From 110dd605a0aa4437fad8222d6e2bca539dd0aa39 Mon Sep 17 00:00:00 2001
From: jmt <jmt>
Date: Sun, 11 Oct 2009 21:29:24 +0000
Subject: [PATCH] Fix unrealistic-but-convenient direct-drive from the
 route-manager to the autopilot code. A new boolean config prop,
 'drive-autopilot' exists, to disable this behaviour.

---
 src/Autopilot/route_mgr.cxx | 32 +++++++++++++++++++-------------
 src/Autopilot/route_mgr.hxx |  8 +++++---
 2 files changed, 24 insertions(+), 16 deletions(-)

diff --git a/src/Autopilot/route_mgr.cxx b/src/Autopilot/route_mgr.cxx
index b8903685f..7fb4ac12d 100644
--- a/src/Autopilot/route_mgr.cxx
+++ b/src/Autopilot/route_mgr.cxx
@@ -65,11 +65,7 @@ static double get_ground_speed() {
 FGRouteMgr::FGRouteMgr() :
     _route( new SGRoute ),
     _autoSequence(true),
-    lon( NULL ),
-    lat( NULL ),
-    alt( NULL ),
-    target_altitude_ft( NULL ),
-    altitude_lock( NULL ),
+    _driveAutopilot(true),
     input(fgGetNode( RM "input", true )),
     mirror(fgGetNode( RM "route", true )),
     altitude_set( false )
@@ -96,9 +92,12 @@ void FGRouteMgr::init() {
   alt = fgGetNode( "/position/altitude-ft", true );
   magvar = fgGetNode("/environment/magnetic-variation-deg", true);
   
-  target_altitude_ft = fgGetNode( "/autopilot/settings/target-altitude-ft", true );
-  altitude_lock = fgGetNode( "/autopilot/locks/altitude", true );
-
+// autopilot drive properties
+  _apTargetAltitudeFt = fgGetNode( "/autopilot/settings/target-altitude-ft", true );
+  _apAltitudeLock = fgGetNode( "/autopilot/locks/altitude", true );
+  _apTrueHeading = fgGetNode( "/autopilot/settings/true-heading-deg", true );
+  rm->tie("drive-autopilot", SGRawValuePointer<bool>(&_driveAutopilot));
+  
   departure = fgGetNode(RM "departure", true);
 // init departure information from current location
   SGGeod pos = SGGeod::fromDegFt(lon->getDoubleValue(), lat->getDoubleValue(), alt->getDoubleValue());
@@ -203,13 +202,15 @@ void FGRouteMgr::updateTargetAltitude() {
     }
     
     altitude_set = true;
-    target_altitude_ft->setDoubleValue(wp.get_target().getElevationFt());
+    
+    if (!_driveAutopilot) {
+      return;
+    }
+    
+    _apTargetAltitudeFt->setDoubleValue(wp.get_target().getElevationFt());
             
     if ( !near_ground() ) {
-        // James Turner [zakalawe]: there's no explanation for this logic,
-        // it feels like the autopilot should pull the target altitude out of
-        // wp0 instead of us pushing it through here. Hmmm.
-        altitude_lock->setStringValue( "altitude-hold" );
+        _apAltitudeLock->setStringValue( "altitude-hold" );
     }
 }
 
@@ -261,6 +262,10 @@ void FGRouteMgr::update( double dt ) {
       }
     }
 
+    if (_driveAutopilot) {
+      _apTrueHeading->setDoubleValue(wp_course);
+    }
+    
   // update wp0 / wp1 / wp-last for legacy users
     wp0->setDoubleValue("dist", wp_distance * SG_METER_TO_NM);
     wp_course -= magvar->getDoubleValue(); // expose magnetic bearing
@@ -639,6 +644,7 @@ void FGRouteMgr::currentWaypointChanged()
   }
   
   currentWp->setIntValue(_route->current_index());
+  updateTargetAltitude();
   SG_LOG(SG_AUTOPILOT, SG_INFO, "route manager, current-wp is now " << _route->current_index());
 }
 
diff --git a/src/Autopilot/route_mgr.hxx b/src/Autopilot/route_mgr.hxx
index dbbe4577d..8799ce160 100644
--- a/src/Autopilot/route_mgr.hxx
+++ b/src/Autopilot/route_mgr.hxx
@@ -54,9 +54,11 @@ private:
     SGPropertyNode_ptr magvar;
     
     // automatic outputs
-    SGPropertyNode_ptr target_altitude_ft;
-    SGPropertyNode_ptr altitude_lock;
-
+    bool _driveAutopilot;
+    SGPropertyNode_ptr _apTargetAltitudeFt;
+    SGPropertyNode_ptr _apAltitudeLock;
+    SGPropertyNode_ptr _apTrueHeading;
+    
     SGPropertyNode_ptr departure; ///< departure airport information
     SGPropertyNode_ptr destination; ///< destination airport information
     SGPropertyNode_ptr alternate; ///< alternate airport information
-- 
2.39.5