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Autopilot "class-ification".

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Separated out gui parts of autopilot control from the actual autopilot code.
This commit is contained in:
curt 2000-04-30 06:51:49 +00:00
parent 2aefd15f74
commit 3ecf1b8dce
15 changed files with 1902 additions and 1951 deletions
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4
src/Autopilot/Makefile.am
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@ -1,5 +1,7 @@
noinst_LIBRARIES = libAutopilot.a
libAutopilot_a_SOURCES = autopilot.cxx autopilot.hxx
libAutopilot_a_SOURCES = \
auto_gui.cxx auto_gui.hxx \
newauto.cxx newauto.hxx
INCLUDES += -I$(top_builddir) -I$(top_builddir)/src

702
src/Autopilot/auto_gui.cxx Normal file
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@ -0,0 +1,702 @@
// auto_gui.cxx -- autopilot gui interface
//
// Written by Norman Vine <nhv@cape.com>
// Arranged by Curt Olson <curt@flightgear.org>
//
// Copyright (C) 1998 - 2000
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id$
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <assert.h>
#include <stdlib.h>
#include <Scenery/scenery.hxx>
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/fg_geodesy.hxx>
#include <simgear/misc/fgpath.hxx>
#include <Airports/simple.hxx>
#include <GUI/gui.h>
#include <Main/bfi.hxx>
#include <Main/fg_init.hxx>
#include <Main/options.hxx>
#include <Time/fg_time.hxx>
#include "auto_gui.hxx"
#include "newauto.hxx"
#define mySlider puSlider
// Climb speed constants
const double min_climb = 70.0; // kts
const double best_climb = 75.0; // kts
const double ideal_climb_rate = 500.0; // fpm
/// These statics will eventually go into the class
/// they are just here while I am experimenting -- NHV :-)
// AutoPilot Gain Adjuster members
static double MaxRollAdjust; // MaxRollAdjust = 2 * APData->MaxRoll;
static double RollOutAdjust; // RollOutAdjust = 2 * APData->RollOut;
static double MaxAileronAdjust; // MaxAileronAdjust = 2 * APData->MaxAileron;
static double RollOutSmoothAdjust; // RollOutSmoothAdjust = 2 * APData->RollOutSmooth;
static float MaxRollValue; // 0.1 -> 1.0
static float RollOutValue;
static float MaxAileronValue;
static float RollOutSmoothValue;
static float TmpMaxRollValue; // for cancel operation
static float TmpRollOutValue;
static float TmpMaxAileronValue;
static float TmpRollOutSmoothValue;
static puDialogBox *APAdjustDialog;
static puFrame *APAdjustFrame;
static puText *APAdjustDialogMessage;
static puFont APAdjustLegendFont;
static puFont APAdjustLabelFont;
static puOneShot *APAdjustOkButton;
static puOneShot *APAdjustResetButton;
static puOneShot *APAdjustCancelButton;
//static puButton *APAdjustDragButton;
static puText *APAdjustMaxRollTitle;
static puText *APAdjustRollOutTitle;
static puText *APAdjustMaxAileronTitle;
static puText *APAdjustRollOutSmoothTitle;
static puText *APAdjustMaxAileronText;
static puText *APAdjustMaxRollText;
static puText *APAdjustRollOutText;
static puText *APAdjustRollOutSmoothText;
static mySlider *APAdjustHS0;
static mySlider *APAdjustHS1;
static mySlider *APAdjustHS2;
static mySlider *APAdjustHS3;
static char SliderText[ 4 ][ 8 ];
///////// AutoPilot New Heading Dialog
static puDialogBox *ApHeadingDialog;
static puFrame *ApHeadingDialogFrame;
static puText *ApHeadingDialogMessage;
static puInput *ApHeadingDialogInput;
static puOneShot *ApHeadingDialogOkButton;
static puOneShot *ApHeadingDialogCancelButton;
///////// AutoPilot New Altitude Dialog
static puDialogBox *ApAltitudeDialog = 0;
static puFrame *ApAltitudeDialogFrame = 0;
static puText *ApAltitudeDialogMessage = 0;
static puInput *ApAltitudeDialogInput = 0;
static puOneShot *ApAltitudeDialogOkButton = 0;
static puOneShot *ApAltitudeDialogCancelButton = 0;
/// The beginnings of Lock AutoPilot to target location :-)
// Needs cleaning up but works
// These statics should disapear when this is a class
static puDialogBox *TgtAptDialog = 0;
static puFrame *TgtAptDialogFrame = 0;
static puText *TgtAptDialogMessage = 0;
static puInput *TgtAptDialogInput = 0;
static char NewTgtAirportId[16];
static char NewTgtAirportLabel[] = "Enter New TgtAirport ID";
static puOneShot *TgtAptDialogOkButton = 0;
static puOneShot *TgtAptDialogCancelButton = 0;
static puOneShot *TgtAptDialogResetButton = 0;
// extern char *coord_format_lat(float);
// extern char *coord_format_lon(float);
// THIS NEEDS IMPROVEMENT !!!!!!!!!!!!!
static int scan_number(char *s, double *new_value)
{
int ret = 0;
char WordBuf[64];
char *cptr = s;
char *WordBufPtr = WordBuf;
if (*cptr == '+')
cptr++;
if (*cptr == '-') {
*WordBufPtr++ = *cptr++;
}
while (isdigit(*cptr) ) {
*WordBufPtr++ = *cptr++;
ret = 1;
}
if (*cptr == '.')
*WordBufPtr++ = *cptr++; // put the '.' into the string
while (isdigit(*cptr)) {
*WordBufPtr++ = *cptr++;
ret = 1;
}
if( ret == 1 ) {
*WordBufPtr = '\0';
sscanf(WordBuf, "%lf", new_value);
}
return(ret);
} // scan_number
void ApHeadingDialog_Cancel(puObject *)
{
ApHeadingDialogInput->rejectInput();
FG_POP_PUI_DIALOG( ApHeadingDialog );
}
void ApHeadingDialog_OK (puObject *me)
{
int error = 0;
char *c;
string s;
ApHeadingDialogInput -> getValue( &c );
if( strlen(c) ) {
double NewHeading;
if( scan_number( c, &NewHeading ) )
{
if ( !current_autopilot->get_HeadingEnabled() ) {
current_autopilot->set_HeadingEnabled( true );
}
current_autopilot->HeadingSet( NewHeading );
} else {
error = 1;
s = c;
s += " is not a valid number.";
}
}
ApHeadingDialog_Cancel(me);
if( error ) mkDialog(s.c_str());
}
void NewHeading(puObject *cb)
{
// string ApHeadingLabel( "Enter New Heading" );
// ApHeadingDialogMessage -> setLabel(ApHeadingLabel.c_str());
ApHeadingDialogInput -> acceptInput();
FG_PUSH_PUI_DIALOG( ApHeadingDialog );
}
void NewHeadingInit(void)
{
// printf("NewHeadingInit\n");
char NewHeadingLabel[] = "Enter New Heading";
char *s;
float heading = FGBFI::getHeading();
int len = 260/2 -
(puGetStringWidth( puGetDefaultLabelFont(), NewHeadingLabel ) /2 );
ApHeadingDialog = new puDialogBox (150, 50);
{
ApHeadingDialogFrame = new puFrame (0, 0, 260, 150);
ApHeadingDialogMessage = new puText (len, 110);
ApHeadingDialogMessage -> setDefaultValue (NewHeadingLabel);
ApHeadingDialogMessage -> getDefaultValue (&s);
ApHeadingDialogMessage -> setLabel (s);
ApHeadingDialogInput = new puInput ( 50, 70, 210, 100 );
ApHeadingDialogInput -> setValue ( heading );
ApHeadingDialogOkButton = new puOneShot (50, 10, 110, 50);
ApHeadingDialogOkButton -> setLegend (gui_msg_OK);
ApHeadingDialogOkButton -> makeReturnDefault (TRUE);
ApHeadingDialogOkButton -> setCallback (ApHeadingDialog_OK);
ApHeadingDialogCancelButton = new puOneShot (140, 10, 210, 50);
ApHeadingDialogCancelButton -> setLegend (gui_msg_CANCEL);
ApHeadingDialogCancelButton -> setCallback (ApHeadingDialog_Cancel);
}
FG_FINALIZE_PUI_DIALOG( ApHeadingDialog );
}
void ApAltitudeDialog_Cancel(puObject *)
{
ApAltitudeDialogInput -> rejectInput();
FG_POP_PUI_DIALOG( ApAltitudeDialog );
}
void ApAltitudeDialog_OK (puObject *me)
{
int error = 0;
string s;
char *c;
ApAltitudeDialogInput->getValue( &c );
if( strlen( c ) ) {
double NewAltitude;
if( scan_number( c, &NewAltitude) )
{
if ( !current_autopilot->get_AltitudeEnabled() ) {
current_autopilot->set_AltitudeEnabled( true );
}
current_autopilot->AltitudeSet( NewAltitude );
} else {
error = 1;
s = c;
s += " is not a valid number.";
}
}
ApAltitudeDialog_Cancel(me);
if( error ) mkDialog(s.c_str());
}
void NewAltitude(puObject *cb)
{
ApAltitudeDialogInput -> acceptInput();
FG_PUSH_PUI_DIALOG( ApAltitudeDialog );
}
void NewAltitudeInit(void)
{
// printf("NewAltitudeInit\n");
char NewAltitudeLabel[] = "Enter New Altitude";
char *s;
float alt = cur_fdm_state->get_Altitude();
if ( current_options.get_units() == fgOPTIONS::FG_UNITS_METERS) {
alt *= FEET_TO_METER;
}
int len = 260/2 -
(puGetStringWidth( puGetDefaultLabelFont(), NewAltitudeLabel )/2);
// ApAltitudeDialog = new puDialogBox (150, 50);
ApAltitudeDialog = new puDialogBox (150, 200);
{
ApAltitudeDialogFrame = new puFrame (0, 0, 260, 150);
ApAltitudeDialogMessage = new puText (len, 110);
ApAltitudeDialogMessage -> setDefaultValue (NewAltitudeLabel);
ApAltitudeDialogMessage -> getDefaultValue (&s);
ApAltitudeDialogMessage -> setLabel (s);
ApAltitudeDialogInput = new puInput ( 50, 70, 210, 100 );
ApAltitudeDialogInput -> setValue ( alt );
// Uncomment the next line to have input active on startup
// ApAltitudeDialogInput -> acceptInput ( );
// cursor at begining or end of line ?
//len = strlen(s);
// len = 0;
// ApAltitudeDialogInput -> setCursor ( len );
// ApAltitudeDialogInput -> setSelectRegion ( 5, 9 );
ApAltitudeDialogOkButton = new puOneShot (50, 10, 110, 50);
ApAltitudeDialogOkButton -> setLegend (gui_msg_OK);
ApAltitudeDialogOkButton -> makeReturnDefault (TRUE);
ApAltitudeDialogOkButton -> setCallback (ApAltitudeDialog_OK);
ApAltitudeDialogCancelButton = new puOneShot (140, 10, 210, 50);
ApAltitudeDialogCancelButton -> setLegend (gui_msg_CANCEL);
ApAltitudeDialogCancelButton -> setCallback (ApAltitudeDialog_Cancel);
}
FG_FINALIZE_PUI_DIALOG( ApAltitudeDialog );
}
/////// simple AutoPilot GAIN / LIMITS ADJUSTER
#define fgAP_CLAMP(val,min,max) ( (val) = (val) > (max) ? (max) : (val) < (min) ? (min) : (val) )
static void maxroll_adj( puObject *hs ) {
float val ;
hs-> getValue ( &val ) ;
fgAP_CLAMP ( val, 0.1, 1.0 ) ;
// printf ( "maxroll_adj( %p ) %f %f\n", hs, val, MaxRollAdjust * val ) ;
current_autopilot->set_MaxRoll( MaxRollAdjust * val );
sprintf( SliderText[ 0 ], "%05.2f", current_autopilot->get_MaxRoll() );
APAdjustMaxRollText -> setLabel ( SliderText[ 0 ] ) ;
}
static void rollout_adj( puObject *hs ) {
float val ;
hs-> getValue ( &val ) ;
fgAP_CLAMP ( val, 0.1, 1.0 ) ;
// printf ( "rollout_adj( %p ) %f %f\n", hs, val, RollOutAdjust * val ) ;
current_autopilot->set_RollOut( RollOutAdjust * val );
sprintf( SliderText[ 1 ], "%05.2f", current_autopilot->get_RollOut() );
APAdjustRollOutText -> setLabel ( SliderText[ 1 ] );
}
static void maxaileron_adj( puObject *hs ) {
float val ;
hs-> getValue ( &val ) ;
fgAP_CLAMP ( val, 0.1, 1.0 ) ;
// printf ( "maxaileron_adj( %p ) %f %f\n", hs, val, MaxAileronAdjust * val ) ;
current_autopilot->set_MaxAileron( MaxAileronAdjust * val );
sprintf( SliderText[ 3 ], "%05.2f", current_autopilot->get_MaxAileron() );
APAdjustMaxAileronText -> setLabel ( SliderText[ 3 ] );
}
static void rolloutsmooth_adj( puObject *hs ) {
float val ;
hs -> getValue ( &val ) ;
fgAP_CLAMP ( val, 0.1, 1.0 ) ;
// printf ( "rolloutsmooth_adj( %p ) %f %f\n", hs, val, RollOutSmoothAdjust * val ) ;
current_autopilot->set_RollOutSmooth( RollOutSmoothAdjust * val );
sprintf( SliderText[ 2 ], "%5.2f", current_autopilot->get_RollOutSmooth() );
APAdjustRollOutSmoothText-> setLabel ( SliderText[ 2 ] );
}
static void goAwayAPAdjust (puObject *)
{
FG_POP_PUI_DIALOG( APAdjustDialog );
}
void cancelAPAdjust( puObject *self ) {
current_autopilot->set_MaxRoll( TmpMaxRollValue );
current_autopilot->set_RollOut( TmpRollOutValue );
current_autopilot->set_MaxAileron( TmpMaxAileronValue );
current_autopilot->set_RollOutSmooth( TmpRollOutSmoothValue );
goAwayAPAdjust(self);
}
void resetAPAdjust( puObject *self ) {
current_autopilot->set_MaxRoll( MaxRollAdjust / 2 );
current_autopilot->set_RollOut( RollOutAdjust / 2 );
current_autopilot->set_MaxAileron( MaxAileronAdjust / 2 );
current_autopilot->set_RollOutSmooth( RollOutSmoothAdjust / 2 );
FG_POP_PUI_DIALOG( APAdjustDialog );
fgAPAdjust( self );
}
void fgAPAdjust( puObject * ) {
TmpMaxRollValue = current_autopilot->get_MaxRoll();
TmpRollOutValue = current_autopilot->get_RollOut();
TmpMaxAileronValue = current_autopilot->get_MaxAileron();
TmpRollOutSmoothValue = current_autopilot->get_RollOutSmooth();
MaxRollValue = current_autopilot->get_MaxRoll() / MaxRollAdjust;
RollOutValue = current_autopilot->get_RollOut() / RollOutAdjust;
MaxAileronValue = current_autopilot->get_MaxAileron() / MaxAileronAdjust;
RollOutSmoothValue = current_autopilot->get_RollOutSmooth()
/ RollOutSmoothAdjust;
APAdjustHS0-> setValue ( MaxRollValue ) ;
APAdjustHS1-> setValue ( RollOutValue ) ;
APAdjustHS2-> setValue ( RollOutSmoothValue ) ;
APAdjustHS3-> setValue ( MaxAileronValue ) ;
FG_PUSH_PUI_DIALOG( APAdjustDialog );
}
// Done once at system initialization
void fgAPAdjustInit( void ) {
// printf("fgAPAdjustInit\n");
#define HORIZONTAL FALSE
int DialogX = 40;
int DialogY = 100;
int DialogWidth = 230;
char Label[] = "AutoPilot Adjust";
char *s;
int labelX = (DialogWidth / 2) -
(puGetStringWidth( puGetDefaultLabelFont(), Label ) / 2);
labelX -= 30; // KLUDGEY
int nSliders = 4;
int slider_x = 10;
int slider_y = 55;
int slider_width = 210;
int slider_title_x = 15;
int slider_value_x = 160;
float slider_delta = 0.1f;
TmpMaxRollValue = current_autopilot->get_MaxRoll();
TmpRollOutValue = current_autopilot->get_RollOut();
TmpMaxAileronValue = current_autopilot->get_MaxAileron();
TmpRollOutSmoothValue = current_autopilot->get_RollOutSmooth();
MaxRollValue = current_autopilot->get_MaxRoll() / MaxRollAdjust;
RollOutValue = current_autopilot->get_RollOut() / RollOutAdjust;
MaxAileronValue = current_autopilot->get_MaxAileron() / MaxAileronAdjust;
RollOutSmoothValue = current_autopilot->get_RollOutSmooth()
/ RollOutSmoothAdjust;
puGetDefaultFonts ( &APAdjustLegendFont, &APAdjustLabelFont );
APAdjustDialog = new puDialogBox ( DialogX, DialogY ); {
int horiz_slider_height = puGetStringHeight (APAdjustLabelFont) +
puGetStringDescender (APAdjustLabelFont) +
PUSTR_TGAP + PUSTR_BGAP + 5;
APAdjustFrame = new puFrame ( 0, 0,
DialogWidth,
85 + nSliders * horiz_slider_height );
APAdjustDialogMessage = new puText ( labelX,
52 + nSliders
* horiz_slider_height );
APAdjustDialogMessage -> setDefaultValue ( Label );
APAdjustDialogMessage -> getDefaultValue ( &s );
APAdjustDialogMessage -> setLabel ( s );
APAdjustHS0 = new mySlider ( slider_x, slider_y,
slider_width, HORIZONTAL ) ;
APAdjustHS0-> setDelta ( slider_delta ) ;
APAdjustHS0-> setValue ( MaxRollValue ) ;
APAdjustHS0-> setCBMode ( PUSLIDER_DELTA ) ;
APAdjustHS0-> setCallback ( maxroll_adj ) ;
sprintf( SliderText[ 0 ], "%05.2f", current_autopilot->get_MaxRoll() );
APAdjustMaxRollTitle = new puText ( slider_title_x, slider_y ) ;
APAdjustMaxRollTitle-> setDefaultValue ( "MaxRoll" ) ;
APAdjustMaxRollTitle-> getDefaultValue ( &s ) ;
APAdjustMaxRollTitle-> setLabel ( s ) ;
APAdjustMaxRollText = new puText ( slider_value_x, slider_y ) ;
APAdjustMaxRollText-> setLabel ( SliderText[ 0 ] ) ;
slider_y += horiz_slider_height;
APAdjustHS1 = new mySlider ( slider_x, slider_y, slider_width,
HORIZONTAL ) ;
APAdjustHS1-> setDelta ( slider_delta ) ;
APAdjustHS1-> setValue ( RollOutValue ) ;
APAdjustHS1-> setCBMode ( PUSLIDER_DELTA ) ;
APAdjustHS1-> setCallback ( rollout_adj ) ;
sprintf( SliderText[ 1 ], "%05.2f", current_autopilot->get_RollOut() );
APAdjustRollOutTitle = new puText ( slider_title_x, slider_y ) ;
APAdjustRollOutTitle-> setDefaultValue ( "AdjustRollOut" ) ;
APAdjustRollOutTitle-> getDefaultValue ( &s ) ;
APAdjustRollOutTitle-> setLabel ( s ) ;
APAdjustRollOutText = new puText ( slider_value_x, slider_y ) ;
APAdjustRollOutText-> setLabel ( SliderText[ 1 ] );
slider_y += horiz_slider_height;
APAdjustHS2 = new mySlider ( slider_x, slider_y, slider_width,
HORIZONTAL ) ;
APAdjustHS2-> setDelta ( slider_delta ) ;
APAdjustHS2-> setValue ( RollOutSmoothValue ) ;
APAdjustHS2-> setCBMode ( PUSLIDER_DELTA ) ;
APAdjustHS2-> setCallback ( rolloutsmooth_adj ) ;
sprintf( SliderText[ 2 ], "%5.2f",
current_autopilot->get_RollOutSmooth() );
APAdjustRollOutSmoothTitle = new puText ( slider_title_x, slider_y ) ;
APAdjustRollOutSmoothTitle-> setDefaultValue ( "RollOutSmooth" ) ;
APAdjustRollOutSmoothTitle-> getDefaultValue ( &s ) ;
APAdjustRollOutSmoothTitle-> setLabel ( s ) ;
APAdjustRollOutSmoothText = new puText ( slider_value_x, slider_y ) ;
APAdjustRollOutSmoothText-> setLabel ( SliderText[ 2 ] );
slider_y += horiz_slider_height;
APAdjustHS3 = new mySlider ( slider_x, slider_y, slider_width,
HORIZONTAL ) ;
APAdjustHS3-> setDelta ( slider_delta ) ;
APAdjustHS3-> setValue ( MaxAileronValue ) ;
APAdjustHS3-> setCBMode ( PUSLIDER_DELTA ) ;
APAdjustHS3-> setCallback ( maxaileron_adj ) ;
sprintf( SliderText[ 3 ], "%05.2f",
current_autopilot->get_MaxAileron() );
APAdjustMaxAileronTitle = new puText ( slider_title_x, slider_y ) ;
APAdjustMaxAileronTitle-> setDefaultValue ( "MaxAileron" ) ;
APAdjustMaxAileronTitle-> getDefaultValue ( &s ) ;
APAdjustMaxAileronTitle-> setLabel ( s ) ;
APAdjustMaxAileronText = new puText ( slider_value_x, slider_y ) ;
APAdjustMaxAileronText-> setLabel ( SliderText[ 3 ] );
APAdjustOkButton = new puOneShot ( 10, 10, 60, 50 );
APAdjustOkButton-> setLegend ( gui_msg_OK );
APAdjustOkButton-> makeReturnDefault ( TRUE );
APAdjustOkButton-> setCallback ( goAwayAPAdjust );
APAdjustCancelButton = new puOneShot ( 70, 10, 150, 50 );
APAdjustCancelButton-> setLegend ( gui_msg_CANCEL );
APAdjustCancelButton-> setCallback ( cancelAPAdjust );
APAdjustResetButton = new puOneShot ( 160, 10, 220, 50 );
APAdjustResetButton-> setLegend ( gui_msg_RESET );
APAdjustResetButton-> setCallback ( resetAPAdjust );
}
FG_FINALIZE_PUI_DIALOG( APAdjustDialog );
#undef HORIZONTAL
}
// Simple Dialog to input Target Airport
void TgtAptDialog_Cancel(puObject *)
{
FG_POP_PUI_DIALOG( TgtAptDialog );
}
void TgtAptDialog_OK (puObject *)
{
string TgtAptId;
// FGTime *t = FGTime::cur_time_params;
// int PauseMode = t->getPause();
// if(!PauseMode)
// t->togglePauseMode();
char *s;
TgtAptDialogInput->getValue(&s);
TgtAptId = s;
TgtAptDialog_Cancel( NULL );
if ( TgtAptId.length() ) {
// set initial position from TgtAirport id
FGPath path( current_options.get_fg_root() );
path.append( "Airports" );
path.append( "simple.gdbm" );
FGAirports airports( path.c_str() );
FGAirport a;
FG_LOG( FG_GENERAL, FG_INFO,
"Attempting to set starting position from airport code "
<< s );
if ( airports.search( TgtAptId, &a ) )
{
double course, reverse, distance;
// fgAPset_tgt_airport_id( TgtAptId.c_str() );
current_options.set_airport_id( TgtAptId.c_str() );
sprintf( NewTgtAirportId, "%s", TgtAptId.c_str() );
current_autopilot->set_TargetLatitude( a.latitude );
current_autopilot->set_TargetLongitude( a.longitude );
current_autopilot->MakeTargetLatLonStr(
current_autopilot->get_TargetLatitude(),
current_autopilot->get_TargetLongitude() );
current_autopilot->set_old_lat( FGBFI::getLatitude() );
current_autopilot->set_old_lon( FGBFI::getLongitude() );
// need to test for iter
if( ! geo_inverse_wgs_84( FGBFI::getAltitude() * FEET_TO_METER,
FGBFI::getLatitude(),
FGBFI::getLongitude(),
current_autopilot->get_TargetLatitude(),
current_autopilot->get_TargetLongitude(),
&course,
&reverse,
&distance ) ) {
current_autopilot->set_TargetHeading( course );
current_autopilot->MakeTargetHeadingStr(
current_autopilot->get_TargetHeading() );
current_autopilot->set_TargetDistance( distance );
current_autopilot->MakeTargetDistanceStr( distance );
// This changes the AutoPilot Heading
// following cast needed
ApHeadingDialogInput->
setValue((float)current_autopilot->get_TargetHeading() );
// Force this !
current_autopilot->set_HeadingEnabled( true );
current_autopilot->set_HeadingMode(
FGAutopilot::FG_HEADING_WAYPOINT );
}
} else {
TgtAptId += " not in database.";
mkDialog(TgtAptId.c_str());
}
}
// get_control_values();
// if( PauseMode != t->getPause() )
// t->togglePauseMode();
}
void TgtAptDialog_Reset(puObject *)
{
// strncpy( NewAirportId, current_options.get_airport_id().c_str(), 16 );
sprintf( NewTgtAirportId, "%s", current_options.get_airport_id().c_str() );
TgtAptDialogInput->setValue ( NewTgtAirportId );
TgtAptDialogInput->setCursor( 0 ) ;
}
void NewTgtAirport(puObject *cb)
{
// strncpy( NewAirportId, current_options.get_airport_id().c_str(), 16 );
sprintf( NewTgtAirportId, "%s", current_options.get_airport_id().c_str() );
TgtAptDialogInput->setValue( NewTgtAirportId );
FG_PUSH_PUI_DIALOG( TgtAptDialog );
}
void NewTgtAirportInit(void)
{
FG_LOG( FG_AUTOPILOT, FG_INFO, " enter NewTgtAirportInit()" );
// fgAPset_tgt_airport_id( current_options.get_airport_id() );
sprintf( NewTgtAirportId, "%s", current_options.get_airport_id().c_str() );
FG_LOG( FG_AUTOPILOT, FG_INFO, " NewTgtAirportId " << NewTgtAirportId );
// printf(" NewTgtAirportId %s\n", NewTgtAirportId);
int len = 150 - puGetStringWidth( puGetDefaultLabelFont(),
NewTgtAirportLabel ) / 2;
TgtAptDialog = new puDialogBox (150, 50);
{
TgtAptDialogFrame = new puFrame (0,0,350, 150);
TgtAptDialogMessage = new puText (len, 110);
TgtAptDialogMessage -> setLabel (NewTgtAirportLabel);
TgtAptDialogInput = new puInput (50, 70, 300, 100);
TgtAptDialogInput -> setValue (NewTgtAirportId);
TgtAptDialogInput -> acceptInput();
TgtAptDialogOkButton = new puOneShot (50, 10, 110, 50);
TgtAptDialogOkButton -> setLegend (gui_msg_OK);
TgtAptDialogOkButton -> setCallback (TgtAptDialog_OK);
TgtAptDialogOkButton -> makeReturnDefault(TRUE);
TgtAptDialogCancelButton = new puOneShot (140, 10, 210, 50);
TgtAptDialogCancelButton -> setLegend (gui_msg_CANCEL);
TgtAptDialogCancelButton -> setCallback (TgtAptDialog_Cancel);
TgtAptDialogResetButton = new puOneShot (240, 10, 300, 50);
TgtAptDialogResetButton -> setLegend (gui_msg_RESET);
TgtAptDialogResetButton -> setCallback (TgtAptDialog_Reset);
}
FG_FINALIZE_PUI_DIALOG( TgtAptDialog );
printf("leave NewTgtAirportInit()");
}

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// auto_gui.hxx -- autopilot gui interface
//
// Written by Norman Vine <nhv@cape.com>
// Arranged by Curt Olson <curt@flightgear.org>
//
// Copyright (C) 1998 - 2000
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id$
#ifndef _AUTO_GUI_HXX
#define _AUTO_GUI_HXX
#include <simgear/compiler.h>
#include STL_STRING
#include <string.h>
#include <Aircraft/aircraft.hxx>
#include <FDM/flight.hxx>
#include <Controls/controls.hxx>
FG_USING_STD(string);
// Defines
#define AP_CURRENT_HEADING -1
// prototypes
// void fgAPToggleWayPoint( void );
// void fgAPToggleHeading( void );
// void fgAPToggleAltitude( void );
// void fgAPToggleTerrainFollow( void );
// void fgAPToggleAutoThrottle( void );
// bool fgAPTerrainFollowEnabled( void );
// bool fgAPAltitudeEnabled( void );
// bool fgAPHeadingEnabled( void );
// bool fgAPWayPointEnabled( void );
// bool fgAPAutoThrottleEnabled( void );
// void fgAPAltitudeAdjust( double inc );
// void fgAPHeadingAdjust( double inc );
// 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);
class puObject;
void fgAPAdjust( puObject * );
void NewHeading(puObject *cb);
void NewAltitude(puObject *cb);
void NewTgtAirport(puObject *cb);
void NewTgtAirportInit();
void fgAPAdjustInit() ;
void NewHeadingInit();
void NewAltitudeInit();
#endif // _AUTO_GUI_HXX

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// autopilot.hxx -- autopilot defines and prototypes (very alpha)
//
// Written by Jeff Goeke-Smith, started April 1998.
//
// Copyright (C) 1998 Jeff Goeke-Smith - jgoeke@voyager.net
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id$
#ifndef _AUTOPILOT_HXX
#define _AUTOPILOT_HXX
#include <simgear/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
double TargetClimbRate; // climb rate to shoot for
double TargetSpeed; // speed to shoot for
double alt_error_accum; // altitude error accumulator
double speed_error_accum; // speed error accumulator
double TargetSlope; // the glide slope hold value
double MaxRoll ; // the max the plane can roll for the turn
double RollOut; // when the plane should roll out
// measured from Heading
double MaxAileron; // how far to move the aleroin from center
double RollOutSmooth; // deg to use for smoothing Aileron Control
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[64];
char TargetLongitudeStr[64];
char TargetLatLonStr[64];
char TargetDistanceStr[64];
char TargetHeadingStr[64];
char TargetAltitudeStr[64];
// char jnk[32];
// using current_options.airport_id for now
// string tgt_airport_id; // ID of initial starting airport
} fgAPData, *fgAPDataPtr ;
// Defines
#define AP_CURRENT_HEADING -1
// prototypes
void fgAPInit( fgAIRCRAFT *current_aircraft );
int fgAPRun( void );
void fgAPToggleWayPoint( void );
void fgAPToggleHeading( void );
void fgAPToggleAltitude( void );
void fgAPToggleTerrainFollow( void );
void fgAPToggleAutoThrottle( void );
bool fgAPTerrainFollowEnabled( void );
bool fgAPAltitudeEnabled( void );
bool fgAPHeadingEnabled( void );
bool fgAPWayPointEnabled( void );
bool fgAPAutoThrottleEnabled( void );
void fgAPAltitudeAdjust( double inc );
void fgAPHeadingAdjust( double inc );
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

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// newauto.cxx -- autopilot defines and prototypes (very alpha)
//
// Started April 1998 Copyright (C) 1998
//
// Contributions by Jeff Goeke-Smith <jgoeke@voyager.net>
// Norman Vine <nhv@cape.com>
// Curtis Olson <curt@flightgear.org>
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id$
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <stdio.h> // sprintf()
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/fg_geodesy.hxx>
#include <Controls/controls.hxx>
#include <FDM/flight.hxx>
#include <Main/bfi.hxx>
#include <Main/options.hxx>
#include <Scenery/scenery.hxx>
#include "newauto.hxx"
FGAutopilot *current_autopilot;
// Climb speed constants
const double min_climb = 70.0; // kts
const double best_climb = 75.0; // kts
const double ideal_climb_rate = 500.0; // fpm
/// These statics will eventually go into the class
/// they are just here while I am experimenting -- NHV :-)
// AutoPilot Gain Adjuster members
static double MaxRollAdjust; // MaxRollAdjust = 2 * APData->MaxRoll;
static double RollOutAdjust; // RollOutAdjust = 2 * APData->RollOut;
static double MaxAileronAdjust; // MaxAileronAdjust = 2 * APData->MaxAileron;
static double RollOutSmoothAdjust; // RollOutSmoothAdjust = 2 * APData->RollOutSmooth;
#if 0
static float MaxRollValue; // 0.1 -> 1.0
static float RollOutValue;
static float MaxAileronValue;
static float RollOutSmoothValue;
static float TmpMaxRollValue; // for cancel operation
static float TmpRollOutValue;
static float TmpMaxAileronValue;
static float TmpRollOutSmoothValue;
#endif
static char NewTgtAirportId[16];
// static char NewTgtAirportLabel[] = "Enter New TgtAirport ID";
extern char *coord_format_lat(float);
extern char *coord_format_lon(float);
void FGAutopilot::MakeTargetLatLonStr( double lat, double lon ) {
sprintf( TargetLatitudeStr , "%s", coord_format_lat(TargetLatitude) );
sprintf( TargetLongitudeStr, "%s", coord_format_lon(TargetLongitude) );
sprintf( TargetLatLonStr, "%s %s", TargetLatitudeStr, TargetLongitudeStr );
}
void FGAutopilot::MakeTargetAltitudeStr( double altitude ) {
sprintf( TargetAltitudeStr, "APAltitude %6.0f", altitude );
}
void FGAutopilot::MakeTargetHeadingStr( double bearing ) {
if( bearing < 0. ) {
bearing += 360.;
} else if (bearing > 360. ) {
bearing -= 360.;
}
sprintf( TargetHeadingStr, "APHeading %6.1f", bearing );
}
void FGAutopilot::update_old_control_values() {
old_aileron = FGBFI::getAileron();
old_elevator = FGBFI::getElevator();
old_elevator_trim = FGBFI::getElevatorTrim();
old_rudder = FGBFI::getRudder();
}
// Initialize autopilot subsystem
void FGAutopilot::init() {
FG_LOG( FG_AUTOPILOT, FG_INFO, "Init AutoPilot Subsystem" );
heading_hold = false ; // turn the heading hold off
altitude_hold = false ; // turn the altitude hold off
auto_throttle = false ; // turn the auto throttle off
// Initialize target location to startup location
old_lat = TargetLatitude = FGBFI::getLatitude();
old_lon = TargetLongitude = FGBFI::getLongitude();
MakeTargetLatLonStr( TargetLatitude, TargetLongitude);
TargetHeading = 0.0; // default direction, due north
TargetAltitude = 3000; // default altitude in meters
alt_error_accum = 0.0;
MakeTargetAltitudeStr( 3000.0);
MakeTargetHeadingStr( 0.0 );
// These eventually need to be read from current_aircaft somehow.
// the maximum roll, in Deg
MaxRoll = 20;
// the deg from heading to start rolling out at, in Deg
RollOut = 20;
// how far can I move the aleron from center.
MaxAileron = .2;
// Smoothing distance for alerion control
RollOutSmooth = 10;
// Hardwired for now should be in options
// 25% max control variablilty 0.5 / 2.0
disengage_threshold = 1.0;
#if !defined( USING_SLIDER_CLASS )
MaxRollAdjust = 2 * MaxRoll;
RollOutAdjust = 2 * RollOut;
MaxAileronAdjust = 2 * MaxAileron;
RollOutSmoothAdjust = 2 * RollOutSmooth;
#endif // !defined( USING_SLIDER_CLASS )
update_old_control_values();
// Initialize GUI components of autopilot
// NewTgtAirportInit();
// fgAPAdjustInit() ;
// NewHeadingInit();
// NewAltitudeInit();
};
// Reset the autopilot system
void FGAutopilot::reset() {
heading_hold = false ; // turn the heading hold off
altitude_hold = false ; // turn the altitude hold off
auto_throttle = false ; // turn the auto throttle off
TargetHeading = 0.0; // default direction, due north
MakeTargetHeadingStr( TargetHeading );
TargetAltitude = 3000; // default altitude in meters
MakeTargetAltitudeStr( TargetAltitude );
alt_error_accum = 0.0;
update_old_control_values();
sprintf( NewTgtAirportId, "%s", current_options.get_airport_id().c_str() );
TargetLatitude = FGBFI::getLatitude();
TargetLongitude = FGBFI::getLongitude();
MakeTargetLatLonStr( TargetLatitude, TargetLongitude );
}
static inline double get_speed( void ) {
return( cur_fdm_state->get_V_equiv_kts() );
}
static inline double get_ground_speed() {
// starts in ft/s so we convert to kts
double ft_s = cur_fdm_state->get_V_ground_speed()
* current_options.get_speed_up();;
double kts = ft_s * FEET_TO_METER * 3600 * METER_TO_NM;
return kts;
}
void FGAutopilot::MakeTargetDistanceStr( double distance ) {
double eta = distance*METER_TO_NM / get_ground_speed();
if ( eta >= 100.0 ) { eta = 99.999; }
int major, minor;
if ( eta < (1.0/6.0) ) {
// within 10 minutes, bump up to min/secs
eta *= 60.0;
}
major = (int)eta;
minor = (int)((eta - (int)eta) * 60.0);
sprintf( TargetDistanceStr, "APDistance %.2f NM ETA %d:%02d",
distance*METER_TO_NM, major, minor );
// cout << "distance = " << distance*METER_TO_NM
// << " gndsp = " << get_ground_speed()
// << " time = " << eta
// << " major = " << major
// << " minor = " << minor
// << endl;
}
static double NormalizeDegrees( double Input ) {
// normalize the input to the range (-180,180]
// Input should not be greater than -360 to 360.
// Current rules send the output to an undefined state.
if ( Input > 180 )
while(Input > 180 )
Input -= 360;
else if ( Input <= -180 )
while ( Input <= -180 )
Input += 360;
return ( Input );
};
static double LinearExtrapolate( double x, double x1, double y1, double x2, double y2 ) {
// This procedure extrapolates the y value for the x posistion on a line defined by x1,y1; x2,y2
//assert(x1 != x2); // Divide by zero error. Cold abort for now
// Could be
// static double y = 0.0;
// double dx = x2 -x1;
// if( (dx < -FG_EPSILON ) || ( dx > FG_EPSILON ) )
// {
double m, b, y; // the constants to find in y=mx+b
// double m, b;
m = ( y2 - y1 ) / ( x2 - x1 ); // calculate the m
b = y1 - m * x1; // calculate the b
y = m * x + b; // the final calculation
// }
return ( y );
};
int FGAutopilot::run() {
// Remove the following lines when the calling funcitons start
// passing in the data pointer
// get control settings
// double aileron = FGBFI::getAileron();
// double elevator = FGBFI::getElevator();
// double elevator_trim = FGBFI::getElevatorTrim();
// double rudder = FGBFI::getRudder();
double lat = FGBFI::getLatitude();
double lon = FGBFI::getLongitude();
#ifdef FG_FORCE_AUTO_DISENGAGE
// see if somebody else has changed them
if( fabs(aileron - old_aileron) > disengage_threshold ||
fabs(elevator - old_elevator) > disengage_threshold ||
fabs(elevator_trim - old_elevator_trim) >
disengage_threshold ||
fabs(rudder - old_rudder) > disengage_threshold )
{
// if controls changed externally turn autopilot off
waypoint_hold = false ; // turn the target hold off
heading_hold = false ; // turn the heading hold off
altitude_hold = false ; // turn the altitude hold off
terrain_follow = false; // turn the terrain_follow hold off
// auto_throttle = false; // turn the auto_throttle off
// stash this runs control settings
old_aileron = aileron;
old_elevator = elevator;
old_elevator_trim = elevator_trim;
old_rudder = rudder;
return 0;
}
#endif
// heading hold enabled?
if ( heading_hold == true ) {
if ( heading_mode == FG_HEADING_LOCK ) {
// leave target heading alone
} else if ( heading_mode == FG_HEADING_WAYPOINT ) {
// update target heading to waypoint
double wp_course, wp_reverse, wp_distance;
#ifdef DO_fgAP_CORRECTED_COURSE
// compute course made good
// this needs lots of special casing before use
double course, reverse, distance, corrected_course;
// need to test for iter
geo_inverse_wgs_84( 0, //fgAPget_altitude(),
old_lat,
old_lon,
lat,
lon,
&course,
&reverse,
&distance );
#endif // DO_fgAP_CORRECTED_COURSE
// compute course to way_point
// need to test for iter
if( ! geo_inverse_wgs_84( 0, //fgAPget_altitude(),
lat,
lon,
TargetLatitude,
TargetLongitude,
&wp_course,
&wp_reverse,
&wp_distance ) ) {
#ifdef DO_fgAP_CORRECTED_COURSE
corrected_course = course - wp_course;
if( fabs(corrected_course) > 0.1 )
printf("fgAP: course %f wp_course %f %f %f\n",
course, wp_course, fabs(corrected_course),
distance );
#endif // DO_fgAP_CORRECTED_COURSE
if ( wp_distance > 100 ) {
// corrected_course = course - wp_course;
TargetHeading = NormalizeDegrees(wp_course);
} else {
printf("distance(%f) to close\n", wp_distance);
// Real Close -- set heading hold to current heading
// and Ring the arival bell !!
heading_mode = FG_HEADING_LOCK;
// use current heading
TargetHeading = FGBFI::getHeading();
}
MakeTargetHeadingStr( TargetHeading );
// Force this just in case
TargetDistance = wp_distance;
MakeTargetDistanceStr( wp_distance );
}
}
double RelHeading;
double TargetRoll;
double RelRoll;
double AileronSet;
RelHeading = NormalizeDegrees( TargetHeading - FGBFI::getHeading() );
// figure out how far off we are from desired heading
// Now it is time to deterime how far we should be rolled.
FG_LOG( FG_AUTOPILOT, FG_DEBUG, "RelHeading: " << RelHeading );
// Check if we are further from heading than the roll out point
if ( fabs( RelHeading ) > RollOut ) {
// set Target Roll to Max in desired direction
if ( RelHeading < 0 ) {
TargetRoll = 0 - MaxRoll;
} else {
TargetRoll = MaxRoll;
}
} else {
// We have to calculate the Target roll
// This calculation engine thinks that the Target roll
// should be a line from (RollOut,MaxRoll) to (-RollOut,
// -MaxRoll) I hope this works well. If I get ambitious
// some day this might become a fancier curve or
// something.
TargetRoll = LinearExtrapolate( RelHeading, -RollOut,
-MaxRoll, RollOut,
MaxRoll );
}
// Target Roll has now been Found.
// Compare Target roll to Current Roll, Generate Rel Roll
FG_LOG( FG_COCKPIT, FG_BULK, "TargetRoll: " << TargetRoll );
RelRoll = NormalizeDegrees( TargetRoll - FGBFI::getRoll() );
// Check if we are further from heading than the roll out smooth point
if ( fabs( RelRoll ) > RollOutSmooth ) {
// set Target Roll to Max in desired direction
if ( RelRoll < 0 ) {
AileronSet = 0 - MaxAileron;
} else {
AileronSet = MaxAileron;
}
} else {
AileronSet = LinearExtrapolate( RelRoll, -RollOutSmooth,
-MaxAileron,
RollOutSmooth,
MaxAileron );
}
controls.set_aileron( AileronSet );
controls.set_rudder( AileronSet / 4.0 );
// controls.set_rudder( 0.0 );
}
// altitude hold?
if ( altitude_hold ) {
double speed, max_climb, error;
double prop_error, int_error;
double prop_adj, int_adj, total_adj;
if ( altitude_mode == FG_ALTITUDE_LOCK ) {
// normal altitude hold
// cout << "TargetAltitude = " << TargetAltitude
// << "Altitude = " << FGBFI::getAltitude() * FEET_TO_METER
// << endl;
TargetClimbRate =
( TargetAltitude - FGBFI::getAltitude() * FEET_TO_METER ) * 8.0;
} else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
// brain dead ground hugging with no look ahead
TargetClimbRate =
( TargetAGL - FGBFI::getAGL()*FEET_TO_METER ) * 16.0;
// cout << "target agl = " << TargetAGL
// << " current agl = " << fgAPget_agl()
// << " target climb rate = " << TargetClimbRate
// << endl;
} else {
// just try to zero out rate of climb ...
TargetClimbRate = 0.0;
}
speed = get_speed();
if ( speed < min_climb ) {
max_climb = 0.0;
} else if ( speed < best_climb ) {
max_climb = ((best_climb - min_climb) - (best_climb - speed))
* ideal_climb_rate
/ (best_climb - min_climb);
} else {
max_climb = ( speed - best_climb ) * 10.0 + ideal_climb_rate;
}
// this first one could be optional if we wanted to allow
// better climb performance assuming we have the airspeed to
// support it.
if ( TargetClimbRate > ideal_climb_rate ) {
TargetClimbRate = ideal_climb_rate;
}
if ( TargetClimbRate > max_climb ) {
TargetClimbRate = max_climb;
}
if ( TargetClimbRate < -ideal_climb_rate ) {
TargetClimbRate = -ideal_climb_rate;
}
error = FGBFI::getVerticalSpeed() * FEET_TO_METER - TargetClimbRate;
// cout << "climb rate = " << fgAPget_climb()
// << " error = " << error << endl;
// accumulate the error under the curve ... this really should
// be *= delta t
alt_error_accum += error;
// 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;
// caclulate proportional error
prop_error = error;
prop_adj = prop_error / 2000.0;
total_adj = 0.9 * prop_adj + 0.1 * int_adj;
// if ( total_adj > 0.6 ) {
// total_adj = 0.6;
// } else if ( total_adj < -0.2 ) {
// total_adj = -0.2;
// }
if ( total_adj > 1.0 ) {
total_adj = 1.0;
} else if ( total_adj < -1.0 ) {
total_adj = -1.0;
}
controls.set_elevator( total_adj );
}
// auto throttle enabled?
if ( auto_throttle ) {
double error;
double prop_error, int_error;
double prop_adj, int_adj, total_adj;
error = TargetSpeed - get_speed();
// accumulate the error under the curve ... this really should
// be *= delta t
speed_error_accum += error;
if ( speed_error_accum > 2000.0 ) {
speed_error_accum = 2000.0;
}
else if ( speed_error_accum < -2000.0 ) {
speed_error_accum = -2000.0;
}
// calculate integral error, and adjustment amount
int_error = speed_error_accum;
// printf("error = %.2f int_error = %.2f\n", error, int_error);
int_adj = int_error / 200.0;
// caclulate proportional error
prop_error = error;
prop_adj = 0.5 + prop_error / 50.0;
total_adj = 0.9 * prop_adj + 0.1 * int_adj;
if ( total_adj > 1.0 ) {
total_adj = 1.0;
}
else if ( total_adj < 0.0 ) {
total_adj = 0.0;
}
controls.set_throttle( FGControls::ALL_ENGINES, total_adj );
}
#ifdef THIS_CODE_IS_NOT_USED
if (Mode == 2) // Glide slope hold
{
double RelSlope;
double RelElevator;
// First, calculate Relative slope and normalize it
RelSlope = NormalizeDegrees( TargetSlope - get_pitch());
// Now calculate the elevator offset from current angle
if ( abs(RelSlope) > SlopeSmooth )
{
if ( RelSlope < 0 ) // set RelElevator to max in the correct direction
RelElevator = -MaxElevator;
else
RelElevator = MaxElevator;
}
else
RelElevator = LinearExtrapolate(RelSlope,-SlopeSmooth,-MaxElevator,SlopeSmooth,MaxElevator);
// set the elevator
fgElevMove(RelElevator);
}
#endif // THIS_CODE_IS_NOT_USED
// stash this runs control settings
// update_old_control_values();
old_aileron = controls.get_aileron();
old_elevator = controls.get_elevator();
old_elevator_trim = controls.get_elevator_trim();
old_rudder = controls.get_rudder();
// for cross track error
old_lat = lat;
old_lon = lon;
// Ok, we are done
return 0;
}
void FGAutopilot::set_HeadingMode( fgAutoHeadingMode mode ) {
heading_mode = mode;
if ( heading_mode == FG_HEADING_LOCK ) {
// set heading hold to current heading
TargetHeading = FGBFI::getHeading();
} else if ( heading_mode == FG_HEADING_WAYPOINT ) {
double course, reverse, distance;
// turn on location hold
// turn on heading hold
old_lat = FGBFI::getLatitude();
old_lon = FGBFI::getLongitude();
// need to test for iter
if( !geo_inverse_wgs_84( FGBFI::getAltitude() * FEET_TO_METER,
FGBFI::getLatitude(),
FGBFI::getLongitude(),
TargetLatitude,
TargetLongitude,
&course,
&reverse,
&distance ) ) {
TargetHeading = course;
TargetDistance = distance;
MakeTargetDistanceStr( distance );
}
FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetLocation: ( "
<< TargetLatitude << " "
<< TargetLongitude << " ) "
);
}
MakeTargetHeadingStr( TargetHeading );
update_old_control_values();
}
void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) {
altitude_mode = mode;
if ( altitude_mode == FG_ALTITUDE_LOCK ) {
// lock at current altitude
TargetAltitude = FGBFI::getAltitude() * FEET_TO_METER;
alt_error_accum = 0.0;
MakeTargetAltitudeStr( TargetAltitude );
} else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
TargetAGL = FGBFI::getAGL() * FEET_TO_METER;
alt_error_accum = 0.0;
}
update_old_control_values();
FG_LOG( FG_COCKPIT, FG_INFO, " set_AltitudeMode():" );
}
#if 0
static inline double get_aoa( void ) {
return( cur_fdm_state->get_Gamma_vert_rad() * RAD_TO_DEG );
}
static inline double fgAPget_latitude( void ) {
return( cur_fdm_state->get_Latitude() * RAD_TO_DEG );
}
static inline double fgAPget_longitude( void ) {
return( cur_fdm_state->get_Longitude() * RAD_TO_DEG );
}
static inline double fgAPget_roll( void ) {
return( cur_fdm_state->get_Phi() * RAD_TO_DEG );
}
static inline double get_pitch( void ) {
return( cur_fdm_state->get_Theta() );
}
double fgAPget_heading( void ) {
return( cur_fdm_state->get_Psi() * RAD_TO_DEG );
}
static inline double fgAPget_altitude( void ) {
return( cur_fdm_state->get_Altitude() * FEET_TO_METER );
}
static inline double fgAPget_climb( void ) {
// return in meters per minute
return( cur_fdm_state->get_Climb_Rate() * FEET_TO_METER * 60 );
}
static inline double get_sideslip( void ) {
return( cur_fdm_state->get_Beta() );
}
static inline double fgAPget_agl( void ) {
double agl;
agl = cur_fdm_state->get_Altitude() * FEET_TO_METER
- scenery.cur_elev;
return( agl );
}
#endif
void FGAutopilot::AltitudeSet( double new_altitude ) {
double target_alt = new_altitude;
// cout << "new altitude = " << new_altitude << endl;
if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
target_alt = new_altitude * FEET_TO_METER;
}
if( target_alt < scenery.cur_elev ) {
target_alt = scenery.cur_elev;
}
TargetAltitude = target_alt;
altitude_mode = FG_ALTITUDE_LOCK;
// cout << "TargetAltitude = " << TargetAltitude << endl;
if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
target_alt *= METER_TO_FEET;
}
// ApAltitudeDialogInput->setValue((float)target_alt);
MakeTargetAltitudeStr( target_alt );
update_old_control_values();
}
void FGAutopilot::AltitudeAdjust( double inc )
{
double target_alt, target_agl;
if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
target_alt = TargetAltitude * METER_TO_FEET;
target_agl = TargetAGL * METER_TO_FEET;
} else {
target_alt = TargetAltitude;
target_agl = TargetAGL;
}
target_alt = ( int ) ( target_alt / inc ) * inc + inc;
target_agl = ( int ) ( target_agl / inc ) * inc + inc;
if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
target_alt *= FEET_TO_METER;
target_agl *= FEET_TO_METER;
}
TargetAltitude = target_alt;
TargetAGL = target_agl;
if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET )
target_alt *= METER_TO_FEET;
// ApAltitudeDialogInput->setValue((float)target_alt);
MakeTargetAltitudeStr( target_alt );
update_old_control_values();
}
void FGAutopilot::HeadingAdjust( double inc ) {
heading_mode = FG_HEADING_LOCK;
double target = ( int ) ( TargetHeading / inc ) * inc + inc;
TargetHeading = NormalizeDegrees( target );
// following cast needed ambiguous plib
// ApHeadingDialogInput -> setValue ((float)TargetHeading );
MakeTargetHeadingStr( TargetHeading );
update_old_control_values();
}
void FGAutopilot::HeadingSet( double new_heading ) {
heading_mode = FG_HEADING_LOCK;
new_heading = NormalizeDegrees( new_heading );
TargetHeading = new_heading;
// following cast needed ambiguous plib
// ApHeadingDialogInput -> setValue ((float)APData->TargetHeading );
MakeTargetHeadingStr( TargetHeading );
update_old_control_values();
}
void FGAutopilot::AutoThrottleAdjust( double inc ) {
double target = ( int ) ( TargetSpeed / inc ) * inc + inc;
TargetSpeed = target;
}
void FGAutopilot::set_AutoThrottleEnabled( bool value ) {
auto_throttle = value;
if ( auto_throttle = true ) {
TargetSpeed = FGBFI::getAirspeed();
speed_error_accum = 0.0;
}
update_old_control_values();
FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetAutoThrottle: ("
<< auto_throttle << ") " << TargetSpeed );
}

176
src/Autopilot/newauto.hxx Normal file
View file

@ -0,0 +1,176 @@
// newauto.hxx -- autopilot defines and prototypes (very alpha)
//
// Started April 1998 Copyright (C) 1998
//
// Contributions by Jeff Goeke-Smith <jgoeke@voyager.net>
// Norman Vine <nhv@cape.com>
// Curtis Olson <curt@flightgear.org>
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id$
#ifndef _NEWAUTO_HXX
#define _NEWAUTO_HXX
// Structures
class FGAutopilot {
public:
enum fgAutoHeadingMode {
FG_HEADING_LOCK = 0,
FG_HEADING_WAYPOINT = 1,
FG_HEADING_NAV1 = 2,
FG_HEADING_NAV2 = 3
};
enum fgAutoAltitudeMode {
FG_ALTITUDE_LOCK = 0,
FG_ALTITUDE_TERRAIN = 1,
FG_ALTITUDE_GS1 = 2,
FG_ALTITUDE_GS2 = 3
};
private:
bool heading_hold; // the current state of the heading hold
bool altitude_hold; // the current state of the altitude hold
bool auto_throttle; // the current state of the auto throttle
fgAutoHeadingMode heading_mode;
fgAutoAltitudeMode altitude_mode;
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
double TargetClimbRate; // climb rate to shoot for
double TargetSpeed; // speed to shoot for
double alt_error_accum; // altitude error accumulator
double speed_error_accum; // speed error accumulator
double TargetSlope; // the glide slope hold value
double MaxRoll ; // the max the plane can roll for the turn
double RollOut; // when the plane should roll out
// measured from Heading
double MaxAileron; // how far to move the aleroin from center
double RollOutSmooth; // deg to use for smoothing Aileron Control
double MaxElevator; // the maximum elevator allowed
double SlopeSmooth; // smoothing angle for elevator
// following for testing disengagement of autopilot upon 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[64];
char TargetLongitudeStr[64];
char TargetLatLonStr[64];
char TargetDistanceStr[64];
char TargetHeadingStr[64];
char TargetAltitudeStr[64];
public:
// Initialize autopilot system
void init();
// Reset the autopilot system
void reset(void);
// run an interation of the autopilot (updates control positions)
int run();
void AltitudeSet( double new_altitude );
void AltitudeAdjust( double inc );
void HeadingAdjust( double inc );
void AutoThrottleAdjust( double inc );
void HeadingSet( double value );
inline bool get_HeadingEnabled() const { return heading_hold; }
inline void set_HeadingEnabled( bool value ) { heading_hold = value; }
inline fgAutoHeadingMode get_HeadingMode() const { return heading_mode; }
void set_HeadingMode( fgAutoHeadingMode mode );
inline bool get_AltitudeEnabled() const { return altitude_hold; }
inline void set_AltitudeEnabled( bool value ) { altitude_hold = value; }
inline fgAutoAltitudeMode get_AltitudeMode() const { return altitude_mode;}
void set_AltitudeMode( fgAutoAltitudeMode mode );
inline bool get_AutoThrottleEnabled() const { return auto_throttle; }
void set_AutoThrottleEnabled( bool value );
inline double get_TargetLatitude() const { return TargetLatitude; }
inline void set_TargetLatitude( double val ) { TargetLatitude = val; }
inline void set_old_lat( double val ) { old_lat = val; }
inline double get_TargetLongitude() const { return TargetLongitude; }
inline void set_TargetLongitude( double val ) { TargetLongitude = val; }
inline void set_old_lon( double val ) { old_lon = val; }
inline double get_TargetHeading() const { return TargetHeading; }
inline void set_TargetHeading( double val ) { TargetHeading = val; }
inline double get_TargetDistance() const { return TargetDistance; }
inline void set_TargetDistance( double val ) { TargetDistance = val; }
inline double get_TargetAltitude() const { return TargetAltitude; }
inline void set_TargetAltitude( double val ) { TargetAltitude = val; }
inline char *get_TargetLatitudeStr() { return TargetLatitudeStr; }
inline char *get_TargetLongitudeStr() { return TargetLongitudeStr; }
inline char *get_TargetDistanceStr() { return TargetDistanceStr; }
inline char *get_TargetHeadingStr() { return TargetHeadingStr; }
inline char *get_TargetAltitudeStr() { return TargetAltitudeStr; }
inline char *get_TargetLatLonStr() { return TargetLatLonStr; }
// utility functions
void MakeTargetLatLonStr( double lat, double lon );
void MakeTargetAltitudeStr( double altitude );
void MakeTargetHeadingStr( double bearing );
void MakeTargetDistanceStr( double distance );
void update_old_control_values();
// accessors
inline double get_MaxRoll() const { return MaxRoll; }
inline void set_MaxRoll( double val ) { MaxRoll = val; }
inline double get_RollOut() const { return RollOut; }
inline void set_RollOut( double val ) { RollOut = val; }
inline double get_MaxAileron() const { return MaxAileron; }
inline void set_MaxAileron( double val ) { MaxAileron = val; }
inline double get_RollOutSmooth() const { return RollOutSmooth; }
inline void set_RollOutSmooth( double val ) { RollOutSmooth = val; }
};
extern FGAutopilot *current_autopilot;
#endif // _NEWAUTO_HXX

34
src/Cockpit/hud.cxx
View file

@ -48,6 +48,7 @@
#include <simgear/math/polar3d.hxx>
#include <Aircraft/aircraft.hxx>
#include <Autopilot/newauto.hxx>
#include <GUI/gui.h>
#include <Main/options.hxx>
#ifdef FG_NETWORK_OLK
@ -1284,30 +1285,35 @@ void fgUpdateHUD( void ) {
// 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 );
// 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()) );
if( current_autopilot->get_HeadingEnabled() ) {
HUD_TextList.add( fgText( 40, apY,
current_autopilot->get_TargetHeadingStr()) );
apY -= 15;
}
if( fgAPAltitudeEnabled() ) {
HUD_TextList.add( fgText( 40, apY, fgAPget_TargetAltitudeStr()) );
if( current_autopilot->get_AltitudeEnabled() ) {
HUD_TextList.add( fgText( 40, apY,
current_autopilot->get_TargetAltitudeStr()) );
apY -= 15;
}
if( fgAPWayPointEnabled() ) {
HUD_TextList.add( fgText( 40, apY, fgAPget_TargetLatLonStr()) );
if( current_autopilot->get_HeadingMode() ==
FGAutopilot::FG_HEADING_WAYPOINT ) {
HUD_TextList.add( fgText( 40, apY,
current_autopilot->get_TargetLatLonStr()) );
apY -= 15;
HUD_TextList.add( fgText( 40, apY, fgAPget_TargetDistanceStr() ) );
HUD_TextList.add( fgText( 40, apY,
current_autopilot->get_TargetDistanceStr() ) );
apY -= 15;
}

3
src/Cockpit/panel.cxx
View file

@ -38,7 +38,6 @@
#include <Main/views.hxx>
#include <Main/bfi.hxx>
#include <Objects/texload.h>
#include <Autopilot/autopilot.hxx>
#include <Time/fg_time.hxx>
#include "cockpit.hxx"
@ -46,8 +45,6 @@
#include "hud.hxx"
#include "steam.hxx"
extern fgAPDataPtr APDataGlobal;
#define SIX_X 200
#define SIX_Y 345
#define SIX_W 128

2
src/Cockpit/steam.cxx
View file

@ -303,7 +303,7 @@ double FGSteam::get_HackVOR2_deg () {
if ( current_radiostack->get_nav2_inrange() ) {
r = current_radiostack->get_nav2_radial() -
current_radiostack->get_nav2_heading() + 180.0;
current_radiostack->get_nav2_heading();
// cout << "Radial = " << current_radiostack->get_nav1_radial()
// << " Bearing = " << current_radiostack->get_nav1_heading() << endl;

28
src/GUI/gui.cxx
View file

@ -58,6 +58,8 @@
#include <Include/general.hxx>
#include <Aircraft/aircraft.hxx>
#include <Airports/simple.hxx>
#include <Autopilot/auto_gui.hxx>
#include <Autopilot/newauto.hxx>
#include <Cockpit/panel.hxx>
#include <Controls/controls.hxx>
#include <FDM/flight.hxx>
@ -169,15 +171,15 @@ char *gui_msg_RESET; // "RESET"
static char global_dialog_string[256];
// from autopilot.cxx
extern void NewAltitude( puObject *cb );
extern void NewHeading( puObject *cb );
extern void fgAPAdjust( puObject * );
extern void NewTgtAirport( puObject *cb );
bool fgAPTerrainFollowEnabled( void );
bool fgAPAltitudeEnabled( void );
bool fgAPHeadingEnabled( void );
bool fgAPWayPointEnabled( void );
bool fgAPAutoThrottleEnabled( void );
// extern void NewAltitude( puObject *cb );
// extern void NewHeading( puObject *cb );
// extern void fgAPAdjust( puObject * );
// extern void NewTgtAirport( puObject *cb );
// bool fgAPTerrainFollowEnabled( void );
// bool fgAPAltitudeEnabled( void );
// bool fgAPHeadingEnabled( void );
// bool fgAPWayPointEnabled( void );
// bool fgAPAutoThrottleEnabled( void );
// from cockpit.cxx
extern void fgLatLonFormatToggle( puObject *);
@ -398,20 +400,20 @@ void guiMotionFunc ( int x, int y )
offset = (_mY - y) * throttle_sensitivity;
controls.move_throttle(FGControls::ALL_ENGINES, offset);
} else if ( right_button() ) {
if( !fgAPHeadingEnabled() ) {
if( ! current_autopilot->get_HeadingEnabled() ) {
offset = (x - _mX) * rudder_sensitivity;
controls.move_rudder(offset);
}
if( !fgAPAltitudeEnabled() ) {
if( ! current_autopilot->get_AltitudeEnabled() ) {
offset = (_mY - y) * trim_sensitivity;
controls.move_elevator_trim(offset);
}
} else {
if( !fgAPHeadingEnabled() ) {
if( ! current_autopilot->get_HeadingEnabled() ) {
offset = (x - _mX) * aileron_sensitivity;
controls.move_aileron(offset);
}
if( !fgAPAltitudeEnabled() ) {
if( ! current_autopilot->get_AltitudeEnabled() ) {
offset = (_mY - y) * elevator_sensitivity;
controls.move_elevator(offset);
}

42
src/Main/bfi.cxx
View file

@ -36,7 +36,7 @@
#include <Aircraft/aircraft.hxx>
#include <Controls/controls.hxx>
#include <Autopilot/autopilot.hxx>
#include <Autopilot/newauto.hxx>
#include <Scenery/scenery.hxx>
#include <Time/fg_time.hxx>
#include <Time/light.hxx>
@ -55,9 +55,9 @@ FG_USING_NAMESPACE(std);
// FIXME: these are not part of the
// published interface!!!
extern fgAPDataPtr APDataGlobal;
extern void fgAPAltitudeSet (double new_altitude);
extern void fgAPHeadingSet (double new_heading);
// extern fgAPDataPtr APDataGlobal;
// extern void fgAPAltitudeSet (double new_altitude);
// extern void fgAPHeadingSet (double new_heading);
#include "bfi.hxx"
@ -671,7 +671,7 @@ FGBFI::setBrake (double brake)
bool
FGBFI::getAPAltitudeLock ()
{
return fgAPAltitudeEnabled();
return current_autopilot->get_AltitudeEnabled();
}
@ -681,7 +681,8 @@ FGBFI::getAPAltitudeLock ()
void
FGBFI::setAPAltitudeLock (bool lock)
{
APDataGlobal->altitude_hold = lock;
current_autopilot->set_AltitudeEnabled( true );
current_autopilot->set_AltitudeMode( FGAutopilot::FG_ALTITUDE_LOCK );
}
@ -691,7 +692,7 @@ FGBFI::setAPAltitudeLock (bool lock)
double
FGBFI::getAPAltitude ()
{
return fgAPget_TargetAltitude() * METER_TO_FEET;
return current_autopilot->get_TargetAltitude() * METER_TO_FEET;
}
@ -701,7 +702,7 @@ FGBFI::getAPAltitude ()
void
FGBFI::setAPAltitude (double altitude)
{
fgAPAltitudeSet(altitude);
current_autopilot->set_TargetAltitude( altitude );
}
@ -711,7 +712,7 @@ FGBFI::setAPAltitude (double altitude)
bool
FGBFI::getAPHeadingLock ()
{
return fgAPHeadingEnabled();
return current_autopilot->get_HeadingEnabled();
}
@ -721,7 +722,8 @@ FGBFI::getAPHeadingLock ()
void
FGBFI::setAPHeadingLock (bool lock)
{
APDataGlobal->heading_hold = lock;
current_autopilot->set_HeadingEnabled( true );
current_autopilot->set_HeadingMode( FGAutopilot::FG_HEADING_LOCK );
}
@ -731,7 +733,7 @@ FGBFI::setAPHeadingLock (bool lock)
double
FGBFI::getAPHeading ()
{
return fgAPget_TargetHeading();
return current_autopilot->get_TargetHeading();
}
@ -741,7 +743,7 @@ FGBFI::getAPHeading ()
void
FGBFI::setAPHeading (double heading)
{
fgAPHeadingSet(heading);
current_autopilot->set_TargetHeading( heading );
}
@ -883,7 +885,10 @@ FGBFI::setADFRotation (double rot)
bool
FGBFI::getGPSLock ()
{
return fgAPWayPointEnabled();
return ( current_autopilot->get_HeadingEnabled() &&
( current_autopilot->get_HeadingMode() ==
FGAutopilot::FG_HEADING_WAYPOINT )
);
}
@ -893,7 +898,8 @@ FGBFI::getGPSLock ()
void
FGBFI::setGPSLock (bool lock)
{
APDataGlobal->waypoint_hold = lock;
current_autopilot->set_HeadingEnabled( true );
current_autopilot->set_HeadingMode( FGAutopilot::FG_HEADING_WAYPOINT );
}
@ -923,7 +929,7 @@ FGBFI::setTargetAirport (const string &airportId)
double
FGBFI::getGPSTargetLatitude ()
{
return fgAPget_TargetLatitude();
return current_autopilot->get_TargetLatitude();
}
@ -933,7 +939,7 @@ FGBFI::getGPSTargetLatitude ()
void
FGBFI::setGPSTargetLatitude (double latitude)
{
APDataGlobal->TargetLatitude = latitude;
current_autopilot->set_TargetLatitude( latitude );
}
@ -943,7 +949,7 @@ FGBFI::setGPSTargetLatitude (double latitude)
double
FGBFI::getGPSTargetLongitude ()
{
return fgAPget_TargetLongitude();
return current_autopilot->get_TargetLongitude();
}
@ -953,7 +959,7 @@ FGBFI::getGPSTargetLongitude ()
void
FGBFI::setGPSTargetLongitude (double longitude)
{
APDataGlobal->TargetLongitude = longitude;
current_autopilot->set_TargetLongitude( longitude );
}

16
src/Main/fg_init.cxx
View file

@ -57,7 +57,8 @@
#include <Aircraft/aircraft.hxx>
#include <Airports/simple.hxx>
#include <Autopilot/autopilot.hxx>
#include <Autopilot/auto_gui.hxx>
#include <Autopilot/newauto.hxx>
#include <Cockpit/cockpit.hxx>
#include <Cockpit/radiostack.hxx>
#include <FDM/Balloon.h>
@ -527,8 +528,15 @@ bool fgInitSubsystems( void ) {
FG_LOG( FG_GENERAL, FG_ALERT, "Error in Joystick initialization!" );
}
// Autopilot init added here, by Jeff Goeke-Smith
fgAPInit(&current_aircraft);
// Autopilot init
current_autopilot = new FGAutopilot;
current_autopilot->init();
// initialize the gui parts of the autopilot
NewTgtAirportInit();
fgAPAdjustInit() ;
NewHeadingInit();
NewAltitudeInit();
// Initialize I/O channels
#if ! defined( MACOS )
@ -632,7 +640,7 @@ void fgReInitSubsystems( void )
}
controls.reset_all();
fgAPReset();
current_autopilot->reset();
if( !toggle_pause )
t->togglePauseMode();

81
src/Main/keyboard.cxx
View file

@ -46,7 +46,7 @@
#include <simgear/misc/fgpath.hxx>
#include <Aircraft/aircraft.hxx>
#include <Autopilot/autopilot.hxx>
#include <Autopilot/newauto.hxx>
#include <Cockpit/hud.hxx>
#include <GUI/gui.h>
#include <Scenery/tilemgr.hxx>
@ -97,10 +97,18 @@ void GLUTkey(unsigned char k, int x, int y) {
FG_LOG( FG_INPUT, FG_DEBUG, " SHIFTED" );
switch (k) {
case 1: // Ctrl-A key
fgAPToggleAltitude();
current_autopilot->set_AltitudeMode(
FGAutopilot::FG_ALTITUDE_LOCK );
current_autopilot->set_AltitudeEnabled(
! current_autopilot->get_AltitudeEnabled()
);
return;
case 8: // Ctrl-H key
fgAPToggleHeading();
current_autopilot->set_HeadingMode(
FGAutopilot::FG_HEADING_LOCK );
current_autopilot->set_HeadingEnabled(
! current_autopilot->get_HeadingEnabled()
);
return;
case 18: // Ctrl-R key
// temporary
@ -112,10 +120,16 @@ void GLUTkey(unsigned char k, int x, int y) {
}
return;
case 19: // Ctrl-S key
fgAPToggleAutoThrottle();
current_autopilot->set_AutoThrottleEnabled(
! current_autopilot->get_AutoThrottleEnabled()
);
return;
case 20: // Ctrl-T key
fgAPToggleTerrainFollow();
current_autopilot->set_AltitudeMode(
FGAutopilot::FG_ALTITUDE_TERRAIN );
current_autopilot->set_AltitudeEnabled(
! current_autopilot->get_AltitudeEnabled()
);
return;
case 21: // Ctrl-U key
// add 1000' of emergency altitude. Possibly good for
@ -212,15 +226,15 @@ void GLUTkey(unsigned char k, int x, int y) {
FG_LOG( FG_INPUT, FG_DEBUG, "" );
switch (k) {
case 50: // numeric keypad 2
if( fgAPAltitudeEnabled() || fgAPTerrainFollowEnabled() ) {
fgAPAltitudeAdjust( 100 );
if ( current_autopilot->get_AltitudeEnabled() ) {
current_autopilot->AltitudeAdjust( 100 );
} else {
controls.move_elevator(-0.05);
}
return;
case 56: // numeric keypad 8
if( fgAPAltitudeEnabled() || fgAPTerrainFollowEnabled() ) {
fgAPAltitudeAdjust( -100 );
if ( current_autopilot->get_AltitudeEnabled() ) {
current_autopilot->AltitudeAdjust( -100 );
} else {
controls.move_elevator(0.05);
}
@ -238,15 +252,15 @@ void GLUTkey(unsigned char k, int x, int y) {
controls.move_aileron(0.05);
return;
case 48: // numeric keypad Ins
if( fgAPHeadingEnabled() ) {
fgAPHeadingAdjust( -1 );
if ( current_autopilot->get_HeadingEnabled() ) {
current_autopilot->HeadingAdjust( -1 );
} else {
controls.move_rudder(-0.05);
}
return;
case 13: // numeric keypad Enter
if( fgAPHeadingEnabled() ) {
fgAPHeadingAdjust( 1 );
if ( current_autopilot->get_HeadingEnabled() ) {
current_autopilot->HeadingAdjust( 1 );
} else {
controls.move_rudder(0.05);
}
@ -257,15 +271,15 @@ void GLUTkey(unsigned char k, int x, int y) {
controls.set_rudder(0.0);
return;
case 57: // numeric keypad 9 (Pg Up)
if( fgAPAutoThrottleEnabled() ) {
fgAPAutoThrottleAdjust( 5 );
if ( current_autopilot->get_AutoThrottleEnabled() ) {
current_autopilot->AutoThrottleAdjust( 5 );
} else {
controls.move_throttle( FGControls::ALL_ENGINES, 0.01 );
}
return;
case 51: // numeric keypad 3 (Pg Dn)
if( fgAPAutoThrottleEnabled() ) {
fgAPAutoThrottleAdjust( -5 );
if ( current_autopilot->get_AutoThrottleEnabled() ) {
current_autopilot->AutoThrottleAdjust( -5 );
} else {
controls.move_throttle( FGControls::ALL_ENGINES, -0.01 );
}
@ -455,7 +469,14 @@ void GLUTspecialkey(int k, int x, int y) {
fgDumpSnapShot();
return;
case GLUT_KEY_F6: // F6 toggles Autopilot target location
fgAPToggleWayPoint();
if ( current_autopilot->get_HeadingMode() !=
FGAutopilot::FG_HEADING_WAYPOINT ) {
current_autopilot->set_HeadingMode(
FGAutopilot::FG_HEADING_WAYPOINT );
} else {
current_autopilot->set_HeadingMode(
FGAutopilot::FG_HEADING_LOCK );
}
return;
case GLUT_KEY_F8: // F8 toggles fog ... off fastest nicest...
current_options.cycle_fog();
@ -503,15 +524,15 @@ void GLUTspecialkey(int k, int x, int y) {
NewHeading( NULL );
return;
case GLUT_KEY_UP:
if( fgAPAltitudeEnabled() || fgAPTerrainFollowEnabled() ) {
fgAPAltitudeAdjust( -100 );
if ( current_autopilot->get_AltitudeEnabled() ) {
current_autopilot->AltitudeAdjust( -100 );
} else {
controls.move_elevator(0.05);
}
return;
case GLUT_KEY_DOWN:
if( fgAPAltitudeEnabled() || fgAPTerrainFollowEnabled() ) {
fgAPAltitudeAdjust( 100 );
if ( current_autopilot->get_AltitudeEnabled() ) {
current_autopilot->AltitudeAdjust( 100 );
} else {
controls.move_elevator(-0.05);
}
@ -529,15 +550,15 @@ void GLUTspecialkey(int k, int x, int y) {
controls.move_elevator_trim(-0.001);
return;
case GLUT_KEY_INSERT: // numeric keypad Ins
if( fgAPHeadingEnabled() ) {
fgAPHeadingAdjust( -1 );
if ( current_autopilot->get_HeadingEnabled() ) {
current_autopilot->HeadingAdjust( -1 );
} else {
controls.move_rudder(-0.05);
}
return;
case 13: // numeric keypad Enter
if( fgAPHeadingEnabled() ) {
fgAPHeadingAdjust( 1 );
if ( current_autopilot->get_HeadingEnabled() ) {
current_autopilot->HeadingAdjust( 1 );
} else {
controls.move_rudder(0.05);
}
@ -548,15 +569,15 @@ void GLUTspecialkey(int k, int x, int y) {
controls.set_rudder(0.0);
return;
case GLUT_KEY_PAGE_UP: // numeric keypad 9 (Pg Up)
if( fgAPAutoThrottleEnabled() ) {
fgAPAutoThrottleAdjust( 5 );
if ( current_autopilot->get_AutoThrottleEnabled() ) {
current_autopilot->AutoThrottleAdjust( 5 );
} else {
controls.move_throttle( FGControls::ALL_ENGINES, 0.01 );
}
return;
case GLUT_KEY_PAGE_DOWN: // numeric keypad 3 (Pg Dn)
if( fgAPAutoThrottleEnabled() ) {
fgAPAutoThrottleAdjust( -5 );
if ( current_autopilot->get_AutoThrottleEnabled() ) {
current_autopilot->AutoThrottleAdjust( -5 );
} else {
controls.move_throttle( FGControls::ALL_ENGINES, -0.01 );
}

4
src/Main/main.cxx
View file

@ -76,7 +76,7 @@
#include <Aircraft/aircraft.hxx>
#include <Ephemeris/ephemeris.hxx>
#include <Autopilot/autopilot.hxx>
#include <Autopilot/newauto.hxx>
#include <Cockpit/cockpit.hxx>
#include <Cockpit/radiostack.hxx>
#include <Cockpit/steam.hxx>
@ -664,7 +664,7 @@ void fgUpdateTimeDepCalcs(int multi_loop, int remainder) {
if ( !t->getPause() ) {
// run Autopilot system
fgAPRun();
current_autopilot->run();
// printf("updating flight model x %d\n", multi_loop);
/* fgFDMUpdate( current_options.get_flight_model(),