controls()->get_aileron();
878 old_elevator = globals->get_controls()->get_elevator();
879 old_elevator_trim = globals->get_controls()->get_elevator_trim();
880 old_rudder = globals->get_controls()->get_rudder();
882 // for cross track error
887 SG_LOG( SG_ALL, SG_DEBUG, "FGAutopilot::run( returns )" );
891 void FGAutopilot::set_HeadingMode( fgAutoHeadingMode mode ) {
894 if ( heading_mode == FG_DG_HEADING_LOCK ) {
895 // use current heading bug value
896 } else if ( heading_mode == FG_TC_HEADING_LOCK ) {
897 // set autopilot to hold a zero turn (as reported by the TC)
898 } else if ( heading_mode == FG_TRUE_HEADING_LOCK ) {
899 // set heading hold to current heading
900 TargetHeading = heading_node->getDoubleValue();
901 } else if ( heading_mode == FG_HEADING_WAYPOINT ) {
902 if ( globals->get_route()->size() ) {
903 double course, distance;
905 old_lat = latitude_node->getDoubleValue();
906 old_lon = longitude_node->getDoubleValue();
908 waypoint = globals->get_route()->get_first();
909 waypoint.CourseAndDistance( longitude_node->getDoubleValue(),
910 latitude_node->getDoubleValue(),
911 altitude_node->getDoubleValue()
913 &course, &distance );
914 TargetHeading = course;
915 TargetDistance = distance;
916 MakeTargetLatLonStr( waypoint.get_target_lat(),
917 waypoint.get_target_lon() );
918 MakeTargetWPStr( distance );
920 if ( waypoint.get_target_alt() > 0.0 ) {
921 TargetAltitude = waypoint.get_target_alt();
922 altitude_mode = DEFAULT_AP_ALTITUDE_LOCK;
923 set_AltitudeEnabled( true );
924 MakeTargetAltitudeStr( TargetAltitude * SG_METER_TO_FEET );
927 SG_LOG( SG_COCKPIT, SG_INFO, " set_HeadingMode: ( "
928 << get_TargetLatitude() << " "
929 << get_TargetLongitude() << " ) "
932 // no more way points, default to heading lock.
933 heading_mode = FG_TC_HEADING_LOCK;
937 MakeTargetHeadingStr( TargetHeading );
938 update_old_control_values();
942 void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) {
943 altitude_mode = mode;
945 alt_error_accum = 0.0;
948 if ( altitude_mode == DEFAULT_AP_ALTITUDE_LOCK ) {
949 if ( TargetAltitude < altitude_agl_node->getDoubleValue()
950 * SG_FEET_TO_METER ) {
953 if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
954 MakeTargetAltitudeStr( TargetAltitude * SG_METER_TO_FEET );
956 MakeTargetAltitudeStr( TargetAltitude * SG_METER_TO_FEET );
958 } else if ( altitude_mode == FG_ALTITUDE_GS1 ) {
959 climb_error_accum = 0.0;
961 } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
962 TargetAGL = altitude_agl_node->getDoubleValue() * SG_FEET_TO_METER;
964 if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
965 MakeTargetAltitudeStr( TargetAGL * SG_METER_TO_FEET );
967 MakeTargetAltitudeStr( TargetAGL * SG_METER_TO_FEET );
971 update_old_control_values();
972 SG_LOG( SG_COCKPIT, SG_INFO, " set_AltitudeMode():" );
976 void FGAutopilot::AltitudeSet( double new_altitude ) {
977 double target_alt = new_altitude;
978 altitude_mode = DEFAULT_AP_ALTITUDE_LOCK;
980 if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
981 target_alt = new_altitude * SG_FEET_TO_METER;
984 if( target_alt < globals->get_scenery()->get_cur_elev() ) {
985 target_alt = globals->get_scenery()->get_cur_elev();
988 TargetAltitude = target_alt;
990 if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
991 target_alt *= SG_METER_TO_FEET;
993 // ApAltitudeDialogInput->setValue((float)target_alt);
994 MakeTargetAltitudeStr( target_alt );
996 update_old_control_values();
1000 void FGAutopilot::AltitudeAdjust( double inc )
1002 double target_alt, target_agl;
1004 if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
1005 target_alt = TargetAltitude * SG_METER_TO_FEET;
1006 target_agl = TargetAGL * SG_METER_TO_FEET;
1008 target_alt = TargetAltitude;
1009 target_agl = TargetAGL;
1012 if ( fabs((int)(target_alt / inc) * inc - target_alt) < SG_EPSILON ) {
1015 target_alt = ( int ) ( target_alt / inc ) * inc + inc;
1018 if ( fabs((int)(target_agl / inc) * inc - target_agl) < SG_EPSILON ) {
1021 target_agl = ( int ) ( target_agl / inc ) * inc + inc;
1024 if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
1025 target_alt *= SG_FEET_TO_METER;
1026 target_agl *= SG_FEET_TO_METER;
1029 TargetAltitude = target_alt;
1030 TargetAGL = target_agl;
1032 if ( !strcmp(fgGetString("/sim/startup/units"), "feet") )
1033 target_alt *= SG_METER_TO_FEET;
1034 if ( !strcmp(fgGetString("/sim/startup/units"), "feet") )
1035 target_agl *= SG_METER_TO_FEET;
1037 if ( altitude_mode == DEFAULT_AP_ALTITUDE_LOCK ) {
1038 MakeTargetAltitudeStr( target_alt );
1039 } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
1040 MakeTargetAltitudeStr( target_agl );
1043 update_old_control_values();
1047 void FGAutopilot::HeadingAdjust( double inc ) {
1048 if ( heading_mode != FG_DG_HEADING_LOCK
1049 && heading_mode != FG_TRUE_HEADING_LOCK )
1051 heading_mode = DEFAULT_AP_HEADING_LOCK;
1054 if ( heading_mode == FG_DG_HEADING_LOCK ) {
1055 double target = ( int ) ( DGTargetHeading / inc ) * inc + inc;
1056 DGTargetHeading = NormalizeDegrees( target );
1058 double target = ( int ) ( TargetHeading / inc ) * inc + inc;
1059 TargetHeading = NormalizeDegrees( target );
1062 update_old_control_values();
1066 void FGAutopilot::HeadingSet( double new_heading ) {
1067 heading_mode = DEFAULT_AP_HEADING_LOCK;
1068 if( heading_mode == FG_TRUE_HEADING_LOCK ) {
1069 new_heading = NormalizeDegrees( new_heading );
1070 TargetHeading = new_heading;
1071 MakeTargetHeadingStr( TargetHeading );
1073 heading_mode = FG_DG_HEADING_LOCK;
1075 new_heading = NormalizeDegrees( new_heading );
1076 DGTargetHeading = new_heading;
1077 // following cast needed ambiguous plib
1078 // ApHeadingDialogInput -> setValue ((float)APData->TargetHeading );
1079 MakeTargetHeadingStr( DGTargetHeading );
1081 update_old_control_values();
1084 void FGAutopilot::AutoThrottleAdjust( double inc ) {
1085 double target = ( int ) ( TargetSpeed / inc ) * inc + inc;
1087 TargetSpeed = target;
1091 void FGAutopilot::set_AutoThrottleEnabled( bool value ) {
1092 auto_throttle = value;
1094 if ( auto_throttle == true ) {
1095 TargetSpeed = fgGetDouble("/velocities/airspeed-kt");
1096 speed_error_accum = 0.0;
1099 update_old_control_values();
1100 SG_LOG( SG_COCKPIT, SG_INFO, " fgAPSetAutoThrottle: ("
1101 << auto_throttle << ") " << TargetSpeed );
1107 ////////////////////////////////////////////////////////////////////////
1108 // Kludged methods for tying to properties.
1110 // These should change eventually; they all used to be static
1112 ////////////////////////////////////////////////////////////////////////
1115 * Get the autopilot altitude lock (true=on).
1118 FGAutopilot::getAPAltitudeLock () const
1120 return (get_AltitudeEnabled() &&
1122 == DEFAULT_AP_ALTITUDE_LOCK);
1127 * Set the autopilot altitude lock (true=on).
1130 FGAutopilot::setAPAltitudeLock (bool lock)
1133 set_AltitudeMode(DEFAULT_AP_ALTITUDE_LOCK);
1134 if (get_AltitudeMode() == DEFAULT_AP_ALTITUDE_LOCK)
1135 set_AltitudeEnabled(lock);
1140 * Get the autopilot target altitude in feet.
1143 FGAutopilot::getAPAltitude () const
1145 return get_TargetAltitude() * SG_METER_TO_FEET;
1150 * Set the autopilot target altitude in feet.
1153 FGAutopilot::setAPAltitude (double altitude)
1155 set_TargetAltitude( altitude * SG_FEET_TO_METER );
1159 * Get the autopilot altitude lock (true=on).
1162 FGAutopilot::getAPGSLock () const
1164 return (get_AltitudeEnabled() &&
1166 == FGAutopilot::FG_ALTITUDE_GS1));
1171 * Set the autopilot altitude lock (true=on).
1174 FGAutopilot::setAPGSLock (bool lock)
1177 set_AltitudeMode(FGAutopilot::FG_ALTITUDE_GS1);
1178 if (get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_GS1)
1179 set_AltitudeEnabled(lock);
1184 * Get the autopilot terrain lock (true=on).
1187 FGAutopilot::getAPTerrainLock () const
1189 return (get_AltitudeEnabled() &&
1191 == FGAutopilot::FG_ALTITUDE_TERRAIN));
1196 * Set the autopilot terrain lock (true=on).
1199 FGAutopilot::setAPTerrainLock (bool lock)
1202 set_AltitudeMode(FGAutopilot::FG_ALTITUDE_TERRAIN);
1203 set_TargetAGL(fgGetFloat("/position/altitude-agl-ft") *
1206 if (get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_TERRAIN)
1207 set_AltitudeEnabled(lock);
1212 * Get the autopilot target altitude in feet.
1215 FGAutopilot::getAPClimb () const
1217 return get_TargetClimbRate() * SG_METER_TO_FEET;
1222 * Set the autopilot target altitude in feet.
1225 FGAutopilot::setAPClimb (double rate)
1227 set_TargetClimbRate( rate * SG_FEET_TO_METER );
1232 * Get the autopilot heading lock (true=on).
1235 FGAutopilot::getAPHeadingLock () const
1238 (get_HeadingEnabled() &&
1239 get_HeadingMode() == DEFAULT_AP_HEADING_LOCK);
1244 * Set the autopilot heading lock (true=on).
1247 FGAutopilot::setAPHeadingLock (bool lock)
1250 set_HeadingMode(DEFAULT_AP_HEADING_LOCK);
1251 if (get_HeadingMode() == DEFAULT_AP_HEADING_LOCK)
1252 set_HeadingEnabled(lock);
1257 * Get the autopilot heading bug in degrees.
1260 FGAutopilot::getAPHeadingBug () const
1262 return get_DGTargetHeading();
1267 * Set the autopilot heading bug in degrees.
1270 FGAutopilot::setAPHeadingBug (double heading)
1272 set_DGTargetHeading( heading );
1277 * Get the autopilot wing leveler lock (true=on).
1280 FGAutopilot::getAPWingLeveler () const
1283 (get_HeadingEnabled() &&
1284 get_HeadingMode() == FGAutopilot::FG_TC_HEADING_LOCK);
1289 * Set the autopilot wing leveler lock (true=on).
1292 FGAutopilot::setAPWingLeveler (bool lock)
1295 set_HeadingMode(FGAutopilot::FG_TC_HEADING_LOCK);
1296 if (get_HeadingMode() == FGAutopilot::FG_TC_HEADING_LOCK)
1297 set_HeadingEnabled(lock);
1301 * Return true if the autopilot is locked to NAV1.
1304 FGAutopilot::getAPNAV1Lock () const
1307 (get_HeadingEnabled() &&
1308 get_HeadingMode() == FGAutopilot::FG_HEADING_NAV1);
1313 * Set the autopilot NAV1 lock.
1316 FGAutopilot::setAPNAV1Lock (bool lock)
1319 set_HeadingMode(FGAutopilot::FG_HEADING_NAV1);
1320 if (get_HeadingMode() == FGAutopilot::FG_HEADING_NAV1)
1321 set_HeadingEnabled(lock);
1325 * Get the autopilot autothrottle lock.
1328 FGAutopilot::getAPAutoThrottleLock () const
1330 return get_AutoThrottleEnabled();
1335 * Set the autothrottle lock.
1338 FGAutopilot::setAPAutoThrottleLock (bool lock)
1340 set_AutoThrottleEnabled(lock);
1346 FGAutopilot::getAPRudderControl () const
1348 if (getAPHeadingLock())
1349 return get_TargetHeading();
1351 return globals->get_controls()->get_rudder();
1356 FGAutopilot::setAPRudderControl (double value)
1358 if (getAPHeadingLock()) {
1359 SG_LOG(SG_GENERAL, SG_DEBUG, "setAPRudderControl " << value );
1360 value -= get_TargetHeading();
1361 HeadingAdjust(value < 0.0 ? -1.0 : 1.0);
1363 globals->get_controls()->set_rudder(value);
1369 FGAutopilot::getAPElevatorControl () const
1371 if (getAPAltitudeLock())
1372 return get_TargetAltitude();
1374 return globals->get_controls()->get_elevator();
1379 FGAutopilot::setAPElevatorControl (double value)
1381 if (value != 0 && getAPAltitudeLock()) {
1382 SG_LOG(SG_GENERAL, SG_DEBUG, "setAPElevatorControl " << value );
1383 value -= get_TargetAltitude();
1384 AltitudeAdjust(value < 0.0 ? 100.0 : -100.0);
1386 globals->get_controls()->set_elevator(value);
1392 FGAutopilot::getAPThrottleControl () const
1394 if (getAPAutoThrottleLock())
1395 return 0.0; // always resets
1397 return globals->get_controls()->get_throttle(0);
1402 FGAutopilot::setAPThrottleControl (double value)
1404 if (getAPAutoThrottleLock())
1405 AutoThrottleAdjust(value < 0.0 ? -0.01 : 0.01);
1407 globals->get_controls()->set_throttle(FGControls::ALL_ENGINES, value);
1410 // end of newauto.cxx