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