#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
-#include <simgear/math/fg_geodesy.hxx>
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/math/sg_random.h>
+#include <Cockpit/steam.hxx>
#include <Cockpit/radiostack.hxx>
#include <Controls/controls.hxx>
#include <FDM/flight.hxx>
-#include <Main/bfi.hxx>
-#include <Main/options.hxx>
+#include <Main/globals.hxx>
#include <Scenery/scenery.hxx>
#include "newauto.hxx"
// Climb speed constants
const double min_climb = 70.0; // kts
const double best_climb = 75.0; // kts
-const double ideal_climb_rate = 500.0; // fpm
+// 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 :-)
extern char *coord_format_lon(float);
+// constructor
+FGAutopilot::FGAutopilot():
+TargetClimbRate(500 * SG_FEET_TO_METER),
+TargetDecentRate(1000 * SG_FEET_TO_METER)
+{
+}
+
+// destructor
+FGAutopilot::~FGAutopilot() {}
+
+
void FGAutopilot::MakeTargetLatLonStr( double lat, double lon ) {
- sprintf( TargetLatitudeStr , "%s", coord_format_lat(TargetLatitude) );
- sprintf( TargetLongitudeStr, "%s", coord_format_lon(TargetLongitude) );
+ sprintf( TargetLatitudeStr , "%s", coord_format_lat(get_TargetLatitude()));
+ sprintf( TargetLongitudeStr, "%s", coord_format_lon(get_TargetLongitude()));
sprintf( TargetLatLonStr, "%s %s", TargetLatitudeStr, TargetLongitudeStr );
}
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()
- * current_options.get_speed_up();;
- double kts = ft_s * FEET_TO_METER * 3600 * METER_TO_NM;
+ * speedup_node->getIntValue();
+ double kts = ft_s * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM;
return kts;
}
-void FGAutopilot::MakeTargetDistanceStr( 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;
+void FGAutopilot::MakeTargetWPStr( double distance ) {
+ static time_t last_time = 0;
+ time_t current_time = time(NULL);
+ if ( last_time == current_time ) {
+ return;
+ }
+
+ last_time = current_time;
+
+ double accum = 0.0;
+
+ int size = globals->get_route()->size();
+
+ // start by wiping the strings
+ TargetWP1Str[0] = 0;
+ TargetWP2Str[0] = 0;
+ TargetWP3Str[0] = 0;
+
+ // current route
+ if ( size > 0 ) {
+ SGWayPoint wp1 = globals->get_route()->get_waypoint( 0 );
+ accum += distance;
+ double eta = accum * SG_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( 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
+ if ( size > 1 ) {
+ SGWayPoint wp2 = globals->get_route()->get_waypoint( 1 );
+ accum += wp2.get_distance();
+
+ double eta = accum * SG_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( TargetWP2Str, "%s %.2f NM ETA %d:%02d",
+ wp2.get_id().c_str(),
+ accum*SG_METER_TO_NM, major, minor );
+ }
+
+ // next route
+ if ( size > 2 ) {
+ for ( int i = 2; i < size; ++i ) {
+ accum += globals->get_route()->get_waypoint( i ).get_distance();
+ }
+
+ SGWayPoint wpn = globals->get_route()->get_waypoint( size - 1 );
+
+ double eta = accum * SG_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( TargetWP3Str, "%s %.2f NM ETA %d:%02d",
+ wpn.get_id().c_str(),
+ accum*SG_METER_TO_NM, major, minor );
}
- major = (int)eta;
- minor = (int)((eta - (int)eta) * 60.0);
- sprintf( 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;
}
void FGAutopilot::update_old_control_values() {
- old_aileron = FGBFI::getAileron();
- old_elevator = FGBFI::getElevator();
- old_elevator_trim = FGBFI::getElevatorTrim();
- old_rudder = FGBFI::getRudder();
+ 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() {
- FG_LOG( FG_AUTOPILOT, FG_INFO, "Init AutoPilot Subsystem" );
+ SG_LOG( SG_AUTOPILOT, SG_INFO, "Init AutoPilot Subsystem" );
+
+ 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);
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;
+
+ sg_srandom_time();
+ DGTargetHeading = sg_random() * 360.0;
// Initialize target location to startup location
- old_lat = TargetLatitude = FGBFI::getLatitude();
- old_lon = TargetLongitude = FGBFI::getLongitude();
+ old_lat = latitude_node->getDoubleValue();
+ old_lon = longitude_node->getDoubleValue();
+ // set_WayPoint( old_lon, old_lat, 0.0, "default" );
- MakeTargetLatLonStr( TargetLatitude, TargetLongitude);
+ 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;
- MakeTargetAltitudeStr( 3000.0);
- MakeTargetHeadingStr( 0.0 );
+ MakeTargetAltitudeStr( TargetAltitude );
+ MakeTargetHeadingStr( TargetHeading );
// These eventually need to be read from current_aircaft somehow.
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;
- TargetHeading = 0.0; // default direction, due north
+ // TargetHeading = 0.0; // default direction, due north
MakeTargetHeadingStr( TargetHeading );
- TargetAltitude = 3000; // default altitude in meters
+ // TargetAltitude = 3000; // default altitude in meters
MakeTargetAltitudeStr( TargetAltitude );
alt_error_accum = 0.0;
update_old_control_values();
- sprintf( NewTgtAirportId, "%s", current_options.get_airport_id().c_str() );
+ sprintf( NewTgtAirportId, "%s", fgGetString("/sim/startup/airport-id").c_str() );
- TargetLatitude = FGBFI::getLatitude();
- TargetLongitude = FGBFI::getLongitude();
- MakeTargetLatLonStr( TargetLatitude, TargetLongitude );
+ MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() );
}
// Could be
// static double y = 0.0;
// double dx = x2 -x1;
- // if( (dx < -FG_EPSILON ) || ( dx > FG_EPSILON ) )
+ // if( (dx < -SG_EPSILON ) || ( dx > SG_EPSILON ) )
// {
double m, b, y; // the constants to find in y=mx+b
// 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 lat = latitude_node->getDoubleValue();
+ double lon = longitude_node->getDoubleValue();
+ double alt = altitude_node->getDoubleValue() * SG_FEET_TO_METER;
+ 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 ||
}
#endif
- // heading hold enabled?
+ // 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;
- if ( heading_mode == FG_HEADING_LOCK ) {
- // leave target heading alone
+ TargetHeading = DGTargetHeading + FGSteam::get_DG_err();
+ while ( TargetHeading < 0.0 ) { TargetHeading += 360.0; }
+ while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; }
+ MakeTargetHeadingStr( TargetHeading );
+ } else if ( heading_mode == FG_TC_HEADING_LOCK ) {
+ // we don't set a specific target heading in
+ // TC_HEADING_LOCK mode, we instead try to keep the turn
+ // coordinator zero'd
+ } else if ( heading_mode == FG_TRUE_HEADING_LOCK ) {
+ // leave "true" target heading as is
+ while ( TargetHeading < 0.0 ) { TargetHeading += 360.0; }
+ while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; }
+ MakeTargetHeadingStr( TargetHeading );
} else if ( heading_mode == FG_HEADING_NAV1 ) {
- double tgt_radial;
- double cur_radial;
+ // track the NAV1 heading needle deflection
+
+ // 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() ) {
- tgt_radial = current_radiostack->get_nav1_radial() + 180.0;
+ // ILS localizers radials are already "true" in our
+ // database
} else {
- tgt_radial = current_radiostack->get_nav1_radial();
+ cur_radial += current_radiostack->get_nav1_magvar();
+ }
+ if ( current_radiostack->get_nav1_from_flag() ) {
+ cur_radial += 180.0;
+ while ( cur_radial >= 360.0 ) { cur_radial -= 360.0; }
}
- cur_radial = current_radiostack->get_nav1_heading();
- cout << "target rad = " << tgt_radial
- << " current rad = " << cur_radial
- << endl;
-
- double diff = (tgt_radial - cur_radial);
- while ( diff < -180.0 ) { diff += 360.0; }
- while ( diff > 180.0 ) { diff -= 360.0; }
-
- diff *= (current_radiostack->get_nav1_dist() * METER_TO_NM);
- if ( diff < -30.0 ) { diff = -30.0; }
- if ( diff > 30.0 ) { diff = 30.0; }
- TargetHeading = cur_radial - diff;
+ // determine the target radial in "true" heading
+ double tgt_radial = current_radiostack->get_nav1_radial();
+ if ( current_radiostack->get_nav1_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();
+ }
+
+ // determine the heading adjustment needed.
+ 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; }
+
+ // determine the target heading to fly to intercept the
+ // tgt_radial
+ TargetHeading = tgt_radial + adjustment;
while ( TargetHeading < 0.0 ) { TargetHeading += 360.0; }
while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; }
- cout << "target course = " << TargetHeading << endl;
+
+ MakeTargetHeadingStr( TargetHeading );
+ // cout << "target course (true) = " << TargetHeading << endl;
} else if ( heading_mode == FG_HEADING_WAYPOINT ) {
// update target heading to waypoint
- double wp_course, wp_reverse, wp_distance;
+ double wp_course, wp_distance;
#ifdef DO_fgAP_CORRECTED_COURSE
// compute course made good
// compute course to way_point
// need to test for iter
- if( ! geo_inverse_wgs_84( 0, //fgAPget_altitude(),
- lat,
- lon,
- TargetLatitude,
- TargetLongitude,
- &wp_course,
- &wp_reverse,
- &wp_distance ) ) {
-
+ SGWayPoint wp = globals->get_route()->get_first();
+ wp.CourseAndDistance( lon, lat, alt,
+ &wp_course, &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 );
+ 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;
- TargetHeading = NormalizeDegrees(wp_course);
+ if ( wp_distance > 100 ) {
+ // 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();
+ }
+
+ // see if there are more waypoints on the list
+ if ( globals->get_route()->size() ) {
+ // more waypoints
+ set_HeadingMode( FG_HEADING_WAYPOINT );
} else {
- printf("distance(%f) to close\n", wp_distance);
- // Real Close -- set heading hold to current heading
- // and Ring the arival bell !!
- heading_mode = FG_HEADING_LOCK;
+ // end of the line
+ heading_mode = FG_TRUE_HEADING_LOCK;
// use current heading
- TargetHeading = FGBFI::getHeading();
+ TargetHeading = heading_node->getDoubleValue();
}
- MakeTargetHeadingStr( TargetHeading );
- // Force this just in case
- TargetDistance = wp_distance;
- MakeTargetDistanceStr( wp_distance );
}
+ MakeTargetHeadingStr( TargetHeading );
+ // Force this just in case
+ TargetDistance = wp_distance;
+ MakeTargetWPStr( wp_distance );
}
- double RelHeading;
- double TargetRoll;
- double RelRoll;
- double AileronSet;
+ 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; }
+ globals->get_controls()->set_aileron( AileronSet );
+ globals->get_controls()->set_rudder( AileronSet / 4.0 );
+ } else {
+ // steer towards the target heading
+
+ double RelHeading;
+ double TargetRoll;
+ double RelRoll;
+ double AileronSet;
- RelHeading = NormalizeDegrees( TargetHeading - FGBFI::getHeading() );
- // figure out how far off we are from desired heading
+ RelHeading
+ = 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.
- FG_LOG( FG_AUTOPILOT, FG_DEBUG, "RelHeading: " << RelHeading );
+ // Now it is time to deterime how far we should be rolled.
+ SG_LOG( SG_AUTOPILOT, SG_DEBUG, "RelHeading: " << RelHeading );
- // Check if we are further from heading than the roll out point
- if ( fabs( RelHeading ) > RollOut ) {
- // set Target Roll to Max in desired direction
- if ( RelHeading < 0 ) {
- TargetRoll = 0 - MaxRoll;
+ // Check if we are further from heading than the roll out point
+ if ( fabs( RelHeading ) > RollOut ) {
+ // set Target Roll to Max in desired direction
+ if ( RelHeading < 0 ) {
+ TargetRoll = 0 - MaxRoll;
+ } else {
+ TargetRoll = MaxRoll;
+ }
} else {
- TargetRoll = MaxRoll;
- }
- } else {
- // We have to calculate the Target roll
+ // 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.
+ // 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, -RollOut,
- -MaxRoll, RollOut,
- MaxRoll );
- }
+ TargetRoll = LinearExtrapolate( RelHeading, -RollOut,
+ -MaxRoll, RollOut,
+ MaxRoll );
+ }
- // Target Roll has now been Found.
+ // Target Roll has now been Found.
- // Compare Target roll to Current Roll, Generate Rel Roll
+ // Compare Target roll to Current Roll, Generate Rel Roll
- FG_LOG( FG_COCKPIT, FG_BULK, "TargetRoll: " << TargetRoll );
+ 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
- if ( fabs( RelRoll ) > RollOutSmooth ) {
- // set Target Roll to Max in desired direction
- if ( RelRoll < 0 ) {
+ // Check if we are further from heading than the roll out
+ // smooth point
+ if ( fabs( RelRoll ) > RollOutSmooth ) {
+ // set Target Roll to Max in desired direction
+ if ( RelRoll < 0 ) {
AileronSet = 0 - MaxAileron;
+ } else {
+ AileronSet = MaxAileron;
+ }
} else {
- AileronSet = MaxAileron;
+ AileronSet = LinearExtrapolate( RelRoll, -RollOutSmooth,
+ -MaxAileron,
+ RollOutSmooth,
+ MaxAileron );
}
- } else {
- AileronSet = LinearExtrapolate( RelRoll, -RollOutSmooth,
- -MaxAileron,
- RollOutSmooth,
- MaxAileron );
- }
- controls.set_aileron( AileronSet );
- controls.set_rudder( AileronSet / 4.0 );
- // controls.set_rudder( 0.0 );
+ globals->get_controls()->set_aileron( AileronSet );
+ globals->get_controls()->set_rudder( AileronSet / 4.0 );
+ // controls.set_rudder( 0.0 );
+ }
}
- // altitude hold?
+ // altitude hold
if ( altitude_hold ) {
+ double climb_rate;
double speed, max_climb, error;
double prop_error, int_error;
double prop_adj, int_adj, total_adj;
if ( altitude_mode == FG_ALTITUDE_LOCK ) {
- // normal altitude hold
- // cout << "TargetAltitude = " << TargetAltitude
- // << "Altitude = " << FGBFI::getAltitude() * FEET_TO_METER
- // << endl;
- TargetClimbRate =
- ( TargetAltitude - FGBFI::getAltitude() * FEET_TO_METER ) * 8.0;
+ 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_dist();
- double y = (FGBFI::getAltitude()
- - current_radiostack->get_nav1_elev()) * FEET_TO_METER;
- double angle = atan2( y, x ) * RAD_TO_DEG;
- double gs_diff = current_radiostack->get_nav1_target_gs() - angle;
- climb_error_accum += gs_diff * 2.0;
- TargetClimbRate = gs_diff * 200.0 + climb_error_accum;
+ double x = current_radiostack->get_nav1_gs_dist();
+ 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
- TargetClimbRate =
- ( TargetAGL - FGBFI::getAGL()*FEET_TO_METER ) * 16.0;
+ climb_rate =
+ ( TargetAGL - altitude_agl_node->getDoubleValue()
+ * SG_FEET_TO_METER ) * 16.0;
// cout << "target agl = " << TargetAGL
// << " current agl = " << fgAPget_agl()
- // << " target climb rate = " << TargetClimbRate
+ // << " target climb rate = " << climb_rate
// << endl;
} else {
// just try to zero out rate of climb ...
- TargetClimbRate = 0.0;
+ climb_rate = 0.0;
}
speed = get_speed();
max_climb = 0.0;
} else if ( speed < best_climb ) {
max_climb = ((best_climb - min_climb) - (best_climb - speed))
- * ideal_climb_rate
+ * fabs(TargetClimbRate)
/ (best_climb - min_climb);
} else {
- max_climb = ( speed - best_climb ) * 10.0 + ideal_climb_rate;
+ max_climb = ( speed - best_climb ) * 10.0 + fabs(TargetClimbRate);
}
// this first one could be optional if we wanted to allow
// better climb performance assuming we have the airspeed to
// support it.
- if ( TargetClimbRate > ideal_climb_rate ) {
- TargetClimbRate = ideal_climb_rate;
+ if ( climb_rate > fabs(TargetClimbRate) ) {
+ climb_rate = fabs(TargetClimbRate);
}
- if ( TargetClimbRate > max_climb ) {
- TargetClimbRate = max_climb;
+ if ( climb_rate > max_climb ) {
+ climb_rate = max_climb;
}
- if ( TargetClimbRate < -ideal_climb_rate ) {
- TargetClimbRate = -ideal_climb_rate;
+ if ( climb_rate < -fabs(TargetDecentRate) ) {
+ climb_rate = -fabs(TargetDecentRate);
}
- error = FGBFI::getVerticalSpeed() * FEET_TO_METER - TargetClimbRate;
- // cout << "climb rate = " << fgAPget_climb()
- // << " error = " << error << endl;
+ // cout << "Target climb rate = " << TargetClimbRate << endl;
+ // cout << "given our speed, modified desired climb rate = "
+ // << climb_rate * SG_METER_TO_FEET
+ // << " fpm" << endl;
+ // cout << "Current climb rate = "
+ // << vertical_speed_node->getDoubleValue() * 60 << " fpm" << 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 / 8000.0;
+ int_adj = int_error / 20000.0;
// caclulate proportional error
prop_error = error;
total_adj = -1.0;
}
- controls.set_elevator( total_adj );
+ globals->get_controls()->set_elevator_trim( total_adj );
}
- // auto throttle enabled?
+ // auto throttle
if ( auto_throttle ) {
double error;
double prop_error, int_error;
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
+ // Ok, we are done
+ SG_LOG( SG_ALL, SG_DEBUG, "FGAutopilot::run( returns )" );
+
return 0;
}
void FGAutopilot::set_HeadingMode( fgAutoHeadingMode mode ) {
heading_mode = mode;
- if ( heading_mode == FG_HEADING_LOCK ) {
+ 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();
+ } 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 ) {
// set heading hold to current heading
- TargetHeading = FGBFI::getHeading();
+ TargetHeading = heading_node->getDoubleValue();
} else if ( heading_mode == FG_HEADING_WAYPOINT ) {
- double course, reverse, distance;
- // turn on location hold
- // turn on heading hold
- old_lat = FGBFI::getLatitude();
- old_lon = FGBFI::getLongitude();
-
- // need to test for iter
- if( !geo_inverse_wgs_84( FGBFI::getAltitude() * FEET_TO_METER,
- FGBFI::getLatitude(),
- FGBFI::getLongitude(),
- TargetLatitude,
- TargetLongitude,
- &course,
- &reverse,
- &distance ) ) {
+ if ( globals->get_route()->size() ) {
+ double course, distance;
+
+ old_lat = latitude_node->getDoubleValue();
+ old_lon = longitude_node->getDoubleValue();
+
+ waypoint = globals->get_route()->get_first();
+ waypoint.CourseAndDistance( longitude_node->getDoubleValue(),
+ latitude_node->getDoubleValue(),
+ altitude_node->getDoubleValue()
+ * SG_FEET_TO_METER,
+ &course, &distance );
TargetHeading = course;
TargetDistance = distance;
- MakeTargetDistanceStr( distance );
- }
+ MakeTargetLatLonStr( waypoint.get_target_lat(),
+ waypoint.get_target_lon() );
+ MakeTargetWPStr( distance );
+
+ if ( waypoint.get_target_alt() > 0.0 ) {
+ TargetAltitude = waypoint.get_target_alt();
+ altitude_mode = FG_ALTITUDE_LOCK;
+ set_AltitudeEnabled( true );
+ MakeTargetAltitudeStr( TargetAltitude * SG_METER_TO_FEET );
+ }
- FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetLocation: ( "
- << TargetLatitude << " "
- << TargetLongitude << " ) "
- );
+ SG_LOG( SG_COCKPIT, SG_INFO, " set_HeadingMode: ( "
+ << get_TargetLatitude() << " "
+ << get_TargetLongitude() << " ) "
+ );
+ } else {
+ // no more way points, default to heading lock.
+ heading_mode = FG_TC_HEADING_LOCK;
+ }
}
-
+
MakeTargetHeadingStr( TargetHeading );
update_old_control_values();
}
alt_error_accum = 0.0;
if ( altitude_mode == FG_ALTITUDE_LOCK ) {
- // lock at current altitude
- TargetAltitude = FGBFI::getAltitude() * FEET_TO_METER;
+ if ( TargetAltitude < altitude_agl_node->getDoubleValue()
+ * SG_FEET_TO_METER ) {
+ }
- if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
- MakeTargetAltitudeStr( TargetAltitude * METER_TO_FEET );
+ if ( fgGetString("/sim/startup/units") == "feet" ) {
+ MakeTargetAltitudeStr( TargetAltitude * SG_METER_TO_FEET );
} else {
- MakeTargetAltitudeStr( TargetAltitude * METER_TO_FEET );
+ MakeTargetAltitudeStr( TargetAltitude * SG_METER_TO_FEET );
}
} else if ( altitude_mode == FG_ALTITUDE_GS1 ) {
climb_error_accum = 0.0;
} else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
- TargetAGL = FGBFI::getAGL() * FEET_TO_METER;
+ TargetAGL = altitude_agl_node->getDoubleValue() * SG_FEET_TO_METER;
- if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
- MakeTargetAltitudeStr( TargetAGL * METER_TO_FEET );
+ if ( fgGetString("/sim/startup/units") == "feet" ) {
+ MakeTargetAltitudeStr( TargetAGL * SG_METER_TO_FEET );
} else {
- MakeTargetAltitudeStr( TargetAGL * METER_TO_FEET );
+ MakeTargetAltitudeStr( TargetAGL * SG_METER_TO_FEET );
}
}
update_old_control_values();
- FG_LOG( FG_COCKPIT, FG_INFO, " set_AltitudeMode():" );
+ SG_LOG( SG_COCKPIT, SG_INFO, " set_AltitudeMode():" );
}
#if 0
static inline double get_aoa( void ) {
- return( cur_fdm_state->get_Gamma_vert_rad() * RAD_TO_DEG );
+ return( cur_fdm_state->get_Gamma_vert_rad() * SGD_RADIANS_TO_DEGREES );
}
static inline double fgAPget_latitude( void ) {
- return( cur_fdm_state->get_Latitude() * RAD_TO_DEG );
+ return( cur_fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES );
}
static inline double fgAPget_longitude( void ) {
- return( cur_fdm_state->get_Longitude() * RAD_TO_DEG );
+ return( cur_fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES );
}
static inline double fgAPget_roll( void ) {
- return( cur_fdm_state->get_Phi() * RAD_TO_DEG );
+ return( cur_fdm_state->get_Phi() * SGD_RADIANS_TO_DEGREES );
}
static inline double get_pitch( void ) {
}
double fgAPget_heading( void ) {
- return( cur_fdm_state->get_Psi() * RAD_TO_DEG );
+ return( cur_fdm_state->get_Psi() * SGD_RADIANS_TO_DEGREES );
}
static inline double fgAPget_altitude( void ) {
- return( cur_fdm_state->get_Altitude() * FEET_TO_METER );
+ 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() * FEET_TO_METER * 60 );
+ return( cur_fdm_state->get_Climb_Rate() * SG_FEET_TO_METER * 60 );
}
static inline double get_sideslip( void ) {
static inline double fgAPget_agl( void ) {
double agl;
- agl = cur_fdm_state->get_Altitude() * FEET_TO_METER
- - scenery.cur_elev;
+ agl = cur_fdm_state->get_Altitude() * SG_FEET_TO_METER
+ - scenery.get_cur_elev();
return( agl );
}
// cout << "new altitude = " << new_altitude << endl;
- if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
- target_alt = new_altitude * FEET_TO_METER;
+ if ( 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 < scenery.get_cur_elev() ) {
+ target_alt = scenery.get_cur_elev();
}
TargetAltitude = target_alt;
// cout << "TargetAltitude = " << TargetAltitude << endl;
- if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
- target_alt *= METER_TO_FEET;
+ if ( fgGetString("/sim/startup/units") == "feet" ) {
+ target_alt *= SG_METER_TO_FEET;
}
// ApAltitudeDialogInput->setValue((float)target_alt);
MakeTargetAltitudeStr( target_alt );
{
double target_alt, target_agl;
- if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
- target_alt = TargetAltitude * METER_TO_FEET;
- target_agl = TargetAGL * METER_TO_FEET;
+ if ( fgGetString("/sim/startup/units") == "feet" ) {
+ target_alt = TargetAltitude * SG_METER_TO_FEET;
+ target_agl = TargetAGL * SG_METER_TO_FEET;
} else {
target_alt = TargetAltitude;
target_agl = TargetAGL;
}
- target_alt = ( int ) ( target_alt / inc ) * inc + inc;
- target_agl = ( int ) ( target_agl / inc ) * inc + inc;
+ // 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 ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
- target_alt *= FEET_TO_METER;
- target_agl *= FEET_TO_METER;
+ if ( fabs((int)(target_alt / inc) * inc - target_alt) < SG_EPSILON ) {
+ target_alt += inc;
+ } else {
+ target_alt = ( int ) ( target_alt / inc ) * inc + inc;
+ }
+
+ if ( fabs((int)(target_agl / inc) * inc - target_agl) < SG_EPSILON ) {
+ target_agl += inc;
+ } else {
+ target_agl = ( int ) ( target_agl / inc ) * inc + inc;
+ }
+
+ if ( fgGetString("/sim/startup/units") == "feet" ) {
+ target_alt *= SG_FEET_TO_METER;
+ target_agl *= SG_FEET_TO_METER;
}
TargetAltitude = target_alt;
TargetAGL = target_agl;
- if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET )
- target_alt *= METER_TO_FEET;
- if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET )
- target_agl *= METER_TO_FEET;
+ if ( fgGetString("/sim/startup/units") == "feet" )
+ target_alt *= SG_METER_TO_FEET;
+ if ( fgGetString("/sim/startup/units") == "feet" )
+ target_agl *= SG_METER_TO_FEET;
if ( altitude_mode == FG_ALTITUDE_LOCK ) {
MakeTargetAltitudeStr( target_alt );
void FGAutopilot::HeadingAdjust( double inc ) {
- heading_mode = FG_HEADING_LOCK;
-
- double target = ( int ) ( TargetHeading / inc ) * inc + inc;
+ if ( heading_mode != FG_DG_HEADING_LOCK
+ && heading_mode != FG_TRUE_HEADING_LOCK )
+ {
+ heading_mode = FG_DG_HEADING_LOCK;
+ }
+
+ if ( heading_mode == FG_DG_HEADING_LOCK ) {
+ double target = ( int ) ( DGTargetHeading / inc ) * inc + inc;
+ DGTargetHeading = NormalizeDegrees( target );
+ } else {
+ double target = ( int ) ( TargetHeading / inc ) * inc + inc;
+ TargetHeading = NormalizeDegrees( target );
+ }
- TargetHeading = NormalizeDegrees( target );
- // following cast needed ambiguous plib
- // ApHeadingDialogInput -> setValue ((float)TargetHeading );
- MakeTargetHeadingStr( TargetHeading );
update_old_control_values();
}
void FGAutopilot::HeadingSet( double new_heading ) {
- heading_mode = FG_HEADING_LOCK;
-
- new_heading = NormalizeDegrees( new_heading );
- TargetHeading = new_heading;
- // following cast needed ambiguous plib
- // ApHeadingDialogInput -> setValue ((float)APData->TargetHeading );
- MakeTargetHeadingStr( TargetHeading );
+ if( heading_mode == FG_TRUE_HEADING_LOCK ) {
+ new_heading = NormalizeDegrees( new_heading );
+ TargetHeading = new_heading;
+ MakeTargetHeadingStr( TargetHeading );
+ } else {
+ heading_mode = FG_DG_HEADING_LOCK;
+
+ new_heading = NormalizeDegrees( new_heading );
+ DGTargetHeading = new_heading;
+ // following cast needed ambiguous plib
+ // ApHeadingDialogInput -> setValue ((float)APData->TargetHeading );
+ MakeTargetHeadingStr( DGTargetHeading );
+ }
update_old_control_values();
}
void FGAutopilot::set_AutoThrottleEnabled( bool value ) {
auto_throttle = value;
- if ( auto_throttle = true ) {
- TargetSpeed = FGBFI::getAirspeed();
+ if ( auto_throttle == true ) {
+ TargetSpeed = fgGetDouble("/velocities/airspeed-kt");
speed_error_accum = 0.0;
}
update_old_control_values();
- FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetAutoThrottle: ("
+ SG_LOG( SG_COCKPIT, SG_INFO, " fgAPSetAutoThrottle: ("
<< auto_throttle << ") " << TargetSpeed );
}
projects / flightgear.git / blobdiff