#include <stdio.h> // sprintf()
#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 <Cockpit/radiostack.hxx>
#include <Controls/controls.hxx>
#include <FDM/flight.hxx>
-#include <Main/bfi.hxx>
#include <Main/globals.hxx>
#include <Scenery/scenery.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
-// const double ideal_decent_rate = 1000.0 * 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
// constructor
-FGAutopilot::FGAutopilot():
-TargetClimbRate(1000 * FEET_TO_METER)
+FGAutopilot::FGAutopilot()
{
}
void FGAutopilot::MakeTargetHeadingStr( double bearing ) {
- if( bearing < 0. ) {
+ if ( bearing < 0. ) {
bearing += 360.;
} else if (bearing > 360. ) {
bearing -= 360.;
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
+ accum*SG_METER_TO_NM, major, minor );
+ // cout << "distance = " << distance*SG_METER_TO_NM
// << " gndsp = " << get_ground_speed()
// << " time = " << eta
// << " major = " << major
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" );
-
+ SG_LOG( SG_AUTOPILOT, SG_INFO, "Init AutoPilot Subsystem" );
+
+ // Autopilot control property static get/set bindings
+ fgTie("/autopilot/locks/altitude", getAPAltitudeLock, setAPAltitudeLock);
+ fgSetArchivable("/autopilot/locks/altitude");
+ fgTie("/autopilot/settings/altitude-ft", getAPAltitude, setAPAltitude);
+ fgSetArchivable("/autopilot/settings/altitude-ft");
+ fgTie("/autopilot/locks/glide-slope", getAPGSLock, setAPGSLock);
+ fgSetDouble("/autopilot/settings/altitude-ft", 3000.0f);
+ fgSetArchivable("/autopilot/locks/glide-slope");
+ fgTie("/autopilot/locks/terrain", getAPTerrainLock, setAPTerrainLock);
+ fgSetArchivable("/autopilot/locks/terrain");
+ fgTie("/autopilot/settings/climb-rate-fpm", getAPClimb, setAPClimb, false);
+ fgSetArchivable("/autopilot/settings/climb-rate-fpm");
+ fgTie("/autopilot/locks/heading", getAPHeadingLock, setAPHeadingLock);
+ fgSetArchivable("/autopilot/locks/heading");
+ fgTie("/autopilot/settings/heading-bug-deg",
+ getAPHeadingBug, setAPHeadingBug);
+ fgSetArchivable("/autopilot/settings/heading-bug-deg");
+ fgSetDouble("/autopilot/settings/heading-bug-deg", 0.0f);
+ fgTie("/autopilot/locks/wing-leveler", getAPWingLeveler, setAPWingLeveler);
+ fgSetArchivable("/autopilot/locks/wing-leveler");
+ fgTie("/autopilot/locks/nav[0]", getAPNAV1Lock, setAPNAV1Lock);
+ fgSetArchivable("/autopilot/locks/nav[0]");
+ fgTie("/autopilot/locks/auto-throttle",
+ getAPAutoThrottleLock, setAPAutoThrottleLock);
+ fgSetArchivable("/autopilot/locks/auto-throttle");
+ fgTie("/autopilot/control-overrides/rudder",
+ getAPRudderControl, setAPRudderControl);
+ fgSetArchivable("/autopilot/control-overrides/rudder");
+ fgTie("/autopilot/control-overrides/elevator",
+ getAPElevatorControl, setAPElevatorControl);
+ fgSetArchivable("/autopilot/control-overrides/elevator");
+ fgTie("/autopilot/control-overrides/throttle",
+ getAPThrottleControl, setAPThrottleControl);
+ fgSetArchivable("/autopilot/control-overrides/throttle");
+
+
+ // 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);
+ heading_node = fgGetNode("/orientation/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);
+ current_throttle = fgGetNode("/controls/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 );
+
+ /* 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;
- sg_srandom_time();
- DGTargetHeading = sg_random() * 360.0;
+ DGTargetHeading = fgGetDouble("/autopilot/settings/heading-bug-deg");
+ TargetHeading = fgGetDouble("/autopilot/settings/heading-bug-deg");
+ TargetAltitude = fgGetDouble("/autopilot/settings/altitude-ft") * SG_FEET_TO_METER;
// 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.
update_old_control_values();
- // Initialize GUI components of autopilot
- // NewTgtAirportInit();
- // fgAPAdjustInit() ;
- // NewHeadingInit();
- // NewAltitudeInit();
};
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;
sprintf( NewTgtAirportId, "%s", fgGetString("/sim/startup/airport-id").c_str() );
- // 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
// 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 alt = FGBFI::getAltitude() * FEET_TO_METER;
+ 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 ||
// 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 ) {
// 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() +
- current_radiostack->get_nav1_magvar();
+ double cur_radial = current_radiostack->get_nav1_heading();
+ if ( current_radiostack->get_nav1_loc() ) {
+ // ILS localizers radials are already "true" in our
+ // database
+ } else {
+ 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; }
// determine the heading adjustment needed.
double adjustment =
current_radiostack->get_nav1_heading_needle_deflection()
- * (current_radiostack->get_nav1_loc_dist() * METER_TO_NM);
- if ( adjustment < -30.0 ) { adjustment = -30.0; }
- if ( adjustment > 30.0 ) { adjustment = 30.0; }
+ * (current_radiostack->get_nav1_loc_dist() * SG_METER_TO_NM);
+ SG_CLAMP_RANGE( adjustment, -30.0, 30.0 );
// determine the target heading to fly to intercept the
// tgt_radial
// end of the line
heading_mode = FG_TRUE_HEADING_LOCK;
// use current heading
- TargetHeading = FGBFI::getHeading();
+ TargetHeading = heading_node->getDoubleValue();
}
}
MakeTargetHeadingStr( TargetHeading );
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; }
- controls.set_aileron( AileronSet );
- controls.set_rudder( AileronSet / 4.0 );
+ SG_CLAMP_RANGE( AileronSet, -1.0, 1.0 );
+ globals->get_controls()->set_aileron( AileronSet );
+ globals->get_controls()->set_rudder( AileronSet / 4.0 );
} else {
// steer towards the target heading
double AileronSet;
RelHeading
- = NormalizeDegrees( TargetHeading - FGBFI::getHeading() );
+ = 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 );
+ SG_LOG( SG_AUTOPILOT, SG_DEBUG, "RelHeading: " << RelHeading );
// Check if we are further from heading than the roll out point
// 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
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 );
}
}
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;
climb_rate =
- ( TargetAltitude - FGSteam::get_ALT_ft() * FEET_TO_METER ) * 8.0;
+ ( TargetAltitude - FGSteam::get_ALT_ft() * SG_FEET_TO_METER ) * 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;
+ 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();
// 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;
+ * SG_FEET_TO_METER * 60.0;
// cout << "Horizontal vel = " << horiz_vel << endl;
- climb_rate = -sin( des_angle * DEG_TO_RAD ) * horiz_vel;
+ 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
climb_rate =
- ( TargetAGL - FGBFI::getAGL()*FEET_TO_METER ) * 16.0;
+ ( TargetAGL - altitude_agl_node->getDoubleValue()
+ * SG_FEET_TO_METER ) * 16.0;
// cout << "target agl = " << TargetAGL
// << " current agl = " << fgAPget_agl()
// << " target climb rate = " << climb_rate
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(TargetClimbRate) ) {
- climb_rate = -fabs(TargetClimbRate);
+ 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;
+
+ // cout << "Target climb rate = " << TargetClimbRate->getFloatValue() << endl;
// cout << "given our speed, modified desired climb rate = "
- // << climb_rate * METER_TO_FEET
+ // << climb_rate * SG_METER_TO_FEET
// << " fpm" << endl;
+ // cout << "Current climb rate = "
+ // << vertical_speed_node->getDoubleValue() * 60 << " fpm" << endl;
- error = FGBFI::getVerticalSpeed() * FEET_TO_METER - climb_rate;
- // cout << "climb rate = " << FGBFI::getVerticalSpeed()
- // << " vsi rate = " << FGSteam::get_VSI_fps() << 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 / 20000.0;
+ int_adj = int_error / elevator_adj_factor->getFloatValue();
// 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;
- }
-
- controls.set_elevator( total_adj );
+ prop_adj = prop_error / elevator_adj_factor->getDoubleValue();
+
+ // cout << "Error=" << error << endl;
+ // cout << "integral_error=" << int_error << endl;
+ // cout << "integral_contrib=" << integral_contrib->getFloatValue() << endl;
+ // cout << "Proportional Adj=" << prop_adj << endl;
+ // cout << "Integral Adj" << int_adj << endl;
+ 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();
+
+ // cout << "Total Adj" << total_adj << endl;
+
+ 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;
}
// 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;
TargetAltitude = waypoint.get_target_alt();
altitude_mode = FG_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_TC_HEADING_LOCK;
- // TargetHeading = FGBFI::getHeading();
}
}
alt_error_accum = 0.0;
+
if ( altitude_mode == FG_ALTITUDE_LOCK ) {
- if ( TargetAltitude < FGBFI::getAGL() * FEET_TO_METER ) {
- // TargetAltitude = FGBFI::getAltitude() * FEET_TO_METER;
+ if ( TargetAltitude < altitude_agl_node->getDoubleValue()
+ * SG_FEET_TO_METER ) {
}
if ( fgGetString("/sim/startup/units") == "feet" ) {
- MakeTargetAltitudeStr( TargetAltitude * METER_TO_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 );
+ 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 ( fgGetString("/sim/startup/units") == "feet" ) {
- target_alt = new_altitude * FEET_TO_METER;
+ 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 ( fgGetString("/sim/startup/units") == "feet" ) {
- target_alt *= METER_TO_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;
+ target_alt = TargetAltitude * SG_METER_TO_FEET;
+ target_agl = TargetAGL * SG_METER_TO_FEET;
} else {
target_alt = TargetAltitude;
target_agl = TargetAGL;
// 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;
+ 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;
+ target_alt *= SG_METER_TO_FEET;
if ( fgGetString("/sim/startup/units") == "feet" )
- target_agl *= METER_TO_FEET;
+ target_agl *= SG_METER_TO_FEET;
if ( altitude_mode == FG_ALTITUDE_LOCK ) {
MakeTargetAltitudeStr( target_alt );
void FGAutopilot::HeadingSet( double new_heading ) {
- 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 );
+ 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();
}
auto_throttle = value;
if ( auto_throttle == true ) {
- TargetSpeed = FGBFI::getAirspeed();
+ 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