#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 "newauto.hxx"
-#define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_DG_HEADING_LOCK
-
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 * SG_FEET_TO_METER; // fpm -> mpm
-// const double ideal_decent_rate = 1000.0 * SG_FEET_TO_METER; // fpm -> mpm
-
/// These statics will eventually go into the class
/// they are just here while I am experimenting -- NHV :-)
// AutoPilot Gain Adjuster members
// constructor
-FGAutopilot::FGAutopilot():
-TargetClimbRate(500 * SG_FEET_TO_METER),
-TargetDecentRate(1000 * SG_FEET_TO_METER)
+FGAutopilot::FGAutopilot()
{
}
void FGAutopilot::MakeTargetHeadingStr( double bearing ) {
- if( bearing < 0. ) {
+ if ( bearing < 0. ) {
bearing += 360.;
} else if (bearing > 360. ) {
bearing -= 360.;
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);
-
+ // 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 = latitude_node->getDoubleValue();
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;
update_old_control_values();
- // Initialize GUI components of autopilot
- // NewTgtAirportInit();
- // fgAPAdjustInit() ;
- // NewHeadingInit();
- // NewAltitudeInit();
};
// 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 ) {
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 adjustment =
current_radiostack->get_nav1_heading_needle_deflection()
* (current_radiostack->get_nav1_loc_dist() * SG_METER_TO_NM);
- if ( adjustment < -30.0 ) { adjustment = -30.0; }
- if ( adjustment > 30.0 ) { adjustment = 30.0; }
+ SG_CLAMP_RANGE( adjustment, -30.0, 30.0 );
// determine the target heading to fly to intercept the
// tgt_radial
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
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;
+ // cout << "Target climb rate = " << TargetClimbRate->getFloatValue() << endl;
// cout << "given our speed, modified desired climb rate = "
// << climb_rate * SG_METER_TO_FEET
// << " fpm" << 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;
-
- 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;
}
alt_error_accum = 0.0;
+
if ( altitude_mode == FG_ALTITUDE_LOCK ) {
if ( TargetAltitude < altitude_agl_node->getDoubleValue()
* SG_FEET_TO_METER ) {
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;
}
projects / flightgear.git / blobdiff