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()
32 #include <simgear/constants.h>
33 #include <simgear/debug/logstream.hxx>
34 #include <simgear/math/fg_geodesy.hxx>
36 #include <Cockpit/radiostack.hxx>
37 #include <Controls/controls.hxx>
38 #include <FDM/flight.hxx>
39 #include <Main/bfi.hxx>
40 #include <Main/options.hxx>
41 #include <Scenery/scenery.hxx>
43 #include "newauto.hxx"
46 FGAutopilot *current_autopilot;
49 // Climb speed constants
50 const double min_climb = 70.0; // kts
51 const double best_climb = 75.0; // kts
52 const double ideal_climb_rate = 500.0; // fpm
54 /// These statics will eventually go into the class
55 /// they are just here while I am experimenting -- NHV :-)
56 // AutoPilot Gain Adjuster members
57 static double MaxRollAdjust; // MaxRollAdjust = 2 * APData->MaxRoll;
58 static double RollOutAdjust; // RollOutAdjust = 2 * APData->RollOut;
59 static double MaxAileronAdjust; // MaxAileronAdjust = 2 * APData->MaxAileron;
60 static double RollOutSmoothAdjust; // RollOutSmoothAdjust = 2 * APData->RollOutSmooth;
62 static char NewTgtAirportId[16];
63 // static char NewTgtAirportLabel[] = "Enter New TgtAirport ID";
65 extern char *coord_format_lat(float);
66 extern char *coord_format_lon(float);
69 void FGAutopilot::MakeTargetLatLonStr( double lat, double lon ) {
70 sprintf( TargetLatitudeStr , "%s", coord_format_lat(TargetLatitude) );
71 sprintf( TargetLongitudeStr, "%s", coord_format_lon(TargetLongitude) );
72 sprintf( TargetLatLonStr, "%s %s", TargetLatitudeStr, TargetLongitudeStr );
76 void FGAutopilot::MakeTargetAltitudeStr( double altitude ) {
77 if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
78 sprintf( TargetAltitudeStr, "APAltitude %6.0f+", altitude );
80 sprintf( TargetAltitudeStr, "APAltitude %6.0f", altitude );
85 void FGAutopilot::MakeTargetHeadingStr( double bearing ) {
88 } else if (bearing > 360. ) {
91 sprintf( TargetHeadingStr, "APHeading %6.1f", bearing );
95 static inline double get_speed( void ) {
96 return( cur_fdm_state->get_V_equiv_kts() );
99 static inline double get_ground_speed() {
100 // starts in ft/s so we convert to kts
101 double ft_s = cur_fdm_state->get_V_ground_speed()
102 * current_options.get_speed_up();;
103 double kts = ft_s * FEET_TO_METER * 3600 * METER_TO_NM;
109 void FGAutopilot::MakeTargetDistanceStr( double distance ) {
110 double eta = distance*METER_TO_NM / get_ground_speed();
111 if ( eta >= 100.0 ) { eta = 99.999; }
113 if ( eta < (1.0/6.0) ) {
114 // within 10 minutes, bump up to min/secs
118 minor = (int)((eta - (int)eta) * 60.0);
119 sprintf( TargetDistanceStr, "APDistance %.2f NM ETA %d:%02d",
120 distance*METER_TO_NM, major, minor );
121 // cout << "distance = " << distance*METER_TO_NM
122 // << " gndsp = " << get_ground_speed()
123 // << " time = " << eta
124 // << " major = " << major
125 // << " minor = " << minor
130 void FGAutopilot::update_old_control_values() {
131 old_aileron = FGBFI::getAileron();
132 old_elevator = FGBFI::getElevator();
133 old_elevator_trim = FGBFI::getElevatorTrim();
134 old_rudder = FGBFI::getRudder();
138 // Initialize autopilot subsystem
139 void FGAutopilot::init() {
140 FG_LOG( FG_AUTOPILOT, FG_INFO, "Init AutoPilot Subsystem" );
142 heading_hold = false ; // turn the heading hold off
143 altitude_hold = false ; // turn the altitude hold off
144 auto_throttle = false ; // turn the auto throttle off
146 // Initialize target location to startup location
147 old_lat = TargetLatitude = FGBFI::getLatitude();
148 old_lon = TargetLongitude = FGBFI::getLongitude();
150 MakeTargetLatLonStr( TargetLatitude, TargetLongitude);
152 TargetHeading = 0.0; // default direction, due north
153 TargetAltitude = 3000; // default altitude in meters
154 alt_error_accum = 0.0;
155 climb_error_accum = 0.0;
157 MakeTargetAltitudeStr( 3000.0);
158 MakeTargetHeadingStr( 0.0 );
160 // These eventually need to be read from current_aircaft somehow.
162 // the maximum roll, in Deg
165 // the deg from heading to start rolling out at, in Deg
168 // how far can I move the aleron from center.
171 // Smoothing distance for alerion control
174 // Hardwired for now should be in options
175 // 25% max control variablilty 0.5 / 2.0
176 disengage_threshold = 1.0;
178 #if !defined( USING_SLIDER_CLASS )
179 MaxRollAdjust = 2 * MaxRoll;
180 RollOutAdjust = 2 * RollOut;
181 MaxAileronAdjust = 2 * MaxAileron;
182 RollOutSmoothAdjust = 2 * RollOutSmooth;
183 #endif // !defined( USING_SLIDER_CLASS )
185 update_old_control_values();
187 // Initialize GUI components of autopilot
188 // NewTgtAirportInit();
189 // fgAPAdjustInit() ;
191 // NewAltitudeInit();
195 // Reset the autopilot system
196 void FGAutopilot::reset() {
198 heading_hold = false ; // turn the heading hold off
199 altitude_hold = false ; // turn the altitude hold off
200 auto_throttle = false ; // turn the auto throttle off
202 TargetHeading = 0.0; // default direction, due north
203 MakeTargetHeadingStr( TargetHeading );
205 TargetAltitude = 3000; // default altitude in meters
206 MakeTargetAltitudeStr( TargetAltitude );
208 alt_error_accum = 0.0;
209 climb_error_accum = 0.0;
211 update_old_control_values();
213 sprintf( NewTgtAirportId, "%s", current_options.get_airport_id().c_str() );
215 TargetLatitude = FGBFI::getLatitude();
216 TargetLongitude = FGBFI::getLongitude();
217 MakeTargetLatLonStr( TargetLatitude, TargetLongitude );
221 static double NormalizeDegrees( double Input ) {
222 // normalize the input to the range (-180,180]
223 // Input should not be greater than -360 to 360.
224 // Current rules send the output to an undefined state.
228 else if ( Input <= -180 )
229 while ( Input <= -180 )
234 static double LinearExtrapolate( double x, double x1, double y1, double x2, double y2 ) {
235 // This procedure extrapolates the y value for the x posistion on a line defined by x1,y1; x2,y2
236 //assert(x1 != x2); // Divide by zero error. Cold abort for now
239 // static double y = 0.0;
240 // double dx = x2 -x1;
241 // if( (dx < -FG_EPSILON ) || ( dx > FG_EPSILON ) )
244 double m, b, y; // the constants to find in y=mx+b
247 m = ( y2 - y1 ) / ( x2 - x1 ); // calculate the m
249 b = y1 - m * x1; // calculate the b
251 y = m * x + b; // the final calculation
260 int FGAutopilot::run() {
261 // Remove the following lines when the calling funcitons start
262 // passing in the data pointer
264 // get control settings
265 // double aileron = FGBFI::getAileron();
266 // double elevator = FGBFI::getElevator();
267 // double elevator_trim = FGBFI::getElevatorTrim();
268 // double rudder = FGBFI::getRudder();
270 double lat = FGBFI::getLatitude();
271 double lon = FGBFI::getLongitude();
273 #ifdef FG_FORCE_AUTO_DISENGAGE
274 // see if somebody else has changed them
275 if( fabs(aileron - old_aileron) > disengage_threshold ||
276 fabs(elevator - old_elevator) > disengage_threshold ||
277 fabs(elevator_trim - old_elevator_trim) >
278 disengage_threshold ||
279 fabs(rudder - old_rudder) > disengage_threshold )
281 // if controls changed externally turn autopilot off
282 waypoint_hold = false ; // turn the target hold off
283 heading_hold = false ; // turn the heading hold off
284 altitude_hold = false ; // turn the altitude hold off
285 terrain_follow = false; // turn the terrain_follow hold off
286 // auto_throttle = false; // turn the auto_throttle off
288 // stash this runs control settings
289 old_aileron = aileron;
290 old_elevator = elevator;
291 old_elevator_trim = elevator_trim;
299 if ( heading_hold == true ) {
301 if ( heading_mode == FG_HEADING_LOCK ) {
302 // leave target heading alone
303 } else if ( heading_mode == FG_HEADING_NAV1 ) {
306 if ( current_radiostack->get_nav1_loc() ) {
307 // localizers radials are "true"
308 tgt_radial = current_radiostack->get_nav1_radial();
310 tgt_radial = current_radiostack->get_nav1_radial()
311 + FGBFI::getMagVar();
313 cur_radial = current_radiostack->get_nav1_heading();
314 cout << "target rad (true) = " << tgt_radial
315 << " current rad (true) = " << cur_radial
318 double diff = (tgt_radial - cur_radial);
319 while ( diff < -180.0 ) { diff += 360.0; }
320 while ( diff > 180.0 ) { diff -= 360.0; }
322 diff *= (current_radiostack->get_nav1_loc_dist() * METER_TO_NM);
323 if ( diff < -30.0 ) { diff = -30.0; }
324 if ( diff > 30.0 ) { diff = 30.0; }
326 TargetHeading = cur_radial - diff;
327 while ( TargetHeading < 0.0 ) { TargetHeading += 360.0; }
328 while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; }
329 cout << "target course (true) = " << TargetHeading << endl;
330 } else if ( heading_mode == FG_HEADING_WAYPOINT ) {
331 // update target heading to waypoint
333 double wp_course, wp_reverse, wp_distance;
335 #ifdef DO_fgAP_CORRECTED_COURSE
336 // compute course made good
337 // this needs lots of special casing before use
338 double course, reverse, distance, corrected_course;
339 // need to test for iter
340 geo_inverse_wgs_84( 0, //fgAPget_altitude(),
348 #endif // DO_fgAP_CORRECTED_COURSE
350 // compute course to way_point
351 // need to test for iter
352 if( ! geo_inverse_wgs_84( 0, //fgAPget_altitude(),
361 #ifdef DO_fgAP_CORRECTED_COURSE
362 corrected_course = course - wp_course;
363 if( fabs(corrected_course) > 0.1 )
364 printf("fgAP: course %f wp_course %f %f %f\n",
365 course, wp_course, fabs(corrected_course),
367 #endif // DO_fgAP_CORRECTED_COURSE
369 if ( wp_distance > 100 ) {
370 // corrected_course = course - wp_course;
371 TargetHeading = NormalizeDegrees(wp_course);
373 printf("distance(%f) to close\n", wp_distance);
374 // Real Close -- set heading hold to current heading
375 // and Ring the arival bell !!
376 heading_mode = FG_HEADING_LOCK;
377 // use current heading
378 TargetHeading = FGBFI::getHeading();
380 MakeTargetHeadingStr( TargetHeading );
381 // Force this just in case
382 TargetDistance = wp_distance;
383 MakeTargetDistanceStr( wp_distance );
392 RelHeading = NormalizeDegrees( TargetHeading - FGBFI::getHeading() );
393 // figure out how far off we are from desired heading
395 // Now it is time to deterime how far we should be rolled.
396 FG_LOG( FG_AUTOPILOT, FG_DEBUG, "RelHeading: " << RelHeading );
399 // Check if we are further from heading than the roll out point
400 if ( fabs( RelHeading ) > RollOut ) {
401 // set Target Roll to Max in desired direction
402 if ( RelHeading < 0 ) {
403 TargetRoll = 0 - MaxRoll;
405 TargetRoll = MaxRoll;
408 // We have to calculate the Target roll
410 // This calculation engine thinks that the Target roll
411 // should be a line from (RollOut,MaxRoll) to (-RollOut,
412 // -MaxRoll) I hope this works well. If I get ambitious
413 // some day this might become a fancier curve or
416 TargetRoll = LinearExtrapolate( RelHeading, -RollOut,
421 // Target Roll has now been Found.
423 // Compare Target roll to Current Roll, Generate Rel Roll
425 FG_LOG( FG_COCKPIT, FG_BULK, "TargetRoll: " << TargetRoll );
427 RelRoll = NormalizeDegrees( TargetRoll - FGBFI::getRoll() );
429 // Check if we are further from heading than the roll out smooth point
430 if ( fabs( RelRoll ) > RollOutSmooth ) {
431 // set Target Roll to Max in desired direction
433 AileronSet = 0 - MaxAileron;
435 AileronSet = MaxAileron;
438 AileronSet = LinearExtrapolate( RelRoll, -RollOutSmooth,
444 controls.set_aileron( AileronSet );
445 controls.set_rudder( AileronSet / 4.0 );
446 // controls.set_rudder( 0.0 );
450 if ( altitude_hold ) {
451 double speed, max_climb, error;
452 double prop_error, int_error;
453 double prop_adj, int_adj, total_adj;
455 if ( altitude_mode == FG_ALTITUDE_LOCK ) {
456 // normal altitude hold
457 // cout << "TargetAltitude = " << TargetAltitude
458 // << "Altitude = " << FGBFI::getAltitude() * FEET_TO_METER
461 ( TargetAltitude - FGBFI::getAltitude() * FEET_TO_METER ) * 8.0;
462 } else if ( altitude_mode == FG_ALTITUDE_GS1 ) {
463 double x = current_radiostack->get_nav1_gs_dist();
464 double y = (FGBFI::getAltitude()
465 - current_radiostack->get_nav1_elev()) * FEET_TO_METER;
466 double angle = atan2( y, x ) * RAD_TO_DEG;
467 double gs_diff = current_radiostack->get_nav1_target_gs() - angle;
468 climb_error_accum += gs_diff * 2.0;
469 TargetClimbRate = gs_diff * 200.0 + climb_error_accum;
470 } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
471 // brain dead ground hugging with no look ahead
473 ( TargetAGL - FGBFI::getAGL()*FEET_TO_METER ) * 16.0;
474 // cout << "target agl = " << TargetAGL
475 // << " current agl = " << fgAPget_agl()
476 // << " target climb rate = " << TargetClimbRate
479 // just try to zero out rate of climb ...
480 TargetClimbRate = 0.0;
485 if ( speed < min_climb ) {
487 } else if ( speed < best_climb ) {
488 max_climb = ((best_climb - min_climb) - (best_climb - speed))
490 / (best_climb - min_climb);
492 max_climb = ( speed - best_climb ) * 10.0 + ideal_climb_rate;
495 // this first one could be optional if we wanted to allow
496 // better climb performance assuming we have the airspeed to
498 if ( TargetClimbRate > ideal_climb_rate ) {
499 TargetClimbRate = ideal_climb_rate;
502 if ( TargetClimbRate > max_climb ) {
503 TargetClimbRate = max_climb;
506 if ( TargetClimbRate < -ideal_climb_rate ) {
507 TargetClimbRate = -ideal_climb_rate;
510 error = FGBFI::getVerticalSpeed() * FEET_TO_METER - TargetClimbRate;
511 // cout << "climb rate = " << fgAPget_climb()
512 // << " error = " << error << endl;
514 // accumulate the error under the curve ... this really should
516 alt_error_accum += error;
518 // calculate integral error, and adjustment amount
519 int_error = alt_error_accum;
520 // printf("error = %.2f int_error = %.2f\n", error, int_error);
521 int_adj = int_error / 8000.0;
523 // caclulate proportional error
525 prop_adj = prop_error / 2000.0;
527 total_adj = 0.9 * prop_adj + 0.1 * int_adj;
528 // if ( total_adj > 0.6 ) {
530 // } else if ( total_adj < -0.2 ) {
533 if ( total_adj > 1.0 ) {
535 } else if ( total_adj < -1.0 ) {
539 controls.set_elevator( total_adj );
543 if ( auto_throttle ) {
545 double prop_error, int_error;
546 double prop_adj, int_adj, total_adj;
548 error = TargetSpeed - get_speed();
550 // accumulate the error under the curve ... this really should
552 speed_error_accum += error;
553 if ( speed_error_accum > 2000.0 ) {
554 speed_error_accum = 2000.0;
556 else if ( speed_error_accum < -2000.0 ) {
557 speed_error_accum = -2000.0;
560 // calculate integral error, and adjustment amount
561 int_error = speed_error_accum;
563 // printf("error = %.2f int_error = %.2f\n", error, int_error);
564 int_adj = int_error / 200.0;
566 // caclulate proportional error
568 prop_adj = 0.5 + prop_error / 50.0;
570 total_adj = 0.9 * prop_adj + 0.1 * int_adj;
571 if ( total_adj > 1.0 ) {
574 else if ( total_adj < 0.0 ) {
578 controls.set_throttle( FGControls::ALL_ENGINES, total_adj );
581 #ifdef THIS_CODE_IS_NOT_USED
582 if (Mode == 2) // Glide slope hold
587 // First, calculate Relative slope and normalize it
588 RelSlope = NormalizeDegrees( TargetSlope - get_pitch());
590 // Now calculate the elevator offset from current angle
591 if ( abs(RelSlope) > SlopeSmooth )
593 if ( RelSlope < 0 ) // set RelElevator to max in the correct direction
594 RelElevator = -MaxElevator;
596 RelElevator = MaxElevator;
600 RelElevator = LinearExtrapolate(RelSlope,-SlopeSmooth,-MaxElevator,SlopeSmooth,MaxElevator);
603 fgElevMove(RelElevator);
606 #endif // THIS_CODE_IS_NOT_USED
608 // stash this runs control settings
609 // update_old_control_values();
610 old_aileron = controls.get_aileron();
611 old_elevator = controls.get_elevator();
612 old_elevator_trim = controls.get_elevator_trim();
613 old_rudder = controls.get_rudder();
615 // for cross track error
624 void FGAutopilot::set_HeadingMode( fgAutoHeadingMode mode ) {
627 if ( heading_mode == FG_HEADING_LOCK ) {
628 // set heading hold to current heading
629 TargetHeading = FGBFI::getHeading();
630 } else if ( heading_mode == FG_HEADING_WAYPOINT ) {
631 double course, reverse, distance;
632 // turn on location hold
633 // turn on heading hold
634 old_lat = FGBFI::getLatitude();
635 old_lon = FGBFI::getLongitude();
637 // need to test for iter
638 if( !geo_inverse_wgs_84( FGBFI::getAltitude() * FEET_TO_METER,
639 FGBFI::getLatitude(),
640 FGBFI::getLongitude(),
646 TargetHeading = course;
647 TargetDistance = distance;
648 MakeTargetDistanceStr( distance );
651 FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetLocation: ( "
652 << TargetLatitude << " "
653 << TargetLongitude << " ) "
657 MakeTargetHeadingStr( TargetHeading );
658 update_old_control_values();
662 void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) {
663 altitude_mode = mode;
665 alt_error_accum = 0.0;
667 if ( altitude_mode == FG_ALTITUDE_LOCK ) {
668 // lock at current altitude
669 TargetAltitude = FGBFI::getAltitude() * FEET_TO_METER;
671 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
672 MakeTargetAltitudeStr( TargetAltitude * METER_TO_FEET );
674 MakeTargetAltitudeStr( TargetAltitude * METER_TO_FEET );
676 } else if ( altitude_mode == FG_ALTITUDE_GS1 ) {
677 climb_error_accum = 0.0;
679 } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
680 TargetAGL = FGBFI::getAGL() * FEET_TO_METER;
682 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
683 MakeTargetAltitudeStr( TargetAGL * METER_TO_FEET );
685 MakeTargetAltitudeStr( TargetAGL * METER_TO_FEET );
689 update_old_control_values();
690 FG_LOG( FG_COCKPIT, FG_INFO, " set_AltitudeMode():" );
695 static inline double get_aoa( void ) {
696 return( cur_fdm_state->get_Gamma_vert_rad() * RAD_TO_DEG );
699 static inline double fgAPget_latitude( void ) {
700 return( cur_fdm_state->get_Latitude() * RAD_TO_DEG );
703 static inline double fgAPget_longitude( void ) {
704 return( cur_fdm_state->get_Longitude() * RAD_TO_DEG );
707 static inline double fgAPget_roll( void ) {
708 return( cur_fdm_state->get_Phi() * RAD_TO_DEG );
711 static inline double get_pitch( void ) {
712 return( cur_fdm_state->get_Theta() );
715 double fgAPget_heading( void ) {
716 return( cur_fdm_state->get_Psi() * RAD_TO_DEG );
719 static inline double fgAPget_altitude( void ) {
720 return( cur_fdm_state->get_Altitude() * FEET_TO_METER );
723 static inline double fgAPget_climb( void ) {
724 // return in meters per minute
725 return( cur_fdm_state->get_Climb_Rate() * FEET_TO_METER * 60 );
728 static inline double get_sideslip( void ) {
729 return( cur_fdm_state->get_Beta() );
732 static inline double fgAPget_agl( void ) {
735 agl = cur_fdm_state->get_Altitude() * FEET_TO_METER
743 void FGAutopilot::AltitudeSet( double new_altitude ) {
744 double target_alt = new_altitude;
746 // cout << "new altitude = " << new_altitude << endl;
748 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
749 target_alt = new_altitude * FEET_TO_METER;
752 if( target_alt < scenery.cur_elev ) {
753 target_alt = scenery.cur_elev;
756 TargetAltitude = target_alt;
757 altitude_mode = FG_ALTITUDE_LOCK;
759 // cout << "TargetAltitude = " << TargetAltitude << endl;
761 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
762 target_alt *= METER_TO_FEET;
764 // ApAltitudeDialogInput->setValue((float)target_alt);
765 MakeTargetAltitudeStr( target_alt );
767 update_old_control_values();
771 void FGAutopilot::AltitudeAdjust( double inc )
773 double target_alt, target_agl;
775 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
776 target_alt = TargetAltitude * METER_TO_FEET;
777 target_agl = TargetAGL * METER_TO_FEET;
779 target_alt = TargetAltitude;
780 target_agl = TargetAGL;
783 target_alt = ( int ) ( target_alt / inc ) * inc + inc;
784 target_agl = ( int ) ( target_agl / inc ) * inc + inc;
786 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
787 target_alt *= FEET_TO_METER;
788 target_agl *= FEET_TO_METER;
791 TargetAltitude = target_alt;
792 TargetAGL = target_agl;
794 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET )
795 target_alt *= METER_TO_FEET;
796 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET )
797 target_agl *= METER_TO_FEET;
799 if ( altitude_mode == FG_ALTITUDE_LOCK ) {
800 MakeTargetAltitudeStr( target_alt );
801 } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
802 MakeTargetAltitudeStr( target_agl );
805 update_old_control_values();
809 void FGAutopilot::HeadingAdjust( double inc ) {
810 heading_mode = FG_HEADING_LOCK;
812 double target = ( int ) ( TargetHeading / inc ) * inc + inc;
814 TargetHeading = NormalizeDegrees( target );
815 // following cast needed ambiguous plib
816 // ApHeadingDialogInput -> setValue ((float)TargetHeading );
817 MakeTargetHeadingStr( TargetHeading );
818 update_old_control_values();
822 void FGAutopilot::HeadingSet( double new_heading ) {
823 heading_mode = FG_HEADING_LOCK;
825 new_heading = NormalizeDegrees( new_heading );
826 TargetHeading = new_heading;
827 // following cast needed ambiguous plib
828 // ApHeadingDialogInput -> setValue ((float)APData->TargetHeading );
829 MakeTargetHeadingStr( TargetHeading );
830 update_old_control_values();
833 void FGAutopilot::AutoThrottleAdjust( double inc ) {
834 double target = ( int ) ( TargetSpeed / inc ) * inc + inc;
836 TargetSpeed = target;
840 void FGAutopilot::set_AutoThrottleEnabled( bool value ) {
841 auto_throttle = value;
843 if ( auto_throttle = true ) {
844 TargetSpeed = FGBFI::getAirspeed();
845 speed_error_accum = 0.0;
848 update_old_control_values();
849 FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetAutoThrottle: ("
850 << auto_throttle << ") " << TargetSpeed );