// They should eventually be member functions of the aircraft.
//
-static double get_throttleval( void )
-{
- fgCONTROLS *pcontrols;
-
- pcontrols = current_aircraft.controls;
- return pcontrols->throttle[0]; // Hack limiting to one engine
-}
-
-static double get_aileronval( void )
-{
- fgCONTROLS *pcontrols;
-
- pcontrols = current_aircraft.controls;
- return pcontrols->aileron;
-}
-
-static double get_elevatorval( void )
-{
- fgCONTROLS *pcontrols;
-
- pcontrols = current_aircraft.controls;
- return pcontrols->elevator;
-}
-
-static double get_elev_trimval( void )
-{
- fgCONTROLS *pcontrols;
-
- pcontrols = current_aircraft.controls;
- return pcontrols->elevator_trim;
-}
-
-static double get_rudderval( void )
-{
- fgCONTROLS *pcontrols;
-
- pcontrols = current_aircraft.controls;
- return pcontrols->rudder;
-}
static double get_speed( void )
{
APData->MaxAileron );
}
- fgAileronSet(AileronSet);
- fgRudderSet(0.0);
+ controls.set_aileron( AileronSet );
+ controls.set_rudder( 0.0 );
}
- // altitude hold enabled?
- if ( APData->altitude_hold == 1 ) {
- double error, size;
+ // altitude hold or terrain follow enabled?
+ if ( (APData->altitude_hold == 1) || (APData->terrain_follow == 1) ) {
+ double speed, max_climb, error;
double prop_error, int_error;
double prop_adj, int_adj, total_adj;
- // normal altitude hold
- APData->TargetClimbRate =
- (APData->TargetAltitude - fgAPget_altitude()) * 12.0;
+ if (APData->altitude_hold == 1) {
+ // normal altitude hold
+ APData->TargetClimbRate =
+ (APData->TargetAltitude - fgAPget_altitude()) * 8.0;
+ } else if (APData->terrain_follow == 1) {
+ // brain dead ground hugging with no look ahead
+ APData->TargetClimbRate =
+ ( APData->TargetAGL - fgAPget_agl() ) * 16.0;
+ } else {
+ // just try to zero out rate of climb ...
+ APData->TargetClimbRate = 0.0;
+ }
- // brain dead ground hugging with no look ahead
- // APData->TargetClimbRate = ( 500 - fgAPget_agl() ) * 12.0;
+ speed = get_speed();
- // just try to zero out rate of climb ...
- // APData->TargetClimbRate = 0.0;
+ if ( speed < 90.0 ) {
+ max_climb = 0.0;
+ } else if ( speed < 100.0 ) {
+ max_climb = (speed - 90.0) * 20;
+ } else {
+ max_climb = ( speed - 100.0 ) * 4.0 + 200.0;
+ }
- if ( APData->TargetClimbRate > 200.0 ) {
- APData->TargetClimbRate = 200.0;
+ if ( APData->TargetClimbRate > max_climb ) {
+ APData->TargetClimbRate = max_climb;
}
- if ( APData->TargetClimbRate < -200.0 ) {
- APData->TargetClimbRate = -200.0;
+
+ if ( APData->TargetClimbRate < -400.0 ) {
+ APData->TargetClimbRate = -400.0;
}
error = fgAPget_climb() - APData->TargetClimbRate;
- // push current error onto queue and add into accumulator
- // alt_error_queue.push_back(error);
+ // accumulate the error under the curve ... this really should
+ // be *= delta t
APData->alt_error_accum += error;
- // if queue size larger than 60 ... pop front and subtract
- // from accumulator
- // size = alt_error_queue.size();
- // if ( size > 300 ) {
- // APData->alt_error_accum -= alt_error_queue.front();
- // alt_error_queue.pop_front();
- // size--;
- // }
-
// calculate integral error, and adjustment amount
int_error = APData->alt_error_accum;
- printf("error = %.2f int_error = %.2f\n", error, int_error);
- int_adj = int_error / 1500.0;
+ // printf("error = %.2f int_error = %.2f\n", error, int_error);
+ int_adj = int_error / 8000.0;
// caclulate proportional error
prop_error = error;
prop_adj = prop_error / 2000.0;
total_adj = 0.9 * prop_adj + 0.1 * int_adj;
- if ( total_adj > 0.5 ) { total_adj = 0.5; }
- if ( total_adj < -0.3 ) { total_adj = -0.3; }
+ if ( total_adj > 0.6 ) { total_adj = 0.6; }
+ if ( total_adj < -0.2 ) { total_adj = -0.2; }
+
+ controls.set_elevator( total_adj );
+ }
+
+ // auto throttle enabled?
+ if ( APData->auto_throttle == 1 ) {
+ double error;
+ double prop_error, int_error;
+ double prop_adj, int_adj, total_adj;
+
+ error = APData->TargetSpeed - get_speed();
+
+ // accumulate the error under the curve ... this really should
+ // be *= delta t
+ APData->speed_error_accum += error;
+ if ( APData->speed_error_accum > 2000.0 ) {
+ APData->speed_error_accum = 2000.0;
+ }
+ if ( APData->speed_error_accum < -2000.0 ) {
+ APData->speed_error_accum = -2000.0;
+ }
+
+ // calculate integral error, and adjustment amount
+ int_error = APData->speed_error_accum;
+
+ // printf("error = %.2f int_error = %.2f\n", error, int_error);
+ int_adj = int_error / 200.0;
+
+ // caclulate proportional error
+ prop_error = error;
+ prop_adj = 0.5 + prop_error / 50.0;
+
+ total_adj = 0.9 * prop_adj + 0.1 * int_adj;
+ if ( total_adj > 1.0 ) { total_adj = 1.0; }
+ if ( total_adj < 0.0 ) { total_adj = 0.0; }
- fgElevSet( total_adj );
+ controls.set_throttle( fgCONTROLS::FG_ALL_ENGINES, total_adj );
}
- /*
+ /*
if (APData->Mode == 2) // Glide slope hold
{
double RelSlope;
} else {
// turn on altitude hold, lock at current altitude
APData->altitude_hold = 1;
+ APData->terrain_follow = 0;
APData->TargetAltitude = fgAPget_altitude();
APData->alt_error_accum = 0.0;
// alt_error_queue.erase( alt_error_queue.begin(),
}
+void fgAPToggleAutoThrottle ( void )
+{
+ // Remove at a later date
+ fgAPDataPtr APData;
+
+ APData = APDataGlobal;
+ // end section
+
+ if ( APData->auto_throttle ) {
+ // turn off altitude hold
+ APData->auto_throttle = 0;
+ } else {
+ // turn on terrain follow, lock at current agl
+ APData->auto_throttle = 1;
+ APData->TargetSpeed = get_speed();
+ APData->speed_error_accum = 0.0;
+ }
+
+ fgPrintf( FG_COCKPIT, FG_INFO, " fgAPSetAutoThrottle: (%d) %.2f\n",
+ APData->auto_throttle,
+ APData->TargetSpeed);
+}
+
+void fgAPToggleTerrainFollow( void )
+{
+ // Remove at a later date
+ fgAPDataPtr APData;
+
+ APData = APDataGlobal;
+ // end section
+
+ if ( APData->terrain_follow ) {
+ // turn off altitude hold
+ APData->terrain_follow = 0;
+ } else {
+ // turn on terrain follow, lock at current agl
+ APData->terrain_follow = 1;
+ APData->altitude_hold = 0;
+ APData->TargetAGL = fgAPget_agl();
+ APData->alt_error_accum = 0.0;
+ }
+
+ fgPrintf( FG_COCKPIT, FG_INFO, " fgAPSetTerrainFollow: (%d) %.2f\n",
+ APData->terrain_follow,
+ APData->TargetAGL);
+}
+
double LinearExtrapolate( double x,double x1,double y1,double x2,double y2)
{
// This procedure extrapolates the y value for the x posistion on a line defined by x1,y1; x2,y2
projects / flightgear.git / blobdiff