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 _minRunwayLengthFt(0.0),
205 _requireHardSurface(true),
206 _cdiMaxDeflectionNm(3.0), // linear mode, 3nm at the peg
207 _driveAutopilot(true),
208 _courseSelectable(false)
210 _enableTurnAnticipation = false;
213 void GPS::Config::bind(GPS* aOwner, SGPropertyNode* aCfg)
215 aOwner->tie(aCfg, "turn-rate-deg-sec", SGRawValuePointer<double>(&_turnRate));
216 aOwner->tie(aCfg, "turn-anticipation", SGRawValuePointer<bool>(&_enableTurnAnticipation));
217 aOwner->tie(aCfg, "wpt-alert-time", SGRawValuePointer<double>(&_waypointAlertTime));
218 aOwner->tie(aCfg, "min-runway-length-ft", SGRawValuePointer<double>(&_minRunwayLengthFt));
219 aOwner->tie(aCfg, "hard-surface-runways-only", SGRawValuePointer<bool>(&_requireHardSurface));
220 aOwner->tie(aCfg, "cdi-max-deflection-nm", SGRawValuePointer<double>(&_cdiMaxDeflectionNm));
221 aOwner->tie(aCfg, "drive-autopilot", SGRawValuePointer<bool>(&_driveAutopilot));
222 aOwner->tie(aCfg, "course-selectable", SGRawValuePointer<bool>(&_courseSelectable));
225 ////////////////////////////////////////////////////////////////////////////
227 GPS::GPS ( SGPropertyNode *node) :
228 _selectedCourse(0.0),
231 _lastPosValid(false),
233 _name(node->getStringValue("name", "gps")),
234 _num(node->getIntValue("number", 0)),
235 _searchResultIndex(0),
237 _searchIsRoute(false),
238 _searchHasNext(false),
240 _computeTurnData(false),
241 _anticipateTurn(false),
244 string branch = "/instrumentation/" + _name;
245 _gpsNode = fgGetNode(branch.c_str(), _num, true );
246 _scratchNode = _gpsNode->getChild("scratch", 0, true);
248 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
249 _currentWayptNode = wp_node->getChild("wp", 1, true);
259 _routeMgr = (FGRouteMgr*) globals->get_subsystem("route-manager");
262 _position.init("/position/longitude-deg", "/position/latitude-deg", "/position/altitude-ft");
263 _magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
264 _serviceable_node = _gpsNode->getChild("serviceable", 0, true);
265 _serviceable_node->setBoolValue(true);
266 _electrical_node = fgGetNode("/systems/electrical/outputs/gps", true);
269 _raim_node = _gpsNode->getChild("raim", 0, true);
270 _odometer_node = _gpsNode->getChild("odometer", 0, true);
271 _trip_odometer_node = _gpsNode->getChild("trip-odometer", 0, true);
272 _true_bug_error_node = _gpsNode->getChild("true-bug-error-deg", 0, true);
273 _magnetic_bug_error_node = _gpsNode->getChild("magnetic-bug-error-deg", 0, true);
274 _eastWestVelocity = _gpsNode->getChild("ew-velocity-msec", 0, true);
275 _northSouthVelocity = _gpsNode->getChild("ns-velocity-msec", 0, true);
278 // for compatability, alias selected course down to wp/wp[1]/desired-course-deg
279 SGPropertyNode* wp1Crs = _currentWayptNode->getChild("desired-course-deg", 0, true);
280 wp1Crs->alias(_gpsNode->getChild("desired-course-deg", 0, true));
282 _tracking_bug_node = _gpsNode->getChild("tracking-bug", 0, true);
285 SGPropertyNode_ptr ref_navaid = _gpsNode->getChild("ref-navaid", 0, true);
286 _ref_navaid_id_node = ref_navaid->getChild("id", 0, true);
287 _ref_navaid_name_node = ref_navaid->getChild("name", 0, true);
288 _ref_navaid_bearing_node = ref_navaid->getChild("bearing-deg", 0, true);
289 _ref_navaid_frequency_node = ref_navaid->getChild("frequency-mhz", 0, true);
290 _ref_navaid_distance_node = ref_navaid->getChild("distance-nm", 0, true);
291 _ref_navaid_mag_bearing_node = ref_navaid->getChild("mag-bearing-deg", 0, true);
292 _ref_navaid_elapsed = 0.0;
293 _ref_navaid_set = false;
296 // should these move to the route manager?
297 _routeDistanceNm = _gpsNode->getChild("route-distance-nm", 0, true);
298 _routeETE = _gpsNode->getChild("ETE", 0, true);
299 _routeEditedSignal = fgGetNode("/autopilot/route-manager/signals/edited", true);
300 _routeFinishedSignal = fgGetNode("/autopilot/route-manager/signals/finished", true);
302 // add listener to various things
303 _listener = new GPSListener(this);
304 _route_current_wp_node = fgGetNode("/autopilot/route-manager/current-wp", true);
305 _route_current_wp_node->addChangeListener(_listener);
306 _route_active_node = fgGetNode("/autopilot/route-manager/active", true);
307 _route_active_node->addChangeListener(_listener);
308 _ref_navaid_id_node->addChangeListener(_listener);
309 _routeEditedSignal->addChangeListener(_listener);
310 _routeFinishedSignal->addChangeListener(_listener);
312 // navradio slaving properties
313 SGPropertyNode* toFlag = _gpsNode->getChild("to-flag", 0, true);
314 toFlag->alias(_currentWayptNode->getChild("to-flag"));
316 SGPropertyNode* fromFlag = _gpsNode->getChild("from-flag", 0, true);
317 fromFlag->alias(_currentWayptNode->getChild("from-flag"));
319 // autopilot drive properties
320 _apDrivingFlag = fgGetNode("/autopilot/settings/gps-driving-true-heading", true);
321 _apTrueHeading = fgGetNode("/autopilot/settings/true-heading-deg",true);
322 _apTargetAltitudeFt = fgGetNode("/autopilot/settings/target-altitude-ft", true);
323 _apAltitudeLock = fgGetNode("/autopilot/locks/altitude", true);
326 _realismSimpleGps = fgGetNode("/sim/realism/simple-gps", true);
327 if (!_realismSimpleGps->hasValue()) {
328 _realismSimpleGps->setBoolValue(true);
331 // last thing, add the deprecated prop watcher
332 new DeprecatedPropListener(_gpsNode);
340 _config.bind(this, _gpsNode->getChild("config", 0, true));
343 tie(_gpsNode, "selected-course-deg", SGRawValueMethods<GPS, double>
344 (*this, &GPS::getSelectedCourse, &GPS::setSelectedCourse));
346 tie(_gpsNode, "desired-course-deg", SGRawValueMethods<GPS, double>
347 (*this, &GPS::getDesiredCourse, NULL));
348 _desiredCourseNode = _gpsNode->getChild("desired-course-deg", 0, true);
350 tieSGGeodReadOnly(_gpsNode, _indicated_pos, "indicated-longitude-deg",
351 "indicated-latitude-deg", "indicated-altitude-ft");
353 tie(_gpsNode, "indicated-vertical-speed", SGRawValueMethods<GPS, double>
354 (*this, &GPS::getVerticalSpeed, NULL));
355 tie(_gpsNode, "indicated-track-true-deg", SGRawValueMethods<GPS, double>
356 (*this, &GPS::getTrueTrack, NULL));
357 tie(_gpsNode, "indicated-track-magnetic-deg", SGRawValueMethods<GPS, double>
358 (*this, &GPS::getMagTrack, NULL));
359 tie(_gpsNode, "indicated-ground-speed-kt", SGRawValueMethods<GPS, double>
360 (*this, &GPS::getGroundspeedKts, NULL));
363 tie(_gpsNode, "mode", SGRawValueMethods<GPS, const char*>(*this, &GPS::getMode, NULL));
364 tie(_gpsNode, "command", SGRawValueMethods<GPS, const char*>(*this, &GPS::getCommand, &GPS::setCommand));
366 tieSGGeod(_scratchNode, _scratchPos, "longitude-deg", "latitude-deg", "altitude-ft");
367 tie(_scratchNode, "valid", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchValid, NULL));
368 tie(_scratchNode, "distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchDistance, NULL));
369 tie(_scratchNode, "true-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchTrueBearing, NULL));
370 tie(_scratchNode, "mag-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchMagBearing, NULL));
371 tie(_scratchNode, "has-next", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchHasNext, NULL));
372 _scratchValid = false;
375 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
376 SGPropertyNode* wp0_node = wp_node->getChild("wp", 0, true);
378 tieSGGeodReadOnly(wp0_node, _wp0_position, "longitude-deg", "latitude-deg", "altitude-ft");
379 tie(_currentWayptNode, "ID", SGRawValueMethods<GPS, const char*>
380 (*this, &GPS::getWP1Ident, NULL));
382 tie(_currentWayptNode, "distance-nm", SGRawValueMethods<GPS, double>
383 (*this, &GPS::getWP1Distance, NULL));
384 tie(_currentWayptNode, "bearing-true-deg", SGRawValueMethods<GPS, double>
385 (*this, &GPS::getWP1Bearing, NULL));
386 tie(_currentWayptNode, "bearing-mag-deg", SGRawValueMethods<GPS, double>
387 (*this, &GPS::getWP1MagBearing, NULL));
388 tie(_currentWayptNode, "TTW-sec", SGRawValueMethods<GPS, double>
389 (*this, &GPS::getWP1TTW, NULL));
390 tie(_currentWayptNode, "TTW", SGRawValueMethods<GPS, const char*>
391 (*this, &GPS::getWP1TTWString, NULL));
393 tie(_currentWayptNode, "course-deviation-deg", SGRawValueMethods<GPS, double>
394 (*this, &GPS::getWP1CourseDeviation, NULL));
395 tie(_currentWayptNode, "course-error-nm", SGRawValueMethods<GPS, double>
396 (*this, &GPS::getWP1CourseErrorNm, NULL));
397 tie(_currentWayptNode, "to-flag", SGRawValueMethods<GPS, bool>
398 (*this, &GPS::getWP1ToFlag, NULL));
399 tie(_currentWayptNode, "from-flag", SGRawValueMethods<GPS, bool>
400 (*this, &GPS::getWP1FromFlag, NULL));
402 // leg properties (only valid in DTO/LEG modes, not OBS)
403 tie(wp_node, "leg-distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getLegDistance, NULL));
404 tie(wp_node, "leg-true-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegCourse, NULL));
405 tie(wp_node, "leg-mag-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegMagCourse, NULL));
407 // navradio slaving properties
408 tie(_gpsNode, "cdi-deflection", SGRawValueMethods<GPS,double>
409 (*this, &GPS::getCDIDeflection));
415 _tiedProperties.Untie();
422 _last_speed_kts = 0.0;
423 _last_pos = SGGeod();
424 _lastPosValid = false;
425 _indicated_pos = SGGeod();
426 _last_vertical_speed = 0.0;
427 _last_true_track = 0.0;
428 _lastEWVelocity = _lastNSVelocity = 0.0;
429 _currentWaypt = _prevWaypt = NULL;
430 _legDistanceNm = -1.0;
432 _raim_node->setDoubleValue(0.0);
433 _indicated_pos = SGGeod();
434 _odometer_node->setDoubleValue(0);
435 _trip_odometer_node->setDoubleValue(0);
436 _tracking_bug_node->setDoubleValue(0);
437 _true_bug_error_node->setDoubleValue(0);
438 _magnetic_bug_error_node->setDoubleValue(0);
439 _northSouthVelocity->setDoubleValue(0.0);
440 _eastWestVelocity->setDoubleValue(0.0);
444 GPS::update (double delta_time_sec)
446 if (!_realismSimpleGps->getBoolValue()) {
447 // If it's off, don't bother.
448 if (!_serviceable_node->getBoolValue() || !_electrical_node->getBoolValue()) {
454 if (delta_time_sec <= 0.0) {
455 return; // paused, don't bother
458 _raim_node->setDoubleValue(1.0);
459 _indicated_pos = _position.get();
460 updateBasicData(delta_time_sec);
463 if (_wayptController.get()) {
464 _wayptController->update();
465 SGGeod p(_wayptController->position());
466 _currentWayptNode->setDoubleValue("longitude-deg", p.getLongitudeDeg());
467 _currentWayptNode->setDoubleValue("latitude-deg", p.getLatitudeDeg());
468 _currentWayptNode->setDoubleValue("altitude-ft", p.getElevationFt());
470 _desiredCourse = getLegMagCourse();
478 updateReferenceNavaid(delta_time_sec);
482 if (_dataValid && (_mode == "init")) {
484 if (_route_active_node->getBoolValue()) {
485 // GPS init with active route
486 SG_LOG(SG_INSTR, SG_INFO, "GPS init with active route");
489 // initialise in OBS mode, with waypt set to the nearest airport.
490 // keep in mind at this point, _dataValid is not set
492 auto_ptr<FGPositioned::Filter> f(createFilter(FGPositioned::AIRPORT));
493 FGPositionedRef apt = FGPositioned::findClosest(_position.get(), 20.0, f.get());
495 setScratchFromPositioned(apt, 0);
502 // allow a realistic delay in the future, here
503 SG_LOG(SG_INSTR, SG_INFO, "GPS initialisation complete");
505 } // of init mode check
507 _last_pos = _indicated_pos;
508 _lastPosValid = !(_last_pos == SGGeod());
511 ///////////////////////////////////////////////////////////////////////////
512 // implement the RNAV interface
513 SGGeod GPS::position()
519 return _indicated_pos;
522 double GPS::trackDeg()
524 return _last_true_track;
527 double GPS::groundSpeedKts()
529 return _last_speed_kts;
532 double GPS::vspeedFPM()
534 return _last_vertical_speed;
537 double GPS::magvarDeg()
539 return _magvar_node->getDoubleValue();
542 double GPS::overflightArmDistanceM()
544 return _config.overflightArmDistanceNm() * SG_NM_TO_METER;
547 double GPS::selectedMagCourse()
549 return _selectedCourse;
552 ///////////////////////////////////////////////////////////////////////////
555 GPS::updateBasicData(double dt)
557 if (!_lastPosValid) {
563 SGGeodesy::inverse(_last_pos, _indicated_pos, _last_true_track, track2_deg, distance_m );
565 double speed_kt = ((distance_m * SG_METER_TO_NM) * ((1 / dt) * 3600.0));
566 double vertical_speed_mpm = ((_indicated_pos.getElevationM() - _last_pos.getElevationM()) * 60 / dt);
567 _last_vertical_speed = vertical_speed_mpm * SG_METER_TO_FEET;
569 speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, dt/10.0);
570 _last_speed_kts = speed_kt;
572 SGGeod g = _indicated_pos;
573 g.setLongitudeDeg(_last_pos.getLongitudeDeg());
574 double northSouthM = SGGeodesy::distanceM(_last_pos, g);
575 northSouthM = copysign(northSouthM, _indicated_pos.getLatitudeDeg() - _last_pos.getLatitudeDeg());
577 double nsMSec = fgGetLowPass(_lastNSVelocity, northSouthM / dt, dt/2.0);
578 _lastNSVelocity = nsMSec;
579 _northSouthVelocity->setDoubleValue(nsMSec);
583 g.setLatitudeDeg(_last_pos.getLatitudeDeg());
584 double eastWestM = SGGeodesy::distanceM(_last_pos, g);
585 eastWestM = copysign(eastWestM, _indicated_pos.getLongitudeDeg() - _last_pos.getLongitudeDeg());
587 double ewMSec = fgGetLowPass(_lastEWVelocity, eastWestM / dt, dt/2.0);
588 _lastEWVelocity = ewMSec;
589 _eastWestVelocity->setDoubleValue(ewMSec);
591 double odometer = _odometer_node->getDoubleValue();
592 _odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
593 odometer = _trip_odometer_node->getDoubleValue();
594 _trip_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
597 SG_LOG(SG_INSTR, SG_INFO, "GPS setting data valid");
603 GPS::updateTrackingBug()
605 double tracking_bug = _tracking_bug_node->getDoubleValue();
606 double true_bug_error = tracking_bug - getTrueTrack();
607 double magnetic_bug_error = tracking_bug - getMagTrack();
609 // Get the errors into the (-180,180) range.
610 SG_NORMALIZE_RANGE(true_bug_error, -180.0, 180.0);
611 SG_NORMALIZE_RANGE(magnetic_bug_error, -180.0, 180.0);
613 _true_bug_error_node->setDoubleValue(true_bug_error);
614 _magnetic_bug_error_node->setDoubleValue(magnetic_bug_error);
617 void GPS::updateReferenceNavaid(double dt)
619 if (!_ref_navaid_set) {
620 _ref_navaid_elapsed += dt;
621 if (_ref_navaid_elapsed > 5.0) {
623 FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
624 FGPositionedRef nav = FGPositioned::findClosest(_indicated_pos, 400.0, &vorFilter);
626 SG_LOG(SG_INSTR, SG_INFO, "GPS couldn't find a reference navaid");
627 _ref_navaid_id_node->setStringValue("");
628 _ref_navaid_name_node->setStringValue("");
629 _ref_navaid_bearing_node->setDoubleValue(0.0);
630 _ref_navaid_mag_bearing_node->setDoubleValue(0.0);
631 _ref_navaid_distance_node->setDoubleValue(0.0);
632 _ref_navaid_frequency_node->setStringValue("");
633 } else if (nav != _ref_navaid) {
634 SG_LOG(SG_INSTR, SG_INFO, "GPS code selected new ref-navaid:" << nav->ident());
635 _listener->setGuard(true);
636 _ref_navaid_id_node->setStringValue(nav->ident().c_str());
637 _ref_navaid_name_node->setStringValue(nav->name().c_str());
638 FGNavRecord* vor = (FGNavRecord*) nav.ptr();
639 _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
640 _listener->setGuard(false);
642 // SG_LOG(SG_INSTR, SG_ALERT, "matched existing");
646 // reset elapsed time (do not do that before updating the properties above, since their
647 // listeners may request another update (_ref_navaid_elapsed = 9999), which results in
648 // excessive load (FGPositioned::findClosest called in every update loop...)
649 _ref_navaid_elapsed = 0.0;
654 double trueCourse, distanceM, az2;
655 SGGeodesy::inverse(_indicated_pos, _ref_navaid->geod(), trueCourse, az2, distanceM);
656 _ref_navaid_distance_node->setDoubleValue(distanceM * SG_METER_TO_NM);
657 _ref_navaid_bearing_node->setDoubleValue(trueCourse);
658 _ref_navaid_mag_bearing_node->setDoubleValue(trueCourse - _magvar_node->getDoubleValue());
662 void GPS::referenceNavaidSet(const std::string& aNavaid)
665 // allow setting an empty string to restore normal nearest-vor selection
666 if (aNavaid.size() > 0) {
667 FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
668 _ref_navaid = FGPositioned::findClosestWithIdent(aNavaid,
669 _position.get(), &vorFilter);
672 SG_LOG(SG_INSTR, SG_ALERT, "GPS: unknown ref navaid:" << aNavaid);
677 _ref_navaid_set = true;
678 SG_LOG(SG_INSTR, SG_INFO, "GPS code set explict ref-navaid:" << _ref_navaid->ident());
679 _ref_navaid_id_node->setStringValue(_ref_navaid->ident().c_str());
680 _ref_navaid_name_node->setStringValue(_ref_navaid->name().c_str());
681 FGNavRecord* vor = (FGNavRecord*) _ref_navaid.ptr();
682 _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
684 _ref_navaid_set = false;
685 _ref_navaid_elapsed = 9999.0; // update next tick
689 void GPS::routeActivated()
691 if (_route_active_node->getBoolValue()) {
692 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, switching to LEG mode");
695 // if we've already passed the current waypoint, sequence.
696 if (_dataValid && getWP1FromFlag()) {
697 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, FROM wp1, sequencing");
698 _routeMgr->sequence();
700 } else if (_mode == "leg") {
701 SG_LOG(SG_INSTR, SG_INFO, "GPS::route deactivated, switching to OBS mode");
702 // select OBS mode, but keep current waypoint-as is
708 void GPS::routeManagerSequenced()
710 if (_mode != "leg") {
711 SG_LOG(SG_INSTR, SG_INFO, "GPS ignoring route sequencing, not in LEG mode");
715 int index = _routeMgr->currentIndex(),
716 count = _routeMgr->numWaypts();
717 if ((index < 0) || (index >= count)) {
720 SG_LOG(SG_INSTR, SG_ALERT, "GPS: malformed route, index=" << index);
724 SG_LOG(SG_INSTR, SG_INFO, "GPS waypoint index is now " << index);
727 _prevWaypt = _routeMgr->wayptAtIndex(index - 1);
728 if (_prevWaypt->flag(WPT_DYNAMIC)) {
729 _wp0_position = _indicated_pos;
731 _wp0_position = _prevWaypt->position();
735 _currentWaypt = _routeMgr->currentWaypt();
737 _desiredCourse = getLegMagCourse();
738 _desiredCourseNode->fireValueChanged();
742 void GPS::routeEdited()
744 if (_mode != "leg") {
748 SG_LOG(SG_INSTR, SG_INFO, "GPS route edited while in LEG mode, updating waypoints");
749 routeManagerSequenced();
752 void GPS::routeFinished()
754 if (_mode != "leg") {
758 SG_LOG(SG_INSTR, SG_INFO, "GPS route finished, reverting to OBS");
759 // select OBS mode, but keep current waypoint-as is
764 void GPS::updateTurn()
766 bool printProgress = false;
768 if (_computeTurnData) {
769 if (_last_speed_kts < 60) {
770 // need valid leg course and sensible ground speed to compute the turn
775 printProgress = true;
778 if (!_anticipateTurn) {
784 // find bearing to turn centre
785 double bearing, az2, distanceM;
786 SGGeodesy::inverse(_indicated_pos, _turnCentre, bearing, az2, distanceM);
787 double progress = computeTurnProgress(bearing);
790 SG_LOG(SG_INSTR, SG_INFO,"turn progress=" << progress);
793 if (!_inTurn && (progress > 0.0)) {
797 if (_inTurn && !_turnSequenced && (progress > 0.5)) {
798 _turnSequenced = true;
799 SG_LOG(SG_INSTR, SG_INFO, "turn passed midpoint, sequencing");
800 _routeMgr->sequence();
803 if (_inTurn && (progress >= 1.0)) {
808 // drive deviation and desired course
809 double desiredCourse = bearing - copysign(90, _turnAngle);
810 SG_NORMALIZE_RANGE(desiredCourse, 0.0, 360.0);
811 double deviationNm = (distanceM * SG_METER_TO_NM) - _turnRadius;
812 double deviationDeg = desiredCourse - getMagTrack();
813 deviationNm = copysign(deviationNm, deviationDeg);
815 //_wp1_course_deviation_node->setDoubleValue(deviationDeg);
816 //_wp1_course_error_nm_node->setDoubleValue(deviationNm);
817 //_cdiDeflectionNode->setDoubleValue(deviationDeg);
821 void GPS::updateOverflight()
823 if (!_wayptController->isDone()) {
827 if (_mode == "dto") {
828 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO reached destination point");
830 // check for wp1 being on active route - resume leg mode
831 if (_routeMgr->isRouteActive()) {
832 int index = _routeMgr->flightPlan()->findWayptIndex(_currentWaypt->position());
834 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO, resuming LEG mode at wp:" << index);
836 _routeMgr->jumpToIndex(index);
840 if (_mode == "dto") {
841 // if we didn't enter leg mode, drop back to OBS mode
842 // select OBS mode, but keep current waypoint-as is
846 } else if (_mode == "leg") {
847 SG_LOG(SG_INSTR, SG_INFO, "GPS doing overflight sequencing");
848 _routeMgr->sequence();
849 } else if (_mode == "obs") {
850 // nothing to do here, TO/FROM will update but that's fine
853 _computeTurnData = true;
856 void GPS::beginTurn()
859 _turnSequenced = false;
860 SG_LOG(SG_INSTR, SG_INFO, "begining turn");
866 SG_LOG(SG_INSTR, SG_INFO, "ending turn");
867 _computeTurnData = true;
870 double GPS::computeTurnProgress(double aBearing) const
872 double startBearing = _turnStartBearing + copysign(90, _turnAngle);
873 return (aBearing - startBearing) / _turnAngle;
876 void GPS::computeTurnData()
878 _computeTurnData = false;
879 if (_mode != "leg") { // and approach modes in the future
880 _anticipateTurn = false;
884 WayptRef next = _routeMgr->wayptAtIndex(_routeMgr->currentIndex() + 1);
885 if (!next || next->flag(WPT_DYNAMIC)) {
886 _anticipateTurn = false;
890 if (!_config.turnAnticipationEnabled()) {
891 _anticipateTurn = false;
895 _turnStartBearing = _desiredCourse;
896 // compute next leg course
898 boost::tie(crs, dist) = next->courseAndDistanceFrom(_currentWaypt->position());
901 // compute offset bearing
902 _turnAngle = crs - _turnStartBearing;
903 SG_NORMALIZE_RANGE(_turnAngle, -180.0, 180.0);
904 double median = _turnStartBearing + (_turnAngle * 0.5);
905 double offsetBearing = median + copysign(90, _turnAngle);
906 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
908 SG_LOG(SG_INSTR, SG_INFO, "GPS computeTurnData: in=" << _turnStartBearing <<
909 ", out=" << crs << "; turnAngle=" << _turnAngle << ", median=" << median
910 << ", offset=" << offsetBearing);
912 SG_LOG(SG_INSTR, SG_INFO, "next leg is now:" << _currentWaypt->ident() << "->" << next->ident());
914 _turnPt = _currentWaypt->position();
915 _anticipateTurn = true;
918 void GPS::updateTurnData()
920 // depends on ground speed, so needs to be updated per-frame
921 _turnRadius = computeTurnRadiusNm(_last_speed_kts);
923 // compute the turn centre, based on the turn radius.
924 // key thing is to understand that we're working a right-angle triangle,
925 // where the right-angle is the point we start the turn. From that point,
926 // one side is the inbound course to the turn pt, and the other is the
927 // perpendicular line, of length 'r', to the turn centre.
928 // the triangle's hypotenuse, which we need to find, is the distance from the
929 // turn pt to the turn center (in the direction of the offset bearing)
930 // note that d - _turnRadius tell us how much we're 'cutting' the corner.
932 double halfTurnAngle = fabs(_turnAngle * 0.5) * SG_DEGREES_TO_RADIANS;
933 double d = _turnRadius / cos(halfTurnAngle);
935 // SG_LOG(SG_INSTR, SG_INFO, "turnRadius=" << _turnRadius << ", d=" << d
936 // << " (cut distance=" << d - _turnRadius << ")");
938 double median = _turnStartBearing + (_turnAngle * 0.5);
939 double offsetBearing = median + copysign(90, _turnAngle);
940 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
943 SGGeodesy::direct(_turnPt, offsetBearing, d * SG_NM_TO_METER, _turnCentre, az2);
946 double GPS::computeTurnRadiusNm(double aGroundSpeedKts) const
948 // turn time is seconds to execute a 360 turn.
949 double turnTime = 360.0 / _config.turnRateDegSec();
951 // c is ground distance covered in that time (circumference of the circle)
952 double c = turnTime * (aGroundSpeedKts / 3600.0); // convert knts to nm/sec
954 // divide by 2PI to go from circumference -> radius
955 return c / (2 * M_PI);
958 void GPS::updateRouteData()
960 double totalDistance = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
961 // walk all waypoints from wp2 to route end, and sum
962 for (int i=_routeMgr->currentIndex()+1; i<_routeMgr->numWaypts(); ++i) {
963 //totalDistance += _routeMgr->get_waypoint(i).get_distance();
966 _routeDistanceNm->setDoubleValue(totalDistance * SG_METER_TO_NM);
967 if (_last_speed_kts > 1.0) {
968 double TTW = ((totalDistance * SG_METER_TO_NM) / _last_speed_kts) * 3600.0;
969 _routeETE->setStringValue(makeTTWString(TTW));
973 void GPS::driveAutopilot()
975 if (!_config.driveAutopilot() || !_realismSimpleGps->getBoolValue()) {
976 _apDrivingFlag->setBoolValue(false);
980 // compatability feature - allow the route-manager / GPS to drive the
981 // generic autopilot heading hold *in leg mode only*
983 bool drive = _mode == "leg";
984 _apDrivingFlag->setBoolValue(drive);
987 // FIXME: we want to set desired track, not heading, here
988 _apTrueHeading->setDoubleValue(getWP1Bearing());
992 void GPS::wp1Changed()
996 if (_mode == "leg") {
997 _wayptController.reset(WayptController::createForWaypt(this, _currentWaypt));
998 } else if (_mode == "obs") {
999 _wayptController.reset(new OBSController(this, _currentWaypt));
1000 } else if (_mode == "dto") {
1001 _wayptController.reset(new DirectToController(this, _currentWaypt, _wp0_position));
1004 _wayptController->init();
1006 if (_mode == "obs") {
1007 _legDistanceNm = -1.0;
1009 _wayptController->update();
1010 _legDistanceNm = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
1013 if (!_config.driveAutopilot()) {
1017 RouteRestriction ar = _currentWaypt->altitudeRestriction();
1018 double restrictAlt = _currentWaypt->altitudeFt();
1019 double alt = _indicated_pos.getElevationFt();
1020 if ((ar == RESTRICT_AT) ||
1021 ((ar == RESTRICT_ABOVE) && (alt < restrictAlt)) ||
1022 ((ar == RESTRICT_BELOW) && (alt > restrictAlt)))
1024 SG_LOG(SG_AUTOPILOT, SG_INFO, "current waypt has altitude set, setting on AP");
1025 _apTargetAltitudeFt->setDoubleValue(restrictAlt);
1029 /////////////////////////////////////////////////////////////////////////////
1030 // property getter/setters
1032 void GPS::setSelectedCourse(double crs)
1034 if (_selectedCourse == crs) {
1038 _selectedCourse = crs;
1039 if ((_mode == "obs") || _config.courseSelectable()) {
1040 _desiredCourse = _selectedCourse;
1041 _desiredCourseNode->fireValueChanged();
1045 double GPS::getLegDistance() const
1047 if (!_dataValid || (_mode == "obs")) {
1051 return _legDistanceNm;
1054 double GPS::getLegCourse() const
1056 if (!_dataValid || !_wayptController.get()) {
1060 return _wayptController->targetTrackDeg();
1063 double GPS::getLegMagCourse() const
1069 double m = getLegCourse() - _magvar_node->getDoubleValue();
1070 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
1074 double GPS::getMagTrack() const
1080 double m = getTrueTrack() - _magvar_node->getDoubleValue();
1081 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
1085 double GPS::getCDIDeflection() const
1092 if (_config.cdiDeflectionIsAngular()) {
1093 defl = getWP1CourseDeviation();
1094 SG_CLAMP_RANGE(defl, -10.0, 10.0); // as in navradio.cxx
1096 double fullScale = _config.cdiDeflectionLinearPeg();
1097 double normError = getWP1CourseErrorNm() / fullScale;
1098 SG_CLAMP_RANGE(normError, -1.0, 1.0);
1099 defl = normError * 10.0; // re-scale to navradio limits, i.e [-10.0 .. 10.0]
1105 const char* GPS::getWP0Ident() const
1107 if (!_dataValid || (_mode != "leg") || (!_prevWaypt)) {
1111 return _prevWaypt->ident().c_str();
1114 const char* GPS::getWP0Name() const
1119 const char* GPS::getWP1Ident() const
1121 if ((!_dataValid)||(!_currentWaypt)) {
1125 return _currentWaypt->ident().c_str();
1128 const char* GPS::getWP1Name() const
1133 double GPS::getWP1Distance() const
1135 if (!_dataValid || !_wayptController.get()) {
1139 return _wayptController->distanceToWayptM() * SG_METER_TO_NM;
1142 double GPS::getWP1TTW() const
1144 if (!_dataValid || !_wayptController.get()) {
1148 return _wayptController->timeToWaypt();
1151 const char* GPS::getWP1TTWString() const
1153 double t = getWP1TTW();
1158 return makeTTWString(t);
1161 double GPS::getWP1Bearing() const
1163 if (!_dataValid || !_wayptController.get()) {
1167 return _wayptController->trueBearingDeg();
1170 double GPS::getWP1MagBearing() const
1172 if (!_dataValid || !_wayptController.get()) {
1176 double magBearing = _wayptController->trueBearingDeg() - _magvar_node->getDoubleValue();
1177 SG_NORMALIZE_RANGE(magBearing, 0.0, 360.0);
1181 double GPS::getWP1CourseDeviation() const
1183 if (!_dataValid || !_wayptController.get()) {
1187 return _wayptController->courseDeviationDeg();
1190 double GPS::getWP1CourseErrorNm() const
1192 if (!_dataValid || !_wayptController.get()) {
1196 return _wayptController->xtrackErrorNm();
1199 bool GPS::getWP1ToFlag() const
1201 if (!_dataValid || !_wayptController.get()) {
1205 return _wayptController->toFlag();
1208 bool GPS::getWP1FromFlag() const
1210 if (!_dataValid || !_wayptController.get()) {
1214 return !getWP1ToFlag();
1217 double GPS::getScratchDistance() const
1219 if (!_scratchValid) {
1223 return SGGeodesy::distanceNm(_indicated_pos, _scratchPos);
1226 double GPS::getScratchTrueBearing() const
1228 if (!_scratchValid) {
1232 return SGGeodesy::courseDeg(_indicated_pos, _scratchPos);
1235 double GPS::getScratchMagBearing() const
1237 if (!_scratchValid) {
1241 double crs = getScratchTrueBearing() - _magvar_node->getDoubleValue();
1242 SG_NORMALIZE_RANGE(crs, 0.0, 360.0);
1246 /////////////////////////////////////////////////////////////////////////////
1247 // command / scratch / search system
1249 void GPS::setCommand(const char* aCmd)
1251 SG_LOG(SG_INSTR, SG_INFO, "GPS command:" << aCmd);
1253 if (!strcmp(aCmd, "direct")) {
1255 } else if (!strcmp(aCmd, "obs")) {
1257 } else if (!strcmp(aCmd, "leg")) {
1259 } else if (!strcmp(aCmd, "load-route-wpt")) {
1260 loadRouteWaypoint();
1261 } else if (!strcmp(aCmd, "nearest")) {
1263 } else if (!strcmp(aCmd, "search")) {
1264 _searchNames = false;
1266 } else if (!strcmp(aCmd, "search-names")) {
1267 _searchNames = true;
1269 } else if (!strcmp(aCmd, "next")) {
1271 } else if (!strcmp(aCmd, "previous")) {
1273 } else if (!strcmp(aCmd, "define-user-wpt")) {
1275 } else if (!strcmp(aCmd, "route-insert-before")) {
1276 int index = _scratchNode->getIntValue("index");
1277 if (index < 0 || (_routeMgr->numWaypts() == 0)) {
1278 index = _routeMgr->numWaypts();
1279 } else if (index >= _routeMgr->numWaypts()) {
1280 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-before, bad index:" << index);
1284 insertWaypointAtIndex(index);
1285 } else if (!strcmp(aCmd, "route-insert-after")) {
1286 int index = _scratchNode->getIntValue("index");
1287 if (index < 0 || (_routeMgr->numWaypts() == 0)) {
1288 index = _routeMgr->numWaypts();
1289 } else if (index >= _routeMgr->numWaypts()) {
1290 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-after, bad index:" << index);
1296 insertWaypointAtIndex(index);
1297 } else if (!strcmp(aCmd, "route-delete")) {
1298 int index = _scratchNode->getIntValue("index");
1300 index = _routeMgr->numWaypts();
1301 } else if (index >= _routeMgr->numWaypts()) {
1302 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-delete, bad index:" << index);
1306 removeWaypointAtIndex(index);
1308 SG_LOG(SG_INSTR, SG_WARN, "GPS:unrecognized command:" << aCmd);
1312 void GPS::clearScratch()
1314 _scratchPos = SGGeod::fromDegFt(-9999.0, -9999.0, -9999.0);
1315 _scratchValid = false;
1316 _scratchNode->setStringValue("type", "");
1317 _scratchNode->setStringValue("query", "");
1320 bool GPS::isScratchPositionValid() const
1322 if ((_scratchPos.getLongitudeDeg() < -9990.0) ||
1323 (_scratchPos.getLatitudeDeg() < -9990.0)) {
1330 void GPS::directTo()
1332 if (!isScratchPositionValid()) {
1337 _wp0_position = _indicated_pos;
1338 _currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
1345 void GPS::loadRouteWaypoint()
1347 _scratchValid = false;
1348 // if (!_routeMgr->isRouteActive()) {
1349 // SG_LOG(SG_INSTR, SG_WARN, "GPS:loadWaypoint: no active route");
1353 int index = _scratchNode->getIntValue("index", -9999);
1356 if ((index < 0) || (index >= _routeMgr->numWaypts())) { // no index supplied, use current wp
1357 index = _routeMgr->currentIndex();
1360 _searchIsRoute = true;
1361 setScratchFromRouteWaypoint(index);
1364 void GPS::setScratchFromRouteWaypoint(int aIndex)
1366 assert(_searchIsRoute);
1367 if ((aIndex < 0) || (aIndex >= _routeMgr->numWaypts())) {
1368 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromRouteWaypoint: route-index out of bounds");
1372 _searchResultIndex = aIndex;
1373 WayptRef wp = _routeMgr->wayptAtIndex(aIndex);
1374 _scratchNode->setStringValue("ident", wp->ident());
1375 _scratchPos = wp->position();
1376 _scratchValid = true;
1377 _scratchNode->setIntValue("index", aIndex);
1380 void GPS::loadNearest()
1382 string sty(_scratchNode->getStringValue("type"));
1383 FGPositioned::Type ty = FGPositioned::typeFromName(sty);
1384 if (ty == FGPositioned::INVALID) {
1385 SG_LOG(SG_INSTR, SG_WARN, "GPS:loadNearest: request type is invalid:" << sty);
1389 auto_ptr<FGPositioned::Filter> f(createFilter(ty));
1390 int limitCount = _scratchNode->getIntValue("max-results", 1);
1391 double cutoffDistance = _scratchNode->getDoubleValue("cutoff-nm", 400.0);
1393 SGGeod searchPos = _indicated_pos;
1394 if (isScratchPositionValid()) {
1395 searchPos = _scratchPos;
1398 clearScratch(); // clear now, regardless of whether we find a match or not
1401 FGPositioned::findClosestN(searchPos, limitCount, cutoffDistance, f.get());
1402 _searchResultIndex = 0;
1403 _searchIsRoute = false;
1405 if (_searchResults.empty()) {
1406 SG_LOG(SG_INSTR, SG_INFO, "GPS:loadNearest: no matches at all");
1410 setScratchFromCachedSearchResult();
1413 bool GPS::SearchFilter::pass(FGPositioned* aPos) const
1415 switch (aPos->type()) {
1416 case FGPositioned::AIRPORT:
1417 // heliport and seaport too?
1418 case FGPositioned::VOR:
1419 case FGPositioned::NDB:
1420 case FGPositioned::FIX:
1421 case FGPositioned::TACAN:
1422 case FGPositioned::WAYPOINT:
1429 FGPositioned::Type GPS::SearchFilter::minType() const
1431 return FGPositioned::AIRPORT;
1434 FGPositioned::Type GPS::SearchFilter::maxType() const
1436 return FGPositioned::WAYPOINT;
1439 FGPositioned::Filter* GPS::createFilter(FGPositioned::Type aTy)
1441 if (aTy == FGPositioned::AIRPORT) {
1442 return new FGAirport::HardSurfaceFilter(_config.minRunwayLengthFt());
1445 // if we were passed INVALID, assume it means 'all types interesting to a GPS'
1446 if (aTy == FGPositioned::INVALID) {
1447 return new SearchFilter;
1450 return new FGPositioned::TypeFilter(aTy);
1455 // parse search terms into local members, and exec the first search
1456 string sty(_scratchNode->getStringValue("type"));
1457 _searchType = FGPositioned::typeFromName(sty);
1458 _searchQuery = _scratchNode->getStringValue("query");
1459 if (_searchQuery.empty()) {
1460 SG_LOG(SG_INSTR, SG_WARN, "empty GPS search query");
1465 _searchExact = _scratchNode->getBoolValue("exact", true);
1466 _searchResultIndex = 0;
1467 _searchIsRoute = false;
1469 auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
1471 _searchResults = FGPositioned::findAllWithName(_searchQuery, f.get(), _searchExact);
1473 _searchResults = FGPositioned::findAllWithIdent(_searchQuery, f.get(), _searchExact);
1476 bool orderByRange = _scratchNode->getBoolValue("order-by-distance", true);
1478 FGPositioned::sortByRange(_searchResults, _indicated_pos);
1481 if (_searchResults.empty()) {
1486 setScratchFromCachedSearchResult();
1489 bool GPS::getScratchHasNext() const
1492 if (_searchIsRoute) {
1493 lastResult = _routeMgr->numWaypts() - 1;
1495 lastResult = (int) _searchResults.size() - 1;
1498 if (lastResult < 0) { // search array might be empty
1502 return (_searchResultIndex < lastResult);
1505 void GPS::setScratchFromCachedSearchResult()
1507 int index = _searchResultIndex;
1509 if ((index < 0) || (index >= (int) _searchResults.size())) {
1510 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromCachedSearchResult: index out of bounds:" << index);
1514 setScratchFromPositioned(_searchResults[index], index);
1517 void GPS::setScratchFromPositioned(FGPositioned* aPos, int aIndex)
1522 _scratchPos = aPos->geod();
1523 _scratchNode->setStringValue("name", aPos->name());
1524 _scratchNode->setStringValue("ident", aPos->ident());
1525 _scratchNode->setStringValue("type", FGPositioned::nameForType(aPos->type()));
1528 _scratchNode->setIntValue("index", aIndex);
1531 _scratchValid = true;
1532 _scratchNode->setIntValue("result-count", _searchResults.size());
1534 switch (aPos->type()) {
1535 case FGPositioned::VOR:
1536 _scratchNode->setDoubleValue("frequency-mhz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1539 case FGPositioned::NDB:
1540 _scratchNode->setDoubleValue("frequency-khz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1543 case FGPositioned::AIRPORT:
1544 addAirportToScratch((FGAirport*)aPos);
1552 // look for being on the route and set?
1555 void GPS::addAirportToScratch(FGAirport* aAirport)
1557 for (unsigned int r=0; r<aAirport->numRunways(); ++r) {
1558 SGPropertyNode* rwyNd = _scratchNode->getChild("runways", r, true);
1559 FGRunway* rwy = aAirport->getRunwayByIndex(r);
1560 // TODO - filter out unsuitable runways in the future
1561 // based on config again
1563 rwyNd->setStringValue("id", rwy->ident().c_str());
1564 rwyNd->setIntValue("length-ft", rwy->lengthFt());
1565 rwyNd->setIntValue("width-ft", rwy->widthFt());
1566 rwyNd->setIntValue("heading-deg", rwy->headingDeg());
1567 // map surface code to a string
1568 // TODO - lighting information
1571 rwyNd->setDoubleValue("ils-frequency-mhz", rwy->ILS()->get_freq() / 100.0);
1573 } // of runways iteration
1577 void GPS::selectOBSMode()
1579 if (!isScratchPositionValid()) {
1583 SG_LOG(SG_INSTR, SG_INFO, "GPS switching to OBS mode");
1586 _currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
1587 _wp0_position = _indicated_pos;
1591 void GPS::selectLegMode()
1593 if (_mode == "leg") {
1597 if (!_routeMgr->isRouteActive()) {
1598 SG_LOG(SG_INSTR, SG_WARN, "GPS:selectLegMode: no active route");
1602 SG_LOG(SG_INSTR, SG_INFO, "GPS switching to LEG mode");
1605 // depending on the situation, this will either get over-written
1606 // in routeManagerSequenced or not; either way it does no harm to
1608 _wp0_position = _indicated_pos;
1610 // not really sequenced, but does all the work of updating wp0/1
1611 routeManagerSequenced();
1614 void GPS::nextResult()
1616 if (!getScratchHasNext()) {
1621 if (_searchIsRoute) {
1622 setScratchFromRouteWaypoint(++_searchResultIndex);
1624 ++_searchResultIndex;
1625 setScratchFromCachedSearchResult();
1629 void GPS::previousResult()
1631 if (_searchResultIndex <= 0) {
1636 --_searchResultIndex;
1638 if (_searchIsRoute) {
1639 setScratchFromRouteWaypoint(_searchResultIndex);
1641 setScratchFromCachedSearchResult();
1645 void GPS::defineWaypoint()
1647 if (!isScratchPositionValid()) {
1648 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: invalid lat/lon");
1652 string ident = _scratchNode->getStringValue("ident");
1653 if (ident.size() < 2) {
1654 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: waypoint identifier must be at least two characters");
1658 // check for duplicate idents
1659 FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
1660 FGPositioned::List dups = FGPositioned::findAllWithIdent(ident, &f);
1661 if (!dups.empty()) {
1662 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: non-unique waypoint identifier, ho-hum");
1665 SG_LOG(SG_INSTR, SG_INFO, "GPS:defineWaypoint: creating waypoint:" << ident);
1666 FGPositionedRef wpt = FGPositioned::createUserWaypoint(ident, _scratchPos);
1667 _searchResults.clear();
1668 _searchResults.push_back(wpt);
1669 setScratchFromPositioned(wpt.get(), -1);
1672 void GPS::insertWaypointAtIndex(int aIndex)
1674 // note we do allow index = routeMgr->size(), that's an append
1675 if ((aIndex < 0) || (aIndex > _routeMgr->numWaypts())) {
1676 throw sg_range_exception("GPS::insertWaypointAtIndex: index out of bounds");
1679 if (!isScratchPositionValid()) {
1680 SG_LOG(SG_INSTR, SG_WARN, "GPS:insertWaypointAtIndex: invalid lat/lon");
1684 string ident = _scratchNode->getStringValue("ident");
1686 WayptRef wpt = new BasicWaypt(_scratchPos, ident, NULL);
1687 _routeMgr->flightPlan()->insertWayptAtIndex(wpt, aIndex);
1690 void GPS::removeWaypointAtIndex(int aIndex)
1692 if ((aIndex < 0) || (aIndex >= _routeMgr->numWaypts())) {
1693 throw sg_range_exception("GPS::removeWaypointAtIndex: index out of bounds");
1696 _routeMgr->removeLegAtIndex(aIndex);
1699 void GPS::tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
1700 const char* lonStr, const char* latStr, const char* altStr)
1702 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, &SGGeod::setLongitudeDeg));
1703 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, &SGGeod::setLatitudeDeg));
1706 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, &SGGeod::setElevationFt));
1710 void GPS::tieSGGeodReadOnly(SGPropertyNode* aNode, SGGeod& aRef,
1711 const char* lonStr, const char* latStr, const char* altStr)
1713 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, NULL));
1714 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, NULL));
1717 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, NULL));