1 // gps.cxx - distance-measuring equipment.
2 // Written by David Megginson, started 2003.
4 // This file is in the Public Domain and comes with no warranty.
12 #include <boost/tuple/tuple.hpp>
18 #include "Main/fg_props.hxx"
19 #include "Main/globals.hxx" // for get_subsystem
20 #include "Main/util.hxx" // for fgLowPass
21 #include "Navaids/positioned.hxx"
22 #include <Navaids/waypoint.hxx>
23 #include "Navaids/navrecord.hxx"
24 #include "Airports/simple.hxx"
25 #include "Airports/runways.hxx"
26 #include "Autopilot/route_mgr.hxx"
28 #include <simgear/math/sg_random.h>
29 #include <simgear/sg_inlines.h>
30 #include <simgear/math/sg_geodesy.hxx>
31 #include <simgear/structure/exception.hxx>
32 #include <simgear/scene/util/OsgMath.hxx>
36 using namespace flightgear;
38 ///////////////////////////////////////////////////////////////////
40 void SGGeodProperty::init(SGPropertyNode* base, const char* lonStr, const char* latStr, const char* altStr)
42 _lon = base->getChild(lonStr, 0, true);
43 _lat = base->getChild(latStr, 0, true);
45 _alt = base->getChild(altStr, 0, true);
49 void SGGeodProperty::init(const char* lonStr, const char* latStr, const char* altStr)
51 _lon = fgGetNode(lonStr, true);
52 _lat = fgGetNode(latStr, true);
54 _alt = fgGetNode(altStr, true);
58 void SGGeodProperty::clear()
60 _lon = _lat = _alt = NULL;
63 void SGGeodProperty::operator=(const SGGeod& geod)
65 _lon->setDoubleValue(geod.getLongitudeDeg());
66 _lat->setDoubleValue(geod.getLatitudeDeg());
68 _alt->setDoubleValue(geod.getElevationFt());
72 SGGeod SGGeodProperty::get() const
74 double lon = _lon->getDoubleValue(),
75 lat = _lat->getDoubleValue();
77 if (osg::isNaN(lon) || osg::isNaN(lat)) {
78 SG_LOG(SG_INSTR, SG_WARN, "read NaN for lon/lat:" << _lon->getPath()
79 << ", " << _lat->getPath());
84 return SGGeod::fromDegFt(lon, lat, _alt->getDoubleValue());
86 return SGGeod::fromDeg(lon,lat);
90 static const char* makeTTWString(double TTW)
92 if ((TTW <= 0.0) || (TTW >= 356400.5)) { // 99 hours
96 unsigned int TTW_seconds = (int) (TTW + 0.5);
97 unsigned int TTW_minutes = 0;
98 unsigned int TTW_hours = 0;
99 static char TTW_str[9];
100 TTW_hours = TTW_seconds / 3600;
101 TTW_minutes = (TTW_seconds / 60) % 60;
102 TTW_seconds = TTW_seconds % 60;
103 snprintf(TTW_str, 9, "%02d:%02d:%02d",
104 TTW_hours, TTW_minutes, TTW_seconds);
108 /////////////////////////////////////////////////////////////////////////////
110 class GPSListener : public SGPropertyChangeListener
113 GPSListener(GPS *m) :
117 virtual void valueChanged (SGPropertyNode * prop)
124 if (prop == _gps->_route_current_wp_node) {
125 _gps->routeManagerSequenced();
126 } else if (prop == _gps->_route_active_node) {
127 _gps->routeActivated();
128 } else if (prop == _gps->_ref_navaid_id_node) {
129 _gps->referenceNavaidSet(prop->getStringValue(""));
130 } else if (prop == _gps->_routeEditedSignal) {
132 } else if (prop == _gps->_routeFinishedSignal) {
133 _gps->routeFinished();
139 void setGuard(bool g) {
144 bool _guard; // re-entrancy guard
147 ////////////////////////////////////////////////////////////////////////////
149 * Helper to monitor for Nasal or other code accessing properties we haven't
150 * defined. For the moment we complain about all such activites, since various
151 * users assume all kinds of weird, wonderful and non-existent interfaces.
154 class DeprecatedPropListener : public SGPropertyChangeListener
157 DeprecatedPropListener(SGPropertyNode* gps)
159 _parents.insert(gps);
160 SGPropertyNode* wp = gps->getChild("wp", 0, true);
162 _parents.insert(wp->getChild("wp", 0, true));
163 _parents.insert(wp->getChild("wp", 1, true));
165 std::set<SGPropertyNode*>::iterator it;
166 for (it = _parents.begin(); it != _parents.end(); ++it) {
167 (*it)->addChangeListener(this);
171 virtual void valueChanged (SGPropertyNode * prop)
175 virtual void childAdded (SGPropertyNode * parent, SGPropertyNode * child)
177 if (isDeprecated(parent, child)) {
178 SG_LOG(SG_INSTR, SG_WARN, "GPS: someone accessed a deprecated property:"
179 << child->getPath(true));
183 bool isDeprecated(SGPropertyNode * parent, SGPropertyNode * child) const
185 if (_parents.count(parent) < 1) {
189 // no child exclusions yet
193 std::set<SGPropertyNode*> _parents;
196 ////////////////////////////////////////////////////////////////////////////
197 // configuration helper object
199 GPS::Config::Config() :
200 _enableTurnAnticipation(true),
201 _turnRate(3.0), // degrees-per-second, so 180 degree turn takes 60 seconds
202 _overflightArmDistance(1.0),
203 _waypointAlertTime(30.0),
204 _requireHardSurface(true),
205 _cdiMaxDeflectionNm(3.0), // linear mode, 3nm at the peg
206 _driveAutopilot(true),
207 _courseSelectable(false)
209 _enableTurnAnticipation = false;
212 void GPS::Config::bind(GPS* aOwner, SGPropertyNode* aCfg)
214 aOwner->tie(aCfg, "turn-rate-deg-sec", SGRawValuePointer<double>(&_turnRate));
215 aOwner->tie(aCfg, "turn-anticipation", SGRawValuePointer<bool>(&_enableTurnAnticipation));
216 aOwner->tie(aCfg, "wpt-alert-time", SGRawValuePointer<double>(&_waypointAlertTime));
217 aOwner->tie(aCfg, "hard-surface-runways-only", SGRawValuePointer<bool>(&_requireHardSurface));
218 aOwner->tie(aCfg, "cdi-max-deflection-nm", SGRawValuePointer<double>(&_cdiMaxDeflectionNm));
219 aOwner->tie(aCfg, "drive-autopilot", SGRawValuePointer<bool>(&_driveAutopilot));
220 aOwner->tie(aCfg, "course-selectable", SGRawValuePointer<bool>(&_courseSelectable));
223 ////////////////////////////////////////////////////////////////////////////
225 GPS::GPS ( SGPropertyNode *node) :
226 _selectedCourse(0.0),
229 _lastPosValid(false),
231 _name(node->getStringValue("name", "gps")),
232 _num(node->getIntValue("number", 0)),
233 _searchResultIndex(0),
235 _searchIsRoute(false),
236 _searchHasNext(false),
238 _computeTurnData(false),
239 _anticipateTurn(false),
242 string branch = "/instrumentation/" + _name;
243 _gpsNode = fgGetNode(branch.c_str(), _num, true );
244 _scratchNode = _gpsNode->getChild("scratch", 0, true);
246 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
247 _currentWayptNode = wp_node->getChild("wp", 1, true);
257 _routeMgr = (FGRouteMgr*) globals->get_subsystem("route-manager");
260 _position.init("/position/longitude-deg", "/position/latitude-deg", "/position/altitude-ft");
261 _magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
262 _serviceable_node = _gpsNode->getChild("serviceable", 0, true);
263 _serviceable_node->setBoolValue(true);
264 _electrical_node = fgGetNode("/systems/electrical/outputs/gps", true);
267 _raim_node = _gpsNode->getChild("raim", 0, true);
268 _odometer_node = _gpsNode->getChild("odometer", 0, true);
269 _trip_odometer_node = _gpsNode->getChild("trip-odometer", 0, true);
270 _true_bug_error_node = _gpsNode->getChild("true-bug-error-deg", 0, true);
271 _magnetic_bug_error_node = _gpsNode->getChild("magnetic-bug-error-deg", 0, true);
272 _eastWestVelocity = _gpsNode->getChild("ew-velocity-msec", 0, true);
273 _northSouthVelocity = _gpsNode->getChild("ns-velocity-msec", 0, true);
276 // for compatability, alias selected course down to wp/wp[1]/desired-course-deg
277 SGPropertyNode* wp1Crs = _currentWayptNode->getChild("desired-course-deg", 0, true);
278 wp1Crs->alias(_gpsNode->getChild("desired-course-deg", 0, true));
280 _tracking_bug_node = _gpsNode->getChild("tracking-bug", 0, true);
283 SGPropertyNode_ptr ref_navaid = _gpsNode->getChild("ref-navaid", 0, true);
284 _ref_navaid_id_node = ref_navaid->getChild("id", 0, true);
285 _ref_navaid_name_node = ref_navaid->getChild("name", 0, true);
286 _ref_navaid_bearing_node = ref_navaid->getChild("bearing-deg", 0, true);
287 _ref_navaid_frequency_node = ref_navaid->getChild("frequency-mhz", 0, true);
288 _ref_navaid_distance_node = ref_navaid->getChild("distance-nm", 0, true);
289 _ref_navaid_mag_bearing_node = ref_navaid->getChild("mag-bearing-deg", 0, true);
290 _ref_navaid_elapsed = 0.0;
291 _ref_navaid_set = false;
294 // should these move to the route manager?
295 _routeDistanceNm = _gpsNode->getChild("route-distance-nm", 0, true);
296 _routeETE = _gpsNode->getChild("ETE", 0, true);
297 _routeEditedSignal = fgGetNode("/autopilot/route-manager/signals/edited", true);
298 _routeFinishedSignal = fgGetNode("/autopilot/route-manager/signals/finished", true);
300 // add listener to various things
301 _listener = new GPSListener(this);
302 _route_current_wp_node = fgGetNode("/autopilot/route-manager/current-wp", true);
303 _route_current_wp_node->addChangeListener(_listener);
304 _route_active_node = fgGetNode("/autopilot/route-manager/active", true);
305 _route_active_node->addChangeListener(_listener);
306 _ref_navaid_id_node->addChangeListener(_listener);
307 _routeEditedSignal->addChangeListener(_listener);
308 _routeFinishedSignal->addChangeListener(_listener);
310 // navradio slaving properties
311 SGPropertyNode* toFlag = _gpsNode->getChild("to-flag", 0, true);
312 toFlag->alias(_currentWayptNode->getChild("to-flag"));
314 SGPropertyNode* fromFlag = _gpsNode->getChild("from-flag", 0, true);
315 fromFlag->alias(_currentWayptNode->getChild("from-flag"));
317 // autopilot drive properties
318 _apDrivingFlag = fgGetNode("/autopilot/settings/gps-driving-true-heading", true);
319 _apTrueHeading = fgGetNode("/autopilot/settings/true-heading-deg",true);
320 _apTargetAltitudeFt = fgGetNode("/autopilot/settings/target-altitude-ft", true);
321 _apAltitudeLock = fgGetNode("/autopilot/locks/altitude", true);
324 _realismSimpleGps = fgGetNode("/sim/realism/simple-gps", true);
325 if (!_realismSimpleGps->hasValue()) {
326 _realismSimpleGps->setBoolValue(true);
329 // last thing, add the deprecated prop watcher
330 new DeprecatedPropListener(_gpsNode);
338 _config.bind(this, _gpsNode->getChild("config", 0, true));
341 tie(_gpsNode, "selected-course-deg", SGRawValueMethods<GPS, double>
342 (*this, &GPS::getSelectedCourse, &GPS::setSelectedCourse));
344 tie(_gpsNode, "desired-course-deg", SGRawValueMethods<GPS, double>
345 (*this, &GPS::getDesiredCourse, NULL));
346 _desiredCourseNode = _gpsNode->getChild("desired-course-deg", 0, true);
348 tieSGGeodReadOnly(_gpsNode, _indicated_pos, "indicated-longitude-deg",
349 "indicated-latitude-deg", "indicated-altitude-ft");
351 tie(_gpsNode, "indicated-vertical-speed", SGRawValueMethods<GPS, double>
352 (*this, &GPS::getVerticalSpeed, NULL));
353 tie(_gpsNode, "indicated-track-true-deg", SGRawValueMethods<GPS, double>
354 (*this, &GPS::getTrueTrack, NULL));
355 tie(_gpsNode, "indicated-track-magnetic-deg", SGRawValueMethods<GPS, double>
356 (*this, &GPS::getMagTrack, NULL));
357 tie(_gpsNode, "indicated-ground-speed-kt", SGRawValueMethods<GPS, double>
358 (*this, &GPS::getGroundspeedKts, NULL));
361 tie(_gpsNode, "mode", SGRawValueMethods<GPS, const char*>(*this, &GPS::getMode, NULL));
362 tie(_gpsNode, "command", SGRawValueMethods<GPS, const char*>(*this, &GPS::getCommand, &GPS::setCommand));
364 tieSGGeod(_scratchNode, _scratchPos, "longitude-deg", "latitude-deg", "altitude-ft");
365 tie(_scratchNode, "valid", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchValid, NULL));
366 tie(_scratchNode, "distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchDistance, NULL));
367 tie(_scratchNode, "true-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchTrueBearing, NULL));
368 tie(_scratchNode, "mag-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchMagBearing, NULL));
369 tie(_scratchNode, "has-next", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchHasNext, NULL));
370 _scratchValid = false;
373 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
374 SGPropertyNode* wp0_node = wp_node->getChild("wp", 0, true);
376 tieSGGeodReadOnly(wp0_node, _wp0_position, "longitude-deg", "latitude-deg", "altitude-ft");
377 tie(_currentWayptNode, "ID", SGRawValueMethods<GPS, const char*>
378 (*this, &GPS::getWP1Ident, NULL));
380 tie(_currentWayptNode, "distance-nm", SGRawValueMethods<GPS, double>
381 (*this, &GPS::getWP1Distance, NULL));
382 tie(_currentWayptNode, "bearing-true-deg", SGRawValueMethods<GPS, double>
383 (*this, &GPS::getWP1Bearing, NULL));
384 tie(_currentWayptNode, "bearing-mag-deg", SGRawValueMethods<GPS, double>
385 (*this, &GPS::getWP1MagBearing, NULL));
386 tie(_currentWayptNode, "TTW-sec", SGRawValueMethods<GPS, double>
387 (*this, &GPS::getWP1TTW, NULL));
388 tie(_currentWayptNode, "TTW", SGRawValueMethods<GPS, const char*>
389 (*this, &GPS::getWP1TTWString, NULL));
391 tie(_currentWayptNode, "course-deviation-deg", SGRawValueMethods<GPS, double>
392 (*this, &GPS::getWP1CourseDeviation, NULL));
393 tie(_currentWayptNode, "course-error-nm", SGRawValueMethods<GPS, double>
394 (*this, &GPS::getWP1CourseErrorNm, NULL));
395 tie(_currentWayptNode, "to-flag", SGRawValueMethods<GPS, bool>
396 (*this, &GPS::getWP1ToFlag, NULL));
397 tie(_currentWayptNode, "from-flag", SGRawValueMethods<GPS, bool>
398 (*this, &GPS::getWP1FromFlag, NULL));
400 // leg properties (only valid in DTO/LEG modes, not OBS)
401 tie(wp_node, "leg-distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getLegDistance, NULL));
402 tie(wp_node, "leg-true-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegCourse, NULL));
403 tie(wp_node, "leg-mag-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegMagCourse, NULL));
405 // navradio slaving properties
406 tie(_gpsNode, "cdi-deflection", SGRawValueMethods<GPS,double>
407 (*this, &GPS::getCDIDeflection));
413 _tiedProperties.Untie();
420 _last_speed_kts = 0.0;
421 _last_pos = SGGeod();
422 _lastPosValid = false;
423 _indicated_pos = SGGeod();
424 _last_vertical_speed = 0.0;
425 _last_true_track = 0.0;
426 _lastEWVelocity = _lastNSVelocity = 0.0;
427 _currentWaypt = _prevWaypt = NULL;
428 _legDistanceNm = -1.0;
430 _raim_node->setDoubleValue(0.0);
431 _indicated_pos = SGGeod();
432 _odometer_node->setDoubleValue(0);
433 _trip_odometer_node->setDoubleValue(0);
434 _tracking_bug_node->setDoubleValue(0);
435 _true_bug_error_node->setDoubleValue(0);
436 _magnetic_bug_error_node->setDoubleValue(0);
437 _northSouthVelocity->setDoubleValue(0.0);
438 _eastWestVelocity->setDoubleValue(0.0);
442 GPS::update (double delta_time_sec)
444 if (!_realismSimpleGps->getBoolValue()) {
445 // If it's off, don't bother.
446 if (!_serviceable_node->getBoolValue() || !_electrical_node->getBoolValue()) {
452 if (delta_time_sec <= 0.0) {
453 return; // paused, don't bother
456 _raim_node->setDoubleValue(1.0);
457 _indicated_pos = _position.get();
458 updateBasicData(delta_time_sec);
461 if (_wayptController.get()) {
462 _wayptController->update();
463 SGGeod p(_wayptController->position());
464 _currentWayptNode->setDoubleValue("longitude-deg", p.getLongitudeDeg());
465 _currentWayptNode->setDoubleValue("latitude-deg", p.getLatitudeDeg());
466 _currentWayptNode->setDoubleValue("altitude-ft", p.getElevationFt());
468 _desiredCourse = getLegMagCourse();
476 updateReferenceNavaid(delta_time_sec);
480 if (_dataValid && (_mode == "init")) {
482 if (_route_active_node->getBoolValue()) {
483 // GPS init with active route
484 SG_LOG(SG_INSTR, SG_INFO, "GPS init with active route");
487 // initialise in OBS mode, with waypt set to the nearest airport.
488 // keep in mind at this point, _dataValid is not set
490 auto_ptr<FGPositioned::Filter> f(createFilter(FGPositioned::AIRPORT));
491 FGPositionedRef apt = FGPositioned::findClosest(_position.get(), 20.0, f.get());
493 setScratchFromPositioned(apt, 0);
500 // allow a realistic delay in the future, here
501 SG_LOG(SG_INSTR, SG_INFO, "GPS initialisation complete");
503 } // of init mode check
505 _last_pos = _indicated_pos;
506 _lastPosValid = !(_last_pos == SGGeod());
509 ///////////////////////////////////////////////////////////////////////////
510 // implement the RNAV interface
511 SGGeod GPS::position()
517 return _indicated_pos;
520 double GPS::trackDeg()
522 return _last_true_track;
525 double GPS::groundSpeedKts()
527 return _last_speed_kts;
530 double GPS::vspeedFPM()
532 return _last_vertical_speed;
535 double GPS::magvarDeg()
537 return _magvar_node->getDoubleValue();
540 double GPS::overflightArmDistanceM()
542 return _config.overflightArmDistanceNm() * SG_NM_TO_METER;
545 double GPS::selectedMagCourse()
547 return _selectedCourse;
550 ///////////////////////////////////////////////////////////////////////////
553 GPS::updateBasicData(double dt)
555 if (!_lastPosValid) {
561 SGGeodesy::inverse(_last_pos, _indicated_pos, _last_true_track, track2_deg, distance_m );
563 double speed_kt = ((distance_m * SG_METER_TO_NM) * ((1 / dt) * 3600.0));
564 double vertical_speed_mpm = ((_indicated_pos.getElevationM() - _last_pos.getElevationM()) * 60 / dt);
565 _last_vertical_speed = vertical_speed_mpm * SG_METER_TO_FEET;
567 speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, dt/10.0);
568 _last_speed_kts = speed_kt;
570 SGGeod g = _indicated_pos;
571 g.setLongitudeDeg(_last_pos.getLongitudeDeg());
572 double northSouthM = SGGeodesy::distanceM(_last_pos, g);
573 northSouthM = copysign(northSouthM, _indicated_pos.getLatitudeDeg() - _last_pos.getLatitudeDeg());
575 double nsMSec = fgGetLowPass(_lastNSVelocity, northSouthM / dt, dt/2.0);
576 _lastNSVelocity = nsMSec;
577 _northSouthVelocity->setDoubleValue(nsMSec);
581 g.setLatitudeDeg(_last_pos.getLatitudeDeg());
582 double eastWestM = SGGeodesy::distanceM(_last_pos, g);
583 eastWestM = copysign(eastWestM, _indicated_pos.getLongitudeDeg() - _last_pos.getLongitudeDeg());
585 double ewMSec = fgGetLowPass(_lastEWVelocity, eastWestM / dt, dt/2.0);
586 _lastEWVelocity = ewMSec;
587 _eastWestVelocity->setDoubleValue(ewMSec);
589 double odometer = _odometer_node->getDoubleValue();
590 _odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
591 odometer = _trip_odometer_node->getDoubleValue();
592 _trip_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
595 SG_LOG(SG_INSTR, SG_INFO, "GPS setting data valid");
601 GPS::updateTrackingBug()
603 double tracking_bug = _tracking_bug_node->getDoubleValue();
604 double true_bug_error = tracking_bug - getTrueTrack();
605 double magnetic_bug_error = tracking_bug - getMagTrack();
607 // Get the errors into the (-180,180) range.
608 SG_NORMALIZE_RANGE(true_bug_error, -180.0, 180.0);
609 SG_NORMALIZE_RANGE(magnetic_bug_error, -180.0, 180.0);
611 _true_bug_error_node->setDoubleValue(true_bug_error);
612 _magnetic_bug_error_node->setDoubleValue(magnetic_bug_error);
615 void GPS::updateReferenceNavaid(double dt)
617 if (!_ref_navaid_set) {
618 _ref_navaid_elapsed += dt;
619 if (_ref_navaid_elapsed > 5.0) {
621 FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
622 FGPositionedRef nav = FGPositioned::findClosest(_indicated_pos, 400.0, &vorFilter);
624 SG_LOG(SG_INSTR, SG_INFO, "GPS couldn't find a reference navaid");
625 _ref_navaid_id_node->setStringValue("");
626 _ref_navaid_name_node->setStringValue("");
627 _ref_navaid_bearing_node->setDoubleValue(0.0);
628 _ref_navaid_mag_bearing_node->setDoubleValue(0.0);
629 _ref_navaid_distance_node->setDoubleValue(0.0);
630 _ref_navaid_frequency_node->setStringValue("");
631 } else if (nav != _ref_navaid) {
632 SG_LOG(SG_INSTR, SG_INFO, "GPS code selected new ref-navaid:" << nav->ident());
633 _listener->setGuard(true);
634 _ref_navaid_id_node->setStringValue(nav->ident().c_str());
635 _ref_navaid_name_node->setStringValue(nav->name().c_str());
636 FGNavRecord* vor = (FGNavRecord*) nav.ptr();
637 _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
638 _listener->setGuard(false);
640 // SG_LOG(SG_INSTR, SG_ALERT, "matched existing");
644 // reset elapsed time (do not do that before updating the properties above, since their
645 // listeners may request another update (_ref_navaid_elapsed = 9999), which results in
646 // excessive load (FGPositioned::findClosest called in every update loop...)
647 _ref_navaid_elapsed = 0.0;
652 double trueCourse, distanceM, az2;
653 SGGeodesy::inverse(_indicated_pos, _ref_navaid->geod(), trueCourse, az2, distanceM);
654 _ref_navaid_distance_node->setDoubleValue(distanceM * SG_METER_TO_NM);
655 _ref_navaid_bearing_node->setDoubleValue(trueCourse);
656 _ref_navaid_mag_bearing_node->setDoubleValue(trueCourse - _magvar_node->getDoubleValue());
660 void GPS::referenceNavaidSet(const std::string& aNavaid)
663 // allow setting an empty string to restore normal nearest-vor selection
664 if (aNavaid.size() > 0) {
665 FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
666 _ref_navaid = FGPositioned::findClosestWithIdent(aNavaid,
667 _position.get(), &vorFilter);
670 SG_LOG(SG_INSTR, SG_ALERT, "GPS: unknown ref navaid:" << aNavaid);
675 _ref_navaid_set = true;
676 SG_LOG(SG_INSTR, SG_INFO, "GPS code set explict ref-navaid:" << _ref_navaid->ident());
677 _ref_navaid_id_node->setStringValue(_ref_navaid->ident().c_str());
678 _ref_navaid_name_node->setStringValue(_ref_navaid->name().c_str());
679 FGNavRecord* vor = (FGNavRecord*) _ref_navaid.ptr();
680 _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
682 _ref_navaid_set = false;
683 _ref_navaid_elapsed = 9999.0; // update next tick
687 void GPS::routeActivated()
689 if (_route_active_node->getBoolValue()) {
690 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, switching to LEG mode");
693 // if we've already passed the current waypoint, sequence.
694 if (_dataValid && getWP1FromFlag()) {
695 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, FROM wp1, sequencing");
696 _routeMgr->sequence();
698 } else if (_mode == "leg") {
699 SG_LOG(SG_INSTR, SG_INFO, "GPS::route deactivated, switching to OBS mode");
700 // select OBS mode, but keep current waypoint-as is
706 void GPS::routeManagerSequenced()
708 if (_mode != "leg") {
709 SG_LOG(SG_INSTR, SG_INFO, "GPS ignoring route sequencing, not in LEG mode");
713 int index = _routeMgr->currentIndex(),
714 count = _routeMgr->numWaypts();
715 if ((index < 0) || (index >= count)) {
718 SG_LOG(SG_INSTR, SG_ALERT, "GPS: malformed route, index=" << index);
722 SG_LOG(SG_INSTR, SG_INFO, "GPS waypoint index is now " << index);
725 _prevWaypt = _routeMgr->wayptAtIndex(index - 1);
726 if (_prevWaypt->flag(WPT_DYNAMIC)) {
727 _wp0_position = _indicated_pos;
729 _wp0_position = _prevWaypt->position();
733 _currentWaypt = _routeMgr->currentWaypt();
735 _desiredCourse = getLegMagCourse();
736 _desiredCourseNode->fireValueChanged();
740 void GPS::routeEdited()
742 if (_mode != "leg") {
746 SG_LOG(SG_INSTR, SG_INFO, "GPS route edited while in LEG mode, updating waypoints");
747 routeManagerSequenced();
750 void GPS::routeFinished()
752 if (_mode != "leg") {
756 SG_LOG(SG_INSTR, SG_INFO, "GPS route finished, reverting to OBS");
757 // select OBS mode, but keep current waypoint-as is
762 void GPS::updateTurn()
764 bool printProgress = false;
766 if (_computeTurnData) {
767 if (_last_speed_kts < 60) {
768 // need valid leg course and sensible ground speed to compute the turn
773 printProgress = true;
776 if (!_anticipateTurn) {
782 // find bearing to turn centre
783 double bearing, az2, distanceM;
784 SGGeodesy::inverse(_indicated_pos, _turnCentre, bearing, az2, distanceM);
785 double progress = computeTurnProgress(bearing);
788 SG_LOG(SG_INSTR, SG_INFO,"turn progress=" << progress);
791 if (!_inTurn && (progress > 0.0)) {
795 if (_inTurn && !_turnSequenced && (progress > 0.5)) {
796 _turnSequenced = true;
797 SG_LOG(SG_INSTR, SG_INFO, "turn passed midpoint, sequencing");
798 _routeMgr->sequence();
801 if (_inTurn && (progress >= 1.0)) {
806 // drive deviation and desired course
807 double desiredCourse = bearing - copysign(90, _turnAngle);
808 SG_NORMALIZE_RANGE(desiredCourse, 0.0, 360.0);
809 double deviationNm = (distanceM * SG_METER_TO_NM) - _turnRadius;
810 double deviationDeg = desiredCourse - getMagTrack();
811 deviationNm = copysign(deviationNm, deviationDeg);
813 //_wp1_course_deviation_node->setDoubleValue(deviationDeg);
814 //_wp1_course_error_nm_node->setDoubleValue(deviationNm);
815 //_cdiDeflectionNode->setDoubleValue(deviationDeg);
819 void GPS::updateOverflight()
821 if (!_wayptController->isDone()) {
825 if (_mode == "dto") {
826 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO reached destination point");
828 // check for wp1 being on active route - resume leg mode
829 if (_routeMgr->isRouteActive()) {
830 int index = _routeMgr->flightPlan()->findWayptIndex(_currentWaypt->position());
832 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO, resuming LEG mode at wp:" << index);
834 _routeMgr->jumpToIndex(index);
838 if (_mode == "dto") {
839 // if we didn't enter leg mode, drop back to OBS mode
840 // select OBS mode, but keep current waypoint-as is
844 } else if (_mode == "leg") {
845 SG_LOG(SG_INSTR, SG_INFO, "GPS doing overflight sequencing");
846 _routeMgr->sequence();
847 } else if (_mode == "obs") {
848 // nothing to do here, TO/FROM will update but that's fine
851 _computeTurnData = true;
854 void GPS::beginTurn()
857 _turnSequenced = false;
858 SG_LOG(SG_INSTR, SG_INFO, "begining turn");
864 SG_LOG(SG_INSTR, SG_INFO, "ending turn");
865 _computeTurnData = true;
868 double GPS::computeTurnProgress(double aBearing) const
870 double startBearing = _turnStartBearing + copysign(90, _turnAngle);
871 return (aBearing - startBearing) / _turnAngle;
874 void GPS::computeTurnData()
876 _computeTurnData = false;
877 if (_mode != "leg") { // and approach modes in the future
878 _anticipateTurn = false;
882 WayptRef next = _routeMgr->wayptAtIndex(_routeMgr->currentIndex() + 1);
883 if (!next || next->flag(WPT_DYNAMIC)) {
884 _anticipateTurn = false;
888 if (!_config.turnAnticipationEnabled()) {
889 _anticipateTurn = false;
893 _turnStartBearing = _desiredCourse;
894 // compute next leg course
896 boost::tie(crs, dist) = next->courseAndDistanceFrom(_currentWaypt->position());
899 // compute offset bearing
900 _turnAngle = crs - _turnStartBearing;
901 SG_NORMALIZE_RANGE(_turnAngle, -180.0, 180.0);
902 double median = _turnStartBearing + (_turnAngle * 0.5);
903 double offsetBearing = median + copysign(90, _turnAngle);
904 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
906 SG_LOG(SG_INSTR, SG_INFO, "GPS computeTurnData: in=" << _turnStartBearing <<
907 ", out=" << crs << "; turnAngle=" << _turnAngle << ", median=" << median
908 << ", offset=" << offsetBearing);
910 SG_LOG(SG_INSTR, SG_INFO, "next leg is now:" << _currentWaypt->ident() << "->" << next->ident());
912 _turnPt = _currentWaypt->position();
913 _anticipateTurn = true;
916 void GPS::updateTurnData()
918 // depends on ground speed, so needs to be updated per-frame
919 _turnRadius = computeTurnRadiusNm(_last_speed_kts);
921 // compute the turn centre, based on the turn radius.
922 // key thing is to understand that we're working a right-angle triangle,
923 // where the right-angle is the point we start the turn. From that point,
924 // one side is the inbound course to the turn pt, and the other is the
925 // perpendicular line, of length 'r', to the turn centre.
926 // the triangle's hypotenuse, which we need to find, is the distance from the
927 // turn pt to the turn center (in the direction of the offset bearing)
928 // note that d - _turnRadius tell us how much we're 'cutting' the corner.
930 double halfTurnAngle = fabs(_turnAngle * 0.5) * SG_DEGREES_TO_RADIANS;
931 double d = _turnRadius / cos(halfTurnAngle);
933 // SG_LOG(SG_INSTR, SG_INFO, "turnRadius=" << _turnRadius << ", d=" << d
934 // << " (cut distance=" << d - _turnRadius << ")");
936 double median = _turnStartBearing + (_turnAngle * 0.5);
937 double offsetBearing = median + copysign(90, _turnAngle);
938 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
941 SGGeodesy::direct(_turnPt, offsetBearing, d * SG_NM_TO_METER, _turnCentre, az2);
944 double GPS::computeTurnRadiusNm(double aGroundSpeedKts) const
946 // turn time is seconds to execute a 360 turn.
947 double turnTime = 360.0 / _config.turnRateDegSec();
949 // c is ground distance covered in that time (circumference of the circle)
950 double c = turnTime * (aGroundSpeedKts / 3600.0); // convert knts to nm/sec
952 // divide by 2PI to go from circumference -> radius
953 return c / (2 * M_PI);
956 void GPS::updateRouteData()
958 double totalDistance = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
959 // walk all waypoints from wp2 to route end, and sum
960 for (int i=_routeMgr->currentIndex()+1; i<_routeMgr->numWaypts(); ++i) {
961 //totalDistance += _routeMgr->get_waypoint(i).get_distance();
964 _routeDistanceNm->setDoubleValue(totalDistance * SG_METER_TO_NM);
965 if (_last_speed_kts > 1.0) {
966 double TTW = ((totalDistance * SG_METER_TO_NM) / _last_speed_kts) * 3600.0;
967 _routeETE->setStringValue(makeTTWString(TTW));
971 void GPS::driveAutopilot()
973 if (!_config.driveAutopilot() || !_realismSimpleGps->getBoolValue()) {
974 _apDrivingFlag->setBoolValue(false);
978 // compatability feature - allow the route-manager / GPS to drive the
979 // generic autopilot heading hold *in leg mode only*
981 bool drive = _mode == "leg";
982 _apDrivingFlag->setBoolValue(drive);
985 // FIXME: we want to set desired track, not heading, here
986 _apTrueHeading->setDoubleValue(getWP1Bearing());
990 void GPS::wp1Changed()
994 if (_mode == "leg") {
995 _wayptController.reset(WayptController::createForWaypt(this, _currentWaypt));
996 } else if (_mode == "obs") {
997 _wayptController.reset(new OBSController(this, _currentWaypt));
998 } else if (_mode == "dto") {
999 _wayptController.reset(new DirectToController(this, _currentWaypt, _wp0_position));
1002 _wayptController->init();
1004 if (_mode == "obs") {
1005 _legDistanceNm = -1.0;
1007 _wayptController->update();
1008 _legDistanceNm = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
1011 if (!_config.driveAutopilot()) {
1015 RouteRestriction ar = _currentWaypt->altitudeRestriction();
1016 double restrictAlt = _currentWaypt->altitudeFt();
1017 double alt = _indicated_pos.getElevationFt();
1018 if ((ar == RESTRICT_AT) ||
1019 ((ar == RESTRICT_ABOVE) && (alt < restrictAlt)) ||
1020 ((ar == RESTRICT_BELOW) && (alt > restrictAlt)))
1022 SG_LOG(SG_AUTOPILOT, SG_INFO, "current waypt has altitude set, setting on AP");
1023 _apTargetAltitudeFt->setDoubleValue(restrictAlt);
1027 /////////////////////////////////////////////////////////////////////////////
1028 // property getter/setters
1030 void GPS::setSelectedCourse(double crs)
1032 if (_selectedCourse == crs) {
1036 _selectedCourse = crs;
1037 if ((_mode == "obs") || _config.courseSelectable()) {
1038 _desiredCourse = _selectedCourse;
1039 _desiredCourseNode->fireValueChanged();
1043 double GPS::getLegDistance() const
1045 if (!_dataValid || (_mode == "obs")) {
1049 return _legDistanceNm;
1052 double GPS::getLegCourse() const
1054 if (!_dataValid || !_wayptController.get()) {
1058 return _wayptController->targetTrackDeg();
1061 double GPS::getLegMagCourse() const
1067 double m = getLegCourse() - _magvar_node->getDoubleValue();
1068 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
1072 double GPS::getMagTrack() const
1078 double m = getTrueTrack() - _magvar_node->getDoubleValue();
1079 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
1083 double GPS::getCDIDeflection() const
1090 if (_config.cdiDeflectionIsAngular()) {
1091 defl = getWP1CourseDeviation();
1092 SG_CLAMP_RANGE(defl, -10.0, 10.0); // as in navradio.cxx
1094 double fullScale = _config.cdiDeflectionLinearPeg();
1095 double normError = getWP1CourseErrorNm() / fullScale;
1096 SG_CLAMP_RANGE(normError, -1.0, 1.0);
1097 defl = normError * 10.0; // re-scale to navradio limits, i.e [-10.0 .. 10.0]
1103 const char* GPS::getWP0Ident() const
1105 if (!_dataValid || (_mode != "leg") || (!_prevWaypt)) {
1109 return _prevWaypt->ident().c_str();
1112 const char* GPS::getWP0Name() const
1117 const char* GPS::getWP1Ident() const
1119 if ((!_dataValid)||(!_currentWaypt)) {
1123 return _currentWaypt->ident().c_str();
1126 const char* GPS::getWP1Name() const
1131 double GPS::getWP1Distance() const
1133 if (!_dataValid || !_wayptController.get()) {
1137 return _wayptController->distanceToWayptM() * SG_METER_TO_NM;
1140 double GPS::getWP1TTW() const
1142 if (!_dataValid || !_wayptController.get()) {
1146 return _wayptController->timeToWaypt();
1149 const char* GPS::getWP1TTWString() const
1151 double t = getWP1TTW();
1156 return makeTTWString(t);
1159 double GPS::getWP1Bearing() const
1161 if (!_dataValid || !_wayptController.get()) {
1165 return _wayptController->trueBearingDeg();
1168 double GPS::getWP1MagBearing() const
1170 if (!_dataValid || !_wayptController.get()) {
1174 double magBearing = _wayptController->trueBearingDeg() - _magvar_node->getDoubleValue();
1175 SG_NORMALIZE_RANGE(magBearing, 0.0, 360.0);
1179 double GPS::getWP1CourseDeviation() const
1181 if (!_dataValid || !_wayptController.get()) {
1185 return _wayptController->courseDeviationDeg();
1188 double GPS::getWP1CourseErrorNm() const
1190 if (!_dataValid || !_wayptController.get()) {
1194 return _wayptController->xtrackErrorNm();
1197 bool GPS::getWP1ToFlag() const
1199 if (!_dataValid || !_wayptController.get()) {
1203 return _wayptController->toFlag();
1206 bool GPS::getWP1FromFlag() const
1208 if (!_dataValid || !_wayptController.get()) {
1212 return !getWP1ToFlag();
1215 double GPS::getScratchDistance() const
1217 if (!_scratchValid) {
1221 return SGGeodesy::distanceNm(_indicated_pos, _scratchPos);
1224 double GPS::getScratchTrueBearing() const
1226 if (!_scratchValid) {
1230 return SGGeodesy::courseDeg(_indicated_pos, _scratchPos);
1233 double GPS::getScratchMagBearing() const
1235 if (!_scratchValid) {
1239 double crs = getScratchTrueBearing() - _magvar_node->getDoubleValue();
1240 SG_NORMALIZE_RANGE(crs, 0.0, 360.0);
1244 /////////////////////////////////////////////////////////////////////////////
1245 // command / scratch / search system
1247 void GPS::setCommand(const char* aCmd)
1249 SG_LOG(SG_INSTR, SG_INFO, "GPS command:" << aCmd);
1251 if (!strcmp(aCmd, "direct")) {
1253 } else if (!strcmp(aCmd, "obs")) {
1255 } else if (!strcmp(aCmd, "leg")) {
1257 } else if (!strcmp(aCmd, "load-route-wpt")) {
1258 loadRouteWaypoint();
1259 } else if (!strcmp(aCmd, "nearest")) {
1261 } else if (!strcmp(aCmd, "search")) {
1262 _searchNames = false;
1264 } else if (!strcmp(aCmd, "search-names")) {
1265 _searchNames = true;
1267 } else if (!strcmp(aCmd, "next")) {
1269 } else if (!strcmp(aCmd, "previous")) {
1271 } else if (!strcmp(aCmd, "define-user-wpt")) {
1273 } else if (!strcmp(aCmd, "route-insert-before")) {
1274 int index = _scratchNode->getIntValue("index");
1275 if (index < 0 || (_routeMgr->numWaypts() == 0)) {
1276 index = _routeMgr->numWaypts();
1277 } else if (index >= _routeMgr->numWaypts()) {
1278 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-before, bad index:" << index);
1282 insertWaypointAtIndex(index);
1283 } else if (!strcmp(aCmd, "route-insert-after")) {
1284 int index = _scratchNode->getIntValue("index");
1285 if (index < 0 || (_routeMgr->numWaypts() == 0)) {
1286 index = _routeMgr->numWaypts();
1287 } else if (index >= _routeMgr->numWaypts()) {
1288 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-after, bad index:" << index);
1294 insertWaypointAtIndex(index);
1295 } else if (!strcmp(aCmd, "route-delete")) {
1296 int index = _scratchNode->getIntValue("index");
1298 index = _routeMgr->numWaypts();
1299 } else if (index >= _routeMgr->numWaypts()) {
1300 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-delete, bad index:" << index);
1304 removeWaypointAtIndex(index);
1306 SG_LOG(SG_INSTR, SG_WARN, "GPS:unrecognized command:" << aCmd);
1310 void GPS::clearScratch()
1312 _scratchPos = SGGeod::fromDegFt(-9999.0, -9999.0, -9999.0);
1313 _scratchValid = false;
1314 _scratchNode->setStringValue("type", "");
1315 _scratchNode->setStringValue("query", "");
1318 bool GPS::isScratchPositionValid() const
1320 if ((_scratchPos.getLongitudeDeg() < -9990.0) ||
1321 (_scratchPos.getLatitudeDeg() < -9990.0)) {
1328 void GPS::directTo()
1330 if (!isScratchPositionValid()) {
1335 _wp0_position = _indicated_pos;
1336 _currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
1343 void GPS::loadRouteWaypoint()
1345 _scratchValid = false;
1346 // if (!_routeMgr->isRouteActive()) {
1347 // SG_LOG(SG_INSTR, SG_WARN, "GPS:loadWaypoint: no active route");
1351 int index = _scratchNode->getIntValue("index", -9999);
1354 if ((index < 0) || (index >= _routeMgr->numWaypts())) { // no index supplied, use current wp
1355 index = _routeMgr->currentIndex();
1358 _searchIsRoute = true;
1359 setScratchFromRouteWaypoint(index);
1362 void GPS::setScratchFromRouteWaypoint(int aIndex)
1364 assert(_searchIsRoute);
1365 if ((aIndex < 0) || (aIndex >= _routeMgr->numWaypts())) {
1366 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromRouteWaypoint: route-index out of bounds");
1370 _searchResultIndex = aIndex;
1371 WayptRef wp = _routeMgr->wayptAtIndex(aIndex);
1372 _scratchNode->setStringValue("ident", wp->ident());
1373 _scratchPos = wp->position();
1374 _scratchValid = true;
1375 _scratchNode->setIntValue("index", aIndex);
1378 void GPS::loadNearest()
1380 string sty(_scratchNode->getStringValue("type"));
1381 FGPositioned::Type ty = FGPositioned::typeFromName(sty);
1382 if (ty == FGPositioned::INVALID) {
1383 SG_LOG(SG_INSTR, SG_WARN, "GPS:loadNearest: request type is invalid:" << sty);
1387 auto_ptr<FGPositioned::Filter> f(createFilter(ty));
1388 int limitCount = _scratchNode->getIntValue("max-results", 1);
1389 double cutoffDistance = _scratchNode->getDoubleValue("cutoff-nm", 400.0);
1391 SGGeod searchPos = _indicated_pos;
1392 if (isScratchPositionValid()) {
1393 searchPos = _scratchPos;
1396 clearScratch(); // clear now, regardless of whether we find a match or not
1399 FGPositioned::findClosestN(searchPos, limitCount, cutoffDistance, f.get());
1400 _searchResultIndex = 0;
1401 _searchIsRoute = false;
1403 if (_searchResults.empty()) {
1404 SG_LOG(SG_INSTR, SG_INFO, "GPS:loadNearest: no matches at all");
1408 setScratchFromCachedSearchResult();
1411 bool GPS::SearchFilter::pass(FGPositioned* aPos) const
1413 switch (aPos->type()) {
1414 case FGPositioned::AIRPORT:
1415 // heliport and seaport too?
1416 case FGPositioned::VOR:
1417 case FGPositioned::NDB:
1418 case FGPositioned::FIX:
1419 case FGPositioned::TACAN:
1420 case FGPositioned::WAYPOINT:
1427 FGPositioned::Type GPS::SearchFilter::minType() const
1429 return FGPositioned::AIRPORT;
1432 FGPositioned::Type GPS::SearchFilter::maxType() const
1434 return FGPositioned::WAYPOINT;
1437 FGPositioned::Filter* GPS::createFilter(FGPositioned::Type aTy)
1439 if (aTy == FGPositioned::AIRPORT) {
1440 return new FGAirport::HardSurfaceFilter();
1443 // if we were passed INVALID, assume it means 'all types interesting to a GPS'
1444 if (aTy == FGPositioned::INVALID) {
1445 return new SearchFilter;
1448 return new FGPositioned::TypeFilter(aTy);
1453 // parse search terms into local members, and exec the first search
1454 string sty(_scratchNode->getStringValue("type"));
1455 _searchType = FGPositioned::typeFromName(sty);
1456 _searchQuery = _scratchNode->getStringValue("query");
1457 if (_searchQuery.empty()) {
1458 SG_LOG(SG_INSTR, SG_WARN, "empty GPS search query");
1463 _searchExact = _scratchNode->getBoolValue("exact", true);
1464 _searchResultIndex = 0;
1465 _searchIsRoute = false;
1467 auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
1469 _searchResults = FGPositioned::findAllWithName(_searchQuery, f.get(), _searchExact);
1471 _searchResults = FGPositioned::findAllWithIdent(_searchQuery, f.get(), _searchExact);
1474 bool orderByRange = _scratchNode->getBoolValue("order-by-distance", true);
1476 FGPositioned::sortByRange(_searchResults, _indicated_pos);
1479 if (_searchResults.empty()) {
1484 setScratchFromCachedSearchResult();
1487 bool GPS::getScratchHasNext() const
1490 if (_searchIsRoute) {
1491 lastResult = _routeMgr->numWaypts() - 1;
1493 lastResult = (int) _searchResults.size() - 1;
1496 if (lastResult < 0) { // search array might be empty
1500 return (_searchResultIndex < lastResult);
1503 void GPS::setScratchFromCachedSearchResult()
1505 int index = _searchResultIndex;
1507 if ((index < 0) || (index >= (int) _searchResults.size())) {
1508 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromCachedSearchResult: index out of bounds:" << index);
1512 setScratchFromPositioned(_searchResults[index], index);
1515 void GPS::setScratchFromPositioned(FGPositioned* aPos, int aIndex)
1520 _scratchPos = aPos->geod();
1521 _scratchNode->setStringValue("name", aPos->name());
1522 _scratchNode->setStringValue("ident", aPos->ident());
1523 _scratchNode->setStringValue("type", FGPositioned::nameForType(aPos->type()));
1526 _scratchNode->setIntValue("index", aIndex);
1529 _scratchValid = true;
1530 _scratchNode->setIntValue("result-count", _searchResults.size());
1532 switch (aPos->type()) {
1533 case FGPositioned::VOR:
1534 _scratchNode->setDoubleValue("frequency-mhz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1537 case FGPositioned::NDB:
1538 _scratchNode->setDoubleValue("frequency-khz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1541 case FGPositioned::AIRPORT:
1542 addAirportToScratch((FGAirport*)aPos);
1550 // look for being on the route and set?
1553 void GPS::addAirportToScratch(FGAirport* aAirport)
1555 for (unsigned int r=0; r<aAirport->numRunways(); ++r) {
1556 SGPropertyNode* rwyNd = _scratchNode->getChild("runways", r, true);
1557 FGRunway* rwy = aAirport->getRunwayByIndex(r);
1558 // TODO - filter out unsuitable runways in the future
1559 // based on config again
1561 rwyNd->setStringValue("id", rwy->ident().c_str());
1562 rwyNd->setIntValue("length-ft", rwy->lengthFt());
1563 rwyNd->setIntValue("width-ft", rwy->widthFt());
1564 rwyNd->setIntValue("heading-deg", rwy->headingDeg());
1565 // map surface code to a string
1566 // TODO - lighting information
1569 rwyNd->setDoubleValue("ils-frequency-mhz", rwy->ILS()->get_freq() / 100.0);
1571 } // of runways iteration
1575 void GPS::selectOBSMode()
1577 if (!isScratchPositionValid()) {
1581 SG_LOG(SG_INSTR, SG_INFO, "GPS switching to OBS mode");
1584 _currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
1585 _wp0_position = _indicated_pos;
1589 void GPS::selectLegMode()
1591 if (_mode == "leg") {
1595 if (!_routeMgr->isRouteActive()) {
1596 SG_LOG(SG_INSTR, SG_WARN, "GPS:selectLegMode: no active route");
1600 SG_LOG(SG_INSTR, SG_INFO, "GPS switching to LEG mode");
1603 // depending on the situation, this will either get over-written
1604 // in routeManagerSequenced or not; either way it does no harm to
1606 _wp0_position = _indicated_pos;
1608 // not really sequenced, but does all the work of updating wp0/1
1609 routeManagerSequenced();
1612 void GPS::nextResult()
1614 if (!getScratchHasNext()) {
1619 if (_searchIsRoute) {
1620 setScratchFromRouteWaypoint(++_searchResultIndex);
1622 ++_searchResultIndex;
1623 setScratchFromCachedSearchResult();
1627 void GPS::previousResult()
1629 if (_searchResultIndex <= 0) {
1634 --_searchResultIndex;
1636 if (_searchIsRoute) {
1637 setScratchFromRouteWaypoint(_searchResultIndex);
1639 setScratchFromCachedSearchResult();
1643 void GPS::defineWaypoint()
1645 if (!isScratchPositionValid()) {
1646 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: invalid lat/lon");
1650 string ident = _scratchNode->getStringValue("ident");
1651 if (ident.size() < 2) {
1652 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: waypoint identifier must be at least two characters");
1656 // check for duplicate idents
1657 FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
1658 FGPositioned::List dups = FGPositioned::findAllWithIdent(ident, &f);
1659 if (!dups.empty()) {
1660 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: non-unique waypoint identifier, ho-hum");
1663 SG_LOG(SG_INSTR, SG_INFO, "GPS:defineWaypoint: creating waypoint:" << ident);
1664 FGPositionedRef wpt = FGPositioned::createUserWaypoint(ident, _scratchPos);
1665 _searchResults.clear();
1666 _searchResults.push_back(wpt);
1667 setScratchFromPositioned(wpt.get(), -1);
1670 void GPS::insertWaypointAtIndex(int aIndex)
1672 // note we do allow index = routeMgr->size(), that's an append
1673 if ((aIndex < 0) || (aIndex > _routeMgr->numWaypts())) {
1674 throw sg_range_exception("GPS::insertWaypointAtIndex: index out of bounds");
1677 if (!isScratchPositionValid()) {
1678 SG_LOG(SG_INSTR, SG_WARN, "GPS:insertWaypointAtIndex: invalid lat/lon");
1682 string ident = _scratchNode->getStringValue("ident");
1684 WayptRef wpt = new BasicWaypt(_scratchPos, ident, NULL);
1685 _routeMgr->flightPlan()->insertWayptAtIndex(wpt, aIndex);
1688 void GPS::removeWaypointAtIndex(int aIndex)
1690 if ((aIndex < 0) || (aIndex >= _routeMgr->numWaypts())) {
1691 throw sg_range_exception("GPS::removeWaypointAtIndex: index out of bounds");
1694 _routeMgr->removeLegAtIndex(aIndex);
1697 void GPS::tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
1698 const char* lonStr, const char* latStr, const char* altStr)
1700 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, &SGGeod::setLongitudeDeg));
1701 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, &SGGeod::setLatitudeDeg));
1704 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, &SGGeod::setElevationFt));
1708 void GPS::tieSGGeodReadOnly(SGPropertyNode* aNode, SGGeod& aRef,
1709 const char* lonStr, const char* latStr, const char* altStr)
1711 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, NULL));
1712 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, NULL));
1715 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, NULL));