#include <Debug/logstream.hxx>
#include <Main/options.hxx>
+#include <plib/pu.h>
// The below routines were copied right from hud.c ( I hate reinventing
// the wheel more than necessary)
static double fgAPget_agl( void )
{
- double agl;
+ double agl;
- agl = current_aircraft.fdm_state->get_Altitude() * FEET_TO_METER
- - scenery.cur_elev;
+ agl = current_aircraft.fdm_state->get_Altitude() * FEET_TO_METER
+ - scenery.cur_elev;
- return( agl );
+ return( agl );
}
// End of copied section. ( thanks for the wheel :-)
// End Local ProtoTypes
-fgAPDataPtr APDataGlobal; // global variable holding the AP info
- // I want this gone. Data should be in aircraft structure
+fgAPDataPtr APDataGlobal; // global variable holding the AP info
+// I want this gone. Data should be in aircraft structure
bool fgAPHeadingEnabled( void )
{
fgAPDataPtr APData;
-
+
APData = APDataGlobal;
-
+
// heading hold enabled?
return APData->heading_hold;
}
bool fgAPAltitudeEnabled( void )
{
fgAPDataPtr APData;
-
+
APData = APDataGlobal;
-
+
// altitude hold or terrain follow enabled?
- return APData->altitude_hold || APData->terrain_follow ;
+ return APData->altitude_hold;
+}
+
+bool fgAPTerrainFollowEnabled( void )
+{
+ fgAPDataPtr APData;
+
+ APData = APDataGlobal;
+
+ // altitude hold or terrain follow enabled?
+ return APData->terrain_follow ;
}
bool fgAPAutoThrottleEnabled( void )
{
fgAPDataPtr APData;
-
+
APData = APDataGlobal;
// autothrottle enabled?
APData->TargetSpeed = target;
}
-void fgAPInit( fgAIRCRAFT *current_aircraft )
+void fgAPReset(void)
+{
+ if( fgAPTerrainFollowEnabled() )
+ fgAPToggleTerrainFollow( );
+
+ if( fgAPAltitudeEnabled() )
+ fgAPToggleAltitude();
+
+ if( fgAPHeadingEnabled() )
+ fgAPToggleHeading();
+
+ if( fgAPAutoThrottleEnabled() )
+ fgAPToggleAutoThrottle();
+}
+
+#define mySlider puSlider
+
+/// These statics will eventually go into the class
+/// they are just here while I am experimenting -- NHV :-)
+
+static double MaxRollAdjust; // MaxRollAdjust = 2 * APData->MaxRoll;
+static double RollOutAdjust; // RollOutAdjust = 2 * APData->RollOut;
+static double MaxAileronAdjust; // MaxAileronAdjust = 2 * APData->MaxAileron;
+static double RollOutSmoothAdjust; // RollOutSmoothAdjust = 2 * APData->RollOutSmooth;
+
+static float MaxRollValue; // 0.1 -> 1.0
+static float RollOutValue;
+static float MaxAileronValue;
+static float RollOutSmoothValue;
+
+static float TmpMaxRollValue; // for cancel operation
+static float TmpRollOutValue;
+static float TmpMaxAileronValue;
+static float TmpRollOutSmoothValue;
+
+static puDialogBox *APAdjustDialog;
+static puFrame *APAdjustFrame;
+static puText *APAdjustDialogMessage;
+
+static int DialogX = 40;
+static int DialogY = 100;
+
+static puOneShot *APAdjustOkButton;
+static puOneShot *APAdjustResetButton;
+static puOneShot *APAdjustCancelButton;
+
+//static puButton *APAdjustDragButton;
+
+static puText *APAdjustMaxRollTitle;
+static puText *APAdjustRollOutTitle;
+static puText *APAdjustMaxAileronTitle;
+static puText *APAdjustRollOutSmoothTitle;
+
+static puText *APAdjustMaxAileronText;
+static puText *APAdjustMaxRollText;
+static puText *APAdjustRollOutText;
+static puText *APAdjustRollOutSmoothText;
+
+static mySlider *APAdjustHS0;
+static mySlider *APAdjustHS1;
+static mySlider *APAdjustHS2;
+static mySlider *APAdjustHS3;
+
+static char SliderText[4][8];
+
+
+#define fgAP_CLAMP(val,min,max) \
+( (val) = (val) > (max) ? (max) : (val) < (min) ? (min) : (val) )
+
+ static void maxroll_adj(puObject *hs)
+{
+ float val ;
+ fgAPDataPtr APData;
+ APData = APDataGlobal;
+
+ hs -> getValue ( &val ) ;
+ fgAP_CLAMP ( val, 0.1, 1.0 ) ;
+ // printf ( "maxroll_adj( %p ) %f %f\n", hs, val, MaxRollAdjust * val ) ;
+ APData->MaxRoll = MaxRollAdjust * val;
+ sprintf(SliderText[0],"%05.2f", APData->MaxRoll );
+ APAdjustMaxRollText -> setLabel ( SliderText[0] ) ;
+}
+
+static void rollout_adj(puObject *hs)
+{
+ float val ;
+ fgAPDataPtr APData;
+ APData = APDataGlobal;
+
+ hs -> getValue ( &val ) ;
+ fgAP_CLAMP ( val, 0.1, 1.0 ) ;
+ // printf ( "rollout_adj( %p ) %f %f\n", hs, val, RollOutAdjust * val ) ;
+ APData->RollOut = RollOutAdjust * val;
+ sprintf(SliderText[1],"%05.2f", APData->RollOut );
+ APAdjustRollOutText -> setLabel ( SliderText[1] );
+}
+
+static void maxaileron_adj( puObject *hs )
+{
+ float val ;
+ fgAPDataPtr APData;
+ APData = APDataGlobal;
+
+ hs -> getValue ( &val ) ;
+ fgAP_CLAMP ( val, 0.1, 1.0 ) ;
+ // printf ( "maxaileron_adj( %p ) %f %f\n", hs, val, MaxAileronAdjust * val ) ;
+ APData->MaxAileron = MaxAileronAdjust * val;
+ sprintf(SliderText[3],"%05.2f", APData->MaxAileron );
+ APAdjustMaxAileronText -> setLabel ( SliderText[3] );
+}
+
+static void rolloutsmooth_adj( puObject *hs )
+{
+ float val ;
+ fgAPDataPtr APData;
+ APData = APDataGlobal;
+
+ hs -> getValue ( &val ) ;
+ fgAP_CLAMP ( val, 0.1, 1.0 ) ;
+ // printf ( "rolloutsmooth_adj( %p ) %f %f\n", hs, val, RollOutSmoothAdjust * val ) ;
+ APData->RollOutSmooth = RollOutSmoothAdjust * val;
+ sprintf(SliderText[2],"%5.2f", APData->RollOutSmooth );
+ APAdjustRollOutSmoothText -> setLabel ( SliderText[2] );
+
+}
+
+static void goAwayAPAdjust (puObject *)
+{
+ puPopLiveInterface ( ) ;
+ // puPopInterface ( ) ;
+ puPopGroup ( ) ;
+ APAdjustDialog -> hide();
+}
+
+void cancelAPAdjust(puObject *)
+{
+ fgAPDataPtr APData = APDataGlobal;
+
+ APData->MaxRoll = TmpMaxRollValue;
+ APData->RollOut = TmpRollOutValue;
+ APData->MaxAileron = TmpMaxAileronValue;
+ APData->RollOutSmooth = TmpRollOutSmoothValue;
+
+ puPopLiveInterface ( ) ;
+ // puPopInterface ( ) ;
+ puPopGroup ( ) ;
+
+
+ APAdjustDialog -> hide();
+}
+
+void resetAPAdjust(puObject *self)
+{
+ fgAPDataPtr APData = APDataGlobal;
+
+ APData->MaxRoll = MaxRollAdjust / 2;
+ APData->RollOut = RollOutAdjust / 2;
+ APData->MaxAileron = MaxAileronAdjust / 2;
+ APData->RollOutSmooth = RollOutSmoothAdjust / 2;
+
+ puPopLiveInterface ( ) ;
+ // puPopInterface ( ) ;
+ puPopGroup ( ) ;
+
+ APAdjustDialog -> hide();
+ fgAPAdjust(self);
+}
+
+void fgAPAdjust( puObject * )
+{
+ fgAPDataPtr APData = APDataGlobal;
+
+ TmpMaxRollValue = APData->MaxRoll;
+ TmpRollOutValue = APData->RollOut;
+ TmpMaxAileronValue = APData->MaxAileron;
+ TmpRollOutSmoothValue = APData->RollOutSmooth;
+
+ MaxRollValue = APData->MaxRoll / MaxRollAdjust;
+ RollOutValue = APData->RollOut / RollOutAdjust;
+ MaxAileronValue = APData->MaxAileron / MaxAileronAdjust;
+ RollOutSmoothValue = APData->RollOutSmooth / RollOutSmoothAdjust;
+
+ APAdjustHS0 -> setValue ( MaxRollValue ) ;
+ APAdjustHS1 -> setValue ( RollOutValue ) ;
+ APAdjustHS2 -> setValue ( RollOutSmoothValue ) ;
+ APAdjustHS3 -> setValue ( MaxAileronValue ) ;
+
+ // puPushInterface ( APAdjustDialog ) ;
+ puPushGroup ( APAdjustDialog ) ;
+ puPushLiveInterface ( APAdjustDialog ) ;
+
+ APAdjustDialog -> reveal();
+}
+
+#ifdef NOT_USED
+void dragAPAdjust(puObject *self)
{
- fgAPDataPtr APData ;
- FG_LOG( FG_AUTOPILOT, FG_INFO, "Init AutoPilot Subsystem" );
+ return;
+
+ int LastX, LastY;
+ int DeltaX, DeltaY, X, Y;
+ int button, count;
+
+ // button = guiGetMouseButton();
+ guiGetMouse(&LastX, &LastY);
+
+ button = 0;
+ printf("button %d LastX %d LastY %d\n", button, LastX, LastY);
- APData = (fgAPDataPtr)calloc(sizeof(fgAPData),1);
+ // count = 0;
+ // while( guiGetMouseButton() == button )
+ for(count=0;count<1000;count++)
+ {
+ guiGetMouse(&X, &Y);
+ printf(" X %d Y %d\n", X, Y);
+ }
+
+ DeltaX = X - LastX;
+ DeltaY = Y - LastY;
+
+ // LiveInterface is Dialog Box
+ puInterface *Interface = puGetBaseLiveInterface();
+ puObject *dlist = Interface->getFirstChild() ;
+ // printf("%s %p %s %p\n",
+ // Interface->getTypeString(), Interface, dlist->getTypeString(), dlist);
- if (APData == NULL) {
- // I couldn't get the mem. Dying
- FG_LOG( FG_AUTOPILOT, FG_ALERT, "No ram for Autopilot. Dying.");
- exit(-1);
+ Interface -> getPosition ( &X, &Y ) ;
+ Interface -> setPosition ( X + DeltaX, Y + DeltaY ) ;
+ // Interface -> recalc_bbox();
+
+ for ( puObject *bo = dlist ; bo != NULL ; bo = bo->next )
+ {
+ bo -> getPosition ( &X, &Y ) ;
+ bo -> setPosition ( X + DeltaX, Y + DeltaY ) ;
+ bo -> recalc_bbox();
+ // printf("%s %p X %d Y %d\n", bo->getTypeString(), bo, X, Y);
}
+
+ Interface->recalc_bbox();
+
+ puPopLiveInterface ( ) ;
+ // puPopInterface ( ) ;
+ puPopGroup ( ) ;
+
+ APAdjustDialog -> hide();
+ fgAPAdjust(dlist);
+}
+#endif // NOT_USED
+
+// Done once at system initialization
+void fgAPAdjustInit( void )
+{
+#define HORIZONTAL FALSE
+
+ fgAPDataPtr APData = APDataGlobal;
+
+ TmpMaxRollValue = APData->MaxRoll;
+ TmpRollOutValue = APData->RollOut;
+ TmpMaxAileronValue = APData->MaxAileron;
+ TmpRollOutSmoothValue = APData->RollOutSmooth;
+
+ MaxRollValue = APData->MaxRoll / MaxRollAdjust;
+ RollOutValue = APData->RollOut / RollOutAdjust;
+ MaxAileronValue = APData->MaxAileron / MaxAileronAdjust;
+ RollOutSmoothValue = APData->RollOutSmooth / RollOutSmoothAdjust;
+
+ APAdjustDialog = new puDialogBox (DialogX, DialogY);
+ {
+ int horiz_slider_height = puGetStringHeight () +
+ puGetStringDescender () +
+ PUSTR_TGAP + PUSTR_BGAP+5;
+
+ APAdjustFrame = new puFrame (0,0,230, 85+4*horiz_slider_height);
+
+ APAdjustDialogMessage = new puText (40, 52 + 4*horiz_slider_height);
+ APAdjustDialogMessage -> setLabel ("AutoPilot Adjust");
+
+ // APAdjustDragButton = new puButton (0, 75+4*horiz_slider_height,
+ // 230, 85+4*horiz_slider_height);
+ // APAdjustDragButton -> setLegend ("*");
+ // APAdjustDragButton -> setCallback (dragAPAdjust);
+
+ int slider_y = 55;
+ APAdjustHS0 = new mySlider ( 10, slider_y, 210, HORIZONTAL ) ;
+ APAdjustHS0 -> setDelta ( 0.1 ) ;
+ APAdjustHS0 -> setValue ( MaxRollValue ) ;
+ APAdjustHS0 -> setCBMode ( PUSLIDER_DELTA ) ;
+ APAdjustHS0 -> setCallback ( maxroll_adj ) ;
- APData->heading_hold = false ; // turn the heading hold off
- APData->altitude_hold = false ; // turn the altitude hold off
+ sprintf(SliderText[0],"%05.2f", APData->MaxRoll );
+ APAdjustMaxRollTitle = new puText ( 15, slider_y ) ;
+ APAdjustMaxRollTitle -> setLabel ( "MaxRoll" ) ;
+ APAdjustMaxRollText = new puText ( 160, slider_y ) ;
+ APAdjustMaxRollText -> setLabel ( SliderText[0] ) ;
+
+ slider_y += horiz_slider_height;
+
+ APAdjustHS1 = new mySlider ( 10, slider_y, 210, HORIZONTAL ) ;
+ APAdjustHS1 -> setDelta ( 0.1 ) ;
+ APAdjustHS1 -> setValue ( RollOutValue ) ;
+ APAdjustHS1 -> setCBMode ( PUSLIDER_DELTA ) ;
+ APAdjustHS1 -> setCallback ( rollout_adj ) ;
+
+ sprintf(SliderText[1],"%05.2f", APData->RollOut );
+ APAdjustRollOutTitle = new puText ( 15, slider_y ) ;
+ APAdjustRollOutTitle -> setLabel ( "AdjustRollOut" ) ;
+ APAdjustRollOutText = new puText ( 160, slider_y ) ;
+ APAdjustRollOutText -> setLabel ( SliderText[1] );
+
+ slider_y += horiz_slider_height;
+
+ APAdjustHS2 = new mySlider ( 10, slider_y, 210, HORIZONTAL ) ;
+ APAdjustHS2 -> setDelta ( 0.1 ) ;
+ APAdjustHS2 -> setValue ( RollOutSmoothValue ) ;
+ APAdjustHS2 -> setCBMode ( PUSLIDER_DELTA ) ;
+ APAdjustHS2 -> setCallback ( rolloutsmooth_adj ) ;
+
+ sprintf(SliderText[2],"%5.2f", APData->RollOutSmooth );
+ APAdjustRollOutSmoothTitle = new puText ( 15, slider_y ) ;
+ APAdjustRollOutSmoothTitle -> setLabel ( "RollOutSmooth" ) ;
+ APAdjustRollOutSmoothText = new puText ( 160, slider_y ) ;
+ APAdjustRollOutSmoothText -> setLabel ( SliderText[2] );
+
+ slider_y += horiz_slider_height;
+
+ APAdjustHS3 = new mySlider ( 10, slider_y, 210, HORIZONTAL ) ;
+ APAdjustHS3 -> setDelta ( 0.1 ) ;
+ APAdjustHS3 -> setValue ( MaxAileronValue ) ;
+ APAdjustHS3 -> setCBMode ( PUSLIDER_DELTA ) ;
+ APAdjustHS3 -> setCallback ( maxaileron_adj ) ;
+
+ sprintf(SliderText[3],"%05.2f", APData->MaxAileron );
+ APAdjustMaxAileronTitle = new puText ( 15, slider_y ) ;
+ APAdjustMaxAileronTitle -> setLabel ( "MaxAileron" ) ;
+ APAdjustMaxAileronText = new puText ( 160, slider_y ) ;
+ APAdjustMaxAileronText -> setLabel ( SliderText[3] );
+
+ APAdjustOkButton = new puOneShot (10, 10, 60, 50);
+ APAdjustOkButton -> setLegend ("OK");
+ APAdjustOkButton -> makeReturnDefault (TRUE );
+ APAdjustOkButton -> setCallback (goAwayAPAdjust);
+
+ APAdjustCancelButton = new puOneShot (70, 10, 150, 50);
+ APAdjustCancelButton -> setLegend ("Cancel");
+ APAdjustCancelButton -> makeReturnDefault (TRUE );
+ APAdjustCancelButton -> setCallback (cancelAPAdjust);
+
+ APAdjustResetButton = new puOneShot (160, 10, 220, 50);
+ APAdjustResetButton -> setLegend ("Reset");
+ APAdjustResetButton -> makeReturnDefault (TRUE );
+ APAdjustResetButton -> setCallback (resetAPAdjust);
+ }
+ APAdjustDialog -> close();
+ // APAdjustDialog -> reveal();
+ // Take it off the Stack
+ puPopLiveInterface ( ) ;
+ // puPopInterface ( ) ;
+ puPopGroup ( ) ;
+#undef HORIZONTAL
+}
- APData->TargetHeading = 0.0; // default direction, due north
- APData->TargetAltitude = 3000; // default altitude in meters
- APData->alt_error_accum = 0.0;
+void fgAPInit( fgAIRCRAFT *current_aircraft )
+{
+ fgAPDataPtr APData ;
+
+ FG_LOG( FG_AUTOPILOT, FG_INFO, "Init AutoPilot Subsystem" );
+
+ APData = (fgAPDataPtr)calloc(sizeof(fgAPData),1);
+
+ if (APData == NULL) {
+ // I couldn't get the mem. Dying
+ FG_LOG( FG_AUTOPILOT, FG_ALERT, "No ram for Autopilot. Dying.");
+ exit(-1);
+ }
+
+ APData->heading_hold = false ; // turn the heading hold off
+ APData->altitude_hold = false ; // 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.
+ // These eventually need to be read from current_aircaft somehow.
#if 0
- // Original values
- // the maximum roll, in Deg
- APData->MaxRoll = 7;
- // the deg from heading to start rolling out at, in Deg
- APData->RollOut = 30;
- // how far can I move the aleron from center.
- APData->MaxAileron= .1;
- // Smoothing distance for alerion control
- APData->RollOutSmooth = 10;
+ // Original values
+ // the maximum roll, in Deg
+ APData->MaxRoll = 7;
+ // the deg from heading to start rolling out at, in Deg
+ APData->RollOut = 30;
+ // how far can I move the aleron from center.
+ APData->MaxAileron= .1;
+ // Smoothing distance for alerion control
+ APData->RollOutSmooth = 10;
#endif
- // the maximum roll, in Deg
- APData->MaxRoll = 20;
+ // the maximum roll, in Deg
+ APData->MaxRoll = 20;
- // the deg from heading to start rolling out at, in Deg
- APData->RollOut = 20;
+ // the deg from heading to start rolling out at, in Deg
+ APData->RollOut = 20;
- // how far can I move the aleron from center.
- APData->MaxAileron= .2;
+ // how far can I move the aleron from center.
+ APData->MaxAileron= .2;
- // Smoothing distance for alerion control
- APData->RollOutSmooth = 10;
+ // Smoothing distance for alerion control
+ APData->RollOutSmooth = 10;
- //Remove at a later date
- APDataGlobal = APData;
-
+ //Remove at a later date
+ APDataGlobal = APData;
+
+#if !defined( USING_SLIDER_CLASS )
+ MaxRollAdjust = 2 * APData->MaxRoll;
+ RollOutAdjust = 2 * APData->RollOut;
+ MaxAileronAdjust = 2 * APData->MaxAileron;
+ RollOutSmoothAdjust = 2 * APData->RollOutSmooth;
+#endif // !defined( USING_SLIDER_CLASS )
+
+ fgAPAdjustInit( ) ;
};
int fgAPRun( void )
// passing in the data pointer
fgAPDataPtr APData;
-
+
APData = APDataGlobal;
// end section
-
+
// heading hold enabled?
if ( APData->heading_hold == true ) {
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.
FG_LOG( FG_AUTOPILOT, FG_DEBUG, "RelHeading: " << 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
-APData->MaxRoll, APData->RollOut,
APData->MaxRoll );
}
-
+
// Target Roll has now been Found.
// Compare Target roll to Current Roll, Generate Rel Roll
FG_LOG( FG_COCKPIT, FG_BULK, "TargetRoll: " << TargetRoll );
-
+
RelRoll = NormalizeDegrees(TargetRoll - fgAPget_roll());
// Check if we are further from heading than the roll out smooth point
APData->RollOutSmooth,
APData->MaxAileron );
}
-
+
controls.set_aileron( AileronSet );
controls.set_rudder( 0.0 );
}
controls.set_throttle( FGControls::ALL_ENGINES, total_adj );
}
- /*
+ /*
if (APData->Mode == 2) // Glide slope hold
{
double RelSlope;
}
*/
-
+
// Ok, we are done
return 0;
{
//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
}
*/
FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetHeading: ("
<< APData->heading_hold << ") " << APData->TargetHeading );
}
-
+
void fgAPToggleAltitude( void )
{
FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetAltitude: ("
<< APData->altitude_hold << ") " << APData->TargetAltitude );
}
-
+
void fgAPToggleAutoThrottle ( void )
{
// 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
-
+ 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
- b= y1- m * x1; // calculate the b
-
- y = m * x + b; // the final calculation
-
- return (y);
-
+ return y;
};
double NormalizeDegrees(double Input)
return (Input);
};
-
-
projects / flightgear.git / commitdiff