-// autopilot.hxx -- autopilot defines and prototypes (very alpha)
+// autopilot.hxx - 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.
//
-// $Id$
-
-
-#ifndef _AUTOPILOT_HXX
-#define _AUTOPILOT_HXX
+#ifndef __AUTOPILOT_HXX
+#define __AUTOPILOT_HXX 1
-#include <simgear/compiler.h>
-
-#include STL_STRING
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
-#include <string.h>
+#include "component.hxx"
-#include <Aircraft/aircraft.hxx>
-#include <FDM/flight.hxx>
-#include <Controls/controls.hxx>
-
-FG_USING_STD(string);
+#include <simgear/props/props.hxx>
+#include <simgear/structure/subsystem_mgr.hxx>
-
-// Structures
-typedef struct {
- bool waypoint_hold; // the current state of the target hold
- bool heading_hold; // the current state of the heading hold
- bool altitude_hold; // the current state of the altitude hold
- bool terrain_follow; // the current state of the terrain follower
- bool auto_throttle; // the current state of the auto throttle
+namespace FGXMLAutopilot {
- double TargetLatitude; // the latitude the AP should steer to.
- double TargetLongitude; // the longitude the AP should steer to.
- double TargetDistance; // the distance to Target.
- double TargetHeading; // the heading the AP should steer to.
- double TargetAltitude; // altitude to hold
- double TargetAGL; // the terrain separation
- double TargetClimbRate; // climb rate to shoot for
- double TargetSpeed; // speed to shoot for
- double alt_error_accum; // altitude error accumulator
- double speed_error_accum; // speed error accumulator
+/**
+ * @brief A SGSubsystemGroup implementation to serve as a collection
+ * of Components
+ */
+class Autopilot : public SGSubsystemGroup
+{
+public:
+ Autopilot( SGPropertyNode_ptr rootNode, SGPropertyNode_ptr configNode = NULL );
+ ~Autopilot();
- double TargetSlope; // the glide slope hold value
-
- double MaxRoll ; // the max the plane can roll for the turn
- double RollOut; // when the plane should roll out
- // measured from Heading
- double MaxAileron; // how far to move the aleroin from center
- double RollOutSmooth; // deg to use for smoothing Aileron Control
- double MaxElevator; // the maximum elevator allowed
- double SlopeSmooth; // smoothing angle for elevator
-
- // following for testing disengagement of autopilot
- // apon pilot interaction with controls
- double old_aileron;
- double old_elevator;
- double old_elevator_trim;
- double old_rudder;
-
- // manual controls override beyond this value
- double disengage_threshold;
+ void bind();
+ void unbind();
+ void update( double dt );
- // For future cross track error adjust
- double old_lat;
- double old_lon;
+ void set_serviceable( bool value ) { _serviceable = value; }
+ bool is_serviceable() const { return _serviceable; }
- // keeping these locally to save work inside main loop
- char TargetLatitudeStr[64];
- char TargetLongitudeStr[64];
- char TargetLatLonStr[64];
- char TargetDistanceStr[64];
- char TargetHeadingStr[64];
- char TargetAltitudeStr[64];
- // char jnk[32];
- // using current_options.airport_id for now
- // string tgt_airport_id; // ID of initial starting airport
-} fgAPData, *fgAPDataPtr ;
-
+ std::string get_name() const { return _name; }
+ void set_name( std::string & name ) { _name = name; }
-// Defines
-#define AP_CURRENT_HEADING -1
+ void add_component( Component * component );
+protected:
-// prototypes
-void fgAPInit( fgAIRCRAFT *current_aircraft );
-int fgAPRun( void );
+private:
+ std::string _name;
+ bool _serviceable;
+ SGPropertyNode_ptr _rootNode;
+};
-void fgAPToggleWayPoint( void );
-void fgAPToggleHeading( void );
-void fgAPToggleAltitude( void );
-void fgAPToggleTerrainFollow( void );
-void fgAPToggleAutoThrottle( void );
+}
-bool fgAPTerrainFollowEnabled( void );
-bool fgAPAltitudeEnabled( void );
-bool fgAPHeadingEnabled( void );
-bool fgAPWayPointEnabled( void );
-bool fgAPAutoThrottleEnabled( void );
-
-void fgAPAltitudeAdjust( double inc );
-void fgAPHeadingAdjust( double inc );
-void fgAPAutoThrottleAdjust( double inc );
-
-void fgAPHeadingSet( double value );
-
-double fgAPget_TargetLatitude( void );
-double fgAPget_TargetLongitude( void );
-double fgAPget_TargetHeading( void );
-double fgAPget_TargetDistance( void );
-double fgAPget_TargetAltitude( void );
-
-char *fgAPget_TargetLatitudeStr( void );
-char *fgAPget_TargetLongitudeStr( void );
-char *fgAPget_TargetDistanceStr( void );
-char *fgAPget_TargetHeadingStr( void );
-char *fgAPget_TargetAltitudeStr( void );
-char *fgAPget_TargetLatLonStr( void );
-
-//void fgAPset_tgt_airport_id( const string );
-//string fgAPget_tgt_airport_id( void );
-
-void fgAPReset(void);
-
-int geo_inverse_wgs_84( double alt,
- double lat1, double lon1,
- double lat2, double lon2,
- double *az1, double *az2,
- double *s );
-
-int geo_direct_wgs_84( double alt,
- double lat1, double lon1,
- double az1, double s,
- double *lat2, double *lon2,
- double *az2 );
-
-class puObject;
-void fgAPAdjust( puObject * );
-
-#endif // _AUTOPILOT_HXX
+#endif // __AUTOPILOT_HXX 1
projects / flightgear.git / blobdiff