feat(ap): add NAV on GA (#8483)

* feat(ap): add NAV on GA
* chore: add changelog
* feat(ap): add NAV on GA and upgrade SM to MATLAB R2023b

---------

Co-authored-by: 2hwk <[email protected]>

.github/CHANGELOG.md

@@ -64,6 +64,7 @@
 1. [AP] Increased nz limit for SRS mode during go-arounds - @aguther (Andreas Guther)
 1. [AP] Further tuned Autoland in Crosswind Situations - @aguther (Andreas Guther)
 1. [EFB] Automatically unfocus EFB input fields when the camera shifts away from the EFB - @tracernz (Mike)
+1. [AP] Add NAV on GA capability - @lukecologne (luke)
 1. [ND] Fix ND ETA of TO waypoint display prior to takeoff and after landing. - Alex Milshtein (@alexm1987 on Discord)
 
 ## 0.11.0

fbw-a32nx/src/wasm/fbw_a320/src/model/AutopilotStateMachine.h

@@ -135,7 +135,8 @@ class AutopilotStateMachine final
     boolean_T sTCAS_l;
     boolean_T wasFlightPlanAvailable;
     boolean_T wasFlightPlanAvailable_not_empty;
-    boolean_T state_c;
+    boolean_T wasInSrsGa;
+    boolean_T state_d;
     boolean_T state_k;
     boolean_T state_j;
     boolean_T sFINAL_DES;
@@ -295,7 +296,6 @@ class AutopilotStateMachine final
   void AutopilotStateMachine_RWY_TRK_entry(const ap_sm_output *BusAssignment);
   void AutopilotStateMachine_GA_TRK_entry(const ap_sm_output *BusAssignment);
   void AutopilotStateMachine_ON(const ap_sm_output *BusAssignment);
-  void AutopilotStateMachine_GA_TRK_during(void);
   boolean_T AutopilotStateMachine_OFF_TO_HDG(const ap_sm_output *BusAssignment);
   boolean_T AutopilotStateMachine_OFF_TO_NAV(const ap_sm_output *BusAssignment);
   boolean_T AutopilotStateMachine_OFF_TO_RWY(const ap_sm_output *BusAssignment);

fbw-a380x/src/wasm/fbw_a380/src/FlightDataRecorder.cpp

@@ -37,7 +37,7 @@ void FlightDataRecorder::initialize() {
   std::cout << "WASM: Flight Data Recorder Configuration : Interface Version              = " << INTERFACE_VERSION << std::endl;
 }
 
-void FlightDataRecorder::update(AutopilotStateMachineModelClass* autopilotStateMachine,
+void FlightDataRecorder::update(AutopilotStateMachine* autopilotStateMachine,
                                 AutopilotLawsModelClass* autopilotLaws,
                                 Autothrust* autoThrust,
                                 const EngineData& engineData,

fbw-a380x/src/wasm/fbw_a380/src/FlightDataRecorder.h

@@ -16,7 +16,7 @@ class FlightDataRecorder {
 
   void initialize();
 
-  void update(AutopilotStateMachineModelClass* autopilotStateMachine,
+  void update(AutopilotStateMachine* autopilotStateMachine,
               AutopilotLawsModelClass* autopilotLaws,
               Autothrust* autoThrust,
               const EngineData& engineData,

fbw-a380x/src/wasm/fbw_a380/src/FlyByWireInterface.h

@@ -111,8 +111,8 @@ class FlyByWireInterface {
 
   FailuresConsumer failuresConsumer;
 
-  AutopilotStateMachineModelClass autopilotStateMachine;
-  AutopilotStateMachineModelClass::ExternalInputs_AutopilotStateMachine_T autopilotStateMachineInput = {};
+  AutopilotStateMachine autopilotStateMachine;
+  AutopilotStateMachine::ExternalInputs_AutopilotStateMachine_T autopilotStateMachineInput = {};
   ap_raw_laws_input autopilotStateMachineOutput;
 
   AutopilotLawsModelClass autopilotLaws;

fbw-a380x/src/wasm/fbw_a380/src/model/AutopilotStateMachine.h

@@ -1,18 +1,15 @@
 #ifndef RTW_HEADER_AutopilotStateMachine_h_
 #define RTW_HEADER_AutopilotStateMachine_h_
-#include <cmath>
 #include "rtwtypes.h"
 #include "AutopilotStateMachine_types.h"
 
-#include "multiword_types.h"
-
-class AutopilotStateMachineModelClass
+class AutopilotStateMachine final
 {
  public:
   struct BlockIO_AutopilotStateMachine_T {
     ap_sm_output BusAssignment_g;
     ap_vertical_output out;
-    ap_lateral_output out_n;
+    ap_lateral_output out_p;
   };
 
   struct D_Work_AutopilotStateMachine_T {
@@ -44,25 +41,25 @@ class AutopilotStateMachineModelClass
     real_T nav_gs_deg;
     real_T eventTime;
     real_T eventTime_n;
-    real_T eventTime_m;
-    real_T eventTime_mz;
+    real_T eventTime_e;
+    real_T eventTime_h;
     real_T pY;
     real_T pU;
     real_T lastTargetSpeed;
     real_T timeDeltaSpeed4;
     real_T timeDeltaSpeed10;
     real_T timeConditionSoftAlt;
-    real_T eventTime_o;
+    real_T eventTime_g;
     real_T runwayHeadingStored;
-    real_T eventTime_n4;
-    real_T eventTime_i;
-    real_T eventTime_p;
+    real_T eventTime_ht;
     real_T eventTime_l;
-    real_T eventTime_k;
-    real_T eventTime_c;
-    real_T eventTime_b;
+    real_T eventTime_i;
+    real_T eventTime_a;
+    real_T eventTime_ae;
+    real_T eventTime_a2;
+    real_T eventTime_ec;
     real_T canArm;
-    real_T canArm_b;
+    real_T canArm_i;
     boolean_T DelayInput1_DSTATE_a;
     boolean_T DelayInput1_DSTATE_p;
     boolean_T DelayInput1_DSTATE_bo;
@@ -86,14 +83,14 @@ class AutopilotStateMachineModelClass
     uint8_T is_c5_AutopilotStateMachine;
     uint8_T is_active_c1_AutopilotStateMachine;
     uint8_T is_c1_AutopilotStateMachine;
-    uint8_T is_ON_l;
+    uint8_T is_ON_j;
     uint8_T is_LOC;
     boolean_T local_TCAS_TRK_FPA_Reverted;
     boolean_T local_TCAS_is_corrective;
     boolean_T wereAllEnginesOperative;
     boolean_T wereAllEnginesOperative_not_empty;
-    boolean_T wereAllEnginesOperative_h;
-    boolean_T wereAllEnginesOperative_not_empty_g;
+    boolean_T wereAllEnginesOperative_b;
+    boolean_T wereAllEnginesOperative_not_empty_p;
     boolean_T prevNumberofAutopilotsEngaged_not_empty;
     boolean_T verticalSpeedCancelMode;
     boolean_T eventTimeTC_not_empty;
@@ -111,9 +108,9 @@ class AutopilotStateMachineModelClass
     boolean_T prev_FDES_active;
     boolean_T prev_FDES_armed;
     boolean_T eventTime_not_empty;
-    boolean_T eventTime_not_empty_p;
-    boolean_T eventTime_not_empty_a;
-    boolean_T eventTime_not_empty_l;
+    boolean_T eventTime_not_empty_i;
+    boolean_T eventTime_not_empty_c;
+    boolean_T eventTime_not_empty_o;
     boolean_T pY_not_empty;
     boolean_T pU_not_empty;
     boolean_T lastTargetSpeed_not_empty;
@@ -125,27 +122,28 @@ class AutopilotStateMachineModelClass
     boolean_T sTCAS;
     boolean_T latch;
     boolean_T sSRS;
-    boolean_T eventTime_not_empty_k;
-    boolean_T state;
     boolean_T eventTime_not_empty_f;
-    boolean_T eventTime_not_empty_j;
-    boolean_T eventTime_not_empty_m;
+    boolean_T state;
+    boolean_T eventTime_not_empty_l;
+    boolean_T eventTime_not_empty_k;
+    boolean_T eventTime_not_empty_k5;
     boolean_T sThrottleCondition;
-    boolean_T eventTime_not_empty_d;
-    boolean_T eventTime_not_empty_i;
-    boolean_T eventTime_not_empty_b;
-    boolean_T eventTime_not_empty_kh;
-    boolean_T sTCAS_g;
+    boolean_T eventTime_not_empty_ow;
+    boolean_T eventTime_not_empty_m;
+    boolean_T eventTime_not_empty_ma;
+    boolean_T eventTime_not_empty_g;
+    boolean_T sTCAS_l;
     boolean_T wasFlightPlanAvailable;
     boolean_T wasFlightPlanAvailable_not_empty;
-    boolean_T state_e;
-    boolean_T state_i;
-    boolean_T state_n;
+    boolean_T wasInSrsGa;
+    boolean_T state_d;
+    boolean_T state_k;
+    boolean_T state_j;
     boolean_T sFINAL_DES;
     boolean_T sDES;
     boolean_T sCLB;
     boolean_T was_TCAS_active;
-    boolean_T newFcuAltitudeSelected_h;
+    boolean_T newFcuAltitudeSelected_j;
   };
 
   struct ExternalInputs_AutopilotStateMachine_T {
@@ -250,8 +248,10 @@ class AutopilotStateMachineModelClass
     real_T Falling_Value_as;
   };
 
-  AutopilotStateMachineModelClass(AutopilotStateMachineModelClass const&) =delete;
-  AutopilotStateMachineModelClass& operator= (AutopilotStateMachineModelClass const&) & = delete;
+  AutopilotStateMachine(AutopilotStateMachine const&) = delete;
+  AutopilotStateMachine& operator= (AutopilotStateMachine const&) & = delete;
+  AutopilotStateMachine(AutopilotStateMachine &&) = delete;
+  AutopilotStateMachine& operator= (AutopilotStateMachine &&) = delete;
   void setExternalInputs(const ExternalInputs_AutopilotStateMachine_T *pExternalInputs_AutopilotStateMachine_T)
   {
     AutopilotStateMachine_U = *pExternalInputs_AutopilotStateMachine_T;
@@ -265,8 +265,8 @@ class AutopilotStateMachineModelClass
   void initialize();
   void step();
   static void terminate();
-  AutopilotStateMachineModelClass();
-  ~AutopilotStateMachineModelClass();
+  AutopilotStateMachine();
+  ~AutopilotStateMachine();
  private:
   ExternalInputs_AutopilotStateMachine_T AutopilotStateMachine_U;
   ExternalOutputs_AutopilotStateMachine_T AutopilotStateMachine_Y;
@@ -296,7 +296,6 @@ class AutopilotStateMachineModelClass
   void AutopilotStateMachine_RWY_TRK_entry(const ap_sm_output *BusAssignment);
   void AutopilotStateMachine_GA_TRK_entry(const ap_sm_output *BusAssignment);
   void AutopilotStateMachine_ON(const ap_sm_output *BusAssignment);
-  void AutopilotStateMachine_GA_TRK_during(void);
   boolean_T AutopilotStateMachine_OFF_TO_HDG(const ap_sm_output *BusAssignment);
   boolean_T AutopilotStateMachine_OFF_TO_NAV(const ap_sm_output *BusAssignment);
   boolean_T AutopilotStateMachine_OFF_TO_RWY(const ap_sm_output *BusAssignment);
@@ -309,7 +308,7 @@ class AutopilotStateMachineModelClass
   boolean_T AutopilotStateMachine_getTcasSubModeCompatibility(void) const;
   void AutopilotStateMachine_TCAS_during(void);
   void AutopilotStateMachine_TCAS_exit(void);
-  void AutopilotStateMachine_OFF_entry_p(void);
+  void AutopilotStateMachine_OFF_entry_m(void);
   void AutopilotStateMachine_DES_entry(void);
   void AutopilotStateMachine_CLB_entry(void);
   void AutopilotStateMachine_OP_CLB_entry(void);
@@ -343,13 +342,13 @@ class AutopilotStateMachineModelClass
   void AutopilotStateMachine_DES(void);
   void AutopilotStateMachine_FINAL_DES_during(void);
   void AutopilotStateMachine_FLARE_during(void);
-  void AutopilotStateMachine_ROLL_OUT_entry_m(void);
+  void AutopilotStateMachine_ROLL_OUT_entry_e(void);
   boolean_T AutopilotStateMachine_GS_TO_X(void) const;
   boolean_T AutopilotStateMachine_GS_TO_X_MR(void) const;
   boolean_T AutopilotStateMachine_GS_TO_ALT(void) const;
   void AutopilotStateMachine_GS_TRACK_entry(void);
-  void AutopilotStateMachine_LAND_entry_p(void);
-  void AutopilotStateMachine_FLARE_entry_e(void);
+  void AutopilotStateMachine_LAND_entry_b(void);
+  void AutopilotStateMachine_FLARE_entry_m(void);
   void AutopilotStateMachine_GS(void);
   void AutopilotStateMachine_OP_CLB_during(void);
   void AutopilotStateMachine_OP_CLB_exit(void);
@@ -359,7 +358,7 @@ class AutopilotStateMachineModelClass
   void AutopilotStateMachine_SRS_during(void);
   void AutopilotStateMachine_SRS(void);
   void AutopilotStateMachine_exit_internal_ON(void);
-  void AutopilotStateMachine_ON_l(void);
+  void AutopilotStateMachine_ON_p(void);
   void AutopilotStateMachine_SRS_GA_during(void);
 };
 

fbw-a380x/src/wasm/fbw_a380/src/model/AutopilotStateMachine_data.cpp

@@ -1,8 +1,6 @@
 #include "AutopilotStateMachine.h"
-#include "AutopilotStateMachine_private.h"
 
-AutopilotStateMachineModelClass::Parameters_AutopilotStateMachine_T AutopilotStateMachineModelClass::
-  AutopilotStateMachine_P{
+AutopilotStateMachine::Parameters_AutopilotStateMachine_T AutopilotStateMachine::AutopilotStateMachine_P{
 
   {
     {
@@ -137,7 +135,7 @@ AutopilotStateMachineModelClass::Parameters_AutopilotStateMachine_T AutopilotSta
       false,
       false,
       0.0,
-      fm_requested_vertical_mode_NONE,
+      fm_requested_vertical_mode::NONE,
       0.0,
       0.0,
       false,
@@ -167,10 +165,10 @@ AutopilotStateMachineModelClass::Parameters_AutopilotStateMachine_T AutopilotSta
       },
 
       {
-        lateral_mode_NONE,
+        lateral_mode::NONE,
         false,
         false,
-        lateral_law_NONE,
+        lateral_law::NONE,
         0.0
       }
     },
@@ -192,10 +190,10 @@ AutopilotStateMachineModelClass::Parameters_AutopilotStateMachine_T AutopilotSta
       },
 
       {
-        lateral_mode_NONE,
+        lateral_mode::NONE,
         false,
         false,
-        lateral_law_NONE,
+        lateral_law::NONE,
         0.0
       }
     },
@@ -232,12 +230,12 @@ AutopilotStateMachineModelClass::Parameters_AutopilotStateMachine_T AutopilotSta
       },
 
       {
-        vertical_mode_NONE,
-        athr_requested_mode_NONE,
+        vertical_mode::NONE,
+        athr_requested_mode::NONE,
         false,
         0.0,
         false,
-        vertical_law_NONE,
+        vertical_law::NONE,
         0.0,
         0.0,
         0.0,
@@ -248,7 +246,7 @@ AutopilotStateMachineModelClass::Parameters_AutopilotStateMachine_T AutopilotSta
         false,
         false,
         false,
-        NONE,
+        tcas_sub_mode::NONE,
         false,
         false,
         false,
@@ -288,12 +286,12 @@ AutopilotStateMachineModelClass::Parameters_AutopilotStateMachine_T AutopilotSta
       },
 
       {
-        vertical_mode_NONE,
-        athr_requested_mode_NONE,
+        vertical_mode::NONE,
+        athr_requested_mode::NONE,
         false,
         0.0,
         false,
-        vertical_law_NONE,
+        vertical_law::NONE,
         0.0,
         0.0,
         0.0,
@@ -304,7 +302,7 @@ AutopilotStateMachineModelClass::Parameters_AutopilotStateMachine_T AutopilotSta
         false,
         false,
         false,
-        NONE,
+        tcas_sub_mode::NONE,
         false,
         false,
         false,
@@ -474,12 +472,12 @@ AutopilotStateMachineModelClass::Parameters_AutopilotStateMachine_T AutopilotSta
     },
 
     {
-      vertical_mode_NONE,
-      athr_requested_mode_NONE,
+      vertical_mode::NONE,
+      athr_requested_mode::NONE,
       false,
       0.0,
       false,
-      vertical_law_NONE,
+      vertical_law::NONE,
       0.0,
       0.0,
       0.0,
@@ -490,7 +488,7 @@ AutopilotStateMachineModelClass::Parameters_AutopilotStateMachine_T AutopilotSta
       false,
       false,
       false,
-      NONE,
+      tcas_sub_mode::NONE,
       false,
       false,
       false,
@@ -516,10 +514,10 @@ AutopilotStateMachineModelClass::Parameters_AutopilotStateMachine_T AutopilotSta
     },
 
     {
-      lateral_mode_NONE,
+      lateral_mode::NONE,
       false,
       false,
-      lateral_law_NONE,
+      lateral_law::NONE,
       0.0
     }
   },

fbw-a380x/src/wasm/fbw_a380/src/model/AutopilotStateMachine_private.h

@@ -2,6 +2,7 @@
 #define RTW_HEADER_AutopilotStateMachine_private_h_
 #include "rtwtypes.h"
 #include "multiword_types.h"
+#include "AutopilotStateMachine_types.h"
 #ifndef UCHAR_MAX
 #include <limits.h>
 #endif