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Optimized property manager accesses.

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Fixed a creep in bug in the altitude hold autopilot.
This commit is contained in:
curt 2001-06-06 17:02:25 +00:00
parent ca1a9cf7bd
commit d7ae38c0dd
3 changed files with 51 additions and 30 deletions
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9
src/Autopilot/auto_gui.cxx
View file

@ -635,7 +635,6 @@ void TgtAptDialog_OK (puObject *)
void TgtAptDialog_Reset(puObject *)
{
// strncpy( NewAirportId, fgGetString("/sim/startup/airport-id").c_str(), 16 );
sprintf( NewTgtAirportId, "%s", fgGetString("/sim/startup/airport-id").c_str() );
TgtAptDialogInput->setValue ( NewTgtAirportId );
TgtAptDialogInput->setCursor( 0 ) ;
@ -643,7 +642,6 @@ void TgtAptDialog_Reset(puObject *)
void AddWayPoint(puObject *cb)
{
// strncpy( NewAirportId, fgGetString("/sim/startup/airport-id").c_str(), 16 );
sprintf( NewTgtAirportId, "%s", fgGetString("/sim/startup/airport-id").c_str() );
TgtAptDialogInput->setValue( NewTgtAirportId );
@ -664,7 +662,7 @@ void PopWayPoint(puObject *cb)
// use current heading
current_autopilot
->set_TargetHeading(fgGetDouble("/orientation/heading"));
->set_TargetHeading(fgGetDouble("/orientation/heading"));
}
}
@ -676,10 +674,9 @@ void ClearRoute(puObject *cb)
void NewTgtAirportInit(void)
{
SG_LOG( SG_AUTOPILOT, SG_INFO, " enter NewTgtAirportInit()" );
// fgAPset_tgt_airport_id( fgGetString("/sim/startup/airport-id") );
sprintf( NewTgtAirportId, "%s", fgGetString("/sim/startup/airport-id").c_str() );
sprintf( NewTgtAirportId, "%s",
fgGetString("/sim/startup/airport-id").c_str() );
SG_LOG( SG_AUTOPILOT, SG_INFO, " NewTgtAirportId " << NewTgtAirportId );
// printf(" NewTgtAirportId %s\n", NewTgtAirportId);
int len = 150 - puGetStringWidth( puGetDefaultLabelFont(),
NewTgtAirportLabel ) / 2;

62
src/Autopilot/newauto.cxx
View file

@ -72,7 +72,8 @@ extern char *coord_format_lon(float);
// constructor
FGAutopilot::FGAutopilot():
TargetClimbRate(1000 * SG_FEET_TO_METER)
TargetClimbRate(500 * SG_FEET_TO_METER),
TargetDecentRate(1000 * SG_FEET_TO_METER)
{
}
@ -112,8 +113,10 @@ static inline double get_speed( void ) {
static inline double get_ground_speed() {
// starts in ft/s so we convert to kts
static const SGPropertyNode * speedup_node = fgGetNode("/sim/speed-up");
double ft_s = cur_fdm_state->get_V_ground_speed()
* fgGetInt("/sim/speed-up"); // FIXME: inefficient
* speedup_node->getIntValue();
double kts = ft_s * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM;
return kts;
@ -217,6 +220,14 @@ void FGAutopilot::update_old_control_values() {
void FGAutopilot::init() {
SG_LOG( SG_AUTOPILOT, SG_INFO, "Init AutoPilot Subsystem" );
latitude_node = fgGetNode("/position/latitude", true);
longitude_node = fgGetNode("/position/longitude", true);
altitude_node = fgGetNode("/position/altitude", true);
altitude_agl_node = fgGetNode("/position/altitude-agl", true);
vertical_speed_node = fgGetNode("/velocities/vertical-speed", true);
heading_node = fgGetNode("/orientation/heading", true);
roll_node = fgGetNode("/orientation/roll", true);
heading_hold = false ; // turn the heading hold off
altitude_hold = false ; // turn the altitude hold off
auto_throttle = false ; // turn the auto throttle off
@ -226,8 +237,8 @@ void FGAutopilot::init() {
DGTargetHeading = sg_random() * 360.0;
// Initialize target location to startup location
old_lat = fgGetDouble("/position/latitude");
old_lon = fgGetDouble("/position/longitude");
old_lat = latitude_node->getDoubleValue();
old_lon = longitude_node->getDoubleValue();
// set_WayPoint( old_lon, old_lat, 0.0, "default" );
MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() );
@ -345,9 +356,9 @@ int FGAutopilot::run() {
// get control settings
double lat = fgGetDouble("/position/latitude");
double lon = fgGetDouble("/position/longitude");
double alt = fgGetDouble("/position/altitude") * SG_FEET_TO_METER;
double lat = latitude_node->getDoubleValue();
double lon = longitude_node->getDoubleValue();
double alt = altitude_node->getDoubleValue() * SG_FEET_TO_METER;
#ifdef FG_FORCE_AUTO_DISENGAGE
// see if somebody else has changed them
@ -489,7 +500,7 @@ int FGAutopilot::run() {
// end of the line
heading_mode = FG_TRUE_HEADING_LOCK;
// use current heading
TargetHeading = fgGetDouble("/orientation/heading");
TargetHeading = heading_node->getDoubleValue();
}
}
MakeTargetHeadingStr( TargetHeading );
@ -517,7 +528,7 @@ int FGAutopilot::run() {
RelHeading
= NormalizeDegrees( TargetHeading
- fgGetDouble("/orientation/heading") );
- heading_node->getDoubleValue() );
// figure out how far off we are from desired heading
// Now it is time to deterime how far we should be rolled.
@ -553,7 +564,7 @@ int FGAutopilot::run() {
SG_LOG( SG_COCKPIT, SG_BULK, "TargetRoll: " << TargetRoll );
RelRoll = NormalizeDegrees( TargetRoll
- fgGetDouble("/orientation/roll") );
- roll_node->getDoubleValue() );
// Check if we are further from heading than the roll out
// smooth point
@ -589,7 +600,7 @@ int FGAutopilot::run() {
( 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 = (fgGetDouble("/position/altitude")
double y = (altitude_node->getDoubleValue()
- 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;
@ -616,7 +627,7 @@ int FGAutopilot::run() {
} else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
// brain dead ground hugging with no look ahead
climb_rate =
( TargetAGL - fgGetDouble("/position/altitude-agl")
( TargetAGL - altitude_agl_node->getDoubleValue()
* SG_FEET_TO_METER ) * 16.0;
// cout << "target agl = " << TargetAGL
// << " current agl = " << fgAPget_agl()
@ -650,16 +661,19 @@ int FGAutopilot::run() {
climb_rate = max_climb;
}
if ( climb_rate < -fabs(TargetClimbRate) ) {
climb_rate = -fabs(TargetClimbRate);
if ( climb_rate < -fabs(TargetDecentRate) ) {
climb_rate = -fabs(TargetDecentRate);
}
// cout << "Target climb rate = " << TargetClimbRate << endl;
// cout << "given our speed, modified desired climb rate = "
// << climb_rate * SG_METER_TO_FEET
// << " fpm" << endl;
// cout << "Current climb rate = "
// << vertical_speed_node->getDoubleValue() * 60 << " fpm" << endl;
error = fgGetDouble("/velocities/vertical-speed")
* SG_FEET_TO_METER - climb_rate;
error = vertical_speed_node->getDoubleValue() * 60
- climb_rate * SG_METER_TO_FEET;
// accumulate the error under the curve ... this really should
// be *= delta t
@ -783,18 +797,18 @@ 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 = fgGetDouble("/orientation/heading");
TargetHeading = heading_node->getDoubleValue();
} else if ( heading_mode == FG_HEADING_WAYPOINT ) {
if ( globals->get_route()->size() ) {
double course, distance;
old_lat = fgGetDouble("/position/latitude");
old_lon = fgGetDouble("/position/longitude");
old_lat = latitude_node->getDoubleValue();
old_lon = longitude_node->getDoubleValue();
waypoint = globals->get_route()->get_first();
waypoint.CourseAndDistance( fgGetDouble("/position/longitude"),
fgGetDouble("/position/latitude"),
fgGetDouble("/position/latitude")
waypoint.CourseAndDistance( longitude_node->getDoubleValue(),
latitude_node->getDoubleValue(),
altitude_node->getDoubleValue()
* SG_FEET_TO_METER,
&course, &distance );
TargetHeading = course;
@ -831,7 +845,7 @@ void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) {
alt_error_accum = 0.0;
if ( altitude_mode == FG_ALTITUDE_LOCK ) {
if ( TargetAltitude < fgGetDouble("/position/altitude-agl")
if ( TargetAltitude < altitude_agl_node->getDoubleValue()
* SG_FEET_TO_METER ) {
}
@ -844,7 +858,7 @@ void FGAutopilot::set_AltitudeMode( fgAutoAltitudeMode mode ) {
climb_error_accum = 0.0;
} else if ( altitude_mode == FG_ALTITUDE_TERRAIN ) {
TargetAGL = fgGetDouble("/position/altitude-agl") * SG_FEET_TO_METER;
TargetAGL = altitude_agl_node->getDoubleValue() * SG_FEET_TO_METER;
if ( fgGetString("/sim/startup/units") == "feet" ) {
MakeTargetAltitudeStr( TargetAGL * SG_METER_TO_FEET );

10
src/Autopilot/newauto.hxx
View file

@ -27,6 +27,7 @@
#define _NEWAUTO_HXX
#include <simgear/misc/props.hxx>
#include <simgear/route/waypoint.hxx>
@ -70,6 +71,7 @@ private:
double TargetAltitude; // altitude to hold
double TargetAGL; // the terrain separation
double TargetClimbRate; // target climb rate
double TargetDecentRate; // target decent rate
double TargetSpeed; // speed to shoot for
double alt_error_accum; // altitude error accumulator
double climb_error_accum; // climb error accumulator (for GS)
@ -109,6 +111,14 @@ private:
char TargetHeadingStr[64];
char TargetAltitudeStr[64];
SGPropertyNode *latitude_node;
SGPropertyNode *longitude_node;
SGPropertyNode *altitude_node;
SGPropertyNode *altitude_agl_node;
SGPropertyNode *vertical_speed_node;
SGPropertyNode *heading_node;
SGPropertyNode *roll_node;
public:
// constructor