src/AIModel/AIFlightPlanCreate.cxx

   1 /******************************************************************************
   2  * AIFlightPlanCreate.cxx
   3  * Written by Durk Talsma, started May, 2004.
   4  *
   5  * This program is free software; you can redistribute it and/or
   6  * modify it under the terms of the GNU General Public License as
   7  * published by the Free Software Foundation; either version 2 of the
   8  * License, or (at your option) any later version.
   9  *
  10  * This program is distributed in the hope that it will be useful, but
  11  * WITHOUT ANY WARRANTY; without even the implied warranty of
  12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  13  * General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this program; if not, write to the Free Software
  17  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
  18  *
  19  **************************************************************************/
  20 #include "AIFlightPlan.hxx"
  21 #include <simgear/math/sg_geodesy.hxx>
  22 #include <Airports/runways.hxx>
  23
  24 #include <Environment/environment_mgr.hxx>
  25 #include <Environment/environment.hxx>
  26
  27
  28 /* FGAIFlightPlan::create()
  29  * dynamically create a flight plan for AI traffic, based on data provided by the
  30  * Traffic Manager, when reading a filed flightplan failes. (DT, 2004/07/10)
  31  *
  32  * This is the top-level function, and the only one that is publicly available.
  33  *
  34  */
  35
  36
  37 // Check lat/lon values during initialization;
  38 void FGAIFlightPlan::create(FGAirport *dep, FGAirport *arr, int legNr,
  39                             double alt, double speed, double latitude,
  40                             double longitude, bool firstFlight,double radius,
  41                             const string& fltType, const string& aircraftType,
  42                             const string& airline)
  43 {
  44   int currWpt = wpt_iterator - waypoints.begin();
  45   switch(legNr)
  46     {
  47     case 1:
  48       createPushBack(firstFlight,dep, latitude, longitude,
  49                      radius, fltType, aircraftType, airline);
  50       break;
  51     case 2:
  52       createTaxi(firstFlight, 1, dep, latitude, longitude,
  53                  radius, fltType, aircraftType, airline);
  54       break;
  55     case 3:
  56       createTakeOff(firstFlight, dep, speed);
  57       break;
  58     case 4:
  59       createClimb(firstFlight, dep, speed, alt);
  60       break;
  61     case 5:
  62       createCruise(firstFlight, dep,arr, latitude, longitude, speed, alt);
  63       break;
  64     case 6:
  65       createDecent(arr);
  66       break;
  67     case 7:
  68       createLanding(arr);
  69       break;
  70     case 8:
  71       createTaxi(false, 2, arr, latitude, longitude, radius,
  72                  fltType, aircraftType, airline);
  73       break;
  74       case 9:
  75         createParking(arr, radius);
  76       break;
  77     default:
  78       //exit(1);
  79       SG_LOG(SG_INPUT, SG_ALERT, "AIFlightPlan::create() attempting to create unknown leg"
  80              " this is probably an internal program error");
  81     }
  82   wpt_iterator = waypoints.begin()+currWpt;
  83   leg++;
  84 }
  85
  86 /*******************************************************************
  87  * createPushBack
  88  * initialize the Aircraft at the parking location
  89  ******************************************************************/
  90 void FGAIFlightPlan::createPushBack(bool firstFlight, FGAirport *dep,
  91                                     double latitude,
  92                                     double longitude,
  93                                     double radius,
  94                                     const string& fltType,
  95                                     const string& aircraftType,
  96                                     const string& airline)
  97 {
  98   double heading;
  99   double lat;
 100   double lon;
 101   double lat2;
 102   double lon2;
 103   double az2;
 104
 105   //int currWpt = wpt_iterator - waypoints.begin();
 106   // Erase all existing waypoints.
 107   //resetWaypoints();
 108
 109   // We only need to get a valid parking if this is the first leg.
 110   // Otherwise use the current aircraft position.
 111   if (firstFlight)
 112     {
 113       if (!(dep->getDynamics()->getAvailableParking(&lat, &lon,
 114                                                     &heading, &gateId,
 115                                                     radius, fltType,
 116                                                     aircraftType, airline)))
 117         {
 118           SG_LOG(SG_INPUT, SG_WARN, "Could not find parking for a " <<
 119                  aircraftType <<
 120                  " of flight type " << fltType <<
 121                  " of airline     " << airline <<
 122                  " at airport     " << dep->getId());
 123         }
 124     }
 125   else
 126     {
 127       dep->getDynamics()->getParking(gateId, &lat, &lon, &heading);
 128     }
 129   heading += 180.0;
 130   if (heading > 360)
 131     heading -= 360;
 132   waypoint *wpt = new waypoint;
 133   wpt->name      = "park";
 134   wpt->latitude  = lat;
 135   wpt->longitude = lon;
 136   wpt->altitude  = dep->getElevation();
 137   wpt->speed     = -10;
 138   wpt->crossat   = -10000;
 139   wpt->gear_down = true;
 140   wpt->flaps_down= true;
 141   wpt->finished  = false;
 142   wpt->on_ground = true;
 143   waypoints.push_back(wpt);
 144
 145   // Add park twice, because it uses park once for initialization and once
 146   // to trigger the departure ATC message
 147   geo_direct_wgs_84 ( 0, lat, lon, heading,
 148                       10,
 149                       &lat2, &lon2, &az2 );
 150   wpt = new waypoint;
 151   wpt->name      = "park2";
 152   wpt->latitude  = lat2;
 153   wpt->longitude = lon2;
 154   wpt->altitude  = dep->getElevation();
 155   wpt->speed     = -10;
 156   wpt->crossat   = -10000;
 157   wpt->gear_down = true;
 158   wpt->flaps_down= true;
 159   wpt->finished  = false;
 160   wpt->on_ground = true;
 161   waypoints.push_back(wpt);
 162   geo_direct_wgs_84 ( 0, lat, lon, heading,
 163                       2.2*radius,
 164                       &lat2, &lon2, &az2 );
 165   wpt = new waypoint;
 166   wpt->name      = "taxiStart";
 167   wpt->latitude  = lat2;
 168   wpt->longitude = lon2;
 169   wpt->altitude  = dep->getElevation();
 170   wpt->speed     = 10;
 171   wpt->crossat   = -10000;
 172   wpt->gear_down = true;
 173   wpt->flaps_down= true;
 174   wpt->finished  = false;
 175   wpt->on_ground = true;
 176   waypoints.push_back(wpt);
 177 }
 178
 179 /*******************************************************************
 180  * createCreate Taxi.
 181  * initialize the Aircraft at the parking location
 182  ******************************************************************/
 183 void FGAIFlightPlan::createTaxi(bool firstFlight, int direction,
 184                                 FGAirport *apt, double latitude, double longitude,
 185                                 double radius, const string& fltType,
 186                                 const string& acType, const string& airline)
 187 {
 188   double wind_speed;
 189   double wind_heading;
 190   double heading;
 191   double lat, lon, az;
 192   double lat2, lon2, az2;
 193   waypoint *wpt;
 194
 195    if (direction == 1)
 196     {
 197       // If this function is called during initialization,
 198       // make sure we obtain a valid gate ID first
 199       // and place the model at the location of the gate.
 200       if (firstFlight)
 201         {
 202           if (!(apt->getDynamics()->getAvailableParking(&lat, &lon,
 203                                                         &heading, &gateId,
 204                                                         radius, fltType,
 205                                                         acType, airline)))
 206             {
 207               SG_LOG(SG_INPUT, SG_WARN, "Could not find parking for a " <<
 208                      acType <<
 209                      " of flight type " << fltType <<
 210                      " of airline     " << airline <<
 211                      " at airport     " << apt->getId());
 212             }
 213           //waypoint *wpt = new waypoint;
 214           //wpt->name      = "park";
 215           //wpt->latitude  = lat;
 216           //wpt->longitude = lon;
 217           //wpt->altitude  = apt->getElevation();
 218           //wpt->speed     = -10;
 219           //wpt->crossat   = -10000;
 220           //wpt->gear_down = true;
 221           //wpt->flaps_down= true;
 222           //wpt->finished  = false;
 223           //wpt->on_ground = true;
 224           //waypoints.push_back(wpt);
 225         }
 226       // "NOTE: this is currently fixed to "com" for commercial traffic
 227       // Should be changed to be used dynamically to allow "gen" and "mil"
 228       // as well
 229       apt->getDynamics()->getActiveRunway("com", 1, activeRunway);
 230       if (!(globals->get_runways()->search(apt->getId(),
 231                                             activeRunway,
 232                                             &rwy)))
 233         {
 234            SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
 235                   activeRunway <<
 236                   " at airport     " << apt->getId());
 237            exit(1);
 238         }
 239
 240       // Determine the beginning of he runway
 241       heading = rwy._heading;
 242       double azimuth = heading + 180.0;
 243       while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 244       geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 245                           rwy._length * SG_FEET_TO_METER * 0.5 - 5.0,
 246                           &lat2, &lon2, &az2 );
 247
 248       if (apt->getDynamics()->getGroundNetwork()->exists())
 249         {
 250           intVec ids;
 251           int runwayId = apt->getDynamics()->getGroundNetwork()->findNearestNode(lat2,
 252                                                                                  lon2);
 253
 254
 255           // A negative gateId indicates an overflow parking, use a
 256           // fallback mechanism for this.
 257           // Starting from gate 0 in this case is a bit of a hack
 258           // which requires a more proper solution later on.
 259           FGTaxiRoute route;
 260           if (gateId >= 0)
 261             route = apt->getDynamics()->getGroundNetwork()->findShortestRoute(gateId,
 262                                                                               runwayId);
 263           else
 264             route = apt->getDynamics()->getGroundNetwork()->findShortestRoute(0, runwayId);
 265           intVecIterator i;
 266
 267           if (route.empty()) {
 268             //Add the runway startpoint;
 269             wpt = new waypoint;
 270             wpt->name      = "Airport Center";
 271             wpt->latitude  = latitude;
 272             wpt->longitude = longitude;
 273             wpt->altitude  = apt->getElevation();
 274             wpt->speed     = 15;
 275             wpt->crossat   = -10000;
 276             wpt->gear_down = true;
 277             wpt->flaps_down= true;
 278             wpt->finished  = false;
 279             wpt->on_ground = true;
 280             waypoints.push_back(wpt);
 281
 282             //Add the runway startpoint;
 283             wpt = new waypoint;
 284             wpt->name      = "Runway Takeoff";
 285             wpt->latitude  = lat2;
 286             wpt->longitude = lon2;
 287             wpt->altitude  = apt->getElevation();
 288             wpt->speed     = 15;
 289             wpt->crossat   = -10000;
 290             wpt->gear_down = true;
 291             wpt->flaps_down= true;
 292             wpt->finished  = false;
 293             wpt->on_ground = true;
 294             waypoints.push_back(wpt);
 295           } else {
 296             int node;
 297             route.first();
 298             bool isPushBackPoint = false;
 299             if (firstFlight) {
 300               // If this is called during initialization, randomly
 301               // skip a number of waypoints to get a more realistic
 302               // taxi situation.
 303               isPushBackPoint = true;
 304               int nrWaypoints = route.size();
 305               int nrWaypointsToSkip = rand() % nrWaypoints;
 306               for (int i = 0; i < nrWaypointsToSkip; i++) {
 307                 isPushBackPoint = false;
 308                 route.next(&node);
 309               }
 310             }
 311             else {
 312               //chop off the first two waypoints, because
 313               // those have already been created
 314               // by create pushback
 315               int size = route.size();
 316               if (size > 2) {
 317                 route.next(&node);
 318                 route.next(&node);
 319               }
 320             }
 321             while(route.next(&node))
 322               {
 323                 FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
 324                 //ids.pop_back();
 325                 wpt = new waypoint;
 326                 wpt->name      = "taxiway"; // fixme: should be the name of the taxiway
 327                 wpt->latitude  = tn->getLatitude();
 328                 wpt->longitude = tn->getLongitude();
 329                 // Elevation is currently disregarded when on_ground is true
 330                 // because the AIModel obtains a periodic ground elevation estimate.
 331                 wpt->altitude  = apt->getElevation();
 332                 if (isPushBackPoint) {
 333                   wpt->speed = -10;
 334                   isPushBackPoint = false;
 335                 }
 336                 else {
 337                   wpt->speed     = 15;
 338                 }
 339                 wpt->crossat   = -10000;
 340                 wpt->gear_down = true;
 341                 wpt->flaps_down= true;
 342                 wpt->finished  = false;
 343                 wpt->on_ground = true;
 344                 waypoints.push_back(wpt);
 345               }
 346             cerr << endl;
 347           }
 348         }
 349       else
 350         {
 351           // This is the fallback mechanism, in case no ground network is available
 352           //Add the runway startpoint;
 353           wpt = new waypoint;
 354           wpt->name      = "Airport Center";
 355           wpt->latitude  = apt->getLatitude();
 356           wpt->longitude = apt->getLongitude();
 357           wpt->altitude  = apt->getElevation();
 358           wpt->speed     = 15;
 359           wpt->crossat   = -10000;
 360           wpt->gear_down = true;
 361           wpt->flaps_down= true;
 362           wpt->finished  = false;
 363           wpt->on_ground = true;
 364           waypoints.push_back(wpt);
 365
 366           //Add the runway startpoint;
 367           wpt = new waypoint;
 368           wpt->name      = "Runway Takeoff";
 369           wpt->latitude  = lat2;
 370           wpt->longitude = lon2;
 371           wpt->altitude  = apt->getElevation();
 372           wpt->speed     = 15;
 373           wpt->crossat   = -10000;
 374           wpt->gear_down = true;
 375           wpt->flaps_down= true;
 376           wpt->finished  = false;
 377           wpt->on_ground = true;
 378           waypoints.push_back(wpt);
 379         }
 380     }
 381   else  // Landing taxi
 382     {
 383       apt->getDynamics()->getAvailableParking(&lat, &lon, &heading,
 384                                               &gateId, radius, fltType,
 385                                               acType, airline);
 386
 387       double lat3 = (*(waypoints.end()-1))->latitude;
 388       double lon3 = (*(waypoints.end()-1))->longitude;
 389       //cerr << (*(waypoints.end()-1))->name << endl;
 390
 391       // Find a route from runway end to parking/gate.
 392       if (apt->getDynamics()->getGroundNetwork()->exists())
 393         {
 394           intVec ids;
 395           int runwayId = apt->getDynamics()->getGroundNetwork()->findNearestNode(lat3,
 396                                                                                  lon3);
 397           // A negative gateId indicates an overflow parking, use a
 398           // fallback mechanism for this.
 399           // Starting from gate 0 is a bit of a hack...
 400           FGTaxiRoute route;
 401           if (gateId >= 0)
 402             route = apt->getDynamics()->getGroundNetwork()->findShortestRoute(runwayId,
 403                                                                               gateId);
 404           else
 405             route = apt->getDynamics()->getGroundNetwork()->findShortestRoute(runwayId, 0);
 406           intVecIterator i;
 407
 408           // No route found: go from gate directly to runway
 409           if (route.empty()) {
 410             //Add the runway startpoint;
 411             wpt = new waypoint;
 412             wpt->name      = "Airport Center";
 413             wpt->latitude  = latitude;
 414             wpt->longitude = longitude;
 415             wpt->altitude  = apt->getElevation();
 416             wpt->speed     = 15;
 417             wpt->crossat   = -10000;
 418             wpt->gear_down = true;
 419             wpt->flaps_down= true;
 420             wpt->finished  = false;
 421             wpt->on_ground = true;
 422             waypoints.push_back(wpt);
 423
 424             //Add the runway startpoint;
 425             wpt = new waypoint;
 426             wpt->name      = "Runway Takeoff";
 427             wpt->latitude  = lat2;
 428             wpt->longitude = lon2;
 429             wpt->altitude  = apt->getElevation();
 430             wpt->speed     = 15;
 431             wpt->crossat   = -10000;
 432             wpt->gear_down = true;
 433             wpt->flaps_down= true;
 434             wpt->finished  = false;
 435             wpt->on_ground = true;
 436             waypoints.push_back(wpt);
 437           } else {
 438             int node;
 439             route.first();
 440             int size = route.size();
 441             // Omit the last two waypoints, as
 442             // those are created by createParking()
 443             for (int i = 0; i < size-2; i++)
 444               {
 445                 route.next(&node);
 446                 FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
 447                 wpt = new waypoint;
 448                 wpt->name      = "taxiway"; // fixme: should be the name of the taxiway
 449                 wpt->latitude  = tn->getLatitude();
 450                 wpt->longitude = tn->getLongitude();
 451                 wpt->altitude  = apt->getElevation();
 452                 wpt->speed     = 15;
 453                 wpt->crossat   = -10000;
 454                 wpt->gear_down = true;
 455                 wpt->flaps_down= true;
 456                 wpt->finished  = false;
 457                 wpt->on_ground = true;
 458                 waypoints.push_back(wpt);
 459               }
 460           }
 461         }
 462       else
 463         {
 464           // Use a fallback mechanism in case no ground network is available
 465           // obtain the location of the gate entrance point
 466           heading += 180.0;
 467           if (heading > 360)
 468             heading -= 360;
 469           geo_direct_wgs_84 ( 0, lat, lon, heading,
 470                               100,
 471                               &lat2, &lon2, &az2 );
 472           wpt = new waypoint;
 473           wpt->name      = "Airport Center";
 474           wpt->latitude  = apt->getLatitude();
 475           wpt->longitude = apt->getLongitude();
 476           wpt->altitude  = apt->getElevation();
 477           wpt->speed     = 15;
 478           wpt->crossat   = -10000;
 479           wpt->gear_down = true;
 480           wpt->flaps_down= true;
 481           wpt->finished  = false;
 482           wpt->on_ground = true;
 483           waypoints.push_back(wpt);
 484
 485           wpt = new waypoint;
 486           wpt->name      = "Begin Parking"; //apt->getId(); //wpt_node->getStringValue("name", "END");
 487           wpt->latitude  = lat2;
 488           wpt->longitude = lon2;
 489           wpt->altitude  = apt->getElevation();
 490           wpt->speed     = 15;
 491           wpt->crossat   = -10000;
 492           wpt->gear_down = true;
 493           wpt->flaps_down= true;
 494           wpt->finished  = false;
 495           wpt->on_ground = true;
 496           waypoints.push_back(wpt);
 497
 498           //waypoint* wpt;
 499           //double lat;
 500           //double lon;
 501           //double heading;
 502           apt->getDynamics()->getParking(gateId, &lat, &lon, &heading);
 503           heading += 180.0;
 504           if (heading > 360)
 505             heading -= 360;
 506
 507           wpt = new waypoint;
 508           wpt->name      = "END"; //wpt_node->getStringValue("name", "END");
 509           wpt->latitude  = lat;
 510           wpt->longitude = lon;
 511           wpt->altitude  = 19;
 512           wpt->speed     = 15;
 513           wpt->crossat   = -10000;
 514           wpt->gear_down = true;
 515           wpt->flaps_down= true;
 516           wpt->finished  = false;
 517           wpt->on_ground = true;
 518           waypoints.push_back(wpt);
 519         }
 520
 521     }
 522 }
 523
 524 /*******************************************************************
 525  * CreateTakeOff
 526  * initialize the Aircraft at the parking location
 527  ******************************************************************/
 528 void FGAIFlightPlan::createTakeOff(bool firstFlight, FGAirport *apt, double speed)
 529 {
 530   double wind_speed;
 531   double wind_heading;
 532   double heading;
 533   double lat, lon, az;
 534   double lat2, lon2, az2;
 535   waypoint *wpt;
 536
 537   // Get the current active runway, based on code from David Luff
 538   // This should actually be unified and extended to include
 539   // Preferential runway use schema's
 540   if (firstFlight)
 541     {
 542       //string name;
 543        // "NOTE: this is currently fixed to "com" for commercial traffic
 544       // Should be changed to be used dynamically to allow "gen" and "mil"
 545       // as well
 546       apt->getDynamics()->getActiveRunway("com", 1, activeRunway);
 547         if (!(globals->get_runways()->search(apt->getId(),
 548                                               activeRunway,
 549                                               &rwy)))
 550           {
 551             SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
 552                    activeRunway <<
 553                    " at airport     " << apt->getId());
 554             exit(1);
 555           }
 556     }
 557   heading = rwy._heading;
 558   double azimuth = heading + 180.0;
 559   while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 560   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 561                       rwy._length * SG_FEET_TO_METER * 0.5 - 105.0,
 562                       &lat2, &lon2, &az2 );
 563   wpt = new waypoint;
 564   wpt->name      = "accel";
 565   wpt->latitude  = lat2;
 566   wpt->longitude = lon2;
 567   wpt->altitude  = apt->getElevation();
 568   wpt->speed     = speed;
 569   wpt->crossat   = -10000;
 570   wpt->gear_down = true;
 571   wpt->flaps_down= true;
 572   wpt->finished  = false;
 573   wpt->on_ground = true;
 574   waypoints.push_back(wpt);
 575
 576   lat = lat2;
 577   lon = lon2;
 578   az  = az2;
 579
 580   //Next: the Start of Climb
 581   geo_direct_wgs_84 ( 0, lat, lon, heading,
 582   2560 * SG_FEET_TO_METER,
 583   &lat2, &lon2, &az2 );
 584
 585   wpt = new waypoint;
 586   wpt->name      = "SOC";
 587   wpt->latitude  = lat2;
 588   wpt->longitude = lon2;
 589   wpt->altitude  = apt->getElevation()+3000;
 590   wpt->speed     = speed;
 591   wpt->crossat   = -10000;
 592   wpt->gear_down = true;
 593   wpt->flaps_down= true;
 594   wpt->finished  = false;
 595   wpt->on_ground = false;
 596   waypoints.push_back(wpt);
 597 }
 598
 599 /*******************************************************************
 600  * CreateClimb
 601  * initialize the Aircraft at the parking location
 602  ******************************************************************/
 603 void FGAIFlightPlan::createClimb(bool firstFlight, FGAirport *apt, double speed, double alt)
 604 {
 605   double wind_speed;
 606   double wind_heading;
 607   double heading;
 608   //FGRunway rwy;
 609   double lat, lon, az;
 610   double lat2, lon2, az2;
 611   //int direction;
 612   waypoint *wpt;
 613
 614
 615   if (firstFlight)
 616     {
 617       //string name;
 618       // "NOTE: this is currently fixed to "com" for commercial traffic
 619       // Should be changed to be used dynamically to allow "gen" and "mil"
 620       // as well
 621       apt->getDynamics()->getActiveRunway("com", 1, activeRunway);
 622         if (!(globals->get_runways()->search(apt->getId(),
 623                                               activeRunway,
 624                                               &rwy)))
 625           {
 626             SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
 627                    activeRunway <<
 628                    " at airport     " << apt->getId());
 629             exit(1);
 630           }
 631     }
 632
 633
 634   heading = rwy._heading;
 635   double azimuth = heading + 180.0;
 636   while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 637   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
 638                       10*SG_NM_TO_METER,
 639                       &lat2, &lon2, &az2 );
 640   wpt = new waypoint;
 641   wpt->name      = "10000ft climb";
 642   wpt->latitude  = lat2;
 643   wpt->longitude = lon2;
 644   wpt->altitude  = 10000;
 645   wpt->speed     = speed;
 646   wpt->crossat   = -10000;
 647   wpt->gear_down = true;
 648   wpt->flaps_down= true;
 649   wpt->finished  = false;
 650   wpt->on_ground = false;
 651   waypoints.push_back(wpt);
 652
 653
 654   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
 655                       20*SG_NM_TO_METER,
 656                       &lat2, &lon2, &az2 );
 657   wpt = new waypoint;
 658   wpt->name      = "18000ft climb";
 659   wpt->latitude  = lat2;
 660   wpt->longitude = lon2;
 661   wpt->altitude  = 18000;
 662   wpt->speed     = speed;
 663   wpt->crossat   = -10000;
 664   wpt->gear_down = true;
 665   wpt->flaps_down= true;
 666   wpt->finished  = false;
 667   wpt->on_ground = false;
 668   waypoints.push_back(wpt);
 669 }
 670
 671
 672 /*******************************************************************
 673  * CreateCruise
 674  * initialize the Aircraft at the parking location
 675  ******************************************************************/
 676 void FGAIFlightPlan::createCruise(bool firstFlight, FGAirport *dep,
 677                                   FGAirport *arr, double latitude,
 678                                   double longitude, double speed,
 679                                   double alt)
 680 {
 681   double wind_speed;
 682   double wind_heading;
 683   double heading;
 684   double lat, lon, az;
 685   double lat2, lon2, az2;
 686   double azimuth;
 687   waypoint *wpt;
 688
 689   wpt = new waypoint;
 690   wpt->name      = "Cruise"; //wpt_node->getStringValue("name", "END");
 691   wpt->latitude  = latitude;
 692   wpt->longitude = longitude;
 693   wpt->altitude  = alt;
 694   wpt->speed     = speed;
 695   wpt->crossat   = -10000;
 696   wpt->gear_down = false;
 697   wpt->flaps_down= false;
 698   wpt->finished  = false;
 699   wpt->on_ground = false;
 700   waypoints.push_back(wpt);
 701
 702
 703   // should be changed dynamically to allow "gen" and "mil"
 704   arr->getDynamics()->getActiveRunway("com", 2, activeRunway);
 705   if (!(globals->get_runways()->search(arr->getId(),
 706                                        activeRunway,
 707                                        &rwy)))
 708     {
 709       SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
 710              activeRunway <<
 711              " at airport     " << arr->getId());
 712       exit(1);
 713     }
 714   heading = rwy._heading;
 715   azimuth = heading + 180.0;
 716   while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 717
 718
 719   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 720                       110000,
 721                       &lat2, &lon2, &az2 );
 722   wpt = new waypoint;
 723   wpt->name      = "BOD";
 724   wpt->latitude  = lat2;
 725   wpt->longitude = lon2;
 726   wpt->altitude  = alt;
 727   wpt->speed     = speed;
 728   wpt->crossat   = alt;
 729   wpt->gear_down = false;
 730   wpt->flaps_down= false;
 731   wpt->finished  = false;
 732   wpt->on_ground = false;
 733   waypoints.push_back(wpt);
 734 }
 735
 736 /*******************************************************************
 737  * CreateDecent
 738  * initialize the Aircraft at the parking location
 739  ******************************************************************/
 740 void FGAIFlightPlan::createDecent(FGAirport *apt)
 741 {
 742
 743   // Ten thousand ft. Slowing down to 240 kts
 744   double wind_speed;
 745   double wind_heading;
 746   double heading;
 747   //FGRunway rwy;
 748   double lat, lon, az;
 749   double lat2, lon2, az2;
 750   double azimuth;
 751   //int direction;
 752   waypoint *wpt;
 753
 754   //Beginning of Decent
 755   //string name;
 756   // allow "mil" and "gen" as well
 757   apt->getDynamics()->getActiveRunway("com", 2, activeRunway);
 758   if (!(globals->get_runways()->search(apt->getId(),
 759                                        activeRunway,
 760                                        &rwy)))
 761     {
 762       SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
 763              activeRunway <<
 764              " at airport     " << apt->getId());
 765       exit(1);
 766     }
 767
 768   heading = rwy._heading;
 769   azimuth = heading + 180.0;
 770   while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 771   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 772                       100000,
 773                       &lat2, &lon2, &az2 );
 774
 775   wpt = new waypoint;
 776   wpt->name      = "Dec 10000ft"; //wpt_node->getStringValue("name", "END");
 777   wpt->latitude  = lat2;
 778   wpt->longitude = lon2;
 779   wpt->altitude  = apt->getElevation();
 780   wpt->speed     = 240;
 781   wpt->crossat   = 10000;
 782   wpt->gear_down = false;
 783   wpt->flaps_down= false;
 784   wpt->finished  = false;
 785   wpt->on_ground = false;
 786   waypoints.push_back(wpt);
 787
 788   // Three thousand ft. Slowing down to 160 kts
 789   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 790                       8*SG_NM_TO_METER,
 791                       &lat2, &lon2, &az2 );
 792   wpt = new waypoint;
 793   wpt->name      = "DEC 3000ft"; //wpt_node->getStringValue("name", "END");
 794   wpt->latitude  = lat2;
 795   wpt->longitude = lon2;
 796   wpt->altitude  = apt->getElevation();
 797   wpt->speed     = 160;
 798   wpt->crossat   = 3000;
 799   wpt->gear_down = true;
 800   wpt->flaps_down= true;
 801   wpt->finished  = false;
 802   wpt->on_ground = false;
 803   waypoints.push_back(wpt);
 804 }
 805 /*******************************************************************
 806  * CreateLanding
 807  * initialize the Aircraft at the parking location
 808  ******************************************************************/
 809 void FGAIFlightPlan::createLanding(FGAirport *apt)
 810 {
 811   // Ten thousand ft. Slowing down to 150 kts
 812   double wind_speed;
 813   double wind_heading;
 814   double heading;
 815   //FGRunway rwy;
 816   double lat, lon, az;
 817   double lat2, lon2, az2;
 818   double azimuth;
 819   //int direction;
 820   waypoint *wpt;
 821
 822
 823   heading = rwy._heading;
 824   azimuth = heading + 180.0;
 825   while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 826
 827   //Runway Threshold
 828  geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 829                      rwy._length*0.45 * SG_FEET_TO_METER,
 830                      &lat2, &lon2, &az2 );
 831   wpt = new waypoint;
 832   wpt->name      = "Threshold"; //wpt_node->getStringValue("name", "END");
 833   wpt->latitude  = lat2;
 834   wpt->longitude = lon2;
 835   wpt->altitude  = apt->getElevation();
 836   wpt->speed     = 150;
 837   wpt->crossat   = apt->getElevation();
 838   wpt->gear_down = true;
 839   wpt->flaps_down= true;
 840   wpt->finished  = false;
 841   wpt->on_ground = true;
 842   waypoints.push_back(wpt);
 843
 844  //Full stop at the runway centerpoint
 845  geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 846                      rwy._length*0.45,
 847                       &lat2, &lon2, &az2 );
 848   wpt = new waypoint;
 849   wpt->name      = "Center"; //wpt_node->getStringValue("name", "END");
 850   wpt->latitude  = rwy._lat;
 851   wpt->longitude = rwy._lon;
 852   wpt->altitude  = apt->getElevation();
 853   wpt->speed     = 30;
 854   wpt->crossat   = -10000;
 855   wpt->gear_down = true;
 856   wpt->flaps_down= true;
 857   wpt->finished  = false;
 858   wpt->on_ground = true;
 859   waypoints.push_back(wpt);
 860
 861  geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
 862                      rwy._length*0.45 * SG_FEET_TO_METER,
 863                      &lat2, &lon2, &az2 );
 864   wpt = new waypoint;
 865   wpt->name      = "Threshold"; //wpt_node->getStringValue("name", "END");
 866   wpt->latitude  = lat2;
 867   wpt->longitude = lon2;
 868   wpt->altitude  = apt->getElevation();
 869   wpt->speed     = 15;
 870   wpt->crossat   = apt->getElevation();
 871   wpt->gear_down = true;
 872   wpt->flaps_down= true;
 873   wpt->finished  = false;
 874   wpt->on_ground = true;
 875   waypoints.push_back(wpt);
 876 }
 877
 878 /*******************************************************************
 879  * CreateParking
 880  * initialize the Aircraft at the parking location
 881  ******************************************************************/
 882 void FGAIFlightPlan::createParking(FGAirport *apt, double radius)
 883 {
 884   waypoint* wpt;
 885   double lat, lat2;
 886   double lon, lon2;
 887   double az2;
 888   double heading;
 889   apt->getDynamics()->getParking(gateId, &lat, &lon, &heading);
 890   heading += 180.0;
 891   if (heading > 360)
 892     heading -= 360;
 893   geo_direct_wgs_84 ( 0, lat, lon, heading,
 894                       2.2*radius,
 895                       &lat2, &lon2, &az2 );
 896   wpt = new waypoint;
 897   wpt->name      = "taxiStart";
 898   wpt->latitude  = lat2;
 899   wpt->longitude = lon2;
 900   wpt->altitude  = apt->getElevation();
 901   wpt->speed     = 10;
 902   wpt->crossat   = -10000;
 903   wpt->gear_down = true;
 904   wpt->flaps_down= true;
 905   wpt->finished  = false;
 906   wpt->on_ground = true;
 907   waypoints.push_back(wpt);
 908   geo_direct_wgs_84 ( 0, lat, lon, heading,
 909                       0.1 *radius,
 910                       &lat2, &lon2, &az2 );
 911   wpt = new waypoint;
 912   wpt->name      = "taxiStart";
 913   wpt->latitude  = lat2;
 914   wpt->longitude = lon2;
 915   wpt->altitude  = apt->getElevation();
 916   wpt->speed     = 10;
 917   wpt->crossat   = -10000;
 918   wpt->gear_down = true;
 919   wpt->flaps_down= true;
 920   wpt->finished  = false;
 921   wpt->on_ground = true;
 922   waypoints.push_back(wpt);
 923
 924   wpt = new waypoint;
 925   wpt->name      = "END"; //wpt_node->getStringValue("name", "END");
 926   wpt->latitude  = lat;
 927   wpt->longitude = lon;
 928   wpt->altitude  = apt->getElevation();
 929   wpt->speed     = 15;
 930   wpt->crossat   = -10000;
 931   wpt->gear_down = true;
 932   wpt->flaps_down= true;
 933   wpt->finished  = false;
 934   wpt->on_ground = true;
 935   waypoints.push_back(wpt);
 936 }