Norman's autopilot updates, now serving great circle routes direct to

the center of airports.

src/Autopilot/autopilot.hxx

@@ -24,19 +24,30 @@
 #ifndef _AUTOPILOT_HXX
 #define _AUTOPILOT_HXX
 
+#include <Include/compiler.h>
+                       
+#include STL_STRING
+
+#include <string.h>
 
 #include <Aircraft/aircraft.hxx>
 #include <FDM/flight.hxx>
 #include <Controls/controls.hxx>
                        
+FG_USING_STD(string);
+
                   
 // Structures
 typedef struct {
+    bool waypoint_hold;       // the current state of the target hold
     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 TargetLatitude;    // the latitude the AP should steer to.
+    double TargetLongitude;   // the longitude the AP should steer to.
+    double TargetDistance;    // the distance to Target.
     double TargetHeading;     // the heading the AP should steer to.
     double TargetAltitude;    // altitude to hold
     double TargetAGL;         // the terrain separation
@@ -55,6 +66,30 @@ typedef struct {
     double MaxElevator; // the maximum elevator allowed
     double SlopeSmooth; // smoothing angle for elevator
 	
+	// following for testing disengagement of autopilot
+	// apon pilot interaction with controls
+    double old_aileron;
+    double old_elevator;
+    double old_elevator_trim;
+    double old_rudder;
+	
+	// manual controls override beyond this value
+	double disengage_threshold; 
+
+	// For future cross track error adjust
+	double old_lat;
+	double old_lon;
+
+	// keeping these locally to save work inside main loop
+	char TargetLatitudeStr[32];
+	char TargetLongitudeStr[32];
+    char TargetLatLonStr[32];
+	char TargetDistanceStr[32];
+    char TargetHeadingStr[32];
+    char TargetAltitudeStr[32];
+//	char jnk[32];
+	// using current_options.airport_id for now
+//	string tgt_airport_id;  // ID of initial starting airport    
 } fgAPData, *fgAPDataPtr ;
 		
 
@@ -66,6 +101,7 @@ typedef struct {
 void fgAPInit( fgAIRCRAFT *current_aircraft );
 int fgAPRun( void );
 
+void fgAPToggleWayPoint( void );
 void fgAPToggleHeading( void );
 void fgAPToggleAltitude( void );
 void fgAPToggleTerrainFollow( void );
@@ -74,6 +110,7 @@ void fgAPToggleAutoThrottle( void );
 bool fgAPTerrainFollowEnabled( void );
 bool fgAPAltitudeEnabled( void );
 bool fgAPHeadingEnabled( void );
+bool fgAPWayPointEnabled( void );
 bool fgAPAutoThrottleEnabled( void );
 
 void fgAPAltitudeAdjust( double inc );
@@ -82,11 +119,37 @@ void fgAPAutoThrottleAdjust( double inc );
 
 void fgAPHeadingSet( double value );
 
+double fgAPget_TargetLatitude( void );
+double fgAPget_TargetLongitude( void );
+double fgAPget_TargetHeading( void );
+double fgAPget_TargetDistance( void );
+double fgAPget_TargetAltitude( void );
+
+char *fgAPget_TargetLatitudeStr( void );
+char *fgAPget_TargetLongitudeStr( void );
+char *fgAPget_TargetDistanceStr( void );
+char *fgAPget_TargetHeadingStr( void );
+char *fgAPget_TargetAltitudeStr( void );
+char *fgAPget_TargetLatLonStr( void );
+
+//void fgAPset_tgt_airport_id( const string );
+//string fgAPget_tgt_airport_id( void );
+
 void fgAPReset(void);
 
+int geo_inverse_wgs_84( double alt,
+						double lat1, double lon1,
+						double lat2, double lon2,
+						double *az1, double *az2,
+						double *s );
+
+int geo_direct_wgs_84(  double alt,
+						double lat1, double lon1,
+						double az1, double s,
+						double *lat2, double *lon2,
+						double *az2 );
+
 class puObject;
 void fgAPAdjust( puObject * );
 
 #endif // _AUTOPILOT_HXX
-
-

src/Cockpit/hud.cxx

@@ -993,6 +993,7 @@ int brightness        = pHUDInstr->get_brightness();
   pHUDInstr->SetBrightness( brightness );
 }
 
+#if 0
 // fgUpdateHUD
 //
 // Performs a once around the list of calls to instruments installed in
@@ -1132,3 +1133,168 @@ void fgUpdateHUD( void ) {
   glMatrixMode(GL_MODELVIEW);
   glPopMatrix();
 }
+#endif
+
+
+// fgUpdateHUD
+//
+// Performs a once around the list of calls to instruments installed in
+// the HUD object with requests for redraw. Kinda. It will when this is
+// all C++.
+//
+void fgUpdateHUD( void ) {
+  int brightness;
+//  int day_night_sw = current_aircraft.controls->day_night_switch;
+  int day_night_sw = global_day_night_switch;
+  int hud_displays = HUD_deque.size();
+  instr_item *pHUDInstr;
+  float line_width;
+
+  if( !hud_displays ) {  // Trust everyone, but ALWAYS cut the cards!
+    return;
+    }
+
+  HUD_TextList.erase();
+  HUD_LineList.erase();
+//  HUD_StippleLineList.erase();
+  
+  pHUDInstr = HUD_deque[0];
+  brightness = pHUDInstr->get_brightness();
+//  brightness = HUD_deque.at(0)->get_brightness();
+
+  glMatrixMode(GL_PROJECTION);
+  glPushMatrix();
+
+  glLoadIdentity();
+  gluOrtho2D(0, 640, 0, 480);
+  glMatrixMode(GL_MODELVIEW);
+  glPushMatrix();
+  glLoadIdentity();
+
+  glColor3f(1.0, 1.0, 1.0);
+  glIndexi(7);
+
+  glDisable(GL_DEPTH_TEST);
+  glDisable(GL_LIGHTING);
+
+  // We can do translucency, so why not. :-)
+//  glEnable    ( GL_BLEND ) ;
+//  glBlendFunc ( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA ) ;
+  
+  if( day_night_sw == DAY) {
+	  switch (brightness) {
+		  case BRT_LIGHT:
+//            glColor4f (0.1, 0.9, 0.1, 0.75);
+            glColor3f (0.1, 0.9, 0.1);
+            break;
+
+          case BRT_MEDIUM:
+//            glColor4f (0.1, 0.7, 0.0, 0.75);
+            glColor3f (0.1, 0.7, 0.0);
+            break;
+
+          case BRT_DARK:
+//            glColor4f (0.0, 0.6, 0.0, 0.75);
+            glColor3f(0.0, 0.6, 0.0);
+            break;
+
+          case BRT_BLACK:
+//            glColor4f( 0.0, 0.0, 0.0, 0.75);
+            glColor3f( 0.0, 0.0, 0.0);
+            break;
+
+          default:;
+	  }
+  }
+  else {
+	  if( day_night_sw == NIGHT) {
+		  switch (brightness) {
+			  case BRT_LIGHT:
+//                glColor4f (0.9, 0.1, 0.1, 0.75);
+                glColor3f (0.9, 0.1, 0.1);
+                break;
+
+              case BRT_MEDIUM:
+//                glColor4f (0.7, 0.0, 0.1, 0.75);
+                glColor3f (0.7, 0.0, 0.1);
+                break;
+
+			  case BRT_DARK:
+			  default:
+//				  glColor4f (0.6, 0.0, 0.0, 0.75);
+				  glColor3f (0.6, 0.0, 0.0);
+		  }
+	  }
+          else {     // Just in case default
+//			  glColor4f (0.1, 0.9, 0.1, 0.75);
+			  glColor3f (0.1, 0.9, 0.1);
+		  }
+  }
+
+  deque < instr_item * > :: iterator current = HUD_deque.begin();
+  deque < instr_item * > :: iterator last = HUD_deque.end();
+
+  for ( ; current != last; ++current ) {
+	  pHUDInstr = *current;
+
+	  if( pHUDInstr->enabled()) {
+		  //  fgPrintf( FG_COCKPIT, FG_DEBUG, "HUD Code %d  Status %d\n",
+		  //            hud->code, hud->status );
+		  pHUDInstr->draw();
+//	      HUD_deque.at(i)->draw(); // Responsible for broken or fixed variants.
+                              // No broken displays honored just now.
+	  }
+  }
+
+  char *gmt_str = get_formated_gmt_time();
+  HUD_TextList.add( fgText(40, 10, gmt_str) );
+
+  // temporary
+  extern bool fgAPAltitudeEnabled( void );
+  extern bool fgAPHeadingEnabled( void );
+  extern bool fgAPWayPointEnabled( void );
+  extern char *fgAPget_TargetDistanceStr( void );
+  extern char *fgAPget_TargetHeadingStr( void );
+  extern char *fgAPget_TargetAltitudeStr( void );
+  extern char *fgAPget_TargetLatLonStr( void );
+
+  int apY = 480 - 80;
+  char scratch[128];
+//  HUD_TextList.add( fgText( "AUTOPILOT", 20, apY) );
+//  apY -= 15;
+  if( fgAPHeadingEnabled() ) {
+	  HUD_TextList.add( fgText( 40, apY, fgAPget_TargetHeadingStr()) );	  
+	  apY -= 15;
+  }
+  if( fgAPAltitudeEnabled() ) {
+	  HUD_TextList.add( fgText( 40, apY, fgAPget_TargetAltitudeStr()) );	  
+	  apY -= 15;
+  }
+  if( fgAPWayPointEnabled() ) {
+	  HUD_TextList.add( fgText( 40, apY, fgAPget_TargetLatLonStr()) );
+	  apY -= 15;
+	  HUD_TextList.add( fgText( 40, apY, fgAPget_TargetDistanceStr() ) );	  
+	  apY -= 15;
+  }
+  
+  HUD_TextList.draw();
+
+  line_width = (current_options.get_xsize() > 1000) ? 1.0 : 0.5;
+  glLineWidth(line_width);
+  HUD_LineList.draw();
+
+//  glEnable(GL_LINE_STIPPLE);
+//  glLineStipple( 1, 0x00FF );
+//  HUD_StippleLineList.draw();
+//  glDisable(GL_LINE_STIPPLE);
+
+//  glDisable( GL_BLEND );
+  
+  glEnable(GL_DEPTH_TEST);
+  glEnable(GL_LIGHTING);
+  glMatrixMode(GL_PROJECTION);
+  glPopMatrix();
+  glMatrixMode(GL_MODELVIEW);
+  glPopMatrix();
+}
+

src/GUI/gui.cxx

@@ -107,6 +107,7 @@ extern void NewAltitude( puObject *cb );
 extern void NewHeading( puObject *cb );
 extern void fgAPAdjust( puObject * );
 extern void fgLatLonFormatToggle( puObject *);
+extern void NewTgtAirport( puObject *cb );
 
 /* --------------------------------------------------------------------
 Mouse stuff
@@ -714,10 +715,12 @@ puCallback viewSubmenuCb        [] = {
 };
 
 char *aircraftSubmenu           [] = {
-    "Autopilot", "Heading", "Altitude", "Navigation", "Communication", NULL
+    "Autopilot", "Heading", "Altitude", "Navigation", "Airport", 
+    "Communication", NULL
 };
 puCallback aircraftSubmenuCb    [] = {
-    fgAPAdjust, NewHeading, NewAltitude, fgLatLonFormatToggle, notCb, NULL
+    fgAPAdjust, NewHeading, NewAltitude, fgLatLonFormatToggle, NewTgtAirport, 
+    notCb, NULL
 };
 
 char *environmentSubmenu        [] = {
@@ -736,7 +739,8 @@ puCallback optionsSubmenuCb     [] = {
 
 #ifdef FG_NETWORK_OLK
 char *networkSubmenu            [] = {
-    "Unregister from FGD ", "Send MSG to All", "Send MSG", "Show Pilots", "Register to FGD",
+    "Unregister from FGD ", "Send MSG to All", "Send MSG", "Show Pilots", 
+    "Register to FGD",
     "Scan for Deamons", "Enter Callsign", "Display Netinfos", "Toggle Display",
     "Hyper Blast", NULL
 };

src/Main/keyboard.cxx

@@ -400,6 +400,9 @@ void GLUTspecialkey(int k, int x, int y) {
 		    t->togglePauseMode();
 		return;
 	    }
+        case GLUT_KEY_F6: // F6 toggles Autopilot target location
+                fgAPToggleWayPoint();
+                return;
 	case GLUT_KEY_F8: // F8 toggles fog ... off fastest nicest...
 	    current_options.cycle_fog();