Make sure that all elapsed time gets passed to update when a subsystem

[flightgear.git] / src / Autopilot / newauto.cxx

diff --git a/src/Autopilot/newauto.cxx b/src/Autopilot/newauto.cxx
index e39e7ee8c863942c8fdadd3e0c1bcd536b80e612..668811a6c9712e195c7d2c1cbdc8edd3605a74db 100644 (file)
--- a/src/Autopilot/newauto.cxx
+++ b/src/Autopilot/newauto.cxx
@@ -37,7 +37,6 @@
 #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>
@@ -213,6 +212,9 @@ void FGAutopilot::init ()
     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);
+    dg_heading_node
+        = fgGetNode("/instrumentation/heading-indicator/indicated-heading-deg",
+                    true);
     roll_node = fgGetNode("/orientation/roll-deg", true);
     pitch_node = fgGetNode("/orientation/pitch-deg", true);
 
@@ -393,7 +395,7 @@ void FGAutopilot::reset() {
        
     update_old_control_values();
 
-    sprintf( NewTgtAirportId, "%s", fgGetString("/sim/startup/airport-id") );
+    sprintf( NewTgtAirportId, "%s", fgGetString("/sim/presets/airport-id") );
        
     MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() );
 }
@@ -484,8 +486,10 @@ FGAutopilot::update (double dt)
     // heading hold
     if ( heading_hold == true ) {
        if ( heading_mode == FG_DG_HEADING_LOCK ) {
-           TargetHeading = DGTargetHeading +
-             globals->get_steam()->get_DG_err();
+            double dg_error = heading_node->getDoubleValue()
+                - dg_heading_node->getDoubleValue();
+           TargetHeading = DGTargetHeading + dg_error;
+            // cout << "dg_error = " << dg_error << endl;
            while ( TargetHeading <   0.0 ) { TargetHeading += 360.0; }
            while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; }
            MakeTargetHeadingStr( TargetHeading );
@@ -594,7 +598,7 @@ FGAutopilot::update (double dt)
                    set_HeadingMode( FG_HEADING_WAYPOINT );
                } else {
                    // end of the line
-                   heading_mode = FG_TRUE_HEADING_LOCK;
+                   heading_mode = DEFAULT_AP_HEADING_LOCK;
                    // use current heading
                    TargetHeading = heading_node->getDoubleValue();
                }
@@ -607,7 +611,8 @@ FGAutopilot::update (double dt)
 
        if ( heading_mode == FG_TC_HEADING_LOCK ) {
            // drive the turn coordinator to zero
-           double turn = globals->get_steam()->get_TC_std();
+           double turn =
+                fgGetDouble("/instrumentation/turn-indicator/indicated-turn-rate");
            double AileronSet = -turn / 2.0;
             SG_CLAMP_RANGE( AileronSet, -1.0, 1.0 );
            globals->get_controls()->set_aileron( AileronSet );
@@ -694,7 +699,9 @@ FGAutopilot::update (double dt)
        if ( altitude_mode == FG_ALTITUDE_LOCK ) {
            climb_rate =
                ( TargetAltitude -
-                 globals->get_steam()->get_ALT_ft() * SG_FEET_TO_METER ) * 8.0;
+                 fgGetDouble("/instrumentation/altimeter/indicated-altitude-ft") * SG_FEET_TO_METER ) * 8.0;
+        } else if ( altitude_mode == FG_TRUE_ALTITUDE_LOCK ) {
+            climb_rate = ( TargetAltitude - alt ) * 8.0;
        } else if ( altitude_mode == FG_ALTITUDE_GS1 ) {
            double x = current_radiostack->get_navcom1()->get_nav_gs_dist();
            double y = (altitude_node->getDoubleValue()
@@ -885,10 +892,7 @@ void FGAutopilot::set_HeadingMode( fgAutoHeadingMode mode ) {
     heading_mode = mode;
 
     if ( heading_mode == FG_DG_HEADING_LOCK ) {
-       // set heading hold to current heading (as read from DG)
-       // ... no, leave target heading along ... just use the current
-       // heading bug value
-        //  DGTargetHeading = FGSteam::get_DG_deg();
+       // use current heading bug value
     } else if ( heading_mode == FG_TC_HEADING_LOCK ) {
        // set autopilot to hold a zero turn (as reported by the TC)
     } else if ( heading_mode == FG_TRUE_HEADING_LOCK ) {
@@ -915,7 +919,7 @@ void FGAutopilot::set_HeadingMode( fgAutoHeadingMode mode ) {
 
            if ( waypoint.get_target_alt() > 0.0 ) {
                TargetAltitude = waypoint.get_target_alt();
-               altitude_mode = FG_ALTITUDE_LOCK;
+               altitude_mode = DEFAULT_AP_ALTITUDE_LOCK;
                set_AltitudeEnabled( true );
                MakeTargetAltitudeStr( TargetAltitude * SG_METER_TO_FEET );
            }
@@ -941,7 +945,7 @@ void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) {
     alt_error_accum = 0.0;
 
 
-    if ( altitude_mode == FG_ALTITUDE_LOCK ) {
+    if ( altitude_mode == DEFAULT_AP_ALTITUDE_LOCK ) {
        if ( TargetAltitude < altitude_agl_node->getDoubleValue()
              * SG_FEET_TO_METER ) {
        }
@@ -971,6 +975,7 @@ void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) {
 
 void FGAutopilot::AltitudeSet( double new_altitude ) {
     double target_alt = new_altitude;
+    altitude_mode = DEFAULT_AP_ALTITUDE_LOCK;
 
     if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
        target_alt = new_altitude * SG_FEET_TO_METER;
@@ -981,7 +986,6 @@ void FGAutopilot::AltitudeSet( double new_altitude ) {
     }
 
     TargetAltitude = target_alt;
-    altitude_mode = FG_ALTITUDE_LOCK;
 
     if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
        target_alt *= SG_METER_TO_FEET;
@@ -1030,7 +1034,7 @@ void FGAutopilot::AltitudeAdjust( double inc )
     if ( !strcmp(fgGetString("/sim/startup/units"), "feet") )
        target_agl *= SG_METER_TO_FEET;
 
-    if ( altitude_mode == FG_ALTITUDE_LOCK ) {
+    if ( altitude_mode == DEFAULT_AP_ALTITUDE_LOCK ) {
        MakeTargetAltitudeStr( target_alt );
     } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
        MakeTargetAltitudeStr( target_agl );
@@ -1044,7 +1048,7 @@ void FGAutopilot::HeadingAdjust( double inc ) {
     if ( heading_mode != FG_DG_HEADING_LOCK
         && heading_mode != FG_TRUE_HEADING_LOCK )
     {
-       heading_mode = FG_DG_HEADING_LOCK;
+       heading_mode = DEFAULT_AP_HEADING_LOCK;
     }
 
     if ( heading_mode == FG_DG_HEADING_LOCK ) {
@@ -1060,6 +1064,7 @@ void FGAutopilot::HeadingAdjust( double inc ) {
 
 
 void FGAutopilot::HeadingSet( double new_heading ) {
+    heading_mode = DEFAULT_AP_HEADING_LOCK;
     if( heading_mode == FG_TRUE_HEADING_LOCK ) {
         new_heading = NormalizeDegrees( new_heading );
         TargetHeading = new_heading;
@@ -1114,7 +1119,7 @@ FGAutopilot::getAPAltitudeLock () const
 {
     return (get_AltitudeEnabled() &&
            get_AltitudeMode()
-           == FGAutopilot::FG_ALTITUDE_LOCK);
+           == DEFAULT_AP_ALTITUDE_LOCK);
 }
 
 
@@ -1125,8 +1130,8 @@ void
 FGAutopilot::setAPAltitudeLock (bool lock)
 {
   if (lock)
-    set_AltitudeMode(FGAutopilot::FG_ALTITUDE_LOCK);
-  if (get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_LOCK)
+    set_AltitudeMode(DEFAULT_AP_ALTITUDE_LOCK);
+  if (get_AltitudeMode() == DEFAULT_AP_ALTITUDE_LOCK)
     set_AltitudeEnabled(lock);
 }