void FGAIAircraft::Run(double dt) {
FGAIAircraft::dt = dt;
-
+
if (fp) {
time_t now = time(NULL) + fgGetLong("/sim/time/warp");
ProcessFlightPlan(dt, now);
// from control properties. These default to the initial
// settings in the config file, but can be changed "on the
// fly".
-
string lat_mode = props->getStringValue("controls/flight/lateral-mode");
if ( lat_mode == "roll" ) {
double angle
AccelTo( props->getDoubleValue("controls/flight/target-spd" ) );
}
-
+
double turn_radius_ft;
double turn_circum_ft;
double speed_north_deg_sec;
} else {
speed_diff = groundTargetSpeed - speed;
}
- if (fabs(speed_diff) > 0.2) {
- if (speed_diff > 0.0)
- speed += performance->accel * dt;
- if (speed_diff < 0.0) {
- if (no_roll) { // was (!no_roll) but seems more logical this way (ground brakes).
- speed -= performance->decel * dt * 3;
- } else {
- speed -= performance->decel * dt;
- }
+
+ if (speed_diff > 0.0) {
+ speed += performance->accel * dt;
+ if (no_roll) { // apply overshoot correction
+ if ( speed > groundTargetSpeed ) speed = groundTargetSpeed;
+ }else {
+ if ( speed > tgt_speed ) speed = tgt_speed;
+ }
+ } else if (speed_diff < 0.0) {
+ if (no_roll) {
+ // on ground (aircraft can't roll)
+ // deceleration performance is better due to wheel brakes.
+ speed -= performance->decel * dt * 3;
+ } else {
+ speed -= performance->decel * dt;
}
+ if (no_roll) { // apply overshoot correction
+ if (speed < groundTargetSpeed ) speed = groundTargetSpeed;
+ } else {
+ if ( speed < tgt_speed ) speed = tgt_speed;
+ }
}
-
+
+
// convert speed to degrees per second
- speed_north_deg_sec = cos( hdg / SG_RADIANS_TO_DEGREES )
+ speed_north_deg_sec = cos( hdg * SGD_DEGREES_TO_RADIANS )
* speed * 1.686 / ft_per_deg_lat;
- speed_east_deg_sec = sin( hdg / SG_RADIANS_TO_DEGREES )
+ speed_east_deg_sec = sin( hdg * SGD_DEGREES_TO_RADIANS )
* speed * 1.686 / ft_per_deg_lon;
// set new position
pos.setLatitudeDeg( pos.getLatitudeDeg() + speed_north_deg_sec * dt);
pos.setLongitudeDeg( pos.getLongitudeDeg() + speed_east_deg_sec * dt);
+
+ /* printf("%.7f %0.4f %.7f %.5f %.7f %.7f %.8f %.8f %.9f %.9f\n",
+ dt, hdg, speed, ft_per_deg_lat,
+ cos( hdg * SGD_DEGREES_TO_RADIANS ),
+ speed * 1.686 / ft_per_deg_lat,
+ speed_north_deg_sec, speed_east_deg_sec,
+ pos.getLatitudeDeg(), pos.getLongitudeDeg()); */
+
//if (!(finite(pos.lat()) && finite(pos.lon())))
// {
// cerr << "Position is not finite" << endl;
double vs_diff = tgt_vs - vs;
if (fabs(vs_diff) > 10.0) {
if (vs_diff > 0.0) {
- vs += 900.0 * dt;
+ vs += (performance->climb_rate / 3.0) * dt;
if (vs > tgt_vs)
vs = tgt_vs;
} else {
- vs -= 400.0 * dt;
+ vs -= (performance->descent_rate / 3.0) * dt;
if (vs < tgt_vs)
vs = tgt_vs;