1 // newauto.hxx -- 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 <simgear/route/waypoint.hxx>
38 enum fgAutoHeadingMode {
42 FG_HEADING_WAYPOINT = 3
45 enum fgAutoAltitudeMode {
47 FG_ALTITUDE_TERRAIN = 1,
54 bool heading_hold; // the current state of the heading hold
55 bool altitude_hold; // the current state of the altitude hold
56 bool auto_throttle; // the current state of the auto throttle
58 fgAutoHeadingMode heading_mode;
59 fgAutoAltitudeMode altitude_mode;
61 SGWayPoint waypoint; // the waypoint the AP should steer to.
63 // double TargetLatitude; // the latitude the AP should steer to.
64 // double TargetLongitude; // the longitude the AP should steer to.
65 double TargetDistance; // the distance to Target.
66 double TargetHeading; // the heading the AP should steer to.
67 double TargetAltitude; // altitude to hold
68 double TargetAGL; // the terrain separation
69 double TargetClimbRate; // climb rate to shoot for
70 double TargetSpeed; // speed to shoot for
71 double alt_error_accum; // altitude error accumulator
72 double climb_error_accum; // climb error accumulator (for GS)
73 double speed_error_accum; // speed error accumulator
75 double TargetSlope; // the glide slope hold value
77 double MaxRoll ; // the max the plane can roll for the turn
78 double RollOut; // when the plane should roll out
79 // measured from Heading
80 double MaxAileron; // how far to move the aleroin from center
81 double RollOutSmooth; // deg to use for smoothing Aileron Control
82 double MaxElevator; // the maximum elevator allowed
83 double SlopeSmooth; // smoothing angle for elevator
85 // following for testing disengagement of autopilot upon pilot
86 // interaction with controls
89 double old_elevator_trim;
92 // manual controls override beyond this value
93 double disengage_threshold;
95 // For future cross track error adjust
99 // keeping these locally to save work inside main loop
100 char TargetLatitudeStr[64];
101 char TargetLongitudeStr[64];
102 char TargetLatLonStr[64];
103 char TargetWP1Str[64];
104 char TargetWP2Str[64];
105 char TargetWP3Str[64];
106 char TargetHeadingStr[64];
107 char TargetAltitudeStr[64];
111 // Initialize autopilot system
114 // Reset the autopilot system
117 // run an interation of the autopilot (updates control positions)
120 void AltitudeSet( double new_altitude );
121 void AltitudeAdjust( double inc );
122 void HeadingAdjust( double inc );
123 void AutoThrottleAdjust( double inc );
125 void HeadingSet( double value );
127 inline bool get_HeadingEnabled() const { return heading_hold; }
128 inline void set_HeadingEnabled( bool value ) { heading_hold = value; }
129 inline fgAutoHeadingMode get_HeadingMode() const { return heading_mode; }
130 void set_HeadingMode( fgAutoHeadingMode mode );
132 inline bool get_AltitudeEnabled() const { return altitude_hold; }
133 inline void set_AltitudeEnabled( bool value ) { altitude_hold = value; }
134 inline fgAutoAltitudeMode get_AltitudeMode() const { return altitude_mode;}
135 void set_AltitudeMode( fgAutoAltitudeMode mode );
137 inline bool get_AutoThrottleEnabled() const { return auto_throttle; }
138 void set_AutoThrottleEnabled( bool value );
140 /* inline void set_WayPoint( const double lon, const double lat,
141 const double alt, const string s ) {
142 waypoint = SGWayPoint( lon, lat, alt, SGWayPoint::WGS84, "Current WP" );
144 inline double get_TargetLatitude() const {
145 return waypoint.get_target_lat();
147 inline double get_TargetLongitude() const {
148 return waypoint.get_target_lon();
150 inline void set_old_lat( double val ) { old_lat = val; }
151 inline void set_old_lon( double val ) { old_lon = val; }
152 inline double get_TargetHeading() const { return TargetHeading; }
153 inline void set_TargetHeading( double val ) { TargetHeading = val; }
154 inline double get_TargetDistance() const { return TargetDistance; }
155 inline void set_TargetDistance( double val ) { TargetDistance = val; }
156 inline double get_TargetAltitude() const { return TargetAltitude; }
157 inline void set_TargetAltitude( double val ) { TargetAltitude = val; }
159 inline char *get_TargetLatitudeStr() { return TargetLatitudeStr; }
160 inline char *get_TargetLongitudeStr() { return TargetLongitudeStr; }
161 inline char *get_TargetWP1Str() { return TargetWP1Str; }
162 inline char *get_TargetWP2Str() { return TargetWP2Str; }
163 inline char *get_TargetWP3Str() { return TargetWP3Str; }
164 inline char *get_TargetHeadingStr() { return TargetHeadingStr; }
165 inline char *get_TargetAltitudeStr() { return TargetAltitudeStr; }
166 inline char *get_TargetLatLonStr() { return TargetLatLonStr; }
169 void MakeTargetLatLonStr( double lat, double lon );
170 void MakeTargetAltitudeStr( double altitude );
171 void MakeTargetHeadingStr( double bearing );
172 void MakeTargetWPStr( double distance );
173 void update_old_control_values();
176 inline double get_MaxRoll() const { return MaxRoll; }
177 inline void set_MaxRoll( double val ) { MaxRoll = val; }
178 inline double get_RollOut() const { return RollOut; }
179 inline void set_RollOut( double val ) { RollOut = val; }
181 inline double get_MaxAileron() const { return MaxAileron; }
182 inline void set_MaxAileron( double val ) { MaxAileron = val; }
183 inline double get_RollOutSmooth() const { return RollOutSmooth; }
184 inline void set_RollOutSmooth( double val ) { RollOutSmooth = val; }
189 extern FGAutopilot *current_autopilot;
192 #endif // _NEWAUTO_HXX