1 // gps.cxx - distance-measuring equipment.
2 // Written by David Megginson, started 2003.
4 // This file is in the Public Domain and comes with no warranty.
12 #include <boost/tuple/tuple.hpp>
19 #include "Main/fg_props.hxx"
20 #include "Main/globals.hxx" // for get_subsystem
21 #include "Main/util.hxx" // for fgLowPass
22 #include "Navaids/positioned.hxx"
23 #include <Navaids/waypoint.hxx>
24 #include "Navaids/navrecord.hxx"
25 #include "Navaids/FlightPlan.hxx"
26 #include "Airports/airport.hxx"
27 #include "Airports/runways.hxx"
28 #include "Autopilot/route_mgr.hxx"
30 #include <simgear/math/sg_random.h>
31 #include <simgear/sg_inlines.h>
32 #include <simgear/math/sg_geodesy.hxx>
33 #include <simgear/structure/exception.hxx>
37 using namespace flightgear;
40 static const char* makeTTWString(double TTW)
42 if ((TTW <= 0.0) || (TTW >= 356400.5)) { // 99 hours
46 unsigned int TTW_seconds = (int) (TTW + 0.5);
47 unsigned int TTW_minutes = 0;
48 unsigned int TTW_hours = 0;
49 static char TTW_str[9];
50 TTW_hours = TTW_seconds / 3600;
51 TTW_minutes = (TTW_seconds / 60) % 60;
52 TTW_seconds = TTW_seconds % 60;
53 snprintf(TTW_str, 9, "%02d:%02d:%02d",
54 TTW_hours, TTW_minutes, TTW_seconds);
58 ////////////////////////////////////////////////////////////////////////////
59 // configuration helper object
61 GPS::Config::Config() :
62 _enableTurnAnticipation(true),
63 _turnRate(3.0), // degrees-per-second, so 180 degree turn takes 60 seconds
64 _overflightDistance(0.0),
65 _overflightArmDistance(1.0),
66 _overflightArmAngle(90.0),
67 _waypointAlertTime(30.0),
68 _requireHardSurface(true),
69 _cdiMaxDeflectionNm(3.0), // linear mode, 3nm at the peg
70 _driveAutopilot(true),
71 _courseSelectable(false)
73 _enableTurnAnticipation = false;
76 void GPS::Config::bind(GPS* aOwner, SGPropertyNode* aCfg)
78 aOwner->tie(aCfg, "turn-rate-deg-sec", SGRawValuePointer<double>(&_turnRate));
79 aOwner->tie(aCfg, "turn-anticipation", SGRawValuePointer<bool>(&_enableTurnAnticipation));
80 aOwner->tie(aCfg, "wpt-alert-time", SGRawValuePointer<double>(&_waypointAlertTime));
81 aOwner->tie(aCfg, "hard-surface-runways-only", SGRawValuePointer<bool>(&_requireHardSurface));
82 aOwner->tie(aCfg, "cdi-max-deflection-nm", SGRawValuePointer<double>(&_cdiMaxDeflectionNm));
83 aOwner->tie(aCfg, "drive-autopilot", SGRawValuePointer<bool>(&_driveAutopilot));
84 aOwner->tie(aCfg, "course-selectable", SGRawValuePointer<bool>(&_courseSelectable));
85 aOwner->tie(aCfg, "over-flight-distance-nm", SGRawValuePointer<double>(&_overflightDistance));
86 aOwner->tie(aCfg, "over-flight-arm-distance-nm", SGRawValuePointer<double>(&_overflightArmDistance));
87 aOwner->tie(aCfg, "over-flight-arm-angle-deg", SGRawValuePointer<double>(&_overflightArmAngle));
90 ////////////////////////////////////////////////////////////////////////////
92 GPS::GPS ( SGPropertyNode *node, bool defaultGPSMode) :
97 _defaultGPSMode(defaultGPSMode),
99 _name(node->getStringValue("name", "gps")),
100 _num(node->getIntValue("number", 0)),
101 _computeTurnData(false),
102 _anticipateTurn(false),
104 _callbackFlightPlanChanged(SGPropertyChangeCallback<GPS>(this,&GPS::routeManagerFlightPlanChanged,
105 fgGetNode("/autopilot/route-manager/signals/flightplan-changed", true))),
106 _callbackRouteActivated(SGPropertyChangeCallback<GPS>(this,&GPS::routeActivated,
107 fgGetNode("/autopilot/route-manager/active", true)))
109 string branch = "/instrumentation/" + _name;
110 _gpsNode = fgGetNode(branch.c_str(), _num, true );
111 _scratchNode = _gpsNode->getChild("scratch", 0, true);
113 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
114 _currentWayptNode = wp_node->getChild("wp", 1, true);
117 _searchIsRoute = false;
118 _searchHasNext = false;
119 _searchType = FGPositioned::INVALID;
130 _magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
131 _serviceable_node = _gpsNode->getChild("serviceable", 0, true);
132 _serviceable_node->setBoolValue(true);
133 _electrical_node = fgGetNode("/systems/electrical/outputs/gps", true);
136 _raim_node = _gpsNode->getChild("raim", 0, true);
137 _odometer_node = _gpsNode->getChild("odometer", 0, true);
138 _trip_odometer_node = _gpsNode->getChild("trip-odometer", 0, true);
139 _true_bug_error_node = _gpsNode->getChild("true-bug-error-deg", 0, true);
140 _magnetic_bug_error_node = _gpsNode->getChild("magnetic-bug-error-deg", 0, true);
141 _eastWestVelocity = _gpsNode->getChild("ew-velocity-msec", 0, true);
142 _northSouthVelocity = _gpsNode->getChild("ns-velocity-msec", 0, true);
145 // for compatibility, alias selected course down to wp/wp[1]/desired-course-deg
146 SGPropertyNode* wp1Crs = _currentWayptNode->getChild("desired-course-deg", 0, true);
147 wp1Crs->alias(_gpsNode->getChild("desired-course-deg", 0, true));
149 _tracking_bug_node = _gpsNode->getChild("tracking-bug", 0, true);
152 // should these move to the route manager?
153 _routeDistanceNm = _gpsNode->getChild("route-distance-nm", 0, true);
154 _routeETE = _gpsNode->getChild("ETE", 0, true);
157 // navradio slaving properties
158 SGPropertyNode* toFlag = _gpsNode->getChild("to-flag", 0, true);
159 toFlag->alias(_currentWayptNode->getChild("to-flag"));
161 SGPropertyNode* fromFlag = _gpsNode->getChild("from-flag", 0, true);
162 fromFlag->alias(_currentWayptNode->getChild("from-flag"));
164 // autopilot drive properties
165 _apDrivingFlag = fgGetNode("/autopilot/settings/gps-driving-true-heading", true);
166 _apTrueHeading = fgGetNode("/autopilot/settings/true-heading-deg",true);
181 _config.bind(this, _gpsNode->getChild("config", 0, true));
184 tie(_gpsNode, "selected-course-deg", SGRawValueMethods<GPS, double>
185 (*this, &GPS::getSelectedCourse, &GPS::setSelectedCourse));
187 tie(_gpsNode, "desired-course-deg", SGRawValueMethods<GPS, double>
188 (*this, &GPS::getDesiredCourse, NULL));
189 _desiredCourseNode = _gpsNode->getChild("desired-course-deg", 0, true);
191 tieSGGeodReadOnly(_gpsNode, _indicated_pos, "indicated-longitude-deg",
192 "indicated-latitude-deg", "indicated-altitude-ft");
194 tie(_gpsNode, "indicated-vertical-speed", SGRawValueMethods<GPS, double>
195 (*this, &GPS::getVerticalSpeed, NULL));
196 tie(_gpsNode, "indicated-track-true-deg", SGRawValueMethods<GPS, double>
197 (*this, &GPS::getTrueTrack, NULL));
198 tie(_gpsNode, "indicated-track-magnetic-deg", SGRawValueMethods<GPS, double>
199 (*this, &GPS::getMagTrack, NULL));
200 tie(_gpsNode, "indicated-ground-speed-kt", SGRawValueMethods<GPS, double>
201 (*this, &GPS::getGroundspeedKts, NULL));
204 tie(_gpsNode, "mode", SGRawValueMethods<GPS, const char*>(*this, &GPS::getMode, NULL));
205 tie(_gpsNode, "command", SGRawValueMethods<GPS, const char*>(*this, &GPS::getCommand, &GPS::setCommand));
206 tieSGGeod(_scratchNode, _scratchPos, "longitude-deg", "latitude-deg", "altitude-ft");
209 tie(_scratchNode, "valid", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchValid, NULL));
210 tie(_scratchNode, "distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchDistance, NULL));
211 tie(_scratchNode, "true-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchTrueBearing, NULL));
212 tie(_scratchNode, "mag-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchMagBearing, NULL));
213 tie(_scratchNode, "has-next", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchHasNext, NULL));
214 _scratchValid = false;
216 _scratchNode->setStringValue("type", "");
217 _scratchNode->setStringValue("query", "");
220 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
221 SGPropertyNode* wp0_node = wp_node->getChild("wp", 0, true);
222 tieSGGeodReadOnly(wp0_node, _wp0_position, "longitude-deg", "latitude-deg", "altitude-ft");
223 tie(wp0_node, "ID", SGRawValueMethods<GPS, const char*>
224 (*this, &GPS::getWP0Ident, NULL));
225 tie(wp0_node, "name", SGRawValueMethods<GPS, const char*>
226 (*this, &GPS::getWP0Name, NULL));
228 tie(_currentWayptNode, "valid", SGRawValueMethods<GPS, bool>
229 (*this, &GPS::getWP1IValid, NULL));
231 tie(_currentWayptNode, "ID", SGRawValueMethods<GPS, const char*>
232 (*this, &GPS::getWP1Ident, NULL));
233 tie(_currentWayptNode, "name", SGRawValueMethods<GPS, const char*>
234 (*this, &GPS::getWP1Name, NULL));
236 tie(_currentWayptNode, "distance-nm", SGRawValueMethods<GPS, double>
237 (*this, &GPS::getWP1Distance, NULL));
238 tie(_currentWayptNode, "bearing-true-deg", SGRawValueMethods<GPS, double>
239 (*this, &GPS::getWP1Bearing, NULL));
240 tie(_currentWayptNode, "bearing-mag-deg", SGRawValueMethods<GPS, double>
241 (*this, &GPS::getWP1MagBearing, NULL));
242 tie(_currentWayptNode, "TTW-sec", SGRawValueMethods<GPS, double>
243 (*this, &GPS::getWP1TTW, NULL));
244 tie(_currentWayptNode, "TTW", SGRawValueMethods<GPS, const char*>
245 (*this, &GPS::getWP1TTWString, NULL));
247 tie(_currentWayptNode, "course-deviation-deg", SGRawValueMethods<GPS, double>
248 (*this, &GPS::getWP1CourseDeviation, NULL));
249 tie(_currentWayptNode, "course-error-nm", SGRawValueMethods<GPS, double>
250 (*this, &GPS::getWP1CourseErrorNm, NULL));
251 tie(_currentWayptNode, "to-flag", SGRawValueMethods<GPS, bool>
252 (*this, &GPS::getWP1ToFlag, NULL));
253 tie(_currentWayptNode, "from-flag", SGRawValueMethods<GPS, bool>
254 (*this, &GPS::getWP1FromFlag, NULL));
256 // leg properties (only valid in DTO/LEG modes, not OBS)
257 tie(wp_node, "leg-distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getLegDistance, NULL));
258 tie(wp_node, "leg-true-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegCourse, NULL));
259 tie(wp_node, "leg-mag-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegMagCourse, NULL));
261 // navradio slaving properties
262 tie(_gpsNode, "cdi-deflection", SGRawValueMethods<GPS,double>
263 (*this, &GPS::getCDIDeflection));
269 _tiedProperties.Untie();
276 _last_speed_kts = 0.0;
277 _last_pos = SGGeod();
278 _lastPosValid = false;
279 _indicated_pos = SGGeod();
280 _last_vertical_speed = 0.0;
281 _last_true_track = 0.0;
282 _lastEWVelocity = _lastNSVelocity = 0.0;
283 _currentWaypt = _prevWaypt = NULL;
284 _legDistanceNm = -1.0;
286 _raim_node->setDoubleValue(0.0);
287 _indicated_pos = SGGeod();
288 _odometer_node->setDoubleValue(0);
289 _trip_odometer_node->setDoubleValue(0);
290 _tracking_bug_node->setDoubleValue(0);
291 _true_bug_error_node->setDoubleValue(0);
292 _magnetic_bug_error_node->setDoubleValue(0);
293 _northSouthVelocity->setDoubleValue(0.0);
294 _eastWestVelocity->setDoubleValue(0.0);
298 GPS::update (double delta_time_sec)
300 if (!_defaultGPSMode) {
301 // If it's off, don't bother.
302 // check if value is defined, since many aircraft don't define an output
303 // for the GPS, but expect the default one to work.
304 bool elecOn = !_electrical_node->hasValue() || _electrical_node->getBoolValue();
305 if (!_serviceable_node->getBoolValue() || !elecOn) {
311 if (delta_time_sec <= 0.0) {
312 return; // paused, don't bother
315 _raim_node->setDoubleValue(1.0);
316 _indicated_pos = globals->get_aircraft_position();
317 updateBasicData(delta_time_sec);
320 if (_wayptController.get()) {
321 _wayptController->update();
322 SGGeod p(_wayptController->position());
323 _currentWayptNode->setDoubleValue("longitude-deg", p.getLongitudeDeg());
324 _currentWayptNode->setDoubleValue("latitude-deg", p.getLatitudeDeg());
325 _currentWayptNode->setDoubleValue("altitude-ft", p.getElevationFt());
327 _desiredCourse = getLegMagCourse();
338 if (_dataValid && (_mode == "init")) {
339 // will select LEG mode if the route is active
340 routeManagerFlightPlanChanged(NULL);
342 FGRouteMgr* routeMgr = static_cast<FGRouteMgr*>(globals->get_subsystem("route-manager"));
343 if (!routeMgr->isRouteActive()) {
344 // initialise in OBS mode, with waypt set to the nearest airport.
345 // keep in mind at this point, _dataValid is not set
346 auto_ptr<FGPositioned::Filter> f(new FGAirport::HardSurfaceFilter());
347 FGPositionedRef apt = FGPositioned::findClosest(_indicated_pos, 20.0, f.get());
349 selectOBSMode(new flightgear::NavaidWaypoint(apt, NULL));
359 // allow a realistic delay in the future, here
361 } // of init mode check
363 _last_pos = _indicated_pos;
364 _lastPosValid = !(_last_pos == SGGeod());
367 void GPS::routeManagerFlightPlanChanged(SGPropertyNode*)
370 _route->removeDelegate(this);
373 SG_LOG(SG_INSTR, SG_INFO, "GPS saw route-manager flight-plan replaced.");
374 FGRouteMgr* routeMgr = static_cast<FGRouteMgr*>(globals->get_subsystem("route-manager"));
375 _route = routeMgr->flightPlan();
377 _route->addDelegate(this);
380 if (routeMgr->isRouteActive()) {
383 selectOBSMode(_currentWaypt); // revert to OBS on current waypoint
387 void GPS::routeActivated(SGPropertyNode* aNode)
389 bool isActive = aNode->getBoolValue();
391 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, switching to LEG mode");
394 // if we've already passed the current waypoint, sequence.
395 if (_dataValid && getWP1FromFlag()) {
396 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, FROM wp1, sequencing");
399 } else if (_mode == "leg") {
400 SG_LOG(SG_INSTR, SG_INFO, "GPS::route deactivated, switching to OBS mode");
401 selectOBSMode(_currentWaypt);
405 ///////////////////////////////////////////////////////////////////////////
406 // implement the RNAV interface
407 SGGeod GPS::position()
413 return _indicated_pos;
416 double GPS::trackDeg()
418 return _last_true_track;
421 double GPS::groundSpeedKts()
423 return _last_speed_kts;
426 double GPS::vspeedFPM()
428 return _last_vertical_speed;
431 double GPS::magvarDeg()
433 return _magvar_node->getDoubleValue();
436 double GPS::overflightDistanceM()
438 return _config.overflightDistanceNm() * SG_NM_TO_METER;
441 double GPS::overflightArmDistanceM()
443 return _config.overflightArmDistanceNm() * SG_NM_TO_METER;
446 double GPS::overflightArmAngleDeg()
448 return _config.overflightArmAngleDeg();
451 double GPS::selectedMagCourse()
453 return _selectedCourse;
456 SGGeod GPS::previousLegWaypointPosition(bool& isValid)
458 FlightPlan::Leg* leg = _route->previousLeg();
460 Waypt* waypt = leg->waypoint();
463 return waypt->position();
469 ///////////////////////////////////////////////////////////////////////////
472 GPS::updateBasicData(double dt)
474 if (!_lastPosValid) {
480 SGGeodesy::inverse(_last_pos, _indicated_pos, _last_true_track, track2_deg, distance_m );
482 double speed_kt = ((distance_m * SG_METER_TO_NM) * ((1 / dt) * 3600.0));
483 double vertical_speed_mpm = ((_indicated_pos.getElevationM() - _last_pos.getElevationM()) * 60 / dt);
484 _last_vertical_speed = vertical_speed_mpm * SG_METER_TO_FEET;
486 speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, dt/10.0);
487 _last_speed_kts = speed_kt;
489 SGGeod g = _indicated_pos;
490 g.setLongitudeDeg(_last_pos.getLongitudeDeg());
491 double northSouthM = dist(SGVec3d::fromGeod(_last_pos), SGVec3d::fromGeod(g));
492 northSouthM = copysign(northSouthM, _indicated_pos.getLatitudeDeg() - _last_pos.getLatitudeDeg());
494 double nsMSec = fgGetLowPass(_lastNSVelocity, northSouthM / dt, dt/2.0);
495 _lastNSVelocity = nsMSec;
496 _northSouthVelocity->setDoubleValue(nsMSec);
499 g.setLatitudeDeg(_last_pos.getLatitudeDeg());
500 double eastWestM = dist(SGVec3d::fromGeod(_last_pos), SGVec3d::fromGeod(g));
501 eastWestM = copysign(eastWestM, _indicated_pos.getLongitudeDeg() - _last_pos.getLongitudeDeg());
503 double ewMSec = fgGetLowPass(_lastEWVelocity, eastWestM / dt, dt/2.0);
504 _lastEWVelocity = ewMSec;
505 _eastWestVelocity->setDoubleValue(ewMSec);
507 double odometer = _odometer_node->getDoubleValue();
508 _odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
509 odometer = _trip_odometer_node->getDoubleValue();
510 _trip_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
518 GPS::updateTrackingBug()
520 double tracking_bug = _tracking_bug_node->getDoubleValue();
521 double true_bug_error = tracking_bug - getTrueTrack();
522 double magnetic_bug_error = tracking_bug - getMagTrack();
524 // Get the errors into the (-180,180) range.
525 SG_NORMALIZE_RANGE(true_bug_error, -180.0, 180.0);
526 SG_NORMALIZE_RANGE(magnetic_bug_error, -180.0, 180.0);
528 _true_bug_error_node->setDoubleValue(true_bug_error);
529 _magnetic_bug_error_node->setDoubleValue(magnetic_bug_error);
532 void GPS::endOfFlightPlan()
534 selectOBSMode(_currentWaypt);
537 void GPS::currentWaypointChanged()
543 int index = _route->currentIndex(),
544 count = _route->numLegs();
545 if ((index < 0) || (index >= count)) {
548 // no active leg on the route
553 _prevWaypt = _route->previousLeg()->waypoint();
554 if (_prevWaypt->flag(WPT_DYNAMIC)) {
555 _wp0_position = _indicated_pos;
557 _wp0_position = _prevWaypt->position();
561 _currentWaypt = _route->currentLeg()->waypoint();
562 _desiredCourse = getLegMagCourse();
563 _desiredCourseNode->fireValueChanged();
568 void GPS::waypointsChanged()
570 if (_mode != "leg") {
574 SG_LOG(SG_INSTR, SG_INFO, "GPS route edited while in LEG mode, updating waypoints");
575 currentWaypointChanged();
580 if (_mode != "leg") {
584 selectOBSMode(_currentWaypt);
593 int nextIndex = _route->currentIndex() + 1;
594 if (nextIndex >= _route->numLegs()) {
595 SG_LOG(SG_INSTR, SG_INFO, "sequenced final leg, end of route");
597 selectOBSMode(_currentWaypt);
601 // will callback into currentWaypointChanged
602 _route->setCurrentIndex(nextIndex);
605 void GPS::updateTurn()
607 bool printProgress = false;
609 if (_computeTurnData) {
610 if (_last_speed_kts < 10) {
611 // need valid leg course and sensible ground speed to compute the turn
616 printProgress = true;
619 if (!_anticipateTurn) {
625 // find bearing to turn centre
626 double bearing, az2, distanceM;
627 SGGeodesy::inverse(_indicated_pos, _turnCentre, bearing, az2, distanceM);
628 double progress = computeTurnProgress(bearing);
631 SG_LOG(SG_INSTR, SG_INFO,"turn progress=" << progress);
634 if (!_inTurn && (progress > 0.0)) {
638 if (_inTurn && !_turnSequenced && (progress > 0.5)) {
639 _turnSequenced = true;
640 SG_LOG(SG_INSTR, SG_INFO, "turn passed midpoint, sequencing");
644 if (_inTurn && (progress >= 1.0)) {
649 // drive deviation and desired course
650 double desiredCourse = bearing - copysign(90, _turnAngle);
651 SG_NORMALIZE_RANGE(desiredCourse, 0.0, 360.0);
652 double deviationNm = (distanceM * SG_METER_TO_NM) - _turnRadius;
653 double deviationDeg = desiredCourse - getMagTrack();
654 deviationNm = copysign(deviationNm, deviationDeg);
656 //_wp1_course_deviation_node->setDoubleValue(deviationDeg);
657 //_wp1_course_error_nm_node->setDoubleValue(deviationNm);
658 //_cdiDeflectionNode->setDoubleValue(deviationDeg);
662 void GPS::updateOverflight()
664 if (!_wayptController->isDone()) {
668 if (_mode == "dto") {
669 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO reached destination point");
671 // check for wp1 being on active route - resume leg mode
673 int index = _route->findWayptIndex(_currentWaypt->position());
675 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO, resuming LEG mode at wp:" << index);
677 _route->setCurrentIndex(index);
678 sequence(); // and sequence to the next point
682 if (_mode == "dto") {
683 // if we didn't enter leg mode, drop back to OBS mode
684 // select OBS mode, but keep current waypoint-as is
688 } else if (_mode == "leg") {
689 SG_LOG(SG_INSTR, SG_DEBUG, "GPS doing overflight sequencing");
691 } else if (_mode == "obs") {
692 // nothing to do here, TO/FROM will update but that's fine
694 _computeTurnData = true;
697 void GPS::beginTurn()
700 _turnSequenced = false;
701 SG_LOG(SG_INSTR, SG_INFO, "beginning turn");
707 SG_LOG(SG_INSTR, SG_INFO, "ending turn");
708 _computeTurnData = true;
711 double GPS::computeTurnProgress(double aBearing) const
713 double startBearing = _turnStartBearing + copysign(90, _turnAngle);
714 return (aBearing - startBearing) / _turnAngle;
717 void GPS::computeTurnData()
719 _computeTurnData = false;
720 if ((_mode != "leg") || !_route->nextLeg()) {
721 _anticipateTurn = false;
725 WayptRef next = _route->nextLeg()->waypoint();
726 if (next->flag(WPT_DYNAMIC) || !_config.turnAnticipationEnabled()) {
727 _anticipateTurn = false;
731 _turnStartBearing = _desiredCourse;
732 // compute next leg course
734 boost::tie(crs, dist) = next->courseAndDistanceFrom(_currentWaypt->position());
737 // compute offset bearing
738 _turnAngle = crs - _turnStartBearing;
739 SG_NORMALIZE_RANGE(_turnAngle, -180.0, 180.0);
740 double median = _turnStartBearing + (_turnAngle * 0.5);
741 double offsetBearing = median + copysign(90, _turnAngle);
742 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
744 SG_LOG(SG_INSTR, SG_INFO, "GPS computeTurnData: in=" << _turnStartBearing <<
745 ", out=" << crs << "; turnAngle=" << _turnAngle << ", median=" << median
746 << ", offset=" << offsetBearing);
748 SG_LOG(SG_INSTR, SG_INFO, "next leg is now:" << _currentWaypt->ident() << "->" << next->ident());
750 _turnPt = _currentWaypt->position();
751 _anticipateTurn = true;
754 void GPS::updateTurnData()
756 // depends on ground speed, so needs to be updated per-frame
757 _turnRadius = computeTurnRadiusNm(_last_speed_kts);
759 // compute the turn centre, based on the turn radius.
760 // key thing is to understand that we're working a right-angle triangle,
761 // where the right-angle is the point we start the turn. From that point,
762 // one side is the inbound course to the turn pt, and the other is the
763 // perpendicular line, of length 'r', to the turn centre.
764 // the triangle's hypotenuse, which we need to find, is the distance from the
765 // turn pt to the turn center (in the direction of the offset bearing)
766 // note that d - _turnRadius tell us how much we're 'cutting' the corner.
768 double halfTurnAngle = fabs(_turnAngle * 0.5) * SG_DEGREES_TO_RADIANS;
769 double d = _turnRadius / cos(halfTurnAngle);
771 // SG_LOG(SG_INSTR, SG_INFO, "turnRadius=" << _turnRadius << ", d=" << d
772 // << " (cut distance=" << d - _turnRadius << ")");
774 double median = _turnStartBearing + (_turnAngle * 0.5);
775 double offsetBearing = median + copysign(90, _turnAngle);
776 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
779 SGGeodesy::direct(_turnPt, offsetBearing, d * SG_NM_TO_METER, _turnCentre, az2);
782 double GPS::computeTurnRadiusNm(double aGroundSpeedKts) const
784 // turn time is seconds to execute a 360 turn.
785 double turnTime = 360.0 / _config.turnRateDegSec();
787 // c is ground distance covered in that time (circumference of the circle)
788 double c = turnTime * (aGroundSpeedKts / 3600.0); // convert knts to nm/sec
790 // divide by 2PI to go from circumference -> radius
791 return c / (2 * M_PI);
794 void GPS::updateRouteData()
796 double totalDistance = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
797 // walk all waypoints from wp2 to route end, and sum
798 // for (int i=_routeMgr->currentIndex()+1; i<_routeMgr->numWaypts(); ++i) {
799 //totalDistance += _routeMgr->get_waypoint(i).get_distance();
802 _routeDistanceNm->setDoubleValue(totalDistance * SG_METER_TO_NM);
803 if (_last_speed_kts > 1.0) {
804 double TTW = ((totalDistance * SG_METER_TO_NM) / _last_speed_kts) * 3600.0;
805 _routeETE->setStringValue(makeTTWString(TTW));
809 void GPS::driveAutopilot()
811 if (!_config.driveAutopilot() || !_defaultGPSMode) {
812 _apDrivingFlag->setBoolValue(false);
816 // compatibility feature - allow the route-manager / GPS to drive the
817 // generic autopilot heading hold *in leg mode only*
819 bool drive = _mode == "leg";
820 _apDrivingFlag->setBoolValue(drive);
823 // FIXME: we want to set desired track, not heading, here
824 _apTrueHeading->setDoubleValue(getWP1Bearing());
828 void GPS::wp1Changed()
832 if (_mode == "leg") {
833 _wayptController.reset(WayptController::createForWaypt(this, _currentWaypt));
834 } else if (_mode == "obs") {
835 _wayptController.reset(new OBSController(this, _currentWaypt));
836 } else if (_mode == "dto") {
837 _wayptController.reset(new DirectToController(this, _currentWaypt, _wp0_position));
840 _wayptController->init();
842 if (_mode == "obs") {
843 _legDistanceNm = -1.0;
845 _wayptController->update();
846 _legDistanceNm = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
850 /////////////////////////////////////////////////////////////////////////////
851 // property getter/setters
853 void GPS::setSelectedCourse(double crs)
855 if (_selectedCourse == crs) {
859 _selectedCourse = crs;
860 if ((_mode == "obs") || _config.courseSelectable()) {
861 _desiredCourse = _selectedCourse;
862 _desiredCourseNode->fireValueChanged();
866 double GPS::getLegDistance() const
868 if (!_dataValid || (_mode == "obs")) {
872 return _legDistanceNm;
875 double GPS::getLegCourse() const
877 if (!_dataValid || !_wayptController.get()) {
881 return _wayptController->targetTrackDeg();
884 double GPS::getLegMagCourse() const
890 double m = getLegCourse() - _magvar_node->getDoubleValue();
891 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
895 double GPS::getMagTrack() const
901 double m = getTrueTrack() - _magvar_node->getDoubleValue();
902 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
906 double GPS::getCDIDeflection() const
913 if (_config.cdiDeflectionIsAngular()) {
914 defl = getWP1CourseDeviation();
915 SG_CLAMP_RANGE(defl, -10.0, 10.0); // as in navradio.cxx
917 double fullScale = _config.cdiDeflectionLinearPeg();
918 double normError = getWP1CourseErrorNm() / fullScale;
919 SG_CLAMP_RANGE(normError, -1.0, 1.0);
920 defl = normError * 10.0; // re-scale to navradio limits, i.e [-10.0 .. 10.0]
926 const char* GPS::getWP0Ident() const
928 if (!_dataValid || (_mode != "leg") || !_prevWaypt) {
932 // work around std::string::c_str() storage lifetime with libc++
933 // real fix is to allow tie-ing with std::string instead of char*
934 static char identBuf[8];
935 strncpy(identBuf, _prevWaypt->ident().c_str(), 8);
940 const char* GPS::getWP0Name() const
942 if (!_dataValid || !_prevWaypt || !_prevWaypt->source()) {
946 return _prevWaypt->source()->name().c_str();
949 bool GPS::getWP1IValid() const
951 return _dataValid && _currentWaypt.get();
954 const char* GPS::getWP1Ident() const
956 if (!_dataValid || !_currentWaypt) {
960 // work around std::string::c_str() storage lifetime with libc++
961 // real fix is to allow tie-ing with std::string instead of char*
962 static char identBuf[8];
963 strncpy(identBuf, _currentWaypt->ident().c_str(), 8);
968 const char* GPS::getWP1Name() const
970 if (!_dataValid || !_currentWaypt || !_currentWaypt->source()) {
974 return _currentWaypt->source()->name().c_str();
977 double GPS::getWP1Distance() const
979 if (!_dataValid || !_wayptController.get()) {
983 return _wayptController->distanceToWayptM() * SG_METER_TO_NM;
986 double GPS::getWP1TTW() const
988 if (!_dataValid || !_wayptController.get()) {
992 return _wayptController->timeToWaypt();
995 const char* GPS::getWP1TTWString() const
997 double t = getWP1TTW();
1002 return makeTTWString(t);
1005 double GPS::getWP1Bearing() const
1007 if (!_dataValid || !_wayptController.get()) {
1011 return _wayptController->trueBearingDeg();
1014 double GPS::getWP1MagBearing() const
1016 if (!_dataValid || !_wayptController.get()) {
1020 double magBearing = _wayptController->trueBearingDeg() - _magvar_node->getDoubleValue();
1021 SG_NORMALIZE_RANGE(magBearing, 0.0, 360.0);
1025 double GPS::getWP1CourseDeviation() const
1027 if (!_dataValid || !_wayptController.get()) {
1031 return _wayptController->courseDeviationDeg();
1034 double GPS::getWP1CourseErrorNm() const
1036 if (!_dataValid || !_wayptController.get()) {
1040 return _wayptController->xtrackErrorNm();
1043 bool GPS::getWP1ToFlag() const
1045 if (!_dataValid || !_wayptController.get()) {
1049 return _wayptController->toFlag();
1052 bool GPS::getWP1FromFlag() const
1054 if (!_dataValid || !_wayptController.get()) {
1058 return !getWP1ToFlag();
1062 double GPS::getScratchDistance() const
1064 if (!_scratchValid) {
1068 return SGGeodesy::distanceNm(_indicated_pos, _scratchPos);
1071 double GPS::getScratchTrueBearing() const
1073 if (!_scratchValid) {
1077 return SGGeodesy::courseDeg(_indicated_pos, _scratchPos);
1080 double GPS::getScratchMagBearing() const
1082 if (!_scratchValid) {
1086 double crs = getScratchTrueBearing() - _magvar_node->getDoubleValue();
1087 SG_NORMALIZE_RANGE(crs, 0.0, 360.0);
1093 /////////////////////////////////////////////////////////////////////////////
1096 void GPS::setCommand(const char* aCmd)
1098 SG_LOG(SG_INSTR, SG_DEBUG, "GPS command:" << aCmd);
1100 if (!strcmp(aCmd, "direct")) {
1102 } else if (!strcmp(aCmd, "obs")) {
1103 selectOBSMode(NULL);
1104 } else if (!strcmp(aCmd, "leg")) {
1107 } else if (!strcmp(aCmd, "load-route-wpt")) {
1108 loadRouteWaypoint();
1109 } else if (!strcmp(aCmd, "nearest")) {
1111 } else if (!strcmp(aCmd, "search")) {
1112 _searchNames = false;
1114 } else if (!strcmp(aCmd, "search-names")) {
1115 _searchNames = true;
1117 } else if (!strcmp(aCmd, "next")) {
1119 } else if (!strcmp(aCmd, "previous")) {
1121 } else if (!strcmp(aCmd, "define-user-wpt")) {
1123 } else if (!strcmp(aCmd, "route-insert-before")) {
1124 int index = _scratchNode->getIntValue("index");
1125 if (index < 0 || (_route->numLegs() == 0)) {
1126 index = _route->numLegs();
1127 } else if (index >= _route->numLegs()) {
1128 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-before, bad index:" << index);
1132 insertWaypointAtIndex(index);
1133 } else if (!strcmp(aCmd, "route-insert-after")) {
1134 int index = _scratchNode->getIntValue("index");
1135 if (index < 0 || (_route->numLegs() == 0)) {
1136 index = _route->numLegs();
1137 } else if (index >= _route->numLegs()) {
1138 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-after, bad index:" << index);
1144 insertWaypointAtIndex(index);
1145 } else if (!strcmp(aCmd, "route-delete")) {
1146 int index = _scratchNode->getIntValue("index");
1148 index = _route->numLegs();
1149 } else if (index >= _route->numLegs()) {
1150 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-delete, bad index:" << index);
1154 removeWaypointAtIndex(index);
1157 SG_LOG(SG_INSTR, SG_WARN, "GPS:unrecognized command:" << aCmd);
1161 void GPS::clearScratch()
1163 _scratchPos = SGGeod::fromDegFt(-9999.0, -9999.0, -9999.0);
1164 _scratchNode->setBoolValue("valid", false);
1166 _scratchNode->setStringValue("type", "");
1167 _scratchNode->setStringValue("query", "");
1171 bool GPS::isScratchPositionValid() const
1173 if ((_scratchPos.getLongitudeDeg() < -9990.0) ||
1174 (_scratchPos.getLatitudeDeg() < -9990.0)) {
1181 FGPositionedRef GPS::positionedFromScratch() const
1183 if (!isScratchPositionValid()) {
1187 std::string ident(_scratchNode->getStringValue("ident"));
1188 return FGPositioned::findClosestWithIdent(ident, _scratchPos);
1191 void GPS::directTo()
1193 if (!isScratchPositionValid()) {
1198 _wp0_position = _indicated_pos;
1200 FGPositionedRef pos = positionedFromScratch();
1202 _currentWaypt = new NavaidWaypoint(pos, NULL);
1204 _currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
1211 void GPS::selectOBSMode(flightgear::Waypt* waypt)
1213 if (!waypt && isScratchPositionValid()) {
1214 FGPositionedRef pos = positionedFromScratch();
1216 waypt = new NavaidWaypoint(pos, NULL);
1218 waypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
1224 _wp0_position = _indicated_pos;
1225 _currentWaypt = waypt;
1229 void GPS::selectLegMode()
1231 if (_mode == "leg") {
1236 SG_LOG(SG_INSTR, SG_WARN, "GPS:selectLegMode: no active route");
1242 // depending on the situation, this will either get over-written
1243 // in routeManagerSequenced or not; either way it does no harm to
1245 _wp0_position = _indicated_pos;
1247 // not really sequenced, but does all the work of updating wp0/1
1248 currentWaypointChanged();
1253 void GPS::loadRouteWaypoint()
1255 _scratchValid = false;
1256 int index = _scratchNode->getIntValue("index", -9999);
1259 if ((index < 0) || (index >= _route->numLegs())) { // no index supplied, use current wp
1260 index = _route->currentIndex();
1263 _searchIsRoute = true;
1264 setScratchFromRouteWaypoint(index);
1267 void GPS::setScratchFromRouteWaypoint(int aIndex)
1269 assert(_searchIsRoute);
1270 if ((aIndex < 0) || (aIndex >= _route->numLegs())) {
1271 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromRouteWaypoint: route-index out of bounds");
1275 _searchResultIndex = aIndex;
1276 WayptRef wp = _route->legAtIndex(aIndex)->waypoint();
1277 _scratchNode->setStringValue("ident", wp->ident());
1278 _scratchPos = wp->position();
1279 _scratchValid = true;
1280 _scratchNode->setIntValue("index", aIndex);
1283 void GPS::loadNearest()
1285 string sty(_scratchNode->getStringValue("type"));
1286 FGPositioned::Type ty = FGPositioned::typeFromName(sty);
1287 if (ty == FGPositioned::INVALID) {
1288 SG_LOG(SG_INSTR, SG_WARN, "GPS:loadNearest: request type is invalid:" << sty);
1292 auto_ptr<FGPositioned::Filter> f(createFilter(ty));
1293 int limitCount = _scratchNode->getIntValue("max-results", 1);
1294 double cutoffDistance = _scratchNode->getDoubleValue("cutoff-nm", 400.0);
1296 SGGeod searchPos = _indicated_pos;
1297 if (isScratchPositionValid()) {
1298 searchPos = _scratchPos;
1301 clearScratch(); // clear now, regardless of whether we find a match or not
1304 FGPositioned::findClosestN(searchPos, limitCount, cutoffDistance, f.get());
1305 _searchResultIndex = 0;
1306 _searchIsRoute = false;
1308 if (_searchResults.empty()) {
1312 setScratchFromCachedSearchResult();
1315 bool GPS::SearchFilter::pass(FGPositioned* aPos) const
1317 switch (aPos->type()) {
1318 case FGPositioned::AIRPORT:
1319 // heliport and seaport too?
1320 case FGPositioned::VOR:
1321 case FGPositioned::NDB:
1322 case FGPositioned::FIX:
1323 case FGPositioned::TACAN:
1324 case FGPositioned::WAYPOINT:
1331 FGPositioned::Type GPS::SearchFilter::minType() const
1333 return FGPositioned::AIRPORT;
1336 FGPositioned::Type GPS::SearchFilter::maxType() const
1338 return FGPositioned::VOR;
1341 FGPositioned::Filter* GPS::createFilter(FGPositioned::Type aTy)
1343 if (aTy == FGPositioned::AIRPORT) {
1344 return new FGAirport::HardSurfaceFilter();
1347 // if we were passed INVALID, assume it means 'all types interesting to a GPS'
1348 if (aTy == FGPositioned::INVALID) {
1349 return new SearchFilter;
1352 return new FGPositioned::TypeFilter(aTy);
1357 // parse search terms into local members, and exec the first search
1358 string sty(_scratchNode->getStringValue("type"));
1359 _searchType = FGPositioned::typeFromName(sty);
1360 _searchQuery = _scratchNode->getStringValue("query");
1361 if (_searchQuery.empty()) {
1362 SG_LOG(SG_INSTR, SG_WARN, "empty GPS search query");
1367 _searchExact = _scratchNode->getBoolValue("exact", true);
1368 _searchResultIndex = 0;
1369 _searchIsRoute = false;
1371 auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
1373 _searchResults = FGPositioned::findAllWithName(_searchQuery, f.get(), _searchExact);
1375 _searchResults = FGPositioned::findAllWithIdent(_searchQuery, f.get(), _searchExact);
1378 bool orderByRange = _scratchNode->getBoolValue("order-by-distance", true);
1380 FGPositioned::sortByRange(_searchResults, _indicated_pos);
1383 if (_searchResults.empty()) {
1388 setScratchFromCachedSearchResult();
1391 bool GPS::getScratchHasNext() const
1394 if (_searchIsRoute) {
1395 lastResult = _route->numLegs() - 1;
1397 lastResult = (int) _searchResults.size() - 1;
1400 if (lastResult < 0) { // search array might be empty
1404 return (_searchResultIndex < lastResult);
1407 void GPS::setScratchFromCachedSearchResult()
1409 int index = _searchResultIndex;
1411 if ((index < 0) || (index >= (int) _searchResults.size())) {
1412 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromCachedSearchResult: index out of bounds:" << index);
1416 setScratchFromPositioned(_searchResults[index], index);
1419 void GPS::setScratchFromPositioned(FGPositioned* aPos, int aIndex)
1424 _scratchPos = aPos->geod();
1425 _scratchNode->setStringValue("name", aPos->name());
1426 _scratchNode->setStringValue("ident", aPos->ident());
1427 _scratchNode->setStringValue("type", FGPositioned::nameForType(aPos->type()));
1430 _scratchNode->setIntValue("index", aIndex);
1433 _scratchValid = true;
1434 _scratchNode->setIntValue("result-count", _searchResults.size());
1436 switch (aPos->type()) {
1437 case FGPositioned::VOR:
1438 _scratchNode->setDoubleValue("frequency-mhz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1441 case FGPositioned::NDB:
1442 _scratchNode->setDoubleValue("frequency-khz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1445 case FGPositioned::AIRPORT:
1446 addAirportToScratch((FGAirport*)aPos);
1454 // look for being on the route and set?
1457 void GPS::addAirportToScratch(FGAirport* aAirport)
1459 for (unsigned int r=0; r<aAirport->numRunways(); ++r) {
1460 SGPropertyNode* rwyNd = _scratchNode->getChild("runways", r, true);
1461 FGRunway* rwy = aAirport->getRunwayByIndex(r);
1462 // TODO - filter out unsuitable runways in the future
1463 // based on config again
1465 rwyNd->setStringValue("id", rwy->ident().c_str());
1466 rwyNd->setIntValue("length-ft", rwy->lengthFt());
1467 rwyNd->setIntValue("width-ft", rwy->widthFt());
1468 rwyNd->setIntValue("heading-deg", rwy->headingDeg());
1469 // map surface code to a string
1470 // TODO - lighting information
1473 rwyNd->setDoubleValue("ils-frequency-mhz", rwy->ILS()->get_freq() / 100.0);
1475 } // of runways iteration
1478 void GPS::nextResult()
1480 if (!getScratchHasNext()) {
1485 if (_searchIsRoute) {
1486 setScratchFromRouteWaypoint(++_searchResultIndex);
1488 ++_searchResultIndex;
1489 setScratchFromCachedSearchResult();
1493 void GPS::previousResult()
1495 if (_searchResultIndex <= 0) {
1500 --_searchResultIndex;
1502 if (_searchIsRoute) {
1503 setScratchFromRouteWaypoint(_searchResultIndex);
1505 setScratchFromCachedSearchResult();
1509 void GPS::defineWaypoint()
1511 if (!isScratchPositionValid()) {
1512 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: invalid lat/lon");
1516 string ident = _scratchNode->getStringValue("ident");
1517 if (ident.size() < 2) {
1518 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: waypoint identifier must be at least two characters");
1522 // check for duplicate idents
1523 FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
1524 FGPositionedList dups = FGPositioned::findAllWithIdent(ident, &f);
1525 if (!dups.empty()) {
1526 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: non-unique waypoint identifier, ho-hum");
1529 SG_LOG(SG_INSTR, SG_INFO, "GPS:defineWaypoint: creating waypoint:" << ident);
1530 FGPositionedRef wpt = FGPositioned::createUserWaypoint(ident, _scratchPos);
1531 _searchResults.clear();
1532 _searchResults.push_back(wpt);
1533 setScratchFromPositioned(wpt.get(), -1);
1536 void GPS::insertWaypointAtIndex(int aIndex)
1538 // note we do allow index = routeMgr->size(), that's an append
1539 if ((aIndex < 0) || (aIndex > _route->numLegs())) {
1540 throw sg_range_exception("GPS::insertWaypointAtIndex: index out of bounds");
1543 if (!isScratchPositionValid()) {
1544 SG_LOG(SG_INSTR, SG_WARN, "GPS:insertWaypointAtIndex: invalid lat/lon");
1548 string ident = _scratchNode->getStringValue("ident");
1550 WayptRef wpt = new BasicWaypt(_scratchPos, ident, NULL);
1551 _route->insertWayptAtIndex(wpt, aIndex);
1554 void GPS::removeWaypointAtIndex(int aIndex)
1556 if ((aIndex < 0) || (aIndex >= _route->numLegs())) {
1557 throw sg_range_exception("GPS::removeWaypointAtIndex: index out of bounds");
1560 _route->deleteIndex(aIndex);
1564 #endif // of FG_210_COMPAT
1566 void GPS::tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
1567 const char* lonStr, const char* latStr, const char* altStr)
1569 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, &SGGeod::setLongitudeDeg));
1570 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, &SGGeod::setLatitudeDeg));
1573 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, &SGGeod::setElevationFt));
1577 void GPS::tieSGGeodReadOnly(SGPropertyNode* aNode, SGGeod& aRef,
1578 const char* lonStr, const char* latStr, const char* altStr)
1580 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, NULL));
1581 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, NULL));
1584 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, NULL));