X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAutopilot%2Fnewauto.cxx;h=b699c8c9d8e4bee1806a728192512f38381b6efb;hb=73e70fdb29c4c512779b6759d1e6aa487818e841;hp=668811a6c9712e195c7d2c1cbdc8edd3605a74db;hpb=57da4bf02d424051e448d7f3e0fad72d3a888fcd;p=flightgear.git diff --git a/src/Autopilot/newauto.cxx b/src/Autopilot/newauto.cxx index 668811a6c..b699c8c9d 100644 --- a/src/Autopilot/newauto.cxx +++ b/src/Autopilot/newauto.cxx @@ -5,6 +5,7 @@ // Contributions by Jeff Goeke-Smith // Norman Vine // Curtis Olson +// Wendell Turner // // This program is free software; you can redistribute it and/or // modify it under the terms of the GNU General Public License as @@ -44,6 +45,7 @@ #include #include "newauto.hxx" +#include "auto_gui.hxx" /// These statics will eventually go into the class @@ -96,10 +98,6 @@ void FGAutopilot::MakeTargetHeadingStr( double bearing ) { } -static inline double get_speed( void ) { - return( cur_fdm_state->get_V_equiv_kts() ); -} - static inline double get_ground_speed() { // starts in ft/s so we convert to kts static const SGPropertyNode * speedup_node = fgGetNode("/sim/speed-up"); @@ -211,10 +209,22 @@ void FGAutopilot::init () 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); + airspeed_node = fgGetNode("/velocities/airspeed-kt", true); heading_node = fgGetNode("/orientation/heading-deg", true); - dg_heading_node + + // support non-dg systems that indicate magnetic heading (e.g. 747-400) + if (fgGetBool("autopilot/config/indicated-heading-magnetic")) { + // use magnetic heading indicated + indicated_heading_node + = fgGetNode("/orientation/heading-magnetic-deg", + true); + } else { + // use dg heading indicated + indicated_heading_node = fgGetNode("/instrumentation/heading-indicator/indicated-heading-deg", true); + } + roll_node = fgGetNode("/orientation/roll-deg", true); pitch_node = fgGetNode("/orientation/pitch-deg", true); @@ -239,8 +249,16 @@ void FGAutopilot::init () 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); + throttle_adj_factor + = fgGetNode("/autopilot/config/throttle-adj-factor", true); + throttle_integral + = fgGetNode("/autopilot/config/throttle-integral", true); + speed_change_node + = fgGetNode("/autopilot/output/speed_change_anticipated_kt", true); + + terrain_follow_factor = fgGetNode("/autopilot/config/terrain-follow-factor", true); - current_throttle = fgGetNode("/controls/throttle"); + current_throttle = fgGetNode("/controls/engines/engine/throttle"); // initialize config properties with defaults (in case config isn't there) if ( TargetClimbRate->getFloatValue() < 1 ) @@ -267,6 +285,12 @@ void FGAutopilot::init () fgSetFloat( "/autopilot/config/roll-out-deg", 20 ); if ( roll_out_smooth_node->getFloatValue() < 0.0000001 ) fgSetFloat( "/autopilot/config/roll-out-smooth-deg", 10 ); + if (throttle_adj_factor->getFloatValue() < 1) + fgSetFloat( "/autopilot/config/throttle-adj-factor", 5000 ); + if ( throttle_integral->getFloatValue() < 0.0000001 ) + fgSetFloat( "/autopilot/config/throttle-integral", 0.001 ); + if (terrain_follow_factor->getFloatValue() < 1) + fgSetFloat( "/autopilot/config/terrain-follow-factor", 16 ); /* set defaults */ heading_hold = false ; // turn the heading hold off @@ -278,6 +302,7 @@ void FGAutopilot::init () DGTargetHeading = fgGetDouble("/autopilot/settings/heading-bug-deg"); TargetHeading = fgGetDouble("/autopilot/settings/heading-bug-deg"); TargetAltitude = fgGetDouble("/autopilot/settings/altitude-ft") * SG_FEET_TO_METER; + TargetSpeed = fgGetDouble("/autopilot/settings/speed-kt"); // Initialize target location to startup location old_lat = latitude_node->getDoubleValue(); @@ -310,6 +335,9 @@ void FGAutopilot::init () // set default aileron max deflection MaxAileron = 0.5; + // used to calculate acceleration + previous_speed = 0; + #if !defined( USING_SLIDER_CLASS ) MaxRollAdjust = 2 * MaxRoll; RollOutAdjust = 2 * RollOut; @@ -343,10 +371,22 @@ FGAutopilot::bind () fgTie("/autopilot/locks/heading", this, &FGAutopilot::getAPHeadingLock, &FGAutopilot::setAPHeadingLock); fgSetArchivable("/autopilot/locks/heading"); + + fgTie("/autopilot/locks/vert-speed", this, + &FGAutopilot::getAPVertSpeedLock, &FGAutopilot::setAPVertSpeedLock); + fgSetArchivable("/autopilot/locks/vert-speed"); + + 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/settings/waypoint", this, + &FGAutopilot::getAPwaypoint, &FGAutopilot::setAPwaypoint); + fgSetArchivable("/autopilot/settings/waypoint"); + fgSetString("/autopilot/settings/waypoint", ""); + fgTie("/autopilot/locks/wing-leveler", this, &FGAutopilot::getAPWingLeveler, &FGAutopilot::setAPWingLeveler); fgSetArchivable("/autopilot/locks/wing-leveler"); @@ -357,6 +397,9 @@ FGAutopilot::bind () &FGAutopilot::getAPAutoThrottleLock, &FGAutopilot::setAPAutoThrottleLock); fgSetArchivable("/autopilot/locks/auto-throttle"); + fgTie("/autopilot/settings/speed-kt", this, + &FGAutopilot::getAPAutoThrottle, &FGAutopilot::setAPAutoThrottle); + fgSetArchivable("/autopilot/settings/altitude-ft"); fgTie("/autopilot/control-overrides/rudder", this, &FGAutopilot::getAPRudderControl, &FGAutopilot::setAPRudderControl); @@ -369,6 +412,12 @@ FGAutopilot::bind () &FGAutopilot::getAPThrottleControl, &FGAutopilot::setAPThrottleControl); fgSetArchivable("/autopilot/control-overrides/throttle"); + + fgTie("/autopilot/settings/vertical-speed-fpm", this, + &FGAutopilot::getAPVertSpeed, &FGAutopilot::setAPVertSpeed); + fgSetArchivable("/autopilot/settings/vertical-speed-fpm"); + fgSetDouble("/autopilot/settings/vertical-speed-fpm", 0.0f); + } void @@ -440,11 +489,8 @@ static double LinearExtrapolate( double x, double x1, double y1, double x2, doub void FGAutopilot::update (double dt) { - // Remove the following lines when the calling funcitons start - // passing in the data pointer // get control settings - double lat = latitude_node->getDoubleValue(); double lon = longitude_node->getDoubleValue(); double alt = altitude_node->getDoubleValue() * SG_FEET_TO_METER; @@ -487,7 +533,7 @@ FGAutopilot::update (double dt) if ( heading_hold == true ) { if ( heading_mode == FG_DG_HEADING_LOCK ) { double dg_error = heading_node->getDoubleValue() - - dg_heading_node->getDoubleValue(); + - indicated_heading_node->getDoubleValue(); TargetHeading = DGTargetHeading + dg_error; // cout << "dg_error = " << dg_error << endl; while ( TargetHeading < 0.0 ) { TargetHeading += 360.0; } @@ -507,12 +553,12 @@ FGAutopilot::update (double dt) // determine our current radial position relative to the // navaid in "true" heading. - double cur_radial = current_radiostack->get_navcom1()->get_nav_heading(); + double cur_radial = current_radiostack->get_navcom1()->get_nav_reciprocal_radial(); if ( current_radiostack->get_navcom1()->get_nav_loc() ) { // ILS localizers radials are already "true" in our // database } else { - cur_radial += current_radiostack->get_navcom1()->get_nav_magvar(); + cur_radial += current_radiostack->get_navcom1()->get_nav_twist(); } if ( current_radiostack->get_navcom1()->get_nav_from_flag() ) { cur_radial += 180.0; @@ -520,24 +566,25 @@ FGAutopilot::update (double dt) } // determine the target radial in "true" heading - double tgt_radial = current_radiostack->get_navcom1()->get_nav_radial(); + double tgt_radial + = current_radiostack->get_navcom1()->get_nav_target_radial(); if ( current_radiostack->get_navcom1()->get_nav_loc() ) { // ILS localizers radials are already "true" in our // database } else { // VOR radials need to have that vor's offset added in - tgt_radial += current_radiostack->get_navcom1()->get_nav_magvar(); + tgt_radial += current_radiostack->get_navcom1()->get_nav_twist(); } // determine the heading adjustment needed. double adjustment = - current_radiostack->get_navcom1()->get_nav_heading_needle_deflection() + current_radiostack->get_navcom1()->get_nav_cdi_deflection() * (current_radiostack->get_navcom1()->get_nav_loc_dist() * SG_METER_TO_NM); SG_CLAMP_RANGE( adjustment, -30.0, 30.0 ); // clamp closer when inside cone when beyond 5km... if (current_radiostack->get_navcom1()->get_nav_loc_dist() > 5000) { - double clamp_angle = fabs(current_radiostack->get_navcom1()->get_nav_heading_needle_deflection()) * 3; + double clamp_angle = fabs(current_radiostack->get_navcom1()->get_nav_cdi_deflection()) * 3; if (clamp_angle < 30) SG_CLAMP_RANGE( adjustment, -clamp_angle, clamp_angle); } @@ -709,15 +756,23 @@ FGAutopilot::update (double dt) double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES; double target_angle = current_radiostack->get_navcom1()->get_nav_target_gs(); - double gs_diff = target_angle - current_angle; // convert desired vertical path angle into a climb rate double des_angle = current_angle - 10 * gs_diff; - // convert to meter/min - double horiz_vel = cur_fdm_state->get_V_ground_speed() - * SG_FEET_TO_METER * 60.0; + // estimate horizontal speed towards ILS in meters per minute + static double horiz_vel = 0.0; + static double last_x = 0.0; + double dist = last_x - x; + last_x = x; + double new_vel = ( dist / dt ) * 60.0; + horiz_vel = 0.75 * horiz_vel + 0.25 * new_vel; + // double horiz_vel = cur_fdm_state->get_V_ground_speed() + // * SG_FEET_TO_METER * 60.0; + // double horiz_vel = airspeed_node->getFloatValue() + // * SG_FEET_TO_METER * 60.0; + climb_rate = -sin( des_angle * SGD_DEGREES_TO_RADIANS ) * horiz_vel; /* climb_error_accum += gs_diff * 2.0; */ /* climb_rate = gs_diff * 200.0 + climb_error_accum; */ @@ -725,13 +780,20 @@ FGAutopilot::update (double dt) // brain dead ground hugging with no look ahead climb_rate = ( TargetAGL - altitude_agl_node->getDoubleValue() - * SG_FEET_TO_METER ) * 16.0; + * SG_FEET_TO_METER ) + * terrain_follow_factor->getFloatValue(); + } else if ( altitude_mode == FG_VERT_SPEED ) { + climb_rate = TargetVertSpeed * SG_FEET_TO_METER; + // switch to altitude hold, if set, within 500ft of target + if (fabs(TargetAltitude * SG_METER_TO_FEET - altitude_node->getDoubleValue()) < 500) { + set_AltitudeMode( FG_ALTITUDE_LOCK ); + } } else { // just try to zero out rate of climb ... climb_rate = 0.0; } - speed = get_speed(); + speed = airspeed_node->getFloatValue(); if ( speed < min_climb->getFloatValue() ) { max_climb = 0.0; @@ -746,24 +808,28 @@ FGAutopilot::update (double dt) + 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 > + if (altitude_mode != FG_VERT_SPEED) { + + // 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->getFloatValue() * SG_FEET_TO_METER) ) { - climb_rate + climb_rate = fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER); - } + } - if ( climb_rate > max_climb ) { - climb_rate = max_climb; - } + if ( climb_rate > max_climb ) { + climb_rate = max_climb; + } - if ( climb_rate < + if ( climb_rate < -fabs(TargetDescentRate->getFloatValue() * SG_FEET_TO_METER) ) { - climb_rate + climb_rate = -fabs(TargetDescentRate->getFloatValue() * SG_FEET_TO_METER); - } + } + + } error = vertical_speed_node->getDoubleValue() * 60 - climb_rate * SG_METER_TO_FEET; @@ -810,8 +876,17 @@ FGAutopilot::update (double dt) double error; double prop_error, int_error; double prop_adj, int_adj, total_adj; + double lookahead; + + // estimate speed in 10 seconds + lookahead = airspeed_node->getFloatValue() + ( airspeed_node->getFloatValue() - previous_speed) * (10/(dt + 0.000001)); + previous_speed = airspeed_node->getFloatValue(); + + // compare targetspeed to anticipated airspeed + error = TargetSpeed - lookahead; - error = TargetSpeed - get_speed(); + // output anticipated speed change... + speed_change_node->setDoubleValue(lookahead - airspeed_node->getFloatValue()); // accumulate the error under the curve ... this really should // be *= delta t @@ -827,22 +902,26 @@ FGAutopilot::update (double dt) int_error = speed_error_accum; // printf("error = %.2f int_error = %.2f\n", error, int_error); - int_adj = int_error / 200.0; + int_adj = int_error / throttle_adj_factor->getFloatValue(); // caclulate proportional error prop_error = error; - prop_adj = 0.5 + prop_error / 50.0; + prop_adj = prop_error / throttle_adj_factor->getFloatValue(); - total_adj = 0.9 * prop_adj + 0.1 * int_adj; - if ( total_adj > 1.0 ) { - total_adj = 1.0; + total_adj = (1.0 - throttle_integral->getFloatValue()) * prop_adj + + throttle_integral->getFloatValue() * int_adj; + + current_ap_throttle = current_ap_throttle + total_adj; + + if ( current_ap_throttle > 1.0 ) { + current_ap_throttle = 1.0; } - else if ( total_adj < 0.0 ) { - total_adj = 0.0; + else if ( current_ap_throttle < 0.0 ) { + current_ap_throttle = 0.0; } globals->get_controls()->set_throttle( FGControls::ALL_ENGINES, - total_adj ); + current_ap_throttle ); } #ifdef THIS_CODE_IS_NOT_USED @@ -942,8 +1021,11 @@ void FGAutopilot::set_HeadingMode( fgAutoHeadingMode mode ) { void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) { altitude_mode = mode; - alt_error_accum = 0.0; - + // only reset accum error if not in altitude mode for smooth transitions + // from one altitude mode to another until pitch control damping added. + if (!altitude_hold) { + alt_error_accum = 0.0; + } if ( altitude_mode == DEFAULT_AP_ALTITUDE_LOCK ) { if ( TargetAltitude < altitude_agl_node->getDoubleValue() @@ -1084,16 +1166,37 @@ void FGAutopilot::HeadingSet( double new_heading ) { void FGAutopilot::AutoThrottleAdjust( double inc ) { double target = ( int ) ( TargetSpeed / inc ) * inc + inc; - TargetSpeed = target; + set_TargetSpeed( target ); +} + +/** + * Set the autothrottle speed + */ +void +FGAutopilot::setAPAutoThrottle (double speed_kt) +{ + set_TargetSpeed( speed_kt ); } +/** + * Get the autothrottle speed + */ +double +FGAutopilot::getAPAutoThrottle () const +{ + return get_TargetSpeed(); +} void FGAutopilot::set_AutoThrottleEnabled( bool value ) { auto_throttle = value; if ( auto_throttle == true ) { - TargetSpeed = fgGetDouble("/velocities/airspeed-kt"); - speed_error_accum = 0.0; + if (TargetSpeed < 0.0001) { + TargetSpeed = fgGetDouble("/velocities/airspeed-kt"); + } + speed_error_accum = 0.0; + // initialize autothrottle at current control setting; + current_ap_throttle = current_throttle->getFloatValue(); } update_old_control_values(); @@ -1207,6 +1310,30 @@ FGAutopilot::setAPTerrainLock (bool lock) set_AltitudeEnabled(lock); } +/** + * Get the autopilot vertical speed lock (true=on). + */ +bool +FGAutopilot::getAPVertSpeedLock () const +{ + return (get_AltitudeEnabled() && + (get_AltitudeMode() + == FGAutopilot::FG_VERT_SPEED)); +} + + +/** + * Set the autopilot vert speed lock (true=on). + */ +void +FGAutopilot::setAPVertSpeedLock (bool lock) +{ + if (lock) + set_AltitudeMode(FGAutopilot::FG_VERT_SPEED); + if (get_AltitudeMode() == FGAutopilot::FG_VERT_SPEED) + set_AltitudeEnabled(lock); +} + /** * Get the autopilot target altitude in feet. @@ -1273,6 +1400,54 @@ FGAutopilot::setAPHeadingBug (double heading) } +/** + * return blank-separated string of waypoints + */ +const char * +FGAutopilot::getAPwaypoint () const +{ + static char wplist[500]; + char *p = wplist; + int WPListsize, i; + + // FIXME: This can cause a possible buffer overflow, EMH + if ( globals->get_route()->size() > 0 ) { + WPListsize = globals->get_route()->size(); + + for (i = 0; i < globals->get_route()->size(); i++ ) { + p += sprintf(p, "%5s ", + globals->get_route()->get_waypoint(i).get_id().c_str() ); + } + return wplist; + + } else { + return "none specified"; + } +} + + +/** + * set next waypoint (if str='0', then delete next(first) waypoint) + */ +void +FGAutopilot::setAPwaypoint (const char * apt) +{ + if (strcmp(apt, "0")==0) + { + SG_LOG( SG_AUTOPILOT, SG_INFO, "delete of first wp" ); + if ( globals->get_route()->size() ) + globals->get_route()->delete_first(); + return; + } + + if ( NewWaypoint( apt ) == 0) + SG_LOG( SG_AUTOPILOT, SG_INFO, "Waypoint " << apt << "not in d.b." ); + else + { + /* SG_LOG( SG_AUTOPILOT, SG_INFO, "GOOD!" ); */ + } +} + /** * Get the autopilot wing leveler lock (true=on). */ @@ -1407,5 +1582,24 @@ FGAutopilot::setAPThrottleControl (double value) globals->get_controls()->set_throttle(FGControls::ALL_ENGINES, value); } +/** + * Get the vertical speed selected + */ +double +FGAutopilot::getAPVertSpeed () const +{ + return TargetVertSpeed; +} + + +/** + * Set the selected vertical speed + */ +void +FGAutopilot::setAPVertSpeed (double speed) +{ + TargetVertSpeed = speed; +} + // end of newauto.cxx