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));
119 void FGAIAircraft::unbind() {
122 props->untie("controls/gear/gear-down");
126 void FGAIAircraft::update(double dt) {
127 FGAIBase::update(dt);
132 void FGAIAircraft::setPerformance(const std::string& acclass) {
133 static PerformanceDB perfdb; //TODO make it a global service
134 setPerformance(perfdb.getDataFor(acclass));
138 void FGAIAircraft::setPerformance(PerformanceData *ps) {
143 void FGAIAircraft::Run(double dt) {
144 FGAIAircraft::dt = dt;
147 updatePrimaryTargetValues(); // target hdg, alt, speed
149 catch (AI_OutOfSight) {
152 catch (FP_Inactive) {
154 groundTargetSpeed = 0;
157 handleATCRequests(); // ATC also has a word to say
158 updateSecondaryTargetValues(); // target roll, vertical speed, pitch
160 UpdateRadar(manager);
164 void FGAIAircraft::checkVisibility()
166 double visibility_meters = fgGetDouble("/environment/visibility-m");
168 FGViewer* vw = globals->get_current_view();
169 double course, distance;
171 SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
172 SGWayPoint view (vw->getLongitude_deg(), vw->getLatitude_deg(), 0);
173 view.CourseAndDistance(current, &course, &distance);
174 if (distance > visibility_meters) {
183 void FGAIAircraft::AccelTo(double speed) {
188 void FGAIAircraft::PitchTo(double angle) {
194 void FGAIAircraft::RollTo(double angle) {
200 void FGAIAircraft::YawTo(double angle) {
205 void FGAIAircraft::ClimbTo(double alt_ft ) {
206 tgt_altitude_ft = alt_ft;
211 void FGAIAircraft::TurnTo(double heading) {
212 tgt_heading = heading;
217 double FGAIAircraft::sign(double x) {
225 void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat) {
226 if (!flightplan.empty()) {
227 FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
228 fp->setRepeat(repeat);
234 void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f) {
240 void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
242 // the one behind you
243 FGAIFlightPlan::waypoint* prev = 0;
245 FGAIFlightPlan::waypoint* curr = 0;
247 FGAIFlightPlan::waypoint* next = 0;
249 prev = fp->getPreviousWaypoint();
250 curr = fp->getCurrentWaypoint();
251 next = fp->getNextWaypoint();
255 ///////////////////////////////////////////////////////////////////////////
256 // Initialize the flightplan
257 //////////////////////////////////////////////////////////////////////////
259 handleFirstWaypoint();
261 } // end of initialization
262 if (! fpExecutable(now))
266 if (! leadPointReached(curr)) {
267 controlHeading(curr);
268 controlSpeed(curr, next);
270 if (curr->finished) //end of the flight plan
280 //TODO more intelligent method in AIFlightPlan, no need to send data it already has :-)
281 tgt_heading = fp->getBearing(curr, next);
285 //TODO let the fp handle this (loading of next leg)
286 fp->IncrementWaypoint((bool) trafficRef);
287 if (!(fp->getNextWaypoint()) && trafficRef)
288 if (!loadNextLeg()) {
293 prev = fp->getPreviousWaypoint();
294 curr = fp->getCurrentWaypoint();
295 next = fp->getNextWaypoint();
297 // Now that we have incremented the waypoints, excute some traffic manager specific code
299 //TODO isn't this best executed right at the beginning?
300 if (! aiTrafficVisible()) {
305 if (! handleAirportEndPoints(prev, now)) {
310 announcePositionToController();
315 fp->setLeadDistance(tgt_speed, tgt_heading, curr, next);
318 if (!(prev->on_ground)) // only update the tgt altitude from flightplan if not on the ground
320 tgt_altitude_ft = prev->altitude;
321 if (curr->crossat > -1000.0) {
323 tgt_vs = (curr->crossat - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
324 / 6076.0 / speed*60.0);
325 tgt_altitude_ft = curr->crossat;
330 tgt_speed = prev->speed;
331 hdg_lock = alt_lock = true;
332 no_roll = prev->on_ground;
337 void FGAIAircraft::initializeFlightPlan() {
341 bool FGAIAircraft::_getGearDown() const {
342 return _performance->gearExtensible(this);
346 bool FGAIAircraft::loadNextLeg() {
349 if ((leg = fp->getLeg()) == 10) {
350 if (!trafficRef->next()) {
353 setCallSign(trafficRef->getCallSign());
358 FGAirport *dep = trafficRef->getDepartureAirport();
359 FGAirport *arr = trafficRef->getArrivalAirport();
364 double cruiseAlt = trafficRef->getCruiseAlt() * 100;
371 trafficRef->getSpeed(),
375 trafficRef->getRadius(),
376 trafficRef->getFlightType(),
379 //cerr << "created leg " << leg << " for " << trafficRef->getCallSign() << endl;
385 // Note: This code is copied from David Luff's AILocalTraffic
386 // Warning - ground elev determination is CPU intensive
387 // Either this function or the logic of how often it is called
388 // will almost certainly change.
390 void FGAIAircraft::getGroundElev(double dt) {
393 // Update minimally every three secs, but add some randomness
394 // to prevent all AI objects doing this in synchrony
395 if (dt_elev_count < (3.0) + (rand() % 10))
400 // Only do the proper hitlist stuff if we are within visible range of the viewer.
402 double visibility_meters = fgGetDouble("/environment/visibility-m");
404 FGViewer* vw = globals->get_current_view();
405 double course, distance;
407 SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
408 SGWayPoint view (vw->getLongitude_deg(), vw->getLatitude_deg(), 0);
409 view.CourseAndDistance(current, &course, &distance);
410 if (distance > visibility_meters) {
414 double range = 500.0;
415 if (!globals->get_tile_mgr()->scenery_available(pos, range)) {
416 // Try to shedule tiles for that position.
417 globals->get_tile_mgr()->update( pos, range );
421 if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(pos, 20000), alt, 0))
422 tgt_altitude_ft = alt * SG_METER_TO_FEET;
427 void FGAIAircraft::doGroundAltitude() {
428 if (fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)
429 altitude_ft = (tgt_altitude_ft + groundOffset);
431 altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
435 void FGAIAircraft::announcePositionToController() {
437 int leg = fp->getLeg();
439 // Note that leg has been incremented after creating the current leg, so we should use
440 // leg numbers here that are one higher than the number that is used to create the leg
443 case 2: // Startup and Push back
444 if (trafficRef->getDepartureAirport()->getDynamics())
445 controller = trafficRef->getDepartureAirport()->getDynamics()->getStartupController();
447 case 3: // Taxiing to runway
448 if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
449 controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
451 case 4: //Take off tower controller
452 if (trafficRef->getDepartureAirport()->getDynamics()) {
453 controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
454 //if (trafficRef->getDepartureAirport()->getId() == "EHAM") {
455 //string trns = trafficRef->getCallSign() + " at runway " + fp->getRunway() +
456 // ". Ready for departure. " + trafficRef->getFlightType() + " to " +
457 // trafficRef->getArrivalAirport()->getId();
458 //fgSetString("/sim/messages/atc", trns.c_str());
459 // if (controller == 0) {
460 //cerr << "Error in assigning controller at " << trafficRef->getDepartureAirport()->getId() << endl;
464 cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
467 case 9: // Taxiing for parking
468 if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
469 controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
476 if ((controller != prevController) && (prevController != 0)) {
477 prevController->signOff(getID());
479 prevController = controller;
481 controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->routeIndex,
482 _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
483 trafficRef->getRadius(), leg, this);
488 // Process ATC instructions and report back
490 void FGAIAircraft::processATC(FGATCInstruction instruction) {
491 if (instruction.getCheckForCircularWait()) {
492 // This is not exactly an elegant solution,
493 // but at least it gives me a chance to check
494 // if circular waits are resolved.
495 // For now, just take the offending aircraft
498 // a more proper way should be - of course - to
499 // let an offending aircraft take an evasive action
500 // for instance taxi back a little bit.
502 //cerr << "Processing ATC instruction (not Implimented yet)" << endl;
503 if (instruction.getHoldPattern ()) {}
506 if (instruction.getHoldPosition ()) {
514 // cerr << trafficRef->getCallSign() << " Resuming Taxi." << endl;
517 // Change speed Instruction. This can only be excecuted when there is no
518 // Hold position instruction.
519 if (instruction.getChangeSpeed ()) {
521 //cerr << trafficRef->getCallSign() << " Changing Speed " << endl;
522 AccelTo(instruction.getSpeed());
524 if (fp) AccelTo(fp->getPreviousWaypoint()->speed);
527 if (instruction.getChangeHeading ()) {
529 TurnTo(instruction.getHeading());
535 if (instruction.getChangeAltitude()) {}
540 void FGAIAircraft::handleFirstWaypoint() {
541 bool eraseWaypoints; //TODO YAGNI
544 eraseWaypoints = true;
546 eraseWaypoints = false;
549 FGAIFlightPlan::waypoint* prev = 0; // the one behind you
550 FGAIFlightPlan::waypoint* curr = 0; // the one ahead
551 FGAIFlightPlan::waypoint* next = 0;// the next plus 1
556 //TODO fp should handle this
557 fp->IncrementWaypoint(eraseWaypoints);
558 if (!(fp->getNextWaypoint()) && trafficRef)
559 if (!loadNextLeg()) {
564 prev = fp->getPreviousWaypoint(); //first waypoint
565 curr = fp->getCurrentWaypoint(); //second waypoint
566 next = fp->getNextWaypoint(); //third waypoint (might not exist!)
568 setLatitude(prev->latitude);
569 setLongitude(prev->longitude);
570 setSpeed(prev->speed);
571 setAltitude(prev->altitude);
573 if (prev->speed > 0.0)
574 setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
576 setHeading(fp->getBearing(curr->latitude, curr->longitude, prev));
578 // If next doesn't exist, as in incrementally created flightplans for
579 // AI/Trafficmanager created plans,
580 // Make sure lead distance is initialized otherwise
582 fp->setLeadDistance(speed, hdg, curr, next);
584 if (curr->crossat > -1000.0) //use a calculated descent/climb rate
587 tgt_vs = (curr->crossat - prev->altitude)
588 / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
589 / 6076.0 / prev->speed*60.0);
590 tgt_altitude_ft = curr->crossat;
593 tgt_altitude_ft = prev->altitude;
595 alt_lock = hdg_lock = true;
596 no_roll = prev->on_ground;
598 Transform(); // make sure aip is initialized.
599 getGroundElev(60.1); // make sure it's executed first time around, so force a large dt value
602 // Make sure to announce the aircraft's position
603 announcePositionToController();
609 * Check Execution time (currently once every 100 ms)
610 * Add a bit of randomization to prevent the execution of all flight plans
611 * in synchrony, which can add significant periodic framerate flutter.
616 bool FGAIAircraft::fpExecutable(time_t now) {
617 double rand_exec_time = (rand() % 100) / 100;
618 return (dt_count > (0.1+rand_exec_time)) && (fp->isActive(now));
623 * Check to see if we've reached the lead point for our next turn
628 bool FGAIAircraft::leadPointReached(FGAIFlightPlan::waypoint* curr) {
629 double dist_to_go = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
631 //cerr << "2" << endl;
632 double lead_dist = fp->getLeadDistance();
633 // experimental: Use fabs, because speed can be negative (I hope) during push_back.
635 if (lead_dist < fabs(2*speed)) {
636 //don't skip over the waypoint
637 lead_dist = fabs(2*speed);
638 //cerr << "Extending lead distance to " << lead_dist << endl;
641 //prev_dist_to_go = dist_to_go;
642 //if (dist_to_go < lead_dist)
643 // cerr << trafficRef->getCallSign() << " Distance : "
644 // << dist_to_go << ": Lead distance "
645 // << lead_dist << " " << curr->name
646 // << " Ground target speed " << groundTargetSpeed << endl;
648 return dist_to_go < lead_dist;
652 bool FGAIAircraft::aiTrafficVisible() {
653 double userLatitude = fgGetDouble("/position/latitude-deg");
654 double userLongitude = fgGetDouble("/position/longitude-deg");
655 double course, distance;
657 SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
658 SGWayPoint user (userLongitude, userLatitude, 0);
660 user.CourseAndDistance(current, &course, &distance);
662 return ((distance * SG_METER_TO_NM) <= TRAFFICTOAIDISTTODIE);
667 * Handle release of parking gate, once were taxiing. Also ensure service time at the gate
668 * in the case of an arrival.
674 //TODO the trafficRef is the right place for the method
675 bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t now) {
676 // prepare routing from one airport to another
677 FGAirport * dep = trafficRef->getDepartureAirport();
678 FGAirport * arr = trafficRef->getArrivalAirport();
683 // This waypoint marks the fact that the aircraft has passed the initial taxi
684 // departure waypoint, so it can release the parking.
685 //cerr << trafficRef->getCallSign() << " has passed waypoint " << prev->name << " at speed " << speed << endl;
686 if (prev->name == "PushBackPoint") {
687 dep->getDynamics()->releaseParking(fp->getGate());
688 time_t holdUntil = now + 120;
689 fp->setTime(holdUntil);
690 //cerr << _getCallsign() << "Holding at pushback point" << endl;
693 // This is the last taxi waypoint, and marks the the end of the flight plan
694 // so, the schedule should update and wait for the next departure time.
695 if (prev->name == "END") {
696 time_t nextDeparture = trafficRef->getDepartureTime();
697 // make sure to wait at least 20 minutes at parking to prevent "nervous" taxi behavior
698 if (nextDeparture < (now+1200)) {
699 nextDeparture = now + 1200;
701 fp->setTime(nextDeparture); // should be "next departure"
709 * Check difference between target bearing and current heading and correct if necessary.
713 void FGAIAircraft::controlHeading(FGAIFlightPlan::waypoint* curr) {
714 double calc_bearing = fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
715 //cerr << "Bearing = " << calc_bearing << endl;
718 if (calc_bearing > 360)
722 if (finite(calc_bearing)) {
723 double hdg_error = calc_bearing - tgt_heading;
724 if (fabs(hdg_error) > 0.01) {
725 TurnTo( calc_bearing );
729 cerr << "calc_bearing is not a finite number : "
731 << "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
732 << "waypoint " << curr->latitude << ", " << curr->longitude << endl;
733 cerr << "waypoint name " << curr->name;
740 * Update the lead distance calculation if speed has changed sufficiently
741 * to prevent spinning (hopefully);
746 void FGAIAircraft::controlSpeed(FGAIFlightPlan::waypoint* curr, FGAIFlightPlan::waypoint* next) {
747 double speed_diff = speed - prevSpeed;
749 if (fabs(speed_diff) > 10) {
752 fp->setLeadDistance(speed, tgt_heading, curr, next);
759 * Update target values (heading, alt, speed) depending on flight plan or control properties
761 void FGAIAircraft::updatePrimaryTargetValues() {
762 if (fp) // AI object has a flightplan
764 //TODO make this a function of AIBase
765 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
766 //cerr << "UpateTArgetValues() " << endl;
767 ProcessFlightPlan(dt, now);
769 // Do execute Ground elev for inactive aircraft, so they
770 // Are repositioned to the correct ground altitude when the user flies within visibility range.
771 // In addition, check whether we are out of user range, so this aircraft
774 Transform(); // make sure aip is initialized.
778 pos.setElevationFt(altitude_ft);
781 //cerr << trafficRef->getRegistration() << " Setting altitude to " << altitude_ft;
782 if (! aiTrafficVisible()) {
784 //cerr << trafficRef->getRegistration() << " is set to die " << endl;
785 throw AI_OutOfSight();
788 timeElapsed = now - fp->getStartTime();
789 if (! fp->isActive(now)) {
793 // no flight plan, update target heading, speed, and altitude
794 // from control properties. These default to the initial
795 // settings in the config file, but can be changed "on the
797 string lat_mode = props->getStringValue("controls/flight/lateral-mode");
798 if ( lat_mode == "roll" ) {
800 = props->getDoubleValue("controls/flight/target-roll" );
804 = props->getDoubleValue("controls/flight/target-hdg" );
809 = props->getStringValue("controls/flight/longitude-mode");
810 if ( lon_mode == "alt" ) {
811 double alt = props->getDoubleValue("controls/flight/target-alt" );
815 = props->getDoubleValue("controls/flight/target-pitch" );
819 AccelTo( props->getDoubleValue("controls/flight/target-spd" ) );
823 void FGAIAircraft::updatePosition() {
824 // convert speed to degrees per second
825 double speed_north_deg_sec = cos( hdg * SGD_DEGREES_TO_RADIANS )
826 * speed * 1.686 / ft_per_deg_lat;
827 double speed_east_deg_sec = sin( hdg * SGD_DEGREES_TO_RADIANS )
828 * speed * 1.686 / ft_per_deg_lon;
831 pos.setLatitudeDeg( pos.getLatitudeDeg() + speed_north_deg_sec * dt);
832 pos.setLongitudeDeg( pos.getLongitudeDeg() + speed_east_deg_sec * dt);
836 void FGAIAircraft::updateHeading() {
837 // adjust heading based on current bank angle
842 // double turnConstant;
844 // turnConstant = 0.0088362;
846 // turnConstant = 0.088362;
847 // If on ground, calculate heading change directly
849 double headingDiff = fabs(hdg-tgt_heading);
850 double bank_sense = 0.0;
852 double diff = fabs(hdg - tgt_heading);
854 diff = fabs(diff - 360);
856 double sum = hdg + diff;
859 if (fabs(sum - tgt_heading) < 1.0) {
860 bank_sense = 1.0; // right turn
862 bank_sense = -1.0; // left turn
864 if (headingDiff > 180)
865 headingDiff = fabs(headingDiff - 360);
866 double sum = hdg + headingDiff;
869 if (fabs(sum - tgt_heading) > 0.0001) {
875 //cerr << trafficRef->getCallSign() << " Heading "
876 // << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << endl;
877 //if (headingDiff > 60) {
878 groundTargetSpeed = tgt_speed; // * cos(headingDiff * SG_DEGREES_TO_RADIANS);
879 //groundTargetSpeed = tgt_speed - tgt_speed * (headingDiff/180);
881 // groundTargetSpeed = tgt_speed;
883 if (sign(groundTargetSpeed) != sign(tgt_speed))
884 groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
886 if (headingDiff > 30.0) {
887 // invert if pushed backward
888 headingChangeRate += 10.0 * dt * sign(roll);
890 // Clamp the maximum steering rate to 30 degrees per second,
891 // But only do this when the heading error is decreasing.
892 if ((headingDiff < headingError)) {
893 if (headingChangeRate > 30)
894 headingChangeRate = 30;
895 else if (headingChangeRate < -30)
896 headingChangeRate = -30;
899 if (fabs(headingChangeRate) > headingDiff)
900 headingChangeRate = headingDiff*sign(roll);
902 headingChangeRate += dt * sign(roll);
905 hdg += headingChangeRate * dt * (fabs(speed) / 15);
906 headingError = headingDiff;
908 if (fabs(speed) > 1.0) {
909 turn_radius_ft = 0.088362 * speed * speed
910 / tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
912 // Check if turn_radius_ft == 0; this might lead to a division by 0.
913 turn_radius_ft = 1.0;
915 double turn_circum_ft = SGD_2PI * turn_radius_ft;
916 double dist_covered_ft = speed * 1.686 * dt;
917 double alpha = dist_covered_ft / turn_circum_ft * 360.0;
918 hdg += alpha * sign(roll);
920 while ( hdg > 360.0 ) {
932 void FGAIAircraft::updateBankAngleTarget() {
933 // adjust target bank angle if heading lock engaged
935 double bank_sense = 0.0;
936 double diff = fabs(hdg - tgt_heading);
938 diff = fabs(diff - 360);
940 double sum = hdg + diff;
943 if (fabs(sum - tgt_heading) < 1.0) {
944 bank_sense = 1.0; // right turn
946 bank_sense = -1.0; // left turn
948 if (diff < _performance->maximumBankAngle()) {
949 tgt_roll = diff * bank_sense;
951 tgt_roll = _performance->maximumBankAngle() * bank_sense;
953 if ((fabs((double) spinCounter) > 1) && (diff > _performance->maximumBankAngle())) {
954 tgt_speed *= 0.999; // Ugly hack: If aircraft get stuck, they will continually spin around.
955 // The only way to resolve this is to make them slow down.
961 void FGAIAircraft::updateVerticalSpeedTarget() {
962 // adjust target Altitude, based on ground elevation when on ground
966 } else if (alt_lock) {
967 // find target vertical speed
969 if (altitude_ft < tgt_altitude_ft) {
970 tgt_vs = tgt_altitude_ft - altitude_ft;
971 if (tgt_vs > _performance->climbRate())
972 tgt_vs = _performance->climbRate();
974 tgt_vs = tgt_altitude_ft - altitude_ft;
975 if (tgt_vs < (-_performance->descentRate()))
976 tgt_vs = -_performance->descentRate();
979 double max_vs = 4*(tgt_altitude_ft - altitude_ft);
981 if (tgt_altitude_ft < altitude_ft)
983 if ((fabs(tgt_altitude_ft - altitude_ft) < 1500.0)
984 && (fabs(max_vs) < fabs(tgt_vs)))
987 if (fabs(tgt_vs) < fabs(min_vs))
994 void FGAIAircraft::updatePitchAngleTarget() {
995 // if on ground and above vRotate -> initial rotation
996 if (onGround() && (speed > _performance->vRotate()))
997 tgt_pitch = 8.0; // some rough B737 value
999 //TODO pitch angle on approach and landing
1001 // match pitch angle to vertical speed
1002 else if (tgt_vs > 0) {
1003 tgt_pitch = tgt_vs * 0.005;
1005 tgt_pitch = tgt_vs * 0.002;
1009 string FGAIAircraft::atGate() {
1011 if (fp->getLeg() < 3) {
1013 if (fp->getGate() > 0) {
1015 trafficRef->getDepartureAirport()->getDynamics()->getParking(fp->getGate());
1016 tmp = park->getName();
1023 void FGAIAircraft::handleATCRequests() {
1024 //TODO implement NullController for having no ATC to save the conditionals
1026 controller->update(getID(),
1027 pos.getLatitudeDeg(),
1028 pos.getLongitudeDeg(),
1032 processATC(controller->getInstruction(getID()));
1036 void FGAIAircraft::updateActualState() {
1037 //update current state
1038 //TODO have a single tgt_speed and check speed limit on ground on setting tgt_speed
1042 speed = _performance->actualSpeed(this, groundTargetSpeed, dt);
1044 speed = _performance->actualSpeed(this, tgt_speed, dt);
1047 roll = _performance->actualBankAngle(this, tgt_roll, dt);
1049 // adjust altitude (meters) based on current vertical speed (fpm)
1050 altitude_ft += vs / 60.0 * dt;
1051 pos.setElevationFt(altitude_ft);
1053 vs = _performance->actualVerticalSpeed(this, tgt_vs, dt);
1054 pitch = _performance->actualPitch(this, tgt_pitch, dt);
1057 void FGAIAircraft::updateSecondaryTargetValues() {
1058 // derived target state values
1059 updateBankAngleTarget();
1060 updateVerticalSpeedTarget();
1061 updatePitchAngleTarget();
1063 //TODO calculate wind correction angle (tgt_yaw)