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/math/point3d.hxx>
26 #include <simgear/route/waypoint.hxx>
27 #include <Main/fg_props.hxx>
28 #include <Main/globals.hxx>
29 #include <Main/viewer.hxx>
30 #include <Scenery/scenery.hxx>
31 #include <Scenery/tilemgr.hxx>
32 #include <Airports/dynamics.hxx>
39 # define finite _finite
40 #elif defined(__sun) || defined(sgi)
46 #include "AIAircraft.hxx"
47 #include "performancedata.hxx"
48 #include "performancedb.hxx"
50 //#include <Airports/trafficcontroller.hxx>
52 static string tempReg;
54 class AI_OutOfSight{};
57 FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : FGAIBase(otAircraft) {
60 groundOffset = trafficRef->getGroundOffset();
61 setCallSign(trafficRef->getCallSign());
76 groundTargetSpeed = 0;
78 // set heading and altitude locks
82 headingChangeRate = 0.0;
86 _performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB
91 FGAIAircraft::~FGAIAircraft() {
94 controller->signOff(getID());
98 void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) {
102 FGAIBase::readFromScenario(scFileNode);
104 setPerformance(scFileNode->getStringValue("class", "jet_transport"));
105 setFlightPlan(scFileNode->getStringValue("flightplan"),
106 scFileNode->getBoolValue("repeat", false));
107 setCallSign(scFileNode->getStringValue("callsign"));
111 void FGAIAircraft::bind() {
114 props->tie("controls/gear/gear-down",
115 SGRawValueMethods<FGAIAircraft,bool>(*this,
116 &FGAIAircraft::_getGearDown));
120 void FGAIAircraft::unbind() {
123 props->untie("controls/gear/gear-down");
127 void FGAIAircraft::update(double dt) {
128 FGAIBase::update(dt);
133 void FGAIAircraft::setPerformance(const std::string& acclass) {
134 static PerformanceDB perfdb; //TODO make it a global service
135 setPerformance(perfdb.getDataFor(acclass));
139 void FGAIAircraft::setPerformance(PerformanceData *ps) {
144 void FGAIAircraft::Run(double dt) {
145 FGAIAircraft::dt = dt;
148 if ( !updatePrimaryTargetValues() ) // target hdg, alt, speed
151 catch (AI_OutOfSight) {
154 catch (FP_Inactive) {
156 groundTargetSpeed = 0;
159 handleATCRequests(); // ATC also has a word to say
160 updateSecondaryTargetValues(); // target roll, vertical speed, pitch
162 UpdateRadar(manager);
167 void FGAIAircraft::AccelTo(double speed) {
172 void FGAIAircraft::PitchTo(double angle) {
178 void FGAIAircraft::RollTo(double angle) {
184 void FGAIAircraft::YawTo(double angle) {
189 void FGAIAircraft::ClimbTo(double alt_ft ) {
190 tgt_altitude_ft = alt_ft;
195 void FGAIAircraft::TurnTo(double heading) {
196 tgt_heading = heading;
201 double FGAIAircraft::sign(double x) {
209 void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat) {
210 if (!flightplan.empty()) {
211 FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
212 fp->setRepeat(repeat);
218 void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f) {
224 void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
226 // the one behind you
227 FGAIFlightPlan::waypoint* prev = 0;
229 FGAIFlightPlan::waypoint* curr = 0;
231 FGAIFlightPlan::waypoint* next = 0;
233 prev = fp->getPreviousWaypoint();
234 curr = fp->getCurrentWaypoint();
235 next = fp->getNextWaypoint();
239 ///////////////////////////////////////////////////////////////////////////
240 // Initialize the flightplan
241 //////////////////////////////////////////////////////////////////////////
243 handleFirstWaypoint();
245 } // end of initialization
246 if (! fpExecutable(now))
250 if (! leadPointReached(curr)) {
251 controlHeading(curr);
252 controlSpeed(curr, next);
254 if (curr->finished) //end of the flight plan
264 //TODO more intelligent method in AIFlightPlan, no need to send data it already has :-)
265 tgt_heading = fp->getBearing(curr, next);
269 //TODO let the fp handle this (loading of next leg)
270 fp->IncrementWaypoint((bool) trafficRef);
271 if (!(fp->getNextWaypoint()) && trafficRef)
274 prev = fp->getPreviousWaypoint();
275 curr = fp->getCurrentWaypoint();
276 next = fp->getNextWaypoint();
278 // Now that we have incremented the waypoints, excute some traffic manager specific code
280 //TODO isn't this best executed right at the beginning?
281 if (! aiTrafficVisible()) {
286 if (! handleAirportEndPoints(prev, now)) {
291 announcePositionToController();
296 fp->setLeadDistance(tgt_speed, tgt_heading, curr, next);
299 if (!(prev->on_ground)) // only update the tgt altitude from flightplan if not on the ground
301 tgt_altitude_ft = prev->altitude;
302 if (curr->crossat > -1000.0) {
304 tgt_vs = (curr->crossat - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
305 / 6076.0 / speed*60.0);
306 tgt_altitude_ft = curr->crossat;
311 tgt_speed = prev->speed;
312 hdg_lock = alt_lock = true;
313 no_roll = prev->on_ground;
318 void FGAIAircraft::initializeFlightPlan() {
322 bool FGAIAircraft::_getGearDown() const {
323 return _performance->gearExtensible(this);
327 void FGAIAircraft::loadNextLeg() {
330 if ((leg = fp->getLeg()) == 10) {
332 setCallSign(trafficRef->getCallSign());
333 //props->setStringValue("callsign", callsign.c_str());
338 FGAirport *dep = trafficRef->getDepartureAirport();
339 FGAirport *arr = trafficRef->getArrivalAirport();
344 double cruiseAlt = trafficRef->getCruiseAlt() * 100;
349 cruiseAlt, //(trafficRef->getCruiseAlt() * 100), // convert from FL to feet
350 trafficRef->getSpeed(),
354 trafficRef->getRadius(),
355 trafficRef->getFlightType(),
362 // Note: This code is copied from David Luff's AILocalTraffic
363 // Warning - ground elev determination is CPU intensive
364 // Either this function or the logic of how often it is called
365 // will almost certainly change.
367 void FGAIAircraft::getGroundElev(double dt) {
370 // Update minimally every three secs, but add some randomness
371 // to prevent all AI objects doing this in synchrony
372 if (dt_elev_count < (3.0) + (rand() % 10))
377 // Only do the proper hitlist stuff if we are within visible range of the viewer.
379 double visibility_meters = fgGetDouble("/environment/visibility-m");
381 FGViewer* vw = globals->get_current_view();
382 double course, distance;
384 SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
385 SGWayPoint view (vw->getLongitude_deg(), vw->getLatitude_deg(), 0);
386 view.CourseAndDistance(current, &course, &distance);
387 if (distance > visibility_meters) {
388 //aip.getSGLocation()->set_cur_elev_m(aptElev);
392 // FIXME: make sure the pos.lat/pos.lon values are in degrees ...
393 double range = 500.0;
394 if (!globals->get_tile_mgr()->scenery_available(pos.getLatitudeDeg(), pos.getLongitudeDeg(), range)) {
395 // Try to shedule tiles for that position.
396 globals->get_tile_mgr()->update( aip.getSGLocation(), range );
399 // FIXME: make sure the pos.lat/pos.lon values are in degrees ...
401 if (globals->get_scenery()->get_elevation_m(pos.getLatitudeDeg(), pos.getLongitudeDeg(), 20000.0, alt, 0))
402 tgt_altitude_ft = alt * SG_METER_TO_FEET;
407 void FGAIAircraft::doGroundAltitude() {
408 if (fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)
409 altitude_ft = (tgt_altitude_ft + groundOffset);
411 altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
415 void FGAIAircraft::announcePositionToController() {
417 int leg = fp->getLeg();
419 // Note that leg has been incremented after creating the current leg, so we should use
420 // leg numbers here that are one higher than the number that is used to create the leg
423 case 2: // Startup and Push back
424 if (trafficRef->getDepartureAirport()->getDynamics())
425 controller = trafficRef->getDepartureAirport()->getDynamics()->getStartupController();
427 case 3: // Taxiing to runway
428 if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
429 controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
431 case 4: //Take off tower controller
432 if (trafficRef->getDepartureAirport()->getDynamics()) {
433 controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
434 //if (trafficRef->getDepartureAirport()->getId() == "EHAM") {
435 //string trns = trafficRef->getCallSign() + " at runway " + fp->getRunway() +
436 // ". Ready for departure. " + trafficRef->getFlightType() + " to " +
437 // trafficRef->getArrivalAirport()->getId();
438 //fgSetString("/sim/messages/atc", trns.c_str());
439 // if (controller == 0) {
440 //cerr << "Error in assigning controller at " << trafficRef->getDepartureAirport()->getId() << endl;
444 cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
447 case 9: // Taxiing for parking
448 if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
449 controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
456 if ((controller != prevController) && (prevController != 0)) {
457 prevController->signOff(getID());
459 prevController = controller;
461 controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->routeIndex,
462 _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
463 trafficRef->getRadius(), leg, this);
468 // Process ATC instructions and report back
470 void FGAIAircraft::processATC(FGATCInstruction instruction) {
471 if (instruction.getCheckForCircularWait()) {
472 // This is not exactly an elegant solution,
473 // but at least it gives me a chance to check
474 // if circular waits are resolved.
475 // For now, just take the offending aircraft
478 // a more proper way should be - of course - to
479 // let an offending aircraft take an evasive action
480 // for instance taxi back a little bit.
482 //cerr << "Processing ATC instruction (not Implimented yet)" << endl;
483 if (instruction.getHoldPattern ()) {}
486 if (instruction.getHoldPosition ()) {
494 // cerr << trafficRef->getCallSign() << " Resuming Taxi." << endl;
497 // Change speed Instruction. This can only be excecuted when there is no
498 // Hold position instruction.
499 if (instruction.getChangeSpeed ()) {
501 //cerr << trafficRef->getCallSign() << " Changing Speed " << endl;
502 AccelTo(instruction.getSpeed());
504 if (fp) AccelTo(fp->getPreviousWaypoint()->speed);
507 if (instruction.getChangeHeading ()) {
509 TurnTo(instruction.getHeading());
515 if (instruction.getChangeAltitude()) {}
520 void FGAIAircraft::handleFirstWaypoint() {
521 bool eraseWaypoints; //TODO YAGNI
524 eraseWaypoints = true;
526 eraseWaypoints = false;
529 FGAIFlightPlan::waypoint* prev = 0; // the one behind you
530 FGAIFlightPlan::waypoint* curr = 0; // the one ahead
531 FGAIFlightPlan::waypoint* next = 0;// the next plus 1
536 //TODO fp should handle this
537 fp->IncrementWaypoint(eraseWaypoints);
538 if (!(fp->getNextWaypoint()) && trafficRef)
541 prev = fp->getPreviousWaypoint(); //first waypoint
542 curr = fp->getCurrentWaypoint(); //second waypoint
543 next = fp->getNextWaypoint(); //third waypoint (might not exist!)
545 setLatitude(prev->latitude);
546 setLongitude(prev->longitude);
547 setSpeed(prev->speed);
548 setAltitude(prev->altitude);
550 if (prev->speed > 0.0)
551 setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
553 setHeading(fp->getBearing(curr->latitude, curr->longitude, prev));
555 // If next doesn't exist, as in incrementally created flightplans for
556 // AI/Trafficmanager created plans,
557 // Make sure lead distance is initialized otherwise
559 fp->setLeadDistance(speed, hdg, curr, next);
561 if (curr->crossat > -1000.0) //use a calculated descent/climb rate
564 tgt_vs = (curr->crossat - prev->altitude)
565 / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
566 / 6076.0 / prev->speed*60.0);
567 tgt_altitude_ft = curr->crossat;
570 tgt_altitude_ft = prev->altitude;
572 alt_lock = hdg_lock = true;
573 no_roll = prev->on_ground;
575 Transform(); // make sure aip is initialized.
576 getGroundElev(60.1); // make sure it's executed first time around, so force a large dt value
579 // Make sure to announce the aircraft's position
580 announcePositionToController();
586 * Check Execution time (currently once every 100 ms)
587 * Add a bit of randomization to prevent the execution of all flight plans
588 * in synchrony, which can add significant periodic framerate flutter.
593 bool FGAIAircraft::fpExecutable(time_t now) {
594 double rand_exec_time = (rand() % 100) / 100;
595 return (dt_count > (0.1+rand_exec_time)) && (fp->isActive(now));
600 * Check to see if we've reached the lead point for our next turn
605 bool FGAIAircraft::leadPointReached(FGAIFlightPlan::waypoint* curr) {
606 double dist_to_go = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
608 //cerr << "2" << endl;
609 double lead_dist = fp->getLeadDistance();
610 // experimental: Use fabs, because speed can be negative (I hope) during push_back.
612 if (lead_dist < fabs(2*speed)) {
613 //don't skip over the waypoint
614 lead_dist = fabs(2*speed);
615 //cerr << "Extending lead distance to " << lead_dist << endl;
618 //prev_dist_to_go = dist_to_go;
619 //if (dist_to_go < lead_dist)
620 // cerr << trafficRef->getCallSign() << " Distance : " << dist_to_go << ": Lead distance " << lead_dist << " " << curr->name << endl;
621 return dist_to_go < lead_dist;
625 bool FGAIAircraft::aiTrafficVisible() {
626 double userLatitude = fgGetDouble("/position/latitude-deg");
627 double userLongitude = fgGetDouble("/position/longitude-deg");
628 double course, distance;
630 SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
631 SGWayPoint user (userLongitude, userLatitude, 0);
633 user.CourseAndDistance(current, &course, &distance);
635 return ((distance * SG_METER_TO_NM) <= TRAFFICTOAIDIST);
640 * Handle release of parking gate, once were taxiing. Also ensure service time at the gate
641 * in the case of an arrival.
647 //TODO the trafficRef is the right place for the method
648 bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t now) {
649 // prepare routing from one airport to another
650 FGAirport * dep = trafficRef->getDepartureAirport();
651 FGAirport * arr = trafficRef->getArrivalAirport();
656 // This waypoint marks the fact that the aircraft has passed the initial taxi
657 // departure waypoint, so it can release the parking.
658 if (prev->name == "PushBackPoint") {
659 dep->getDynamics()->releaseParking(fp->getGate());
660 time_t holdUntil = now + 120;
661 fp->setTime(holdUntil);
662 //cerr << _getCallsign() << "Holding at pushback point" << endl;
665 // This is the last taxi waypoint, and marks the the end of the flight plan
666 // so, the schedule should update and wait for the next departure time.
667 if (prev->name == "END") {
668 time_t nextDeparture = trafficRef->getDepartureTime();
669 // make sure to wait at least 20 minutes at parking to prevent "nervous" taxi behavior
670 if (nextDeparture < (now+1200)) {
671 nextDeparture = now + 1200;
673 fp->setTime(nextDeparture); // should be "next departure"
681 * Check difference between target bearing and current heading and correct if necessary.
685 void FGAIAircraft::controlHeading(FGAIFlightPlan::waypoint* curr) {
686 double calc_bearing = fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
687 //cerr << "Bearing = " << calc_bearing << endl;
690 if (calc_bearing > 360)
694 if (finite(calc_bearing)) {
695 double hdg_error = calc_bearing - tgt_heading;
696 if (fabs(hdg_error) > 0.01) {
697 TurnTo( calc_bearing );
701 cerr << "calc_bearing is not a finite number : "
703 << "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
704 << "waypoint " << curr->latitude << ", " << curr->longitude << endl;
705 cerr << "waypoint name " << curr->name;
712 * Update the lead distance calculation if speed has changed sufficiently
713 * to prevent spinning (hopefully);
718 void FGAIAircraft::controlSpeed(FGAIFlightPlan::waypoint* curr, FGAIFlightPlan::waypoint* next) {
719 double speed_diff = speed - prevSpeed;
721 if (fabs(speed_diff) > 10) {
724 fp->setLeadDistance(speed, tgt_heading, curr, next);
731 * Update target values (heading, alt, speed) depending on flight plan or control properties
733 bool FGAIAircraft::updatePrimaryTargetValues() {
734 if (fp) // AI object has a flightplan
736 //TODO make this a function of AIBase
737 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
738 //cerr << "UpateTArgetValues() " << endl;
739 ProcessFlightPlan(dt, now);
741 // Do execute Ground elev for inactive aircraft, so they
742 // Are repositioned to the correct ground altitude when the user flies within visibility range.
743 // In addition, check whether we are out of user range, so this aircraft
746 Transform(); // make sure aip is initialized.
750 pos.setElevationFt(altitude_ft);
753 //cerr << trafficRef->getRegistration() << " Setting altitude to " << altitude_ft;
754 if (! aiTrafficVisible()) {
756 //cerr << trafficRef->getRegistration() << " is set to die " << endl;
757 throw AI_OutOfSight();
760 timeElapsed = now - fp->getStartTime();
761 if (! fp->isActive(now)) {
765 // no flight plan, update target heading, speed, and altitude
766 // from control properties. These default to the initial
767 // settings in the config file, but can be changed "on the
769 string lat_mode = props->getStringValue("controls/flight/lateral-mode");
770 if ( lat_mode == "roll" ) {
772 = props->getDoubleValue("controls/flight/target-roll" );
776 = props->getDoubleValue("controls/flight/target-hdg" );
781 = props->getStringValue("controls/flight/longitude-mode");
782 if ( lon_mode == "alt" ) {
783 double alt = props->getDoubleValue("controls/flight/target-alt" );
787 = props->getDoubleValue("controls/flight/target-pitch" );
791 AccelTo( props->getDoubleValue("controls/flight/target-spd" ) );
796 void FGAIAircraft::updatePosition() {
797 // convert speed to degrees per second
798 double speed_north_deg_sec = cos( hdg * SGD_DEGREES_TO_RADIANS )
799 * speed * 1.686 / ft_per_deg_lat;
800 double speed_east_deg_sec = sin( hdg * SGD_DEGREES_TO_RADIANS )
801 * speed * 1.686 / ft_per_deg_lon;
804 pos.setLatitudeDeg( pos.getLatitudeDeg() + speed_north_deg_sec * dt);
805 pos.setLongitudeDeg( pos.getLongitudeDeg() + speed_east_deg_sec * dt);
809 void FGAIAircraft::updateHeading() {
810 // adjust heading based on current bank angle
815 // double turnConstant;
817 // turnConstant = 0.0088362;
819 // turnConstant = 0.088362;
820 // If on ground, calculate heading change directly
822 double headingDiff = fabs(hdg-tgt_heading);
823 double bank_sense = 0.0;
825 double diff = fabs(hdg - tgt_heading);
827 diff = fabs(diff - 360);
829 double sum = hdg + diff;
832 if (fabs(sum - tgt_heading) < 1.0) {
833 bank_sense = 1.0; // right turn
835 bank_sense = -1.0; // left turn
837 if (headingDiff > 180)
838 headingDiff = fabs(headingDiff - 360);
839 double sum = hdg + headingDiff;
842 if (fabs(sum - tgt_heading) > 0.0001) {
848 //cerr << trafficRef->getCallSign() << " Heading "
849 // << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << endl;
850 //if (headingDiff > 60) {
851 groundTargetSpeed = tgt_speed; // * cos(headingDiff * SG_DEGREES_TO_RADIANS);
852 //groundTargetSpeed = tgt_speed - tgt_speed * (headingDiff/180);
854 // groundTargetSpeed = tgt_speed;
856 if (sign(groundTargetSpeed) != sign(tgt_speed))
857 groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
859 if (headingDiff > 30.0) {
860 // invert if pushed backward
861 headingChangeRate += 10.0 * dt * sign(roll);
863 // Clamp the maximum steering rate to 30 degrees per second,
864 // But only do this when the heading error is decreasing.
865 if ((headingDiff < headingError)) {
866 if (headingChangeRate > 30)
867 headingChangeRate = 30;
868 else if (headingChangeRate < -30)
869 headingChangeRate = -30;
872 if (fabs(headingChangeRate) > headingDiff)
873 headingChangeRate = headingDiff*sign(roll);
875 headingChangeRate += dt * sign(roll);
878 hdg += headingChangeRate * dt * (fabs(speed) / 15);
879 headingError = headingDiff;
881 if (fabs(speed) > 1.0) {
882 turn_radius_ft = 0.088362 * speed * speed
883 / tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
885 // Check if turn_radius_ft == 0; this might lead to a division by 0.
886 turn_radius_ft = 1.0;
888 double turn_circum_ft = SGD_2PI * turn_radius_ft;
889 double dist_covered_ft = speed * 1.686 * dt;
890 double alpha = dist_covered_ft / turn_circum_ft * 360.0;
891 hdg += alpha * sign(roll);
893 while ( hdg > 360.0 ) {
905 void FGAIAircraft::updateBankAngleTarget() {
906 // adjust target bank angle if heading lock engaged
908 double bank_sense = 0.0;
909 double diff = fabs(hdg - tgt_heading);
911 diff = fabs(diff - 360);
913 double sum = hdg + diff;
916 if (fabs(sum - tgt_heading) < 1.0) {
917 bank_sense = 1.0; // right turn
919 bank_sense = -1.0; // left turn
921 if (diff < _performance->maximumBankAngle()) {
922 tgt_roll = diff * bank_sense;
924 tgt_roll = _performance->maximumBankAngle() * bank_sense;
926 if ((fabs((double) spinCounter) > 1) && (diff > _performance->maximumBankAngle())) {
927 tgt_speed *= 0.999; // Ugly hack: If aircraft get stuck, they will continually spin around.
928 // The only way to resolve this is to make them slow down.
934 void FGAIAircraft::updateVerticalSpeedTarget() {
935 // adjust target Altitude, based on ground elevation when on ground
939 } else if (alt_lock) {
940 // find target vertical speed
942 if (altitude_ft < tgt_altitude_ft) {
943 tgt_vs = tgt_altitude_ft - altitude_ft;
944 if (tgt_vs > _performance->climbRate())
945 tgt_vs = _performance->climbRate();
947 tgt_vs = tgt_altitude_ft - altitude_ft;
948 if (tgt_vs < (-_performance->descentRate()))
949 tgt_vs = -_performance->descentRate();
952 double max_vs = 4*(tgt_altitude_ft - altitude_ft);
954 if (tgt_altitude_ft < altitude_ft)
956 if ((fabs(tgt_altitude_ft - altitude_ft) < 1500.0)
957 && (fabs(max_vs) < fabs(tgt_vs)))
960 if (fabs(tgt_vs) < fabs(min_vs))
967 void FGAIAircraft::updatePitchAngleTarget() {
968 // if on ground and above vRotate -> initial rotation
969 if (onGround() && (speed > _performance->vRotate()))
970 tgt_pitch = 8.0; // some rough B737 value
972 //TODO pitch angle on approach and landing
974 // match pitch angle to vertical speed
975 else if (tgt_vs > 0) {
976 tgt_pitch = tgt_vs * 0.005;
978 tgt_pitch = tgt_vs * 0.002;
982 string FGAIAircraft::atGate() {
984 if (fp->getLeg() < 3) {
986 if (fp->getGate() > 0) {
988 trafficRef->getDepartureAirport()->getDynamics()->getParking(fp->getGate());
989 tmp = park->getName();
996 void FGAIAircraft::handleATCRequests() {
997 //TODO implement NullController for having no ATC to save the conditionals
999 controller->update(getID(),
1000 pos.getLatitudeDeg(),
1001 pos.getLongitudeDeg(),
1005 processATC(controller->getInstruction(getID()));
1009 void FGAIAircraft::updateActualState() {
1010 //update current state
1011 //TODO have a single tgt_speed and check speed limit on ground on setting tgt_speed
1015 speed = _performance->actualSpeed(this, groundTargetSpeed, dt);
1017 speed = _performance->actualSpeed(this, tgt_speed, dt);
1020 roll = _performance->actualBankAngle(this, tgt_roll, dt);
1022 // adjust altitude (meters) based on current vertical speed (fpm)
1023 altitude_ft += vs / 60.0 * dt;
1024 pos.setElevationFt(altitude_ft);
1026 vs = _performance->actualVerticalSpeed(this, tgt_vs, dt);
1027 pitch = _performance->actualPitch(this, tgt_pitch, dt);
1030 void FGAIAircraft::updateSecondaryTargetValues() {
1031 // derived target state values
1032 updateBankAngleTarget();
1033 updateVerticalSpeedTarget();
1034 updatePitchAngleTarget();
1036 //TODO calculate wind correction angle (tgt_yaw)