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.
16 #include "Main/fg_props.hxx"
17 #include "Main/globals.hxx" // for get_subsystem
18 #include "Main/util.hxx" // for fgLowPass
19 #include "Navaids/positioned.hxx"
20 #include "Navaids/navrecord.hxx"
21 #include "Airports/simple.hxx"
22 #include "Airports/runways.hxx"
23 #include "Autopilot/route_mgr.hxx"
25 #include <simgear/math/sg_random.h>
26 #include <simgear/sg_inlines.h>
27 #include <simgear/math/sg_geodesy.hxx>
28 #include <simgear/structure/exception.hxx>
33 ///////////////////////////////////////////////////////////////////
35 void SGGeodProperty::init(SGPropertyNode* base, const char* lonStr, const char* latStr, const char* altStr)
37 _lon = base->getChild(lonStr, 0, true);
38 _lat = base->getChild(latStr, 0, true);
40 _alt = base->getChild(altStr, 0, true);
44 void SGGeodProperty::init(const char* lonStr, const char* latStr, const char* altStr)
46 _lon = fgGetNode(lonStr, true);
47 _lat = fgGetNode(latStr, true);
49 _alt = fgGetNode(altStr, true);
53 void SGGeodProperty::clear()
55 _lon = _lat = _alt = NULL;
58 void SGGeodProperty::operator=(const SGGeod& geod)
60 _lon->setDoubleValue(geod.getLongitudeDeg());
61 _lat->setDoubleValue(geod.getLatitudeDeg());
63 _alt->setDoubleValue(geod.getElevationFt());
67 SGGeod SGGeodProperty::get() const
69 double lon = _lon->getDoubleValue(),
70 lat = _lat->getDoubleValue();
72 return SGGeod::fromDegFt(lon, lat, _alt->getDoubleValue());
74 return SGGeod::fromDeg(lon,lat);
78 static const char* makeTTWString(double TTW)
80 if ((TTW <= 0.0) || (TTW >= 356400.5)) { // 99 hours
84 unsigned int TTW_seconds = (int) (TTW + 0.5);
85 unsigned int TTW_minutes = 0;
86 unsigned int TTW_hours = 0;
87 static char TTW_str[9];
88 TTW_hours = TTW_seconds / 3600;
89 TTW_minutes = (TTW_seconds / 60) % 60;
90 TTW_seconds = TTW_seconds % 60;
91 snprintf(TTW_str, 9, "%02d:%02d:%02d",
92 TTW_hours, TTW_minutes, TTW_seconds);
96 /////////////////////////////////////////////////////////////////////////////
98 class GPSListener : public SGPropertyChangeListener
101 GPSListener(GPS *m) :
105 virtual void valueChanged (SGPropertyNode * prop)
112 if (prop == _gps->_route_current_wp_node) {
113 _gps->routeManagerSequenced();
114 } else if (prop == _gps->_route_active_node) {
115 _gps->routeActivated();
116 } else if (prop == _gps->_ref_navaid_id_node) {
117 _gps->referenceNavaidSet(prop->getStringValue(""));
118 } else if (prop == _gps->_routeEditedSignal) {
120 } else if (prop == _gps->_routeFinishedSignal) {
121 _gps->routeFinished();
127 void setGuard(bool g) {
132 bool _guard; // re-entrancy guard
135 ////////////////////////////////////////////////////////////////////////////
137 * Helper to monitor for Nasal or other code accessing properties we haven't
138 * defined. For the moment we complain about all such activites, since various
139 * users assume all kinds of weird, wonderful and non-existent interfaces.
142 class DeprecatedPropListener : public SGPropertyChangeListener
145 DeprecatedPropListener(SGPropertyNode* gps)
147 _parents.insert(gps);
148 SGPropertyNode* wp = gps->getChild("wp", 0, true);
150 _parents.insert(wp->getChild("wp", 0, true));
151 _parents.insert(wp->getChild("wp", 1, true));
153 std::set<SGPropertyNode*>::iterator it;
154 for (it = _parents.begin(); it != _parents.end(); ++it) {
155 (*it)->addChangeListener(this);
159 virtual void valueChanged (SGPropertyNode * prop)
163 virtual void childAdded (SGPropertyNode * parent, SGPropertyNode * child)
165 if (isDeprecated(parent, child)) {
166 SG_LOG(SG_INSTR, SG_WARN, "GPS: someone accessed a deprecated property:"
167 << child->getPath(true));
171 bool isDeprecated(SGPropertyNode * parent, SGPropertyNode * child) const
173 if (_parents.count(parent) < 1) {
177 // no child exclusions yet
181 std::set<SGPropertyNode*> _parents;
184 ////////////////////////////////////////////////////////////////////////////
185 // configuration helper object
187 GPS::Config::Config() :
188 _enableTurnAnticipation(true),
189 _turnRate(3.0), // degrees-per-second, so 180 degree turn takes 60 seconds
190 _overflightArmDistance(1.0),
191 _waypointAlertTime(30.0),
192 _minRunwayLengthFt(0.0),
193 _requireHardSurface(true),
194 _cdiMaxDeflectionNm(3.0), // linear mode, 3nm at the peg
195 _driveAutopilot(true),
196 _courseSelectable(false)
198 _enableTurnAnticipation = false;
201 void GPS::Config::bind(GPS* aOwner, SGPropertyNode* aCfg)
203 aOwner->tie(aCfg, "turn-rate-deg-sec", SGRawValuePointer<double>(&_turnRate));
204 aOwner->tie(aCfg, "turn-anticipation", SGRawValuePointer<bool>(&_enableTurnAnticipation));
205 aOwner->tie(aCfg, "wpt-alert-time", SGRawValuePointer<double>(&_waypointAlertTime));
206 aOwner->tie(aCfg, "min-runway-length-ft", SGRawValuePointer<double>(&_minRunwayLengthFt));
207 aOwner->tie(aCfg, "hard-surface-runways-only", SGRawValuePointer<bool>(&_requireHardSurface));
208 aOwner->tie(aCfg, "cdi-max-deflection-nm", SGRawValuePointer<double>(&_cdiMaxDeflectionNm));
209 aOwner->tie(aCfg, "drive-autopilot", SGRawValuePointer<bool>(&_driveAutopilot));
210 aOwner->tie(aCfg, "course-selectable", SGRawValuePointer<bool>(&_courseSelectable));
213 ////////////////////////////////////////////////////////////////////////////
215 GPS::GPS ( SGPropertyNode *node) :
216 _selectedCourse(0.0),
219 _lastPosValid(false),
221 _name(node->getStringValue("name", "gps")),
222 _num(node->getIntValue("number", 0)),
223 _computeTurnData(false),
224 _anticipateTurn(false),
227 string branch = "/instrumentation/" + _name;
228 _gpsNode = fgGetNode(branch.c_str(), _num, true );
229 _scratchNode = _gpsNode->getChild("scratch", 0, true);
239 _routeMgr = (FGRouteMgr*) globals->get_subsystem("route-manager");
242 _position.init("/position/longitude-deg", "/position/latitude-deg", "/position/altitude-ft");
243 _magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
244 _serviceable_node = _gpsNode->getChild("serviceable", 0, true);
245 _serviceable_node->setBoolValue(true);
246 _electrical_node = fgGetNode("/systems/electrical/outputs/gps", true);
249 _raim_node = _gpsNode->getChild("raim", 0, true);
250 _odometer_node = _gpsNode->getChild("odometer", 0, true);
251 _trip_odometer_node = _gpsNode->getChild("trip-odometer", 0, true);
252 _true_bug_error_node = _gpsNode->getChild("true-bug-error-deg", 0, true);
253 _magnetic_bug_error_node = _gpsNode->getChild("magnetic-bug-error-deg", 0, true);
254 _eastWestVelocity = _gpsNode->getChild("ew-velocity-msec", 0, true);
255 _northSouthVelocity = _gpsNode->getChild("ns-velocity-msec", 0, true);
258 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
259 SGPropertyNode *wp1_node = wp_node->getChild("wp", 1, true);
261 // for compatability, alias selected course down to wp/wp[1]/desired-course-deg
262 SGPropertyNode* wp1Crs = wp1_node->getChild("desired-course-deg", 0, true);
263 wp1Crs->alias(_gpsNode->getChild("desired-course-deg", 0, true));
265 // _true_wp1_bearing_error_node =
266 // wp1_node->getChild("true-bearing-error-deg", 0, true);
267 // _magnetic_wp1_bearing_error_node =
268 // wp1_node->getChild("magnetic-bearing-error-deg", 0, true);
270 _tracking_bug_node = _gpsNode->getChild("tracking-bug", 0, true);
273 SGPropertyNode_ptr ref_navaid = _gpsNode->getChild("ref-navaid", 0, true);
274 _ref_navaid_id_node = ref_navaid->getChild("id", 0, true);
275 _ref_navaid_name_node = ref_navaid->getChild("name", 0, true);
276 _ref_navaid_bearing_node = ref_navaid->getChild("bearing-deg", 0, true);
277 _ref_navaid_frequency_node = ref_navaid->getChild("frequency-mhz", 0, true);
278 _ref_navaid_distance_node = ref_navaid->getChild("distance-nm", 0, true);
279 _ref_navaid_mag_bearing_node = ref_navaid->getChild("mag-bearing-deg", 0, true);
280 _ref_navaid_elapsed = 0.0;
281 _ref_navaid_set = false;
284 // should these move to the route manager?
285 _routeDistanceNm = _gpsNode->getChild("route-distance-nm", 0, true);
286 _routeETE = _gpsNode->getChild("ETE", 0, true);
287 _routeEditedSignal = fgGetNode("/autopilot/route-manager/signals/edited", true);
288 _routeFinishedSignal = fgGetNode("/autopilot/route-manager/signals/finished", true);
290 // add listener to various things
291 _listener = new GPSListener(this);
292 _route_current_wp_node = fgGetNode("/autopilot/route-manager/current-wp", true);
293 _route_current_wp_node->addChangeListener(_listener);
294 _route_active_node = fgGetNode("/autopilot/route-manager/active", true);
295 _route_active_node->addChangeListener(_listener);
296 _ref_navaid_id_node->addChangeListener(_listener);
297 _routeEditedSignal->addChangeListener(_listener);
298 _routeFinishedSignal->addChangeListener(_listener);
300 // navradio slaving properties
301 SGPropertyNode* toFlag = _gpsNode->getChild("to-flag", 0, true);
302 toFlag->alias(wp1_node->getChild("to-flag"));
304 SGPropertyNode* fromFlag = _gpsNode->getChild("from-flag", 0, true);
305 fromFlag->alias(wp1_node->getChild("from-flag"));
307 // autopilot drive properties
308 _apDrivingFlag = fgGetNode("/autopilot/settings/gps-driving-true-heading", true);
309 _apTrueHeading = fgGetNode("/autopilot/settings/true-heading-deg",true);
310 _apTargetAltitudeFt = fgGetNode("/autopilot/settings/target-altitude-ft", true);
311 _apAltitudeLock = fgGetNode("/autopilot/locks/altitude", true);
314 _realismSimpleGps = fgGetNode("/sim/realism/simple-gps", true);
315 if (!_realismSimpleGps->hasValue()) {
316 _realismSimpleGps->setBoolValue(true);
319 // last thing, add the deprecated prop watcher
320 new DeprecatedPropListener(_gpsNode);
328 _config.bind(this, _gpsNode->getChild("config", 0, true));
330 tie(_gpsNode, "selected-course-deg", SGRawValueMethods<GPS, double>
331 (*this, &GPS::getSelectedCourse, &GPS::setSelectedCourse));
333 tie(_gpsNode, "desired-course-deg", SGRawValueMethods<GPS, double>
334 (*this, &GPS::getDesiredCourse, NULL));
335 _desiredCourseNode = _gpsNode->getChild("desired-course-deg", 0, true);
337 tieSGGeodReadOnly(_gpsNode, _indicated_pos, "indicated-longitude-deg",
338 "indicated-latitude-deg", "indicated-altitude-ft");
340 tie(_gpsNode, "indicated-vertical-speed", SGRawValueMethods<GPS, double>
341 (*this, &GPS::getVerticalSpeed, NULL));
342 tie(_gpsNode, "indicated-track-true-deg", SGRawValueMethods<GPS, double>
343 (*this, &GPS::getTrueTrack, NULL));
344 tie(_gpsNode, "indicated-track-magnetic-deg", SGRawValueMethods<GPS, double>
345 (*this, &GPS::getMagTrack, NULL));
346 tie(_gpsNode, "indicated-ground-speed-kt", SGRawValueMethods<GPS, double>
347 (*this, &GPS::getGroundspeedKts, NULL));
350 tie(_gpsNode, "mode", SGRawValueMethods<GPS, const char*>(*this, &GPS::getMode, NULL));
351 tie(_gpsNode, "command", SGRawValueMethods<GPS, const char*>(*this, &GPS::getCommand, &GPS::setCommand));
353 tieSGGeod(_scratchNode, _scratchPos, "longitude-deg", "latitude-deg", "altitude-ft");
354 tie(_scratchNode, "valid", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchValid, NULL));
355 tie(_scratchNode, "distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchDistance, NULL));
356 tie(_scratchNode, "true-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchTrueBearing, NULL));
357 tie(_scratchNode, "mag-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchMagBearing, NULL));
358 tie(_scratchNode, "has-next", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchHasNext, NULL));
359 _scratchValid = false;
361 // waypoint data (including various historical things)
362 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
363 SGPropertyNode *wp0_node = wp_node->getChild("wp", 0, true);
364 SGPropertyNode *wp1_node = wp_node->getChild("wp", 1, true);
366 tieSGGeodReadOnly(wp0_node, _wp0_position, "longitude-deg", "latitude-deg", "altitude-ft");
367 tie(wp0_node, "ID", SGRawValueMethods<GPS, const char*>
368 (*this, &GPS::getWP0Ident, NULL));
369 tie(wp0_node, "name", SGRawValueMethods<GPS, const char*>
370 (*this, &GPS::getWP0Name, NULL));
372 tieSGGeodReadOnly(wp1_node, _wp1_position, "longitude-deg", "latitude-deg", "altitude-ft");
373 tie(wp1_node, "ID", SGRawValueMethods<GPS, const char*>
374 (*this, &GPS::getWP1Ident, NULL));
375 tie(wp1_node, "name", SGRawValueMethods<GPS, const char*>
376 (*this, &GPS::getWP1Name, NULL));
378 tie(wp1_node, "distance-nm", SGRawValueMethods<GPS, double>
379 (*this, &GPS::getWP1Distance, NULL));
380 tie(wp1_node, "bearing-true-deg", SGRawValueMethods<GPS, double>
381 (*this, &GPS::getWP1Bearing, NULL));
382 tie(wp1_node, "bearing-mag-deg", SGRawValueMethods<GPS, double>
383 (*this, &GPS::getWP1MagBearing, NULL));
384 tie(wp1_node, "TTW-sec", SGRawValueMethods<GPS, double>
385 (*this, &GPS::getWP1TTW, NULL));
386 tie(wp1_node, "TTW", SGRawValueMethods<GPS, const char*>
387 (*this, &GPS::getWP1TTWString, NULL));
389 tie(wp1_node, "course-deviation-deg", SGRawValueMethods<GPS, double>
390 (*this, &GPS::getWP1CourseDeviation, NULL));
391 tie(wp1_node, "course-error-nm", SGRawValueMethods<GPS, double>
392 (*this, &GPS::getWP1CourseErrorNm, NULL));
393 tie(wp1_node, "to-flag", SGRawValueMethods<GPS, bool>
394 (*this, &GPS::getWP1ToFlag, NULL));
395 tie(wp1_node, "from-flag", SGRawValueMethods<GPS, bool>
396 (*this, &GPS::getWP1FromFlag, NULL));
398 // leg properties (only valid in DTO/LEG modes, not OBS)
399 tie(wp_node, "leg-distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getLegDistance, NULL));
400 tie(wp_node, "leg-true-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegCourse, NULL));
401 tie(wp_node, "leg-mag-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegMagCourse, NULL));
402 tie(wp_node, "alt-dist-ratio", SGRawValueMethods<GPS, double>(*this, &GPS::getAltDistanceRatio, NULL));
404 // navradio slaving properties
405 tie(_gpsNode, "cdi-deflection", SGRawValueMethods<GPS,double>
406 (*this, &GPS::getCDIDeflection));
412 for (unsigned int t=0; t<_tiedNodes.size(); ++t) {
413 _tiedNodes[t]->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;
430 _raim_node->setDoubleValue(0.0);
431 _indicated_pos = SGGeod();
433 _wp1TrueBearing = 0.0;
434 _wp1_position = SGGeod();
435 _odometer_node->setDoubleValue(0);
436 _trip_odometer_node->setDoubleValue(0);
437 _tracking_bug_node->setDoubleValue(0);
438 _true_bug_error_node->setDoubleValue(0);
439 _magnetic_bug_error_node->setDoubleValue(0);
440 _northSouthVelocity->setDoubleValue(0.0);
441 _eastWestVelocity->setDoubleValue(0.0);
445 GPS::update (double delta_time_sec)
447 if (!_realismSimpleGps->getBoolValue()) {
448 // If it's off, don't bother.
449 if (!_serviceable_node->getBoolValue() || !_electrical_node->getBoolValue()) {
455 if (delta_time_sec <= 0.0) {
456 return; // paused, don't bother
458 // TODO: Add noise and other errors.
461 // Bias and random error
462 double random_factor = sg_random();
463 double random_error = 1.4;
464 double error_radius = 5.1;
465 double bias_max_radius = 5.1;
466 double random_max_radius = 1.4;
468 bias_length += (random_factor-0.5) * 1.0e-3;
469 if (bias_length <= 0.0) bias_length = 0.0;
470 else if (bias_length >= bias_max_radius) bias_length = bias_max_radius;
471 bias_angle += (random_factor-0.5) * 1.0e-3;
472 if (bias_angle <= 0.0) bias_angle = 0.0;
473 else if (bias_angle >= 360.0) bias_angle = 360.0;
475 double random_length = random_factor * random_max_radius;
476 double random_angle = random_factor * 360.0;
478 double bias_x = bias_length * cos(bias_angle * SG_PI / 180.0);
479 double bias_y = bias_length * sin(bias_angle * SG_PI / 180.0);
480 double random_x = random_length * cos(random_angle * SG_PI / 180.0);
481 double random_y = random_length * sin(random_angle * SG_PI / 180.0);
482 double error_x = bias_x + random_x;
483 double error_y = bias_y + random_y;
484 double error_length = sqrt(error_x*error_x + error_y*error_y);
485 double error_angle = atan(error_y / error_x) * 180.0 / SG_PI;
490 geo_direct_wgs_84 ( altitude_m, latitude_deg,
491 longitude_deg, error_angle,
492 error_length, &lat2, &lon2,
494 //cout << lat2 << " " << lon2 << endl;
495 printf("%f %f \n", bias_length, bias_angle);
496 printf("%3.7f %3.7f \n", lat2, lon2);
497 printf("%f %f \n", error_length, error_angle);
500 _raim_node->setDoubleValue(1.0);
501 _indicated_pos = _position.get();
502 updateBasicData(delta_time_sec);
505 if (_mode != "obs") {
511 updateReferenceNavaid(delta_time_sec);
516 if (_dataValid && (_mode == "init")) {
517 // allow a realistic delay in the future, here
518 SG_LOG(SG_INSTR, SG_INFO, "GPS initialisation complete");
520 if (_route_active_node->getBoolValue()) {
521 // GPS init with active route
522 SG_LOG(SG_INSTR, SG_INFO, "GPS init with active route");
525 // initialise in OBS mode, with waypt set to the nearest airport.
526 // keep in mind at this point, _dataValid is not set
528 auto_ptr<FGPositioned::Filter> f(createFilter(FGPositioned::AIRPORT));
529 FGPositionedRef apt = FGPositioned::findClosest(_position.get(), 20.0, f.get());
531 setScratchFromPositioned(apt, 0);
535 } // of init mode check
537 _last_pos = _indicated_pos;
538 _lastPosValid = true;
542 GPS::updateBasicData(double dt)
544 if (!_lastPosValid) {
550 SGGeodesy::inverse(_last_pos, _indicated_pos, _last_true_track, track2_deg, distance_m );
552 double speed_kt = ((distance_m * SG_METER_TO_NM) * ((1 / dt) * 3600.0));
553 double vertical_speed_mpm = ((_indicated_pos.getElevationM() - _last_pos.getElevationM()) * 60 / dt);
554 _last_vertical_speed = vertical_speed_mpm * SG_METER_TO_FEET;
556 speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, dt/10.0);
557 _last_speed_kts = speed_kt;
559 SGGeod g = _indicated_pos;
560 g.setLongitudeDeg(_last_pos.getLongitudeDeg());
561 double northSouthM = SGGeodesy::distanceM(_last_pos, g);
562 northSouthM = copysign(northSouthM, _indicated_pos.getLatitudeDeg() - _last_pos.getLatitudeDeg());
564 double nsMSec = fgGetLowPass(_lastNSVelocity, northSouthM / dt, dt/2.0);
565 _lastNSVelocity = nsMSec;
566 _northSouthVelocity->setDoubleValue(nsMSec);
570 g.setLatitudeDeg(_last_pos.getLatitudeDeg());
571 double eastWestM = SGGeodesy::distanceM(_last_pos, g);
572 eastWestM = copysign(eastWestM, _indicated_pos.getLongitudeDeg() - _last_pos.getLongitudeDeg());
574 double ewMSec = fgGetLowPass(_lastEWVelocity, eastWestM / dt, dt/2.0);
575 _lastEWVelocity = ewMSec;
576 _eastWestVelocity->setDoubleValue(ewMSec);
578 double odometer = _odometer_node->getDoubleValue();
579 _odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
580 odometer = _trip_odometer_node->getDoubleValue();
581 _trip_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
584 SG_LOG(SG_INSTR, SG_INFO, "GPS setting data valid");
590 GPS::updateTrackingBug()
592 double tracking_bug = _tracking_bug_node->getDoubleValue();
593 double true_bug_error = tracking_bug - getTrueTrack();
594 double magnetic_bug_error = tracking_bug - getMagTrack();
596 // Get the errors into the (-180,180) range.
597 SG_NORMALIZE_RANGE(true_bug_error, -180.0, 180.0);
598 SG_NORMALIZE_RANGE(magnetic_bug_error, -180.0, 180.0);
600 _true_bug_error_node->setDoubleValue(true_bug_error);
601 _magnetic_bug_error_node->setDoubleValue(magnetic_bug_error);
605 GPS::updateWaypoints()
608 SGGeodesy::inverse(_indicated_pos, _wp1_position, _wp1TrueBearing, az2,_wp1DistanceM);
611 void GPS::updateReferenceNavaid(double dt)
613 if (!_ref_navaid_set) {
614 _ref_navaid_elapsed += dt;
615 if (_ref_navaid_elapsed > 5.0) {
616 _ref_navaid_elapsed = 0.0;
618 FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
619 FGPositionedRef nav = FGPositioned::findClosest(_indicated_pos, 400.0, &vorFilter);
621 SG_LOG(SG_INSTR, SG_INFO, "GPS couldn't find a reference navid");
622 _ref_navaid_id_node->setStringValue("");
623 _ref_navaid_name_node->setStringValue("");
624 _ref_navaid_bearing_node->setDoubleValue(0.0);
625 _ref_navaid_mag_bearing_node->setDoubleValue(0.0);
626 _ref_navaid_distance_node->setDoubleValue(0.0);
627 _ref_navaid_frequency_node->setStringValue("");
628 } else if (nav != _ref_navaid) {
629 SG_LOG(SG_INSTR, SG_INFO, "GPS code selected new ref-navaid:" << nav->ident());
630 _listener->setGuard(true);
631 _ref_navaid_id_node->setStringValue(nav->ident().c_str());
632 _ref_navaid_name_node->setStringValue(nav->name().c_str());
633 FGNavRecord* vor = (FGNavRecord*) nav.ptr();
634 _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
635 _listener->setGuard(false);
637 // SG_LOG(SG_INSTR, SG_ALERT, "matched existing");
645 double trueCourse, distanceM, az2;
646 SGGeodesy::inverse(_indicated_pos, _ref_navaid->geod(), trueCourse, az2, distanceM);
647 _ref_navaid_distance_node->setDoubleValue(distanceM * SG_METER_TO_NM);
648 _ref_navaid_bearing_node->setDoubleValue(trueCourse);
649 _ref_navaid_mag_bearing_node->setDoubleValue(trueCourse - _magvar_node->getDoubleValue());
653 void GPS::referenceNavaidSet(const std::string& aNavaid)
656 // allow setting an empty string to restore normal nearest-vor selection
657 if (aNavaid.size() > 0) {
658 FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
659 _ref_navaid = FGPositioned::findClosestWithIdent(aNavaid,
660 _position.get(), &vorFilter);
663 SG_LOG(SG_INSTR, SG_ALERT, "GPS: unknown ref navaid:" << aNavaid);
668 _ref_navaid_set = true;
669 SG_LOG(SG_INSTR, SG_INFO, "GPS code set explict ref-navaid:" << _ref_navaid->ident());
670 _ref_navaid_id_node->setStringValue(_ref_navaid->ident().c_str());
671 _ref_navaid_name_node->setStringValue(_ref_navaid->name().c_str());
672 FGNavRecord* vor = (FGNavRecord*) _ref_navaid.ptr();
673 _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
675 _ref_navaid_set = false;
676 _ref_navaid_elapsed = 9999.0; // update next tick
680 void GPS::routeActivated()
682 if (_route_active_node->getBoolValue()) {
683 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, switching to LEG mode");
686 // if we've already passed the current waypoint, sequence.
687 if (_dataValid && getWP1FromFlag()) {
688 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, FROM wp1, sequencing");
689 _routeMgr->sequence();
691 } else if (_mode == "leg") {
692 SG_LOG(SG_INSTR, SG_INFO, "GPS::route deactivated, switching to OBS mode");
697 void GPS::routeManagerSequenced()
699 if (_mode != "leg") {
700 SG_LOG(SG_INSTR, SG_INFO, "GPS ignoring route sequencing, not in LEG mode");
704 int index = _routeMgr->currentWaypoint(),
705 count = _routeMgr->size();
706 if ((index < 0) || (index >= count)) {
707 SG_LOG(SG_INSTR, SG_ALERT, "GPS: malformed route, index=" << index);
711 SG_LOG(SG_INSTR, SG_INFO, "GPS waypoint index is now " << index);
714 SGWayPoint wp0(_routeMgr->get_waypoint(index - 1));
715 _wp0Ident = wp0.get_id();
716 _wp0Name = wp0.get_name();
717 _wp0_position = wp0.get_target();
721 SGWayPoint wp1(_routeMgr->get_waypoint(index));
722 _wp1Ident = wp1.get_id();
723 _wp1Name = wp1.get_name();
724 _wp1_position = wp1.get_target();
726 _desiredCourse = getLegMagCourse();
727 _desiredCourseNode->fireValueChanged();
731 void GPS::routeEdited()
733 if (_mode != "leg") {
737 SG_LOG(SG_INSTR, SG_INFO, "GPS route edited while in LEG mode, updating waypoints");
738 routeManagerSequenced();
741 void GPS::routeFinished()
743 if (_mode != "leg") {
747 SG_LOG(SG_INSTR, SG_INFO, "GPS route finished, reverting to OBS");
749 _wp0_position = _indicated_pos;
753 void GPS::updateTurn()
755 bool printProgress = false;
757 if (_computeTurnData) {
758 if (_last_speed_kts < 60) {
759 // need valid leg course and sensible ground speed to compute the turn
764 printProgress = true;
767 if (!_anticipateTurn) {
773 // find bearing to turn centre
774 double bearing, az2, distanceM;
775 SGGeodesy::inverse(_indicated_pos, _turnCentre, bearing, az2, distanceM);
776 double progress = computeTurnProgress(bearing);
779 SG_LOG(SG_INSTR, SG_INFO,"turn progress=" << progress);
782 if (!_inTurn && (progress > 0.0)) {
786 if (_inTurn && !_turnSequenced && (progress > 0.5)) {
787 _turnSequenced = true;
788 SG_LOG(SG_INSTR, SG_INFO, "turn passed midpoint, sequencing");
789 _routeMgr->sequence();
792 if (_inTurn && (progress >= 1.0)) {
797 // drive deviation and desired course
798 double desiredCourse = bearing - copysign(90, _turnAngle);
799 SG_NORMALIZE_RANGE(desiredCourse, 0.0, 360.0);
800 double deviationNm = (distanceM * SG_METER_TO_NM) - _turnRadius;
801 double deviationDeg = desiredCourse - getMagTrack();
802 deviationNm = copysign(deviationNm, deviationDeg);
804 //_wp1_course_deviation_node->setDoubleValue(deviationDeg);
805 //_wp1_course_error_nm_node->setDoubleValue(deviationNm);
806 //_cdiDeflectionNode->setDoubleValue(deviationDeg);
810 void GPS::updateOverflight()
812 if ((_wp1DistanceM * SG_METER_TO_NM) > _config.overflightArmDistanceNm()) {
816 if (getWP1ToFlag()) {
817 return; // still heading towards the WP
820 if (_mode == "dto") {
821 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO reached destination point");
823 // check for wp1 being on active route - resume leg mode
824 if (_routeMgr->isRouteActive()) {
825 int index = _routeMgr->findWaypoint(_wp1_position);
827 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO, resuming LEG mode at wp:" << index);
829 _routeMgr->jumpToIndex(index);
832 } else if (_mode == "leg") {
833 SG_LOG(SG_INSTR, SG_INFO, "GPS doing overflight sequencing");
834 _routeMgr->sequence();
835 } else if (_mode == "obs") {
836 // nothing to do here, TO/FROM will update but that's fine
839 _computeTurnData = true;
842 void GPS::beginTurn()
845 _turnSequenced = false;
846 SG_LOG(SG_INSTR, SG_INFO, "begining turn");
852 SG_LOG(SG_INSTR, SG_INFO, "ending turn");
853 _computeTurnData = true;
856 double GPS::computeTurnProgress(double aBearing) const
858 double startBearing = _turnStartBearing + copysign(90, _turnAngle);
859 return (aBearing - startBearing) / _turnAngle;
862 void GPS::computeTurnData()
864 _computeTurnData = false;
865 if (_mode != "leg") { // and approach modes in the future
866 _anticipateTurn = false;
870 int curIndex = _routeMgr->currentWaypoint();
871 if ((curIndex + 1) >= _routeMgr->size()) {
872 _anticipateTurn = false;
876 if (!_config.turnAnticipationEnabled()) {
877 _anticipateTurn = false;
881 _turnStartBearing = _desiredCourse;
882 // compute next leg course
883 SGWayPoint wp1(_routeMgr->get_waypoint(curIndex)),
884 wp2(_routeMgr->get_waypoint(curIndex + 1));
886 wp2.CourseAndDistance(wp1, &crs, &dist);
889 // compute offset bearing
890 _turnAngle = crs - _turnStartBearing;
891 SG_NORMALIZE_RANGE(_turnAngle, -180.0, 180.0);
892 double median = _turnStartBearing + (_turnAngle * 0.5);
893 double offsetBearing = median + copysign(90, _turnAngle);
894 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
896 SG_LOG(SG_INSTR, SG_INFO, "GPS computeTurnData: in=" << _turnStartBearing <<
897 ", out=" << crs << "; turnAngle=" << _turnAngle << ", median=" << median
898 << ", offset=" << offsetBearing);
900 SG_LOG(SG_INSTR, SG_INFO, "next leg is now:" << wp1.get_id() << "->" << wp2.get_id());
902 _turnPt = _wp1_position;
903 _anticipateTurn = true;
906 void GPS::updateTurnData()
908 // depends on ground speed, so needs to be updated per-frame
909 _turnRadius = computeTurnRadiusNm(_last_speed_kts);
911 // compute the turn centre, based on the turn radius.
912 // key thing is to understand that we're working a right-angle triangle,
913 // where the right-angle is the point we start the turn. From that point,
914 // one side is the inbound course to the turn pt, and the other is the
915 // perpendicular line, of length 'r', to the turn centre.
916 // the triangle's hypotenuse, which we need to find, is the distance from the
917 // turn pt to the turn center (in the direction of the offset bearing)
918 // note that d - _turnRadius tell us how much we're 'cutting' the corner.
920 double halfTurnAngle = fabs(_turnAngle * 0.5) * SG_DEGREES_TO_RADIANS;
921 double d = _turnRadius / cos(halfTurnAngle);
923 // SG_LOG(SG_INSTR, SG_INFO, "turnRadius=" << _turnRadius << ", d=" << d
924 // << " (cut distance=" << d - _turnRadius << ")");
926 double median = _turnStartBearing + (_turnAngle * 0.5);
927 double offsetBearing = median + copysign(90, _turnAngle);
928 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
931 SGGeodesy::direct(_turnPt, offsetBearing, d * SG_NM_TO_METER, _turnCentre, az2);
934 double GPS::computeTurnRadiusNm(double aGroundSpeedKts) const
936 // turn time is seconds to execute a 360 turn.
937 double turnTime = 360.0 / _config.turnRateDegSec();
939 // c is ground distance covered in that time (circumference of the circle)
940 double c = turnTime * (aGroundSpeedKts / 3600.0); // convert knts to nm/sec
942 // divide by 2PI to go from circumference -> radius
943 return c / (2 * M_PI);
946 void GPS::updateRouteData()
948 double totalDistance = _wp1DistanceM * SG_METER_TO_NM;
949 // walk all waypoints from wp2 to route end, and sum
950 for (int i=_routeMgr->currentWaypoint()+1; i<_routeMgr->size(); ++i) {
951 totalDistance += _routeMgr->get_waypoint(i).get_distance();
954 _routeDistanceNm->setDoubleValue(totalDistance * SG_METER_TO_NM);
955 if (_last_speed_kts > 1.0) {
956 double TTW = ((totalDistance * SG_METER_TO_NM) / _last_speed_kts) * 3600.0;
957 _routeETE->setStringValue(makeTTWString(TTW));
961 void GPS::driveAutopilot()
963 if (!_config.driveAutopilot() || !_realismSimpleGps->getBoolValue()) {
964 _apDrivingFlag->setBoolValue(false);
968 // compatability feature - allow the route-manager / GPS to drive the
969 // generic autopilot heading hold *in leg mode only*
971 bool drive = _mode == "leg";
972 _apDrivingFlag->setBoolValue(drive);
975 // FIXME: we want to set desired track, not heading, here
976 _apTrueHeading->setDoubleValue(getWP1Bearing());
980 void GPS::wp1Changed()
982 if (!_config.driveAutopilot()) {
986 double altFt = _wp1_position.getElevationFt();
987 if (altFt > -9990.0) {
988 _apTargetAltitudeFt->setDoubleValue(altFt);
992 /////////////////////////////////////////////////////////////////////////////
993 // property getter/setters
995 void GPS::setSelectedCourse(double crs)
997 if (_selectedCourse == crs) {
1001 _selectedCourse = crs;
1002 if ((_mode == "obs") || _config.courseSelectable()) {
1003 _desiredCourse = _selectedCourse;
1004 _desiredCourseNode->fireValueChanged();
1008 double GPS::getLegDistance() const
1010 if (!_dataValid || (_mode == "obs")) {
1014 return SGGeodesy::distanceNm(_wp0_position, _wp1_position);
1017 double GPS::getLegCourse() const
1023 return SGGeodesy::courseDeg(_wp0_position, _wp1_position);
1026 double GPS::getLegMagCourse() const
1032 double m = getLegCourse() - _magvar_node->getDoubleValue();
1033 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
1037 double GPS::getAltDistanceRatio() const
1039 if (!_dataValid || (_mode == "obs")) {
1043 double dist = SGGeodesy::distanceM(_wp0_position, _wp1_position);
1044 if ( dist <= 0.0 ) {
1048 double alt_difference_m = _wp0_position.getElevationM() - _wp1_position.getElevationM();
1049 return alt_difference_m / dist;
1052 double GPS::getMagTrack() const
1058 double m = getTrueTrack() - _magvar_node->getDoubleValue();
1059 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
1063 double GPS::getCDIDeflection() const
1070 if (_config.cdiDeflectionIsAngular()) {
1071 defl = getWP1CourseDeviation();
1072 SG_CLAMP_RANGE(defl, -10.0, 10.0); // as in navradio.cxx
1074 double fullScale = _config.cdiDeflectionLinearPeg();
1075 double normError = getWP1CourseErrorNm() / fullScale;
1076 SG_CLAMP_RANGE(normError, -1.0, 1.0);
1077 defl = normError * 10.0; // re-scale to navradio limits, i.e [-10.0 .. 10.0]
1083 const char* GPS::getWP0Ident() const
1085 if (!_dataValid || (_mode != "leg")) {
1089 return _wp0Ident.c_str();
1092 const char* GPS::getWP0Name() const
1094 if (!_dataValid || (_mode != "leg")) {
1098 return _wp0Name.c_str();
1101 const char* GPS::getWP1Ident() const
1107 return _wp1Ident.c_str();
1110 const char* GPS::getWP1Name() const
1116 return _wp1Name.c_str();
1119 double GPS::getWP1Distance() const
1125 return _wp1DistanceM * SG_METER_TO_NM;
1128 double GPS::getWP1TTW() const
1134 if (_last_speed_kts < 1.0) {
1138 return (getWP1Distance() / _last_speed_kts) * 3600.0;
1141 const char* GPS::getWP1TTWString() const
1147 return makeTTWString(getWP1TTW());
1150 double GPS::getWP1Bearing() const
1156 return _wp1TrueBearing;
1159 double GPS::getWP1MagBearing() const
1165 double magBearing = _wp1TrueBearing - _magvar_node->getDoubleValue();
1166 SG_NORMALIZE_RANGE(magBearing, 0.0, 360.0);
1170 double GPS::getWP1CourseDeviation() const
1176 double dev = getWP1MagBearing() - _desiredCourse;
1177 SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
1179 if (fabs(dev) > 90.0) {
1180 // When the course is away from the waypoint,
1181 // it makes sense to change the sign of the deviation.
1183 SG_NORMALIZE_RANGE(dev, -90.0, 90.0);
1189 double GPS::getWP1CourseErrorNm() const
1195 double radDev = getWP1CourseDeviation() * SG_DEGREES_TO_RADIANS;
1196 double course_error_m = sin(radDev) * _wp1DistanceM;
1197 return course_error_m * SG_METER_TO_NM;
1200 bool GPS::getWP1ToFlag() const
1206 double dev = getWP1MagBearing() - _desiredCourse;
1207 SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
1209 return (fabs(dev) < 90.0);
1212 bool GPS::getWP1FromFlag() const
1218 return !getWP1ToFlag();
1221 double GPS::getScratchDistance() const
1223 if (!_scratchValid) {
1227 return SGGeodesy::distanceNm(_indicated_pos, _scratchPos);
1230 double GPS::getScratchTrueBearing() const
1232 if (!_scratchValid) {
1236 return SGGeodesy::courseDeg(_indicated_pos, _scratchPos);
1239 double GPS::getScratchMagBearing() const
1241 if (!_scratchValid) {
1245 double crs = getScratchTrueBearing() - _magvar_node->getDoubleValue();
1246 SG_NORMALIZE_RANGE(crs, 0.0, 360.0);
1250 /////////////////////////////////////////////////////////////////////////////
1251 // command / scratch / search system
1253 void GPS::setCommand(const char* aCmd)
1255 SG_LOG(SG_INSTR, SG_INFO, "GPS command:" << aCmd);
1257 if (!strcmp(aCmd, "direct")) {
1259 } else if (!strcmp(aCmd, "obs")) {
1261 } else if (!strcmp(aCmd, "leg")) {
1263 } else if (!strcmp(aCmd, "load-route-wpt")) {
1264 loadRouteWaypoint();
1265 } else if (!strcmp(aCmd, "nearest")) {
1267 } else if (!strcmp(aCmd, "search")) {
1268 _searchNames = false;
1270 } else if (!strcmp(aCmd, "search-names")) {
1271 _searchNames = true;
1273 } else if (!strcmp(aCmd, "next")) {
1275 } else if (!strcmp(aCmd, "previous")) {
1277 } else if (!strcmp(aCmd, "define-user-wpt")) {
1279 } else if (!strcmp(aCmd, "route-insert-before")) {
1280 int index = _scratchNode->getIntValue("index");
1281 if (index < 0 || (_routeMgr->size() == 0)) {
1282 index = _routeMgr->size();
1283 } else if (index >= _routeMgr->size()) {
1284 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-before, bad index:" << index);
1288 insertWaypointAtIndex(index);
1289 } else if (!strcmp(aCmd, "route-insert-after")) {
1290 int index = _scratchNode->getIntValue("index");
1291 if (index < 0 || (_routeMgr->size() == 0)) {
1292 index = _routeMgr->size();
1293 } else if (index >= _routeMgr->size()) {
1294 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-after, bad index:" << index);
1300 insertWaypointAtIndex(index);
1301 } else if (!strcmp(aCmd, "route-delete")) {
1302 int index = _scratchNode->getIntValue("index");
1304 index = _routeMgr->size();
1305 } else if (index >= _routeMgr->size()) {
1306 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-delete, bad index:" << index);
1310 removeWaypointAtIndex(index);
1312 SG_LOG(SG_INSTR, SG_WARN, "GPS:unrecognized command:" << aCmd);
1316 void GPS::clearScratch()
1318 _scratchPos = SGGeod::fromDegFt(-9999.0, -9999.0, -9999.0);
1319 _scratchValid = false;
1320 _scratchNode->setStringValue("type", "");
1321 _scratchNode->setStringValue("query", "");
1324 bool GPS::isScratchPositionValid() const
1326 if ((_scratchPos.getLongitudeDeg() < -9990.0) ||
1327 (_scratchPos.getLatitudeDeg() < -9990.0)) {
1334 void GPS::directTo()
1336 _wp0_position = _indicated_pos;
1338 if (isScratchPositionValid()) {
1339 _wp1Ident = _scratchNode->getStringValue("ident");
1340 _wp1Name = _scratchNode->getStringValue("name");
1341 _wp1_position = _scratchPos;
1345 _desiredCourse = getLegMagCourse();
1346 _desiredCourseNode->fireValueChanged();
1351 void GPS::loadRouteWaypoint()
1353 _scratchValid = false;
1354 // if (!_routeMgr->isRouteActive()) {
1355 // SG_LOG(SG_INSTR, SG_WARN, "GPS:loadWaypoint: no active route");
1359 int index = _scratchNode->getIntValue("index", -9999);
1362 if ((index < 0) || (index >= _routeMgr->size())) { // no index supplied, use current wp
1363 index = _routeMgr->currentWaypoint();
1366 _searchIsRoute = true;
1367 setScratchFromRouteWaypoint(index);
1370 void GPS::setScratchFromRouteWaypoint(int aIndex)
1372 assert(_searchIsRoute);
1373 if ((aIndex < 0) || (aIndex >= _routeMgr->size())) {
1374 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromRouteWaypoint: route-index out of bounds");
1378 _searchResultIndex = aIndex;
1379 SGWayPoint wp(_routeMgr->get_waypoint(aIndex));
1380 _scratchNode->setStringValue("name", wp.get_name());
1381 _scratchNode->setStringValue("ident", wp.get_id());
1382 _scratchPos = wp.get_target();
1383 _scratchValid = true;
1384 _scratchNode->setDoubleValue("course", wp.get_track());
1385 _scratchNode->setIntValue("index", aIndex);
1388 void GPS::loadNearest()
1390 string sty(_scratchNode->getStringValue("type"));
1391 FGPositioned::Type ty = FGPositioned::typeFromName(sty);
1392 if (ty == FGPositioned::INVALID) {
1393 SG_LOG(SG_INSTR, SG_WARN, "GPS:loadNearest: request type is invalid:" << sty);
1397 auto_ptr<FGPositioned::Filter> f(createFilter(ty));
1398 int limitCount = _scratchNode->getIntValue("max-results", 1);
1399 double cutoffDistance = _scratchNode->getDoubleValue("cutoff-nm", 400.0);
1401 SGGeod searchPos = _indicated_pos;
1402 if (isScratchPositionValid()) {
1403 searchPos = _scratchPos;
1406 clearScratch(); // clear now, regardless of whether we find a match or not
1409 FGPositioned::findClosestN(searchPos, limitCount, cutoffDistance, f.get());
1410 _searchResultIndex = 0;
1411 _searchIsRoute = false;
1413 if (_searchResults.empty()) {
1414 SG_LOG(SG_INSTR, SG_INFO, "GPS:loadNearest: no matches at all");
1418 setScratchFromCachedSearchResult();
1421 bool GPS::SearchFilter::pass(FGPositioned* aPos) const
1423 switch (aPos->type()) {
1424 case FGPositioned::AIRPORT:
1425 // heliport and seaport too?
1426 case FGPositioned::VOR:
1427 case FGPositioned::NDB:
1428 case FGPositioned::FIX:
1429 case FGPositioned::TACAN:
1430 case FGPositioned::WAYPOINT:
1437 FGPositioned::Type GPS::SearchFilter::minType() const
1439 return FGPositioned::AIRPORT;
1442 FGPositioned::Type GPS::SearchFilter::maxType() const
1444 return FGPositioned::WAYPOINT;
1447 FGPositioned::Filter* GPS::createFilter(FGPositioned::Type aTy)
1449 if (aTy == FGPositioned::AIRPORT) {
1450 return new FGAirport::HardSurfaceFilter(_config.minRunwayLengthFt());
1453 // if we were passed INVALID, assume it means 'all types interesting to a GPS'
1454 if (aTy == FGPositioned::INVALID) {
1455 return new SearchFilter;
1458 return new FGPositioned::TypeFilter(aTy);
1463 // parse search terms into local members, and exec the first search
1464 string sty(_scratchNode->getStringValue("type"));
1465 _searchType = FGPositioned::typeFromName(sty);
1466 _searchQuery = _scratchNode->getStringValue("query");
1467 if (_searchQuery.empty()) {
1468 SG_LOG(SG_INSTR, SG_WARN, "empty GPS search query");
1473 _searchExact = _scratchNode->getBoolValue("exact", true);
1474 _searchResultIndex = 0;
1475 _searchIsRoute = false;
1477 auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
1479 _searchResults = FGPositioned::findAllWithName(_searchQuery, f.get());
1481 _searchResults = FGPositioned::findAllWithIdent(_searchQuery, f.get());
1484 bool orderByRange = _scratchNode->getBoolValue("order-by-distance", true);
1486 FGPositioned::sortByRange(_searchResults, _indicated_pos);
1489 if (_searchResults.empty()) {
1494 setScratchFromCachedSearchResult();
1497 bool GPS::getScratchHasNext() const
1500 if (_searchIsRoute) {
1501 lastResult = _routeMgr->size() - 1;
1503 lastResult = (int) _searchResults.size() - 1;
1506 if (lastResult < 0) { // search array might be empty
1510 return (_searchResultIndex < lastResult);
1513 void GPS::setScratchFromCachedSearchResult()
1515 int index = _searchResultIndex;
1517 if ((index < 0) || (index >= (int) _searchResults.size())) {
1518 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromCachedSearchResult: index out of bounds:" << index);
1522 setScratchFromPositioned(_searchResults[index], index);
1525 void GPS::setScratchFromPositioned(FGPositioned* aPos, int aIndex)
1530 _scratchPos = aPos->geod();
1531 _scratchNode->setStringValue("name", aPos->name());
1532 _scratchNode->setStringValue("ident", aPos->ident());
1533 _scratchNode->setStringValue("type", FGPositioned::nameForType(aPos->type()));
1536 _scratchNode->setIntValue("index", aIndex);
1539 _scratchValid = true;
1540 _scratchNode->setIntValue("result-count", _searchResults.size());
1542 switch (aPos->type()) {
1543 case FGPositioned::VOR:
1544 _scratchNode->setDoubleValue("frequency-mhz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1547 case FGPositioned::NDB:
1548 _scratchNode->setDoubleValue("frequency-khz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1551 case FGPositioned::AIRPORT:
1552 addAirportToScratch((FGAirport*)aPos);
1560 // look for being on the route and set?
1563 void GPS::addAirportToScratch(FGAirport* aAirport)
1565 for (unsigned int r=0; r<aAirport->numRunways(); ++r) {
1566 SGPropertyNode* rwyNd = _scratchNode->getChild("runways", r, true);
1567 FGRunway* rwy = aAirport->getRunwayByIndex(r);
1568 // TODO - filter out unsuitable runways in the future
1569 // based on config again
1571 rwyNd->setStringValue("id", rwy->ident().c_str());
1572 rwyNd->setIntValue("length-ft", rwy->lengthFt());
1573 rwyNd->setIntValue("width-ft", rwy->widthFt());
1574 rwyNd->setIntValue("heading-deg", rwy->headingDeg());
1575 // map surface code to a string
1576 // TODO - lighting information
1579 rwyNd->setDoubleValue("ils-frequency-mhz", rwy->ILS()->get_freq() / 100.0);
1581 } // of runways iteration
1585 void GPS::selectOBSMode()
1587 if (isScratchPositionValid()) {
1588 _wp1Ident = _scratchNode->getStringValue("ident");
1589 _wp1Name = _scratchNode->getStringValue("name");
1590 _wp1_position = _scratchPos;
1593 SG_LOG(SG_INSTR, SG_INFO, "GPS switching to OBS mode");
1595 _wp0_position = _indicated_pos;
1599 void GPS::selectLegMode()
1601 if (_mode == "leg") {
1605 if (!_routeMgr->isRouteActive()) {
1606 SG_LOG(SG_INSTR, SG_WARN, "GPS:selectLegMode: no active route");
1610 SG_LOG(SG_INSTR, SG_INFO, "GPS switching to LEG mode");
1613 // depending on the situation, this will either get over-written
1614 // in routeManagerSequenced or not; either way it does no harm to
1616 _wp0_position = _indicated_pos;
1618 // not really sequenced, but does all the work of updating wp0/1
1619 routeManagerSequenced();
1622 void GPS::nextResult()
1624 if (!getScratchHasNext()) {
1629 if (_searchIsRoute) {
1630 setScratchFromRouteWaypoint(++_searchResultIndex);
1632 ++_searchResultIndex;
1633 setScratchFromCachedSearchResult();
1637 void GPS::previousResult()
1639 if (_searchResultIndex <= 0) {
1644 --_searchResultIndex;
1646 if (_searchIsRoute) {
1647 setScratchFromRouteWaypoint(_searchResultIndex);
1649 setScratchFromCachedSearchResult();
1653 void GPS::defineWaypoint()
1655 if (!isScratchPositionValid()) {
1656 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: invalid lat/lon");
1660 string ident = _scratchNode->getStringValue("ident");
1661 if (ident.size() < 2) {
1662 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: waypoint identifier must be at least two characters");
1666 // check for duplicate idents
1667 FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
1668 FGPositioned::List dups = FGPositioned::findAllWithIdent(ident, &f);
1669 if (!dups.empty()) {
1670 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: non-unique waypoint identifier, ho-hum");
1673 SG_LOG(SG_INSTR, SG_INFO, "GPS:defineWaypoint: creating waypoint:" << ident);
1674 FGPositionedRef wpt = FGPositioned::createUserWaypoint(ident, _scratchPos);
1675 _searchResults.clear();
1676 _searchResults.push_back(wpt);
1677 setScratchFromPositioned(wpt.get(), -1);
1680 void GPS::insertWaypointAtIndex(int aIndex)
1682 // note we do allow index = routeMgr->size(), that's an append
1683 if ((aIndex < 0) || (aIndex > _routeMgr->size())) {
1684 throw sg_range_exception("GPS::insertWaypointAtIndex: index out of bounds");
1687 if (!isScratchPositionValid()) {
1688 SG_LOG(SG_INSTR, SG_WARN, "GPS:insertWaypointAtIndex: invalid lat/lon");
1692 string ident = _scratchNode->getStringValue("ident");
1693 string name = _scratchNode->getStringValue("name");
1695 _routeMgr->add_waypoint(SGWayPoint(_scratchPos, ident, name), aIndex);
1698 void GPS::removeWaypointAtIndex(int aIndex)
1700 if ((aIndex < 0) || (aIndex >= _routeMgr->size())) {
1701 throw sg_range_exception("GPS::removeWaypointAtIndex: index out of bounds");
1704 _routeMgr->pop_waypoint(aIndex);
1707 void GPS::tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
1708 const char* lonStr, const char* latStr, const char* altStr)
1710 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, &SGGeod::setLongitudeDeg));
1711 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, &SGGeod::setLatitudeDeg));
1714 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, &SGGeod::setElevationFt));
1718 void GPS::tieSGGeodReadOnly(SGPropertyNode* aNode, SGGeod& aRef,
1719 const char* lonStr, const char* latStr, const char* altStr)
1721 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, NULL));
1722 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, NULL));
1725 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, NULL));