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);
216 roll_node = fgGetNode("/orientation/roll-deg", true);
217 pitch_node = fgGetNode("/orientation/pitch-deg", true);
221 // bind config property nodes...
223 = fgGetNode("/autopilot/config/target-climb-rate-fpm", true);
225 = fgGetNode("/autopilot/config/target-descent-rate-fpm", true);
226 min_climb = fgGetNode("/autopilot/config/min-climb-speed-kt", true);
227 best_climb = fgGetNode("/autopilot/config/best-climb-speed-kt", true);
229 = fgGetNode("/autopilot/config/elevator-adj-factor", true);
231 = fgGetNode("/autopilot/config/integral-contribution", true);
233 = fgGetNode("/autopilot/config/zero-pitch-throttle", true);
234 zero_pitch_trim_full_throttle
235 = fgGetNode("/autopilot/config/zero-pitch-trim-full-throttle", true);
236 max_aileron_node = fgGetNode("/autopilot/config/max-aileron", true);
237 max_roll_node = fgGetNode("/autopilot/config/max-roll-deg", true);
238 roll_out_node = fgGetNode("/autopilot/config/roll-out-deg", true);
239 roll_out_smooth_node = fgGetNode("/autopilot/config/roll-out-smooth-deg", true);
241 current_throttle = fgGetNode("/controls/throttle");
243 // initialize config properties with defaults (in case config isn't there)
244 if ( TargetClimbRate->getFloatValue() < 1 )
245 fgSetFloat( "/autopilot/config/target-climb-rate-fpm", 500);
246 if ( TargetDescentRate->getFloatValue() < 1 )
247 fgSetFloat( "/autopilot/config/target-descent-rate-fpm", 1000 );
248 if ( min_climb->getFloatValue() < 1)
249 fgSetFloat( "/autopilot/config/min-climb-speed-kt", 70 );
250 if (best_climb->getFloatValue() < 1)
251 fgSetFloat( "/autopilot/config/best-climb-speed-kt", 120 );
252 if (elevator_adj_factor->getFloatValue() < 1)
253 fgSetFloat( "/autopilot/config/elevator-adj-factor", 5000 );
254 if ( integral_contrib->getFloatValue() < 0.0000001 )
255 fgSetFloat( "/autopilot/config/integral-contribution", 0.01 );
256 if ( zero_pitch_throttle->getFloatValue() < 0.0000001 )
257 fgSetFloat( "/autopilot/config/zero-pitch-throttle", 0.60 );
258 if ( zero_pitch_trim_full_throttle->getFloatValue() < 0.0000001 )
259 fgSetFloat( "/autopilot/config/zero-pitch-trim-full-throttle", 0.15 );
260 if ( max_aileron_node->getFloatValue() < 0.0000001 )
261 fgSetFloat( "/autopilot/config/max-aileron", 0.2 );
262 if ( max_roll_node->getFloatValue() < 0.0000001 )
263 fgSetFloat( "/autopilot/config/max-roll-deg", 20 );
264 if ( roll_out_node->getFloatValue() < 0.0000001 )
265 fgSetFloat( "/autopilot/config/roll-out-deg", 20 );
266 if ( roll_out_smooth_node->getFloatValue() < 0.0000001 )
267 fgSetFloat( "/autopilot/config/roll-out-smooth-deg", 10 );
270 heading_hold = false ; // turn the heading hold off
271 altitude_hold = false ; // turn the altitude hold off
272 auto_throttle = false ; // turn the auto throttle off
273 heading_mode = DEFAULT_AP_HEADING_LOCK;
274 altitude_mode = DEFAULT_AP_ALTITUDE_LOCK;
276 DGTargetHeading = fgGetDouble("/autopilot/settings/heading-bug-deg");
277 TargetHeading = fgGetDouble("/autopilot/settings/heading-bug-deg");
278 TargetAltitude = fgGetDouble("/autopilot/settings/altitude-ft") * SG_FEET_TO_METER;
280 // Initialize target location to startup location
281 old_lat = latitude_node->getDoubleValue();
282 old_lon = longitude_node->getDoubleValue();
283 // set_WayPoint( old_lon, old_lat, 0.0, "default" );
285 MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() );
287 alt_error_accum = 0.0;
288 climb_error_accum = 0.0;
290 MakeTargetAltitudeStr( TargetAltitude );
291 MakeTargetHeadingStr( TargetHeading );
293 // These eventually need to be read from current_aircaft somehow.
295 // the maximum roll, in Deg
298 // the deg from heading to start rolling out at, in Deg
301 // Smoothing distance for alerion control
304 // Hardwired for now should be in options
305 // 25% max control variablilty 0.5 / 2.0
306 disengage_threshold = 1.0;
308 // set default aileron max deflection
311 #if !defined( USING_SLIDER_CLASS )
312 MaxRollAdjust = 2 * MaxRoll;
313 RollOutAdjust = 2 * RollOut;
314 //MaxAileronAdjust = 2 * MaxAileron;
315 RollOutSmoothAdjust = 2 * RollOutSmooth;
316 #endif // !defined( USING_SLIDER_CLASS )
318 update_old_control_values();
324 // Autopilot control property get/set bindings
325 fgTie("/autopilot/locks/altitude", this,
326 &FGAutopilot::getAPAltitudeLock, &FGAutopilot::setAPAltitudeLock);
327 fgSetArchivable("/autopilot/locks/altitude");
328 fgTie("/autopilot/settings/altitude-ft", this,
329 &FGAutopilot::getAPAltitude, &FGAutopilot::setAPAltitude);
330 fgSetArchivable("/autopilot/settings/altitude-ft");
331 fgTie("/autopilot/locks/glide-slope", this,
332 &FGAutopilot::getAPGSLock, &FGAutopilot::setAPGSLock);
333 fgSetArchivable("/autopilot/locks/glide-slope");
334 fgSetDouble("/autopilot/settings/altitude-ft", 3000.0f);
335 fgTie("/autopilot/locks/terrain", this,
336 &FGAutopilot::getAPTerrainLock, &FGAutopilot::setAPTerrainLock);
337 fgSetArchivable("/autopilot/locks/terrain");
338 fgTie("/autopilot/settings/climb-rate-fpm", this,
339 &FGAutopilot::getAPClimb, &FGAutopilot::setAPClimb, false);
340 fgSetArchivable("/autopilot/settings/climb-rate-fpm");
341 fgTie("/autopilot/locks/heading", this,
342 &FGAutopilot::getAPHeadingLock, &FGAutopilot::setAPHeadingLock);
343 fgSetArchivable("/autopilot/locks/heading");
344 fgTie("/autopilot/settings/heading-bug-deg", this,
345 &FGAutopilot::getAPHeadingBug, &FGAutopilot::setAPHeadingBug);
346 fgSetArchivable("/autopilot/settings/heading-bug-deg");
347 fgSetDouble("/autopilot/settings/heading-bug-deg", 0.0f);
348 fgTie("/autopilot/locks/wing-leveler", this,
349 &FGAutopilot::getAPWingLeveler, &FGAutopilot::setAPWingLeveler);
350 fgSetArchivable("/autopilot/locks/wing-leveler");
351 fgTie("/autopilot/locks/nav[0]", this,
352 &FGAutopilot::getAPNAV1Lock, &FGAutopilot::setAPNAV1Lock);
353 fgSetArchivable("/autopilot/locks/nav[0]");
354 fgTie("/autopilot/locks/auto-throttle", this,
355 &FGAutopilot::getAPAutoThrottleLock,
356 &FGAutopilot::setAPAutoThrottleLock);
357 fgSetArchivable("/autopilot/locks/auto-throttle");
358 fgTie("/autopilot/control-overrides/rudder", this,
359 &FGAutopilot::getAPRudderControl,
360 &FGAutopilot::setAPRudderControl);
361 fgSetArchivable("/autopilot/control-overrides/rudder");
362 fgTie("/autopilot/control-overrides/elevator", this,
363 &FGAutopilot::getAPElevatorControl,
364 &FGAutopilot::setAPElevatorControl);
365 fgSetArchivable("/autopilot/control-overrides/elevator");
366 fgTie("/autopilot/control-overrides/throttle", this,
367 &FGAutopilot::getAPThrottleControl,
368 &FGAutopilot::setAPThrottleControl);
369 fgSetArchivable("/autopilot/control-overrides/throttle");
373 FGAutopilot::unbind ()
377 // Reset the autopilot system
378 void FGAutopilot::reset() {
380 heading_hold = false ; // turn the heading hold off
381 altitude_hold = false ; // turn the altitude hold off
382 auto_throttle = false ; // turn the auto throttle off
383 heading_mode = DEFAULT_AP_HEADING_LOCK;
385 // TargetHeading = 0.0; // default direction, due north
386 MakeTargetHeadingStr( TargetHeading );
388 // TargetAltitude = 3000; // default altitude in meters
389 MakeTargetAltitudeStr( TargetAltitude );
391 alt_error_accum = 0.0;
392 climb_error_accum = 0.0;
394 update_old_control_values();
396 sprintf( NewTgtAirportId, "%s", fgGetString("/sim/startup/airport-id") );
398 MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() );
402 static double NormalizeDegrees( double Input ) {
403 // normalize the input to the range (-180,180]
404 // Input should not be greater than -360 to 360.
405 // Current rules send the output to an undefined state.
406 while ( Input > 180.0 ) { Input -= 360.0; }
407 while ( Input <= -180.0 ) { Input += 360.0; }
412 static double LinearExtrapolate( double x, double x1, double y1, double x2, double y2 ) {
413 // This procedure extrapolates the y value for the x posistion on a line defined by x1,y1; x2,y2
414 //assert(x1 != x2); // Divide by zero error. Cold abort for now
417 // static double y = 0.0;
418 // double dx = x2 -x1;
419 // if( (dx < -SG_EPSILON ) || ( dx > SG_EPSILON ) )
422 double m, b, y; // the constants to find in y=mx+b
425 m = ( y2 - y1 ) / ( x2 - x1 ); // calculate the m
427 b = y1 - m * x1; // calculate the b
429 y = m * x + b; // the final calculation
439 FGAutopilot::update (double dt)
441 // Remove the following lines when the calling funcitons start
442 // passing in the data pointer
444 // get control settings
446 double lat = latitude_node->getDoubleValue();
447 double lon = longitude_node->getDoubleValue();
448 double alt = altitude_node->getDoubleValue() * SG_FEET_TO_METER;
450 // get config settings
451 MaxAileron = max_aileron_node->getDoubleValue();
452 MaxRoll = max_roll_node->getDoubleValue();
453 RollOut = roll_out_node->getDoubleValue();
454 RollOutSmooth = roll_out_smooth_node->getDoubleValue();
456 SG_LOG( SG_ALL, SG_DEBUG, "FGAutopilot::run() lat = " << lat <<
457 " lon = " << lon << " alt = " << alt );
459 #ifdef FG_FORCE_AUTO_DISENGAGE
460 // see if somebody else has changed them
461 if( fabs(aileron - old_aileron) > disengage_threshold ||
462 fabs(elevator - old_elevator) > disengage_threshold ||
463 fabs(elevator_trim - old_elevator_trim) >
464 disengage_threshold ||
465 fabs(rudder - old_rudder) > disengage_threshold )
467 // if controls changed externally turn autopilot off
468 waypoint_hold = false ; // turn the target hold off
469 heading_hold = false ; // turn the heading hold off
470 altitude_hold = false ; // turn the altitude hold off
471 terrain_follow = false; // turn the terrain_follow hold off
472 // auto_throttle = false; // turn the auto_throttle off
474 // stash this runs control settings
475 old_aileron = aileron;
476 old_elevator = elevator;
477 old_elevator_trim = elevator_trim;
485 if ( heading_hold == true ) {
486 if ( heading_mode == FG_DG_HEADING_LOCK ) {
487 TargetHeading = DGTargetHeading +
488 globals->get_steam()->get_DG_err();
489 while ( TargetHeading < 0.0 ) { TargetHeading += 360.0; }
490 while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; }
491 MakeTargetHeadingStr( TargetHeading );
492 } else if ( heading_mode == FG_TC_HEADING_LOCK ) {
493 // we don't set a specific target heading in
494 // TC_HEADING_LOCK mode, we instead try to keep the turn
495 // coordinator zero'd
496 } else if ( heading_mode == FG_TRUE_HEADING_LOCK ) {
497 // leave "true" target heading as is
498 while ( TargetHeading < 0.0 ) { TargetHeading += 360.0; }
499 while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; }
500 MakeTargetHeadingStr( TargetHeading );
501 } else if ( heading_mode == FG_HEADING_NAV1 ) {
502 // track the NAV1 heading needle deflection
504 // determine our current radial position relative to the
505 // navaid in "true" heading.
506 double cur_radial = current_radiostack->get_nav1_heading();
507 if ( current_radiostack->get_nav1_loc() ) {
508 // ILS localizers radials are already "true" in our
511 cur_radial += current_radiostack->get_nav1_magvar();
513 if ( current_radiostack->get_nav1_from_flag() ) {
515 while ( cur_radial >= 360.0 ) { cur_radial -= 360.0; }
518 // determine the target radial in "true" heading
519 double tgt_radial = current_radiostack->get_nav1_radial();
520 if ( current_radiostack->get_nav1_loc() ) {
521 // ILS localizers radials are already "true" in our
524 // VOR radials need to have that vor's offset added in
525 tgt_radial += current_radiostack->get_nav1_magvar();
528 // determine the heading adjustment needed.
530 current_radiostack->get_nav1_heading_needle_deflection()
531 * (current_radiostack->get_nav1_loc_dist() * SG_METER_TO_NM);
532 SG_CLAMP_RANGE( adjustment, -30.0, 30.0 );
534 // clamp closer when inside cone when beyond 5km...
535 if (current_radiostack->get_nav1_loc_dist() > 5000) {
536 double clamp_angle = fabs(current_radiostack->get_nav1_heading_needle_deflection()) * 3;
537 if (clamp_angle < 30)
538 SG_CLAMP_RANGE( adjustment, -clamp_angle, clamp_angle);
541 // determine the target heading to fly to intercept the
543 TargetHeading = tgt_radial + adjustment;
544 while ( TargetHeading < 0.0 ) { TargetHeading += 360.0; }
545 while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; }
547 MakeTargetHeadingStr( TargetHeading );
548 } else if ( heading_mode == FG_HEADING_WAYPOINT ) {
549 // update target heading to waypoint
551 double wp_course, wp_distance;
553 #ifdef DO_fgAP_CORRECTED_COURSE
554 // compute course made good
555 // this needs lots of special casing before use
556 double course, reverse, distance, corrected_course;
557 // need to test for iter
558 geo_inverse_wgs_84( 0, //fgAPget_altitude(),
566 #endif // DO_fgAP_CORRECTED_COURSE
568 // compute course to way_point
569 // need to test for iter
570 SGWayPoint wp = globals->get_route()->get_first();
571 wp.CourseAndDistance( lon, lat, alt,
572 &wp_course, &wp_distance );
574 #ifdef DO_fgAP_CORRECTED_COURSE
575 corrected_course = course - wp_course;
576 if( fabs(corrected_course) > 0.1 )
577 printf("fgAP: course %f wp_course %f %f %f\n",
578 course, wp_course, fabs(corrected_course),
580 #endif // DO_fgAP_CORRECTED_COURSE
582 if ( wp_distance > 100 ) {
583 // corrected_course = course - wp_course;
584 TargetHeading = NormalizeDegrees(wp_course);
586 // pop off this waypoint from the list
587 if ( globals->get_route()->size() ) {
588 globals->get_route()->delete_first();
591 // see if there are more waypoints on the list
592 if ( globals->get_route()->size() ) {
594 set_HeadingMode( FG_HEADING_WAYPOINT );
597 heading_mode = FG_TRUE_HEADING_LOCK;
598 // use current heading
599 TargetHeading = heading_node->getDoubleValue();
602 MakeTargetHeadingStr( TargetHeading );
603 // Force this just in case
604 TargetDistance = wp_distance;
605 MakeTargetWPStr( wp_distance );
608 if ( heading_mode == FG_TC_HEADING_LOCK ) {
609 // drive the turn coordinator to zero
610 double turn = globals->get_steam()->get_TC_std();
611 double AileronSet = -turn / 2.0;
612 SG_CLAMP_RANGE( AileronSet, -1.0, 1.0 );
613 globals->get_controls()->set_aileron( AileronSet );
614 globals->get_controls()->set_rudder( AileronSet / 4.0 );
616 // steer towards the target heading
624 = NormalizeDegrees( TargetHeading
625 - heading_node->getDoubleValue() );
626 // figure out how far off we are from desired heading
628 // Now it is time to deterime how far we should be rolled.
629 SG_LOG( SG_AUTOPILOT, SG_DEBUG,
630 "Heading = " << heading_node->getDoubleValue() <<
631 " TargetHeading = " << TargetHeading <<
632 " RelHeading = " << RelHeading );
634 // Check if we are further from heading than the roll out point
635 if ( fabs( RelHeading ) > RollOut ) {
636 // set Target Roll to Max in desired direction
637 if ( RelHeading < 0 ) {
638 TargetRoll = 0 - MaxRoll;
640 TargetRoll = MaxRoll;
643 // We have to calculate the Target roll
645 // This calculation engine thinks that the Target roll
646 // should be a line from (RollOut,MaxRoll) to (-RollOut,
647 // -MaxRoll) I hope this works well. If I get ambitious
648 // some day this might become a fancier curve or
651 TargetRoll = LinearExtrapolate( RelHeading, -RollOut,
656 // Target Roll has now been Found.
658 // Compare Target roll to Current Roll, Generate Rel Roll
660 SG_LOG( SG_COCKPIT, SG_BULK, "TargetRoll: " << TargetRoll );
662 RelRoll = NormalizeDegrees( TargetRoll
663 - roll_node->getDoubleValue() );
665 // Check if we are further from heading than the roll out
667 if ( fabs( RelRoll ) > RollOutSmooth ) {
668 // set Target Roll to Max in desired direction
670 AileronSet = 0 - MaxAileron;
672 AileronSet = MaxAileron;
675 AileronSet = LinearExtrapolate( RelRoll, -RollOutSmooth,
681 globals->get_controls()->set_aileron( AileronSet );
682 globals->get_controls()->set_rudder( AileronSet / 4.0 );
683 // controls.set_rudder( 0.0 );
688 if ( altitude_hold ) {
690 double speed, max_climb, error;
691 double prop_error, int_error;
692 double prop_adj, int_adj, total_adj;
694 if ( altitude_mode == FG_ALTITUDE_LOCK ) {
697 globals->get_steam()->get_ALT_ft() * SG_FEET_TO_METER ) * 8.0;
698 } else if ( altitude_mode == FG_ALTITUDE_GS1 ) {
699 double x = current_radiostack->get_nav1_gs_dist();
700 double y = (altitude_node->getDoubleValue()
701 - current_radiostack->get_nav1_elev()) * SG_FEET_TO_METER;
702 double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
704 double target_angle = current_radiostack->get_nav1_target_gs();
706 double gs_diff = target_angle - current_angle;
708 // convert desired vertical path angle into a climb rate
709 double des_angle = current_angle - 10 * gs_diff;
711 // convert to meter/min
712 double horiz_vel = cur_fdm_state->get_V_ground_speed()
713 * SG_FEET_TO_METER * 60.0;
714 climb_rate = -sin( des_angle * SGD_DEGREES_TO_RADIANS ) * horiz_vel;
715 /* climb_error_accum += gs_diff * 2.0; */
716 /* climb_rate = gs_diff * 200.0 + climb_error_accum; */
717 } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
718 // brain dead ground hugging with no look ahead
720 ( TargetAGL - altitude_agl_node->getDoubleValue()
721 * SG_FEET_TO_METER ) * 16.0;
723 // just try to zero out rate of climb ...
729 if ( speed < min_climb->getFloatValue() ) {
731 } else if ( speed < best_climb->getFloatValue() ) {
732 max_climb = ((best_climb->getFloatValue()
733 - min_climb->getFloatValue())
734 - (best_climb->getFloatValue() - speed))
735 * fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER)
736 / (best_climb->getFloatValue() - min_climb->getFloatValue());
738 max_climb = ( speed - best_climb->getFloatValue() ) * 10.0
739 + fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER);
742 // this first one could be optional if we wanted to allow
743 // better climb performance assuming we have the airspeed to
746 fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER) ) {
748 = fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER);
751 if ( climb_rate > max_climb ) {
752 climb_rate = max_climb;
756 -fabs(TargetDescentRate->getFloatValue() * SG_FEET_TO_METER) ) {
758 = -fabs(TargetDescentRate->getFloatValue() * SG_FEET_TO_METER);
761 error = vertical_speed_node->getDoubleValue() * 60
762 - climb_rate * SG_METER_TO_FEET;
764 // accumulate the error under the curve ... this really should
766 alt_error_accum += error;
768 // calculate integral error, and adjustment amount
769 int_error = alt_error_accum;
770 // printf("error = %.2f int_error = %.2f\n", error, int_error);
772 // scale elev_adj_factor by speed of aircraft in relation to min climb
773 double elev_adj_factor = elevator_adj_factor->getFloatValue();
775 pow(float(speed / min_climb->getFloatValue()), 3.0f);
777 int_adj = int_error / elev_adj_factor;
779 // caclulate proportional error
781 prop_adj = prop_error / elev_adj_factor;
783 total_adj = ((double) 1.0 - (double) integral_contrib->getFloatValue()) * prop_adj
784 + (double) integral_contrib->getFloatValue() * int_adj;
786 // stop on autopilot trim at 30% +/-
787 // if ( total_adj > 0.3 ) {
789 // } else if ( total_adj < -0.3 ) {
793 // adjust for throttle pitch gain
794 total_adj += ((current_throttle->getFloatValue() - zero_pitch_throttle->getFloatValue())
795 / (1 - zero_pitch_throttle->getFloatValue()))
796 * zero_pitch_trim_full_throttle->getFloatValue();
798 globals->get_controls()->set_elevator_trim( total_adj );
802 if ( auto_throttle ) {
804 double prop_error, int_error;
805 double prop_adj, int_adj, total_adj;
807 error = TargetSpeed - get_speed();
809 // accumulate the error under the curve ... this really should
811 speed_error_accum += error;
812 if ( speed_error_accum > 2000.0 ) {
813 speed_error_accum = 2000.0;
815 else if ( speed_error_accum < -2000.0 ) {
816 speed_error_accum = -2000.0;
819 // calculate integral error, and adjustment amount
820 int_error = speed_error_accum;
822 // printf("error = %.2f int_error = %.2f\n", error, int_error);
823 int_adj = int_error / 200.0;
825 // caclulate proportional error
827 prop_adj = 0.5 + prop_error / 50.0;
829 total_adj = 0.9 * prop_adj + 0.1 * int_adj;
830 if ( total_adj > 1.0 ) {
833 else if ( total_adj < 0.0 ) {
837 globals->get_controls()->set_throttle( FGControls::ALL_ENGINES,
841 #ifdef THIS_CODE_IS_NOT_USED
842 if (Mode == 2) // Glide slope hold
847 // First, calculate Relative slope and normalize it
848 RelSlope = NormalizeDegrees( TargetSlope - get_pitch());
850 // Now calculate the elevator offset from current angle
851 if ( abs(RelSlope) > SlopeSmooth )
853 if ( RelSlope < 0 ) // set RelElevator to max in the correct direction
854 RelElevator = -MaxElevator;
856 RelElevator = MaxElevator;
860 RelElevator = LinearExtrapolate(RelSlope,-SlopeSmooth,-MaxElevator,SlopeSmooth,MaxElevator);
863 fgElevMove(RelElevator);
866 #endif // THIS_CODE_IS_NOT_USED
868 // stash this runs control settings
869 // update_old_control_values();
870 old_aileron = globals->get_controls()->get_aileron();
871 old_elevator = globals->get_controls()->get_elevator();
872 old_elevator_trim = globals->get_controls()->get_elevator_trim();
873 old_rudder = globals->get_controls()->get_rudder();
875 // for cross track error
880 SG_LOG( SG_ALL, SG_DEBUG, "FGAutopilot::run( returns )" );
884 void FGAutopilot::set_HeadingMode( fgAutoHeadingMode mode ) {
887 if ( heading_mode == FG_DG_HEADING_LOCK ) {
888 // set heading hold to current heading (as read from DG)
889 // ... no, leave target heading along ... just use the current
891 // DGTargetHeading = FGSteam::get_DG_deg();
892 } else if ( heading_mode == FG_TC_HEADING_LOCK ) {
893 // set autopilot to hold a zero turn (as reported by the TC)
894 } else if ( heading_mode == FG_TRUE_HEADING_LOCK ) {
895 // set heading hold to current heading
896 TargetHeading = heading_node->getDoubleValue();
897 } else if ( heading_mode == FG_HEADING_WAYPOINT ) {
898 if ( globals->get_route()->size() ) {
899 double course, distance;
901 old_lat = latitude_node->getDoubleValue();
902 old_lon = longitude_node->getDoubleValue();
904 waypoint = globals->get_route()->get_first();
905 waypoint.CourseAndDistance( longitude_node->getDoubleValue(),
906 latitude_node->getDoubleValue(),
907 altitude_node->getDoubleValue()
909 &course, &distance );
910 TargetHeading = course;
911 TargetDistance = distance;
912 MakeTargetLatLonStr( waypoint.get_target_lat(),
913 waypoint.get_target_lon() );
914 MakeTargetWPStr( distance );
916 if ( waypoint.get_target_alt() > 0.0 ) {
917 TargetAltitude = waypoint.get_target_alt();
918 altitude_mode = FG_ALTITUDE_LOCK;
919 set_AltitudeEnabled( true );
920 MakeTargetAltitudeStr( TargetAltitude * SG_METER_TO_FEET );
923 SG_LOG( SG_COCKPIT, SG_INFO, " set_HeadingMode: ( "
924 << get_TargetLatitude() << " "
925 << get_TargetLongitude() << " ) "
928 // no more way points, default to heading lock.
929 heading_mode = FG_TC_HEADING_LOCK;
933 MakeTargetHeadingStr( TargetHeading );
934 update_old_control_values();
938 void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) {
939 altitude_mode = mode;
941 alt_error_accum = 0.0;
944 if ( altitude_mode == FG_ALTITUDE_LOCK ) {
945 if ( TargetAltitude < altitude_agl_node->getDoubleValue()
946 * SG_FEET_TO_METER ) {
949 if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
950 MakeTargetAltitudeStr( TargetAltitude * SG_METER_TO_FEET );
952 MakeTargetAltitudeStr( TargetAltitude * SG_METER_TO_FEET );
954 } else if ( altitude_mode == FG_ALTITUDE_GS1 ) {
955 climb_error_accum = 0.0;
957 } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
958 TargetAGL = altitude_agl_node->getDoubleValue() * SG_FEET_TO_METER;
960 if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
961 MakeTargetAltitudeStr( TargetAGL * SG_METER_TO_FEET );
963 MakeTargetAltitudeStr( TargetAGL * SG_METER_TO_FEET );
967 update_old_control_values();
968 SG_LOG( SG_COCKPIT, SG_INFO, " set_AltitudeMode():" );
972 void FGAutopilot::AltitudeSet( double new_altitude ) {
973 double target_alt = new_altitude;
975 if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
976 target_alt = new_altitude * SG_FEET_TO_METER;
979 if( target_alt < globals->get_scenery()->get_cur_elev() ) {
980 target_alt = globals->get_scenery()->get_cur_elev();
983 TargetAltitude = target_alt;
984 altitude_mode = FG_ALTITUDE_LOCK;
986 if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
987 target_alt *= SG_METER_TO_FEET;
989 // ApAltitudeDialogInput->setValue((float)target_alt);
990 MakeTargetAltitudeStr( target_alt );
992 update_old_control_values();
996 void FGAutopilot::AltitudeAdjust( double inc )
998 double target_alt, target_agl;
1000 if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
1001 target_alt = TargetAltitude * SG_METER_TO_FEET;
1002 target_agl = TargetAGL * SG_METER_TO_FEET;
1004 target_alt = TargetAltitude;
1005 target_agl = TargetAGL;
1008 if ( fabs((int)(target_alt / inc) * inc - target_alt) < SG_EPSILON ) {
1011 target_alt = ( int ) ( target_alt / inc ) * inc + inc;
1014 if ( fabs((int)(target_agl / inc) * inc - target_agl) < SG_EPSILON ) {
1017 target_agl = ( int ) ( target_agl / inc ) * inc + inc;
1020 if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
1021 target_alt *= SG_FEET_TO_METER;
1022 target_agl *= SG_FEET_TO_METER;
1025 TargetAltitude = target_alt;
1026 TargetAGL = target_agl;
1028 if ( !strcmp(fgGetString("/sim/startup/units"), "feet") )
1029 target_alt *= SG_METER_TO_FEET;
1030 if ( !strcmp(fgGetString("/sim/startup/units"), "feet") )
1031 target_agl *= SG_METER_TO_FEET;
1033 if ( altitude_mode == FG_ALTITUDE_LOCK ) {
1034 MakeTargetAltitudeStr( target_alt );
1035 } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
1036 MakeTargetAltitudeStr( target_agl );
1039 update_old_control_values();
1043 void FGAutopilot::HeadingAdjust( double inc ) {
1044 if ( heading_mode != FG_DG_HEADING_LOCK
1045 && heading_mode != FG_TRUE_HEADING_LOCK )
1047 heading_mode = FG_DG_HEADING_LOCK;
1050 if ( heading_mode == FG_DG_HEADING_LOCK ) {
1051 double target = ( int ) ( DGTargetHeading / inc ) * inc + inc;
1052 DGTargetHeading = NormalizeDegrees( target );
1054 double target = ( int ) ( TargetHeading / inc ) * inc + inc;
1055 TargetHeading = NormalizeDegrees( target );
1058 update_old_control_values();
1062 void FGAutopilot::HeadingSet( double new_heading ) {
1063 if( heading_mode == FG_TRUE_HEADING_LOCK ) {
1064 new_heading = NormalizeDegrees( new_heading );
1065 TargetHeading = new_heading;
1066 MakeTargetHeadingStr( TargetHeading );
1068 heading_mode = FG_DG_HEADING_LOCK;
1070 new_heading = NormalizeDegrees( new_heading );
1071 DGTargetHeading = new_heading;
1072 // following cast needed ambiguous plib
1073 // ApHeadingDialogInput -> setValue ((float)APData->TargetHeading );
1074 MakeTargetHeadingStr( DGTargetHeading );
1076 update_old_control_values();
1079 void FGAutopilot::AutoThrottleAdjust( double inc ) {
1080 double target = ( int ) ( TargetSpeed / inc ) * inc + inc;
1082 TargetSpeed = target;
1086 void FGAutopilot::set_AutoThrottleEnabled( bool value ) {
1087 auto_throttle = value;
1089 if ( auto_throttle == true ) {
1090 TargetSpeed = fgGetDouble("/velocities/airspeed-kt");
1091 speed_error_accum = 0.0;
1094 update_old_control_values();
1095 SG_LOG( SG_COCKPIT, SG_INFO, " fgAPSetAutoThrottle: ("
1096 << auto_throttle << ") " << TargetSpeed );
1102 ////////////////////////////////////////////////////////////////////////
1103 // Kludged methods for tying to properties.
1105 // These should change eventually; they all used to be static
1107 ////////////////////////////////////////////////////////////////////////
1110 * Get the autopilot altitude lock (true=on).
1113 FGAutopilot::getAPAltitudeLock () const
1115 return (get_AltitudeEnabled() &&
1117 == FGAutopilot::FG_ALTITUDE_LOCK);
1122 * Set the autopilot altitude lock (true=on).
1125 FGAutopilot::setAPAltitudeLock (bool lock)
1128 set_AltitudeMode(FGAutopilot::FG_ALTITUDE_LOCK);
1129 if (get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_LOCK)
1130 set_AltitudeEnabled(lock);
1135 * Get the autopilot target altitude in feet.
1138 FGAutopilot::getAPAltitude () const
1140 return get_TargetAltitude() * SG_METER_TO_FEET;
1145 * Set the autopilot target altitude in feet.
1148 FGAutopilot::setAPAltitude (double altitude)
1150 set_TargetAltitude( altitude * SG_FEET_TO_METER );
1154 * Get the autopilot altitude lock (true=on).
1157 FGAutopilot::getAPGSLock () const
1159 return (get_AltitudeEnabled() &&
1161 == FGAutopilot::FG_ALTITUDE_GS1));
1166 * Set the autopilot altitude lock (true=on).
1169 FGAutopilot::setAPGSLock (bool lock)
1172 set_AltitudeMode(FGAutopilot::FG_ALTITUDE_GS1);
1173 if (get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_GS1)
1174 set_AltitudeEnabled(lock);
1179 * Get the autopilot terrain lock (true=on).
1182 FGAutopilot::getAPTerrainLock () const
1184 return (get_AltitudeEnabled() &&
1186 == FGAutopilot::FG_ALTITUDE_TERRAIN));
1191 * Set the autopilot terrain lock (true=on).
1194 FGAutopilot::setAPTerrainLock (bool lock)
1197 set_AltitudeMode(FGAutopilot::FG_ALTITUDE_TERRAIN);
1198 set_TargetAGL(fgGetFloat("/position/altitude-agl-ft") *
1201 if (get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_TERRAIN)
1202 set_AltitudeEnabled(lock);
1207 * Get the autopilot target altitude in feet.
1210 FGAutopilot::getAPClimb () const
1212 return get_TargetClimbRate() * SG_METER_TO_FEET;
1217 * Set the autopilot target altitude in feet.
1220 FGAutopilot::setAPClimb (double rate)
1222 set_TargetClimbRate( rate * SG_FEET_TO_METER );
1227 * Get the autopilot heading lock (true=on).
1230 FGAutopilot::getAPHeadingLock () const
1233 (get_HeadingEnabled() &&
1234 get_HeadingMode() == DEFAULT_AP_HEADING_LOCK);
1239 * Set the autopilot heading lock (true=on).
1242 FGAutopilot::setAPHeadingLock (bool lock)
1245 set_HeadingMode(DEFAULT_AP_HEADING_LOCK);
1246 if (get_HeadingMode() == DEFAULT_AP_HEADING_LOCK)
1247 set_HeadingEnabled(lock);
1252 * Get the autopilot heading bug in degrees.
1255 FGAutopilot::getAPHeadingBug () const
1257 return get_DGTargetHeading();
1262 * Set the autopilot heading bug in degrees.
1265 FGAutopilot::setAPHeadingBug (double heading)
1267 set_DGTargetHeading( heading );
1272 * Get the autopilot wing leveler lock (true=on).
1275 FGAutopilot::getAPWingLeveler () const
1278 (get_HeadingEnabled() &&
1279 get_HeadingMode() == FGAutopilot::FG_TC_HEADING_LOCK);
1284 * Set the autopilot wing leveler lock (true=on).
1287 FGAutopilot::setAPWingLeveler (bool lock)
1290 set_HeadingMode(FGAutopilot::FG_TC_HEADING_LOCK);
1291 if (get_HeadingMode() == FGAutopilot::FG_TC_HEADING_LOCK)
1292 set_HeadingEnabled(lock);
1296 * Return true if the autopilot is locked to NAV1.
1299 FGAutopilot::getAPNAV1Lock () const
1302 (get_HeadingEnabled() &&
1303 get_HeadingMode() == FGAutopilot::FG_HEADING_NAV1);
1308 * Set the autopilot NAV1 lock.
1311 FGAutopilot::setAPNAV1Lock (bool lock)
1314 set_HeadingMode(FGAutopilot::FG_HEADING_NAV1);
1315 if (get_HeadingMode() == FGAutopilot::FG_HEADING_NAV1)
1316 set_HeadingEnabled(lock);
1320 * Get the autopilot autothrottle lock.
1323 FGAutopilot::getAPAutoThrottleLock () const
1325 return get_AutoThrottleEnabled();
1330 * Set the autothrottle lock.
1333 FGAutopilot::setAPAutoThrottleLock (bool lock)
1335 set_AutoThrottleEnabled(lock);
1341 FGAutopilot::getAPRudderControl () const
1343 if (getAPHeadingLock())
1344 return get_TargetHeading();
1346 return globals->get_controls()->get_rudder();
1351 FGAutopilot::setAPRudderControl (double value)
1353 if (getAPHeadingLock()) {
1354 SG_LOG(SG_GENERAL, SG_DEBUG, "setAPRudderControl " << value );
1355 value -= get_TargetHeading();
1356 HeadingAdjust(value < 0.0 ? -1.0 : 1.0);
1358 globals->get_controls()->set_rudder(value);
1364 FGAutopilot::getAPElevatorControl () const
1366 if (getAPAltitudeLock())
1367 return get_TargetAltitude();
1369 return globals->get_controls()->get_elevator();
1374 FGAutopilot::setAPElevatorControl (double value)
1376 if (value != 0 && getAPAltitudeLock()) {
1377 SG_LOG(SG_GENERAL, SG_DEBUG, "setAPElevatorControl " << value );
1378 value -= get_TargetAltitude();
1379 AltitudeAdjust(value < 0.0 ? 100.0 : -100.0);
1381 globals->get_controls()->set_elevator(value);
1387 FGAutopilot::getAPThrottleControl () const
1389 if (getAPAutoThrottleLock())
1390 return 0.0; // always resets
1392 return globals->get_controls()->get_throttle(0);
1397 FGAutopilot::setAPThrottleControl (double value)
1399 if (getAPAutoThrottleLock())
1400 AutoThrottleAdjust(value < 0.0 ? -0.01 : 0.01);
1402 globals->get_controls()->set_throttle(FGControls::ALL_ENGINES, value);
1405 // end of newauto.cxx