1 /******************************************************************************
2 * AIFlightPlanCreate.cxx
3 * Written by Durk Talsma, started May, 2004.
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.
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.
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.
19 **************************************************************************/
27 #include "AIFlightPlan.hxx"
28 #include <simgear/math/sg_geodesy.hxx>
29 #include <simgear/props/props.hxx>
30 #include <simgear/props/props_io.hxx>
32 #include <Airports/simple.hxx>
33 #include <Airports/runways.hxx>
34 #include <Airports/dynamics.hxx>
35 #include "AIAircraft.hxx"
36 #include "performancedata.hxx"
38 #include <Environment/environment_mgr.hxx>
39 #include <Environment/environment.hxx>
40 #include <FDM/LaRCsim/basic_aero.h>
41 #include <Navaids/navrecord.hxx>
44 /* FGAIFlightPlan::create()
45 * dynamically create a flight plan for AI traffic, based on data provided by the
46 * Traffic Manager, when reading a filed flightplan failes. (DT, 2004/07/10)
48 * This is the top-level function, and the only one that is publicly available.
53 // Check lat/lon values during initialization;
54 bool FGAIFlightPlan::create(FGAIAircraft * ac, FGAirport * dep,
55 FGAirport * arr, int legNr, double alt,
56 double speed, double latitude,
57 double longitude, bool firstFlight,
58 double radius, const string & fltType,
59 const string & aircraftType,
60 const string & airline, double distance)
63 int currWpt = wpt_iterator - waypoints.begin();
66 retVal = createPushBack(ac, firstFlight, dep,
67 radius, fltType, aircraftType, airline);
68 // Pregenerate the taxi leg.
70 // waypoints.back()->setName( waypoints.back()->getName() + string("legend"));
71 // retVal = createTakeoffTaxi(ac, false, dep, radius, fltType, aircraftType, airline);
75 retVal = createTakeoffTaxi(ac, firstFlight, dep, radius, fltType,
76 aircraftType, airline);
79 retVal = createTakeOff(ac, firstFlight, dep, speed, fltType);
82 retVal = createClimb(ac, firstFlight, dep, arr, speed, alt, fltType);
85 retVal = createCruise(ac, firstFlight, dep, arr, latitude, longitude, speed,
89 retVal = createDescent(ac, arr, latitude, longitude, speed, alt, fltType,
93 retVal = createLanding(ac, arr, fltType);
96 retVal = createLandingTaxi(ac, arr, radius, fltType, aircraftType, airline);
99 retVal = createParking(ac, arr, radius);
103 SG_LOG(SG_AI, SG_ALERT,
104 "AIFlightPlan::create() attempting to create unknown leg"
105 " this is probably an internal program error");
107 wpt_iterator = waypoints.begin() + currWpt;
108 //don't increment leg right away, but only once we pass the actual last waypoint that was created.
109 // to do so, mark the last waypoint with a special status flag
111 waypoints.back()->setName( waypoints.back()->getName() + string("legend"));
112 // "It's pronounced Leg-end" (Roger Glover (Deep Purple): come Hell or High Water DvD, 1993)
120 FGAIWaypoint * FGAIFlightPlan::createOnGround(FGAIAircraft * ac,
121 const std::string & aName,
122 const SGGeod & aPos, double aElev,
125 FGAIWaypoint *wpt = new FGAIWaypoint;
126 wpt->setName (aName );
127 wpt->setLongitude (aPos.getLongitudeDeg() );
128 wpt->setLatitude (aPos.getLatitudeDeg() );
129 wpt->setAltitude (aElev );
130 wpt->setSpeed (aSpeed );
131 wpt->setCrossat (-10000.1 );
132 wpt->setGear_down (true );
133 wpt->setFlaps_down (true );
134 wpt->setFinished (false );
135 wpt->setOn_ground (true );
136 wpt->setRouteIndex (0 );
140 FGAIWaypoint * FGAIFlightPlan::createInAir(FGAIAircraft * ac,
141 const std::string & aName,
142 const SGGeod & aPos, double aElev,
145 FGAIWaypoint * wpt = createOnGround(ac, aName, aPos, aElev, aSpeed);
146 wpt->setGear_down (false );
147 wpt->setFlaps_down (false );
148 wpt->setOn_ground (false );
149 wpt->setCrossat (aElev );
153 FGAIWaypoint * FGAIFlightPlan::clone(FGAIWaypoint * aWpt)
155 FGAIWaypoint *wpt = new FGAIWaypoint;
156 wpt->setName ( aWpt->getName () );
157 wpt->setLongitude ( aWpt->getLongitude() );
158 wpt->setLatitude ( aWpt->getLatitude() );
159 wpt->setAltitude ( aWpt->getAltitude() );
160 wpt->setSpeed ( aWpt->getSpeed() );
161 wpt->setCrossat ( aWpt->getCrossat() );
162 wpt->setGear_down ( aWpt->getGear_down() );
163 wpt->setFlaps_down ( aWpt->getFlaps_down() );
164 wpt->setFinished ( aWpt->isFinished() );
165 wpt->setOn_ground ( aWpt->getOn_ground() );
166 wpt->setRouteIndex ( 0 );
172 FGAIWaypoint * FGAIFlightPlan::cloneWithPos(FGAIAircraft * ac, FGAIWaypoint * aWpt,
173 const std::string & aName,
176 FGAIWaypoint *wpt = clone(aWpt);
177 wpt->setName ( aName );
178 wpt->setLongitude ( aPos.getLongitudeDeg () );
179 wpt->setLatitude ( aPos.getLatitudeDeg () );
186 void FGAIFlightPlan::createDefaultTakeoffTaxi(FGAIAircraft * ac,
187 FGAirport * aAirport,
190 SGGeod runwayTakeoff = aRunway->pointOnCenterline(5.0);
191 double airportElev = aAirport->getElevation();
195 createOnGround(ac, "Airport Center", aAirport->geod(), airportElev,
196 ac->getPerformance()->vTaxi());
197 pushBackWaypoint(wpt);
199 createOnGround(ac, "Runway Takeoff", runwayTakeoff, airportElev,
200 ac->getPerformance()->vTaxi());
201 pushBackWaypoint(wpt);
204 bool FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight,
207 const string & fltType,
208 const string & acType,
209 const string & airline)
212 // If this function is called during initialization,
213 // make sure we obtain a valid gate ID first
214 // and place the model at the location of the gate.
217 gateId = apt->getDynamics()->getAvailableParking(radius, fltType,
220 SG_LOG(SG_AI, SG_WARN, "Could not find parking for a " <<
222 " of flight type " << fltType <<
223 " of airline " << airline <<
224 " at airport " << apt->getId());
228 string rwyClass = getRunwayClassFromTrafficType(fltType);
230 // Only set this if it hasn't been set by ATC already.
231 if (activeRunway.empty()) {
232 //cerr << "Getting runway for " << ac->getTrafficRef()->getCallSign() << " at " << apt->getId() << endl;
233 double depHeading = ac->getTrafficRef()->getCourse();
234 apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
237 FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
238 assert( rwy != NULL );
239 SGGeod runwayTakeoff = rwy->pointOnCenterline(5.0);
241 FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork();
243 createDefaultTakeoffTaxi(ac, apt, rwy);
249 if (gn->getVersion() > 0) {
250 runwayId = gn->findNearestNodeOnRunway(runwayTakeoff);
252 runwayId = gn->findNearestNode(runwayTakeoff);
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.
260 taxiRoute = new FGTaxiRoute;
262 // Determine which node to start from.
264 // Find out which node to start from
265 FGParking *park = apt->getDynamics()->getParking(gateId);
267 node = park->getPushBackPoint();
273 // HAndle case where parking doens't have a node
274 if ((node == 0) && park) {
278 node = lastNodeVisited;
282 *taxiRoute = gn->findShortestRoute(node, runwayId);
285 if (taxiRoute->empty()) {
286 createDefaultTakeoffTaxi(ac, apt, rwy);
291 //bool isPushBackPoint = false;
293 // If this is called during initialization, randomly
294 // skip a number of waypoints to get a more realistic
296 int nrWaypointsToSkip = rand() % taxiRoute->size();
297 // but make sure we always keep two active waypoints
298 // to prevent a segmentation fault
299 for (int i = 0; i < nrWaypointsToSkip - 3; i++) {
300 taxiRoute->next(&node);
302 apt->getDynamics()->releaseParking(gateId);
304 if (taxiRoute->size() > 1) {
305 taxiRoute->next(&node); // chop off the first waypoint, because that is already the last of the pushback route
309 // push each node on the taxi route as a waypoint
311 //cerr << "Building taxi route" << endl;
312 while (taxiRoute->next(&node, &route)) {
314 snprintf(buffer, 10, "%d", node);
316 apt->getDynamics()->getGroundNetwork()->findNode(node);
318 createOnGround(ac, buffer, tn->geod(), apt->getElevation(),
319 ac->getPerformance()->vTaxi());
320 wpt->setRouteIndex(route);
321 //cerr << "Nodes left " << taxiRoute->nodesLeft() << " ";
322 if (taxiRoute->nodesLeft() == 1) {
323 // Note that we actually have hold points in the ground network, but this is just an initial test.
324 //cerr << "Setting departurehold point: " << endl;
325 wpt->setName( wpt->getName() + string("DepartureHold"));
327 if (taxiRoute->nodesLeft() == 0) {
328 wpt->setName(wpt->getName() + string("Accel"));
330 pushBackWaypoint(wpt);
332 // Acceleration point, 105 meters into the runway,
333 SGGeod accelPoint = rwy->pointOnCenterline(105.0);
334 FGAIWaypoint *wpt = createOnGround(ac, "accel", accelPoint, apt->getElevation(), ac->getPerformance()->vRotate());
335 pushBackWaypoint(wpt);
337 //cerr << "[done]" << endl;
341 void FGAIFlightPlan::createDefaultLandingTaxi(FGAIAircraft * ac,
342 FGAirport * aAirport)
345 SGGeod::fromDeg(waypoints.back()->getLongitude(),
346 waypoints.back()->getLatitude());
347 double airportElev = aAirport->getElevation();
351 createOnGround(ac, "Runway Exit", lastWptPos, airportElev,
352 ac->getPerformance()->vTaxi());
353 pushBackWaypoint(wpt);
355 createOnGround(ac, "Airport Center", aAirport->geod(), airportElev,
356 ac->getPerformance()->vTaxi());
357 pushBackWaypoint(wpt);
359 FGParking* parkPos = aAirport->getDynamics()->getParking(gateId);
361 wpt = createOnGround(ac, "ENDtaxi", parkPos->geod(), airportElev,
362 ac->getPerformance()->vTaxi());
363 pushBackWaypoint(wpt);
367 bool FGAIFlightPlan::createLandingTaxi(FGAIAircraft * ac, FGAirport * apt,
369 const string & fltType,
370 const string & acType,
371 const string & airline)
373 gateId = apt->getDynamics()->getAvailableParking(radius, fltType,
377 SGGeod::fromDeg(waypoints.back()->getLongitude(),
378 waypoints.back()->getLatitude());
379 FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork();
381 // Find a route from runway end to parking/gate.
383 createDefaultLandingTaxi(ac, apt);
389 if (gn->getVersion() == 1) {
390 runwayId = gn->findNearestNodeOnRunway(lastWptPos);
392 runwayId = gn->findNearestNode(lastWptPos);
394 //cerr << "Using network node " << runwayId << endl;
395 // A negative gateId indicates an overflow parking, use a
396 // fallback mechanism for this.
397 // Starting from gate 0 is a bit of a hack...
400 taxiRoute = new FGTaxiRoute;
402 *taxiRoute = gn->findShortestRoute(runwayId, gateId);
404 *taxiRoute = gn->findShortestRoute(runwayId, 0);
407 if (taxiRoute->empty()) {
408 createDefaultLandingTaxi(ac, apt);
414 int size = taxiRoute->size();
415 // Omit the last two waypoints, as
416 // those are created by createParking()
418 for (int i = 0; i < size - 2; i++) {
419 taxiRoute->next(&node, &route);
421 snprintf(buffer, 10, "%d", node);
422 FGTaxiNode *tn = gn->findNode(node);
424 createOnGround(ac, buffer, tn->geod(), apt->getElevation(),
425 ac->getPerformance()->vTaxi());
426 wpt->setRouteIndex(route);
427 pushBackWaypoint(wpt);
432 static double accelDistance(double v0, double v1, double accel)
434 double t = fabs(v1 - v0) / accel; // time in seconds to change velocity
435 // area under the v/t graph: (t * v0) + (dV / 2t) where (dV = v1 - v0)
436 return t * 0.5 * (v1 + v0);
439 // find the horizontal distance to gain the specific altiude, holding
440 // a constant pitch angle. Used to compute distance based on standard FD/AP
441 // PITCH mode prior to VS or CLIMB engaging. Visually, we want to avoid
442 // a dip in the nose angle after rotation, during initial climb-out.
443 static double pitchDistance(double pitchAngleDeg, double altGainM)
445 return altGainM / tan(pitchAngleDeg * SG_DEGREES_TO_RADIANS);
448 /*******************************************************************
451 * - Speed -> knots -> nm/hour
452 * - distance along runway =-> meters
453 * - accel / decel -> is given as knots/hour, but this is highly questionable:
454 * for a jet_transport performance class, a accel / decel rate of 5 / 2 is
455 * given respectively. According to performance data.cxx, a value of kts / second seems
456 * more likely however.
458 ******************************************************************/
459 bool FGAIFlightPlan::createTakeOff(FGAIAircraft * ac, bool firstFlight,
460 FGAirport * apt, double speed,
461 const string & fltType)
463 const double ACCEL_POINT = 105.0;
464 // climb-out angle in degrees. could move this to the perf-db but this
465 // value is pretty sane
466 const double INITIAL_PITCH_ANGLE = 10.0;
468 double accel = ac->getPerformance()->acceleration();
469 double vTaxi = ac->getPerformance()->vTaxi();
470 double vRotate = ac->getPerformance()->vRotate();
471 double vTakeoff = ac->getPerformance()->vTakeoff();
473 double accelMetric = accel * SG_KT_TO_MPS;
474 double vTaxiMetric = vTaxi * SG_KT_TO_MPS;
475 double vRotateMetric = vRotate * SG_KT_TO_MPS;
478 // Get the current active runway, based on code from David Luff
479 // This should actually be unified and extended to include
480 // Preferential runway use schema's
481 // NOTE: DT (2009-01-18: IIRC, this is currently already the case,
482 // because the getActive runway function takes care of that.
484 string rwyClass = getRunwayClassFromTrafficType(fltType);
485 double heading = ac->getTrafficRef()->getCourse();
486 apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
490 FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
491 assert( rwy != NULL );
492 double airportElev = apt->getElevation();
494 double d = accelDistance(vTaxiMetric, vRotateMetric, accelMetric) + ACCEL_POINT;
496 SGGeod accelPoint = rwy->pointOnCenterline(d);
497 wpt = createOnGround(ac, "rotate", accelPoint, airportElev, vTakeoff);
498 pushBackWaypoint(wpt);
500 double vRef = vTakeoff + 20; // climb-out at v2 + 20kts
502 double gearUpDist = d + pitchDistance(INITIAL_PITCH_ANGLE, 400 * SG_FEET_TO_METER);
503 accelPoint = rwy->pointOnCenterline(gearUpDist);
505 wpt = cloneWithPos(ac, wpt, "gear-up", accelPoint);
507 wpt->setCrossat(airportElev + 400);
508 wpt->setOn_ground(false);
509 wpt->setGear_down(false);
510 pushBackWaypoint(wpt);
512 // limit climbout speed to 240kts below 10000'
513 double vClimbBelow10000 = std::min(240.0, ac->getPerformance()->vClimb());
515 // create two climb-out points. This is important becuase the first climb point will
516 // be a (sometimes large) turn towards the destination, and we don't want to
517 // commence that turn below 2000'
518 double climbOut = d + pitchDistance(INITIAL_PITCH_ANGLE, 2000 * SG_FEET_TO_METER);
519 accelPoint = rwy->pointOnCenterline(climbOut);
520 wpt = createInAir(ac, "2000'", accelPoint, airportElev + 2000, vClimbBelow10000);
521 pushBackWaypoint(wpt);
523 climbOut = d + pitchDistance(INITIAL_PITCH_ANGLE, 2500 * SG_FEET_TO_METER);
524 accelPoint = rwy->pointOnCenterline(climbOut);
525 wpt = createInAir(ac, "2500'", accelPoint, airportElev + 2500, vClimbBelow10000);
526 pushBackWaypoint(wpt);
531 /*******************************************************************
533 * initialize the Aircraft at the parking location
534 ******************************************************************/
535 bool FGAIFlightPlan::createClimb(FGAIAircraft * ac, bool firstFlight,
536 FGAirport * apt, FGAirport* arrival,
537 double speed, double alt,
538 const string & fltType)
542 double vClimb = ac->getPerformance()->vClimb();
545 string rwyClass = getRunwayClassFromTrafficType(fltType);
546 double heading = ac->getTrafficRef()->getCourse();
547 apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
551 for (wpt_vector_iterator i = sid->getFirstWayPoint();
552 i != sid->getLastWayPoint(); i++) {
553 pushBackWaypoint(clone(*(i)));
554 //cerr << " Cloning waypoint " << endl;
557 FGRunway* runway = apt->getRunwayByIdent(activeRunway);
558 SGGeod cur = runway->end();
559 if (!waypoints.empty()) {
560 cur = waypoints.back()->getPos();
563 // compute course towards destination
564 double course = SGGeodesy::courseDeg(cur, arrival->geod());
566 SGGeod climb1 = SGGeodesy::direct(cur, course, 10 * SG_NM_TO_METER);
567 wpt = createInAir(ac, "10000ft climb", climb1, 10000, vClimb);
568 wpt->setGear_down(true);
569 wpt->setFlaps_down(true);
570 pushBackWaypoint(wpt);
572 SGGeod climb2 = SGGeodesy::direct(cur, course, 20 * SG_NM_TO_METER);
573 wpt = createInAir(ac, "18000ft climb", climb2, 18000, vClimb);
574 pushBackWaypoint(wpt);
581 /*******************************************************************
583 * Generate a flight path from the last waypoint of the cruise to
584 * the permission to land point
585 ******************************************************************/
586 bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
587 double latitude, double longitude,
588 double speed, double alt,
589 const string & fltType,
590 double requiredDistance)
592 bool reposition = false;
594 double vDescent = ac->getPerformance()->vDescent();
595 double vApproach = ac->getPerformance()->vApproach();
597 //Beginning of Descent
598 string rwyClass = getRunwayClassFromTrafficType(fltType);
599 double heading = ac->getTrafficRef()->getCourse();
600 apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway,
602 FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
603 assert( rwy != NULL );
605 // Create a slow descent path that ends 250 lateral to the runway.
606 double initialTurnRadius = getTurnRadius(vDescent, true);
607 //double finalTurnRadius = getTurnRadius(vApproach, true);
609 // get length of the downwind leg for the intended runway
610 double distanceOut = apt->getDynamics()->getApproachController()->getRunway(rwy->name())->getApproachDistance(); //12 * SG_NM_TO_METER;
611 //time_t previousArrivalTime= apt->getDynamics()->getApproachController()->getRunway(rwy->name())->getEstApproachTime();
614 SGGeod current = SGGeod::fromDegM(longitude, latitude, 0);
615 SGGeod initialTarget = rwy->pointOnCenterline(-distanceOut);
616 SGGeod refPoint = rwy->pointOnCenterline(0);
617 double distance = SGGeodesy::distanceM(current, initialTarget);
618 double azimuth = SGGeodesy::courseDeg(current, initialTarget);
621 // To prevent absurdly steep approaches, compute the origin from where the approach should have started
624 if (ac->getTrafficRef()->getCallSign() ==
625 fgGetString("/ai/track-callsign")) {
626 //cerr << "Reposition information: Actual distance " << distance << ". required distance " << requiredDistance << endl;
630 if (distance < requiredDistance * 0.8) {
632 SGGeodesy::direct(initialTarget, azimuth,
633 -requiredDistance, origin, dummyAz2);
635 distance = SGGeodesy::distanceM(current, initialTarget);
636 azimuth = SGGeodesy::courseDeg(current, initialTarget);
642 double dAlt = 0; // = alt - (apt->getElevation() + 2000);
644 if (apt->getDynamics()->getGroundNetwork()) {
645 int node = apt->getDynamics()->getGroundNetwork()->findNearestNode(refPoint);
646 tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
649 dAlt = alt - ((tn->getElevationFt(apt->getElevation())) + 2000);
651 dAlt = alt - (apt->getElevation() + 2000);
654 double nPoints = 100;
658 // The descent path contains the following phases:
659 // 1) a linear glide path from the initial position to
660 // 2) a semi circle turn to final
663 //cerr << "Phase 1: Linear Descent path to runway" << rwy->name() << endl;
664 // Create an initial destination point on a semicircle
665 //cerr << "lateral offset : " << lateralOffset << endl;
666 //cerr << "Distance : " << distance << endl;
667 //cerr << "Azimuth : " << azimuth << endl;
668 //cerr << "Initial Lateral point: " << lateralOffset << endl;
669 // double lat = refPoint.getLatitudeDeg();
670 // double lon = refPoint.getLongitudeDeg();
671 //cerr << "Reference point (" << lat << ", " << lon << ")." << endl;
672 // lat = initialTarget.getLatitudeDeg();
673 // lon = initialTarget.getLongitudeDeg();
674 //cerr << "Initial Target point (" << lat << ", " << lon << ")." << endl;
676 double ratio = initialTurnRadius / distance;
682 double newHeading = asin(ratio) * SG_RADIANS_TO_DEGREES;
684 cos(newHeading * SG_DEGREES_TO_RADIANS) * distance;
685 //cerr << "new distance " << newDistance << ". additional Heading " << newHeading << endl;
686 double side = azimuth - rwy->headingDeg();
687 double lateralOffset = initialTurnRadius;
693 // Calculate the ETA at final, based on remaining distance, and approach speed.
694 // distance should really consist of flying time to terniary target, plus circle
695 // but the distance to secondary target should work as a reasonable approximation
696 // aditionally add the amount of distance covered by making a turn of "side"
697 double turnDistance = (2 * M_PI * initialTurnRadius) * (side / 360.0);
699 (turnDistance + distance) / ((vDescent * SG_NM_TO_METER) / 3600.0);
700 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
701 //if (ac->getTrafficRef()->getCallSign() == fgGetString("/ai/track-callsign")) {
702 // cerr << " Arrival time estimation: turn angle " << side << ". Turn distance " << turnDistance << ". Linear distance " << distance << ". Time to go " << remaining << endl;
706 time_t eta = now + remaining;
707 //choose a distance to the runway such that it will take at least 60 seconds more
708 // time to get there than the previous aircraft.
709 // Don't bother when aircraft need to be repositioned, because that marks the initialization phased...
713 if (reposition == false) {
715 apt->getDynamics()->getApproachController()->getRunway(rwy->
718 requestTimeSlot(eta);
722 //if ((eta < (previousArrivalTime+60)) && (reposition == false)) {
723 arrivalTime = newEta;
724 time_t additionalTimeNeeded = newEta - eta;
725 double distanceCovered =
726 ((vApproach * SG_NM_TO_METER) / 3600.0) * additionalTimeNeeded;
727 distanceOut += distanceCovered;
728 //apt->getDynamics()->getApproachController()->getRunway(rwy->name())->setEstApproachTime(eta+additionalTimeNeeded);
729 //cerr << "Adding additional distance: " << distanceCovered << " to allow " << additionalTimeNeeded << " seconds of flying time" << endl << endl;
731 //apt->getDynamics()->getApproachController()->getRunway(rwy->name())->setEstApproachTime(eta);
733 //cerr << "Timing information : Previous eta: " << previousArrivalTime << ". Current ETA : " << eta << endl;
735 SGGeod secondaryTarget =
736 rwy->pointOffCenterline(-distanceOut, lateralOffset);
737 initialTarget = rwy->pointOnCenterline(-distanceOut);
738 distance = SGGeodesy::distanceM(origin, secondaryTarget);
739 azimuth = SGGeodesy::courseDeg(origin, secondaryTarget);
742 // lat = secondaryTarget.getLatitudeDeg();
743 // lon = secondaryTarget.getLongitudeDeg();
744 //cerr << "Secondary Target point (" << lat << ", " << lon << ")." << endl;
745 //cerr << "Distance : " << distance << endl;
746 //cerr << "Azimuth : " << azimuth << endl;
749 ratio = initialTurnRadius / distance;
754 newHeading = asin(ratio) * SG_RADIANS_TO_DEGREES;
755 newDistance = cos(newHeading * SG_DEGREES_TO_RADIANS) * distance;
756 //cerr << "new distance realative to secondary target: " << newDistance << ". additional Heading " << newHeading << endl;
758 azimuth += newHeading;
760 azimuth -= newHeading;
763 SGGeod tertiaryTarget;
764 SGGeodesy::direct(origin, azimuth,
765 newDistance, tertiaryTarget, dummyAz2);
767 // lat = tertiaryTarget.getLatitudeDeg();
768 // lon = tertiaryTarget.getLongitudeDeg();
769 //cerr << "tertiary Target point (" << lat << ", " << lon << ")." << endl;
772 for (int i = 1; i < nPoints; i++) {
774 double currentDist = i * (newDistance / nPoints);
775 double currentAltitude = alt - (i * (dAlt / nPoints));
776 SGGeodesy::direct(origin, azimuth, currentDist, result, dummyAz2);
777 snprintf(buffer, 16, "descent%03d", i);
778 wpt = createInAir(ac, buffer, result, currentAltitude, vDescent);
779 wpt->setCrossat(currentAltitude);
780 wpt->setTrackLength((newDistance / nPoints));
781 pushBackWaypoint(wpt);
782 //cerr << "Track Length : " << wpt->trackLength;
783 //cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
786 //cerr << "Phase 2: Circle " << endl;
787 double initialAzimuth =
788 SGGeodesy::courseDeg(secondaryTarget, tertiaryTarget);
789 double finalAzimuth =
790 SGGeodesy::courseDeg(secondaryTarget, initialTarget);
792 //cerr << "Angles from secondary target: " << initialAzimuth << " " << finalAzimuth << endl;
793 int increment, startval, endval;
794 // circle right around secondary target if orig of position is to the right of the runway
795 // i.e. use negative angles; else circle leftward and use postivi
798 startval = floor(initialAzimuth);
799 endval = ceil(finalAzimuth);
800 if (endval > startval) {
805 startval = ceil(initialAzimuth);
806 endval = floor(finalAzimuth);
807 if (endval < startval) {
813 //cerr << "creating circle between " << startval << " and " << endval << " using " << increment << endl;
814 //FGTaxiNode * tn = apt->getDynamics()->getGroundNetwork()->findNearestNode(initialTarget);
815 double currentAltitude = 0;
817 currentAltitude = (tn->getElevationFt(apt->getElevation())) + 2000;
819 currentAltitude = apt->getElevation() + 2000;
822 double trackLength = (2 * M_PI * initialTurnRadius) / 360.0;
823 for (int i = startval; i != endval; i += increment) {
825 //double currentAltitude = apt->getElevation() + 2000;
827 SGGeodesy::direct(secondaryTarget, i,
828 initialTurnRadius, result, dummyAz2);
829 snprintf(buffer, 16, "turn%03d", i);
830 wpt = createInAir(ac, buffer, result, currentAltitude, vDescent);
831 wpt->setCrossat(currentAltitude);
832 wpt->setTrackLength(trackLength);
833 //cerr << "Track Length : " << wpt->trackLength;
834 pushBackWaypoint(wpt);
835 //cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
839 // The approach leg should bring the aircraft to approximately 4-6 nm out, after which the landing phase should take over.
840 //cerr << "Phase 3: Approach" << endl;
842 //cerr << "Done" << endl;
844 // Erase the two bogus BOD points: Note check for conflicts with scripted AI flightPlans
845 IncrementWaypoint(true);
846 IncrementWaypoint(true);
850 //double minDistance = HUGE_VAL;
852 tempDistance = SGGeodesy::distanceM(current, initialTarget);
854 tempDistance / ((vDescent * SG_NM_TO_METER) / 3600.0) + now;
856 apt->getDynamics()->getApproachController()->getRunway(rwy->
859 requestTimeSlot(eta);
860 arrivalTime = newEta;
862 ((vDescent * SG_NM_TO_METER) / 3600.0) * (newEta - now);
863 //cerr << "Repositioning information : eta" << eta << ". New ETA " << newEta << ". Diff = " << (newEta - eta) << ". Distance = " << tempDistance << ". New distance = " << newDistance << endl;
864 IncrementWaypoint(true); // remove waypoint BOD2
865 while (checkTrackLength("final001") > newDistance) {
866 IncrementWaypoint(true);
868 //cerr << "Repositioning to waypoint " << (*waypoints.begin())->name << endl;
869 ac->resetPositionFromFlightPlan();
871 waypoints[1]->setName( (waypoints[1]->getName() + string("legend")));
876 * compute the distance along the centerline, to the ILS glideslope
877 * transmitter. Return -1 if there's no GS for the runway
879 static double runwayGlideslopeTouchdownDistance(FGRunway* rwy)
881 FGNavRecord* gs = rwy->glideslope();
886 SGVec3d runwayPosCart = SGVec3d::fromGeod(rwy->pointOnCenterline(0.0));
887 // compute a unit vector in ECF cartesian space, from the runway beginning to the end
888 SGVec3d runwayDirectionVec = normalize(SGVec3d::fromGeod(rwy->end()) - runwayPosCart);
889 SGVec3d gsTransmitterVec = gs->cart() - runwayPosCart;
891 // project the gsTransmitterVec along the runwayDirctionVec to get out
892 // final value (in metres)
893 double dist = dot(runwayDirectionVec, gsTransmitterVec);
897 /*******************************************************************
899 * Create a flight path from the "permision to land" point (currently
900 hardcoded at 5000 meters from the threshold) to the threshold, at
901 a standard glide slope angle of 3 degrees.
902 Position : 50.0354 8.52592 384 364 11112
903 ******************************************************************/
904 bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt,
905 const string & fltType)
907 double vTouchdown = ac->getPerformance()->vTouchdown();
908 double vTaxi = ac->getPerformance()->vTaxi();
909 double decel = ac->getPerformance()->deceleration() * 1.4;
910 double vApproach = ac->getPerformance()->vApproach();
912 double vTouchdownMetric = (vTouchdown * SG_NM_TO_METER) / 3600;
913 double vTaxiMetric = (vTaxi * SG_NM_TO_METER) / 3600;
914 double decelMetric = (decel * SG_NM_TO_METER) / 3600;
917 FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
918 assert( rwy != NULL );
919 SGGeod threshold = rwy->threshold();
920 double currElev = threshold.getElevationFt();
922 double touchdownDistance = runwayGlideslopeTouchdownDistance(rwy);
923 if (touchdownDistance < 0.0) {
924 double landingLength = rwy->lengthM() - (rwy->displacedThresholdM());
925 // touchdown 25% of the way along the landing area
926 touchdownDistance = rwy->displacedThresholdM() + (landingLength * 0.25);
930 // find glideslope entry point, 2000' above touchdown elevation
931 double glideslopeEntry = -((2000 * SG_FEET_TO_METER) / tan(3.0)) + touchdownDistance;
932 FGAIWaypoint *wpt = createInAir(ac, "Glideslope begin", rwy->pointOnCenterline(glideslopeEntry),
933 currElev + 2000, vApproach);
934 pushBackWaypoint(wpt);
936 // deceleration point, 500' above touchdown elevation - slow from approach speed
937 // to touchdown speed
938 double decelPoint = -((500 * SG_FEET_TO_METER) / tan(3.0)) + touchdownDistance;
939 wpt = createInAir(ac, "500' decel", rwy->pointOnCenterline(decelPoint),
940 currElev + 2000, vTouchdown);
941 pushBackWaypoint(wpt);
943 // compute elevation above the runway start, based on a 3-degree glideslope
944 double heightAboveRunwayStart = touchdownDistance *
945 tan(3.0 * SG_DEGREES_TO_RADIANS) * SG_METER_TO_FEET;
946 wpt = createInAir(ac, "CrossThreshold", rwy->begin(),
947 heightAboveRunwayStart + currElev, vTouchdown);
948 pushBackWaypoint(wpt);
950 double rolloutDistance = accelDistance(vTouchdownMetric, vTaxiMetric, decelMetric);
953 for (int i = 1; i < nPoints; i++) {
954 snprintf(buffer, 12, "landing03%d", i);
955 double t = ((double) i) / nPoints;
956 coord = rwy->pointOnCenterline(touchdownDistance + (rolloutDistance * t));
957 double vel = (vTouchdownMetric * (1.0 - t)) + (vTaxiMetric * t);
958 wpt = createOnGround(ac, buffer, coord, currElev, vel);
959 wpt->setCrossat(currElev);
960 pushBackWaypoint(wpt);
963 wpt->setSpeed(vTaxi);
964 double mindist = (1.1 * rolloutDistance) + touchdownDistance;
966 FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork();
971 coord = rwy->pointOnCenterline(mindist);
973 if (gn->getVersion() > 0) {
974 nodeId = gn->findNearestNodeOnRunway(coord, rwy);
976 nodeId = gn->findNearestNode(coord);
979 FGTaxiNode* tn = gn->findNode(nodeId);
981 wpt = createOnGround(ac, buffer, tn->geod(), currElev, vTaxi);
982 pushBackWaypoint(wpt);
988 /*******************************************************************
990 * initialize the Aircraft at the parking location
991 ******************************************************************/
992 bool FGAIFlightPlan::createParking(FGAIAircraft * ac, FGAirport * apt,
996 double aptElev = apt->getElevation();
997 double vTaxi = ac->getPerformance()->vTaxi();
998 double vTaxiReduced = vTaxi * (2.0 / 3.0);
999 FGParking* parking = apt->getDynamics()->getParking(gateId);
1001 wpt = createOnGround(ac, "END-Parking", apt->geod(), aptElev,
1003 pushBackWaypoint(wpt);
1008 double heading = SGMiscd::normalizePeriodic(0, 360, parking->getHeading() + 180.0);
1009 double az; // unused
1012 SGGeodesy::direct(parking->geod(), heading, 2.2 * parking->getRadius(),
1015 wpt = createOnGround(ac, "taxiStart", pos, aptElev, vTaxiReduced);
1016 pushBackWaypoint(wpt);
1018 SGGeodesy::direct(parking->geod(), heading, 0.1 * parking->getRadius(),
1020 wpt = createOnGround(ac, "taxiStart2", pos, aptElev, vTaxiReduced);
1021 pushBackWaypoint(wpt);
1023 wpt = createOnGround(ac, "END-Parking", parking->geod(), aptElev,
1025 pushBackWaypoint(wpt);
1031 * @param fltType a string describing the type of
1032 * traffic, normally used for gate assignments
1033 * @return a converted string that gives the runway
1034 * preference schedule to be used at aircraft having
1035 * a preferential runway schedule implemented (i.e.
1036 * having a rwyprefs.xml file
1038 * Currently valid traffic types for gate assignment:
1039 * - gate (commercial gate)
1040 * - cargo (commercial gargo),
1041 * - ga (general aviation) ,
1042 * - ul (ultralight),
1043 * - mil-fighter (military - fighter),
1044 * - mil-transport (military - transport)
1046 * Valid runway classes:
1047 * - com (commercial traffic: jetliners, passenger and cargo)
1048 * - gen (general aviation)
1049 * - ul (ultralight: I can imagine that these may share a runway with ga on some airports)
1050 * - mil (all military traffic)
1052 string FGAIFlightPlan::getRunwayClassFromTrafficType(string fltType)
1054 if ((fltType == "gate") || (fltType == "cargo")) {
1055 return string("com");
1057 if (fltType == "ga") {
1058 return string("gen");
1060 if (fltType == "ul") {
1061 return string("ul");
1063 if ((fltType == "mil-fighter") || (fltType == "mil-transport")) {
1064 return string("mil");
1066 return string("com");
1070 double FGAIFlightPlan::getTurnRadius(double speed, bool inAir)
1073 if (inAir == false) {
1074 turn_radius = ((360 / 30) * fabs(speed)) / (2 * M_PI);
1076 turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank