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- eliminated all references to BFI; use properties instead

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- copied DEFAULT_AP_HEADING_LOCK over from old BFI
This commit is contained in:
curt 2001-06-05 22:10:33 +00:00
parent f9533d2f4b
commit a8fb1aabca
1 changed files with 28 additions and 37 deletions

65
src/Autopilot/newauto.cxx
View file

@ -38,13 +38,14 @@
#include <Cockpit/radiostack.hxx>
#include <Controls/controls.hxx>
#include <FDM/flight.hxx>
#include <Main/bfi.hxx>
#include <Main/globals.hxx>
#include <Scenery/scenery.hxx>
#include "newauto.hxx"
#define DEFAULT_AP_HEADING_LOCK FGAutopilot::FG_DG_HEADING_LOCK
FGAutopilot *current_autopilot;
@ -225,8 +226,8 @@ void FGAutopilot::init() {
DGTargetHeading = sg_random() * 360.0;
// Initialize target location to startup location
old_lat = FGBFI::getLatitude();
old_lon = FGBFI::getLongitude();
old_lat = fgGetDouble("/position/latitude");
old_lon = fgGetDouble("/position/longitude");
// set_WayPoint( old_lon, old_lat, 0.0, "default" );
MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() );
@ -295,10 +296,6 @@ void FGAutopilot::reset() {
sprintf( NewTgtAirportId, "%s", fgGetString("/sim/startup/airport-id").c_str() );
// TargetLatitude = FGBFI::getLatitude();
// TargetLongitude = FGBFI::getLongitude();
// set_WayPoint( FGBFI::getLongitude(), FGBFI::getLatitude(), 0.0, "reset" );
MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() );
}
@ -347,14 +344,10 @@ int FGAutopilot::run() {
// passing in the data pointer
// get control settings
// double aileron = FGBFI::getAileron();
// double elevator = FGBFI::getElevator();
// double elevator_trim = FGBFI::getElevatorTrim();
// double rudder = FGBFI::getRudder();
double lat = FGBFI::getLatitude();
double lon = FGBFI::getLongitude();
double alt = FGBFI::getAltitude() * SG_FEET_TO_METER;
double lat = fgGetDouble("/position/latitude");
double lon = fgGetDouble("/position/longitude");
double alt = fgGetDouble("/position/altitude") * SG_FEET_TO_METER;
#ifdef FG_FORCE_AUTO_DISENGAGE
// see if somebody else has changed them
@ -496,7 +489,7 @@ int FGAutopilot::run() {
// end of the line
heading_mode = FG_TRUE_HEADING_LOCK;
// use current heading
TargetHeading = FGBFI::getHeading();
TargetHeading = fgGetDouble("/orientation/heading");
}
}
MakeTargetHeadingStr( TargetHeading );
@ -523,7 +516,8 @@ int FGAutopilot::run() {
double AileronSet;
RelHeading
= NormalizeDegrees( TargetHeading - FGBFI::getHeading() );
= NormalizeDegrees( TargetHeading
- fgGetDouble("/orientation/heading") );
// figure out how far off we are from desired heading
// Now it is time to deterime how far we should be rolled.
@ -558,7 +552,8 @@ int FGAutopilot::run() {
SG_LOG( SG_COCKPIT, SG_BULK, "TargetRoll: " << TargetRoll );
RelRoll = NormalizeDegrees( TargetRoll - FGBFI::getRoll() );
RelRoll = NormalizeDegrees( TargetRoll
- fgGetDouble("/orientation/roll") );
// Check if we are further from heading than the roll out
// smooth point
@ -590,15 +585,11 @@ int FGAutopilot::run() {
double prop_adj, int_adj, total_adj;
if ( altitude_mode == FG_ALTITUDE_LOCK ) {
// normal altitude hold
// cout << "TargetAltitude = " << TargetAltitude
// << "Altitude = " << FGBFI::getAltitude() * SG_FEET_TO_METER
// << endl;
climb_rate =
( TargetAltitude - FGSteam::get_ALT_ft() * SG_FEET_TO_METER ) * 8.0;
} else if ( altitude_mode == FG_ALTITUDE_GS1 ) {
double x = current_radiostack->get_nav1_gs_dist();
double y = (FGBFI::getAltitude()
double y = (fgGetDouble("/position/altitude")
- current_radiostack->get_nav1_elev()) * SG_FEET_TO_METER;
double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
// cout << "current angle = " << current_angle << endl;
@ -625,7 +616,8 @@ int FGAutopilot::run() {
} else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
// brain dead ground hugging with no look ahead
climb_rate =
( TargetAGL - FGBFI::getAGL()*SG_FEET_TO_METER ) * 16.0;
( TargetAGL - fgGetDouble("/position/altitude-agl")
* SG_FEET_TO_METER ) * 16.0;
// cout << "target agl = " << TargetAGL
// << " current agl = " << fgAPget_agl()
// << " target climb rate = " << climb_rate
@ -666,9 +658,8 @@ int FGAutopilot::run() {
// << climb_rate * SG_METER_TO_FEET
// << " fpm" << endl;
error = FGBFI::getVerticalSpeed() * SG_FEET_TO_METER - climb_rate;
// cout << "climb rate = " << FGBFI::getVerticalSpeed()
// << " vsi rate = " << FGSteam::get_VSI_fps() << endl;
error = fgGetDouble("/velocities/vertical-speed")
* SG_FEET_TO_METER - climb_rate;
// accumulate the error under the curve ... this really should
// be *= delta t
@ -792,18 +783,19 @@ void FGAutopilot::set_HeadingMode( fgAutoHeadingMode mode ) {
// set autopilot to hold a zero turn (as reported by the TC)
} else if ( heading_mode == FG_TRUE_HEADING_LOCK ) {
// set heading hold to current heading
TargetHeading = FGBFI::getHeading();
TargetHeading = fgGetDouble("/orientation/heading");
} else if ( heading_mode == FG_HEADING_WAYPOINT ) {
if ( globals->get_route()->size() ) {
double course, distance;
old_lat = FGBFI::getLatitude();
old_lon = FGBFI::getLongitude();
old_lat = fgGetDouble("/position/latitude");
old_lon = fgGetDouble("/position/longitude");
waypoint = globals->get_route()->get_first();
waypoint.CourseAndDistance( FGBFI::getLongitude(),
FGBFI::getLatitude(),
FGBFI::getLatitude() * SG_FEET_TO_METER,
waypoint.CourseAndDistance( fgGetDouble("/position/longitude"),
fgGetDouble("/position/latitude"),
fgGetDouble("/position/latitude")
* SG_FEET_TO_METER,
&course, &distance );
TargetHeading = course;
TargetDistance = distance;
@ -825,7 +817,6 @@ void FGAutopilot::set_HeadingMode( fgAutoHeadingMode mode ) {
} else {
// no more way points, default to heading lock.
heading_mode = FG_TC_HEADING_LOCK;
// TargetHeading = FGBFI::getHeading();
}
}
@ -840,8 +831,8 @@ void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) {
alt_error_accum = 0.0;
if ( altitude_mode == FG_ALTITUDE_LOCK ) {
if ( TargetAltitude < FGBFI::getAGL() * SG_FEET_TO_METER ) {
// TargetAltitude = FGBFI::getAltitude() * SG_FEET_TO_METER;
if ( TargetAltitude < fgGetDouble("/position/altitude-agl")
* SG_FEET_TO_METER ) {
}
if ( fgGetString("/sim/startup/units") == "feet" ) {
@ -853,7 +844,7 @@ void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) {
climb_error_accum = 0.0;
} else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
TargetAGL = FGBFI::getAGL() * SG_FEET_TO_METER;
TargetAGL = fgGetDouble("/position/altitude-agl") * SG_FEET_TO_METER;
if ( fgGetString("/sim/startup/units") == "feet" ) {
MakeTargetAltitudeStr( TargetAGL * SG_METER_TO_FEET );
@ -1042,7 +1033,7 @@ void FGAutopilot::set_AutoThrottleEnabled( bool value ) {
auto_throttle = value;
if ( auto_throttle == true ) {
TargetSpeed = FGBFI::getAirspeed();
TargetSpeed = fgGetDouble("/velocities/airspeed");
speed_error_accum = 0.0;
}