The code to find the highest hit below you didn't work quite right when

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

diff --git a/src/Autopilot/newauto.hxx b/src/Autopilot/newauto.hxx
index 37dd3dd944dcadf2154f6c2a815b52440384bca4..467847f1813a3c9e0dce54e15efe596760d1577d 100644 (file)
--- a/src/Autopilot/newauto.hxx
+++ b/src/Autopilot/newauto.hxx
@@ -27,14 +27,14 @@
 #define _NEWAUTO_HXX
 
 
-#include <simgear/misc/props.hxx>
+#include <simgear/props/props.hxx>
+#include <simgear/structure/subsystem_mgr.hxx>
 #include <simgear/route/waypoint.hxx>
 
-#include <Main/fgfs.hxx>
 #include <Main/fg_props.hxx>
 
 // Structures
-class FGAutopilot : public FGSubsystem
+class FGAutopilot : public SGSubsystem
 {
 
 public:
@@ -54,11 +54,11 @@ public:
         FG_ALTITUDE_GS1 = 2,      // follow glide slope 1
         FG_ALTITUDE_GS2 = 3,      // follow glide slope 2
         FG_ALTITUDE_ARM = 4,      // ascend to selected altitude
-        FG_TRUE_ALTITUDE_LOCK = 5 // lock to a specific true altitude
-                                  // (i.e. a perfect world)
+        FG_TRUE_ALTITUDE_LOCK = 5, // lock to a specific true altitude
+                                   // (i.e. a perfect world)
+        FG_VERT_SPEED = 6  // ascend or descend at selected fpm
     };
 
-
 private:
 
     bool heading_hold;          // the current state of the heading hold
@@ -78,11 +78,16 @@ private:
     double TargetAltitude;      // altitude to hold
     double TargetAGL;           // the terrain separation
 
+    double TargetVertSpeed;         // vertical speed to shoot for
+
     double TargetSpeed;         // speed to shoot for
     double alt_error_accum;     // altitude error accumulator
     double climb_error_accum;   // climb error accumulator (for GS)
     double speed_error_accum;   // speed error accumulator
 
+    double current_ap_throttle;  // current ap stored throttle setting used to set all engines
+    double previous_speed;  // used to detect acceleration rate
+
     double TargetSlope;         // the glide slope hold value
 
     double MaxRoll ;            // the max the plane can roll for the turn
@@ -124,9 +129,10 @@ private:
     SGPropertyNode *altitude_agl_node;
     SGPropertyNode *vertical_speed_node;
     SGPropertyNode *heading_node;
-    SGPropertyNode *dg_heading_node;
+    SGPropertyNode *indicated_heading_node;
     SGPropertyNode *roll_node;
     SGPropertyNode *pitch_node;
+    SGPropertyNode *airspeed_node;
 
     SGPropertyNode *min_climb;           // minimum climb speed
     SGPropertyNode *best_climb;          // best climb speed
@@ -139,10 +145,16 @@ private:
     SGPropertyNode *max_roll_node; // maximum roll setting in degrees
     SGPropertyNode *roll_out_node; // start rollout offset from desired heading in degrees
     SGPropertyNode *roll_out_smooth_node; // rollout smoothing offset in degrees
+    SGPropertyNode *throttle_adj_factor; // factor to optimize autothrottle adjustments
+    SGPropertyNode *throttle_integral;    // amount of contribution of the integral
+                                // component of the pid
+    SGPropertyNode *speed_change_node;    // anticipated speed change
 
     SGPropertyNode *TargetClimbRate;    // target climb rate
     SGPropertyNode *TargetDescentRate;  // target decent rate
     SGPropertyNode *current_throttle; // current throttle (engine 0)
+    SGPropertyNode *terrain_follow_factor; // modifies the climb rate to
+                        // permit more control when using terrain following mode
 
 public:
 
@@ -154,7 +166,7 @@ public:
 
 \f
     ////////////////////////////////////////////////////////////////////
-    // Implementation of FGSubsystem.
+    // Implementation of SGSubsystem.
     ////////////////////////////////////////////////////////////////////
 
     void init ();
@@ -205,6 +217,8 @@ public:
     inline void set_TargetDistance( double val ) { TargetDistance = val; }
     inline double get_TargetAltitude() const { return TargetAltitude; }
     inline void set_TargetAltitude( double val ) { TargetAltitude = val; }
+    inline double get_TargetSpeed() const { return TargetSpeed; }
+    inline void set_TargetSpeed( double val ) { TargetSpeed = val; }
     inline double get_TargetAGL() const { return TargetAGL; }
     inline void set_TargetAGL( double val ) { TargetAGL = val; }
     inline double get_TargetClimbRate() const {
@@ -264,6 +278,8 @@ private:
     void setAPAltitude (double altitude);
     bool getAPGSLock () const;
     void setAPGSLock (bool lock);
+    bool getAPVertSpeedLock () const;
+    void setAPVertSpeedLock (bool lock);
     bool getAPTerrainLock () const;
     void setAPTerrainLock (bool lock);
     double getAPClimb () const;
@@ -280,12 +296,16 @@ private:
     void setAPNAV1Lock (bool lock);
     bool getAPAutoThrottleLock () const;
     void setAPAutoThrottleLock (bool lock);
+    double getAPAutoThrottle () const;
+    void setAPAutoThrottle (double altitude);
     double getAPRudderControl () const;
     void setAPRudderControl (double value);
     double getAPElevatorControl () const;
     void setAPElevatorControl (double value);
     double getAPThrottleControl () const;
     void setAPThrottleControl (double value);
+    double getAPVertSpeed () const;
+    void setAPVertSpeed (double speed);
 
 };