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 **************************************************************************/
28 #include "AIFlightPlan.hxx"
29 #include <simgear/math/sg_geodesy.hxx>
30 #include <simgear/props/props.hxx>
31 #include <simgear/props/props_io.hxx>
33 #include <Airports/airport.hxx>
34 #include <Airports/runways.hxx>
35 #include <Airports/dynamics.hxx>
36 #include "AIAircraft.hxx"
37 #include "performancedata.hxx"
39 #include <Environment/environment_mgr.hxx>
40 #include <Environment/environment.hxx>
41 #include <FDM/LaRCsim/basic_aero.h>
42 #include <Navaids/navrecord.hxx>
46 /* FGAIFlightPlan::create()
47 * dynamically create a flight plan for AI traffic, based on data provided by the
48 * Traffic Manager, when reading a filed flightplan failes. (DT, 2004/07/10)
50 * This is the top-level function, and the only one that is publicly available.
55 // Check lat/lon values during initialization;
56 bool FGAIFlightPlan::create(FGAIAircraft * ac, FGAirport * dep,
57 FGAirport * arr, int legNr, double alt,
58 double speed, double latitude,
59 double longitude, bool firstFlight,
60 double radius, const string & fltType,
61 const string & aircraftType,
62 const string & airline, double distance)
65 int currWpt = wpt_iterator - waypoints.begin();
68 retVal = createPushBack(ac, firstFlight, dep,
69 radius, fltType, aircraftType, airline);
70 // Pregenerate the taxi leg.
72 // waypoints.back()->setName( waypoints.back()->getName() + string("legend"));
73 // retVal = createTakeoffTaxi(ac, false, dep, radius, fltType, aircraftType, airline);
77 retVal = createTakeoffTaxi(ac, firstFlight, dep, radius, fltType,
78 aircraftType, airline);
81 retVal = createTakeOff(ac, firstFlight, dep, speed, fltType);
84 retVal = createClimb(ac, firstFlight, dep, arr, speed, alt, fltType);
87 retVal = createCruise(ac, firstFlight, dep, arr, latitude, longitude, speed,
91 retVal = createDescent(ac, arr, latitude, longitude, speed, alt, fltType,
95 retVal = createLanding(ac, arr, fltType);
98 retVal = createLandingTaxi(ac, arr, radius, fltType, aircraftType, airline);
101 retVal = createParking(ac, arr, radius);
105 SG_LOG(SG_AI, SG_ALERT,
106 "AIFlightPlan::create() attempting to create unknown leg"
107 " this is probably an internal program error");
110 wpt_iterator = waypoints.begin() + currWpt;
111 //don't increment leg right away, but only once we pass the actual last waypoint that was created.
112 // to do so, mark the last waypoint with a special status flag
114 waypoints.back()->setName( waypoints.back()->getName() + string("legend"));
115 // "It's pronounced Leg-end" (Roger Glover (Deep Purple): come Hell or High Water DvD, 1993)
123 FGAIWaypoint * FGAIFlightPlan::createOnGround(FGAIAircraft * ac,
124 const std::string & aName,
125 const SGGeod & aPos, double aElev,
128 FGAIWaypoint *wpt = new FGAIWaypoint;
129 wpt->setName (aName );
130 wpt->setLongitude (aPos.getLongitudeDeg() );
131 wpt->setLatitude (aPos.getLatitudeDeg() );
132 wpt->setAltitude (aElev );
133 wpt->setSpeed (aSpeed );
134 wpt->setCrossat (-10000.1 );
135 wpt->setGear_down (true );
136 wpt->setFlaps_down (true );
137 wpt->setFinished (false );
138 wpt->setOn_ground (true );
139 wpt->setRouteIndex (0 );
143 FGAIWaypoint * FGAIFlightPlan::createInAir(FGAIAircraft * ac,
144 const std::string & aName,
145 const SGGeod & aPos, double aElev,
148 FGAIWaypoint * wpt = createOnGround(ac, aName, aPos, aElev, aSpeed);
149 wpt->setGear_down (false );
150 wpt->setFlaps_down (false );
151 wpt->setOn_ground (false );
152 wpt->setCrossat (aElev );
156 FGAIWaypoint * FGAIFlightPlan::clone(FGAIWaypoint * aWpt)
158 FGAIWaypoint *wpt = new FGAIWaypoint;
159 wpt->setName ( aWpt->getName () );
160 wpt->setLongitude ( aWpt->getLongitude() );
161 wpt->setLatitude ( aWpt->getLatitude() );
162 wpt->setAltitude ( aWpt->getAltitude() );
163 wpt->setSpeed ( aWpt->getSpeed() );
164 wpt->setCrossat ( aWpt->getCrossat() );
165 wpt->setGear_down ( aWpt->getGear_down() );
166 wpt->setFlaps_down ( aWpt->getFlaps_down() );
167 wpt->setFinished ( aWpt->isFinished() );
168 wpt->setOn_ground ( aWpt->getOn_ground() );
169 wpt->setRouteIndex ( 0 );
175 FGAIWaypoint * FGAIFlightPlan::cloneWithPos(FGAIAircraft * ac, FGAIWaypoint * aWpt,
176 const std::string & aName,
179 FGAIWaypoint *wpt = clone(aWpt);
180 wpt->setName ( aName );
181 wpt->setLongitude ( aPos.getLongitudeDeg () );
182 wpt->setLatitude ( aPos.getLatitudeDeg () );
189 void FGAIFlightPlan::createDefaultTakeoffTaxi(FGAIAircraft * ac,
190 FGAirport * aAirport,
193 SGGeod runwayTakeoff = aRunway->pointOnCenterline(5.0);
194 double airportElev = aAirport->getElevation();
198 createOnGround(ac, "Airport Center", aAirport->geod(), airportElev,
199 ac->getPerformance()->vTaxi());
200 pushBackWaypoint(wpt);
202 createOnGround(ac, "Runway Takeoff", runwayTakeoff, airportElev,
203 ac->getPerformance()->vTaxi());
204 pushBackWaypoint(wpt);
207 bool FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight,
210 const string & fltType,
211 const string & acType,
212 const string & airline)
215 // If this function is called during initialization,
216 // make sure we obtain a valid gate ID first
217 // and place the model at the location of the gate.
220 gate = apt->getDynamics()->getAvailableParking(radius, fltType,
222 if (!gate.isValid()) {
223 SG_LOG(SG_AI, SG_WARN, "Could not find parking for a " <<
225 " of flight type " << fltType <<
226 " of airline " << airline <<
227 " at airport " << apt->getId());
231 const string& rwyClass = getRunwayClassFromTrafficType(fltType);
233 // Only set this if it hasn't been set by ATC already.
234 if (activeRunway.empty()) {
235 //cerr << "Getting runway for " << ac->getTrafficRef()->getCallSign() << " at " << apt->getId() << endl;
236 double depHeading = ac->getTrafficRef()->getCourse();
237 apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
240 FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
241 assert( rwy != NULL );
242 SGGeod runwayTakeoff = rwy->pointOnCenterline(5.0);
244 FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork();
246 createDefaultTakeoffTaxi(ac, apt, rwy);
251 PositionedID runwayId = 0;
252 if (gn->getVersion() > 0) {
253 runwayId = gn->findNearestNodeOnRunway(runwayTakeoff);
255 runwayId = gn->findNearestNode(runwayTakeoff);
258 // A negative gateId indicates an overflow parking, use a
259 // fallback mechanism for this.
260 // Starting from gate 0 in this case is a bit of a hack
261 // which requires a more proper solution later on.
263 // taxiRoute = new FGTaxiRoute;
265 // Determine which node to start from.
266 PositionedID node = 0;
267 // Find out which node to start from
268 FGParking *park = gate.parking();
270 node = park->getPushBackPoint();
273 } else if (node == 0) {
274 // HAndle case where parking doens't have a node
278 node = lastNodeVisited;
283 FGTaxiRoute taxiRoute = gn->findShortestRoute(node, runwayId);
286 if (taxiRoute.empty()) {
287 createDefaultTakeoffTaxi(ac, apt, rwy);
292 //bool isPushBackPoint = false;
294 // If this is called during initialization, randomly
295 // skip a number of waypoints to get a more realistic
297 int nrWaypointsToSkip = rand() % taxiRoute.size();
298 // but make sure we always keep two active waypoints
299 // to prevent a segmentation fault
300 for (int i = 0; i < nrWaypointsToSkip - 3; i++) {
301 taxiRoute.next(&node);
304 gate.release(); // free up our gate as required
306 if (taxiRoute.size() > 1) {
307 taxiRoute.next(&node); // chop off the first waypoint, because that is already the last of the pushback route
311 // push each node on the taxi route as a waypoint
313 //cerr << "Building taxi route" << endl;
314 while (taxiRoute.next(&node)) {
316 snprintf(buffer, 10, "%lld", (long long int) node);
318 apt->getDynamics()->getGroundNetwork()->findNode(node);
320 createOnGround(ac, buffer, tn->geod(), apt->getElevation(),
321 ac->getPerformance()->vTaxi());
322 // wpt->setRouteIndex(route);
323 //cerr << "Nodes left " << taxiRoute->nodesLeft() << " ";
324 if (taxiRoute.nodesLeft() == 1) {
325 // Note that we actually have hold points in the ground network, but this is just an initial test.
326 //cerr << "Setting departurehold point: " << endl;
327 wpt->setName( wpt->getName() + string("DepartureHold"));
329 if (taxiRoute.nodesLeft() == 0) {
330 wpt->setName(wpt->getName() + string("Accel"));
332 pushBackWaypoint(wpt);
334 // Acceleration point, 105 meters into the runway,
335 SGGeod accelPoint = rwy->pointOnCenterline(105.0);
336 FGAIWaypoint *wpt = createOnGround(ac, "accel", accelPoint, apt->getElevation(), ac->getPerformance()->vRotate());
337 pushBackWaypoint(wpt);
339 //cerr << "[done]" << endl;
343 void FGAIFlightPlan::createDefaultLandingTaxi(FGAIAircraft * ac,
344 FGAirport * aAirport)
347 SGGeod::fromDeg(waypoints.back()->getLongitude(),
348 waypoints.back()->getLatitude());
349 double airportElev = aAirport->getElevation();
353 createOnGround(ac, "Runway Exit", lastWptPos, airportElev,
354 ac->getPerformance()->vTaxi());
355 pushBackWaypoint(wpt);
357 createOnGround(ac, "Airport Center", aAirport->geod(), airportElev,
358 ac->getPerformance()->vTaxi());
359 pushBackWaypoint(wpt);
361 if (gate.isValid()) {
362 wpt = createOnGround(ac, "ENDtaxi", gate.parking()->geod(), airportElev,
363 ac->getPerformance()->vTaxi());
364 pushBackWaypoint(wpt);
368 bool FGAIFlightPlan::createLandingTaxi(FGAIAircraft * ac, FGAirport * apt,
370 const string & fltType,
371 const string & acType,
372 const string & airline)
374 gate = apt->getDynamics()->getAvailableParking(radius, fltType,
377 SGGeod lastWptPos = waypoints.back()->getPos();
378 FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork();
380 // Find a route from runway end to parking/gate.
382 createDefaultLandingTaxi(ac, apt);
387 PositionedID runwayId = 0;
388 if (gn->getVersion() == 1) {
389 runwayId = gn->findNearestNodeOnRunway(lastWptPos);
391 runwayId = gn->findNearestNode(lastWptPos);
393 //cerr << "Using network node " << runwayId << endl;
394 // A negative gateId indicates an overflow parking, use a
395 // fallback mechanism for this.
396 // Starting from gate 0 is a bit of a hack...
399 // taxiRoute = new FGTaxiRoute;
400 FGTaxiRoute taxiRoute;
402 taxiRoute = gn->findShortestRoute(runwayId, gate.parking()->guid());
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);
421 snprintf(buffer, 10, "%lld", (long long int) 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 const 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 const 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 const 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);
641 double dAlt = 0; // = alt - (apt->getElevation() + 2000);
643 if (apt->getDynamics()->getGroundNetwork()) {
644 int node = apt->getDynamics()->getGroundNetwork()->findNearestNode(refPoint);
645 tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
649 dAlt = alt - ((tn->getElevationFt()) + 2000);
651 dAlt = alt - (apt->getElevation() + 2000);
654 double nPoints = 100;
657 // The descent path contains the following phases:
658 // 1) a linear glide path from the initial position to
659 // 2) a semi circle turn to final
662 //cerr << "Phase 1: Linear Descent path to runway" << rwy->name() << endl;
663 // Create an initial destination point on a semicircle
664 //cerr << "lateral offset : " << lateralOffset << endl;
665 //cerr << "Distance : " << distance << endl;
666 //cerr << "Azimuth : " << azimuth << endl;
667 //cerr << "Initial Lateral point: " << lateralOffset << endl;
668 // double lat = refPoint.getLatitudeDeg();
669 // double lon = refPoint.getLongitudeDeg();
670 //cerr << "Reference point (" << lat << ", " << lon << ")." << endl;
671 // lat = initialTarget.getLatitudeDeg();
672 // lon = initialTarget.getLongitudeDeg();
673 //cerr << "Initial Target point (" << lat << ", " << lon << ")." << endl;
675 double ratio = initialTurnRadius / distance;
681 double newHeading = asin(ratio) * SG_RADIANS_TO_DEGREES;
683 cos(newHeading * SG_DEGREES_TO_RADIANS) * distance;
684 //cerr << "new distance " << newDistance << ". additional Heading " << newHeading << endl;
685 double side = azimuth - rwy->headingDeg();
686 double lateralOffset = initialTurnRadius;
692 // Calculate the ETA at final, based on remaining distance, and approach speed.
693 // distance should really consist of flying time to terniary target, plus circle
694 // but the distance to secondary target should work as a reasonable approximation
695 // aditionally add the amount of distance covered by making a turn of "side"
696 double turnDistance = (2 * M_PI * initialTurnRadius) * (side / 360.0);
698 (turnDistance + distance) / ((vDescent * SG_NM_TO_METER) / 3600.0);
699 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
700 //if (ac->getTrafficRef()->getCallSign() == fgGetString("/ai/track-callsign")) {
701 // cerr << " Arrival time estimation: turn angle " << side << ". Turn distance " << turnDistance << ". Linear distance " << distance << ". Time to go " << remaining << endl;
705 time_t eta = now + remaining;
706 //choose a distance to the runway such that it will take at least 60 seconds more
707 // time to get there than the previous aircraft.
708 // Don't bother when aircraft need to be repositioned, because that marks the initialization phased...
712 if (reposition == false) {
714 apt->getDynamics()->getApproachController()->getRunway(rwy->
717 requestTimeSlot(eta);
721 //if ((eta < (previousArrivalTime+60)) && (reposition == false)) {
722 arrivalTime = newEta;
723 time_t additionalTimeNeeded = newEta - eta;
724 double distanceCovered =
725 ((vApproach * SG_NM_TO_METER) / 3600.0) * additionalTimeNeeded;
726 distanceOut += distanceCovered;
727 //apt->getDynamics()->getApproachController()->getRunway(rwy->name())->setEstApproachTime(eta+additionalTimeNeeded);
728 //cerr << "Adding additional distance: " << distanceCovered << " to allow " << additionalTimeNeeded << " seconds of flying time" << endl << endl;
730 //apt->getDynamics()->getApproachController()->getRunway(rwy->name())->setEstApproachTime(eta);
732 //cerr << "Timing information : Previous eta: " << previousArrivalTime << ". Current ETA : " << eta << endl;
734 SGGeod secondaryTarget =
735 rwy->pointOffCenterline(-distanceOut, lateralOffset);
736 initialTarget = rwy->pointOnCenterline(-distanceOut);
737 distance = SGGeodesy::distanceM(origin, secondaryTarget);
738 azimuth = SGGeodesy::courseDeg(origin, secondaryTarget);
741 // lat = secondaryTarget.getLatitudeDeg();
742 // lon = secondaryTarget.getLongitudeDeg();
743 //cerr << "Secondary Target point (" << lat << ", " << lon << ")." << endl;
744 //cerr << "Distance : " << distance << endl;
745 //cerr << "Azimuth : " << azimuth << endl;
748 ratio = initialTurnRadius / distance;
753 newHeading = asin(ratio) * SG_RADIANS_TO_DEGREES;
754 newDistance = cos(newHeading * SG_DEGREES_TO_RADIANS) * distance;
755 //cerr << "new distance realative to secondary target: " << newDistance << ". additional Heading " << newHeading << endl;
757 azimuth += newHeading;
759 azimuth -= newHeading;
762 SGGeod tertiaryTarget;
763 SGGeodesy::direct(origin, azimuth,
764 newDistance, tertiaryTarget, dummyAz2);
766 // lat = tertiaryTarget.getLatitudeDeg();
767 // lon = tertiaryTarget.getLongitudeDeg();
768 //cerr << "tertiary Target point (" << lat << ", " << lon << ")." << endl;
771 for (int i = 1; i < nPoints; i++) {
773 double currentDist = i * (newDistance / nPoints);
774 double currentAltitude = alt - (i * (dAlt / nPoints));
775 SGGeodesy::direct(origin, azimuth, currentDist, result, dummyAz2);
776 snprintf(buffer, 16, "descent%03d", i);
777 wpt = createInAir(ac, buffer, result, currentAltitude, vDescent);
778 wpt->setCrossat(currentAltitude);
779 wpt->setTrackLength((newDistance / nPoints));
780 pushBackWaypoint(wpt);
781 //cerr << "Track Length : " << wpt->trackLength;
782 //cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
785 //cerr << "Phase 2: Circle " << endl;
786 double initialAzimuth =
787 SGGeodesy::courseDeg(secondaryTarget, tertiaryTarget);
788 double finalAzimuth =
789 SGGeodesy::courseDeg(secondaryTarget, initialTarget);
791 //cerr << "Angles from secondary target: " << initialAzimuth << " " << finalAzimuth << endl;
792 int increment, startval, endval;
793 // circle right around secondary target if orig of position is to the right of the runway
794 // i.e. use negative angles; else circle leftward and use postivi
797 startval = floor(initialAzimuth);
798 endval = ceil(finalAzimuth);
799 if (endval > startval) {
804 startval = ceil(initialAzimuth);
805 endval = floor(finalAzimuth);
806 if (endval < startval) {
812 //cerr << "creating circle between " << startval << " and " << endval << " using " << increment << endl;
813 //FGTaxiNode * tn = apt->getDynamics()->getGroundNetwork()->findNearestNode(initialTarget);
814 double currentAltitude = 0;
816 currentAltitude = (tn->getElevationFt()) + 2000;
818 currentAltitude = apt->getElevation() + 2000;
821 double trackLength = (2 * M_PI * initialTurnRadius) / 360.0;
822 for (int i = startval; i != endval; i += increment) {
824 //double currentAltitude = apt->getElevation() + 2000;
826 SGGeodesy::direct(secondaryTarget, i,
827 initialTurnRadius, result, dummyAz2);
828 snprintf(buffer, 16, "turn%03d", i);
829 wpt = createInAir(ac, buffer, result, currentAltitude, vDescent);
830 wpt->setCrossat(currentAltitude);
831 wpt->setTrackLength(trackLength);
832 //cerr << "Track Length : " << wpt->trackLength;
833 pushBackWaypoint(wpt);
834 //cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
838 // The approach leg should bring the aircraft to approximately 4-6 nm out, after which the landing phase should take over.
839 //cerr << "Phase 3: Approach" << endl;
841 //cerr << "Done" << endl;
843 // Erase the two bogus BOD points: Note check for conflicts with scripted AI flightPlans
844 IncrementWaypoint(true);
845 IncrementWaypoint(true);
849 //double minDistance = HUGE_VAL;
851 tempDistance = SGGeodesy::distanceM(current, initialTarget);
853 tempDistance / ((vDescent * SG_NM_TO_METER) / 3600.0) + now;
855 apt->getDynamics()->getApproachController()->getRunway(rwy->
858 requestTimeSlot(eta);
859 arrivalTime = newEta;
861 ((vDescent * SG_NM_TO_METER) / 3600.0) * (newEta - now);
862 //cerr << "Repositioning information : eta" << eta << ". New ETA " << newEta << ". Diff = " << (newEta - eta) << ". Distance = " << tempDistance << ". New distance = " << newDistance << endl;
863 IncrementWaypoint(true); // remove waypoint BOD2
864 while (checkTrackLength("final001") > newDistance) {
865 IncrementWaypoint(true);
867 //cerr << "Repositioning to waypoint " << (*waypoints.begin())->name << endl;
868 ac->resetPositionFromFlightPlan();
870 waypoints[1]->setName( (waypoints[1]->getName() + string("legend")));
875 * compute the distance along the centerline, to the ILS glideslope
876 * transmitter. Return -1 if there's no GS for the runway
878 static double runwayGlideslopeTouchdownDistance(FGRunway* rwy)
880 FGNavRecord* gs = rwy->glideslope();
885 SGVec3d runwayPosCart = SGVec3d::fromGeod(rwy->pointOnCenterline(0.0));
886 // compute a unit vector in ECF cartesian space, from the runway beginning to the end
887 SGVec3d runwayDirectionVec = normalize(SGVec3d::fromGeod(rwy->end()) - runwayPosCart);
888 SGVec3d gsTransmitterVec = gs->cart() - runwayPosCart;
890 // project the gsTransmitterVec along the runwayDirctionVec to get out
891 // final value (in metres)
892 double dist = dot(runwayDirectionVec, gsTransmitterVec);
896 /*******************************************************************
898 * Create a flight path from the "permision to land" point (currently
899 hardcoded at 5000 meters from the threshold) to the threshold, at
900 a standard glide slope angle of 3 degrees.
901 Position : 50.0354 8.52592 384 364 11112
902 ******************************************************************/
903 bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt,
904 const string & fltType)
906 double vTouchdown = ac->getPerformance()->vTouchdown();
907 double vTaxi = ac->getPerformance()->vTaxi();
908 double decel = ac->getPerformance()->decelerationOnGround();
909 double vApproach = ac->getPerformance()->vApproach();
911 double vTouchdownMetric = vTouchdown * SG_KT_TO_MPS;
912 double vTaxiMetric = vTaxi * SG_KT_TO_MPS;
913 double decelMetric = decel * SG_KT_TO_MPS;
916 FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
917 assert( rwy != NULL );
918 SGGeod threshold = rwy->threshold();
919 double currElev = threshold.getElevationFt();
921 double touchdownDistance = runwayGlideslopeTouchdownDistance(rwy);
922 if (touchdownDistance < 0.0) {
923 double landingLength = rwy->lengthM() - (rwy->displacedThresholdM());
924 // touchdown 25% of the way along the landing area
925 touchdownDistance = rwy->displacedThresholdM() + (landingLength * 0.25);
929 // find glideslope entry point, 2000' above touchdown elevation
930 double glideslopeEntry = -((2000 * SG_FEET_TO_METER) / tan(3.0)) + touchdownDistance;
931 FGAIWaypoint *wpt = createInAir(ac, "Glideslope begin", rwy->pointOnCenterline(glideslopeEntry),
932 currElev + 2000, vApproach);
933 pushBackWaypoint(wpt);
935 // deceleration point, 500' above touchdown elevation - slow from approach speed
936 // to touchdown speed
937 double decelPoint = -((500 * SG_FEET_TO_METER) / tan(3.0)) + touchdownDistance;
938 wpt = createInAir(ac, "500' decel", rwy->pointOnCenterline(decelPoint),
939 currElev + 2000, vTouchdown);
940 pushBackWaypoint(wpt);
942 // compute elevation above the runway start, based on a 3-degree glideslope
943 double heightAboveRunwayStart = touchdownDistance *
944 tan(3.0 * SG_DEGREES_TO_RADIANS) * SG_METER_TO_FEET;
945 wpt = createInAir(ac, "CrossThreshold", rwy->begin(),
946 heightAboveRunwayStart + currElev, vTouchdown);
947 pushBackWaypoint(wpt);
949 double rolloutDistance = accelDistance(vTouchdownMetric, vTaxiMetric, decelMetric);
952 for (int i = 1; i < nPoints; i++) {
953 snprintf(buffer, 12, "landing03%d", i);
954 double t = ((double) i) / nPoints;
955 coord = rwy->pointOnCenterline(touchdownDistance + (rolloutDistance * t));
956 double vel = (vTouchdownMetric * (1.0 - t)) + (vTaxiMetric * t);
957 wpt = createOnGround(ac, buffer, coord, currElev, vel);
958 wpt->setCrossat(currElev);
959 pushBackWaypoint(wpt);
962 wpt->setSpeed(vTaxi);
963 double mindist = (1.1 * rolloutDistance) + touchdownDistance;
965 FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork();
970 coord = rwy->pointOnCenterline(mindist);
972 if (gn->getVersion() > 0) {
973 nodeId = gn->findNearestNodeOnRunway(coord, rwy);
975 nodeId = gn->findNearestNode(coord);
978 FGTaxiNode* tn = gn->findNode(nodeId);
980 wpt = createOnGround(ac, buffer, tn->geod(), currElev, vTaxi);
981 pushBackWaypoint(wpt);
987 /*******************************************************************
989 * initialize the Aircraft at the parking location
990 ******************************************************************/
991 bool FGAIFlightPlan::createParking(FGAIAircraft * ac, FGAirport * apt,
995 double aptElev = apt->getElevation();
996 double vTaxi = ac->getPerformance()->vTaxi();
997 double vTaxiReduced = vTaxi * (2.0 / 3.0);
998 if (!gate.isValid()) {
999 wpt = createOnGround(ac, "END-Parking", apt->geod(), aptElev,
1001 pushBackWaypoint(wpt);
1005 FGParking* parking = gate.parking();
1006 double heading = SGMiscd::normalizePeriodic(0, 360, parking->getHeading() + 180.0);
1007 double az; // unused
1010 SGGeodesy::direct(parking->geod(), heading, 2.2 * parking->getRadius(),
1013 wpt = createOnGround(ac, "taxiStart", pos, aptElev, vTaxiReduced);
1014 pushBackWaypoint(wpt);
1016 SGGeodesy::direct(parking->geod(), heading, 0.1 * parking->getRadius(),
1018 wpt = createOnGround(ac, "taxiStart2", pos, aptElev, vTaxiReduced);
1019 pushBackWaypoint(wpt);
1021 wpt = createOnGround(ac, "END-Parking", parking->geod(), aptElev,
1023 pushBackWaypoint(wpt);
1029 * @param fltType a string describing the type of
1030 * traffic, normally used for gate assignments
1031 * @return a converted string that gives the runway
1032 * preference schedule to be used at aircraft having
1033 * a preferential runway schedule implemented (i.e.
1034 * having a rwyprefs.xml file
1036 * Currently valid traffic types for gate assignment:
1037 * - gate (commercial gate)
1038 * - cargo (commercial gargo),
1039 * - ga (general aviation) ,
1040 * - ul (ultralight),
1041 * - mil-fighter (military - fighter),
1042 * - mil-transport (military - transport)
1044 * Valid runway classes:
1045 * - com (commercial traffic: jetliners, passenger and cargo)
1046 * - gen (general aviation)
1047 * - ul (ultralight: I can imagine that these may share a runway with ga on some airports)
1048 * - mil (all military traffic)
1050 const char* FGAIFlightPlan::getRunwayClassFromTrafficType(const string& fltType)
1052 if ((fltType == "gate") || (fltType == "cargo")) {
1055 if (fltType == "ga") {
1058 if (fltType == "ul") {
1061 if ((fltType == "mil-fighter") || (fltType == "mil-transport")) {
1068 double FGAIFlightPlan::getTurnRadius(double speed, bool inAir)
1071 if (inAir == false) {
1072 turn_radius = ((360 / 30) * fabs(speed)) / (2 * M_PI);
1074 turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank