fly/flightgear
1
0
Fork 0
Code Activity

Tweaks to autopilot, but I'm not 100% happy with the current state of things.

Browse source
This commit is contained in:
curt 2001-01-26 00:20:18 +00:00
parent 1c000fef96
commit 1a6ed2ecc8
1 changed files with 31 additions and 5 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

36
src/Autopilot/newauto.cxx
View file

@ -107,6 +107,14 @@ static inline double get_ground_speed() {
void FGAutopilot::MakeTargetWPStr( double distance ) {
static time_t last_time = 0;
time_t current_time = time(NULL);
if ( last_time == current_time ) {
return;
}
last_time = current_time;
double accum = 0.0;
int size = globals->get_route()->size();
@ -529,10 +537,28 @@ int FGAutopilot::run() {
double x = current_radiostack->get_nav1_gs_dist();
double y = (FGBFI::getAltitude()
- current_radiostack->get_nav1_elev()) * FEET_TO_METER;
double angle = atan2( y, x ) * RAD_TO_DEG;
double gs_diff = current_radiostack->get_nav1_target_gs() - angle;
climb_error_accum += gs_diff * 2.0;
TargetClimbRate = gs_diff * 200.0 + climb_error_accum;
double current_angle = atan2( y, x ) * RAD_TO_DEG;
// cout << "current angle = " << current_angle << endl;
double target_angle = current_radiostack->get_nav1_target_gs();
// cout << "target angle = " << target_angle << endl;
double gs_diff = target_angle - current_angle;
// cout << "difference from desired = " << gs_diff << endl;
// convert desired vertical path angle into a climb rate
double des_angle = current_angle - 10 * gs_diff;
// cout << "desired angle = " << des_angle << endl;
// convert to meter/min
// cout << "raw ground speed = " << cur_fdm_state->get_V_ground_speed() << endl;
double horiz_vel = cur_fdm_state->get_V_ground_speed()
* FEET_TO_METER * 60.0;
// cout << "Horizontal vel = " << horiz_vel << endl;
TargetClimbRate = -sin( des_angle * DEG_TO_RAD ) * horiz_vel;
// cout << "TargetClimbRate = " << TargetClimbRate << endl;
/* climb_error_accum += gs_diff * 2.0; */
/* TargetClimbRate = gs_diff * 200.0 + climb_error_accum; */
} else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
// brain dead ground hugging with no look ahead
TargetClimbRate =
@ -584,7 +610,7 @@ int FGAutopilot::run() {
// calculate integral error, and adjustment amount
int_error = alt_error_accum;
// printf("error = %.2f int_error = %.2f\n", error, int_error);
int_adj = int_error / 8000.0;
int_adj = int_error / 20000.0;
// caclulate proportional error
prop_error = error;