-/**************************************************************************
- * autopilot.cxx -- autopilot subsystem
- *
- * Written by Jeff Goeke-Smith, started April 1998.
- *
- * Copyright (C) 1998 Jeff Goeke-Smith, jgoeke@voyager.net
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License as
- * published by the Free Software Foundation; either version 2 of the
- * License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
- *
- *
- *
- **************************************************************************/
+// autopilot.cxx -- autopilot subsystem
+//
+// Written by Jeff Goeke-Smith, started April 1998.
+//
+// Copyright (C) 1998 Jeff Goeke-Smith, jgoeke@voyager.net
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+//
+// $Id$
+// (Log is kept at end of this file)
#ifdef HAVE_CONFIG_H
#include <Include/fg_constants.h>
#include <Debug/logstream.hxx>
+#include <Main/options.hxx>
// The below routines were copied right from hud.c ( I hate reinventing
// I want this gone. Data should be in aircraft structure
+bool fgAPHeadingEnabled( void )
+{
+ fgAPDataPtr APData;
+
+ APData = APDataGlobal;
+ // end section
+
+ // heading hold enabled?
+ return( APData->heading_hold );
+}
+bool fgAPAltitudeEnabled( void )
+{
+ fgAPDataPtr APData;
+
+ APData = APDataGlobal;
+ // end section
+
+ // altitude hold or terrain follow enabled?
+ return( APData->altitude_hold || APData->terrain_follow );
+}
+void fgAPAltitudeAdjust( double inc )
+{
+ // Remove at a later date
+ fgAPDataPtr APData;
+ APData = APDataGlobal;
+ // end section
+
+ double target_alt, target_agl;
+
+ if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
+ target_alt = APData->TargetAltitude * METER_TO_FEET;
+ target_agl = APData->TargetAGL * METER_TO_FEET;
+ } else {
+ target_alt = APData->TargetAltitude;
+ target_agl = APData->TargetAGL;
+ }
+
+ target_alt = (int)(target_alt / inc) * inc + inc;
+ target_agl = (int)(target_agl / inc) * inc + inc;
+
+ if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
+ target_alt *= FEET_TO_METER;
+ target_agl *= FEET_TO_METER;
+ }
+
+ // heading hold enabled?
+ APData->TargetAltitude = target_alt;
+ APData->TargetAGL = target_agl;
+}
+void fgAPHeadingAdjust( double inc )
+{
+ fgAPDataPtr APData;
+
+ APData = APDataGlobal;
+ // end section
+
+ // heading hold enabled?
+ APData->TargetHeading = NormalizeDegrees(APData->TargetHeading + inc);
+}
void fgAPInit( fgAIRCRAFT *current_aircraft )
{
exit(-1);
}
- APData->heading_hold = 0 ; // turn the heading hold off
- APData->altitude_hold = 0 ; // turn the altitude hold off
+ 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.
-
- APData->MaxRoll = 7; // the maximum roll, in Deg
- APData->RollOut = 30; // the deg from heading to start rolling out at, in Deg
- APData->MaxAileron= .1; // how far can I move the aleron from center.
- APData->RollOutSmooth = 10; // Smoothing distance for alerion control
-
+
+#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;
+#endif
+
+ // the maximum roll, in Deg
+ APData->MaxRoll = 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;
+
+ // Smoothing distance for alerion control
+ APData->RollOutSmooth = 10;
+
//Remove at a later date
APDataGlobal = APData;
// end section
// heading hold enabled?
- if ( APData->heading_hold == 1 ) {
+ if ( APData->heading_hold == true ) {
double RelHeading;
double TargetRoll;
double RelRoll;
}
// altitude hold or terrain follow enabled?
- if ( (APData->altitude_hold == 1) || (APData->terrain_follow == 1) ) {
+ if ( APData->altitude_hold || APData->terrain_follow ) {
double speed, max_climb, error;
double prop_error, int_error;
double prop_adj, int_adj, total_adj;
- if (APData->altitude_hold == 1) {
+ if ( APData->altitude_hold ) {
// normal altitude hold
APData->TargetClimbRate =
(APData->TargetAltitude - fgAPget_altitude()) * 8.0;
- } else if (APData->terrain_follow == 1) {
+ } else if ( APData->terrain_follow ) {
// brain dead ground hugging with no look ahead
APData->TargetClimbRate =
( APData->TargetAGL - fgAPget_agl() ) * 16.0;
}
// auto throttle enabled?
- if ( APData->auto_throttle == 1 ) {
+ if ( APData->auto_throttle ) {
double error;
double prop_error, int_error;
double prop_adj, int_adj, total_adj;
if ( APData->heading_hold ) {
// turn off heading hold
- APData->heading_hold = 0;
+ APData->heading_hold = false;
} else {
// turn on heading hold, lock at current heading
- APData->heading_hold = 1;
+ APData->heading_hold = true;
APData->TargetHeading = fgAPget_heading();
}
if ( APData->altitude_hold ) {
// turn off altitude hold
- APData->altitude_hold = 0;
+ APData->altitude_hold = false;
} else {
// turn on altitude hold, lock at current altitude
- APData->altitude_hold = 1;
- APData->terrain_follow = 0;
+ APData->altitude_hold = true;
+ APData->terrain_follow = false;
APData->TargetAltitude = fgAPget_altitude();
APData->alt_error_accum = 0.0;
// alt_error_queue.erase( alt_error_queue.begin(),
if ( APData->auto_throttle ) {
// turn off altitude hold
- APData->auto_throttle = 0;
+ APData->auto_throttle = false;
} else {
// turn on terrain follow, lock at current agl
- APData->auto_throttle = 1;
+ APData->auto_throttle = true;
APData->TargetSpeed = get_speed();
APData->speed_error_accum = 0.0;
}
if ( APData->terrain_follow ) {
// turn off altitude hold
- APData->terrain_follow = 0;
+ APData->terrain_follow = false;
} else {
// turn on terrain follow, lock at current agl
- APData->terrain_follow = 1;
- APData->altitude_hold = 0;
+ APData->terrain_follow = true;
+ APData->altitude_hold = false;
APData->TargetAGL = fgAPget_agl();
APData->alt_error_accum = 0.0;
}
return (Input);
};
+
+
+// $Log$
+// Revision 1.14 1999/02/12 22:17:14 curt
+// Changes contributed by Norman Vine to allow adjustment of the autopilot
+// while it is activated.
+//
-/**************************************************************************
- * autopilot.hxx -- autopilot defines and prototypes (very alpha)
- *
- * Written by Jeff Goeke-Smith, started April 1998.
- *
- * Copyright (C) 1998 Jeff Goeke-Smith - jgoeke@voyager.net
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License as
- * published by the Free Software Foundation; either version 2 of the
- * License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
- *
- *
- **************************************************************************/
+// autopilot.hxx -- autopilot defines and prototypes (very alpha)
+//
+// Written by Jeff Goeke-Smith, started April 1998.
+//
+// Copyright (C) 1998 Jeff Goeke-Smith - jgoeke@voyager.net
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+//
+// $Id$
+// (Log is kept at end of this file)
-#ifndef _AUTOPILOT_H
-#define _AUTOPILOT_H
+#ifndef _AUTOPILOT_HXX
+#define _AUTOPILOT_HXX
#include <Aircraft/aircraft.hxx>
#include <Controls/controls.hxx>
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
// Structures
typedef struct {
- int heading_hold; // the current state of the heading hold
- int altitude_hold; // the current state of the altitude hold
- int terrain_follow; // the current state of the terrain follower
- int auto_throttle; // the current state of the auto throttle
+ bool heading_hold; // the current state of the heading hold
+ bool altitude_hold; // the current state of the altitude hold
+ bool terrain_follow; // the current state of the terrain follower
+ bool auto_throttle; // the current state of the auto throttle
double TargetHeading; // the heading the AP should steer to.
double TargetAltitude; // altitude to hold
void fgAPToggleTerrainFollow( void );
void fgAPToggleAutoThrottle( void );
+bool fgAPAltitudeEnabled( void );
+bool fgAPHeadingEnabled( void );
+void fgAPAltitudeAdjust( double inc );
+void fgAPHeadingAdjust( double inc );
+
-#ifdef __cplusplus
-}
-#endif
+#endif // _AUTOPILOT_HXX
-#endif // _AUTOPILOT_H
+// $Log$
+// Revision 1.8 1999/02/12 22:17:15 curt
+// Changes contributed by Norman Vine to allow adjustment of the autopilot
+// while it is activated.
+//
projects / flightgear.git / commitdiff