--- /dev/null
+libdir = ${exec_prefix}/lib
+
+lib_LTLIBRARIES = libAutopilot.la
+
+libAutopilot_la_SOURCES = autopilot.c autopilot.h
+
+INCLUDES += -I$(top_builddir) -I$(top_builddir)/Simulator
--- /dev/null
+# Makefile.in generated automatically by automake 1.2h from Makefile.am
+
+# Copyright (C) 1994, 1995, 1996, 1997, 1998 Free Software Foundation, Inc.
+# This Makefile.in is free software; the Free Software Foundation
+# gives unlimited permission to copy and/or distribute it,
+# with or without modifications, as long as this notice is preserved.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY, to the extent permitted by law; without
+# even the implied warranty of MERCHANTABILITY or FITNESS FOR A
+# PARTICULAR PURPOSE.
+
+
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+
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+OBJECTS = $(libAutopilot_la_OBJECTS)
+
+all: Makefile $(LTLIBRARIES)
+
+.SUFFIXES:
+.SUFFIXES: .S .c .lo .o .s
+$(srcdir)/Makefile.in: @MAINT@ Makefile.am $(top_srcdir)/configure.in $(ACLOCAL_M4)
+ cd $(top_srcdir) && $(AUTOMAKE) --gnu Simulator/Autopilot/Makefile
+
+Makefile: $(srcdir)/Makefile.in $(top_builddir)/config.status $(BUILT_SOURCES)
+ cd $(top_builddir) \
+ && CONFIG_FILES=$(subdir)/$@ CONFIG_HEADERS= $(SHELL) ./config.status
+
+
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+ @list='$(lib_LTLIBRARIES)'; for p in $$list; do \
+ if test -f $$p; then \
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+ $(LIBTOOL) --mode=install $(INSTALL_DATA) $$p $(DESTDIR)$(libdir)/$$p; \
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+ done
+
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+
+tags: TAGS
+
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+ && mkid -f$$here/ID $(SOURCES) $(HEADERS) $(LISP)
+
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+ here=`pwd`; \
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+ awk ' { files[$$0] = 1; } \
+ END { for (i in files) print i; }'`; \
+ test -z "$(ETAGS_ARGS)$$unique$(LISP)$$tags" \
+ || (cd $(srcdir) && etags $(ETAGS_ARGS) $$tags $$unique $(LISP) -o $$here/TAGS)
+
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+
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+
+subdir = Simulator/Autopilot
+
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+ here=`cd $(top_builddir) && pwd`; \
+ top_distdir=`cd $(top_distdir) && pwd`; \
+ distdir=`cd $(distdir) && pwd`; \
+ cd $(top_srcdir) \
+ && $(AUTOMAKE) --include-deps --build-dir=$$here --srcdir-name=$(top_srcdir) --output-dir=$$top_distdir --gnu Simulator/Autopilot/Makefile
+ @for file in $(DISTFILES); do \
+ d=$(srcdir); \
+ test -f $(distdir)/$$file \
+ || ln $$d/$$file $(distdir)/$$file 2> /dev/null \
+ || cp -p $$d/$$file $(distdir)/$$file; \
+ done
+
+DEPS_MAGIC := $(shell mkdir .deps > /dev/null 2>&1 || :)
+
+-include $(DEP_FILES)
+
+mostlyclean-depend:
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+clean-depend:
+
+distclean-depend:
+
+maintainer-clean-depend:
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+
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+
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+installdirs:
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+
+
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+
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+
+
+INCLUDES += -I$(top_builddir) -I$(top_builddir)/Simulator
+
+# Tell versions [3.59,3.63) of GNU make to not export all variables.
+# Otherwise a system limit (for SysV at least) may be exceeded.
+.NOEXPORT:
--- /dev/null
+/**************************************************************************
+ * autopilot.c -- autopilot subsystem
+ *
+ * Written by Jeff Goeke-Smith, started April 1998.
+ *
+ * Copyright (C) 1998 Jeff Goeke-Smith, jgoeke@voyager.net
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License as
+ * published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+ *
+ *
+ *
+ **************************************************************************/
+
+
+// I have no Idea how many of these are needed. Some one tell me.
+#include <config.h>
+#include <assert.h>
+
+#ifdef HAVE_WINDOWS_H
+# include <windows.h>
+#endif
+
+#include <GL/glut.h>
+#include <stdlib.h>
+#include <string.h>
+
+#ifdef HAVE_VALUES_H
+# include <values.h> // for MAXINT
+#endif
+
+#include "autopilot.h"
+
+#include <Include/fg_constants.h>
+#include <Aircraft/aircraft.h>
+#include <Main/fg_debug.h>
+#include <Math/fg_random.h>
+#include <Math/mat3.h>
+#include <Math/polar.h>
+#include <Scenery/scenery.h>
+#include <Time/fg_timer.h>
+#include <Weather/weather.h>
+#include <Controls/controls.h>
+
+
+// The below routines were copied right from hud.c ( I hate reinventing
+// the wheel more than necessary)
+//// The following routines obtain information concerntin the aircraft's
+//// current state and return it to calling instrument display routines.
+//// They should eventually be member functions of the aircraft.
+////
+
+double get_throttleval( void )
+{
+ fgCONTROLS *pcontrols;
+
+ pcontrols = current_aircraft.controls;
+ return pcontrols->throttle[0]; // Hack limiting to one engine
+}
+
+double get_aileronval( void )
+{
+ fgCONTROLS *pcontrols;
+
+ pcontrols = current_aircraft.controls;
+ return pcontrols->aileron;
+}
+
+double get_elevatorval( void )
+{
+ fgCONTROLS *pcontrols;
+
+ pcontrols = current_aircraft.controls;
+ return pcontrols->elevator;
+}
+
+double get_elev_trimval( void )
+{
+ fgCONTROLS *pcontrols;
+
+ pcontrols = current_aircraft.controls;
+ return pcontrols->elevator_trim;
+}
+
+double get_rudderval( void )
+{
+ fgCONTROLS *pcontrols;
+
+ pcontrols = current_aircraft.controls;
+ return pcontrols->rudder;
+}
+
+double get_speed( void )
+{
+ fgFLIGHT *f;
+
+ f = current_aircraft.flight;
+ return( FG_V_equiv_kts ); // Make an explicit function call.
+}
+
+double get_aoa( void )
+{
+ fgFLIGHT *f;
+
+ f = current_aircraft.flight;
+ return( FG_Gamma_vert_rad * RAD_TO_DEG );
+}
+
+double fgAPget_roll( void )
+{
+ fgFLIGHT *f;
+
+ f = current_aircraft.flight;
+ return( FG_Phi * RAD_TO_DEG );
+}
+
+double get_pitch( void )
+{
+ fgFLIGHT *f;
+
+ f = current_aircraft.flight;
+ return( FG_Theta );
+}
+
+double fgAPget_heading( void )
+{
+ fgFLIGHT *f;
+
+ f = current_aircraft.flight;
+ return( FG_Psi * RAD_TO_DEG );
+}
+
+double get_altitude( void )
+{
+ fgFLIGHT *f;
+ // double rough_elev;
+
+ f = current_aircraft.flight;
+ // rough_elev = mesh_altitude(FG_Longitude * RAD_TO_ARCSEC,
+ // FG_Latitude * RAD_TO_ARCSEC);
+
+ return( FG_Altitude * FEET_TO_METER /* -rough_elev */ );
+}
+
+double get_sideslip( void )
+{
+ fgFLIGHT *f;
+
+ f = current_aircraft.flight;
+
+ return( FG_Beta );
+}
+
+// End of copied section. ( thanks for the wheel :-)
+
+// Local Prototype section
+
+double LinearExtrapolate( double x,double x1, double y1, double x2, double y2);
+
+// End Local ProtoTypes
+
+fgAPDataPtr APDataGlobal; // global variable holding the AP info
+
+
+
+void fgAPInit( fgAIRCRAFT *current_aircraft )
+{
+ fgAPDataPtr APData ;
+
+ fgPrintf( FG_COCKPIT, FG_INFO, "Init AutoPilot Subsystem\n" );
+
+ APData = (fgAPDataPtr)calloc(sizeof(fgAPData),1);
+
+ if (APData == NULL) // I couldn't get the mem. Dying
+ // return ( NULL);
+ exit(1);
+
+ APData->Mode = 0 ; // turn the AP off
+ APData->Heading = 5 ; // default direction, due north
+
+ // These eventually need to be read from current_aircaft somehow.
+
+ APData->MaxRoll = 10; // the maximum roll, in Deg
+ APData->RollOut = 10; // the deg from heading to start rolling out at, in Deg
+ APData->MaxAileron= .1; // how far can I move the aleron from center.
+ APData->RollOutSmooth = 5; // Smoothing distance for alerion control
+
+ //Remove at a later date
+ APDataGlobal = APData;
+
+};
+
+int fgAPRun( void )
+{
+
+ //Remove the following lines when the calling funcitons start passing in the data pointer
+ fgAPDataPtr APData;
+
+ APData = APDataGlobal;
+ // end section
+
+ if (APData->Mode == 0) // the autopilot is shut off
+ return 0 ;
+
+ if (APData->Mode == 1) // heading hold mode
+ {
+ double RelHeading;
+ double TargetRoll;
+ double RelRoll;
+ double AileronSet;
+
+ RelHeading = APData->Heading - fgAPget_heading(); // figure out how far off we are from desired heading
+ if (RelHeading > 180) // Normalize the number to the range (-180,180]
+ RelHeading-= 360; // too much calc, sorry ^^^^^^^^^
+ if (RelHeading <= -180)
+ RelHeading+=360;
+
+ //assert(RelHeading <= 180);
+ //assert(RelHeading > -180);
+
+ // Now it is time to deterime how far we should be rolled.
+ fgPrintf( FG_COCKPIT, FG_INFO, "RelHeading:\n");
+
+
+ if ( abs(RelHeading) > APData->RollOut ) // We are further from heading than the roll out point
+ {
+ if (RelHeading < 0 ) // set Target Roll to Max in desired direction
+ TargetRoll = 0-APData->MaxRoll;
+ else
+ TargetRoll = APData->MaxRoll;
+ }
+ else // We have to calculate the Target roll
+ {
+ /*
+ * This calculation engine thinks that the Target roll should be a line from (RollOut,MaxRoll) to
+ * (-RollOut, -MaxRoll) I hope this works well. If I get ambitious some day this might become a
+ * fancier curve or something.
+ */
+ TargetRoll = LinearExtrapolate(RelHeading,-APData->RollOut,-APData->MaxRoll,APData->RollOut,APData->MaxRoll);
+ };
+
+ // Target Roll has now been Found.
+
+ // Compare Target roll to Current Roll, Generate Rel Roll
+ fgPrintf( FG_COCKPIT, FG_INFO, "TargetRoll:\n");
+
+ RelRoll = TargetRoll - fgAPget_roll();
+
+ if (RelRoll > 180) // Normalize the number to the range (-180,180]
+ RelRoll-= 360 ; // too much calc, sorry ^^^^^^^^^
+ if (RelRoll <= -180)
+ RelRoll+=360 ;
+
+
+ assert(RelRoll <= 180);
+ assert(RelRoll > -180);
+
+
+ if ( abs(RelRoll) > APData->RollOutSmooth ) // We are further from heading than the roll out smooth point
+ {
+ if (RelRoll < 0 ) // set Target Roll to Max in desired direction
+ AileronSet = 0-APData->MaxAileron;
+ else
+ AileronSet = APData->MaxAileron;
+ }
+
+ else
+ AileronSet = LinearExtrapolate(RelRoll,-APData->RollOutSmooth,-APData->MaxAileron,APData->RollOutSmooth,APData->MaxAileron);
+
+ fgAileronSet(AileronSet);
+
+ //Cool, it is done.
+ return 0;
+ }
+
+ //every thing else failed. Not in a valid autopilot mode
+ return -1;
+
+}
+
+void fgAPSetMode( int mode)
+{
+ //Remove the following line when the calling funcitons start passing in the data pointer
+ fgAPDataPtr APData;
+
+ APData = APDataGlobal;
+ // end section
+
+ fgPrintf( FG_COCKPIT, FG_INFO, "APSetMode : %d\n", mode );
+
+ APData->Mode = mode; // set the new mode
+
+}
+
+
+double LinearExtrapolate( double x,double x1,double y1,double x2,double y2)
+{
+ // This procedure extrapolates the y value for the x posistion on a line defined by x1,y1; x2,y2
+ //assert(x1 != x2); // Divide by zero error. Cold abort for now
+
+ double m, b, y; // the constants to find in y=mx+b
+
+ m=(y2-y1)/(x2-x1); // calculate the m
+
+ b= y1- m * x1; // calculate the b
+
+ y = m * x + b; // the final calculation
+
+ return (y);
+
+};
\ No newline at end of file
--- /dev/null
+/**************************************************************************
+ * autopilot.h -- autopilot defines and prototypes (very alpha)
+ *
+ * Written by Jeff Goeke-Smith, started April 1998.
+ *
+ * Copyright (C) 1998 Jeff Goeke-Smith - jgoeke@voyager.net
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License as
+ * published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+ *
+ *
+ **************************************************************************/
+
+
+#ifndef _AUTOPILOT_H
+#define _AUTOPILOT_H
+
+#include <Aircraft/aircraft.h>
+#include <Flight/flight.h>
+#include <Controls/controls.h>
+
+
+
+typedef struct {
+ int Mode ; // the current mode the AP is operating in
+ double Heading; // the heading the AP should steer to.
+ double MaxRoll ; // the max the plane can roll for the turn
+ double RollOut; // when the plane should roll out
+ // measured from Heading
+ double MaxAileron; // how far to move the aleroin from center
+ double RollOutSmooth; // deg to use for smoothing Aileron Control
+
+ } fgAPData, *fgAPDataPtr ;
+
+
+// prototypes
+void fgAPInit( fgAIRCRAFT *current_aircraft );
+int fgAPRun( void );
+void fgAPSetMode( int mode);
+
+
+#endif
+
\ No newline at end of file
projects / flightgear.git / commitdiff