#include <assert.h>
#include <stdlib.h>
-// #include <list>
-// #include <Include/fg_stl_config.h>
-
#include <Scenery/scenery.hxx>
-// #ifdef NEEDNAMESPACESTD
-// using namespace std;
-// #endif
-
#include "autopilot.hxx"
#include <Include/fg_constants.h>
-#include <Debug/fg_debug.h>
-
-
-// static list < double > alt_error_queue;
+#include <Debug/logstream.hxx>
// The below routines were copied right from hud.c ( I hate reinventing
// 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 )
{
{
fgAPDataPtr APData ;
- fgPrintf( FG_AUTOPILOT, FG_INFO, "Init AutoPilot Subsystem\n" );
+ FG_LOG( FG_AUTOPILOT, FG_INFO, "Init AutoPilot Subsystem" );
APData = (fgAPDataPtr)calloc(sizeof(fgAPData),1);
- if (APData == NULL) // I couldn't get the mem. Dying
- fgPrintf( FG_AUTOPILOT, FG_EXIT,"No ram for Autopilot. Dying.\n");
+ if (APData == NULL) {
+ // I couldn't get the mem. Dying
+ FG_LOG( FG_AUTOPILOT, FG_ALERT, "No ram for Autopilot. Dying.");
+ exit(-1);
+ }
APData->heading_hold = 0 ; // turn the heading hold off
APData->altitude_hold = 0 ; // turn the altitude hold off
// figure out how far off we are from desired heading
// Now it is time to deterime how far we should be rolled.
- fgPrintf( FG_AUTOPILOT, FG_DEBUG, "RelHeading: %f\n", RelHeading);
+ FG_LOG( FG_AUTOPILOT, FG_DEBUG, "RelHeading: " << RelHeading );
// Check if we are further from heading than the roll out point
// Compare Target roll to Current Roll, Generate Rel Roll
- fgPrintf( FG_COCKPIT, FG_BULK, "TargetRoll: %f\n", TargetRoll);
+ FG_LOG( FG_COCKPIT, FG_BULK, "TargetRoll: " << TargetRoll );
RelRoll = NormalizeDegrees(TargetRoll - fgAPget_roll());
APData->MaxAileron );
}
- fgAileronSet(AileronSet);
- fgRudderSet(0.0);
+ controls.set_aileron( AileronSet );
+ controls.set_rudder( 0.0 );
}
// altitude hold or terrain follow enabled?
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);
if ( total_adj > 0.6 ) { total_adj = 0.6; }
if ( total_adj < -0.2 ) { total_adj = -0.2; }
- fgElevSet( total_adj );
+ 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; }
+
+ controls.set_throttle( fgCONTROLS::FG_ALL_ENGINES, total_adj );
+ }
+
+ /*
if (APData->Mode == 2) // Glide slope hold
{
double RelSlope;
APData->TargetHeading = fgAPget_heading();
}
- fgPrintf( FG_COCKPIT, FG_INFO, " fgAPSetHeading: (%d) %.2f\n",
- APData->heading_hold,
- APData->TargetHeading);
+ FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetHeading: ("
+ << APData->heading_hold << ") " << APData->TargetHeading );
}
// alt_error_queue.end() );
}
- fgPrintf( FG_COCKPIT, FG_INFO, " fgAPSetAltitude: (%d) %.2f\n",
- APData->altitude_hold,
- APData->TargetAltitude);
+ FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetAltitude: ("
+ << APData->altitude_hold << ") " << APData->TargetAltitude );
}
+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;
+ }
+
+ FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetAutoThrottle: ("
+ << APData->auto_throttle << ") " << APData->TargetSpeed );
+}
+
void fgAPToggleTerrainFollow( void )
{
// Remove at a later date
APData->alt_error_accum = 0.0;
}
- fgPrintf( FG_COCKPIT, FG_INFO, " fgAPSetTerrainFollow: (%d) %.2f\n",
- APData->terrain_follow,
- APData->TargetAGL);
+ FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetTerrainFollow: ("
+ << APData->terrain_follow << ") " << APData->TargetAGL );
}
double LinearExtrapolate( double x,double x1,double y1,double x2,double y2)
projects / flightgear.git / blobdiff