-// autopilot.cxx -- autopilot subsystem
+// autopilot.cxx - an even more flexible, generic way to build autopilots
//
-// Written by Jeff Goeke-Smith, started April 1998.
+// Written by Torsten Dreyer
+// Based heavily on work created by Curtis Olson, started January 2004.
//
-// Copyright (C) 1998 Jeff Goeke-Smith, jgoeke@voyager.net
+// Copyright (C) 2004 Curtis L. Olson - http://www.flightgear.org/~curt
+// Copyright (C) 2010 Torsten Dreyer - Torsten (at) t3r (dot) de
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
-// $Id$
-
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
-#include <assert.h>
-#include <stdlib.h>
-
-#include <Scenery/scenery.hxx>
-
+#include "functor.hxx"
+#include "predictor.hxx"
+#include "digitalfilter.hxx"
+#include "pisimplecontroller.hxx"
+#include "pidcontroller.hxx"
#include "autopilot.hxx"
+#include "logic.hxx"
+#include "flipflop.hxx"
-#include <Include/fg_constants.h>
-#include <Debug/logstream.hxx>
-#include <Airports/simple.hxx>
-#include <GUI/gui.h>
-#include <Main/fg_init.hxx>
-#include <Main/options.hxx>
-#include <Time/fg_time.hxx>
-
-
-#define mySlider puSlider
-
-/// These statics will eventually go into the class
-/// they are just here while I am experimenting -- NHV :-)
-// AutoPilot Gain Adjuster members
-static double MaxRollAdjust; // MaxRollAdjust = 2 * APData->MaxRoll;
-static double RollOutAdjust; // RollOutAdjust = 2 * APData->RollOut;
-static double MaxAileronAdjust; // MaxAileronAdjust = 2 * APData->MaxAileron;
-static double RollOutSmoothAdjust; // RollOutSmoothAdjust = 2 * APData->RollOutSmooth;
-
-static float MaxRollValue; // 0.1 -> 1.0
-static float RollOutValue;
-static float MaxAileronValue;
-static float RollOutSmoothValue;
-
-static float TmpMaxRollValue; // for cancel operation
-static float TmpRollOutValue;
-static float TmpMaxAileronValue;
-static float TmpRollOutSmoothValue;
-
-static puDialogBox *APAdjustDialog;
-static puFrame *APAdjustFrame;
-static puText *APAdjustDialogMessage;
-static puFont APAdjustLegendFont;
-static puFont APAdjustLabelFont;
-
-static puOneShot *APAdjustOkButton;
-static puOneShot *APAdjustResetButton;
-static puOneShot *APAdjustCancelButton;
-
-//static puButton *APAdjustDragButton;
-
-static puText *APAdjustMaxRollTitle;
-static puText *APAdjustRollOutTitle;
-static puText *APAdjustMaxAileronTitle;
-static puText *APAdjustRollOutSmoothTitle;
-
-static puText *APAdjustMaxAileronText;
-static puText *APAdjustMaxRollText;
-static puText *APAdjustRollOutText;
-static puText *APAdjustRollOutSmoothText;
-
-static mySlider *APAdjustHS0;
-static mySlider *APAdjustHS1;
-static mySlider *APAdjustHS2;
-static mySlider *APAdjustHS3;
-
-static char SliderText[ 4 ][ 8 ];
-
-///////// AutoPilot New Heading Dialog
-
-static puDialogBox *ApHeadingDialog;
-static puFrame *ApHeadingDialogFrame;
-static puText *ApHeadingDialogMessage;
-static puInput *ApHeadingDialogInput;
-static puOneShot *ApHeadingDialogOkButton;
-static puOneShot *ApHeadingDialogCancelButton;
-
-
-///////// AutoPilot New Altitude Dialog
-
-static puDialogBox *ApAltitudeDialog = 0;
-static puFrame *ApAltitudeDialogFrame = 0;
-static puText *ApAltitudeDialogMessage = 0;
-static puInput *ApAltitudeDialogInput = 0;
-
-static puOneShot *ApAltitudeDialogOkButton = 0;
-static puOneShot *ApAltitudeDialogCancelButton = 0;
-
-
-/// The beginnings of Lock AutoPilot to target location :-)
-// Needs cleaning up but works
-// These statics should disapear when this is a class
-static puDialogBox *TgtAptDialog = 0;
-static puFrame *TgtAptDialogFrame = 0;
-static puText *TgtAptDialogMessage = 0;
-static puInput *TgtAptDialogInput = 0;
-
-static char NewTgtAirportId[16];
-static char NewTgtAirportLabel[] = "Enter New TgtAirport ID";
-
-static puOneShot *TgtAptDialogOkButton = 0;
-static puOneShot *TgtAptDialogCancelButton = 0;
-static puOneShot *TgtAptDialogResetButton = 0;
+#include "Main/fg_props.hxx"
+using std::map;
+using std::string;
-// global variable holding the AP info
-// I want this gone. Data should be in aircraft structure
-fgAPDataPtr APDataGlobal;
-
-// Local Prototype section
-static double LinearExtrapolate( double x, double x1, double y1, double x2, double y2 );
-static double NormalizeDegrees( double Input );
-// End Local ProtoTypes
-
-extern char *coord_format_lat(float);
-extern char *coord_format_lon(float);
-
-
-static inline double get_ground_speed( void ) {
- // starts in ft/s so we convert to kts
- double ft_s = cur_fdm_state->get_V_ground_speed()
- * current_options.get_speed_up();;
- double kts = ft_s * FEET_TO_METER * 3600 * METER_TO_NM;
- return kts;
-}
-
-// The below routines were copied right from hud.c ( I hate reinventing
-// the wheel more than necessary)
-
-// The following routines obtain information concerntin the aircraft's
-// current state and return it to calling instrument display routines.
-// They should eventually be member functions of the aircraft.
-//
-static void get_control_values( void ) {
- fgAPDataPtr APData;
- APData = APDataGlobal;
- APData->old_aileron = controls.get_aileron();
- APData->old_elevator = controls.get_elevator();
- APData->old_elevator_trim = controls.get_elevator_trim();
- APData->old_rudder = controls.get_rudder();
-}
-
-static void MakeTargetHeadingStr( fgAPDataPtr APData, double bearing ) {
- if( bearing < 0. )
- bearing += 360.;
- else if(bearing > 360. )
- bearing -= 360.;
- sprintf(APData->TargetHeadingStr, "APHeading %6.1f", bearing);
-}
-
-static inline void MakeTargetDistanceStr( fgAPDataPtr APData, double distance ) {
- double eta = distance*METER_TO_NM / get_ground_speed();
- if ( eta >= 100.0 ) { eta = 99.999; }
- int major, minor;
- if ( eta < (1.0/6.0) ) {
- // within 10 minutes, bump up to min/secs
- eta *= 60.0;
- }
- major = (int)eta;
- minor = (int)((eta - (int)eta) * 60.0);
- sprintf(APData->TargetDistanceStr, "APDistance %.2f NM ETA %d:%02d",
- distance*METER_TO_NM, major, minor);
- // cout << "distance = " << distance*METER_TO_NM
- // << " gndsp = " << get_ground_speed()
- // << " time = " << eta
- // << " major = " << major
- // << " minor = " << minor
- // << endl;
-}
-
-static inline void MakeTargetAltitudeStr( fgAPDataPtr APData, double altitude ) {
- sprintf(APData->TargetAltitudeStr, "APAltitude %6.0f", altitude);
-}
-
-static inline void MakeTargetLatLonStr( fgAPDataPtr APData, double lat, double lon ) {
- float tmp;
- tmp = APData->TargetLatitude;
- sprintf( APData->TargetLatitudeStr , "%s", coord_format_lat(tmp) );
- tmp = APData->TargetLongitude;
- sprintf( APData->TargetLongitudeStr, "%s", coord_format_lon(tmp) );
-
- sprintf(APData->TargetLatLonStr, "%s %s",
- APData->TargetLatitudeStr,
- APData->TargetLongitudeStr );
-}
-
-static inline double get_speed( void ) {
- return( cur_fdm_state->get_V_equiv_kts() );
-}
-
-static inline double get_aoa( void ) {
- return( cur_fdm_state->get_Gamma_vert_rad() * RAD_TO_DEG );
-}
-
-static inline double fgAPget_latitude( void ) {
- return( cur_fdm_state->get_Latitude() * RAD_TO_DEG );
-}
-
-static inline double fgAPget_longitude( void ) {
- return( cur_fdm_state->get_Longitude() * RAD_TO_DEG );
-}
-
-static inline double fgAPget_roll( void ) {
- return( cur_fdm_state->get_Phi() * RAD_TO_DEG );
-}
-
-static inline double get_pitch( void ) {
- return( cur_fdm_state->get_Theta() );
-}
-
-double fgAPget_heading( void ) {
- return( cur_fdm_state->get_Psi() * RAD_TO_DEG );
-}
-
-static inline double fgAPget_altitude( void ) {
- return( cur_fdm_state->get_Altitude() * FEET_TO_METER );
-}
-
-static inline double fgAPget_climb( void ) {
- // return in meters per minute
- return( cur_fdm_state->get_Climb_Rate() * FEET_TO_METER * 60 );
-}
-
-static inline double get_sideslip( void ) {
- return( cur_fdm_state->get_Beta() );
-}
-
-static inline double fgAPget_agl( void ) {
- double agl;
-
- agl = cur_fdm_state->get_Altitude() * FEET_TO_METER
- - scenery.cur_elev;
-
- return( agl );
-}
-
-// End of copied section. ( thanks for the wheel :-)
-double fgAPget_TargetLatitude( void ) {
- fgAPDataPtr APData = APDataGlobal;
- return APData->TargetLatitude;
-}
-
-double fgAPget_TargetLongitude( void ) {
- fgAPDataPtr APData = APDataGlobal;
- return APData->TargetLongitude;
-}
-
-double fgAPget_TargetHeading( void ) {
- fgAPDataPtr APData = APDataGlobal;
- return APData->TargetHeading;
-}
-
-double fgAPget_TargetDistance( void ) {
- fgAPDataPtr APData = APDataGlobal;
- return APData->TargetDistance;
-}
-
-double fgAPget_TargetAltitude( void ) {
- fgAPDataPtr APData = APDataGlobal;
- return APData->TargetAltitude;
-}
-
-char *fgAPget_TargetLatitudeStr( void ) {
- fgAPDataPtr APData = APDataGlobal;
- return APData->TargetLatitudeStr;
-}
-
-char *fgAPget_TargetLongitudeStr( void ) {
- fgAPDataPtr APData = APDataGlobal;
- return APData->TargetLongitudeStr;
-}
-
-char *fgAPget_TargetDistanceStr( void ) {
- fgAPDataPtr APData = APDataGlobal;
- return APData->TargetDistanceStr;
-}
-
-char *fgAPget_TargetHeadingStr( void ) {
- fgAPDataPtr APData = APDataGlobal;
- return APData->TargetHeadingStr;
-}
-
-char *fgAPget_TargetAltitudeStr( void ) {
- fgAPDataPtr APData = APDataGlobal;
- return APData->TargetAltitudeStr;
-}
-
-char *fgAPget_TargetLatLonStr( void ) {
- fgAPDataPtr APData = APDataGlobal;
- return APData->TargetLatLonStr;
-}
-
-bool fgAPWayPointEnabled( void )
-{
- fgAPDataPtr APData;
-
- APData = APDataGlobal;
-
- // heading hold enabled?
- return APData->waypoint_hold;
-}
-
-
-bool fgAPHeadingEnabled( void )
-{
- fgAPDataPtr APData;
-
- APData = APDataGlobal;
-
- // heading hold enabled?
- return APData->heading_hold;
-}
+using namespace FGXMLAutopilot;
-bool fgAPAltitudeEnabled( void )
-{
- fgAPDataPtr APData;
-
- APData = APDataGlobal;
-
- // altitude hold or terrain follow enabled?
- return APData->altitude_hold;
-}
+class ComponentForge : public map<string,FunctorBase<Component> *> {
+public:
+ virtual ~ ComponentForge();
+};
-bool fgAPTerrainFollowEnabled( void )
+ComponentForge::~ComponentForge()
{
- fgAPDataPtr APData;
-
- APData = APDataGlobal;
-
- // altitude hold or terrain follow enabled?
- return APData->terrain_follow ;
+ for( iterator it = begin(); it != end(); ++it )
+ delete it->second;
}
-bool fgAPAutoThrottleEnabled( void )
-{
- fgAPDataPtr APData;
-
- APData = APDataGlobal;
-
- // autothrottle enabled?
- return APData->auto_throttle;
-}
+static ComponentForge componentForge;
-void fgAPAltitudeAdjust( double inc )
+Autopilot::Autopilot( SGPropertyNode_ptr rootNode, SGPropertyNode_ptr configNode ) :
+ _name("unnamed autopilot"),
+ _serviceable(true),
+ _rootNode(rootNode)
{
- // Remove at a later date
- fgAPDataPtr APData = APDataGlobal;
- // end section
-
- double target_alt, target_agl;
- if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
- target_alt = APData->TargetAltitude * METER_TO_FEET;
- target_agl = APData->TargetAGL * METER_TO_FEET;
- } else {
- target_alt = APData->TargetAltitude;
- target_agl = APData->TargetAGL;
- }
+ componentForge["pid-controller"] = new CreateAndConfigureFunctor<PIDController,Component>();
+ componentForge["pi-simple-controller"] = new CreateAndConfigureFunctor<PISimpleController,Component>();
+ componentForge["predict-simple"] = new CreateAndConfigureFunctor<Predictor,Component>();
+ componentForge["filter"] = new CreateAndConfigureFunctor<DigitalFilter,Component>();
+ componentForge["logic"] = new CreateAndConfigureFunctor<Logic,Component>();
+ componentForge["flipflop"] = new CreateAndConfigureFunctor<FlipFlop,Component>();
- target_alt = ( int ) ( target_alt / inc ) * inc + inc;
- target_agl = ( int ) ( target_agl / inc ) * inc + inc;
+ if( configNode == NULL ) configNode = rootNode;
- if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
- target_alt *= FEET_TO_METER;
- target_agl *= FEET_TO_METER;
+ int count = configNode->nChildren();
+ for ( int i = 0; i < count; ++i ) {
+ SGPropertyNode_ptr node = configNode->getChild(i);
+ string childName = node->getName();
+ if( componentForge.count(childName) == 0 ) {
+ SG_LOG( SG_AUTOPILOT, SG_BULK, "unhandled element <" << childName << ">" << std::endl );
+ continue;
}
- APData->TargetAltitude = target_alt;
- APData->TargetAGL = target_agl;
-
- if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET )
- target_alt *= METER_TO_FEET;
- ApAltitudeDialogInput->setValue((float)target_alt);
- MakeTargetAltitudeStr( APData, target_alt);
-
- get_control_values();
-}
-
-void fgAPAltitudeSet( double new_altitude ) {
- // Remove at a later date
- fgAPDataPtr APData = APDataGlobal;
- // end section
- double target_alt = new_altitude;
-
- if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET )
- target_alt = new_altitude * FEET_TO_METER;
-
- if( target_alt < scenery.cur_elev )
- target_alt = scenery.cur_elev;
-
- APData->TargetAltitude = target_alt;
-
- if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET )
- target_alt *= METER_TO_FEET;
- ApAltitudeDialogInput->setValue((float)target_alt);
- MakeTargetAltitudeStr( APData, target_alt);
-
- get_control_values();
-}
-
-void fgAPHeadingAdjust( double inc ) {
- fgAPDataPtr APData = APDataGlobal;
-
- if ( APData->waypoint_hold )
- APData->waypoint_hold = false;
-
- double target = ( int ) ( APData->TargetHeading / inc ) * inc + inc;
-
- APData->TargetHeading = NormalizeDegrees( target );
- // following cast needed ambiguous plib
- ApHeadingDialogInput -> setValue ((float)APData->TargetHeading );
- MakeTargetHeadingStr( APData, APData->TargetHeading );
- get_control_values();
-}
-
-void fgAPHeadingSet( double new_heading ) {
- fgAPDataPtr APData = APDataGlobal;
-
- if ( APData->waypoint_hold )
- APData->waypoint_hold = false;
-
- new_heading = NormalizeDegrees( new_heading );
- APData->TargetHeading = new_heading;
- // following cast needed ambiguous plib
- ApHeadingDialogInput -> setValue ((float)APData->TargetHeading );
- MakeTargetHeadingStr( APData, APData->TargetHeading );
- get_control_values();
-}
-
-void fgAPAutoThrottleAdjust( double inc ) {
- fgAPDataPtr APData = APDataGlobal;
-
- double target = ( int ) ( APData->TargetSpeed / inc ) * inc + inc;
-
- APData->TargetSpeed = target;
-}
-
-// THIS NEEDS IMPROVEMENT !!!!!!!!!!!!!
-static int scan_number(char *s, double *new_value)
-{
- int ret = 0;
- char WordBuf[64];
- char *cptr = s;
- char *WordBufPtr = WordBuf;
-
- if (*cptr == '+')
- cptr++;
- if (*cptr == '-') {
- *WordBufPtr++ = *cptr++;
- }
- while (isdigit(*cptr) ) {
- *WordBufPtr++ = *cptr++;
- ret = 1;
- }
- if (*cptr == '.')
- *WordBufPtr++ = *cptr++; // put the '.' into the string
- while (isdigit(*cptr)) {
- *WordBufPtr++ = *cptr++;
- ret = 1;
- }
- if( ret == 1 ) {
- *WordBufPtr = '\0';
- sscanf(WordBuf, "%lf", new_value);
- }
-
- return(ret);
-} // scan_number
-
-
-void ApHeadingDialog_Cancel(puObject *)
-{
- ApHeadingDialogInput->rejectInput();
- FG_POP_PUI_DIALOG( ApHeadingDialog );
-}
-
-void ApHeadingDialog_OK (puObject *me)
-{
- int error = 0;
- char *c;
- string s;
- ApHeadingDialogInput -> getValue( &c );
-
- if( strlen(c) ) {
- double NewHeading;
- if( scan_number( c, &NewHeading ) )
- {
- if(!fgAPHeadingEnabled())
- fgAPToggleHeading();
- fgAPHeadingSet( NewHeading );
- } else {
- error = 1;
- s = c;
- s += " is not a valid number.";
- }
+ Component * component = (*componentForge[childName])(node);
+ if( component->get_name().length() == 0 ) {
+ std::ostringstream buf;
+ buf << "unnamed_component_" << i;
+ component->set_name( buf.str() );
}
- ApHeadingDialog_Cancel(me);
- if( error ) mkDialog(s.c_str());
-}
-
-void NewHeading(puObject *cb)
-{
- // string ApHeadingLabel( "Enter New Heading" );
- // ApHeadingDialogMessage -> setLabel(ApHeadingLabel.c_str());
- ApHeadingDialogInput -> acceptInput();
- FG_PUSH_PUI_DIALOG( ApHeadingDialog );
-}
-void NewHeadingInit(void)
-{
- // printf("NewHeadingInit\n");
- char NewHeadingLabel[] = "Enter New Heading";
- char *s;
-
- float heading = fgAPget_heading();
- int len = 260/2 -
- (puGetStringWidth( puGetDefaultLabelFont(), NewHeadingLabel ) /2 );
-
- ApHeadingDialog = new puDialogBox (150, 50);
- {
- ApHeadingDialogFrame = new puFrame (0, 0, 260, 150);
-
- ApHeadingDialogMessage = new puText (len, 110);
- ApHeadingDialogMessage -> setDefaultValue (NewHeadingLabel);
- ApHeadingDialogMessage -> getDefaultValue (&s);
- ApHeadingDialogMessage -> setLabel (s);
-
- ApHeadingDialogInput = new puInput ( 50, 70, 210, 100 );
- ApHeadingDialogInput -> setValue ( heading );
-
- ApHeadingDialogOkButton = new puOneShot (50, 10, 110, 50);
- ApHeadingDialogOkButton -> setLegend (gui_msg_OK);
- ApHeadingDialogOkButton -> makeReturnDefault (TRUE);
- ApHeadingDialogOkButton -> setCallback (ApHeadingDialog_OK);
-
- ApHeadingDialogCancelButton = new puOneShot (140, 10, 210, 50);
- ApHeadingDialogCancelButton -> setLegend (gui_msg_CANCEL);
- ApHeadingDialogCancelButton -> setCallback (ApHeadingDialog_Cancel);
-
- }
- FG_FINALIZE_PUI_DIALOG( ApHeadingDialog );
+ SG_LOG( SG_AUTOPILOT, SG_INFO, "adding autopilot component \"" << childName << "\" as \"" << component->get_name() << "\"" );
+ add_component(component);
+ }
}
-void ApAltitudeDialog_Cancel(puObject *)
+Autopilot::~Autopilot()
{
- ApAltitudeDialogInput -> rejectInput();
- FG_POP_PUI_DIALOG( ApAltitudeDialog );
}
-void ApAltitudeDialog_OK (puObject *me)
+void Autopilot::bind()
{
- int error = 0;
- string s;
- char *c;
- ApAltitudeDialogInput->getValue( &c );
-
- if( strlen( c ) ) {
- double NewAltitude;
- if( scan_number( c, &NewAltitude) )
- {
- if(!(fgAPAltitudeEnabled()))
- fgAPToggleAltitude();
- fgAPAltitudeSet( NewAltitude );
- } else {
- error = 1;
- s = c;
- s += " is not a valid number.";
- }
- }
- ApAltitudeDialog_Cancel(me);
- if( error ) mkDialog(s.c_str());
- get_control_values();
+ fgTie( _rootNode->getNode("serviceable", true)->getPath().c_str(), this,
+ &Autopilot::is_serviceable, &Autopilot::set_serviceable );
}
-void NewAltitude(puObject *cb)
+void Autopilot::unbind()
{
- ApAltitudeDialogInput -> acceptInput();
- FG_PUSH_PUI_DIALOG( ApAltitudeDialog );
+ _rootNode->untie( "serviceable" );
}
-void NewAltitudeInit(void)
+void Autopilot::add_component( Component * component )
{
- // printf("NewAltitudeInit\n");
- char NewAltitudeLabel[] = "Enter New Altitude";
- char *s;
-
- float alt = cur_fdm_state->get_Altitude();
+ if( component == NULL ) return;
- if ( current_options.get_units() == fgOPTIONS::FG_UNITS_METERS) {
- alt *= FEET_TO_METER;
- }
+ // check for duplicate name
+ std::string name = component->get_name();
+ for( unsigned i = 0; get_subsystem( name.c_str() ) != NULL; i++ ) {
+ std::ostringstream buf;
+ buf << component->get_name() << "_" << i;
+ name = buf.str();
+ }
+ if( name != component->get_name() )
+ SG_LOG( SG_ALL, SG_WARN, "Duplicate autopilot component " << component->get_name() << ", renamed to " << name );
- int len = 260/2 -
- (puGetStringWidth( puGetDefaultLabelFont(), NewAltitudeLabel )/2);
-
- // ApAltitudeDialog = new puDialogBox (150, 50);
- ApAltitudeDialog = new puDialogBox (150, 200);
- {
- ApAltitudeDialogFrame = new puFrame (0, 0, 260, 150);
- ApAltitudeDialogMessage = new puText (len, 110);
- ApAltitudeDialogMessage -> setDefaultValue (NewAltitudeLabel);
- ApAltitudeDialogMessage -> getDefaultValue (&s);
- ApAltitudeDialogMessage -> setLabel (s);
-
- ApAltitudeDialogInput = new puInput ( 50, 70, 210, 100 );
- ApAltitudeDialogInput -> setValue ( alt );
- // Uncomment the next line to have input active on startup
- // ApAltitudeDialogInput -> acceptInput ( );
- // cursor at begining or end of line ?
- //len = strlen(s);
- // len = 0;
- // ApAltitudeDialogInput -> setCursor ( len );
- // ApAltitudeDialogInput -> setSelectRegion ( 5, 9 );
-
- ApAltitudeDialogOkButton = new puOneShot (50, 10, 110, 50);
- ApAltitudeDialogOkButton -> setLegend (gui_msg_OK);
- ApAltitudeDialogOkButton -> makeReturnDefault (TRUE);
- ApAltitudeDialogOkButton -> setCallback (ApAltitudeDialog_OK);
-
- ApAltitudeDialogCancelButton = new puOneShot (140, 10, 210, 50);
- ApAltitudeDialogCancelButton -> setLegend (gui_msg_CANCEL);
- ApAltitudeDialogCancelButton -> setCallback (ApAltitudeDialog_Cancel);
-
- }
- FG_FINALIZE_PUI_DIALOG( ApAltitudeDialog );
+ set_subsystem( name.c_str(), component );
}
-/////// simple AutoPilot GAIN / LIMITS ADJUSTER
-
-#define fgAP_CLAMP(val,min,max) \
-( (val) = (val) > (max) ? (max) : (val) < (min) ? (min) : (val) )
-
- static void maxroll_adj( puObject *hs ) {
- float val ;
- fgAPDataPtr APData = APDataGlobal;
-
- hs-> getValue ( &val ) ;
- fgAP_CLAMP ( val, 0.1, 1.0 ) ;
- // printf ( "maxroll_adj( %p ) %f %f\n", hs, val, MaxRollAdjust * val ) ;
- APData-> MaxRoll = MaxRollAdjust * val;
- sprintf( SliderText[ 0 ], "%05.2f", APData->MaxRoll );
- APAdjustMaxRollText -> setLabel ( SliderText[ 0 ] ) ;
-}
-
-static void rollout_adj( puObject *hs ) {
- float val ;
- fgAPDataPtr APData = APDataGlobal;
-
- hs-> getValue ( &val ) ;
- fgAP_CLAMP ( val, 0.1, 1.0 ) ;
- // printf ( "rollout_adj( %p ) %f %f\n", hs, val, RollOutAdjust * val ) ;
- APData-> RollOut = RollOutAdjust * val;
- sprintf( SliderText[ 1 ], "%05.2f", APData->RollOut );
- APAdjustRollOutText -> setLabel ( SliderText[ 1 ] );
-}
-
-static void maxaileron_adj( puObject *hs ) {
- float val ;
- fgAPDataPtr APData;
- APData = APDataGlobal;
-
- hs-> getValue ( &val ) ;
- fgAP_CLAMP ( val, 0.1, 1.0 ) ;
- // printf ( "maxaileron_adj( %p ) %f %f\n", hs, val, MaxAileronAdjust * val ) ;
- APData-> MaxAileron = MaxAileronAdjust * val;
- sprintf( SliderText[ 3 ], "%05.2f", APData->MaxAileron );
- APAdjustMaxAileronText -> setLabel ( SliderText[ 3 ] );
-}
-
-static void rolloutsmooth_adj( puObject *hs ) {
- float val ;
- fgAPDataPtr APData = APDataGlobal;
-
- hs -> getValue ( &val ) ;
- fgAP_CLAMP ( val, 0.1, 1.0 ) ;
- // printf ( "rolloutsmooth_adj( %p ) %f %f\n", hs, val, RollOutSmoothAdjust * val ) ;
- APData->RollOutSmooth = RollOutSmoothAdjust * val;
- sprintf( SliderText[ 2 ], "%5.2f", APData-> RollOutSmooth );
- APAdjustRollOutSmoothText-> setLabel ( SliderText[ 2 ] );
-
-}
-
-static void goAwayAPAdjust (puObject *)
+void Autopilot::update( double dt )
{
- FG_POP_PUI_DIALOG( APAdjustDialog );
-}
-
-void cancelAPAdjust( puObject *self ) {
- fgAPDataPtr APData = APDataGlobal;
-
- APData-> MaxRoll = TmpMaxRollValue;
- APData-> RollOut = TmpRollOutValue;
- APData-> MaxAileron = TmpMaxAileronValue;
- APData-> RollOutSmooth = TmpRollOutSmoothValue;
-
- goAwayAPAdjust(self);
-}
-
-void resetAPAdjust( puObject *self ) {
- fgAPDataPtr APData = APDataGlobal;
-
- APData-> MaxRoll = MaxRollAdjust / 2;
- APData-> RollOut = RollOutAdjust / 2;
- APData-> MaxAileron = MaxAileronAdjust / 2;
- APData-> RollOutSmooth = RollOutSmoothAdjust / 2;
-
- FG_POP_PUI_DIALOG( APAdjustDialog );
-
- fgAPAdjust( self );
-}
-
-void fgAPAdjust( puObject * ) {
- fgAPDataPtr APData = APDataGlobal;
-
- TmpMaxRollValue = APData-> MaxRoll;
- TmpRollOutValue = APData-> RollOut;
- TmpMaxAileronValue = APData-> MaxAileron;
- TmpRollOutSmoothValue = APData-> RollOutSmooth;
-
- MaxRollValue = APData-> MaxRoll / MaxRollAdjust;
- RollOutValue = APData-> RollOut / RollOutAdjust;
- MaxAileronValue = APData-> MaxAileron / MaxAileronAdjust;
- RollOutSmoothValue = APData-> RollOutSmooth / RollOutSmoothAdjust;
-
- APAdjustHS0-> setValue ( MaxRollValue ) ;
- APAdjustHS1-> setValue ( RollOutValue ) ;
- APAdjustHS2-> setValue ( RollOutSmoothValue ) ;
- APAdjustHS3-> setValue ( MaxAileronValue ) ;
-
- FG_PUSH_PUI_DIALOG( APAdjustDialog );
-}
-
-// Done once at system initialization
-void fgAPAdjustInit( void ) {
-
- // printf("fgAPAdjustInit\n");
-#define HORIZONTAL FALSE
-
- int DialogX = 40;
- int DialogY = 100;
- int DialogWidth = 230;
-
- char Label[] = "AutoPilot Adjust";
- char *s;
-
- fgAPDataPtr APData = APDataGlobal;
-
- int labelX = (DialogWidth / 2) -
- (puGetStringWidth( puGetDefaultLabelFont(), Label ) / 2);
- labelX -= 30; // KLUDGEY
-
- int nSliders = 4;
- int slider_x = 10;
- int slider_y = 55;
- int slider_width = 210;
- int slider_title_x = 15;
- int slider_value_x = 160;
- float slider_delta = 0.1f;
-
- TmpMaxRollValue = APData-> MaxRoll;
- TmpRollOutValue = APData-> RollOut;
- TmpMaxAileronValue = APData-> MaxAileron;
- TmpRollOutSmoothValue = APData-> RollOutSmooth;
-
- MaxRollValue = APData-> MaxRoll / MaxRollAdjust;
- RollOutValue = APData-> RollOut / RollOutAdjust;
- MaxAileronValue = APData-> MaxAileron / MaxAileronAdjust;
- RollOutSmoothValue = APData-> RollOutSmooth / RollOutSmoothAdjust;
-
- puGetDefaultFonts ( &APAdjustLegendFont, &APAdjustLabelFont );
- APAdjustDialog = new puDialogBox ( DialogX, DialogY ); {
- int horiz_slider_height = puGetStringHeight (APAdjustLabelFont) +
- puGetStringDescender (APAdjustLabelFont) +
- PUSTR_TGAP + PUSTR_BGAP + 5;
-
- APAdjustFrame = new puFrame ( 0, 0,
- DialogWidth, 85 + nSliders * horiz_slider_height );
-
- APAdjustDialogMessage = new puText ( labelX, 52 + nSliders * horiz_slider_height );
- APAdjustDialogMessage -> setDefaultValue ( Label );
- APAdjustDialogMessage -> getDefaultValue ( &s );
- APAdjustDialogMessage -> setLabel ( s );
-
- APAdjustHS0 = new mySlider ( slider_x, slider_y, slider_width, HORIZONTAL ) ;
- APAdjustHS0-> setDelta ( slider_delta ) ;
- APAdjustHS0-> setValue ( MaxRollValue ) ;
- APAdjustHS0-> setCBMode ( PUSLIDER_DELTA ) ;
- APAdjustHS0-> setCallback ( maxroll_adj ) ;
-
- sprintf( SliderText[ 0 ], "%05.2f", APData->MaxRoll );
- APAdjustMaxRollTitle = new puText ( slider_title_x, slider_y ) ;
- APAdjustMaxRollTitle-> setDefaultValue ( "MaxRoll" ) ;
- APAdjustMaxRollTitle-> getDefaultValue ( &s ) ;
- APAdjustMaxRollTitle-> setLabel ( s ) ;
- APAdjustMaxRollText = new puText ( slider_value_x, slider_y ) ;
- APAdjustMaxRollText-> setLabel ( SliderText[ 0 ] ) ;
-
- slider_y += horiz_slider_height;
-
- APAdjustHS1 = new mySlider ( slider_x, slider_y, slider_width, HORIZONTAL ) ;
- APAdjustHS1-> setDelta ( slider_delta ) ;
- APAdjustHS1-> setValue ( RollOutValue ) ;
- APAdjustHS1-> setCBMode ( PUSLIDER_DELTA ) ;
- APAdjustHS1-> setCallback ( rollout_adj ) ;
-
- sprintf( SliderText[ 1 ], "%05.2f", APData->RollOut );
- APAdjustRollOutTitle = new puText ( slider_title_x, slider_y ) ;
- APAdjustRollOutTitle-> setDefaultValue ( "AdjustRollOut" ) ;
- APAdjustRollOutTitle-> getDefaultValue ( &s ) ;
- APAdjustRollOutTitle-> setLabel ( s ) ;
- APAdjustRollOutText = new puText ( slider_value_x, slider_y ) ;
- APAdjustRollOutText-> setLabel ( SliderText[ 1 ] );
-
- slider_y += horiz_slider_height;
-
- APAdjustHS2 = new mySlider ( slider_x, slider_y, slider_width, HORIZONTAL ) ;
- APAdjustHS2-> setDelta ( slider_delta ) ;
- APAdjustHS2-> setValue ( RollOutSmoothValue ) ;
- APAdjustHS2-> setCBMode ( PUSLIDER_DELTA ) ;
- APAdjustHS2-> setCallback ( rolloutsmooth_adj ) ;
-
- sprintf( SliderText[ 2 ], "%5.2f", APData->RollOutSmooth );
- APAdjustRollOutSmoothTitle = new puText ( slider_title_x, slider_y ) ;
- APAdjustRollOutSmoothTitle-> setDefaultValue ( "RollOutSmooth" ) ;
- APAdjustRollOutSmoothTitle-> getDefaultValue ( &s ) ;
- APAdjustRollOutSmoothTitle-> setLabel ( s ) ;
- APAdjustRollOutSmoothText = new puText ( slider_value_x, slider_y ) ;
- APAdjustRollOutSmoothText-> setLabel ( SliderText[ 2 ] );
-
- slider_y += horiz_slider_height;
-
- APAdjustHS3 = new mySlider ( slider_x, slider_y, slider_width, HORIZONTAL ) ;
- APAdjustHS3-> setDelta ( slider_delta ) ;
- APAdjustHS3-> setValue ( MaxAileronValue ) ;
- APAdjustHS3-> setCBMode ( PUSLIDER_DELTA ) ;
- APAdjustHS3-> setCallback ( maxaileron_adj ) ;
-
- sprintf( SliderText[ 3 ], "%05.2f", APData->MaxAileron );
- APAdjustMaxAileronTitle = new puText ( slider_title_x, slider_y ) ;
- APAdjustMaxAileronTitle-> setDefaultValue ( "MaxAileron" ) ;
- APAdjustMaxAileronTitle-> getDefaultValue ( &s ) ;
- APAdjustMaxAileronTitle-> setLabel ( s ) ;
- APAdjustMaxAileronText = new puText ( slider_value_x, slider_y ) ;
- APAdjustMaxAileronText-> setLabel ( SliderText[ 3 ] );
-
- APAdjustOkButton = new puOneShot ( 10, 10, 60, 50 );
- APAdjustOkButton-> setLegend ( gui_msg_OK );
- APAdjustOkButton-> makeReturnDefault ( TRUE );
- APAdjustOkButton-> setCallback ( goAwayAPAdjust );
-
- APAdjustCancelButton = new puOneShot ( 70, 10, 150, 50 );
- APAdjustCancelButton-> setLegend ( gui_msg_CANCEL );
- APAdjustCancelButton-> setCallback ( cancelAPAdjust );
-
- APAdjustResetButton = new puOneShot ( 160, 10, 220, 50 );
- APAdjustResetButton-> setLegend ( gui_msg_RESET );
- APAdjustResetButton-> setCallback ( resetAPAdjust );
- }
- FG_FINALIZE_PUI_DIALOG( APAdjustDialog );
-
-#undef HORIZONTAL
-}
-
-// Simple Dialog to input Target Airport
-void TgtAptDialog_Cancel(puObject *)
-{
- FG_POP_PUI_DIALOG( TgtAptDialog );
-}
-
-void TgtAptDialog_OK (puObject *)
-{
- fgAPDataPtr APData;
- APData = APDataGlobal;
- string TgtAptId;
-
- // FGTime *t = FGTime::cur_time_params;
- // int PauseMode = t->getPause();
- // if(!PauseMode)
- // t->togglePauseMode();
-
- char *s;
- TgtAptDialogInput->getValue(&s);
- TgtAptId = s;
-
- TgtAptDialog_Cancel( NULL );
-
- if ( TgtAptId.length() ) {
- // set initial position from TgtAirport id
-
- fgAIRPORTS airports;
- fgAIRPORT a;
-
- FG_LOG( FG_GENERAL, FG_INFO,
- "Attempting to set starting position from airport code "
- << s );
-
- airports.load("apt_simple");
- if ( airports.search( TgtAptId, &a ) )
- {
- double course, reverse, distance;
- // fgAPset_tgt_airport_id( TgtAptId.c_str() );
- current_options.set_airport_id( TgtAptId.c_str() );
- sprintf( NewTgtAirportId, "%s", TgtAptId.c_str() );
-
- APData->TargetLatitude = a.latitude; // * DEG_TO_RAD;
- APData->TargetLongitude = a.longitude; // * DEG_TO_RAD;
- MakeTargetLatLonStr( APData,
- APData->TargetLatitude,
- APData->TargetLongitude);
-
- APData->old_lat = fgAPget_latitude();
- APData->old_lon = fgAPget_longitude();
-
- // need to test for iter
- if( ! geo_inverse_wgs_84( fgAPget_altitude(),
- fgAPget_latitude(),
- fgAPget_longitude(),
- APData->TargetLatitude,
- APData->TargetLongitude,
- &course,
- &reverse,
- &distance ) ) {
- APData->TargetHeading = course;
- MakeTargetHeadingStr( APData, APData->TargetHeading );
- APData->TargetDistance = distance;
- MakeTargetDistanceStr( APData, distance );
- // This changes the AutoPilot Heading
- // following cast needed
- ApHeadingDialogInput->setValue ((float)APData->TargetHeading );
- // Force this !
- APData->waypoint_hold = true ;
- APData->heading_hold = true;
- }
- } else {
- TgtAptId += " not in database.";
- mkDialog(TgtAptId.c_str());
- }
- }
- get_control_values();
- // if( PauseMode != t->getPause() )
- // t->togglePauseMode();
-}
-
-void TgtAptDialog_Reset(puObject *)
-{
- // strncpy( NewAirportId, current_options.get_airport_id().c_str(), 16 );
- sprintf( NewTgtAirportId, "%s", current_options.get_airport_id().c_str() );
- TgtAptDialogInput->setValue ( NewTgtAirportId );
- TgtAptDialogInput->setCursor( 0 ) ;
-}
-
-void NewTgtAirport(puObject *cb)
-{
- // strncpy( NewAirportId, current_options.get_airport_id().c_str(), 16 );
- sprintf( NewTgtAirportId, "%s", current_options.get_airport_id().c_str() );
- TgtAptDialogInput->setValue( NewTgtAirportId );
-
- FG_PUSH_PUI_DIALOG( TgtAptDialog );
-}
-
-void NewTgtAirportInit(void)
-{
- FG_LOG( FG_AUTOPILOT, FG_INFO, " enter NewTgtAirportInit()" );
- // fgAPset_tgt_airport_id( current_options.get_airport_id() );
- sprintf( NewTgtAirportId, "%s", current_options.get_airport_id().c_str() );
- FG_LOG( FG_AUTOPILOT, FG_INFO, " NewTgtAirportId " << NewTgtAirportId );
- // printf(" NewTgtAirportId %s\n", NewTgtAirportId);
- int len = 150 - puGetStringWidth( puGetDefaultLabelFont(),
- NewTgtAirportLabel ) / 2;
-
- TgtAptDialog = new puDialogBox (150, 50);
- {
- TgtAptDialogFrame = new puFrame (0,0,350, 150);
- TgtAptDialogMessage = new puText (len, 110);
- TgtAptDialogMessage -> setLabel (NewTgtAirportLabel);
-
- TgtAptDialogInput = new puInput (50, 70, 300, 100);
- TgtAptDialogInput -> setValue (NewTgtAirportId);
- TgtAptDialogInput -> acceptInput();
-
- TgtAptDialogOkButton = new puOneShot (50, 10, 110, 50);
- TgtAptDialogOkButton -> setLegend (gui_msg_OK);
- TgtAptDialogOkButton -> setCallback (TgtAptDialog_OK);
- TgtAptDialogOkButton -> makeReturnDefault(TRUE);
-
- TgtAptDialogCancelButton = new puOneShot (140, 10, 210, 50);
- TgtAptDialogCancelButton -> setLegend (gui_msg_CANCEL);
- TgtAptDialogCancelButton -> setCallback (TgtAptDialog_Cancel);
-
- TgtAptDialogResetButton = new puOneShot (240, 10, 300, 50);
- TgtAptDialogResetButton -> setLegend (gui_msg_RESET);
- TgtAptDialogResetButton -> setCallback (TgtAptDialog_Reset);
- }
- FG_FINALIZE_PUI_DIALOG( TgtAptDialog );
- printf("leave NewTgtAirportInit()");
-}
-
-
-// Finally actual guts of AutoPilot
-void fgAPInit( fgAIRCRAFT *current_aircraft ) {
- fgAPDataPtr APData;
-
- 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
- FG_LOG( FG_AUTOPILOT, FG_ALERT, "No ram for Autopilot. Dying." );
- exit( -1 );
- }
-
- FG_LOG( FG_AUTOPILOT, FG_INFO, " Autopilot allocated " );
-
- APData->waypoint_hold = false ; // turn the target hold off
- APData->heading_hold = false ; // turn the heading hold off
- APData->altitude_hold = false ; // turn the altitude hold off
-
- // Initialize target location to startup location
- // FG_LOG( FG_AUTOPILOT, FG_INFO, " Autopilot setting startup location" );
- APData->old_lat =
- APData->TargetLatitude = fgAPget_latitude();
- APData->old_lon =
- APData->TargetLongitude = fgAPget_longitude();
-
- // FG_LOG( FG_AUTOPILOT, FG_INFO, " Autopilot setting TargetLatitudeStr" );
- MakeTargetLatLonStr( APData, APData->TargetLatitude, APData->TargetLongitude);
-
- APData->TargetHeading = 0.0; // default direction, due north
- APData->TargetAltitude = 3000; // default altitude in meters
- APData->alt_error_accum = 0.0;
-
- MakeTargetAltitudeStr( APData, 3000.0);
- MakeTargetHeadingStr( APData, 0.0 );
-
- // These eventually need to be read from current_aircaft somehow.
-
-#if 0
- // Original values
- // the maximum roll, in Deg
- APData->MaxRoll = 7;
- // the deg from heading to start rolling out at, in Deg
- APData->RollOut = 30;
- // how far can I move the aleron from center.
- APData->MaxAileron = .1;
- // Smoothing distance for alerion control
- APData->RollOutSmooth = 10;
-#endif
-
- // the maximum roll, in Deg
- APData->MaxRoll = 20;
-
- // the deg from heading to start rolling out at, in Deg
- APData->RollOut = 20;
-
- // how far can I move the aleron from center.
- APData->MaxAileron = .2;
-
- // Smoothing distance for alerion control
- APData->RollOutSmooth = 10;
-
- //Remove at a later date
- APDataGlobal = APData;
-
- // Hardwired for now should be in options
- // 25% max control variablilty 0.5 / 2.0
- APData->disengage_threshold = 1.0;
-
-#if !defined( USING_SLIDER_CLASS )
- MaxRollAdjust = 2 * APData->MaxRoll;
- RollOutAdjust = 2 * APData->RollOut;
- MaxAileronAdjust = 2 * APData->MaxAileron;
- RollOutSmoothAdjust = 2 * APData->RollOutSmooth;
-#endif // !defined( USING_SLIDER_CLASS )
-
- get_control_values();
-
- // FG_LOG( FG_AUTOPILOT, FG_INFO, " calling NewTgtAirportInit" );
- NewTgtAirportInit();
- fgAPAdjustInit() ;
- NewHeadingInit();
- NewAltitudeInit();
-};
-
-
-void fgAPReset( void ) {
- fgAPDataPtr APData = APDataGlobal;
-
- if ( fgAPTerrainFollowEnabled() )
- fgAPToggleTerrainFollow( );
-
- if ( fgAPAltitudeEnabled() )
- fgAPToggleAltitude();
-
- if ( fgAPHeadingEnabled() )
- fgAPToggleHeading();
-
- if ( fgAPAutoThrottleEnabled() )
- fgAPToggleAutoThrottle();
-
- APData->TargetHeading = 0.0; // default direction, due north
- MakeTargetHeadingStr( APData, APData->TargetHeading );
-
- APData->TargetAltitude = 3000; // default altitude in meters
- MakeTargetAltitudeStr( APData, 3000);
-
- APData->alt_error_accum = 0.0;
-
-
- get_control_values();
-
- sprintf( NewTgtAirportId, "%s", current_options.get_airport_id().c_str() );
-
- APData->TargetLatitude = fgAPget_latitude();
- APData->TargetLongitude = fgAPget_longitude();
- MakeTargetLatLonStr( APData,
- APData->TargetLatitude,
- APData->TargetLongitude);
-}
-
-
-int fgAPRun( void ) {
- // Remove the following lines when the calling funcitons start
- // passing in the data pointer
-
- fgAPDataPtr APData;
-
- APData = APDataGlobal;
- // end section
-
- // get control settings
- double aileron = controls.get_aileron();
- double elevator = controls.get_elevator();
- double elevator_trim = controls.get_elevator_trim();
- double rudder = controls.get_rudder();
-
- double lat = fgAPget_latitude();
- double lon = fgAPget_longitude();
-
- // see if somebody else has changed them
- if( fabs(aileron - APData->old_aileron) > APData->disengage_threshold ||
- fabs(elevator - APData->old_elevator) > APData->disengage_threshold ||
- fabs(elevator_trim - APData->old_elevator_trim) > APData->disengage_threshold ||
- fabs(rudder - APData->old_rudder) > APData->disengage_threshold )
- {
- // if controls changed externally turn autopilot off
- APData->waypoint_hold = false ; // turn the target hold off
- APData->heading_hold = false ; // turn the heading hold off
- APData->altitude_hold = false ; // turn the altitude hold off
- APData->terrain_follow = false; // turn the terrain_follow hold off
- // APData->auto_throttle = false; // turn the auto_throttle off
-
- // stash this runs control settings
- APData->old_aileron = aileron;
- APData->old_elevator = elevator;
- APData->old_elevator_trim = elevator_trim;
- APData->old_rudder = rudder;
-
- return(0);
- }
-
- // waypoint hold enabled?
- if ( APData->waypoint_hold == true )
- {
- double wp_course, wp_reverse, wp_distance;
-
-#ifdef DO_fgAP_CORRECTED_COURSE
- // compute course made good
- // this needs lots of special casing before use
- double course, reverse, distance, corrected_course;
- // need to test for iter
- geo_inverse_wgs_84( 0, //fgAPget_altitude(),
- APData->old_lat,
- APData->old_lon,
- lat,
- lon,
- &course,
- &reverse,
- &distance );
-#endif // DO_fgAP_CORRECTED_COURSE
-
- // compute course to way_point
- // need to test for iter
- if( ! geo_inverse_wgs_84( 0, //fgAPget_altitude(),
- lat,
- lon,
- APData->TargetLatitude,
- APData->TargetLongitude,
- &wp_course,
- &wp_reverse,
- &wp_distance ) ) {
-
-#ifdef DO_fgAP_CORRECTED_COURSE
- corrected_course = course - wp_course;
- if( fabs(corrected_course) > 0.1 )
- printf("fgAP: course %f wp_course %f %f %f\n",
- course, wp_course, fabs(corrected_course), distance );
-#endif // DO_fgAP_CORRECTED_COURSE
-
- if ( wp_distance > 100 ) {
- // corrected_course = course - wp_course;
- APData->TargetHeading = NormalizeDegrees(wp_course);
- } else {
- printf("APData->distance(%f) to close\n", wp_distance);
- // Real Close -- set heading hold to current heading
- // and Ring the arival bell !!
- NewTgtAirport(NULL);
- APData->waypoint_hold = false;
- // use previous
- APData->TargetHeading = fgAPget_heading();
- }
- MakeTargetHeadingStr( APData, APData->TargetHeading );
- // Force this just in case
- APData->TargetDistance = wp_distance;
- MakeTargetDistanceStr( APData, wp_distance );
- // This changes the AutoPilot Heading Read Out
- // following cast needed
- ApHeadingDialogInput -> setValue ((float)APData->TargetHeading );
- }
- APData->heading_hold = true;
- }
-
- // heading hold enabled?
- if ( APData->heading_hold == true ) {
- double RelHeading;
- double TargetRoll;
- double RelRoll;
- double AileronSet;
-
- RelHeading =
- NormalizeDegrees( APData->TargetHeading - fgAPget_heading() );
- // figure out how far off we are from desired heading
-
- // Now it is time to deterime how far we should be rolled.
- FG_LOG( FG_AUTOPILOT, FG_DEBUG, "RelHeading: " << RelHeading );
-
-
- // Check if we are further from heading than the roll out point
- if ( fabs( RelHeading ) > APData->RollOut ) {
- // set Target Roll to Max in desired direction
- if ( RelHeading < 0 ) {
- TargetRoll = 0 - APData->MaxRoll;
- } else {
- TargetRoll = APData->MaxRoll;
- }
- } else {
- // We have to calculate the Target roll
-
- // This calculation engine thinks that the Target roll
- // should be a line from (RollOut,MaxRoll) to (-RollOut,
- // -MaxRoll) I hope this works well. If I get ambitious
- // some day this might become a fancier curve or
- // something.
-
- TargetRoll = LinearExtrapolate( RelHeading, -APData->RollOut,
- -APData->MaxRoll, APData->RollOut,
- APData->MaxRoll );
- }
-
- // Target Roll has now been Found.
-
- // Compare Target roll to Current Roll, Generate Rel Roll
-
- FG_LOG( FG_COCKPIT, FG_BULK, "TargetRoll: " << TargetRoll );
-
- RelRoll = NormalizeDegrees( TargetRoll - fgAPget_roll() );
-
- // Check if we are further from heading than the roll out smooth point
- if ( fabs( RelRoll ) > APData->RollOutSmooth ) {
- // set Target Roll to Max in desired direction
- if ( RelRoll < 0 ) {
- AileronSet = 0 - APData->MaxAileron;
- } else {
- AileronSet = APData->MaxAileron;
- }
- } else {
- AileronSet = LinearExtrapolate( RelRoll, -APData->RollOutSmooth,
- -APData->MaxAileron,
- APData->RollOutSmooth,
- APData->MaxAileron );
- }
-
- controls.set_aileron( AileronSet );
- controls.set_rudder( AileronSet / 2.0 );
- // controls.set_rudder( 0.0 );
- }
-
- // altitude hold or terrain follow enabled?
- if ( APData->altitude_hold || APData->terrain_follow ) {
- double speed, max_climb, error;
- double prop_error, int_error;
- double prop_adj, int_adj, total_adj;
-
- if ( APData->altitude_hold ) {
- // normal altitude hold
- APData->TargetClimbRate =
- ( APData->TargetAltitude - fgAPget_altitude() ) * 8.0;
- } else if ( APData->terrain_follow ) {
- // 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;
- }
-
- speed = get_speed();
-
- if ( speed < 90.0 ) {
- max_climb = 0.0;
- } else if ( speed < 100.0 ) {
- max_climb = ( speed - 90.0 ) * 20;
- // } else if ( speed < 150.0 ) {
- } else {
- max_climb = ( speed - 100.0 ) * 4.0 + 200.0;
- } //else { // this is NHV hack
- // max_climb = ( speed - 150.0 ) * 6.0 + 300.0;
- // }
-
- if ( APData->TargetClimbRate > max_climb ) {
- APData->TargetClimbRate = max_climb;
- }
-
- else if ( APData->TargetClimbRate < -400.0 ) {
- APData->TargetClimbRate = -400.0;
- }
-
- error = fgAPget_climb() - APData->TargetClimbRate;
-
- // accumulate the error under the curve ... this really should
- // be *= delta t
- APData->alt_error_accum += error;
-
- // 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 / 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 > 0.6 ) {
- total_adj = 0.6;
- }
- else if ( total_adj < -0.2 ) {
- total_adj = -0.2;
- }
-
- controls.set_elevator( total_adj );
- }
-
- // auto throttle enabled?
- if ( APData->auto_throttle ) {
- 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;
- }
- else 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;
- }
- else if ( total_adj < 0.0 ) {
- total_adj = 0.0;
- }
-
- controls.set_throttle( FGControls::ALL_ENGINES, total_adj );
- }
-
-#ifdef THIS_CODE_IS_NOT_USED
- if (APData->Mode == 2) // Glide slope hold
- {
- double RelSlope;
- double RelElevator;
-
- // First, calculate Relative slope and normalize it
- RelSlope = NormalizeDegrees( APData->TargetSlope - get_pitch());
-
- // Now calculate the elevator offset from current angle
- if ( abs(RelSlope) > APData->SlopeSmooth )
- {
- if ( RelSlope < 0 ) // set RelElevator to max in the correct direction
- RelElevator = -APData->MaxElevator;
- else
- RelElevator = APData->MaxElevator;
- }
-
- else
- RelElevator = LinearExtrapolate(RelSlope,-APData->SlopeSmooth,-APData->MaxElevator,APData->SlopeSmooth,APData->MaxElevator);
-
- // set the elevator
- fgElevMove(RelElevator);
-
- }
-#endif // THIS_CODE_IS_NOT_USED
-
- // stash this runs control settings
- // get_control_values();
- APData->old_aileron = controls.get_aileron();
- APData->old_elevator = controls.get_elevator();
- APData->old_elevator_trim = controls.get_elevator_trim();
- APData->old_rudder = controls.get_rudder();
-
- // for cross track error
- APData->old_lat = lat;
- APData->old_lon = lon;
-
- // Ok, we are done
- return 0;
-}
-
-/*
-void fgAPSetMode( int mode)
-{
-//Remove the following line when the calling funcitons start passing in the data pointer
-fgAPDataPtr APData;
-
-APData = APDataGlobal;
-// end section
-
-fgPrintf( FG_COCKPIT, FG_INFO, "APSetMode : %d\n", mode );
-
-APData->Mode = mode; // set the new mode
-}
-*/
-#if 0
-void fgAPset_tgt_airport_id( const string id ) {
- FG_LOG( FG_AUTOPILOT, FG_INFO, "entering fgAPset_tgt_airport_id " << id );
- fgAPDataPtr APData;
- APData = APDataGlobal;
- APData->tgt_airport_id = id;
- FG_LOG( FG_AUTOPILOT, FG_INFO, "leaving fgAPset_tgt_airport_id "
- << APData->tgt_airport_id );
-};
-
-string fgAPget_tgt_airport_id( void ) {
- fgAPDataPtr APData = APDataGlobal;
- return APData->tgt_airport_id;
-};
-#endif
-
-void fgAPToggleHeading( void ) {
- // Remove at a later date
- fgAPDataPtr APData;
-
- APData = APDataGlobal;
- // end section
-
- if ( APData->heading_hold || APData->waypoint_hold ) {
- // turn off heading hold
- APData->heading_hold = false;
- APData->waypoint_hold = false;
- } else {
- // turn on heading hold, lock at current heading
- APData->heading_hold = true;
- APData->TargetHeading = fgAPget_heading();
- MakeTargetHeadingStr( APData, APData->TargetHeading );
- ApHeadingDialogInput -> setValue ((float)APData->TargetHeading );
- }
-
- get_control_values();
- FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetHeading: ("
- << APData->heading_hold << ") " << APData->TargetHeading );
-}
-
-void fgAPToggleWayPoint( void ) {
- // Remove at a later date
- fgAPDataPtr APData;
-
- APData = APDataGlobal;
- // end section
-
- if ( APData->waypoint_hold ) {
- // turn off location hold
- APData->waypoint_hold = false;
- // set heading hold to current heading
- // APData->heading_hold = true;
- APData->TargetHeading = fgAPget_heading();
- } else {
- double course, reverse, distance;
- // turn on location hold
- // turn on heading hold
- APData->old_lat = fgAPget_latitude();
- APData->old_lon = fgAPget_longitude();
-
- // need to test for iter
- if(!geo_inverse_wgs_84( fgAPget_altitude(),
- fgAPget_latitude(),
- fgAPget_longitude(),
- APData->TargetLatitude,
- APData->TargetLongitude,
- &course,
- &reverse,
- &distance ) ) {
- APData->TargetHeading = course;
- APData->TargetDistance = distance;
- MakeTargetDistanceStr( APData, distance );
- }
- // Force this !
- APData->waypoint_hold = true;
- APData->heading_hold = true;
- }
-
- // This changes the AutoPilot Heading
- // following cast needed
- ApHeadingDialogInput->setValue ((float)APData->TargetHeading );
- MakeTargetHeadingStr( APData, APData->TargetHeading );
-
- get_control_values();
-
- FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetLocation: ( "
- << APData->waypoint_hold << " "
- << APData->TargetLatitude << " "
- << APData->TargetLongitude << " ) "
- );
-}
-
-
-void fgAPToggleAltitude( void ) {
- // Remove at a later date
- fgAPDataPtr APData;
-
- APData = APDataGlobal;
- // end section
-
- if ( APData->altitude_hold ) {
- // turn off altitude hold
- APData->altitude_hold = false;
- } else {
- // turn on altitude hold, lock at current altitude
- APData->altitude_hold = true;
- APData->terrain_follow = false;
- APData->TargetAltitude = fgAPget_altitude();
- APData->alt_error_accum = 0.0;
- // alt_error_queue.erase( alt_error_queue.begin(),
- // alt_error_queue.end() );
- float target_alt = APData->TargetAltitude;
- if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET )
- target_alt *= METER_TO_FEET;
-
- ApAltitudeDialogInput->setValue(target_alt);
- MakeTargetAltitudeStr( APData, target_alt);
- }
-
- get_control_values();
- 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 = false;
- } else {
- // turn on terrain follow, lock at current agl
- APData->auto_throttle = true;
- APData->TargetSpeed = get_speed();
- APData->speed_error_accum = 0.0;
- }
-
- get_control_values();
- FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetAutoThrottle: ("
- << 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 = false;
- } else {
- // turn on terrain follow, lock at current agl
- APData->terrain_follow = true;
- APData->altitude_hold = false;
- APData->TargetAGL = fgAPget_agl();
- APData->alt_error_accum = 0.0;
- }
- get_control_values();
-
- FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetTerrainFollow: ("
- << APData->terrain_follow << ") " << APData->TargetAGL );
-}
-
-static double NormalizeDegrees( double Input ) {
- // normalize the input to the range (-180,180]
- // Input should not be greater than -360 to 360.
- // Current rules send the output to an undefined state.
- if ( Input > 180 )
- while(Input > 180 )
- Input -= 360;
- else if ( Input <= -180 )
- while ( Input <= -180 )
- Input += 360;
- return ( Input );
-};
-
-static 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
- //assert(x1 != x2); // Divide by zero error. Cold abort for now
-
- // Could be
- // static double y = 0.0;
- // double dx = x2 -x1;
- // if( (dx < -FG_EPSILON ) || ( dx > FG_EPSILON ) )
- // {
-
- double m, b, y; // the constants to find in y=mx+b
- // double m, b;
-
- m = ( y2 - y1 ) / ( x2 - x1 ); // calculate the m
-
- b = y1 - m * x1; // calculate the b
-
- y = m * x + b; // the final calculation
-
- // }
-
- return ( y );
-
-};
-
-
-/* Direct and inverse distance functions */
-/** Proceedings of the 7th International Symposium on Geodetic
- Computations, 1985
- "The Nested Coefficient Method for Accurate Solutions of Direct
- and
- Inverse Geodetic Problems With Any Length"
- Zhang Xue-Lian
- pp 747-763
- */
-/* modified for FlightGear to use WGS84 only Norman Vine */
-
-//#include "dstazfns.h"
-#include <math.h>
-#define GEOD_INV_PI (3.14159265358979323846)
-
-/* s == distance */
-/* az = azimuth */
-
-/* for WGS_84 a = 6378137.000, rf = 298.257223563; */
-
-static double M0( double e2 )
-{ //double e4 = e2*e2;
- return GEOD_INV_PI*(1.0 - e2*( 1.0/4.0 + e2*( 3.0/64.0 + e2*(5.0/256.0) )))/2.0;
-}
-/* s == distance */
-int geo_direct_wgs_84 ( double alt, double lat1, double lon1, double az1, double s,
- double *lat2, double *lon2, double *az2 )
-{
- double a = 6378137.000, rf = 298.257223563;
- double RADDEG = (GEOD_INV_PI)/180.0, testv = 1.0E-10;
- double f = ( rf > 0.0 ? 1.0/rf : 0.0 );
- double b = a*(1.0-f), e2 = f*(2.0-f);
- double phi1 = lat1*RADDEG, lam1 = lon1*RADDEG;
- double sinphi1 = sin(phi1), cosphi1 = cos(phi1);
- double azm1 = az1*RADDEG;
- double sinaz1 = sin(azm1), cosaz1 = cos(azm1);
-
-
- if( fabs(s) < 0.01 ) /* distance < centimeter => congruency */
- { *lat2 = lat1;
- *lon2 = lon1;
- *az2 = 180.0 + az1;
- if( *az2 > 360.0 ) *az2 -= 360.0;
- return 0;
- }
- else
- if( cosphi1 ) /* non-polar origin */
- { /* u1 is reduced latitude */
- double tanu1 = sqrt(1.0-e2)*sinphi1/cosphi1;
- double sig1 = atan2(tanu1,cosaz1);
- double cosu1 = 1.0/sqrt( 1.0 + tanu1*tanu1 ), sinu1 = tanu1*cosu1;
- double sinaz = cosu1*sinaz1, cos2saz = 1.0-sinaz*sinaz;
- double us = cos2saz*e2/(1.0-e2);
- /* Terms */
- double ta = 1.0+us*(4096.0+us*(-768.0+us*(320.0-175.0*us)))/16384.0,
- tb = us*(256.0+us*(-128.0+us*(74.0-47.0*us)))/1024.0,
- tc = 0;
- /* FIRST ESTIMATE OF SIGMA (SIG) */
- double first = s/(b*ta); /* !!*/
- double sig = first;
- double c2sigm, sinsig,cossig, temp,denom,rnumer, dlams, dlam;
- do
- { c2sigm = cos(2.0*sig1+sig);
- sinsig = sin(sig); cossig = cos(sig);
- temp = sig;
- sig = first +
- tb*sinsig*(c2sigm+tb*(cossig*(-1.0+2.0*pow(c2sigm,2.0)) -
- tb*c2sigm*(-3.0+4.0*pow(sinsig,2.0))*(-3.0+4.0*pow(c2sigm,2.0))/6.0)/4.0);
- }
- while( fabs(sig-temp) > testv);
- /* LATITUDE OF POINT 2 */
- /* DENOMINATOR IN 2 PARTS (TEMP ALSO USED LATER) */
- temp = sinu1*sinsig-cosu1*cossig*cosaz1;
- denom = (1.0-f)*sqrt(sinaz*sinaz+temp*temp);
- /* NUMERATOR */
- rnumer = sinu1*cossig+cosu1*sinsig*cosaz1;
- *lat2 = atan2(rnumer,denom)/RADDEG;
- /* DIFFERENCE IN LONGITUDE ON AUXILARY SPHERE (DLAMS ) */
- rnumer = sinsig*sinaz1;
- denom = cosu1*cossig-sinu1*sinsig*cosaz1;
- dlams = atan2(rnumer,denom);
- /* TERM C */
- tc = f*cos2saz*(4.0+f*(4.0-3.0*cos2saz))/16.0;
- /* DIFFERENCE IN LONGITUDE */
- dlam = dlams-(1.0-tc)*f*sinaz*(sig+tc*sinsig*(c2sigm+tc*cossig*(-1.0+2.0*
- pow(c2sigm,2.0))));
- *lon2 = (lam1+dlam)/RADDEG;
- if(*lon2 > 180.0 ) *lon2 -= 360.0;
- if(*lon2 < -180.0 ) *lon2 += 360.0;
- /* AZIMUTH - FROM NORTH */
- *az2 = atan2(-sinaz,temp)/RADDEG;
- if( fabs(*az2) < testv ) *az2 = 0.0;
- if( *az2 < 0.0) *az2 += 360.0;
- return 0;
- }
- else /* phi1 == 90 degrees, polar origin */
- { double dM = a*M0(e2) - s;
- double paz = ( phi1 < 0.0 ? 180.0 : 0.0 );
- return geo_direct_wgs_84( alt, 0.0, lon1, paz, dM,lat2,lon2,az2 );
- }
-}
-
-int geo_inverse_wgs_84( double alt, double lat1, double lon1, double lat2,
- double lon2, double *az1, double *az2, double *s )
-{
- double a = 6378137.000, rf = 298.257223563;
- int iter=0;
- double RADDEG = (GEOD_INV_PI)/180.0, testv = 1.0E-10;
- double f = ( rf > 0.0 ? 1.0/rf : 0.0 );
- double b = a*(1.0-f), e2 = f*(2.0-f);
- double phi1 = lat1*RADDEG, lam1 = lon1*RADDEG;
- double sinphi1 = sin(phi1), cosphi1 = cos(phi1);
- double phi2 = lat2*RADDEG, lam2 = lon2*RADDEG;
- double sinphi2 = sin(phi2), cosphi2 = cos(phi2);
-
- if( (fabs(lat1-lat2) < testv &&
- ( fabs(lon1-lon2) < testv) || fabs(lat1-90.0) < testv ) )
- { /* TWO STATIONS ARE IDENTICAL : SET DISTANCE & AZIMUTHS TO ZERO */
- *az1 = 0.0; *az2 = 0.0; *s = 0.0;
- return 0;
- } else
- if( fabs(cosphi1) < testv ) /* initial point is polar */
- {
- int k = geo_inverse_wgs_84( alt, lat2,lon2,lat1,lon1, az1,az2,s );
- b = *az1; *az1 = *az2; *az2 = b;
- return 0;
- } else
- if( fabs(cosphi2) < testv ) /* terminal point is polar */
- {
- int k = geo_inverse_wgs_84( alt, lat1,lon1,lat1,lon1+180.0,
- az1,az2,s );
- *s /= 2.0;
- *az2 = *az1 + 180.0;
- if( *az2 > 360.0 ) *az2 -= 360.0;
- return 0;
- } else /* Geodesic passes through the pole (antipodal) */
- if( (fabs( fabs(lon1-lon2) - 180 ) < testv) &&
- (fabs(lat1+lat2) < testv) )
- {
- double s1,s2;
- geo_inverse_wgs_84( alt, lat1,lon1, lat1,lon2, az1,az2, &s1 );
- geo_inverse_wgs_84( alt, lat2,lon2, lat1,lon2, az1,az2, &s2 );
- *az2 = *az1;
- *s = s1 + s2;
- return 0;
- } else /* antipodal and polar points don't get here */
- {
- double dlam = lam2 - lam1, dlams = dlam;
- double sdlams,cdlams, sig,sinsig,cossig, sinaz,
- cos2saz, c2sigm;
- double tc,temp, us,rnumer,denom, ta,tb;
- double cosu1,sinu1, sinu2,cosu2;
- /* Reduced latitudes */
- temp = (1.0-f)*sinphi1/cosphi1;
- cosu1 = 1.0/sqrt(1.0+temp*temp);
- sinu1 = temp*cosu1;
- temp = (1.0-f)*sinphi2/cosphi2;
- cosu2 = 1.0/sqrt(1.0+temp*temp);
- sinu2 = temp*cosu2;
-
- do {
- sdlams = sin(dlams), cdlams = cos(dlams);
- sinsig = sqrt(pow(cosu2*sdlams,2.0)+
- pow(cosu1*sinu2-sinu1*cosu2*cdlams,2.0));
- cossig = sinu1*sinu2+cosu1*cosu2*cdlams;
-
- sig = atan2(sinsig,cossig);
- sinaz = cosu1*cosu2*sdlams/sinsig;
- cos2saz = 1.0-sinaz*sinaz;
- c2sigm = (sinu1 == 0.0 || sinu2 == 0.0 ? cossig :
- cossig-2.0*sinu1*sinu2/cos2saz);
- tc = f*cos2saz*(4.0+f*(4.0-3.0*cos2saz))/16.0;
- temp = dlams;
- dlams = dlam+(1.0-tc)*f*sinaz*
- (sig+tc*sinsig*
- (c2sigm+tc*cossig*(-1.0+2.0*pow(c2sigm,2.0))));
- if (fabs(dlams) > GEOD_INV_PI && iter++ > 50)
- return iter;
- } while ( fabs(temp-dlams) > testv);
-
- us = cos2saz*(pow(a,2.0)-pow(b,2.0))/pow(b,2.0); /* !! */
- /* BACK AZIMUTH FROM NORTH */
- rnumer = -(cosu1*sdlams);
- denom = sinu1*cosu2-cosu1*sinu2*cdlams;
- *az2 = atan2(rnumer,denom)/RADDEG;
- if( fabs(*az2) < testv ) *az2 = 0.0;
- if(*az2 < 0.0) *az2 += 360.0;
- /* FORWARD AZIMUTH FROM NORTH */
- rnumer = cosu2*sdlams;
- denom = cosu1*sinu2-sinu1*cosu2*cdlams;
- *az1 = atan2(rnumer,denom)/RADDEG;
- if( fabs(*az1) < testv ) *az1 = 0.0;
- if(*az1 < 0.0) *az1 += 360.0;
- /* Terms a & b */
- ta = 1.0+us*(4096.0+us*(-768.0+us*(320.0-175.0*us)))/
- 16384.0;
- tb = us*(256.0+us*(-128.0+us*(74.0-47.0*us)))/1024.0;
- /* GEODETIC DISTANCE */
- *s = b*ta*(sig-tb*sinsig*
- (c2sigm+tb*(cossig*(-1.0+2.0*pow(c2sigm,2.0))-tb*
- c2sigm*(-3.0+4.0*pow(sinsig,2.0))*
- (-3.0+4.0*pow(c2sigm,2.0))/6.0)/
- 4.0));
- return 0;
- }
+ if( !_serviceable || dt <= SGLimitsd::min() )
+ return;
+ SGSubsystemGroup::update( dt );
}
projects / flightgear.git / blobdiff