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// newauto.hxx -- autopilot defines and prototypes (very alpha)
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//
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// Started April 1998 Copyright (C) 1998
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//
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// Contributions by Jeff Goeke-Smith <jgoeke@voyager.net>
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// Norman Vine <nhv@cape.com>
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// Curtis Olson <curt@flightgear.org>
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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//
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// $Id$
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#error choke me
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#ifndef _NEWAUTO_HXX
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#define _NEWAUTO_HXX
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#include <simgear/props/props.hxx>
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#include <simgear/structure/subsystem_mgr.hxx>
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#include <simgear/route/waypoint.hxx>
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#include <Main/fg_props.hxx>
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// Structures
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class FGAutopilot : public SGSubsystem
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{
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public:
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enum fgAutoHeadingMode {
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FG_DG_HEADING_LOCK = 0, // follow bug on directional gryo (vacuum)
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FG_TC_HEADING_LOCK = 1, // keep turn coordinator zero'd
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FG_TRUE_HEADING_LOCK = 2, // lock to true heading (i.e. a perfect world)
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FG_HEADING_NAV1 = 3, // follow nav1 radial
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FG_HEADING_NAV2 = 4, // follow nav2 radial
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FG_HEADING_WAYPOINT = 5 // track next waypoint
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};
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enum fgAutoAltitudeMode {
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FG_ALTITUDE_LOCK = 0, // lock to a specific altitude (indicated)
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FG_ALTITUDE_TERRAIN = 1, // try to maintain a specific AGL
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FG_ALTITUDE_GS1 = 2, // follow glide slope 1
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FG_ALTITUDE_GS2 = 3, // follow glide slope 2
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FG_ALTITUDE_ARM = 4, // ascend to selected altitude
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FG_TRUE_ALTITUDE_LOCK = 5, // lock to a specific true altitude
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// (i.e. a perfect world)
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FG_VERT_SPEED = 6 // ascend or descend at selected fpm
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};
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private:
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bool heading_hold; // the current state of the heading hold
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bool altitude_hold; // the current state of the altitude hold
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bool auto_throttle; // the current state of the auto throttle
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fgAutoHeadingMode heading_mode;
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fgAutoAltitudeMode altitude_mode;
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SGWayPoint waypoint; // the waypoint the AP should steer to.
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// double TargetLatitude; // the latitude the AP should steer to.
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// double TargetLongitude; // the longitude the AP should steer to.
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double TargetDistance; // the distance to Target.
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double DGTargetHeading; // the apparent DG heading to steer towards.
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double TargetHeading; // the true heading the AP should steer to.
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double TargetAltitude; // altitude to hold
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double TargetAGL; // the terrain separation
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double TargetVertSpeed; // vertical speed to shoot for
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double TargetSpeed; // speed to shoot for
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double alt_error_accum; // altitude error accumulator
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double climb_error_accum; // climb error accumulator (for GS)
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double speed_error_accum; // speed error accumulator
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double current_ap_throttle; // current ap stored throttle setting used to set all engines
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double previous_speed; // used to detect acceleration rate
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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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double RollOut; // when the plane should roll out
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// measured from Heading
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double MaxAileron; // how far to move the aleroin from center
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double RollOutSmooth; // deg to use for smoothing Aileron Control
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double MaxElevator; // the maximum elevator allowed
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double SlopeSmooth; // smoothing angle for elevator
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// following for testing disengagement of autopilot upon pilot
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// interaction with controls
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double old_aileron;
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double old_elevator;
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double old_elevator_trim;
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double old_rudder;
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// manual controls override beyond this value
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double disengage_threshold;
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// For future cross track error adjust
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double old_lat;
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double old_lon;
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// keeping these locally to save work inside main loop
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char TargetLatitudeStr[64];
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char TargetLongitudeStr[64];
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char TargetLatLonStr[64];
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char TargetWP1Str[64];
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char TargetWP2Str[64];
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char TargetWP3Str[64];
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char TargetHeadingStr[64];
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char TargetAltitudeStr[64];
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// property nodes
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SGPropertyNode *latitude_node;
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SGPropertyNode *longitude_node;
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SGPropertyNode *altitude_node;
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SGPropertyNode *altitude_agl_node;
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SGPropertyNode *vertical_speed_node;
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SGPropertyNode *heading_node;
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SGPropertyNode *indicated_heading_node;
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SGPropertyNode *roll_node;
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SGPropertyNode *pitch_node;
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SGPropertyNode *airspeed_node;
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SGPropertyNode *min_climb; // minimum climb speed
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SGPropertyNode *best_climb; // best climb speed
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SGPropertyNode *elevator_adj_factor; // factor to optimize altitude hold adjustments
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SGPropertyNode *integral_contrib; // amount of contribution of the integral
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// component of the pid
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SGPropertyNode *zero_pitch_throttle; // amount of throttle at which the aircraft does not pitch up
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SGPropertyNode *zero_pitch_trim_full_throttle; // amount of trim required to level at full throttle
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SGPropertyNode *max_aileron_node; // maximum aileron setting range -1 ~ 1
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SGPropertyNode *max_roll_node; // maximum roll setting in degrees
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SGPropertyNode *roll_out_node; // start rollout offset from desired heading in degrees
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SGPropertyNode *roll_out_smooth_node; // rollout smoothing offset in degrees
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SGPropertyNode *throttle_adj_factor; // factor to optimize autothrottle adjustments
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SGPropertyNode *throttle_integral; // amount of contribution of the integral
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// component of the pid
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SGPropertyNode *speed_change_node; // anticipated speed change
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SGPropertyNode *TargetClimbRate; // target climb rate
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SGPropertyNode *TargetDescentRate; // target decent rate
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SGPropertyNode *current_throttle; // current throttle (engine 0)
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SGPropertyNode *terrain_follow_factor; // modifies the climb rate to
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// permit more control when using terrain following mode
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public:
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// constructor
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FGAutopilot();
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// destructor
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~FGAutopilot();
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////////////////////////////////////////////////////////////////////
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// Implementation of SGSubsystem.
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////////////////////////////////////////////////////////////////////
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void init ();
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void bind ();
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void unbind ();
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void update (double dt);
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// Reset the autopilot system
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void reset(void);
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void AltitudeSet( double new_altitude );
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void AltitudeAdjust( double inc );
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void HeadingAdjust( double inc );
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void AutoThrottleAdjust( double inc );
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void HeadingSet( double value );
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inline bool get_HeadingEnabled() const { return heading_hold; }
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inline void set_HeadingEnabled( bool value ) { heading_hold = value; }
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inline fgAutoHeadingMode get_HeadingMode() const { return heading_mode; }
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void set_HeadingMode( fgAutoHeadingMode mode );
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inline bool get_AltitudeEnabled() const { return altitude_hold; }
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inline void set_AltitudeEnabled( bool value ) { altitude_hold = value; }
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inline fgAutoAltitudeMode get_AltitudeMode() const { return altitude_mode;}
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void set_AltitudeMode( fgAutoAltitudeMode mode );
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inline bool get_AutoThrottleEnabled() const { return auto_throttle; }
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void set_AutoThrottleEnabled( bool value );
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/* inline void set_WayPoint( const double lon, const double lat,
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const double alt, const string s ) {
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waypoint = SGWayPoint( lon, lat, alt, SGWayPoint::WGS84, "Current WP" );
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} */
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inline double get_TargetLatitude() const {
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return waypoint.get_target_lat();
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}
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inline double get_TargetLongitude() const {
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return waypoint.get_target_lon();
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}
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inline void set_old_lat( double val ) { old_lat = val; }
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inline void set_old_lon( double val ) { old_lon = val; }
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inline double get_TargetHeading() const { return TargetHeading; }
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inline void set_TargetHeading( double val ) { TargetHeading = val; }
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inline double get_DGTargetHeading() const { return DGTargetHeading; }
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inline void set_DGTargetHeading( double val ) { DGTargetHeading = val; }
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inline double get_TargetDistance() const { return TargetDistance; }
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inline void set_TargetDistance( double val ) { TargetDistance = val; }
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inline double get_TargetAltitude() const { return TargetAltitude; }
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inline void set_TargetAltitude( double val ) { TargetAltitude = val; }
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inline double get_TargetSpeed() const { return TargetSpeed; }
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inline void set_TargetSpeed( double val ) { TargetSpeed = val; }
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inline double get_TargetAGL() const { return TargetAGL; }
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inline void set_TargetAGL( double val ) { TargetAGL = val; }
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inline double get_TargetClimbRate() const {
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return TargetClimbRate->getFloatValue();
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}
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inline void set_TargetClimbRate( double val ) {
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fgSetFloat( "/autopilot/config/target-climb-rate-fpm", val);
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}
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inline char *get_TargetLatitudeStr() { return TargetLatitudeStr; }
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inline char *get_TargetLongitudeStr() { return TargetLongitudeStr; }
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inline char *get_TargetWP1Str() { return TargetWP1Str; }
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inline char *get_TargetWP2Str() { return TargetWP2Str; }
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inline char *get_TargetWP3Str() { return TargetWP3Str; }
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inline char *get_TargetHeadingStr() { return TargetHeadingStr; }
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inline char *get_TargetAltitudeStr() { return TargetAltitudeStr; }
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inline char *get_TargetLatLonStr() { return TargetLatLonStr; }
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// utility functions
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void MakeTargetLatLonStr( double lat, double lon );
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void MakeTargetAltitudeStr( double altitude );
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void MakeTargetHeadingStr( double bearing );
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void MakeTargetWPStr( double distance );
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void update_old_control_values();
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// accessors
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inline double get_MaxRoll() {
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return fgGetFloat( "/autopilot/config/max-roll-deg" );
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}
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inline double get_RollOut() {
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return fgGetFloat( "/autopilot/config/roll-out-deg" );
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}
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inline double get_MaxAileron() {
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return fgGetFloat( "/autopilot/config/max-aileron" );
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}
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inline double get_RollOutSmooth() {
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return fgGetFloat( "/autopilot/config/roll-out-smooth-deg" );
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}
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inline void set_MaxRoll( double val ) {
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fgSetFloat( "/autopilot/config/max-roll-deg", val );
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}
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inline void set_RollOut( double val ) {
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fgSetFloat( "/autopilot/config/roll-out-deg", val );
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}
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inline void set_MaxAileron( double val ) {
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fgSetFloat( "/autopilot/config/max-aileron", val );
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}
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inline void set_RollOutSmooth( double val ) {
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fgSetFloat( "/autopilot/config/roll-out-smooth-deg", val );
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}
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private:
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bool getAPAltitudeLock () const;
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void setAPAltitudeLock (bool lock);
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double getAPAltitude () const;
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void setAPAltitude (double altitude);
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bool getAPGSLock () const;
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void setAPGSLock (bool lock);
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bool getAPVertSpeedLock () const;
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void setAPVertSpeedLock (bool lock);
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bool getAPTerrainLock () const;
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void setAPTerrainLock (bool lock);
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double getAPClimb () const;
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void setAPClimb (double rate);
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bool getAPHeadingLock () const;
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void setAPHeadingLock (bool lock);
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double getAPHeadingBug () const;
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void setAPHeadingBug (double heading);
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const char * getAPwaypoint () const;
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void setAPwaypoint (const char * apt);
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bool getAPWingLeveler () const;
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void setAPWingLeveler (bool lock);
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bool getAPNAV1Lock () const;
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void setAPNAV1Lock (bool lock);
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bool getAPAutoThrottleLock () const;
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void setAPAutoThrottleLock (bool lock);
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double getAPAutoThrottle () const;
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void setAPAutoThrottle (double altitude);
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double getAPRudderControl () const;
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void setAPRudderControl (double value);
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double getAPElevatorControl () const;
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void setAPElevatorControl (double value);
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double getAPThrottleControl () const;
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void setAPThrottleControl (double value);
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double getAPVertSpeed () const;
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void setAPVertSpeed (double speed);
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};
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#define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_DG_HEADING_LOCK
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#define DEFAULT_AP_ALTITUDE_LOCK FGAutopilot::FG_ALTITUDE_LOCK
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//#define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_TRUE_HEADING_LOCK
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//#define DEFAULT_AP_ALTITUDE_LOCK FGAutopilot::FG_TRUE_ALTITUDE_LOCK
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/**
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* static functions for autopilot properties
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*/
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#endif // _NEWAUTO_HXX
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