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flightgear/Simulator/Autopilot/autopilot.cxx

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// 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.
//
// $Id$
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <assert.h>
#include <stdlib.h>
#include <Scenery/scenery.hxx>
#include "autopilot.hxx"
#include <Include/fg_constants.h>
#include <Debug/logstream.hxx>
#include <Main/options.hxx>
#include <GUI/gui.h>
// The below routines were copied right from hud.c ( I hate reinventing
// the wheel more than necessary)
// The following routines obtain information concerntin the aircraft's
// current state and return it to calling instrument display routines.
// They should eventually be member functions of the aircraft.
//
static double get_speed( void ) {
return( current_aircraft.fdm_state->get_V_equiv_kts() );
}
static double get_aoa( void )
{
return( current_aircraft.fdm_state->get_Gamma_vert_rad() * RAD_TO_DEG );
}
static double fgAPget_roll( void )
{
return( current_aircraft.fdm_state->get_Phi() * RAD_TO_DEG );
}
static double get_pitch( void )
{
return( current_aircraft.fdm_state->get_Theta() );
}
double fgAPget_heading( void )
{
return( current_aircraft.fdm_state->get_Psi() * RAD_TO_DEG );
}
static double fgAPget_altitude( void )
{
return( current_aircraft.fdm_state->get_Altitude() * FEET_TO_METER );
}
static double fgAPget_climb( void )
{
// return in meters per minute
return( current_aircraft.fdm_state->get_Climb_Rate() * FEET_TO_METER * 60 );
}
static double get_sideslip( void )
{
return( current_aircraft.fdm_state->get_Beta() );
}
static double fgAPget_agl( void )
{
double agl;
agl = current_aircraft.fdm_state->get_Altitude() * FEET_TO_METER
- scenery.cur_elev;
return( agl );
}
// End of copied section. ( thanks for the wheel :-)
// Local Prototype section
double LinearExtrapolate( double x, double x1, double y1, double x2, double y2);
double NormalizeDegrees( double Input);
// End Local ProtoTypes
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;
// heading hold enabled?
return APData->heading_hold;
}
bool fgAPAltitudeEnabled( void )
{
fgAPDataPtr APData;
APData = APDataGlobal;
// altitude hold or terrain follow enabled?
return APData->altitude_hold;
}
bool fgAPTerrainFollowEnabled( void )
{
fgAPDataPtr APData;
APData = APDataGlobal;
// altitude hold or terrain follow enabled?
return APData->terrain_follow ;
}
bool fgAPAutoThrottleEnabled( void )
{
fgAPDataPtr APData;
APData = APDataGlobal;
// autothrottle enabled?
return APData->auto_throttle;
}
void fgAPAltitudeAdjust( double inc )
{
// Remove at a later date
fgAPDataPtr 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;
}
APData->TargetAltitude = target_alt;
APData->TargetAGL = target_agl;
}
void fgAPAltitudeSet( double new_altitude ) {
// Remove at a later date
fgAPDataPtr APData = APDataGlobal;
// end section
double target_alt = new_altitude;
if ( current_options.get_units() == fgOPTIONS::FG_UNITS_FEET )
target_alt = new_altitude * FEET_TO_METER;
if( target_alt < scenery.cur_elev )
target_alt = scenery.cur_elev;
APData->TargetAltitude = target_alt;
}
void fgAPHeadingAdjust( double inc )
{
fgAPDataPtr APData;
APData = APDataGlobal;
double target = (int)(APData->TargetHeading / inc) * inc + inc;
APData->TargetHeading = NormalizeDegrees(target);
}
void fgAPHeadingSet( double new_heading ) {
fgAPDataPtr APData = APDataGlobal;
new_heading = NormalizeDegrees( new_heading );
APData->TargetHeading = new_heading;
}
void fgAPAutoThrottleAdjust( double inc )
{
fgAPDataPtr APData;
APData = APDataGlobal;
double target = (int)(APData->TargetSpeed / inc) * inc + inc;
APData->TargetSpeed = target;
}
void fgAPReset(void)
{
fgAPDataPtr APData = APDataGlobal;
if( fgAPTerrainFollowEnabled() )
fgAPToggleTerrainFollow( );
if( fgAPAltitudeEnabled() )
fgAPToggleAltitude();
if( fgAPHeadingEnabled() )
fgAPToggleHeading();
if( fgAPAutoThrottleEnabled() )
fgAPToggleAutoThrottle();
APData->TargetHeading = 0.0; // default direction, due north
APData->TargetAltitude = 3000; // default altitude in meters
APData->alt_error_accum = 0.0;
}
#define mySlider puSlider
/// These statics will eventually go into the class
/// they are just here while I am experimenting -- NHV :-)
static double MaxRollAdjust; // MaxRollAdjust = 2 * APData->MaxRoll;
static double RollOutAdjust; // RollOutAdjust = 2 * APData->RollOut;
static double MaxAileronAdjust; // MaxAileronAdjust = 2 * APData->MaxAileron;
static double RollOutSmoothAdjust; // RollOutSmoothAdjust = 2 * APData->RollOutSmooth;
static float MaxRollValue; // 0.1 -> 1.0
static float RollOutValue;
static float MaxAileronValue;
static float RollOutSmoothValue;
static float TmpMaxRollValue; // for cancel operation
static float TmpRollOutValue;
static float TmpMaxAileronValue;
static float TmpRollOutSmoothValue;
static puDialogBox *APAdjustDialog;
static puFrame *APAdjustFrame;
static puText *APAdjustDialogMessage;
static puFont APAdjustLegendFont;
static puFont APAdjustLabelFont;
static puOneShot *APAdjustOkButton;
static puOneShot *APAdjustResetButton;
static puOneShot *APAdjustCancelButton;
//static puButton *APAdjustDragButton;
static puText *APAdjustMaxRollTitle;
static puText *APAdjustRollOutTitle;
static puText *APAdjustMaxAileronTitle;
static puText *APAdjustRollOutSmoothTitle;
static puText *APAdjustMaxAileronText;
static puText *APAdjustMaxRollText;
static puText *APAdjustRollOutText;
static puText *APAdjustRollOutSmoothText;
static mySlider *APAdjustHS0;
static mySlider *APAdjustHS1;
static mySlider *APAdjustHS2;
static mySlider *APAdjustHS3;
static char SliderText[4][8];
// THIS NEEDS IMPROVEMENT !!!!!!!!!!!!!
static int scan_number(char *s, double *new_value)
{
int ret = 0;
char WordBuf[64];
char *cptr = s;
char *WordBufPtr = WordBuf;
if (*cptr == '+')
cptr++;
if (*cptr == '-') {
*WordBufPtr++ = *cptr++;
}
while (isdigit(*cptr) ) {
*WordBufPtr++ = *cptr++;
ret = 1;
}
if (*cptr == '.')
*WordBufPtr++ = *cptr++; // put the '.' into the string
while (isdigit(*cptr)) {
*WordBufPtr++ = *cptr++;
ret = 1;
}
if( ret == 1 ) {
*WordBufPtr = '\0';
sscanf(WordBuf, "%lf", new_value);
}
return(ret);
} // scan_number
///////// AutoPilot New Heading Dialog
static puDialogBox *ApHeadingDialog;
static puFrame *ApHeadingDialogFrame;
static puText *ApHeadingDialogMessage;
static puInput *ApHeadingDialogInput;
static puOneShot *ApHeadingDialogOkButton;
static puOneShot *ApHeadingDialogCancelButton;
void ApHeadingDialog_Cancel(puObject *)
{
ApHeadingDialogInput->rejectInput();
FG_POP_PUI_DIALOG( ApHeadingDialog );
}
void ApHeadingDialog_OK (puObject *me)
{
int error = 0;
char *c;
string s;
ApHeadingDialogInput -> getValue( &c );
if( strlen(c) ) {
double NewHeading;
if( scan_number( c, &NewHeading ) )
{
if(!fgAPHeadingEnabled())
fgAPToggleHeading();
fgAPHeadingSet( NewHeading );
} else {
error = 1;
s = c;
s += " is not a valid number.";
}
}
ApHeadingDialog_Cancel(me);
if( error ) mkDialog(s.c_str());
}
void NewHeading(puObject *cb)
{
// string ApHeadingLabel( "Enter New Heading" );
// ApHeadingDialogMessage -> setLabel(ApHeadingLabel.c_str());
ApHeadingDialogInput -> acceptInput();
FG_PUSH_PUI_DIALOG( ApHeadingDialog );
}
void NewHeadingInit(void)
{
// printf("NewHeadingInit\n");
char NewHeadingLabel[] = "Enter New Heading";
char *s;
float heading = fgAPget_heading();
int len = 260/2 -
(puGetStringWidth( puGetDefaultLabelFont(), NewHeadingLabel ) /2 );
ApHeadingDialog = new puDialogBox (150, 50);
{
ApHeadingDialogFrame = new puFrame (0, 0, 260, 150);
ApHeadingDialogMessage = new puText (len, 110);
ApHeadingDialogMessage -> setDefaultValue (NewHeadingLabel);
ApHeadingDialogMessage -> getDefaultValue (&s);
ApHeadingDialogMessage -> setLabel (s);
ApHeadingDialogInput = new puInput ( 50, 70, 210, 100 );
ApHeadingDialogInput -> setValue ( heading );
ApHeadingDialogOkButton = new puOneShot (50, 10, 110, 50);
ApHeadingDialogOkButton -> setLegend (gui_msg_OK);
ApHeadingDialogOkButton -> makeReturnDefault (TRUE);
ApHeadingDialogOkButton -> setCallback (ApHeadingDialog_OK);
ApHeadingDialogCancelButton = new puOneShot (140, 10, 210, 50);
ApHeadingDialogCancelButton -> setLegend (gui_msg_CANCEL);
ApHeadingDialogCancelButton -> setCallback (ApHeadingDialog_Cancel);
}
FG_FINALIZE_PUI_DIALOG( ApHeadingDialog );
}
///////// AutoPilot New Altitude Dialog
static puDialogBox *ApAltitudeDialog = 0;
static puFrame *ApAltitudeDialogFrame = 0;
static puText *ApAltitudeDialogMessage = 0;
static puInput *ApAltitudeDialogInput = 0;
static puOneShot *ApAltitudeDialogOkButton = 0;
static puOneShot *ApAltitudeDialogCancelButton = 0;
void ApAltitudeDialog_Cancel(puObject *)
{
ApAltitudeDialogInput -> rejectInput();
FG_POP_PUI_DIALOG( ApAltitudeDialog );
}
void ApAltitudeDialog_OK (puObject *me)
{
int error = 0;
string s;
char *c;
ApAltitudeDialogInput->getValue( &c );
if( strlen( c ) ) {
double NewAltitude;
if( scan_number( c, &NewAltitude) )
{
if(!(fgAPAltitudeEnabled()))
fgAPToggleAltitude();
fgAPAltitudeSet( NewAltitude );
} else {
error = 1;
s = c;
s += " is not a valid number.";
}
}
ApAltitudeDialog_Cancel(me);
if( error ) mkDialog(s.c_str());
}
void NewAltitude(puObject *cb)
{
ApAltitudeDialogInput -> acceptInput();
FG_PUSH_PUI_DIALOG( ApAltitudeDialog );
}
void NewAltitudeInit(void)
{
// printf("NewAltitudeInit\n");
char NewAltitudeLabel[] = "Enter New Altitude";
char *s;
float alt = current_aircraft.fdm_state->get_Altitude();
int len = 260/2 -
(puGetStringWidth( puGetDefaultLabelFont(), NewAltitudeLabel )/2);
ApAltitudeDialog = new puDialogBox (150, 50);
{
ApAltitudeDialogFrame = new puFrame (0, 0, 260, 150);
ApAltitudeDialogMessage = new puText (len, 110);
ApAltitudeDialogMessage -> setDefaultValue (NewAltitudeLabel);
ApAltitudeDialogMessage -> getDefaultValue (&s);
ApAltitudeDialogMessage -> setLabel (s);
ApAltitudeDialogInput = new puInput ( 50, 70, 210, 100 );
ApAltitudeDialogInput -> setValue ( alt );
// Uncomment the next line to have input active on startup
// ApAltitudeDialogInput -> acceptInput ( );
// cursor at begining or end of line ?
//len = strlen(s);
// len = 0;
// ApAltitudeDialogInput -> setCursor ( len );
// ApAltitudeDialogInput -> setSelectRegion ( 5, 9 );
ApAltitudeDialogOkButton = new puOneShot (50, 10, 110, 50);
ApAltitudeDialogOkButton -> setLegend (gui_msg_OK);
ApAltitudeDialogOkButton -> makeReturnDefault (TRUE);
ApAltitudeDialogOkButton -> setCallback (ApAltitudeDialog_OK);
ApAltitudeDialogCancelButton = new puOneShot (140, 10, 210, 50);
ApAltitudeDialogCancelButton -> setLegend (gui_msg_CANCEL);
ApAltitudeDialogCancelButton -> setCallback (ApAltitudeDialog_Cancel);
}
FG_FINALIZE_PUI_DIALOG( ApAltitudeDialog );
}
/////// simple AutoPilot GAIN / LIMITS ADJUSTER
#define fgAP_CLAMP(val,min,max) \
( (val) = (val) > (max) ? (max) : (val) < (min) ? (min) : (val) )
static void maxroll_adj(puObject *hs)
{
float val ;
fgAPDataPtr APData;
APData = APDataGlobal;
hs -> getValue ( &val ) ;
fgAP_CLAMP ( val, 0.1, 1.0 ) ;
// printf ( "maxroll_adj( %p ) %f %f\n", hs, val, MaxRollAdjust * val ) ;
APData->MaxRoll = MaxRollAdjust * val;
sprintf(SliderText[0],"%05.2f", APData->MaxRoll );
APAdjustMaxRollText -> setLabel ( SliderText[0] ) ;
}
static void rollout_adj(puObject *hs)
{
float val ;
fgAPDataPtr APData;
APData = APDataGlobal;
hs -> getValue ( &val ) ;
fgAP_CLAMP ( val, 0.1, 1.0 ) ;
// printf ( "rollout_adj( %p ) %f %f\n", hs, val, RollOutAdjust * val ) ;
APData->RollOut = RollOutAdjust * val;
sprintf(SliderText[1],"%05.2f", APData->RollOut );
APAdjustRollOutText -> setLabel ( SliderText[1] );
}
static void maxaileron_adj( puObject *hs )
{
float val ;
fgAPDataPtr APData;
APData = APDataGlobal;
hs -> getValue ( &val ) ;
fgAP_CLAMP ( val, 0.1, 1.0 ) ;
// printf ( "maxaileron_adj( %p ) %f %f\n", hs, val, MaxAileronAdjust * val ) ;
APData->MaxAileron = MaxAileronAdjust * val;
sprintf(SliderText[3],"%05.2f", APData->MaxAileron );
APAdjustMaxAileronText -> setLabel ( SliderText[3] );
}
static void rolloutsmooth_adj( puObject *hs )
{
float val ;
fgAPDataPtr APData;
APData = APDataGlobal;
hs -> getValue ( &val ) ;
fgAP_CLAMP ( val, 0.1, 1.0 ) ;
// printf ( "rolloutsmooth_adj( %p ) %f %f\n", hs, val, RollOutSmoothAdjust * val ) ;
APData->RollOutSmooth = RollOutSmoothAdjust * val;
sprintf(SliderText[2],"%5.2f", APData->RollOutSmooth );
APAdjustRollOutSmoothText -> setLabel ( SliderText[2] );
}
static void goAwayAPAdjust (puObject *)
{
FG_POP_PUI_DIALOG( APAdjustDialog );
}
void cancelAPAdjust(puObject *self)
{
fgAPDataPtr APData = APDataGlobal;
APData->MaxRoll = TmpMaxRollValue;
APData->RollOut = TmpRollOutValue;
APData->MaxAileron = TmpMaxAileronValue;
APData->RollOutSmooth = TmpRollOutSmoothValue;
goAwayAPAdjust(self);
}
void resetAPAdjust(puObject *self)
{
fgAPDataPtr APData = APDataGlobal;
APData->MaxRoll = MaxRollAdjust / 2;
APData->RollOut = RollOutAdjust / 2;
APData->MaxAileron = MaxAileronAdjust / 2;
APData->RollOutSmooth = RollOutSmoothAdjust / 2;
FG_POP_PUI_DIALOG( APAdjustDialog );
fgAPAdjust( self );
}
void fgAPAdjust( puObject * )
{
fgAPDataPtr APData = APDataGlobal;
TmpMaxRollValue = APData->MaxRoll;
TmpRollOutValue = APData->RollOut;
TmpMaxAileronValue = APData->MaxAileron;
TmpRollOutSmoothValue = APData->RollOutSmooth;
MaxRollValue = APData->MaxRoll / MaxRollAdjust;
RollOutValue = APData->RollOut / RollOutAdjust;
MaxAileronValue = APData->MaxAileron / MaxAileronAdjust;
RollOutSmoothValue = APData->RollOutSmooth / RollOutSmoothAdjust;
APAdjustHS0 -> setValue ( MaxRollValue ) ;
APAdjustHS1 -> setValue ( RollOutValue ) ;
APAdjustHS2 -> setValue ( RollOutSmoothValue ) ;
APAdjustHS3 -> setValue ( MaxAileronValue ) ;
FG_PUSH_PUI_DIALOG( APAdjustDialog );
}
// Done once at system initialization
// Done once at system initialization
void fgAPAdjustInit( void ) {
// printf("fgAPAdjustInit\n");
#define HORIZONTAL FALSE
int DialogX = 40;
int DialogY = 100;
int DialogWidth = 230;
char Label[] = "AutoPilot Adjust";
char *s;
fgAPDataPtr APData = APDataGlobal;
int labelX = (DialogWidth / 2) -
(puGetStringWidth( puGetDefaultLabelFont(), Label ) / 2);
labelX -= 30; // KLUDGEY
int nSliders = 4;
int slider_x = 10;
int slider_y = 55;
int slider_width = 210;
int slider_title_x = 15;
int slider_value_x = 160;
float slider_delta = 0.1f;
TmpMaxRollValue = APData-> MaxRoll;
TmpRollOutValue = APData-> RollOut;
TmpMaxAileronValue = APData-> MaxAileron;
TmpRollOutSmoothValue = APData-> RollOutSmooth;
MaxRollValue = APData-> MaxRoll / MaxRollAdjust;
RollOutValue = APData-> RollOut / RollOutAdjust;
MaxAileronValue = APData-> MaxAileron / MaxAileronAdjust;
RollOutSmoothValue = APData-> RollOutSmooth / RollOutSmoothAdjust;
puGetDefaultFonts ( &APAdjustLegendFont, &APAdjustLabelFont );
APAdjustDialog = new puDialogBox ( DialogX, DialogY ); {
int horiz_slider_height = puGetStringHeight (APAdjustLabelFont) +
puGetStringDescender (APAdjustLabelFont) +
PUSTR_TGAP + PUSTR_BGAP + 5;
APAdjustFrame = new puFrame ( 0, 0,
DialogWidth, 85 + nSliders * horiz_slider_height );
APAdjustDialogMessage = new puText ( labelX, 52 + nSliders * horiz_slider_height );
APAdjustDialogMessage -> setDefaultValue ( Label );
APAdjustDialogMessage -> getDefaultValue ( &s );
APAdjustDialogMessage -> setLabel ( s );
APAdjustHS0 = new mySlider ( slider_x, slider_y, slider_width, HORIZONTAL ) ;
APAdjustHS0-> setDelta ( slider_delta ) ;
APAdjustHS0-> setValue ( MaxRollValue ) ;
APAdjustHS0-> setCBMode ( PUSLIDER_DELTA ) ;
APAdjustHS0-> setCallback ( maxroll_adj ) ;
sprintf( SliderText[ 0 ], "%05.2f", APData->MaxRoll );
APAdjustMaxRollTitle = new puText ( slider_title_x, slider_y ) ;
APAdjustMaxRollTitle-> setDefaultValue ( "MaxRoll" ) ;
APAdjustMaxRollTitle-> getDefaultValue ( &s ) ;
APAdjustMaxRollTitle-> setLabel ( s ) ;
APAdjustMaxRollText = new puText ( slider_value_x, slider_y ) ;
APAdjustMaxRollText-> setLabel ( SliderText[ 0 ] ) ;
slider_y += horiz_slider_height;
APAdjustHS1 = new mySlider ( slider_x, slider_y, slider_width, HORIZONTAL ) ;
APAdjustHS1-> setDelta ( slider_delta ) ;
APAdjustHS1-> setValue ( RollOutValue ) ;
APAdjustHS1-> setCBMode ( PUSLIDER_DELTA ) ;
APAdjustHS1-> setCallback ( rollout_adj ) ;
sprintf( SliderText[ 1 ], "%05.2f", APData->RollOut );
APAdjustRollOutTitle = new puText ( slider_title_x, slider_y ) ;
APAdjustRollOutTitle-> setDefaultValue ( "AdjustRollOut" ) ;
APAdjustRollOutTitle-> getDefaultValue ( &s ) ;
APAdjustRollOutTitle-> setLabel ( s ) ;
APAdjustRollOutText = new puText ( slider_value_x, slider_y ) ;
APAdjustRollOutText-> setLabel ( SliderText[ 1 ] );
slider_y += horiz_slider_height;
APAdjustHS2 = new mySlider ( slider_x, slider_y, slider_width, HORIZONTAL ) ;
APAdjustHS2-> setDelta ( slider_delta ) ;
APAdjustHS2-> setValue ( RollOutSmoothValue ) ;
APAdjustHS2-> setCBMode ( PUSLIDER_DELTA ) ;
APAdjustHS2-> setCallback ( rolloutsmooth_adj ) ;
sprintf( SliderText[ 2 ], "%5.2f", APData->RollOutSmooth );
APAdjustRollOutSmoothTitle = new puText ( slider_title_x, slider_y ) ;
APAdjustRollOutSmoothTitle-> setDefaultValue ( "RollOutSmooth" ) ;
APAdjustRollOutSmoothTitle-> getDefaultValue ( &s ) ;
APAdjustRollOutSmoothTitle-> setLabel ( s ) ;
APAdjustRollOutSmoothText = new puText ( slider_value_x, slider_y ) ;
APAdjustRollOutSmoothText-> setLabel ( SliderText[ 2 ] );
slider_y += horiz_slider_height;
APAdjustHS3 = new mySlider ( slider_x, slider_y, slider_width, HORIZONTAL ) ;
APAdjustHS3-> setDelta ( slider_delta ) ;
APAdjustHS3-> setValue ( MaxAileronValue ) ;
APAdjustHS3-> setCBMode ( PUSLIDER_DELTA ) ;
APAdjustHS3-> setCallback ( maxaileron_adj ) ;
sprintf( SliderText[ 3 ], "%05.2f", APData->MaxAileron );
APAdjustMaxAileronTitle = new puText ( slider_title_x, slider_y ) ;
APAdjustMaxAileronTitle-> setDefaultValue ( "MaxAileron" ) ;
APAdjustMaxAileronTitle-> getDefaultValue ( &s ) ;
APAdjustMaxAileronTitle-> setLabel ( s ) ;
APAdjustMaxAileronText = new puText ( slider_value_x, slider_y ) ;
APAdjustMaxAileronText-> setLabel ( SliderText[ 3 ] );
APAdjustOkButton = new puOneShot ( 10, 10, 60, 50 );
APAdjustOkButton-> setLegend ( gui_msg_OK );
APAdjustOkButton-> makeReturnDefault ( TRUE );
APAdjustOkButton-> setCallback ( goAwayAPAdjust );
APAdjustCancelButton = new puOneShot ( 70, 10, 150, 50 );
APAdjustCancelButton-> setLegend ( gui_msg_CANCEL );
APAdjustCancelButton-> setCallback ( cancelAPAdjust );
APAdjustResetButton = new puOneShot ( 160, 10, 220, 50 );
APAdjustResetButton-> setLegend ( gui_msg_RESET );
APAdjustResetButton-> setCallback ( resetAPAdjust );
}
FG_FINALIZE_PUI_DIALOG( APAdjustDialog );
#undef HORIZONTAL
}
void fgAPInit( fgAIRCRAFT *current_aircraft )
{
fgAPDataPtr APData ;
FG_LOG( FG_AUTOPILOT, FG_INFO, "Init AutoPilot Subsystem" );
APData = (fgAPDataPtr)calloc(sizeof(fgAPData),1);
if (APData == NULL) {
// I couldn't get the mem. Dying
FG_LOG( FG_AUTOPILOT, FG_ALERT, "No ram for Autopilot. Dying.");
exit(-1);
}
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.
#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;
#if !defined( USING_SLIDER_CLASS )
MaxRollAdjust = 2 * APData->MaxRoll;
RollOutAdjust = 2 * APData->RollOut;
MaxAileronAdjust = 2 * APData->MaxAileron;
RollOutSmoothAdjust = 2 * APData->RollOutSmooth;
#endif // !defined( USING_SLIDER_CLASS )
fgAPAdjustInit( ) ;
NewHeadingInit();
NewAltitudeInit();
};
int fgAPRun( void )
{
// Remove the following lines when the calling funcitons start
// passing in the data pointer
fgAPDataPtr APData;
APData = APDataGlobal;
// end section
// heading hold enabled?
if ( APData->heading_hold == true ) {
double RelHeading;
double TargetRoll;
double RelRoll;
double AileronSet;
RelHeading =
NormalizeDegrees( APData->TargetHeading - fgAPget_heading());
// figure out how far off we are from desired heading
// Now it is time to deterime how far we should be rolled.
FG_LOG( FG_AUTOPILOT, FG_DEBUG, "RelHeading: " << RelHeading );
// Check if we are further from heading than the roll out point
if ( fabs(RelHeading) > APData->RollOut ) {
// set Target Roll to Max in desired direction
if (RelHeading < 0 ) {
TargetRoll = 0-APData->MaxRoll;
} else {
TargetRoll = APData->MaxRoll;
}
} else {
// We have to calculate the Target roll
// This calculation engine thinks that the Target roll
// should be a line from (RollOut,MaxRoll) to (-RollOut,
// -MaxRoll) I hope this works well. If I get ambitious
// some day this might become a fancier curve or
// something.
TargetRoll = LinearExtrapolate( RelHeading, -APData->RollOut,
-APData->MaxRoll, APData->RollOut,
APData->MaxRoll );
}
// Target Roll has now been Found.
// Compare Target roll to Current Roll, Generate Rel Roll
FG_LOG( FG_COCKPIT, FG_BULK, "TargetRoll: " << TargetRoll );
RelRoll = NormalizeDegrees(TargetRoll - fgAPget_roll());
// Check if we are further from heading than the roll out smooth point
if ( fabs(RelRoll) > APData->RollOutSmooth ) {
// set Target Roll to Max in desired direction
if (RelRoll < 0 ) {
AileronSet = 0-APData->MaxAileron;
} else {
AileronSet = APData->MaxAileron;
}
} else {
AileronSet = LinearExtrapolate( RelRoll, -APData->RollOutSmooth,
-APData->MaxAileron,
APData->RollOutSmooth,
APData->MaxAileron );
}
controls.set_aileron( AileronSet );
controls.set_rudder( 0.0 );
}
// altitude hold or terrain follow enabled?
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 ) {
// normal altitude hold
APData->TargetClimbRate =
(APData->TargetAltitude - fgAPget_altitude()) * 8.0;
} else if ( APData->terrain_follow ) {
// brain dead ground hugging with no look ahead
APData->TargetClimbRate =
( APData->TargetAGL - fgAPget_agl() ) * 16.0;
} else {
// just try to zero out rate of climb ...
APData->TargetClimbRate = 0.0;
}
speed = get_speed();
if ( speed < 90.0 ) {
max_climb = 0.0;
} else if ( speed < 100.0 ) {
max_climb = (speed - 90.0) * 20;
} else {
max_climb = ( speed - 100.0 ) * 4.0 + 200.0;
}
if ( APData->TargetClimbRate > max_climb ) {
APData->TargetClimbRate = max_climb;
}
if ( APData->TargetClimbRate < -400.0 ) {
APData->TargetClimbRate = -400.0;
}
error = fgAPget_climb() - APData->TargetClimbRate;
// accumulate the error under the curve ... this really should
// be *= delta t
APData->alt_error_accum += error;
// calculate integral error, and adjustment amount
int_error = APData->alt_error_accum;
// printf("error = %.2f int_error = %.2f\n", error, int_error);
int_adj = int_error / 8000.0;
// caclulate proportional error
prop_error = error;
prop_adj = prop_error / 2000.0;
total_adj = 0.9 * prop_adj + 0.1 * int_adj;
if ( total_adj > 0.6 ) { total_adj = 0.6; }
if ( total_adj < -0.2 ) { total_adj = -0.2; }
controls.set_elevator( total_adj );
}
// auto throttle enabled?
if ( APData->auto_throttle ) {
double error;
double prop_error, int_error;
double prop_adj, int_adj, total_adj;
error = APData->TargetSpeed - get_speed();
// accumulate the error under the curve ... this really should
// be *= delta t
APData->speed_error_accum += error;
if ( APData->speed_error_accum > 2000.0 ) {
APData->speed_error_accum = 2000.0;
}
if ( APData->speed_error_accum < -2000.0 ) {
APData->speed_error_accum = -2000.0;
}
// calculate integral error, and adjustment amount
int_error = APData->speed_error_accum;
// printf("error = %.2f int_error = %.2f\n", error, int_error);
int_adj = int_error / 200.0;
// caclulate proportional error
prop_error = error;
prop_adj = 0.5 + prop_error / 50.0;
total_adj = 0.9 * prop_adj + 0.1 * int_adj;
if ( total_adj > 1.0 ) { total_adj = 1.0; }
if ( total_adj < 0.0 ) { total_adj = 0.0; }
controls.set_throttle( FGControls::ALL_ENGINES, total_adj );
}
/*
if (APData->Mode == 2) // Glide slope hold
{
double RelSlope;
double RelElevator;
// First, calculate Relative slope and normalize it
RelSlope = NormalizeDegrees( APData->TargetSlope - get_pitch());
// Now calculate the elevator offset from current angle
if ( abs(RelSlope) > APData->SlopeSmooth )
{
if ( RelSlope < 0 ) // set RelElevator to max in the correct direction
RelElevator = -APData->MaxElevator;
else
RelElevator = APData->MaxElevator;
}
else
RelElevator = LinearExtrapolate(RelSlope,-APData->SlopeSmooth,-APData->MaxElevator,APData->SlopeSmooth,APData->MaxElevator);
// set the elevator
fgElevMove(RelElevator);
}
*/
// Ok, we are done
return 0;
}
/*
void fgAPSetMode( int mode)
{
//Remove the following line when the calling funcitons start passing in the data pointer
fgAPDataPtr APData;
APData = APDataGlobal;
// end section
fgPrintf( FG_COCKPIT, FG_INFO, "APSetMode : %d\n", mode );
APData->Mode = mode; // set the new mode
}
*/
void fgAPToggleHeading( void )
{
// Remove at a later date
fgAPDataPtr APData;
APData = APDataGlobal;
// end section
if ( APData->heading_hold ) {
// turn off heading hold
APData->heading_hold = false;
} else {
// turn on heading hold, lock at current heading
APData->heading_hold = true;
APData->TargetHeading = fgAPget_heading();
}
FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetHeading: ("
<< APData->heading_hold << ") " << APData->TargetHeading );
}
void fgAPToggleAltitude( void )
{
// Remove at a later date
fgAPDataPtr APData;
APData = APDataGlobal;
// end section
if ( APData->altitude_hold ) {
// turn off altitude hold
APData->altitude_hold = false;
} else {
// turn on altitude hold, lock at current altitude
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(),
// alt_error_queue.end() );
}
FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetAltitude: ("
<< APData->altitude_hold << ") " << APData->TargetAltitude );
}
void fgAPToggleAutoThrottle ( void )
{
// Remove at a later date
fgAPDataPtr APData;
APData = APDataGlobal;
// end section
if ( APData->auto_throttle ) {
// turn off altitude hold
APData->auto_throttle = false;
} else {
// turn on terrain follow, lock at current agl
APData->auto_throttle = true;
APData->TargetSpeed = get_speed();
APData->speed_error_accum = 0.0;
}
FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetAutoThrottle: ("
<< APData->auto_throttle << ") " << APData->TargetSpeed );
}
void fgAPToggleTerrainFollow( void )
{
// Remove at a later date
fgAPDataPtr APData;
APData = APDataGlobal;
// end section
if ( APData->terrain_follow ) {
// turn off altitude hold
APData->terrain_follow = false;
} else {
// turn on terrain follow, lock at current agl
APData->terrain_follow = true;
APData->altitude_hold = false;
APData->TargetAGL = fgAPget_agl();
APData->alt_error_accum = 0.0;
}
FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetTerrainFollow: ("
<< APData->terrain_follow << ") " << APData->TargetAGL );
}
double LinearExtrapolate( double x,double x1,double y1,double x2,double y2)
{
// This procedure extrapolates the y value for the x posistion on a line defined by x1,y1; x2,y2
//assert(x1 != x2); // Divide by zero error. Cold abort for now
double m, b, y; // the constants to find in y=mx+b
m=(y2-y1)/(x2-x1); // calculate the m
b= y1- m * x1; // calculate the b
y = m * x + b; // the final calculation
return y;
};
double NormalizeDegrees(double Input)
{
// normalize the input to the range (-180,180]
// Input should not be greater than -360 to 360. Current rules send the output to an undefined state.
if (Input > 180)
Input -= 360;
if (Input <= -180)
Input += 360;
return (Input);
};
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