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Norman Vine:

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Updates to the autopilot to allow it to run off of 'non-cooked' altitude
and heading values (as a compile time option.)
This commit is contained in:
curt 2002-10-16 02:06:42 +00:00
parent f38c88b762
commit 1ce4ef590f
2 changed files with 19 additions and 14 deletions
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21
src/Autopilot/newauto.cxx
View file

@ -594,7 +594,7 @@ FGAutopilot::update (double dt)
set_HeadingMode( FG_HEADING_WAYPOINT );
} else {
// end of the line
heading_mode = FG_TRUE_HEADING_LOCK;
heading_mode = DEFAULT_AP_HEADING_LOCK;
// use current heading
TargetHeading = heading_node->getDoubleValue();
}
@ -695,6 +695,8 @@ FGAutopilot::update (double dt)
climb_rate =
( TargetAltitude -
globals->get_steam()->get_ALT_ft() * SG_FEET_TO_METER ) * 8.0;
} else if ( altitude_mode == FG_TRUE_ALTITUDE_LOCK ) {
climb_rate = ( TargetAltitude - alt ) * 8.0;
} else if ( altitude_mode == FG_ALTITUDE_GS1 ) {
double x = current_radiostack->get_navcom1()->get_nav_gs_dist();
double y = (altitude_node->getDoubleValue()
@ -915,7 +917,7 @@ void FGAutopilot::set_HeadingMode( fgAutoHeadingMode mode ) {
if ( waypoint.get_target_alt() > 0.0 ) {
TargetAltitude = waypoint.get_target_alt();
altitude_mode = FG_ALTITUDE_LOCK;
altitude_mode = DEFAULT_AP_ALTITUDE_LOCK;
set_AltitudeEnabled( true );
MakeTargetAltitudeStr( TargetAltitude * SG_METER_TO_FEET );
}
@ -941,7 +943,7 @@ void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) {
alt_error_accum = 0.0;
if ( altitude_mode == FG_ALTITUDE_LOCK ) {
if ( altitude_mode == DEFAULT_AP_ALTITUDE_LOCK ) {
if ( TargetAltitude < altitude_agl_node->getDoubleValue()
* SG_FEET_TO_METER ) {
}
@ -971,6 +973,7 @@ void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) {
void FGAutopilot::AltitudeSet( double new_altitude ) {
double target_alt = new_altitude;
altitude_mode = DEFAULT_AP_ALTITUDE_LOCK;
if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
target_alt = new_altitude * SG_FEET_TO_METER;
@ -981,7 +984,6 @@ void FGAutopilot::AltitudeSet( double new_altitude ) {
}
TargetAltitude = target_alt;
altitude_mode = FG_ALTITUDE_LOCK;
if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) {
target_alt *= SG_METER_TO_FEET;
@ -1030,7 +1032,7 @@ void FGAutopilot::AltitudeAdjust( double inc )
if ( !strcmp(fgGetString("/sim/startup/units"), "feet") )
target_agl *= SG_METER_TO_FEET;
if ( altitude_mode == FG_ALTITUDE_LOCK ) {
if ( altitude_mode == DEFAULT_AP_ALTITUDE_LOCK ) {
MakeTargetAltitudeStr( target_alt );
} else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
MakeTargetAltitudeStr( target_agl );
@ -1044,7 +1046,7 @@ void FGAutopilot::HeadingAdjust( double inc ) {
if ( heading_mode != FG_DG_HEADING_LOCK
&& heading_mode != FG_TRUE_HEADING_LOCK )
{
heading_mode = FG_DG_HEADING_LOCK;
heading_mode = DEFAULT_AP_HEADING_LOCK;
}
if ( heading_mode == FG_DG_HEADING_LOCK ) {
@ -1060,6 +1062,7 @@ void FGAutopilot::HeadingAdjust( double inc ) {
void FGAutopilot::HeadingSet( double new_heading ) {
heading_mode = DEFAULT_AP_HEADING_LOCK;
if( heading_mode == FG_TRUE_HEADING_LOCK ) {
new_heading = NormalizeDegrees( new_heading );
TargetHeading = new_heading;
@ -1114,7 +1117,7 @@ FGAutopilot::getAPAltitudeLock () const
{
return (get_AltitudeEnabled() &&
get_AltitudeMode()
== FGAutopilot::FG_ALTITUDE_LOCK);
== DEFAULT_AP_ALTITUDE_LOCK);
}
@ -1125,8 +1128,8 @@ void
FGAutopilot::setAPAltitudeLock (bool lock)
{
if (lock)
set_AltitudeMode(FGAutopilot::FG_ALTITUDE_LOCK);
if (get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_LOCK)
set_AltitudeMode(DEFAULT_AP_ALTITUDE_LOCK);
if (get_AltitudeMode() == DEFAULT_AP_ALTITUDE_LOCK)
set_AltitudeEnabled(lock);
}

12
src/Autopilot/newauto.hxx
View file

@ -40,7 +40,7 @@ class FGAutopilot : public FGSubsystem
public:
enum fgAutoHeadingMode {
FG_DG_HEADING_LOCK = 0, // follow bug on directional gryo
FG_DG_HEADING_LOCK = 0, // follow bug on directional gryo (vacuum)
FG_TC_HEADING_LOCK = 1, // keep turn coordinator zero'd
FG_TRUE_HEADING_LOCK = 2, // lock to true heading (i.e. a perfect world)
FG_HEADING_NAV1 = 3, // follow nav1 radial
@ -49,11 +49,13 @@ public:
};
enum fgAutoAltitudeMode {
FG_ALTITUDE_LOCK = 0, // lock to a specific altitude
FG_ALTITUDE_LOCK = 0, // lock to a specific altitude (indicated)
FG_ALTITUDE_TERRAIN = 1, // try to maintain a specific AGL
FG_ALTITUDE_GS1 = 2, // follow glide slope 1
FG_ALTITUDE_GS2 = 3, // follow glide slope 2
FG_ALTITUDE_ARM = 4 // ascend to selected altitude
FG_ALTITUDE_ARM = 4, // ascend to selected altitude
FG_TRUE_ALTITUDE_LOCK = 5 // lock to a specific true altitude
// (i.e. a perfect world)
};
@ -271,9 +273,9 @@ private:
#define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_DG_HEADING_LOCK
// #define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_TRUE_HEADING_LOCK
#define DEFAULT_AP_ALTITUDE_LOCK FGAutopilot::FG_ALTITUDE_LOCK
//#define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_TRUE_HEADING_LOCK
//#define DEFAULT_AP_ALTITUDE_LOCK FGAutopilot::FG_TRUE_ALTITUDE_LOCK
/**
* static functions for autopilot properties