X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAutopilot%2Fnewauto.cxx;h=1341368d90bf2502ac8d3593a513456ec31f9d7a;hb=a4e81f4ff075e6a3c0c2ea1b5a29c0bcdfdbc671;hp=ff6584175332de5db362b28d950533ce7c9e4602;hpb=59ccf90a601edcbfe5e4909a72e5af48b0ff6565;p=flightgear.git diff --git a/src/Autopilot/newauto.cxx b/src/Autopilot/newauto.cxx index ff6584175..1341368d9 100644 --- a/src/Autopilot/newauto.cxx +++ b/src/Autopilot/newauto.cxx @@ -28,11 +28,14 @@ #endif #include // sprintf() +#include // strcmp() #include +#include #include #include #include +#include #include #include @@ -44,15 +47,6 @@ #include "newauto.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 * 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 @@ -69,9 +63,7 @@ extern char *coord_format_lon(float); // constructor -FGAutopilot::FGAutopilot(): -TargetClimbRate(500 * SG_FEET_TO_METER), -TargetDecentRate(1000 * SG_FEET_TO_METER) +FGAutopilot::FGAutopilot() { } @@ -96,7 +88,7 @@ void FGAutopilot::MakeTargetAltitudeStr( double altitude ) { void FGAutopilot::MakeTargetHeadingStr( double bearing ) { - if( bearing < 0. ) { + if ( bearing < 0. ) { bearing += 360.; } else if (bearing > 360. ) { bearing -= 360.; @@ -155,12 +147,6 @@ void FGAutopilot::MakeTargetWPStr( double distance ) { sprintf( TargetWP1Str, "%s %.2f NM ETA %d:%02d", wp1.get_id().c_str(), accum*SG_METER_TO_NM, major, minor ); - // cout << "distance = " << distance*SG_METER_TO_NM - // << " gndsp = " << get_ground_speed() - // << " time = " << eta - // << " major = " << major - // << " minor = " << minor - // << endl; } // next route @@ -215,9 +201,12 @@ void FGAutopilot::update_old_control_values() { // Initialize autopilot subsystem -void FGAutopilot::init() { + +void FGAutopilot::init () +{ SG_LOG( SG_AUTOPILOT, SG_INFO, "Init AutoPilot Subsystem" ); + // 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); @@ -225,14 +214,68 @@ void FGAutopilot::init() { 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); + max_aileron_node = fgGetNode("/autopilot/config/max-aileron", true); + max_roll_node = fgGetNode("/autopilot/config/max-roll-deg", true); + roll_out_node = fgGetNode("/autopilot/config/roll-out-deg", true); + roll_out_smooth_node = fgGetNode("/autopilot/config/roll-out-smooth-deg", 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 ); + if ( max_aileron_node->getFloatValue() < 0.0000001 ) + fgSetFloat( "/autopilot/config/max-aileron", 0.2 ); + if ( max_roll_node->getFloatValue() < 0.0000001 ) + fgSetFloat( "/autopilot/config/max-roll-deg", 20 ); + if ( roll_out_node->getFloatValue() < 0.0000001 ) + fgSetFloat( "/autopilot/config/roll-out-deg", 20 ); + if ( roll_out_smooth_node->getFloatValue() < 0.0000001 ) + fgSetFloat( "/autopilot/config/roll-out-smooth-deg", 10 ); + + /* 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; + altitude_mode = DEFAULT_AP_ALTITUDE_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(); @@ -241,8 +284,6 @@ void FGAutopilot::init() { 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; @@ -257,9 +298,6 @@ void FGAutopilot::init() { // the deg from heading to start rolling out at, in Deg RollOut = 20; - // how far can I move the aleron from center. - MaxAileron = .2; - // Smoothing distance for alerion control RollOutSmooth = 10; @@ -270,19 +308,68 @@ void FGAutopilot::init() { #if !defined( USING_SLIDER_CLASS ) MaxRollAdjust = 2 * MaxRoll; RollOutAdjust = 2 * RollOut; - MaxAileronAdjust = 2 * MaxAileron; + //MaxAileronAdjust = 2 * MaxAileron; RollOutSmoothAdjust = 2 * RollOutSmooth; #endif // !defined( USING_SLIDER_CLASS ) update_old_control_values(); - - // Initialize GUI components of autopilot - // NewTgtAirportInit(); - // fgAPAdjustInit() ; - // NewHeadingInit(); - // NewAltitudeInit(); }; +void +FGAutopilot::bind () +{ + // Autopilot control property get/set bindings + fgTie("/autopilot/locks/altitude", this, + &FGAutopilot::getAPAltitudeLock, &FGAutopilot::setAPAltitudeLock); + fgSetArchivable("/autopilot/locks/altitude"); + fgTie("/autopilot/settings/altitude-ft", this, + &FGAutopilot::getAPAltitude, &FGAutopilot::setAPAltitude); + fgSetArchivable("/autopilot/settings/altitude-ft"); + fgTie("/autopilot/locks/glide-slope", this, + &FGAutopilot::getAPGSLock, &FGAutopilot::setAPGSLock); + fgSetArchivable("/autopilot/locks/glide-slope"); + fgSetDouble("/autopilot/settings/altitude-ft", 3000.0f); + fgTie("/autopilot/locks/terrain", this, + &FGAutopilot::getAPTerrainLock, &FGAutopilot::setAPTerrainLock); + fgSetArchivable("/autopilot/locks/terrain"); + fgTie("/autopilot/settings/climb-rate-fpm", this, + &FGAutopilot::getAPClimb, &FGAutopilot::setAPClimb, false); + fgSetArchivable("/autopilot/settings/climb-rate-fpm"); + fgTie("/autopilot/locks/heading", this, + &FGAutopilot::getAPHeadingLock, &FGAutopilot::setAPHeadingLock); + fgSetArchivable("/autopilot/locks/heading"); + fgTie("/autopilot/settings/heading-bug-deg", this, + &FGAutopilot::getAPHeadingBug, &FGAutopilot::setAPHeadingBug); + fgSetArchivable("/autopilot/settings/heading-bug-deg"); + fgSetDouble("/autopilot/settings/heading-bug-deg", 0.0f); + fgTie("/autopilot/locks/wing-leveler", this, + &FGAutopilot::getAPWingLeveler, &FGAutopilot::setAPWingLeveler); + fgSetArchivable("/autopilot/locks/wing-leveler"); + fgTie("/autopilot/locks/nav[0]", this, + &FGAutopilot::getAPNAV1Lock, &FGAutopilot::setAPNAV1Lock); + fgSetArchivable("/autopilot/locks/nav[0]"); + fgTie("/autopilot/locks/auto-throttle", this, + &FGAutopilot::getAPAutoThrottleLock, + &FGAutopilot::setAPAutoThrottleLock); + fgSetArchivable("/autopilot/locks/auto-throttle"); + fgTie("/autopilot/control-overrides/rudder", this, + &FGAutopilot::getAPRudderControl, + &FGAutopilot::setAPRudderControl); + fgSetArchivable("/autopilot/control-overrides/rudder"); + fgTie("/autopilot/control-overrides/elevator", this, + &FGAutopilot::getAPElevatorControl, + &FGAutopilot::setAPElevatorControl); + fgSetArchivable("/autopilot/control-overrides/elevator"); + fgTie("/autopilot/control-overrides/throttle", this, + &FGAutopilot::getAPThrottleControl, + &FGAutopilot::setAPThrottleControl); + fgSetArchivable("/autopilot/control-overrides/throttle"); +} + +void +FGAutopilot::unbind () +{ +} // Reset the autopilot system void FGAutopilot::reset() { @@ -303,7 +390,7 @@ void FGAutopilot::reset() { update_old_control_values(); - sprintf( NewTgtAirportId, "%s", fgGetString("/sim/startup/airport-id").c_str() ); + sprintf( NewTgtAirportId, "%s", fgGetString("/sim/startup/airport-id") ); MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() ); } @@ -313,13 +400,10 @@ static double NormalizeDegrees( double Input ) { // 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 ) { @@ -348,7 +432,9 @@ static double LinearExtrapolate( double x, double x1, double y1, double x2, doub }; -int FGAutopilot::run() { +void +FGAutopilot::update (double dt) +{ // Remove the following lines when the calling funcitons start // passing in the data pointer @@ -358,6 +444,15 @@ int FGAutopilot::run() { double lon = longitude_node->getDoubleValue(); double alt = altitude_node->getDoubleValue() * SG_FEET_TO_METER; + // get config settings + MaxAileron = max_aileron_node->getDoubleValue(); + MaxRoll = max_roll_node->getDoubleValue(); + RollOut = roll_out_node->getDoubleValue(); + RollOutSmooth = roll_out_smooth_node->getDoubleValue(); + + 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 || @@ -386,9 +481,6 @@ int FGAutopilot::run() { // heading hold if ( heading_hold == true ) { if ( heading_mode == FG_DG_HEADING_LOCK ) { - // cout << "DG heading = " << FGSteam::get_DG_deg() - // << " DG error = " << FGSteam::get_DG_err() << endl; - TargetHeading = DGTargetHeading + FGSteam::get_DG_err(); while ( TargetHeading < 0.0 ) { TargetHeading += 360.0; } while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; } @@ -433,8 +525,14 @@ int FGAutopilot::run() { 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 ); + + // clamp closer when inside cone when beyond 5km... + if (current_radiostack->get_nav1_loc_dist() > 5000) { + double clamp_angle = fabs(current_radiostack->get_nav1_heading_needle_deflection()) * 3; + if (clamp_angle < 30) + SG_CLAMP_RANGE( adjustment, -clamp_angle, clamp_angle); + } // determine the target heading to fly to intercept the // tgt_radial @@ -443,7 +541,6 @@ int FGAutopilot::run() { while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; } MakeTargetHeadingStr( TargetHeading ); - // cout << "target course (true) = " << TargetHeading << endl; } else if ( heading_mode == FG_HEADING_WAYPOINT ) { // update target heading to waypoint @@ -482,9 +579,6 @@ int FGAutopilot::run() { // corrected_course = course - wp_course; TargetHeading = NormalizeDegrees(wp_course); } else { - cout << "Reached waypoint within " << wp_distance << "meters" - << endl; - // pop off this waypoint from the list if ( globals->get_route()->size() ) { globals->get_route()->delete_first(); @@ -510,10 +604,8 @@ int FGAutopilot::run() { if ( heading_mode == FG_TC_HEADING_LOCK ) { // drive the turn coordinator to zero 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; } + SG_CLAMP_RANGE( AileronSet, -1.0, 1.0 ); globals->get_controls()->set_aileron( AileronSet ); globals->get_controls()->set_rudder( AileronSet / 4.0 ); } else { @@ -530,8 +622,10 @@ int FGAutopilot::run() { // figure out how far off we are from desired heading // Now it is time to deterime how far we should be rolled. - SG_LOG( SG_AUTOPILOT, SG_DEBUG, "RelHeading: " << RelHeading ); - + SG_LOG( SG_AUTOPILOT, SG_DEBUG, + "Heading = " << heading_node->getDoubleValue() << + " TargetHeading = " << TargetHeading << + " RelHeading = " << RelHeading ); // Check if we are further from heading than the roll out point if ( fabs( RelHeading ) > RollOut ) { @@ -601,25 +695,18 @@ int FGAutopilot::run() { 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(); - // cout << "target angle = " << target_angle << endl; double gs_diff = target_angle - current_angle; - // cout << "difference from desired = " << gs_diff << endl; // convert desired vertical path angle into a climb rate double des_angle = current_angle - 10 * gs_diff; - // cout << "desired angle = " << des_angle << endl; // 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() * SG_FEET_TO_METER * 60.0; - // cout << "Horizontal vel = " << horiz_vel << endl; 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 ) { @@ -627,10 +714,6 @@ int FGAutopilot::run() { climb_rate = ( TargetAGL - altitude_agl_node->getDoubleValue() * SG_FEET_TO_METER ) * 16.0; - // cout << "target agl = " << TargetAGL - // << " current agl = " << fgAPget_agl() - // << " target climb rate = " << climb_rate - // << endl; } else { // just try to zero out rate of climb ... climb_rate = 0.0; @@ -638,38 +721,38 @@ int FGAutopilot::run() { 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 << "given our speed, modified desired climb rate = " - // << climb_rate * SG_METER_TO_FEET - // << " fpm" << endl; - // cout << "Current climb rate = " - // << vertical_speed_node->getDoubleValue() * 60 << " fpm" << endl; - error = vertical_speed_node->getDoubleValue() * 60 - climb_rate * SG_METER_TO_FEET; @@ -680,23 +763,32 @@ int FGAutopilot::run() { // 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; + + // scale elev_adj_factor by speed of aircraft in relation to min climb + double elev_adj_factor = elevator_adj_factor->getFloatValue(); + elev_adj_factor *= + pow(float(speed / min_climb->getFloatValue()), 3.0f); + + int_adj = int_error / elev_adj_factor; // caclulate proportional error prop_error = error; - prop_adj = prop_error / 2000.0; + prop_adj = prop_error / elev_adj_factor; - 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; - } + 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(); globals->get_controls()->set_elevator_trim( total_adj ); } @@ -779,8 +871,8 @@ int FGAutopilot::run() { old_lat = lat; old_lon = lon; - // Ok, we are done - return 0; + // Ok, we are done + SG_LOG( SG_ALL, SG_DEBUG, "FGAutopilot::run( returns )" ); } @@ -843,12 +935,13 @@ void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) { alt_error_accum = 0.0; + if ( altitude_mode == FG_ALTITUDE_LOCK ) { if ( TargetAltitude < altitude_agl_node->getDoubleValue() * SG_FEET_TO_METER ) { } - if ( fgGetString("/sim/startup/units") == "feet" ) { + if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) { MakeTargetAltitudeStr( TargetAltitude * SG_METER_TO_FEET ); } else { MakeTargetAltitudeStr( TargetAltitude * SG_METER_TO_FEET ); @@ -859,7 +952,7 @@ void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) { } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) { TargetAGL = altitude_agl_node->getDoubleValue() * SG_FEET_TO_METER; - if ( fgGetString("/sim/startup/units") == "feet" ) { + if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) { MakeTargetAltitudeStr( TargetAGL * SG_METER_TO_FEET ); } else { MakeTargetAltitudeStr( TargetAGL * SG_METER_TO_FEET ); @@ -871,74 +964,21 @@ void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) { } -#if 0 -static inline double get_aoa( void ) { - return( cur_fdm_state->get_Gamma_vert_rad() * SGD_RADIANS_TO_DEGREES ); -} - -static inline double fgAPget_latitude( void ) { - return( cur_fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES ); -} - -static inline double fgAPget_longitude( void ) { - return( cur_fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES ); -} - -static inline double fgAPget_roll( void ) { - return( cur_fdm_state->get_Phi() * SGD_RADIANS_TO_DEGREES ); -} - -static inline double get_pitch( void ) { - return( cur_fdm_state->get_Theta() ); -} - -double fgAPget_heading( void ) { - return( cur_fdm_state->get_Psi() * SGD_RADIANS_TO_DEGREES ); -} - -static inline double fgAPget_altitude( void ) { - 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() * SG_FEET_TO_METER * 60 ); -} - -static inline double get_sideslip( void ) { - return( cur_fdm_state->get_Beta() ); -} - -static inline double fgAPget_agl( void ) { - double agl; - - agl = cur_fdm_state->get_Altitude() * SG_FEET_TO_METER - - scenery.cur_elev; - - return( agl ); -} -#endif - - void FGAutopilot::AltitudeSet( double new_altitude ) { double target_alt = new_altitude; - // cout << "new altitude = " << new_altitude << endl; - - if ( fgGetString("/sim/startup/units") == "feet" ) { + if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) { target_alt = new_altitude * SG_FEET_TO_METER; } - if( target_alt < scenery.cur_elev ) { - target_alt = scenery.cur_elev; + if( target_alt < globals->get_scenery()->get_cur_elev() ) { + target_alt = globals->get_scenery()->get_cur_elev(); } TargetAltitude = target_alt; altitude_mode = FG_ALTITUDE_LOCK; - // cout << "TargetAltitude = " << TargetAltitude << endl; - - if ( fgGetString("/sim/startup/units") == "feet" ) { + if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) { target_alt *= SG_METER_TO_FEET; } // ApAltitudeDialogInput->setValue((float)target_alt); @@ -952,7 +992,7 @@ void FGAutopilot::AltitudeAdjust( double inc ) { double target_alt, target_agl; - if ( fgGetString("/sim/startup/units") == "feet" ) { + if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) { target_alt = TargetAltitude * SG_METER_TO_FEET; target_agl = TargetAGL * SG_METER_TO_FEET; } else { @@ -960,10 +1000,6 @@ void FGAutopilot::AltitudeAdjust( double inc ) target_agl = TargetAGL; } - // cout << "target_agl = " << target_agl << endl; - // 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) < SG_EPSILON ) { target_alt += inc; } else { @@ -976,7 +1012,7 @@ void FGAutopilot::AltitudeAdjust( double inc ) target_agl = ( int ) ( target_agl / inc ) * inc + inc; } - if ( fgGetString("/sim/startup/units") == "feet" ) { + if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) { target_alt *= SG_FEET_TO_METER; target_agl *= SG_FEET_TO_METER; } @@ -984,9 +1020,9 @@ void FGAutopilot::AltitudeAdjust( double inc ) TargetAltitude = target_alt; TargetAGL = target_agl; - if ( fgGetString("/sim/startup/units") == "feet" ) + if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) target_alt *= SG_METER_TO_FEET; - if ( fgGetString("/sim/startup/units") == "feet" ) + if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) target_agl *= SG_METER_TO_FEET; if ( altitude_mode == FG_ALTITUDE_LOCK ) { @@ -1054,3 +1090,312 @@ void FGAutopilot::set_AutoThrottleEnabled( bool value ) { SG_LOG( SG_COCKPIT, SG_INFO, " fgAPSetAutoThrottle: (" << auto_throttle << ") " << TargetSpeed ); } + + + + +//////////////////////////////////////////////////////////////////////// +// Kludged methods for tying to properties. +// +// These should change eventually; they all used to be static +// functions. +//////////////////////////////////////////////////////////////////////// + +/** + * Get the autopilot altitude lock (true=on). + */ +bool +FGAutopilot::getAPAltitudeLock () const +{ + return (get_AltitudeEnabled() && + get_AltitudeMode() + == FGAutopilot::FG_ALTITUDE_LOCK); +} + + +/** + * Set the autopilot altitude lock (true=on). + */ +void +FGAutopilot::setAPAltitudeLock (bool lock) +{ + if (lock) + set_AltitudeMode(FGAutopilot::FG_ALTITUDE_LOCK); + if (get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_LOCK) + set_AltitudeEnabled(lock); +} + + +/** + * Get the autopilot target altitude in feet. + */ +double +FGAutopilot::getAPAltitude () const +{ + return get_TargetAltitude() * SG_METER_TO_FEET; +} + + +/** + * Set the autopilot target altitude in feet. + */ +void +FGAutopilot::setAPAltitude (double altitude) +{ + set_TargetAltitude( altitude * SG_FEET_TO_METER ); +} + +/** + * Get the autopilot altitude lock (true=on). + */ +bool +FGAutopilot::getAPGSLock () const +{ + return (get_AltitudeEnabled() && + (get_AltitudeMode() + == FGAutopilot::FG_ALTITUDE_GS1)); +} + + +/** + * Set the autopilot altitude lock (true=on). + */ +void +FGAutopilot::setAPGSLock (bool lock) +{ + if (lock) + set_AltitudeMode(FGAutopilot::FG_ALTITUDE_GS1); + if (get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_GS1) + set_AltitudeEnabled(lock); +} + + +/** + * Get the autopilot terrain lock (true=on). + */ +bool +FGAutopilot::getAPTerrainLock () const +{ + return (get_AltitudeEnabled() && + (get_AltitudeMode() + == FGAutopilot::FG_ALTITUDE_TERRAIN)); +} + + +/** + * Set the autopilot terrain lock (true=on). + */ +void +FGAutopilot::setAPTerrainLock (bool lock) +{ + if (lock) { + set_AltitudeMode(FGAutopilot::FG_ALTITUDE_TERRAIN); + set_TargetAGL(fgGetFloat("/position/altitude-agl-ft") * + SG_FEET_TO_METER); + } + if (get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_TERRAIN) + set_AltitudeEnabled(lock); +} + + +/** + * Get the autopilot target altitude in feet. + */ +double +FGAutopilot::getAPClimb () const +{ + return get_TargetClimbRate() * SG_METER_TO_FEET; +} + + +/** + * Set the autopilot target altitude in feet. + */ +void +FGAutopilot::setAPClimb (double rate) +{ + set_TargetClimbRate( rate * SG_FEET_TO_METER ); +} + + +/** + * Get the autopilot heading lock (true=on). + */ +bool +FGAutopilot::getAPHeadingLock () const +{ + return + (get_HeadingEnabled() && + get_HeadingMode() == DEFAULT_AP_HEADING_LOCK); +} + + +/** + * Set the autopilot heading lock (true=on). + */ +void +FGAutopilot::setAPHeadingLock (bool lock) +{ + if (lock) + set_HeadingMode(DEFAULT_AP_HEADING_LOCK); + if (get_HeadingMode() == DEFAULT_AP_HEADING_LOCK) + set_HeadingEnabled(lock); +} + + +/** + * Get the autopilot heading bug in degrees. + */ +double +FGAutopilot::getAPHeadingBug () const +{ + return get_DGTargetHeading(); +} + + +/** + * Set the autopilot heading bug in degrees. + */ +void +FGAutopilot::setAPHeadingBug (double heading) +{ + set_DGTargetHeading( heading ); +} + + +/** + * Get the autopilot wing leveler lock (true=on). + */ +bool +FGAutopilot::getAPWingLeveler () const +{ + return + (get_HeadingEnabled() && + get_HeadingMode() == FGAutopilot::FG_TC_HEADING_LOCK); +} + + +/** + * Set the autopilot wing leveler lock (true=on). + */ +void +FGAutopilot::setAPWingLeveler (bool lock) +{ + if (lock) + set_HeadingMode(FGAutopilot::FG_TC_HEADING_LOCK); + if (get_HeadingMode() == FGAutopilot::FG_TC_HEADING_LOCK) + set_HeadingEnabled(lock); +} + +/** + * Return true if the autopilot is locked to NAV1. + */ +bool +FGAutopilot::getAPNAV1Lock () const +{ + return + (get_HeadingEnabled() && + get_HeadingMode() == FGAutopilot::FG_HEADING_NAV1); +} + + +/** + * Set the autopilot NAV1 lock. + */ +void +FGAutopilot::setAPNAV1Lock (bool lock) +{ + if (lock) + set_HeadingMode(FGAutopilot::FG_HEADING_NAV1); + if (get_HeadingMode() == FGAutopilot::FG_HEADING_NAV1) + set_HeadingEnabled(lock); +} + +/** + * Get the autopilot autothrottle lock. + */ +bool +FGAutopilot::getAPAutoThrottleLock () const +{ + return get_AutoThrottleEnabled(); +} + + +/** + * Set the autothrottle lock. + */ +void +FGAutopilot::setAPAutoThrottleLock (bool lock) +{ + set_AutoThrottleEnabled(lock); +} + + +// kludge +double +FGAutopilot::getAPRudderControl () const +{ + if (getAPHeadingLock()) + return get_TargetHeading(); + else + return globals->get_controls()->get_rudder(); +} + +// kludge +void +FGAutopilot::setAPRudderControl (double value) +{ + if (getAPHeadingLock()) { + SG_LOG(SG_GENERAL, SG_DEBUG, "setAPRudderControl " << value ); + value -= get_TargetHeading(); + HeadingAdjust(value < 0.0 ? -1.0 : 1.0); + } else { + globals->get_controls()->set_rudder(value); + } +} + +// kludge +double +FGAutopilot::getAPElevatorControl () const +{ + if (getAPAltitudeLock()) + return get_TargetAltitude(); + else + return globals->get_controls()->get_elevator(); +} + +// kludge +void +FGAutopilot::setAPElevatorControl (double value) +{ + if (value != 0 && getAPAltitudeLock()) { + SG_LOG(SG_GENERAL, SG_DEBUG, "setAPElevatorControl " << value ); + value -= get_TargetAltitude(); + AltitudeAdjust(value < 0.0 ? 100.0 : -100.0); + } else { + globals->get_controls()->set_elevator(value); + } +} + +// kludge +double +FGAutopilot::getAPThrottleControl () const +{ + if (getAPAutoThrottleLock()) + return 0.0; // always resets + else + return globals->get_controls()->get_throttle(0); +} + +// kludge +void +FGAutopilot::setAPThrottleControl (double value) +{ + if (getAPAutoThrottleLock()) + AutoThrottleAdjust(value < 0.0 ? -0.01 : 0.01); + else + globals->get_controls()->set_throttle(FGControls::ALL_ENGINES, value); +} + +// end of newauto.cxx +