More altitude hold tweaks.
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curt
parent
fe61ee41f2
commit
49b5ce80c5
3 changed files with 70 additions and 21 deletions
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@ -294,27 +294,41 @@ int fgAPRun( void )
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fgRudderSet(0.0);
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}
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// altitude hold enabled?
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if ( APData->altitude_hold == 1 ) {
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double error;
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// altitude hold or terrain follow enabled?
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if ( (APData->altitude_hold == 1) || (APData->terrain_follow == 1) ) {
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double speed, max_climb, error;
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double prop_error, int_error;
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double prop_adj, int_adj, total_adj;
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// normal altitude hold
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APData->TargetClimbRate =
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(APData->TargetAltitude - fgAPget_altitude()) * 8.0;
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// brain dead ground hugging with no look ahead
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// APData->TargetClimbRate = ( 250 - fgAPget_agl() ) * 8.0;
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// just try to zero out rate of climb ...
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// APData->TargetClimbRate = 0.0;
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if ( APData->TargetClimbRate > 200.0 ) {
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APData->TargetClimbRate = 200.0;
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if (APData->altitude_hold == 1) {
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// normal altitude hold
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APData->TargetClimbRate =
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(APData->TargetAltitude - fgAPget_altitude()) * 8.0;
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} else if (APData->terrain_follow == 1) {
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// brain dead ground hugging with no look ahead
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APData->TargetClimbRate =
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( APData->TargetAGL - fgAPget_agl() ) * 16.0;
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} else {
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// just try to zero out rate of climb ...
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APData->TargetClimbRate = 0.0;
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}
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if ( APData->TargetClimbRate < -200.0 ) {
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APData->TargetClimbRate = -200.0;
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speed = get_speed();
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if ( speed < 90.0 ) {
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max_climb = 0.0;
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} else if ( speed < 100.0 ) {
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max_climb = (speed - 90.0) * 20;
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} else {
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max_climb = ( speed - 100.0 ) * 4.0 + 200.0;
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}
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if ( APData->TargetClimbRate > max_climb ) {
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APData->TargetClimbRate = max_climb;
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}
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if ( APData->TargetClimbRate < -400.0 ) {
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APData->TargetClimbRate = -400.0;
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}
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error = fgAPget_climb() - APData->TargetClimbRate;
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@ -342,8 +356,8 @@ int fgAPRun( void )
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prop_adj = prop_error / 2000.0;
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total_adj = 0.9 * prop_adj + 0.1 * int_adj;
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if ( total_adj > 0.4 ) { total_adj = 0.4; }
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if ( total_adj < -0.3 ) { total_adj = -0.3; }
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if ( total_adj > 0.6 ) { total_adj = 0.6; }
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if ( total_adj < -0.2 ) { total_adj = -0.2; }
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fgElevSet( total_adj );
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}
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@ -432,6 +446,7 @@ void fgAPToggleAltitude( void )
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} else {
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// turn on altitude hold, lock at current altitude
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APData->altitude_hold = 1;
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APData->terrain_follow = 0;
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APData->TargetAltitude = fgAPget_altitude();
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APData->alt_error_accum = 0.0;
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// alt_error_queue.erase( alt_error_queue.begin(),
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@ -444,6 +459,30 @@ void fgAPToggleAltitude( void )
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}
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void fgAPToggleTerrainFollow( void )
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{
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// Remove at a later date
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fgAPDataPtr APData;
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APData = APDataGlobal;
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// end section
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if ( APData->terrain_follow ) {
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// turn off altitude hold
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APData->terrain_follow = 0;
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} else {
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// turn on terrain follow, lock at current agl
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APData->terrain_follow = 1;
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APData->altitude_hold = 0;
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APData->TargetAGL = fgAPget_agl();
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APData->alt_error_accum = 0.0;
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}
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fgPrintf( FG_COCKPIT, FG_INFO, " fgAPSetTerrainFollow: (%d) %.2f\n",
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APData->terrain_follow,
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APData->TargetAGL);
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}
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double LinearExtrapolate( double x,double x1,double y1,double x2,double y2)
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{
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// This procedure extrapolates the y value for the x posistion on a line defined by x1,y1; x2,y2
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@ -39,14 +39,17 @@ extern "C" {
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// Structures
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typedef struct {
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int heading_hold; // the current state of the heading hold
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int altitude_hold; // the current state of the altitude hold
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int heading_hold; // the current state of the heading hold
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int altitude_hold; // the current state of the altitude hold
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int terrain_follow; // the current state of the terrain follower
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double TargetHeading; // the heading the AP should steer to.
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double TargetAltitude; // altitude to hold
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double TargetClimbRate; // climb rate to shoot for
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double alt_error_accum; // altitude error accumulator
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double TargetAGL; // the terrain separation
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double TargetSlope; // the glide slope hold value
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double MaxRoll ; // the max the plane can roll for the turn
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@ -69,6 +72,7 @@ void fgAPInit( fgAIRCRAFT *current_aircraft );
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int fgAPRun( void );
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void fgAPToggleHeading( void );
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void fgAPToggleAltitude( void );
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void fgAPToggleTerrainFollow( void );
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#ifdef __cplusplus
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@ -94,6 +94,9 @@ void GLUTkey(unsigned char k, int x, int y) {
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case 8: // Ctrl-H key
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fgAPToggleHeading();
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return;
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case 20: // Ctrl-T key
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fgAPToggleTerrainFollow();
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return;
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case 49: // numeric keypad 1
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v->goal_view_offset = FG_PI * 0.75;
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return;
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@ -375,6 +378,9 @@ void GLUTspecialkey(int k, int x, int y) {
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// $Log$
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// Revision 1.26 1998/10/01 00:38:04 curt
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// More altitude hold tweaks.
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//
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// Revision 1.25 1998/09/29 02:03:36 curt
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// Autopilot mods.
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//
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