// Climb speed constants
-const double min_climb = 70.0; // kts
-const double best_climb = 75.0; // kts
+// const double min_climb = 70.0; // kts
+// const double best_climb = 75.0; // kts
// const double ideal_climb_rate = 500.0 * SG_FEET_TO_METER; // fpm -> mpm
// const double ideal_decent_rate = 1000.0 * SG_FEET_TO_METER; // fpm -> mpm
// constructor
-FGAutopilot::FGAutopilot():
-TargetClimbRate(500 * SG_FEET_TO_METER),
-TargetDecentRate(1000 * SG_FEET_TO_METER)
+FGAutopilot::FGAutopilot()
{
+ 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);
+ cout << "elevadj = " << elevator_adj_factor->getFloatValue() << endl;
+ // initialize 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 );
}
// destructor
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();
}
void FGAutopilot::init() {
SG_LOG( SG_AUTOPILOT, SG_INFO, "Init AutoPilot Subsystem" );
- latitude_node = fgGetNode("/position/latitude", true);
- longitude_node = fgGetNode("/position/longitude", true);
- altitude_node = fgGetNode("/position/altitude", true);
- altitude_agl_node = fgGetNode("/position/altitude-agl", true);
- vertical_speed_node = fgGetNode("/velocities/vertical-speed", true);
- heading_node = fgGetNode("/orientation/heading", true);
- roll_node = fgGetNode("/orientation/roll", true);
+ 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
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 ||
double AileronSet = -turn / 2.0;
if ( AileronSet < -1.0 ) { AileronSet = -1.0; }
if ( AileronSet > 1.0 ) { AileronSet = 1.0; }
- controls.set_aileron( AileronSet );
- controls.set_rudder( AileronSet / 4.0 );
+ globals->get_controls()->set_aileron( AileronSet );
+ globals->get_controls()->set_rudder( AileronSet / 4.0 );
} else {
// steer towards the target heading
MaxAileron );
}
- controls.set_aileron( AileronSet );
- controls.set_rudder( AileronSet / 4.0 );
+ globals->get_controls()->set_aileron( AileronSet );
+ globals->get_controls()->set_rudder( AileronSet / 4.0 );
// controls.set_rudder( 0.0 );
}
}
speed = get_speed();
- if ( speed < min_climb ) {
+ if ( speed < min_climb->getFloatValue() ) {
max_climb = 0.0;
- } else if ( speed < best_climb ) {
- max_climb = ((best_climb - min_climb) - (best_climb - speed))
- * fabs(TargetClimbRate)
- / (best_climb - min_climb);
+ } else if ( speed < best_climb->getFloatValue() ) {
+ max_climb = ((best_climb->getFloatValue()
+ - min_climb->getFloatValue())
+ - (best_climb->getFloatValue() - speed))
+ * fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER)
+ / (best_climb->getFloatValue() - min_climb->getFloatValue());
} else {
- max_climb = ( speed - best_climb ) * 10.0 + fabs(TargetClimbRate);
+ max_climb = ( speed - best_climb->getFloatValue() ) * 10.0
+ + fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER);
}
// this first one could be optional if we wanted to allow
// better climb performance assuming we have the airspeed to
// support it.
- if ( climb_rate > fabs(TargetClimbRate) ) {
- climb_rate = fabs(TargetClimbRate);
+ if ( climb_rate >
+ fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER) ) {
+ climb_rate
+ = fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER);
}
if ( climb_rate > max_climb ) {
climb_rate = max_climb;
}
- if ( climb_rate < -fabs(TargetDecentRate) ) {
- climb_rate = -fabs(TargetDecentRate);
+ if ( climb_rate <
+ -fabs(TargetDescentRate->getFloatValue() * SG_FEET_TO_METER) ) {
+ climb_rate
+ = -fabs(TargetDescentRate->getFloatValue() * SG_FEET_TO_METER);
}
// cout << "Target climb rate = " << TargetClimbRate << endl;
// 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;
+ int_adj = int_error / elevator_adj_factor->getFloatValue();
// caclulate proportional error
prop_error = error;
- prop_adj = prop_error / 2000.0;
+ prop_adj = prop_error / elevator_adj_factor->getFloatValue();
- total_adj = 0.9 * prop_adj + 0.1 * int_adj;
+ total_adj = (1.0 - integral_contrib->getFloatValue()) * prop_adj
+ + integral_contrib->getFloatValue() * int_adj;
// if ( total_adj > 0.6 ) {
// total_adj = 0.6;
// } else if ( total_adj < -0.2 ) {
total_adj = -1.0;
}
- controls.set_elevator( total_adj );
+ globals->get_controls()->set_elevator_trim( total_adj );
}
// auto throttle
total_adj = 0.0;
}
- controls.set_throttle( FGControls::ALL_ENGINES, total_adj );
+ globals->get_controls()->set_throttle( FGControls::ALL_ENGINES,
+ total_adj );
}
#ifdef THIS_CODE_IS_NOT_USED
// stash this runs control settings
// update_old_control_values();
- old_aileron = controls.get_aileron();
- old_elevator = controls.get_elevator();
- old_elevator_trim = controls.get_elevator_trim();
- old_rudder = controls.get_rudder();
+ old_aileron = globals->get_controls()->get_aileron();
+ old_elevator = globals->get_controls()->get_elevator();
+ old_elevator_trim = globals->get_controls()->get_elevator_trim();
+ old_rudder = globals->get_controls()->get_rudder();
// for cross track error
old_lat = lat;
old_lon = lon;
- // Ok, we are done
+ // Ok, we are done
+ SG_LOG( SG_ALL, SG_DEBUG, "FGAutopilot::run( returns )" );
+
return 0;
}
double agl;
agl = cur_fdm_state->get_Altitude() * SG_FEET_TO_METER
- - scenery.cur_elev;
+ - scenery.get_cur_elev();
return( agl );
}
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;
auto_throttle = value;
if ( auto_throttle == true ) {
- TargetSpeed = fgGetDouble("/velocities/airspeed");
+ TargetSpeed = fgGetDouble("/velocities/airspeed-kt");
speed_error_accum = 0.0;
}