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>
18 #include "Main/fg_props.hxx"
19 #include "Main/globals.hxx" // for get_subsystem
20 #include "Main/util.hxx" // for fgLowPass
21 #include "Navaids/positioned.hxx"
22 #include <Navaids/waypoint.hxx>
23 #include "Navaids/navrecord.hxx"
24 #include "Airports/simple.hxx"
25 #include "Airports/runways.hxx"
26 #include "Autopilot/route_mgr.hxx"
28 #include <simgear/math/sg_random.h>
29 #include <simgear/sg_inlines.h>
30 #include <simgear/math/sg_geodesy.hxx>
31 #include <simgear/structure/exception.hxx>
32 #include <simgear/scene/util/OsgMath.hxx>
36 using namespace flightgear;
38 ///////////////////////////////////////////////////////////////////
40 void SGGeodProperty::init(SGPropertyNode* base, const char* lonStr, const char* latStr, const char* altStr)
42 _lon = base->getChild(lonStr, 0, true);
43 _lat = base->getChild(latStr, 0, true);
45 _alt = base->getChild(altStr, 0, true);
49 void SGGeodProperty::init(const char* lonStr, const char* latStr, const char* altStr)
51 _lon = fgGetNode(lonStr, true);
52 _lat = fgGetNode(latStr, true);
54 _alt = fgGetNode(altStr, true);
58 void SGGeodProperty::clear()
60 _lon = _lat = _alt = NULL;
63 void SGGeodProperty::operator=(const SGGeod& geod)
65 _lon->setDoubleValue(geod.getLongitudeDeg());
66 _lat->setDoubleValue(geod.getLatitudeDeg());
68 _alt->setDoubleValue(geod.getElevationFt());
72 SGGeod SGGeodProperty::get() const
74 double lon = _lon->getDoubleValue(),
75 lat = _lat->getDoubleValue();
77 if (osg::isNaN(lon) || osg::isNaN(lat)) {
78 SG_LOG(SG_INSTR, SG_WARN, "read NaN for lon/lat:" << _lon->getPath()
79 << ", " << _lat->getPath());
84 return SGGeod::fromDegFt(lon, lat, _alt->getDoubleValue());
86 return SGGeod::fromDeg(lon,lat);
90 static const char* makeTTWString(double TTW)
92 if ((TTW <= 0.0) || (TTW >= 356400.5)) { // 99 hours
96 unsigned int TTW_seconds = (int) (TTW + 0.5);
97 unsigned int TTW_minutes = 0;
98 unsigned int TTW_hours = 0;
99 static char TTW_str[9];
100 TTW_hours = TTW_seconds / 3600;
101 TTW_minutes = (TTW_seconds / 60) % 60;
102 TTW_seconds = TTW_seconds % 60;
103 snprintf(TTW_str, 9, "%02d:%02d:%02d",
104 TTW_hours, TTW_minutes, TTW_seconds);
108 /////////////////////////////////////////////////////////////////////////////
110 class GPSListener : public SGPropertyChangeListener
113 GPSListener(GPS *m) :
117 virtual void valueChanged (SGPropertyNode * prop)
124 if (prop == _gps->_route_current_wp_node) {
125 _gps->routeManagerSequenced();
126 } else if (prop == _gps->_route_active_node) {
127 _gps->routeActivated();
128 } else if (prop == _gps->_ref_navaid_id_node) {
129 _gps->referenceNavaidSet(prop->getStringValue(""));
130 } else if (prop == _gps->_routeEditedSignal) {
132 } else if (prop == _gps->_routeFinishedSignal) {
133 _gps->routeFinished();
139 void setGuard(bool g) {
144 bool _guard; // re-entrancy guard
147 ////////////////////////////////////////////////////////////////////////////
149 * Helper to monitor for Nasal or other code accessing properties we haven't
150 * defined. For the moment we complain about all such activites, since various
151 * users assume all kinds of weird, wonderful and non-existent interfaces.
154 class DeprecatedPropListener : public SGPropertyChangeListener
157 DeprecatedPropListener(SGPropertyNode* gps)
159 _parents.insert(gps);
160 SGPropertyNode* wp = gps->getChild("wp", 0, true);
162 _parents.insert(wp->getChild("wp", 0, true));
163 _parents.insert(wp->getChild("wp", 1, true));
165 std::set<SGPropertyNode*>::iterator it;
166 for (it = _parents.begin(); it != _parents.end(); ++it) {
167 (*it)->addChangeListener(this);
171 virtual void valueChanged (SGPropertyNode * prop)
175 virtual void childAdded (SGPropertyNode * parent, SGPropertyNode * child)
177 if (isDeprecated(parent, child)) {
178 SG_LOG(SG_INSTR, SG_WARN, "GPS: someone accessed a deprecated property:"
179 << child->getPath(true));
183 bool isDeprecated(SGPropertyNode * parent, SGPropertyNode * child) const
185 if (_parents.count(parent) < 1) {
189 // no child exclusions yet
193 std::set<SGPropertyNode*> _parents;
196 ////////////////////////////////////////////////////////////////////////////
197 // configuration helper object
199 GPS::Config::Config() :
200 _enableTurnAnticipation(true),
201 _turnRate(3.0), // degrees-per-second, so 180 degree turn takes 60 seconds
202 _overflightArmDistance(1.0),
203 _waypointAlertTime(30.0),
204 _requireHardSurface(true),
205 _cdiMaxDeflectionNm(3.0), // linear mode, 3nm at the peg
206 _driveAutopilot(true),
207 _courseSelectable(false)
209 _enableTurnAnticipation = false;
212 void GPS::Config::bind(GPS* aOwner, SGPropertyNode* aCfg)
214 aOwner->tie(aCfg, "turn-rate-deg-sec", SGRawValuePointer<double>(&_turnRate));
215 aOwner->tie(aCfg, "turn-anticipation", SGRawValuePointer<bool>(&_enableTurnAnticipation));
216 aOwner->tie(aCfg, "wpt-alert-time", SGRawValuePointer<double>(&_waypointAlertTime));
217 aOwner->tie(aCfg, "hard-surface-runways-only", SGRawValuePointer<bool>(&_requireHardSurface));
218 aOwner->tie(aCfg, "cdi-max-deflection-nm", SGRawValuePointer<double>(&_cdiMaxDeflectionNm));
219 aOwner->tie(aCfg, "drive-autopilot", SGRawValuePointer<bool>(&_driveAutopilot));
220 aOwner->tie(aCfg, "course-selectable", SGRawValuePointer<bool>(&_courseSelectable));
223 ////////////////////////////////////////////////////////////////////////////
225 GPS::GPS ( SGPropertyNode *node) :
226 _selectedCourse(0.0),
229 _lastPosValid(false),
231 _name(node->getStringValue("name", "gps")),
232 _num(node->getIntValue("number", 0)),
233 _searchResultIndex(0),
235 _searchIsRoute(false),
236 _searchHasNext(false),
238 _computeTurnData(false),
239 _anticipateTurn(false),
242 string branch = "/instrumentation/" + _name;
243 _gpsNode = fgGetNode(branch.c_str(), _num, true );
244 _scratchNode = _gpsNode->getChild("scratch", 0, true);
246 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
247 _currentWayptNode = wp_node->getChild("wp", 1, true);
257 _routeMgr = (FGRouteMgr*) globals->get_subsystem("route-manager");
260 _position.init("/position/longitude-deg", "/position/latitude-deg", "/position/altitude-ft");
261 _magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
262 _serviceable_node = _gpsNode->getChild("serviceable", 0, true);
263 _serviceable_node->setBoolValue(true);
264 _electrical_node = fgGetNode("/systems/electrical/outputs/gps", true);
267 _raim_node = _gpsNode->getChild("raim", 0, true);
268 _odometer_node = _gpsNode->getChild("odometer", 0, true);
269 _trip_odometer_node = _gpsNode->getChild("trip-odometer", 0, true);
270 _true_bug_error_node = _gpsNode->getChild("true-bug-error-deg", 0, true);
271 _magnetic_bug_error_node = _gpsNode->getChild("magnetic-bug-error-deg", 0, true);
272 _eastWestVelocity = _gpsNode->getChild("ew-velocity-msec", 0, true);
273 _northSouthVelocity = _gpsNode->getChild("ns-velocity-msec", 0, true);
276 // for compatability, alias selected course down to wp/wp[1]/desired-course-deg
277 SGPropertyNode* wp1Crs = _currentWayptNode->getChild("desired-course-deg", 0, true);
278 wp1Crs->alias(_gpsNode->getChild("desired-course-deg", 0, true));
280 _tracking_bug_node = _gpsNode->getChild("tracking-bug", 0, true);
283 SGPropertyNode_ptr ref_navaid = _gpsNode->getChild("ref-navaid", 0, true);
284 _ref_navaid_id_node = ref_navaid->getChild("id", 0, true);
285 _ref_navaid_name_node = ref_navaid->getChild("name", 0, true);
286 _ref_navaid_bearing_node = ref_navaid->getChild("bearing-deg", 0, true);
287 _ref_navaid_frequency_node = ref_navaid->getChild("frequency-mhz", 0, true);
288 _ref_navaid_distance_node = ref_navaid->getChild("distance-nm", 0, true);
289 _ref_navaid_mag_bearing_node = ref_navaid->getChild("mag-bearing-deg", 0, true);
290 _ref_navaid_elapsed = 0.0;
291 _ref_navaid_set = false;
294 // should these move to the route manager?
295 _routeDistanceNm = _gpsNode->getChild("route-distance-nm", 0, true);
296 _routeETE = _gpsNode->getChild("ETE", 0, true);
297 _routeEditedSignal = fgGetNode("/autopilot/route-manager/signals/edited", true);
298 _routeFinishedSignal = fgGetNode("/autopilot/route-manager/signals/finished", true);
300 // add listener to various things
301 _listener = new GPSListener(this);
302 _route_current_wp_node = fgGetNode("/autopilot/route-manager/current-wp", true);
303 _route_current_wp_node->addChangeListener(_listener);
304 _route_active_node = fgGetNode("/autopilot/route-manager/active", true);
305 _route_active_node->addChangeListener(_listener);
306 _ref_navaid_id_node->addChangeListener(_listener);
307 _routeEditedSignal->addChangeListener(_listener);
308 _routeFinishedSignal->addChangeListener(_listener);
310 // navradio slaving properties
311 SGPropertyNode* toFlag = _gpsNode->getChild("to-flag", 0, true);
312 toFlag->alias(_currentWayptNode->getChild("to-flag"));
314 SGPropertyNode* fromFlag = _gpsNode->getChild("from-flag", 0, true);
315 fromFlag->alias(_currentWayptNode->getChild("from-flag"));
317 // autopilot drive properties
318 _apDrivingFlag = fgGetNode("/autopilot/settings/gps-driving-true-heading", true);
319 _apTrueHeading = fgGetNode("/autopilot/settings/true-heading-deg",true);
320 _apTargetAltitudeFt = fgGetNode("/autopilot/settings/target-altitude-ft", true);
321 _apAltitudeLock = fgGetNode("/autopilot/locks/altitude", true);
324 _realismSimpleGps = fgGetNode("/sim/realism/simple-gps", true);
325 if (!_realismSimpleGps->hasValue()) {
326 _realismSimpleGps->setBoolValue(true);
329 // last thing, add the deprecated prop watcher
330 new DeprecatedPropListener(_gpsNode);
342 _config.bind(this, _gpsNode->getChild("config", 0, true));
345 tie(_gpsNode, "selected-course-deg", SGRawValueMethods<GPS, double>
346 (*this, &GPS::getSelectedCourse, &GPS::setSelectedCourse));
348 tie(_gpsNode, "desired-course-deg", SGRawValueMethods<GPS, double>
349 (*this, &GPS::getDesiredCourse, NULL));
350 _desiredCourseNode = _gpsNode->getChild("desired-course-deg", 0, true);
352 tieSGGeodReadOnly(_gpsNode, _indicated_pos, "indicated-longitude-deg",
353 "indicated-latitude-deg", "indicated-altitude-ft");
355 tie(_gpsNode, "indicated-vertical-speed", SGRawValueMethods<GPS, double>
356 (*this, &GPS::getVerticalSpeed, NULL));
357 tie(_gpsNode, "indicated-track-true-deg", SGRawValueMethods<GPS, double>
358 (*this, &GPS::getTrueTrack, NULL));
359 tie(_gpsNode, "indicated-track-magnetic-deg", SGRawValueMethods<GPS, double>
360 (*this, &GPS::getMagTrack, NULL));
361 tie(_gpsNode, "indicated-ground-speed-kt", SGRawValueMethods<GPS, double>
362 (*this, &GPS::getGroundspeedKts, NULL));
365 tie(_gpsNode, "mode", SGRawValueMethods<GPS, const char*>(*this, &GPS::getMode, NULL));
366 tie(_gpsNode, "command", SGRawValueMethods<GPS, const char*>(*this, &GPS::getCommand, &GPS::setCommand));
368 tieSGGeod(_scratchNode, _scratchPos, "longitude-deg", "latitude-deg", "altitude-ft");
369 tie(_scratchNode, "valid", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchValid, NULL));
370 tie(_scratchNode, "distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchDistance, NULL));
371 tie(_scratchNode, "true-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchTrueBearing, NULL));
372 tie(_scratchNode, "mag-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchMagBearing, NULL));
373 tie(_scratchNode, "has-next", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchHasNext, NULL));
374 _scratchValid = false;
377 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
378 SGPropertyNode* wp0_node = wp_node->getChild("wp", 0, true);
380 tieSGGeodReadOnly(wp0_node, _wp0_position, "longitude-deg", "latitude-deg", "altitude-ft");
381 tie(_currentWayptNode, "ID", SGRawValueMethods<GPS, const char*>
382 (*this, &GPS::getWP1Ident, NULL));
384 tie(_currentWayptNode, "distance-nm", SGRawValueMethods<GPS, double>
385 (*this, &GPS::getWP1Distance, NULL));
386 tie(_currentWayptNode, "bearing-true-deg", SGRawValueMethods<GPS, double>
387 (*this, &GPS::getWP1Bearing, NULL));
388 tie(_currentWayptNode, "bearing-mag-deg", SGRawValueMethods<GPS, double>
389 (*this, &GPS::getWP1MagBearing, NULL));
390 tie(_currentWayptNode, "TTW-sec", SGRawValueMethods<GPS, double>
391 (*this, &GPS::getWP1TTW, NULL));
392 tie(_currentWayptNode, "TTW", SGRawValueMethods<GPS, const char*>
393 (*this, &GPS::getWP1TTWString, NULL));
395 tie(_currentWayptNode, "course-deviation-deg", SGRawValueMethods<GPS, double>
396 (*this, &GPS::getWP1CourseDeviation, NULL));
397 tie(_currentWayptNode, "course-error-nm", SGRawValueMethods<GPS, double>
398 (*this, &GPS::getWP1CourseErrorNm, NULL));
399 tie(_currentWayptNode, "to-flag", SGRawValueMethods<GPS, bool>
400 (*this, &GPS::getWP1ToFlag, NULL));
401 tie(_currentWayptNode, "from-flag", SGRawValueMethods<GPS, bool>
402 (*this, &GPS::getWP1FromFlag, NULL));
404 // leg properties (only valid in DTO/LEG modes, not OBS)
405 tie(wp_node, "leg-distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getLegDistance, NULL));
406 tie(wp_node, "leg-true-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegCourse, NULL));
407 tie(wp_node, "leg-mag-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegMagCourse, NULL));
409 // navradio slaving properties
410 tie(_gpsNode, "cdi-deflection", SGRawValueMethods<GPS,double>
411 (*this, &GPS::getCDIDeflection));
417 _tiedProperties.Untie();
424 _last_speed_kts = 0.0;
425 _last_pos = SGGeod();
426 _lastPosValid = false;
427 _indicated_pos = SGGeod();
428 _last_vertical_speed = 0.0;
429 _last_true_track = 0.0;
430 _lastEWVelocity = _lastNSVelocity = 0.0;
431 _currentWaypt = _prevWaypt = NULL;
432 _legDistanceNm = -1.0;
434 _raim_node->setDoubleValue(0.0);
435 _indicated_pos = SGGeod();
436 _odometer_node->setDoubleValue(0);
437 _trip_odometer_node->setDoubleValue(0);
438 _tracking_bug_node->setDoubleValue(0);
439 _true_bug_error_node->setDoubleValue(0);
440 _magnetic_bug_error_node->setDoubleValue(0);
441 _northSouthVelocity->setDoubleValue(0.0);
442 _eastWestVelocity->setDoubleValue(0.0);
446 GPS::update (double delta_time_sec)
448 if (!_realismSimpleGps->getBoolValue()) {
449 // If it's off, don't bother.
450 if (!_serviceable_node->getBoolValue() || !_electrical_node->getBoolValue()) {
456 if (delta_time_sec <= 0.0) {
457 return; // paused, don't bother
460 _raim_node->setDoubleValue(1.0);
461 _indicated_pos = _position.get();
462 updateBasicData(delta_time_sec);
465 if (_wayptController.get()) {
466 _wayptController->update();
467 SGGeod p(_wayptController->position());
468 _currentWayptNode->setDoubleValue("longitude-deg", p.getLongitudeDeg());
469 _currentWayptNode->setDoubleValue("latitude-deg", p.getLatitudeDeg());
470 _currentWayptNode->setDoubleValue("altitude-ft", p.getElevationFt());
472 _desiredCourse = getLegMagCourse();
480 updateReferenceNavaid(delta_time_sec);
484 if (_dataValid && (_mode == "init")) {
486 if (_route_active_node->getBoolValue()) {
487 // GPS init with active route
488 SG_LOG(SG_INSTR, SG_INFO, "GPS init with active route");
491 // initialise in OBS mode, with waypt set to the nearest airport.
492 // keep in mind at this point, _dataValid is not set
494 auto_ptr<FGPositioned::Filter> f(createFilter(FGPositioned::AIRPORT));
495 FGPositionedRef apt = FGPositioned::findClosest(_position.get(), 20.0, f.get());
497 setScratchFromPositioned(apt, 0);
504 // allow a realistic delay in the future, here
505 SG_LOG(SG_INSTR, SG_INFO, "GPS initialisation complete");
507 } // of init mode check
509 _last_pos = _indicated_pos;
510 _lastPosValid = !(_last_pos == SGGeod());
513 ///////////////////////////////////////////////////////////////////////////
514 // implement the RNAV interface
515 SGGeod GPS::position()
521 return _indicated_pos;
524 double GPS::trackDeg()
526 return _last_true_track;
529 double GPS::groundSpeedKts()
531 return _last_speed_kts;
534 double GPS::vspeedFPM()
536 return _last_vertical_speed;
539 double GPS::magvarDeg()
541 return _magvar_node->getDoubleValue();
544 double GPS::overflightArmDistanceM()
546 return _config.overflightArmDistanceNm() * SG_NM_TO_METER;
549 double GPS::selectedMagCourse()
551 return _selectedCourse;
554 ///////////////////////////////////////////////////////////////////////////
557 GPS::updateBasicData(double dt)
559 if (!_lastPosValid) {
565 SGGeodesy::inverse(_last_pos, _indicated_pos, _last_true_track, track2_deg, distance_m );
567 double speed_kt = ((distance_m * SG_METER_TO_NM) * ((1 / dt) * 3600.0));
568 double vertical_speed_mpm = ((_indicated_pos.getElevationM() - _last_pos.getElevationM()) * 60 / dt);
569 _last_vertical_speed = vertical_speed_mpm * SG_METER_TO_FEET;
571 speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, dt/10.0);
572 _last_speed_kts = speed_kt;
574 SGGeod g = _indicated_pos;
575 g.setLongitudeDeg(_last_pos.getLongitudeDeg());
576 double northSouthM = SGGeodesy::distanceM(_last_pos, g);
577 northSouthM = copysign(northSouthM, _indicated_pos.getLatitudeDeg() - _last_pos.getLatitudeDeg());
579 double nsMSec = fgGetLowPass(_lastNSVelocity, northSouthM / dt, dt/2.0);
580 _lastNSVelocity = nsMSec;
581 _northSouthVelocity->setDoubleValue(nsMSec);
585 g.setLatitudeDeg(_last_pos.getLatitudeDeg());
586 double eastWestM = SGGeodesy::distanceM(_last_pos, g);
587 eastWestM = copysign(eastWestM, _indicated_pos.getLongitudeDeg() - _last_pos.getLongitudeDeg());
589 double ewMSec = fgGetLowPass(_lastEWVelocity, eastWestM / dt, dt/2.0);
590 _lastEWVelocity = ewMSec;
591 _eastWestVelocity->setDoubleValue(ewMSec);
593 double odometer = _odometer_node->getDoubleValue();
594 _odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
595 odometer = _trip_odometer_node->getDoubleValue();
596 _trip_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
599 SG_LOG(SG_INSTR, SG_INFO, "GPS setting data valid");
605 GPS::updateTrackingBug()
607 double tracking_bug = _tracking_bug_node->getDoubleValue();
608 double true_bug_error = tracking_bug - getTrueTrack();
609 double magnetic_bug_error = tracking_bug - getMagTrack();
611 // Get the errors into the (-180,180) range.
612 SG_NORMALIZE_RANGE(true_bug_error, -180.0, 180.0);
613 SG_NORMALIZE_RANGE(magnetic_bug_error, -180.0, 180.0);
615 _true_bug_error_node->setDoubleValue(true_bug_error);
616 _magnetic_bug_error_node->setDoubleValue(magnetic_bug_error);
619 void GPS::updateReferenceNavaid(double dt)
621 if (!_ref_navaid_set) {
622 _ref_navaid_elapsed += dt;
623 if (_ref_navaid_elapsed > 5.0) {
625 FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
626 FGPositionedRef nav = FGPositioned::findClosest(_indicated_pos, 400.0, &vorFilter);
628 SG_LOG(SG_INSTR, SG_INFO, "GPS couldn't find a reference navaid");
629 _ref_navaid_id_node->setStringValue("");
630 _ref_navaid_name_node->setStringValue("");
631 _ref_navaid_bearing_node->setDoubleValue(0.0);
632 _ref_navaid_mag_bearing_node->setDoubleValue(0.0);
633 _ref_navaid_distance_node->setDoubleValue(0.0);
634 _ref_navaid_frequency_node->setStringValue("");
635 } else if (nav != _ref_navaid) {
636 SG_LOG(SG_INSTR, SG_INFO, "GPS code selected new ref-navaid:" << nav->ident());
637 _listener->setGuard(true);
638 _ref_navaid_id_node->setStringValue(nav->ident().c_str());
639 _ref_navaid_name_node->setStringValue(nav->name().c_str());
640 FGNavRecord* vor = (FGNavRecord*) nav.ptr();
641 _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
642 _listener->setGuard(false);
644 // SG_LOG(SG_INSTR, SG_ALERT, "matched existing");
648 // reset elapsed time (do not do that before updating the properties above, since their
649 // listeners may request another update (_ref_navaid_elapsed = 9999), which results in
650 // excessive load (FGPositioned::findClosest called in every update loop...)
651 _ref_navaid_elapsed = 0.0;
656 double trueCourse, distanceM, az2;
657 SGGeodesy::inverse(_indicated_pos, _ref_navaid->geod(), trueCourse, az2, distanceM);
658 _ref_navaid_distance_node->setDoubleValue(distanceM * SG_METER_TO_NM);
659 _ref_navaid_bearing_node->setDoubleValue(trueCourse);
660 _ref_navaid_mag_bearing_node->setDoubleValue(trueCourse - _magvar_node->getDoubleValue());
664 void GPS::referenceNavaidSet(const std::string& aNavaid)
667 // allow setting an empty string to restore normal nearest-vor selection
668 if (aNavaid.size() > 0) {
669 FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
670 _ref_navaid = FGPositioned::findClosestWithIdent(aNavaid,
671 _position.get(), &vorFilter);
674 SG_LOG(SG_INSTR, SG_ALERT, "GPS: unknown ref navaid:" << aNavaid);
679 _ref_navaid_set = true;
680 SG_LOG(SG_INSTR, SG_INFO, "GPS code set explicit ref-navaid:" << _ref_navaid->ident());
681 _ref_navaid_id_node->setStringValue(_ref_navaid->ident().c_str());
682 _ref_navaid_name_node->setStringValue(_ref_navaid->name().c_str());
683 FGNavRecord* vor = (FGNavRecord*) _ref_navaid.ptr();
684 _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
686 _ref_navaid_set = false;
687 _ref_navaid_elapsed = 9999.0; // update next tick
691 void GPS::routeActivated()
693 if (_route_active_node->getBoolValue()) {
694 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, switching to LEG mode");
697 // if we've already passed the current waypoint, sequence.
698 if (_dataValid && getWP1FromFlag()) {
699 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, FROM wp1, sequencing");
700 _routeMgr->sequence();
702 } else if (_mode == "leg") {
703 SG_LOG(SG_INSTR, SG_INFO, "GPS::route deactivated, switching to OBS mode");
704 // select OBS mode, but keep current waypoint-as is
710 void GPS::routeManagerSequenced()
712 if (_mode != "leg") {
713 SG_LOG(SG_INSTR, SG_INFO, "GPS ignoring route sequencing, not in LEG mode");
717 int index = _routeMgr->currentIndex(),
718 count = _routeMgr->numWaypts();
719 if ((index < 0) || (index >= count)) {
722 SG_LOG(SG_INSTR, SG_ALERT, "GPS: malformed route, index=" << index);
726 SG_LOG(SG_INSTR, SG_INFO, "GPS waypoint index is now " << index);
729 _prevWaypt = _routeMgr->wayptAtIndex(index - 1);
730 if (_prevWaypt->flag(WPT_DYNAMIC)) {
731 _wp0_position = _indicated_pos;
733 _wp0_position = _prevWaypt->position();
737 _currentWaypt = _routeMgr->currentWaypt();
739 _desiredCourse = getLegMagCourse();
740 _desiredCourseNode->fireValueChanged();
744 void GPS::routeEdited()
746 if (_mode != "leg") {
750 SG_LOG(SG_INSTR, SG_INFO, "GPS route edited while in LEG mode, updating waypoints");
751 routeManagerSequenced();
754 void GPS::routeFinished()
756 if (_mode != "leg") {
760 SG_LOG(SG_INSTR, SG_INFO, "GPS route finished, reverting to OBS");
761 // select OBS mode, but keep current waypoint-as is
766 void GPS::updateTurn()
768 bool printProgress = false;
770 if (_computeTurnData) {
771 if (_last_speed_kts < 60) {
772 // need valid leg course and sensible ground speed to compute the turn
777 printProgress = true;
780 if (!_anticipateTurn) {
786 // find bearing to turn centre
787 double bearing, az2, distanceM;
788 SGGeodesy::inverse(_indicated_pos, _turnCentre, bearing, az2, distanceM);
789 double progress = computeTurnProgress(bearing);
792 SG_LOG(SG_INSTR, SG_INFO,"turn progress=" << progress);
795 if (!_inTurn && (progress > 0.0)) {
799 if (_inTurn && !_turnSequenced && (progress > 0.5)) {
800 _turnSequenced = true;
801 SG_LOG(SG_INSTR, SG_INFO, "turn passed midpoint, sequencing");
802 _routeMgr->sequence();
805 if (_inTurn && (progress >= 1.0)) {
810 // drive deviation and desired course
811 double desiredCourse = bearing - copysign(90, _turnAngle);
812 SG_NORMALIZE_RANGE(desiredCourse, 0.0, 360.0);
813 double deviationNm = (distanceM * SG_METER_TO_NM) - _turnRadius;
814 double deviationDeg = desiredCourse - getMagTrack();
815 deviationNm = copysign(deviationNm, deviationDeg);
817 //_wp1_course_deviation_node->setDoubleValue(deviationDeg);
818 //_wp1_course_error_nm_node->setDoubleValue(deviationNm);
819 //_cdiDeflectionNode->setDoubleValue(deviationDeg);
823 void GPS::updateOverflight()
825 if (!_wayptController->isDone()) {
829 if (_mode == "dto") {
830 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO reached destination point");
832 // check for wp1 being on active route - resume leg mode
833 if (_routeMgr->isRouteActive()) {
834 int index = _routeMgr->flightPlan()->findWayptIndex(_currentWaypt->position());
836 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO, resuming LEG mode at wp:" << index);
838 _routeMgr->jumpToIndex(index);
842 if (_mode == "dto") {
843 // if we didn't enter leg mode, drop back to OBS mode
844 // select OBS mode, but keep current waypoint-as is
848 } else if (_mode == "leg") {
849 SG_LOG(SG_INSTR, SG_INFO, "GPS doing overflight sequencing");
850 _routeMgr->sequence();
851 } else if (_mode == "obs") {
852 // nothing to do here, TO/FROM will update but that's fine
855 _computeTurnData = true;
858 void GPS::beginTurn()
861 _turnSequenced = false;
862 SG_LOG(SG_INSTR, SG_INFO, "beginning turn");
868 SG_LOG(SG_INSTR, SG_INFO, "ending turn");
869 _computeTurnData = true;
872 double GPS::computeTurnProgress(double aBearing) const
874 double startBearing = _turnStartBearing + copysign(90, _turnAngle);
875 return (aBearing - startBearing) / _turnAngle;
878 void GPS::computeTurnData()
880 _computeTurnData = false;
881 if (_mode != "leg") { // and approach modes in the future
882 _anticipateTurn = false;
886 WayptRef next = _routeMgr->wayptAtIndex(_routeMgr->currentIndex() + 1);
887 if (!next || next->flag(WPT_DYNAMIC)) {
888 _anticipateTurn = false;
892 if (!_config.turnAnticipationEnabled()) {
893 _anticipateTurn = false;
897 _turnStartBearing = _desiredCourse;
898 // compute next leg course
900 boost::tie(crs, dist) = next->courseAndDistanceFrom(_currentWaypt->position());
903 // compute offset bearing
904 _turnAngle = crs - _turnStartBearing;
905 SG_NORMALIZE_RANGE(_turnAngle, -180.0, 180.0);
906 double median = _turnStartBearing + (_turnAngle * 0.5);
907 double offsetBearing = median + copysign(90, _turnAngle);
908 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
910 SG_LOG(SG_INSTR, SG_INFO, "GPS computeTurnData: in=" << _turnStartBearing <<
911 ", out=" << crs << "; turnAngle=" << _turnAngle << ", median=" << median
912 << ", offset=" << offsetBearing);
914 SG_LOG(SG_INSTR, SG_INFO, "next leg is now:" << _currentWaypt->ident() << "->" << next->ident());
916 _turnPt = _currentWaypt->position();
917 _anticipateTurn = true;
920 void GPS::updateTurnData()
922 // depends on ground speed, so needs to be updated per-frame
923 _turnRadius = computeTurnRadiusNm(_last_speed_kts);
925 // compute the turn centre, based on the turn radius.
926 // key thing is to understand that we're working a right-angle triangle,
927 // where the right-angle is the point we start the turn. From that point,
928 // one side is the inbound course to the turn pt, and the other is the
929 // perpendicular line, of length 'r', to the turn centre.
930 // the triangle's hypotenuse, which we need to find, is the distance from the
931 // turn pt to the turn center (in the direction of the offset bearing)
932 // note that d - _turnRadius tell us how much we're 'cutting' the corner.
934 double halfTurnAngle = fabs(_turnAngle * 0.5) * SG_DEGREES_TO_RADIANS;
935 double d = _turnRadius / cos(halfTurnAngle);
937 // SG_LOG(SG_INSTR, SG_INFO, "turnRadius=" << _turnRadius << ", d=" << d
938 // << " (cut distance=" << d - _turnRadius << ")");
940 double median = _turnStartBearing + (_turnAngle * 0.5);
941 double offsetBearing = median + copysign(90, _turnAngle);
942 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
945 SGGeodesy::direct(_turnPt, offsetBearing, d * SG_NM_TO_METER, _turnCentre, az2);
948 double GPS::computeTurnRadiusNm(double aGroundSpeedKts) const
950 // turn time is seconds to execute a 360 turn.
951 double turnTime = 360.0 / _config.turnRateDegSec();
953 // c is ground distance covered in that time (circumference of the circle)
954 double c = turnTime * (aGroundSpeedKts / 3600.0); // convert knts to nm/sec
956 // divide by 2PI to go from circumference -> radius
957 return c / (2 * M_PI);
960 void GPS::updateRouteData()
962 double totalDistance = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
963 // walk all waypoints from wp2 to route end, and sum
964 for (int i=_routeMgr->currentIndex()+1; i<_routeMgr->numWaypts(); ++i) {
965 //totalDistance += _routeMgr->get_waypoint(i).get_distance();
968 _routeDistanceNm->setDoubleValue(totalDistance * SG_METER_TO_NM);
969 if (_last_speed_kts > 1.0) {
970 double TTW = ((totalDistance * SG_METER_TO_NM) / _last_speed_kts) * 3600.0;
971 _routeETE->setStringValue(makeTTWString(TTW));
975 void GPS::driveAutopilot()
977 if (!_config.driveAutopilot() || !_realismSimpleGps->getBoolValue()) {
978 _apDrivingFlag->setBoolValue(false);
982 // compatability feature - allow the route-manager / GPS to drive the
983 // generic autopilot heading hold *in leg mode only*
985 bool drive = _mode == "leg";
986 _apDrivingFlag->setBoolValue(drive);
989 // FIXME: we want to set desired track, not heading, here
990 _apTrueHeading->setDoubleValue(getWP1Bearing());
994 void GPS::wp1Changed()
998 if (_mode == "leg") {
999 _wayptController.reset(WayptController::createForWaypt(this, _currentWaypt));
1000 } else if (_mode == "obs") {
1001 _wayptController.reset(new OBSController(this, _currentWaypt));
1002 } else if (_mode == "dto") {
1003 _wayptController.reset(new DirectToController(this, _currentWaypt, _wp0_position));
1006 _wayptController->init();
1008 if (_mode == "obs") {
1009 _legDistanceNm = -1.0;
1011 _wayptController->update();
1012 _legDistanceNm = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
1015 if (!_config.driveAutopilot()) {
1019 RouteRestriction ar = _currentWaypt->altitudeRestriction();
1020 double restrictAlt = _currentWaypt->altitudeFt();
1021 double alt = _indicated_pos.getElevationFt();
1022 if ((ar == RESTRICT_AT) ||
1023 ((ar == RESTRICT_ABOVE) && (alt < restrictAlt)) ||
1024 ((ar == RESTRICT_BELOW) && (alt > restrictAlt)))
1026 SG_LOG(SG_AUTOPILOT, SG_INFO, "current waypt has altitude set, setting on AP");
1027 _apTargetAltitudeFt->setDoubleValue(restrictAlt);
1031 /////////////////////////////////////////////////////////////////////////////
1032 // property getter/setters
1034 void GPS::setSelectedCourse(double crs)
1036 if (_selectedCourse == crs) {
1040 _selectedCourse = crs;
1041 if ((_mode == "obs") || _config.courseSelectable()) {
1042 _desiredCourse = _selectedCourse;
1043 _desiredCourseNode->fireValueChanged();
1047 double GPS::getLegDistance() const
1049 if (!_dataValid || (_mode == "obs")) {
1053 return _legDistanceNm;
1056 double GPS::getLegCourse() const
1058 if (!_dataValid || !_wayptController.get()) {
1062 return _wayptController->targetTrackDeg();
1065 double GPS::getLegMagCourse() const
1071 double m = getLegCourse() - _magvar_node->getDoubleValue();
1072 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
1076 double GPS::getMagTrack() const
1082 double m = getTrueTrack() - _magvar_node->getDoubleValue();
1083 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
1087 double GPS::getCDIDeflection() const
1094 if (_config.cdiDeflectionIsAngular()) {
1095 defl = getWP1CourseDeviation();
1096 SG_CLAMP_RANGE(defl, -10.0, 10.0); // as in navradio.cxx
1098 double fullScale = _config.cdiDeflectionLinearPeg();
1099 double normError = getWP1CourseErrorNm() / fullScale;
1100 SG_CLAMP_RANGE(normError, -1.0, 1.0);
1101 defl = normError * 10.0; // re-scale to navradio limits, i.e [-10.0 .. 10.0]
1107 const char* GPS::getWP0Ident() const
1109 if (!_dataValid || (_mode != "leg") || (!_prevWaypt)) {
1113 return _prevWaypt->ident().c_str();
1116 const char* GPS::getWP0Name() const
1121 const char* GPS::getWP1Ident() const
1123 if ((!_dataValid)||(!_currentWaypt)) {
1127 return _currentWaypt->ident().c_str();
1130 const char* GPS::getWP1Name() const
1135 double GPS::getWP1Distance() const
1137 if (!_dataValid || !_wayptController.get()) {
1141 return _wayptController->distanceToWayptM() * SG_METER_TO_NM;
1144 double GPS::getWP1TTW() const
1146 if (!_dataValid || !_wayptController.get()) {
1150 return _wayptController->timeToWaypt();
1153 const char* GPS::getWP1TTWString() const
1155 double t = getWP1TTW();
1160 return makeTTWString(t);
1163 double GPS::getWP1Bearing() const
1165 if (!_dataValid || !_wayptController.get()) {
1169 return _wayptController->trueBearingDeg();
1172 double GPS::getWP1MagBearing() const
1174 if (!_dataValid || !_wayptController.get()) {
1178 double magBearing = _wayptController->trueBearingDeg() - _magvar_node->getDoubleValue();
1179 SG_NORMALIZE_RANGE(magBearing, 0.0, 360.0);
1183 double GPS::getWP1CourseDeviation() const
1185 if (!_dataValid || !_wayptController.get()) {
1189 return _wayptController->courseDeviationDeg();
1192 double GPS::getWP1CourseErrorNm() const
1194 if (!_dataValid || !_wayptController.get()) {
1198 return _wayptController->xtrackErrorNm();
1201 bool GPS::getWP1ToFlag() const
1203 if (!_dataValid || !_wayptController.get()) {
1207 return _wayptController->toFlag();
1210 bool GPS::getWP1FromFlag() const
1212 if (!_dataValid || !_wayptController.get()) {
1216 return !getWP1ToFlag();
1219 double GPS::getScratchDistance() const
1221 if (!_scratchValid) {
1225 return SGGeodesy::distanceNm(_indicated_pos, _scratchPos);
1228 double GPS::getScratchTrueBearing() const
1230 if (!_scratchValid) {
1234 return SGGeodesy::courseDeg(_indicated_pos, _scratchPos);
1237 double GPS::getScratchMagBearing() const
1239 if (!_scratchValid) {
1243 double crs = getScratchTrueBearing() - _magvar_node->getDoubleValue();
1244 SG_NORMALIZE_RANGE(crs, 0.0, 360.0);
1248 /////////////////////////////////////////////////////////////////////////////
1249 // command / scratch / search system
1251 void GPS::setCommand(const char* aCmd)
1253 SG_LOG(SG_INSTR, SG_INFO, "GPS command:" << aCmd);
1255 if (!strcmp(aCmd, "direct")) {
1257 } else if (!strcmp(aCmd, "obs")) {
1259 } else if (!strcmp(aCmd, "leg")) {
1261 } else if (!strcmp(aCmd, "load-route-wpt")) {
1262 loadRouteWaypoint();
1263 } else if (!strcmp(aCmd, "nearest")) {
1265 } else if (!strcmp(aCmd, "search")) {
1266 _searchNames = false;
1268 } else if (!strcmp(aCmd, "search-names")) {
1269 _searchNames = true;
1271 } else if (!strcmp(aCmd, "next")) {
1273 } else if (!strcmp(aCmd, "previous")) {
1275 } else if (!strcmp(aCmd, "define-user-wpt")) {
1277 } else if (!strcmp(aCmd, "route-insert-before")) {
1278 int index = _scratchNode->getIntValue("index");
1279 if (index < 0 || (_routeMgr->numWaypts() == 0)) {
1280 index = _routeMgr->numWaypts();
1281 } else if (index >= _routeMgr->numWaypts()) {
1282 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-before, bad index:" << index);
1286 insertWaypointAtIndex(index);
1287 } else if (!strcmp(aCmd, "route-insert-after")) {
1288 int index = _scratchNode->getIntValue("index");
1289 if (index < 0 || (_routeMgr->numWaypts() == 0)) {
1290 index = _routeMgr->numWaypts();
1291 } else if (index >= _routeMgr->numWaypts()) {
1292 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-after, bad index:" << index);
1298 insertWaypointAtIndex(index);
1299 } else if (!strcmp(aCmd, "route-delete")) {
1300 int index = _scratchNode->getIntValue("index");
1302 index = _routeMgr->numWaypts();
1303 } else if (index >= _routeMgr->numWaypts()) {
1304 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-delete, bad index:" << index);
1308 removeWaypointAtIndex(index);
1310 SG_LOG(SG_INSTR, SG_WARN, "GPS:unrecognized command:" << aCmd);
1314 void GPS::clearScratch()
1316 _scratchPos = SGGeod::fromDegFt(-9999.0, -9999.0, -9999.0);
1317 _scratchValid = false;
1318 _scratchNode->setStringValue("type", "");
1319 _scratchNode->setStringValue("query", "");
1322 bool GPS::isScratchPositionValid() const
1324 if ((_scratchPos.getLongitudeDeg() < -9990.0) ||
1325 (_scratchPos.getLatitudeDeg() < -9990.0)) {
1332 void GPS::directTo()
1334 if (!isScratchPositionValid()) {
1339 _wp0_position = _indicated_pos;
1340 _currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
1347 void GPS::loadRouteWaypoint()
1349 _scratchValid = false;
1350 // if (!_routeMgr->isRouteActive()) {
1351 // SG_LOG(SG_INSTR, SG_WARN, "GPS:loadWaypoint: no active route");
1355 int index = _scratchNode->getIntValue("index", -9999);
1358 if ((index < 0) || (index >= _routeMgr->numWaypts())) { // no index supplied, use current wp
1359 index = _routeMgr->currentIndex();
1362 _searchIsRoute = true;
1363 setScratchFromRouteWaypoint(index);
1366 void GPS::setScratchFromRouteWaypoint(int aIndex)
1368 assert(_searchIsRoute);
1369 if ((aIndex < 0) || (aIndex >= _routeMgr->numWaypts())) {
1370 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromRouteWaypoint: route-index out of bounds");
1374 _searchResultIndex = aIndex;
1375 WayptRef wp = _routeMgr->wayptAtIndex(aIndex);
1376 _scratchNode->setStringValue("ident", wp->ident());
1377 _scratchPos = wp->position();
1378 _scratchValid = true;
1379 _scratchNode->setIntValue("index", aIndex);
1382 void GPS::loadNearest()
1384 string sty(_scratchNode->getStringValue("type"));
1385 FGPositioned::Type ty = FGPositioned::typeFromName(sty);
1386 if (ty == FGPositioned::INVALID) {
1387 SG_LOG(SG_INSTR, SG_WARN, "GPS:loadNearest: request type is invalid:" << sty);
1391 auto_ptr<FGPositioned::Filter> f(createFilter(ty));
1392 int limitCount = _scratchNode->getIntValue("max-results", 1);
1393 double cutoffDistance = _scratchNode->getDoubleValue("cutoff-nm", 400.0);
1395 SGGeod searchPos = _indicated_pos;
1396 if (isScratchPositionValid()) {
1397 searchPos = _scratchPos;
1400 clearScratch(); // clear now, regardless of whether we find a match or not
1403 FGPositioned::findClosestN(searchPos, limitCount, cutoffDistance, f.get());
1404 _searchResultIndex = 0;
1405 _searchIsRoute = false;
1407 if (_searchResults.empty()) {
1408 SG_LOG(SG_INSTR, SG_INFO, "GPS:loadNearest: no matches at all");
1412 setScratchFromCachedSearchResult();
1415 bool GPS::SearchFilter::pass(FGPositioned* aPos) const
1417 switch (aPos->type()) {
1418 case FGPositioned::AIRPORT:
1419 // heliport and seaport too?
1420 case FGPositioned::VOR:
1421 case FGPositioned::NDB:
1422 case FGPositioned::FIX:
1423 case FGPositioned::TACAN:
1424 case FGPositioned::WAYPOINT:
1431 FGPositioned::Type GPS::SearchFilter::minType() const
1433 return FGPositioned::AIRPORT;
1436 FGPositioned::Type GPS::SearchFilter::maxType() const
1438 return FGPositioned::WAYPOINT;
1441 FGPositioned::Filter* GPS::createFilter(FGPositioned::Type aTy)
1443 if (aTy == FGPositioned::AIRPORT) {
1444 return new FGAirport::HardSurfaceFilter();
1447 // if we were passed INVALID, assume it means 'all types interesting to a GPS'
1448 if (aTy == FGPositioned::INVALID) {
1449 return new SearchFilter;
1452 return new FGPositioned::TypeFilter(aTy);
1457 // parse search terms into local members, and exec the first search
1458 string sty(_scratchNode->getStringValue("type"));
1459 _searchType = FGPositioned::typeFromName(sty);
1460 _searchQuery = _scratchNode->getStringValue("query");
1461 if (_searchQuery.empty()) {
1462 SG_LOG(SG_INSTR, SG_WARN, "empty GPS search query");
1467 _searchExact = _scratchNode->getBoolValue("exact", true);
1468 _searchResultIndex = 0;
1469 _searchIsRoute = false;
1471 auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
1473 _searchResults = FGPositioned::findAllWithName(_searchQuery, f.get(), _searchExact);
1475 _searchResults = FGPositioned::findAllWithIdent(_searchQuery, f.get(), _searchExact);
1478 bool orderByRange = _scratchNode->getBoolValue("order-by-distance", true);
1480 FGPositioned::sortByRange(_searchResults, _indicated_pos);
1483 if (_searchResults.empty()) {
1488 setScratchFromCachedSearchResult();
1491 bool GPS::getScratchHasNext() const
1494 if (_searchIsRoute) {
1495 lastResult = _routeMgr->numWaypts() - 1;
1497 lastResult = (int) _searchResults.size() - 1;
1500 if (lastResult < 0) { // search array might be empty
1504 return (_searchResultIndex < lastResult);
1507 void GPS::setScratchFromCachedSearchResult()
1509 int index = _searchResultIndex;
1511 if ((index < 0) || (index >= (int) _searchResults.size())) {
1512 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromCachedSearchResult: index out of bounds:" << index);
1516 setScratchFromPositioned(_searchResults[index], index);
1519 void GPS::setScratchFromPositioned(FGPositioned* aPos, int aIndex)
1524 _scratchPos = aPos->geod();
1525 _scratchNode->setStringValue("name", aPos->name());
1526 _scratchNode->setStringValue("ident", aPos->ident());
1527 _scratchNode->setStringValue("type", FGPositioned::nameForType(aPos->type()));
1530 _scratchNode->setIntValue("index", aIndex);
1533 _scratchValid = true;
1534 _scratchNode->setIntValue("result-count", _searchResults.size());
1536 switch (aPos->type()) {
1537 case FGPositioned::VOR:
1538 _scratchNode->setDoubleValue("frequency-mhz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1541 case FGPositioned::NDB:
1542 _scratchNode->setDoubleValue("frequency-khz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1545 case FGPositioned::AIRPORT:
1546 addAirportToScratch((FGAirport*)aPos);
1554 // look for being on the route and set?
1557 void GPS::addAirportToScratch(FGAirport* aAirport)
1559 for (unsigned int r=0; r<aAirport->numRunways(); ++r) {
1560 SGPropertyNode* rwyNd = _scratchNode->getChild("runways", r, true);
1561 FGRunway* rwy = aAirport->getRunwayByIndex(r);
1562 // TODO - filter out unsuitable runways in the future
1563 // based on config again
1565 rwyNd->setStringValue("id", rwy->ident().c_str());
1566 rwyNd->setIntValue("length-ft", rwy->lengthFt());
1567 rwyNd->setIntValue("width-ft", rwy->widthFt());
1568 rwyNd->setIntValue("heading-deg", rwy->headingDeg());
1569 // map surface code to a string
1570 // TODO - lighting information
1573 rwyNd->setDoubleValue("ils-frequency-mhz", rwy->ILS()->get_freq() / 100.0);
1575 } // of runways iteration
1579 void GPS::selectOBSMode()
1581 if (!isScratchPositionValid()) {
1585 SG_LOG(SG_INSTR, SG_INFO, "GPS switching to OBS mode");
1588 _currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
1589 _wp0_position = _indicated_pos;
1593 void GPS::selectLegMode()
1595 if (_mode == "leg") {
1599 if (!_routeMgr->isRouteActive()) {
1600 SG_LOG(SG_INSTR, SG_WARN, "GPS:selectLegMode: no active route");
1604 SG_LOG(SG_INSTR, SG_INFO, "GPS switching to LEG mode");
1607 // depending on the situation, this will either get over-written
1608 // in routeManagerSequenced or not; either way it does no harm to
1610 _wp0_position = _indicated_pos;
1612 // not really sequenced, but does all the work of updating wp0/1
1613 routeManagerSequenced();
1616 void GPS::nextResult()
1618 if (!getScratchHasNext()) {
1623 if (_searchIsRoute) {
1624 setScratchFromRouteWaypoint(++_searchResultIndex);
1626 ++_searchResultIndex;
1627 setScratchFromCachedSearchResult();
1631 void GPS::previousResult()
1633 if (_searchResultIndex <= 0) {
1638 --_searchResultIndex;
1640 if (_searchIsRoute) {
1641 setScratchFromRouteWaypoint(_searchResultIndex);
1643 setScratchFromCachedSearchResult();
1647 void GPS::defineWaypoint()
1649 if (!isScratchPositionValid()) {
1650 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: invalid lat/lon");
1654 string ident = _scratchNode->getStringValue("ident");
1655 if (ident.size() < 2) {
1656 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: waypoint identifier must be at least two characters");
1660 // check for duplicate idents
1661 FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
1662 FGPositioned::List dups = FGPositioned::findAllWithIdent(ident, &f);
1663 if (!dups.empty()) {
1664 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: non-unique waypoint identifier, ho-hum");
1667 SG_LOG(SG_INSTR, SG_INFO, "GPS:defineWaypoint: creating waypoint:" << ident);
1668 FGPositionedRef wpt = FGPositioned::createUserWaypoint(ident, _scratchPos);
1669 _searchResults.clear();
1670 _searchResults.push_back(wpt);
1671 setScratchFromPositioned(wpt.get(), -1);
1674 void GPS::insertWaypointAtIndex(int aIndex)
1676 // note we do allow index = routeMgr->size(), that's an append
1677 if ((aIndex < 0) || (aIndex > _routeMgr->numWaypts())) {
1678 throw sg_range_exception("GPS::insertWaypointAtIndex: index out of bounds");
1681 if (!isScratchPositionValid()) {
1682 SG_LOG(SG_INSTR, SG_WARN, "GPS:insertWaypointAtIndex: invalid lat/lon");
1686 string ident = _scratchNode->getStringValue("ident");
1688 WayptRef wpt = new BasicWaypt(_scratchPos, ident, NULL);
1689 _routeMgr->flightPlan()->insertWayptAtIndex(wpt, aIndex);
1692 void GPS::removeWaypointAtIndex(int aIndex)
1694 if ((aIndex < 0) || (aIndex >= _routeMgr->numWaypts())) {
1695 throw sg_range_exception("GPS::removeWaypointAtIndex: index out of bounds");
1698 _routeMgr->removeLegAtIndex(aIndex);
1701 void GPS::tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
1702 const char* lonStr, const char* latStr, const char* altStr)
1704 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, &SGGeod::setLongitudeDeg));
1705 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, &SGGeod::setLatitudeDeg));
1708 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, &SGGeod::setElevationFt));
1712 void GPS::tieSGGeodReadOnly(SGPropertyNode* aNode, SGGeod& aRef,
1713 const char* lonStr, const char* latStr, const char* altStr)
1715 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, NULL));
1716 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, NULL));
1719 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, NULL));