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 <Main/fg_props.hxx>
26 #include <Main/globals.hxx>
27 #include <Scenery/scenery.hxx>
28 #include <Scenery/tilemgr.hxx>
29 #include <Airports/dynamics.hxx>
30 #include <Airports/simple.hxx>
38 # define finite _finite
39 #elif defined(__sun) || defined(sgi)
44 #include "AIAircraft.hxx"
45 #include "performancedata.hxx"
46 #include "performancedb.hxx"
53 //#include <Airports/trafficcontroller.hxx>
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
98 trackCache.remainingLength = 0;
102 FGAIAircraft::~FGAIAircraft() {
105 controller->signOff(getID());
109 void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) {
113 FGAIBase::readFromScenario(scFileNode);
115 setPerformance("", scFileNode->getStringValue("class", "jet_transport"));
116 setFlightPlan(scFileNode->getStringValue("flightplan"),
117 scFileNode->getBoolValue("repeat", false));
118 setCallSign(scFileNode->getStringValue("callsign"));
122 void FGAIAircraft::bind() {
125 tie("controls/gear/gear-down",
126 SGRawValueMethods<FGAIAircraft,bool>(*this,
127 &FGAIAircraft::_getGearDown));
128 tie("transponder-id",
129 SGRawValueMethods<FGAIAircraft,const char*>(*this,
130 &FGAIAircraft::_getTransponderCode));
133 void FGAIAircraft::update(double dt) {
134 FGAIBase::update(dt);
139 void FGAIAircraft::setPerformance(const std::string& acType, const std::string& acclass)
141 static PerformanceDB perfdb; //TODO make it a global service
142 _performance = perfdb.getDataFor(acType, acclass);
146 void FGAIAircraft::setPerformance(PerformanceData *ps) {
151 void FGAIAircraft::Run(double dt) {
152 FGAIAircraft::dt = dt;
154 bool outOfSight = false,
155 flightplanActive = true;
156 updatePrimaryTargetValues(flightplanActive, outOfSight); // target hdg, alt, speed
161 if (!flightplanActive) {
162 groundTargetSpeed = 0;
165 handleATCRequests(); // ATC also has a word to say
166 updateSecondaryTargetValues(); // target roll, vertical speed, pitch
168 // We currently have one situation in which an AIAircraft object is used that is not attached to the
169 // AI manager. In this particular case, the AIAircraft is used to shadow the user's aircraft's behavior in the AI world.
170 // Since we perhaps don't want a radar entry of our own aircraft, the following conditional should probably be adequate
173 UpdateRadar(manager);
177 void FGAIAircraft::checkVisibility()
179 double visibility_meters = fgGetDouble("/environment/visibility-m");
180 invisible = (SGGeodesy::distanceM(globals->get_view_position(), pos) > visibility_meters);
185 void FGAIAircraft::AccelTo(double speed) {
187 //assertSpeed(speed);
189 _needsGroundElevation = true;
193 void FGAIAircraft::PitchTo(double angle) {
199 void FGAIAircraft::RollTo(double angle) {
205 void FGAIAircraft::YawTo(double angle) {
210 void FGAIAircraft::ClimbTo(double alt_ft ) {
211 tgt_altitude_ft = alt_ft;
216 void FGAIAircraft::TurnTo(double heading) {
217 tgt_heading = heading;
222 double FGAIAircraft::sign(double x) {
230 void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat) {
231 if (!flightplan.empty()) {
232 FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
233 fp->setRepeat(repeat);
239 void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f) {
245 void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
247 // the one behind you
248 FGAIWaypoint* prev = 0;
250 FGAIWaypoint* curr = 0;
252 FGAIWaypoint* next = 0;
254 prev = fp->getPreviousWaypoint();
255 curr = fp->getCurrentWaypoint();
256 next = fp->getNextWaypoint();
260 ///////////////////////////////////////////////////////////////////////////
261 // Initialize the flightplan
262 //////////////////////////////////////////////////////////////////////////
264 handleFirstWaypoint();
266 } // end of initialization
267 if (! fpExecutable(now))
271 double distanceToDescent;
272 if(reachedEndOfCruise(distanceToDescent)) {
273 if (!loadNextLeg(distanceToDescent)) {
277 prev = fp->getPreviousWaypoint();
278 curr = fp->getCurrentWaypoint();
279 next = fp->getNextWaypoint();
287 if (! leadPointReached(curr)) {
288 controlHeading(curr);
289 controlSpeed(curr, next);
293 cerr << getCallSign()
294 << ": verifying lead distance to waypoint : "
295 << fp->getCurrentWaypoint()->name << " "
296 << fp->getLeadDistance() << ". Distance to go "
297 << (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr))
298 << ". Target speed = "
300 << ". Current speed = "
302 << ". Minimum Bearing " << minBearing
306 if (curr->isFinished()) //end of the flight plan
316 //TODO more intelligent method in AIFlightPlan, no need to send data it already has :-)
317 tgt_heading = fp->getBearing(curr, next);
321 //TODO let the fp handle this (loading of next leg)
322 fp->IncrementWaypoint( trafficRef != 0 );
323 if ( ((!(fp->getNextWaypoint()))) && (trafficRef != 0) )
324 if (!loadNextLeg()) {
329 prev = fp->getPreviousWaypoint();
330 curr = fp->getCurrentWaypoint();
331 next = fp->getNextWaypoint();
333 // Now that we have incremented the waypoints, excute some traffic manager specific code
335 //TODO isn't this best executed right at the beginning?
336 if (! aiTrafficVisible()) {
341 if (! handleAirportEndPoints(prev, now)) {
346 announcePositionToController();
351 fp->setLeadDistance(tgt_speed, tgt_heading, curr, next);
355 if (!(prev->getOn_ground())) // only update the tgt altitude from flightplan if not on the ground
357 tgt_altitude_ft = prev->getAltitude();
358 if (curr->getCrossat() > -1000.0) {
360 // Distance to go in meters
361 double vert_dist_ft = curr->getCrossat() - altitude_ft;
362 double err_dist = prev->getCrossat() - altitude_ft;
363 double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
364 tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
367 tgt_altitude_ft = curr->getCrossat();
372 AccelTo(prev->getSpeed());
373 hdg_lock = alt_lock = true;
374 no_roll = prev->getOn_ground();
378 double FGAIAircraft::calcVerticalSpeed(double vert_ft, double dist_m, double speed, double err)
380 // err is negative when we passed too high
381 double vert_m = vert_ft * SG_FEET_TO_METER;
382 //double err_m = err * SG_FEET_TO_METER;
383 //double angle = atan2(vert_m, dist_m);
384 double speedMs = (speed * SG_NM_TO_METER) / 3600;
385 //double vs = cos(angle) * speedMs; // Now in m/s
387 //cerr << "Error term = " << err_m << endl;
389 vs = ((vert_m) / dist_m) * speedMs;
391 // Convert to feet per minute
392 vs *= (SG_METER_TO_FEET * 60);
393 //if (getCallSign() == "LUFTHANSA2002")
394 //if (fabs(vs) > 100000) {
395 // if (getCallSign() == "LUFTHANSA2057") {
396 // cerr << getCallSign() << " " << fp->getPreviousWaypoint()->getName() << ". Alt = " << altitude_ft << " vertical dist = " << vert_m << " horiz dist = " << dist_m << " << angle = " << angle * SG_RADIANS_TO_DEGREES << " vs " << vs << " horizontal speed " << speed << "Previous crossAT " << fp->getPreviousWaypoint()->getCrossat() << endl;
397 // //= (curr->getCrossat() - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
398 // // / 6076.0 / speed*60.0);
404 void FGAIAircraft::assertSpeed(double speed)
406 if ((speed < -50) || (speed > 1000)) {
407 cerr << getCallSign() << " "
408 << "Previous waypoint " << fp->getPreviousWaypoint()->getName() << " "
409 << "Departure airport " << trafficRef->getDepartureAirport() << " "
410 << "Leg " << fp->getLeg() << " "
411 << "target_speed << " << tgt_speed << " "
412 << "speedFraction << " << speedFraction << " "
413 << "Currecnt speed << " << speed << " "
421 void FGAIAircraft::checkTcas(void)
423 if (props->getIntValue("tcas/threat-level",0)==3)
425 int RASense = props->getIntValue("tcas/ra-sense",0);
426 if ((RASense>0)&&(tgt_vs<4000))
432 // downward RA: descend!
433 if (altitude_ft < 1000)
435 // too low: level off
448 void FGAIAircraft::initializeFlightPlan() {
452 bool FGAIAircraft::_getGearDown() const {
453 return _performance->gearExtensible(this);
457 const char * FGAIAircraft::_getTransponderCode() const {
458 return transponderCode.c_str();
461 // NOTE: Check whether the new (delayed leg increment code has any effect on this code.
462 // Probably not, because it should only be executed after we have already passed the leg incrementing waypoint.
464 bool FGAIAircraft::loadNextLeg(double distance) {
467 if ((leg = fp->getLeg()) == 9) {
468 if (!trafficRef->next()) {
471 setCallSign(trafficRef->getCallSign());
476 FGAirport *dep = trafficRef->getDepartureAirport();
477 FGAirport *arr = trafficRef->getArrivalAirport();
482 double cruiseAlt = trafficRef->getCruiseAlt() * 100;
489 trafficRef->getSpeed(),
493 trafficRef->getRadius(),
494 trafficRef->getFlightType(),
498 //cerr << "created leg " << leg << " for " << trafficRef->getCallSign() << endl;
504 // Note: This code is copied from David Luff's AILocalTraffic
505 // Warning - ground elev determination is CPU intensive
506 // Either this function or the logic of how often it is called
507 // will almost certainly change.
509 void FGAIAircraft::getGroundElev(double dt) {
512 if (!needGroundElevation())
514 // Update minimally every three secs, but add some randomness
515 // to prevent all AI objects doing this in synchrony
516 if (dt_elev_count < (3.0) + (rand() % 10))
521 // Only do the proper hitlist stuff if we are within visible range of the viewer.
523 double visibility_meters = fgGetDouble("/environment/visibility-m");
524 if (SGGeodesy::distanceM(globals->get_view_position(), pos) > visibility_meters) {
528 double range = 500.0;
529 if (globals->get_tile_mgr()->schedule_scenery(pos, range, 5.0))
532 if (getGroundElevationM(SGGeod::fromGeodM(pos, 20000), alt, 0))
534 tgt_altitude_ft = alt * SG_METER_TO_FEET;
537 // aircraft is stationary and we obtained altitude for this spot - we're done.
538 _needsGroundElevation = false;
546 void FGAIAircraft::doGroundAltitude() {
547 if ((fp->getLeg() == 7) && ((altitude_ft - tgt_altitude_ft) > 5)) {
550 if ((fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)||
552 altitude_ft = (tgt_altitude_ft + groundOffset);
554 altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
560 void FGAIAircraft::announcePositionToController() {
562 int leg = fp->getLeg();
564 // Note that leg has been incremented after creating the current leg, so we should use
565 // leg numbers here that are one higher than the number that is used to create the leg
566 // NOTE: As of July, 30, 2011, the post-creation leg updating is no longer happening.
567 // Leg numbers are updated only once the aircraft passes the last waypoint created for that legm so I should probably just use
568 // the original leg numbers here!
570 case 1: // Startup and Push back
571 if (trafficRef->getDepartureAirport()->getDynamics())
572 controller = trafficRef->getDepartureAirport()->getDynamics()->getStartupController();
574 case 2: // Taxiing to runway
575 if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
576 controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
578 case 3: //Take off tower controller
579 if (trafficRef->getDepartureAirport()->getDynamics()) {
580 controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
583 cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
587 if (trafficRef->getDepartureAirport()->getDynamics()) {
588 controller = trafficRef->getArrivalAirport()->getDynamics()->getApproachController();
591 case 8: // Taxiing for parking
592 if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
593 controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
600 if ((controller != prevController) && (prevController != 0)) {
601 prevController->signOff(getID());
603 prevController = controller;
605 controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(),
606 _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
607 trafficRef->getRadius(), leg, this);
612 void FGAIAircraft::scheduleForATCTowerDepartureControl(int state) {
613 if (!takeOffStatus) {
614 int leg = fp->getLeg();
616 if (trafficRef->getDepartureAirport()->getDynamics()) {
617 towerController = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
619 cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
621 if (towerController) {
622 towerController->announcePosition(getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(),
623 _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
624 trafficRef->getRadius(), leg, this);
625 //cerr << "Scheduling " << trafficRef->getCallSign() << " for takeoff " << endl;
629 takeOffStatus = state;
632 // Process ATC instructions and report back
634 void FGAIAircraft::processATC(FGATCInstruction instruction) {
635 if (instruction.getCheckForCircularWait()) {
636 // This is not exactly an elegant solution,
637 // but at least it gives me a chance to check
638 // if circular waits are resolved.
639 // For now, just take the offending aircraft
642 // a more proper way should be - of course - to
643 // let an offending aircraft take an evasive action
644 // for instance taxi back a little bit.
646 //cerr << "Processing ATC instruction (not Implimented yet)" << endl;
647 if (instruction.getHoldPattern ()) {}
650 if (instruction.getHoldPosition ()) {
658 // cerr << trafficRef->getCallSign() << " Resuming Taxi." << endl;
661 // Change speed Instruction. This can only be excecuted when there is no
662 // Hold position instruction.
663 if (instruction.getChangeSpeed ()) {
665 //cerr << trafficRef->getCallSign() << " Changing Speed " << endl;
666 AccelTo(instruction.getSpeed());
668 if (fp) AccelTo(fp->getPreviousWaypoint()->getSpeed());
671 if (instruction.getChangeHeading ()) {
673 TurnTo(instruction.getHeading());
679 if (instruction.getChangeAltitude()) {}
684 void FGAIAircraft::handleFirstWaypoint() {
685 bool eraseWaypoints; //TODO YAGNI
688 eraseWaypoints = true;
690 eraseWaypoints = false;
693 FGAIWaypoint* prev = 0; // the one behind you
694 FGAIWaypoint* curr = 0; // the one ahead
695 FGAIWaypoint* next = 0;// the next plus 1
699 //TODO fp should handle this
700 fp->IncrementWaypoint(eraseWaypoints);
701 if (!(fp->getNextWaypoint()) && trafficRef)
702 if (!loadNextLeg()) {
707 prev = fp->getPreviousWaypoint(); //first waypoint
708 curr = fp->getCurrentWaypoint(); //second waypoint
709 next = fp->getNextWaypoint(); //third waypoint (might not exist!)
711 setLatitude(prev->getLatitude());
712 setLongitude(prev->getLongitude());
713 setSpeed(prev->getSpeed());
714 setAltitude(prev->getAltitude());
716 if (prev->getSpeed() > 0.0)
717 setHeading(fp->getBearing(prev, curr));
719 setHeading(fp->getBearing(curr, prev));
721 // If next doesn't exist, as in incrementally created flightplans for
722 // AI/Trafficmanager created plans,
723 // Make sure lead distance is initialized otherwise
725 fp->setLeadDistance(speed, hdg, curr, next);
727 if (curr->getCrossat() > -1000.0) //use a calculated descent/climb rate
730 //tgt_vs = (curr->getCrossat() - prev->getAltitude())
731 // / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
732 // / 6076.0 / prev->getSpeed()*60.0);
733 double vert_dist_ft = curr->getCrossat() - altitude_ft;
734 double err_dist = prev->getCrossat() - altitude_ft;
735 double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
736 tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
738 tgt_altitude_ft = curr->getCrossat();
741 tgt_altitude_ft = prev->getAltitude();
743 alt_lock = hdg_lock = true;
744 no_roll = prev->getOn_ground();
746 Transform(); // make sure aip is initialized.
747 getGroundElev(60.1); // make sure it's executed first time around, so force a large dt value
749 _needsGroundElevation = true; // check ground elevation again (maybe scenery wasn't available yet)
751 // Make sure to announce the aircraft's position
752 announcePositionToController();
758 * Check Execution time (currently once every 100 ms)
759 * Add a bit of randomization to prevent the execution of all flight plans
760 * in synchrony, which can add significant periodic framerate flutter.
765 bool FGAIAircraft::fpExecutable(time_t now) {
766 double rand_exec_time = (rand() % 100) / 100;
767 return (dt_count > (0.1+rand_exec_time)) && (fp->isActive(now));
772 * Check to see if we've reached the lead point for our next turn
777 bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) {
778 double dist_to_go = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
780 //cerr << "2" << endl;
781 double lead_dist = fp->getLeadDistance();
782 // experimental: Use fabs, because speed can be negative (I hope) during push_back.
783 if ((dist_to_go < fabs(10.0* speed)) && (speed < 0) && (tgt_speed < 0) && fp->getCurrentWaypoint()->contains("PushBackPoint")) {
784 tgt_speed = -(dist_to_go / 10.0);
785 if (tgt_speed > -0.5) {
788 //assertSpeed(tgt_speed);
789 if (fp->getPreviousWaypoint()->getSpeed() < tgt_speed) {
790 fp->getPreviousWaypoint()->setSpeed(tgt_speed);
793 if (lead_dist < fabs(2*speed)) {
794 //don't skip over the waypoint
795 lead_dist = fabs(2*speed);
796 //cerr << "Extending lead distance to " << lead_dist << endl;
799 //prev_dist_to_go = dist_to_go;
800 //if (dist_to_go < lead_dist)
801 // cerr << trafficRef->getCallSign() << " Distance : "
802 // << dist_to_go << ": Lead distance "
803 // << lead_dist << " " << curr->name
804 // << " Ground target speed " << groundTargetSpeed << endl;
806 // don't do bearing calculations for ground traffic
807 bearing = getBearing(fp->getBearing(pos, curr));
808 if (bearing < minBearing) {
809 minBearing = bearing;
810 if (minBearing < 10) {
813 if ((minBearing < 360.0) && (minBearing > 10.0)) {
814 speedFraction = 0.5 + (cos(minBearing *SG_DEGREES_TO_RADIANS) * 0.5);
820 //cerr << "Tracking callsign : \"" << fgGetString("/ai/track-callsign") << "\"" << endl;
821 //if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
822 //cerr << trafficRef->getCallSign() << " " << tgt_altitude_ft << " " << _getSpeed() << " "
823 // << _getAltitude() << " "<< _getLatitude() << " " << _getLongitude() << " " << dist_to_go << " " << lead_dist << " " << curr->getName() << " " << vs << " " << //tgt_vs << " " << bearing << " " << minBearing << " " << speedFraction << endl;
826 if ((dist_to_go < lead_dist) ||
827 ((dist_to_go > prev_dist_to_go) && (bearing > (minBearing * 1.1))) ) {
830 prev_dist_to_go = HUGE_VAL;
833 prev_dist_to_go = dist_to_go;
839 bool FGAIAircraft::aiTrafficVisible()
841 SGVec3d cartPos = SGVec3d::fromGeod(pos);
842 const double d2 = (TRAFFICTOAIDISTTODIE * SG_NM_TO_METER) *
843 (TRAFFICTOAIDISTTODIE * SG_NM_TO_METER);
844 return (distSqr(cartPos, globals->get_aircraft_position_cart()) < d2);
849 * Handle release of parking gate, once were taxiing. Also ensure service time at the gate
850 * in the case of an arrival.
856 //TODO the trafficRef is the right place for the method
857 bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) {
858 // prepare routing from one airport to another
859 FGAirport * dep = trafficRef->getDepartureAirport();
860 FGAirport * arr = trafficRef->getArrivalAirport();
865 // This waypoint marks the fact that the aircraft has passed the initial taxi
866 // departure waypoint, so it can release the parking.
867 //cerr << trafficRef->getCallSign() << " has passed waypoint " << prev->name << " at speed " << speed << endl;
868 //cerr << "Passing waypoint : " << prev->getName() << endl;
869 if (prev->contains("PushBackPoint")) {
870 // clearing the parking assignment will release the gate
871 fp->setGate(ParkingAssignment());
873 //setTaxiClearanceRequest(true);
875 if (prev->contains("legend")) {
878 if (prev->contains(string("DepartureHold"))) {
879 //cerr << "Passing point DepartureHold" << endl;
880 scheduleForATCTowerDepartureControl(1);
882 if (prev->contains(string("Accel"))) {
885 //if (prev->contains(string("landing"))) {
886 // if (speed < _performance->vTaxi() * 2) {
887 // fp->shortenToFirst(2, "legend");
890 //if (prev->contains(string("final"))) {
892 // cerr << getCallSign() << " "
893 // << fp->getPreviousWaypoint()->getName()
894 // << ". Alt = " << altitude_ft
896 // << " horizontal speed " << speed
897 // << "Previous crossAT " << fp->getPreviousWaypoint()->getCrossat()
898 // << "Airport elevation" << getTrafficRef()->getArrivalAirport()->getElevation()
899 // << "Altitude difference " << (altitude_ft - fp->getPreviousWaypoint()->getCrossat()) << endl;
901 // This is the last taxi waypoint, and marks the the end of the flight plan
902 // so, the schedule should update and wait for the next departure time.
903 if (prev->contains("END")) {
904 time_t nextDeparture = trafficRef->getDepartureTime();
905 // make sure to wait at least 20 minutes at parking to prevent "nervous" taxi behavior
906 if (nextDeparture < (now+1200)) {
907 nextDeparture = now + 1200;
909 fp->setTime(nextDeparture);
917 * Check difference between target bearing and current heading and correct if necessary.
921 void FGAIAircraft::controlHeading(FGAIWaypoint* curr) {
922 double calc_bearing = fp->getBearing(pos, curr);
923 //cerr << "Bearing = " << calc_bearing << endl;
926 SG_NORMALIZE_RANGE(calc_bearing, 0.0, 360.0);
929 if (finite(calc_bearing)) {
930 double hdg_error = calc_bearing - tgt_heading;
931 if (fabs(hdg_error) > 0.01) {
932 TurnTo( calc_bearing );
936 cerr << "calc_bearing is not a finite number : "
938 << "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
939 << ", waypoint: " << curr->getLatitude() << ", " << curr->getLongitude() << endl;
940 cerr << "waypoint name: '" << curr->getName() << "'" << endl;
947 * Update the lead distance calculation if speed has changed sufficiently
948 * to prevent spinning (hopefully);
953 void FGAIAircraft::controlSpeed(FGAIWaypoint* curr, FGAIWaypoint* next) {
954 double speed_diff = speed - prevSpeed;
956 if (fabs(speed_diff) > 10) {
958 //assertSpeed(speed);
960 fp->setLeadDistance(speed, tgt_heading, curr, next);
967 * Update target values (heading, alt, speed) depending on flight plan or control properties
969 void FGAIAircraft::updatePrimaryTargetValues(bool& flightplanActive, bool& aiOutOfSight) {
970 if (fp) // AI object has a flightplan
972 //TODO make this a function of AIBase
973 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
974 //cerr << "UpateTArgetValues() " << endl;
975 ProcessFlightPlan(dt, now);
977 // Do execute Ground elev for inactive aircraft, so they
978 // Are repositioned to the correct ground altitude when the user flies within visibility range.
979 // In addition, check whether we are out of user range, so this aircraft
982 Transform(); // make sure aip is initialized.
986 pos.setElevationFt(altitude_ft);
989 //cerr << trafficRef->getRegistration() << " Setting altitude to " << altitude_ft;
990 aiOutOfSight = !aiTrafficVisible();
993 //cerr << trafficRef->getRegistration() << " is set to die " << endl;
998 timeElapsed = now - fp->getStartTime();
999 flightplanActive = fp->isActive(now);
1001 // no flight plan, update target heading, speed, and altitude
1002 // from control properties. These default to the initial
1003 // settings in the config file, but can be changed "on the
1005 const string& lat_mode = props->getStringValue("controls/flight/lateral-mode");
1006 if ( lat_mode == "roll" ) {
1008 = props->getDoubleValue("controls/flight/target-roll" );
1012 = props->getDoubleValue("controls/flight/target-hdg" );
1017 = props->getStringValue("controls/flight/longitude-mode");
1018 if ( lon_mode == "alt" ) {
1019 double alt = props->getDoubleValue("controls/flight/target-alt" );
1023 = props->getDoubleValue("controls/flight/target-pitch" );
1027 AccelTo( props->getDoubleValue("controls/flight/target-spd" ) );
1031 void FGAIAircraft::updateHeading() {
1032 // adjust heading based on current bank angle
1037 // double turnConstant;
1039 // turnConstant = 0.0088362;
1041 // turnConstant = 0.088362;
1042 // If on ground, calculate heading change directly
1044 double headingDiff = fabs(hdg-tgt_heading);
1045 // double bank_sense = 0.0;
1047 double diff = fabs(hdg - tgt_heading);
1049 diff = fabs(diff - 360);
1051 double sum = hdg + diff;
1054 if (fabs(sum - tgt_heading) < 1.0) {
1055 bank_sense = 1.0; // right turn
1057 bank_sense = -1.0; // left turn
1059 if (headingDiff > 180)
1060 headingDiff = fabs(headingDiff - 360);
1061 double sum = hdg + headingDiff;
1064 if (fabs(sum - tgt_heading) > 0.0001) {
1065 // bank_sense = -1.0;
1067 // bank_sense = 1.0;
1070 // cerr << trafficRef->getCallSign() << " Heading "
1071 // << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << endl;
1072 //if (headingDiff > 60) {
1073 groundTargetSpeed = tgt_speed; // * cos(headingDiff * SG_DEGREES_TO_RADIANS);
1074 //assertSpeed(groundTargetSpeed);
1075 //groundTargetSpeed = tgt_speed - tgt_speed * (headingDiff/180);
1077 // groundTargetSpeed = tgt_speed;
1079 if (sign(groundTargetSpeed) != sign(tgt_speed))
1080 groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
1081 //assertSpeed(groundTargetSpeed);
1082 // 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.
1084 if (headingDiff > 30.0) {
1085 // invert if pushed backward
1086 headingChangeRate += 10.0 * dt * sign(roll);
1088 // Clamp the maximum steering rate to 30 degrees per second,
1089 // But only do this when the heading error is decreasing.
1090 if ((headingDiff < headingError)) {
1091 if (headingChangeRate > 30)
1092 headingChangeRate = 30;
1093 else if (headingChangeRate < -30)
1094 headingChangeRate = -30;
1098 if (fabs(headingChangeRate) > headingDiff)
1099 headingChangeRate = headingDiff*sign(roll);
1101 headingChangeRate += dt * sign(roll);
1106 //cerr << trafficRef->getCallSign() << " Heading "
1107 // << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << "Heading change rate : " << headingChangeRate << " bacnk sence " << bank_sense << endl;
1108 hdg += headingChangeRate * dt * sqrt(fabs(speed) / 15);
1109 headingError = headingDiff;
1110 if (fabs(headingError) < 1.0) {
1114 if (fabs(speed) > 1.0) {
1115 turn_radius_ft = 0.088362 * speed * speed
1116 / tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
1118 // Check if turn_radius_ft == 0; this might lead to a division by 0.
1119 turn_radius_ft = 1.0;
1121 double turn_circum_ft = SGD_2PI * turn_radius_ft;
1122 double dist_covered_ft = speed * 1.686 * dt;
1123 double alpha = dist_covered_ft / turn_circum_ft * 360.0;
1124 hdg += alpha * sign(roll);
1126 while ( hdg > 360.0 ) {
1130 while ( hdg < 0.0) {
1138 void FGAIAircraft::updateBankAngleTarget() {
1139 // adjust target bank angle if heading lock engaged
1141 double bank_sense = 0.0;
1142 double diff = fabs(hdg - tgt_heading);
1144 diff = fabs(diff - 360);
1146 double sum = hdg + diff;
1149 if (fabs(sum - tgt_heading) < 1.0) {
1150 bank_sense = 1.0; // right turn
1152 bank_sense = -1.0; // left turn
1154 if (diff < _performance->maximumBankAngle()) {
1155 tgt_roll = diff * bank_sense;
1157 tgt_roll = _performance->maximumBankAngle() * bank_sense;
1159 if ((fabs((double) spinCounter) > 1) && (diff > _performance->maximumBankAngle())) {
1160 tgt_speed *= 0.999; // Ugly hack: If aircraft get stuck, they will continually spin around.
1161 // The only way to resolve this is to make them slow down.
1167 void FGAIAircraft::updateVerticalSpeedTarget() {
1168 // adjust target Altitude, based on ground elevation when on ground
1172 } else if (alt_lock) {
1173 // find target vertical speed
1175 if (altitude_ft < tgt_altitude_ft) {
1176 tgt_vs = std::min(tgt_altitude_ft - altitude_ft, _performance->climbRate());
1178 tgt_vs = std::max(tgt_altitude_ft - altitude_ft, -_performance->descentRate());
1181 double vert_dist_ft = fp->getCurrentWaypoint()->getCrossat() - altitude_ft;
1182 double err_dist = 0; //prev->getCrossat() - altitude_ft;
1183 double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), fp->getCurrentWaypoint());
1184 tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
1185 //cerr << "Target vs before : " << tgt_vs;
1186 /* double max_vs = 10*(tgt_altitude_ft - altitude_ft);
1187 double min_vs = 100;
1188 if (tgt_altitude_ft < altitude_ft)
1190 if ((fabs(tgt_altitude_ft - altitude_ft) < 1500.0)
1191 && (fabs(max_vs) < fabs(tgt_vs)))
1194 if (fabs(tgt_vs) < fabs(min_vs))
1196 //cerr << "target vs : after " << tgt_vs << endl;
1203 void FGAIAircraft::updatePitchAngleTarget() {
1204 // if on ground and above vRotate -> initial rotation
1205 if (onGround() && (speed > _performance->vRotate()))
1206 tgt_pitch = 8.0; // some rough B737 value
1208 //TODO pitch angle on approach and landing
1210 // match pitch angle to vertical speed
1211 else if (tgt_vs > 0) {
1212 tgt_pitch = tgt_vs * 0.005;
1214 tgt_pitch = tgt_vs * 0.002;
1218 const string& FGAIAircraft::atGate()
1220 if ((fp->getLeg() < 3) && trafficRef) {
1221 if (fp->getParkingGate()) {
1222 return fp->getParkingGate()->ident();
1226 static const string empty;
1230 void FGAIAircraft::handleATCRequests() {
1231 //TODO implement NullController for having no ATC to save the conditionals
1233 controller->updateAircraftInformation(getID(),
1234 pos.getLatitudeDeg(),
1235 pos.getLongitudeDeg(),
1239 processATC(controller->getInstruction(getID()));
1241 if (towerController) {
1242 towerController->updateAircraftInformation(getID(),
1243 pos.getLatitudeDeg(),
1244 pos.getLongitudeDeg(),
1251 void FGAIAircraft::updateActualState() {
1252 //update current state
1253 //TODO have a single tgt_speed and check speed limit on ground on setting tgt_speed
1254 double distance = speed * SG_KT_TO_MPS * dt;
1255 pos = SGGeodesy::direct(pos, hdg, distance);
1259 speed = _performance->actualSpeed(this, groundTargetSpeed, dt, holdPos);
1261 speed = _performance->actualSpeed(this, (tgt_speed *speedFraction), dt, false);
1262 //assertSpeed(speed);
1264 roll = _performance->actualBankAngle(this, tgt_roll, dt);
1266 // adjust altitude (meters) based on current vertical speed (fpm)
1267 altitude_ft += vs / 60.0 * dt;
1268 pos.setElevationFt(altitude_ft);
1270 vs = _performance->actualVerticalSpeed(this, tgt_vs, dt);
1271 pitch = _performance->actualPitch(this, tgt_pitch, dt);
1274 void FGAIAircraft::updateSecondaryTargetValues() {
1275 // derived target state values
1276 updateBankAngleTarget();
1277 updateVerticalSpeedTarget();
1278 updatePitchAngleTarget();
1280 //TODO calculate wind correction angle (tgt_yaw)
1284 bool FGAIAircraft::reachedEndOfCruise(double &distance) {
1285 FGAIWaypoint* curr = fp->getCurrentWaypoint();
1286 if (curr->getName() == string("BOD")) {
1287 double dist = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
1288 double descentSpeed = (getPerformance()->vDescent() * SG_NM_TO_METER) / 3600.0; // convert from kts to meter/s
1289 double descentRate = (getPerformance()->descentRate() * SG_FEET_TO_METER) / 60.0; // convert from feet/min to meter/s
1291 double verticalDistance = ((altitude_ft - 2000.0) - trafficRef->getArrivalAirport()->getElevation()) *SG_FEET_TO_METER;
1292 double descentTimeNeeded = verticalDistance / descentRate;
1293 double distanceCovered = descentSpeed * descentTimeNeeded;
1295 //cerr << "Tracking : " << fgGetString("/ai/track-callsign");
1296 if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
1297 cerr << "Checking for end of cruise stage for :" << trafficRef->getCallSign() << endl;
1298 cerr << "Descent rate : " << descentRate << endl;
1299 cerr << "Descent speed : " << descentSpeed << endl;
1300 cerr << "VerticalDistance : " << verticalDistance << ". Altitude : " << altitude_ft << ". Elevation " << trafficRef->getArrivalAirport()->getElevation() << endl;
1301 cerr << "DecentTimeNeeded : " << descentTimeNeeded << endl;
1302 cerr << "DistanceCovered : " << distanceCovered << endl;
1304 //cerr << "Distance = " << distance << endl;
1305 distance = distanceCovered;
1306 if (dist < distanceCovered) {
1307 if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
1319 void FGAIAircraft::resetPositionFromFlightPlan()
1321 // the one behind you
1322 FGAIWaypoint* prev = 0;
1324 FGAIWaypoint* curr = 0;
1326 FGAIWaypoint* next = 0;
1328 prev = fp->getPreviousWaypoint();
1329 curr = fp->getCurrentWaypoint();
1330 next = fp->getNextWaypoint();
1332 setLatitude(prev->getLatitude());
1333 setLongitude(prev->getLongitude());
1334 double tgt_heading = fp->getBearing(curr, next);
1335 setHeading(tgt_heading);
1336 setAltitude(prev->getAltitude());
1337 setSpeed(prev->getSpeed());
1340 double FGAIAircraft::getBearing(double crse)
1342 double hdgDiff = fabs(hdg-crse);
1344 hdgDiff = fabs(hdgDiff - 360);
1348 time_t FGAIAircraft::checkForArrivalTime(const string& wptName) {
1349 FGAIWaypoint* curr = 0;
1350 curr = fp->getCurrentWaypoint();
1352 // don't recalculate tracklength unless the start/stop waypoint has changed
1354 ((curr->getName() != trackCache.startWptName)||
1355 (wptName != trackCache.finalWptName)))
1357 trackCache.remainingLength = fp->checkTrackLength(wptName);
1358 trackCache.startWptName = curr->getName();
1359 trackCache.finalWptName = wptName;
1361 double tracklength = trackCache.remainingLength;
1362 if (tracklength > 0.1) {
1363 tracklength += fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
1367 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
1368 time_t arrivalTime = fp->getArrivalTime();
1370 time_t ete = tracklength / ((speed * SG_NM_TO_METER) / 3600.0);
1371 time_t secondsToGo = arrivalTime - now;
1372 if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
1373 cerr << "Checking arrival time: ete " << ete << ". Time to go : " << secondsToGo << ". Track length = " << tracklength << endl;
1375 return (ete - secondsToGo); // Positive when we're too slow...