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Autopilot in nav1 tracking mode bases heading off of desired radial not

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current radial.
This commit is contained in:
curt 2001-02-25 18:03:11 +00:00
parent 74cb68daae
commit 7c6df16062
1 changed files with 22 additions and 3 deletions
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25
src/Autopilot/newauto.cxx
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@ -383,20 +383,39 @@ int FGAutopilot::run() {
// leave target heading alone
} else if ( heading_mode == FG_HEADING_NAV1 ) {
// track the NAV1 heading needle deflection
// determine our current radial position relative to the
// navaid in "true" heading.
double cur_radial = current_radiostack->get_nav1_heading() +
current_radiostack->get_nav1_magvar();
if ( current_radiostack->get_nav1_from_flag() ) {
cur_radial += 180.0;
while ( cur_radial >= 360.0 ) { cur_radial -= 360.0; }
}
// determine the target radial in "true" heading
double tgt_radial = current_radiostack->get_nav1_radial();
if ( current_radiostack->get_nav1_loc() ) {
// ILS localizers radials are already "true" in our
// database
} else {
// VOR radials need to have that vor's offset added in
tgt_radial += current_radiostack->get_nav1_magvar();
}
// determine the heading adjustment needed.
double adjustment =
current_radiostack->get_nav1_heading_needle_deflection()
* (current_radiostack->get_nav1_loc_dist() * METER_TO_NM);
if ( adjustment < -30.0 ) { adjustment = -30.0; }
if ( adjustment > 30.0 ) { adjustment = 30.0; }
TargetHeading = cur_radial + adjustment;
// determine the target heading to fly to intercept the
// tgt_radial
TargetHeading = tgt_radial + adjustment;
while ( TargetHeading < 0.0 ) { TargetHeading += 360.0; }
while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; }
#if 0
if ( current_radiostack->get_nav1_to_flag() ||
current_radiostack->get_nav1_from_flag() ) {
@ -650,8 +669,8 @@ int FGAutopilot::run() {
// << " fpm" << endl;
error = FGBFI::getVerticalSpeed() * FEET_TO_METER - TargetClimbRate;
cout << "climb rate = " << FGBFI::getVerticalSpeed()
<< " vsi rate = " << FGSteam::get_VSI_fps() << endl;
// cout << "climb rate = " << FGBFI::getVerticalSpeed()
// << " vsi rate = " << FGSteam::get_VSI_fps() << endl;
// accumulate the error under the curve ... this really should
// be *= delta t