bugfix: don't call the update_helper() for every instance of FGXMLAutopilot. Compute...

diff --git a/src/Autopilot/xmlauto.cxx b/src/Autopilot/xmlauto.cxx
index ff149a99c0c04daba89b25662ae54088bee08f9d..090d9fbb7d624d11ae813056ac31fc3a93600772 100644 (file)
--- a/src/Autopilot/xmlauto.cxx
+++ b/src/Autopilot/xmlauto.cxx
@@ -837,10 +837,105 @@ void FGDigitalFilter::update(double dt)
     }
 }
 
-FGXMLAutopilotGroup::FGXMLAutopilotGroup()
+FGXMLAutopilotGroup::FGXMLAutopilotGroup() :
+  SGSubsystemGroup(),
+  average(0.0), // average/filtered prediction
+  v_last(0.0),  // last velocity
+  last_static_pressure(0.0),
+  vel(fgGetNode( "/velocities/airspeed-kt", true )),
+  // Estimate speed in 5,10 seconds
+  lookahead5(fgGetNode( "/autopilot/internal/lookahead-5-sec-airspeed-kt", true )),
+  lookahead10(fgGetNode( "/autopilot/internal/lookahead-10-sec-airspeed-kt", true )),
+  bug(fgGetNode( "/autopilot/settings/heading-bug-deg", true )),
+  mag_hdg(fgGetNode( "/orientation/heading-magnetic-deg", true )),
+  bug_error(fgGetNode( "/autopilot/internal/heading-bug-error-deg", true )),
+  fdm_bug_error(fgGetNode( "/autopilot/internal/fdm-heading-bug-error-deg", true )),
+  target_true(fgGetNode( "/autopilot/settings/true-heading-deg", true )),
+  true_hdg(fgGetNode( "/orientation/heading-deg", true )),
+  true_error(fgGetNode( "/autopilot/internal/true-heading-error-deg", true )),
+  target_nav1(fgGetNode( "/instrumentation/nav[0]/radials/target-auto-hdg-deg", true )),
+  true_nav1(fgGetNode( "/autopilot/internal/nav1-heading-error-deg", true )),
+  true_track_nav1(fgGetNode( "/autopilot/internal/nav1-track-error-deg", true )),
+  nav1_course_error(fgGetNode( "/autopilot/internal/nav1-course-error", true )),
+  nav1_selected_course(fgGetNode( "/instrumentation/nav[0]/radials/selected-deg", true )),
+  vs_fps(fgGetNode( "/velocities/vertical-speed-fps", true )),
+  vs_fpm(fgGetNode( "/autopilot/internal/vert-speed-fpm", true )),
+  static_pressure(fgGetNode( "/systems/static[0]/pressure-inhg", true )),
+  pressure_rate(fgGetNode( "/autopilot/internal/pressure-rate", true )),
+  latNode(fgGetNode("/position/latitude-deg")),
+  lonNode(fgGetNode("/position/longitude-deg"))
 {
 }
 
+void FGXMLAutopilotGroup::update( double dt )
+{
+    // update all configured autopilots
+    SGSubsystemGroup::update( dt );
+
+    // update helper values
+    double v = vel->getDoubleValue();
+    double a = 0.0;
+    if ( dt > 0.0 ) {
+        a = (v - v_last) / dt;
+
+        if ( dt < 1.0 ) {
+            average = (1.0 - dt) * average + dt * a;
+        } else {
+            average = a;
+        }
+
+        lookahead5->setDoubleValue( v + average * 5.0 );
+        lookahead10->setDoubleValue( v + average * 10.0 );
+        v_last = v;
+    }
+
+    // Calculate heading bug error normalized to +/- 180.0
+    double diff = bug->getDoubleValue() - mag_hdg->getDoubleValue();
+    SG_NORMALIZE_RANGE(diff, -180.0, 180.0);
+    bug_error->setDoubleValue( diff );
+
+    fdm_bug_error->setDoubleValue( diff );
+
+    // Calculate true heading error normalized to +/- 180.0
+    diff = target_true->getDoubleValue() - true_hdg->getDoubleValue();
+    SG_NORMALIZE_RANGE(diff, -180.0, 180.0);
+    true_error->setDoubleValue( diff );
+
+    // Calculate nav1 target heading error normalized to +/- 180.0
+    diff = target_nav1->getDoubleValue() - true_hdg->getDoubleValue();
+    SG_NORMALIZE_RANGE(diff, -180.0, 180.0);
+    true_nav1->setDoubleValue( diff );
+
+    // Calculate true groundtrack
+    SGGeod currentPosition(SGGeod::fromDeg(
+        lonNode->getDoubleValue(), latNode->getDoubleValue()));
+    double true_track = SGGeodesy::courseDeg(lastPosition, currentPosition);
+    lastPosition = currentPosition;
+    diff = target_nav1->getDoubleValue() - true_track;
+    SG_NORMALIZE_RANGE(diff, -180.0, 180.0);
+    true_track_nav1->setDoubleValue( diff );
+
+    // Calculate nav1 selected course error normalized to +/- 180.0
+    diff = nav1_selected_course->getDoubleValue() - mag_hdg->getDoubleValue();
+    SG_NORMALIZE_RANGE( diff, -180.0, 180.0 );
+    nav1_course_error->setDoubleValue( diff );
+
+    // Calculate vertical speed in fpm
+    vs_fpm->setDoubleValue( vs_fps->getDoubleValue() * 60.0 );
+
+
+    // Calculate static port pressure rate in [inhg/s].
+    // Used to determine vertical speed.
+    if ( dt > 0.0 ) {
+        double current_static_pressure = static_pressure->getDoubleValue();
+        double current_pressure_rate = 
+            ( current_static_pressure - last_static_pressure ) / dt;
+
+        pressure_rate->setDoubleValue(current_pressure_rate);
+        last_static_pressure = current_static_pressure;
+    }
+}
+
 void FGXMLAutopilotGroup::reinit()
 {
     for( vector<string>::size_type i = 0; i < _autopilotNames.size(); i++ ) {
@@ -928,8 +1023,6 @@ FGXMLAutopilot::~FGXMLAutopilot() {
  */
 void FGXMLAutopilot::init() 
 {
-  latNode = fgGetNode("/position/latitude-deg");
-  lonNode = fgGetNode("/position/longitude-deg");
 }
 
 
@@ -973,132 +1066,12 @@ bool FGXMLAutopilot::build( SGPropertyNode_ptr config_props ) {
     return true;
 }
 
-
-/*
- * Update helper values
- */
-void FGXMLAutopilot::update_helper( double dt ) {
-    // Estimate speed in 5,10 seconds
-    static SGPropertyNode_ptr vel = fgGetNode( "/velocities/airspeed-kt", true );
-    static SGPropertyNode_ptr lookahead5
-        = fgGetNode( "/autopilot/internal/lookahead-5-sec-airspeed-kt", true );
-    static SGPropertyNode_ptr lookahead10
-        = fgGetNode( "/autopilot/internal/lookahead-10-sec-airspeed-kt", true );
-
-    static double average = 0.0; // average/filtered prediction
-    static double v_last = 0.0;  // last velocity
-
-    double v = vel->getDoubleValue();
-    double a = 0.0;
-    if ( dt > 0.0 ) {
-        a = (v - v_last) / dt;
-
-        if ( dt < 1.0 ) {
-            average = (1.0 - dt) * average + dt * a;
-        } else {
-            average = a;
-        }
-
-        lookahead5->setDoubleValue( v + average * 5.0 );
-        lookahead10->setDoubleValue( v + average * 10.0 );
-        v_last = v;
-    }
-
-    // Calculate heading bug error normalized to +/- 180.0
-    static SGPropertyNode_ptr bug
-        = fgGetNode( "/autopilot/settings/heading-bug-deg", true );
-    static SGPropertyNode_ptr mag_hdg
-        = fgGetNode( "/orientation/heading-magnetic-deg", true );
-    static SGPropertyNode_ptr bug_error
-        = fgGetNode( "/autopilot/internal/heading-bug-error-deg", true );
-
-    double diff = bug->getDoubleValue() - mag_hdg->getDoubleValue();
-    SG_NORMALIZE_RANGE(diff, -180.0, 180.0);
-    bug_error->setDoubleValue( diff );
-
-    static SGPropertyNode_ptr fdm_bug_error
-        = fgGetNode( "/autopilot/internal/fdm-heading-bug-error-deg", true );
-    fdm_bug_error->setDoubleValue( diff );
-
-    // Calculate true heading error normalized to +/- 180.0
-    static SGPropertyNode_ptr target_true
-        = fgGetNode( "/autopilot/settings/true-heading-deg", true );
-    static SGPropertyNode_ptr true_hdg
-        = fgGetNode( "/orientation/heading-deg", true );
-    static SGPropertyNode_ptr true_error
-        = fgGetNode( "/autopilot/internal/true-heading-error-deg", true );
-
-    diff = target_true->getDoubleValue() - true_hdg->getDoubleValue();
-    SG_NORMALIZE_RANGE(diff, -180.0, 180.0);
-    true_error->setDoubleValue( diff );
-
-    // Calculate nav1 target heading error normalized to +/- 180.0
-    static SGPropertyNode_ptr target_nav1
-        = fgGetNode( "/instrumentation/nav[0]/radials/target-auto-hdg-deg", true );
-    static SGPropertyNode_ptr true_nav1
-        = fgGetNode( "/autopilot/internal/nav1-heading-error-deg", true );
-    static SGPropertyNode_ptr true_track_nav1
-        = fgGetNode( "/autopilot/internal/nav1-track-error-deg", true );
-
-    diff = target_nav1->getDoubleValue() - true_hdg->getDoubleValue();
-    SG_NORMALIZE_RANGE(diff, -180.0, 180.0);
-    true_nav1->setDoubleValue( diff );
-
-    // Calculate true groundtrack
-    SGGeod currentPosition(SGGeod::fromDeg(
-        lonNode->getDoubleValue(), latNode->getDoubleValue()));
-    double true_track = SGGeodesy::courseDeg(lastPosition, currentPosition);
-    lastPosition = currentPosition;
-    diff = target_nav1->getDoubleValue() - true_track;
-    SG_NORMALIZE_RANGE(diff, -180.0, 180.0);
-    true_track_nav1->setDoubleValue( diff );
-
-    // Calculate nav1 selected course error normalized to +/- 180.0
-    static SGPropertyNode_ptr nav1_course_error
-        = fgGetNode( "/autopilot/internal/nav1-course-error", true );
-    static SGPropertyNode_ptr nav1_selected_course
-        = fgGetNode( "/instrumentation/nav[0]/radials/selected-deg", true );
-
-    diff = nav1_selected_course->getDoubleValue() - mag_hdg->getDoubleValue();
-    SG_NORMALIZE_RANGE( diff, -180.0, 180.0 );
-    nav1_course_error->setDoubleValue( diff );
-
-    // Calculate vertical speed in fpm
-    static SGPropertyNode_ptr vs_fps
-        = fgGetNode( "/velocities/vertical-speed-fps", true );
-    static SGPropertyNode_ptr vs_fpm
-        = fgGetNode( "/autopilot/internal/vert-speed-fpm", true );
-
-    vs_fpm->setDoubleValue( vs_fps->getDoubleValue() * 60.0 );
-
-
-    // Calculate static port pressure rate in [inhg/s].
-    // Used to determine vertical speed.
-    static SGPropertyNode_ptr static_pressure
-        = fgGetNode( "/systems/static[0]/pressure-inhg", true );
-    static SGPropertyNode_ptr pressure_rate
-        = fgGetNode( "/autopilot/internal/pressure-rate", true );
-
-    static double last_static_pressure = 0.0;
-
-    if ( dt > 0.0 ) {
-        double current_static_pressure = static_pressure->getDoubleValue();
-        double current_pressure_rate = 
-            ( current_static_pressure - last_static_pressure ) / dt;
-
-        pressure_rate->setDoubleValue(current_pressure_rate);
-        last_static_pressure = current_static_pressure;
-    }
-}
-
-
 /*
  * Update the list of autopilot components
  */
 
-void FGXMLAutopilot::update( double dt ) {
-    update_helper( dt );
-
+void FGXMLAutopilot::update( double dt ) 
+{
     unsigned int i;
     for ( i = 0; i < components.size(); ++i ) {
         components[i]->update( dt );

diff --git a/src/Autopilot/xmlauto.hxx b/src/Autopilot/xmlauto.hxx
index 4b122caefd6790fb6a30a5eb0e07b4c749ac1319..a29545759f2bd19663e73da8c8336dd9557e4935 100644 (file)
--- a/src/Autopilot/xmlauto.hxx
+++ b/src/Autopilot/xmlauto.hxx
@@ -378,8 +378,36 @@ public:
     FGXMLAutopilotGroup();
     void init();
     void reinit();
+    void update( double dt );
 private:
     std::vector<std::string> _autopilotNames;
+
+    double average;
+    double v_last;
+    double last_static_pressure;
+
+    SGPropertyNode_ptr vel;
+    SGPropertyNode_ptr lookahead5;
+    SGPropertyNode_ptr lookahead10;
+    SGPropertyNode_ptr bug;
+    SGPropertyNode_ptr mag_hdg;
+    SGPropertyNode_ptr bug_error;
+    SGPropertyNode_ptr fdm_bug_error;
+    SGPropertyNode_ptr target_true;
+    SGPropertyNode_ptr true_hdg;
+    SGPropertyNode_ptr true_error;
+    SGPropertyNode_ptr target_nav1;
+    SGPropertyNode_ptr true_nav1;
+    SGPropertyNode_ptr true_track_nav1;
+    SGPropertyNode_ptr nav1_course_error;
+    SGPropertyNode_ptr nav1_selected_course;
+    SGPropertyNode_ptr vs_fps;
+    SGPropertyNode_ptr vs_fpm;
+    SGPropertyNode_ptr static_pressure;
+    SGPropertyNode_ptr pressure_rate;
+
+    SGPropertyNode_ptr latNode, lonNode;
+    SGGeod lastPosition;
 };
 
 class FGXMLAutopilot : public SGSubsystem
@@ -402,16 +430,9 @@ protected:
     typedef std::vector<FGXMLAutoComponent_ptr> comp_list;
 
 private:
-    /**
-     * Update helper values, especially the /autopilot/internal properties
-     */
-    void update_helper( double dt );
-    
     bool serviceable;
     comp_list components;
     
-    SGPropertyNode_ptr latNode, lonNode;
-    SGGeod lastPosition;
 };