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Norman Vine:

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This patch finally reenables the AutoPilot gain adjuster.
This commit is contained in:
curt 2002-12-17 19:57:49 +00:00
parent 22d94b8273
commit a857322d9c
1 changed files with 63 additions and 48 deletions
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111
src/Autopilot/newauto.hxx
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@ -40,19 +40,19 @@ class FGAutopilot : public FGSubsystem
public:
enum fgAutoHeadingMode {
FG_DG_HEADING_LOCK = 0, // follow bug on directional gryo (vacuum)
FG_TC_HEADING_LOCK = 1, // keep turn coordinator zero'd
FG_TRUE_HEADING_LOCK = 2, // lock to true heading (i.e. a perfect world)
FG_HEADING_NAV1 = 3, // follow nav1 radial
FG_HEADING_NAV2 = 4, // follow nav2 radial
FG_DG_HEADING_LOCK = 0, // follow bug on directional gryo (vacuum)
FG_TC_HEADING_LOCK = 1, // keep turn coordinator zero'd
FG_TRUE_HEADING_LOCK = 2, // lock to true heading (i.e. a perfect world)
FG_HEADING_NAV1 = 3, // follow nav1 radial
FG_HEADING_NAV2 = 4, // follow nav2 radial
FG_HEADING_WAYPOINT = 5 // track next waypoint
};
enum fgAutoAltitudeMode {
FG_ALTITUDE_LOCK = 0, // lock to a specific altitude (indicated)
FG_ALTITUDE_TERRAIN = 1, // try to maintain a specific AGL
FG_ALTITUDE_GS1 = 2, // follow glide slope 1
FG_ALTITUDE_GS2 = 3, // follow glide slope 2
FG_ALTITUDE_LOCK = 0, // lock to a specific altitude (indicated)
FG_ALTITUDE_TERRAIN = 1, // try to maintain a specific AGL
FG_ALTITUDE_GS1 = 2, // follow glide slope 1
FG_ALTITUDE_GS2 = 3, // follow glide slope 2
FG_ALTITUDE_ARM = 4, // ascend to selected altitude
FG_TRUE_ALTITUDE_LOCK = 5 // lock to a specific true altitude
// (i.e. a perfect world)
@ -61,45 +61,45 @@ public:
private:
bool heading_hold; // the current state of the heading hold
bool altitude_hold; // the current state of the altitude hold
bool auto_throttle; // the current state of the auto throttle
bool heading_hold; // the current state of the heading hold
bool altitude_hold; // the current state of the altitude hold
bool auto_throttle; // the current state of the auto throttle
fgAutoHeadingMode heading_mode;
fgAutoAltitudeMode altitude_mode;
SGWayPoint waypoint; // the waypoint the AP should steer to.
SGWayPoint waypoint; // the waypoint the AP should steer to.
// double TargetLatitude; // the latitude the AP should steer to.
// double TargetLongitude; // the longitude the AP should steer to.
double TargetDistance; // the distance to Target.
// double TargetLatitude; // the latitude the AP should steer to.
// double TargetLongitude; // the longitude the AP should steer to.
double TargetDistance; // the distance to Target.
double DGTargetHeading; // the apparent DG heading to steer towards.
double TargetHeading; // the true heading the AP should steer to.
double TargetAltitude; // altitude to hold
double TargetAGL; // the terrain separation
double TargetHeading; // the true heading the AP should steer to.
double TargetAltitude; // altitude to hold
double TargetAGL; // the terrain separation
double TargetSpeed; // speed to shoot for
double TargetSpeed; // speed to shoot for
double alt_error_accum; // altitude error accumulator
double climb_error_accum; // climb error accumulator (for GS)
double speed_error_accum; // speed error accumulator
double climb_error_accum; // climb error accumulator (for GS)
double speed_error_accum; // speed error accumulator
double TargetSlope; // the glide slope hold value
double MaxRoll ; // the max the plane can roll for the turn
double RollOut; // when the plane should roll out
// measured from Heading
double MaxAileron; // how far to move the aleroin from center
double RollOutSmooth; // deg to use for smoothing Aileron Control
double MaxElevator; // the maximum elevator allowed
double SlopeSmooth; // smoothing angle for elevator
double TargetSlope; // the glide slope hold value
double MaxRoll ; // the max the plane can roll for the turn
double RollOut; // when the plane should roll out
// measured from Heading
double MaxAileron; // how far to move the aleroin from center
double RollOutSmooth; // deg to use for smoothing Aileron Control
double MaxElevator; // the maximum elevator allowed
double SlopeSmooth; // smoothing angle for elevator
// following for testing disengagement of autopilot upon pilot
// interaction with controls
double old_aileron;
double old_elevator;
double old_elevator_trim;
double old_rudder;
// manual controls override beyond this value
double disengage_threshold;
@ -140,8 +140,8 @@ private:
SGPropertyNode *roll_out_node; // start rollout offset from desired heading in degrees
SGPropertyNode *roll_out_smooth_node; // rollout smoothing offset in degrees
SGPropertyNode *TargetClimbRate; // target climb rate
SGPropertyNode *TargetDescentRate; // target decent rate
SGPropertyNode *TargetClimbRate; // target climb rate
SGPropertyNode *TargetDescentRate; // target decent rate
SGPropertyNode *current_throttle; // current throttle (engine 0)
public:
@ -186,14 +186,14 @@ public:
void set_AutoThrottleEnabled( bool value );
/* inline void set_WayPoint( const double lon, const double lat,
const double alt, const string s ) {
waypoint = SGWayPoint( lon, lat, alt, SGWayPoint::WGS84, "Current WP" );
const double alt, const string s ) {
waypoint = SGWayPoint( lon, lat, alt, SGWayPoint::WGS84, "Current WP" );
} */
inline double get_TargetLatitude() const {
return waypoint.get_target_lat();
return waypoint.get_target_lat();
}
inline double get_TargetLongitude() const {
return waypoint.get_target_lon();
return waypoint.get_target_lon();
}
inline void set_old_lat( double val ) { old_lat = val; }
inline void set_old_lon( double val ) { old_lon = val; }
@ -231,15 +231,30 @@ public:
void update_old_control_values();
// accessors
inline double get_MaxRoll() const { return MaxRoll; }
inline void set_MaxRoll( double val ) { MaxRoll = val; }
inline double get_RollOut() const { return RollOut; }
inline void set_RollOut( double val ) { RollOut = val; }
inline double get_MaxAileron() const { return MaxAileron; }
inline void set_MaxAileron( double val ) { MaxAileron = val; }
inline double get_RollOutSmooth() const { return RollOutSmooth; }
inline void set_RollOutSmooth( double val ) { RollOutSmooth = val; }
inline double get_MaxRoll() {
return fgGetFloat( "/autopilot/config/max-roll-deg" );
}
inline double get_RollOut() {
return fgGetFloat( "/autopilot/config/roll-out-deg" );
}
inline double get_MaxAileron() {
return fgGetFloat( "/autopilot/config/max-aileron" );
}
inline double get_RollOutSmooth() {
return fgGetFloat( "/autopilot/config/roll-out-smooth-deg" );
}
inline void set_MaxRoll( double val ) {
fgSetFloat( "/autopilot/config/max-roll-deg", val );
}
inline void set_RollOut( double val ) {
fgSetFloat( "/autopilot/config/roll-out-deg", val );
}
inline void set_MaxAileron( double val ) {
fgSetFloat( "/autopilot/config/max-aileron", val );
}
inline void set_RollOutSmooth( double val ) {
fgSetFloat( "/autopilot/config/roll-out-smooth-deg", val );
}
private: