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

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the center of airports.
This commit is contained in:
curt 1999-09-11 02:07:48 +00:00
parent d5a3c2e8a4
commit 057fa8d37e
5 changed files with 1451 additions and 490 deletions
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1083
src/Autopilot/autopilot.cxx
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File diff suppressed because it is too large Load diff

67
src/Autopilot/autopilot.hxx
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@ -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

166
src/Cockpit/hud.cxx
View file

@ -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();
}

10
src/GUI/gui.cxx
View file

@ -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
};

3
src/Main/keyboard.cxx
View file

@ -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();