This is the change where autopilot bindings are moved from fg_props.cxx to
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
parent
34072bbc42
commit
a6cb16ce36
3 changed files with 404 additions and 393 deletions
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@ -48,12 +48,6 @@
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FGAutopilot *current_autopilot;
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// Climb speed constants
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// const double min_climb = 70.0; // kts
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// const double best_climb = 75.0; // kts
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// const double ideal_climb_rate = 500.0 * SG_FEET_TO_METER; // fpm -> mpm
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// const double ideal_decent_rate = 1000.0 * SG_FEET_TO_METER; // fpm -> mpm
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/// These statics will eventually go into the class
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/// they are just here while I am experimenting -- NHV :-)
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// AutoPilot Gain Adjuster members
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@ -72,38 +66,6 @@ extern char *coord_format_lon(float);
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// constructor
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FGAutopilot::FGAutopilot()
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{
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TargetClimbRate
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= fgGetNode("/autopilot/config/target-climb-rate-fpm", true);
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TargetDescentRate
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= fgGetNode("/autopilot/config/target-descent-rate-fpm", true);
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min_climb = fgGetNode("/autopilot/config/min-climb-speed-kt", true);
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best_climb = fgGetNode("/autopilot/config/best-climb-speed-kt", true);
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elevator_adj_factor
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= fgGetNode("/autopilot/config/elevator-adj-factor", true);
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integral_contrib
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= fgGetNode("/autopilot/config/integral-contribution", true);
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zero_pitch_throttle
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= fgGetNode("/autopilot/config/zero-pitch-throttle", true);
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zero_pitch_trim_full_throttle
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= fgGetNode("/autopilot/config/zero-pitch-trim-full-throttle", true);
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current_throttle = fgGetNode("/controls/throttle");
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// initialize with defaults (in case config isn't there)
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if ( TargetClimbRate->getFloatValue() < 1 )
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fgSetFloat( "/autopilot/config/target-climb-rate-fpm", 500);
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if ( TargetDescentRate->getFloatValue() < 1 )
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fgSetFloat( "/autopilot/config/target-descent-rate-fpm", 1000 );
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if ( min_climb->getFloatValue() < 1)
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fgSetFloat( "/autopilot/config/min-climb-speed-kt", 70 );
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if (best_climb->getFloatValue() < 1)
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fgSetFloat( "/autopilot/config/best-climb-speed-kt", 120 );
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if (elevator_adj_factor->getFloatValue() < 1)
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fgSetFloat( "/autopilot/config/elevator-adj-factor", 5000 );
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if ( integral_contrib->getFloatValue() < 0.0000001 )
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fgSetFloat( "/autopilot/config/integral-contribution", 0.01 );
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if ( zero_pitch_throttle->getFloatValue() < 0.0000001 )
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fgSetFloat( "/autopilot/config/zero-pitch-throttle", 0.60 );
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if ( zero_pitch_trim_full_throttle->getFloatValue() < 0.0000001 )
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fgSetFloat( "/autopilot/config/zero-pitch-trim-full-throttle", 0.15 );
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}
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// destructor
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@ -249,6 +211,43 @@ void FGAutopilot::update_old_control_values() {
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void FGAutopilot::init() {
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SG_LOG( SG_AUTOPILOT, SG_INFO, "Init AutoPilot Subsystem" );
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// Autopilot control property static get/set bindings
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fgTie("/autopilot/locks/altitude", getAPAltitudeLock, setAPAltitudeLock);
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fgSetArchivable("/autopilot/locks/altitude");
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fgTie("/autopilot/settings/altitude-ft", getAPAltitude, setAPAltitude);
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fgSetArchivable("/autopilot/settings/altitude-ft");
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fgTie("/autopilot/locks/glide-slope", getAPGSLock, setAPGSLock);
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fgSetDouble("/autopilot/settings/altitude-ft", 3000.0f);
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fgSetArchivable("/autopilot/locks/glide-slope");
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fgTie("/autopilot/locks/terrain", getAPTerrainLock, setAPTerrainLock);
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fgSetArchivable("/autopilot/locks/terrain");
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fgTie("/autopilot/settings/climb-rate-fpm", getAPClimb, setAPClimb, false);
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fgSetArchivable("/autopilot/settings/climb-rate-fpm");
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fgTie("/autopilot/locks/heading", getAPHeadingLock, setAPHeadingLock);
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fgSetArchivable("/autopilot/locks/heading");
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fgTie("/autopilot/settings/heading-bug-deg",
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getAPHeadingBug, setAPHeadingBug);
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fgSetArchivable("/autopilot/settings/heading-bug-deg");
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fgSetDouble("/autopilot/settings/heading-bug-deg", 0.0f);
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fgTie("/autopilot/locks/wing-leveler", getAPWingLeveler, setAPWingLeveler);
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fgSetArchivable("/autopilot/locks/wing-leveler");
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fgTie("/autopilot/locks/nav[0]", getAPNAV1Lock, setAPNAV1Lock);
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fgSetArchivable("/autopilot/locks/nav[0]");
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fgTie("/autopilot/locks/auto-throttle",
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getAPAutoThrottleLock, setAPAutoThrottleLock);
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fgSetArchivable("/autopilot/locks/auto-throttle");
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fgTie("/autopilot/control-overrides/rudder",
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getAPRudderControl, setAPRudderControl);
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fgSetArchivable("/autopilot/control-overrides/rudder");
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fgTie("/autopilot/control-overrides/elevator",
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getAPElevatorControl, setAPElevatorControl);
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fgSetArchivable("/autopilot/control-overrides/elevator");
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fgTie("/autopilot/control-overrides/throttle",
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getAPThrottleControl, setAPThrottleControl);
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fgSetArchivable("/autopilot/control-overrides/throttle");
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// bind data input property nodes...
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latitude_node = fgGetNode("/position/latitude-deg", true);
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longitude_node = fgGetNode("/position/longitude-deg", true);
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altitude_node = fgGetNode("/position/altitude-ft", true);
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@ -256,14 +255,52 @@ void FGAutopilot::init() {
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vertical_speed_node = fgGetNode("/velocities/vertical-speed-fps", true);
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heading_node = fgGetNode("/orientation/heading-deg", true);
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roll_node = fgGetNode("/orientation/roll-deg", true);
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pitch_node = fgGetNode("/orientation/pitch-deg", true);
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// bind config property nodes...
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TargetClimbRate
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= fgGetNode("/autopilot/config/target-climb-rate-fpm", true);
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TargetDescentRate
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= fgGetNode("/autopilot/config/target-descent-rate-fpm", true);
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min_climb = fgGetNode("/autopilot/config/min-climb-speed-kt", true);
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best_climb = fgGetNode("/autopilot/config/best-climb-speed-kt", true);
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elevator_adj_factor
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= fgGetNode("/autopilot/config/elevator-adj-factor", true);
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integral_contrib
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= fgGetNode("/autopilot/config/integral-contribution", true);
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zero_pitch_throttle
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= fgGetNode("/autopilot/config/zero-pitch-throttle", true);
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zero_pitch_trim_full_throttle
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= fgGetNode("/autopilot/config/zero-pitch-trim-full-throttle", true);
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current_throttle = fgGetNode("/controls/throttle");
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// initialize config properties with defaults (in case config isn't there)
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if ( TargetClimbRate->getFloatValue() < 1 )
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fgSetFloat( "/autopilot/config/target-climb-rate-fpm", 500);
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if ( TargetDescentRate->getFloatValue() < 1 )
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fgSetFloat( "/autopilot/config/target-descent-rate-fpm", 1000 );
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if ( min_climb->getFloatValue() < 1)
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fgSetFloat( "/autopilot/config/min-climb-speed-kt", 70 );
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if (best_climb->getFloatValue() < 1)
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fgSetFloat( "/autopilot/config/best-climb-speed-kt", 120 );
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if (elevator_adj_factor->getFloatValue() < 1)
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fgSetFloat( "/autopilot/config/elevator-adj-factor", 5000 );
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if ( integral_contrib->getFloatValue() < 0.0000001 )
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fgSetFloat( "/autopilot/config/integral-contribution", 0.01 );
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if ( zero_pitch_throttle->getFloatValue() < 0.0000001 )
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fgSetFloat( "/autopilot/config/zero-pitch-throttle", 0.60 );
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if ( zero_pitch_trim_full_throttle->getFloatValue() < 0.0000001 )
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fgSetFloat( "/autopilot/config/zero-pitch-trim-full-throttle", 0.15 );
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/* set defaults */
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heading_hold = false ; // turn the heading hold off
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altitude_hold = false ; // turn the altitude hold off
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auto_throttle = false ; // turn the auto throttle off
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heading_mode = DEFAULT_AP_HEADING_LOCK;
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sg_srandom_time();
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DGTargetHeading = sg_random() * 360.0;
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DGTargetHeading = fgGetDouble("/autopilot/settings/heading-bug-deg");
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TargetHeading = fgGetDouble("/autopilot/settings/heading-bug-deg");
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TargetAltitude = fgGetDouble("/autopilot/settings/altitude-ft") * SG_FEET_TO_METER;
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// Initialize target location to startup location
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old_lat = latitude_node->getDoubleValue();
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@ -272,8 +309,6 @@ void FGAutopilot::init() {
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MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() );
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TargetHeading = 0.0; // default direction, due north
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TargetAltitude = 3000; // default altitude in meters
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alt_error_accum = 0.0;
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climb_error_accum = 0.0;
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@ -726,11 +761,11 @@ int FGAutopilot::run() {
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+ (double) integral_contrib->getFloatValue() * int_adj;
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// stop on autopilot trim at 30% +/-
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if ( total_adj > 0.3 ) {
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total_adj = 0.3;
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} else if ( total_adj < -0.3 ) {
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total_adj = -0.3;
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}
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// if ( total_adj > 0.3 ) {
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// total_adj = 0.3;
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// } else if ( total_adj < -0.3 ) {
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// total_adj = -0.3;
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// }
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// adjust for throttle pitch gain
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total_adj += ((current_throttle->getFloatValue() - zero_pitch_throttle->getFloatValue())
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@ -50,9 +50,11 @@ public:
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FG_ALTITUDE_LOCK = 0, // lock to a specific altitude
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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_GS2 = 3, // follow glide slope 2
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FG_ALTITUDE_ARM = 4 // ascend to selected altitude
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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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@ -71,16 +73,7 @@ private:
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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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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 *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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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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@ -120,6 +113,7 @@ private:
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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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@ -127,6 +121,18 @@ private:
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SGPropertyNode *vertical_speed_node;
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SGPropertyNode *heading_node;
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SGPropertyNode *roll_node;
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SGPropertyNode *pitch_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 *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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public:
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@ -229,4 +235,309 @@ extern FGAutopilot *current_autopilot;
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#define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_DG_HEADING_LOCK
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// #define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_TRUE_HEADING_LOCK
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/**
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* static functions for autopilot properties
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*/
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/**
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* Get the autopilot altitude lock (true=on).
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*/
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static bool
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getAPAltitudeLock ()
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{
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return (current_autopilot->get_AltitudeEnabled() &&
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current_autopilot->get_AltitudeMode()
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== FGAutopilot::FG_ALTITUDE_LOCK);
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}
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/**
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* Set the autopilot altitude lock (true=on).
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*/
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static void
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setAPAltitudeLock (bool lock)
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{
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if (lock)
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current_autopilot->set_AltitudeMode(FGAutopilot::FG_ALTITUDE_LOCK);
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if (current_autopilot->get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_LOCK)
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current_autopilot->set_AltitudeEnabled(lock);
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}
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/**
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* Get the autopilot target altitude in feet.
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*/
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static double
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getAPAltitude ()
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{
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return current_autopilot->get_TargetAltitude() * SG_METER_TO_FEET;
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}
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/**
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* Set the autopilot target altitude in feet.
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*/
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static void
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setAPAltitude (double altitude)
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{
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current_autopilot->set_TargetAltitude( altitude * SG_FEET_TO_METER );
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}
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/**
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* Get the autopilot altitude lock (true=on).
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*/
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static bool
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getAPGSLock ()
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{
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return (current_autopilot->get_AltitudeEnabled() &&
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(current_autopilot->get_AltitudeMode()
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== FGAutopilot::FG_ALTITUDE_GS1));
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}
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/**
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* Set the autopilot altitude lock (true=on).
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*/
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static void
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setAPGSLock (bool lock)
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{
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if (lock)
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current_autopilot->set_AltitudeMode(FGAutopilot::FG_ALTITUDE_GS1);
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if (current_autopilot->get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_GS1)
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current_autopilot->set_AltitudeEnabled(lock);
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}
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/**
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* Get the autopilot terrain lock (true=on).
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*/
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static bool
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getAPTerrainLock ()
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{
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return (current_autopilot->get_AltitudeEnabled() &&
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(current_autopilot->get_AltitudeMode()
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== FGAutopilot::FG_ALTITUDE_TERRAIN));
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}
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/**
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* Set the autopilot terrain lock (true=on).
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*/
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static void
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setAPTerrainLock (bool lock)
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{
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if (lock) {
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current_autopilot->set_AltitudeMode(FGAutopilot::FG_ALTITUDE_TERRAIN);
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current_autopilot
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->set_TargetAGL(fgGetFloat("/position/altitude-agl-ft") *
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SG_FEET_TO_METER);
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cout << "Target AGL = "
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<< fgGetFloat("/position/altitude-agl-ft") * SG_FEET_TO_METER
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<< endl;
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}
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if (current_autopilot->get_AltitudeMode() == FGAutopilot::FG_ALTITUDE_TERRAIN)
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current_autopilot->set_AltitudeEnabled(lock);
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}
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/**
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* Get the autopilot target altitude in feet.
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*/
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static double
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getAPClimb ()
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{
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return current_autopilot->get_TargetClimbRate() * SG_METER_TO_FEET;
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}
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/**
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* Set the autopilot target altitude in feet.
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*/
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static void
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setAPClimb (double rate)
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{
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current_autopilot->set_TargetClimbRate( rate * SG_FEET_TO_METER );
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}
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/**
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* Get the autopilot heading lock (true=on).
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*/
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static bool
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getAPHeadingLock ()
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{
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return
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(current_autopilot->get_HeadingEnabled() &&
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current_autopilot->get_HeadingMode() == DEFAULT_AP_HEADING_LOCK);
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}
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/**
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* Set the autopilot heading lock (true=on).
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*/
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static void
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setAPHeadingLock (bool lock)
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{
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if (lock)
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current_autopilot->set_HeadingMode(DEFAULT_AP_HEADING_LOCK);
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if (current_autopilot->get_HeadingMode() == DEFAULT_AP_HEADING_LOCK)
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current_autopilot->set_HeadingEnabled(lock);
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}
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/**
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* Get the autopilot heading bug in degrees.
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*/
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static double
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getAPHeadingBug ()
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{
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return current_autopilot->get_DGTargetHeading();
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}
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/**
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* Set the autopilot heading bug in degrees.
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*/
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static void
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setAPHeadingBug (double heading)
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{
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current_autopilot->set_DGTargetHeading( heading );
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}
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/**
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* Get the autopilot wing leveler lock (true=on).
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*/
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static bool
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||||
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
|
||||
|
|
|
|||
|
|
@ -29,7 +29,6 @@
|
|||
#include STL_IOSTREAM
|
||||
|
||||
#include <ATC/ATCdisplay.hxx>
|
||||
#include <Autopilot/newauto.hxx>
|
||||
#include <Aircraft/aircraft.hxx>
|
||||
#include <Time/tmp.hxx>
|
||||
#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)
|
||||
|
||||
/**
|
||||
|
|
@ -1118,39 +816,6 @@ fgInitProps ()
|
|||
// Orientation
|
||||
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
|
||||
#if !defined(FG_NEW_ENVIRONMENT)
|
||||
fgTie("/environment/visibility-m", getVisibility, setVisibility);
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue