src/ATCDCL/approach.cxx

   1 // FGApproach - a class to provide approach control at larger airports.
   2 //
   3 // Written by Alexander Kappes, started March 2002.
   4 //
   5 // Copyright (C) 2002  Alexander Kappes
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  11 //
  12 // This program is distributed in the hope that it will be useful, but
  13 // WITHOUT ANY WARRANTY; without even the implied warranty of
  14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  15 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
  20
  21 #ifdef HAVE_CONFIG_H
  22 #  include <config.h>
  23 #endif
  24
  25 #include <iostream>
  26
  27 #include "approach.hxx"
  28 #include "transmission.hxx"
  29 #include "transmissionlist.hxx"
  30 #include "ATCDialog.hxx"
  31
  32 #include <Airports/runways.hxx>
  33 #include <simgear/constants.h>
  34 #include <simgear/math/polar3d.hxx>
  35 #include <simgear/misc/sg_path.hxx>
  36
  37 #include <Environment/environment_mgr.hxx>
  38 #include <Environment/environment.hxx>
  39
  40
  41 #include <GUI/gui.h>
  42
  43 using std::cout;
  44 using std::endl;
  45
  46 //Constructor
  47 FGApproach::FGApproach(){
  48   comm1_node = fgGetNode("/instrumentation/comm[0]/frequencies/selected-mhz", true);
  49   comm2_node = fgGetNode("/instrumentation/comm[1]/frequencies/selected-mhz", true);
  50
  51   _type = APPROACH;
  52
  53   num_planes = 0;
  54   lon_node   = fgGetNode("/position/longitude-deg", true);
  55   lat_node   = fgGetNode("/position/latitude-deg", true);
  56   elev_node  = fgGetNode("/position/altitude-ft", true);
  57   hdg_node   = fgGetNode("/orientation/heading-deg", true);
  58   speed_node = fgGetNode("/velocities/airspeed-kt", true);
  59   etime_node = fgGetNode("/sim/time/elapsed-sec", true);
  60
  61   first = true;
  62   active_runway = "";
  63   int i;
  64   for ( i=0; i<max_planes; i++) {
  65     planes[i].contact   = 0;
  66     planes[i].wpn       = 0;
  67     planes[i].dnwp      = -999.;
  68     planes[i].on_crs    = true;
  69     planes[i].turn_rate = 10.0;
  70     planes[i].desc_rate = 1000.0;
  71     planes[i].clmb_rate = 500.0;
  72     planes[i].tlm       = 0.0;
  73     planes[i].lmc.c1    = 0;
  74     planes[i].lmc.c2    = 0;
  75     planes[i].lmc.c3    = -1;
  76     planes[i].wp_change = false;
  77   }
  78 }
  79
  80 //Destructor
  81 FGApproach::~FGApproach(){
  82 }
  83
  84 void FGApproach::Init() {
  85 }
  86
  87
  88
  89 // ============================================================================
  90 // the main update function
  91 // ============================================================================
  92 void FGApproach::Update(double dt) {
  93
  94         const int max_trans = 20;
  95         FGTransmission tmissions[max_trans];
  96         int    wpn;
  97         atc_type station = APPROACH;
  98         TransCode code;
  99         TransPar TPar;
 100         int    i,j;
 101         //double course, d,
 102         double adif, datp;
 103         //char   buf[10];
 104         string message;
 105         //static string atcmsg1[10];
 106         //static string atcmsg2[10];
 107         string mentry;
 108         string transm;
 109         TransPar tpars;
 110         //static bool TransDisplayed = false;
 111
 112         update_plane_dat();
 113         if ( active_runway == "" ) get_active_runway();
 114
 115         double comm1_freq = comm1_node->getDoubleValue();
 116
 117         //bool DisplayTransmissions = true;
 118
 119         for (i=0; i<num_planes; i++) {
 120                 if ( planes[i].ident == "Player") {
 121                         station = APPROACH;
 122                         tpars.station = name;
 123                         tpars.callsign = "Player";
 124                         tpars.airport = ident;
 125
 126                         //cout << "ident = " << ident << " name = " << name << '\n';
 127
 128                         int num_trans = 0;
 129                         // is the frequency of the station tuned in?
 130                         if ( freq == (int)(comm1_freq*100.0 + 0.5) ) {
 131                                 current_transmissionlist->query_station( station, tmissions, max_trans, num_trans );
 132                                 // loop over all transmissions for station
 133                                 for ( j=0; j<=num_trans-1; j++ ) {
 134                                         code = tmissions[j].get_code();
 135                                         //cout << "code is " << code.c1 << "  " << code.c2 << "  " << code.c3 << '\n';
 136                                         // select proper transmissions
 137                                         if(code.c3 != 2) {    // DCL - hack to prevent request crossing airspace being displayed since this isn't implemented yet.
 138                                             if ( ( code.c2 == -1 && planes[i].lmc.c3 == 0 ) ||
 139                                                     ( code.c1 == 0  && code.c2 == planes[i].lmc.c2 ) ) {
 140                                                     mentry = current_transmissionlist->gen_text(station, code, tpars, false);
 141                                                     transm = current_transmissionlist->gen_text(station, code, tpars, true);
 142                                                     // is the transmission already registered?
 143                                                     if (!current_atcdialog->trans_reg( ident, transm, APPROACH )) {
 144                                                             current_atcdialog->add_entry( ident, transm, mentry, APPROACH, 0 );
 145                                                     }
 146                                             }
 147                                         }
 148                                 }
 149                         }
 150                 }
 151         }
 152
 153         for ( i=0; i<num_planes; i++ ) {
 154                 //cout << "TPar.airport = " << TPar.airport << " TPar.station = " << TPar.station << " TPar.callsign = " << TPar.callsign << '\n';
 155                 //if ( planes[i].ident == TPar.callsign && name == TPar.airport && TPar.station == "approach" ) {
 156                         //if ( TPar.request && TPar.intention == "landing" && ident == TPar.intid) {
 157                         if(planes[i].ident == "Player" && fgGetBool("/sim/atc/opt0")) {
 158                                 //cout << "Landing requested\n";
 159                                 fgSetBool("/sim/atc/opt0", false);
 160                                 planes[i].wpn = 0;
 161                                 // ===========================
 162                                 // === calculate waypoints ===
 163                                 // ===========================
 164                                 calc_wp( i );
 165                                 update_param( i );
 166                                 wpn = planes[i].wpn-1;
 167                                 planes[i].aalt = planes[i].wpts[wpn-1][2];
 168                                 planes[i].ahdg = planes[i].wpts[wpn][4];
 169
 170                                 // generate the message
 171                                 code.c1 = 1;
 172                                 code.c2 = 1;
 173                                 code.c3 = 0;
 174                                 adif = angle_diff_deg( planes[i].hdg, planes[i].ahdg );
 175                                 tpars.station = name;
 176                                 tpars.callsign = "Player";
 177                                 if ( adif < 0 ) tpars.tdir = 1;
 178                                 else            tpars.tdir = 2;
 179                                 tpars.heading = planes[i].ahdg;
 180                                 if      (planes[i].alt-planes[i].aalt > 100.0)  tpars.VDir = 1;
 181                                 else if (planes[i].alt-planes[i].aalt < -100.0) tpars.VDir = 3;
 182                                 else tpars.VDir = 2;
 183                                 tpars.alt = planes[i].aalt;
 184                                 message = current_transmissionlist->gen_text(station, code, tpars, true );
 185                                 //cout << message << '\n';
 186                                 set_message(message);
 187                                 planes[i].lmc = code;
 188                                 planes[i].tlm = etime_node->getDoubleValue();
 189                                 planes[i].on_crs = true;
 190                                 planes[i].contact = 1;
 191                         }
 192                 //}
 193
 194                 //if(1) {
 195                 if ( planes[i].contact == 1 ) {
 196                         // =========================
 197                         // === update parameters ===
 198                         // =========================
 199                         update_param( i );
 200                         //cout << planes[i].brg << " " << planes[i].dist << " " << planes[i].wpts[wpn+1][0]
 201                         //<< " " << planes[i].wpts[wpn+1][1] << " " << planes[i].wpts[wpn+1][4]
 202                         //cout << wpn << " distance to current course = " << planes[i].dcc << endl;
 203                         //cout << etime_node->getDoubleValue() << endl;
 204
 205                         // =========================
 206                         // === reached waypoint? ===
 207                         // =========================
 208                         wpn = planes[i].wpn-2;
 209                         adif = angle_diff_deg( planes[i].hdg, planes[i].wpts[wpn][4] )
 210                         * SGD_DEGREES_TO_RADIANS;
 211                         datp = 2*sin(fabs(adif)/2.0)*sin(fabs(adif)/2.0) *
 212                                planes[i].spd/3600. * planes[i].turn_rate +
 213                                planes[i].spd/3600. * 3.0;
 214                         //cout << adif/SGD_DEGREES_TO_RADIANS << " "
 215                         //     << datp << " " << planes[i].dnc << " " << planes[i].dcc <<endl;
 216                         if ( fabs(planes[i].dnc) < datp ) {
 217                         //if ( fabs(planes[i].dnc) < 0.3 && planes[i].dnwp < 1.0 ) {
 218                                 //cout << "Reached next waypoint!\n";
 219                                 planes[i].wpn -= 1;
 220                                 wpn = planes[i].wpn-1;
 221                                 planes[i].ahdg = planes[i].wpts[wpn][4];
 222                                 planes[i].aalt = planes[i].wpts[wpn-1][2];
 223                                 planes[i].wp_change = true;
 224
 225                                 // generate the message
 226                                 adif = angle_diff_deg( planes[i].hdg, planes[i].ahdg );
 227                                 tpars.station = name;
 228                                 tpars.callsign = "Player";
 229                                 if ( adif < 0 ) tpars.tdir = 1;
 230                                 else            tpars.tdir = 2;
 231                                 tpars.heading = planes[i].ahdg;
 232
 233                                 if ( wpn-1 != 0) {
 234                                         code.c1 = 1;
 235                                         code.c2 = 1;
 236                                         code.c3 = 0;
 237                                         if      (planes[i].alt-planes[i].aalt > 100.0)  tpars.VDir = 1;
 238                                         else if (planes[i].alt-planes[i].aalt < -100.0) tpars.VDir = 3;
 239                                         else tpars.VDir = 2;
 240                                         tpars.alt = planes[i].aalt;
 241                                         message = current_transmissionlist->gen_text(station, code, tpars, true );
 242                                         //cout << "Approach transmitting...\n";
 243                                         //cout << message << endl;
 244                                         set_message(message);
 245                                 }
 246                                 else {
 247                                         code.c1 = 1;
 248                                         code.c2 = 3;
 249                                         code.c3 = 0;
 250                                         tpars.runway = active_runway;
 251                                         message = current_transmissionlist->gen_text(station, code, tpars, true);
 252                                         //cout << "Approach transmitting 2 ...\n";
 253                                         //cout << message << endl;
 254                                         set_message(message);
 255                                 }
 256                                 planes[i].lmc = code;
 257                                 planes[i].tlm = etime_node->getDoubleValue();
 258                                 planes[i].on_crs = true;
 259
 260                                 update_param( i );
 261                         }
 262
 263                         // =========================
 264                         // === come off course ? ===
 265                         // =========================
 266                         if ( fabs(planes[i].dcc) > 1.0 &&
 267                            ( !planes[i].wp_change || etime_node->getDoubleValue() - planes[i].tlm > tbm ) ) {
 268                                 //cout << "Off course!\n";
 269                                 if ( planes[i].on_crs ) {
 270                                         if ( planes[i].dcc < 0) {
 271                                                 planes[i].ahdg += 30.0;
 272                                         }
 273                                         else {
 274                                                 planes[i].ahdg -= 30.0;
 275                                         }
 276                                         if (planes[i].ahdg > 360.0) planes[i].ahdg -= 360.0;
 277                                         else if (planes[i].ahdg < 0.0) planes[i].ahdg += 360.0;
 278                                 }
 279                                 //cout << planes[i].on_crs << " "
 280                                 //     << angle_diff_deg( planes[i].hdg, planes[i].ahdg) << " "
 281                                 //     << etime_node->getDoubleValue() << " "
 282                                 //     << planes[i].tlm << endl;
 283                                 // generate the message
 284                                 if ( planes[i].on_crs ||
 285                                    ( fabs(angle_diff_deg( planes[i].hdg, planes[i].ahdg )) >  30.0  &&
 286                                     etime_node->getDoubleValue() - planes[i].tlm > tbm) ) {
 287                                         // generate the message
 288                                         code.c1 = 1;
 289                                         code.c2 = 4;
 290                                         code.c3 = 0;
 291                                         adif = angle_diff_deg( planes[i].hdg, planes[i].ahdg );
 292                                         tpars.station = name;
 293                                         tpars.callsign = "Player";
 294                                         tpars.miles   = fabs(planes[i].dcc);
 295                                         if ( adif < 0 ) tpars.tdir = 1;
 296                                         else            tpars.tdir = 2;
 297                                         tpars.heading = planes[i].ahdg;
 298                                         message = current_transmissionlist->gen_text(station, code, tpars, true);
 299                                         //cout << "Approach transmitting 3 ...\n";
 300                                         //cout << message << '\n';
 301                                         set_message(message);
 302                                         planes[i].lmc = code;
 303                                         planes[i].tlm = etime_node->getDoubleValue();
 304                                 }
 305
 306                                 planes[i].on_crs = false;
 307                         }
 308                         else if ( !planes[i].on_crs ) {
 309                                 //cout << "Off course 2!\n";
 310                                 wpn = planes[i].wpn-1;
 311                                 adif = angle_diff_deg( planes[i].hdg, planes[i].wpts[wpn][4] )
 312                                        * SGD_DEGREES_TO_RADIANS;
 313                                 datp = 2*sin(fabs(adif)/2.0)*sin(fabs(adif)/2.0) *
 314                                 planes[i].spd/3600. * planes[i].turn_rate +
 315                                 planes[i].spd/3600. * 3.0;
 316                                 if ( fabs(planes[i].dcc) < datp ) {
 317                                         planes[i].ahdg = fabs(planes[i].wpts[wpn][4]);
 318
 319                                         // generate the message
 320                                         code.c1 = 1;
 321                                         code.c2 = 2;
 322                                         code.c3 = 0;
 323                                         tpars.station = name;
 324                                         tpars.callsign = "Player";
 325                                         if ( adif < 0 ) tpars.tdir = 1;
 326                                         else            tpars.tdir = 2;
 327                                         tpars.heading = planes[i].ahdg;
 328                                         message = current_transmissionlist->gen_text(station, code, tpars, true);
 329                                         //cout << "Approach transmitting 4 ...\n";
 330                                         //cout << message << '\n';
 331                                         set_message(message);
 332                                         planes[i].lmc = code;
 333                                         planes[i].tlm = etime_node->getDoubleValue();
 334
 335                                         planes[i].on_crs = true;
 336                                 }
 337                         }
 338                         else if ( planes[i].wp_change  ) {
 339                                 planes[i].wp_change = false;
 340                         }
 341
 342                         // ===================================================================
 343                         // === Less than two minutes away from touchdown? -> Contact Tower ===
 344                         // ===================================================================
 345                         if ( planes[i].wpn == 2 && planes[i].dnwp < planes[i].spd/60.*2.0 ) {
 346
 347                                 double freq = 121.95;   // Hardwired - FIXME
 348                                 // generate message
 349                                 code.c1 = 1;
 350                                 code.c2 = 5;
 351                                 code.c3 = 0;
 352                                 tpars.station = name;
 353                                 tpars.callsign = "Player";
 354                                 tpars.freq    = freq;
 355                                 message = current_transmissionlist->gen_text(station, code, tpars, true);
 356                                 //cout << "Approach transmitting 5 ...\n";
 357                                 //cout << message << '\n';
 358                                 set_message(message);
 359                                 planes[i].lmc = code;
 360                                 planes[i].tlm = etime_node->getDoubleValue();
 361
 362                                 planes[i].contact = 2;
 363                         }
 364                 }
 365         }
 366 }
 367
 368
 369 // ============================================================================
 370 // update course parameters
 371 // ============================================================================
 372 void FGApproach::update_param( const int &i ) {
 373
 374   double course, d;
 375
 376   int wpn = planes[i].wpn-1;            // this is the current waypoint
 377
 378   planes[i].dcc  = calc_psl_dist(planes[i].brg, planes[i].dist,
 379                                  planes[i].wpts[wpn][0], planes[i].wpts[wpn][1],
 380                                  planes[i].wpts[wpn][4]);
 381   planes[i].dnc  = calc_psl_dist(planes[i].brg, planes[i].dist,
 382                                  planes[i].wpts[wpn-1][0], planes[i].wpts[wpn-1][1],
 383                                  planes[i].wpts[wpn-1][4]);
 384   calc_hd_course_dist(planes[i].brg, planes[i].dist,
 385                       planes[i].wpts[wpn-1][0], planes[i].wpts[wpn-1][1],
 386                       &course, &d);
 387   planes[i].dnwp = d;
 388
 389 }
 390
 391 // ============================================================================
 392 // smallest difference between two angles in degree
 393 // difference is negative if a1 > a2 and positive if a2 > a1
 394 // ===========================================================================
 395 double FGApproach::angle_diff_deg( const double &a1, const double &a2) {
 396
 397   double a3 = a2 - a1;
 398   if (a3 < 180.0) a3 += 360.0;
 399   if (a3 > 180.0) a3 -= 360.0;
 400
 401   return a3;
 402 }
 403
 404 // ============================================================================
 405 // calculate waypoints
 406 // ============================================================================
 407 void FGApproach::calc_wp( const int &i ) {
 408
 409         int j;
 410         double course, d, cd, a1;
 411
 412         int wpn = planes[i].wpn;
 413         // waypoint 0: Threshold of active runway
 414         calc_gc_course_dist(Point3D(lon*SGD_DEGREES_TO_RADIANS, lat*SGD_DEGREES_TO_RADIANS, 0.0),
 415                             Point3D(active_rw_lon*SGD_DEGREES_TO_RADIANS,active_rw_lat*SGD_DEGREES_TO_RADIANS, 0.0 ),
 416                             &course, &d);
 417         double d1 = active_rw_hdg+180.0;
 418         if ( d1 > 360.0 ) d1 -=360.0;
 419         calc_cd_head_dist(360.0-course*SGD_RADIANS_TO_DEGREES, d/SG_NM_TO_METER,
 420                           d1, active_rw_len/SG_NM_TO_METER/2.0,
 421                           &planes[i].wpts[wpn][0], &planes[i].wpts[wpn][1]);
 422         planes[i].wpts[wpn][2] = elev;
 423         planes[i].wpts[wpn][4] = 0.0;
 424         planes[i].wpts[wpn][5] = 0.0;
 425         wpn += 1;
 426
 427         // ======================
 428         // horizontal navigation
 429         // ======================
 430         // waypoint 1: point for turning onto final
 431         calc_cd_head_dist(planes[i].wpts[wpn-1][0], planes[i].wpts[wpn-1][1], d1, lfl,
 432                           &planes[i].wpts[wpn][0], &planes[i].wpts[wpn][1]);
 433         calc_hd_course_dist(planes[i].wpts[wpn][0],   planes[i].wpts[wpn][1],
 434                             planes[i].wpts[wpn-1][0], planes[i].wpts[wpn-1][1],
 435                             &course, &d);
 436         planes[i].wpts[wpn][4] = course;
 437         planes[i].wpts[wpn][5] = d;
 438         wpn += 1;
 439
 440         // calculate course and distance from plane position to waypoint 1
 441         calc_hd_course_dist(planes[i].brg, planes[i].dist, planes[i].wpts[1][0],
 442                             planes[i].wpts[1][1], &course, &d);
 443         // check if airport is not between plane and waypoint 1 and
 444         // DCA to airport on course to waypoint 1 is larger than 10 miles
 445         double zero = 0.0;
 446         if ( fabs(angle_diff_deg( planes[i].wpts[1][0], planes[i].brg  )) < 90.0 ||
 447                 calc_psl_dist( zero, zero, planes[i].brg, planes[i].dist, course ) > 10.0 ) {
 448                 // check if turning angle at waypoint 1 would be > max_ta
 449                 if ( fabs(angle_diff_deg( planes[i].wpts[1][4], course )) > max_ta ) {
 450                         cd = calc_psl_dist(planes[i].brg, planes[i].dist,
 451                              planes[i].wpts[1][0], planes[i].wpts[1][1],
 452                              planes[i].wpts[1][4]);
 453                         a1 = atan2(cd,planes[i].wpts[1][1]);
 454                         planes[i].wpts[wpn][0] = planes[i].wpts[1][0] - a1/SGD_DEGREES_TO_RADIANS;
 455                         if ( planes[i].wpts[wpn][0] < 0.0)   planes[i].wpts[wpn][0] += 360.0;
 456                         if ( planes[i].wpts[wpn][0] > 360.0) planes[i].wpts[wpn][0] -= 360.0;
 457                         planes[i].wpts[wpn][1] = fabs(cd) / sin(fabs(a1));
 458                         calc_hd_course_dist(planes[i].wpts[wpn][0],   planes[i].wpts[wpn][1],
 459                                             planes[i].wpts[wpn-1][0], planes[i].wpts[wpn-1][1],
 460                                             &course, &d);
 461                         planes[i].wpts[wpn][4] = course;
 462                         planes[i].wpts[wpn][5] = d;
 463                         wpn += 1;
 464
 465                         calc_hd_course_dist(planes[i].brg, planes[i].dist, planes[i].wpts[wpn-1][0],
 466                                             planes[i].wpts[wpn-1][1], &course, &d);
 467                 }
 468         } else {
 469                 double leg = 10.0;
 470                 a1 = atan2(planes[i].wpts[1][1], leg );
 471
 472                 if ( angle_diff_deg(planes[i].brg,planes[i].wpts[1][0]) < 0 )
 473                         planes[i].wpts[wpn][0] = planes[i].wpts[1][0] + a1/SGD_DEGREES_TO_RADIANS;
 474                 else planes[i].wpts[wpn][0] = planes[i].wpts[1][0] - a1/SGD_DEGREES_TO_RADIANS;
 475
 476                 planes[i].wpts[wpn][1] = sqrt( planes[i].wpts[1][1]*planes[i].wpts[1][1] + leg*leg );
 477                 calc_hd_course_dist(planes[i].wpts[wpn][0],   planes[i].wpts[wpn][1],
 478                                     planes[i].wpts[wpn-1][0], planes[i].wpts[wpn-1][1],
 479                                     &course, &d);
 480                 planes[i].wpts[wpn][4] = course;
 481                 planes[i].wpts[wpn][5] = d;
 482                 wpn += 1;
 483
 484                 calc_hd_course_dist(planes[i].brg, planes[i].dist,
 485                                     planes[i].wpts[wpn-1][0], planes[i].wpts[wpn-1][1],
 486                                     &course, &d);
 487         }
 488
 489         planes[i].wpts[wpn][0] = planes[i].brg;
 490         planes[i].wpts[wpn][1] = planes[i].dist;
 491         planes[i].wpts[wpn][2] = planes[i].alt;
 492         planes[i].wpts[wpn][4] = course;
 493         planes[i].wpts[wpn][5] = d;
 494         wpn += 1;
 495
 496         planes[i].wpn = wpn;
 497
 498         // Now check if legs are too short or if legs can be shortend
 499         // legs must be at least 2 flight minutes long
 500         double mdist = planes[i].spd / 60.0 * 2.0;
 501         for ( j=2; j<wpn-1; ++j ) {
 502                 if ( planes[i].wpts[j][1] < mdist) {
 503                 }
 504         }
 505
 506         // ====================
 507         // vertical navigation
 508         // ====================
 509         double alt = elev+3000.0;
 510         planes[i].wpts[1][2] = round_alt( true, alt );
 511         for ( j=2; j<wpn-1; ++j ) {
 512                 double dalt = planes[i].alt - planes[i].wpts[j-1][2];
 513                 if ( dalt > 0 ) {
 514                         alt = planes[i].wpts[j-1][2] +
 515                               (planes[i].wpts[j][5] / planes[i].spd) * 60.0 * planes[i].desc_rate;
 516                         planes[i].wpts[j][2] = round_alt( false, alt );
 517                         if ( planes[i].wpts[j][2] > planes[i].alt )
 518                                 planes[i].wpts[j][2] = round_alt( false, planes[i].alt );
 519                 }
 520                 else {
 521                         planes[i].wpts[j][2] = planes[i].wpts[1][2];
 522                 }
 523         }
 524
 525         cout << "Plane position: " << planes[i].brg << " " << planes[i].dist << endl;
 526         for ( j=0; j<wpn; ++j ) {
 527                 cout << "Waypoint " << j << endl;
 528                 cout << "------------------" << endl;
 529                 cout << planes[i].wpts[j][0] << "   " << planes[i].wpts[j][1]
 530                      << "   " << planes[i].wpts[j][2] << "   " << planes[i].wpts[j][5];
 531                 cout << endl << endl;
 532         }
 533
 534 }
 535
 536
 537 // ============================================================================
 538 // round altitude value to next highest/lowest 500 feet
 539 // ============================================================================
 540 double FGApproach::round_alt( const bool hl, double alt ) {
 541
 542   alt = alt/1000.0;
 543   if ( hl ) {
 544     if ( alt > (int)(alt)+0.5 ) alt = ((int)(alt)+1)*1000.0;
 545     else alt = ((int)(alt)+0.5)*1000.0;
 546   }
 547   else {
 548     if ( alt > (int)(alt)+0.5 ) alt = ((int)(alt)+0.5)*1000.0;
 549     else alt = ((int)(alt))*1000.0;
 550   }
 551
 552   return alt;
 553 }
 554
 555
 556 // ============================================================================
 557 // get active runway
 558 // ============================================================================
 559 void FGApproach::get_active_runway() {
 560         //cout << "Entering FGApproach::get_active_runway()\n";
 561
 562   FGEnvironment stationweather =
 563       ((FGEnvironmentMgr *)globals->get_subsystem("environment"))
 564         ->getEnvironment(lat, lon, elev);
 565
 566   double hdg = stationweather.get_wind_from_heading_deg();
 567
 568   FGRunway runway;
 569   if ( globals->get_runways()->search( ident, int(hdg), &runway) ) {
 570     active_runway = runway._rwy_no;
 571     active_rw_hdg = runway._heading;
 572     active_rw_lon = runway._lon;
 573     active_rw_lat = runway._lat;
 574     active_rw_len = runway._length;
 575     //cout << "Active runway is: " << active_runway << "  heading = "
 576     // << active_rw_hdg
 577     // << " lon = " << active_rw_lon
 578     // << " lat = " << active_rw_lat <<endl;
 579   }
 580   else cout << "FGRunways search failed\n";
 581
 582 }
 583
 584 // ========================================================================
 585 // update infos about plane
 586 // ========================================================================
 587 void FGApproach::update_plane_dat() {
 588
 589   //cout << "Update Approach " << ident << "   " << num_planes << " registered" << endl;
 590   // update plane positions
 591   int i;
 592   for (i=0; i<num_planes; i++) {
 593     planes[i].lon = lon_node->getDoubleValue();
 594     planes[i].lat = lat_node->getDoubleValue();
 595     planes[i].alt = elev_node->getDoubleValue();
 596     planes[i].hdg = hdg_node->getDoubleValue();
 597     planes[i].spd = speed_node->getDoubleValue();
 598
 599     /*Point3D aircraft = sgGeodToCart( Point3D(planes[i].lon*SGD_DEGREES_TO_RADIANS,
 600                                              planes[i].lat*SGD_DEGREES_TO_RADIANS,
 601                                              planes[i].alt*SG_FEET_TO_METER) );*/
 602     double course, distance;
 603     calc_gc_course_dist(Point3D(lon*SGD_DEGREES_TO_RADIANS, lat*SGD_DEGREES_TO_RADIANS, 0.0),
 604                         Point3D(planes[i].lon*SGD_DEGREES_TO_RADIANS,planes[i].lat*SGD_DEGREES_TO_RADIANS, 0.0 ),
 605                         &course, &distance);
 606     planes[i].dist = distance/SG_NM_TO_METER;
 607     planes[i].brg  = 360.0-course*SGD_RADIANS_TO_DEGREES;
 608
 609     //cout << "Plane Id: " << planes[i].ident << "  Distance to " << ident
 610     // << " is " << planes[i].dist << " miles   " << "Bearing " << planes[i].brg << endl;
 611
 612   }
 613 }
 614
 615 // =======================================================================
 616 // Add plane to Approach list
 617 // =======================================================================
 618 void FGApproach::AddPlane(const string& pid) {
 619
 620   int i;
 621   for ( i=0; i<num_planes; i++) {
 622     if ( planes[i].ident == pid) {
 623       //cout << "Plane already registered: " << planes[i].ident << ' ' << ident << ' ' << num_planes << endl;
 624       return;
 625     }
 626   }
 627   planes[num_planes].ident = pid;
 628   ++num_planes;
 629   //cout << "Plane added to list: " << ident << " " << num_planes << endl;
 630   return;
 631 }
 632
 633 // ================================================================================
 634 // closest distance between a point (h1,d1) and a straigt line (h2,d2,h3) in 2 dim.
 635 // ================================================================================
 636 double FGApproach::calc_psl_dist(const double &h1, const double &d1,
 637                                  const double &h2, const double &d2,
 638                                  const double &h3)
 639 {
 640   double a1 = h1 * SGD_DEGREES_TO_RADIANS;
 641   double a2 = h2 * SGD_DEGREES_TO_RADIANS;
 642   double a3 = h3 * SGD_DEGREES_TO_RADIANS;
 643   double x1 = cos(a1) * d1;
 644   double y1 = sin(a1) * d1;
 645   double x2 = cos(a2) * d2;
 646   double y2 = sin(a2) * d2;
 647   double x3 = cos(a3);
 648   double y3 = sin(a3);
 649
 650   // formula: dis = sqrt( (v1-v2)**2 - ((v1-v2)*v3)**2 ); vi = (xi,yi)
 651   double val1   = (x1-x2)*(x1-x2) + (y1-y2)*(y1-y2);
 652   double val2   = ((x1-x2)*x3 + (y1-y2)*y3) * ((x1-x2)*x3 + (y1-y2)*y3);
 653   double dis    = val1 - val2;
 654   // now get sign for offset
 655   //cout << x1 << " " << x2 << " " << y1 << " " << y2 << " "
 656   //     << x3 << " " << y3 << " "
 657   //     << val1 << " " << val2 << " " << dis << endl;
 658   x3 *= sqrt(val2);
 659   y3 *= sqrt(val2);
 660   double da = fabs(atan2(y3,x3) - atan2(y1-y2,x1-x2));
 661   if ( da > SGD_PI ) da -= SGD_2PI;
 662   if ( fabs(da) > SGD_PI_2) {
 663     //if ( x3*(x1-x2) < 0.0 && y3*(y1-y2) < 0.0) {
 664     x3 *= -1.0;
 665     y3 *= -1.0;
 666   }
 667   //cout << x3 << " " << y3 << endl;
 668   double dis1   = x1-x2-x3;
 669   double dis2   = y1-y2-y3;
 670   dis = sqrt(dis);
 671   da = atan2(dis2,dis1);
 672   if ( da < 0.0 ) da  += SGD_2PI;
 673   if ( da < a3 )  dis *= -1.0;
 674   //cout << dis1 << " " << dis2 << " " << da*SGD_RADIANS_TO_DEGREES << " " << h3
 675   //     << " " << sqrt(dis1*dis1 + dis2*dis2) << " " << dis << endl;
 676   //cout << atan2(dis2,dis1)*SGD_RADIANS_TO_DEGREES << " " << dis << endl;
 677
 678   return dis;
 679 }
 680
 681
 682 // ========================================================================
 683 // Calculate new bear/dist given starting bear/dis, and offset radial,
 684 // and distance.
 685 // ========================================================================
 686 void FGApproach::calc_cd_head_dist(const double &h1, const double &d1,
 687                                    const double &course, const double &dist,
 688                                    double *h2, double *d2)
 689 {
 690   double a1 = h1 * SGD_DEGREES_TO_RADIANS;
 691   double a2 = course * SGD_DEGREES_TO_RADIANS;
 692   double x1 = cos(a1) * d1;
 693   double y1 = sin(a1) * d1;
 694   double x2 = cos(a2) * dist;
 695   double y2 = sin(a2) * dist;
 696
 697   *d2 = sqrt((x1+x2)*(x1+x2) + (y1+y2)*(y1+y2));
 698   *h2 = atan2( (y1+y2), (x1+x2) ) * SGD_RADIANS_TO_DEGREES;
 699   if ( *h2 < 0 ) *h2 = *h2+360;
 700 }
 701
 702
 703
 704 // ========================================================================
 705 // get heading and distance between two points; point1 ---> point2
 706 // ========================================================================
 707 void FGApproach::calc_hd_course_dist(const double &h1, const double &d1,
 708                                      const double &h2, const double &d2,
 709                                      double *course, double *dist)
 710 {
 711   double a1 = h1 * SGD_DEGREES_TO_RADIANS;
 712   double a2 = h2 * SGD_DEGREES_TO_RADIANS;
 713   double x1 = cos(a1) * d1;
 714   double y1 = sin(a1) * d1;
 715   double x2 = cos(a2) * d2;
 716   double y2 = sin(a2) * d2;
 717
 718   *dist   = sqrt( (y2-y1)*(y2-y1) + (x2-x1)*(x2-x1) );
 719   *course = atan2( (y2-y1), (x2-x1) ) * SGD_RADIANS_TO_DEGREES;
 720   if ( *course < 0 ) *course = *course+360;
 721   //cout << x1 << " " << y1 << " " << x2 << " " << y2 << " " << *dist << " " << *course << endl;
 722 }
 723
 724
 725
 726 int FGApproach::RemovePlane() {
 727
 728   // first check if anything has to be done
 729   bool rmplane = false;
 730   int i;
 731
 732   for (i=0; i<num_planes; i++) {
 733     if (planes[i].dist > range*SG_NM_TO_METER) {
 734       rmplane = true;
 735       break;
 736     }
 737   }
 738   if (!rmplane) return num_planes;
 739
 740   // now make a copy of the plane list
 741   PlaneApp tmp[max_planes];
 742   for (i=0; i<num_planes; i++) {
 743     tmp[i] = planes[i];
 744   }
 745
 746   int np = 0;
 747   // now check which planes are still in range
 748   for (i=0; i<num_planes; i++) {
 749     if (tmp[i].dist <= range*SG_NM_TO_METER) {
 750       planes[np] = tmp[i];
 751       np += 1;
 752     }
 753   }
 754   num_planes = np;
 755
 756   return num_planes;
 757 }
 758
 759
 760 void FGApproach::set_message(const string &msg)
 761 {
 762   fgSetString("/sim/messages/approach", msg.c_str());
 763 }
 764