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A few more altitude-hold refinements. It now appears to be working pretty

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good.
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curt 1998-09-30 15:28:15 +00:00
parent 3e7030cc4b
commit fe61ee41f2
1 changed files with 8 additions and 8 deletions
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16
Autopilot/autopilot.cxx
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@ -296,16 +296,16 @@ int fgAPRun( void )
// altitude hold enabled? // altitude hold enabled?
if ( APData->altitude_hold == 1 ) { if ( APData->altitude_hold == 1 ) {
double error, size; 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;
// normal altitude hold // normal altitude hold
APData->TargetClimbRate = APData->TargetClimbRate =
(APData->TargetAltitude - fgAPget_altitude()) * 12.0; (APData->TargetAltitude - fgAPget_altitude()) * 8.0;
// brain dead ground hugging with no look ahead // brain dead ground hugging with no look ahead
// APData->TargetClimbRate = ( 500 - fgAPget_agl() ) * 12.0; // APData->TargetClimbRate = ( 250 - fgAPget_agl() ) * 8.0;
// just try to zero out rate of climb ... // just try to zero out rate of climb ...
// APData->TargetClimbRate = 0.0; // APData->TargetClimbRate = 0.0;
@ -334,16 +334,16 @@ int fgAPRun( void )
// calculate integral error, and adjustment amount // calculate integral error, and adjustment amount
int_error = APData->alt_error_accum; int_error = APData->alt_error_accum;
printf("error = %.2f int_error = %.2f\n", error, int_error); // printf("error = %.2f int_error = %.2f\n", error, int_error);
int_adj = int_error / 1500.0; int_adj = int_error / 8000.0;
// caclulate proportional error // caclulate proportional error
prop_error = error; prop_error = error;
prop_adj = prop_error / 2000.0; prop_adj = prop_error / 2000.0;
total_adj = 0.9 * prop_adj + 0.1 * int_adj; total_adj = 0.9 * prop_adj + 0.1 * int_adj;
if ( total_adj > 0.5 ) { total_adj = 0.5; } if ( total_adj > 0.4 ) { total_adj = 0.4; }
if ( total_adj < -0.2 ) { total_adj = -0.2; } if ( total_adj < -0.3 ) { total_adj = -0.3; }
fgElevSet( total_adj ); fgElevSet( total_adj );
} }