// Contributions by Jeff Goeke-Smith <jgoeke@voyager.net>
// Norman Vine <nhv@cape.com>
// Curtis Olson <curt@flightgear.org>
+// Wendell Turner <wendell@adsi-m4.com>
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
#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"
+#include "auto_gui.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 * 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
extern char *coord_format_lon(float);
+// constructor
+FGAutopilot::FGAutopilot()
+{
+}
+
+// destructor
+FGAutopilot::~FGAutopilot() {}
+
+
void FGAutopilot::MakeTargetLatLonStr( double lat, double lon ) {
sprintf( TargetLatitudeStr , "%s", coord_format_lat(get_TargetLatitude()));
sprintf( TargetLongitudeStr, "%s", coord_format_lon(get_TargetLongitude()));
void FGAutopilot::MakeTargetHeadingStr( double bearing ) {
- if( bearing < 0. ) {
+ if ( bearing < 0. ) {
bearing += 360.;
} else if (bearing > 360. ) {
bearing -= 360.;
}
-static inline double get_speed( void ) {
- return( cur_fdm_state->get_V_equiv_kts() );
-}
-
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
- 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;
}
if ( size > 0 ) {
SGWayPoint wp1 = globals->get_route()->get_waypoint( 0 );
accum += distance;
- double eta = accum * METER_TO_NM / get_ground_speed();
+ 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) ) {
minor = (int)((eta - (int)eta) * 60.0);
sprintf( TargetWP1Str, "%s %.2f NM ETA %d:%02d",
wp1.get_id().c_str(),
- accum*METER_TO_NM, major, minor );
- // cout << "distance = " << distance*METER_TO_NM
- // << " gndsp = " << get_ground_speed()
- // << " time = " << eta
- // << " major = " << major
- // << " minor = " << minor
- // << endl;
+ accum*SG_METER_TO_NM, major, minor );
}
// next route
SGWayPoint wp2 = globals->get_route()->get_waypoint( 1 );
accum += wp2.get_distance();
- double eta = accum * METER_TO_NM / get_ground_speed();
+ 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) ) {
minor = (int)((eta - (int)eta) * 60.0);
sprintf( TargetWP2Str, "%s %.2f NM ETA %d:%02d",
wp2.get_id().c_str(),
- accum*METER_TO_NM, major, minor );
+ accum*SG_METER_TO_NM, major, minor );
}
// next route
SGWayPoint wpn = globals->get_route()->get_waypoint( size - 1 );
- double eta = accum * METER_TO_NM / get_ground_speed();
+ 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) ) {
minor = (int)((eta - (int)eta) * 60.0);
sprintf( TargetWP3Str, "%s %.2f NM ETA %d:%02d",
wpn.get_id().c_str(),
- accum*METER_TO_NM, major, minor );
+ accum*SG_METER_TO_NM, major, minor );
}
}
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() {
- FG_LOG( FG_AUTOPILOT, FG_INFO, "Init AutoPilot Subsystem" );
+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);
+ airspeed_node = fgGetNode("/velocities/airspeed-kt", true);
+ heading_node = fgGetNode("/orientation/heading-deg", true);
+
+ // support non-dg systems that indicate magnetic heading (e.g. 747-400)
+ if (fgGetBool("autopilot/config/indicated-heading-magnetic")) {
+ // use magnetic heading indicated
+ indicated_heading_node
+ = fgGetNode("/orientation/heading-magnetic-deg",
+ true);
+ } else {
+ // use dg heading indicated
+ indicated_heading_node
+ = fgGetNode("/instrumentation/heading-indicator/indicated-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);
+ throttle_adj_factor
+ = fgGetNode("/autopilot/config/throttle-adj-factor", true);
+ throttle_integral
+ = fgGetNode("/autopilot/config/throttle-integral", true);
+ speed_change_node
+ = fgGetNode("/autopilot/output/speed_change_anticipated_kt", true);
+
+ terrain_follow_factor = fgGetNode("/autopilot/config/terrain-follow-factor", true);
+
+ current_throttle = fgGetNode("/controls/engines/engine/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 );
+ if (throttle_adj_factor->getFloatValue() < 1)
+ fgSetFloat( "/autopilot/config/throttle-adj-factor", 5000 );
+ if ( throttle_integral->getFloatValue() < 0.0000001 )
+ fgSetFloat( "/autopilot/config/throttle-integral", 0.001 );
+ if (terrain_follow_factor->getFloatValue() < 1)
+ fgSetFloat( "/autopilot/config/terrain-follow-factor", 16 );
+
+ /* 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;
+
+ DGTargetHeading = fgGetDouble("/autopilot/settings/heading-bug-deg");
+ TargetHeading = fgGetDouble("/autopilot/settings/heading-bug-deg");
+ TargetAltitude = fgGetDouble("/autopilot/settings/altitude-ft") * SG_FEET_TO_METER;
+ TargetSpeed = fgGetDouble("/autopilot/settings/speed-kt");
// 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;
- MakeTargetAltitudeStr( 3000.0);
- MakeTargetHeadingStr( 0.0 );
+ MakeTargetAltitudeStr( TargetAltitude );
+ MakeTargetHeadingStr( TargetHeading );
// These eventually need to be read from current_aircaft somehow.
// 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;
// 25% max control variablilty 0.5 / 2.0
disengage_threshold = 1.0;
+ // set default aileron max deflection
+ MaxAileron = 0.5;
+
+ // used to calculate acceleration
+ previous_speed = 0;
+
#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/locks/vert-speed", this,
+ &FGAutopilot::getAPVertSpeedLock, &FGAutopilot::setAPVertSpeedLock);
+ fgSetArchivable("/autopilot/locks/vert-speed");
+
+
+ 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/settings/waypoint", this,
+ &FGAutopilot::getAPwaypoint, &FGAutopilot::setAPwaypoint);
+ fgSetArchivable("/autopilot/settings/waypoint");
+ fgSetString("/autopilot/settings/waypoint", "");
+
+ 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/settings/speed-kt", this,
+ &FGAutopilot::getAPAutoThrottle, &FGAutopilot::setAPAutoThrottle);
+ fgSetArchivable("/autopilot/settings/altitude-ft");
+ 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");
+
+ fgTie("/autopilot/settings/vertical-speed-fpm", this,
+ &FGAutopilot::getAPVertSpeed, &FGAutopilot::setAPVertSpeed);
+ fgSetArchivable("/autopilot/settings/vertical-speed-fpm");
+ fgSetDouble("/autopilot/settings/vertical-speed-fpm", 0.0f);
+
+}
+
+void
+FGAutopilot::unbind ()
+{
+}
// Reset the autopilot system
void FGAutopilot::reset() {
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", fgGetString("/sim/startup/airport-id").c_str() );
+ sprintf( NewTgtAirportId, "%s", fgGetString("/sim/presets/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 ) {
// 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
};
-int FGAutopilot::run() {
- // Remove the following lines when the calling funcitons start
- // passing in the data pointer
+void
+FGAutopilot::update (double dt)
+{
// get control settings
- // double aileron = FGBFI::getAileron();
- // double elevator = FGBFI::getElevator();
- // double elevator_trim = FGBFI::getElevatorTrim();
- // double rudder = FGBFI::getRudder();
+ 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 );
- double lat = FGBFI::getLatitude();
- double lon = FGBFI::getLongitude();
- double alt = FGBFI::getAltitude() * FEET_TO_METER;
-
#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();
+ double dg_error = heading_node->getDoubleValue()
+ - indicated_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 );
- } else if ( heading_mode == FG_HEADING_LOCK ) {
- // leave target heading alone
+ } 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;
- if ( current_radiostack->get_nav1_loc() ) {
- // localizers radials are "true"
- tgt_radial = current_radiostack->get_nav1_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_navcom1()->get_nav_reciprocal_radial();
+ if ( current_radiostack->get_navcom1()->get_nav_loc() ) {
+ // ILS localizers radials are already "true" in our
+ // database
} else {
- tgt_radial = current_radiostack->get_nav1_radial() +
- current_radiostack->get_nav1_magvar();
+ cur_radial += current_radiostack->get_navcom1()->get_nav_twist();
+ }
+ if ( current_radiostack->get_navcom1()->get_nav_from_flag() ) {
+ cur_radial += 180.0;
+ while ( cur_radial >= 360.0 ) { cur_radial -= 360.0; }
}
- cur_radial = current_radiostack->get_nav1_heading() +
- current_radiostack->get_nav1_magvar();
- // cout << "target rad (true) = " << tgt_radial
- // << " current rad (true) = " << 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_loc_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_navcom1()->get_nav_target_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_navcom1()->get_nav_twist();
+ }
+
+ // determine the heading adjustment needed.
+ double adjustment =
+ current_radiostack->get_navcom1()->get_nav_cdi_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_navcom1()->get_nav_loc_dist() > 5000) {
+ double clamp_angle = fabs(current_radiostack->get_navcom1()->get_nav_cdi_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
+ TargetHeading = tgt_radial + adjustment;
while ( TargetHeading < 0.0 ) { TargetHeading += 360.0; }
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();
set_HeadingMode( FG_HEADING_WAYPOINT );
} else {
// end of the line
- heading_mode = FG_HEADING_LOCK;
+ heading_mode = DEFAULT_AP_HEADING_LOCK;
// use current heading
- TargetHeading = FGBFI::getHeading();
+ TargetHeading = heading_node->getDoubleValue();
}
}
MakeTargetHeadingStr( TargetHeading );
MakeTargetWPStr( wp_distance );
}
- double RelHeading;
- double TargetRoll;
- double RelRoll;
- double AileronSet;
-
- RelHeading = NormalizeDegrees( TargetHeading - FGBFI::getHeading() );
- // 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 );
-
-
- // 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;
- }
+ if ( heading_mode == FG_TC_HEADING_LOCK ) {
+ // drive the turn coordinator to zero
+ 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 );
+ globals->get_controls()->set_rudder( AileronSet / 4.0 );
} else {
- // We have to calculate the Target roll
+ // steer towards the target heading
+
+ double RelHeading;
+ double TargetRoll;
+ double RelRoll;
+ double AileronSet;
+
+ 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.
+ 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 ) {
+ // set Target Roll to Max in desired direction
+ if ( RelHeading < 0 ) {
+ TargetRoll = 0 - MaxRoll;
+ } else {
+ TargetRoll = MaxRoll;
+ }
+ } else {
+ // 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
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 -
+ 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 y = (FGBFI::getAltitude()
- - current_radiostack->get_nav1_elev()) * FEET_TO_METER;
- double current_angle = atan2( y, x ) * RAD_TO_DEG;
- // cout << "current angle = " << current_angle << endl;
-
- double target_angle = current_radiostack->get_nav1_target_gs();
- // cout << "target angle = " << target_angle << endl;
+ double x = current_radiostack->get_navcom1()->get_nav_gs_dist();
+ double y = (altitude_node->getDoubleValue()
+ - 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_navcom1()->get_nav_target_gs();
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()
- * FEET_TO_METER * 60.0;
- // cout << "Horizontal vel = " << horiz_vel << endl;
- TargetClimbRate = -sin( des_angle * DEG_TO_RAD ) * horiz_vel;
- // cout << "TargetClimbRate = " << TargetClimbRate << endl;
+
+ // estimate horizontal speed towards ILS in meters per minute
+ static double horiz_vel = 0.0;
+ static double last_x = 0.0;
+ double dist = last_x - x;
+ last_x = x;
+ double new_vel = ( dist / dt ) * 60.0;
+ horiz_vel = 0.75 * horiz_vel + 0.25 * new_vel;
+ // double horiz_vel = cur_fdm_state->get_V_ground_speed()
+ // * SG_FEET_TO_METER * 60.0;
+ // double horiz_vel = airspeed_node->getFloatValue()
+ // * SG_FEET_TO_METER * 60.0;
+
+ climb_rate = -sin( des_angle * SGD_DEGREES_TO_RADIANS ) * horiz_vel;
/* climb_error_accum += gs_diff * 2.0; */
- /* TargetClimbRate = gs_diff * 200.0 + climb_error_accum; */
+ /* 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;
- // cout << "target agl = " << TargetAGL
- // << " current agl = " << fgAPget_agl()
- // << " target climb rate = " << TargetClimbRate
- // << endl;
+ climb_rate =
+ ( TargetAGL - altitude_agl_node->getDoubleValue()
+ * SG_FEET_TO_METER )
+ * terrain_follow_factor->getFloatValue();
+ } else if ( altitude_mode == FG_VERT_SPEED ) {
+ climb_rate = TargetVertSpeed * SG_FEET_TO_METER;
+ // switch to altitude hold, if set, within 500ft of target
+ if (fabs(TargetAltitude * SG_METER_TO_FEET - altitude_node->getDoubleValue()) < 500) {
+ set_AltitudeMode( FG_ALTITUDE_LOCK );
+ }
} else {
// just try to zero out rate of climb ...
- TargetClimbRate = 0.0;
+ climb_rate = 0.0;
}
- speed = get_speed();
+ speed = airspeed_node->getFloatValue();
- 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))
- * ideal_climb_rate
- / (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 + ideal_climb_rate;
+ 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 ( TargetClimbRate > ideal_climb_rate ) {
- TargetClimbRate = ideal_climb_rate;
- }
+ if (altitude_mode != FG_VERT_SPEED) {
- if ( TargetClimbRate > max_climb ) {
- TargetClimbRate = max_climb;
- }
+ // 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->getFloatValue() * SG_FEET_TO_METER) ) {
+ climb_rate
+ = fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER);
+ }
- if ( TargetClimbRate < -ideal_climb_rate ) {
- TargetClimbRate = -ideal_climb_rate;
- }
+ if ( climb_rate > max_climb ) {
+ climb_rate = max_climb;
+ }
- error = FGBFI::getVerticalSpeed() * FEET_TO_METER - TargetClimbRate;
- // cout << "climb rate = " << fgAPget_climb()
- // << " error = " << error << endl;
+ if ( climb_rate <
+ -fabs(TargetDescentRate->getFloatValue() * SG_FEET_TO_METER) ) {
+ climb_rate
+ = -fabs(TargetDescentRate->getFloatValue() * SG_FEET_TO_METER);
+ }
+
+ }
+
+ 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;
-
- 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;
- }
+ prop_adj = prop_error / elev_adj_factor;
- controls.set_elevator( total_adj );
+ 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();
+
+ globals->get_controls()->set_elevator_trim( total_adj );
}
// auto throttle
double error;
double prop_error, int_error;
double prop_adj, int_adj, total_adj;
+ double lookahead;
+
+ // estimate speed in 10 seconds
+ lookahead = airspeed_node->getFloatValue() + ( airspeed_node->getFloatValue() - previous_speed) * (10/(dt + 0.000001));
+ previous_speed = airspeed_node->getFloatValue();
- error = TargetSpeed - get_speed();
+ // compare targetspeed to anticipated airspeed
+ error = TargetSpeed - lookahead;
+
+ // output anticipated speed change...
+ speed_change_node->setDoubleValue(lookahead - airspeed_node->getFloatValue());
// accumulate the error under the curve ... this really should
// be *= delta t
int_error = speed_error_accum;
// printf("error = %.2f int_error = %.2f\n", error, int_error);
- int_adj = int_error / 200.0;
+ int_adj = int_error / throttle_adj_factor->getFloatValue();
// caclulate proportional error
prop_error = error;
- prop_adj = 0.5 + prop_error / 50.0;
+ prop_adj = prop_error / throttle_adj_factor->getFloatValue();
+
+ total_adj = (1.0 - throttle_integral->getFloatValue()) * prop_adj +
+ throttle_integral->getFloatValue() * int_adj;
- total_adj = 0.9 * prop_adj + 0.1 * int_adj;
- if ( total_adj > 1.0 ) {
- total_adj = 1.0;
+ current_ap_throttle = current_ap_throttle + total_adj;
+
+ if ( current_ap_throttle > 1.0 ) {
+ current_ap_throttle = 1.0;
}
- else if ( total_adj < 0.0 ) {
- total_adj = 0.0;
+ else if ( current_ap_throttle < 0.0 ) {
+ current_ap_throttle = 0.0;
}
- controls.set_throttle( FGControls::ALL_ENGINES, total_adj );
+ globals->get_controls()->set_throttle( FGControls::ALL_ENGINES,
+ current_ap_throttle );
}
#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 )" );
}
heading_mode = mode;
if ( heading_mode == FG_DG_HEADING_LOCK ) {
- // set heading hold to current heading (as read from DG)
- DGTargetHeading = FGSteam::get_DG_deg();
- } else if ( heading_mode == FG_HEADING_LOCK ) {
+ // 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 ) {
// 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() * FEET_TO_METER,
+ waypoint.CourseAndDistance( longitude_node->getDoubleValue(),
+ latitude_node->getDoubleValue(),
+ altitude_node->getDoubleValue()
+ * SG_FEET_TO_METER,
&course, &distance );
TargetHeading = course;
TargetDistance = distance;
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 * METER_TO_FEET );
+ MakeTargetAltitudeStr( TargetAltitude * SG_METER_TO_FEET );
}
- FG_LOG( FG_COCKPIT, FG_INFO, " set_HeadingMode: ( "
+ SG_LOG( SG_COCKPIT, SG_INFO, " set_HeadingMode: ( "
<< get_TargetLatitude() << " "
<< get_TargetLongitude() << " ) "
);
} else {
// no more way points, default to heading lock.
- heading_mode = FG_HEADING_LOCK;
- TargetHeading = FGBFI::getHeading();
+ heading_mode = FG_TC_HEADING_LOCK;
}
}
void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) {
altitude_mode = mode;
- alt_error_accum = 0.0;
+ // only reset accum error if not in altitude mode for smooth transitions
+ // from one altitude mode to another until pitch control damping added.
+ if (!altitude_hold) {
+ alt_error_accum = 0.0;
+ }
- if ( altitude_mode == FG_ALTITUDE_LOCK ) {
- // lock at current altitude
- TargetAltitude = FGBFI::getAltitude() * FEET_TO_METER;
+ if ( altitude_mode == DEFAULT_AP_ALTITUDE_LOCK ) {
+ if ( TargetAltitude < altitude_agl_node->getDoubleValue()
+ * SG_FEET_TO_METER ) {
+ }
- if ( fgGetString("/sim/startup/units") == "feet" ) {
- MakeTargetAltitudeStr( TargetAltitude * METER_TO_FEET );
+ if ( !strcmp(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 ( fgGetString("/sim/startup/units") == "feet" ) {
- MakeTargetAltitudeStr( TargetAGL * METER_TO_FEET );
+ if ( !strcmp(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():" );
-}
-
-
-#if 0
-static inline double get_aoa( void ) {
- return( cur_fdm_state->get_Gamma_vert_rad() * RAD_TO_DEG );
-}
-
-static inline double fgAPget_latitude( void ) {
- return( cur_fdm_state->get_Latitude() * RAD_TO_DEG );
-}
-
-static inline double fgAPget_longitude( void ) {
- return( cur_fdm_state->get_Longitude() * RAD_TO_DEG );
-}
-
-static inline double fgAPget_roll( void ) {
- return( cur_fdm_state->get_Phi() * RAD_TO_DEG );
+ SG_LOG( SG_COCKPIT, SG_INFO, " set_AltitudeMode():" );
}
-static inline double get_pitch( void ) {
- return( cur_fdm_state->get_Theta() );
-}
-
-double fgAPget_heading( void ) {
- return( cur_fdm_state->get_Psi() * RAD_TO_DEG );
-}
-
-static inline double fgAPget_altitude( void ) {
- return( cur_fdm_state->get_Altitude() * 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 );
-}
-
-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() * FEET_TO_METER
- - scenery.cur_elev;
-
- return( agl );
-}
-#endif
-
void FGAutopilot::AltitudeSet( double new_altitude ) {
double target_alt = new_altitude;
+ altitude_mode = DEFAULT_AP_ALTITUDE_LOCK;
- // cout << "new altitude = " << new_altitude << endl;
-
- if ( fgGetString("/sim/startup/units") == "feet" ) {
- target_alt = new_altitude * FEET_TO_METER;
+ 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" ) {
- target_alt *= METER_TO_FEET;
+ if ( !strcmp(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 ( fgGetString("/sim/startup/units") == "feet" ) {
- target_alt = TargetAltitude * METER_TO_FEET;
- target_agl = TargetAGL * METER_TO_FEET;
+ if ( !strcmp(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;
}
- // 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) < FG_EPSILON ) {
+ 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) < FG_EPSILON ) {
+ 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 *= FEET_TO_METER;
- target_agl *= FEET_TO_METER;
+ 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" )
- target_alt *= METER_TO_FEET;
- if ( fgGetString("/sim/startup/units") == "feet" )
- target_agl *= METER_TO_FEET;
+ if ( !strcmp(fgGetString("/sim/startup/units"), "feet") )
+ target_alt *= SG_METER_TO_FEET;
+ 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 );
void FGAutopilot::HeadingAdjust( double inc ) {
- if ( heading_mode != FG_DG_HEADING_LOCK && heading_mode != FG_HEADING_LOCK )
+ 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 ) {
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 );
+ heading_mode = DEFAULT_AP_HEADING_LOCK;
+ 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::AutoThrottleAdjust( double inc ) {
double target = ( int ) ( TargetSpeed / inc ) * inc + inc;
- TargetSpeed = target;
+ set_TargetSpeed( target );
}
+/**
+ * Set the autothrottle speed
+ */
+void
+FGAutopilot::setAPAutoThrottle (double speed_kt)
+{
+ set_TargetSpeed( speed_kt );
+}
+
+/**
+ * Get the autothrottle speed
+ */
+double
+FGAutopilot::getAPAutoThrottle () const
+{
+ return get_TargetSpeed();
+}
void FGAutopilot::set_AutoThrottleEnabled( bool value ) {
auto_throttle = value;
if ( auto_throttle == true ) {
- TargetSpeed = FGBFI::getAirspeed();
- speed_error_accum = 0.0;
+ if (TargetSpeed < 0.0001) {
+ TargetSpeed = fgGetDouble("/velocities/airspeed-kt");
+ }
+ speed_error_accum = 0.0;
+ // initialize autothrottle at current control setting;
+ current_ap_throttle = current_throttle->getFloatValue();
}
update_old_control_values();
- FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetAutoThrottle: ("
+ 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()
+ == DEFAULT_AP_ALTITUDE_LOCK);
+}
+
+
+/**
+ * Set the autopilot altitude lock (true=on).
+ */
+void
+FGAutopilot::setAPAltitudeLock (bool lock)
+{
+ if (lock)
+ set_AltitudeMode(DEFAULT_AP_ALTITUDE_LOCK);
+ if (get_AltitudeMode() == DEFAULT_AP_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 vertical speed lock (true=on).
+ */
+bool
+FGAutopilot::getAPVertSpeedLock () const
+{
+ return (get_AltitudeEnabled() &&
+ (get_AltitudeMode()
+ == FGAutopilot::FG_VERT_SPEED));
+}
+
+
+/**
+ * Set the autopilot vert speed lock (true=on).
+ */
+void
+FGAutopilot::setAPVertSpeedLock (bool lock)
+{
+ if (lock)
+ set_AltitudeMode(FGAutopilot::FG_VERT_SPEED);
+ if (get_AltitudeMode() == FGAutopilot::FG_VERT_SPEED)
+ 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 );
+}
+
+
+/**
+ * return blank-separated string of waypoints
+ */
+const char *
+FGAutopilot::getAPwaypoint () const
+{
+ static char wplist[500];
+ char *p = wplist;
+ int WPListsize, i;
+
+ // FIXME: This can cause a possible buffer overflow, EMH
+ if ( globals->get_route()->size() > 0 ) {
+ WPListsize = globals->get_route()->size();
+
+ for (i = 0; i < globals->get_route()->size(); i++ ) {
+ p += sprintf(p, "%5s ",
+ globals->get_route()->get_waypoint(i).get_id().c_str() );
+ }
+ return wplist;
+
+ } else {
+ return "none specified";
+ }
+}
+
+
+/**
+ * set next waypoint (if str='0', then delete next(first) waypoint)
+ */
+void
+FGAutopilot::setAPwaypoint (const char * apt)
+{
+ if (strcmp(apt, "0")==0)
+ {
+ SG_LOG( SG_AUTOPILOT, SG_INFO, "delete of first wp" );
+ if ( globals->get_route()->size() )
+ globals->get_route()->delete_first();
+ return;
+ }
+
+ if ( NewWaypoint( apt ) == 0)
+ SG_LOG( SG_AUTOPILOT, SG_INFO, "Waypoint " << apt << "not in d.b." );
+ else
+ {
+ /* SG_LOG( SG_AUTOPILOT, SG_INFO, "GOOD!" ); */
+ }
+}
+
+/**
+ * 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);
+}
+
+/**
+ * Get the vertical speed selected
+ */
+double
+FGAutopilot::getAPVertSpeed () const
+{
+ return TargetVertSpeed;
+}
+
+
+/**
+ * Set the selected vertical speed
+ */
+void
+FGAutopilot::setAPVertSpeed (double speed)
+{
+ TargetVertSpeed = speed;
+}
+
+// end of newauto.cxx
+
projects / flightgear.git / blobdiff