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 {
39 FG_DG_HEADING_LOCK = 0, // follow bug on directional gryo
40 FG_TC_HEADING_LOCK = 1, // keep turn coordinator zero'd
41 FG_TRUE_HEADING_LOCK = 2, // lock to true heading (i.e. a perfect world)
42 FG_HEADING_NAV1 = 3, // follow nav1 radial
43 FG_HEADING_NAV2 = 4, // follow nav2 radial
44 FG_HEADING_WAYPOINT = 5 // track next waypoint
47 enum fgAutoAltitudeMode {
48 FG_ALTITUDE_LOCK = 0, // lock to a specific altitude
49 FG_ALTITUDE_TERRAIN = 1, // try to maintain a specific AGL
50 FG_ALTITUDE_GS1 = 2, // follow glide slope 1
51 FG_ALTITUDE_GS2 = 3 // follow glide slope 2
56 bool heading_hold; // the current state of the heading hold
57 bool altitude_hold; // the current state of the altitude hold
58 bool auto_throttle; // the current state of the auto throttle
60 fgAutoHeadingMode heading_mode;
61 fgAutoAltitudeMode altitude_mode;
63 SGWayPoint waypoint; // the waypoint the AP should steer to.
65 // double TargetLatitude; // the latitude the AP should steer to.
66 // double TargetLongitude; // the longitude the AP should steer to.
67 double TargetDistance; // the distance to Target.
68 double DGTargetHeading; // the apparent DG heading to steer towards.
69 double TargetHeading; // the true heading the AP should steer to.
70 double TargetAltitude; // altitude to hold
71 double TargetAGL; // the terrain separation
72 double TargetClimbRate; // target climb rate
73 double TargetSpeed; // speed to shoot for
74 double alt_error_accum; // altitude error accumulator
75 double climb_error_accum; // climb error accumulator (for GS)
76 double speed_error_accum; // speed error accumulator
78 double TargetSlope; // the glide slope hold value
80 double MaxRoll ; // the max the plane can roll for the turn
81 double RollOut; // when the plane should roll out
82 // measured from Heading
83 double MaxAileron; // how far to move the aleroin from center
84 double RollOutSmooth; // deg to use for smoothing Aileron Control
85 double MaxElevator; // the maximum elevator allowed
86 double SlopeSmooth; // smoothing angle for elevator
88 // following for testing disengagement of autopilot upon pilot
89 // interaction with controls
92 double old_elevator_trim;
95 // manual controls override beyond this value
96 double disengage_threshold;
98 // For future cross track error adjust
102 // keeping these locally to save work inside main loop
103 char TargetLatitudeStr[64];
104 char TargetLongitudeStr[64];
105 char TargetLatLonStr[64];
106 char TargetWP1Str[64];
107 char TargetWP2Str[64];
108 char TargetWP3Str[64];
109 char TargetHeadingStr[64];
110 char TargetAltitudeStr[64];
120 // Initialize autopilot system
123 // Reset the autopilot system
126 // run an interation of the autopilot (updates control positions)
129 void AltitudeSet( double new_altitude );
130 void AltitudeAdjust( double inc );
131 void HeadingAdjust( double inc );
132 void AutoThrottleAdjust( double inc );
134 void HeadingSet( double value );
136 inline bool get_HeadingEnabled() const { return heading_hold; }
137 inline void set_HeadingEnabled( bool value ) { heading_hold = value; }
138 inline fgAutoHeadingMode get_HeadingMode() const { return heading_mode; }
139 void set_HeadingMode( fgAutoHeadingMode mode );
141 inline bool get_AltitudeEnabled() const { return altitude_hold; }
142 inline void set_AltitudeEnabled( bool value ) { altitude_hold = value; }
143 inline fgAutoAltitudeMode get_AltitudeMode() const { return altitude_mode;}
144 void set_AltitudeMode( fgAutoAltitudeMode mode );
146 inline bool get_AutoThrottleEnabled() const { return auto_throttle; }
147 void set_AutoThrottleEnabled( bool value );
149 /* inline void set_WayPoint( const double lon, const double lat,
150 const double alt, const string s ) {
151 waypoint = SGWayPoint( lon, lat, alt, SGWayPoint::WGS84, "Current WP" );
153 inline double get_TargetLatitude() const {
154 return waypoint.get_target_lat();
156 inline double get_TargetLongitude() const {
157 return waypoint.get_target_lon();
159 inline void set_old_lat( double val ) { old_lat = val; }
160 inline void set_old_lon( double val ) { old_lon = val; }
161 inline double get_TargetHeading() const { return TargetHeading; }
162 inline void set_TargetHeading( double val ) { TargetHeading = val; }
163 inline double get_DGTargetHeading() const { return DGTargetHeading; }
164 inline void set_DGTargetHeading( double val ) { DGTargetHeading = val; }
165 inline double get_TargetDistance() const { return TargetDistance; }
166 inline void set_TargetDistance( double val ) { TargetDistance = val; }
167 inline double get_TargetAltitude() const { return TargetAltitude; }
168 inline void set_TargetAltitude( double val ) { TargetAltitude = val; }
169 inline double get_TargetClimbRate() const { return TargetClimbRate; }
170 inline void set_TargetClimbRate( double val ) { TargetClimbRate = val; }
172 inline char *get_TargetLatitudeStr() { return TargetLatitudeStr; }
173 inline char *get_TargetLongitudeStr() { return TargetLongitudeStr; }
174 inline char *get_TargetWP1Str() { return TargetWP1Str; }
175 inline char *get_TargetWP2Str() { return TargetWP2Str; }
176 inline char *get_TargetWP3Str() { return TargetWP3Str; }
177 inline char *get_TargetHeadingStr() { return TargetHeadingStr; }
178 inline char *get_TargetAltitudeStr() { return TargetAltitudeStr; }
179 inline char *get_TargetLatLonStr() { return TargetLatLonStr; }
182 void MakeTargetLatLonStr( double lat, double lon );
183 void MakeTargetAltitudeStr( double altitude );
184 void MakeTargetHeadingStr( double bearing );
185 void MakeTargetWPStr( double distance );
186 void update_old_control_values();
189 inline double get_MaxRoll() const { return MaxRoll; }
190 inline void set_MaxRoll( double val ) { MaxRoll = val; }
191 inline double get_RollOut() const { return RollOut; }
192 inline void set_RollOut( double val ) { RollOut = val; }
194 inline double get_MaxAileron() const { return MaxAileron; }
195 inline void set_MaxAileron( double val ) { MaxAileron = val; }
196 inline double get_RollOutSmooth() const { return RollOutSmooth; }
197 inline void set_RollOutSmooth( double val ) { RollOutSmooth = val; }
202 extern FGAutopilot *current_autopilot;
205 #endif // _NEWAUTO_HXX