diff --git a/src/Autopilot/newauto.cxx b/src/Autopilot/newauto.cxx deleted file mode 100644 index b699c8c9d..000000000 --- a/src/Autopilot/newauto.cxx +++ /dev/null @@ -1,1605 +0,0 @@ -// newauto.cxx -- autopilot defines and prototypes (very alpha) -// -// Started April 1998 Copyright (C) 1998 -// -// Contributions by Jeff Goeke-Smith -// Norman Vine -// Curtis Olson -// Wendell Turner -// -// 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 -#endif - -#include // sprintf() -#include // strcmp() - -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include
-#include - -#include "newauto.hxx" -#include "auto_gui.hxx" - - -/// 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 char NewTgtAirportId[16]; -// static char NewTgtAirportLabel[] = "Enter New TgtAirport ID"; - -extern char *coord_format_lat(float); -extern char *coord_format_lon(float); - - -// constructor -FGAutopilot::FGAutopilot() -{ -} - -// destructor -FGAutopilot::~FGAutopilot() {} - - -void FGAutopilot::MakeTargetLatLonStr( double lat, double lon ) { - sprintf( TargetLatitudeStr , "%s", coord_format_lat(get_TargetLatitude())); - sprintf( TargetLongitudeStr, "%s", coord_format_lon(get_TargetLongitude())); - sprintf( TargetLatLonStr, "%s %s", TargetLatitudeStr, TargetLongitudeStr ); -} - - -void FGAutopilot::MakeTargetAltitudeStr( double altitude ) { - if ( altitude_mode == FG_ALTITUDE_TERRAIN ) { - sprintf( TargetAltitudeStr, "APAltitude %6.0f+", altitude ); - } else { - 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 ); -} - - -static inline double get_ground_speed() { - // starts in ft/s so we convert to kts - static const SGPropertyNode * speedup_node = fgGetNode("/sim/speed-up"); - - double ft_s = cur_fdm_state->get_V_ground_speed() - * speedup_node->getIntValue(); - double kts = ft_s * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM; - - return kts; -} - - -void FGAutopilot::MakeTargetWPStr( double distance ) { - static time_t last_time = 0; - time_t current_time = time(NULL); - if ( last_time == current_time ) { - return; - } - - last_time = current_time; - - double accum = 0.0; - - int size = globals->get_route()->size(); - - // start by wiping the strings - TargetWP1Str[0] = 0; - TargetWP2Str[0] = 0; - TargetWP3Str[0] = 0; - - // current route - if ( size > 0 ) { - SGWayPoint wp1 = globals->get_route()->get_waypoint( 0 ); - accum += distance; - double eta = accum * SG_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( TargetWP1Str, "%s %.2f NM ETA %d:%02d", - wp1.get_id().c_str(), - accum*SG_METER_TO_NM, major, minor ); - } - - // next route - if ( size > 1 ) { - SGWayPoint wp2 = globals->get_route()->get_waypoint( 1 ); - accum += wp2.get_distance(); - - double eta = accum * SG_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( TargetWP2Str, "%s %.2f NM ETA %d:%02d", - wp2.get_id().c_str(), - accum*SG_METER_TO_NM, major, minor ); - } - - // next route - if ( size > 2 ) { - for ( int i = 2; i < size; ++i ) { - accum += globals->get_route()->get_waypoint( i ).get_distance(); - } - - SGWayPoint wpn = globals->get_route()->get_waypoint( size - 1 ); - - double eta = accum * SG_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( TargetWP3Str, "%s %.2f NM ETA %d:%02d", - wpn.get_id().c_str(), - accum*SG_METER_TO_NM, major, minor ); - } -} - - -void FGAutopilot::update_old_control_values() { - old_aileron = globals->get_controls()->get_aileron(); - old_elevator = globals->get_controls()->get_elevator(); - old_elevator_trim = globals->get_controls()->get_elevator_trim(); - old_rudder = globals->get_controls()->get_rudder(); -} - - -// Initialize autopilot subsystem - -void FGAutopilot::init () -{ - SG_LOG( SG_AUTOPILOT, SG_INFO, "Init AutoPilot Subsystem" ); - - // bind data input property nodes... - latitude_node = fgGetNode("/position/latitude-deg", true); - longitude_node = fgGetNode("/position/longitude-deg", true); - altitude_node = fgGetNode("/position/altitude-ft", true); - altitude_agl_node = fgGetNode("/position/altitude-agl-ft", true); - vertical_speed_node = fgGetNode("/velocities/vertical-speed-fps", true); - airspeed_node = fgGetNode("/velocities/airspeed-kt", true); - heading_node = fgGetNode("/orientation/heading-deg", true); - - // support non-dg systems that indicate magnetic heading (e.g. 747-400) - if (fgGetBool("autopilot/config/indicated-heading-magnetic")) { - // use magnetic heading indicated - indicated_heading_node - = fgGetNode("/orientation/heading-magnetic-deg", - true); - } else { - // use dg heading indicated - indicated_heading_node - = fgGetNode("/instrumentation/heading-indicator/indicated-heading-deg", - true); - } - - roll_node = fgGetNode("/orientation/roll-deg", true); - pitch_node = fgGetNode("/orientation/pitch-deg", true); - - - - // bind config property nodes... - TargetClimbRate - = fgGetNode("/autopilot/config/target-climb-rate-fpm", true); - TargetDescentRate - = fgGetNode("/autopilot/config/target-descent-rate-fpm", true); - min_climb = fgGetNode("/autopilot/config/min-climb-speed-kt", true); - best_climb = fgGetNode("/autopilot/config/best-climb-speed-kt", true); - elevator_adj_factor - = fgGetNode("/autopilot/config/elevator-adj-factor", true); - integral_contrib - = fgGetNode("/autopilot/config/integral-contribution", true); - zero_pitch_throttle - = fgGetNode("/autopilot/config/zero-pitch-throttle", true); - zero_pitch_trim_full_throttle - = fgGetNode("/autopilot/config/zero-pitch-trim-full-throttle", true); - max_aileron_node = fgGetNode("/autopilot/config/max-aileron", true); - max_roll_node = fgGetNode("/autopilot/config/max-roll-deg", true); - roll_out_node = fgGetNode("/autopilot/config/roll-out-deg", true); - roll_out_smooth_node = fgGetNode("/autopilot/config/roll-out-smooth-deg", true); - throttle_adj_factor - = fgGetNode("/autopilot/config/throttle-adj-factor", true); - throttle_integral - = fgGetNode("/autopilot/config/throttle-integral", true); - speed_change_node - = fgGetNode("/autopilot/output/speed_change_anticipated_kt", true); - - terrain_follow_factor = fgGetNode("/autopilot/config/terrain-follow-factor", true); - - current_throttle = fgGetNode("/controls/engines/engine/throttle"); - - // initialize config properties with defaults (in case config isn't there) - if ( TargetClimbRate->getFloatValue() < 1 ) - fgSetFloat( "/autopilot/config/target-climb-rate-fpm", 500); - if ( TargetDescentRate->getFloatValue() < 1 ) - fgSetFloat( "/autopilot/config/target-descent-rate-fpm", 1000 ); - if ( min_climb->getFloatValue() < 1) - fgSetFloat( "/autopilot/config/min-climb-speed-kt", 70 ); - if (best_climb->getFloatValue() < 1) - fgSetFloat( "/autopilot/config/best-climb-speed-kt", 120 ); - if (elevator_adj_factor->getFloatValue() < 1) - fgSetFloat( "/autopilot/config/elevator-adj-factor", 5000 ); - if ( integral_contrib->getFloatValue() < 0.0000001 ) - fgSetFloat( "/autopilot/config/integral-contribution", 0.01 ); - if ( zero_pitch_throttle->getFloatValue() < 0.0000001 ) - fgSetFloat( "/autopilot/config/zero-pitch-throttle", 0.60 ); - if ( zero_pitch_trim_full_throttle->getFloatValue() < 0.0000001 ) - fgSetFloat( "/autopilot/config/zero-pitch-trim-full-throttle", 0.15 ); - if ( max_aileron_node->getFloatValue() < 0.0000001 ) - fgSetFloat( "/autopilot/config/max-aileron", 0.2 ); - if ( max_roll_node->getFloatValue() < 0.0000001 ) - fgSetFloat( "/autopilot/config/max-roll-deg", 20 ); - if ( roll_out_node->getFloatValue() < 0.0000001 ) - fgSetFloat( "/autopilot/config/roll-out-deg", 20 ); - if ( roll_out_smooth_node->getFloatValue() < 0.0000001 ) - fgSetFloat( "/autopilot/config/roll-out-smooth-deg", 10 ); - if (throttle_adj_factor->getFloatValue() < 1) - fgSetFloat( "/autopilot/config/throttle-adj-factor", 5000 ); - if ( throttle_integral->getFloatValue() < 0.0000001 ) - fgSetFloat( "/autopilot/config/throttle-integral", 0.001 ); - if (terrain_follow_factor->getFloatValue() < 1) - fgSetFloat( "/autopilot/config/terrain-follow-factor", 16 ); - - /* set defaults */ - heading_hold = false ; // turn the heading hold off - altitude_hold = false ; // turn the altitude hold off - auto_throttle = false ; // turn the auto throttle off - heading_mode = DEFAULT_AP_HEADING_LOCK; - altitude_mode = DEFAULT_AP_ALTITUDE_LOCK; - - DGTargetHeading = fgGetDouble("/autopilot/settings/heading-bug-deg"); - TargetHeading = fgGetDouble("/autopilot/settings/heading-bug-deg"); - TargetAltitude = fgGetDouble("/autopilot/settings/altitude-ft") * SG_FEET_TO_METER; - TargetSpeed = fgGetDouble("/autopilot/settings/speed-kt"); - - // Initialize target location to startup location - old_lat = latitude_node->getDoubleValue(); - old_lon = longitude_node->getDoubleValue(); - // set_WayPoint( old_lon, old_lat, 0.0, "default" ); - - MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() ); - - alt_error_accum = 0.0; - climb_error_accum = 0.0; - - MakeTargetAltitudeStr( TargetAltitude ); - MakeTargetHeadingStr( TargetHeading ); - - // 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; - - // 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; - - // set default aileron max deflection - MaxAileron = 0.5; - - // used to calculate acceleration - previous_speed = 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(); -}; - -void -FGAutopilot::bind () -{ - // Autopilot control property get/set bindings - fgTie("/autopilot/locks/altitude", this, - &FGAutopilot::getAPAltitudeLock, &FGAutopilot::setAPAltitudeLock); - fgSetArchivable("/autopilot/locks/altitude"); - fgTie("/autopilot/settings/altitude-ft", this, - &FGAutopilot::getAPAltitude, &FGAutopilot::setAPAltitude); - fgSetArchivable("/autopilot/settings/altitude-ft"); - fgTie("/autopilot/locks/glide-slope", this, - &FGAutopilot::getAPGSLock, &FGAutopilot::setAPGSLock); - fgSetArchivable("/autopilot/locks/glide-slope"); - fgSetDouble("/autopilot/settings/altitude-ft", 3000.0f); - fgTie("/autopilot/locks/terrain", this, - &FGAutopilot::getAPTerrainLock, &FGAutopilot::setAPTerrainLock); - fgSetArchivable("/autopilot/locks/terrain"); - fgTie("/autopilot/settings/climb-rate-fpm", this, - &FGAutopilot::getAPClimb, &FGAutopilot::setAPClimb, false); - fgSetArchivable("/autopilot/settings/climb-rate-fpm"); - fgTie("/autopilot/locks/heading", this, - &FGAutopilot::getAPHeadingLock, &FGAutopilot::setAPHeadingLock); - fgSetArchivable("/autopilot/locks/heading"); - - fgTie("/autopilot/locks/vert-speed", this, - &FGAutopilot::getAPVertSpeedLock, &FGAutopilot::setAPVertSpeedLock); - fgSetArchivable("/autopilot/locks/vert-speed"); - - - fgTie("/autopilot/settings/heading-bug-deg", this, - &FGAutopilot::getAPHeadingBug, &FGAutopilot::setAPHeadingBug); - fgSetArchivable("/autopilot/settings/heading-bug-deg"); - fgSetDouble("/autopilot/settings/heading-bug-deg", 0.0f); - - fgTie("/autopilot/settings/waypoint", this, - &FGAutopilot::getAPwaypoint, &FGAutopilot::setAPwaypoint); - fgSetArchivable("/autopilot/settings/waypoint"); - fgSetString("/autopilot/settings/waypoint", ""); - - fgTie("/autopilot/locks/wing-leveler", this, - &FGAutopilot::getAPWingLeveler, &FGAutopilot::setAPWingLeveler); - fgSetArchivable("/autopilot/locks/wing-leveler"); - fgTie("/autopilot/locks/nav[0]", this, - &FGAutopilot::getAPNAV1Lock, &FGAutopilot::setAPNAV1Lock); - fgSetArchivable("/autopilot/locks/nav[0]"); - fgTie("/autopilot/locks/auto-throttle", this, - &FGAutopilot::getAPAutoThrottleLock, - &FGAutopilot::setAPAutoThrottleLock); - fgSetArchivable("/autopilot/locks/auto-throttle"); - fgTie("/autopilot/settings/speed-kt", this, - &FGAutopilot::getAPAutoThrottle, &FGAutopilot::setAPAutoThrottle); - fgSetArchivable("/autopilot/settings/altitude-ft"); - fgTie("/autopilot/control-overrides/rudder", this, - &FGAutopilot::getAPRudderControl, - &FGAutopilot::setAPRudderControl); - fgSetArchivable("/autopilot/control-overrides/rudder"); - fgTie("/autopilot/control-overrides/elevator", this, - &FGAutopilot::getAPElevatorControl, - &FGAutopilot::setAPElevatorControl); - fgSetArchivable("/autopilot/control-overrides/elevator"); - fgTie("/autopilot/control-overrides/throttle", this, - &FGAutopilot::getAPThrottleControl, - &FGAutopilot::setAPThrottleControl); - fgSetArchivable("/autopilot/control-overrides/throttle"); - - fgTie("/autopilot/settings/vertical-speed-fpm", this, - &FGAutopilot::getAPVertSpeed, &FGAutopilot::setAPVertSpeed); - fgSetArchivable("/autopilot/settings/vertical-speed-fpm"); - fgSetDouble("/autopilot/settings/vertical-speed-fpm", 0.0f); - -} - -void -FGAutopilot::unbind () -{ -} - -// 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 - heading_mode = DEFAULT_AP_HEADING_LOCK; - - // TargetHeading = 0.0; // default direction, due north - MakeTargetHeadingStr( TargetHeading ); - - // TargetAltitude = 3000; // default altitude in meters - MakeTargetAltitudeStr( TargetAltitude ); - - alt_error_accum = 0.0; - climb_error_accum = 0.0; - - update_old_control_values(); - - sprintf( NewTgtAirportId, "%s", fgGetString("/sim/presets/airport-id") ); - - MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() ); -} - - -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. - while ( Input > 180.0 ) { Input -= 360.0; } - while ( Input <= -180.0 ) { Input += 360.0; } - - 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 < -SG_EPSILON ) || ( dx > SG_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 ); - -}; - - -void -FGAutopilot::update (double dt) -{ - - // get control settings - double lat = latitude_node->getDoubleValue(); - double lon = longitude_node->getDoubleValue(); - double alt = altitude_node->getDoubleValue() * SG_FEET_TO_METER; - - // get config settings - MaxAileron = max_aileron_node->getDoubleValue(); - MaxRoll = max_roll_node->getDoubleValue(); - RollOut = roll_out_node->getDoubleValue(); - RollOutSmooth = roll_out_smooth_node->getDoubleValue(); - - SG_LOG( SG_ALL, SG_DEBUG, "FGAutopilot::run() lat = " << lat << - " lon = " << lon << " alt = " << alt ); - -#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 - if ( heading_hold == true ) { - if ( heading_mode == FG_DG_HEADING_LOCK ) { - double dg_error = heading_node->getDoubleValue() - - indicated_heading_node->getDoubleValue(); - TargetHeading = DGTargetHeading + dg_error; - // cout << "dg_error = " << dg_error << endl; - while ( TargetHeading < 0.0 ) { TargetHeading += 360.0; } - while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; } - MakeTargetHeadingStr( TargetHeading ); - } else if ( heading_mode == FG_TC_HEADING_LOCK ) { - // we don't set a specific target heading in - // TC_HEADING_LOCK mode, we instead try to keep the turn - // coordinator zero'd - } else if ( heading_mode == FG_TRUE_HEADING_LOCK ) { - // leave "true" target heading as is - while ( TargetHeading < 0.0 ) { TargetHeading += 360.0; } - while ( TargetHeading > 360.0 ) { TargetHeading -= 360.0; } - MakeTargetHeadingStr( TargetHeading ); - } 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_navcom1()->get_nav_reciprocal_radial(); - if ( current_radiostack->get_navcom1()->get_nav_loc() ) { - // ILS localizers radials are already "true" in our - // database - } else { - cur_radial += current_radiostack->get_navcom1()->get_nav_twist(); - } - if ( current_radiostack->get_navcom1()->get_nav_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_navcom1()->get_nav_target_radial(); - if ( current_radiostack->get_navcom1()->get_nav_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_navcom1()->get_nav_twist(); - } - - // determine the heading adjustment needed. - double adjustment = - current_radiostack->get_navcom1()->get_nav_cdi_deflection() - * (current_radiostack->get_navcom1()->get_nav_loc_dist() * SG_METER_TO_NM); - SG_CLAMP_RANGE( adjustment, -30.0, 30.0 ); - - // clamp closer when inside cone when beyond 5km... - if (current_radiostack->get_navcom1()->get_nav_loc_dist() > 5000) { - double clamp_angle = fabs(current_radiostack->get_navcom1()->get_nav_cdi_deflection()) * 3; - if (clamp_angle < 30) - SG_CLAMP_RANGE( adjustment, -clamp_angle, clamp_angle); - } - - // 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; } - - MakeTargetHeadingStr( TargetHeading ); - } else if ( heading_mode == FG_HEADING_WAYPOINT ) { - // update target heading to waypoint - - double wp_course, 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 - SGWayPoint wp = globals->get_route()->get_first(); - wp.CourseAndDistance( lon, lat, alt, - &wp_course, &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 { - // pop off this waypoint from the list - if ( globals->get_route()->size() ) { - globals->get_route()->delete_first(); - } - - // see if there are more waypoints on the list - if ( globals->get_route()->size() ) { - // more waypoints - set_HeadingMode( FG_HEADING_WAYPOINT ); - } else { - // end of the line - heading_mode = DEFAULT_AP_HEADING_LOCK; - // use current heading - TargetHeading = heading_node->getDoubleValue(); - } - } - MakeTargetHeadingStr( TargetHeading ); - // Force this just in case - TargetDistance = wp_distance; - MakeTargetWPStr( wp_distance ); - } - - if ( heading_mode == FG_TC_HEADING_LOCK ) { - // drive the turn coordinator to zero - double turn = - fgGetDouble("/instrumentation/turn-indicator/indicated-turn-rate"); - double AileronSet = -turn / 2.0; - SG_CLAMP_RANGE( AileronSet, -1.0, 1.0 ); - globals->get_controls()->set_aileron( AileronSet ); - globals->get_controls()->set_rudder( AileronSet / 4.0 ); - } else { - // steer towards the target heading - - double RelHeading; - double TargetRoll; - double RelRoll; - double AileronSet; - - RelHeading - = NormalizeDegrees( TargetHeading - - heading_node->getDoubleValue() ); - // figure out how far off we are from desired heading - - // Now it is time to deterime how far we should be rolled. - SG_LOG( SG_AUTOPILOT, SG_DEBUG, - "Heading = " << heading_node->getDoubleValue() << - " TargetHeading = " << TargetHeading << - " 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 - - SG_LOG( SG_COCKPIT, SG_BULK, "TargetRoll: " << TargetRoll ); - - RelRoll = NormalizeDegrees( TargetRoll - - roll_node->getDoubleValue() ); - - // 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 ); - } - - globals->get_controls()->set_aileron( AileronSet ); - globals->get_controls()->set_rudder( AileronSet / 4.0 ); - // controls.set_rudder( 0.0 ); - } - } - - // altitude hold - if ( altitude_hold ) { - double climb_rate; - double speed, max_climb, error; - double prop_error, int_error; - double prop_adj, int_adj, total_adj; - - if ( altitude_mode == FG_ALTITUDE_LOCK ) { - climb_rate = - ( TargetAltitude - - fgGetDouble("/instrumentation/altimeter/indicated-altitude-ft") * SG_FEET_TO_METER ) * 8.0; - } else if ( altitude_mode == FG_TRUE_ALTITUDE_LOCK ) { - climb_rate = ( TargetAltitude - alt ) * 8.0; - } else if ( altitude_mode == FG_ALTITUDE_GS1 ) { - double x = current_radiostack->get_navcom1()->get_nav_gs_dist(); - double y = (altitude_node->getDoubleValue() - - current_radiostack->get_navcom1()->get_nav_elev()) * SG_FEET_TO_METER; - double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES; - - double target_angle = current_radiostack->get_navcom1()->get_nav_target_gs(); - double gs_diff = target_angle - current_angle; - - // convert desired vertical path angle into a climb rate - double des_angle = current_angle - 10 * gs_diff; - - // estimate horizontal speed towards ILS in meters per minute - static double horiz_vel = 0.0; - static double last_x = 0.0; - double dist = last_x - x; - last_x = x; - double new_vel = ( dist / dt ) * 60.0; - horiz_vel = 0.75 * horiz_vel + 0.25 * new_vel; - // double horiz_vel = cur_fdm_state->get_V_ground_speed() - // * SG_FEET_TO_METER * 60.0; - // double horiz_vel = airspeed_node->getFloatValue() - // * SG_FEET_TO_METER * 60.0; - - climb_rate = -sin( des_angle * SGD_DEGREES_TO_RADIANS ) * horiz_vel; - /* climb_error_accum += gs_diff * 2.0; */ - /* climb_rate = gs_diff * 200.0 + climb_error_accum; */ - } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) { - // brain dead ground hugging with no look ahead - climb_rate = - ( TargetAGL - altitude_agl_node->getDoubleValue() - * SG_FEET_TO_METER ) - * terrain_follow_factor->getFloatValue(); - } else if ( altitude_mode == FG_VERT_SPEED ) { - climb_rate = TargetVertSpeed * SG_FEET_TO_METER; - // switch to altitude hold, if set, within 500ft of target - if (fabs(TargetAltitude * SG_METER_TO_FEET - altitude_node->getDoubleValue()) < 500) { - set_AltitudeMode( FG_ALTITUDE_LOCK ); - } - } else { - // just try to zero out rate of climb ... - climb_rate = 0.0; - } - - speed = airspeed_node->getFloatValue(); - - if ( speed < min_climb->getFloatValue() ) { - max_climb = 0.0; - } else if ( speed < best_climb->getFloatValue() ) { - max_climb = ((best_climb->getFloatValue() - - min_climb->getFloatValue()) - - (best_climb->getFloatValue() - speed)) - * fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER) - / (best_climb->getFloatValue() - min_climb->getFloatValue()); - } else { - max_climb = ( speed - best_climb->getFloatValue() ) * 10.0 - + fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER); - } - - if (altitude_mode != FG_VERT_SPEED) { - - // this first one could be optional if we wanted to allow - // better climb performance assuming we have the airspeed to - // support it. - if ( climb_rate > - fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER) ) { - climb_rate - = fabs(TargetClimbRate->getFloatValue() * SG_FEET_TO_METER); - } - - if ( climb_rate > max_climb ) { - climb_rate = max_climb; - } - - if ( climb_rate < - -fabs(TargetDescentRate->getFloatValue() * SG_FEET_TO_METER) ) { - climb_rate - = -fabs(TargetDescentRate->getFloatValue() * SG_FEET_TO_METER); - } - - } - - error = vertical_speed_node->getDoubleValue() * 60 - - climb_rate * SG_METER_TO_FEET; - - // 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); - - // scale elev_adj_factor by speed of aircraft in relation to min climb - double elev_adj_factor = elevator_adj_factor->getFloatValue(); - elev_adj_factor *= - pow(float(speed / min_climb->getFloatValue()), 3.0f); - - int_adj = int_error / elev_adj_factor; - - // caclulate proportional error - prop_error = error; - prop_adj = prop_error / elev_adj_factor; - - total_adj = ((double) 1.0 - (double) integral_contrib->getFloatValue()) * prop_adj - + (double) integral_contrib->getFloatValue() * int_adj; - - // stop on autopilot trim at 30% +/- -// if ( total_adj > 0.3 ) { -// total_adj = 0.3; -// } else if ( total_adj < -0.3 ) { -// total_adj = -0.3; -// } - - // adjust for throttle pitch gain - total_adj += ((current_throttle->getFloatValue() - zero_pitch_throttle->getFloatValue()) - / (1 - zero_pitch_throttle->getFloatValue())) - * zero_pitch_trim_full_throttle->getFloatValue(); - - globals->get_controls()->set_elevator_trim( total_adj ); - } - - // auto throttle - if ( auto_throttle ) { - double error; - double prop_error, int_error; - double prop_adj, int_adj, total_adj; - double lookahead; - - // estimate speed in 10 seconds - lookahead = airspeed_node->getFloatValue() + ( airspeed_node->getFloatValue() - previous_speed) * (10/(dt + 0.000001)); - previous_speed = airspeed_node->getFloatValue(); - - // compare targetspeed to anticipated airspeed - error = TargetSpeed - lookahead; - - // output anticipated speed change... - speed_change_node->setDoubleValue(lookahead - airspeed_node->getFloatValue()); - - // 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 / throttle_adj_factor->getFloatValue(); - - // caclulate proportional error - prop_error = error; - prop_adj = prop_error / throttle_adj_factor->getFloatValue(); - - total_adj = (1.0 - throttle_integral->getFloatValue()) * prop_adj + - throttle_integral->getFloatValue() * int_adj; - - current_ap_throttle = current_ap_throttle + total_adj; - - if ( current_ap_throttle > 1.0 ) { - current_ap_throttle = 1.0; - } - else if ( current_ap_throttle < 0.0 ) { - current_ap_throttle = 0.0; - } - - globals->get_controls()->set_throttle( FGControls::ALL_ENGINES, - current_ap_throttle ); - } - -#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 = globals->get_controls()->get_aileron(); - old_elevator = globals->get_controls()->get_elevator(); - old_elevator_trim = globals->get_controls()->get_elevator_trim(); - old_rudder = globals->get_controls()->get_rudder(); - - // for cross track error - old_lat = lat; - old_lon = lon; - - // Ok, we are done - SG_LOG( SG_ALL, SG_DEBUG, "FGAutopilot::run( returns )" ); -} - - -void FGAutopilot::set_HeadingMode( fgAutoHeadingMode mode ) { - heading_mode = mode; - - if ( heading_mode == FG_DG_HEADING_LOCK ) { - // use current heading bug value - } else if ( heading_mode == FG_TC_HEADING_LOCK ) { - // set autopilot to hold a zero turn (as reported by the TC) - } else if ( heading_mode == FG_TRUE_HEADING_LOCK ) { - // set heading hold to current heading - TargetHeading = heading_node->getDoubleValue(); - } else if ( heading_mode == FG_HEADING_WAYPOINT ) { - if ( globals->get_route()->size() ) { - double course, distance; - - old_lat = latitude_node->getDoubleValue(); - old_lon = longitude_node->getDoubleValue(); - - waypoint = globals->get_route()->get_first(); - waypoint.CourseAndDistance( longitude_node->getDoubleValue(), - latitude_node->getDoubleValue(), - altitude_node->getDoubleValue() - * SG_FEET_TO_METER, - &course, &distance ); - TargetHeading = course; - TargetDistance = distance; - MakeTargetLatLonStr( waypoint.get_target_lat(), - waypoint.get_target_lon() ); - MakeTargetWPStr( distance ); - - if ( waypoint.get_target_alt() > 0.0 ) { - TargetAltitude = waypoint.get_target_alt(); - altitude_mode = DEFAULT_AP_ALTITUDE_LOCK; - set_AltitudeEnabled( true ); - MakeTargetAltitudeStr( TargetAltitude * SG_METER_TO_FEET ); - } - - SG_LOG( SG_COCKPIT, SG_INFO, " set_HeadingMode: ( " - << get_TargetLatitude() << " " - << get_TargetLongitude() << " ) " - ); - } else { - // no more way points, default to heading lock. - heading_mode = FG_TC_HEADING_LOCK; - } - } - - MakeTargetHeadingStr( TargetHeading ); - update_old_control_values(); -} - - -void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) { - altitude_mode = mode; - - // only reset accum error if not in altitude mode for smooth transitions - // from one altitude mode to another until pitch control damping added. - if (!altitude_hold) { - alt_error_accum = 0.0; - } - - if ( altitude_mode == DEFAULT_AP_ALTITUDE_LOCK ) { - if ( TargetAltitude < altitude_agl_node->getDoubleValue() - * SG_FEET_TO_METER ) { - } - - if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) { - MakeTargetAltitudeStr( TargetAltitude * SG_METER_TO_FEET ); - } else { - MakeTargetAltitudeStr( TargetAltitude * SG_METER_TO_FEET ); - } - } else if ( altitude_mode == FG_ALTITUDE_GS1 ) { - climb_error_accum = 0.0; - - } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) { - TargetAGL = altitude_agl_node->getDoubleValue() * SG_FEET_TO_METER; - - if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) { - MakeTargetAltitudeStr( TargetAGL * SG_METER_TO_FEET ); - } else { - MakeTargetAltitudeStr( TargetAGL * SG_METER_TO_FEET ); - } - } - - update_old_control_values(); - SG_LOG( SG_COCKPIT, SG_INFO, " set_AltitudeMode():" ); -} - - -void FGAutopilot::AltitudeSet( double new_altitude ) { - double target_alt = new_altitude; - altitude_mode = DEFAULT_AP_ALTITUDE_LOCK; - - if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) { - target_alt = new_altitude * SG_FEET_TO_METER; - } - - if( target_alt < globals->get_scenery()->get_cur_elev() ) { - target_alt = globals->get_scenery()->get_cur_elev(); - } - - TargetAltitude = target_alt; - - if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) { - target_alt *= SG_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 ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) { - target_alt = TargetAltitude * SG_METER_TO_FEET; - target_agl = TargetAGL * SG_METER_TO_FEET; - } else { - target_alt = TargetAltitude; - target_agl = TargetAGL; - } - - if ( fabs((int)(target_alt / inc) * inc - target_alt) < SG_EPSILON ) { - target_alt += inc; - } else { - target_alt = ( int ) ( target_alt / inc ) * inc + inc; - } - - if ( fabs((int)(target_agl / inc) * inc - target_agl) < SG_EPSILON ) { - target_agl += inc; - } else { - target_agl = ( int ) ( target_agl / inc ) * inc + inc; - } - - if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) { - target_alt *= SG_FEET_TO_METER; - target_agl *= SG_FEET_TO_METER; - } - - TargetAltitude = target_alt; - TargetAGL = target_agl; - - if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) - target_alt *= SG_METER_TO_FEET; - if ( !strcmp(fgGetString("/sim/startup/units"), "feet") ) - target_agl *= SG_METER_TO_FEET; - - if ( altitude_mode == DEFAULT_AP_ALTITUDE_LOCK ) { - MakeTargetAltitudeStr( target_alt ); - } else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) { - MakeTargetAltitudeStr( target_agl ); - } - - update_old_control_values(); -} - - -void FGAutopilot::HeadingAdjust( double inc ) { - if ( heading_mode != FG_DG_HEADING_LOCK - && heading_mode != FG_TRUE_HEADING_LOCK ) - { - heading_mode = DEFAULT_AP_HEADING_LOCK; - } - - if ( heading_mode == FG_DG_HEADING_LOCK ) { - double target = ( int ) ( DGTargetHeading / inc ) * inc + inc; - DGTargetHeading = NormalizeDegrees( target ); - } else { - double target = ( int ) ( TargetHeading / inc ) * inc + inc; - TargetHeading = NormalizeDegrees( target ); - } - - update_old_control_values(); -} - - -void FGAutopilot::HeadingSet( double new_heading ) { - heading_mode = DEFAULT_AP_HEADING_LOCK; - if( heading_mode == FG_TRUE_HEADING_LOCK ) { - new_heading = NormalizeDegrees( new_heading ); - TargetHeading = new_heading; - MakeTargetHeadingStr( TargetHeading ); - } else { - heading_mode = FG_DG_HEADING_LOCK; - - new_heading = NormalizeDegrees( new_heading ); - DGTargetHeading = new_heading; - // following cast needed ambiguous plib - // ApHeadingDialogInput -> setValue ((float)APData->TargetHeading ); - MakeTargetHeadingStr( DGTargetHeading ); - } - update_old_control_values(); -} - -void FGAutopilot::AutoThrottleAdjust( double inc ) { - double target = ( int ) ( TargetSpeed / inc ) * inc + inc; - - set_TargetSpeed( target ); -} - -/** - * Set the autothrottle speed - */ -void -FGAutopilot::setAPAutoThrottle (double speed_kt) -{ - set_TargetSpeed( speed_kt ); -} - -/** - * Get the autothrottle speed - */ -double -FGAutopilot::getAPAutoThrottle () const -{ - return get_TargetSpeed(); -} - -void FGAutopilot::set_AutoThrottleEnabled( bool value ) { - auto_throttle = value; - - if ( auto_throttle == true ) { - if (TargetSpeed < 0.0001) { - TargetSpeed = fgGetDouble("/velocities/airspeed-kt"); - } - speed_error_accum = 0.0; - // initialize autothrottle at current control setting; - current_ap_throttle = current_throttle->getFloatValue(); - } - - update_old_control_values(); - SG_LOG( SG_COCKPIT, SG_INFO, " fgAPSetAutoThrottle: (" - << auto_throttle << ") " << TargetSpeed ); -} - - - - -//////////////////////////////////////////////////////////////////////// -// Kludged methods for tying to properties. -// -// These should change eventually; they all used to be static -// functions. -//////////////////////////////////////////////////////////////////////// - -/** - * Get the autopilot altitude lock (true=on). - */ -bool -FGAutopilot::getAPAltitudeLock () const -{ - return (get_AltitudeEnabled() && - get_AltitudeMode() - == DEFAULT_AP_ALTITUDE_LOCK); -} - - -/** - * Set the autopilot altitude lock (true=on). - */ -void -FGAutopilot::setAPAltitudeLock (bool lock) -{ - if (lock) - set_AltitudeMode(DEFAULT_AP_ALTITUDE_LOCK); - if (get_AltitudeMode() == DEFAULT_AP_ALTITUDE_LOCK) - set_AltitudeEnabled(lock); -} - - -/** - * Get the autopilot target altitude in feet. - */ -double -FGAutopilot::getAPAltitude () const -{ - return get_TargetAltitude() * SG_METER_TO_FEET; -} - - -/** - * Set the autopilot target altitude in feet. - */ -void -FGAutopilot::setAPAltitude (double altitude) -{ - set_TargetAltitude( altitude * SG_FEET_TO_METER ); -} - -/** - * Get the autopilot altitude lock (true=on). - */ -bool -FGAutopilot::getAPGSLock () const -{ - return (get_AltitudeEnabled() && - (get_AltitudeMode() - == FGAutopilot::FG_ALTITUDE_GS1)); -} - - -/** - * Set the autopilot altitude lock (true=on). - */ -void -FGAutopilot::setAPGSLock (bool lock) -{ - if (lock) - set_AltitudeMode(FGAutopilot::FG_ALTITUDE_GS1); - if (get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_GS1) - set_AltitudeEnabled(lock); -} - - -/** - * Get the autopilot terrain lock (true=on). - */ -bool -FGAutopilot::getAPTerrainLock () const -{ - return (get_AltitudeEnabled() && - (get_AltitudeMode() - == FGAutopilot::FG_ALTITUDE_TERRAIN)); -} - - -/** - * Set the autopilot terrain lock (true=on). - */ -void -FGAutopilot::setAPTerrainLock (bool lock) -{ - if (lock) { - set_AltitudeMode(FGAutopilot::FG_ALTITUDE_TERRAIN); - set_TargetAGL(fgGetFloat("/position/altitude-agl-ft") * - SG_FEET_TO_METER); - } - if (get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_TERRAIN) - set_AltitudeEnabled(lock); -} - -/** - * Get the autopilot vertical speed lock (true=on). - */ -bool -FGAutopilot::getAPVertSpeedLock () const -{ - return (get_AltitudeEnabled() && - (get_AltitudeMode() - == FGAutopilot::FG_VERT_SPEED)); -} - - -/** - * Set the autopilot vert speed lock (true=on). - */ -void -FGAutopilot::setAPVertSpeedLock (bool lock) -{ - if (lock) - set_AltitudeMode(FGAutopilot::FG_VERT_SPEED); - if (get_AltitudeMode() == FGAutopilot::FG_VERT_SPEED) - set_AltitudeEnabled(lock); -} - - -/** - * Get the autopilot target altitude in feet. - */ -double -FGAutopilot::getAPClimb () const -{ - return get_TargetClimbRate() * SG_METER_TO_FEET; -} - - -/** - * Set the autopilot target altitude in feet. - */ -void -FGAutopilot::setAPClimb (double rate) -{ - set_TargetClimbRate( rate * SG_FEET_TO_METER ); -} - - -/** - * Get the autopilot heading lock (true=on). - */ -bool -FGAutopilot::getAPHeadingLock () const -{ - return - (get_HeadingEnabled() && - get_HeadingMode() == DEFAULT_AP_HEADING_LOCK); -} - - -/** - * Set the autopilot heading lock (true=on). - */ -void -FGAutopilot::setAPHeadingLock (bool lock) -{ - if (lock) - set_HeadingMode(DEFAULT_AP_HEADING_LOCK); - if (get_HeadingMode() == DEFAULT_AP_HEADING_LOCK) - set_HeadingEnabled(lock); -} - - -/** - * Get the autopilot heading bug in degrees. - */ -double -FGAutopilot::getAPHeadingBug () const -{ - return get_DGTargetHeading(); -} - - -/** - * Set the autopilot heading bug in degrees. - */ -void -FGAutopilot::setAPHeadingBug (double heading) -{ - set_DGTargetHeading( heading ); -} - - -/** - * return blank-separated string of waypoints - */ -const char * -FGAutopilot::getAPwaypoint () const -{ - static char wplist[500]; - char *p = wplist; - int WPListsize, i; - - // FIXME: This can cause a possible buffer overflow, EMH - if ( globals->get_route()->size() > 0 ) { - WPListsize = globals->get_route()->size(); - - for (i = 0; i < globals->get_route()->size(); i++ ) { - p += sprintf(p, "%5s ", - globals->get_route()->get_waypoint(i).get_id().c_str() ); - } - return wplist; - - } else { - return "none specified"; - } -} - - -/** - * set next waypoint (if str='0', then delete next(first) waypoint) - */ -void -FGAutopilot::setAPwaypoint (const char * apt) -{ - if (strcmp(apt, "0")==0) - { - SG_LOG( SG_AUTOPILOT, SG_INFO, "delete of first wp" ); - if ( globals->get_route()->size() ) - globals->get_route()->delete_first(); - return; - } - - if ( NewWaypoint( apt ) == 0) - SG_LOG( SG_AUTOPILOT, SG_INFO, "Waypoint " << apt << "not in d.b." ); - else - { - /* SG_LOG( SG_AUTOPILOT, SG_INFO, "GOOD!" ); */ - } -} - -/** - * Get the autopilot wing leveler lock (true=on). - */ -bool -FGAutopilot::getAPWingLeveler () const -{ - return - (get_HeadingEnabled() && - get_HeadingMode() == FGAutopilot::FG_TC_HEADING_LOCK); -} - - -/** - * Set the autopilot wing leveler lock (true=on). - */ -void -FGAutopilot::setAPWingLeveler (bool lock) -{ - if (lock) - set_HeadingMode(FGAutopilot::FG_TC_HEADING_LOCK); - if (get_HeadingMode() == FGAutopilot::FG_TC_HEADING_LOCK) - set_HeadingEnabled(lock); -} - -/** - * Return true if the autopilot is locked to NAV1. - */ -bool -FGAutopilot::getAPNAV1Lock () const -{ - return - (get_HeadingEnabled() && - get_HeadingMode() == FGAutopilot::FG_HEADING_NAV1); -} - - -/** - * Set the autopilot NAV1 lock. - */ -void -FGAutopilot::setAPNAV1Lock (bool lock) -{ - if (lock) - set_HeadingMode(FGAutopilot::FG_HEADING_NAV1); - if (get_HeadingMode() == FGAutopilot::FG_HEADING_NAV1) - set_HeadingEnabled(lock); -} - -/** - * Get the autopilot autothrottle lock. - */ -bool -FGAutopilot::getAPAutoThrottleLock () const -{ - return get_AutoThrottleEnabled(); -} - - -/** - * Set the autothrottle lock. - */ -void -FGAutopilot::setAPAutoThrottleLock (bool lock) -{ - set_AutoThrottleEnabled(lock); -} - - -// kludge -double -FGAutopilot::getAPRudderControl () const -{ - if (getAPHeadingLock()) - return get_TargetHeading(); - else - return globals->get_controls()->get_rudder(); -} - -// kludge -void -FGAutopilot::setAPRudderControl (double value) -{ - if (getAPHeadingLock()) { - SG_LOG(SG_GENERAL, SG_DEBUG, "setAPRudderControl " << value ); - value -= get_TargetHeading(); - HeadingAdjust(value < 0.0 ? -1.0 : 1.0); - } else { - globals->get_controls()->set_rudder(value); - } -} - -// kludge -double -FGAutopilot::getAPElevatorControl () const -{ - if (getAPAltitudeLock()) - return get_TargetAltitude(); - else - return globals->get_controls()->get_elevator(); -} - -// kludge -void -FGAutopilot::setAPElevatorControl (double value) -{ - if (value != 0 && getAPAltitudeLock()) { - SG_LOG(SG_GENERAL, SG_DEBUG, "setAPElevatorControl " << value ); - value -= get_TargetAltitude(); - AltitudeAdjust(value < 0.0 ? 100.0 : -100.0); - } else { - globals->get_controls()->set_elevator(value); - } -} - -// kludge -double -FGAutopilot::getAPThrottleControl () const -{ - if (getAPAutoThrottleLock()) - return 0.0; // always resets - else - return globals->get_controls()->get_throttle(0); -} - -// kludge -void -FGAutopilot::setAPThrottleControl (double value) -{ - if (getAPAutoThrottleLock()) - AutoThrottleAdjust(value < 0.0 ? -0.01 : 0.01); - else - globals->get_controls()->set_throttle(FGControls::ALL_ENGINES, value); -} - -/** - * Get the vertical speed selected - */ -double -FGAutopilot::getAPVertSpeed () const -{ - return TargetVertSpeed; -} - - -/** - * Set the selected vertical speed - */ -void -FGAutopilot::setAPVertSpeed (double speed) -{ - TargetVertSpeed = speed; -} - -// end of newauto.cxx - diff --git a/src/Autopilot/newauto.hxx b/src/Autopilot/newauto.hxx deleted file mode 100644 index 3daa9b0b1..000000000 --- a/src/Autopilot/newauto.hxx +++ /dev/null @@ -1,325 +0,0 @@ -// newauto.hxx -- autopilot defines and prototypes (very alpha) -// -// Started April 1998 Copyright (C) 1998 -// -// Contributions by Jeff Goeke-Smith -// Norman Vine -// Curtis Olson -// -// 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. -// -// $Id$ - - -#error choke me - -#ifndef _NEWAUTO_HXX -#define _NEWAUTO_HXX - - -#include -#include -#include - -#include
- -// Structures -class FGAutopilot : public SGSubsystem -{ - -public: - - enum fgAutoHeadingMode { - FG_DG_HEADING_LOCK = 0, // follow bug on directional gryo (vacuum) - FG_TC_HEADING_LOCK = 1, // keep turn coordinator zero'd - FG_TRUE_HEADING_LOCK = 2, // lock to true heading (i.e. a perfect world) - FG_HEADING_NAV1 = 3, // follow nav1 radial - FG_HEADING_NAV2 = 4, // follow nav2 radial - FG_HEADING_WAYPOINT = 5 // track next waypoint - }; - - enum fgAutoAltitudeMode { - FG_ALTITUDE_LOCK = 0, // lock to a specific altitude (indicated) - FG_ALTITUDE_TERRAIN = 1, // try to maintain a specific AGL - FG_ALTITUDE_GS1 = 2, // follow glide slope 1 - FG_ALTITUDE_GS2 = 3, // follow glide slope 2 - FG_ALTITUDE_ARM = 4, // ascend to selected altitude - FG_TRUE_ALTITUDE_LOCK = 5, // lock to a specific true altitude - // (i.e. a perfect world) - FG_VERT_SPEED = 6 // ascend or descend at selected fpm - }; - -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; - - SGWayPoint waypoint; // the waypoint the AP should steer to. - - // 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 DGTargetHeading; // the apparent DG heading to steer towards. - double TargetHeading; // the true heading the AP should steer to. - double TargetAltitude; // altitude to hold - double TargetAGL; // the terrain separation - - double TargetVertSpeed; // vertical speed to shoot for - - double TargetSpeed; // speed to shoot for - double alt_error_accum; // altitude error accumulator - double climb_error_accum; // climb error accumulator (for GS) - double speed_error_accum; // speed error accumulator - - double current_ap_throttle; // current ap stored throttle setting used to set all engines - double previous_speed; // used to detect acceleration rate - - 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 TargetWP1Str[64]; - char TargetWP2Str[64]; - char TargetWP3Str[64]; - char TargetHeadingStr[64]; - char TargetAltitudeStr[64]; - - // property nodes - SGPropertyNode *latitude_node; - SGPropertyNode *longitude_node; - SGPropertyNode *altitude_node; - SGPropertyNode *altitude_agl_node; - SGPropertyNode *vertical_speed_node; - SGPropertyNode *heading_node; - SGPropertyNode *indicated_heading_node; - SGPropertyNode *roll_node; - SGPropertyNode *pitch_node; - SGPropertyNode *airspeed_node; - - SGPropertyNode *min_climb; // minimum climb speed - SGPropertyNode *best_climb; // best climb speed - SGPropertyNode *elevator_adj_factor; // factor to optimize altitude hold adjustments - SGPropertyNode *integral_contrib; // amount of contribution of the integral - // component of the pid - SGPropertyNode *zero_pitch_throttle; // amount of throttle at which the aircraft does not pitch up - SGPropertyNode *zero_pitch_trim_full_throttle; // amount of trim required to level at full throttle - SGPropertyNode *max_aileron_node; // maximum aileron setting range -1 ~ 1 - SGPropertyNode *max_roll_node; // maximum roll setting in degrees - SGPropertyNode *roll_out_node; // start rollout offset from desired heading in degrees - SGPropertyNode *roll_out_smooth_node; // rollout smoothing offset in degrees - SGPropertyNode *throttle_adj_factor; // factor to optimize autothrottle adjustments - SGPropertyNode *throttle_integral; // amount of contribution of the integral - // component of the pid - SGPropertyNode *speed_change_node; // anticipated speed change - - SGPropertyNode *TargetClimbRate; // target climb rate - SGPropertyNode *TargetDescentRate; // target decent rate - SGPropertyNode *current_throttle; // current throttle (engine 0) - SGPropertyNode *terrain_follow_factor; // modifies the climb rate to - // permit more control when using terrain following mode - -public: - - // constructor - FGAutopilot(); - - // destructor - ~FGAutopilot(); - - - //////////////////////////////////////////////////////////////////// - // Implementation of SGSubsystem. - //////////////////////////////////////////////////////////////////// - - void init (); - void bind (); - void unbind (); - void update (double dt); - - // Reset the autopilot system - void reset(void); - - 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 void set_WayPoint( const double lon, const double lat, - const double alt, const string s ) { - waypoint = SGWayPoint( lon, lat, alt, SGWayPoint::WGS84, "Current WP" ); - } */ - inline double get_TargetLatitude() const { - return waypoint.get_target_lat(); - } - inline double get_TargetLongitude() const { - return waypoint.get_target_lon(); - } - inline void set_old_lat( double val ) { old_lat = 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_DGTargetHeading() const { return DGTargetHeading; } - inline void set_DGTargetHeading( double val ) { DGTargetHeading = 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 double get_TargetSpeed() const { return TargetSpeed; } - inline void set_TargetSpeed( double val ) { TargetSpeed = val; } - inline double get_TargetAGL() const { return TargetAGL; } - inline void set_TargetAGL( double val ) { TargetAGL = val; } - inline double get_TargetClimbRate() const { - return TargetClimbRate->getFloatValue(); - } - inline void set_TargetClimbRate( double val ) { - fgSetFloat( "/autopilot/config/target-climb-rate-fpm", val); - } - - inline char *get_TargetLatitudeStr() { return TargetLatitudeStr; } - inline char *get_TargetLongitudeStr() { return TargetLongitudeStr; } - inline char *get_TargetWP1Str() { return TargetWP1Str; } - inline char *get_TargetWP2Str() { return TargetWP2Str; } - inline char *get_TargetWP3Str() { return TargetWP3Str; } - 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 MakeTargetWPStr( double distance ); - void update_old_control_values(); - - // accessors - inline double get_MaxRoll() { - return fgGetFloat( "/autopilot/config/max-roll-deg" ); - } - inline double get_RollOut() { - return fgGetFloat( "/autopilot/config/roll-out-deg" ); - } - inline double get_MaxAileron() { - return fgGetFloat( "/autopilot/config/max-aileron" ); - } - inline double get_RollOutSmooth() { - return fgGetFloat( "/autopilot/config/roll-out-smooth-deg" ); - } - inline void set_MaxRoll( double val ) { - fgSetFloat( "/autopilot/config/max-roll-deg", val ); - } - inline void set_RollOut( double val ) { - fgSetFloat( "/autopilot/config/roll-out-deg", val ); - } - inline void set_MaxAileron( double val ) { - fgSetFloat( "/autopilot/config/max-aileron", val ); - } - inline void set_RollOutSmooth( double val ) { - fgSetFloat( "/autopilot/config/roll-out-smooth-deg", val ); - } - -private: - - bool getAPAltitudeLock () const; - void setAPAltitudeLock (bool lock); - double getAPAltitude () const; - void setAPAltitude (double altitude); - bool getAPGSLock () const; - void setAPGSLock (bool lock); - bool getAPVertSpeedLock () const; - void setAPVertSpeedLock (bool lock); - bool getAPTerrainLock () const; - void setAPTerrainLock (bool lock); - double getAPClimb () const; - void setAPClimb (double rate); - bool getAPHeadingLock () const; - void setAPHeadingLock (bool lock); - double getAPHeadingBug () const; - void setAPHeadingBug (double heading); - const char * getAPwaypoint () const; - void setAPwaypoint (const char * apt); - bool getAPWingLeveler () const; - void setAPWingLeveler (bool lock); - bool getAPNAV1Lock () const; - void setAPNAV1Lock (bool lock); - bool getAPAutoThrottleLock () const; - void setAPAutoThrottleLock (bool lock); - double getAPAutoThrottle () const; - void setAPAutoThrottle (double altitude); - double getAPRudderControl () const; - void setAPRudderControl (double value); - double getAPElevatorControl () const; - void setAPElevatorControl (double value); - double getAPThrottleControl () const; - void setAPThrottleControl (double value); - double getAPVertSpeed () const; - void setAPVertSpeed (double speed); - -}; - - -#define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_DG_HEADING_LOCK -#define DEFAULT_AP_ALTITUDE_LOCK FGAutopilot::FG_ALTITUDE_LOCK -//#define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_TRUE_HEADING_LOCK -//#define DEFAULT_AP_ALTITUDE_LOCK FGAutopilot::FG_TRUE_ALTITUDE_LOCK - -/** - * static functions for autopilot properties - */ - -#endif // _NEWAUTO_HXX -