1 // // FGAIAircraft - FGAIBase-derived class creates an AI airplane
3 // Written by David Culp, started October 2003.
5 // Copyright (C) 2003 David P. Culp - davidculp2@comcast.net
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
25 #include <simgear/route/waypoint.hxx>
26 #include <Main/fg_props.hxx>
27 #include <Main/globals.hxx>
28 #include <Main/viewer.hxx>
29 #include <Scenery/scenery.hxx>
30 #include <Scenery/tilemgr.hxx>
31 #include <Airports/dynamics.hxx>
32 #include <Airports/simple.hxx>
40 # define finite _finite
41 #elif defined(__sun) || defined(sgi)
47 #include "AIAircraft.hxx"
48 #include "performancedata.hxx"
49 #include "performancedb.hxx"
51 //#include <Airports/trafficcontroller.hxx>
53 static string tempReg;
55 FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
56 /* HOT must be disabled for AI Aircraft,
57 * otherwise traffic detection isn't working as expected.*/
58 FGAIBase(otAircraft, false)
62 groundOffset = trafficRef->getGroundOffset();
63 setCallSign(trafficRef->getCallSign());
79 groundTargetSpeed = 0;
81 // set heading and altitude locks
85 headingChangeRate = 0.0;
91 needsTaxiClearance = false;
92 _needsGroundElevation = true;
94 _performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB
100 FGAIAircraft::~FGAIAircraft() {
103 controller->signOff(getID());
107 void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) {
111 FGAIBase::readFromScenario(scFileNode);
113 setPerformance(scFileNode->getStringValue("class", "jet_transport"));
114 setFlightPlan(scFileNode->getStringValue("flightplan"),
115 scFileNode->getBoolValue("repeat", false));
116 setCallSign(scFileNode->getStringValue("callsign"));
120 void FGAIAircraft::bind() {
123 props->tie("controls/gear/gear-down",
124 SGRawValueMethods<FGAIAircraft,bool>(*this,
125 &FGAIAircraft::_getGearDown));
126 props->tie("transponder-id",
127 SGRawValueMethods<FGAIAircraft,const char*>(*this,
128 &FGAIAircraft::_getTransponderCode));
132 void FGAIAircraft::unbind() {
135 props->untie("controls/gear/gear-down");
136 props->untie("transponder-id");
140 void FGAIAircraft::update(double dt) {
141 FGAIBase::update(dt);
146 void FGAIAircraft::setPerformance(const std::string& acclass) {
147 static PerformanceDB perfdb; //TODO make it a global service
148 setPerformance(perfdb.getDataFor(acclass));
152 void FGAIAircraft::setPerformance(PerformanceData *ps) {
157 void FGAIAircraft::Run(double dt) {
158 FGAIAircraft::dt = dt;
160 bool outOfSight = false,
161 flightplanActive = true;
162 updatePrimaryTargetValues(flightplanActive, outOfSight); // target hdg, alt, speed
167 if (!flightplanActive) {
168 groundTargetSpeed = 0;
171 handleATCRequests(); // ATC also has a word to say
172 updateSecondaryTargetValues(); // target roll, vertical speed, pitch
174 // We currently have one situation in which an AIAircraft object is used that is not attached to the
175 // AI manager. In this particular case, the AIAircraft is used to shadow the user's aircraft's behavior in the AI world.
176 // Since we perhaps don't want a radar entry of our own aircraft, the following conditional should probably be adequate
179 UpdateRadar(manager);
183 void FGAIAircraft::checkVisibility()
185 double visibility_meters = fgGetDouble("/environment/visibility-m");
186 FGViewer* vw = globals->get_current_view();
187 invisible = (SGGeodesy::distanceM(vw->getPosition(), pos) > visibility_meters);
192 void FGAIAircraft::AccelTo(double speed) {
195 _needsGroundElevation = true;
199 void FGAIAircraft::PitchTo(double angle) {
205 void FGAIAircraft::RollTo(double angle) {
211 void FGAIAircraft::YawTo(double angle) {
216 void FGAIAircraft::ClimbTo(double alt_ft ) {
217 tgt_altitude_ft = alt_ft;
222 void FGAIAircraft::TurnTo(double heading) {
223 tgt_heading = heading;
228 double FGAIAircraft::sign(double x) {
236 void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat) {
237 if (!flightplan.empty()) {
238 FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
239 fp->setRepeat(repeat);
245 void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f) {
251 void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
253 // the one behind you
254 FGAIWaypoint* prev = 0;
256 FGAIWaypoint* curr = 0;
258 FGAIWaypoint* next = 0;
260 prev = fp->getPreviousWaypoint();
261 curr = fp->getCurrentWaypoint();
262 next = fp->getNextWaypoint();
266 ///////////////////////////////////////////////////////////////////////////
267 // Initialize the flightplan
268 //////////////////////////////////////////////////////////////////////////
270 handleFirstWaypoint();
272 } // end of initialization
273 if (! fpExecutable(now))
277 double distanceToDescent;
278 if(reachedEndOfCruise(distanceToDescent)) {
279 if (!loadNextLeg(distanceToDescent)) {
283 prev = fp->getPreviousWaypoint();
284 curr = fp->getCurrentWaypoint();
285 next = fp->getNextWaypoint();
287 if (! leadPointReached(curr)) {
288 controlHeading(curr);
289 controlSpeed(curr, next);
292 cerr << getCallSign()
293 << ": verifying lead distance to waypoint : "
294 << fp->getCurrentWaypoint()->name << " "
295 << fp->getLeadDistance() << ". Distance to go "
296 << (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr))
297 << ". Target speed = "
299 << ". Current speed = "
301 << ". Minimum Bearing " << minBearing
305 if (curr->isFinished()) //end of the flight plan
315 //TODO more intelligent method in AIFlightPlan, no need to send data it already has :-)
316 tgt_heading = fp->getBearing(curr, next);
320 //TODO let the fp handle this (loading of next leg)
321 fp->IncrementWaypoint( trafficRef != 0 );
322 if ( ((!(fp->getNextWaypoint()))) && (trafficRef != 0) )
323 if (!loadNextLeg()) {
328 prev = fp->getPreviousWaypoint();
329 curr = fp->getCurrentWaypoint();
330 next = fp->getNextWaypoint();
332 // Now that we have incremented the waypoints, excute some traffic manager specific code
334 //TODO isn't this best executed right at the beginning?
335 if (! aiTrafficVisible()) {
340 if (! handleAirportEndPoints(prev, now)) {
345 announcePositionToController();
350 fp->setLeadDistance(tgt_speed, tgt_heading, curr, next);
353 if (!(prev->getOn_ground())) // only update the tgt altitude from flightplan if not on the ground
355 tgt_altitude_ft = prev->getAltitude();
356 if (curr->getCrossat() > -1000.0) {
358 tgt_vs = (curr->getCrossat() - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
359 / 6076.0 / speed*60.0);
361 tgt_altitude_ft = curr->getCrossat();
366 AccelTo(prev->getSpeed());
367 hdg_lock = alt_lock = true;
368 no_roll = prev->getOn_ground();
372 void FGAIAircraft::checkTcas(void)
374 if (props->getIntValue("tcas/threat-level",0)==3)
376 int RASense = props->getIntValue("tcas/ra-sense",0);
377 if ((RASense>0)&&(tgt_vs<4000))
383 // downward RA: descend!
384 if (altitude_ft < 1000)
386 // too low: level off
399 void FGAIAircraft::initializeFlightPlan() {
403 bool FGAIAircraft::_getGearDown() const {
404 return _performance->gearExtensible(this);
408 const char * FGAIAircraft::_getTransponderCode() const {
409 return transponderCode.c_str();
412 // NOTE: Check whether the new (delayed leg increment code has any effect on this code.
413 // Probably not, because it should only be executed after we have already passed the leg incrementing waypoint.
415 bool FGAIAircraft::loadNextLeg(double distance) {
418 if ((leg = fp->getLeg()) == 9) {
419 if (!trafficRef->next()) {
422 setCallSign(trafficRef->getCallSign());
427 FGAirport *dep = trafficRef->getDepartureAirport();
428 FGAirport *arr = trafficRef->getArrivalAirport();
433 double cruiseAlt = trafficRef->getCruiseAlt() * 100;
440 trafficRef->getSpeed(),
444 trafficRef->getRadius(),
445 trafficRef->getFlightType(),
449 //cerr << "created leg " << leg << " for " << trafficRef->getCallSign() << endl;
455 // Note: This code is copied from David Luff's AILocalTraffic
456 // Warning - ground elev determination is CPU intensive
457 // Either this function or the logic of how often it is called
458 // will almost certainly change.
460 void FGAIAircraft::getGroundElev(double dt) {
463 if (!needGroundElevation())
465 // Update minimally every three secs, but add some randomness
466 // to prevent all AI objects doing this in synchrony
467 if (dt_elev_count < (3.0) + (rand() % 10))
472 // Only do the proper hitlist stuff if we are within visible range of the viewer.
474 double visibility_meters = fgGetDouble("/environment/visibility-m");
475 FGViewer* vw = globals->get_current_view();
477 if (SGGeodesy::distanceM(vw->getPosition(), pos) > visibility_meters) {
481 double range = 500.0;
482 if (globals->get_tile_mgr()->schedule_scenery(pos, range, 5.0))
485 if (getGroundElevationM(SGGeod::fromGeodM(pos, 20000), alt, 0))
487 tgt_altitude_ft = alt * SG_METER_TO_FEET;
490 // aircraft is stationary and we obtained altitude for this spot - we're done.
491 _needsGroundElevation = false;
499 void FGAIAircraft::doGroundAltitude() {
500 if ((fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)||
502 altitude_ft = (tgt_altitude_ft + groundOffset);
504 altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
509 void FGAIAircraft::announcePositionToController() {
511 int leg = fp->getLeg();
513 // Note that leg has been incremented after creating the current leg, so we should use
514 // leg numbers here that are one higher than the number that is used to create the leg
515 // NOTE: As of July, 30, 2011, the post-creation leg updating is no longer happening.
516 // Leg numbers are updated only once the aircraft passes the last waypoint created for that legm so I should probably just use
517 // the original leg numbers here!
519 case 1: // Startup and Push back
520 if (trafficRef->getDepartureAirport()->getDynamics())
521 controller = trafficRef->getDepartureAirport()->getDynamics()->getStartupController();
523 case 2: // Taxiing to runway
524 if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
525 controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
527 case 3: //Take off tower controller
528 if (trafficRef->getDepartureAirport()->getDynamics()) {
529 controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
531 cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
535 if (trafficRef->getDepartureAirport()->getDynamics()) {
536 controller = trafficRef->getArrivalAirport()->getDynamics()->getApproachController();
539 case 8: // Taxiing for parking
540 if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
541 controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
548 if ((controller != prevController) && (prevController != 0)) {
549 prevController->signOff(getID());
551 prevController = controller;
553 controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(),
554 _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
555 trafficRef->getRadius(), leg, this);
560 void FGAIAircraft::scheduleForATCTowerDepartureControl(int state) {
561 if (!takeOffStatus) {
562 int leg = fp->getLeg();
564 if (trafficRef->getDepartureAirport()->getDynamics()) {
565 towerController = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
567 cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
569 if (towerController) {
570 towerController->announcePosition(getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(),
571 _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
572 trafficRef->getRadius(), leg, this);
573 //cerr << "Scheduling " << trafficRef->getCallSign() << " for takeoff " << endl;
577 takeOffStatus = state;
580 // Process ATC instructions and report back
582 void FGAIAircraft::processATC(FGATCInstruction instruction) {
583 if (instruction.getCheckForCircularWait()) {
584 // This is not exactly an elegant solution,
585 // but at least it gives me a chance to check
586 // if circular waits are resolved.
587 // For now, just take the offending aircraft
590 // a more proper way should be - of course - to
591 // let an offending aircraft take an evasive action
592 // for instance taxi back a little bit.
594 //cerr << "Processing ATC instruction (not Implimented yet)" << endl;
595 if (instruction.getHoldPattern ()) {}
598 if (instruction.getHoldPosition ()) {
606 // cerr << trafficRef->getCallSign() << " Resuming Taxi." << endl;
609 // Change speed Instruction. This can only be excecuted when there is no
610 // Hold position instruction.
611 if (instruction.getChangeSpeed ()) {
613 //cerr << trafficRef->getCallSign() << " Changing Speed " << endl;
614 AccelTo(instruction.getSpeed());
616 if (fp) AccelTo(fp->getPreviousWaypoint()->getSpeed());
619 if (instruction.getChangeHeading ()) {
621 TurnTo(instruction.getHeading());
627 if (instruction.getChangeAltitude()) {}
632 void FGAIAircraft::handleFirstWaypoint() {
633 bool eraseWaypoints; //TODO YAGNI
636 eraseWaypoints = true;
638 eraseWaypoints = false;
641 FGAIWaypoint* prev = 0; // the one behind you
642 FGAIWaypoint* curr = 0; // the one ahead
643 FGAIWaypoint* next = 0;// the next plus 1
648 //TODO fp should handle this
649 fp->IncrementWaypoint(eraseWaypoints);
650 if (!(fp->getNextWaypoint()) && trafficRef)
651 if (!loadNextLeg()) {
656 prev = fp->getPreviousWaypoint(); //first waypoint
657 curr = fp->getCurrentWaypoint(); //second waypoint
658 next = fp->getNextWaypoint(); //third waypoint (might not exist!)
660 setLatitude(prev->getLatitude());
661 setLongitude(prev->getLongitude());
662 setSpeed(prev->getSpeed());
663 setAltitude(prev->getAltitude());
665 if (prev->getSpeed() > 0.0)
666 setHeading(fp->getBearing(prev->getLatitude(), prev->getLongitude(), curr));
668 setHeading(fp->getBearing(curr->getLatitude(), curr->getLongitude(), prev));
670 // If next doesn't exist, as in incrementally created flightplans for
671 // AI/Trafficmanager created plans,
672 // Make sure lead distance is initialized otherwise
674 fp->setLeadDistance(speed, hdg, curr, next);
676 if (curr->getCrossat() > -1000.0) //use a calculated descent/climb rate
679 tgt_vs = (curr->getCrossat() - prev->getAltitude())
680 / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
681 / 6076.0 / prev->getSpeed()*60.0);
683 tgt_altitude_ft = curr->getCrossat();
686 tgt_altitude_ft = prev->getAltitude();
688 alt_lock = hdg_lock = true;
689 no_roll = prev->getOn_ground();
691 Transform(); // make sure aip is initialized.
692 getGroundElev(60.1); // make sure it's executed first time around, so force a large dt value
694 _needsGroundElevation = true; // check ground elevation again (maybe scenery wasn't available yet)
696 // Make sure to announce the aircraft's position
697 announcePositionToController();
703 * Check Execution time (currently once every 100 ms)
704 * Add a bit of randomization to prevent the execution of all flight plans
705 * in synchrony, which can add significant periodic framerate flutter.
710 bool FGAIAircraft::fpExecutable(time_t now) {
711 double rand_exec_time = (rand() % 100) / 100;
712 return (dt_count > (0.1+rand_exec_time)) && (fp->isActive(now));
717 * Check to see if we've reached the lead point for our next turn
722 bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) {
723 double dist_to_go = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
725 //cerr << "2" << endl;
726 double lead_dist = fp->getLeadDistance();
727 // experimental: Use fabs, because speed can be negative (I hope) during push_back.
728 if ((dist_to_go < fabs(10.0* speed)) && (speed < 0) && (tgt_speed < 0) && fp->getCurrentWaypoint()->contains("PushBackPoint")) {
729 tgt_speed = -(dist_to_go / 10.0);
730 if (tgt_speed > -0.5) {
733 if (fp->getPreviousWaypoint()->getSpeed() < tgt_speed) {
734 fp->getPreviousWaypoint()->setSpeed(tgt_speed);
737 if (lead_dist < fabs(2*speed)) {
738 //don't skip over the waypoint
739 lead_dist = fabs(2*speed);
740 //cerr << "Extending lead distance to " << lead_dist << endl;
743 //prev_dist_to_go = dist_to_go;
744 //if (dist_to_go < lead_dist)
745 // cerr << trafficRef->getCallSign() << " Distance : "
746 // << dist_to_go << ": Lead distance "
747 // << lead_dist << " " << curr->name
748 // << " Ground target speed " << groundTargetSpeed << endl;
750 if (speed > 50) { // don't do bearing calculations for ground traffic
751 bearing = getBearing(fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr));
752 if (bearing < minBearing) {
753 minBearing = bearing;
754 if (minBearing < 10) {
757 if ((minBearing < 360.0) && (minBearing > 10.0)) {
758 speedFraction = cos(minBearing *SG_DEGREES_TO_RADIANS);
765 //cerr << "Tracking callsign : \"" << fgGetString("/ai/track-callsign") << "\"" << endl;
766 /* if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
767 cerr << trafficRef->getCallSign() << " " << tgt_altitude_ft << " " << _getSpeed() << " "
768 << _getAltitude() << " "<< _getLatitude() << " " << _getLongitude() << " " << dist_to_go << " " << lead_dist << " " << curr->name << " " << vs << " " << tgt_vs << " " << bearing << " " << minBearing << " " << speedFraction << endl;
771 if ((dist_to_go < lead_dist) || (bearing > (minBearing * 1.1))) {
780 bool FGAIAircraft::aiTrafficVisible() {
781 SGGeod userPos(SGGeod::fromDeg(fgGetDouble("/position/longitude-deg"),
782 fgGetDouble("/position/latitude-deg")));
784 return (SGGeodesy::distanceNm(userPos, pos) <= TRAFFICTOAIDISTTODIE);
789 * Handle release of parking gate, once were taxiing. Also ensure service time at the gate
790 * in the case of an arrival.
796 //TODO the trafficRef is the right place for the method
797 bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) {
798 // prepare routing from one airport to another
799 FGAirport * dep = trafficRef->getDepartureAirport();
800 FGAirport * arr = trafficRef->getArrivalAirport();
805 // This waypoint marks the fact that the aircraft has passed the initial taxi
806 // departure waypoint, so it can release the parking.
807 //cerr << trafficRef->getCallSign() << " has passed waypoint " << prev->name << " at speed " << speed << endl;
808 //cerr << "Passing waypoint : " << prev->getName() << endl;
809 if (prev->contains("PushBackPoint")) {
810 dep->getDynamics()->releaseParking(fp->getGate());
812 //setTaxiClearanceRequest(true);
814 if (prev->contains("legend")) {
817 if (prev->contains(string("DepartureHold"))) {
818 //cerr << "Passing point DepartureHold" << endl;
819 scheduleForATCTowerDepartureControl(2);
822 // This is the last taxi waypoint, and marks the the end of the flight plan
823 // so, the schedule should update and wait for the next departure time.
824 if (prev->contains("END")) {
825 time_t nextDeparture = trafficRef->getDepartureTime();
826 // make sure to wait at least 20 minutes at parking to prevent "nervous" taxi behavior
827 if (nextDeparture < (now+1200)) {
828 nextDeparture = now + 1200;
830 fp->setTime(nextDeparture);
838 * Check difference between target bearing and current heading and correct if necessary.
842 void FGAIAircraft::controlHeading(FGAIWaypoint* curr) {
843 double calc_bearing = fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
844 //cerr << "Bearing = " << calc_bearing << endl;
847 if (calc_bearing > 360)
851 if (finite(calc_bearing)) {
852 double hdg_error = calc_bearing - tgt_heading;
853 if (fabs(hdg_error) > 0.01) {
854 TurnTo( calc_bearing );
858 cerr << "calc_bearing is not a finite number : "
860 << "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
861 << "waypoint " << curr->getLatitude() << ", " << curr->getLongitude() << endl;
862 cerr << "waypoint name " << curr->getName();
869 * Update the lead distance calculation if speed has changed sufficiently
870 * to prevent spinning (hopefully);
875 void FGAIAircraft::controlSpeed(FGAIWaypoint* curr, FGAIWaypoint* next) {
876 double speed_diff = speed - prevSpeed;
878 if (fabs(speed_diff) > 10) {
881 fp->setLeadDistance(speed, tgt_heading, curr, next);
888 * Update target values (heading, alt, speed) depending on flight plan or control properties
890 void FGAIAircraft::updatePrimaryTargetValues(bool& flightplanActive, bool& aiOutOfSight) {
891 if (fp) // AI object has a flightplan
893 //TODO make this a function of AIBase
894 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
895 //cerr << "UpateTArgetValues() " << endl;
896 ProcessFlightPlan(dt, now);
898 // Do execute Ground elev for inactive aircraft, so they
899 // Are repositioned to the correct ground altitude when the user flies within visibility range.
900 // In addition, check whether we are out of user range, so this aircraft
903 Transform(); // make sure aip is initialized.
907 pos.setElevationFt(altitude_ft);
910 //cerr << trafficRef->getRegistration() << " Setting altitude to " << altitude_ft;
911 aiOutOfSight = !aiTrafficVisible();
914 //cerr << trafficRef->getRegistration() << " is set to die " << endl;
919 timeElapsed = now - fp->getStartTime();
920 flightplanActive = fp->isActive(now);
922 // no flight plan, update target heading, speed, and altitude
923 // from control properties. These default to the initial
924 // settings in the config file, but can be changed "on the
926 string lat_mode = props->getStringValue("controls/flight/lateral-mode");
927 if ( lat_mode == "roll" ) {
929 = props->getDoubleValue("controls/flight/target-roll" );
933 = props->getDoubleValue("controls/flight/target-hdg" );
938 = props->getStringValue("controls/flight/longitude-mode");
939 if ( lon_mode == "alt" ) {
940 double alt = props->getDoubleValue("controls/flight/target-alt" );
944 = props->getDoubleValue("controls/flight/target-pitch" );
948 AccelTo( props->getDoubleValue("controls/flight/target-spd" ) );
952 void FGAIAircraft::updatePosition() {
953 // convert speed to degrees per second
954 double speed_north_deg_sec = cos( hdg * SGD_DEGREES_TO_RADIANS )
955 * speed * 1.686 / ft_per_deg_lat;
956 double speed_east_deg_sec = sin( hdg * SGD_DEGREES_TO_RADIANS )
957 * speed * 1.686 / ft_per_deg_lon;
960 pos.setLatitudeDeg( pos.getLatitudeDeg() + speed_north_deg_sec * dt);
961 pos.setLongitudeDeg( pos.getLongitudeDeg() + speed_east_deg_sec * dt);
965 void FGAIAircraft::updateHeading() {
966 // adjust heading based on current bank angle
971 // double turnConstant;
973 // turnConstant = 0.0088362;
975 // turnConstant = 0.088362;
976 // If on ground, calculate heading change directly
978 double headingDiff = fabs(hdg-tgt_heading);
979 double bank_sense = 0.0;
981 double diff = fabs(hdg - tgt_heading);
983 diff = fabs(diff - 360);
985 double sum = hdg + diff;
988 if (fabs(sum - tgt_heading) < 1.0) {
989 bank_sense = 1.0; // right turn
991 bank_sense = -1.0; // left turn
993 if (headingDiff > 180)
994 headingDiff = fabs(headingDiff - 360);
995 double sum = hdg + headingDiff;
998 if (fabs(sum - tgt_heading) > 0.0001) {
1004 // cerr << trafficRef->getCallSign() << " Heading "
1005 // << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << endl;
1006 //if (headingDiff > 60) {
1007 groundTargetSpeed = tgt_speed; // * cos(headingDiff * SG_DEGREES_TO_RADIANS);
1008 //groundTargetSpeed = tgt_speed - tgt_speed * (headingDiff/180);
1010 // groundTargetSpeed = tgt_speed;
1012 if (sign(groundTargetSpeed) != sign(tgt_speed))
1013 groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
1015 // Only update the target values when we're not moving because otherwise we might introduce an enormous target change rate while waiting a the gate, or holding.
1017 if (headingDiff > 30.0) {
1018 // invert if pushed backward
1019 headingChangeRate += 10.0 * dt * sign(roll);
1021 // Clamp the maximum steering rate to 30 degrees per second,
1022 // But only do this when the heading error is decreasing.
1023 if ((headingDiff < headingError)) {
1024 if (headingChangeRate > 30)
1025 headingChangeRate = 30;
1026 else if (headingChangeRate < -30)
1027 headingChangeRate = -30;
1031 if (fabs(headingChangeRate) > headingDiff)
1032 headingChangeRate = headingDiff*sign(roll);
1034 headingChangeRate += dt * sign(roll);
1039 //cerr << trafficRef->getCallSign() << " Heading "
1040 // << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << "Heading change rate : " << headingChangeRate << " bacnk sence " << bank_sense << endl;
1041 hdg += headingChangeRate * dt * sqrt(fabs(speed) / 15);
1042 headingError = headingDiff;
1044 if (fabs(speed) > 1.0) {
1045 turn_radius_ft = 0.088362 * speed * speed
1046 / tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
1048 // Check if turn_radius_ft == 0; this might lead to a division by 0.
1049 turn_radius_ft = 1.0;
1051 double turn_circum_ft = SGD_2PI * turn_radius_ft;
1052 double dist_covered_ft = speed * 1.686 * dt;
1053 double alpha = dist_covered_ft / turn_circum_ft * 360.0;
1054 hdg += alpha * sign(roll);
1056 while ( hdg > 360.0 ) {
1060 while ( hdg < 0.0) {
1068 void FGAIAircraft::updateBankAngleTarget() {
1069 // adjust target bank angle if heading lock engaged
1071 double bank_sense = 0.0;
1072 double diff = fabs(hdg - tgt_heading);
1074 diff = fabs(diff - 360);
1076 double sum = hdg + diff;
1079 if (fabs(sum - tgt_heading) < 1.0) {
1080 bank_sense = 1.0; // right turn
1082 bank_sense = -1.0; // left turn
1084 if (diff < _performance->maximumBankAngle()) {
1085 tgt_roll = diff * bank_sense;
1087 tgt_roll = _performance->maximumBankAngle() * bank_sense;
1089 if ((fabs((double) spinCounter) > 1) && (diff > _performance->maximumBankAngle())) {
1090 tgt_speed *= 0.999; // Ugly hack: If aircraft get stuck, they will continually spin around.
1091 // The only way to resolve this is to make them slow down.
1097 void FGAIAircraft::updateVerticalSpeedTarget() {
1098 // adjust target Altitude, based on ground elevation when on ground
1102 } else if (alt_lock) {
1103 // find target vertical speed
1105 if (altitude_ft < tgt_altitude_ft) {
1106 tgt_vs = tgt_altitude_ft - altitude_ft;
1107 if (tgt_vs > _performance->climbRate())
1108 tgt_vs = _performance->climbRate();
1110 tgt_vs = tgt_altitude_ft - altitude_ft;
1111 if (tgt_vs < (-_performance->descentRate()))
1112 tgt_vs = -_performance->descentRate();
1115 double max_vs = 4*(tgt_altitude_ft - altitude_ft);
1116 double min_vs = 100;
1117 if (tgt_altitude_ft < altitude_ft)
1119 if ((fabs(tgt_altitude_ft - altitude_ft) < 1500.0)
1120 && (fabs(max_vs) < fabs(tgt_vs)))
1123 if (fabs(tgt_vs) < fabs(min_vs))
1131 void FGAIAircraft::updatePitchAngleTarget() {
1132 // if on ground and above vRotate -> initial rotation
1133 if (onGround() && (speed > _performance->vRotate()))
1134 tgt_pitch = 8.0; // some rough B737 value
1136 //TODO pitch angle on approach and landing
1138 // match pitch angle to vertical speed
1139 else if (tgt_vs > 0) {
1140 tgt_pitch = tgt_vs * 0.005;
1142 tgt_pitch = tgt_vs * 0.002;
1146 string FGAIAircraft::atGate() {
1148 if (fp->getLeg() < 3) {
1150 if (fp->getGate() > 0) {
1152 trafficRef->getDepartureAirport()->getDynamics()->getParking(fp->getGate());
1153 tmp = park->getName();
1160 void FGAIAircraft::handleATCRequests() {
1161 //TODO implement NullController for having no ATC to save the conditionals
1163 controller->updateAircraftInformation(getID(),
1164 pos.getLatitudeDeg(),
1165 pos.getLongitudeDeg(),
1169 processATC(controller->getInstruction(getID()));
1173 void FGAIAircraft::updateActualState() {
1174 //update current state
1175 //TODO have a single tgt_speed and check speed limit on ground on setting tgt_speed
1179 speed = _performance->actualSpeed(this, groundTargetSpeed, dt);
1181 speed = _performance->actualSpeed(this, (tgt_speed *speedFraction), dt);
1184 roll = _performance->actualBankAngle(this, tgt_roll, dt);
1186 // adjust altitude (meters) based on current vertical speed (fpm)
1187 altitude_ft += vs / 60.0 * dt;
1188 pos.setElevationFt(altitude_ft);
1190 vs = _performance->actualVerticalSpeed(this, tgt_vs, dt);
1191 pitch = _performance->actualPitch(this, tgt_pitch, dt);
1194 void FGAIAircraft::updateSecondaryTargetValues() {
1195 // derived target state values
1196 updateBankAngleTarget();
1197 updateVerticalSpeedTarget();
1198 updatePitchAngleTarget();
1200 //TODO calculate wind correction angle (tgt_yaw)
1204 bool FGAIAircraft::reachedEndOfCruise(double &distance) {
1205 FGAIWaypoint* curr = fp->getCurrentWaypoint();
1206 if (curr->getName() == string("BOD")) {
1207 double dist = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
1208 double descentSpeed = (getPerformance()->vDescent() * SG_NM_TO_METER) / 3600.0; // convert from kts to meter/s
1209 double descentRate = (getPerformance()->descentRate() * SG_FEET_TO_METER) / 60.0; // convert from feet/min to meter/s
1211 double verticalDistance = ((altitude_ft - 2000.0) - trafficRef->getArrivalAirport()->getElevation()) *SG_FEET_TO_METER;
1212 double descentTimeNeeded = verticalDistance / descentRate;
1213 double distanceCovered = descentSpeed * descentTimeNeeded;
1215 //cerr << "Tracking : " << fgGetString("/ai/track-callsign");
1216 if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
1217 cerr << "Checking for end of cruise stage for :" << trafficRef->getCallSign() << endl;
1218 cerr << "Descent rate : " << descentRate << endl;
1219 cerr << "Descent speed : " << descentSpeed << endl;
1220 cerr << "VerticalDistance : " << verticalDistance << ". Altitude : " << altitude_ft << ". Elevation " << trafficRef->getArrivalAirport()->getElevation() << endl;
1221 cerr << "DecentTimeNeeded : " << descentTimeNeeded << endl;
1222 cerr << "DistanceCovered : " << distanceCovered << endl;
1224 //cerr << "Distance = " << distance << endl;
1225 distance = distanceCovered;
1226 if (dist < distanceCovered) {
1227 if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
1239 void FGAIAircraft::resetPositionFromFlightPlan()
1241 // the one behind you
1242 FGAIWaypoint* prev = 0;
1244 FGAIWaypoint* curr = 0;
1246 FGAIWaypoint* next = 0;
1248 prev = fp->getPreviousWaypoint();
1249 curr = fp->getCurrentWaypoint();
1250 next = fp->getNextWaypoint();
1252 setLatitude(prev->getLatitude());
1253 setLongitude(prev->getLongitude());
1254 double tgt_heading = fp->getBearing(curr, next);
1255 setHeading(tgt_heading);
1256 setAltitude(prev->getAltitude());
1257 setSpeed(prev->getSpeed());
1260 double FGAIAircraft::getBearing(double crse)
1262 double hdgDiff = fabs(hdg-crse);
1264 hdgDiff = fabs(hdgDiff - 360);
1268 time_t FGAIAircraft::checkForArrivalTime(string wptName) {
1269 FGAIWaypoint* curr = 0;
1270 curr = fp->getCurrentWaypoint();
1272 double tracklength = fp->checkTrackLength(wptName);
1273 if (tracklength > 0.1) {
1274 tracklength += fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
1278 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
1279 time_t arrivalTime = fp->getArrivalTime();
1281 time_t ete = tracklength / ((speed * SG_NM_TO_METER) / 3600.0);
1282 time_t secondsToGo = arrivalTime - now;
1283 if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
1284 cerr << "Checking arrival time: ete " << ete << ". Time to go : " << secondsToGo << ". Track length = " << tracklength << endl;
1286 return (ete - secondsToGo); // Positive when we're too slow...