noinst_LIBRARIES = libAutopilot.a
-libAutopilot_a_SOURCES = autopilot.c autopilot.h
+libAutopilot_a_SOURCES = autopilot.cxx autopilot.hxx
INCLUDES += -I$(top_builddir) -I$(top_builddir)/Lib -I$(top_builddir)/Simulator
+++ /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.
- *
- *
- *
- **************************************************************************/
-
-
-#ifdef HAVE_CONFIG_H
-# include <config.h>
-#endif
-
-#include <assert.h>
-#include <stdlib.h>
-
-#include "autopilot.h"
-
-#include <Include/fg_constants.h>
-#include <Debug/fg_debug.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.
-////
-
-static double get_throttleval( void )
-{
- fgCONTROLS *pcontrols;
-
- pcontrols = current_aircraft.controls;
- return pcontrols->throttle[0]; // Hack limiting to one engine
-}
-
-static double get_aileronval( void )
-{
- fgCONTROLS *pcontrols;
-
- pcontrols = current_aircraft.controls;
- return pcontrols->aileron;
-}
-
-static double get_elevatorval( void )
-{
- fgCONTROLS *pcontrols;
-
- pcontrols = current_aircraft.controls;
- return pcontrols->elevator;
-}
-
-static double get_elev_trimval( void )
-{
- fgCONTROLS *pcontrols;
-
- pcontrols = current_aircraft.controls;
- return pcontrols->elevator_trim;
-}
-
-static double get_rudderval( void )
-{
- fgCONTROLS *pcontrols;
-
- pcontrols = current_aircraft.controls;
- return pcontrols->rudder;
-}
-
-static double get_speed( void )
-{
- fgFLIGHT *f;
-
- f = current_aircraft.flight;
- return( FG_V_equiv_kts ); // Make an explicit function call.
-}
-
-static double get_aoa( void )
-{
- fgFLIGHT *f;
-
- f = current_aircraft.flight;
- return( FG_Gamma_vert_rad * RAD_TO_DEG );
-}
-
-static double fgAPget_roll( void )
-{
- fgFLIGHT *f;
-
- f = current_aircraft.flight;
- return( FG_Phi * RAD_TO_DEG );
-}
-
-static 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 );
-}
-
-static 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 */ );
-}
-
-static 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);
-double NormalizeDegrees( double Input);
-
-// End Local ProtoTypes
-
-fgAPDataPtr APDataGlobal; // global variable holding the AP info
- // I want this gone. Data should be in aircraft structure
-
-
-
-void fgAPInit( fgAIRCRAFT *current_aircraft )
-{
- fgAPDataPtr APData ;
-
- fgPrintf( FG_AUTOPILOT, FG_INFO, "Init AutoPilot Subsystem\n" );
-
- APData = (fgAPDataPtr)calloc(sizeof(fgAPData),1);
-
- if (APData == NULL) // I couldn't get the mem. Dying
- fgPrintf( FG_AUTOPILOT, FG_EXIT,"No ram for Autopilot. Dying.\n");
-
- APData->Mode = 0 ; // turn the AP off
- APData->Heading = 0.0; // default direction, due north
-
- // These eventually need to be read from current_aircaft somehow.
-
- APData->MaxRoll = 7; // the maximum roll, in Deg
- APData->RollOut = 30; // 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 = 10; // 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 = NormalizeDegrees( APData->Heading - fgAPget_heading());
- // figure out how far off we are from desired heading
-
- // Now it is time to deterime how far we should be rolled.
- fgPrintf( FG_AUTOPILOT, FG_DEBUG, "RelHeading: %f\n", RelHeading);
-
-
- 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_BULK, "TargetRoll: %f\n", TargetRoll);
-
- RelRoll = NormalizeDegrees(TargetRoll - fgAPget_roll());
-
- 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;
- }
-
- if (APData->Mode == 2) // Glide slope hold
- {
- double RelSlope;
- double RelElevator;
-
- // First, calculate Relative slope and normalize it
- RelSlope = NormalizeDegrees( APData->TargetSlope - get_pitch());
-
- // Now calculate the elevator offset from current angle
- if ( abs(RelSlope) > APData->SlopeSmooth )
- {
- if ( RelSlope < 0 ) // set RelElevator to max in the correct direction
- RelElevator = -APData->MaxElevator;
- else
- RelElevator = APData->MaxElevator;
- }
-
- else
- RelElevator = LinearExtrapolate(RelSlope,-APData->SlopeSmooth,-APData->MaxElevator,APData->SlopeSmooth,APData->MaxElevator);
-
- // set the elevator
- fgElevMove(RelElevator);
-
- }
-
- //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
-
-}
-
-void fgAPSetHeading( double Heading)
-{
- // Set the heading for the autopilot subsystem
- // Special Magic Number:
- // -1= Set Heading To Current Heading, Define equivilent AP_CURRENT_HEADING
-
- // Remove at a later date
- fgAPDataPtr APData;
-
- APData = APDataGlobal;
- // end section
-
- if (Heading == AP_CURRENT_HEADING) {
- APData->Heading = fgAPget_heading();
- } else {
- APData->Heading = Heading;
- }
-
- fgPrintf( FG_COCKPIT, FG_INFO, " fgAPSetHeading : %f\n",
- APData->Heading);
-}
-
-
-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);
-
-};
-
-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)
- Input -= 360;
- if (Input <= -180)
- Input += 360;
-
- return (Input);
-};
--- /dev/null
+/**************************************************************************
+ * autopilot.cxx -- 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.
+ *
+ *
+ *
+ **************************************************************************/
+
+
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
+#include <assert.h>
+#include <stdlib.h>
+
+#include <list>
+#include <Include/fg_stl_config.h>
+
+#ifdef NEEDNAMESPACESTD
+using namespace std;
+#endif
+
+#include "autopilot.hxx"
+
+#include <Include/fg_constants.h>
+#include <Debug/fg_debug.h>
+
+
+static list < double > alt_error_queue;
+
+
+// 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.
+//
+
+static double get_throttleval( void )
+{
+ fgCONTROLS *pcontrols;
+
+ pcontrols = current_aircraft.controls;
+ return pcontrols->throttle[0]; // Hack limiting to one engine
+}
+
+static double get_aileronval( void )
+{
+ fgCONTROLS *pcontrols;
+
+ pcontrols = current_aircraft.controls;
+ return pcontrols->aileron;
+}
+
+static double get_elevatorval( void )
+{
+ fgCONTROLS *pcontrols;
+
+ pcontrols = current_aircraft.controls;
+ return pcontrols->elevator;
+}
+
+static double get_elev_trimval( void )
+{
+ fgCONTROLS *pcontrols;
+
+ pcontrols = current_aircraft.controls;
+ return pcontrols->elevator_trim;
+}
+
+static double get_rudderval( void )
+{
+ fgCONTROLS *pcontrols;
+
+ pcontrols = current_aircraft.controls;
+ return pcontrols->rudder;
+}
+
+static double get_speed( void )
+{
+ fgFLIGHT *f;
+
+ f = current_aircraft.flight;
+ return( FG_V_equiv_kts ); // Make an explicit function call.
+}
+
+static double get_aoa( void )
+{
+ fgFLIGHT *f;
+
+ f = current_aircraft.flight;
+ return( FG_Gamma_vert_rad * RAD_TO_DEG );
+}
+
+static double fgAPget_roll( void )
+{
+ fgFLIGHT *f;
+
+ f = current_aircraft.flight;
+ return( FG_Phi * RAD_TO_DEG );
+}
+
+static 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 );
+}
+
+static double fgAPget_altitude( void )
+{
+ fgFLIGHT *f;
+
+ f = current_aircraft.flight;
+
+ return( FG_Altitude * FEET_TO_METER /* -rough_elev */ );
+}
+
+static double fgAPget_climb( void )
+{
+ fgFLIGHT *f;
+
+ f = current_aircraft.flight;
+
+ // return in meters per minute
+ return( FG_Climb_Rate * FEET_TO_METER * 60 );
+}
+
+static 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);
+double NormalizeDegrees( double Input);
+
+// End Local ProtoTypes
+
+fgAPDataPtr APDataGlobal; // global variable holding the AP info
+ // I want this gone. Data should be in aircraft structure
+
+
+
+void fgAPInit( fgAIRCRAFT *current_aircraft )
+{
+ fgAPDataPtr APData ;
+
+ fgPrintf( FG_AUTOPILOT, FG_INFO, "Init AutoPilot Subsystem\n" );
+
+ APData = (fgAPDataPtr)calloc(sizeof(fgAPData),1);
+
+ if (APData == NULL) // I couldn't get the mem. Dying
+ fgPrintf( FG_AUTOPILOT, FG_EXIT,"No ram for Autopilot. Dying.\n");
+
+ APData->heading_hold = 0 ; // turn the heading hold off
+ APData->altitude_hold = 0 ; // turn the altitude hold off
+
+ APData->TargetHeading = 0.0; // default direction, due north
+ APData->TargetAltitude = 3000; // default altitude in meters
+ APData->alt_error_accum = 0.0;
+
+ // These eventually need to be read from current_aircaft somehow.
+
+ APData->MaxRoll = 7; // the maximum roll, in Deg
+ APData->RollOut = 30; // 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 = 10; // 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
+
+ // heading hold enabled?
+ if ( APData->heading_hold == 1 ) {
+ double RelHeading;
+ double TargetRoll;
+ double RelRoll;
+ double AileronSet;
+
+ RelHeading =
+ NormalizeDegrees( APData->TargetHeading - fgAPget_heading());
+ // figure out how far off we are from desired heading
+
+ // Now it is time to deterime how far we should be rolled.
+ fgPrintf( FG_AUTOPILOT, FG_DEBUG, "RelHeading: %f\n", RelHeading);
+
+
+ // Check if we are further from heading than the roll out point
+ if ( fabs(RelHeading) > APData->RollOut ) {
+ // set Target Roll to Max in desired direction
+ if (RelHeading < 0 ) {
+ 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_BULK, "TargetRoll: %f\n", TargetRoll);
+
+ RelRoll = NormalizeDegrees(TargetRoll - fgAPget_roll());
+
+ // Check if we are further from heading than the roll out smooth point
+ if ( fabs(RelRoll) > APData->RollOutSmooth ) {
+ // set Target Roll to Max in desired direction
+ if (RelRoll < 0 ) {
+ AileronSet = 0-APData->MaxAileron;
+ } else {
+ AileronSet = APData->MaxAileron;
+ }
+ } else {
+ AileronSet = LinearExtrapolate( RelRoll, -APData->RollOutSmooth,
+ -APData->MaxAileron,
+ APData->RollOutSmooth,
+ APData->MaxAileron );
+ }
+
+ fgAileronSet(AileronSet);
+ fgRudderSet(0.0);
+ }
+
+ // altitude hold enabled?
+ if ( APData->altitude_hold == 1 ) {
+ double error, size;
+ double prop_error, int_error;
+ double prop_adj, int_adj;
+
+ error = fgAPget_climb();
+
+ // push current error onto queue and add into accumulator
+ alt_error_queue.push_back(error);
+ APData->alt_error_accum += error;
+
+ // if queue size larger than 20 ... pop front and subtract
+ // from accumulator
+ size = alt_error_queue.size();
+ if ( size > 20 ) {
+ APData->alt_error_accum -= alt_error_queue.front();
+ alt_error_queue.pop_front();
+ size--;
+ }
+
+ // calculate integral error, and adjustment amount
+ int_error = APData->alt_error_accum / size;
+ printf("int_error = %.2f\n", int_error);
+ int_adj = int_error / 2000.0;
+
+ // caclulate proportional error
+ prop_error = fgAPget_climb();
+ prop_adj = prop_error / 2000.0;
+
+ fgElevSet( int_adj );
+ }
+
+ /*
+ if (APData->Mode == 2) // Glide slope hold
+ {
+ double RelSlope;
+ double RelElevator;
+
+ // First, calculate Relative slope and normalize it
+ RelSlope = NormalizeDegrees( APData->TargetSlope - get_pitch());
+
+ // Now calculate the elevator offset from current angle
+ if ( abs(RelSlope) > APData->SlopeSmooth )
+ {
+ if ( RelSlope < 0 ) // set RelElevator to max in the correct direction
+ RelElevator = -APData->MaxElevator;
+ else
+ RelElevator = APData->MaxElevator;
+ }
+
+ else
+ RelElevator = LinearExtrapolate(RelSlope,-APData->SlopeSmooth,-APData->MaxElevator,APData->SlopeSmooth,APData->MaxElevator);
+
+ // set the elevator
+ fgElevMove(RelElevator);
+
+ }
+ */
+
+ // Ok, we are done
+ return 0;
+
+}
+
+/*
+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
+}
+*/
+
+void fgAPToggleHeading( void )
+{
+ // Remove at a later date
+ fgAPDataPtr APData;
+
+ APData = APDataGlobal;
+ // end section
+
+ if ( APData->heading_hold ) {
+ // turn off heading hold
+ APData->heading_hold = 0;
+ } else {
+ // turn on heading hold, lock at current heading
+ APData->heading_hold = 1;
+ APData->TargetHeading = fgAPget_heading();
+ }
+
+ fgPrintf( FG_COCKPIT, FG_INFO, " fgAPSetHeading: (%d) %.2f\n",
+ APData->heading_hold,
+ APData->TargetHeading);
+}
+
+
+void fgAPToggleAltitude( void )
+{
+ // Remove at a later date
+ fgAPDataPtr APData;
+
+ APData = APDataGlobal;
+ // end section
+
+ if ( APData->altitude_hold ) {
+ // turn off altitude hold
+ APData->altitude_hold = 0;
+ } else {
+ // turn on altitude hold, lock at current altitude
+ APData->altitude_hold = 1;
+ APData->TargetAltitude = fgAPget_altitude();
+ }
+
+ fgPrintf( FG_COCKPIT, FG_INFO, " fgAPSetAltitude: (%d) %.2f\n",
+ APData->altitude_hold,
+ APData->TargetAltitude);
+}
+
+
+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);
+
+};
+
+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)
+ Input -= 360;
+ if (Input <= -180)
+ Input += 360;
+
+ return (Input);
+};
+++ /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>
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// Structures
-typedef struct {
- int Mode ; // the current mode the AP is operating in
- double Heading; // the heading the AP should steer to.
- double TargetSlope; // the glide slope hold value
-
- 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
- double MaxElevator; // the maximum elevator allowed
- double SlopeSmooth; // smoothing angle for elevator
-
- } fgAPData, *fgAPDataPtr ;
-
-
-// Defines
-#define AP_CURRENT_HEADING -1
-
-
-// prototypes
-void fgAPInit( fgAIRCRAFT *current_aircraft );
-int fgAPRun( void );
-void fgAPSetMode( int mode);
-void fgAPSetHeading( double Heading);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-
-#endif // _AUTOPILOT_H
--- /dev/null
+/**************************************************************************
+ * autopilot.hxx -- 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>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// Structures
+typedef struct {
+ int heading_hold; // the current state of the heading hold
+ int altitude_hold; // the current state of the altitude hold
+
+ double TargetHeading; // the heading the AP should steer to.
+ double TargetAltitude; // altitude to hold
+ double alt_error_accum; // altitude error accumulator
+
+ double TargetSlope; // the glide slope hold value
+
+ 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
+ double MaxElevator; // the maximum elevator allowed
+ double SlopeSmooth; // smoothing angle for elevator
+
+} fgAPData, *fgAPDataPtr ;
+
+
+// Defines
+#define AP_CURRENT_HEADING -1
+
+
+// prototypes
+void fgAPInit( fgAIRCRAFT *current_aircraft );
+int fgAPRun( void );
+void fgAPToggleHeading( void );
+void fgAPToggleAltitude( void );
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif // _AUTOPILOT_H
projects / flightgear.git / commitdiff