Fixed the DG heading bug hold to work with the new DG instrumentation.

It was slightly goofed up before by about the amount of the magnetic
variation.

diff --git a/src/Autopilot/newauto.cxx b/src/Autopilot/newauto.cxx
index a8699bf5769dff24efd87b27f733782154a59136..1e8414e2a901122c50773fa9e7268c68e68f90c9 100644 (file)
--- a/src/Autopilot/newauto.cxx
+++ b/src/Autopilot/newauto.cxx
@@ -213,6 +213,9 @@ void FGAutopilot::init ()
     altitude_agl_node = fgGetNode("/position/altitude-agl-ft", true);
     vertical_speed_node = fgGetNode("/velocities/vertical-speed-fps", true);
     heading_node = fgGetNode("/orientation/heading-deg", true);
+    dg_heading_node
+        = fgGetNode("/instrumentation/heading-indicator/indicated-heading-deg",
+                    true);
     roll_node = fgGetNode("/orientation/roll-deg", true);
     pitch_node = fgGetNode("/orientation/pitch-deg", true);
 
@@ -484,8 +487,10 @@ FGAutopilot::update (double dt)
     // heading hold
     if ( heading_hold == true ) {
        if ( heading_mode == FG_DG_HEADING_LOCK ) {
-           TargetHeading = DGTargetHeading +
-             globals->get_steam()->get_DG_err();
+            double dg_error = heading_node->getDoubleValue()
+                - dg_heading_node->getDoubleValue();
+           TargetHeading = DGTargetHeading + dg_error;
+            // cout << "dg_error = " << dg_error << endl;
            while ( TargetHeading <   0.0 ) { TargetHeading += 360.0; }
            while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; }
            MakeTargetHeadingStr( TargetHeading );
@@ -887,10 +892,7 @@ void FGAutopilot::set_HeadingMode( fgAutoHeadingMode mode ) {
     heading_mode = mode;
 
     if ( heading_mode == FG_DG_HEADING_LOCK ) {
-       // set heading hold to current heading (as read from DG)
-       // ... no, leave target heading along ... just use the current
-       // heading bug value
-        //  DGTargetHeading = FGSteam::get_DG_deg();
+       // use current heading bug value
     } else if ( heading_mode == FG_TC_HEADING_LOCK ) {
        // set autopilot to hold a zero turn (as reported by the TC)
     } else if ( heading_mode == FG_TRUE_HEADING_LOCK ) {

diff --git a/src/Autopilot/newauto.hxx b/src/Autopilot/newauto.hxx
index 4d240701672d668052d4f7f3c5bf2175920a404d..c10ed7dffb2572dda1e28b0586692e82e50942ed 100644 (file)
--- a/src/Autopilot/newauto.hxx
+++ b/src/Autopilot/newauto.hxx
@@ -124,6 +124,7 @@ private:
     SGPropertyNode *altitude_agl_node;
     SGPropertyNode *vertical_speed_node;
     SGPropertyNode *heading_node;
+    SGPropertyNode *dg_heading_node;
     SGPropertyNode *roll_node;
     SGPropertyNode *pitch_node;