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));
227 tie(_currentWayptNode, "valid", SGRawValueMethods<GPS, bool>
228 (*this, &GPS::getWP1IValid, NULL));
230 tie(_currentWayptNode, "ID", SGRawValueMethods<GPS, const char*>
231 (*this, &GPS::getWP1Ident, NULL));
233 tie(_currentWayptNode, "distance-nm", SGRawValueMethods<GPS, double>
234 (*this, &GPS::getWP1Distance, NULL));
235 tie(_currentWayptNode, "bearing-true-deg", SGRawValueMethods<GPS, double>
236 (*this, &GPS::getWP1Bearing, NULL));
237 tie(_currentWayptNode, "bearing-mag-deg", SGRawValueMethods<GPS, double>
238 (*this, &GPS::getWP1MagBearing, NULL));
239 tie(_currentWayptNode, "TTW-sec", SGRawValueMethods<GPS, double>
240 (*this, &GPS::getWP1TTW, NULL));
241 tie(_currentWayptNode, "TTW", SGRawValueMethods<GPS, const char*>
242 (*this, &GPS::getWP1TTWString, NULL));
244 tie(_currentWayptNode, "course-deviation-deg", SGRawValueMethods<GPS, double>
245 (*this, &GPS::getWP1CourseDeviation, NULL));
246 tie(_currentWayptNode, "course-error-nm", SGRawValueMethods<GPS, double>
247 (*this, &GPS::getWP1CourseErrorNm, NULL));
248 tie(_currentWayptNode, "to-flag", SGRawValueMethods<GPS, bool>
249 (*this, &GPS::getWP1ToFlag, NULL));
250 tie(_currentWayptNode, "from-flag", SGRawValueMethods<GPS, bool>
251 (*this, &GPS::getWP1FromFlag, NULL));
253 // leg properties (only valid in DTO/LEG modes, not OBS)
254 tie(wp_node, "leg-distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getLegDistance, NULL));
255 tie(wp_node, "leg-true-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegCourse, NULL));
256 tie(wp_node, "leg-mag-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegMagCourse, NULL));
258 // navradio slaving properties
259 tie(_gpsNode, "cdi-deflection", SGRawValueMethods<GPS,double>
260 (*this, &GPS::getCDIDeflection));
266 _tiedProperties.Untie();
273 _last_speed_kts = 0.0;
274 _last_pos = SGGeod();
275 _lastPosValid = false;
276 _indicated_pos = SGGeod();
277 _last_vertical_speed = 0.0;
278 _last_true_track = 0.0;
279 _lastEWVelocity = _lastNSVelocity = 0.0;
280 _currentWaypt = _prevWaypt = NULL;
281 _legDistanceNm = -1.0;
283 _raim_node->setDoubleValue(0.0);
284 _indicated_pos = SGGeod();
285 _odometer_node->setDoubleValue(0);
286 _trip_odometer_node->setDoubleValue(0);
287 _tracking_bug_node->setDoubleValue(0);
288 _true_bug_error_node->setDoubleValue(0);
289 _magnetic_bug_error_node->setDoubleValue(0);
290 _northSouthVelocity->setDoubleValue(0.0);
291 _eastWestVelocity->setDoubleValue(0.0);
295 GPS::update (double delta_time_sec)
297 if (!_defaultGPSMode) {
298 // If it's off, don't bother.
299 // check if value is defined, since many aircraft don't define an output
300 // for the GPS, but expect the default one to work.
301 bool elecOn = !_electrical_node->hasValue() || _electrical_node->getBoolValue();
302 if (!_serviceable_node->getBoolValue() || !elecOn) {
308 if (delta_time_sec <= 0.0) {
309 return; // paused, don't bother
312 _raim_node->setDoubleValue(1.0);
313 _indicated_pos = globals->get_aircraft_position();
314 updateBasicData(delta_time_sec);
317 if (_wayptController.get()) {
318 _wayptController->update();
319 SGGeod p(_wayptController->position());
320 _currentWayptNode->setDoubleValue("longitude-deg", p.getLongitudeDeg());
321 _currentWayptNode->setDoubleValue("latitude-deg", p.getLatitudeDeg());
322 _currentWayptNode->setDoubleValue("altitude-ft", p.getElevationFt());
324 _desiredCourse = getLegMagCourse();
335 if (_dataValid && (_mode == "init")) {
336 // will select LEG mode if the route is active
337 routeManagerFlightPlanChanged(NULL);
339 FGRouteMgr* routeMgr = static_cast<FGRouteMgr*>(globals->get_subsystem("route-manager"));
340 if (!routeMgr->isRouteActive()) {
341 // initialise in OBS mode, with waypt set to the nearest airport.
342 // keep in mind at this point, _dataValid is not set
343 auto_ptr<FGPositioned::Filter> f(new FGAirport::HardSurfaceFilter());
344 FGPositionedRef apt = FGPositioned::findClosest(_indicated_pos, 20.0, f.get());
346 selectOBSMode(new flightgear::NavaidWaypoint(apt, NULL));
352 // allow a realistic delay in the future, here
354 } // of init mode check
356 _last_pos = _indicated_pos;
357 _lastPosValid = !(_last_pos == SGGeod());
360 void GPS::routeManagerFlightPlanChanged(SGPropertyNode*)
363 _route->removeDelegate(this);
366 SG_LOG(SG_INSTR, SG_INFO, "GPS saw route-manager flight-plan replaced.");
367 FGRouteMgr* routeMgr = static_cast<FGRouteMgr*>(globals->get_subsystem("route-manager"));
368 _route = routeMgr->flightPlan();
370 _route->addDelegate(this);
373 if (routeMgr->isRouteActive()) {
376 selectOBSMode(_currentWaypt); // revert to OBS on current waypoint
380 void GPS::routeActivated(SGPropertyNode* aNode)
382 bool isActive = aNode->getBoolValue();
384 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, switching to LEG mode");
387 // if we've already passed the current waypoint, sequence.
388 if (_dataValid && getWP1FromFlag()) {
389 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, FROM wp1, sequencing");
392 } else if (_mode == "leg") {
393 SG_LOG(SG_INSTR, SG_INFO, "GPS::route deactivated, switching to OBS mode");
394 selectOBSMode(_currentWaypt);
398 ///////////////////////////////////////////////////////////////////////////
399 // implement the RNAV interface
400 SGGeod GPS::position()
406 return _indicated_pos;
409 double GPS::trackDeg()
411 return _last_true_track;
414 double GPS::groundSpeedKts()
416 return _last_speed_kts;
419 double GPS::vspeedFPM()
421 return _last_vertical_speed;
424 double GPS::magvarDeg()
426 return _magvar_node->getDoubleValue();
429 double GPS::overflightDistanceM()
431 return _config.overflightDistanceNm() * SG_NM_TO_METER;
434 double GPS::overflightArmDistanceM()
436 return _config.overflightArmDistanceNm() * SG_NM_TO_METER;
439 double GPS::overflightArmAngleDeg()
441 return _config.overflightArmAngleDeg();
444 double GPS::selectedMagCourse()
446 return _selectedCourse;
449 SGGeod GPS::previousLegWaypointPosition(bool& isValid)
451 FlightPlan::Leg* leg = _route->previousLeg();
453 Waypt* waypt = leg->waypoint();
456 return waypt->position();
462 ///////////////////////////////////////////////////////////////////////////
465 GPS::updateBasicData(double dt)
467 if (!_lastPosValid) {
473 SGGeodesy::inverse(_last_pos, _indicated_pos, _last_true_track, track2_deg, distance_m );
475 double speed_kt = ((distance_m * SG_METER_TO_NM) * ((1 / dt) * 3600.0));
476 double vertical_speed_mpm = ((_indicated_pos.getElevationM() - _last_pos.getElevationM()) * 60 / dt);
477 _last_vertical_speed = vertical_speed_mpm * SG_METER_TO_FEET;
479 speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, dt/10.0);
480 _last_speed_kts = speed_kt;
482 SGGeod g = _indicated_pos;
483 g.setLongitudeDeg(_last_pos.getLongitudeDeg());
484 double northSouthM = SGGeodesy::distanceM(_last_pos, g);
485 northSouthM = copysign(northSouthM, _indicated_pos.getLatitudeDeg() - _last_pos.getLatitudeDeg());
487 double nsMSec = fgGetLowPass(_lastNSVelocity, northSouthM / dt, dt/2.0);
488 _lastNSVelocity = nsMSec;
489 _northSouthVelocity->setDoubleValue(nsMSec);
493 g.setLatitudeDeg(_last_pos.getLatitudeDeg());
494 double eastWestM = SGGeodesy::distanceM(_last_pos, g);
495 eastWestM = copysign(eastWestM, _indicated_pos.getLongitudeDeg() - _last_pos.getLongitudeDeg());
497 double ewMSec = fgGetLowPass(_lastEWVelocity, eastWestM / dt, dt/2.0);
498 _lastEWVelocity = ewMSec;
499 _eastWestVelocity->setDoubleValue(ewMSec);
501 double odometer = _odometer_node->getDoubleValue();
502 _odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
503 odometer = _trip_odometer_node->getDoubleValue();
504 _trip_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
512 GPS::updateTrackingBug()
514 double tracking_bug = _tracking_bug_node->getDoubleValue();
515 double true_bug_error = tracking_bug - getTrueTrack();
516 double magnetic_bug_error = tracking_bug - getMagTrack();
518 // Get the errors into the (-180,180) range.
519 SG_NORMALIZE_RANGE(true_bug_error, -180.0, 180.0);
520 SG_NORMALIZE_RANGE(magnetic_bug_error, -180.0, 180.0);
522 _true_bug_error_node->setDoubleValue(true_bug_error);
523 _magnetic_bug_error_node->setDoubleValue(magnetic_bug_error);
526 void GPS::endOfFlightPlan()
528 selectOBSMode(_currentWaypt);
531 void GPS::currentWaypointChanged()
537 int index = _route->currentIndex(),
538 count = _route->numLegs();
539 if ((index < 0) || (index >= count)) {
542 // no active leg on the route
547 _prevWaypt = _route->previousLeg()->waypoint();
548 if (_prevWaypt->flag(WPT_DYNAMIC)) {
549 _wp0_position = _indicated_pos;
551 _wp0_position = _prevWaypt->position();
555 _currentWaypt = _route->currentLeg()->waypoint();
556 _desiredCourse = getLegMagCourse();
557 _desiredCourseNode->fireValueChanged();
562 void GPS::waypointsChanged()
564 if (_mode != "leg") {
568 SG_LOG(SG_INSTR, SG_INFO, "GPS route edited while in LEG mode, updating waypoints");
569 currentWaypointChanged();
574 if (_mode != "leg") {
578 selectOBSMode(_currentWaypt);
587 int nextIndex = _route->currentIndex() + 1;
588 if (nextIndex >= _route->numLegs()) {
589 SG_LOG(SG_INSTR, SG_INFO, "sequenced final leg, end of route");
591 selectOBSMode(_currentWaypt);
595 // will callback into currentWaypointChanged
596 _route->setCurrentIndex(nextIndex);
599 void GPS::updateTurn()
601 bool printProgress = false;
603 if (_computeTurnData) {
604 if (_last_speed_kts < 10) {
605 // need valid leg course and sensible ground speed to compute the turn
610 printProgress = true;
613 if (!_anticipateTurn) {
619 // find bearing to turn centre
620 double bearing, az2, distanceM;
621 SGGeodesy::inverse(_indicated_pos, _turnCentre, bearing, az2, distanceM);
622 double progress = computeTurnProgress(bearing);
625 SG_LOG(SG_INSTR, SG_INFO,"turn progress=" << progress);
628 if (!_inTurn && (progress > 0.0)) {
632 if (_inTurn && !_turnSequenced && (progress > 0.5)) {
633 _turnSequenced = true;
634 SG_LOG(SG_INSTR, SG_INFO, "turn passed midpoint, sequencing");
638 if (_inTurn && (progress >= 1.0)) {
643 // drive deviation and desired course
644 double desiredCourse = bearing - copysign(90, _turnAngle);
645 SG_NORMALIZE_RANGE(desiredCourse, 0.0, 360.0);
646 double deviationNm = (distanceM * SG_METER_TO_NM) - _turnRadius;
647 double deviationDeg = desiredCourse - getMagTrack();
648 deviationNm = copysign(deviationNm, deviationDeg);
650 //_wp1_course_deviation_node->setDoubleValue(deviationDeg);
651 //_wp1_course_error_nm_node->setDoubleValue(deviationNm);
652 //_cdiDeflectionNode->setDoubleValue(deviationDeg);
656 void GPS::updateOverflight()
658 if (!_wayptController->isDone()) {
662 if (_mode == "dto") {
663 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO reached destination point");
665 // check for wp1 being on active route - resume leg mode
667 int index = _route->findWayptIndex(_currentWaypt->position());
669 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO, resuming LEG mode at wp:" << index);
671 _route->setCurrentIndex(index);
672 sequence(); // and sequence to the next point
676 if (_mode == "dto") {
677 // if we didn't enter leg mode, drop back to OBS mode
678 // select OBS mode, but keep current waypoint-as is
682 } else if (_mode == "leg") {
683 SG_LOG(SG_INSTR, SG_DEBUG, "GPS doing overflight sequencing");
685 } else if (_mode == "obs") {
686 // nothing to do here, TO/FROM will update but that's fine
688 _computeTurnData = true;
691 void GPS::beginTurn()
694 _turnSequenced = false;
695 SG_LOG(SG_INSTR, SG_INFO, "beginning turn");
701 SG_LOG(SG_INSTR, SG_INFO, "ending turn");
702 _computeTurnData = true;
705 double GPS::computeTurnProgress(double aBearing) const
707 double startBearing = _turnStartBearing + copysign(90, _turnAngle);
708 return (aBearing - startBearing) / _turnAngle;
711 void GPS::computeTurnData()
713 _computeTurnData = false;
714 if ((_mode != "leg") || !_route->nextLeg()) {
715 _anticipateTurn = false;
719 WayptRef next = _route->nextLeg()->waypoint();
720 if (next->flag(WPT_DYNAMIC) || !_config.turnAnticipationEnabled()) {
721 _anticipateTurn = false;
725 _turnStartBearing = _desiredCourse;
726 // compute next leg course
728 boost::tie(crs, dist) = next->courseAndDistanceFrom(_currentWaypt->position());
731 // compute offset bearing
732 _turnAngle = crs - _turnStartBearing;
733 SG_NORMALIZE_RANGE(_turnAngle, -180.0, 180.0);
734 double median = _turnStartBearing + (_turnAngle * 0.5);
735 double offsetBearing = median + copysign(90, _turnAngle);
736 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
738 SG_LOG(SG_INSTR, SG_INFO, "GPS computeTurnData: in=" << _turnStartBearing <<
739 ", out=" << crs << "; turnAngle=" << _turnAngle << ", median=" << median
740 << ", offset=" << offsetBearing);
742 SG_LOG(SG_INSTR, SG_INFO, "next leg is now:" << _currentWaypt->ident() << "->" << next->ident());
744 _turnPt = _currentWaypt->position();
745 _anticipateTurn = true;
748 void GPS::updateTurnData()
750 // depends on ground speed, so needs to be updated per-frame
751 _turnRadius = computeTurnRadiusNm(_last_speed_kts);
753 // compute the turn centre, based on the turn radius.
754 // key thing is to understand that we're working a right-angle triangle,
755 // where the right-angle is the point we start the turn. From that point,
756 // one side is the inbound course to the turn pt, and the other is the
757 // perpendicular line, of length 'r', to the turn centre.
758 // the triangle's hypotenuse, which we need to find, is the distance from the
759 // turn pt to the turn center (in the direction of the offset bearing)
760 // note that d - _turnRadius tell us how much we're 'cutting' the corner.
762 double halfTurnAngle = fabs(_turnAngle * 0.5) * SG_DEGREES_TO_RADIANS;
763 double d = _turnRadius / cos(halfTurnAngle);
765 // SG_LOG(SG_INSTR, SG_INFO, "turnRadius=" << _turnRadius << ", d=" << d
766 // << " (cut distance=" << d - _turnRadius << ")");
768 double median = _turnStartBearing + (_turnAngle * 0.5);
769 double offsetBearing = median + copysign(90, _turnAngle);
770 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
773 SGGeodesy::direct(_turnPt, offsetBearing, d * SG_NM_TO_METER, _turnCentre, az2);
776 double GPS::computeTurnRadiusNm(double aGroundSpeedKts) const
778 // turn time is seconds to execute a 360 turn.
779 double turnTime = 360.0 / _config.turnRateDegSec();
781 // c is ground distance covered in that time (circumference of the circle)
782 double c = turnTime * (aGroundSpeedKts / 3600.0); // convert knts to nm/sec
784 // divide by 2PI to go from circumference -> radius
785 return c / (2 * M_PI);
788 void GPS::updateRouteData()
790 double totalDistance = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
791 // walk all waypoints from wp2 to route end, and sum
792 // for (int i=_routeMgr->currentIndex()+1; i<_routeMgr->numWaypts(); ++i) {
793 //totalDistance += _routeMgr->get_waypoint(i).get_distance();
796 _routeDistanceNm->setDoubleValue(totalDistance * SG_METER_TO_NM);
797 if (_last_speed_kts > 1.0) {
798 double TTW = ((totalDistance * SG_METER_TO_NM) / _last_speed_kts) * 3600.0;
799 _routeETE->setStringValue(makeTTWString(TTW));
803 void GPS::driveAutopilot()
805 if (!_config.driveAutopilot() || !_defaultGPSMode) {
806 _apDrivingFlag->setBoolValue(false);
810 // compatibility feature - allow the route-manager / GPS to drive the
811 // generic autopilot heading hold *in leg mode only*
813 bool drive = _mode == "leg";
814 _apDrivingFlag->setBoolValue(drive);
817 // FIXME: we want to set desired track, not heading, here
818 _apTrueHeading->setDoubleValue(getWP1Bearing());
822 void GPS::wp1Changed()
826 if (_mode == "leg") {
827 _wayptController.reset(WayptController::createForWaypt(this, _currentWaypt));
828 } else if (_mode == "obs") {
829 _wayptController.reset(new OBSController(this, _currentWaypt));
830 } else if (_mode == "dto") {
831 _wayptController.reset(new DirectToController(this, _currentWaypt, _wp0_position));
834 _wayptController->init();
836 if (_mode == "obs") {
837 _legDistanceNm = -1.0;
839 _wayptController->update();
840 _legDistanceNm = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
844 /////////////////////////////////////////////////////////////////////////////
845 // property getter/setters
847 void GPS::setSelectedCourse(double crs)
849 if (_selectedCourse == crs) {
853 _selectedCourse = crs;
854 if ((_mode == "obs") || _config.courseSelectable()) {
855 _desiredCourse = _selectedCourse;
856 _desiredCourseNode->fireValueChanged();
860 double GPS::getLegDistance() const
862 if (!_dataValid || (_mode == "obs")) {
866 return _legDistanceNm;
869 double GPS::getLegCourse() const
871 if (!_dataValid || !_wayptController.get()) {
875 return _wayptController->targetTrackDeg();
878 double GPS::getLegMagCourse() const
884 double m = getLegCourse() - _magvar_node->getDoubleValue();
885 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
889 double GPS::getMagTrack() const
895 double m = getTrueTrack() - _magvar_node->getDoubleValue();
896 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
900 double GPS::getCDIDeflection() const
907 if (_config.cdiDeflectionIsAngular()) {
908 defl = getWP1CourseDeviation();
909 SG_CLAMP_RANGE(defl, -10.0, 10.0); // as in navradio.cxx
911 double fullScale = _config.cdiDeflectionLinearPeg();
912 double normError = getWP1CourseErrorNm() / fullScale;
913 SG_CLAMP_RANGE(normError, -1.0, 1.0);
914 defl = normError * 10.0; // re-scale to navradio limits, i.e [-10.0 .. 10.0]
920 const char* GPS::getWP0Ident() const
922 if (!_dataValid || (_mode != "leg") || (!_prevWaypt)) {
926 return _prevWaypt->ident().c_str();
929 const char* GPS::getWP0Name() const
934 bool GPS::getWP1IValid() const
936 return _dataValid && _currentWaypt.get();
939 const char* GPS::getWP1Ident() const
941 if ((!_dataValid)||(!_currentWaypt)) {
945 return _currentWaypt->ident().c_str();
948 const char* GPS::getWP1Name() const
953 double GPS::getWP1Distance() const
955 if (!_dataValid || !_wayptController.get()) {
959 return _wayptController->distanceToWayptM() * SG_METER_TO_NM;
962 double GPS::getWP1TTW() const
964 if (!_dataValid || !_wayptController.get()) {
968 return _wayptController->timeToWaypt();
971 const char* GPS::getWP1TTWString() const
973 double t = getWP1TTW();
978 return makeTTWString(t);
981 double GPS::getWP1Bearing() const
983 if (!_dataValid || !_wayptController.get()) {
987 return _wayptController->trueBearingDeg();
990 double GPS::getWP1MagBearing() const
992 if (!_dataValid || !_wayptController.get()) {
996 double magBearing = _wayptController->trueBearingDeg() - _magvar_node->getDoubleValue();
997 SG_NORMALIZE_RANGE(magBearing, 0.0, 360.0);
1001 double GPS::getWP1CourseDeviation() const
1003 if (!_dataValid || !_wayptController.get()) {
1007 return _wayptController->courseDeviationDeg();
1010 double GPS::getWP1CourseErrorNm() const
1012 if (!_dataValid || !_wayptController.get()) {
1016 return _wayptController->xtrackErrorNm();
1019 bool GPS::getWP1ToFlag() const
1021 if (!_dataValid || !_wayptController.get()) {
1025 return _wayptController->toFlag();
1028 bool GPS::getWP1FromFlag() const
1030 if (!_dataValid || !_wayptController.get()) {
1034 return !getWP1ToFlag();
1038 double GPS::getScratchDistance() const
1040 if (!_scratchValid) {
1044 return SGGeodesy::distanceNm(_indicated_pos, _scratchPos);
1047 double GPS::getScratchTrueBearing() const
1049 if (!_scratchValid) {
1053 return SGGeodesy::courseDeg(_indicated_pos, _scratchPos);
1056 double GPS::getScratchMagBearing() const
1058 if (!_scratchValid) {
1062 double crs = getScratchTrueBearing() - _magvar_node->getDoubleValue();
1063 SG_NORMALIZE_RANGE(crs, 0.0, 360.0);
1069 /////////////////////////////////////////////////////////////////////////////
1072 void GPS::setCommand(const char* aCmd)
1074 SG_LOG(SG_INSTR, SG_DEBUG, "GPS command:" << aCmd);
1076 if (!strcmp(aCmd, "direct")) {
1078 } else if (!strcmp(aCmd, "obs")) {
1079 selectOBSMode(NULL);
1080 } else if (!strcmp(aCmd, "leg")) {
1083 } else if (!strcmp(aCmd, "load-route-wpt")) {
1084 loadRouteWaypoint();
1085 } else if (!strcmp(aCmd, "nearest")) {
1087 } else if (!strcmp(aCmd, "search")) {
1088 _searchNames = false;
1090 } else if (!strcmp(aCmd, "search-names")) {
1091 _searchNames = true;
1093 } else if (!strcmp(aCmd, "next")) {
1095 } else if (!strcmp(aCmd, "previous")) {
1097 } else if (!strcmp(aCmd, "define-user-wpt")) {
1099 } else if (!strcmp(aCmd, "route-insert-before")) {
1100 int index = _scratchNode->getIntValue("index");
1101 if (index < 0 || (_route->numLegs() == 0)) {
1102 index = _route->numLegs();
1103 } else if (index >= _route->numLegs()) {
1104 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-before, bad index:" << index);
1108 insertWaypointAtIndex(index);
1109 } else if (!strcmp(aCmd, "route-insert-after")) {
1110 int index = _scratchNode->getIntValue("index");
1111 if (index < 0 || (_route->numLegs() == 0)) {
1112 index = _route->numLegs();
1113 } else if (index >= _route->numLegs()) {
1114 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-after, bad index:" << index);
1120 insertWaypointAtIndex(index);
1121 } else if (!strcmp(aCmd, "route-delete")) {
1122 int index = _scratchNode->getIntValue("index");
1124 index = _route->numLegs();
1125 } else if (index >= _route->numLegs()) {
1126 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-delete, bad index:" << index);
1130 removeWaypointAtIndex(index);
1133 SG_LOG(SG_INSTR, SG_WARN, "GPS:unrecognized command:" << aCmd);
1137 void GPS::clearScratch()
1139 _scratchPos = SGGeod::fromDegFt(-9999.0, -9999.0, -9999.0);
1140 _scratchNode->setBoolValue("valid", false);
1142 _scratchNode->setStringValue("type", "");
1143 _scratchNode->setStringValue("query", "");
1147 bool GPS::isScratchPositionValid() const
1149 if ((_scratchPos.getLongitudeDeg() < -9990.0) ||
1150 (_scratchPos.getLatitudeDeg() < -9990.0)) {
1157 void GPS::directTo()
1159 if (!isScratchPositionValid()) {
1164 _wp0_position = _indicated_pos;
1165 _currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
1171 void GPS::selectOBSMode(flightgear::Waypt* waypt)
1174 // initialise from scratch
1175 if (!isScratchPositionValid()) {
1179 waypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
1184 _currentWaypt = waypt;
1185 _wp0_position = _indicated_pos;
1189 void GPS::selectLegMode()
1191 if (_mode == "leg") {
1196 SG_LOG(SG_INSTR, SG_WARN, "GPS:selectLegMode: no active route");
1202 // depending on the situation, this will either get over-written
1203 // in routeManagerSequenced or not; either way it does no harm to
1205 _wp0_position = _indicated_pos;
1207 // not really sequenced, but does all the work of updating wp0/1
1208 currentWaypointChanged();
1213 void GPS::loadRouteWaypoint()
1215 _scratchValid = false;
1216 int index = _scratchNode->getIntValue("index", -9999);
1219 if ((index < 0) || (index >= _route->numLegs())) { // no index supplied, use current wp
1220 index = _route->currentIndex();
1223 _searchIsRoute = true;
1224 setScratchFromRouteWaypoint(index);
1227 void GPS::setScratchFromRouteWaypoint(int aIndex)
1229 assert(_searchIsRoute);
1230 if ((aIndex < 0) || (aIndex >= _route->numLegs())) {
1231 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromRouteWaypoint: route-index out of bounds");
1235 _searchResultIndex = aIndex;
1236 WayptRef wp = _route->legAtIndex(aIndex)->waypoint();
1237 _scratchNode->setStringValue("ident", wp->ident());
1238 _scratchPos = wp->position();
1239 _scratchValid = true;
1240 _scratchNode->setIntValue("index", aIndex);
1243 void GPS::loadNearest()
1245 string sty(_scratchNode->getStringValue("type"));
1246 FGPositioned::Type ty = FGPositioned::typeFromName(sty);
1247 if (ty == FGPositioned::INVALID) {
1248 SG_LOG(SG_INSTR, SG_WARN, "GPS:loadNearest: request type is invalid:" << sty);
1252 auto_ptr<FGPositioned::Filter> f(createFilter(ty));
1253 int limitCount = _scratchNode->getIntValue("max-results", 1);
1254 double cutoffDistance = _scratchNode->getDoubleValue("cutoff-nm", 400.0);
1256 SGGeod searchPos = _indicated_pos;
1257 if (isScratchPositionValid()) {
1258 searchPos = _scratchPos;
1261 clearScratch(); // clear now, regardless of whether we find a match or not
1264 FGPositioned::findClosestN(searchPos, limitCount, cutoffDistance, f.get());
1265 _searchResultIndex = 0;
1266 _searchIsRoute = false;
1268 if (_searchResults.empty()) {
1272 setScratchFromCachedSearchResult();
1275 bool GPS::SearchFilter::pass(FGPositioned* aPos) const
1277 switch (aPos->type()) {
1278 case FGPositioned::AIRPORT:
1279 // heliport and seaport too?
1280 case FGPositioned::VOR:
1281 case FGPositioned::NDB:
1282 case FGPositioned::FIX:
1283 case FGPositioned::TACAN:
1284 case FGPositioned::WAYPOINT:
1291 FGPositioned::Type GPS::SearchFilter::minType() const
1293 return FGPositioned::AIRPORT;
1296 FGPositioned::Type GPS::SearchFilter::maxType() const
1298 return FGPositioned::VOR;
1301 FGPositioned::Filter* GPS::createFilter(FGPositioned::Type aTy)
1303 if (aTy == FGPositioned::AIRPORT) {
1304 return new FGAirport::HardSurfaceFilter();
1307 // if we were passed INVALID, assume it means 'all types interesting to a GPS'
1308 if (aTy == FGPositioned::INVALID) {
1309 return new SearchFilter;
1312 return new FGPositioned::TypeFilter(aTy);
1317 // parse search terms into local members, and exec the first search
1318 string sty(_scratchNode->getStringValue("type"));
1319 _searchType = FGPositioned::typeFromName(sty);
1320 _searchQuery = _scratchNode->getStringValue("query");
1321 if (_searchQuery.empty()) {
1322 SG_LOG(SG_INSTR, SG_WARN, "empty GPS search query");
1327 _searchExact = _scratchNode->getBoolValue("exact", true);
1328 _searchResultIndex = 0;
1329 _searchIsRoute = false;
1331 auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
1333 _searchResults = FGPositioned::findAllWithName(_searchQuery, f.get(), _searchExact);
1335 _searchResults = FGPositioned::findAllWithIdent(_searchQuery, f.get(), _searchExact);
1338 bool orderByRange = _scratchNode->getBoolValue("order-by-distance", true);
1340 FGPositioned::sortByRange(_searchResults, _indicated_pos);
1343 if (_searchResults.empty()) {
1348 setScratchFromCachedSearchResult();
1351 bool GPS::getScratchHasNext() const
1354 if (_searchIsRoute) {
1355 lastResult = _route->numLegs() - 1;
1357 lastResult = (int) _searchResults.size() - 1;
1360 if (lastResult < 0) { // search array might be empty
1364 return (_searchResultIndex < lastResult);
1367 void GPS::setScratchFromCachedSearchResult()
1369 int index = _searchResultIndex;
1371 if ((index < 0) || (index >= (int) _searchResults.size())) {
1372 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromCachedSearchResult: index out of bounds:" << index);
1376 setScratchFromPositioned(_searchResults[index], index);
1379 void GPS::setScratchFromPositioned(FGPositioned* aPos, int aIndex)
1384 _scratchPos = aPos->geod();
1385 _scratchNode->setStringValue("name", aPos->name());
1386 _scratchNode->setStringValue("ident", aPos->ident());
1387 _scratchNode->setStringValue("type", FGPositioned::nameForType(aPos->type()));
1390 _scratchNode->setIntValue("index", aIndex);
1393 _scratchValid = true;
1394 _scratchNode->setIntValue("result-count", _searchResults.size());
1396 switch (aPos->type()) {
1397 case FGPositioned::VOR:
1398 _scratchNode->setDoubleValue("frequency-mhz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1401 case FGPositioned::NDB:
1402 _scratchNode->setDoubleValue("frequency-khz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1405 case FGPositioned::AIRPORT:
1406 addAirportToScratch((FGAirport*)aPos);
1414 // look for being on the route and set?
1417 void GPS::addAirportToScratch(FGAirport* aAirport)
1419 for (unsigned int r=0; r<aAirport->numRunways(); ++r) {
1420 SGPropertyNode* rwyNd = _scratchNode->getChild("runways", r, true);
1421 FGRunway* rwy = aAirport->getRunwayByIndex(r);
1422 // TODO - filter out unsuitable runways in the future
1423 // based on config again
1425 rwyNd->setStringValue("id", rwy->ident().c_str());
1426 rwyNd->setIntValue("length-ft", rwy->lengthFt());
1427 rwyNd->setIntValue("width-ft", rwy->widthFt());
1428 rwyNd->setIntValue("heading-deg", rwy->headingDeg());
1429 // map surface code to a string
1430 // TODO - lighting information
1433 rwyNd->setDoubleValue("ils-frequency-mhz", rwy->ILS()->get_freq() / 100.0);
1435 } // of runways iteration
1438 void GPS::nextResult()
1440 if (!getScratchHasNext()) {
1445 if (_searchIsRoute) {
1446 setScratchFromRouteWaypoint(++_searchResultIndex);
1448 ++_searchResultIndex;
1449 setScratchFromCachedSearchResult();
1453 void GPS::previousResult()
1455 if (_searchResultIndex <= 0) {
1460 --_searchResultIndex;
1462 if (_searchIsRoute) {
1463 setScratchFromRouteWaypoint(_searchResultIndex);
1465 setScratchFromCachedSearchResult();
1469 void GPS::defineWaypoint()
1471 if (!isScratchPositionValid()) {
1472 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: invalid lat/lon");
1476 string ident = _scratchNode->getStringValue("ident");
1477 if (ident.size() < 2) {
1478 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: waypoint identifier must be at least two characters");
1482 // check for duplicate idents
1483 FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
1484 FGPositionedList dups = FGPositioned::findAllWithIdent(ident, &f);
1485 if (!dups.empty()) {
1486 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: non-unique waypoint identifier, ho-hum");
1489 SG_LOG(SG_INSTR, SG_INFO, "GPS:defineWaypoint: creating waypoint:" << ident);
1490 FGPositionedRef wpt = FGPositioned::createUserWaypoint(ident, _scratchPos);
1491 _searchResults.clear();
1492 _searchResults.push_back(wpt);
1493 setScratchFromPositioned(wpt.get(), -1);
1496 void GPS::insertWaypointAtIndex(int aIndex)
1498 // note we do allow index = routeMgr->size(), that's an append
1499 if ((aIndex < 0) || (aIndex > _route->numLegs())) {
1500 throw sg_range_exception("GPS::insertWaypointAtIndex: index out of bounds");
1503 if (!isScratchPositionValid()) {
1504 SG_LOG(SG_INSTR, SG_WARN, "GPS:insertWaypointAtIndex: invalid lat/lon");
1508 string ident = _scratchNode->getStringValue("ident");
1510 WayptRef wpt = new BasicWaypt(_scratchPos, ident, NULL);
1511 _route->insertWayptAtIndex(wpt, aIndex);
1514 void GPS::removeWaypointAtIndex(int aIndex)
1516 if ((aIndex < 0) || (aIndex >= _route->numLegs())) {
1517 throw sg_range_exception("GPS::removeWaypointAtIndex: index out of bounds");
1520 _route->deleteIndex(aIndex);
1524 #endif // of FG_210_COMPAT
1526 void GPS::tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
1527 const char* lonStr, const char* latStr, const char* altStr)
1529 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, &SGGeod::setLongitudeDeg));
1530 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, &SGGeod::setLatitudeDeg));
1533 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, &SGGeod::setElevationFt));
1537 void GPS::tieSGGeodReadOnly(SGPropertyNode* aNode, SGGeod& aRef,
1538 const char* lonStr, const char* latStr, const char* altStr)
1540 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, NULL));
1541 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, NULL));
1544 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, NULL));