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>
38 # define finite _finite
39 #elif defined(__sun) || defined(sgi)
45 #include "AIAircraft.hxx"
46 #include "performancedata.hxx"
47 #include "performancedb.hxx"
49 //#include <Airports/trafficcontroller.hxx>
51 static string tempReg;
53 class AI_OutOfSight{};
56 FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : FGAIBase(otAircraft) {
59 groundOffset = trafficRef->getGroundOffset();
60 setCallSign(trafficRef->getCallSign());
75 groundTargetSpeed = 0;
77 // set heading and altitude locks
81 headingChangeRate = 0.0;
85 _performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB
90 FGAIAircraft::~FGAIAircraft() {
93 controller->signOff(getID());
97 void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) {
101 FGAIBase::readFromScenario(scFileNode);
103 setPerformance(scFileNode->getStringValue("class", "jet_transport"));
104 setFlightPlan(scFileNode->getStringValue("flightplan"),
105 scFileNode->getBoolValue("repeat", false));
106 setCallSign(scFileNode->getStringValue("callsign"));
110 void FGAIAircraft::bind() {
113 props->tie("controls/gear/gear-down",
114 SGRawValueMethods<FGAIAircraft,bool>(*this,
115 &FGAIAircraft::_getGearDown));
116 props->tie("transponder-id",
117 SGRawValueMethods<FGAIAircraft,const char*>(*this,
118 &FGAIAircraft::_getTransponderCode));
122 void FGAIAircraft::unbind() {
125 props->untie("controls/gear/gear-down");
126 props->untie("transponder-id");
130 void FGAIAircraft::update(double dt) {
131 FGAIBase::update(dt);
136 void FGAIAircraft::setPerformance(const std::string& acclass) {
137 static PerformanceDB perfdb; //TODO make it a global service
138 setPerformance(perfdb.getDataFor(acclass));
142 void FGAIAircraft::setPerformance(PerformanceData *ps) {
147 void FGAIAircraft::Run(double dt) {
148 FGAIAircraft::dt = dt;
151 updatePrimaryTargetValues(); // target hdg, alt, speed
153 catch (AI_OutOfSight) {
156 catch (FP_Inactive) {
158 groundTargetSpeed = 0;
161 handleATCRequests(); // ATC also has a word to say
162 updateSecondaryTargetValues(); // target roll, vertical speed, pitch
164 UpdateRadar(manager);
168 void FGAIAircraft::checkVisibility()
170 double visibility_meters = fgGetDouble("/environment/visibility-m");
171 FGViewer* vw = globals->get_current_view();
172 invisible = (SGGeodesy::distanceM(vw->getPosition(), pos) > visibility_meters);
177 void FGAIAircraft::AccelTo(double speed) {
182 void FGAIAircraft::PitchTo(double angle) {
188 void FGAIAircraft::RollTo(double angle) {
194 void FGAIAircraft::YawTo(double angle) {
199 void FGAIAircraft::ClimbTo(double alt_ft ) {
200 tgt_altitude_ft = alt_ft;
205 void FGAIAircraft::TurnTo(double heading) {
206 tgt_heading = heading;
211 double FGAIAircraft::sign(double x) {
219 void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat) {
220 if (!flightplan.empty()) {
221 FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
222 fp->setRepeat(repeat);
228 void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f) {
234 void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
236 // the one behind you
237 FGAIFlightPlan::waypoint* prev = 0;
239 FGAIFlightPlan::waypoint* curr = 0;
241 FGAIFlightPlan::waypoint* next = 0;
243 prev = fp->getPreviousWaypoint();
244 curr = fp->getCurrentWaypoint();
245 next = fp->getNextWaypoint();
249 ///////////////////////////////////////////////////////////////////////////
250 // Initialize the flightplan
251 //////////////////////////////////////////////////////////////////////////
253 handleFirstWaypoint();
255 } // end of initialization
256 if (! fpExecutable(now))
260 if (! leadPointReached(curr)) {
261 controlHeading(curr);
262 controlSpeed(curr, next);
264 if (curr->finished) //end of the flight plan
274 //TODO more intelligent method in AIFlightPlan, no need to send data it already has :-)
275 tgt_heading = fp->getBearing(curr, next);
279 //TODO let the fp handle this (loading of next leg)
280 fp->IncrementWaypoint((bool) trafficRef);
281 if (!(fp->getNextWaypoint()) && trafficRef)
282 if (!loadNextLeg()) {
287 prev = fp->getPreviousWaypoint();
288 curr = fp->getCurrentWaypoint();
289 next = fp->getNextWaypoint();
291 // Now that we have incremented the waypoints, excute some traffic manager specific code
293 //TODO isn't this best executed right at the beginning?
294 if (! aiTrafficVisible()) {
299 if (! handleAirportEndPoints(prev, now)) {
304 announcePositionToController();
309 fp->setLeadDistance(tgt_speed, tgt_heading, curr, next);
312 if (!(prev->on_ground)) // only update the tgt altitude from flightplan if not on the ground
314 tgt_altitude_ft = prev->altitude;
315 if (curr->crossat > -1000.0) {
317 tgt_vs = (curr->crossat - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
318 / 6076.0 / speed*60.0);
319 tgt_altitude_ft = curr->crossat;
324 tgt_speed = prev->speed;
325 hdg_lock = alt_lock = true;
326 no_roll = prev->on_ground;
331 void FGAIAircraft::initializeFlightPlan() {
335 bool FGAIAircraft::_getGearDown() const {
336 return _performance->gearExtensible(this);
340 const char * FGAIAircraft::_getTransponderCode() const {
341 return transponderCode.c_str();
345 bool FGAIAircraft::loadNextLeg() {
348 if ((leg = fp->getLeg()) == 10) {
349 if (!trafficRef->next()) {
352 setCallSign(trafficRef->getCallSign());
357 FGAirport *dep = trafficRef->getDepartureAirport();
358 FGAirport *arr = trafficRef->getArrivalAirport();
363 double cruiseAlt = trafficRef->getCruiseAlt() * 100;
370 trafficRef->getSpeed(),
374 trafficRef->getRadius(),
375 trafficRef->getFlightType(),
378 //cerr << "created leg " << leg << " for " << trafficRef->getCallSign() << endl;
384 // Note: This code is copied from David Luff's AILocalTraffic
385 // Warning - ground elev determination is CPU intensive
386 // Either this function or the logic of how often it is called
387 // will almost certainly change.
389 void FGAIAircraft::getGroundElev(double dt) {
392 // Update minimally every three secs, but add some randomness
393 // to prevent all AI objects doing this in synchrony
394 if (dt_elev_count < (3.0) + (rand() % 10))
399 // Only do the proper hitlist stuff if we are within visible range of the viewer.
401 double visibility_meters = fgGetDouble("/environment/visibility-m");
402 FGViewer* vw = globals->get_current_view();
404 if (SGGeodesy::distanceM(vw->getPosition(), pos) > visibility_meters) {
408 double range = 500.0;
409 if (!globals->get_tile_mgr()->scenery_available(pos, range)) {
410 // Try to shedule tiles for that position.
411 globals->get_tile_mgr()->update( pos, range );
415 if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(pos, 20000), alt, 0))
416 tgt_altitude_ft = alt * SG_METER_TO_FEET;
421 void FGAIAircraft::doGroundAltitude() {
422 if (fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)
423 altitude_ft = (tgt_altitude_ft + groundOffset);
425 altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
429 void FGAIAircraft::announcePositionToController() {
431 int leg = fp->getLeg();
433 // Note that leg has been incremented after creating the current leg, so we should use
434 // leg numbers here that are one higher than the number that is used to create the leg
437 case 2: // Startup and Push back
438 if (trafficRef->getDepartureAirport()->getDynamics())
439 controller = trafficRef->getDepartureAirport()->getDynamics()->getStartupController();
441 case 3: // Taxiing to runway
442 if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
443 controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
445 case 4: //Take off tower controller
446 if (trafficRef->getDepartureAirport()->getDynamics()) {
447 controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
448 //if (trafficRef->getDepartureAirport()->getId() == "EHAM") {
449 //string trns = trafficRef->getCallSign() + " at runway " + fp->getRunway() +
450 // ". Ready for departure. " + trafficRef->getFlightType() + " to " +
451 // trafficRef->getArrivalAirport()->getId();
452 //fgSetString("/sim/messages/atc", trns.c_str());
453 // if (controller == 0) {
454 //cerr << "Error in assigning controller at " << trafficRef->getDepartureAirport()->getId() << endl;
458 cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
461 case 9: // Taxiing for parking
462 if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
463 controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
470 if ((controller != prevController) && (prevController != 0)) {
471 prevController->signOff(getID());
473 prevController = controller;
475 controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->routeIndex,
476 _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
477 trafficRef->getRadius(), leg, this);
482 // Process ATC instructions and report back
484 void FGAIAircraft::processATC(FGATCInstruction instruction) {
485 if (instruction.getCheckForCircularWait()) {
486 // This is not exactly an elegant solution,
487 // but at least it gives me a chance to check
488 // if circular waits are resolved.
489 // For now, just take the offending aircraft
492 // a more proper way should be - of course - to
493 // let an offending aircraft take an evasive action
494 // for instance taxi back a little bit.
496 //cerr << "Processing ATC instruction (not Implimented yet)" << endl;
497 if (instruction.getHoldPattern ()) {}
500 if (instruction.getHoldPosition ()) {
508 // cerr << trafficRef->getCallSign() << " Resuming Taxi." << endl;
511 // Change speed Instruction. This can only be excecuted when there is no
512 // Hold position instruction.
513 if (instruction.getChangeSpeed ()) {
515 //cerr << trafficRef->getCallSign() << " Changing Speed " << endl;
516 AccelTo(instruction.getSpeed());
518 if (fp) AccelTo(fp->getPreviousWaypoint()->speed);
521 if (instruction.getChangeHeading ()) {
523 TurnTo(instruction.getHeading());
529 if (instruction.getChangeAltitude()) {}
534 void FGAIAircraft::handleFirstWaypoint() {
535 bool eraseWaypoints; //TODO YAGNI
538 eraseWaypoints = true;
540 eraseWaypoints = false;
543 FGAIFlightPlan::waypoint* prev = 0; // the one behind you
544 FGAIFlightPlan::waypoint* curr = 0; // the one ahead
545 FGAIFlightPlan::waypoint* next = 0;// the next plus 1
550 //TODO fp should handle this
551 fp->IncrementWaypoint(eraseWaypoints);
552 if (!(fp->getNextWaypoint()) && trafficRef)
553 if (!loadNextLeg()) {
558 prev = fp->getPreviousWaypoint(); //first waypoint
559 curr = fp->getCurrentWaypoint(); //second waypoint
560 next = fp->getNextWaypoint(); //third waypoint (might not exist!)
562 setLatitude(prev->latitude);
563 setLongitude(prev->longitude);
564 setSpeed(prev->speed);
565 setAltitude(prev->altitude);
567 if (prev->speed > 0.0)
568 setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
570 setHeading(fp->getBearing(curr->latitude, curr->longitude, prev));
572 // If next doesn't exist, as in incrementally created flightplans for
573 // AI/Trafficmanager created plans,
574 // Make sure lead distance is initialized otherwise
576 fp->setLeadDistance(speed, hdg, curr, next);
578 if (curr->crossat > -1000.0) //use a calculated descent/climb rate
581 tgt_vs = (curr->crossat - prev->altitude)
582 / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
583 / 6076.0 / prev->speed*60.0);
584 tgt_altitude_ft = curr->crossat;
587 tgt_altitude_ft = prev->altitude;
589 alt_lock = hdg_lock = true;
590 no_roll = prev->on_ground;
592 Transform(); // make sure aip is initialized.
593 getGroundElev(60.1); // make sure it's executed first time around, so force a large dt value
596 // Make sure to announce the aircraft's position
597 announcePositionToController();
603 * Check Execution time (currently once every 100 ms)
604 * Add a bit of randomization to prevent the execution of all flight plans
605 * in synchrony, which can add significant periodic framerate flutter.
610 bool FGAIAircraft::fpExecutable(time_t now) {
611 double rand_exec_time = (rand() % 100) / 100;
612 return (dt_count > (0.1+rand_exec_time)) && (fp->isActive(now));
617 * Check to see if we've reached the lead point for our next turn
622 bool FGAIAircraft::leadPointReached(FGAIFlightPlan::waypoint* curr) {
623 double dist_to_go = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
625 //cerr << "2" << endl;
626 double lead_dist = fp->getLeadDistance();
627 // experimental: Use fabs, because speed can be negative (I hope) during push_back.
629 if (lead_dist < fabs(2*speed)) {
630 //don't skip over the waypoint
631 lead_dist = fabs(2*speed);
632 //cerr << "Extending lead distance to " << lead_dist << endl;
635 //prev_dist_to_go = dist_to_go;
636 //if (dist_to_go < lead_dist)
637 // cerr << trafficRef->getCallSign() << " Distance : "
638 // << dist_to_go << ": Lead distance "
639 // << lead_dist << " " << curr->name
640 // << " Ground target speed " << groundTargetSpeed << endl;
642 return dist_to_go < lead_dist;
646 bool FGAIAircraft::aiTrafficVisible() {
647 double userLatitude = fgGetDouble("/position/latitude-deg");
648 double userLongitude = fgGetDouble("/position/longitude-deg");
649 double course, distance;
651 SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
652 SGWayPoint user (userLongitude, userLatitude, 0);
654 user.CourseAndDistance(current, &course, &distance);
656 return ((distance * SG_METER_TO_NM) <= TRAFFICTOAIDISTTODIE);
661 * Handle release of parking gate, once were taxiing. Also ensure service time at the gate
662 * in the case of an arrival.
668 //TODO the trafficRef is the right place for the method
669 bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t now) {
670 // prepare routing from one airport to another
671 FGAirport * dep = trafficRef->getDepartureAirport();
672 FGAirport * arr = trafficRef->getArrivalAirport();
677 // This waypoint marks the fact that the aircraft has passed the initial taxi
678 // departure waypoint, so it can release the parking.
679 //cerr << trafficRef->getCallSign() << " has passed waypoint " << prev->name << " at speed " << speed << endl;
680 if (prev->name == "PushBackPoint") {
681 dep->getDynamics()->releaseParking(fp->getGate());
682 time_t holdUntil = now + 120;
683 fp->setTime(holdUntil);
684 //cerr << _getCallsign() << "Holding at pushback point" << endl;
687 // This is the last taxi waypoint, and marks the the end of the flight plan
688 // so, the schedule should update and wait for the next departure time.
689 if (prev->name == "END") {
690 time_t nextDeparture = trafficRef->getDepartureTime();
691 // make sure to wait at least 20 minutes at parking to prevent "nervous" taxi behavior
692 if (nextDeparture < (now+1200)) {
693 nextDeparture = now + 1200;
695 fp->setTime(nextDeparture); // should be "next departure"
703 * Check difference between target bearing and current heading and correct if necessary.
707 void FGAIAircraft::controlHeading(FGAIFlightPlan::waypoint* curr) {
708 double calc_bearing = fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
709 //cerr << "Bearing = " << calc_bearing << endl;
712 if (calc_bearing > 360)
716 if (finite(calc_bearing)) {
717 double hdg_error = calc_bearing - tgt_heading;
718 if (fabs(hdg_error) > 0.01) {
719 TurnTo( calc_bearing );
723 cerr << "calc_bearing is not a finite number : "
725 << "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
726 << "waypoint " << curr->latitude << ", " << curr->longitude << endl;
727 cerr << "waypoint name " << curr->name;
734 * Update the lead distance calculation if speed has changed sufficiently
735 * to prevent spinning (hopefully);
740 void FGAIAircraft::controlSpeed(FGAIFlightPlan::waypoint* curr, FGAIFlightPlan::waypoint* next) {
741 double speed_diff = speed - prevSpeed;
743 if (fabs(speed_diff) > 10) {
746 fp->setLeadDistance(speed, tgt_heading, curr, next);
753 * Update target values (heading, alt, speed) depending on flight plan or control properties
755 void FGAIAircraft::updatePrimaryTargetValues() {
756 if (fp) // AI object has a flightplan
758 //TODO make this a function of AIBase
759 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
760 //cerr << "UpateTArgetValues() " << endl;
761 ProcessFlightPlan(dt, now);
763 // Do execute Ground elev for inactive aircraft, so they
764 // Are repositioned to the correct ground altitude when the user flies within visibility range.
765 // In addition, check whether we are out of user range, so this aircraft
768 Transform(); // make sure aip is initialized.
772 pos.setElevationFt(altitude_ft);
775 //cerr << trafficRef->getRegistration() << " Setting altitude to " << altitude_ft;
776 if (! aiTrafficVisible()) {
778 //cerr << trafficRef->getRegistration() << " is set to die " << endl;
779 throw AI_OutOfSight();
782 timeElapsed = now - fp->getStartTime();
783 if (! fp->isActive(now)) {
787 // no flight plan, update target heading, speed, and altitude
788 // from control properties. These default to the initial
789 // settings in the config file, but can be changed "on the
791 string lat_mode = props->getStringValue("controls/flight/lateral-mode");
792 if ( lat_mode == "roll" ) {
794 = props->getDoubleValue("controls/flight/target-roll" );
798 = props->getDoubleValue("controls/flight/target-hdg" );
803 = props->getStringValue("controls/flight/longitude-mode");
804 if ( lon_mode == "alt" ) {
805 double alt = props->getDoubleValue("controls/flight/target-alt" );
809 = props->getDoubleValue("controls/flight/target-pitch" );
813 AccelTo( props->getDoubleValue("controls/flight/target-spd" ) );
817 void FGAIAircraft::updatePosition() {
818 // convert speed to degrees per second
819 double speed_north_deg_sec = cos( hdg * SGD_DEGREES_TO_RADIANS )
820 * speed * 1.686 / ft_per_deg_lat;
821 double speed_east_deg_sec = sin( hdg * SGD_DEGREES_TO_RADIANS )
822 * speed * 1.686 / ft_per_deg_lon;
825 pos.setLatitudeDeg( pos.getLatitudeDeg() + speed_north_deg_sec * dt);
826 pos.setLongitudeDeg( pos.getLongitudeDeg() + speed_east_deg_sec * dt);
830 void FGAIAircraft::updateHeading() {
831 // adjust heading based on current bank angle
836 // double turnConstant;
838 // turnConstant = 0.0088362;
840 // turnConstant = 0.088362;
841 // If on ground, calculate heading change directly
843 double headingDiff = fabs(hdg-tgt_heading);
844 double bank_sense = 0.0;
846 double diff = fabs(hdg - tgt_heading);
848 diff = fabs(diff - 360);
850 double sum = hdg + diff;
853 if (fabs(sum - tgt_heading) < 1.0) {
854 bank_sense = 1.0; // right turn
856 bank_sense = -1.0; // left turn
858 if (headingDiff > 180)
859 headingDiff = fabs(headingDiff - 360);
860 double sum = hdg + headingDiff;
863 if (fabs(sum - tgt_heading) > 0.0001) {
869 //cerr << trafficRef->getCallSign() << " Heading "
870 // << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << endl;
871 //if (headingDiff > 60) {
872 groundTargetSpeed = tgt_speed; // * cos(headingDiff * SG_DEGREES_TO_RADIANS);
873 //groundTargetSpeed = tgt_speed - tgt_speed * (headingDiff/180);
875 // groundTargetSpeed = tgt_speed;
877 if (sign(groundTargetSpeed) != sign(tgt_speed))
878 groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
880 if (headingDiff > 30.0) {
881 // invert if pushed backward
882 headingChangeRate += 10.0 * dt * sign(roll);
884 // Clamp the maximum steering rate to 30 degrees per second,
885 // But only do this when the heading error is decreasing.
886 if ((headingDiff < headingError)) {
887 if (headingChangeRate > 30)
888 headingChangeRate = 30;
889 else if (headingChangeRate < -30)
890 headingChangeRate = -30;
893 if (fabs(headingChangeRate) > headingDiff)
894 headingChangeRate = headingDiff*sign(roll);
896 headingChangeRate += dt * sign(roll);
899 hdg += headingChangeRate * dt * (fabs(speed) / 15);
900 headingError = headingDiff;
902 if (fabs(speed) > 1.0) {
903 turn_radius_ft = 0.088362 * speed * speed
904 / tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
906 // Check if turn_radius_ft == 0; this might lead to a division by 0.
907 turn_radius_ft = 1.0;
909 double turn_circum_ft = SGD_2PI * turn_radius_ft;
910 double dist_covered_ft = speed * 1.686 * dt;
911 double alpha = dist_covered_ft / turn_circum_ft * 360.0;
912 hdg += alpha * sign(roll);
914 while ( hdg > 360.0 ) {
926 void FGAIAircraft::updateBankAngleTarget() {
927 // adjust target bank angle if heading lock engaged
929 double bank_sense = 0.0;
930 double diff = fabs(hdg - tgt_heading);
932 diff = fabs(diff - 360);
934 double sum = hdg + diff;
937 if (fabs(sum - tgt_heading) < 1.0) {
938 bank_sense = 1.0; // right turn
940 bank_sense = -1.0; // left turn
942 if (diff < _performance->maximumBankAngle()) {
943 tgt_roll = diff * bank_sense;
945 tgt_roll = _performance->maximumBankAngle() * bank_sense;
947 if ((fabs((double) spinCounter) > 1) && (diff > _performance->maximumBankAngle())) {
948 tgt_speed *= 0.999; // Ugly hack: If aircraft get stuck, they will continually spin around.
949 // The only way to resolve this is to make them slow down.
955 void FGAIAircraft::updateVerticalSpeedTarget() {
956 // adjust target Altitude, based on ground elevation when on ground
960 } else if (alt_lock) {
961 // find target vertical speed
963 if (altitude_ft < tgt_altitude_ft) {
964 tgt_vs = tgt_altitude_ft - altitude_ft;
965 if (tgt_vs > _performance->climbRate())
966 tgt_vs = _performance->climbRate();
968 tgt_vs = tgt_altitude_ft - altitude_ft;
969 if (tgt_vs < (-_performance->descentRate()))
970 tgt_vs = -_performance->descentRate();
973 double max_vs = 4*(tgt_altitude_ft - altitude_ft);
975 if (tgt_altitude_ft < altitude_ft)
977 if ((fabs(tgt_altitude_ft - altitude_ft) < 1500.0)
978 && (fabs(max_vs) < fabs(tgt_vs)))
981 if (fabs(tgt_vs) < fabs(min_vs))
988 void FGAIAircraft::updatePitchAngleTarget() {
989 // if on ground and above vRotate -> initial rotation
990 if (onGround() && (speed > _performance->vRotate()))
991 tgt_pitch = 8.0; // some rough B737 value
993 //TODO pitch angle on approach and landing
995 // match pitch angle to vertical speed
996 else if (tgt_vs > 0) {
997 tgt_pitch = tgt_vs * 0.005;
999 tgt_pitch = tgt_vs * 0.002;
1003 string FGAIAircraft::atGate() {
1005 if (fp->getLeg() < 3) {
1007 if (fp->getGate() > 0) {
1009 trafficRef->getDepartureAirport()->getDynamics()->getParking(fp->getGate());
1010 tmp = park->getName();
1017 void FGAIAircraft::handleATCRequests() {
1018 //TODO implement NullController for having no ATC to save the conditionals
1020 controller->update(getID(),
1021 pos.getLatitudeDeg(),
1022 pos.getLongitudeDeg(),
1026 processATC(controller->getInstruction(getID()));
1030 void FGAIAircraft::updateActualState() {
1031 //update current state
1032 //TODO have a single tgt_speed and check speed limit on ground on setting tgt_speed
1036 speed = _performance->actualSpeed(this, groundTargetSpeed, dt);
1038 speed = _performance->actualSpeed(this, tgt_speed, dt);
1041 roll = _performance->actualBankAngle(this, tgt_roll, dt);
1043 // adjust altitude (meters) based on current vertical speed (fpm)
1044 altitude_ft += vs / 60.0 * dt;
1045 pos.setElevationFt(altitude_ft);
1047 vs = _performance->actualVerticalSpeed(this, tgt_vs, dt);
1048 pitch = _performance->actualPitch(this, tgt_pitch, dt);
1051 void FGAIAircraft::updateSecondaryTargetValues() {
1052 // derived target state values
1053 updateBankAngleTarget();
1054 updateVerticalSpeedTarget();
1055 updatePitchAngleTarget();
1057 //TODO calculate wind correction angle (tgt_yaw)