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;
298 // heading hold enabled?
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 tgt_radial = current_radiostack->get_nav1_radial() + 180.0;
309 tgt_radial = current_radiostack->get_nav1_radial();
311 cur_radial = current_radiostack->get_nav1_heading();
312 cout << "target rad = " << tgt_radial
313 << " current rad = " << cur_radial
316 double diff = (tgt_radial - cur_radial);
317 while ( diff < -180.0 ) { diff += 360.0; }
318 while ( diff > 180.0 ) { diff -= 360.0; }
320 diff *= (current_radiostack->get_nav1_dist() * METER_TO_NM);
321 if ( diff < -30.0 ) { diff = -30.0; }
322 if ( diff > 30.0 ) { diff = 30.0; }
324 TargetHeading = cur_radial - diff;
325 while ( TargetHeading < 0.0 ) { TargetHeading += 360.0; }
326 while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; }
327 cout << "target course = " << TargetHeading << endl;
328 } else if ( heading_mode == FG_HEADING_WAYPOINT ) {
329 // update target heading to waypoint
331 double wp_course, wp_reverse, wp_distance;
333 #ifdef DO_fgAP_CORRECTED_COURSE
334 // compute course made good
335 // this needs lots of special casing before use
336 double course, reverse, distance, corrected_course;
337 // need to test for iter
338 geo_inverse_wgs_84( 0, //fgAPget_altitude(),
346 #endif // DO_fgAP_CORRECTED_COURSE
348 // compute course to way_point
349 // need to test for iter
350 if( ! geo_inverse_wgs_84( 0, //fgAPget_altitude(),
359 #ifdef DO_fgAP_CORRECTED_COURSE
360 corrected_course = course - wp_course;
361 if( fabs(corrected_course) > 0.1 )
362 printf("fgAP: course %f wp_course %f %f %f\n",
363 course, wp_course, fabs(corrected_course),
365 #endif // DO_fgAP_CORRECTED_COURSE
367 if ( wp_distance > 100 ) {
368 // corrected_course = course - wp_course;
369 TargetHeading = NormalizeDegrees(wp_course);
371 printf("distance(%f) to close\n", wp_distance);
372 // Real Close -- set heading hold to current heading
373 // and Ring the arival bell !!
374 heading_mode = FG_HEADING_LOCK;
375 // use current heading
376 TargetHeading = FGBFI::getHeading();
378 MakeTargetHeadingStr( TargetHeading );
379 // Force this just in case
380 TargetDistance = wp_distance;
381 MakeTargetDistanceStr( wp_distance );
390 RelHeading = NormalizeDegrees( TargetHeading - FGBFI::getHeading() );
391 // figure out how far off we are from desired heading
393 // Now it is time to deterime how far we should be rolled.
394 FG_LOG( FG_AUTOPILOT, FG_DEBUG, "RelHeading: " << RelHeading );
397 // Check if we are further from heading than the roll out point
398 if ( fabs( RelHeading ) > RollOut ) {
399 // set Target Roll to Max in desired direction
400 if ( RelHeading < 0 ) {
401 TargetRoll = 0 - MaxRoll;
403 TargetRoll = MaxRoll;
406 // We have to calculate the Target roll
408 // This calculation engine thinks that the Target roll
409 // should be a line from (RollOut,MaxRoll) to (-RollOut,
410 // -MaxRoll) I hope this works well. If I get ambitious
411 // some day this might become a fancier curve or
414 TargetRoll = LinearExtrapolate( RelHeading, -RollOut,
419 // Target Roll has now been Found.
421 // Compare Target roll to Current Roll, Generate Rel Roll
423 FG_LOG( FG_COCKPIT, FG_BULK, "TargetRoll: " << TargetRoll );
425 RelRoll = NormalizeDegrees( TargetRoll - FGBFI::getRoll() );
427 // Check if we are further from heading than the roll out smooth point
428 if ( fabs( RelRoll ) > RollOutSmooth ) {
429 // set Target Roll to Max in desired direction
431 AileronSet = 0 - MaxAileron;
433 AileronSet = MaxAileron;
436 AileronSet = LinearExtrapolate( RelRoll, -RollOutSmooth,
442 controls.set_aileron( AileronSet );
443 controls.set_rudder( AileronSet / 4.0 );
444 // controls.set_rudder( 0.0 );
448 if ( altitude_hold ) {
449 double speed, max_climb, error;
450 double prop_error, int_error;
451 double prop_adj, int_adj, total_adj;
453 if ( altitude_mode == FG_ALTITUDE_LOCK ) {
454 // normal altitude hold
455 // cout << "TargetAltitude = " << TargetAltitude
456 // << "Altitude = " << FGBFI::getAltitude() * FEET_TO_METER
459 ( TargetAltitude - FGBFI::getAltitude() * FEET_TO_METER ) * 8.0;
460 } else if ( altitude_mode == FG_ALTITUDE_GS1 ) {
461 double x = current_radiostack->get_nav1_dist();
462 double y = (FGBFI::getAltitude()
463 - current_radiostack->get_nav1_elev()) * FEET_TO_METER;
464 double angle = atan2( y, x ) * RAD_TO_DEG;
465 double gs_diff = current_radiostack->get_nav1_target_gs() - angle;
466 climb_error_accum += gs_diff * 2.0;
467 TargetClimbRate = gs_diff * 200.0 + climb_error_accum;
468 } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
469 // brain dead ground hugging with no look ahead
471 ( TargetAGL - FGBFI::getAGL()*FEET_TO_METER ) * 16.0;
472 // cout << "target agl = " << TargetAGL
473 // << " current agl = " << fgAPget_agl()
474 // << " target climb rate = " << TargetClimbRate
477 // just try to zero out rate of climb ...
478 TargetClimbRate = 0.0;
483 if ( speed < min_climb ) {
485 } else if ( speed < best_climb ) {
486 max_climb = ((best_climb - min_climb) - (best_climb - speed))
488 / (best_climb - min_climb);
490 max_climb = ( speed - best_climb ) * 10.0 + ideal_climb_rate;
493 // this first one could be optional if we wanted to allow
494 // better climb performance assuming we have the airspeed to
496 if ( TargetClimbRate > ideal_climb_rate ) {
497 TargetClimbRate = ideal_climb_rate;
500 if ( TargetClimbRate > max_climb ) {
501 TargetClimbRate = max_climb;
504 if ( TargetClimbRate < -ideal_climb_rate ) {
505 TargetClimbRate = -ideal_climb_rate;
508 error = FGBFI::getVerticalSpeed() * FEET_TO_METER - TargetClimbRate;
509 // cout << "climb rate = " << fgAPget_climb()
510 // << " error = " << error << endl;
512 // accumulate the error under the curve ... this really should
514 alt_error_accum += error;
516 // calculate integral error, and adjustment amount
517 int_error = alt_error_accum;
518 // printf("error = %.2f int_error = %.2f\n", error, int_error);
519 int_adj = int_error / 8000.0;
521 // caclulate proportional error
523 prop_adj = prop_error / 2000.0;
525 total_adj = 0.9 * prop_adj + 0.1 * int_adj;
526 // if ( total_adj > 0.6 ) {
528 // } else if ( total_adj < -0.2 ) {
531 if ( total_adj > 1.0 ) {
533 } else if ( total_adj < -1.0 ) {
537 controls.set_elevator( total_adj );
540 // auto throttle enabled?
541 if ( auto_throttle ) {
543 double prop_error, int_error;
544 double prop_adj, int_adj, total_adj;
546 error = TargetSpeed - get_speed();
548 // accumulate the error under the curve ... this really should
550 speed_error_accum += error;
551 if ( speed_error_accum > 2000.0 ) {
552 speed_error_accum = 2000.0;
554 else if ( speed_error_accum < -2000.0 ) {
555 speed_error_accum = -2000.0;
558 // calculate integral error, and adjustment amount
559 int_error = speed_error_accum;
561 // printf("error = %.2f int_error = %.2f\n", error, int_error);
562 int_adj = int_error / 200.0;
564 // caclulate proportional error
566 prop_adj = 0.5 + prop_error / 50.0;
568 total_adj = 0.9 * prop_adj + 0.1 * int_adj;
569 if ( total_adj > 1.0 ) {
572 else if ( total_adj < 0.0 ) {
576 controls.set_throttle( FGControls::ALL_ENGINES, total_adj );
579 #ifdef THIS_CODE_IS_NOT_USED
580 if (Mode == 2) // Glide slope hold
585 // First, calculate Relative slope and normalize it
586 RelSlope = NormalizeDegrees( TargetSlope - get_pitch());
588 // Now calculate the elevator offset from current angle
589 if ( abs(RelSlope) > SlopeSmooth )
591 if ( RelSlope < 0 ) // set RelElevator to max in the correct direction
592 RelElevator = -MaxElevator;
594 RelElevator = MaxElevator;
598 RelElevator = LinearExtrapolate(RelSlope,-SlopeSmooth,-MaxElevator,SlopeSmooth,MaxElevator);
601 fgElevMove(RelElevator);
604 #endif // THIS_CODE_IS_NOT_USED
606 // stash this runs control settings
607 // update_old_control_values();
608 old_aileron = controls.get_aileron();
609 old_elevator = controls.get_elevator();
610 old_elevator_trim = controls.get_elevator_trim();
611 old_rudder = controls.get_rudder();
613 // for cross track error
622 void FGAutopilot::set_HeadingMode( fgAutoHeadingMode mode ) {
625 if ( heading_mode == FG_HEADING_LOCK ) {
626 // set heading hold to current heading
627 TargetHeading = FGBFI::getHeading();
628 } else if ( heading_mode == FG_HEADING_WAYPOINT ) {
629 double course, reverse, distance;
630 // turn on location hold
631 // turn on heading hold
632 old_lat = FGBFI::getLatitude();
633 old_lon = FGBFI::getLongitude();
635 // need to test for iter
636 if( !geo_inverse_wgs_84( FGBFI::getAltitude() * FEET_TO_METER,
637 FGBFI::getLatitude(),
638 FGBFI::getLongitude(),
644 TargetHeading = course;
645 TargetDistance = distance;
646 MakeTargetDistanceStr( distance );
649 FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetLocation: ( "
650 << TargetLatitude << " "
651 << TargetLongitude << " ) "
655 MakeTargetHeadingStr( TargetHeading );
656 update_old_control_values();
660 void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) {
661 altitude_mode = mode;
663 alt_error_accum = 0.0;
665 if ( altitude_mode == FG_ALTITUDE_LOCK ) {
666 // lock at current altitude
667 TargetAltitude = FGBFI::getAltitude() * FEET_TO_METER;
669 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
670 MakeTargetAltitudeStr( TargetAltitude * METER_TO_FEET );
672 MakeTargetAltitudeStr( TargetAltitude * METER_TO_FEET );
674 } else if ( altitude_mode == FG_ALTITUDE_GS1 ) {
675 climb_error_accum = 0.0;
677 } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
678 TargetAGL = FGBFI::getAGL() * FEET_TO_METER;
680 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
681 MakeTargetAltitudeStr( TargetAGL * METER_TO_FEET );
683 MakeTargetAltitudeStr( TargetAGL * METER_TO_FEET );
687 update_old_control_values();
688 FG_LOG( FG_COCKPIT, FG_INFO, " set_AltitudeMode():" );
693 static inline double get_aoa( void ) {
694 return( cur_fdm_state->get_Gamma_vert_rad() * RAD_TO_DEG );
697 static inline double fgAPget_latitude( void ) {
698 return( cur_fdm_state->get_Latitude() * RAD_TO_DEG );
701 static inline double fgAPget_longitude( void ) {
702 return( cur_fdm_state->get_Longitude() * RAD_TO_DEG );
705 static inline double fgAPget_roll( void ) {
706 return( cur_fdm_state->get_Phi() * RAD_TO_DEG );
709 static inline double get_pitch( void ) {
710 return( cur_fdm_state->get_Theta() );
713 double fgAPget_heading( void ) {
714 return( cur_fdm_state->get_Psi() * RAD_TO_DEG );
717 static inline double fgAPget_altitude( void ) {
718 return( cur_fdm_state->get_Altitude() * FEET_TO_METER );
721 static inline double fgAPget_climb( void ) {
722 // return in meters per minute
723 return( cur_fdm_state->get_Climb_Rate() * FEET_TO_METER * 60 );
726 static inline double get_sideslip( void ) {
727 return( cur_fdm_state->get_Beta() );
730 static inline double fgAPget_agl( void ) {
733 agl = cur_fdm_state->get_Altitude() * FEET_TO_METER
741 void FGAutopilot::AltitudeSet( double new_altitude ) {
742 double target_alt = new_altitude;
744 // cout << "new altitude = " << new_altitude << endl;
746 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
747 target_alt = new_altitude * FEET_TO_METER;
750 if( target_alt < scenery.cur_elev ) {
751 target_alt = scenery.cur_elev;
754 TargetAltitude = target_alt;
755 altitude_mode = FG_ALTITUDE_LOCK;
757 // cout << "TargetAltitude = " << TargetAltitude << endl;
759 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
760 target_alt *= METER_TO_FEET;
762 // ApAltitudeDialogInput->setValue((float)target_alt);
763 MakeTargetAltitudeStr( target_alt );
765 update_old_control_values();
769 void FGAutopilot::AltitudeAdjust( double inc )
771 double target_alt, target_agl;
773 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
774 target_alt = TargetAltitude * METER_TO_FEET;
775 target_agl = TargetAGL * METER_TO_FEET;
777 target_alt = TargetAltitude;
778 target_agl = TargetAGL;
781 target_alt = ( int ) ( target_alt / inc ) * inc + inc;
782 target_agl = ( int ) ( target_agl / inc ) * inc + inc;
784 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
785 target_alt *= FEET_TO_METER;
786 target_agl *= FEET_TO_METER;
789 TargetAltitude = target_alt;
790 TargetAGL = target_agl;
792 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET )
793 target_alt *= METER_TO_FEET;
794 if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET )
795 target_agl *= METER_TO_FEET;
797 if ( altitude_mode == FG_ALTITUDE_LOCK ) {
798 MakeTargetAltitudeStr( target_alt );
799 } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
800 MakeTargetAltitudeStr( target_agl );
803 update_old_control_values();
807 void FGAutopilot::HeadingAdjust( double inc ) {
808 heading_mode = FG_HEADING_LOCK;
810 double target = ( int ) ( TargetHeading / inc ) * inc + inc;
812 TargetHeading = NormalizeDegrees( target );
813 // following cast needed ambiguous plib
814 // ApHeadingDialogInput -> setValue ((float)TargetHeading );
815 MakeTargetHeadingStr( TargetHeading );
816 update_old_control_values();
820 void FGAutopilot::HeadingSet( double new_heading ) {
821 heading_mode = FG_HEADING_LOCK;
823 new_heading = NormalizeDegrees( new_heading );
824 TargetHeading = new_heading;
825 // following cast needed ambiguous plib
826 // ApHeadingDialogInput -> setValue ((float)APData->TargetHeading );
827 MakeTargetHeadingStr( TargetHeading );
828 update_old_control_values();
831 void FGAutopilot::AutoThrottleAdjust( double inc ) {
832 double target = ( int ) ( TargetSpeed / inc ) * inc + inc;
834 TargetSpeed = target;
838 void FGAutopilot::set_AutoThrottleEnabled( bool value ) {
839 auto_throttle = value;
841 if ( auto_throttle = true ) {
842 TargetSpeed = FGBFI::getAirspeed();
843 speed_error_accum = 0.0;
846 update_old_control_values();
847 FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetAutoThrottle: ("
848 << auto_throttle << ") " << TargetSpeed );