Create a "passive" mode for the autopilot. This is analogous to running the

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

diff --git a/src/Autopilot/route_mgr.cxx b/src/Autopilot/route_mgr.cxx
index 915f9de2f73e460b8292c0061de1d1f5df692e7a..f9175aa1e3e3fb89c3ca1b8e1a079d36bdfe523f 100644 (file)
--- a/src/Autopilot/route_mgr.cxx
+++ b/src/Autopilot/route_mgr.cxx
@@ -68,8 +68,8 @@ FGRouteMgr::FGRouteMgr() :
 
 
 FGRouteMgr::~FGRouteMgr() {
-    delete route;
     input->removeChangeListener(listener);
+    delete route;
 }
 
 
@@ -140,10 +140,12 @@ void FGRouteMgr::update( double dt ) {
         true_hdg_deg->setDoubleValue( wp_course );
         double target_alt = wp.get_target_alt();
 
-        if (!altitude_set && target_alt > -9990) {
+        if ( !altitude_set && target_alt > -9990 ) {
             target_altitude_ft->setDoubleValue( target_alt * SG_METER_TO_FEET );
-            altitude_lock->setStringValue( "altitude-hold" );
             altitude_set = true;
+
+            if ( !near_ground() )
+                altitude_lock->setStringValue( "altitude-hold" );
         }
 
         if ( wp_distance < 200.0 ) {
@@ -229,7 +231,7 @@ void FGRouteMgr::update( double dt ) {
 
 
 void FGRouteMgr::add_waypoint( const SGWayPoint& wp, int n ) {
-    if ( n == 0 || !route->size())
+    if ( n == 0 || !route->size() )
         altitude_set = false;
 
     route->add_waypoint( wp, n );
@@ -278,33 +280,32 @@ bool FGRouteMgr::build() {
 }
 
 
-
-int FGRouteMgr::new_waypoint( const string& Tgt_Alt, int n ) {
-    string target = Tgt_Alt;
-
-    // make upper case
-    for (unsigned int i = 0; i < target.size(); i++)
-        if (target[i] >= 'a' && target[i] <= 'z')
-            target[i] -= 'a' - 'A';
-
+int FGRouteMgr::new_waypoint( const string& target, int n ) {
     SGWayPoint *wp = 0;
     int type = make_waypoint( &wp, target );
 
     if (wp) {
         add_waypoint( *wp, n );
-        fgSetString( "/autopilot/locks/heading", "true-heading-hold" );
         delete wp;
+
+        if ( !near_ground() )
+            fgSetString( "/autopilot/locks/heading", "true-heading-hold" );
     }
     return type;
 }
 
 
+int FGRouteMgr::make_waypoint( SGWayPoint **wp, const string& tgt ) {
+    string target = tgt;
 
-int FGRouteMgr::make_waypoint(SGWayPoint **wp, string& target) {
-    double alt = -9999.0;
+    // make upper case
+    for (unsigned int i = 0; i < target.size(); i++)
+        if (target[i] >= 'a' && target[i] <= 'z')
+            target[i] -= 'a' - 'A';
 
     // extract altitude
-    unsigned int pos = target.find( '@' );
+    double alt = -9999.0;
+    size_t pos = target.find( '@' );
     if ( pos != string::npos ) {
         alt = atof( target.c_str() + pos + 1 );
         target = target.substr( 0, pos );
@@ -389,6 +390,19 @@ void FGRouteMgr::update_mirror() {
 }
 
 
+bool FGRouteMgr::near_ground() {
+    SGPropertyNode *gear = fgGetNode( "/gear/gear/wow", false );
+    if ( !gear || gear->getType() == SGPropertyNode::NONE )
+        return fgGetBool( "/sim/presets/onground", true );
+
+    if ( fgGetDouble("/position/altitude-agl-ft", 300.0)
+            < fgGetDouble("/autopilot/route-manager/min-lock-altitude-agl-ft") )
+        return true;
+
+    return gear->getBoolValue();
+}
+
+
 // command interface /autopilot/route-manager/input:
 //
 //   @clear             ... clear route