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 **************************************************************************/
26 #include "AIFlightPlan.hxx"
27 #include <simgear/math/sg_geodesy.hxx>
28 #include <simgear/props/props.hxx>
29 #include <simgear/props/props_io.hxx>
31 #include <Airports/simple.hxx>
32 #include <Airports/runways.hxx>
33 #include <Airports/dynamics.hxx>
34 #include "AIAircraft.hxx"
35 #include "performancedata.hxx"
37 #include <Environment/environment_mgr.hxx>
38 #include <Environment/environment.hxx>
41 /* FGAIFlightPlan::create()
42 * dynamically create a flight plan for AI traffic, based on data provided by the
43 * Traffic Manager, when reading a filed flightplan failes. (DT, 2004/07/10)
45 * This is the top-level function, and the only one that is publicly available.
50 // Check lat/lon values during initialization;
51 bool FGAIFlightPlan::create(FGAIAircraft * ac, FGAirport * dep,
52 FGAirport * arr, int legNr, double alt,
53 double speed, double latitude,
54 double longitude, bool firstFlight,
55 double radius, const string & fltType,
56 const string & aircraftType,
57 const string & airline, double distance)
60 int currWpt = wpt_iterator - waypoints.begin();
63 retVal = createPushBack(ac, firstFlight, dep, latitude, longitude,
64 radius, fltType, aircraftType, airline);
67 retVal = createTakeoffTaxi(ac, firstFlight, dep, radius, fltType,
68 aircraftType, airline);
71 retVal = createTakeOff(ac, firstFlight, dep, speed, fltType);
74 retVal = createClimb(ac, firstFlight, dep, speed, alt, fltType);
77 retVal = createCruise(ac, firstFlight, dep, arr, latitude, longitude, speed,
81 retVal = createDescent(ac, arr, latitude, longitude, speed, alt, fltType,
85 retVal = createLanding(ac, arr, fltType);
88 retVal = createLandingTaxi(ac, arr, radius, fltType, aircraftType, airline);
91 retVal = createParking(ac, arr, radius);
95 SG_LOG(SG_INPUT, SG_ALERT,
96 "AIFlightPlan::create() attempting to create unknown leg"
97 " this is probably an internal program error");
99 wpt_iterator = waypoints.begin() + currWpt;
100 //don't increment leg right away, but only once we pass the actual last waypoint that was created.
101 // to do so, mark the last waypoint with a special status flag
103 waypoints.back()->setName( waypoints.back()->getName() + string("legend"));
104 // "It's pronounced Leg-end" (Roger Glover (Deep Purple): come Hell or High Water DvD, 1993)
112 FGAIWaypoint * FGAIFlightPlan::createOnGround(FGAIAircraft * ac,
113 const std::string & aName,
114 const SGGeod & aPos, double aElev,
117 FGAIWaypoint *wpt = new FGAIWaypoint;
118 wpt->setName (aName );
119 wpt->setLongitude (aPos.getLongitudeDeg() );
120 wpt->setLatitude (aPos.getLatitudeDeg() );
121 wpt->setAltitude (aElev );
122 wpt->setSpeed (aSpeed );
123 wpt->setCrossat (-10000.1 );
124 wpt->setGear_down (true );
125 wpt->setFlaps_down (true );
126 wpt->setFinished (false );
127 wpt->setOn_ground (true );
128 wpt->setRouteIndex (0 );
132 FGAIWaypoint * FGAIFlightPlan::createInAir(FGAIAircraft * ac,
133 const std::string & aName,
134 const SGGeod & aPos, double aElev,
137 FGAIWaypoint * wpt = createOnGround(ac, aName, aPos, aElev, aSpeed);
138 wpt->setGear_down (false );
139 wpt->setFlaps_down (false );
140 wpt->setOn_ground (false );
144 FGAIWaypoint * FGAIFlightPlan::clone(FGAIWaypoint * aWpt)
146 FGAIWaypoint *wpt = new FGAIWaypoint;
147 wpt->setName ( aWpt->getName () );
148 wpt->setLongitude ( aWpt->getLongitude() );
149 wpt->setLatitude ( aWpt->getLatitude() );
150 wpt->setAltitude ( aWpt->getAltitude() );
151 wpt->setSpeed ( aWpt->getSpeed() );
152 wpt->setCrossat ( aWpt->getCrossat() );
153 wpt->setGear_down ( aWpt->getGear_down() );
154 wpt->setFlaps_down ( aWpt->getFlaps_down() );
155 wpt->setFinished ( aWpt->isFinished() );
156 wpt->setOn_ground ( aWpt->getOn_ground() );
157 wpt->setRouteIndex ( 0 );
163 FGAIWaypoint * FGAIFlightPlan::cloneWithPos(FGAIAircraft * ac, FGAIWaypoint * aWpt,
164 const std::string & aName,
167 FGAIWaypoint *wpt = clone(aWpt);
168 wpt->setName ( aName );
169 wpt->setLongitude ( aPos.getLongitudeDeg () );
170 wpt->setLatitude ( aPos.getLatitudeDeg () );
177 void FGAIFlightPlan::createDefaultTakeoffTaxi(FGAIAircraft * ac,
178 FGAirport * aAirport,
181 SGGeod runwayTakeoff = aRunway->pointOnCenterline(5.0);
182 double airportElev = aAirport->getElevation();
186 createOnGround(ac, "Airport Center", aAirport->geod(), airportElev,
187 ac->getPerformance()->vTaxi());
188 waypoints.push_back(wpt);
190 createOnGround(ac, "Runway Takeoff", runwayTakeoff, airportElev,
191 ac->getPerformance()->vTaxi());
192 waypoints.push_back(wpt);
195 bool FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight,
198 const string & fltType,
199 const string & acType,
200 const string & airline)
202 double heading, lat, lon;
204 // If this function is called during initialization,
205 // make sure we obtain a valid gate ID first
206 // and place the model at the location of the gate.
208 if (!(apt->getDynamics()->getAvailableParking(&lat, &lon,
212 SG_LOG(SG_INPUT, SG_WARN, "Could not find parking for a " <<
214 " of flight type " << fltType <<
215 " of airline " << airline <<
216 " at airport " << apt->getId());
220 string rwyClass = getRunwayClassFromTrafficType(fltType);
222 // Only set this if it hasn't been set by ATC already.
223 if (activeRunway.empty()) {
224 //cerr << "Getting runway for " << ac->getTrafficRef()->getCallSign() << " at " << apt->getId() << endl;
225 double depHeading = ac->getTrafficRef()->getCourse();
226 apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
229 FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
230 assert( rwy != NULL );
231 SGGeod runwayTakeoff = rwy->pointOnCenterline(5.0);
233 FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork();
235 createDefaultTakeoffTaxi(ac, apt, rwy);
240 int runwayId = gn->findNearestNode(runwayTakeoff);
242 // A negative gateId indicates an overflow parking, use a
243 // fallback mechanism for this.
244 // Starting from gate 0 in this case is a bit of a hack
245 // which requires a more proper solution later on.
247 taxiRoute = new FGTaxiRoute;
249 // Determine which node to start from.
251 // Find out which node to start from
252 FGParking *park = apt->getDynamics()->getParking(gateId);
254 node = park->getPushBackPoint();
260 // HAndle case where parking doens't have a node
261 if ((node == 0) && park) {
265 node = lastNodeVisited;
269 *taxiRoute = gn->findShortestRoute(node, runwayId);
272 if (taxiRoute->empty()) {
273 createDefaultTakeoffTaxi(ac, apt, rwy);
278 //bool isPushBackPoint = false;
280 // If this is called during initialization, randomly
281 // skip a number of waypoints to get a more realistic
283 int nrWaypointsToSkip = rand() % taxiRoute->size();
284 // but make sure we always keep two active waypoints
285 // to prevent a segmentation fault
286 for (int i = 0; i < nrWaypointsToSkip - 3; i++) {
287 taxiRoute->next(&node);
289 apt->getDynamics()->releaseParking(gateId);
291 if (taxiRoute->size() > 1) {
292 taxiRoute->next(&node); // chop off the first waypoint, because that is already the last of the pushback route
296 // push each node on the taxi route as a waypoint
298 //cerr << "Building taxi route" << endl;
299 while (taxiRoute->next(&node, &route)) {
301 snprintf(buffer, 10, "%d", node);
303 apt->getDynamics()->getGroundNetwork()->findNode(node);
305 createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(),
306 ac->getPerformance()->vTaxi());
307 wpt->setRouteIndex(route);
308 //cerr << "Nodes left " << taxiRoute->nodesLeft() << " ";
309 if (taxiRoute->nodesLeft() == 1) {
310 // Note that we actually have hold points in the ground network, but this is just an initial test.
311 //cerr << "Setting departurehold point: " << endl;
312 wpt->setName( wpt->getName() + string("DepartureHold"));
314 waypoints.push_back(wpt);
316 // Acceleration point, 105 meters into the runway,
317 SGGeod accelPoint = rwy->pointOnCenterline(105.0);
318 FGAIWaypoint *wpt = createOnGround(ac, "accel", accelPoint, apt->getElevation(), ac->getPerformance()->vRotate());
319 waypoints.push_back(wpt);
321 //cerr << "[done]" << endl;
325 void FGAIFlightPlan::createDefaultLandingTaxi(FGAIAircraft * ac,
326 FGAirport * aAirport)
329 SGGeod::fromDeg(waypoints.back()->getLongitude(),
330 waypoints.back()->getLatitude());
331 double airportElev = aAirport->getElevation();
335 createOnGround(ac, "Runway Exit", lastWptPos, airportElev,
336 ac->getPerformance()->vTaxi());
337 waypoints.push_back(wpt);
339 createOnGround(ac, "Airport Center", aAirport->geod(), airportElev,
340 ac->getPerformance()->vTaxi());
341 waypoints.push_back(wpt);
343 double heading, lat, lon;
344 aAirport->getDynamics()->getParking(gateId, &lat, &lon, &heading);
346 createOnGround(ac, "END", SGGeod::fromDeg(lon, lat), airportElev,
347 ac->getPerformance()->vTaxi());
348 waypoints.push_back(wpt);
351 bool FGAIFlightPlan::createLandingTaxi(FGAIAircraft * ac, FGAirport * apt,
353 const string & fltType,
354 const string & acType,
355 const string & airline)
357 double heading, lat, lon;
358 apt->getDynamics()->getAvailableParking(&lat, &lon, &heading,
359 &gateId, radius, fltType,
363 SGGeod::fromDeg(waypoints.back()->getLongitude(),
364 waypoints.back()->getLatitude());
365 FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork();
367 // Find a route from runway end to parking/gate.
369 createDefaultLandingTaxi(ac, apt);
374 int runwayId = gn->findNearestNode(lastWptPos);
375 // A negative gateId indicates an overflow parking, use a
376 // fallback mechanism for this.
377 // Starting from gate 0 is a bit of a hack...
380 taxiRoute = new FGTaxiRoute;
382 *taxiRoute = gn->findShortestRoute(runwayId, gateId);
384 *taxiRoute = gn->findShortestRoute(runwayId, 0);
387 if (taxiRoute->empty()) {
388 createDefaultLandingTaxi(ac, apt);
394 int size = taxiRoute->size();
395 // Omit the last two waypoints, as
396 // those are created by createParking()
398 for (int i = 0; i < size - 2; i++) {
399 taxiRoute->next(&node, &route);
401 snprintf(buffer, 10, "%d", node);
402 FGTaxiNode *tn = gn->findNode(node);
404 createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(),
405 ac->getPerformance()->vTaxi());
406 wpt->setRouteIndex(route);
407 waypoints.push_back(wpt);
412 /*******************************************************************
415 * - Speed -> knots -> nm/hour
416 * - distance along runway =-> meters
417 * - accel / decel -> is given as knots/hour, but this is highly questionable:
418 * for a jet_transport performance class, a accel / decel rate of 5 / 2 is
419 * given respectively. According to performance data.cxx, a value of kts / second seems
420 * more likely however.
422 ******************************************************************/
423 bool FGAIFlightPlan::createTakeOff(FGAIAircraft * ac, bool firstFlight,
424 FGAirport * apt, double speed,
425 const string & fltType)
427 double accel = ac->getPerformance()->acceleration();
428 double vTaxi = ac->getPerformance()->vTaxi();
429 double vRotate = ac->getPerformance()->vRotate();
430 double vTakeoff = ac->getPerformance()->vTakeoff();
431 //double vClimb = ac->getPerformance()->vClimb();
433 double accelMetric = (accel * SG_NM_TO_METER) / 3600;
434 double vTaxiMetric = (vTaxi * SG_NM_TO_METER) / 3600;
435 double vRotateMetric = (vRotate * SG_NM_TO_METER) / 3600;
436 double vTakeoffMetric = (vTakeoff * SG_NM_TO_METER) / 3600;
437 //double vClimbMetric = (vClimb * SG_NM_TO_METER) / 3600;
438 // Acceleration = dV / dT
439 // Acceleration X dT = dV
440 // dT = dT / Acceleration
441 //d = (Vf^2 - Vo^2) / (2*a)
442 //double accelTime = (vRotate - vTaxi) / accel;
443 //cerr << "Using " << accelTime << " as total acceleration time" << endl;
444 double accelDistance =
445 (vRotateMetric * vRotateMetric -
446 vTaxiMetric * vTaxiMetric) / (2 * accelMetric);
447 //cerr << "Using " << accelDistance << " " << accelMetric << " " << vRotateMetric << endl;
449 // Get the current active runway, based on code from David Luff
450 // This should actually be unified and extended to include
451 // Preferential runway use schema's
452 // NOTE: DT (2009-01-18: IIRC, this is currently already the case,
453 // because the getActive runway function takes care of that.
455 string rwyClass = getRunwayClassFromTrafficType(fltType);
456 double heading = ac->getTrafficRef()->getCourse();
457 apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
460 FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
461 assert( rwy != NULL );
463 double airportElev = apt->getElevation();
467 (vTakeoffMetric * vTakeoffMetric -
468 vTaxiMetric * vTaxiMetric) / (2 * accelMetric);
469 //cerr << "Using " << accelDistance << " " << accelMetric << " " << vTakeoffMetric << endl;
470 SGGeod accelPoint = rwy->pointOnCenterline(105.0 + accelDistance);
471 wpt = createOnGround(ac, "rotate", accelPoint, airportElev, vTakeoff);
472 waypoints.push_back(wpt);
475 ((vTakeoffMetric * 1.1) * (vTakeoffMetric * 1.1) -
476 vTaxiMetric * vTaxiMetric) / (2 * accelMetric);
477 //cerr << "Using " << accelDistance << " " << accelMetric << " " << vTakeoffMetric << endl;
478 accelPoint = rwy->pointOnCenterline(105.0 + accelDistance);
480 createOnGround(ac, "rotate", accelPoint, airportElev + 1000,
482 wpt->setOn_ground(false);
483 waypoints.push_back(wpt);
485 wpt = cloneWithPos(ac, wpt, "3000 ft", rwy->end());
486 wpt->setAltitude(airportElev + 3000);
487 waypoints.push_back(wpt);
489 // Finally, add two more waypoints, so that aircraft will remain under
490 // Tower control until they have reached the 3000 ft climb point
491 SGGeod pt = rwy->pointOnCenterline(5000 + rwy->lengthM() * 0.5);
492 wpt = cloneWithPos(ac, wpt, "5000 ft", pt);
493 wpt->setAltitude(airportElev + 5000);
494 waypoints.push_back(wpt);
498 /*******************************************************************
500 * initialize the Aircraft at the parking location
501 ******************************************************************/
502 bool FGAIFlightPlan::createClimb(FGAIAircraft * ac, bool firstFlight,
503 FGAirport * apt, double speed, double alt,
504 const string & fltType)
507 // bool planLoaded = false;
509 double vClimb = ac->getPerformance()->vClimb();
512 string rwyClass = getRunwayClassFromTrafficType(fltType);
513 double heading = ac->getTrafficRef()->getCourse();
514 apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
518 for (wpt_vector_iterator i = sid->getFirstWayPoint();
519 i != sid->getLastWayPoint(); i++) {
520 waypoints.push_back(clone(*(i)));
521 //cerr << " Cloning waypoint " << endl;
524 FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
525 assert( rwy != NULL );
527 SGGeod climb1 = rwy->pointOnCenterline(10 * SG_NM_TO_METER);
528 wpt = createInAir(ac, "10000ft climb", climb1, vClimb, 10000);
529 wpt->setGear_down(true);
530 wpt->setFlaps_down(true);
531 waypoints.push_back(wpt);
533 SGGeod climb2 = rwy->pointOnCenterline(20 * SG_NM_TO_METER);
534 wpt = cloneWithPos(ac, wpt, "18000ft climb", climb2);
535 wpt->setAltitude(18000);
536 waypoints.push_back(wpt);
543 /*******************************************************************
545 * Generate a flight path from the last waypoint of the cruise to
546 * the permission to land point
547 ******************************************************************/
548 bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
549 double latitude, double longitude,
550 double speed, double alt,
551 const string & fltType,
552 double requiredDistance)
554 bool reposition = false;
556 double vDescent = ac->getPerformance()->vDescent();
557 double vApproach = ac->getPerformance()->vApproach();
560 //Beginning of Descent
561 string rwyClass = getRunwayClassFromTrafficType(fltType);
562 double heading = ac->getTrafficRef()->getCourse();
563 apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway,
565 FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
566 assert( rwy != NULL );
568 // Create a slow descent path that ends 250 lateral to the runway.
569 double initialTurnRadius = getTurnRadius(vDescent, true);
570 //double finalTurnRadius = getTurnRadius(vApproach, true);
572 // get length of the downwind leg for the intended runway
573 double distanceOut = apt->getDynamics()->getApproachController()->getRunway(rwy->name())->getApproachDistance(); //12 * SG_NM_TO_METER;
574 //time_t previousArrivalTime= apt->getDynamics()->getApproachController()->getRunway(rwy->name())->getEstApproachTime();
577 SGGeod current = SGGeod::fromDegM(longitude, latitude, 0);
578 SGGeod initialTarget = rwy->pointOnCenterline(-distanceOut);
579 SGGeod refPoint = rwy->pointOnCenterline(0);
580 double distance = SGGeodesy::distanceM(current, initialTarget);
581 double azimuth = SGGeodesy::courseDeg(current, initialTarget);
584 // To prevent absurdly steep approaches, compute the origin from where the approach should have started
587 if (ac->getTrafficRef()->getCallSign() ==
588 fgGetString("/ai/track-callsign")) {
589 //cerr << "Reposition information: Actual distance " << distance << ". required distance " << requiredDistance << endl;
593 if (distance < requiredDistance * 0.8) {
595 SGGeodesy::direct(initialTarget, azimuth,
596 -requiredDistance, origin, dummyAz2);
598 distance = SGGeodesy::distanceM(current, initialTarget);
599 azimuth = SGGeodesy::courseDeg(current, initialTarget);
605 double dAlt = alt - (apt->getElevation() + 2000);
607 double nPoints = 100;
611 // The descent path contains the following phases:
612 // 1) a linear glide path from the initial position to
613 // 2) a semi circle turn to final
616 //cerr << "Phase 1: Linear Descent path to runway" << rwy->name() << endl;
617 // Create an initial destination point on a semicircle
618 //cerr << "lateral offset : " << lateralOffset << endl;
619 //cerr << "Distance : " << distance << endl;
620 //cerr << "Azimuth : " << azimuth << endl;
621 //cerr << "Initial Lateral point: " << lateralOffset << endl;
622 double lat = refPoint.getLatitudeDeg();
623 double lon = refPoint.getLongitudeDeg();
624 //cerr << "Reference point (" << lat << ", " << lon << ")." << endl;
625 lat = initialTarget.getLatitudeDeg();
626 lon = initialTarget.getLongitudeDeg();
627 //cerr << "Initial Target point (" << lat << ", " << lon << ")." << endl;
629 double ratio = initialTurnRadius / distance;
635 double newHeading = asin(ratio) * SG_RADIANS_TO_DEGREES;
637 cos(newHeading * SG_DEGREES_TO_RADIANS) * distance;
638 //cerr << "new distance " << newDistance << ". additional Heading " << newHeading << endl;
639 double side = azimuth - rwy->headingDeg();
640 double lateralOffset = initialTurnRadius;
646 // Calculate the ETA at final, based on remaining distance, and approach speed.
647 // distance should really consist of flying time to terniary target, plus circle
648 // but the distance to secondary target should work as a reasonable approximation
649 // aditionally add the amount of distance covered by making a turn of "side"
650 double turnDistance = (2 * M_PI * initialTurnRadius) * (side / 360.0);
652 (turnDistance + distance) / ((vDescent * SG_NM_TO_METER) / 3600.0);
653 time_t now = time(NULL) + fgGetLong("/sim/time/warp");
654 //if (ac->getTrafficRef()->getCallSign() == fgGetString("/ai/track-callsign")) {
655 // cerr << " Arrival time estimation: turn angle " << side << ". Turn distance " << turnDistance << ". Linear distance " << distance << ". Time to go " << remaining << endl;
659 time_t eta = now + remaining;
660 //choose a distance to the runway such that it will take at least 60 seconds more
661 // time to get there than the previous aircraft.
662 // Don't bother when aircraft need to be repositioned, because that marks the initialization phased...
666 if (reposition == false) {
668 apt->getDynamics()->getApproachController()->getRunway(rwy->
671 requestTimeSlot(eta);
675 //if ((eta < (previousArrivalTime+60)) && (reposition == false)) {
676 arrivalTime = newEta;
677 time_t additionalTimeNeeded = newEta - eta;
678 double distanceCovered =
679 ((vApproach * SG_NM_TO_METER) / 3600.0) * additionalTimeNeeded;
680 distanceOut += distanceCovered;
681 //apt->getDynamics()->getApproachController()->getRunway(rwy->name())->setEstApproachTime(eta+additionalTimeNeeded);
682 //cerr << "Adding additional distance: " << distanceCovered << " to allow " << additionalTimeNeeded << " seconds of flying time" << endl << endl;
684 //apt->getDynamics()->getApproachController()->getRunway(rwy->name())->setEstApproachTime(eta);
686 //cerr << "Timing information : Previous eta: " << previousArrivalTime << ". Current ETA : " << eta << endl;
688 SGGeod secondaryTarget =
689 rwy->pointOffCenterline(-distanceOut, lateralOffset);
690 initialTarget = rwy->pointOnCenterline(-distanceOut);
691 distance = SGGeodesy::distanceM(origin, secondaryTarget);
692 azimuth = SGGeodesy::courseDeg(origin, secondaryTarget);
695 lat = secondaryTarget.getLatitudeDeg();
696 lon = secondaryTarget.getLongitudeDeg();
697 //cerr << "Secondary Target point (" << lat << ", " << lon << ")." << endl;
698 //cerr << "Distance : " << distance << endl;
699 //cerr << "Azimuth : " << azimuth << endl;
702 ratio = initialTurnRadius / distance;
707 newHeading = asin(ratio) * SG_RADIANS_TO_DEGREES;
708 newDistance = cos(newHeading * SG_DEGREES_TO_RADIANS) * distance;
709 //cerr << "new distance realative to secondary target: " << newDistance << ". additional Heading " << newHeading << endl;
711 azimuth += newHeading;
713 azimuth -= newHeading;
716 SGGeod tertiaryTarget;
717 SGGeodesy::direct(origin, azimuth,
718 newDistance, tertiaryTarget, dummyAz2);
720 lat = tertiaryTarget.getLatitudeDeg();
721 lon = tertiaryTarget.getLongitudeDeg();
722 //cerr << "tertiary Target point (" << lat << ", " << lon << ")." << endl;
725 for (int i = 1; i < nPoints; i++) {
727 double currentDist = i * (newDistance / nPoints);
728 double currentAltitude = alt - (i * (dAlt / nPoints));
729 SGGeodesy::direct(origin, azimuth, currentDist, result, dummyAz2);
730 snprintf(buffer, 16, "descent%03d", i);
731 wpt = createInAir(ac, buffer, result, currentAltitude, vDescent);
732 wpt->setCrossat(currentAltitude);
733 wpt->setTrackLength((newDistance / nPoints));
734 waypoints.push_back(wpt);
735 //cerr << "Track Length : " << wpt->trackLength;
736 //cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
739 //cerr << "Phase 2: Circle " << endl;
740 double initialAzimuth =
741 SGGeodesy::courseDeg(secondaryTarget, tertiaryTarget);
742 double finalAzimuth =
743 SGGeodesy::courseDeg(secondaryTarget, initialTarget);
745 //cerr << "Angles from secondary target: " << initialAzimuth << " " << finalAzimuth << endl;
746 int increment, startval, endval;
747 // circle right around secondary target if orig of position is to the right of the runway
748 // i.e. use negative angles; else circle leftward and use postivi
751 startval = floor(initialAzimuth);
752 endval = ceil(finalAzimuth);
753 if (endval > startval) {
758 startval = ceil(initialAzimuth);
759 endval = floor(finalAzimuth);
760 if (endval < startval) {
766 //cerr << "creating circle between " << startval << " and " << endval << " using " << increment << endl;
767 double trackLength = (2 * M_PI * initialTurnRadius) / 360.0;
768 for (int i = startval; i != endval; i += increment) {
770 double currentAltitude = apt->getElevation() + 2000;
771 SGGeodesy::direct(secondaryTarget, i,
772 initialTurnRadius, result, dummyAz2);
773 snprintf(buffer, 16, "turn%03d", i);
774 wpt = createInAir(ac, buffer, result, currentAltitude, vDescent);
775 wpt->setCrossat(currentAltitude);
776 wpt->setTrackLength(trackLength);
777 //cerr << "Track Length : " << wpt->trackLength;
778 waypoints.push_back(wpt);
779 //cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
783 // The approach leg should bring the aircraft to approximately 4-6 out, after which the landing phase should take over.
784 //cerr << "Phase 3: Approach" << endl;
785 distanceOut -= distanceCovered;
786 for (int i = 1; i < nPoints; i++) {
788 double currentDist = i * (distanceOut / nPoints);
789 double currentAltitude =
790 apt->getElevation() + 2000 - (i * 2000 / nPoints);
791 snprintf(buffer, 16, "final%03d", i);
792 result = rwy->pointOnCenterline((-distanceOut) + currentDist);
793 wpt = createInAir(ac, buffer, result, currentAltitude, vApproach);
794 wpt->setCrossat(currentAltitude);
795 wpt->setTrackLength((distanceOut / nPoints));
796 // account for the extra distance due to an extended downwind leg
798 wpt->setTrackLength(wpt->getTrackLength() + distanceCovered);
800 //cerr << "Track Length : " << wpt->trackLength;
801 waypoints.push_back(wpt);
802 //cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
805 //cerr << "Done" << endl;
807 // Erase the two bogus BOD points: Note check for conflicts with scripted AI flightPlans
808 IncrementWaypoint(true);
809 IncrementWaypoint(true);
813 //double minDistance = HUGE_VAL;
815 tempDistance = SGGeodesy::distanceM(current, initialTarget);
817 tempDistance / ((vDescent * SG_NM_TO_METER) / 3600.0) + now;
819 apt->getDynamics()->getApproachController()->getRunway(rwy->
822 requestTimeSlot(eta);
823 arrivalTime = newEta;
825 ((vDescent * SG_NM_TO_METER) / 3600.0) * (newEta - now);
826 //cerr << "Repositioning information : eta" << eta << ". New ETA " << newEta << ". Diff = " << (newEta - eta) << ". Distance = " << tempDistance << ". New distance = " << newDistance << endl;
827 IncrementWaypoint(true); // remove waypoint BOD2
828 while (checkTrackLength("final001") > newDistance) {
829 IncrementWaypoint(true);
831 //cerr << "Repositioning to waypoint " << (*waypoints.begin())->name << endl;
832 ac->resetPositionFromFlightPlan();
834 waypoints[1]->setName( (waypoints[1]->getName() + string("legend")));
838 /*******************************************************************
840 * Create a flight path from the "permision to land" point (currently
841 hardcoded at 5000 meters from the threshold) to the threshold, at
842 a standard glide slope angle of 3 degrees.
843 ******************************************************************/
844 bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt,
845 const string & fltType)
847 double vTouchdown = ac->getPerformance()->vTouchdown();
848 //double vTaxi = ac->getPerformance()->vTaxi();
850 //string rwyClass = getRunwayClassFromTrafficType(fltType);
851 //double heading = ac->getTrafficRef()->getCourse();
852 //apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway, heading);
853 //rwy = apt->getRunwayByIdent(activeRunway);
857 double aptElev = apt->getElevation();
861 for (int i = 1; i < 10; i++) {
862 snprintf(buffer, 12, "wpt%d", i);
863 FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
864 assert( rwy != NULL );
866 coord = rwy->pointOnCenterline(rwy->lengthM() * (i / 10.0));
867 wpt = createOnGround(ac, buffer, coord, aptElev, (vTouchdown / i));
868 wpt->setCrossat(apt->getElevation());
869 waypoints.push_back(wpt);
874 wpt = createOnGround(ac, "Threshold", rwy->threshold(), aptElev, vTouchdown);
875 wpt->crossat = apt->getElevation();
876 waypoints.push_back(wpt);
879 wpt = createOnGround(ac, "Center", rwy->geod(), aptElev, vTaxi*2);
880 waypoints.push_back(wpt);
882 SGGeod rollOut = rwy->pointOnCenterline(rwy->lengthM() * 0.9);
883 wpt = createOnGround(ac, "Roll Out", rollOut, aptElev, vTaxi);
884 wpt->crossat = apt->getElevation();
885 waypoints.push_back(wpt);
890 /*******************************************************************
892 * initialize the Aircraft at the parking location
893 ******************************************************************/
894 bool FGAIFlightPlan::createParking(FGAIAircraft * ac, FGAirport * apt,
898 double aptElev = apt->getElevation();
899 double lat = 0.0, lat2 = 0.0;
900 double lon = 0.0, lon2 = 0.0;
902 double heading = 0.0;
904 double vTaxi = ac->getPerformance()->vTaxi();
905 double vTaxiReduced = vTaxi * (2.0 / 3.0);
906 apt->getDynamics()->getParking(gateId, &lat, &lon, &heading);
910 geo_direct_wgs_84(0, lat, lon, heading,
911 2.2 * radius, &lat2, &lon2, &az2);
913 createOnGround(ac, "taxiStart", SGGeod::fromDeg(lon2, lat2),
914 aptElev, vTaxiReduced);
915 waypoints.push_back(wpt);
917 geo_direct_wgs_84(0, lat, lon, heading,
918 0.1 * radius, &lat2, &lon2, &az2);
921 createOnGround(ac, "taxiStart2", SGGeod::fromDeg(lon2, lat2),
922 aptElev, vTaxiReduced);
923 waypoints.push_back(wpt);
926 createOnGround(ac, "END", SGGeod::fromDeg(lon, lat), aptElev,
928 waypoints.push_back(wpt);
934 * @param fltType a string describing the type of
935 * traffic, normally used for gate assignments
936 * @return a converted string that gives the runway
937 * preference schedule to be used at aircraft having
938 * a preferential runway schedule implemented (i.e.
939 * having a rwyprefs.xml file
941 * Currently valid traffic types for gate assignment:
942 * - gate (commercial gate)
943 * - cargo (commercial gargo),
944 * - ga (general aviation) ,
946 * - mil-fighter (military - fighter),
947 * - mil-transport (military - transport)
949 * Valid runway classes:
950 * - com (commercial traffic: jetliners, passenger and cargo)
951 * - gen (general aviation)
952 * - ul (ultralight: I can imagine that these may share a runway with ga on some airports)
953 * - mil (all military traffic)
955 string FGAIFlightPlan::getRunwayClassFromTrafficType(string fltType)
957 if ((fltType == "gate") || (fltType == "cargo")) {
958 return string("com");
960 if (fltType == "ga") {
961 return string("gen");
963 if (fltType == "ul") {
966 if ((fltType == "mil-fighter") || (fltType == "mil-transport")) {
967 return string("mil");
969 return string("com");
973 double FGAIFlightPlan::getTurnRadius(double speed, bool inAir)
976 if (inAir == false) {
977 turn_radius = ((360 / 30) * fabs(speed)) / (2 * M_PI);
979 turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank