#include <simgear/misc/props.hxx>
#include <simgear/route/waypoint.hxx>
+#include <Main/fgfs.hxx>
#include <Main/fg_props.hxx>
// Structures
-class FGAutopilot {
+class FGAutopilot : public FGSubsystem
+{
public:
// destructor
~FGAutopilot();
- // Initialize autopilot system
- void init();
+\f
+ ////////////////////////////////////////////////////////////////////
+ // Implementation of FGSubsystem.
+ ////////////////////////////////////////////////////////////////////
+
+ void init ();
+ void bind ();
+ void unbind ();
+ void update (int dt);
// Reset the autopilot system
void reset(void);
- // run an interation of the autopilot (updates control positions)
- int run();
-
void AltitudeSet( double new_altitude );
void AltitudeAdjust( double inc );
void HeadingAdjust( double inc );
inline double get_RollOutSmooth() const { return RollOutSmooth; }
inline void set_RollOutSmooth( double val ) { RollOutSmooth = val; }
-};
+private:
+
+ bool getAPAltitudeLock () const;
+ void setAPAltitudeLock (bool lock);
+ double getAPAltitude () const;
+ void setAPAltitude (double altitude);
+ bool getAPGSLock () const;
+ void setAPGSLock (bool lock);
+ bool getAPTerrainLock () const;
+ void setAPTerrainLock (bool lock);
+ double getAPClimb () const;
+ void setAPClimb (double rate);
+ bool getAPHeadingLock () const;
+ void setAPHeadingLock (bool lock);
+ double getAPHeadingBug () const;
+ void setAPHeadingBug (double heading);
+ bool getAPWingLeveler () const;
+ void setAPWingLeveler (bool lock);
+ bool getAPNAV1Lock () const;
+ void setAPNAV1Lock (bool lock);
+ bool getAPAutoThrottleLock () const;
+ void setAPAutoThrottleLock (bool lock);
+ double getAPRudderControl () const;
+ void setAPRudderControl (double value);
+ double getAPElevatorControl () const;
+ void setAPElevatorControl (double value);
+ double getAPThrottleControl () const;
+ void setAPThrottleControl (double value);
+};
-extern FGAutopilot *current_autopilot;
#define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_DG_HEADING_LOCK
// #define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_TRUE_HEADING_LOCK
+#define DEFAULT_AP_ALTITUDE_LOCK FGAutopilot::FG_ALTITUDE_LOCK
/**
* static functions for autopilot properties
*/
-/**
- * Get the autopilot altitude lock (true=on).
- */
-static bool
-getAPAltitudeLock ()
-{
- return (current_autopilot->get_AltitudeEnabled() &&
- current_autopilot->get_AltitudeMode()
- == FGAutopilot::FG_ALTITUDE_LOCK);
-}
-
-
-/**
- * Set the autopilot altitude lock (true=on).
- */
-static void
-setAPAltitudeLock (bool lock)
-{
- if (lock)
- current_autopilot->set_AltitudeMode(FGAutopilot::FG_ALTITUDE_LOCK);
- if (current_autopilot->get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_LOCK)
- current_autopilot->set_AltitudeEnabled(lock);
-}
-
-
-/**
- * Get the autopilot target altitude in feet.
- */
-static double
-getAPAltitude ()
-{
- return current_autopilot->get_TargetAltitude() * SG_METER_TO_FEET;
-}
-
-
-/**
- * Set the autopilot target altitude in feet.
- */
-static void
-setAPAltitude (double altitude)
-{
- current_autopilot->set_TargetAltitude( altitude * SG_FEET_TO_METER );
-}
-
-/**
- * Get the autopilot altitude lock (true=on).
- */
-static bool
-getAPGSLock ()
-{
- return (current_autopilot->get_AltitudeEnabled() &&
- (current_autopilot->get_AltitudeMode()
- == FGAutopilot::FG_ALTITUDE_GS1));
-}
-
-
-/**
- * Set the autopilot altitude lock (true=on).
- */
-static void
-setAPGSLock (bool lock)
-{
- if (lock)
- current_autopilot->set_AltitudeMode(FGAutopilot::FG_ALTITUDE_GS1);
- if (current_autopilot->get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_GS1)
- current_autopilot->set_AltitudeEnabled(lock);
-}
-
-
-/**
- * Get the autopilot terrain lock (true=on).
- */
-static bool
-getAPTerrainLock ()
-{
- return (current_autopilot->get_AltitudeEnabled() &&
- (current_autopilot->get_AltitudeMode()
- == FGAutopilot::FG_ALTITUDE_TERRAIN));
-}
-
-
-/**
- * Set the autopilot terrain lock (true=on).
- */
-static void
-setAPTerrainLock (bool lock)
-{
- if (lock) {
- current_autopilot->set_AltitudeMode(FGAutopilot::FG_ALTITUDE_TERRAIN);
- current_autopilot
- ->set_TargetAGL(fgGetFloat("/position/altitude-agl-ft") *
- SG_FEET_TO_METER);
- cout << "Target AGL = "
- << fgGetFloat("/position/altitude-agl-ft") * SG_FEET_TO_METER
- << endl;
- }
- if (current_autopilot->get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_TERRAIN)
- current_autopilot->set_AltitudeEnabled(lock);
-}
-
-
-/**
- * Get the autopilot target altitude in feet.
- */
-static double
-getAPClimb ()
-{
- return current_autopilot->get_TargetClimbRate() * SG_METER_TO_FEET;
-}
-
-
-/**
- * Set the autopilot target altitude in feet.
- */
-static void
-setAPClimb (double rate)
-{
- current_autopilot->set_TargetClimbRate( rate * SG_FEET_TO_METER );
-}
-
-
-/**
- * Get the autopilot heading lock (true=on).
- */
-static bool
-getAPHeadingLock ()
-{
- return
- (current_autopilot->get_HeadingEnabled() &&
- current_autopilot->get_HeadingMode() == DEFAULT_AP_HEADING_LOCK);
-}
-
-
-/**
- * Set the autopilot heading lock (true=on).
- */
-static void
-setAPHeadingLock (bool lock)
-{
- if (lock)
- current_autopilot->set_HeadingMode(DEFAULT_AP_HEADING_LOCK);
- if (current_autopilot->get_HeadingMode() == DEFAULT_AP_HEADING_LOCK)
- current_autopilot->set_HeadingEnabled(lock);
-}
-
-
-/**
- * Get the autopilot heading bug in degrees.
- */
-static double
-getAPHeadingBug ()
-{
- return current_autopilot->get_DGTargetHeading();
-}
-
-
-/**
- * Set the autopilot heading bug in degrees.
- */
-static void
-setAPHeadingBug (double heading)
-{
- current_autopilot->set_DGTargetHeading( heading );
-}
-
-
-/**
- * Get the autopilot wing leveler lock (true=on).
- */
-static bool
-getAPWingLeveler ()
-{
- return
- (current_autopilot->get_HeadingEnabled() &&
- current_autopilot->get_HeadingMode() == FGAutopilot::FG_TC_HEADING_LOCK);
-}
-
-
-/**
- * Set the autopilot wing leveler lock (true=on).
- */
-static void
-setAPWingLeveler (bool lock)
-{
- if (lock)
- current_autopilot->set_HeadingMode(FGAutopilot::FG_TC_HEADING_LOCK);
- if (current_autopilot->get_HeadingMode() == FGAutopilot::FG_TC_HEADING_LOCK)
- current_autopilot->set_HeadingEnabled(lock);
-}
-
-/**
- * Return true if the autopilot is locked to NAV1.
- */
-static bool
-getAPNAV1Lock ()
-{
- return
- (current_autopilot->get_HeadingEnabled() &&
- current_autopilot->get_HeadingMode() == FGAutopilot::FG_HEADING_NAV1);
-}
-
-
-/**
- * Set the autopilot NAV1 lock.
- */
-static void
-setAPNAV1Lock (bool lock)
-{
- if (lock)
- current_autopilot->set_HeadingMode(FGAutopilot::FG_HEADING_NAV1);
- if (current_autopilot->get_HeadingMode() == FGAutopilot::FG_HEADING_NAV1)
- current_autopilot->set_HeadingEnabled(lock);
-}
-
-/**
- * Get the autopilot autothrottle lock.
- */
-static bool
-getAPAutoThrottleLock ()
-{
- return current_autopilot->get_AutoThrottleEnabled();
-}
-
-
-/**
- * Set the autothrottle lock.
- */
-static void
-setAPAutoThrottleLock (bool lock)
-{
- current_autopilot->set_AutoThrottleEnabled(lock);
-}
-
-
-// kludge
-static double
-getAPRudderControl ()
-{
- if (getAPHeadingLock())
- return current_autopilot->get_TargetHeading();
- else
- return globals->get_controls()->get_rudder();
-}
-
-// kludge
-static void
-setAPRudderControl (double value)
-{
- if (getAPHeadingLock()) {
- SG_LOG(SG_GENERAL, SG_DEBUG, "setAPRudderControl " << value );
- value -= current_autopilot->get_TargetHeading();
- current_autopilot->HeadingAdjust(value < 0.0 ? -1.0 : 1.0);
- } else {
- globals->get_controls()->set_rudder(value);
- }
-}
-
-// kludge
-static double
-getAPElevatorControl ()
-{
- if (getAPAltitudeLock())
- return current_autopilot->get_TargetAltitude();
- else
- return globals->get_controls()->get_elevator();
-}
-
-// kludge
-static void
-setAPElevatorControl (double value)
-{
- if (value != 0 && getAPAltitudeLock()) {
- SG_LOG(SG_GENERAL, SG_DEBUG, "setAPElevatorControl " << value );
- value -= current_autopilot->get_TargetAltitude();
- current_autopilot->AltitudeAdjust(value < 0.0 ? 100.0 : -100.0);
- } else {
- globals->get_controls()->set_elevator(value);
- }
-}
-
-// kludge
-static double
-getAPThrottleControl ()
-{
- if (getAPAutoThrottleLock())
- return 0.0; // always resets
- else
- return globals->get_controls()->get_throttle(0);
-}
-
-// kludge
-static void
-setAPThrottleControl (double value)
-{
- if (getAPAutoThrottleLock())
- current_autopilot->AutoThrottleAdjust(value < 0.0 ? -0.01 : 0.01);
- else
- globals->get_controls()->set_throttle(FGControls::ALL_ENGINES, value);
-}
-
#endif // _NEWAUTO_HXX
projects / flightgear.git / blobdiff