Optimized property manager accesses.

Fixed a creep in bug in the altitude hold autopilot.

diff --git a/src/Autopilot/auto_gui.cxx b/src/Autopilot/auto_gui.cxx
index c9c3529b17c1ea686ae5dddab4bb5b39028c106a..b5ce002f89f877e1ce2f69e390c34fecb3d89087 100644 (file)
--- a/src/Autopilot/auto_gui.cxx
+++ b/src/Autopilot/auto_gui.cxx
@@ -635,7 +635,6 @@ void TgtAptDialog_OK (puObject *)
 
 void TgtAptDialog_Reset(puObject *)
 {
-    //  strncpy( NewAirportId, fgGetString("/sim/startup/airport-id").c_str(), 16 );
     sprintf( NewTgtAirportId, "%s", fgGetString("/sim/startup/airport-id").c_str() );
     TgtAptDialogInput->setValue ( NewTgtAirportId );
     TgtAptDialogInput->setCursor( 0 ) ;
@@ -643,7 +642,6 @@ void TgtAptDialog_Reset(puObject *)
 
 void AddWayPoint(puObject *cb)
 {
-    //  strncpy( NewAirportId, fgGetString("/sim/startup/airport-id").c_str(), 16 );
     sprintf( NewTgtAirportId, "%s", fgGetString("/sim/startup/airport-id").c_str() );
     TgtAptDialogInput->setValue( NewTgtAirportId );
     
@@ -664,7 +662,7 @@ void PopWayPoint(puObject *cb)
 
        // use current heading
        current_autopilot
-         ->set_TargetHeading(fgGetDouble("/orientation/heading"));
+            ->set_TargetHeading(fgGetDouble("/orientation/heading"));
     }
 }
 
@@ -676,10 +674,9 @@ void ClearRoute(puObject *cb)
 void NewTgtAirportInit(void)
 {
     SG_LOG( SG_AUTOPILOT, SG_INFO, " enter NewTgtAirportInit()" );
-    // fgAPset_tgt_airport_id( fgGetString("/sim/startup/airport-id") );       
-    sprintf( NewTgtAirportId, "%s", fgGetString("/sim/startup/airport-id").c_str() );
+    sprintf( NewTgtAirportId, "%s",
+             fgGetString("/sim/startup/airport-id").c_str() );
     SG_LOG( SG_AUTOPILOT, SG_INFO, " NewTgtAirportId " << NewTgtAirportId );
-    // printf(" NewTgtAirportId %s\n", NewTgtAirportId);
     int len = 150 - puGetStringWidth( puGetDefaultLabelFont(),
                                       NewTgtAirportLabel ) / 2;
     

diff --git a/src/Autopilot/newauto.cxx b/src/Autopilot/newauto.cxx
index a808cfb01ed7dd244c56548a085fc56968396cdd..8fd0014efc7c06057cde7b9c3a2a5f77c0837693 100644 (file)
--- a/src/Autopilot/newauto.cxx
+++ b/src/Autopilot/newauto.cxx
@@ -72,7 +72,8 @@ extern char *coord_format_lon(float);
 
 // constructor
 FGAutopilot::FGAutopilot():
-TargetClimbRate(1000 * SG_FEET_TO_METER)
+TargetClimbRate(500 * SG_FEET_TO_METER),
+TargetDecentRate(1000 * SG_FEET_TO_METER)
 {
 }
 
@@ -112,8 +113,10 @@ static inline double get_speed( void ) {
 
 static inline double get_ground_speed() {
     // starts in ft/s so we convert to kts
+    static const SGPropertyNode * speedup_node = fgGetNode("/sim/speed-up");
+
     double ft_s = cur_fdm_state->get_V_ground_speed() 
-      * fgGetInt("/sim/speed-up"); // FIXME: inefficient
+        * speedup_node->getIntValue();
     double kts = ft_s * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM;
 
     return kts;
@@ -217,6 +220,14 @@ void FGAutopilot::update_old_control_values() {
 void FGAutopilot::init() {
     SG_LOG( SG_AUTOPILOT, SG_INFO, "Init AutoPilot Subsystem" );
 
+    latitude_node = fgGetNode("/position/latitude", true);
+    longitude_node = fgGetNode("/position/longitude", true);
+    altitude_node = fgGetNode("/position/altitude", true);
+    altitude_agl_node = fgGetNode("/position/altitude-agl", true);
+    vertical_speed_node = fgGetNode("/velocities/vertical-speed", true);
+    heading_node = fgGetNode("/orientation/heading", true);
+    roll_node = fgGetNode("/orientation/roll", true);
+
     heading_hold = false ;      // turn the heading hold off
     altitude_hold = false ;     // turn the altitude hold off
     auto_throttle = false ;    // turn the auto throttle off
@@ -226,8 +237,8 @@ void FGAutopilot::init() {
     DGTargetHeading = sg_random() * 360.0;
 
     // Initialize target location to startup location
-    old_lat = fgGetDouble("/position/latitude");
-    old_lon = fgGetDouble("/position/longitude");
+    old_lat = latitude_node->getDoubleValue();
+    old_lon = longitude_node->getDoubleValue();
     // set_WayPoint( old_lon, old_lat, 0.0, "default" );
 
     MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() );
@@ -345,9 +356,9 @@ int FGAutopilot::run() {
 
     // get control settings 
        
-    double lat = fgGetDouble("/position/latitude");
-    double lon = fgGetDouble("/position/longitude");
-    double alt = fgGetDouble("/position/altitude") * SG_FEET_TO_METER;
+    double lat = latitude_node->getDoubleValue();
+    double lon = longitude_node->getDoubleValue();
+    double alt = altitude_node->getDoubleValue() * SG_FEET_TO_METER;
 
 #ifdef FG_FORCE_AUTO_DISENGAGE
     // see if somebody else has changed them
@@ -489,7 +500,7 @@ int FGAutopilot::run() {
                    // end of the line
                    heading_mode = FG_TRUE_HEADING_LOCK;
                    // use current heading
-                   TargetHeading = fgGetDouble("/orientation/heading");
+                   TargetHeading = heading_node->getDoubleValue();
                }
            }
            MakeTargetHeadingStr( TargetHeading );
@@ -517,7 +528,7 @@ int FGAutopilot::run() {
 
            RelHeading
                = NormalizeDegrees( TargetHeading
-                                   - fgGetDouble("/orientation/heading") );
+                                   - heading_node->getDoubleValue() );
            // figure out how far off we are from desired heading
 
            // Now it is time to deterime how far we should be rolled.
@@ -553,7 +564,7 @@ int FGAutopilot::run() {
            SG_LOG( SG_COCKPIT, SG_BULK, "TargetRoll: " << TargetRoll );
 
            RelRoll = NormalizeDegrees( TargetRoll 
-                                       - fgGetDouble("/orientation/roll") );
+                                       - roll_node->getDoubleValue() );
 
            // Check if we are further from heading than the roll out
            // smooth point
@@ -589,7 +600,7 @@ int FGAutopilot::run() {
                ( TargetAltitude - FGSteam::get_ALT_ft() * SG_FEET_TO_METER ) * 8.0;
        } else if ( altitude_mode == FG_ALTITUDE_GS1 ) {
            double x = current_radiostack->get_nav1_gs_dist();
-           double y = (fgGetDouble("/position/altitude")
+           double y = (altitude_node->getDoubleValue()
                        - current_radiostack->get_nav1_elev()) * SG_FEET_TO_METER;
            double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
            // cout << "current angle = " << current_angle << endl;
@@ -616,7 +627,7 @@ int FGAutopilot::run() {
        } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
            // brain dead ground hugging with no look ahead
            climb_rate =
-               ( TargetAGL - fgGetDouble("/position/altitude-agl")
+               ( TargetAGL - altitude_agl_node->getDoubleValue()
                   * SG_FEET_TO_METER ) * 16.0;
            // cout << "target agl = " << TargetAGL 
            //      << "  current agl = " << fgAPget_agl() 
@@ -650,16 +661,19 @@ int FGAutopilot::run() {
            climb_rate = max_climb;
        }
 
-       if ( climb_rate < -fabs(TargetClimbRate) ) {
-           climb_rate = -fabs(TargetClimbRate);
+       if ( climb_rate < -fabs(TargetDecentRate) ) {
+           climb_rate = -fabs(TargetDecentRate);
        }
+
        // cout << "Target climb rate = " << TargetClimbRate << endl;
        // cout << "given our speed, modified desired climb rate = "
        //      << climb_rate * SG_METER_TO_FEET 
        //      << " fpm" << endl;
+        // cout << "Current climb rate = "
+        //      << vertical_speed_node->getDoubleValue() * 60 << " fpm" << endl;
 
-       error = fgGetDouble("/velocities/vertical-speed")
-            * SG_FEET_TO_METER - climb_rate;
+       error = vertical_speed_node->getDoubleValue() * 60
+            - climb_rate * SG_METER_TO_FEET;
 
        // accumulate the error under the curve ... this really should
        // be *= delta t
@@ -783,18 +797,18 @@ void FGAutopilot::set_HeadingMode( fgAutoHeadingMode mode ) {
        // set autopilot to hold a zero turn (as reported by the TC)
     } else if ( heading_mode == FG_TRUE_HEADING_LOCK ) {
        // set heading hold to current heading
-       TargetHeading = fgGetDouble("/orientation/heading");
+       TargetHeading = heading_node->getDoubleValue();
     } else if ( heading_mode == FG_HEADING_WAYPOINT ) {
        if ( globals->get_route()->size() ) {
            double course, distance;
 
-           old_lat = fgGetDouble("/position/latitude");
-           old_lon = fgGetDouble("/position/longitude");
+           old_lat = latitude_node->getDoubleValue();
+           old_lon = longitude_node->getDoubleValue();
 
            waypoint = globals->get_route()->get_first();
-           waypoint.CourseAndDistance( fgGetDouble("/position/longitude"),
-                                       fgGetDouble("/position/latitude"),
-                                       fgGetDouble("/position/latitude")
+           waypoint.CourseAndDistance( longitude_node->getDoubleValue(),
+                                       latitude_node->getDoubleValue(),
+                                       altitude_node->getDoubleValue()
                                         * SG_FEET_TO_METER,
                                        &course, &distance );
            TargetHeading = course;
@@ -831,7 +845,7 @@ void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) {
     alt_error_accum = 0.0;
 
     if ( altitude_mode == FG_ALTITUDE_LOCK ) {
-       if ( TargetAltitude < fgGetDouble("/position/altitude-agl")
+       if ( TargetAltitude < altitude_agl_node->getDoubleValue()
              * SG_FEET_TO_METER ) {
        }
 
@@ -844,7 +858,7 @@ void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) {
        climb_error_accum = 0.0;
 
     } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
-       TargetAGL = fgGetDouble("/position/altitude-agl") * SG_FEET_TO_METER;
+       TargetAGL = altitude_agl_node->getDoubleValue() * SG_FEET_TO_METER;
 
        if ( fgGetString("/sim/startup/units") == "feet" ) {
            MakeTargetAltitudeStr( TargetAGL * SG_METER_TO_FEET );

diff --git a/src/Autopilot/newauto.hxx b/src/Autopilot/newauto.hxx
index 9346821779fa158ec812e2a91e38a85e2a486c37..67ceb2b03a16fc5f4d0a03804e2e2fa182c5003b 100644 (file)
--- a/src/Autopilot/newauto.hxx
+++ b/src/Autopilot/newauto.hxx
@@ -27,6 +27,7 @@
 #define _NEWAUTO_HXX
 
 
+#include <simgear/misc/props.hxx>
 #include <simgear/route/waypoint.hxx>
 
 
@@ -70,6 +71,7 @@ private:
     double TargetAltitude;     // altitude to hold
     double TargetAGL;          // the terrain separation
     double TargetClimbRate;    // target climb rate
+    double TargetDecentRate;   // target decent rate
     double TargetSpeed;                // speed to shoot for
     double alt_error_accum;    // altitude error accumulator
     double climb_error_accum;  // climb error accumulator (for GS)
@@ -109,6 +111,14 @@ private:
     char TargetHeadingStr[64];
     char TargetAltitudeStr[64];
 
+    SGPropertyNode *latitude_node;
+    SGPropertyNode *longitude_node;
+    SGPropertyNode *altitude_node;
+    SGPropertyNode *altitude_agl_node;
+    SGPropertyNode *vertical_speed_node;
+    SGPropertyNode *heading_node;
+    SGPropertyNode *roll_node;
+
 public:
 
     // constructor