]> git.mxchange.org Git - flightgear.git/blobdiff - src/Autopilot/newauto.cxx
projects / flightgear.git / blobdiff
? search:
summary | shortlog | log | commit | commitdiff | tree
raw | inline | side by side
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 f3233883344a4d752aff9b6fa426c160c1d3c1f2..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);
 
@@ -305,6 +307,9 @@ void FGAutopilot::init ()
     // 25% max control variablilty  0.5 / 2.0
     disengage_threshold = 1.0;
 
+    // set default aileron max deflection
+    MaxAileron = 0.5;
+
 #if !defined( USING_SLIDER_CLASS )
     MaxRollAdjust = 2 * MaxRoll;
     RollOutAdjust = 2 * RollOut;
@@ -390,7 +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() );
 }
@@ -481,8 +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 );
@@ -500,37 +507,37 @@ FGAutopilot::update (double dt)
 
            // determine our current radial position relative to the
            // navaid in "true" heading.
-           double cur_radial = current_radiostack->get_nav1_heading();
-           if ( current_radiostack->get_nav1_loc() ) {
+           double cur_radial = current_radiostack->get_navcom1()->get_nav_heading();
+           if ( current_radiostack->get_navcom1()->get_nav_loc() ) {
                // ILS localizers radials are already "true" in our
                // database
            } else {
-               cur_radial += current_radiostack->get_nav1_magvar();
+               cur_radial += current_radiostack->get_navcom1()->get_nav_magvar();
            }
-           if ( current_radiostack->get_nav1_from_flag() ) {
+           if ( current_radiostack->get_navcom1()->get_nav_from_flag() ) {
                cur_radial += 180.0;
                while ( cur_radial >= 360.0 ) { cur_radial -= 360.0; }
            }
 
            // determine the target radial in "true" heading
-           double tgt_radial = current_radiostack->get_nav1_radial();
-           if ( current_radiostack->get_nav1_loc() ) {
+           double tgt_radial = current_radiostack->get_navcom1()->get_nav_radial();
+           if ( current_radiostack->get_navcom1()->get_nav_loc() ) {
                // ILS localizers radials are already "true" in our
                // database
            } else {
                // VOR radials need to have that vor's offset added in
-               tgt_radial += current_radiostack->get_nav1_magvar();
+               tgt_radial += current_radiostack->get_navcom1()->get_nav_magvar();
            }
 
            // determine the heading adjustment needed.
            double adjustment = 
-               current_radiostack->get_nav1_heading_needle_deflection()
-               * (current_radiostack->get_nav1_loc_dist() * SG_METER_TO_NM);
+               current_radiostack->get_navcom1()->get_nav_heading_needle_deflection()
+               * (current_radiostack->get_navcom1()->get_nav_loc_dist() * SG_METER_TO_NM);
            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 (current_radiostack->get_navcom1()->get_nav_loc_dist() > 5000) {
+              double clamp_angle = fabs(current_radiostack->get_navcom1()->get_nav_heading_needle_deflection()) * 3;
               if (clamp_angle < 30)
                 SG_CLAMP_RANGE( adjustment, -clamp_angle, clamp_angle);
             }
@@ -591,7 +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();
                }
@@ -604,7 +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 );
@@ -691,14 +699,16 @@ 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_nav1_gs_dist();
+           double x = current_radiostack->get_navcom1()->get_nav_gs_dist();
            double y = (altitude_node->getDoubleValue()
-                       - current_radiostack->get_nav1_elev()) * SG_FEET_TO_METER;
+                       - current_radiostack->get_navcom1()->get_nav_elev()) * SG_FEET_TO_METER;
            double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
 
-           double target_angle = current_radiostack->get_nav1_target_gs();
+           double target_angle = current_radiostack->get_navcom1()->get_nav_target_gs();
 
            double gs_diff = target_angle - current_angle;
 
@@ -882,10 +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 ) {
@@ -912,7 +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 );
            }
@@ -938,7 +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 ) {
        }
@@ -968,6 +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;
@@ -978,7 +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;
@@ -1027,7 +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 );
@@ -1041,7 +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 ) {
@@ -1057,6 +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;
@@ -1111,7 +1119,7 @@ FGAutopilot::getAPAltitudeLock () const
 {
     return (get_AltitudeEnabled() &&
            get_AltitudeMode()
-           == FGAutopilot::FG_ALTITUDE_LOCK);
+           == DEFAULT_AP_ALTITUDE_LOCK);
 }
 
 
@@ -1122,8 +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);
 }
 
Personal clone of the FlightGear source code, the free-libre OpenSource flight simulator.