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 heading;
 189   double lat, lon;
 190   double lat2, lon2, az2;
 191   waypoint *wpt;
 192
 193   int nrWaypointsToSkip;
 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 (taxiRoute)
 261             delete taxiRoute;
 262           taxiRoute = new FGTaxiRoute;
 263           if (gateId >= 0)
 264             *taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(gateId,
 265                                                                               runwayId);
 266           else
 267             *taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(0, runwayId);
 268           intVecIterator i;
 269
 270           if (taxiRoute->empty()) {
 271             //Add the runway startpoint;
 272             wpt = new waypoint;
 273             wpt->name      = "Airport Center";
 274             wpt->latitude  = latitude;
 275             wpt->longitude = longitude;
 276             wpt->altitude  = apt->getElevation();
 277             wpt->speed     = 15;
 278             wpt->crossat   = -10000;
 279             wpt->gear_down = true;
 280             wpt->flaps_down= true;
 281             wpt->finished  = false;
 282             wpt->on_ground = true;
 283             waypoints.push_back(wpt);
 284
 285             //Add the runway startpoint;
 286             wpt = new waypoint;
 287             wpt->name      = "Runway Takeoff";
 288             wpt->latitude  = lat2;
 289             wpt->longitude = lon2;
 290             wpt->altitude  = apt->getElevation();
 291             wpt->speed     = 15;
 292             wpt->crossat   = -10000;
 293             wpt->gear_down = true;
 294             wpt->flaps_down= true;
 295             wpt->finished  = false;
 296             wpt->on_ground = true;
 297             waypoints.push_back(wpt);
 298           } else {
 299             int node;
 300             taxiRoute->first();
 301             bool isPushBackPoint = false;
 302             if (firstFlight) {
 303               // If this is called during initialization, randomly
 304               // skip a number of waypoints to get a more realistic
 305               // taxi situation.
 306               isPushBackPoint = true;
 307               int nrWaypoints = taxiRoute->size();
 308               nrWaypointsToSkip = rand() % nrWaypoints;
 309               // but make sure we always keep two active waypoints
 310               // to prevent a segmentation fault
 311               for (int i = 0; i < nrWaypointsToSkip-2; i++) {
 312                 isPushBackPoint = false;
 313                 taxiRoute->next(&node);
 314               }
 315             }
 316             else {
 317               //chop off the first two waypoints, because
 318               // those have already been created
 319               // by create pushback
 320               int size = taxiRoute->size();
 321               if (size > 2) {
 322                 taxiRoute->next(&node);
 323                 taxiRoute->next(&node);
 324               }
 325             }
 326             while(taxiRoute->next(&node))
 327               {
 328                 //FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findSegment(node)->getEnd();
 329                 FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
 330                 //ids.pop_back();
 331                 wpt = new waypoint;
 332                 wpt->name      = "taxiway"; // fixme: should be the name of the taxiway
 333                 wpt->latitude  = tn->getLatitude();
 334                 wpt->longitude = tn->getLongitude();
 335                 // Elevation is currently disregarded when on_ground is true
 336                 // because the AIModel obtains a periodic ground elevation estimate.
 337                 wpt->altitude  = apt->getElevation();
 338                 if (isPushBackPoint) {
 339                   wpt->speed = -10;
 340                   isPushBackPoint = false;
 341                 }
 342                 else {
 343                   wpt->speed     = 15;
 344                 }
 345                 wpt->crossat   = -10000;
 346                 wpt->gear_down = true;
 347                 wpt->flaps_down= true;
 348                 wpt->finished  = false;
 349                 wpt->on_ground = true;
 350                 waypoints.push_back(wpt);
 351               }
 352             //cerr << endl;
 353             // finally, rewind the taxiRoute object to the point where we started
 354             taxiRoute->first();
 355             if (firstFlight) {
 356               for (int i = 0; i < nrWaypointsToSkip-2; i++) {
 357                 taxiRoute->next(&node);
 358               }
 359             } else {
 360               int size = taxiRoute->size();
 361               if (size > 2) {
 362                 taxiRoute->next(&node);
 363                 taxiRoute->next(&node);
 364               }
 365             }
 366           }
 367         }
 368       else
 369         {
 370           // This is the fallback mechanism, in case no ground network is available
 371           //Add the runway startpoint;
 372           wpt = new waypoint;
 373           wpt->name      = "Airport Center";
 374           wpt->latitude  = apt->getLatitude();
 375           wpt->longitude = apt->getLongitude();
 376           wpt->altitude  = apt->getElevation();
 377           wpt->speed     = 15;
 378           wpt->crossat   = -10000;
 379           wpt->gear_down = true;
 380           wpt->flaps_down= true;
 381           wpt->finished  = false;
 382           wpt->on_ground = true;
 383           waypoints.push_back(wpt);
 384
 385           //Add the runway startpoint;
 386           wpt = new waypoint;
 387           wpt->name      = "Runway Takeoff";
 388           wpt->latitude  = lat2;
 389           wpt->longitude = lon2;
 390           wpt->altitude  = apt->getElevation();
 391           wpt->speed     = 15;
 392           wpt->crossat   = -10000;
 393           wpt->gear_down = true;
 394           wpt->flaps_down= true;
 395           wpt->finished  = false;
 396           wpt->on_ground = true;
 397           waypoints.push_back(wpt);
 398         }
 399     }
 400   else  // Landing taxi
 401     {
 402       apt->getDynamics()->getAvailableParking(&lat, &lon, &heading,
 403                                               &gateId, radius, fltType,
 404                                               acType, airline);
 405
 406       double lat3 = (*(waypoints.end()-1))->latitude;
 407       double lon3 = (*(waypoints.end()-1))->longitude;
 408       //cerr << (*(waypoints.end()-1))->name << endl;
 409
 410       // Find a route from runway end to parking/gate.
 411       if (apt->getDynamics()->getGroundNetwork()->exists())
 412         {
 413           intVec ids;
 414           int runwayId = apt->getDynamics()->getGroundNetwork()->findNearestNode(lat3,
 415                                                                                  lon3);
 416           // A negative gateId indicates an overflow parking, use a
 417           // fallback mechanism for this.
 418           // Starting from gate 0 is a bit of a hack...
 419           //FGTaxiRoute route;
 420           if (taxiRoute)
 421             delete taxiRoute;
 422           taxiRoute = new FGTaxiRoute;
 423           if (gateId >= 0)
 424             *taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(runwayId,
 425                                                                               gateId);
 426           else
 427             *taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(runwayId, 0);
 428           intVecIterator i;
 429
 430           // No route found: go from gate directly to runway
 431           if (taxiRoute->empty()) {
 432             //Add the runway startpoint;
 433             wpt = new waypoint;
 434             wpt->name      = "Airport Center";
 435             wpt->latitude  = latitude;
 436             wpt->longitude = longitude;
 437             wpt->altitude  = apt->getElevation();
 438             wpt->speed     = 15;
 439             wpt->crossat   = -10000;
 440             wpt->gear_down = true;
 441             wpt->flaps_down= true;
 442             wpt->finished  = false;
 443             wpt->on_ground = true;
 444             waypoints.push_back(wpt);
 445
 446             //Add the runway startpoint;
 447             wpt = new waypoint;
 448             wpt->name      = "Runway Takeoff";
 449             wpt->latitude  = lat3;
 450             wpt->longitude = lon3;
 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           } else {
 460             int node;
 461             taxiRoute->first();
 462             int size = taxiRoute->size();
 463             // Omit the last two waypoints, as
 464             // those are created by createParking()
 465             for (int i = 0; i < size-2; i++)
 466               {
 467                 taxiRoute->next(&node);
 468                 //FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
 469                 FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
 470                 wpt = new waypoint;
 471                 wpt->name      = "taxiway"; // fixme: should be the name of the taxiway
 472                 wpt->latitude  = tn->getLatitude();
 473                 wpt->longitude = tn->getLongitude();
 474                 wpt->altitude  = apt->getElevation();
 475                 wpt->speed     = 15;
 476                 wpt->crossat   = -10000;
 477                 wpt->gear_down = true;
 478                 wpt->flaps_down= true;
 479                 wpt->finished  = false;
 480                 wpt->on_ground = true;
 481                 waypoints.push_back(wpt);
 482               }
 483           }
 484         }
 485       else
 486         {
 487           // Use a fallback mechanism in case no ground network is available
 488           // obtain the location of the gate entrance point
 489           heading += 180.0;
 490           if (heading > 360)
 491             heading -= 360;
 492           geo_direct_wgs_84 ( 0, lat, lon, heading,
 493                               100,
 494                               &lat2, &lon2, &az2 );
 495           wpt = new waypoint;
 496           wpt->name      = "Airport Center";
 497           wpt->latitude  = apt->getLatitude();
 498           wpt->longitude = apt->getLongitude();
 499           wpt->altitude  = apt->getElevation();
 500           wpt->speed     = 15;
 501           wpt->crossat   = -10000;
 502           wpt->gear_down = true;
 503           wpt->flaps_down= true;
 504           wpt->finished  = false;
 505           wpt->on_ground = true;
 506           waypoints.push_back(wpt);
 507
 508           wpt = new waypoint;
 509           wpt->name      = "Begin Parking"; //apt->getId(); //wpt_node->getStringValue("name", "END");
 510           wpt->latitude  = lat2;
 511           wpt->longitude = lon2;
 512           wpt->altitude  = apt->getElevation();
 513           wpt->speed     = 15;
 514           wpt->crossat   = -10000;
 515           wpt->gear_down = true;
 516           wpt->flaps_down= true;
 517           wpt->finished  = false;
 518           wpt->on_ground = true;
 519           waypoints.push_back(wpt);
 520
 521           //waypoint* wpt;
 522           //double lat;
 523           //double lon;
 524           //double heading;
 525           apt->getDynamics()->getParking(gateId, &lat, &lon, &heading);
 526           heading += 180.0;
 527           if (heading > 360)
 528             heading -= 360;
 529
 530           wpt = new waypoint;
 531           wpt->name      = "END"; //wpt_node->getStringValue("name", "END");
 532           wpt->latitude  = lat;
 533           wpt->longitude = lon;
 534           wpt->altitude  = 19;
 535           wpt->speed     = 15;
 536           wpt->crossat   = -10000;
 537           wpt->gear_down = true;
 538           wpt->flaps_down= true;
 539           wpt->finished  = false;
 540           wpt->on_ground = true;
 541           waypoints.push_back(wpt);
 542         }
 543
 544     }
 545 }
 546
 547 /*******************************************************************
 548  * CreateTakeOff
 549  * initialize the Aircraft at the parking location
 550  ******************************************************************/
 551 void FGAIFlightPlan::createTakeOff(bool firstFlight, FGAirport *apt, double speed)
 552 {
 553   double heading;
 554   double lat, lon, az;
 555   double lat2, lon2, az2;
 556   waypoint *wpt;
 557
 558   // Get the current active runway, based on code from David Luff
 559   // This should actually be unified and extended to include
 560   // Preferential runway use schema's
 561   if (firstFlight)
 562     {
 563       //string name;
 564        // "NOTE: this is currently fixed to "com" for commercial traffic
 565       // Should be changed to be used dynamically to allow "gen" and "mil"
 566       // as well
 567       apt->getDynamics()->getActiveRunway("com", 1, activeRunway);
 568         if (!(globals->get_runways()->search(apt->getId(),
 569                                               activeRunway,
 570                                               &rwy)))
 571           {
 572             SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
 573                    activeRunway <<
 574                    " at airport     " << apt->getId());
 575             exit(1);
 576           }
 577     }
 578   heading = rwy._heading;
 579   double azimuth = heading + 180.0;
 580   while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 581   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 582                       rwy._length * SG_FEET_TO_METER * 0.5 - 105.0,
 583                       &lat2, &lon2, &az2 );
 584   wpt = new waypoint;
 585   wpt->name      = "accel";
 586   wpt->latitude  = lat2;
 587   wpt->longitude = lon2;
 588   wpt->altitude  = apt->getElevation();
 589   wpt->speed     = speed;
 590   wpt->crossat   = -10000;
 591   wpt->gear_down = true;
 592   wpt->flaps_down= true;
 593   wpt->finished  = false;
 594   wpt->on_ground = true;
 595   waypoints.push_back(wpt);
 596
 597   lat = lat2;
 598   lon = lon2;
 599   az  = az2;
 600
 601   //Next: the Start of Climb
 602   geo_direct_wgs_84 ( 0, lat, lon, heading,
 603   2560 * SG_FEET_TO_METER,
 604   &lat2, &lon2, &az2 );
 605
 606   wpt = new waypoint;
 607   wpt->name      = "SOC";
 608   wpt->latitude  = lat2;
 609   wpt->longitude = lon2;
 610   wpt->altitude  = apt->getElevation()+3000;
 611   wpt->speed     = speed;
 612   wpt->crossat   = -10000;
 613   wpt->gear_down = true;
 614   wpt->flaps_down= true;
 615   wpt->finished  = false;
 616   wpt->on_ground = false;
 617   waypoints.push_back(wpt);
 618 }
 619
 620 /*******************************************************************
 621  * CreateClimb
 622  * initialize the Aircraft at the parking location
 623  ******************************************************************/
 624 void FGAIFlightPlan::createClimb(bool firstFlight, FGAirport *apt, double speed, double alt)
 625 {
 626   double heading;
 627   //FGRunway rwy;
 628   double lat2, lon2, az2;
 629   //int direction;
 630   waypoint *wpt;
 631
 632
 633   if (firstFlight)
 634     {
 635       //string name;
 636       // "NOTE: this is currently fixed to "com" for commercial traffic
 637       // Should be changed to be used dynamically to allow "gen" and "mil"
 638       // as well
 639       apt->getDynamics()->getActiveRunway("com", 1, activeRunway);
 640         if (!(globals->get_runways()->search(apt->getId(),
 641                                               activeRunway,
 642                                               &rwy)))
 643           {
 644             SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
 645                    activeRunway <<
 646                    " at airport     " << apt->getId());
 647             exit(1);
 648           }
 649     }
 650
 651
 652   heading = rwy._heading;
 653   double azimuth = heading + 180.0;
 654   while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 655   //cerr << "Creating climb at : " << rwy._id << " " << rwy._rwy_no << endl;
 656   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
 657                       10*SG_NM_TO_METER,
 658                       &lat2, &lon2, &az2 );
 659   wpt = new waypoint;
 660   wpt->name      = "10000ft climb";
 661   wpt->latitude  = lat2;
 662   wpt->longitude = lon2;
 663   wpt->altitude  = 10000;
 664   wpt->speed     = speed;
 665   wpt->crossat   = -10000;
 666   wpt->gear_down = true;
 667   wpt->flaps_down= true;
 668   wpt->finished  = false;
 669   wpt->on_ground = false;
 670   waypoints.push_back(wpt);
 671
 672
 673   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
 674                       20*SG_NM_TO_METER,
 675                       &lat2, &lon2, &az2 );
 676   wpt = new waypoint;
 677   wpt->name      = "18000ft climb";
 678   wpt->latitude  = lat2;
 679   wpt->longitude = lon2;
 680   wpt->altitude  = 18000;
 681   wpt->speed     = speed;
 682   wpt->crossat   = -10000;
 683   wpt->gear_down = true;
 684   wpt->flaps_down= true;
 685   wpt->finished  = false;
 686   wpt->on_ground = false;
 687   waypoints.push_back(wpt);
 688 }
 689
 690
 691 // /*******************************************************************
 692 //  * CreateCruise
 693 //  * initialize the Aircraft at the parking location
 694 //  ******************************************************************/
 695 // void FGAIFlightPlan::createCruise(bool firstFlight, FGAirport *dep,
 696 //                                FGAirport *arr, double latitude,
 697 //                                double longitude, double speed,
 698 //                                double alt)
 699 // {
 700 //   double wind_speed;
 701 //   double wind_heading;
 702 //   double heading;
 703 //   double lat, lon, az;
 704 //   double lat2, lon2, az2;
 705 //   double azimuth;
 706 //   waypoint *wpt;
 707
 708 //   wpt = new waypoint;
 709 //   wpt->name      = "Cruise"; //wpt_node->getStringValue("name", "END");
 710 //   wpt->latitude  = latitude;
 711 //   wpt->longitude = longitude;
 712 //   wpt->altitude  = alt;
 713 //   wpt->speed     = speed;
 714 //   wpt->crossat   = -10000;
 715 //   wpt->gear_down = false;
 716 //   wpt->flaps_down= false;
 717 //   wpt->finished  = false;
 718 //   wpt->on_ground = false;
 719 //   waypoints.push_back(wpt);
 720
 721
 722 //   // should be changed dynamically to allow "gen" and "mil"
 723 //   arr->getDynamics()->getActiveRunway("com", 2, activeRunway);
 724 //   if (!(globals->get_runways()->search(arr->getId(),
 725 //                                     activeRunway,
 726 //                                     &rwy)))
 727 //     {
 728 //       SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
 729 //           activeRunway <<
 730 //           " at airport     " << arr->getId());
 731 //       exit(1);
 732 //     }
 733 //   heading = rwy._heading;
 734 //   azimuth = heading + 180.0;
 735 //   while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 736
 737
 738 //   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 739 //                    110000,
 740 //                    &lat2, &lon2, &az2 );
 741 //   wpt = new waypoint;
 742 //   wpt->name      = "BOD";
 743 //   wpt->latitude  = lat2;
 744 //   wpt->longitude = lon2;
 745 //   wpt->altitude  = alt;
 746 //   wpt->speed     = speed;
 747 //   wpt->crossat   = alt;
 748 //   wpt->gear_down = false;
 749 //   wpt->flaps_down= false;
 750 //   wpt->finished  = false;
 751 //   wpt->on_ground = false;
 752 //   waypoints.push_back(wpt);
 753 // }
 754
 755 /*******************************************************************
 756  * CreateDecent
 757  * initialize the Aircraft at the parking location
 758  ******************************************************************/
 759 void FGAIFlightPlan::createDecent(FGAirport *apt)
 760 {
 761
 762   // Ten thousand ft. Slowing down to 240 kts
 763   double heading;
 764   //FGRunway rwy;
 765   double lat2, lon2, az2;
 766   double azimuth;
 767   //int direction;
 768   waypoint *wpt;
 769
 770   //Beginning of Decent
 771   //string name;
 772   // allow "mil" and "gen" as well
 773   apt->getDynamics()->getActiveRunway("com", 2, activeRunway);
 774   if (!(globals->get_runways()->search(apt->getId(),
 775                                        activeRunway,
 776                                        &rwy)))
 777     {
 778       SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
 779              activeRunway <<
 780              " at airport     " << apt->getId());
 781       exit(1);
 782     }
 783
 784   heading = rwy._heading;
 785   azimuth = heading + 180.0;
 786   while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 787   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 788                       100000,
 789                       &lat2, &lon2, &az2 );
 790
 791   wpt = new waypoint;
 792   wpt->name      = "Dec 10000ft"; //wpt_node->getStringValue("name", "END");
 793   wpt->latitude  = lat2;
 794   wpt->longitude = lon2;
 795   wpt->altitude  = apt->getElevation();
 796   wpt->speed     = 240;
 797   wpt->crossat   = 10000;
 798   wpt->gear_down = false;
 799   wpt->flaps_down= false;
 800   wpt->finished  = false;
 801   wpt->on_ground = false;
 802   waypoints.push_back(wpt);
 803
 804   // Three thousand ft. Slowing down to 160 kts
 805   geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 806                       8*SG_NM_TO_METER,
 807                       &lat2, &lon2, &az2 );
 808   wpt = new waypoint;
 809   wpt->name      = "DEC 3000ft"; //wpt_node->getStringValue("name", "END");
 810   wpt->latitude  = lat2;
 811   wpt->longitude = lon2;
 812   wpt->altitude  = apt->getElevation();
 813   wpt->speed     = 160;
 814   wpt->crossat   = 3000;
 815   wpt->gear_down = true;
 816   wpt->flaps_down= true;
 817   wpt->finished  = false;
 818   wpt->on_ground = false;
 819   waypoints.push_back(wpt);
 820 }
 821 /*******************************************************************
 822  * CreateLanding
 823  * initialize the Aircraft at the parking location
 824  ******************************************************************/
 825 void FGAIFlightPlan::createLanding(FGAirport *apt)
 826 {
 827   // Ten thousand ft. Slowing down to 150 kts
 828   double heading;
 829   //FGRunway rwy;
 830   double lat2, lon2, az2;
 831   double azimuth;
 832   //int direction;
 833   waypoint *wpt;
 834
 835
 836   heading = rwy._heading;
 837   azimuth = heading + 180.0;
 838   while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
 839
 840   //Runway Threshold
 841  geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 842                      rwy._length*0.45 * SG_FEET_TO_METER,
 843                      &lat2, &lon2, &az2 );
 844   wpt = new waypoint;
 845   wpt->name      = "Threshold"; //wpt_node->getStringValue("name", "END");
 846   wpt->latitude  = lat2;
 847   wpt->longitude = lon2;
 848   wpt->altitude  = apt->getElevation();
 849   wpt->speed     = 150;
 850   wpt->crossat   = apt->getElevation();
 851   wpt->gear_down = true;
 852   wpt->flaps_down= true;
 853   wpt->finished  = false;
 854   wpt->on_ground = true;
 855   waypoints.push_back(wpt);
 856
 857  //Full stop at the runway centerpoint
 858  geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
 859                      rwy._length*0.45,
 860                       &lat2, &lon2, &az2 );
 861   wpt = new waypoint;
 862   wpt->name      = "Center"; //wpt_node->getStringValue("name", "END");
 863   wpt->latitude  = rwy._lat;
 864   wpt->longitude = rwy._lon;
 865   wpt->altitude  = apt->getElevation();
 866   wpt->speed     = 30;
 867   wpt->crossat   = -10000;
 868   wpt->gear_down = true;
 869   wpt->flaps_down= true;
 870   wpt->finished  = false;
 871   wpt->on_ground = true;
 872   waypoints.push_back(wpt);
 873
 874  geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
 875                      rwy._length*0.45 * SG_FEET_TO_METER,
 876                      &lat2, &lon2, &az2 );
 877   wpt = new waypoint;
 878   wpt->name      = "Threshold"; //wpt_node->getStringValue("name", "END");
 879   wpt->latitude  = lat2;
 880   wpt->longitude = lon2;
 881   wpt->altitude  = apt->getElevation();
 882   wpt->speed     = 15;
 883   wpt->crossat   = apt->getElevation();
 884   wpt->gear_down = true;
 885   wpt->flaps_down= true;
 886   wpt->finished  = false;
 887   wpt->on_ground = true;
 888   waypoints.push_back(wpt);
 889 }
 890
 891 /*******************************************************************
 892  * CreateParking
 893  * initialize the Aircraft at the parking location
 894  ******************************************************************/
 895 void FGAIFlightPlan::createParking(FGAirport *apt, double radius)
 896 {
 897   waypoint* wpt;
 898   double lat, lat2;
 899   double lon, lon2;
 900   double az2;
 901   double heading;
 902   apt->getDynamics()->getParking(gateId, &lat, &lon, &heading);
 903   heading += 180.0;
 904   if (heading > 360)
 905     heading -= 360;
 906   geo_direct_wgs_84 ( 0, lat, lon, heading,
 907                       2.2*radius,
 908                       &lat2, &lon2, &az2 );
 909   wpt = new waypoint;
 910   wpt->name      = "taxiStart";
 911   wpt->latitude  = lat2;
 912   wpt->longitude = lon2;
 913   wpt->altitude  = apt->getElevation();
 914   wpt->speed     = 10;
 915   wpt->crossat   = -10000;
 916   wpt->gear_down = true;
 917   wpt->flaps_down= true;
 918   wpt->finished  = false;
 919   wpt->on_ground = true;
 920   waypoints.push_back(wpt);
 921   geo_direct_wgs_84 ( 0, lat, lon, heading,
 922                       0.1 *radius,
 923                       &lat2, &lon2, &az2 );
 924   wpt = new waypoint;
 925   wpt->name      = "taxiStart";
 926   wpt->latitude  = lat2;
 927   wpt->longitude = lon2;
 928   wpt->altitude  = apt->getElevation();
 929   wpt->speed     = 10;
 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
 937   wpt = new waypoint;
 938   wpt->name      = "END"; //wpt_node->getStringValue("name", "END");
 939   wpt->latitude  = lat;
 940   wpt->longitude = lon;
 941   wpt->altitude  = apt->getElevation();
 942   wpt->speed     = 15;
 943   wpt->crossat   = -10000;
 944   wpt->gear_down = true;
 945   wpt->flaps_down= true;
 946   wpt->finished  = false;
 947   wpt->on_ground = true;
 948   waypoints.push_back(wpt);
 949 }