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This is the change where autopilot bindings are moved from fg_props.cxx to

Browse source 
newauto.cxx.  Basically everything is the same functionally except for a
changed in the initial altitude setting to 3000ft instead of meters (the panel
is in feet).
This commit is contained in:
curt 2002-03-01 16:54:50 +00:00
parent 34072bbc42
commit a6cb16ce36
3 changed files with 404 additions and 393 deletions
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129
src/Autopilot/newauto.cxx
View file

@ -48,12 +48,6 @@
FGAutopilot *current_autopilot; FGAutopilot *current_autopilot;
// Climb speed constants
// const double min_climb = 70.0; // kts
// const double best_climb = 75.0; // kts
// const double ideal_climb_rate = 500.0 * SG_FEET_TO_METER; // fpm -> mpm
// const double ideal_decent_rate = 1000.0 * SG_FEET_TO_METER; // fpm -> mpm
/// These statics will eventually go into the class /// These statics will eventually go into the class
/// they are just here while I am experimenting -- NHV :-) /// they are just here while I am experimenting -- NHV :-)
// AutoPilot Gain Adjuster members // AutoPilot Gain Adjuster members
@ -72,38 +66,6 @@ extern char *coord_format_lon(float);
// constructor // constructor
FGAutopilot::FGAutopilot() FGAutopilot::FGAutopilot()
{ {
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);
current_throttle = fgGetNode("/controls/throttle");
// initialize 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 );
} }
// destructor // destructor
@ -249,6 +211,43 @@ void FGAutopilot::update_old_control_values() {
void FGAutopilot::init() { void FGAutopilot::init() {
SG_LOG( SG_AUTOPILOT, SG_INFO, "Init AutoPilot Subsystem" ); SG_LOG( SG_AUTOPILOT, SG_INFO, "Init AutoPilot Subsystem" );
// Autopilot control property static get/set bindings
fgTie("/autopilot/locks/altitude", getAPAltitudeLock, setAPAltitudeLock);
fgSetArchivable("/autopilot/locks/altitude");
fgTie("/autopilot/settings/altitude-ft", getAPAltitude, setAPAltitude);
fgSetArchivable("/autopilot/settings/altitude-ft");
fgTie("/autopilot/locks/glide-slope", getAPGSLock, setAPGSLock);
fgSetDouble("/autopilot/settings/altitude-ft", 3000.0f);
fgSetArchivable("/autopilot/locks/glide-slope");
fgTie("/autopilot/locks/terrain", getAPTerrainLock, setAPTerrainLock);
fgSetArchivable("/autopilot/locks/terrain");
fgTie("/autopilot/settings/climb-rate-fpm", getAPClimb, setAPClimb, false);
fgSetArchivable("/autopilot/settings/climb-rate-fpm");
fgTie("/autopilot/locks/heading", getAPHeadingLock, setAPHeadingLock);
fgSetArchivable("/autopilot/locks/heading");
fgTie("/autopilot/settings/heading-bug-deg",
getAPHeadingBug, setAPHeadingBug);
fgSetArchivable("/autopilot/settings/heading-bug-deg");
fgSetDouble("/autopilot/settings/heading-bug-deg", 0.0f);
fgTie("/autopilot/locks/wing-leveler", getAPWingLeveler, setAPWingLeveler);
fgSetArchivable("/autopilot/locks/wing-leveler");
fgTie("/autopilot/locks/nav[0]", getAPNAV1Lock, setAPNAV1Lock);
fgSetArchivable("/autopilot/locks/nav[0]");
fgTie("/autopilot/locks/auto-throttle",
getAPAutoThrottleLock, setAPAutoThrottleLock);
fgSetArchivable("/autopilot/locks/auto-throttle");
fgTie("/autopilot/control-overrides/rudder",
getAPRudderControl, setAPRudderControl);
fgSetArchivable("/autopilot/control-overrides/rudder");
fgTie("/autopilot/control-overrides/elevator",
getAPElevatorControl, setAPElevatorControl);
fgSetArchivable("/autopilot/control-overrides/elevator");
fgTie("/autopilot/control-overrides/throttle",
getAPThrottleControl, setAPThrottleControl);
fgSetArchivable("/autopilot/control-overrides/throttle");
// bind data input property nodes...
latitude_node = fgGetNode("/position/latitude-deg", true); latitude_node = fgGetNode("/position/latitude-deg", true);
longitude_node = fgGetNode("/position/longitude-deg", true); longitude_node = fgGetNode("/position/longitude-deg", true);
altitude_node = fgGetNode("/position/altitude-ft", true); altitude_node = fgGetNode("/position/altitude-ft", true);
@ -256,14 +255,52 @@ void FGAutopilot::init() {
vertical_speed_node = fgGetNode("/velocities/vertical-speed-fps", true); vertical_speed_node = fgGetNode("/velocities/vertical-speed-fps", true);
heading_node = fgGetNode("/orientation/heading-deg", true); heading_node = fgGetNode("/orientation/heading-deg", true);
roll_node = fgGetNode("/orientation/roll-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);
current_throttle = fgGetNode("/controls/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 );
/* set defaults */
heading_hold = false ; // turn the heading hold off heading_hold = false ; // turn the heading hold off
altitude_hold = false ; // turn the altitude hold off altitude_hold = false ; // turn the altitude hold off
auto_throttle = false ; // turn the auto throttle off auto_throttle = false ; // turn the auto throttle off
heading_mode = DEFAULT_AP_HEADING_LOCK; heading_mode = DEFAULT_AP_HEADING_LOCK;
sg_srandom_time(); DGTargetHeading = fgGetDouble("/autopilot/settings/heading-bug-deg");
DGTargetHeading = sg_random() * 360.0; TargetHeading = fgGetDouble("/autopilot/settings/heading-bug-deg");
TargetAltitude = fgGetDouble("/autopilot/settings/altitude-ft") * SG_FEET_TO_METER;
// Initialize target location to startup location // Initialize target location to startup location
old_lat = latitude_node->getDoubleValue(); old_lat = latitude_node->getDoubleValue();
@ -272,8 +309,6 @@ void FGAutopilot::init() {
MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() ); MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() );
TargetHeading = 0.0; // default direction, due north
TargetAltitude = 3000; // default altitude in meters
alt_error_accum = 0.0; alt_error_accum = 0.0;
climb_error_accum = 0.0; climb_error_accum = 0.0;
@ -726,11 +761,11 @@ int FGAutopilot::run() {
+ (double) integral_contrib->getFloatValue() * int_adj; + (double) integral_contrib->getFloatValue() * int_adj;
// stop on autopilot trim at 30% +/- // stop on autopilot trim at 30% +/-
if ( total_adj > 0.3 ) { // if ( total_adj > 0.3 ) {
total_adj = 0.3; // total_adj = 0.3;
} else if ( total_adj < -0.3 ) { // } else if ( total_adj < -0.3 ) {
total_adj = -0.3; // total_adj = -0.3;
} // }
// adjust for throttle pitch gain // adjust for throttle pitch gain
total_adj += ((current_throttle->getFloatValue() - zero_pitch_throttle->getFloatValue()) total_adj += ((current_throttle->getFloatValue() - zero_pitch_throttle->getFloatValue())

333
src/Autopilot/newauto.hxx
View file

@ -50,9 +50,11 @@ public:
FG_ALTITUDE_LOCK = 0, // lock to a specific altitude FG_ALTITUDE_LOCK = 0, // lock to a specific altitude
FG_ALTITUDE_TERRAIN = 1, // try to maintain a specific AGL FG_ALTITUDE_TERRAIN = 1, // try to maintain a specific AGL
FG_ALTITUDE_GS1 = 2, // follow glide slope 1 FG_ALTITUDE_GS1 = 2, // follow glide slope 1
FG_ALTITUDE_GS2 = 3 // follow glide slope 2 FG_ALTITUDE_GS2 = 3, // follow glide slope 2
FG_ALTITUDE_ARM = 4 // ascend to selected altitude
}; };
private: private:
bool heading_hold; // the current state of the heading hold bool heading_hold; // the current state of the heading hold
@ -71,16 +73,7 @@ private:
double TargetHeading; // the true heading the AP should steer to. double TargetHeading; // the true heading the AP should steer to.
double TargetAltitude; // altitude to hold double TargetAltitude; // altitude to hold
double TargetAGL; // the terrain separation double TargetAGL; // the terrain separation
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 *TargetClimbRate; // target climb rate
SGPropertyNode *TargetDescentRate; // target decent rate
SGPropertyNode *current_throttle; // current throttle (engine 0)
double TargetSpeed; // speed to shoot for double TargetSpeed; // speed to shoot for
double alt_error_accum; // altitude error accumulator double alt_error_accum; // altitude error accumulator
double climb_error_accum; // climb error accumulator (for GS) double climb_error_accum; // climb error accumulator (for GS)
@ -120,6 +113,7 @@ private:
char TargetHeadingStr[64]; char TargetHeadingStr[64];
char TargetAltitudeStr[64]; char TargetAltitudeStr[64];
// property nodes
SGPropertyNode *latitude_node; SGPropertyNode *latitude_node;
SGPropertyNode *longitude_node; SGPropertyNode *longitude_node;
SGPropertyNode *altitude_node; SGPropertyNode *altitude_node;
@ -127,6 +121,18 @@ private:
SGPropertyNode *vertical_speed_node; SGPropertyNode *vertical_speed_node;
SGPropertyNode *heading_node; SGPropertyNode *heading_node;
SGPropertyNode *roll_node; SGPropertyNode *roll_node;
SGPropertyNode *pitch_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 *TargetClimbRate; // target climb rate
SGPropertyNode *TargetDescentRate; // target decent rate
SGPropertyNode *current_throttle; // current throttle (engine 0)
public: public:
@ -229,4 +235,309 @@ extern FGAutopilot *current_autopilot;
#define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_DG_HEADING_LOCK #define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_DG_HEADING_LOCK
// #define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_TRUE_HEADING_LOCK // #define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_TRUE_HEADING_LOCK
/**
* static functions for autopilot properties
*/
/**
* Get the autopilot altitude lock (true=on).
*/
static bool
getAPAltitudeLock ()
{
return (current_autopilot->get_AltitudeEnabled() &&
current_autopilot->get_AltitudeMode()
== FGAutopilot::FG_ALTITUDE_LOCK);
}
/**
* Set the autopilot altitude lock (true=on).
*/
static void
setAPAltitudeLock (bool lock)
{
if (lock)
current_autopilot->set_AltitudeMode(FGAutopilot::FG_ALTITUDE_LOCK);
if (current_autopilot->get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_LOCK)
current_autopilot->set_AltitudeEnabled(lock);
}
/**
* Get the autopilot target altitude in feet.
*/
static double
getAPAltitude ()
{
return current_autopilot->get_TargetAltitude() * SG_METER_TO_FEET;
}
/**
* Set the autopilot target altitude in feet.
*/
static void
setAPAltitude (double altitude)
{
current_autopilot->set_TargetAltitude( altitude * SG_FEET_TO_METER );
}
/**
* Get the autopilot altitude lock (true=on).
*/
static bool
getAPGSLock ()
{
return (current_autopilot->get_AltitudeEnabled() &&
(current_autopilot->get_AltitudeMode()
== FGAutopilot::FG_ALTITUDE_GS1));
}
/**
* Set the autopilot altitude lock (true=on).
*/
static void
setAPGSLock (bool lock)
{
if (lock)
current_autopilot->set_AltitudeMode(FGAutopilot::FG_ALTITUDE_GS1);
if (current_autopilot->get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_GS1)
current_autopilot->set_AltitudeEnabled(lock);
}
/**
* Get the autopilot terrain lock (true=on).
*/
static bool
getAPTerrainLock ()
{
return (current_autopilot->get_AltitudeEnabled() &&
(current_autopilot->get_AltitudeMode()
== FGAutopilot::FG_ALTITUDE_TERRAIN));
}
/**
* Set the autopilot terrain lock (true=on).
*/
static void
setAPTerrainLock (bool lock)
{
if (lock) {
current_autopilot->set_AltitudeMode(FGAutopilot::FG_ALTITUDE_TERRAIN);
current_autopilot
->set_TargetAGL(fgGetFloat("/position/altitude-agl-ft") *
SG_FEET_TO_METER);
cout << "Target AGL = "
<< fgGetFloat("/position/altitude-agl-ft") * SG_FEET_TO_METER
<< endl;
}
if (current_autopilot->get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_TERRAIN)
current_autopilot->set_AltitudeEnabled(lock);
}
/**
* Get the autopilot target altitude in feet.
*/
static double
getAPClimb ()
{
return current_autopilot->get_TargetClimbRate() * SG_METER_TO_FEET;
}
/**
* Set the autopilot target altitude in feet.
*/
static void
setAPClimb (double rate)
{
current_autopilot->set_TargetClimbRate( rate * SG_FEET_TO_METER );
}
/**
* Get the autopilot heading lock (true=on).
*/
static bool
getAPHeadingLock ()
{
return
(current_autopilot->get_HeadingEnabled() &&
current_autopilot->get_HeadingMode() == DEFAULT_AP_HEADING_LOCK);
}
/**
* Set the autopilot heading lock (true=on).
*/
static void
setAPHeadingLock (bool lock)
{
if (lock)
current_autopilot->set_HeadingMode(DEFAULT_AP_HEADING_LOCK);
if (current_autopilot->get_HeadingMode() == DEFAULT_AP_HEADING_LOCK)
current_autopilot->set_HeadingEnabled(lock);
}
/**
* Get the autopilot heading bug in degrees.
*/
static double
getAPHeadingBug ()
{
return current_autopilot->get_DGTargetHeading();
}
/**
* Set the autopilot heading bug in degrees.
*/
static void
setAPHeadingBug (double heading)
{
current_autopilot->set_DGTargetHeading( heading );
}
/**
* Get the autopilot wing leveler lock (true=on).
*/
static bool
getAPWingLeveler ()
{
return
(current_autopilot->get_HeadingEnabled() &&
current_autopilot->get_HeadingMode() == FGAutopilot::FG_TC_HEADING_LOCK);
}
/**
* Set the autopilot wing leveler lock (true=on).
*/
static void
setAPWingLeveler (bool lock)
{
if (lock)
current_autopilot->set_HeadingMode(FGAutopilot::FG_TC_HEADING_LOCK);
if (current_autopilot->get_HeadingMode() == FGAutopilot::FG_TC_HEADING_LOCK)
current_autopilot->set_HeadingEnabled(lock);
}
/**
* Return true if the autopilot is locked to NAV1.
*/
static bool
getAPNAV1Lock ()
{
return
(current_autopilot->get_HeadingEnabled() &&
current_autopilot->get_HeadingMode() == FGAutopilot::FG_HEADING_NAV1);
}
/**
* Set the autopilot NAV1 lock.
*/
static void
setAPNAV1Lock (bool lock)
{
if (lock)
current_autopilot->set_HeadingMode(FGAutopilot::FG_HEADING_NAV1);
if (current_autopilot->get_HeadingMode() == FGAutopilot::FG_HEADING_NAV1)
current_autopilot->set_HeadingEnabled(lock);
}
/**
* Get the autopilot autothrottle lock.
*/
static bool
getAPAutoThrottleLock ()
{
return current_autopilot->get_AutoThrottleEnabled();
}
/**
* Set the autothrottle lock.
*/
static void
setAPAutoThrottleLock (bool lock)
{
current_autopilot->set_AutoThrottleEnabled(lock);
}
// kludge
static double
getAPRudderControl ()
{
if (getAPHeadingLock())
return current_autopilot->get_TargetHeading();
else
return globals->get_controls()->get_rudder();
}
// kludge
static void
setAPRudderControl (double value)
{
if (getAPHeadingLock()) {
SG_LOG(SG_GENERAL, SG_DEBUG, "setAPRudderControl " << value );
value -= current_autopilot->get_TargetHeading();
current_autopilot->HeadingAdjust(value < 0.0 ? -1.0 : 1.0);
} else {
globals->get_controls()->set_rudder(value);
}
}
// kludge
static double
getAPElevatorControl ()
{
if (getAPAltitudeLock())
return current_autopilot->get_TargetAltitude();
else
return globals->get_controls()->get_elevator();
}
// kludge
static void
setAPElevatorControl (double value)
{
if (value != 0 && getAPAltitudeLock()) {
SG_LOG(SG_GENERAL, SG_DEBUG, "setAPElevatorControl " << value );
value -= current_autopilot->get_TargetAltitude();
current_autopilot->AltitudeAdjust(value < 0.0 ? 100.0 : -100.0);
} else {
globals->get_controls()->set_elevator(value);
}
}
// kludge
static double
getAPThrottleControl ()
{
if (getAPAutoThrottleLock())
return 0.0; // always resets
else
return globals->get_controls()->get_throttle(0);
}
// kludge
static void
setAPThrottleControl (double value)
{
if (getAPAutoThrottleLock())
current_autopilot->AutoThrottleAdjust(value < 0.0 ? -0.01 : 0.01);
else
globals->get_controls()->set_throttle(FGControls::ALL_ENGINES, value);
}
#endif // _NEWAUTO_HXX #endif // _NEWAUTO_HXX

335
src/Main/fg_props.cxx
View file

@ -29,7 +29,6 @@
#include STL_IOSTREAM #include STL_IOSTREAM
#include <ATC/ATCdisplay.hxx> #include <ATC/ATCdisplay.hxx>
#include <Autopilot/newauto.hxx>
#include <Aircraft/aircraft.hxx> #include <Aircraft/aircraft.hxx>
#include <Time/tmp.hxx> #include <Time/tmp.hxx>
#include <FDM/UIUCModel/uiuc_aircraftdir.h> #include <FDM/UIUCModel/uiuc_aircraftdir.h>
@ -589,307 +588,6 @@ getHeadingMag ()
} }
/**
* Get the autopilot altitude lock (true=on).
*/
static bool
getAPAltitudeLock ()
{
return (current_autopilot->get_AltitudeEnabled() &&
current_autopilot->get_AltitudeMode()
== FGAutopilot::FG_ALTITUDE_LOCK);
}
/**
* Set the autopilot altitude lock (true=on).
*/
static void
setAPAltitudeLock (bool lock)
{
if (lock)
current_autopilot->set_AltitudeMode(FGAutopilot::FG_ALTITUDE_LOCK);
if (current_autopilot->get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_LOCK)
current_autopilot->set_AltitudeEnabled(lock);
}
/**
* Get the autopilot target altitude in feet.
*/
static double
getAPAltitude ()
{
return current_autopilot->get_TargetAltitude() * SG_METER_TO_FEET;
}
/**
* Set the autopilot target altitude in feet.
*/
static void
setAPAltitude (double altitude)
{
current_autopilot->set_TargetAltitude( altitude * SG_FEET_TO_METER );
}
/**
* Get the autopilot altitude lock (true=on).
*/
static bool
getAPGSLock ()
{
return (current_autopilot->get_AltitudeEnabled() &&
(current_autopilot->get_AltitudeMode()
== FGAutopilot::FG_ALTITUDE_GS1));
}
/**
* Set the autopilot altitude lock (true=on).
*/
static void
setAPGSLock (bool lock)
{
if (lock)
current_autopilot->set_AltitudeMode(FGAutopilot::FG_ALTITUDE_GS1);
if (current_autopilot->get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_GS1)
current_autopilot->set_AltitudeEnabled(lock);
}
/**
* Get the autopilot terrain lock (true=on).
*/
static bool
getAPTerrainLock ()
{
return (current_autopilot->get_AltitudeEnabled() &&
(current_autopilot->get_AltitudeMode()
== FGAutopilot::FG_ALTITUDE_TERRAIN));
}
/**
* Set the autopilot terrain lock (true=on).
*/
static void
setAPTerrainLock (bool lock)
{
if (lock) {
current_autopilot->set_AltitudeMode(FGAutopilot::FG_ALTITUDE_TERRAIN);
current_autopilot
->set_TargetAGL(current_aircraft.fdm_state->get_Altitude_AGL() *
SG_FEET_TO_METER);
cout << "Target AGL = "
<< current_aircraft.fdm_state->get_Altitude_AGL() * SG_FEET_TO_METER
<< endl;
}
if (current_autopilot->get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_TERRAIN)
current_autopilot->set_AltitudeEnabled(lock);
}
/**
* Get the autopilot target altitude in feet.
*/
static double
getAPClimb ()
{
return current_autopilot->get_TargetClimbRate() * SG_METER_TO_FEET;
}
/**
* Set the autopilot target altitude in feet.
*/
static void
setAPClimb (double rate)
{
current_autopilot->set_TargetClimbRate( rate * SG_FEET_TO_METER );
}
/**
* Get the autopilot heading lock (true=on).
*/
static bool
getAPHeadingLock ()
{
return
(current_autopilot->get_HeadingEnabled() &&
current_autopilot->get_HeadingMode() == DEFAULT_AP_HEADING_LOCK);
}
/**
* Set the autopilot heading lock (true=on).
*/
static void
setAPHeadingLock (bool lock)
{
if (lock)
current_autopilot->set_HeadingMode(DEFAULT_AP_HEADING_LOCK);
if (current_autopilot->get_HeadingMode() == DEFAULT_AP_HEADING_LOCK)
current_autopilot->set_HeadingEnabled(lock);
}
/**
* Get the autopilot heading bug in degrees.
*/
static double
getAPHeadingBug ()
{
return current_autopilot->get_DGTargetHeading();
}
/**
* Set the autopilot heading bug in degrees.
*/
static void
setAPHeadingBug (double heading)
{
current_autopilot->set_DGTargetHeading( heading );
}
/**
* Get the autopilot wing leveler lock (true=on).
*/
static bool
getAPWingLeveler ()
{
return
(current_autopilot->get_HeadingEnabled() &&
current_autopilot->get_HeadingMode() == FGAutopilot::FG_TC_HEADING_LOCK);
}
/**
* Set the autopilot wing leveler lock (true=on).
*/
static void
setAPWingLeveler (bool lock)
{
if (lock)
current_autopilot->set_HeadingMode(FGAutopilot::FG_TC_HEADING_LOCK);
if (current_autopilot->get_HeadingMode() == FGAutopilot::FG_TC_HEADING_LOCK)
current_autopilot->set_HeadingEnabled(lock);
}
/**
* Return true if the autopilot is locked to NAV1.
*/
static bool
getAPNAV1Lock ()
{
return
(current_autopilot->get_HeadingEnabled() &&
current_autopilot->get_HeadingMode() == FGAutopilot::FG_HEADING_NAV1);
}
/**
* Set the autopilot NAV1 lock.
*/
static void
setAPNAV1Lock (bool lock)
{
if (lock)
current_autopilot->set_HeadingMode(FGAutopilot::FG_HEADING_NAV1);
if (current_autopilot->get_HeadingMode() == FGAutopilot::FG_HEADING_NAV1)
current_autopilot->set_HeadingEnabled(lock);
}
/**
* Get the autopilot autothrottle lock.
*/
static bool
getAPAutoThrottleLock ()
{
return current_autopilot->get_AutoThrottleEnabled();
}
/**
* Set the autothrottle lock.
*/
static void
setAPAutoThrottleLock (bool lock)
{
current_autopilot->set_AutoThrottleEnabled(lock);
}
// kludge
static double
getAPRudderControl ()
{
if (getAPHeadingLock())
return current_autopilot->get_TargetHeading();
else
return globals->get_controls()->get_rudder();
}
// kludge
static void
setAPRudderControl (double value)
{
if (getAPHeadingLock()) {
SG_LOG(SG_GENERAL, SG_DEBUG, "setAPRudderControl " << value );
value -= current_autopilot->get_TargetHeading();
current_autopilot->HeadingAdjust(value < 0.0 ? -1.0 : 1.0);
} else {
globals->get_controls()->set_rudder(value);
}
}
// kludge
static double
getAPElevatorControl ()
{
if (getAPAltitudeLock())
return current_autopilot->get_TargetAltitude();
else
return globals->get_controls()->get_elevator();
}
// kludge
static void
setAPElevatorControl (double value)
{
if (value != 0 && getAPAltitudeLock()) {
SG_LOG(SG_GENERAL, SG_DEBUG, "setAPElevatorControl " << value );
value -= current_autopilot->get_TargetAltitude();
current_autopilot->AltitudeAdjust(value < 0.0 ? 100.0 : -100.0);
} else {
globals->get_controls()->set_elevator(value);
}
}
// kludge
static double
getAPThrottleControl ()
{
if (getAPAutoThrottleLock())
return 0.0; // always resets
else
return globals->get_controls()->get_throttle(0);
}
// kludge
static void
setAPThrottleControl (double value)
{
if (getAPAutoThrottleLock())
current_autopilot->AutoThrottleAdjust(value < 0.0 ? -0.01 : 0.01);
else
globals->get_controls()->set_throttle(FGControls::ALL_ENGINES, value);
}
#if !defined(FG_NEW_ENVIRONMENT) #if !defined(FG_NEW_ENVIRONMENT)
/** /**
@ -1118,39 +816,6 @@ fgInitProps ()
// Orientation // Orientation
fgTie("/orientation/heading-magnetic-deg", getHeadingMag); fgTie("/orientation/heading-magnetic-deg", getHeadingMag);
// Autopilot
fgTie("/autopilot/locks/altitude", getAPAltitudeLock, setAPAltitudeLock);
fgSetArchivable("/autopilot/locks/altitude");
fgTie("/autopilot/settings/altitude-ft", getAPAltitude, setAPAltitude);
fgSetArchivable("/autopilot/settings/altitude-ft");
fgTie("/autopilot/locks/glide-slope", getAPGSLock, setAPGSLock);
fgSetArchivable("/autopilot/locks/glide-slope");
fgTie("/autopilot/locks/terrain", getAPTerrainLock, setAPTerrainLock);
fgSetArchivable("/autopilot/locks/terrain");
fgTie("/autopilot/settings/climb-rate-fpm", getAPClimb, setAPClimb, false);
fgSetArchivable("/autopilot/settings/climb-rate-fpm");
fgTie("/autopilot/locks/heading", getAPHeadingLock, setAPHeadingLock);
fgSetArchivable("/autopilot/locks/heading");
fgTie("/autopilot/settings/heading-bug-deg",
getAPHeadingBug, setAPHeadingBug);
fgSetArchivable("/autopilot/settings/heading-bug-deg");
fgTie("/autopilot/locks/wing-leveler", getAPWingLeveler, setAPWingLeveler);
fgSetArchivable("/autopilot/locks/wing-leveler");
fgTie("/autopilot/locks/nav[0]", getAPNAV1Lock, setAPNAV1Lock);
fgSetArchivable("/autopilot/locks/nav[0]");
fgTie("/autopilot/locks/auto-throttle",
getAPAutoThrottleLock, setAPAutoThrottleLock);
fgSetArchivable("/autopilot/locks/auto-throttle");
fgTie("/autopilot/control-overrides/rudder",
getAPRudderControl, setAPRudderControl);
fgSetArchivable("/autopilot/control-overrides/rudder");
fgTie("/autopilot/control-overrides/elevator",
getAPElevatorControl, setAPElevatorControl);
fgSetArchivable("/autopilot/control-overrides/elevator");
fgTie("/autopilot/control-overrides/throttle",
getAPThrottleControl, setAPThrottleControl);
fgSetArchivable("/autopilot/control-overrides/throttle");
// Environment // Environment
#if !defined(FG_NEW_ENVIRONMENT) #if !defined(FG_NEW_ENVIRONMENT)
fgTie("/environment/visibility-m", getVisibility, setVisibility); fgTie("/environment/visibility-m", getVisibility, setVisibility);