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);
180 _config.bind(this, _gpsNode->getChild("config", 0, true));
183 tie(_gpsNode, "selected-course-deg", SGRawValueMethods<GPS, double>
184 (*this, &GPS::getSelectedCourse, &GPS::setSelectedCourse));
186 tie(_gpsNode, "desired-course-deg", SGRawValueMethods<GPS, double>
187 (*this, &GPS::getDesiredCourse, NULL));
188 _desiredCourseNode = _gpsNode->getChild("desired-course-deg", 0, true);
190 tieSGGeodReadOnly(_gpsNode, _indicated_pos, "indicated-longitude-deg",
191 "indicated-latitude-deg", "indicated-altitude-ft");
193 tie(_gpsNode, "indicated-vertical-speed", SGRawValueMethods<GPS, double>
194 (*this, &GPS::getVerticalSpeed, NULL));
195 tie(_gpsNode, "indicated-track-true-deg", SGRawValueMethods<GPS, double>
196 (*this, &GPS::getTrueTrack, NULL));
197 tie(_gpsNode, "indicated-track-magnetic-deg", SGRawValueMethods<GPS, double>
198 (*this, &GPS::getMagTrack, NULL));
199 tie(_gpsNode, "indicated-ground-speed-kt", SGRawValueMethods<GPS, double>
200 (*this, &GPS::getGroundspeedKts, NULL));
203 tie(_gpsNode, "mode", SGRawValueMethods<GPS, const char*>(*this, &GPS::getMode, NULL));
204 tie(_gpsNode, "command", SGRawValueMethods<GPS, const char*>(*this, &GPS::getCommand, &GPS::setCommand));
205 tieSGGeod(_scratchNode, _scratchPos, "longitude-deg", "latitude-deg", "altitude-ft");
208 tie(_scratchNode, "valid", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchValid, NULL));
209 tie(_scratchNode, "distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchDistance, NULL));
210 tie(_scratchNode, "true-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchTrueBearing, NULL));
211 tie(_scratchNode, "mag-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchMagBearing, NULL));
212 tie(_scratchNode, "has-next", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchHasNext, NULL));
213 _scratchValid = false;
215 _scratchNode->setStringValue("type", "");
216 _scratchNode->setStringValue("query", "");
219 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
220 SGPropertyNode* wp0_node = wp_node->getChild("wp", 0, true);
221 tieSGGeodReadOnly(wp0_node, _wp0_position, "longitude-deg", "latitude-deg", "altitude-ft");
222 tie(wp0_node, "ID", SGRawValueMethods<GPS, const char*>
223 (*this, &GPS::getWP0Ident, NULL));
226 tie(_currentWayptNode, "ID", SGRawValueMethods<GPS, const char*>
227 (*this, &GPS::getWP1Ident, NULL));
229 tie(_currentWayptNode, "distance-nm", SGRawValueMethods<GPS, double>
230 (*this, &GPS::getWP1Distance, NULL));
231 tie(_currentWayptNode, "bearing-true-deg", SGRawValueMethods<GPS, double>
232 (*this, &GPS::getWP1Bearing, NULL));
233 tie(_currentWayptNode, "bearing-mag-deg", SGRawValueMethods<GPS, double>
234 (*this, &GPS::getWP1MagBearing, NULL));
235 tie(_currentWayptNode, "TTW-sec", SGRawValueMethods<GPS, double>
236 (*this, &GPS::getWP1TTW, NULL));
237 tie(_currentWayptNode, "TTW", SGRawValueMethods<GPS, const char*>
238 (*this, &GPS::getWP1TTWString, NULL));
240 tie(_currentWayptNode, "course-deviation-deg", SGRawValueMethods<GPS, double>
241 (*this, &GPS::getWP1CourseDeviation, NULL));
242 tie(_currentWayptNode, "course-error-nm", SGRawValueMethods<GPS, double>
243 (*this, &GPS::getWP1CourseErrorNm, NULL));
244 tie(_currentWayptNode, "to-flag", SGRawValueMethods<GPS, bool>
245 (*this, &GPS::getWP1ToFlag, NULL));
246 tie(_currentWayptNode, "from-flag", SGRawValueMethods<GPS, bool>
247 (*this, &GPS::getWP1FromFlag, NULL));
249 // leg properties (only valid in DTO/LEG modes, not OBS)
250 tie(wp_node, "leg-distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getLegDistance, NULL));
251 tie(wp_node, "leg-true-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegCourse, NULL));
252 tie(wp_node, "leg-mag-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegMagCourse, NULL));
254 // navradio slaving properties
255 tie(_gpsNode, "cdi-deflection", SGRawValueMethods<GPS,double>
256 (*this, &GPS::getCDIDeflection));
262 _tiedProperties.Untie();
269 _last_speed_kts = 0.0;
270 _last_pos = SGGeod();
271 _lastPosValid = false;
272 _indicated_pos = SGGeod();
273 _last_vertical_speed = 0.0;
274 _last_true_track = 0.0;
275 _lastEWVelocity = _lastNSVelocity = 0.0;
276 _currentWaypt = _prevWaypt = NULL;
277 _legDistanceNm = -1.0;
279 _raim_node->setDoubleValue(0.0);
280 _indicated_pos = SGGeod();
281 _odometer_node->setDoubleValue(0);
282 _trip_odometer_node->setDoubleValue(0);
283 _tracking_bug_node->setDoubleValue(0);
284 _true_bug_error_node->setDoubleValue(0);
285 _magnetic_bug_error_node->setDoubleValue(0);
286 _northSouthVelocity->setDoubleValue(0.0);
287 _eastWestVelocity->setDoubleValue(0.0);
291 GPS::update (double delta_time_sec)
293 if (!_defaultGPSMode) {
294 // If it's off, don't bother.
295 // check if value is defined, since many aircraft don't define an output
296 // for the GPS, but expect the default one to work.
297 bool elecOn = !_electrical_node->hasValue() || _electrical_node->getBoolValue();
298 if (!_serviceable_node->getBoolValue() || !elecOn) {
304 if (delta_time_sec <= 0.0) {
305 return; // paused, don't bother
308 _raim_node->setDoubleValue(1.0);
309 _indicated_pos = globals->get_aircraft_position();
310 updateBasicData(delta_time_sec);
313 if (_wayptController.get()) {
314 _wayptController->update();
315 SGGeod p(_wayptController->position());
316 _currentWayptNode->setDoubleValue("longitude-deg", p.getLongitudeDeg());
317 _currentWayptNode->setDoubleValue("latitude-deg", p.getLatitudeDeg());
318 _currentWayptNode->setDoubleValue("altitude-ft", p.getElevationFt());
320 _desiredCourse = getLegMagCourse();
331 if (_dataValid && (_mode == "init")) {
332 // will select LEG mode if the route is active
333 routeManagerFlightPlanChanged(NULL);
335 FGRouteMgr* routeMgr = static_cast<FGRouteMgr*>(globals->get_subsystem("route-manager"));
336 if (!routeMgr->isRouteActive()) {
337 // initialise in OBS mode, with waypt set to the nearest airport.
338 // keep in mind at this point, _dataValid is not set
339 auto_ptr<FGPositioned::Filter> f(new FGAirport::HardSurfaceFilter());
340 FGPositionedRef apt = FGPositioned::findClosest(_indicated_pos, 20.0, f.get());
342 selectOBSMode(new flightgear::NavaidWaypoint(apt, NULL));
348 // allow a realistic delay in the future, here
350 } // of init mode check
352 _last_pos = _indicated_pos;
353 _lastPosValid = !(_last_pos == SGGeod());
356 void GPS::routeManagerFlightPlanChanged(SGPropertyNode*)
359 _route->removeDelegate(this);
362 SG_LOG(SG_INSTR, SG_INFO, "GPS saw route-manager flight-plan replaced.");
363 FGRouteMgr* routeMgr = static_cast<FGRouteMgr*>(globals->get_subsystem("route-manager"));
364 _route = routeMgr->flightPlan();
366 _route->addDelegate(this);
369 if (routeMgr->isRouteActive()) {
372 selectOBSMode(_currentWaypt); // revert to OBS on current waypoint
376 void GPS::routeActivated(SGPropertyNode* aNode)
378 bool isActive = aNode->getBoolValue();
380 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, switching to LEG mode");
383 // if we've already passed the current waypoint, sequence.
384 if (_dataValid && getWP1FromFlag()) {
385 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, FROM wp1, sequencing");
388 } else if (_mode == "leg") {
389 SG_LOG(SG_INSTR, SG_INFO, "GPS::route deactivated, switching to OBS mode");
390 selectOBSMode(_currentWaypt);
394 ///////////////////////////////////////////////////////////////////////////
395 // implement the RNAV interface
396 SGGeod GPS::position()
402 return _indicated_pos;
405 double GPS::trackDeg()
407 return _last_true_track;
410 double GPS::groundSpeedKts()
412 return _last_speed_kts;
415 double GPS::vspeedFPM()
417 return _last_vertical_speed;
420 double GPS::magvarDeg()
422 return _magvar_node->getDoubleValue();
425 double GPS::overflightDistanceM()
427 return _config.overflightDistanceNm() * SG_NM_TO_METER;
430 double GPS::overflightArmDistanceM()
432 return _config.overflightArmDistanceNm() * SG_NM_TO_METER;
435 double GPS::overflightArmAngleDeg()
437 return _config.overflightArmAngleDeg();
440 double GPS::selectedMagCourse()
442 return _selectedCourse;
445 SGGeod GPS::previousLegWaypointPosition(bool& isValid)
447 FlightPlan::Leg* leg = _route->previousLeg();
449 Waypt* waypt = leg->waypoint();
452 return waypt->position();
458 ///////////////////////////////////////////////////////////////////////////
461 GPS::updateBasicData(double dt)
463 if (!_lastPosValid) {
469 SGGeodesy::inverse(_last_pos, _indicated_pos, _last_true_track, track2_deg, distance_m );
471 double speed_kt = ((distance_m * SG_METER_TO_NM) * ((1 / dt) * 3600.0));
472 double vertical_speed_mpm = ((_indicated_pos.getElevationM() - _last_pos.getElevationM()) * 60 / dt);
473 _last_vertical_speed = vertical_speed_mpm * SG_METER_TO_FEET;
475 speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, dt/10.0);
476 _last_speed_kts = speed_kt;
478 SGGeod g = _indicated_pos;
479 g.setLongitudeDeg(_last_pos.getLongitudeDeg());
480 double northSouthM = SGGeodesy::distanceM(_last_pos, g);
481 northSouthM = copysign(northSouthM, _indicated_pos.getLatitudeDeg() - _last_pos.getLatitudeDeg());
483 double nsMSec = fgGetLowPass(_lastNSVelocity, northSouthM / dt, dt/2.0);
484 _lastNSVelocity = nsMSec;
485 _northSouthVelocity->setDoubleValue(nsMSec);
489 g.setLatitudeDeg(_last_pos.getLatitudeDeg());
490 double eastWestM = SGGeodesy::distanceM(_last_pos, g);
491 eastWestM = copysign(eastWestM, _indicated_pos.getLongitudeDeg() - _last_pos.getLongitudeDeg());
493 double ewMSec = fgGetLowPass(_lastEWVelocity, eastWestM / dt, dt/2.0);
494 _lastEWVelocity = ewMSec;
495 _eastWestVelocity->setDoubleValue(ewMSec);
497 double odometer = _odometer_node->getDoubleValue();
498 _odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
499 odometer = _trip_odometer_node->getDoubleValue();
500 _trip_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
508 GPS::updateTrackingBug()
510 double tracking_bug = _tracking_bug_node->getDoubleValue();
511 double true_bug_error = tracking_bug - getTrueTrack();
512 double magnetic_bug_error = tracking_bug - getMagTrack();
514 // Get the errors into the (-180,180) range.
515 SG_NORMALIZE_RANGE(true_bug_error, -180.0, 180.0);
516 SG_NORMALIZE_RANGE(magnetic_bug_error, -180.0, 180.0);
518 _true_bug_error_node->setDoubleValue(true_bug_error);
519 _magnetic_bug_error_node->setDoubleValue(magnetic_bug_error);
522 void GPS::endOfFlightPlan()
524 selectOBSMode(_currentWaypt);
527 void GPS::currentWaypointChanged()
533 int index = _route->currentIndex(),
534 count = _route->numLegs();
535 if ((index < 0) || (index >= count)) {
538 // no active leg on the route
543 _prevWaypt = _route->previousLeg()->waypoint();
544 if (_prevWaypt->flag(WPT_DYNAMIC)) {
545 _wp0_position = _indicated_pos;
547 _wp0_position = _prevWaypt->position();
551 _currentWaypt = _route->currentLeg()->waypoint();
552 _desiredCourse = getLegMagCourse();
553 _desiredCourseNode->fireValueChanged();
558 void GPS::waypointsChanged()
560 if (_mode != "leg") {
564 SG_LOG(SG_INSTR, SG_INFO, "GPS route edited while in LEG mode, updating waypoints");
565 currentWaypointChanged();
570 if (_mode != "leg") {
574 selectOBSMode(_currentWaypt);
583 int nextIndex = _route->currentIndex() + 1;
584 if (nextIndex >= _route->numLegs()) {
585 SG_LOG(SG_INSTR, SG_INFO, "sequenced final leg, end of route");
587 selectOBSMode(_currentWaypt);
591 // will callback into currentWaypointChanged
592 _route->setCurrentIndex(nextIndex);
595 void GPS::updateTurn()
597 bool printProgress = false;
599 if (_computeTurnData) {
600 if (_last_speed_kts < 10) {
601 // need valid leg course and sensible ground speed to compute the turn
606 printProgress = true;
609 if (!_anticipateTurn) {
615 // find bearing to turn centre
616 double bearing, az2, distanceM;
617 SGGeodesy::inverse(_indicated_pos, _turnCentre, bearing, az2, distanceM);
618 double progress = computeTurnProgress(bearing);
621 SG_LOG(SG_INSTR, SG_INFO,"turn progress=" << progress);
624 if (!_inTurn && (progress > 0.0)) {
628 if (_inTurn && !_turnSequenced && (progress > 0.5)) {
629 _turnSequenced = true;
630 SG_LOG(SG_INSTR, SG_INFO, "turn passed midpoint, sequencing");
634 if (_inTurn && (progress >= 1.0)) {
639 // drive deviation and desired course
640 double desiredCourse = bearing - copysign(90, _turnAngle);
641 SG_NORMALIZE_RANGE(desiredCourse, 0.0, 360.0);
642 double deviationNm = (distanceM * SG_METER_TO_NM) - _turnRadius;
643 double deviationDeg = desiredCourse - getMagTrack();
644 deviationNm = copysign(deviationNm, deviationDeg);
646 //_wp1_course_deviation_node->setDoubleValue(deviationDeg);
647 //_wp1_course_error_nm_node->setDoubleValue(deviationNm);
648 //_cdiDeflectionNode->setDoubleValue(deviationDeg);
652 void GPS::updateOverflight()
654 if (!_wayptController->isDone()) {
658 if (_mode == "dto") {
659 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO reached destination point");
661 // check for wp1 being on active route - resume leg mode
663 int index = _route->findWayptIndex(_currentWaypt->position());
665 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO, resuming LEG mode at wp:" << index);
667 _route->setCurrentIndex(index);
668 sequence(); // and sequence to the next point
672 if (_mode == "dto") {
673 // if we didn't enter leg mode, drop back to OBS mode
674 // select OBS mode, but keep current waypoint-as is
678 } else if (_mode == "leg") {
679 SG_LOG(SG_INSTR, SG_DEBUG, "GPS doing overflight sequencing");
681 } else if (_mode == "obs") {
682 // nothing to do here, TO/FROM will update but that's fine
684 _computeTurnData = true;
687 void GPS::beginTurn()
690 _turnSequenced = false;
691 SG_LOG(SG_INSTR, SG_INFO, "beginning turn");
697 SG_LOG(SG_INSTR, SG_INFO, "ending turn");
698 _computeTurnData = true;
701 double GPS::computeTurnProgress(double aBearing) const
703 double startBearing = _turnStartBearing + copysign(90, _turnAngle);
704 return (aBearing - startBearing) / _turnAngle;
707 void GPS::computeTurnData()
709 _computeTurnData = false;
710 if ((_mode != "leg") || !_route->nextLeg()) {
711 _anticipateTurn = false;
715 WayptRef next = _route->nextLeg()->waypoint();
716 if (next->flag(WPT_DYNAMIC) || !_config.turnAnticipationEnabled()) {
717 _anticipateTurn = false;
721 _turnStartBearing = _desiredCourse;
722 // compute next leg course
724 boost::tie(crs, dist) = next->courseAndDistanceFrom(_currentWaypt->position());
727 // compute offset bearing
728 _turnAngle = crs - _turnStartBearing;
729 SG_NORMALIZE_RANGE(_turnAngle, -180.0, 180.0);
730 double median = _turnStartBearing + (_turnAngle * 0.5);
731 double offsetBearing = median + copysign(90, _turnAngle);
732 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
734 SG_LOG(SG_INSTR, SG_INFO, "GPS computeTurnData: in=" << _turnStartBearing <<
735 ", out=" << crs << "; turnAngle=" << _turnAngle << ", median=" << median
736 << ", offset=" << offsetBearing);
738 SG_LOG(SG_INSTR, SG_INFO, "next leg is now:" << _currentWaypt->ident() << "->" << next->ident());
740 _turnPt = _currentWaypt->position();
741 _anticipateTurn = true;
744 void GPS::updateTurnData()
746 // depends on ground speed, so needs to be updated per-frame
747 _turnRadius = computeTurnRadiusNm(_last_speed_kts);
749 // compute the turn centre, based on the turn radius.
750 // key thing is to understand that we're working a right-angle triangle,
751 // where the right-angle is the point we start the turn. From that point,
752 // one side is the inbound course to the turn pt, and the other is the
753 // perpendicular line, of length 'r', to the turn centre.
754 // the triangle's hypotenuse, which we need to find, is the distance from the
755 // turn pt to the turn center (in the direction of the offset bearing)
756 // note that d - _turnRadius tell us how much we're 'cutting' the corner.
758 double halfTurnAngle = fabs(_turnAngle * 0.5) * SG_DEGREES_TO_RADIANS;
759 double d = _turnRadius / cos(halfTurnAngle);
761 // SG_LOG(SG_INSTR, SG_INFO, "turnRadius=" << _turnRadius << ", d=" << d
762 // << " (cut distance=" << d - _turnRadius << ")");
764 double median = _turnStartBearing + (_turnAngle * 0.5);
765 double offsetBearing = median + copysign(90, _turnAngle);
766 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
769 SGGeodesy::direct(_turnPt, offsetBearing, d * SG_NM_TO_METER, _turnCentre, az2);
772 double GPS::computeTurnRadiusNm(double aGroundSpeedKts) const
774 // turn time is seconds to execute a 360 turn.
775 double turnTime = 360.0 / _config.turnRateDegSec();
777 // c is ground distance covered in that time (circumference of the circle)
778 double c = turnTime * (aGroundSpeedKts / 3600.0); // convert knts to nm/sec
780 // divide by 2PI to go from circumference -> radius
781 return c / (2 * M_PI);
784 void GPS::updateRouteData()
786 double totalDistance = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
787 // walk all waypoints from wp2 to route end, and sum
788 // for (int i=_routeMgr->currentIndex()+1; i<_routeMgr->numWaypts(); ++i) {
789 //totalDistance += _routeMgr->get_waypoint(i).get_distance();
792 _routeDistanceNm->setDoubleValue(totalDistance * SG_METER_TO_NM);
793 if (_last_speed_kts > 1.0) {
794 double TTW = ((totalDistance * SG_METER_TO_NM) / _last_speed_kts) * 3600.0;
795 _routeETE->setStringValue(makeTTWString(TTW));
799 void GPS::driveAutopilot()
801 if (!_config.driveAutopilot() || !_defaultGPSMode) {
802 _apDrivingFlag->setBoolValue(false);
806 // compatibility feature - allow the route-manager / GPS to drive the
807 // generic autopilot heading hold *in leg mode only*
809 bool drive = _mode == "leg";
810 _apDrivingFlag->setBoolValue(drive);
813 // FIXME: we want to set desired track, not heading, here
814 _apTrueHeading->setDoubleValue(getWP1Bearing());
818 void GPS::wp1Changed()
822 if (_mode == "leg") {
823 _wayptController.reset(WayptController::createForWaypt(this, _currentWaypt));
824 } else if (_mode == "obs") {
825 _wayptController.reset(new OBSController(this, _currentWaypt));
826 } else if (_mode == "dto") {
827 _wayptController.reset(new DirectToController(this, _currentWaypt, _wp0_position));
830 _wayptController->init();
832 if (_mode == "obs") {
833 _legDistanceNm = -1.0;
835 _wayptController->update();
836 _legDistanceNm = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
840 /////////////////////////////////////////////////////////////////////////////
841 // property getter/setters
843 void GPS::setSelectedCourse(double crs)
845 if (_selectedCourse == crs) {
849 _selectedCourse = crs;
850 if ((_mode == "obs") || _config.courseSelectable()) {
851 _desiredCourse = _selectedCourse;
852 _desiredCourseNode->fireValueChanged();
856 double GPS::getLegDistance() const
858 if (!_dataValid || (_mode == "obs")) {
862 return _legDistanceNm;
865 double GPS::getLegCourse() const
867 if (!_dataValid || !_wayptController.get()) {
871 return _wayptController->targetTrackDeg();
874 double GPS::getLegMagCourse() const
880 double m = getLegCourse() - _magvar_node->getDoubleValue();
881 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
885 double GPS::getMagTrack() const
891 double m = getTrueTrack() - _magvar_node->getDoubleValue();
892 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
896 double GPS::getCDIDeflection() const
903 if (_config.cdiDeflectionIsAngular()) {
904 defl = getWP1CourseDeviation();
905 SG_CLAMP_RANGE(defl, -10.0, 10.0); // as in navradio.cxx
907 double fullScale = _config.cdiDeflectionLinearPeg();
908 double normError = getWP1CourseErrorNm() / fullScale;
909 SG_CLAMP_RANGE(normError, -1.0, 1.0);
910 defl = normError * 10.0; // re-scale to navradio limits, i.e [-10.0 .. 10.0]
916 const char* GPS::getWP0Ident() const
918 if (!_dataValid || (_mode != "leg") || (!_prevWaypt)) {
922 return _prevWaypt->ident().c_str();
925 const char* GPS::getWP0Name() const
930 const char* GPS::getWP1Ident() const
932 if ((!_dataValid)||(!_currentWaypt)) {
936 return _currentWaypt->ident().c_str();
939 const char* GPS::getWP1Name() const
944 double GPS::getWP1Distance() const
946 if (!_dataValid || !_wayptController.get()) {
950 return _wayptController->distanceToWayptM() * SG_METER_TO_NM;
953 double GPS::getWP1TTW() const
955 if (!_dataValid || !_wayptController.get()) {
959 return _wayptController->timeToWaypt();
962 const char* GPS::getWP1TTWString() const
964 double t = getWP1TTW();
969 return makeTTWString(t);
972 double GPS::getWP1Bearing() const
974 if (!_dataValid || !_wayptController.get()) {
978 return _wayptController->trueBearingDeg();
981 double GPS::getWP1MagBearing() const
983 if (!_dataValid || !_wayptController.get()) {
987 double magBearing = _wayptController->trueBearingDeg() - _magvar_node->getDoubleValue();
988 SG_NORMALIZE_RANGE(magBearing, 0.0, 360.0);
992 double GPS::getWP1CourseDeviation() const
994 if (!_dataValid || !_wayptController.get()) {
998 return _wayptController->courseDeviationDeg();
1001 double GPS::getWP1CourseErrorNm() const
1003 if (!_dataValid || !_wayptController.get()) {
1007 return _wayptController->xtrackErrorNm();
1010 bool GPS::getWP1ToFlag() const
1012 if (!_dataValid || !_wayptController.get()) {
1016 return _wayptController->toFlag();
1019 bool GPS::getWP1FromFlag() const
1021 if (!_dataValid || !_wayptController.get()) {
1025 return !getWP1ToFlag();
1029 double GPS::getScratchDistance() const
1031 if (!_scratchValid) {
1035 return SGGeodesy::distanceNm(_indicated_pos, _scratchPos);
1038 double GPS::getScratchTrueBearing() const
1040 if (!_scratchValid) {
1044 return SGGeodesy::courseDeg(_indicated_pos, _scratchPos);
1047 double GPS::getScratchMagBearing() const
1049 if (!_scratchValid) {
1053 double crs = getScratchTrueBearing() - _magvar_node->getDoubleValue();
1054 SG_NORMALIZE_RANGE(crs, 0.0, 360.0);
1060 /////////////////////////////////////////////////////////////////////////////
1063 void GPS::setCommand(const char* aCmd)
1065 SG_LOG(SG_INSTR, SG_DEBUG, "GPS command:" << aCmd);
1067 if (!strcmp(aCmd, "direct")) {
1069 } else if (!strcmp(aCmd, "obs")) {
1070 selectOBSMode(NULL);
1071 } else if (!strcmp(aCmd, "leg")) {
1074 } else if (!strcmp(aCmd, "load-route-wpt")) {
1075 loadRouteWaypoint();
1076 } else if (!strcmp(aCmd, "nearest")) {
1078 } else if (!strcmp(aCmd, "search")) {
1079 _searchNames = false;
1081 } else if (!strcmp(aCmd, "search-names")) {
1082 _searchNames = true;
1084 } else if (!strcmp(aCmd, "next")) {
1086 } else if (!strcmp(aCmd, "previous")) {
1088 } else if (!strcmp(aCmd, "define-user-wpt")) {
1090 } else if (!strcmp(aCmd, "route-insert-before")) {
1091 int index = _scratchNode->getIntValue("index");
1092 if (index < 0 || (_route->numLegs() == 0)) {
1093 index = _route->numLegs();
1094 } else if (index >= _route->numLegs()) {
1095 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-before, bad index:" << index);
1099 insertWaypointAtIndex(index);
1100 } else if (!strcmp(aCmd, "route-insert-after")) {
1101 int index = _scratchNode->getIntValue("index");
1102 if (index < 0 || (_route->numLegs() == 0)) {
1103 index = _route->numLegs();
1104 } else if (index >= _route->numLegs()) {
1105 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-after, bad index:" << index);
1111 insertWaypointAtIndex(index);
1112 } else if (!strcmp(aCmd, "route-delete")) {
1113 int index = _scratchNode->getIntValue("index");
1115 index = _route->numLegs();
1116 } else if (index >= _route->numLegs()) {
1117 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-delete, bad index:" << index);
1121 removeWaypointAtIndex(index);
1124 SG_LOG(SG_INSTR, SG_WARN, "GPS:unrecognized command:" << aCmd);
1128 void GPS::clearScratch()
1130 _scratchPos = SGGeod::fromDegFt(-9999.0, -9999.0, -9999.0);
1131 _scratchNode->setBoolValue("valid", false);
1133 _scratchNode->setStringValue("type", "");
1134 _scratchNode->setStringValue("query", "");
1138 bool GPS::isScratchPositionValid() const
1140 if ((_scratchPos.getLongitudeDeg() < -9990.0) ||
1141 (_scratchPos.getLatitudeDeg() < -9990.0)) {
1148 void GPS::directTo()
1150 if (!isScratchPositionValid()) {
1155 _wp0_position = _indicated_pos;
1156 _currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
1162 void GPS::selectOBSMode(flightgear::Waypt* waypt)
1165 // initialise from scratch
1166 if (!isScratchPositionValid()) {
1170 waypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
1175 _currentWaypt = waypt;
1176 _wp0_position = _indicated_pos;
1180 void GPS::selectLegMode()
1182 if (_mode == "leg") {
1187 SG_LOG(SG_INSTR, SG_WARN, "GPS:selectLegMode: no active route");
1193 // depending on the situation, this will either get over-written
1194 // in routeManagerSequenced or not; either way it does no harm to
1196 _wp0_position = _indicated_pos;
1198 // not really sequenced, but does all the work of updating wp0/1
1199 currentWaypointChanged();
1204 void GPS::loadRouteWaypoint()
1206 _scratchValid = false;
1207 int index = _scratchNode->getIntValue("index", -9999);
1210 if ((index < 0) || (index >= _route->numLegs())) { // no index supplied, use current wp
1211 index = _route->currentIndex();
1214 _searchIsRoute = true;
1215 setScratchFromRouteWaypoint(index);
1218 void GPS::setScratchFromRouteWaypoint(int aIndex)
1220 assert(_searchIsRoute);
1221 if ((aIndex < 0) || (aIndex >= _route->numLegs())) {
1222 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromRouteWaypoint: route-index out of bounds");
1226 _searchResultIndex = aIndex;
1227 WayptRef wp = _route->legAtIndex(aIndex)->waypoint();
1228 _scratchNode->setStringValue("ident", wp->ident());
1229 _scratchPos = wp->position();
1230 _scratchValid = true;
1231 _scratchNode->setIntValue("index", aIndex);
1234 void GPS::loadNearest()
1236 string sty(_scratchNode->getStringValue("type"));
1237 FGPositioned::Type ty = FGPositioned::typeFromName(sty);
1238 if (ty == FGPositioned::INVALID) {
1239 SG_LOG(SG_INSTR, SG_WARN, "GPS:loadNearest: request type is invalid:" << sty);
1243 auto_ptr<FGPositioned::Filter> f(createFilter(ty));
1244 int limitCount = _scratchNode->getIntValue("max-results", 1);
1245 double cutoffDistance = _scratchNode->getDoubleValue("cutoff-nm", 400.0);
1247 SGGeod searchPos = _indicated_pos;
1248 if (isScratchPositionValid()) {
1249 searchPos = _scratchPos;
1252 clearScratch(); // clear now, regardless of whether we find a match or not
1255 FGPositioned::findClosestN(searchPos, limitCount, cutoffDistance, f.get());
1256 _searchResultIndex = 0;
1257 _searchIsRoute = false;
1259 if (_searchResults.empty()) {
1263 setScratchFromCachedSearchResult();
1266 bool GPS::SearchFilter::pass(FGPositioned* aPos) const
1268 switch (aPos->type()) {
1269 case FGPositioned::AIRPORT:
1270 // heliport and seaport too?
1271 case FGPositioned::VOR:
1272 case FGPositioned::NDB:
1273 case FGPositioned::FIX:
1274 case FGPositioned::TACAN:
1275 case FGPositioned::WAYPOINT:
1282 FGPositioned::Type GPS::SearchFilter::minType() const
1284 return FGPositioned::AIRPORT;
1287 FGPositioned::Type GPS::SearchFilter::maxType() const
1289 return FGPositioned::VOR;
1292 FGPositioned::Filter* GPS::createFilter(FGPositioned::Type aTy)
1294 if (aTy == FGPositioned::AIRPORT) {
1295 return new FGAirport::HardSurfaceFilter();
1298 // if we were passed INVALID, assume it means 'all types interesting to a GPS'
1299 if (aTy == FGPositioned::INVALID) {
1300 return new SearchFilter;
1303 return new FGPositioned::TypeFilter(aTy);
1308 // parse search terms into local members, and exec the first search
1309 string sty(_scratchNode->getStringValue("type"));
1310 _searchType = FGPositioned::typeFromName(sty);
1311 _searchQuery = _scratchNode->getStringValue("query");
1312 if (_searchQuery.empty()) {
1313 SG_LOG(SG_INSTR, SG_WARN, "empty GPS search query");
1318 _searchExact = _scratchNode->getBoolValue("exact", true);
1319 _searchResultIndex = 0;
1320 _searchIsRoute = false;
1322 auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
1324 _searchResults = FGPositioned::findAllWithName(_searchQuery, f.get(), _searchExact);
1326 _searchResults = FGPositioned::findAllWithIdent(_searchQuery, f.get(), _searchExact);
1329 bool orderByRange = _scratchNode->getBoolValue("order-by-distance", true);
1331 FGPositioned::sortByRange(_searchResults, _indicated_pos);
1334 if (_searchResults.empty()) {
1339 setScratchFromCachedSearchResult();
1342 bool GPS::getScratchHasNext() const
1345 if (_searchIsRoute) {
1346 lastResult = _route->numLegs() - 1;
1348 lastResult = (int) _searchResults.size() - 1;
1351 if (lastResult < 0) { // search array might be empty
1355 return (_searchResultIndex < lastResult);
1358 void GPS::setScratchFromCachedSearchResult()
1360 int index = _searchResultIndex;
1362 if ((index < 0) || (index >= (int) _searchResults.size())) {
1363 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromCachedSearchResult: index out of bounds:" << index);
1367 setScratchFromPositioned(_searchResults[index], index);
1370 void GPS::setScratchFromPositioned(FGPositioned* aPos, int aIndex)
1375 _scratchPos = aPos->geod();
1376 _scratchNode->setStringValue("name", aPos->name());
1377 _scratchNode->setStringValue("ident", aPos->ident());
1378 _scratchNode->setStringValue("type", FGPositioned::nameForType(aPos->type()));
1381 _scratchNode->setIntValue("index", aIndex);
1384 _scratchValid = true;
1385 _scratchNode->setIntValue("result-count", _searchResults.size());
1387 switch (aPos->type()) {
1388 case FGPositioned::VOR:
1389 _scratchNode->setDoubleValue("frequency-mhz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1392 case FGPositioned::NDB:
1393 _scratchNode->setDoubleValue("frequency-khz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1396 case FGPositioned::AIRPORT:
1397 addAirportToScratch((FGAirport*)aPos);
1405 // look for being on the route and set?
1408 void GPS::addAirportToScratch(FGAirport* aAirport)
1410 for (unsigned int r=0; r<aAirport->numRunways(); ++r) {
1411 SGPropertyNode* rwyNd = _scratchNode->getChild("runways", r, true);
1412 FGRunway* rwy = aAirport->getRunwayByIndex(r);
1413 // TODO - filter out unsuitable runways in the future
1414 // based on config again
1416 rwyNd->setStringValue("id", rwy->ident().c_str());
1417 rwyNd->setIntValue("length-ft", rwy->lengthFt());
1418 rwyNd->setIntValue("width-ft", rwy->widthFt());
1419 rwyNd->setIntValue("heading-deg", rwy->headingDeg());
1420 // map surface code to a string
1421 // TODO - lighting information
1424 rwyNd->setDoubleValue("ils-frequency-mhz", rwy->ILS()->get_freq() / 100.0);
1426 } // of runways iteration
1429 void GPS::nextResult()
1431 if (!getScratchHasNext()) {
1436 if (_searchIsRoute) {
1437 setScratchFromRouteWaypoint(++_searchResultIndex);
1439 ++_searchResultIndex;
1440 setScratchFromCachedSearchResult();
1444 void GPS::previousResult()
1446 if (_searchResultIndex <= 0) {
1451 --_searchResultIndex;
1453 if (_searchIsRoute) {
1454 setScratchFromRouteWaypoint(_searchResultIndex);
1456 setScratchFromCachedSearchResult();
1460 void GPS::defineWaypoint()
1462 if (!isScratchPositionValid()) {
1463 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: invalid lat/lon");
1467 string ident = _scratchNode->getStringValue("ident");
1468 if (ident.size() < 2) {
1469 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: waypoint identifier must be at least two characters");
1473 // check for duplicate idents
1474 FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
1475 FGPositionedList dups = FGPositioned::findAllWithIdent(ident, &f);
1476 if (!dups.empty()) {
1477 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: non-unique waypoint identifier, ho-hum");
1480 SG_LOG(SG_INSTR, SG_INFO, "GPS:defineWaypoint: creating waypoint:" << ident);
1481 FGPositionedRef wpt = FGPositioned::createUserWaypoint(ident, _scratchPos);
1482 _searchResults.clear();
1483 _searchResults.push_back(wpt);
1484 setScratchFromPositioned(wpt.get(), -1);
1487 void GPS::insertWaypointAtIndex(int aIndex)
1489 // note we do allow index = routeMgr->size(), that's an append
1490 if ((aIndex < 0) || (aIndex > _route->numLegs())) {
1491 throw sg_range_exception("GPS::insertWaypointAtIndex: index out of bounds");
1494 if (!isScratchPositionValid()) {
1495 SG_LOG(SG_INSTR, SG_WARN, "GPS:insertWaypointAtIndex: invalid lat/lon");
1499 string ident = _scratchNode->getStringValue("ident");
1501 WayptRef wpt = new BasicWaypt(_scratchPos, ident, NULL);
1502 _route->insertWayptAtIndex(wpt, aIndex);
1505 void GPS::removeWaypointAtIndex(int aIndex)
1507 if ((aIndex < 0) || (aIndex >= _route->numLegs())) {
1508 throw sg_range_exception("GPS::removeWaypointAtIndex: index out of bounds");
1511 _route->deleteIndex(aIndex);
1515 #endif // of FG_210_COMPAT
1517 void GPS::tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
1518 const char* lonStr, const char* latStr, const char* altStr)
1520 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, &SGGeod::setLongitudeDeg));
1521 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, &SGGeod::setLatitudeDeg));
1524 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, &SGGeod::setElevationFt));
1528 void GPS::tieSGGeodReadOnly(SGPropertyNode* aNode, SGGeod& aRef,
1529 const char* lonStr, const char* latStr, const char* altStr)
1531 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, NULL));
1532 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, NULL));
1535 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, NULL));