fly/flightgear
1
0
Fork 0
Code Activity

Changes contributed by Norman Vine to allow adjustment of the autopilot

Browse source 
while it is activated.
This commit is contained in:
curt 1999-02-12 22:17:14 +00:00
parent 8b0110fe5d
commit dcc2c53143
2 changed files with 171 additions and 86 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

178
Autopilot/autopilot.cxx
View file

@ -1,27 +1,25 @@
/**************************************************************************
* autopilot.cxx -- autopilot subsystem
*
* Written by Jeff Goeke-Smith, started April 1998.
*
* Copyright (C) 1998 Jeff Goeke-Smith, jgoeke@voyager.net
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License as
* published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*
*
*
**************************************************************************/
// autopilot.cxx -- autopilot subsystem
//
// Written by Jeff Goeke-Smith, started April 1998.
//
// Copyright (C) 1998 Jeff Goeke-Smith, jgoeke@voyager.net
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id$
// (Log is kept at end of this file)
#ifdef HAVE_CONFIG_H
@ -37,6 +35,7 @@
#include <Include/fg_constants.h>
#include <Debug/logstream.hxx>
#include <Main/options.hxx>
// The below routines were copied right from hud.c ( I hate reinventing
@ -112,6 +111,65 @@ fgAPDataPtr APDataGlobal; // global variable holding the AP info
// I want this gone. Data should be in aircraft structure
bool fgAPHeadingEnabled( void )
{
fgAPDataPtr APData;
APData = APDataGlobal;
// end section
// heading hold enabled?
return( APData->heading_hold );
}
bool fgAPAltitudeEnabled( void )
{
fgAPDataPtr APData;
APData = APDataGlobal;
// end section
// altitude hold or terrain follow enabled?
return( APData->altitude_hold || APData->terrain_follow );
}
void fgAPAltitudeAdjust( double inc )
{
// Remove at a later date
fgAPDataPtr APData;
APData = APDataGlobal;
// end section
double target_alt, target_agl;
if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
target_alt = APData->TargetAltitude * METER_TO_FEET;
target_agl = APData->TargetAGL * METER_TO_FEET;
} else {
target_alt = APData->TargetAltitude;
target_agl = APData->TargetAGL;
}
target_alt = (int)(target_alt / inc) * inc + inc;
target_agl = (int)(target_agl / inc) * inc + inc;
if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET ) {
target_alt *= FEET_TO_METER;
target_agl *= FEET_TO_METER;
}
// heading hold enabled?
APData->TargetAltitude = target_alt;
APData->TargetAGL = target_agl;
}
void fgAPHeadingAdjust( double inc )
{
fgAPDataPtr APData;
APData = APDataGlobal;
// end section
// heading hold enabled?
APData->TargetHeading = NormalizeDegrees(APData->TargetHeading + inc);
}
void fgAPInit( fgAIRCRAFT *current_aircraft )
{
@ -127,20 +185,39 @@ void fgAPInit( fgAIRCRAFT *current_aircraft )
exit(-1);
}
APData->heading_hold = 0 ; // turn the heading hold off
APData->altitude_hold = 0 ; // turn the altitude hold off
APData->heading_hold = false ; // turn the heading hold off
APData->altitude_hold = false ; // turn the altitude hold off
APData->TargetHeading = 0.0; // default direction, due north
APData->TargetAltitude = 3000; // default altitude in meters
APData->alt_error_accum = 0.0;
// These eventually need to be read from current_aircaft somehow.
APData->MaxRoll = 7; // the maximum roll, in Deg
APData->RollOut = 30; // the deg from heading to start rolling out at, in Deg
APData->MaxAileron= .1; // how far can I move the aleron from center.
APData->RollOutSmooth = 10; // Smoothing distance for alerion control
#if 0
// Original values
// the maximum roll, in Deg
APData->MaxRoll = 7;
// the deg from heading to start rolling out at, in Deg
APData->RollOut = 30;
// how far can I move the aleron from center.
APData->MaxAileron= .1;
// Smoothing distance for alerion control
APData->RollOutSmooth = 10;
#endif
// the maximum roll, in Deg
APData->MaxRoll = 20;
// the deg from heading to start rolling out at, in Deg
APData->RollOut = 20;
// how far can I move the aleron from center.
APData->MaxAileron= .2;
// Smoothing distance for alerion control
APData->RollOutSmooth = 10;
//Remove at a later date
APDataGlobal = APData;
@ -157,7 +234,7 @@ int fgAPRun( void )
// end section
// heading hold enabled?
if ( APData->heading_hold == 1 ) {
if ( APData->heading_hold == true ) {
double RelHeading;
double TargetRoll;
double RelRoll;
@ -221,16 +298,16 @@ int fgAPRun( void )
}
// altitude hold or terrain follow enabled?
if ( (APData->altitude_hold == 1) || (APData->terrain_follow == 1) ) {
if ( APData->altitude_hold || APData->terrain_follow ) {
double speed, max_climb, error;
double prop_error, int_error;
double prop_adj, int_adj, total_adj;
if (APData->altitude_hold == 1) {
if ( APData->altitude_hold ) {
// normal altitude hold
APData->TargetClimbRate =
(APData->TargetAltitude - fgAPget_altitude()) * 8.0;
} else if (APData->terrain_follow == 1) {
} else if ( APData->terrain_follow ) {
// brain dead ground hugging with no look ahead
APData->TargetClimbRate =
( APData->TargetAGL - fgAPget_agl() ) * 16.0;
@ -280,7 +357,7 @@ int fgAPRun( void )
}
// auto throttle enabled?
if ( APData->auto_throttle == 1 ) {
if ( APData->auto_throttle ) {
double error;
double prop_error, int_error;
double prop_adj, int_adj, total_adj;
@ -371,10 +448,10 @@ void fgAPToggleHeading( void )
if ( APData->heading_hold ) {
// turn off heading hold
APData->heading_hold = 0;
APData->heading_hold = false;
} else {
// turn on heading hold, lock at current heading
APData->heading_hold = 1;
APData->heading_hold = true;
APData->TargetHeading = fgAPget_heading();
}
@ -393,11 +470,11 @@ void fgAPToggleAltitude( void )
if ( APData->altitude_hold ) {
// turn off altitude hold
APData->altitude_hold = 0;
APData->altitude_hold = false;
} else {
// turn on altitude hold, lock at current altitude
APData->altitude_hold = 1;
APData->terrain_follow = 0;
APData->altitude_hold = true;
APData->terrain_follow = false;
APData->TargetAltitude = fgAPget_altitude();
APData->alt_error_accum = 0.0;
// alt_error_queue.erase( alt_error_queue.begin(),
@ -419,10 +496,10 @@ void fgAPToggleAutoThrottle ( void )
if ( APData->auto_throttle ) {
// turn off altitude hold
APData->auto_throttle = 0;
APData->auto_throttle = false;
} else {
// turn on terrain follow, lock at current agl
APData->auto_throttle = 1;
APData->auto_throttle = true;
APData->TargetSpeed = get_speed();
APData->speed_error_accum = 0.0;
}
@ -441,11 +518,11 @@ void fgAPToggleTerrainFollow( void )
if ( APData->terrain_follow ) {
// turn off altitude hold
APData->terrain_follow = 0;
APData->terrain_follow = false;
} else {
// turn on terrain follow, lock at current agl
APData->terrain_follow = 1;
APData->altitude_hold = 0;
APData->terrain_follow = true;
APData->altitude_hold = false;
APData->TargetAGL = fgAPget_agl();
APData->alt_error_accum = 0.0;
}
@ -482,3 +559,10 @@ double NormalizeDegrees(double Input)
return (Input);
};
// $Log$
// Revision 1.14 1999/02/12 22:17:14 curt
// Changes contributed by Norman Vine to allow adjustment of the autopilot
// while it is activated.
//

79
Autopilot/autopilot.hxx
View file

@ -1,30 +1,29 @@
/**************************************************************************
* autopilot.hxx -- autopilot defines and prototypes (very alpha)
*
* Written by Jeff Goeke-Smith, started April 1998.
*
* Copyright (C) 1998 Jeff Goeke-Smith - jgoeke@voyager.net
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License as
* published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*
*
**************************************************************************/
// autopilot.hxx -- autopilot defines and prototypes (very alpha)
//
// Written by Jeff Goeke-Smith, started April 1998.
//
// Copyright (C) 1998 Jeff Goeke-Smith - jgoeke@voyager.net
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id$
// (Log is kept at end of this file)
#ifndef _AUTOPILOT_H
#define _AUTOPILOT_H
#ifndef _AUTOPILOT_HXX
#define _AUTOPILOT_HXX
#include <Aircraft/aircraft.hxx>
@ -32,17 +31,12 @@
#include <Controls/controls.hxx>
#ifdef __cplusplus
extern "C" {
#endif
// Structures
typedef struct {
int heading_hold; // the current state of the heading hold
int altitude_hold; // the current state of the altitude hold
int terrain_follow; // the current state of the terrain follower
int 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 terrain_follow; // the current state of the terrain follower
bool auto_throttle; // the current state of the auto throttle
double TargetHeading; // the heading the AP should steer to.
double TargetAltitude; // altitude to hold
@ -77,10 +71,17 @@ void fgAPToggleAltitude( void );
void fgAPToggleTerrainFollow( void );
void fgAPToggleAutoThrottle( void );
#ifdef __cplusplus
}
#endif
bool fgAPAltitudeEnabled( void );
bool fgAPHeadingEnabled( void );
void fgAPAltitudeAdjust( double inc );
void fgAPHeadingAdjust( double inc );
#endif // _AUTOPILOT_H
#endif // _AUTOPILOT_HXX
// $Log$
// Revision 1.8 1999/02/12 22:17:15 curt
// Changes contributed by Norman Vine to allow adjustment of the autopilot
// while it is activated.
//