#endif
#include <stdio.h> // sprintf()
+#include <string.h> // strcmp()
#include <simgear/constants.h>
+#include <simgear/sg_inlines.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/math/sg_random.h>
+#include <simgear/route/route.hxx>
#include <Cockpit/steam.hxx>
#include <Cockpit/radiostack.hxx>
#include <Controls/controls.hxx>
#include <FDM/flight.hxx>
-#include <Main/bfi.hxx>
#include <Main/globals.hxx>
#include <Scenery/scenery.hxx>
#include "newauto.hxx"
-FGAutopilot *current_autopilot;
-
-
-// Climb speed constants
-const double min_climb = 70.0; // kts
-const double best_climb = 75.0; // kts
-// const double ideal_climb_rate = 500.0 * SG_FEET_TO_METER; // fpm -> mpm
-// const double ideal_decent_rate = 1000.0 * SG_FEET_TO_METER; // fpm -> mpm
-
/// These statics will eventually go into the class
/// they are just here while I am experimenting -- NHV :-)
// AutoPilot Gain Adjuster members
// constructor
-FGAutopilot::FGAutopilot():
-TargetClimbRate(1000 * SG_FEET_TO_METER)
+FGAutopilot::FGAutopilot()
{
}
void FGAutopilot::MakeTargetHeadingStr( double bearing ) {
- if( bearing < 0. ) {
+ if ( bearing < 0. ) {
bearing += 360.;
} else if (bearing > 360. ) {
bearing -= 360.;
static inline double get_ground_speed() {
// starts in ft/s so we convert to kts
+ static const SGPropertyNode * speedup_node = fgGetNode("/sim/speed-up");
+
double ft_s = cur_fdm_state->get_V_ground_speed()
- * fgGetInt("/sim/speed-up"); // FIXME: inefficient
+ * speedup_node->getIntValue();
double kts = ft_s * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM;
return kts;
sprintf( TargetWP1Str, "%s %.2f NM ETA %d:%02d",
wp1.get_id().c_str(),
accum*SG_METER_TO_NM, major, minor );
- // cout << "distance = " << distance*SG_METER_TO_NM
- // << " gndsp = " << get_ground_speed()
- // << " time = " << eta
- // << " major = " << major
- // << " minor = " << minor
- // << endl;
}
// next route
void FGAutopilot::update_old_control_values() {
- old_aileron = controls.get_aileron();
- old_elevator = controls.get_elevator();
- old_elevator_trim = controls.get_elevator_trim();
- old_rudder = controls.get_rudder();
+ old_aileron = globals->get_controls()->get_aileron();
+ old_elevator = globals->get_controls()->get_elevator();
+ old_elevator_trim = globals->get_controls()->get_elevator_trim();
+ old_rudder = globals->get_controls()->get_rudder();
}
// Initialize autopilot subsystem
-void FGAutopilot::init() {
+
+void FGAutopilot::init ()
+{
SG_LOG( SG_AUTOPILOT, SG_INFO, "Init AutoPilot Subsystem" );
+ // bind data input property nodes...
+ latitude_node = fgGetNode("/position/latitude-deg", true);
+ longitude_node = fgGetNode("/position/longitude-deg", true);
+ altitude_node = fgGetNode("/position/altitude-ft", true);
+ altitude_agl_node = fgGetNode("/position/altitude-agl-ft", true);
+ vertical_speed_node = fgGetNode("/velocities/vertical-speed-fps", true);
+ heading_node = fgGetNode("/orientation/heading-deg", true);
+ roll_node = fgGetNode("/orientation/roll-deg", true);
+ pitch_node = fgGetNode("/orientation/pitch-deg", true);
+
+
+
+ // bind config property nodes...
+ TargetClimbRate
+ = fgGetNode("/autopilot/config/target-climb-rate-fpm", true);
+ TargetDescentRate
+ = fgGetNode("/autopilot/config/target-descent-rate-fpm", true);
+ min_climb = fgGetNode("/autopilot/config/min-climb-speed-kt", true);
+ best_climb = fgGetNode("/autopilot/config/best-climb-speed-kt", true);
+ elevator_adj_factor
+ = fgGetNode("/autopilot/config/elevator-adj-factor", true);
+ integral_contrib
+ = fgGetNode("/autopilot/config/integral-contribution", true);
+ zero_pitch_throttle
+ = fgGetNode("/autopilot/config/zero-pitch-throttle", true);
+ zero_pitch_trim_full_throttle
+ = fgGetNode("/autopilot/config/zero-pitch-trim-full-throttle", true);
+ max_aileron_node = fgGetNode("/autopilot/config/max-aileron", true);
+ max_roll_node = fgGetNode("/autopilot/config/max-roll-deg", true);
+ roll_out_node = fgGetNode("/autopilot/config/roll-out-deg", true);
+ roll_out_smooth_node = fgGetNode("/autopilot/config/roll-out-smooth-deg", true);
+
+ current_throttle = fgGetNode("/controls/throttle");
+
+ // initialize config properties with defaults (in case config isn't there)
+ if ( TargetClimbRate->getFloatValue() < 1 )
+ fgSetFloat( "/autopilot/config/target-climb-rate-fpm", 500);
+ if ( TargetDescentRate->getFloatValue() < 1 )
+ fgSetFloat( "/autopilot/config/target-descent-rate-fpm", 1000 );
+ if ( min_climb->getFloatValue() < 1)
+ fgSetFloat( "/autopilot/config/min-climb-speed-kt", 70 );
+ if (best_climb->getFloatValue() < 1)
+ fgSetFloat( "/autopilot/config/best-climb-speed-kt", 120 );
+ if (elevator_adj_factor->getFloatValue() < 1)
+ fgSetFloat( "/autopilot/config/elevator-adj-factor", 5000 );
+ if ( integral_contrib->getFloatValue() < 0.0000001 )
+ fgSetFloat( "/autopilot/config/integral-contribution", 0.01 );
+ if ( zero_pitch_throttle->getFloatValue() < 0.0000001 )
+ fgSetFloat( "/autopilot/config/zero-pitch-throttle", 0.60 );
+ if ( zero_pitch_trim_full_throttle->getFloatValue() < 0.0000001 )
+ fgSetFloat( "/autopilot/config/zero-pitch-trim-full-throttle", 0.15 );
+ if ( max_aileron_node->getFloatValue() < 0.0000001 )
+ fgSetFloat( "/autopilot/config/max-aileron", 0.2 );
+ if ( max_roll_node->getFloatValue() < 0.0000001 )
+ fgSetFloat( "/autopilot/config/max-roll-deg", 20 );
+ if ( roll_out_node->getFloatValue() < 0.0000001 )
+ fgSetFloat( "/autopilot/config/roll-out-deg", 20 );
+ if ( roll_out_smooth_node->getFloatValue() < 0.0000001 )
+ fgSetFloat( "/autopilot/config/roll-out-smooth-deg", 10 );
+
+ /* set defaults */
heading_hold = false ; // turn the heading hold off
altitude_hold = false ; // turn the altitude hold off
auto_throttle = false ; // turn the auto throttle off
heading_mode = DEFAULT_AP_HEADING_LOCK;
+ altitude_mode = DEFAULT_AP_ALTITUDE_LOCK;
- sg_srandom_time();
- DGTargetHeading = sg_random() * 360.0;
+ DGTargetHeading = fgGetDouble("/autopilot/settings/heading-bug-deg");
+ TargetHeading = fgGetDouble("/autopilot/settings/heading-bug-deg");
+ TargetAltitude = fgGetDouble("/autopilot/settings/altitude-ft") * SG_FEET_TO_METER;
// Initialize target location to startup location
- old_lat = FGBFI::getLatitude();
- old_lon = FGBFI::getLongitude();
+ old_lat = latitude_node->getDoubleValue();
+ old_lon = longitude_node->getDoubleValue();
// set_WayPoint( old_lon, old_lat, 0.0, "default" );
MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() );
- TargetHeading = 0.0; // default direction, due north
- TargetAltitude = 3000; // default altitude in meters
alt_error_accum = 0.0;
climb_error_accum = 0.0;
// the deg from heading to start rolling out at, in Deg
RollOut = 20;
- // how far can I move the aleron from center.
- MaxAileron = .2;
-
// Smoothing distance for alerion control
RollOutSmooth = 10;
#if !defined( USING_SLIDER_CLASS )
MaxRollAdjust = 2 * MaxRoll;
RollOutAdjust = 2 * RollOut;
- MaxAileronAdjust = 2 * MaxAileron;
+ //MaxAileronAdjust = 2 * MaxAileron;
RollOutSmoothAdjust = 2 * RollOutSmooth;
#endif // !defined( USING_SLIDER_CLASS )
update_old_control_values();
-
- // Initialize GUI components of autopilot
- // NewTgtAirportInit();
- // fgAPAdjustInit() ;
- // NewHeadingInit();
- // NewAltitudeInit();
};
+void
+FGAutopilot::bind ()
+{
+ // Autopilot control property get/set bindings
+ fgTie("/autopilot/locks/altitude", this,
+ &FGAutopilot::getAPAltitudeLock, &FGAutopilot::setAPAltitudeLock);
+ fgSetArchivable("/autopilot/locks/altitude");
+ fgTie("/autopilot/settings/altitude-ft", this,
+ &FGAutopilot::getAPAltitude, &FGAutopilot::setAPAltitude);
+ fgSetArchivable("/autopilot/settings/altitude-ft");
+ fgTie("/autopilot/locks/glide-slope", this,
+ &FGAutopilot::getAPGSLock, &FGAutopilot::setAPGSLock);
+ fgSetArchivable("/autopilot/locks/glide-slope");
+ fgSetDouble("/autopilot/settings/altitude-ft", 3000.0f);
+ fgTie("/autopilot/locks/terrain", this,
+ &FGAutopilot::getAPTerrainLock, &FGAutopilot::setAPTerrainLock);
+ fgSetArchivable("/autopilot/locks/terrain");
+ fgTie("/autopilot/settings/climb-rate-fpm", this,
+ &FGAutopilot::getAPClimb, &FGAutopilot::setAPClimb, false);
+ fgSetArchivable("/autopilot/settings/climb-rate-fpm");
+ fgTie("/autopilot/locks/heading", this,
+ &FGAutopilot::getAPHeadingLock, &FGAutopilot::setAPHeadingLock);
+ fgSetArchivable("/autopilot/locks/heading");
+ fgTie("/autopilot/settings/heading-bug-deg", this,
+ &FGAutopilot::getAPHeadingBug, &FGAutopilot::setAPHeadingBug);
+ fgSetArchivable("/autopilot/settings/heading-bug-deg");
+ fgSetDouble("/autopilot/settings/heading-bug-deg", 0.0f);
+ fgTie("/autopilot/locks/wing-leveler", this,
+ &FGAutopilot::getAPWingLeveler, &FGAutopilot::setAPWingLeveler);
+ fgSetArchivable("/autopilot/locks/wing-leveler");
+ fgTie("/autopilot/locks/nav[0]", this,
+ &FGAutopilot::getAPNAV1Lock, &FGAutopilot::setAPNAV1Lock);
+ fgSetArchivable("/autopilot/locks/nav[0]");
+ fgTie("/autopilot/locks/auto-throttle", this,
+ &FGAutopilot::getAPAutoThrottleLock,
+ &FGAutopilot::setAPAutoThrottleLock);
+ fgSetArchivable("/autopilot/locks/auto-throttle");
+ fgTie("/autopilot/control-overrides/rudder", this,
+ &FGAutopilot::getAPRudderControl,
+ &FGAutopilot::setAPRudderControl);
+ fgSetArchivable("/autopilot/control-overrides/rudder");
+ fgTie("/autopilot/control-overrides/elevator", this,
+ &FGAutopilot::getAPElevatorControl,
+ &FGAutopilot::setAPElevatorControl);
+ fgSetArchivable("/autopilot/control-overrides/elevator");
+ fgTie("/autopilot/control-overrides/throttle", this,
+ &FGAutopilot::getAPThrottleControl,
+ &FGAutopilot::setAPThrottleControl);
+ fgSetArchivable("/autopilot/control-overrides/throttle");
+}
+
+void
+FGAutopilot::unbind ()
+{
+}
// Reset the autopilot system
void FGAutopilot::reset() {
update_old_control_values();
- sprintf( NewTgtAirportId, "%s", fgGetString("/sim/startup/airport-id").c_str() );
+ sprintf( NewTgtAirportId, "%s", fgGetString("/sim/startup/airport-id") );
- // TargetLatitude = FGBFI::getLatitude();
- // TargetLongitude = FGBFI::getLongitude();
- // set_WayPoint( FGBFI::getLongitude(), FGBFI::getLatitude(), 0.0, "reset" );
-
MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() );
}
// 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 );
+ while ( Input > 180.0 ) { Input -= 360.0; }
+ while ( Input <= -180.0 ) { Input += 360.0; }
+
+ return Input;
};
static double LinearExtrapolate( double x, double x1, double y1, double x2, double y2 ) {
};
-int FGAutopilot::run() {
+void
+FGAutopilot::update (double dt)
+{
// Remove the following lines when the calling funcitons start
// passing in the data pointer
// get control settings
- // double aileron = FGBFI::getAileron();
- // double elevator = FGBFI::getElevator();
- // double elevator_trim = FGBFI::getElevatorTrim();
- // double rudder = FGBFI::getRudder();
- double lat = FGBFI::getLatitude();
- double lon = FGBFI::getLongitude();
- double alt = FGBFI::getAltitude() * SG_FEET_TO_METER;
-
+ double lat = latitude_node->getDoubleValue();
+ double lon = longitude_node->getDoubleValue();
+ double alt = altitude_node->getDoubleValue() * SG_FEET_TO_METER;
+
+ // get config settings
+ MaxAileron = max_aileron_node->getDoubleValue();
+ MaxRoll = max_roll_node->getDoubleValue();
+ RollOut = roll_out_node->getDoubleValue();
+ RollOutSmooth = roll_out_smooth_node->getDoubleValue();
+
+ SG_LOG( SG_ALL, SG_DEBUG, "FGAutopilot::run() lat = " << lat <<
+ " lon = " << lon << " alt = " << alt );
+
#ifdef FG_FORCE_AUTO_DISENGAGE
// see if somebody else has changed them
if( fabs(aileron - old_aileron) > disengage_threshold ||
// heading hold
if ( heading_hold == true ) {
if ( heading_mode == FG_DG_HEADING_LOCK ) {
- // cout << "DG heading = " << FGSteam::get_DG_deg()
- // << " DG error = " << FGSteam::get_DG_err() << endl;
-
TargetHeading = DGTargetHeading + FGSteam::get_DG_err();
while ( TargetHeading < 0.0 ) { TargetHeading += 360.0; }
while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; }
double adjustment =
current_radiostack->get_nav1_heading_needle_deflection()
* (current_radiostack->get_nav1_loc_dist() * SG_METER_TO_NM);
- if ( adjustment < -30.0 ) { adjustment = -30.0; }
- if ( adjustment > 30.0 ) { adjustment = 30.0; }
+ SG_CLAMP_RANGE( adjustment, -30.0, 30.0 );
+
+ // clamp closer when inside cone when beyond 5km...
+ if (current_radiostack->get_nav1_loc_dist() > 5000) {
+ double clamp_angle = fabs(current_radiostack->get_nav1_heading_needle_deflection()) * 3;
+ if (clamp_angle < 30)
+ SG_CLAMP_RANGE( adjustment, -clamp_angle, clamp_angle);
+ }
// determine the target heading to fly to intercept the
// tgt_radial
while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; }
MakeTargetHeadingStr( TargetHeading );
- // cout << "target course (true) = " << TargetHeading << endl;
} else if ( heading_mode == FG_HEADING_WAYPOINT ) {
// update target heading to waypoint
// corrected_course = course - wp_course;
TargetHeading = NormalizeDegrees(wp_course);
} else {
- cout << "Reached waypoint within " << wp_distance << "meters"
- << endl;
-
// pop off this waypoint from the list
if ( globals->get_route()->size() ) {
globals->get_route()->delete_first();
// end of the line
heading_mode = FG_TRUE_HEADING_LOCK;
// use current heading
- TargetHeading = FGBFI::getHeading();
+ TargetHeading = heading_node->getDoubleValue();
}
}
MakeTargetHeadingStr( TargetHeading );
if ( heading_mode == FG_TC_HEADING_LOCK ) {
// drive the turn coordinator to zero
double turn = FGSteam::get_TC_std();
- // cout << "turn rate = " << turn << endl;
double AileronSet = -turn / 2.0;
- if ( AileronSet < -1.0 ) { AileronSet = -1.0; }
- if ( AileronSet > 1.0 ) { AileronSet = 1.0; }
- controls.set_aileron( AileronSet );
- controls.set_rudder( AileronSet / 4.0 );
+ SG_CLAMP_RANGE( AileronSet, -1.0, 1.0 );
+ globals->get_controls()->set_aileron( AileronSet );
+ globals->get_controls()->set_rudder( AileronSet / 4.0 );
} else {
// steer towards the target heading
double AileronSet;
RelHeading
- = NormalizeDegrees( TargetHeading - FGBFI::getHeading() );
+ = NormalizeDegrees( TargetHeading
+ - heading_node->getDoubleValue() );
// figure out how far off we are from desired heading
// Now it is time to deterime how far we should be rolled.
- SG_LOG( SG_AUTOPILOT, SG_DEBUG, "RelHeading: " << RelHeading );
-
+ SG_LOG( SG_AUTOPILOT, SG_DEBUG,
+ "Heading = " << heading_node->getDoubleValue() <<
+ " TargetHeading = " << TargetHeading <<
+ " RelHeading = " << RelHeading );
// Check if we are further from heading than the roll out point
if ( fabs( RelHeading ) > RollOut ) {
SG_LOG( SG_COCKPIT, SG_BULK, "TargetRoll: " << TargetRoll );
- RelRoll = NormalizeDegrees( TargetRoll - FGBFI::getRoll() );
+ RelRoll = NormalizeDegrees( TargetRoll
+ - roll_node->getDoubleValue() );
// Check if we are further from heading than the roll out
// smooth point
MaxAileron );
}
- controls.set_aileron( AileronSet );
- controls.set_rudder( AileronSet / 4.0 );
+ globals->get_controls()->set_aileron( AileronSet );
+ globals->get_controls()->set_rudder( AileronSet / 4.0 );
// controls.set_rudder( 0.0 );
}
}
double prop_adj, int_adj, total_adj;
if ( altitude_mode == FG_ALTITUDE_LOCK ) {
- // normal altitude hold
- // cout << "TargetAltitude = " << TargetAltitude
- // << "Altitude = " << FGBFI::getAltitude() * SG_FEET_TO_METER
- // << endl;
climb_rate =
( TargetAltitude - FGSteam::get_ALT_ft() * SG_FEET_TO_METER ) * 8.0;
} else if ( altitude_mode == FG_ALTITUDE_GS1 ) {
double x = current_radiostack->get_nav1_gs_dist();
- double y = (FGBFI::getAltitude()
+ double y = (altitude_node->getDoubleValue()
- current_radiostack->get_nav1_elev()) * SG_FEET_TO_METER;
double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
- // cout << "current angle = " << current_angle << endl;
double target_angle = current_radiostack->get_nav1_target_gs();
- // cout << "target angle = " << target_angle << endl;
double gs_diff = target_angle - current_angle;
- // cout << "difference from desired = " << gs_diff << endl;
// convert desired vertical path angle into a climb rate
double des_angle = current_angle - 10 * gs_diff;
- // cout << "desired angle = " << des_angle << endl;
// convert to meter/min
- // cout << "raw ground speed = " << cur_fdm_state->get_V_ground_speed() << endl;
double horiz_vel = cur_fdm_state->get_V_ground_speed()
* SG_FEET_TO_METER * 60.0;
- // cout << "Horizontal vel = " << horiz_vel << endl;
climb_rate = -sin( des_angle * SGD_DEGREES_TO_RADIANS ) * horiz_vel;
- // cout << "climb_rate = " << climb_rate << endl;
/* climb_error_accum += gs_diff * 2.0; */
/* climb_rate = gs_diff * 200.0 + climb_error_accum; */
} else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
// brain dead ground hugging with no look ahead
climb_rate =
- ( TargetAGL - FGBFI::getAGL()*SG_FEET_TO_METER ) * 16.0;
- // cout << "target agl = " << TargetAGL
- // << " current agl = " << fgAPget_agl()
- // << " target climb rate = " << climb_rate
- // << endl;
+ ( TargetAGL - altitude_agl_node->getDoubleValue()
+ * SG_FEET_TO_METER ) * 16.0;
} else {
// just try to zero out rate of climb ...
climb_rate = 0.0;
speed = get_speed();
- if ( speed < min_climb ) {
+ if ( speed < min_climb->getFloatValue() ) {
max_climb = 0.0;
- } else if ( speed < best_climb ) {
- max_climb = ((best_climb - min_climb) - (best_climb - speed))
- * fabs(TargetClimbRate)
- / (best_climb - min_climb);
+ } else if ( speed < best_climb->getFloatValue() ) {
+ max_climb = ((best_climb->getFloatValue()
+ - min_climb->getFloatValue())
+ - (best_climb->getFloatValue() - speed))
+ * fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER)
+ / (best_climb->getFloatValue() - min_climb->getFloatValue());
} else {
- max_climb = ( speed - best_climb ) * 10.0 + fabs(TargetClimbRate);
+ max_climb = ( speed - best_climb->getFloatValue() ) * 10.0
+ + fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER);
}
// this first one could be optional if we wanted to allow
// better climb performance assuming we have the airspeed to
// support it.
- if ( climb_rate > fabs(TargetClimbRate) ) {
- climb_rate = fabs(TargetClimbRate);
+ if ( climb_rate >
+ fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER) ) {
+ climb_rate
+ = fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER);
}
if ( climb_rate > max_climb ) {
climb_rate = max_climb;
}
- if ( climb_rate < -fabs(TargetClimbRate) ) {
- climb_rate = -fabs(TargetClimbRate);
+ if ( climb_rate <
+ -fabs(TargetDescentRate->getFloatValue() * SG_FEET_TO_METER) ) {
+ climb_rate
+ = -fabs(TargetDescentRate->getFloatValue() * SG_FEET_TO_METER);
}
- // cout << "Target climb rate = " << TargetClimbRate << endl;
- // cout << "given our speed, modified desired climb rate = "
- // << climb_rate * SG_METER_TO_FEET
- // << " fpm" << endl;
- error = FGBFI::getVerticalSpeed() * SG_FEET_TO_METER - climb_rate;
- // cout << "climb rate = " << FGBFI::getVerticalSpeed()
- // << " vsi rate = " << FGSteam::get_VSI_fps() << endl;
+ error = vertical_speed_node->getDoubleValue() * 60
+ - climb_rate * SG_METER_TO_FEET;
// accumulate the error under the curve ... this really should
// be *= delta t
// calculate integral error, and adjustment amount
int_error = alt_error_accum;
// printf("error = %.2f int_error = %.2f\n", error, int_error);
- int_adj = int_error / 20000.0;
+
+ // scale elev_adj_factor by speed of aircraft in relation to min climb
+ double elev_adj_factor = elevator_adj_factor->getFloatValue();
+ elev_adj_factor *=
+ pow(float(speed / min_climb->getFloatValue()), 3.0f);
+
+ int_adj = int_error / elev_adj_factor;
// caclulate proportional error
prop_error = error;
- prop_adj = prop_error / 2000.0;
+ prop_adj = prop_error / elev_adj_factor;
- 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;
- // }
- if ( total_adj > 1.0 ) {
- total_adj = 1.0;
- } else if ( total_adj < -1.0 ) {
- total_adj = -1.0;
- }
+ total_adj = ((double) 1.0 - (double) integral_contrib->getFloatValue()) * prop_adj
+ + (double) integral_contrib->getFloatValue() * int_adj;
+
+ // stop on autopilot trim at 30% +/-
+// if ( total_adj > 0.3 ) {
+// total_adj = 0.3;
+// } else if ( total_adj < -0.3 ) {
+// total_adj = -0.3;
+// }
+
+ // adjust for throttle pitch gain
+ total_adj += ((current_throttle->getFloatValue() - zero_pitch_throttle->getFloatValue())
+ / (1 - zero_pitch_throttle->getFloatValue()))
+ * zero_pitch_trim_full_throttle->getFloatValue();
- controls.set_elevator( total_adj );
+ globals->get_controls()->set_elevator_trim( total_adj );
}
// auto throttle
total_adj = 0.0;
}
- controls.set_throttle( FGControls::ALL_ENGINES, total_adj );
+ globals->get_controls()->set_throttle( FGControls::ALL_ENGINES,
+ total_adj );
}
#ifdef THIS_CODE_IS_NOT_USED
// stash this runs control settings
// update_old_control_values();
- old_aileron = controls.get_aileron();
- old_elevator = controls.get_elevator();
- old_elevator_trim = controls.get_elevator_trim();
- old_rudder = controls.get_rudder();
+ old_aileron = globals->get_controls()->get_aileron();
+ old_elevator = globals->get_controls()->get_elevator();
+ old_elevator_trim = globals->get_controls()->get_elevator_trim();
+ old_rudder = globals->get_controls()->get_rudder();
// for cross track error
old_lat = lat;
old_lon = lon;
- // Ok, we are done
- return 0;
+ // Ok, we are done
+ SG_LOG( SG_ALL, SG_DEBUG, "FGAutopilot::run( returns )" );
}
// set autopilot to hold a zero turn (as reported by the TC)
} else if ( heading_mode == FG_TRUE_HEADING_LOCK ) {
// set heading hold to current heading
- TargetHeading = FGBFI::getHeading();
+ TargetHeading = heading_node->getDoubleValue();
} else if ( heading_mode == FG_HEADING_WAYPOINT ) {
if ( globals->get_route()->size() ) {
double course, distance;
- old_lat = FGBFI::getLatitude();
- old_lon = FGBFI::getLongitude();
+ old_lat = latitude_node->getDoubleValue();
+ old_lon = longitude_node->getDoubleValue();
waypoint = globals->get_route()->get_first();
- waypoint.CourseAndDistance( FGBFI::getLongitude(),
- FGBFI::getLatitude(),
- FGBFI::getLatitude() * SG_FEET_TO_METER,
+ waypoint.CourseAndDistance( longitude_node->getDoubleValue(),
+ latitude_node->getDoubleValue(),
+ altitude_node->getDoubleValue()
+ * SG_FEET_TO_METER,
&course, &distance );
TargetHeading = course;
TargetDistance = distance;
} else {
// no more way points, default to heading lock.
heading_mode = FG_TC_HEADING_LOCK;
- // TargetHeading = FGBFI::getHeading();
}
}
alt_error_accum = 0.0;
+
if ( altitude_mode == FG_ALTITUDE_LOCK ) {
- if ( TargetAltitude < FGBFI::getAGL() * SG_FEET_TO_METER ) {
- // TargetAltitude = FGBFI::getAltitude() * SG_FEET_TO_METER;
+ if ( TargetAltitude < altitude_agl_node->getDoubleValue()
+ * SG_FEET_TO_METER ) {
}
- if ( fgGetString("/sim/startup/units") == "feet" ) {
+ if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
MakeTargetAltitudeStr( TargetAltitude * SG_METER_TO_FEET );
} else {
MakeTargetAltitudeStr( TargetAltitude * SG_METER_TO_FEET );
climb_error_accum = 0.0;
} else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
- TargetAGL = FGBFI::getAGL() * SG_FEET_TO_METER;
+ TargetAGL = altitude_agl_node->getDoubleValue() * SG_FEET_TO_METER;
- if ( fgGetString("/sim/startup/units") == "feet" ) {
+ if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
MakeTargetAltitudeStr( TargetAGL * SG_METER_TO_FEET );
} else {
MakeTargetAltitudeStr( TargetAGL * SG_METER_TO_FEET );
}
-#if 0
-static inline double get_aoa( void ) {
- return( cur_fdm_state->get_Gamma_vert_rad() * SGD_RADIANS_TO_DEGREES );
-}
-
-static inline double fgAPget_latitude( void ) {
- return( cur_fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES );
-}
-
-static inline double fgAPget_longitude( void ) {
- return( cur_fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES );
-}
-
-static inline double fgAPget_roll( void ) {
- return( cur_fdm_state->get_Phi() * SGD_RADIANS_TO_DEGREES );
-}
-
-static inline double get_pitch( void ) {
- return( cur_fdm_state->get_Theta() );
-}
-
-double fgAPget_heading( void ) {
- return( cur_fdm_state->get_Psi() * SGD_RADIANS_TO_DEGREES );
-}
-
-static inline double fgAPget_altitude( void ) {
- return( cur_fdm_state->get_Altitude() * SG_FEET_TO_METER );
-}
-
-static inline double fgAPget_climb( void ) {
- // return in meters per minute
- return( cur_fdm_state->get_Climb_Rate() * SG_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() * SG_FEET_TO_METER
- - scenery.cur_elev;
-
- return( agl );
-}
-#endif
-
-
void FGAutopilot::AltitudeSet( double new_altitude ) {
double target_alt = new_altitude;
- // cout << "new altitude = " << new_altitude << endl;
-
- if ( fgGetString("/sim/startup/units") == "feet" ) {
+ if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
target_alt = new_altitude * SG_FEET_TO_METER;
}
- if( target_alt < scenery.cur_elev ) {
- target_alt = scenery.cur_elev;
+ if( target_alt < globals->get_scenery()->get_cur_elev() ) {
+ target_alt = globals->get_scenery()->get_cur_elev();
}
TargetAltitude = target_alt;
altitude_mode = FG_ALTITUDE_LOCK;
- // cout << "TargetAltitude = " << TargetAltitude << endl;
-
- if ( fgGetString("/sim/startup/units") == "feet" ) {
+ if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
target_alt *= SG_METER_TO_FEET;
}
// ApAltitudeDialogInput->setValue((float)target_alt);
{
double target_alt, target_agl;
- if ( fgGetString("/sim/startup/units") == "feet" ) {
+ if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
target_alt = TargetAltitude * SG_METER_TO_FEET;
target_agl = TargetAGL * SG_METER_TO_FEET;
} else {
target_agl = TargetAGL;
}
- // cout << "target_agl = " << target_agl << endl;
- // cout << "target_agl / inc = " << target_agl / inc << endl;
- // cout << "(int)(target_agl / inc) = " << (int)(target_agl / inc) << endl;
-
if ( fabs((int)(target_alt / inc) * inc - target_alt) < SG_EPSILON ) {
target_alt += inc;
} else {
target_agl = ( int ) ( target_agl / inc ) * inc + inc;
}
- if ( fgGetString("/sim/startup/units") == "feet" ) {
+ if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
target_alt *= SG_FEET_TO_METER;
target_agl *= SG_FEET_TO_METER;
}
TargetAltitude = target_alt;
TargetAGL = target_agl;
- if ( fgGetString("/sim/startup/units") == "feet" )
+ if ( !strcmp(fgGetString("/sim/startup/units"), "feet") )
target_alt *= SG_METER_TO_FEET;
- if ( fgGetString("/sim/startup/units") == "feet" )
+ if ( !strcmp(fgGetString("/sim/startup/units"), "feet") )
target_agl *= SG_METER_TO_FEET;
if ( altitude_mode == FG_ALTITUDE_LOCK ) {
auto_throttle = value;
if ( auto_throttle == true ) {
- TargetSpeed = FGBFI::getAirspeed();
+ TargetSpeed = fgGetDouble("/velocities/airspeed-kt");
speed_error_accum = 0.0;
}
SG_LOG( SG_COCKPIT, SG_INFO, " fgAPSetAutoThrottle: ("
<< auto_throttle << ") " << TargetSpeed );
}
+
+
+
+\f
+////////////////////////////////////////////////////////////////////////
+// Kludged methods for tying to properties.
+//
+// These should change eventually; they all used to be static
+// functions.
+////////////////////////////////////////////////////////////////////////
+
+/**
+ * Get the autopilot altitude lock (true=on).
+ */
+bool
+FGAutopilot::getAPAltitudeLock () const
+{
+ return (get_AltitudeEnabled() &&
+ get_AltitudeMode()
+ == FGAutopilot::FG_ALTITUDE_LOCK);
+}
+
+
+/**
+ * Set the autopilot altitude lock (true=on).
+ */
+void
+FGAutopilot::setAPAltitudeLock (bool lock)
+{
+ if (lock)
+ set_AltitudeMode(FGAutopilot::FG_ALTITUDE_LOCK);
+ if (get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_LOCK)
+ set_AltitudeEnabled(lock);
+}
+
+
+/**
+ * Get the autopilot target altitude in feet.
+ */
+double
+FGAutopilot::getAPAltitude () const
+{
+ return get_TargetAltitude() * SG_METER_TO_FEET;
+}
+
+
+/**
+ * Set the autopilot target altitude in feet.
+ */
+void
+FGAutopilot::setAPAltitude (double altitude)
+{
+ set_TargetAltitude( altitude * SG_FEET_TO_METER );
+}
+
+/**
+ * Get the autopilot altitude lock (true=on).
+ */
+bool
+FGAutopilot::getAPGSLock () const
+{
+ return (get_AltitudeEnabled() &&
+ (get_AltitudeMode()
+ == FGAutopilot::FG_ALTITUDE_GS1));
+}
+
+
+/**
+ * Set the autopilot altitude lock (true=on).
+ */
+void
+FGAutopilot::setAPGSLock (bool lock)
+{
+ if (lock)
+ set_AltitudeMode(FGAutopilot::FG_ALTITUDE_GS1);
+ if (get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_GS1)
+ set_AltitudeEnabled(lock);
+}
+
+
+/**
+ * Get the autopilot terrain lock (true=on).
+ */
+bool
+FGAutopilot::getAPTerrainLock () const
+{
+ return (get_AltitudeEnabled() &&
+ (get_AltitudeMode()
+ == FGAutopilot::FG_ALTITUDE_TERRAIN));
+}
+
+
+/**
+ * Set the autopilot terrain lock (true=on).
+ */
+void
+FGAutopilot::setAPTerrainLock (bool lock)
+{
+ if (lock) {
+ set_AltitudeMode(FGAutopilot::FG_ALTITUDE_TERRAIN);
+ set_TargetAGL(fgGetFloat("/position/altitude-agl-ft") *
+ SG_FEET_TO_METER);
+ }
+ if (get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_TERRAIN)
+ set_AltitudeEnabled(lock);
+}
+
+
+/**
+ * Get the autopilot target altitude in feet.
+ */
+double
+FGAutopilot::getAPClimb () const
+{
+ return get_TargetClimbRate() * SG_METER_TO_FEET;
+}
+
+
+/**
+ * Set the autopilot target altitude in feet.
+ */
+void
+FGAutopilot::setAPClimb (double rate)
+{
+ set_TargetClimbRate( rate * SG_FEET_TO_METER );
+}
+
+
+/**
+ * Get the autopilot heading lock (true=on).
+ */
+bool
+FGAutopilot::getAPHeadingLock () const
+{
+ return
+ (get_HeadingEnabled() &&
+ get_HeadingMode() == DEFAULT_AP_HEADING_LOCK);
+}
+
+
+/**
+ * Set the autopilot heading lock (true=on).
+ */
+void
+FGAutopilot::setAPHeadingLock (bool lock)
+{
+ if (lock)
+ set_HeadingMode(DEFAULT_AP_HEADING_LOCK);
+ if (get_HeadingMode() == DEFAULT_AP_HEADING_LOCK)
+ set_HeadingEnabled(lock);
+}
+
+
+/**
+ * Get the autopilot heading bug in degrees.
+ */
+double
+FGAutopilot::getAPHeadingBug () const
+{
+ return get_DGTargetHeading();
+}
+
+
+/**
+ * Set the autopilot heading bug in degrees.
+ */
+void
+FGAutopilot::setAPHeadingBug (double heading)
+{
+ set_DGTargetHeading( heading );
+}
+
+
+/**
+ * Get the autopilot wing leveler lock (true=on).
+ */
+bool
+FGAutopilot::getAPWingLeveler () const
+{
+ return
+ (get_HeadingEnabled() &&
+ get_HeadingMode() == FGAutopilot::FG_TC_HEADING_LOCK);
+}
+
+
+/**
+ * Set the autopilot wing leveler lock (true=on).
+ */
+void
+FGAutopilot::setAPWingLeveler (bool lock)
+{
+ if (lock)
+ set_HeadingMode(FGAutopilot::FG_TC_HEADING_LOCK);
+ if (get_HeadingMode() == FGAutopilot::FG_TC_HEADING_LOCK)
+ set_HeadingEnabled(lock);
+}
+
+/**
+ * Return true if the autopilot is locked to NAV1.
+ */
+bool
+FGAutopilot::getAPNAV1Lock () const
+{
+ return
+ (get_HeadingEnabled() &&
+ get_HeadingMode() == FGAutopilot::FG_HEADING_NAV1);
+}
+
+
+/**
+ * Set the autopilot NAV1 lock.
+ */
+void
+FGAutopilot::setAPNAV1Lock (bool lock)
+{
+ if (lock)
+ set_HeadingMode(FGAutopilot::FG_HEADING_NAV1);
+ if (get_HeadingMode() == FGAutopilot::FG_HEADING_NAV1)
+ set_HeadingEnabled(lock);
+}
+
+/**
+ * Get the autopilot autothrottle lock.
+ */
+bool
+FGAutopilot::getAPAutoThrottleLock () const
+{
+ return get_AutoThrottleEnabled();
+}
+
+
+/**
+ * Set the autothrottle lock.
+ */
+void
+FGAutopilot::setAPAutoThrottleLock (bool lock)
+{
+ set_AutoThrottleEnabled(lock);
+}
+
+
+// kludge
+double
+FGAutopilot::getAPRudderControl () const
+{
+ if (getAPHeadingLock())
+ return get_TargetHeading();
+ else
+ return globals->get_controls()->get_rudder();
+}
+
+// kludge
+void
+FGAutopilot::setAPRudderControl (double value)
+{
+ if (getAPHeadingLock()) {
+ SG_LOG(SG_GENERAL, SG_DEBUG, "setAPRudderControl " << value );
+ value -= get_TargetHeading();
+ HeadingAdjust(value < 0.0 ? -1.0 : 1.0);
+ } else {
+ globals->get_controls()->set_rudder(value);
+ }
+}
+
+// kludge
+double
+FGAutopilot::getAPElevatorControl () const
+{
+ if (getAPAltitudeLock())
+ return get_TargetAltitude();
+ else
+ return globals->get_controls()->get_elevator();
+}
+
+// kludge
+void
+FGAutopilot::setAPElevatorControl (double value)
+{
+ if (value != 0 && getAPAltitudeLock()) {
+ SG_LOG(SG_GENERAL, SG_DEBUG, "setAPElevatorControl " << value );
+ value -= get_TargetAltitude();
+ AltitudeAdjust(value < 0.0 ? 100.0 : -100.0);
+ } else {
+ globals->get_controls()->set_elevator(value);
+ }
+}
+
+// kludge
+double
+FGAutopilot::getAPThrottleControl () const
+{
+ if (getAPAutoThrottleLock())
+ return 0.0; // always resets
+ else
+ return globals->get_controls()->get_throttle(0);
+}
+
+// kludge
+void
+FGAutopilot::setAPThrottleControl (double value)
+{
+ if (getAPAutoThrottleLock())
+ AutoThrottleAdjust(value < 0.0 ? -0.01 : 0.01);
+ else
+ globals->get_controls()->set_throttle(FGControls::ALL_ENGINES, value);
+}
+
+// end of newauto.cxx
+
projects / flightgear.git / blobdiff