Autopilot in nav1 tracking mode bases heading off of desired radial not

current radial.

diff --git a/src/Autopilot/newauto.cxx b/src/Autopilot/newauto.cxx
index 71b1009bd5998a6d84fb4b18cdb0148d9d6106de..1d9238b2e373dcce4fd928c3d60b9988c845629d 100644 (file)
--- a/src/Autopilot/newauto.cxx
+++ b/src/Autopilot/newauto.cxx
@@ -383,20 +383,39 @@ int FGAutopilot::run() {
            // leave target heading alone
        } else if ( heading_mode == FG_HEADING_NAV1 ) {
            // track the NAV1 heading needle deflection
+
+           // determine our current radial position relative to the
+           // navaid in "true" heading.
            double cur_radial = current_radiostack->get_nav1_heading() +
                current_radiostack->get_nav1_magvar();
            if ( current_radiostack->get_nav1_from_flag() ) {
                cur_radial += 180.0;
                while ( cur_radial >= 360.0 ) { cur_radial -= 360.0; }
            }
+
+           // determine the target radial in "true" heading
+           double tgt_radial = current_radiostack->get_nav1_radial();
+           if ( current_radiostack->get_nav1_loc() ) {
+               // ILS localizers radials are already "true" in our
+               // database
+           } else {
+               // VOR radials need to have that vor's offset added in
+               tgt_radial += current_radiostack->get_nav1_magvar();
+           }
+
+           // determine the heading adjustment needed.
            double adjustment = 
                current_radiostack->get_nav1_heading_needle_deflection()
                * (current_radiostack->get_nav1_loc_dist() * METER_TO_NM);
            if ( adjustment < -30.0 ) { adjustment = -30.0; }
            if ( adjustment >  30.0 ) { adjustment =  30.0; }
-           TargetHeading = cur_radial + adjustment; 
+
+           // determine the target heading to fly to intercept the
+           // tgt_radial
+           TargetHeading = tgt_radial + adjustment; 
            while ( TargetHeading <   0.0 ) { TargetHeading += 360.0; }
            while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; }
+
 #if 0
            if ( current_radiostack->get_nav1_to_flag() ||
                 current_radiostack->get_nav1_from_flag() ) {
@@ -650,8 +669,8 @@ int FGAutopilot::run() {
        //      << " fpm" << endl;
 
        error = FGBFI::getVerticalSpeed() * FEET_TO_METER - TargetClimbRate;
-       cout << "climb rate = " << FGBFI::getVerticalSpeed()
-            << "  vsi rate = " << FGSteam::get_VSI_fps() << endl;
+       // cout << "climb rate = " << FGBFI::getVerticalSpeed()
+       //      << "  vsi rate = " << FGSteam::get_VSI_fps() << endl;
 
        // accumulate the error under the curve ... this really should
        // be *= delta t