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Changes contributed by Norman Vine to allow adjustment of the autopilot

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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
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178
Autopilot/autopilot.cxx
View file

@ -1,27 +1,25 @@
/************************************************************************** // autopilot.cxx -- autopilot subsystem
* autopilot.cxx -- autopilot subsystem //
* // Written by Jeff Goeke-Smith, started April 1998.
* Written by Jeff Goeke-Smith, started April 1998. //
* // Copyright (C) 1998 Jeff Goeke-Smith, jgoeke@voyager.net
* Copyright (C) 1998 Jeff Goeke-Smith, jgoeke@voyager.net //
* // This program is free software; you can redistribute it and/or
* This program is free software; you can redistribute it and/or // modify it under the terms of the GNU General Public License as
* modify it under the terms of the GNU General Public License as // published by the Free Software Foundation; either version 2 of the
* published by the Free Software Foundation; either version 2 of the // License, or (at your option) any later version.
* License, or (at your option) any later version. //
* // This program is distributed in the hope that it will be useful, but
* This program is distributed in the hope that it will be useful, but // WITHOUT ANY WARRANTY; without even the implied warranty of
* WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // General Public License for more details.
* General Public License for more details. //
* // You should have received a copy of the GNU General Public License
* You should have received a copy of the GNU General Public License // along with this program; if not, write to the Free Software
* along with this program; if not, write to the Free Software // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
* Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. //
* // $Id$
* // (Log is kept at end of this file)
*
**************************************************************************/
#ifdef HAVE_CONFIG_H #ifdef HAVE_CONFIG_H
@ -37,6 +35,7 @@
#include <Include/fg_constants.h> #include <Include/fg_constants.h>
#include <Debug/logstream.hxx> #include <Debug/logstream.hxx>
#include <Main/options.hxx>
// The below routines were copied right from hud.c ( I hate reinventing // 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 // 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 ) void fgAPInit( fgAIRCRAFT *current_aircraft )
{ {
@ -127,20 +185,39 @@ void fgAPInit( fgAIRCRAFT *current_aircraft )
exit(-1); exit(-1);
} }
APData->heading_hold = 0 ; // turn the heading hold off APData->heading_hold = false ; // turn the heading hold off
APData->altitude_hold = 0 ; // turn the altitude hold off APData->altitude_hold = false ; // turn the altitude hold off
APData->TargetHeading = 0.0; // default direction, due north APData->TargetHeading = 0.0; // default direction, due north
APData->TargetAltitude = 3000; // default altitude in meters APData->TargetAltitude = 3000; // default altitude in meters
APData->alt_error_accum = 0.0; APData->alt_error_accum = 0.0;
// These eventually need to be read from current_aircaft somehow. // These eventually need to be read from current_aircaft somehow.
APData->MaxRoll = 7; // the maximum roll, in Deg #if 0
APData->RollOut = 30; // the deg from heading to start rolling out at, in Deg // Original values
APData->MaxAileron= .1; // how far can I move the aleron from center. // the maximum roll, in Deg
APData->RollOutSmooth = 10; // Smoothing distance for alerion control 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 //Remove at a later date
APDataGlobal = APData; APDataGlobal = APData;
@ -157,7 +234,7 @@ int fgAPRun( void )
// end section // end section
// heading hold enabled? // heading hold enabled?
if ( APData->heading_hold == 1 ) { if ( APData->heading_hold == true ) {
double RelHeading; double RelHeading;
double TargetRoll; double TargetRoll;
double RelRoll; double RelRoll;
@ -221,16 +298,16 @@ int fgAPRun( void )
} }
// altitude hold or terrain follow enabled? // 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 speed, max_climb, error;
double prop_error, int_error; double prop_error, int_error;
double prop_adj, int_adj, total_adj; double prop_adj, int_adj, total_adj;
if (APData->altitude_hold == 1) { if ( APData->altitude_hold ) {
// normal altitude hold // normal altitude hold
APData->TargetClimbRate = APData->TargetClimbRate =
(APData->TargetAltitude - fgAPget_altitude()) * 8.0; (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 // brain dead ground hugging with no look ahead
APData->TargetClimbRate = APData->TargetClimbRate =
( APData->TargetAGL - fgAPget_agl() ) * 16.0; ( APData->TargetAGL - fgAPget_agl() ) * 16.0;
@ -280,7 +357,7 @@ int fgAPRun( void )
} }
// auto throttle enabled? // auto throttle enabled?
if ( APData->auto_throttle == 1 ) { if ( APData->auto_throttle ) {
double error; double error;
double prop_error, int_error; double prop_error, int_error;
double prop_adj, int_adj, total_adj; double prop_adj, int_adj, total_adj;
@ -371,10 +448,10 @@ void fgAPToggleHeading( void )
if ( APData->heading_hold ) { if ( APData->heading_hold ) {
// turn off heading hold // turn off heading hold
APData->heading_hold = 0; APData->heading_hold = false;
} else { } else {
// turn on heading hold, lock at current heading // turn on heading hold, lock at current heading
APData->heading_hold = 1; APData->heading_hold = true;
APData->TargetHeading = fgAPget_heading(); APData->TargetHeading = fgAPget_heading();
} }
@ -393,11 +470,11 @@ void fgAPToggleAltitude( void )
if ( APData->altitude_hold ) { if ( APData->altitude_hold ) {
// turn off altitude hold // turn off altitude hold
APData->altitude_hold = 0; APData->altitude_hold = false;
} else { } else {
// turn on altitude hold, lock at current altitude // turn on altitude hold, lock at current altitude
APData->altitude_hold = 1; APData->altitude_hold = true;
APData->terrain_follow = 0; APData->terrain_follow = false;
APData->TargetAltitude = fgAPget_altitude(); APData->TargetAltitude = fgAPget_altitude();
APData->alt_error_accum = 0.0; APData->alt_error_accum = 0.0;
// alt_error_queue.erase( alt_error_queue.begin(), // alt_error_queue.erase( alt_error_queue.begin(),
@ -419,10 +496,10 @@ void fgAPToggleAutoThrottle ( void )
if ( APData->auto_throttle ) { if ( APData->auto_throttle ) {
// turn off altitude hold // turn off altitude hold
APData->auto_throttle = 0; APData->auto_throttle = false;
} else { } else {
// turn on terrain follow, lock at current agl // turn on terrain follow, lock at current agl
APData->auto_throttle = 1; APData->auto_throttle = true;
APData->TargetSpeed = get_speed(); APData->TargetSpeed = get_speed();
APData->speed_error_accum = 0.0; APData->speed_error_accum = 0.0;
} }
@ -441,11 +518,11 @@ void fgAPToggleTerrainFollow( void )
if ( APData->terrain_follow ) { if ( APData->terrain_follow ) {
// turn off altitude hold // turn off altitude hold
APData->terrain_follow = 0; APData->terrain_follow = false;
} else { } else {
// turn on terrain follow, lock at current agl // turn on terrain follow, lock at current agl
APData->terrain_follow = 1; APData->terrain_follow = true;
APData->altitude_hold = 0; APData->altitude_hold = false;
APData->TargetAGL = fgAPget_agl(); APData->TargetAGL = fgAPget_agl();
APData->alt_error_accum = 0.0; APData->alt_error_accum = 0.0;
} }
@ -482,3 +559,10 @@ double NormalizeDegrees(double Input)
return (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)
* autopilot.hxx -- autopilot defines and prototypes (very alpha) //
* // Written by Jeff Goeke-Smith, started April 1998.
* Written by Jeff Goeke-Smith, started April 1998. //
* // Copyright (C) 1998 Jeff Goeke-Smith - jgoeke@voyager.net
* Copyright (C) 1998 Jeff Goeke-Smith - jgoeke@voyager.net //
* // This program is free software; you can redistribute it and/or
* This program is free software; you can redistribute it and/or // modify it under the terms of the GNU General Public License as
* modify it under the terms of the GNU General Public License as // published by the Free Software Foundation; either version 2 of the
* published by the Free Software Foundation; either version 2 of the // License, or (at your option) any later version.
* License, or (at your option) any later version. //
* // This program is distributed in the hope that it will be useful, but
* This program is distributed in the hope that it will be useful, but // WITHOUT ANY WARRANTY; without even the implied warranty of
* WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // General Public License for more details.
* General Public License for more details. //
* // You should have received a copy of the GNU General Public License
* You should have received a copy of the GNU General Public License // along with this program; if not, write to the Free Software
* along with this program; if not, write to the Free Software // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
* Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. //
* // $Id$
* // (Log is kept at end of this file)
**************************************************************************/
#ifndef _AUTOPILOT_H #ifndef _AUTOPILOT_HXX
#define _AUTOPILOT_H #define _AUTOPILOT_HXX
#include <Aircraft/aircraft.hxx> #include <Aircraft/aircraft.hxx>
@ -32,17 +31,12 @@
#include <Controls/controls.hxx> #include <Controls/controls.hxx>
#ifdef __cplusplus
extern "C" {
#endif
// Structures // Structures
typedef struct { typedef struct {
int heading_hold; // the current state of the heading hold bool heading_hold; // the current state of the heading hold
int altitude_hold; // the current state of the altitude hold bool altitude_hold; // the current state of the altitude hold
int terrain_follow; // the current state of the terrain follower bool terrain_follow; // the current state of the terrain follower
int auto_throttle; // the current state of the auto throttle bool auto_throttle; // the current state of the auto throttle
double TargetHeading; // the heading the AP should steer to. double TargetHeading; // the heading the AP should steer to.
double TargetAltitude; // altitude to hold double TargetAltitude; // altitude to hold
@ -77,10 +71,17 @@ void fgAPToggleAltitude( void );
void fgAPToggleTerrainFollow( void ); void fgAPToggleTerrainFollow( void );
void fgAPToggleAutoThrottle( void ); void fgAPToggleAutoThrottle( void );
bool fgAPAltitudeEnabled( void );
#ifdef __cplusplus bool fgAPHeadingEnabled( void );
} void fgAPAltitudeAdjust( double inc );
#endif 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.
//