Norman Vine:

Updates to the autopilot to allow it to run off of 'non-cooked' altitude
and heading values (as a compile time option.)

diff --git a/src/Autopilot/newauto.cxx b/src/Autopilot/newauto.cxx
index e39e7ee8c863942c8fdadd3e0c1bcd536b80e612..a8699bf5769dff24efd87b27f733782154a59136 100644 (file)
--- a/src/Autopilot/newauto.cxx
+++ b/src/Autopilot/newauto.cxx
@@ -594,7 +594,7 @@ FGAutopilot::update (double dt)
                    set_HeadingMode( FG_HEADING_WAYPOINT );
                } else {
                    // end of the line
-                   heading_mode = FG_TRUE_HEADING_LOCK;
+                   heading_mode = DEFAULT_AP_HEADING_LOCK;
                    // use current heading
                    TargetHeading = heading_node->getDoubleValue();
                }
@@ -695,6 +695,8 @@ FGAutopilot::update (double dt)
            climb_rate =
                ( TargetAltitude -
                  globals->get_steam()->get_ALT_ft() * SG_FEET_TO_METER ) * 8.0;
+        } else if ( altitude_mode == FG_TRUE_ALTITUDE_LOCK ) {
+            climb_rate = ( TargetAltitude - alt ) * 8.0;
        } else if ( altitude_mode == FG_ALTITUDE_GS1 ) {
            double x = current_radiostack->get_navcom1()->get_nav_gs_dist();
            double y = (altitude_node->getDoubleValue()
@@ -915,7 +917,7 @@ void FGAutopilot::set_HeadingMode( fgAutoHeadingMode mode ) {
 
            if ( waypoint.get_target_alt() > 0.0 ) {
                TargetAltitude = waypoint.get_target_alt();
-               altitude_mode = FG_ALTITUDE_LOCK;
+               altitude_mode = DEFAULT_AP_ALTITUDE_LOCK;
                set_AltitudeEnabled( true );
                MakeTargetAltitudeStr( TargetAltitude * SG_METER_TO_FEET );
            }
@@ -941,7 +943,7 @@ void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) {
     alt_error_accum = 0.0;
 
 
-    if ( altitude_mode == FG_ALTITUDE_LOCK ) {
+    if ( altitude_mode == DEFAULT_AP_ALTITUDE_LOCK ) {
        if ( TargetAltitude < altitude_agl_node->getDoubleValue()
              * SG_FEET_TO_METER ) {
        }
@@ -971,6 +973,7 @@ void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) {
 
 void FGAutopilot::AltitudeSet( double new_altitude ) {
     double target_alt = new_altitude;
+    altitude_mode = DEFAULT_AP_ALTITUDE_LOCK;
 
     if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
        target_alt = new_altitude * SG_FEET_TO_METER;
@@ -981,7 +984,6 @@ void FGAutopilot::AltitudeSet( double new_altitude ) {
     }
 
     TargetAltitude = target_alt;
-    altitude_mode = FG_ALTITUDE_LOCK;
 
     if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
        target_alt *= SG_METER_TO_FEET;
@@ -1030,7 +1032,7 @@ void FGAutopilot::AltitudeAdjust( double inc )
     if ( !strcmp(fgGetString("/sim/startup/units"), "feet") )
        target_agl *= SG_METER_TO_FEET;
 
-    if ( altitude_mode == FG_ALTITUDE_LOCK ) {
+    if ( altitude_mode == DEFAULT_AP_ALTITUDE_LOCK ) {
        MakeTargetAltitudeStr( target_alt );
     } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
        MakeTargetAltitudeStr( target_agl );
@@ -1044,7 +1046,7 @@ void FGAutopilot::HeadingAdjust( double inc ) {
     if ( heading_mode != FG_DG_HEADING_LOCK
         && heading_mode != FG_TRUE_HEADING_LOCK )
     {
-       heading_mode = FG_DG_HEADING_LOCK;
+       heading_mode = DEFAULT_AP_HEADING_LOCK;
     }
 
     if ( heading_mode == FG_DG_HEADING_LOCK ) {
@@ -1060,6 +1062,7 @@ void FGAutopilot::HeadingAdjust( double inc ) {
 
 
 void FGAutopilot::HeadingSet( double new_heading ) {
+    heading_mode = DEFAULT_AP_HEADING_LOCK;
     if( heading_mode == FG_TRUE_HEADING_LOCK ) {
         new_heading = NormalizeDegrees( new_heading );
         TargetHeading = new_heading;
@@ -1114,7 +1117,7 @@ FGAutopilot::getAPAltitudeLock () const
 {
     return (get_AltitudeEnabled() &&
            get_AltitudeMode()
-           == FGAutopilot::FG_ALTITUDE_LOCK);
+           == DEFAULT_AP_ALTITUDE_LOCK);
 }
 
 
@@ -1125,8 +1128,8 @@ void
 FGAutopilot::setAPAltitudeLock (bool lock)
 {
   if (lock)
-    set_AltitudeMode(FGAutopilot::FG_ALTITUDE_LOCK);
-  if (get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_LOCK)
+    set_AltitudeMode(DEFAULT_AP_ALTITUDE_LOCK);
+  if (get_AltitudeMode() == DEFAULT_AP_ALTITUDE_LOCK)
     set_AltitudeEnabled(lock);
 }
 

diff --git a/src/Autopilot/newauto.hxx b/src/Autopilot/newauto.hxx
index a2670d319c61a1019440b20406e4aba6de03f7ac..4d240701672d668052d4f7f3c5bf2175920a404d 100644 (file)
--- a/src/Autopilot/newauto.hxx
+++ b/src/Autopilot/newauto.hxx
@@ -40,7 +40,7 @@ class FGAutopilot : public FGSubsystem
 public:
 
     enum fgAutoHeadingMode {
-       FG_DG_HEADING_LOCK = 0,   // follow bug on directional gryo
+       FG_DG_HEADING_LOCK = 0,   // follow bug on directional gryo (vacuum)
        FG_TC_HEADING_LOCK = 1,   // keep turn coordinator zero'd
        FG_TRUE_HEADING_LOCK = 2, // lock to true heading (i.e. a perfect world)
        FG_HEADING_NAV1 = 3,      // follow nav1 radial
@@ -49,11 +49,13 @@ public:
     };
 
     enum fgAutoAltitudeMode {
-       FG_ALTITUDE_LOCK = 0,     // lock to a specific altitude
+       FG_ALTITUDE_LOCK = 0,     // lock to a specific altitude (indicated)
        FG_ALTITUDE_TERRAIN = 1,  // try to maintain a specific AGL
        FG_ALTITUDE_GS1 = 2,      // follow glide slope 1
        FG_ALTITUDE_GS2 = 3,      // follow glide slope 2
-        FG_ALTITUDE_ARM = 4       // ascend to selected altitude
+        FG_ALTITUDE_ARM = 4,      // ascend to selected altitude
+        FG_TRUE_ALTITUDE_LOCK = 5 // lock to a specific true altitude
+                                  // (i.e. a perfect world)
     };
 
 
@@ -271,9 +273,9 @@ private:
 
 
 #define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_DG_HEADING_LOCK
-// #define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_TRUE_HEADING_LOCK
 #define DEFAULT_AP_ALTITUDE_LOCK FGAutopilot::FG_ALTITUDE_LOCK
-
+//#define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_TRUE_HEADING_LOCK
+//#define DEFAULT_AP_ALTITUDE_LOCK FGAutopilot::FG_TRUE_ALTITUDE_LOCK
 
 /**
  * static functions for autopilot properties