FGAutopilot *current_autopilot;
-// Climb speed constants
-// const double min_climb = 70.0; // kts
-// const double best_climb = 75.0; // kts
-// const double ideal_climb_rate = 500.0 * SG_FEET_TO_METER; // fpm -> mpm
-// const double ideal_decent_rate = 1000.0 * SG_FEET_TO_METER; // fpm -> mpm
-
/// These statics will eventually go into the class
/// they are just here while I am experimenting -- NHV :-)
// AutoPilot Gain Adjuster members
// constructor
FGAutopilot::FGAutopilot()
{
- TargetClimbRate
- = fgGetNode("/autopilot/config/target-climb-rate-fpm", true);
- TargetDescentRate
- = fgGetNode("/autopilot/config/target-descent-rate-fpm", true);
- min_climb = fgGetNode("/autopilot/config/min-climb-speed-kt", true);
- best_climb = fgGetNode("/autopilot/config/best-climb-speed-kt", true);
- elevator_adj_factor
- = fgGetNode("/autopilot/config/elevator-adj-factor", true);
- integral_contrib
- = fgGetNode("/autopilot/config/integral-contribution", true);
- zero_pitch_throttle
- = fgGetNode("/autopilot/config/zero-pitch-throttle", true);
- zero_pitch_trim_full_throttle
- = fgGetNode("/autopilot/config/zero-pitch-trim-full-throttle", true);
- current_throttle = fgGetNode("/controls/throttle");
- // initialize with defaults (in case config isn't there)
- if ( TargetClimbRate->getFloatValue() < 1 )
- fgSetFloat( "/autopilot/config/target-climb-rate-fpm", 500);
- if ( TargetDescentRate->getFloatValue() < 1 )
- fgSetFloat( "/autopilot/config/target-descent-rate-fpm", 1000 );
- if ( min_climb->getFloatValue() < 1)
- fgSetFloat( "/autopilot/config/min-climb-speed-kt", 70 );
- if (best_climb->getFloatValue() < 1)
- fgSetFloat( "/autopilot/config/best-climb-speed-kt", 120 );
- if (elevator_adj_factor->getFloatValue() < 1)
- fgSetFloat( "/autopilot/config/elevator-adj-factor", 5000 );
- if ( integral_contrib->getFloatValue() < 0.0000001 )
- fgSetFloat( "/autopilot/config/integral-contribution", 0.01 );
- if ( zero_pitch_throttle->getFloatValue() < 0.0000001 )
- fgSetFloat( "/autopilot/config/zero-pitch-throttle", 0.60 );
- if ( zero_pitch_trim_full_throttle->getFloatValue() < 0.0000001 )
- fgSetFloat( "/autopilot/config/zero-pitch-trim-full-throttle", 0.15 );
}
// destructor
void FGAutopilot::init() {
SG_LOG( SG_AUTOPILOT, SG_INFO, "Init AutoPilot Subsystem" );
+ // Autopilot control property static get/set bindings
+ fgTie("/autopilot/locks/altitude", getAPAltitudeLock, setAPAltitudeLock);
+ fgSetArchivable("/autopilot/locks/altitude");
+ fgTie("/autopilot/settings/altitude-ft", getAPAltitude, setAPAltitude);
+ fgSetArchivable("/autopilot/settings/altitude-ft");
+ fgTie("/autopilot/locks/glide-slope", getAPGSLock, setAPGSLock);
+ fgSetDouble("/autopilot/settings/altitude-ft", 3000.0f);
+ fgSetArchivable("/autopilot/locks/glide-slope");
+ fgTie("/autopilot/locks/terrain", getAPTerrainLock, setAPTerrainLock);
+ fgSetArchivable("/autopilot/locks/terrain");
+ fgTie("/autopilot/settings/climb-rate-fpm", getAPClimb, setAPClimb, false);
+ fgSetArchivable("/autopilot/settings/climb-rate-fpm");
+ fgTie("/autopilot/locks/heading", getAPHeadingLock, setAPHeadingLock);
+ fgSetArchivable("/autopilot/locks/heading");
+ fgTie("/autopilot/settings/heading-bug-deg",
+ getAPHeadingBug, setAPHeadingBug);
+ fgSetArchivable("/autopilot/settings/heading-bug-deg");
+ fgSetDouble("/autopilot/settings/heading-bug-deg", 0.0f);
+ fgTie("/autopilot/locks/wing-leveler", getAPWingLeveler, setAPWingLeveler);
+ fgSetArchivable("/autopilot/locks/wing-leveler");
+ fgTie("/autopilot/locks/nav[0]", getAPNAV1Lock, setAPNAV1Lock);
+ fgSetArchivable("/autopilot/locks/nav[0]");
+ fgTie("/autopilot/locks/auto-throttle",
+ getAPAutoThrottleLock, setAPAutoThrottleLock);
+ fgSetArchivable("/autopilot/locks/auto-throttle");
+ fgTie("/autopilot/control-overrides/rudder",
+ getAPRudderControl, setAPRudderControl);
+ fgSetArchivable("/autopilot/control-overrides/rudder");
+ fgTie("/autopilot/control-overrides/elevator",
+ getAPElevatorControl, setAPElevatorControl);
+ fgSetArchivable("/autopilot/control-overrides/elevator");
+ fgTie("/autopilot/control-overrides/throttle",
+ getAPThrottleControl, setAPThrottleControl);
+ fgSetArchivable("/autopilot/control-overrides/throttle");
+
+
+ // bind data input property nodes...
latitude_node = fgGetNode("/position/latitude-deg", true);
longitude_node = fgGetNode("/position/longitude-deg", true);
altitude_node = fgGetNode("/position/altitude-ft", true);
vertical_speed_node = fgGetNode("/velocities/vertical-speed-fps", true);
heading_node = fgGetNode("/orientation/heading-deg", true);
roll_node = fgGetNode("/orientation/roll-deg", true);
+ pitch_node = fgGetNode("/orientation/pitch-deg", true);
+
+ // bind config property nodes...
+ TargetClimbRate
+ = fgGetNode("/autopilot/config/target-climb-rate-fpm", true);
+ TargetDescentRate
+ = fgGetNode("/autopilot/config/target-descent-rate-fpm", true);
+ min_climb = fgGetNode("/autopilot/config/min-climb-speed-kt", true);
+ best_climb = fgGetNode("/autopilot/config/best-climb-speed-kt", true);
+ elevator_adj_factor
+ = fgGetNode("/autopilot/config/elevator-adj-factor", true);
+ integral_contrib
+ = fgGetNode("/autopilot/config/integral-contribution", true);
+ zero_pitch_throttle
+ = fgGetNode("/autopilot/config/zero-pitch-throttle", true);
+ zero_pitch_trim_full_throttle
+ = fgGetNode("/autopilot/config/zero-pitch-trim-full-throttle", true);
+ current_throttle = fgGetNode("/controls/throttle");
+
+ // initialize config properties with defaults (in case config isn't there)
+ if ( TargetClimbRate->getFloatValue() < 1 )
+ fgSetFloat( "/autopilot/config/target-climb-rate-fpm", 500);
+ if ( TargetDescentRate->getFloatValue() < 1 )
+ fgSetFloat( "/autopilot/config/target-descent-rate-fpm", 1000 );
+ if ( min_climb->getFloatValue() < 1)
+ fgSetFloat( "/autopilot/config/min-climb-speed-kt", 70 );
+ if (best_climb->getFloatValue() < 1)
+ fgSetFloat( "/autopilot/config/best-climb-speed-kt", 120 );
+ if (elevator_adj_factor->getFloatValue() < 1)
+ fgSetFloat( "/autopilot/config/elevator-adj-factor", 5000 );
+ if ( integral_contrib->getFloatValue() < 0.0000001 )
+ fgSetFloat( "/autopilot/config/integral-contribution", 0.01 );
+ if ( zero_pitch_throttle->getFloatValue() < 0.0000001 )
+ fgSetFloat( "/autopilot/config/zero-pitch-throttle", 0.60 );
+ if ( zero_pitch_trim_full_throttle->getFloatValue() < 0.0000001 )
+ fgSetFloat( "/autopilot/config/zero-pitch-trim-full-throttle", 0.15 );
+ /* set defaults */
heading_hold = false ; // turn the heading hold off
altitude_hold = false ; // turn the altitude hold off
auto_throttle = false ; // turn the auto throttle off
heading_mode = DEFAULT_AP_HEADING_LOCK;
- sg_srandom_time();
- DGTargetHeading = sg_random() * 360.0;
+ DGTargetHeading = fgGetDouble("/autopilot/settings/heading-bug-deg");
+ TargetHeading = fgGetDouble("/autopilot/settings/heading-bug-deg");
+ TargetAltitude = fgGetDouble("/autopilot/settings/altitude-ft") * SG_FEET_TO_METER;
// Initialize target location to startup location
old_lat = latitude_node->getDoubleValue();
MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() );
- TargetHeading = 0.0; // default direction, due north
- TargetAltitude = 3000; // default altitude in meters
alt_error_accum = 0.0;
climb_error_accum = 0.0;
+ (double) integral_contrib->getFloatValue() * int_adj;
// stop on autopilot trim at 30% +/-
- if ( total_adj > 0.3 ) {
- total_adj = 0.3;
- } else if ( total_adj < -0.3 ) {
- total_adj = -0.3;
- }
+// if ( total_adj > 0.3 ) {
+// total_adj = 0.3;
+// } else if ( total_adj < -0.3 ) {
+// total_adj = -0.3;
+// }
// adjust for throttle pitch gain
total_adj += ((current_throttle->getFloatValue() - zero_pitch_throttle->getFloatValue())
FG_ALTITUDE_LOCK = 0, // lock to a specific altitude
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_GS2 = 3, // follow glide slope 2
+ FG_ALTITUDE_ARM = 4 // ascend to selected altitude
};
+
private:
bool heading_hold; // the current state of the heading hold
double TargetHeading; // the true heading the AP should steer to.
double TargetAltitude; // altitude to hold
double TargetAGL; // the terrain separation
- SGPropertyNode *min_climb; // minimum climb speed
- SGPropertyNode *best_climb; // best climb speed
- SGPropertyNode *elevator_adj_factor; // factor to optimize altitude hold adjustments
- SGPropertyNode *integral_contrib; // amount of contribution of the integral
- // component of the pid
- SGPropertyNode *zero_pitch_throttle; // amount of throttle at which the aircraft does not pitch up
- SGPropertyNode *zero_pitch_trim_full_throttle; // amount of trim required to level at full throttle
- SGPropertyNode *TargetClimbRate; // target climb rate
- SGPropertyNode *TargetDescentRate; // target decent rate
- SGPropertyNode *current_throttle; // current throttle (engine 0)
+
double TargetSpeed; // speed to shoot for
double alt_error_accum; // altitude error accumulator
double climb_error_accum; // climb error accumulator (for GS)
char TargetHeadingStr[64];
char TargetAltitudeStr[64];
+ // property nodes
SGPropertyNode *latitude_node;
SGPropertyNode *longitude_node;
SGPropertyNode *altitude_node;
SGPropertyNode *vertical_speed_node;
SGPropertyNode *heading_node;
SGPropertyNode *roll_node;
+ SGPropertyNode *pitch_node;
+
+ SGPropertyNode *min_climb; // minimum climb speed
+ SGPropertyNode *best_climb; // best climb speed
+ SGPropertyNode *elevator_adj_factor; // factor to optimize altitude hold adjustments
+ SGPropertyNode *integral_contrib; // amount of contribution of the integral
+ // component of the pid
+ SGPropertyNode *zero_pitch_throttle; // amount of throttle at which the aircraft does not pitch up
+ SGPropertyNode *zero_pitch_trim_full_throttle; // amount of trim required to level at full throttle
+ SGPropertyNode *TargetClimbRate; // target climb rate
+ SGPropertyNode *TargetDescentRate; // target decent rate
+ SGPropertyNode *current_throttle; // current throttle (engine 0)
public:
#define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_DG_HEADING_LOCK
// #define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_TRUE_HEADING_LOCK
+
+/**
+ * static functions for autopilot properties
+ */
+
+/**
+ * Get the autopilot altitude lock (true=on).
+ */
+static bool
+getAPAltitudeLock ()
+{
+ return (current_autopilot->get_AltitudeEnabled() &&
+ current_autopilot->get_AltitudeMode()
+ == FGAutopilot::FG_ALTITUDE_LOCK);
+}
+
+
+/**
+ * Set the autopilot altitude lock (true=on).
+ */
+static void
+setAPAltitudeLock (bool lock)
+{
+ if (lock)
+ current_autopilot->set_AltitudeMode(FGAutopilot::FG_ALTITUDE_LOCK);
+ if (current_autopilot->get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_LOCK)
+ current_autopilot->set_AltitudeEnabled(lock);
+}
+
+
+/**
+ * Get the autopilot target altitude in feet.
+ */
+static double
+getAPAltitude ()
+{
+ return current_autopilot->get_TargetAltitude() * SG_METER_TO_FEET;
+}
+
+
+/**
+ * Set the autopilot target altitude in feet.
+ */
+static void
+setAPAltitude (double altitude)
+{
+ current_autopilot->set_TargetAltitude( altitude * SG_FEET_TO_METER );
+}
+
+/**
+ * Get the autopilot altitude lock (true=on).
+ */
+static bool
+getAPGSLock ()
+{
+ return (current_autopilot->get_AltitudeEnabled() &&
+ (current_autopilot->get_AltitudeMode()
+ == FGAutopilot::FG_ALTITUDE_GS1));
+}
+
+
+/**
+ * Set the autopilot altitude lock (true=on).
+ */
+static void
+setAPGSLock (bool lock)
+{
+ if (lock)
+ current_autopilot->set_AltitudeMode(FGAutopilot::FG_ALTITUDE_GS1);
+ if (current_autopilot->get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_GS1)
+ current_autopilot->set_AltitudeEnabled(lock);
+}
+
+
+/**
+ * Get the autopilot terrain lock (true=on).
+ */
+static bool
+getAPTerrainLock ()
+{
+ return (current_autopilot->get_AltitudeEnabled() &&
+ (current_autopilot->get_AltitudeMode()
+ == FGAutopilot::FG_ALTITUDE_TERRAIN));
+}
+
+
+/**
+ * Set the autopilot terrain lock (true=on).
+ */
+static void
+setAPTerrainLock (bool lock)
+{
+ if (lock) {
+ current_autopilot->set_AltitudeMode(FGAutopilot::FG_ALTITUDE_TERRAIN);
+ current_autopilot
+ ->set_TargetAGL(fgGetFloat("/position/altitude-agl-ft") *
+ SG_FEET_TO_METER);
+ cout << "Target AGL = "
+ << fgGetFloat("/position/altitude-agl-ft") * SG_FEET_TO_METER
+ << endl;
+ }
+ if (current_autopilot->get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_TERRAIN)
+ current_autopilot->set_AltitudeEnabled(lock);
+}
+
+
+/**
+ * Get the autopilot target altitude in feet.
+ */
+static double
+getAPClimb ()
+{
+ return current_autopilot->get_TargetClimbRate() * SG_METER_TO_FEET;
+}
+
+
+/**
+ * Set the autopilot target altitude in feet.
+ */
+static void
+setAPClimb (double rate)
+{
+ current_autopilot->set_TargetClimbRate( rate * SG_FEET_TO_METER );
+}
+
+
+/**
+ * Get the autopilot heading lock (true=on).
+ */
+static bool
+getAPHeadingLock ()
+{
+ return
+ (current_autopilot->get_HeadingEnabled() &&
+ current_autopilot->get_HeadingMode() == DEFAULT_AP_HEADING_LOCK);
+}
+
+
+/**
+ * Set the autopilot heading lock (true=on).
+ */
+static void
+setAPHeadingLock (bool lock)
+{
+ if (lock)
+ current_autopilot->set_HeadingMode(DEFAULT_AP_HEADING_LOCK);
+ if (current_autopilot->get_HeadingMode() == DEFAULT_AP_HEADING_LOCK)
+ current_autopilot->set_HeadingEnabled(lock);
+}
+
+
+/**
+ * Get the autopilot heading bug in degrees.
+ */
+static double
+getAPHeadingBug ()
+{
+ return current_autopilot->get_DGTargetHeading();
+}
+
+
+/**
+ * Set the autopilot heading bug in degrees.
+ */
+static void
+setAPHeadingBug (double heading)
+{
+ current_autopilot->set_DGTargetHeading( heading );
+}
+
+
+/**
+ * Get the autopilot wing leveler lock (true=on).
+ */
+static bool
+getAPWingLeveler ()
+{
+ return
+ (current_autopilot->get_HeadingEnabled() &&
+ current_autopilot->get_HeadingMode() == FGAutopilot::FG_TC_HEADING_LOCK);
+}
+
+
+/**
+ * Set the autopilot wing leveler lock (true=on).
+ */
+static void
+setAPWingLeveler (bool lock)
+{
+ if (lock)
+ current_autopilot->set_HeadingMode(FGAutopilot::FG_TC_HEADING_LOCK);
+ if (current_autopilot->get_HeadingMode() == FGAutopilot::FG_TC_HEADING_LOCK)
+ current_autopilot->set_HeadingEnabled(lock);
+}
+
+/**
+ * Return true if the autopilot is locked to NAV1.
+ */
+static bool
+getAPNAV1Lock ()
+{
+ return
+ (current_autopilot->get_HeadingEnabled() &&
+ current_autopilot->get_HeadingMode() == FGAutopilot::FG_HEADING_NAV1);
+}
+
+
+/**
+ * Set the autopilot NAV1 lock.
+ */
+static void
+setAPNAV1Lock (bool lock)
+{
+ if (lock)
+ current_autopilot->set_HeadingMode(FGAutopilot::FG_HEADING_NAV1);
+ if (current_autopilot->get_HeadingMode() == FGAutopilot::FG_HEADING_NAV1)
+ current_autopilot->set_HeadingEnabled(lock);
+}
+
+/**
+ * Get the autopilot autothrottle lock.
+ */
+static bool
+getAPAutoThrottleLock ()
+{
+ return current_autopilot->get_AutoThrottleEnabled();
+}
+
+
+/**
+ * Set the autothrottle lock.
+ */
+static void
+setAPAutoThrottleLock (bool lock)
+{
+ current_autopilot->set_AutoThrottleEnabled(lock);
+}
+
+
+// kludge
+static double
+getAPRudderControl ()
+{
+ if (getAPHeadingLock())
+ return current_autopilot->get_TargetHeading();
+ else
+ return globals->get_controls()->get_rudder();
+}
+
+// kludge
+static void
+setAPRudderControl (double value)
+{
+ if (getAPHeadingLock()) {
+ SG_LOG(SG_GENERAL, SG_DEBUG, "setAPRudderControl " << value );
+ value -= current_autopilot->get_TargetHeading();
+ current_autopilot->HeadingAdjust(value < 0.0 ? -1.0 : 1.0);
+ } else {
+ globals->get_controls()->set_rudder(value);
+ }
+}
+
+// kludge
+static double
+getAPElevatorControl ()
+{
+ if (getAPAltitudeLock())
+ return current_autopilot->get_TargetAltitude();
+ else
+ return globals->get_controls()->get_elevator();
+}
+
+// kludge
+static void
+setAPElevatorControl (double value)
+{
+ if (value != 0 && getAPAltitudeLock()) {
+ SG_LOG(SG_GENERAL, SG_DEBUG, "setAPElevatorControl " << value );
+ value -= current_autopilot->get_TargetAltitude();
+ current_autopilot->AltitudeAdjust(value < 0.0 ? 100.0 : -100.0);
+ } else {
+ globals->get_controls()->set_elevator(value);
+ }
+}
+
+// kludge
+static double
+getAPThrottleControl ()
+{
+ if (getAPAutoThrottleLock())
+ return 0.0; // always resets
+ else
+ return globals->get_controls()->get_throttle(0);
+}
+
+// kludge
+static void
+setAPThrottleControl (double value)
+{
+ if (getAPAutoThrottleLock())
+ current_autopilot->AutoThrottleAdjust(value < 0.0 ? -0.01 : 0.01);
+ else
+ globals->get_controls()->set_throttle(FGControls::ALL_ENGINES, value);
+}
+
#endif // _NEWAUTO_HXX
#include STL_IOSTREAM
#include <ATC/ATCdisplay.hxx>
-#include <Autopilot/newauto.hxx>
#include <Aircraft/aircraft.hxx>
#include <Time/tmp.hxx>
#include <FDM/UIUCModel/uiuc_aircraftdir.h>
}
-/**
- * Get the autopilot altitude lock (true=on).
- */
-static bool
-getAPAltitudeLock ()
-{
- return (current_autopilot->get_AltitudeEnabled() &&
- current_autopilot->get_AltitudeMode()
- == FGAutopilot::FG_ALTITUDE_LOCK);
-}
-
-
-/**
- * Set the autopilot altitude lock (true=on).
- */
-static void
-setAPAltitudeLock (bool lock)
-{
- if (lock)
- current_autopilot->set_AltitudeMode(FGAutopilot::FG_ALTITUDE_LOCK);
- if (current_autopilot->get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_LOCK)
- current_autopilot->set_AltitudeEnabled(lock);
-}
-
-
-/**
- * Get the autopilot target altitude in feet.
- */
-static double
-getAPAltitude ()
-{
- return current_autopilot->get_TargetAltitude() * SG_METER_TO_FEET;
-}
-
-
-/**
- * Set the autopilot target altitude in feet.
- */
-static void
-setAPAltitude (double altitude)
-{
- current_autopilot->set_TargetAltitude( altitude * SG_FEET_TO_METER );
-}
-
-/**
- * Get the autopilot altitude lock (true=on).
- */
-static bool
-getAPGSLock ()
-{
- return (current_autopilot->get_AltitudeEnabled() &&
- (current_autopilot->get_AltitudeMode()
- == FGAutopilot::FG_ALTITUDE_GS1));
-}
-
-
-/**
- * Set the autopilot altitude lock (true=on).
- */
-static void
-setAPGSLock (bool lock)
-{
- if (lock)
- current_autopilot->set_AltitudeMode(FGAutopilot::FG_ALTITUDE_GS1);
- if (current_autopilot->get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_GS1)
- current_autopilot->set_AltitudeEnabled(lock);
-}
-
-
-/**
- * Get the autopilot terrain lock (true=on).
- */
-static bool
-getAPTerrainLock ()
-{
- return (current_autopilot->get_AltitudeEnabled() &&
- (current_autopilot->get_AltitudeMode()
- == FGAutopilot::FG_ALTITUDE_TERRAIN));
-}
-
-
-/**
- * Set the autopilot terrain lock (true=on).
- */
-static void
-setAPTerrainLock (bool lock)
-{
- if (lock) {
- current_autopilot->set_AltitudeMode(FGAutopilot::FG_ALTITUDE_TERRAIN);
- current_autopilot
- ->set_TargetAGL(current_aircraft.fdm_state->get_Altitude_AGL() *
- SG_FEET_TO_METER);
- cout << "Target AGL = "
- << current_aircraft.fdm_state->get_Altitude_AGL() * SG_FEET_TO_METER
- << endl;
- }
- if (current_autopilot->get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_TERRAIN)
- current_autopilot->set_AltitudeEnabled(lock);
-}
-
-
-/**
- * Get the autopilot target altitude in feet.
- */
-static double
-getAPClimb ()
-{
- return current_autopilot->get_TargetClimbRate() * SG_METER_TO_FEET;
-}
-
-
-/**
- * Set the autopilot target altitude in feet.
- */
-static void
-setAPClimb (double rate)
-{
- current_autopilot->set_TargetClimbRate( rate * SG_FEET_TO_METER );
-}
-
-
-/**
- * Get the autopilot heading lock (true=on).
- */
-static bool
-getAPHeadingLock ()
-{
- return
- (current_autopilot->get_HeadingEnabled() &&
- current_autopilot->get_HeadingMode() == DEFAULT_AP_HEADING_LOCK);
-}
-
-
-/**
- * Set the autopilot heading lock (true=on).
- */
-static void
-setAPHeadingLock (bool lock)
-{
- if (lock)
- current_autopilot->set_HeadingMode(DEFAULT_AP_HEADING_LOCK);
- if (current_autopilot->get_HeadingMode() == DEFAULT_AP_HEADING_LOCK)
- current_autopilot->set_HeadingEnabled(lock);
-}
-
-
-/**
- * Get the autopilot heading bug in degrees.
- */
-static double
-getAPHeadingBug ()
-{
- return current_autopilot->get_DGTargetHeading();
-}
-
-
-/**
- * Set the autopilot heading bug in degrees.
- */
-static void
-setAPHeadingBug (double heading)
-{
- current_autopilot->set_DGTargetHeading( heading );
-}
-
-
-/**
- * Get the autopilot wing leveler lock (true=on).
- */
-static bool
-getAPWingLeveler ()
-{
- return
- (current_autopilot->get_HeadingEnabled() &&
- current_autopilot->get_HeadingMode() == FGAutopilot::FG_TC_HEADING_LOCK);
-}
-
-
-/**
- * Set the autopilot wing leveler lock (true=on).
- */
-static void
-setAPWingLeveler (bool lock)
-{
- if (lock)
- current_autopilot->set_HeadingMode(FGAutopilot::FG_TC_HEADING_LOCK);
- if (current_autopilot->get_HeadingMode() == FGAutopilot::FG_TC_HEADING_LOCK)
- current_autopilot->set_HeadingEnabled(lock);
-}
-
-/**
- * Return true if the autopilot is locked to NAV1.
- */
-static bool
-getAPNAV1Lock ()
-{
- return
- (current_autopilot->get_HeadingEnabled() &&
- current_autopilot->get_HeadingMode() == FGAutopilot::FG_HEADING_NAV1);
-}
-
-
-/**
- * Set the autopilot NAV1 lock.
- */
-static void
-setAPNAV1Lock (bool lock)
-{
- if (lock)
- current_autopilot->set_HeadingMode(FGAutopilot::FG_HEADING_NAV1);
- if (current_autopilot->get_HeadingMode() == FGAutopilot::FG_HEADING_NAV1)
- current_autopilot->set_HeadingEnabled(lock);
-}
-
-/**
- * Get the autopilot autothrottle lock.
- */
-static bool
-getAPAutoThrottleLock ()
-{
- return current_autopilot->get_AutoThrottleEnabled();
-}
-
-
-/**
- * Set the autothrottle lock.
- */
-static void
-setAPAutoThrottleLock (bool lock)
-{
- current_autopilot->set_AutoThrottleEnabled(lock);
-}
-
-
-// kludge
-static double
-getAPRudderControl ()
-{
- if (getAPHeadingLock())
- return current_autopilot->get_TargetHeading();
- else
- return globals->get_controls()->get_rudder();
-}
-
-// kludge
-static void
-setAPRudderControl (double value)
-{
- if (getAPHeadingLock()) {
- SG_LOG(SG_GENERAL, SG_DEBUG, "setAPRudderControl " << value );
- value -= current_autopilot->get_TargetHeading();
- current_autopilot->HeadingAdjust(value < 0.0 ? -1.0 : 1.0);
- } else {
- globals->get_controls()->set_rudder(value);
- }
-}
-
-// kludge
-static double
-getAPElevatorControl ()
-{
- if (getAPAltitudeLock())
- return current_autopilot->get_TargetAltitude();
- else
- return globals->get_controls()->get_elevator();
-}
-
-// kludge
-static void
-setAPElevatorControl (double value)
-{
- if (value != 0 && getAPAltitudeLock()) {
- SG_LOG(SG_GENERAL, SG_DEBUG, "setAPElevatorControl " << value );
- value -= current_autopilot->get_TargetAltitude();
- current_autopilot->AltitudeAdjust(value < 0.0 ? 100.0 : -100.0);
- } else {
- globals->get_controls()->set_elevator(value);
- }
-}
-
-// kludge
-static double
-getAPThrottleControl ()
-{
- if (getAPAutoThrottleLock())
- return 0.0; // always resets
- else
- return globals->get_controls()->get_throttle(0);
-}
-
-// kludge
-static void
-setAPThrottleControl (double value)
-{
- if (getAPAutoThrottleLock())
- current_autopilot->AutoThrottleAdjust(value < 0.0 ? -0.01 : 0.01);
- else
- globals->get_controls()->set_throttle(FGControls::ALL_ENGINES, value);
-}
-
-
#if !defined(FG_NEW_ENVIRONMENT)
/**
// Orientation
fgTie("/orientation/heading-magnetic-deg", getHeadingMag);
- // Autopilot
- fgTie("/autopilot/locks/altitude", getAPAltitudeLock, setAPAltitudeLock);
- fgSetArchivable("/autopilot/locks/altitude");
- fgTie("/autopilot/settings/altitude-ft", getAPAltitude, setAPAltitude);
- fgSetArchivable("/autopilot/settings/altitude-ft");
- fgTie("/autopilot/locks/glide-slope", getAPGSLock, setAPGSLock);
- fgSetArchivable("/autopilot/locks/glide-slope");
- fgTie("/autopilot/locks/terrain", getAPTerrainLock, setAPTerrainLock);
- fgSetArchivable("/autopilot/locks/terrain");
- fgTie("/autopilot/settings/climb-rate-fpm", getAPClimb, setAPClimb, false);
- fgSetArchivable("/autopilot/settings/climb-rate-fpm");
- fgTie("/autopilot/locks/heading", getAPHeadingLock, setAPHeadingLock);
- fgSetArchivable("/autopilot/locks/heading");
- fgTie("/autopilot/settings/heading-bug-deg",
- getAPHeadingBug, setAPHeadingBug);
- fgSetArchivable("/autopilot/settings/heading-bug-deg");
- fgTie("/autopilot/locks/wing-leveler", getAPWingLeveler, setAPWingLeveler);
- fgSetArchivable("/autopilot/locks/wing-leveler");
- fgTie("/autopilot/locks/nav[0]", getAPNAV1Lock, setAPNAV1Lock);
- fgSetArchivable("/autopilot/locks/nav[0]");
- fgTie("/autopilot/locks/auto-throttle",
- getAPAutoThrottleLock, setAPAutoThrottleLock);
- fgSetArchivable("/autopilot/locks/auto-throttle");
- fgTie("/autopilot/control-overrides/rudder",
- getAPRudderControl, setAPRudderControl);
- fgSetArchivable("/autopilot/control-overrides/rudder");
- fgTie("/autopilot/control-overrides/elevator",
- getAPElevatorControl, setAPElevatorControl);
- fgSetArchivable("/autopilot/control-overrides/elevator");
- fgTie("/autopilot/control-overrides/throttle",
- getAPThrottleControl, setAPThrottleControl);
- fgSetArchivable("/autopilot/control-overrides/throttle");
-
// Environment
#if !defined(FG_NEW_ENVIRONMENT)
fgTie("/environment/visibility-m", getVisibility, setVisibility);
projects / flightgear.git / commitdiff