Eaagles::Simulation::Autopilot Class Reference

Inherits Eaagles::Simulation::Pilot.

Inheritance diagram for Eaagles::Simulation::Autopilot:

[legend]Collaboration diagram for Eaagles::Simulation::Autopilot:

[legend]List of all members.

Public Member Functions
	Autopilot ()
virtual LCreal	getCommandedHeadingD () const
virtual LCreal	getHeadingBugD () const
virtual LCreal	getCommandedAltitudeFt () const
virtual LCreal	getCommandedAirspeedKts () const
virtual LCreal	getRollLimitD () const
virtual LCreal	getPitchLimitD () const
virtual LCreal	getRollTrimD () const
virtual LCreal	getPitchTrimD () const
virtual LCreal	getControlStickRollInputD () const
virtual LCreal	getControlStickPitchInputD () const
virtual LCreal	getControlStickRollDeadbandD () const
virtual LCreal	getControlStickPitchDeadbandD () const
virtual bool	isDeadbandOn () const
virtual LCreal	getThrottleInput () const
virtual bool	isRollSasOn () const
virtual bool	isPitchSasOn () const
virtual bool	isYawSasOn () const
virtual bool	isHeadingHoldOn () const
virtual bool	isAltitudeHoldOn () const
virtual bool	isAirspeedHoldOn () const
virtual bool	isCruiseModeOn () const
virtual bool	isStallProtectionModeOn () const
virtual bool	isNavModeOn () const
virtual bool	isLoiterModeOn () const
virtual LCreal	getRollErrorD () const
virtual LCreal	getPitchErrorD () const
virtual LCreal	getLoiterPatternLengthNM () const
virtual bool	isLoiterPatternCounterClockwise () const
virtual const LCreal	getLeadFollowingDistanceTrail () const
virtual const LCreal	getLeadFollowingDistanceRight () const
virtual const LCreal	getLeadFollowingDeltaAltitude () const
virtual bool	isFollowTheLeadModeOn ()
virtual const Basic::LcIdent *	getLeadPlayerName ()
virtual const Player *	getLeadPlayer ()
virtual bool	setLoiterPatternLengthNM (const LCreal nm)
virtual bool	setLoiterPatternCounterClockwise (const bool ccw)
virtual bool	setLeadFollowingDistanceTrail (const LCreal trail)
virtual bool	setLeadFollowingDistanceRight (const LCreal right)
virtual bool	setLeadFollowingDeltaAltitude (const LCreal above)
virtual bool	setFollowTheLeadMode (const bool f)
virtual bool	setLeadPlayerName (const Basic::LcIdent *const)
virtual bool	setLeadPlayer (const Player *const)
virtual bool	setCommandedHeadingD (const LCreal v)
virtual bool	setHeadingBugD (const LCreal v)
virtual bool	setCommandedAltitudeFt (const LCreal v)
virtual bool	setCommandedAirspeedKts (const LCreal v)
virtual bool	setRollSasMode (const bool f)
virtual bool	setPitchSasMode (const bool f)
virtual bool	setYawSasMode (const bool f)
virtual bool	setHeadingHoldMode (const bool f)
virtual bool	setAltitudeHoldMode (const bool f)
virtual bool	setAirspeedHoldMode (const bool f)
virtual bool	setCruiseMode (const bool f)
virtual bool	setStallProtectionMode (const bool f)
virtual bool	setNavMode (const bool f)
virtual bool	setLoiterMode (const bool f)
virtual bool	setDeadBandMode (const bool f)
virtual bool	setRollLimit (const LCreal v)
virtual bool	setPitchLimit (const LCreal v)
virtual bool	setRollTrimD (const LCreal v)
virtual bool	setPitchTrimD (const LCreal v)
virtual bool	setControlStickRollInputD (const LCreal pos)
virtual bool	setControlStickPitchInputD (const LCreal pos)
virtual bool	setControlStickRollDeadbandD (const LCreal db)
virtual bool	setControlStickPitchDeadbandD (const LCreal db)
virtual bool	setThrottle (const LCreal pos)
virtual void	trimSwitch (const bool sw)
bool	computerOrbitHoldingPatternMirrorWaypoint (const double alat, const double alon, const LCreal crs, const LCreal length, const LCreal speed, const bool ccwFlg, double *const mlat, double *const mlon)
virtual bool	setSlotLoiterPatternLength (const Basic::LcDistance *const msg)
virtual bool	setSlotLoiterPatternLength (const Basic::LcNumber *const msg)
virtual bool	setSlotLoiterPatternCcwFlag (const Basic::LcNumber *const msg)
virtual bool	setSlotLeadFollowingDistanceTrail (const Basic::LcDistance *const msg)
virtual bool	setSlotLeadFollowingDistanceTrail (const Basic::LcNumber *const msg)
virtual bool	setSlotLeadFollowingDistanceRight (const Basic::LcDistance *const msg)
virtual bool	setSlotLeadFollowingDistanceRight (const Basic::LcNumber *const msg)
virtual bool	setSlotLeadFollowingDeltaAltitude (const Basic::LcDistance *const msg)
virtual bool	setSlotLeadFollowingDeltaAltitude (const Basic::LcNumber *const msg)
virtual bool	setSlotFollowTheLeadMode (const Basic::LcNumber *const msg)
virtual void	reset ()
Protected Member Functions
virtual bool	processModeNavigation ()
virtual bool	processModeLoiter ()
virtual bool	processModeFollowTheLead ()
virtual void	process (const LCreal dt)
Private Attributes
LCreal	stickRollPos
LCreal	stickPitchPos
LCreal	throttlePos
LCreal	stickRollDB
LCreal	stickPitchDB
bool	deadBandOn
LCreal	rollLimit
LCreal	pitchLimit
LCreal	rollTrim
LCreal	pitchTrim
LCreal	rollTrim0
LCreal	pitchTrim0
bool	trimHoldFlg
LCreal	cmdHdg
LCreal	hdgBug
LCreal	cmdAlt
LCreal	cmdAS
bool	rollSasOn
bool	pitchSasOn
bool	yawSAsOn
bool	hdgHoldOn
bool	altHoldOn
bool	asHoldOn
bool	cruiseModeOn
bool	stallProtOn
bool	navModeOn
bool	loiterModeOn
double	loiterAnchorLat
double	loiterAnchorLon
double	loiterMirrorLat
double	loiterMirrorLon
unsigned int	loiterState
LCreal	loiterLength
bool	loiterCcwFlag
osg::Vec3	leadOffset
const Player *	lead
const Basic::LcIdent *	leadName
LCreal	leadHdg
bool	followLeadModeOn
LCreal	rollErr
LCreal	pitchErr

---

Detailed Description

Form name: Autopilot
    Slots:
       loiterPatternLength        <Distance>  Loiter pattern length
       loiterPatternLength        <Number>    Loiter pattern length (nautical miles)

       loiterPatternCcwFlag       <Number>    Loiter pattern counter-clockwise flag (default: clockwise)

       leadFollowingDistanceTrail <Distance>  Desired distance behind(+) the lead
       leadFollowingDistanceTrail <Number>    Desired distance behind(+) the lead (meters)

       leadFollowingDistanceRight <Distance>  Desired distance right(+) of the lead
       leadFollowingDistanceRight <Number>    Desired distance right(+) of the lead (meters)

       leadFollowingDeltaAltitude <Distance>  Desired delta altitude above(+) the lead
       leadFollowingDeltaAltitude <Number>    Desired delta altitude above(+) the lead (meters)

       leadPlayerName             <Ident>     Name of our lead player
       followTheLeadMode          <Number>    "Follow the lead" mode flag (must be set after 'leadPlayer')
    GUID: {A766D68B-4ABD-442c-812A-0897903FD55E}

---

Constructor & Destructor Documentation

Eaagles::Simulation::Autopilot::Autopilot

(

)

---

Member Function Documentation

virtual LCreal Eaagles::Simulation::Autopilot::getCommandedHeadingD

(

)

const [inline, virtual]

virtual LCreal Eaagles::Simulation::Autopilot::getHeadingBugD

(

)

const [inline, virtual]

virtual LCreal Eaagles::Simulation::Autopilot::getCommandedAltitudeFt

(

)

const [inline, virtual]

virtual LCreal Eaagles::Simulation::Autopilot::getCommandedAirspeedKts

(

)

const [inline, virtual]

virtual LCreal Eaagles::Simulation::Autopilot::getRollLimitD

(

)

const [inline, virtual]

virtual LCreal Eaagles::Simulation::Autopilot::getPitchLimitD

(

)

const [inline, virtual]

virtual LCreal Eaagles::Simulation::Autopilot::getRollTrimD

(

)

const [inline, virtual]

virtual LCreal Eaagles::Simulation::Autopilot::getPitchTrimD

(

)

const [inline, virtual]

virtual LCreal Eaagles::Simulation::Autopilot::getControlStickRollInputD

(

)

const [inline, virtual]

virtual LCreal Eaagles::Simulation::Autopilot::getControlStickPitchInputD

(

)

const [inline, virtual]

virtual LCreal Eaagles::Simulation::Autopilot::getControlStickRollDeadbandD

(

)

const [inline, virtual]

virtual LCreal Eaagles::Simulation::Autopilot::getControlStickPitchDeadbandD

(

)

const [inline, virtual]

virtual bool Eaagles::Simulation::Autopilot::isDeadbandOn

(

)

const [inline, virtual]

virtual LCreal Eaagles::Simulation::Autopilot::getThrottleInput

(

)

const [inline, virtual]

virtual bool Eaagles::Simulation::Autopilot::isRollSasOn

(

)

const [inline, virtual]

virtual bool Eaagles::Simulation::Autopilot::isPitchSasOn

(

)

const [inline, virtual]

virtual bool Eaagles::Simulation::Autopilot::isYawSasOn

(

)

const [inline, virtual]

virtual bool Eaagles::Simulation::Autopilot::isHeadingHoldOn

(

)

const [inline, virtual]

virtual bool Eaagles::Simulation::Autopilot::isAltitudeHoldOn

(

)

const [inline, virtual]

virtual bool Eaagles::Simulation::Autopilot::isAirspeedHoldOn

(

)

const [inline, virtual]

virtual bool Eaagles::Simulation::Autopilot::isCruiseModeOn

(

)

const [inline, virtual]

virtual bool Eaagles::Simulation::Autopilot::isStallProtectionModeOn

(

)

const [inline, virtual]

virtual bool Eaagles::Simulation::Autopilot::isNavModeOn

(

)

const [inline, virtual]

virtual bool Eaagles::Simulation::Autopilot::isLoiterModeOn

(

)

const [inline, virtual]

virtual LCreal Eaagles::Simulation::Autopilot::getRollErrorD

(

)

const [inline, virtual]

virtual LCreal Eaagles::Simulation::Autopilot::getPitchErrorD

(

)

const [inline, virtual]

virtual LCreal Eaagles::Simulation::Autopilot::getLoiterPatternLengthNM

(

)

const [inline, virtual]

Returns the loiter pattern lenght (nm).

virtual bool Eaagles::Simulation::Autopilot::isLoiterPatternCounterClockwise

(

)

const [inline, virtual]

Returns true if the Loiter pattern is counter-clockwise.

virtual const LCreal Eaagles::Simulation::Autopilot::getLeadFollowingDistanceTrail

(

)

const [inline, virtual]

virtual const LCreal Eaagles::Simulation::Autopilot::getLeadFollowingDistanceRight

(

)

const [inline, virtual]

virtual const LCreal Eaagles::Simulation::Autopilot::getLeadFollowingDeltaAltitude

(

)

const [inline, virtual]

virtual bool Eaagles::Simulation::Autopilot::isFollowTheLeadModeOn

(

)

[inline, virtual]

virtual const Basic::LcIdent* Eaagles::Simulation::Autopilot::getLeadPlayerName

(

)

[inline, virtual]

const Player * Eaagles::Simulation::Autopilot::getLeadPlayer

(

)

[virtual]

Our lead player.

bool Eaagles::Simulation::Autopilot::setLoiterPatternLengthNM

(

const LCreal

nm

)

[virtual]

Sets the loiter pattern length (nm).

bool Eaagles::Simulation::Autopilot::setLoiterPatternCounterClockwise

(

const bool

ccw

)

[virtual]

Sets the Loiter pattern is counter-clockwise flag.

bool Eaagles::Simulation::Autopilot::setLeadFollowingDistanceTrail

(

const LCreal

trail

)

[virtual]

Desired distance (meters) behind(+) the lead.

bool Eaagles::Simulation::Autopilot::setLeadFollowingDistanceRight

(

const LCreal

right

)

[virtual]

Desired distance (meters) right(+) of the lead.

bool Eaagles::Simulation::Autopilot::setLeadFollowingDeltaAltitude

(

const LCreal

above

)

[virtual]

Desired delta altitude (meters) above(+) the lead.

bool Eaagles::Simulation::Autopilot::setFollowTheLeadMode

(

const bool

f

)

[virtual]

"Follow the lead" mode flag

bool Eaagles::Simulation::Autopilot::setLeadPlayerName

(

const Basic::LcIdent *

const

)

[virtual]

Name of our lead player.

bool Eaagles::Simulation::Autopilot::setLeadPlayer

(

const Player *

const

)

[virtual]

Our lead player.

bool Eaagles::Simulation::Autopilot::setCommandedHeadingD

(

const LCreal

v

)

[virtual]

bool Eaagles::Simulation::Autopilot::setHeadingBugD

(

const LCreal

v

)

[virtual]

bool Eaagles::Simulation::Autopilot::setCommandedAltitudeFt

(

const LCreal

v

)

[virtual]

bool Eaagles::Simulation::Autopilot::setCommandedAirspeedKts

(

const LCreal

v

)

[virtual]

bool Eaagles::Simulation::Autopilot::setRollSasMode

(

const bool

f

)

[virtual]

bool Eaagles::Simulation::Autopilot::setPitchSasMode

(

const bool

f

)

[virtual]

bool Eaagles::Simulation::Autopilot::setYawSasMode

(

const bool

f

)

[virtual]

bool Eaagles::Simulation::Autopilot::setHeadingHoldMode

(

const bool

f

)

[virtual]

bool Eaagles::Simulation::Autopilot::setAltitudeHoldMode

(

const bool

f

)

[virtual]

bool Eaagles::Simulation::Autopilot::setAirspeedHoldMode

(

const bool

f

)

[virtual]

bool Eaagles::Simulation::Autopilot::setCruiseMode

(

const bool

f

)

[virtual]

bool Eaagles::Simulation::Autopilot::setStallProtectionMode

(

const bool

f

)

[virtual]

bool Eaagles::Simulation::Autopilot::setNavMode

(

const bool

f

)

[virtual]

bool Eaagles::Simulation::Autopilot::setLoiterMode

(

const bool

f

)

[virtual]

bool Eaagles::Simulation::Autopilot::setDeadBandMode

(

const bool

f

)

[virtual]

bool Eaagles::Simulation::Autopilot::setRollLimit

(

const LCreal

v

)

[virtual]

Set limits functions.

bool Eaagles::Simulation::Autopilot::setPitchLimit

(

const LCreal

v

)

[virtual]

bool Eaagles::Simulation::Autopilot::setRollTrimD

(

const LCreal

v

)

[virtual]

bool Eaagles::Simulation::Autopilot::setPitchTrimD

(

const LCreal

v

)

[virtual]

bool Eaagles::Simulation::Autopilot::setControlStickRollInputD

(

const LCreal

pos

)

[virtual]

bool Eaagles::Simulation::Autopilot::setControlStickPitchInputD

(

const LCreal

pos

)

[virtual]

bool Eaagles::Simulation::Autopilot::setControlStickRollDeadbandD

(

const LCreal

db

)

[virtual]

bool Eaagles::Simulation::Autopilot::setControlStickPitchDeadbandD

(

const LCreal

db

)

[virtual]

bool Eaagles::Simulation::Autopilot::setThrottle

(

const LCreal

pos

)

[virtual]

void Eaagles::Simulation::Autopilot::trimSwitch

(

const bool

sw

)

[virtual]

Set trim switch.

bool Eaagles::Simulation::Autopilot::computerOrbitHoldingPatternMirrorWaypoint	(	const double	alat,
		const double	alon,
		const LCreal	crs,
		const LCreal	length,
		const LCreal	speed,
		const bool	ccwFlg,
		double *const	mlat,
		double *const	mlon
	)

Parameters:

alat	In: Anchor point latitude (degs)
alon	In: Anchor' point longitude (degs)
crs	In: In-bound course (degs)
length	In: Pattern length (nm)
speed	In: True airspeed speed (kts)
ccwFlg	In: True if counter-clockwise orbit (else clockwise orbit)
mlat	Out: Mirror point latitude (degs)
mlon	Out: Mirror point longitude (degs)

bool Eaagles::Simulation::Autopilot::setSlotLoiterPatternLength

(

const Basic::LcDistance *const

msg

)

[virtual]

Slot functions Set slot: Loiter orbit pattern length

bool Eaagles::Simulation::Autopilot::setSlotLoiterPatternLength

(

const Basic::LcNumber *const

msg

)

[virtual]

Set slot: Loiter orbit pattern length (NM).

bool Eaagles::Simulation::Autopilot::setSlotLoiterPatternCcwFlag

(

const Basic::LcNumber *const

msg

)

[virtual]

Set slot: Loiter orbit pattern counter-clockwise flag.

bool Eaagles::Simulation::Autopilot::setSlotLeadFollowingDistanceTrail

(

const Basic::LcDistance *const

msg

)

[virtual]

Set slot: Desired distance behind(+) the lead.

bool Eaagles::Simulation::Autopilot::setSlotLeadFollowingDistanceTrail

(

const Basic::LcNumber *const

msg

)

[virtual]

Set slot: Desired distance (meters) behind(+) the lead.

bool Eaagles::Simulation::Autopilot::setSlotLeadFollowingDistanceRight

(

const Basic::LcDistance *const

msg

)

[virtual]

Set slot: Desired distance right(+) of the lead.

bool Eaagles::Simulation::Autopilot::setSlotLeadFollowingDistanceRight

(

const Basic::LcNumber *const

msg

)

[virtual]

Set slot: Desired distance (meters) right(+) of the lead.

bool Eaagles::Simulation::Autopilot::setSlotLeadFollowingDeltaAltitude

(

const Basic::LcDistance *const

msg

)

[virtual]

Set slot: Desired delta altitude above(+) the lead.

bool Eaagles::Simulation::Autopilot::setSlotLeadFollowingDeltaAltitude

(

const Basic::LcNumber *const

msg

)

[virtual]

Set slot: Desired delta altitude (meters) above(+) the lead.

bool Eaagles::Simulation::Autopilot::setSlotFollowTheLeadMode

(

const Basic::LcNumber *const

msg

)

[virtual]

Set slot: "Follow the lead" mode flag.

void Eaagles::Simulation::Autopilot::reset

(

)

[virtual]

Basic::LcComponent interface.

Reimplemented from Eaagles::Simulation::System.

bool Eaagles::Simulation::Autopilot::processModeNavigation

(

)

[protected, virtual]

bool Eaagles::Simulation::Autopilot::processModeLoiter

(

)

[protected, virtual]

bool Eaagles::Simulation::Autopilot::processModeFollowTheLead

(

)

[protected, virtual]

void Eaagles::Simulation::Autopilot::process

(

const LCreal

dt

)

[protected, virtual]

System class Interface -- phase() callbacks.

Reimplemented from Eaagles::Simulation::System.

---

Member Data Documentation

LCreal Eaagles::Simulation::Autopilot::stickRollPos [private]

Input controls.

LCreal Eaagles::Simulation::Autopilot::stickPitchPos [private]

Stick pitch position: (degs); aft(-), fwd(+).

LCreal Eaagles::Simulation::Autopilot::throttlePos [private]

Throttle position: aft(-1.0) to fwd(1.0).

LCreal Eaagles::Simulation::Autopilot::stickRollDB [private]

Stick roll input deadband (degs).

LCreal Eaagles::Simulation::Autopilot::stickPitchDB [private]

Stick pitch input deadband (degs).

bool Eaagles::Simulation::Autopilot::deadBandOn [private]

Deadband flag.

LCreal Eaagles::Simulation::Autopilot::rollLimit [private]

Roll angle limit (deg).

Limits

LCreal Eaagles::Simulation::Autopilot::pitchLimit [private]

Pitch angle limit (deg).

LCreal Eaagles::Simulation::Autopilot::rollTrim [private]

Roll trim angle (deg).

Trim positions

LCreal Eaagles::Simulation::Autopilot::pitchTrim [private]

Pitch trim angle (deg).

LCreal Eaagles::Simulation::Autopilot::rollTrim0 [private]

Test roll trim angle (deg).

LCreal Eaagles::Simulation::Autopilot::pitchTrim0 [private]

Test pitch trim angle (deg).

bool Eaagles::Simulation::Autopilot::trimHoldFlg [private]

Hold position while setting trim.

LCreal Eaagles::Simulation::Autopilot::cmdHdg [private]

Commanded values Commanded Heading (deg)

LCreal Eaagles::Simulation::Autopilot::hdgBug [private]

Heading Bug (deg).

LCreal Eaagles::Simulation::Autopilot::cmdAlt [private]

Commanded Altitude (ft).

LCreal Eaagles::Simulation::Autopilot::cmdAS [private]

Commanded Airspeed (kts).

bool Eaagles::Simulation::Autopilot::rollSasOn [private]

Mode flags Roll SAS flag

bool Eaagles::Simulation::Autopilot::pitchSasOn [private]

Pitch SAS flag.

bool Eaagles::Simulation::Autopilot::yawSAsOn [private]

Yaw SAS flag.

bool Eaagles::Simulation::Autopilot::hdgHoldOn [private]

Heading hold flag.

bool Eaagles::Simulation::Autopilot::altHoldOn [private]

Altitude hold flag.

bool Eaagles::Simulation::Autopilot::asHoldOn [private]

Airspeed hold flag.

bool Eaagles::Simulation::Autopilot::cruiseModeOn [private]

Cruise mode flag.

bool Eaagles::Simulation::Autopilot::stallProtOn [private]

Stall protection flag.

bool Eaagles::Simulation::Autopilot::navModeOn [private]

Nav mode flag.

bool Eaagles::Simulation::Autopilot::loiterModeOn [private]

Loiter mode flag.

double Eaagles::Simulation::Autopilot::loiterAnchorLat [private]

Loiter orbit pattern anchor point lattiude (degs).

Loiter mode data

double Eaagles::Simulation::Autopilot::loiterAnchorLon [private]

Loiter orbit pattern anchor point longitude (degs).

double Eaagles::Simulation::Autopilot::loiterMirrorLat [private]

Loiter orbit pattern mirror point lattidue (degs).

double Eaagles::Simulation::Autopilot::loiterMirrorLon [private]

Loiter orbit pattern mirror point longitude (degs).

unsigned int Eaagles::Simulation::Autopilot::loiterState [private]

Loiter state machine.

LCreal Eaagles::Simulation::Autopilot::loiterLength [private]

Loiter pattern length (nm).

bool Eaagles::Simulation::Autopilot::loiterCcwFlag [private]

Loiter pattern counter-clockwise flag.

osg::Vec3 Eaagles::Simulation::Autopilot::leadOffset [private]

Offsets from lead player (meters) Default -1NM and 2NM and 2000ft.

Follow that lead mode data

const Player* Eaagles::Simulation::Autopilot::lead [private]

Our lead player.

const Basic::LcIdent* Eaagles::Simulation::Autopilot::leadName [private]

Name of our lead player.

LCreal Eaagles::Simulation::Autopilot::leadHdg [private]

lead's heading (rad)

bool Eaagles::Simulation::Autopilot::followLeadModeOn [private]

Loiter mode flag.

LCreal Eaagles::Simulation::Autopilot::rollErr [private]

Roll angle error.

Control variables

LCreal Eaagles::Simulation::Autopilot::pitchErr [private]

Pitch angle error.

---