1 // route_mgr.cxx - manage a route (i.e. a collection of waypoints)
3 // Written by Curtis Olson, started January 2004.
7 // Copyright (C) 2004 Curtis L. Olson - http://www.flightgear.org/~curt
9 // This program is free software; you can redistribute it and/or
10 // modify it under the terms of the GNU General Public License as
11 // published by the Free Software Foundation; either version 2 of the
12 // License, or (at your option) any later version.
14 // This program is distributed in the hope that it will be useful, but
15 // WITHOUT ANY WARRANTY; without even the implied warranty of
16 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
17 // General Public License for more details.
19 // You should have received a copy of the GNU General Public License
20 // along with this program; if not, write to the Free Software
21 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
34 #include <simgear/compiler.h>
36 #include "route_mgr.hxx"
38 #include <simgear/misc/strutils.hxx>
39 #include <simgear/structure/exception.hxx>
41 #include <simgear/props/props_io.hxx>
42 #include <simgear/misc/sg_path.hxx>
43 #include <simgear/route/route.hxx>
44 #include <simgear/sg_inlines.h>
46 #include "Main/fg_props.hxx"
47 #include "Navaids/positioned.hxx"
48 #include "Airports/simple.hxx"
49 #include "Airports/runways.hxx"
51 #include "FDM/flight.hxx" // for getting ground speed
53 #define RM "/autopilot/route-manager/"
55 static double get_ground_speed() {
56 // starts in ft/s so we convert to kts
57 static const SGPropertyNode * speedup_node = fgGetNode("/sim/speed-up");
59 double ft_s = cur_fdm_state->get_V_ground_speed()
60 * speedup_node->getIntValue();
61 double kts = ft_s * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM;
65 FGRouteMgr::FGRouteMgr() :
66 _route( new SGRoute ),
68 _driveAutopilot(true),
69 input(fgGetNode( RM "input", true )),
70 mirror(fgGetNode( RM "route", true )),
73 listener = new InputListener(this);
74 input->setStringValue("");
75 input->addChangeListener(listener);
79 FGRouteMgr::~FGRouteMgr() {
80 input->removeChangeListener(listener);
87 void FGRouteMgr::init() {
88 SGPropertyNode_ptr rm(fgGetNode(RM));
90 lon = fgGetNode( "/position/longitude-deg", true );
91 lat = fgGetNode( "/position/latitude-deg", true );
92 alt = fgGetNode( "/position/altitude-ft", true );
93 magvar = fgGetNode("/environment/magnetic-variation-deg", true);
95 // autopilot drive properties
96 _apTargetAltitudeFt = fgGetNode( "/autopilot/settings/target-altitude-ft", true );
97 _apAltitudeLock = fgGetNode( "/autopilot/locks/altitude", true );
98 _apTrueHeading = fgGetNode( "/autopilot/settings/true-heading-deg", true );
99 rm->tie("drive-autopilot", SGRawValuePointer<bool>(&_driveAutopilot));
101 departure = fgGetNode(RM "departure", true);
102 // init departure information from current location
103 SGGeod pos = SGGeod::fromDegFt(lon->getDoubleValue(), lat->getDoubleValue(), alt->getDoubleValue());
104 FGAirport* apt = FGAirport::findClosest(pos, 10.0);
106 departure->setStringValue("airport", apt->ident().c_str());
107 FGRunway* active = apt->getActiveRunwayForUsage();
108 departure->setStringValue("runway", active->ident().c_str());
110 departure->setStringValue("airport", "");
111 departure->setStringValue("runway", "");
114 departure->getChild("etd", 0, true);
115 departure->getChild("takeoff-time", 0, true);
117 destination = fgGetNode(RM "destination", true);
118 destination->getChild("airport", 0, true);
119 destination->getChild("runway", 0, true);
120 destination->getChild("eta", 0, true);
121 destination->getChild("touchdown-time", 0, true);
123 alternate = fgGetNode(RM "alternate", true);
124 alternate->getChild("airport", 0, true);
125 alternate->getChild("runway", 0, true);
127 cruise = fgGetNode(RM "cruise", true);
128 cruise->getChild("altitude", 0, true);
129 cruise->getChild("flight-level", 0, true);
130 cruise->getChild("speed", 0, true);
132 totalDistance = fgGetNode(RM "total-distance", true);
133 totalDistance->setDoubleValue(0.0);
135 ete = fgGetNode(RM "ete", true);
136 ete->setDoubleValue(0.0);
138 elapsedFlightTime = fgGetNode(RM "flight-time", true);
139 elapsedFlightTime->setDoubleValue(0.0);
141 active = fgGetNode(RM "active", true);
142 active->setBoolValue(false);
144 airborne = fgGetNode(RM "airborne", true);
145 airborne->setBoolValue(false);
147 rm->tie("auto-sequence", SGRawValuePointer<bool>(&_autoSequence));
149 currentWp = fgGetNode(RM "current-wp", true);
150 currentWp->setIntValue(_route->current_index());
152 // temporary distance / eta calculations, for backward-compatability
153 wp0 = fgGetNode(RM "wp", 0, true);
154 wp0->getChild("id", 0, true);
155 wp0->getChild("dist", 0, true);
156 wp0->getChild("eta", 0, true);
157 wp0->getChild("bearing-deg", 0, true);
159 wp1 = fgGetNode(RM "wp", 1, true);
160 wp1->getChild("id", 0, true);
161 wp1->getChild("dist", 0, true);
162 wp1->getChild("eta", 0, true);
164 wpn = fgGetNode(RM "wp-last", 0, true);
165 wpn->getChild("dist", 0, true);
166 wpn->getChild("eta", 0, true);
171 _pathNode = fgGetNode(RM "file-path", 0, true);
175 void FGRouteMgr::postinit() {
176 string_list *waypoints = globals->get_initial_waypoints();
178 vector<string>::iterator it;
179 for (it = waypoints->begin(); it != waypoints->end(); ++it)
183 weightOnWheels = fgGetNode("/gear/gear[0]/wow", false);
184 // check airbone flag agrees with presets
189 void FGRouteMgr::bind() { }
190 void FGRouteMgr::unbind() { }
192 void FGRouteMgr::updateTargetAltitude() {
193 if (_route->current_index() == _route->size()) {
194 altitude_set = false;
198 SGWayPoint wp = _route->get_current();
199 if (wp.get_target().getElevationM() < -9990.0) {
200 altitude_set = false;
206 if (!_driveAutopilot) {
210 _apTargetAltitudeFt->setDoubleValue(wp.get_target().getElevationFt());
212 if ( !near_ground() ) {
213 _apAltitudeLock->setStringValue( "altitude-hold" );
217 bool FGRouteMgr::isRouteActive() const
219 return active->getBoolValue();
222 void FGRouteMgr::update( double dt ) {
224 // paused, nothing to do here
228 if (!active->getBoolValue()) {
232 double groundSpeed = get_ground_speed();
233 if (airborne->getBoolValue()) {
234 time_t now = time(NULL);
235 elapsedFlightTime->setDoubleValue(difftime(now, _takeoffTime));
236 } else { // not airborne
237 if (weightOnWheels->getBoolValue() || (groundSpeed < 40)) {
241 airborne->setBoolValue(true);
242 _takeoffTime = time(NULL); // start the clock
243 departure->setIntValue("takeoff-time", _takeoffTime);
246 // basic course/distance information
247 double inboundCourse, dummy, wp_course, wp_distance;
248 SGWayPoint wp = _route->get_current();
250 wp.CourseAndDistance(_route->get_waypoint(_route->current_index() - 1),
251 &inboundCourse, &dummy);
253 wp.CourseAndDistance( lon->getDoubleValue(), lat->getDoubleValue(),
254 alt->getDoubleValue(), &wp_course, &wp_distance );
256 if (_autoSequence && (wp_distance < 2000.0)) {
257 double courseDeviation = inboundCourse - wp_course;
258 SG_NORMALIZE_RANGE(courseDeviation, -180.0, 180.0);
259 if (fabs(courseDeviation) < 90.0) {
260 SG_LOG( SG_AUTOPILOT, SG_INFO, "route manager doing sequencing");
265 if (_driveAutopilot) {
266 _apTrueHeading->setDoubleValue(wp_course);
269 // update wp0 / wp1 / wp-last for legacy users
270 wp0->setDoubleValue("dist", wp_distance * SG_METER_TO_NM);
271 wp_course -= magvar->getDoubleValue(); // expose magnetic bearing
272 wp0->setDoubleValue("bearing-deg", wp_course);
273 setETAPropertyFromDistance(wp0->getChild("eta"), wp_distance);
275 if ((_route->current_index() + 1) < _route->size()) {
276 wp = _route->get_waypoint(_route->current_index() + 1);
277 double wp1_course, wp1_distance;
278 wp.CourseAndDistance(lon->getDoubleValue(), lat->getDoubleValue(),
279 alt->getDoubleValue(), &wp1_course, &wp1_distance);
281 wp1->setDoubleValue("dist", wp1_distance * SG_METER_TO_NM);
282 setETAPropertyFromDistance(wp1->getChild("eta"), wp1_distance);
285 double totalDistanceRemaining = wp_distance; // distance to current waypoint
286 for (int i=_route->current_index() + 1; i<_route->size(); ++i) {
287 totalDistanceRemaining += _route->get_waypoint(i).get_distance();
290 wpn->setDoubleValue("dist", totalDistanceRemaining * SG_METER_TO_NM);
291 ete->setDoubleValue(totalDistanceRemaining * SG_METER_TO_NM / groundSpeed * 3600.0);
292 setETAPropertyFromDistance(wpn->getChild("eta"), totalDistanceRemaining);
294 // get time now at destination tz as tm struct
296 // convert to string ... and stash in property
297 //destination->setDoubleValue("eta", eta);
301 void FGRouteMgr::setETAPropertyFromDistance(SGPropertyNode_ptr aProp, double aDistance) {
302 double speed = get_ground_speed();
304 aProp->setStringValue("--:--");
309 double eta = aDistance * SG_METER_TO_NM / get_ground_speed();
310 if ( eta >= 100.0 ) {
311 eta = 99.999; // clamp
314 if ( eta < (1.0/6.0) ) {
315 eta *= 60.0; // within 10 minutes, bump up to min/secs
318 int major = (int)eta,
319 minor = (int)((eta - (int)eta) * 60.0);
320 snprintf( eta_str, 64, "%d:%02d", major, minor );
321 aProp->setStringValue( eta_str );
324 void FGRouteMgr::add_waypoint( const SGWayPoint& wp, int n ) {
325 _route->add_waypoint( wp, n );
327 if ((n==0) || (_route->size() == 1)) {
328 updateTargetAltitude();
333 SGWayPoint FGRouteMgr::pop_waypoint( int n ) {
336 if ( _route->size() > 0 ) {
338 n = _route->size() - 1;
339 wp = _route->get_waypoint(n);
340 _route->delete_waypoint(n);
343 updateTargetAltitude();
349 bool FGRouteMgr::build() {
354 void FGRouteMgr::new_waypoint( const string& target, int n ) {
355 SGWayPoint* wp = make_waypoint( target );
360 add_waypoint( *wp, n );
363 if ( !near_ground() ) {
364 fgSetString( "/autopilot/locks/heading", "true-heading-hold" );
369 SGWayPoint* FGRouteMgr::make_waypoint(const string& tgt ) {
373 for (unsigned int i = 0; i < target.size(); i++) {
374 target[i] = toupper(target[i]);
378 double alt = -9999.0;
379 size_t pos = target.find( '@' );
380 if ( pos != string::npos ) {
381 alt = atof( target.c_str() + pos + 1 );
382 target = target.substr( 0, pos );
383 if ( !strcmp(fgGetString("/sim/startup/units"), "feet") )
384 alt *= SG_FEET_TO_METER;
388 pos = target.find( ',' );
389 if ( pos != string::npos ) {
390 double lon = atof( target.substr(0, pos).c_str());
391 double lat = atof( target.c_str() + pos + 1);
392 return new SGWayPoint( lon, lat, alt, SGWayPoint::WGS84, target );
396 if (_route->size() > 0) {
397 SGWayPoint wp = get_waypoint(_route->size()-1);
398 basePosition = wp.get_target();
400 // route is empty, use current position
401 basePosition = SGGeod::fromDeg(
402 fgGetNode("/position/longitude-deg")->getDoubleValue(),
403 fgGetNode("/position/latitude-deg")->getDoubleValue());
406 vector<string> pieces(simgear::strutils::split(target, "/"));
409 FGPositionedRef p = FGPositioned::findClosestWithIdent(pieces.front(), basePosition);
411 SG_LOG( SG_AUTOPILOT, SG_INFO, "Unable to find FGPositioned with ident:" << pieces.front());
415 if (pieces.size() == 1) {
417 return new SGWayPoint(p->geod(), target, p->name());
420 if (pieces.size() == 3) {
421 // navaid/radial/distance-nm notation
422 double radial = atof(pieces[1].c_str()),
423 distanceNm = atof(pieces[2].c_str()),
425 radial += magvar->getDoubleValue(); // convert to true bearing
427 SGGeodesy::direct(p->geod(), radial, distanceNm * SG_NM_TO_METER, offsetPos, az2);
429 SG_LOG(SG_AUTOPILOT, SG_INFO, "final offset radial is " << radial);
432 offsetPos.setElevationM(alt);
433 } // otherwise use the elevation of navid
434 return new SGWayPoint(offsetPos, p->ident() + pieces[2], target);
437 if (pieces.size() == 2) {
438 FGAirport* apt = dynamic_cast<FGAirport*>(p.ptr());
440 SG_LOG(SG_AUTOPILOT, SG_INFO, "Waypoint is not an airport:" << pieces.front());
444 if (!apt->hasRunwayWithIdent(pieces[1])) {
445 SG_LOG(SG_AUTOPILOT, SG_INFO, "No runway: " << pieces[1] << " at " << pieces[0]);
449 FGRunway* runway = apt->getRunwayByIdent(pieces[1]);
450 SGGeod t = runway->threshold();
451 return new SGWayPoint(t.getLongitudeDeg(), t.getLatitudeDeg(), alt, SGWayPoint::WGS84, pieces[1]);
454 SG_LOG(SG_AUTOPILOT, SG_INFO, "Unable to parse waypoint:" << target);
459 // mirror internal route to the property system for inspection by other subsystems
460 void FGRouteMgr::update_mirror() {
461 mirror->removeChildren("wp");
462 for (int i = 0; i < _route->size(); i++) {
463 SGWayPoint wp = _route->get_waypoint(i);
464 SGPropertyNode *prop = mirror->getChild("wp", i, 1);
466 const SGGeod& pos(wp.get_target());
467 prop->setStringValue("id", wp.get_id().c_str());
468 prop->setStringValue("name", wp.get_name().c_str());
469 prop->setDoubleValue("longitude-deg", pos.getLongitudeDeg());
470 prop->setDoubleValue("latitude-deg",pos.getLatitudeDeg());
471 prop->setDoubleValue("altitude-m", pos.getElevationM());
472 prop->setDoubleValue("altitude-ft", pos.getElevationFt());
474 // set number as listener attachment point
475 mirror->setIntValue("num", _route->size());
479 bool FGRouteMgr::near_ground() {
480 SGPropertyNode *gear = fgGetNode( "/gear/gear/wow", false );
481 if ( !gear || gear->getType() == simgear::props::NONE )
482 return fgGetBool( "/sim/presets/onground", true );
484 if ( fgGetDouble("/position/altitude-agl-ft", 300.0)
485 < fgGetDouble("/autopilot/route-manager/min-lock-altitude-agl-ft") )
488 return gear->getBoolValue();
492 // command interface /autopilot/route-manager/input:
494 // @CLEAR ... clear route
495 // @POP ... remove first entry
496 // @DELETE3 ... delete 4th entry
497 // @INSERT2:KSFO@900 ... insert "KSFO@900" as 3rd entry
498 // KSFO@900 ... append "KSFO@900"
500 void FGRouteMgr::InputListener::valueChanged(SGPropertyNode *prop)
502 const char *s = prop->getStringValue();
503 if (!strcmp(s, "@CLEAR"))
505 else if (!strcmp(s, "@ACTIVATE"))
507 else if (!strcmp(s, "@LOAD")) {
509 } else if (!strcmp(s, "@SAVE")) {
511 } else if (!strcmp(s, "@POP"))
512 mgr->pop_waypoint(0);
513 else if (!strncmp(s, "@DELETE", 7))
514 mgr->pop_waypoint(atoi(s + 7));
515 else if (!strncmp(s, "@INSERT", 7)) {
517 int pos = strtol(s + 7, &r, 10);
523 mgr->new_waypoint(r, pos);
525 mgr->new_waypoint(s);
528 // SGWayPoint( const double lon = 0.0, const double lat = 0.0,
529 // const double alt = 0.0, const modetype m = WGS84,
530 // const string& s = "", const string& n = "" );
532 bool FGRouteMgr::activate()
534 const FGAirport* depApt = fgFindAirportID(departure->getStringValue("airport"));
536 SG_LOG(SG_AUTOPILOT, SG_ALERT,
537 "unable to activate route: departure airport is invalid:"
538 << departure->getStringValue("airport") );
542 string runwayId(departure->getStringValue("runway"));
543 FGRunway* runway = NULL;
544 if (depApt->hasRunwayWithIdent(runwayId)) {
545 runway = depApt->getRunwayByIdent(runwayId);
547 SG_LOG(SG_AUTOPILOT, SG_INFO,
548 "route-manager, departure runway not found:" << runwayId);
549 runway = depApt->getActiveRunwayForUsage();
552 SGWayPoint swp(runway->threshold(),
553 depApt->ident() + "-" + runway->ident(), runway->name());
554 add_waypoint(swp, 0);
556 const FGAirport* destApt = fgFindAirportID(destination->getStringValue("airport"));
558 SG_LOG(SG_AUTOPILOT, SG_ALERT,
559 "unable to activate route: destination airport is invalid:"
560 << destination->getStringValue("airport") );
564 runwayId = (destination->getStringValue("runway"));
565 if (destApt->hasRunwayWithIdent(runwayId)) {
566 FGRunway* runway = depApt->getRunwayByIdent(runwayId);
567 SGWayPoint swp(runway->end(),
568 destApt->ident() + "-" + runway->ident(), runway->name());
571 // quite likely, since destination runway may not be known until enroute
572 // probably want a listener on the 'destination' node to allow an enroute
574 add_waypoint(SGWayPoint(destApt->geod(), destApt->ident(), destApt->name()));
577 _route->set_current(0);
579 double routeDistanceNm = _route->total_distance() * SG_METER_TO_NM;
580 totalDistance->setDoubleValue(routeDistanceNm);
581 double cruiseSpeedKts = cruise->getDoubleValue("speed", 0.0);
582 if (cruiseSpeedKts > 1.0) {
583 // very very crude approximation, doesn't allow for climb / descent
584 // performance or anything else at all
585 ete->setDoubleValue(routeDistanceNm / cruiseSpeedKts * (60.0 * 60.0));
588 active->setBoolValue(true);
589 sequence(); // sequence will sync up wp0, wp1 and current-wp
590 SG_LOG(SG_AUTOPILOT, SG_INFO, "route-manager, activate route ok");
595 void FGRouteMgr::sequence()
597 if (!active->getBoolValue()) {
598 SG_LOG(SG_AUTOPILOT, SG_ALERT, "trying to sequence waypoints with no active route");
602 if (_route->current_index() == _route->size()) {
603 SG_LOG(SG_AUTOPILOT, SG_INFO, "reached end of active route");
605 active->setBoolValue(false);
609 _route->increment_current();
610 currentWaypointChanged();
613 void FGRouteMgr::jumpToIndex(int index)
615 if (!active->getBoolValue()) {
616 SG_LOG(SG_AUTOPILOT, SG_ALERT, "trying to sequence waypoints with no active route");
620 if ((index < 0) || (index >= _route->size())) {
621 SG_LOG(SG_AUTOPILOT, SG_ALERT, "passed invalid index (" <<
622 index << ") to FGRouteMgr::jumpToIndex");
626 if (_route->current_index() == index) {
630 _route->set_current(index);
631 currentWaypointChanged();
634 void FGRouteMgr::currentWaypointChanged()
636 SGWayPoint previous = _route->get_previous();
637 SGWayPoint cur = _route->get_current();
639 wp0->getChild("id")->setStringValue(cur.get_id());
640 if ((_route->current_index() + 1) < _route->size()) {
641 wp1->getChild("id")->setStringValue(_route->get_next().get_id());
643 wp1->getChild("id")->setStringValue("");
646 currentWp->setIntValue(_route->current_index());
647 updateTargetAltitude();
648 SG_LOG(SG_AUTOPILOT, SG_INFO, "route manager, current-wp is now " << _route->current_index());
651 int FGRouteMgr::findWaypoint(const SGGeod& aPos) const
653 for (int i=0; i<_route->size(); ++i) {
654 double d = SGGeodesy::distanceM(aPos, _route->get_waypoint(i).get_target());
655 if (d < 200.0) { // 200 metres seems close enough
663 SGWayPoint FGRouteMgr::get_waypoint( int i ) const
665 return _route->get_waypoint(i);
668 int FGRouteMgr::size() const
670 return _route->size();
673 int FGRouteMgr::currentWaypoint() const
675 return _route->current_index();
678 void FGRouteMgr::saveRoute()
680 SGPath path(_pathNode->getStringValue());
681 SG_LOG(SG_IO, SG_INFO, "Saving route to " << path.str());
683 writeProperties(path.str(), mirror, false, SGPropertyNode::ARCHIVE);
684 } catch (const sg_exception &e) {
685 SG_LOG(SG_IO, SG_WARN, "Error saving route:" << e.getMessage());
686 //guiErrorMessage("Error writing autosave.xml: ", e);
690 void FGRouteMgr::loadRoute()
693 // deactivate route first
694 active->setBoolValue(false);
696 SGPropertyNode_ptr routeData(new SGPropertyNode);
697 SGPath path(_pathNode->getStringValue());
699 SG_LOG(SG_IO, SG_INFO, "going to read flight-plan from:" << path.str());
700 readProperties(path.str(), routeData);
703 SGPropertyNode* dep = routeData->getChild("departure");
705 throw sg_io_exception("malformed route file, no departure node");
708 string depIdent = dep->getStringValue("airport");
709 const FGAirport* depApt = fgFindAirportID(depIdent);
711 throw sg_io_exception("bad route file, unknown airport:" + depIdent);
714 departure->setStringValue("runway", dep->getStringValue("runway"));
717 SGPropertyNode* dst = routeData->getChild("destination");
719 throw sg_io_exception("malformed route file, no destination node");
722 destination->setStringValue("airport", dst->getStringValue("airport"));
723 destination->setStringValue("runay", dst->getStringValue("runway"));
726 SGPropertyNode* alt = routeData->getChild("alternate");
728 alternate->setStringValue(alt->getStringValue("airport"));
729 } // of cruise data loading
732 SGPropertyNode* crs = routeData->getChild("cruise");
734 cruise->setDoubleValue(crs->getDoubleValue("speed"));
735 } // of cruise data loading
739 SGPropertyNode_ptr _route = routeData->getChild("route", 0);
740 SGGeod lastPos(depApt->geod());
742 for (int i=0; i<_route->nChildren(); ++i) {
743 SGPropertyNode_ptr wp = _route->getChild("wp", i);
744 parseRouteWaypoint(wp);
745 } // of route iteration
746 } catch (sg_exception& e) {
747 SG_LOG(SG_IO, SG_WARN, "failed to load flight-plan (from '" << e.getOrigin()
748 << "'):" << e.getMessage());
752 void FGRouteMgr::parseRouteWaypoint(SGPropertyNode* aWP)
755 if (_route->size() > 0) {
756 lastPos = get_waypoint(_route->size()-1).get_target();
758 // route is empty, use departure airport position
759 const FGAirport* apt = fgFindAirportID(departure->getStringValue("airport"));
760 assert(apt); // shouldn't have got this far with an invalid airport
761 lastPos = apt->geod();
764 SGPropertyNode_ptr altProp = aWP->getChild("altitude-ft");
765 double alt = -9999.0;
767 alt = altProp->getDoubleValue();
770 string ident(aWP->getStringValue("ident"));
771 if (aWP->hasChild("longitude-deg")) {
772 // explicit longitude/latitude
774 alt = 0.0; // don't export wyapoints with invalid altitude
777 SGWayPoint swp(aWP->getDoubleValue("longitude-deg"),
778 aWP->getDoubleValue("latitude-deg"), alt,
779 SGWayPoint::WGS84, ident, aWP->getStringValue("name"));
781 } else if (aWP->hasChild("navid")) {
782 // lookup by navid (possibly with offset)
783 string nid(aWP->getStringValue("navid"));
784 FGPositionedRef p = FGPositioned::findClosestWithIdent(nid, lastPos);
786 throw sg_io_exception("bad route file, unknown navid:" + nid);
789 SGGeod pos(p->geod());
790 if (aWP->hasChild("offset-nm") && aWP->hasChild("offset-radial")) {
791 double radialDeg = aWP->getDoubleValue("offset-radial");
792 // convert magnetic radial to a true radial!
793 radialDeg += magvar->getDoubleValue();
794 double offsetNm = aWP->getDoubleValue("offset-nm");
796 SGGeodesy::direct(p->geod(), radialDeg, offsetNm * SG_NM_TO_METER, pos, az2);
800 alt = p->elevation();
803 SGWayPoint swp(pos.getLongitudeDeg(), pos.getLatitudeDeg(), alt,
804 SGWayPoint::WGS84, ident, "");
807 // lookup by ident (symbolic waypoint)
808 FGPositionedRef p = FGPositioned::findClosestWithIdent(ident, lastPos);
810 throw sg_io_exception("bad route file, unknown waypoint:" + ident);
814 alt = p->elevation();
817 SGWayPoint swp(p->longitude(), p->latitude(), alt,
818 SGWayPoint::WGS84, p->ident(), p->name());