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/misc/props.hxx>
31 #include <simgear/route/waypoint.hxx>
33 #include <Main/fg_props.hxx>
40 enum fgAutoHeadingMode {
41 FG_DG_HEADING_LOCK = 0, // follow bug on directional gryo
42 FG_TC_HEADING_LOCK = 1, // keep turn coordinator zero'd
43 FG_TRUE_HEADING_LOCK = 2, // lock to true heading (i.e. a perfect world)
44 FG_HEADING_NAV1 = 3, // follow nav1 radial
45 FG_HEADING_NAV2 = 4, // follow nav2 radial
46 FG_HEADING_WAYPOINT = 5 // track next waypoint
49 enum fgAutoAltitudeMode {
50 FG_ALTITUDE_LOCK = 0, // lock to a specific altitude
51 FG_ALTITUDE_TERRAIN = 1, // try to maintain a specific AGL
52 FG_ALTITUDE_GS1 = 2, // follow glide slope 1
53 FG_ALTITUDE_GS2 = 3 // follow glide slope 2
58 bool heading_hold; // the current state of the heading hold
59 bool altitude_hold; // the current state of the altitude hold
60 bool auto_throttle; // the current state of the auto throttle
62 fgAutoHeadingMode heading_mode;
63 fgAutoAltitudeMode altitude_mode;
65 SGWayPoint waypoint; // the waypoint the AP should steer to.
67 // double TargetLatitude; // the latitude the AP should steer to.
68 // double TargetLongitude; // the longitude the AP should steer to.
69 double TargetDistance; // the distance to Target.
70 double DGTargetHeading; // the apparent DG heading to steer towards.
71 double TargetHeading; // the true heading the AP should steer to.
72 double TargetAltitude; // altitude to hold
73 double TargetAGL; // the terrain separation
74 SGPropertyNode *min_climb; // minimum climb speed
75 SGPropertyNode *best_climb; // best climb speed
76 SGPropertyNode *elevator_adj_factor; // factor to optimize altitude hold adjustments
77 SGPropertyNode *integral_contrib; // amount of contribution of the integral
78 // component of the pid
79 SGPropertyNode *zero_pitch_throttle; // amount of throttle at which the aircraft does not pitch up
80 SGPropertyNode *zero_pitch_trim_full_throttle; // amount of trim required to level at full throttle
81 SGPropertyNode *TargetClimbRate; // target climb rate
82 SGPropertyNode *TargetDescentRate; // target decent rate
83 SGPropertyNode *current_throttle; // current throttle (engine 0)
84 double TargetSpeed; // speed to shoot for
85 double alt_error_accum; // altitude error accumulator
86 double climb_error_accum; // climb error accumulator (for GS)
87 double speed_error_accum; // speed error accumulator
89 double TargetSlope; // the glide slope hold value
91 double MaxRoll ; // the max the plane can roll for the turn
92 double RollOut; // when the plane should roll out
93 // measured from Heading
94 double MaxAileron; // how far to move the aleroin from center
95 double RollOutSmooth; // deg to use for smoothing Aileron Control
96 double MaxElevator; // the maximum elevator allowed
97 double SlopeSmooth; // smoothing angle for elevator
99 // following for testing disengagement of autopilot upon pilot
100 // interaction with controls
103 double old_elevator_trim;
106 // manual controls override beyond this value
107 double disengage_threshold;
109 // For future cross track error adjust
113 // keeping these locally to save work inside main loop
114 char TargetLatitudeStr[64];
115 char TargetLongitudeStr[64];
116 char TargetLatLonStr[64];
117 char TargetWP1Str[64];
118 char TargetWP2Str[64];
119 char TargetWP3Str[64];
120 char TargetHeadingStr[64];
121 char TargetAltitudeStr[64];
123 SGPropertyNode *latitude_node;
124 SGPropertyNode *longitude_node;
125 SGPropertyNode *altitude_node;
126 SGPropertyNode *altitude_agl_node;
127 SGPropertyNode *vertical_speed_node;
128 SGPropertyNode *heading_node;
129 SGPropertyNode *roll_node;
139 // Initialize autopilot system
142 // Reset the autopilot system
145 // run an interation of the autopilot (updates control positions)
148 void AltitudeSet( double new_altitude );
149 void AltitudeAdjust( double inc );
150 void HeadingAdjust( double inc );
151 void AutoThrottleAdjust( double inc );
153 void HeadingSet( double value );
155 inline bool get_HeadingEnabled() const { return heading_hold; }
156 inline void set_HeadingEnabled( bool value ) { heading_hold = value; }
157 inline fgAutoHeadingMode get_HeadingMode() const { return heading_mode; }
158 void set_HeadingMode( fgAutoHeadingMode mode );
160 inline bool get_AltitudeEnabled() const { return altitude_hold; }
161 inline void set_AltitudeEnabled( bool value ) { altitude_hold = value; }
162 inline fgAutoAltitudeMode get_AltitudeMode() const { return altitude_mode;}
163 void set_AltitudeMode( fgAutoAltitudeMode mode );
165 inline bool get_AutoThrottleEnabled() const { return auto_throttle; }
166 void set_AutoThrottleEnabled( bool value );
168 /* inline void set_WayPoint( const double lon, const double lat,
169 const double alt, const string s ) {
170 waypoint = SGWayPoint( lon, lat, alt, SGWayPoint::WGS84, "Current WP" );
172 inline double get_TargetLatitude() const {
173 return waypoint.get_target_lat();
175 inline double get_TargetLongitude() const {
176 return waypoint.get_target_lon();
178 inline void set_old_lat( double val ) { old_lat = val; }
179 inline void set_old_lon( double val ) { old_lon = val; }
180 inline double get_TargetHeading() const { return TargetHeading; }
181 inline void set_TargetHeading( double val ) { TargetHeading = val; }
182 inline double get_DGTargetHeading() const { return DGTargetHeading; }
183 inline void set_DGTargetHeading( double val ) { DGTargetHeading = val; }
184 inline double get_TargetDistance() const { return TargetDistance; }
185 inline void set_TargetDistance( double val ) { TargetDistance = val; }
186 inline double get_TargetAltitude() const { return TargetAltitude; }
187 inline void set_TargetAltitude( double val ) { TargetAltitude = val; }
188 inline double get_TargetAGL() const { return TargetAGL; }
189 inline void set_TargetAGL( double val ) { TargetAGL = val; }
190 inline double get_TargetClimbRate() const {
191 return TargetClimbRate->getFloatValue();
193 inline void set_TargetClimbRate( double val ) {
194 fgSetFloat( "/autopilot/config/target-climb-rate-fpm", val);
197 inline char *get_TargetLatitudeStr() { return TargetLatitudeStr; }
198 inline char *get_TargetLongitudeStr() { return TargetLongitudeStr; }
199 inline char *get_TargetWP1Str() { return TargetWP1Str; }
200 inline char *get_TargetWP2Str() { return TargetWP2Str; }
201 inline char *get_TargetWP3Str() { return TargetWP3Str; }
202 inline char *get_TargetHeadingStr() { return TargetHeadingStr; }
203 inline char *get_TargetAltitudeStr() { return TargetAltitudeStr; }
204 inline char *get_TargetLatLonStr() { return TargetLatLonStr; }
207 void MakeTargetLatLonStr( double lat, double lon );
208 void MakeTargetAltitudeStr( double altitude );
209 void MakeTargetHeadingStr( double bearing );
210 void MakeTargetWPStr( double distance );
211 void update_old_control_values();
214 inline double get_MaxRoll() const { return MaxRoll; }
215 inline void set_MaxRoll( double val ) { MaxRoll = val; }
216 inline double get_RollOut() const { return RollOut; }
217 inline void set_RollOut( double val ) { RollOut = val; }
219 inline double get_MaxAileron() const { return MaxAileron; }
220 inline void set_MaxAileron( double val ) { MaxAileron = val; }
221 inline double get_RollOutSmooth() const { return RollOutSmooth; }
222 inline void set_RollOutSmooth( double val ) { RollOutSmooth = val; }
227 extern FGAutopilot *current_autopilot;
229 #define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_DG_HEADING_LOCK
230 // #define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_TRUE_HEADING_LOCK
232 #endif // _NEWAUTO_HXX