Autopilot: clean up the helpers code (which drives the various /internal/) properties. Fixes various heading modes to work in all aircraft.
This commit is contained in:
jmt
Tim Moore
parent
50adab32c1
commit
5cad5aa7da
2 changed files with 36 additions and 45 deletions
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@ -928,6 +928,8 @@ FGXMLAutopilot::~FGXMLAutopilot() {
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*/
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void FGXMLAutopilot::init()
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{
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latNode = fgGetNode("/position/latitude-deg");
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lonNode = fgGetNode("/position/longitude-deg");
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}
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@ -975,7 +977,7 @@ bool FGXMLAutopilot::build( SGPropertyNode_ptr config_props ) {
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/*
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* Update helper values
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*/
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static void update_helper( double dt ) {
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void FGXMLAutopilot::update_helper( double dt ) {
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// Estimate speed in 5,10 seconds
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static SGPropertyNode_ptr vel = fgGetNode( "/velocities/airspeed-kt", true );
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static SGPropertyNode_ptr lookahead5
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@ -1002,32 +1004,20 @@ static void update_helper( double dt ) {
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v_last = v;
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}
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// Calculate heading bug error normalized to +/- 180.0 (based on
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// DG indicated heading)
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// Calculate heading bug error normalized to +/- 180.0
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static SGPropertyNode_ptr bug
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= fgGetNode( "/autopilot/settings/heading-bug-deg", true );
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static SGPropertyNode_ptr ind_hdg
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= fgGetNode( "/instrumentation/heading-indicator/indicated-heading-deg",
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true );
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static SGPropertyNode_ptr ind_bug_error
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= fgGetNode( "/autopilot/internal/heading-bug-error-deg", true );
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double diff = bug->getDoubleValue() - ind_hdg->getDoubleValue();
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if ( diff < -180.0 ) { diff += 360.0; }
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if ( diff > 180.0 ) { diff -= 360.0; }
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ind_bug_error->setDoubleValue( diff );
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// Calculate heading bug error normalized to +/- 180.0 (based on
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// actual/nodrift magnetic-heading, i.e. a DG slaved to magnetic
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// compass.)
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static SGPropertyNode_ptr mag_hdg
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= fgGetNode( "/orientation/heading-magnetic-deg", true );
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static SGPropertyNode_ptr bug_error
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= fgGetNode( "/autopilot/internal/heading-bug-error-deg", true );
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double diff = bug->getDoubleValue() - mag_hdg->getDoubleValue();
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SG_NORMALIZE_RANGE(diff, -180.0, 180.0);
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bug_error->setDoubleValue( diff );
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static SGPropertyNode_ptr fdm_bug_error
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= fgGetNode( "/autopilot/internal/fdm-heading-bug-error-deg", true );
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diff = bug->getDoubleValue() - mag_hdg->getDoubleValue();
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if ( diff < -180.0 ) { diff += 360.0; }
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if ( diff > 180.0 ) { diff -= 360.0; }
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fdm_bug_error->setDoubleValue( diff );
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// Calculate true heading error normalized to +/- 180.0
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@ -1035,14 +1025,11 @@ static void update_helper( double dt ) {
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= fgGetNode( "/autopilot/settings/true-heading-deg", true );
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static SGPropertyNode_ptr true_hdg
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= fgGetNode( "/orientation/heading-deg", true );
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static SGPropertyNode_ptr true_track
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= fgGetNode( "/instrumentation/gps/indicated-track-true-deg", true );
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static SGPropertyNode_ptr true_error
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= fgGetNode( "/autopilot/internal/true-heading-error-deg", true );
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diff = target_true->getDoubleValue() - true_hdg->getDoubleValue();
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if ( diff < -180.0 ) { diff += 360.0; }
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if ( diff > 180.0 ) { diff -= 360.0; }
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SG_NORMALIZE_RANGE(diff, -180.0, 180.0);
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true_error->setDoubleValue( diff );
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// Calculate nav1 target heading error normalized to +/- 180.0
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@ -1054,25 +1041,25 @@ static void update_helper( double dt ) {
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= fgGetNode( "/autopilot/internal/nav1-track-error-deg", true );
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diff = target_nav1->getDoubleValue() - true_hdg->getDoubleValue();
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if ( diff < -180.0 ) { diff += 360.0; }
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if ( diff > 180.0 ) { diff -= 360.0; }
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SG_NORMALIZE_RANGE(diff, -180.0, 180.0);
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true_nav1->setDoubleValue( diff );
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diff = target_nav1->getDoubleValue() - true_track->getDoubleValue();
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if ( diff < -180.0 ) { diff += 360.0; }
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if ( diff > 180.0 ) { diff -= 360.0; }
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// Calculate true groundtrack
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SGGeod currentPosition(SGGeod::fromDeg(
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lonNode->getDoubleValue(), latNode->getDoubleValue()));
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double true_track = SGGeodesy::courseDeg(lastPosition, currentPosition);
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lastPosition = currentPosition;
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diff = target_nav1->getDoubleValue() - true_track;
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SG_NORMALIZE_RANGE(diff, -180.0, 180.0);
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true_track_nav1->setDoubleValue( diff );
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// Calculate nav1 selected course error normalized to +/- 180.0
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// (based on DG indicated heading)
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static SGPropertyNode_ptr nav1_course_error
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= fgGetNode( "/autopilot/internal/nav1-course-error", true );
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static SGPropertyNode_ptr nav1_selected_course
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= fgGetNode( "/instrumentation/nav[0]/radials/selected-deg", true );
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diff = nav1_selected_course->getDoubleValue() - ind_hdg->getDoubleValue();
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// if ( diff < -180.0 ) { diff += 360.0; }
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// if ( diff > 180.0 ) { diff -= 360.0; }
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diff = nav1_selected_course->getDoubleValue() - mag_hdg->getDoubleValue();
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SG_NORMALIZE_RANGE( diff, -180.0, 180.0 );
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nav1_course_error->setDoubleValue( diff );
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@ -1088,23 +1075,20 @@ static void update_helper( double dt ) {
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// Calculate static port pressure rate in [inhg/s].
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// Used to determine vertical speed.
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static SGPropertyNode_ptr static_pressure
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= fgGetNode( "/systems/static[0]/pressure-inhg", true );
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= fgGetNode( "/systems/static[0]/pressure-inhg", true );
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static SGPropertyNode_ptr pressure_rate
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= fgGetNode( "/autopilot/internal/pressure-rate", true );
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= fgGetNode( "/autopilot/internal/pressure-rate", true );
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static double last_static_pressure = 0.0;
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if ( dt > 0.0 ) {
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double current_static_pressure = static_pressure->getDoubleValue();
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double current_static_pressure = static_pressure->getDoubleValue();
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double current_pressure_rate =
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( current_static_pressure - last_static_pressure ) / dt;
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double current_pressure_rate =
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( current_static_pressure - last_static_pressure ) / dt;
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pressure_rate->setDoubleValue(current_pressure_rate);
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last_static_pressure = current_static_pressure;
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pressure_rate->setDoubleValue(current_pressure_rate);
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last_static_pressure = current_static_pressure;
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}
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}
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@ -402,9 +402,16 @@ protected:
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typedef std::vector<FGXMLAutoComponent_ptr> comp_list;
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private:
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/**
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* Update helper values, especially the /autopilot/internal properties
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*/
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void update_helper( double dt );
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bool serviceable;
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comp_list components;
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SGPropertyNode_ptr latNode, lonNode;
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SGGeod lastPosition;
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};
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