Autopilot now honors tunable altitude hold parameters which are defined in

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

diff --git a/src/Autopilot/newauto.cxx b/src/Autopilot/newauto.cxx
index ff6584175332de5db362b28d950533ce7c9e4602..c427fb93759f888a40d0045ffd5a893e431276c7 100644 (file)
--- a/src/Autopilot/newauto.cxx
+++ b/src/Autopilot/newauto.cxx
@@ -48,8 +48,8 @@ FGAutopilot *current_autopilot;
 
 
 // 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
 
@@ -69,10 +69,32 @@ extern char *coord_format_lon(float);
                        
 
 // 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
@@ -358,6 +380,9 @@ int FGAutopilot::run() {
     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 ||
@@ -638,29 +663,36 @@ int FGAutopilot::run() {
 
        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;
@@ -680,13 +712,14 @@ int FGAutopilot::run() {
        // 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 ) {
@@ -779,7 +812,9 @@ int FGAutopilot::run() {
     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;
 }
 
@@ -913,7 +948,7 @@ static inline double fgAPget_agl( void ) {
     double agl;
 
     agl = cur_fdm_state->get_Altitude() * SG_FEET_TO_METER
-       - scenery.cur_elev;
+       - scenery.get_cur_elev();
 
     return( agl );
 }
@@ -929,8 +964,8 @@ void FGAutopilot::AltitudeSet( double new_altitude ) {
        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;