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/sg_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(get_TargetLatitude()));
71 sprintf( TargetLongitudeStr, "%s", coord_format_lon(get_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 = FGBFI::getLatitude();
148 old_lon = FGBFI::getLongitude();
149 set_WayPoint( old_lon, old_lat, "default" );
151 MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() );
153 TargetHeading = 0.0; // default direction, due north
154 TargetAltitude = 3000; // default altitude in meters
155 alt_error_accum = 0.0;
156 climb_error_accum = 0.0;
158 MakeTargetAltitudeStr( 3000.0);
159 MakeTargetHeadingStr( 0.0 );
161 // These eventually need to be read from current_aircaft somehow.
163 // the maximum roll, in Deg
166 // the deg from heading to start rolling out at, in Deg
169 // how far can I move the aleron from center.
172 // Smoothing distance for alerion control
175 // Hardwired for now should be in options
176 // 25% max control variablilty 0.5 / 2.0
177 disengage_threshold = 1.0;
179 #if !defined( USING_SLIDER_CLASS )
180 MaxRollAdjust = 2 * MaxRoll;
181 RollOutAdjust = 2 * RollOut;
182 MaxAileronAdjust = 2 * MaxAileron;
183 RollOutSmoothAdjust = 2 * RollOutSmooth;
184 #endif // !defined( USING_SLIDER_CLASS )
186 update_old_control_values();
188 // Initialize GUI components of autopilot
189 // NewTgtAirportInit();
190 // fgAPAdjustInit() ;
192 // NewAltitudeInit();
196 // Reset the autopilot system
197 void FGAutopilot::reset() {
199 heading_hold = false ; // turn the heading hold off
200 altitude_hold = false ; // turn the altitude hold off
201 auto_throttle = false ; // turn the auto throttle off
203 TargetHeading = 0.0; // default direction, due north
204 MakeTargetHeadingStr( TargetHeading );
206 TargetAltitude = 3000; // default altitude in meters
207 MakeTargetAltitudeStr( TargetAltitude );
209 alt_error_accum = 0.0;
210 climb_error_accum = 0.0;
212 update_old_control_values();
214 sprintf( NewTgtAirportId, "%s", current_options.get_airport_id().c_str() );
216 // TargetLatitude = FGBFI::getLatitude();
217 // TargetLongitude = FGBFI::getLongitude();
218 set_WayPoint( FGBFI::getLongitude(), FGBFI::getLatitude(), "reset" );
220 MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() );
224 static double NormalizeDegrees( double Input ) {
225 // normalize the input to the range (-180,180]
226 // Input should not be greater than -360 to 360.
227 // Current rules send the output to an undefined state.
231 else if ( Input <= -180 )
232 while ( Input <= -180 )
237 static double LinearExtrapolate( double x, double x1, double y1, double x2, double y2 ) {
238 // This procedure extrapolates the y value for the x posistion on a line defined by x1,y1; x2,y2
239 //assert(x1 != x2); // Divide by zero error. Cold abort for now
242 // static double y = 0.0;
243 // double dx = x2 -x1;
244 // if( (dx < -FG_EPSILON ) || ( dx > FG_EPSILON ) )
247 double m, b, y; // the constants to find in y=mx+b
250 m = ( y2 - y1 ) / ( x2 - x1 ); // calculate the m
252 b = y1 - m * x1; // calculate the b
254 y = m * x + b; // the final calculation
263 int FGAutopilot::run() {
264 // Remove the following lines when the calling funcitons start
265 // passing in the data pointer
267 // get control settings
268 // double aileron = FGBFI::getAileron();
269 // double elevator = FGBFI::getElevator();
270 // double elevator_trim = FGBFI::getElevatorTrim();
271 // double rudder = FGBFI::getRudder();
273 double lat = FGBFI::getLatitude();
274 double lon = FGBFI::getLongitude();
276 #ifdef FG_FORCE_AUTO_DISENGAGE
277 // see if somebody else has changed them
278 if( fabs(aileron - old_aileron) > disengage_threshold ||
279 fabs(elevator - old_elevator) > disengage_threshold ||
280 fabs(elevator_trim - old_elevator_trim) >
281 disengage_threshold ||
282 fabs(rudder - old_rudder) > disengage_threshold )
284 // if controls changed externally turn autopilot off
285 waypoint_hold = false ; // turn the target hold off
286 heading_hold = false ; // turn the heading hold off
287 altitude_hold = false ; // turn the altitude hold off
288 terrain_follow = false; // turn the terrain_follow hold off
289 // auto_throttle = false; // turn the auto_throttle off
291 // stash this runs control settings
292 old_aileron = aileron;
293 old_elevator = elevator;
294 old_elevator_trim = elevator_trim;
302 if ( heading_hold == true ) {
304 if ( heading_mode == FG_HEADING_LOCK ) {
305 // leave target heading alone
306 } else if ( heading_mode == FG_HEADING_NAV1 ) {
309 if ( current_radiostack->get_nav1_loc() ) {
310 // localizers radials are "true"
311 tgt_radial = current_radiostack->get_nav1_radial();
313 tgt_radial = current_radiostack->get_nav1_radial()
314 + FGBFI::getMagVar();
316 cur_radial = current_radiostack->get_nav1_heading();
317 // cout << "target rad (true) = " << tgt_radial
318 // << " current rad (true) = " << cur_radial
321 double diff = (tgt_radial - cur_radial);
322 while ( diff < -180.0 ) { diff += 360.0; }
323 while ( diff > 180.0 ) { diff -= 360.0; }
325 diff *= (current_radiostack->get_nav1_loc_dist() * METER_TO_NM);
326 if ( diff < -30.0 ) { diff = -30.0; }
327 if ( diff > 30.0 ) { diff = 30.0; }
329 TargetHeading = cur_radial - diff;
330 while ( TargetHeading < 0.0 ) { TargetHeading += 360.0; }
331 while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; }
332 // cout << "target course (true) = " << TargetHeading << endl;
333 } else if ( heading_mode == FG_HEADING_WAYPOINT ) {
334 // update target heading to waypoint
336 double wp_course, /*wp_reverse,*/ wp_distance;
338 #ifdef DO_fgAP_CORRECTED_COURSE
339 // compute course made good
340 // this needs lots of special casing before use
341 double course, reverse, distance, corrected_course;
342 // need to test for iter
343 geo_inverse_wgs_84( 0, //fgAPget_altitude(),
351 #endif // DO_fgAP_CORRECTED_COURSE
353 // compute course to way_point
354 // need to test for iter
355 waypoint.CourseAndDistance( lon, lat, &wp_course, &wp_distance );
357 #ifdef DO_fgAP_CORRECTED_COURSE
358 corrected_course = course - wp_course;
359 if( fabs(corrected_course) > 0.1 )
360 printf("fgAP: course %f wp_course %f %f %f\n",
361 course, wp_course, fabs(corrected_course),
363 #endif // DO_fgAP_CORRECTED_COURSE
365 if ( wp_distance > 100 ) {
366 // corrected_course = course - wp_course;
367 TargetHeading = NormalizeDegrees(wp_course);
369 printf("distance(%f) to close\n", wp_distance);
370 // Real Close -- set heading hold to current heading
371 // and Ring the arival bell !!
372 heading_mode = FG_HEADING_LOCK;
373 // use current heading
374 TargetHeading = FGBFI::getHeading();
376 MakeTargetHeadingStr( TargetHeading );
377 // Force this just in case
378 TargetDistance = wp_distance;
379 MakeTargetDistanceStr( wp_distance );
387 RelHeading = NormalizeDegrees( TargetHeading - FGBFI::getHeading() );
388 // figure out how far off we are from desired heading
390 // Now it is time to deterime how far we should be rolled.
391 FG_LOG( FG_AUTOPILOT, FG_DEBUG, "RelHeading: " << RelHeading );
394 // Check if we are further from heading than the roll out point
395 if ( fabs( RelHeading ) > RollOut ) {
396 // set Target Roll to Max in desired direction
397 if ( RelHeading < 0 ) {
398 TargetRoll = 0 - MaxRoll;
400 TargetRoll = MaxRoll;
403 // We have to calculate the Target roll
405 // This calculation engine thinks that the Target roll
406 // should be a line from (RollOut,MaxRoll) to (-RollOut,
407 // -MaxRoll) I hope this works well. If I get ambitious
408 // some day this might become a fancier curve or
411 TargetRoll = LinearExtrapolate( RelHeading, -RollOut,
416 // Target Roll has now been Found.
418 // Compare Target roll to Current Roll, Generate Rel Roll
420 FG_LOG( FG_COCKPIT, FG_BULK, "TargetRoll: " << TargetRoll );
422 RelRoll = NormalizeDegrees( TargetRoll - FGBFI::getRoll() );
424 // Check if we are further from heading than the roll out smooth point
425 if ( fabs( RelRoll ) > RollOutSmooth ) {
426 // set Target Roll to Max in desired direction
428 AileronSet = 0 - MaxAileron;
430 AileronSet = MaxAileron;
433 AileronSet = LinearExtrapolate( RelRoll, -RollOutSmooth,
439 controls.set_aileron( AileronSet );
440 controls.set_rudder( AileronSet / 4.0 );
441 // controls.set_rudder( 0.0 );
445 if ( altitude_hold ) {
446 double speed, max_climb, error;
447 double prop_error, int_error;
448 double prop_adj, int_adj, total_adj;
450 if ( altitude_mode == FG_ALTITUDE_LOCK ) {
451 // normal altitude hold
452 // cout << "TargetAltitude = " << TargetAltitude
453 // << "Altitude = " << FGBFI::getAltitude() * FEET_TO_METER
456 ( TargetAltitude - FGBFI::getAltitude() * FEET_TO_METER ) * 8.0;
457 } else if ( altitude_mode == FG_ALTITUDE_GS1 ) {
458 double x = current_radiostack->get_nav1_gs_dist();
459 double y = (FGBFI::getAltitude()
460 - current_radiostack->get_nav1_elev()) * FEET_TO_METER;
461 double angle = atan2( y, x ) * RAD_TO_DEG;
462 double gs_diff = current_radiostack->get_nav1_target_gs() - angle;
463 climb_error_accum += gs_diff * 2.0;
464 TargetClimbRate = gs_diff * 200.0 + climb_error_accum;
465 } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
466 // brain dead ground hugging with no look ahead
468 ( TargetAGL - FGBFI::getAGL()*FEET_TO_METER ) * 16.0;
469 // cout << "target agl = " << TargetAGL
470 // << " current agl = " << fgAPget_agl()
471 // << " target climb rate = " << TargetClimbRate
474 // just try to zero out rate of climb ...
475 TargetClimbRate = 0.0;
480 if ( speed < min_climb ) {
482 } else if ( speed < best_climb ) {
483 max_climb = ((best_climb - min_climb) - (best_climb - speed))
485 / (best_climb - min_climb);
487 max_climb = ( speed - best_climb ) * 10.0 + ideal_climb_rate;
490 // this first one could be optional if we wanted to allow
491 // better climb performance assuming we have the airspeed to
493 if ( TargetClimbRate > ideal_climb_rate ) {
494 TargetClimbRate = ideal_climb_rate;
497 if ( TargetClimbRate > max_climb ) {
498 TargetClimbRate = max_climb;
501 if ( TargetClimbRate < -ideal_climb_rate ) {
502 TargetClimbRate = -ideal_climb_rate;
505 error = FGBFI::getVerticalSpeed() * FEET_TO_METER - TargetClimbRate;
506 // cout << "climb rate = " << fgAPget_climb()
507 // << " error = " << error << endl;
509 // accumulate the error under the curve ... this really should
511 alt_error_accum += error;
513 // calculate integral error, and adjustment amount
514 int_error = alt_error_accum;
515 // printf("error = %.2f int_error = %.2f\n", error, int_error);
516 int_adj = int_error / 8000.0;
518 // caclulate proportional error
520 prop_adj = prop_error / 2000.0;
522 total_adj = 0.9 * prop_adj + 0.1 * int_adj;
523 // if ( total_adj > 0.6 ) {
525 // } else if ( total_adj < -0.2 ) {
528 if ( total_adj > 1.0 ) {
530 } else if ( total_adj < -1.0 ) {
534 controls.set_elevator( total_adj );
538 if ( auto_throttle ) {
540 double prop_error, int_error;
541 double prop_adj, int_adj, total_adj;
543 error = TargetSpeed - get_speed();
545 // accumulate the error under the curve ... this really should
547 speed_error_accum += error;
548 if ( speed_error_accum > 2000.0 ) {
549 speed_error_accum = 2000.0;
551 else if ( speed_error_accum < -2000.0 ) {
552 speed_error_accum = -2000.0;
555 // calculate integral error, and adjustment amount
556 int_error = speed_error_accum;
558 // printf("error = %.2f int_error = %.2f\n", error, int_error);
559 int_adj = int_error / 200.0;
561 // caclulate proportional error
563 prop_adj = 0.5 + prop_error / 50.0;
565 total_adj = 0.9 * prop_adj + 0.1 * int_adj;
566 if ( total_adj > 1.0 ) {
569 else if ( total_adj < 0.0 ) {
573 controls.set_throttle( FGControls::ALL_ENGINES, total_adj );
576 #ifdef THIS_CODE_IS_NOT_USED
577 if (Mode == 2) // Glide slope hold
582 // First, calculate Relative slope and normalize it
583 RelSlope = NormalizeDegrees( TargetSlope - get_pitch());
585 // Now calculate the elevator offset from current angle
586 if ( abs(RelSlope) > SlopeSmooth )
588 if ( RelSlope < 0 ) // set RelElevator to max in the correct direction
589 RelElevator = -MaxElevator;
591 RelElevator = MaxElevator;
595 RelElevator = LinearExtrapolate(RelSlope,-SlopeSmooth,-MaxElevator,SlopeSmooth,MaxElevator);
598 fgElevMove(RelElevator);
601 #endif // THIS_CODE_IS_NOT_USED
603 // stash this runs control settings
604 // update_old_control_values();
605 old_aileron = controls.get_aileron();
606 old_elevator = controls.get_elevator();
607 old_elevator_trim = controls.get_elevator_trim();
608 old_rudder = controls.get_rudder();
610 // for cross track error
619 void FGAutopilot::set_HeadingMode( fgAutoHeadingMode mode ) {
622 if ( heading_mode == FG_HEADING_LOCK ) {
623 // set heading hold to current heading
624 TargetHeading = FGBFI::getHeading();
625 } else if ( heading_mode == FG_HEADING_WAYPOINT ) {
626 double course, /*reverse,*/ distance;
627 // turn on location hold
628 // turn on heading hold
629 old_lat = FGBFI::getLatitude();
630 old_lon = FGBFI::getLongitude();
632 waypoint.CourseAndDistance( FGBFI::getLongitude(), FGBFI::getLatitude(),
633 &course, &distance );
634 TargetHeading = course;
635 TargetDistance = distance;
636 MakeTargetDistanceStr( distance );
638 FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetLocation: ( "
639 << get_TargetLatitude() << " "
640 << get_TargetLongitude() << " ) "
644 MakeTargetHeadingStr( TargetHeading );
645 update_old_control_values();
649 void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) {
650 altitude_mode = mode;
652 alt_error_accum = 0.0;
654 if ( altitude_mode == FG_ALTITUDE_LOCK ) {
655 // lock at current altitude
656 TargetAltitude = FGBFI::getAltitude() * FEET_TO_METER;
658 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
659 MakeTargetAltitudeStr( TargetAltitude * METER_TO_FEET );
661 MakeTargetAltitudeStr( TargetAltitude * METER_TO_FEET );
663 } else if ( altitude_mode == FG_ALTITUDE_GS1 ) {
664 climb_error_accum = 0.0;
666 } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
667 TargetAGL = FGBFI::getAGL() * FEET_TO_METER;
669 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
670 MakeTargetAltitudeStr( TargetAGL * METER_TO_FEET );
672 MakeTargetAltitudeStr( TargetAGL * METER_TO_FEET );
676 update_old_control_values();
677 FG_LOG( FG_COCKPIT, FG_INFO, " set_AltitudeMode():" );
682 static inline double get_aoa( void ) {
683 return( cur_fdm_state->get_Gamma_vert_rad() * RAD_TO_DEG );
686 static inline double fgAPget_latitude( void ) {
687 return( cur_fdm_state->get_Latitude() * RAD_TO_DEG );
690 static inline double fgAPget_longitude( void ) {
691 return( cur_fdm_state->get_Longitude() * RAD_TO_DEG );
694 static inline double fgAPget_roll( void ) {
695 return( cur_fdm_state->get_Phi() * RAD_TO_DEG );
698 static inline double get_pitch( void ) {
699 return( cur_fdm_state->get_Theta() );
702 double fgAPget_heading( void ) {
703 return( cur_fdm_state->get_Psi() * RAD_TO_DEG );
706 static inline double fgAPget_altitude( void ) {
707 return( cur_fdm_state->get_Altitude() * FEET_TO_METER );
710 static inline double fgAPget_climb( void ) {
711 // return in meters per minute
712 return( cur_fdm_state->get_Climb_Rate() * FEET_TO_METER * 60 );
715 static inline double get_sideslip( void ) {
716 return( cur_fdm_state->get_Beta() );
719 static inline double fgAPget_agl( void ) {
722 agl = cur_fdm_state->get_Altitude() * FEET_TO_METER
730 void FGAutopilot::AltitudeSet( double new_altitude ) {
731 double target_alt = new_altitude;
733 // cout << "new altitude = " << new_altitude << endl;
735 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
736 target_alt = new_altitude * FEET_TO_METER;
739 if( target_alt < scenery.cur_elev ) {
740 target_alt = scenery.cur_elev;
743 TargetAltitude = target_alt;
744 altitude_mode = FG_ALTITUDE_LOCK;
746 // cout << "TargetAltitude = " << TargetAltitude << endl;
748 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
749 target_alt *= METER_TO_FEET;
751 // ApAltitudeDialogInput->setValue((float)target_alt);
752 MakeTargetAltitudeStr( target_alt );
754 update_old_control_values();
758 void FGAutopilot::AltitudeAdjust( double inc )
760 double target_alt, target_agl;
762 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
763 target_alt = TargetAltitude * METER_TO_FEET;
764 target_agl = TargetAGL * METER_TO_FEET;
766 target_alt = TargetAltitude;
767 target_agl = TargetAGL;
770 // cout << "target_agl = " << target_agl << endl;
771 // cout << "target_agl / inc = " << target_agl / inc << endl;
772 // cout << "(int)(target_agl / inc) = " << (int)(target_agl / inc) << endl;
774 if ( fabs((int)(target_alt / inc) * inc - target_alt) < FG_EPSILON ) {
777 target_alt = ( int ) ( target_alt / inc ) * inc + inc;
780 if ( fabs((int)(target_agl / inc) * inc - target_agl) < FG_EPSILON ) {
783 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 );