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");
150 _parents.insert(wp->getChild("wp", 0));
151 _parents.insert(wp->getChild("wp", 1));
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 _searchResultsCached(false),
224 _computeTurnData(false),
225 _anticipateTurn(false),
228 string branch = "/instrumentation/" + _name;
229 _gpsNode = fgGetNode(branch.c_str(), _num, true );
230 _scratchNode = _gpsNode->getChild("scratch", 0, true);
240 _routeMgr = (FGRouteMgr*) globals->get_subsystem("route-manager");
243 _position.init("/position/longitude-deg", "/position/latitude-deg", "/position/altitude-ft");
244 _magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
245 _serviceable_node = _gpsNode->getChild("serviceable", 0, true);
246 _serviceable_node->setBoolValue(true);
247 _electrical_node = fgGetNode("/systems/electrical/outputs/gps", true);
250 _raim_node = _gpsNode->getChild("raim", 0, true);
251 _odometer_node = _gpsNode->getChild("odometer", 0, true);
252 _trip_odometer_node = _gpsNode->getChild("trip-odometer", 0, true);
253 _true_bug_error_node = _gpsNode->getChild("true-bug-error-deg", 0, true);
254 _magnetic_bug_error_node = _gpsNode->getChild("magnetic-bug-error-deg", 0, true);
255 _eastWestVelocity = _gpsNode->getChild("ew-velocity-msec", 0, true);
256 _northSouthVelocity = _gpsNode->getChild("ns-velocity-msec", 0, true);
259 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
260 SGPropertyNode *wp1_node = wp_node->getChild("wp", 1, true);
262 // for compatability, alias selected course down to wp/wp[1]/desired-course-deg
263 SGPropertyNode* wp1Crs = wp1_node->getChild("desired-course-deg", 0, true);
264 wp1Crs->alias(_gpsNode->getChild("desired-course-deg", 0, true));
266 // _true_wp1_bearing_error_node =
267 // wp1_node->getChild("true-bearing-error-deg", 0, true);
268 // _magnetic_wp1_bearing_error_node =
269 // wp1_node->getChild("magnetic-bearing-error-deg", 0, true);
271 _tracking_bug_node = _gpsNode->getChild("tracking-bug", 0, true);
274 SGPropertyNode_ptr ref_navaid = _gpsNode->getChild("ref-navaid", 0, true);
275 _ref_navaid_id_node = ref_navaid->getChild("id", 0, true);
276 _ref_navaid_name_node = ref_navaid->getChild("name", 0, true);
277 _ref_navaid_bearing_node = ref_navaid->getChild("bearing-deg", 0, true);
278 _ref_navaid_frequency_node = ref_navaid->getChild("frequency-mhz", 0, true);
279 _ref_navaid_distance_node = ref_navaid->getChild("distance-nm", 0, true);
280 _ref_navaid_mag_bearing_node = ref_navaid->getChild("mag-bearing-deg", 0, true);
281 _ref_navaid_elapsed = 0.0;
282 _ref_navaid_set = false;
285 // should these move to the route manager?
286 _routeDistanceNm = _gpsNode->getChild("route-distance-nm", 0, true);
287 _routeETE = _gpsNode->getChild("ETE", 0, true);
288 _routeEditedSignal = fgGetNode("/autopilot/route-manager/signals/edited", true);
289 _routeFinishedSignal = fgGetNode("/autopilot/route-manager/signals/finished", true);
291 // add listener to various things
292 _listener = new GPSListener(this);
293 _route_current_wp_node = fgGetNode("/autopilot/route-manager/current-wp", true);
294 _route_current_wp_node->addChangeListener(_listener);
295 _route_active_node = fgGetNode("/autopilot/route-manager/active", true);
296 _route_active_node->addChangeListener(_listener);
297 _ref_navaid_id_node->addChangeListener(_listener);
298 _routeEditedSignal->addChangeListener(_listener);
299 _routeFinishedSignal->addChangeListener(_listener);
301 // navradio slaving properties
302 SGPropertyNode* toFlag = _gpsNode->getChild("to-flag", 0, true);
303 toFlag->alias(wp1_node->getChild("to-flag"));
305 SGPropertyNode* fromFlag = _gpsNode->getChild("from-flag", 0, true);
306 fromFlag->alias(wp1_node->getChild("from-flag"));
308 // autopilot drive properties
309 _apDrivingFlag = fgGetNode("/autopilot/settings/gps-driving-true-heading", true);
310 _apTrueHeading = fgGetNode("/autopilot/settings/true-heading-deg",true);
311 _apTargetAltitudeFt = fgGetNode("/autopilot/settings/target-altitude-ft", true);
312 _apAltitudeLock = fgGetNode("/autopilot/locks/altitude", true);
315 _realismSimpleGps = fgGetNode("/sim/realism/simple-gps", true);
316 if (!_realismSimpleGps->hasValue()) {
317 _realismSimpleGps->setBoolValue(true);
320 // last thing, add the deprecated prop watcher
321 new DeprecatedPropListener(_gpsNode);
329 _config.bind(this, _gpsNode->getChild("config", 0, true));
331 tie(_gpsNode, "selected-course-deg", SGRawValueMethods<GPS, double>
332 (*this, &GPS::getSelectedCourse, &GPS::setSelectedCourse));
334 tie(_gpsNode, "desired-course-deg", SGRawValueMethods<GPS, double>
335 (*this, &GPS::getDesiredCourse, NULL));
336 _desiredCourseNode = _gpsNode->getChild("desired-course-deg");
338 tieSGGeodReadOnly(_gpsNode, _indicated_pos, "indicated-longitude-deg",
339 "indicated-latitude-deg", "indicated-altitude-ft");
341 tie(_gpsNode, "indicated-vertical-speed", SGRawValueMethods<GPS, double>
342 (*this, &GPS::getVerticalSpeed, NULL));
343 tie(_gpsNode, "indicated-track-true-deg", SGRawValueMethods<GPS, double>
344 (*this, &GPS::getTrueTrack, NULL));
345 tie(_gpsNode, "indicated-track-magnetic-deg", SGRawValueMethods<GPS, double>
346 (*this, &GPS::getMagTrack, NULL));
347 tie(_gpsNode, "indicated-ground-speed-kt", SGRawValueMethods<GPS, double>
348 (*this, &GPS::getGroundspeedKts, NULL));
351 tie(_gpsNode, "mode", SGRawValueMethods<GPS, const char*>(*this, &GPS::getMode, NULL));
352 tie(_gpsNode, "command", SGRawValueMethods<GPS, const char*>(*this, &GPS::getCommand, &GPS::setCommand));
354 tieSGGeod(_scratchNode, _scratchPos, "longitude-deg", "latitude-deg", "altitude-ft");
355 tie(_scratchNode, "valid", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchValid, NULL));
356 tie(_scratchNode, "distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchDistance, NULL));
357 tie(_scratchNode, "true-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchTrueBearing, NULL));
358 tie(_scratchNode, "mag-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchMagBearing, NULL));
359 tie(_scratchNode, "has-next", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchHasNext, NULL));
360 _scratchValid = false;
362 // waypoint data (including various historical things)
363 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
364 SGPropertyNode *wp0_node = wp_node->getChild("wp", 0, true);
365 SGPropertyNode *wp1_node = wp_node->getChild("wp", 1, true);
367 tieSGGeodReadOnly(wp0_node, _wp0_position, "longitude-deg", "latitude-deg", "altitude-ft");
368 tie(wp0_node, "ID", SGRawValueMethods<GPS, const char*>
369 (*this, &GPS::getWP0Ident, NULL));
370 tie(wp0_node, "name", SGRawValueMethods<GPS, const char*>
371 (*this, &GPS::getWP0Name, NULL));
373 tieSGGeodReadOnly(wp1_node, _wp1_position, "longitude-deg", "latitude-deg", "altitude-ft");
374 tie(wp1_node, "ID", SGRawValueMethods<GPS, const char*>
375 (*this, &GPS::getWP1Ident, NULL));
376 tie(wp1_node, "name", SGRawValueMethods<GPS, const char*>
377 (*this, &GPS::getWP1Name, NULL));
379 tie(wp1_node, "distance-nm", SGRawValueMethods<GPS, double>
380 (*this, &GPS::getWP1Distance, NULL));
381 tie(wp1_node, "bearing-true-deg", SGRawValueMethods<GPS, double>
382 (*this, &GPS::getWP1Bearing, NULL));
383 tie(wp1_node, "bearing-mag-deg", SGRawValueMethods<GPS, double>
384 (*this, &GPS::getWP1MagBearing, NULL));
385 tie(wp1_node, "TTW-sec", SGRawValueMethods<GPS, double>
386 (*this, &GPS::getWP1TTW, NULL));
387 tie(wp1_node, "TTW", SGRawValueMethods<GPS, const char*>
388 (*this, &GPS::getWP1TTWString, NULL));
390 tie(wp1_node, "course-deviation-deg", SGRawValueMethods<GPS, double>
391 (*this, &GPS::getWP1CourseDeviation, NULL));
392 tie(wp1_node, "course-error-nm", SGRawValueMethods<GPS, double>
393 (*this, &GPS::getWP1CourseErrorNm, NULL));
394 tie(wp1_node, "to-flag", SGRawValueMethods<GPS, bool>
395 (*this, &GPS::getWP1ToFlag, NULL));
396 tie(wp1_node, "from-flag", SGRawValueMethods<GPS, bool>
397 (*this, &GPS::getWP1FromFlag, NULL));
399 // leg properties (only valid in DTO/LEG modes, not OBS)
400 tie(wp_node, "leg-distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getLegDistance, NULL));
401 tie(wp_node, "leg-true-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegCourse, NULL));
402 tie(wp_node, "leg-mag-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegMagCourse, NULL));
403 tie(wp_node, "alt-dist-ratio", SGRawValueMethods<GPS, double>(*this, &GPS::getAltDistanceRatio, NULL));
405 // navradio slaving properties
406 tie(_gpsNode, "cdi-deflection", SGRawValueMethods<GPS,double>
407 (*this, &GPS::getCDIDeflection));
413 for (unsigned int t=0; t<_tiedNodes.size(); ++t) {
414 _tiedNodes[t]->untie();
423 _last_speed_kts = 0.0;
424 _last_pos = SGGeod();
425 _lastPosValid = false;
426 _indicated_pos = SGGeod();
427 _last_vertical_speed = 0.0;
428 _last_true_track = 0.0;
429 _lastEWVelocity = _lastNSVelocity = 0.0;
431 _raim_node->setDoubleValue(0.0);
432 _indicated_pos = SGGeod();
434 _wp1TrueBearing = 0.0;
435 _wp1_position = SGGeod();
436 _odometer_node->setDoubleValue(0);
437 _trip_odometer_node->setDoubleValue(0);
438 _tracking_bug_node->setDoubleValue(0);
439 _true_bug_error_node->setDoubleValue(0);
440 _magnetic_bug_error_node->setDoubleValue(0);
441 _northSouthVelocity->setDoubleValue(0.0);
442 _eastWestVelocity->setDoubleValue(0.0);
446 GPS::update (double delta_time_sec)
448 if (!_realismSimpleGps->getBoolValue()) {
449 // If it's off, don't bother.
450 if (!_serviceable_node->getBoolValue() || !_electrical_node->getBoolValue()) {
456 if (delta_time_sec <= 0.0) {
457 return; // paused, don't bother
459 // TODO: Add noise and other errors.
462 // Bias and random error
463 double random_factor = sg_random();
464 double random_error = 1.4;
465 double error_radius = 5.1;
466 double bias_max_radius = 5.1;
467 double random_max_radius = 1.4;
469 bias_length += (random_factor-0.5) * 1.0e-3;
470 if (bias_length <= 0.0) bias_length = 0.0;
471 else if (bias_length >= bias_max_radius) bias_length = bias_max_radius;
472 bias_angle += (random_factor-0.5) * 1.0e-3;
473 if (bias_angle <= 0.0) bias_angle = 0.0;
474 else if (bias_angle >= 360.0) bias_angle = 360.0;
476 double random_length = random_factor * random_max_radius;
477 double random_angle = random_factor * 360.0;
479 double bias_x = bias_length * cos(bias_angle * SG_PI / 180.0);
480 double bias_y = bias_length * sin(bias_angle * SG_PI / 180.0);
481 double random_x = random_length * cos(random_angle * SG_PI / 180.0);
482 double random_y = random_length * sin(random_angle * SG_PI / 180.0);
483 double error_x = bias_x + random_x;
484 double error_y = bias_y + random_y;
485 double error_length = sqrt(error_x*error_x + error_y*error_y);
486 double error_angle = atan(error_y / error_x) * 180.0 / SG_PI;
491 geo_direct_wgs_84 ( altitude_m, latitude_deg,
492 longitude_deg, error_angle,
493 error_length, &lat2, &lon2,
495 //cout << lat2 << " " << lon2 << endl;
496 printf("%f %f \n", bias_length, bias_angle);
497 printf("%3.7f %3.7f \n", lat2, lon2);
498 printf("%f %f \n", error_length, error_angle);
501 _raim_node->setDoubleValue(1.0);
502 _indicated_pos = _position.get();
503 updateBasicData(delta_time_sec);
506 if (_mode != "obs") {
512 updateReferenceNavaid(delta_time_sec);
517 if (_dataValid && (_mode == "init")) {
518 // allow a realistic delay in the future, here
519 SG_LOG(SG_INSTR, SG_INFO, "GPS initialisation complete");
521 if (_route_active_node->getBoolValue()) {
522 // GPS init with active route
523 SG_LOG(SG_INSTR, SG_INFO, "GPS init with active route");
526 // initialise in OBS mode, with waypt set to the nearest airport.
527 // keep in mind at this point, _dataValid is not set
529 auto_ptr<FGPositioned::Filter> f(createFilter(FGPositioned::AIRPORT));
530 FGPositionedRef apt = FGPositioned::findClosest(_position.get(), 20.0, f.get());
532 setScratchFromPositioned(apt, 0);
536 } // of init mode check
538 _last_pos = _indicated_pos;
539 _lastPosValid = true;
543 GPS::updateBasicData(double dt)
545 if (!_lastPosValid) {
551 SGGeodesy::inverse(_last_pos, _indicated_pos, _last_true_track, track2_deg, distance_m );
553 double speed_kt = ((distance_m * SG_METER_TO_NM) * ((1 / dt) * 3600.0));
554 double vertical_speed_mpm = ((_indicated_pos.getElevationM() - _last_pos.getElevationM()) * 60 / dt);
555 _last_vertical_speed = vertical_speed_mpm * SG_METER_TO_FEET;
557 speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, dt/10.0);
558 _last_speed_kts = speed_kt;
560 SGGeod g = _indicated_pos;
561 g.setLongitudeDeg(_last_pos.getLongitudeDeg());
562 double northSouthM = SGGeodesy::distanceM(_last_pos, g);
563 northSouthM = copysign(northSouthM, _indicated_pos.getLatitudeDeg() - _last_pos.getLatitudeDeg());
565 double nsMSec = fgGetLowPass(_lastNSVelocity, northSouthM / dt, dt/2.0);
566 _lastNSVelocity = nsMSec;
567 _northSouthVelocity->setDoubleValue(nsMSec);
571 g.setLatitudeDeg(_last_pos.getLatitudeDeg());
572 double eastWestM = SGGeodesy::distanceM(_last_pos, g);
573 eastWestM = copysign(eastWestM, _indicated_pos.getLongitudeDeg() - _last_pos.getLongitudeDeg());
575 double ewMSec = fgGetLowPass(_lastEWVelocity, eastWestM / dt, dt/2.0);
576 _lastEWVelocity = ewMSec;
577 _eastWestVelocity->setDoubleValue(ewMSec);
579 double odometer = _odometer_node->getDoubleValue();
580 _odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
581 odometer = _trip_odometer_node->getDoubleValue();
582 _trip_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
585 SG_LOG(SG_INSTR, SG_INFO, "GPS setting data valid");
591 GPS::updateTrackingBug()
593 double tracking_bug = _tracking_bug_node->getDoubleValue();
594 double true_bug_error = tracking_bug - getTrueTrack();
595 double magnetic_bug_error = tracking_bug - getMagTrack();
597 // Get the errors into the (-180,180) range.
598 SG_NORMALIZE_RANGE(true_bug_error, -180.0, 180.0);
599 SG_NORMALIZE_RANGE(magnetic_bug_error, -180.0, 180.0);
601 _true_bug_error_node->setDoubleValue(true_bug_error);
602 _magnetic_bug_error_node->setDoubleValue(magnetic_bug_error);
606 GPS::updateWaypoints()
609 SGGeodesy::inverse(_indicated_pos, _wp1_position, _wp1TrueBearing, az2,_wp1DistanceM);
612 void GPS::updateReferenceNavaid(double dt)
614 if (!_ref_navaid_set) {
615 _ref_navaid_elapsed += dt;
616 if (_ref_navaid_elapsed > 5.0) {
617 _ref_navaid_elapsed = 0.0;
619 FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
620 FGPositionedRef nav = FGPositioned::findClosest(_indicated_pos, 400.0, &vorFilter);
622 SG_LOG(SG_INSTR, SG_INFO, "GPS couldn't find a reference navid");
623 _ref_navaid_id_node->setStringValue("");
624 _ref_navaid_name_node->setStringValue("");
625 _ref_navaid_bearing_node->setDoubleValue(0.0);
626 _ref_navaid_mag_bearing_node->setDoubleValue(0.0);
627 _ref_navaid_distance_node->setDoubleValue(0.0);
628 _ref_navaid_frequency_node->setStringValue("");
629 } else if (nav != _ref_navaid) {
630 SG_LOG(SG_INSTR, SG_INFO, "GPS code selected new ref-navaid:" << nav->ident());
631 _listener->setGuard(true);
632 _ref_navaid_id_node->setStringValue(nav->ident().c_str());
633 _ref_navaid_name_node->setStringValue(nav->name().c_str());
634 FGNavRecord* vor = (FGNavRecord*) nav.ptr();
635 _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
636 _listener->setGuard(false);
638 // SG_LOG(SG_INSTR, SG_ALERT, "matched existing");
646 double trueCourse, distanceM, az2;
647 SGGeodesy::inverse(_indicated_pos, _ref_navaid->geod(), trueCourse, az2, distanceM);
648 _ref_navaid_distance_node->setDoubleValue(distanceM * SG_METER_TO_NM);
649 _ref_navaid_bearing_node->setDoubleValue(trueCourse);
650 _ref_navaid_mag_bearing_node->setDoubleValue(trueCourse - _magvar_node->getDoubleValue());
654 void GPS::referenceNavaidSet(const std::string& aNavaid)
657 // allow setting an empty string to restore normal nearest-vor selection
658 if (aNavaid.size() > 0) {
659 FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
660 _ref_navaid = FGPositioned::findClosestWithIdent(aNavaid,
661 _position.get(), &vorFilter);
664 SG_LOG(SG_INSTR, SG_ALERT, "GPS: unknown ref navaid:" << aNavaid);
669 _ref_navaid_set = true;
670 SG_LOG(SG_INSTR, SG_INFO, "GPS code set explict ref-navaid:" << _ref_navaid->ident());
671 _ref_navaid_id_node->setStringValue(_ref_navaid->ident().c_str());
672 _ref_navaid_name_node->setStringValue(_ref_navaid->name().c_str());
673 FGNavRecord* vor = (FGNavRecord*) _ref_navaid.ptr();
674 _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
676 _ref_navaid_set = false;
677 _ref_navaid_elapsed = 9999.0; // update next tick
681 void GPS::routeActivated()
683 if (_route_active_node->getBoolValue()) {
684 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, switching to LEG mode");
687 // if we've already passed the current waypoint, sequence.
688 if (_dataValid && getWP1FromFlag()) {
689 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, FROM wp1, sequencing");
690 _routeMgr->sequence();
692 } else if (_mode == "leg") {
693 SG_LOG(SG_INSTR, SG_INFO, "GPS::route deactivated, switching to OBS mode");
698 void GPS::routeManagerSequenced()
700 if (_mode != "leg") {
701 SG_LOG(SG_INSTR, SG_INFO, "GPS ignoring route sequencing, not in LEG mode");
705 int index = _routeMgr->currentWaypoint(),
706 count = _routeMgr->size();
707 if ((index < 0) || (index >= count)) {
708 SG_LOG(SG_INSTR, SG_ALERT, "GPS: malformed route, index=" << index);
712 SG_LOG(SG_INSTR, SG_INFO, "GPS waypoint index is now " << index);
715 SGWayPoint wp0(_routeMgr->get_waypoint(index - 1));
716 _wp0Ident = wp0.get_id();
717 _wp0Name = wp0.get_name();
718 _wp0_position = wp0.get_target();
722 SGWayPoint wp1(_routeMgr->get_waypoint(index));
723 _wp1Ident = wp1.get_id();
724 _wp1Name = wp1.get_name();
725 _wp1_position = wp1.get_target();
727 _desiredCourse = getLegMagCourse();
728 _desiredCourseNode->fireValueChanged();
732 void GPS::routeEdited()
734 if (_mode != "leg") {
738 SG_LOG(SG_INSTR, SG_INFO, "GPS route edited while in LEG mode, updating waypoints");
739 routeManagerSequenced();
742 void GPS::routeFinished()
744 if (_mode != "leg") {
748 SG_LOG(SG_INSTR, SG_INFO, "GPS route finished, reverting to OBS");
750 _wp0_position = _indicated_pos;
754 void GPS::updateTurn()
756 bool printProgress = false;
758 if (_computeTurnData) {
759 if (_last_speed_kts < 60) {
760 // need valid leg course and sensible ground speed to compute the turn
765 printProgress = true;
768 if (!_anticipateTurn) {
774 // find bearing to turn centre
775 double bearing, az2, distanceM;
776 SGGeodesy::inverse(_indicated_pos, _turnCentre, bearing, az2, distanceM);
777 double progress = computeTurnProgress(bearing);
780 SG_LOG(SG_INSTR, SG_INFO,"turn progress=" << progress);
783 if (!_inTurn && (progress > 0.0)) {
787 if (_inTurn && !_turnSequenced && (progress > 0.5)) {
788 _turnSequenced = true;
789 SG_LOG(SG_INSTR, SG_INFO, "turn passed midpoint, sequencing");
790 _routeMgr->sequence();
793 if (_inTurn && (progress >= 1.0)) {
798 // drive deviation and desired course
799 double desiredCourse = bearing - copysign(90, _turnAngle);
800 SG_NORMALIZE_RANGE(desiredCourse, 0.0, 360.0);
801 double deviationNm = (distanceM * SG_METER_TO_NM) - _turnRadius;
802 double deviationDeg = desiredCourse - getMagTrack();
803 deviationNm = copysign(deviationNm, deviationDeg);
805 //_wp1_course_deviation_node->setDoubleValue(deviationDeg);
806 //_wp1_course_error_nm_node->setDoubleValue(deviationNm);
807 //_cdiDeflectionNode->setDoubleValue(deviationDeg);
811 void GPS::updateOverflight()
813 if ((_wp1DistanceM * SG_METER_TO_NM) > _config.overflightArmDistanceNm()) {
817 if (getWP1ToFlag()) {
818 return; // still heading towards the WP
821 if (_mode == "dto") {
822 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO reached destination point");
824 // check for wp1 being on active route - resume leg mode
825 if (_routeMgr->isRouteActive()) {
826 int index = _routeMgr->findWaypoint(_wp1_position);
828 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO, resuming LEG mode at wp:" << index);
830 _routeMgr->jumpToIndex(index);
833 } else if (_mode == "leg") {
834 SG_LOG(SG_INSTR, SG_INFO, "GPS doing overflight sequencing");
835 _routeMgr->sequence();
836 } else if (_mode == "obs") {
837 // nothing to do here, TO/FROM will update but that's fine
840 _computeTurnData = true;
843 void GPS::beginTurn()
846 _turnSequenced = false;
847 SG_LOG(SG_INSTR, SG_INFO, "begining turn");
853 SG_LOG(SG_INSTR, SG_INFO, "ending turn");
854 _computeTurnData = true;
857 double GPS::computeTurnProgress(double aBearing) const
859 double startBearing = _turnStartBearing + copysign(90, _turnAngle);
860 return (aBearing - startBearing) / _turnAngle;
863 void GPS::computeTurnData()
865 _computeTurnData = false;
866 if (_mode != "leg") { // and approach modes in the future
867 _anticipateTurn = false;
871 int curIndex = _routeMgr->currentWaypoint();
872 if ((curIndex + 1) >= _routeMgr->size()) {
873 _anticipateTurn = false;
877 if (!_config.turnAnticipationEnabled()) {
878 _anticipateTurn = false;
882 _turnStartBearing = _desiredCourse;
883 // compute next leg course
884 SGWayPoint wp1(_routeMgr->get_waypoint(curIndex)),
885 wp2(_routeMgr->get_waypoint(curIndex + 1));
887 wp2.CourseAndDistance(wp1, &crs, &dist);
890 // compute offset bearing
891 _turnAngle = crs - _turnStartBearing;
892 SG_NORMALIZE_RANGE(_turnAngle, -180.0, 180.0);
893 double median = _turnStartBearing + (_turnAngle * 0.5);
894 double offsetBearing = median + copysign(90, _turnAngle);
895 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
897 SG_LOG(SG_INSTR, SG_INFO, "GPS computeTurnData: in=" << _turnStartBearing <<
898 ", out=" << crs << "; turnAngle=" << _turnAngle << ", median=" << median
899 << ", offset=" << offsetBearing);
901 SG_LOG(SG_INSTR, SG_INFO, "next leg is now:" << wp1.get_id() << "->" << wp2.get_id());
903 _turnPt = _wp1_position;
904 _anticipateTurn = true;
907 void GPS::updateTurnData()
909 // depends on ground speed, so needs to be updated per-frame
910 _turnRadius = computeTurnRadiusNm(_last_speed_kts);
912 // compute the turn centre, based on the turn radius.
913 // key thing is to understand that we're working a right-angle triangle,
914 // where the right-angle is the point we start the turn. From that point,
915 // one side is the inbound course to the turn pt, and the other is the
916 // perpendicular line, of length 'r', to the turn centre.
917 // the triangle's hypotenuse, which we need to find, is the distance from the
918 // turn pt to the turn center (in the direction of the offset bearing)
919 // note that d - _turnRadius tell us how much we're 'cutting' the corner.
921 double halfTurnAngle = fabs(_turnAngle * 0.5) * SG_DEGREES_TO_RADIANS;
922 double d = _turnRadius / cos(halfTurnAngle);
924 // SG_LOG(SG_INSTR, SG_INFO, "turnRadius=" << _turnRadius << ", d=" << d
925 // << " (cut distance=" << d - _turnRadius << ")");
927 double median = _turnStartBearing + (_turnAngle * 0.5);
928 double offsetBearing = median + copysign(90, _turnAngle);
929 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
932 SGGeodesy::direct(_turnPt, offsetBearing, d * SG_NM_TO_METER, _turnCentre, az2);
935 double GPS::computeTurnRadiusNm(double aGroundSpeedKts) const
937 // turn time is seconds to execute a 360 turn.
938 double turnTime = 360.0 / _config.turnRateDegSec();
940 // c is ground distance covered in that time (circumference of the circle)
941 double c = turnTime * (aGroundSpeedKts / 3600.0); // convert knts to nm/sec
943 // divide by 2PI to go from circumference -> radius
944 return c / (2 * M_PI);
947 void GPS::updateRouteData()
949 double totalDistance = _wp1DistanceM * SG_METER_TO_NM;
950 // walk all waypoints from wp2 to route end, and sum
951 for (int i=_routeMgr->currentWaypoint()+1; i<_routeMgr->size(); ++i) {
952 totalDistance += _routeMgr->get_waypoint(i).get_distance();
955 _routeDistanceNm->setDoubleValue(totalDistance * SG_METER_TO_NM);
956 if (_last_speed_kts > 1.0) {
957 double TTW = ((totalDistance * SG_METER_TO_NM) / _last_speed_kts) * 3600.0;
958 _routeETE->setStringValue(makeTTWString(TTW));
962 void GPS::driveAutopilot()
964 if (!_config.driveAutopilot() || !_realismSimpleGps->getBoolValue()) {
965 _apDrivingFlag->setBoolValue(false);
969 // compatability feature - allow the route-manager / GPS to drive the
970 // generic autopilot heading hold *in leg mode only*
972 bool drive = _mode == "leg";
973 _apDrivingFlag->setBoolValue(drive);
976 // FIXME: we want to set desired track, not heading, here
977 _apTrueHeading->setDoubleValue(getWP1Bearing());
981 void GPS::wp1Changed()
983 if (!_config.driveAutopilot()) {
987 double altFt = _wp1_position.getElevationFt();
988 if (altFt > -9990.0) {
989 _apTargetAltitudeFt->setDoubleValue(altFt);
993 /////////////////////////////////////////////////////////////////////////////
994 // property getter/setters
996 void GPS::setSelectedCourse(double crs)
998 if (_selectedCourse == crs) {
1002 _selectedCourse = crs;
1003 if ((_mode == "obs") || _config.courseSelectable()) {
1004 _desiredCourse = _selectedCourse;
1005 _desiredCourseNode->fireValueChanged();
1009 double GPS::getLegDistance() const
1011 if (!_dataValid || (_mode == "obs")) {
1015 return SGGeodesy::distanceNm(_wp0_position, _wp1_position);
1018 double GPS::getLegCourse() const
1024 return SGGeodesy::courseDeg(_wp0_position, _wp1_position);
1027 double GPS::getLegMagCourse() const
1033 double m = getLegCourse() - _magvar_node->getDoubleValue();
1034 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
1038 double GPS::getAltDistanceRatio() const
1040 if (!_dataValid || (_mode == "obs")) {
1044 double dist = SGGeodesy::distanceM(_wp0_position, _wp1_position);
1045 if ( dist <= 0.0 ) {
1049 double alt_difference_m = _wp0_position.getElevationM() - _wp1_position.getElevationM();
1050 return alt_difference_m / dist;
1053 double GPS::getMagTrack() const
1059 double m = getTrueTrack() - _magvar_node->getDoubleValue();
1060 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
1064 double GPS::getCDIDeflection() const
1071 if (_config.cdiDeflectionIsAngular()) {
1072 defl = getWP1CourseDeviation();
1073 SG_CLAMP_RANGE(defl, -10.0, 10.0); // as in navradio.cxx
1075 double fullScale = _config.cdiDeflectionLinearPeg();
1076 double normError = getWP1CourseErrorNm() / fullScale;
1077 SG_CLAMP_RANGE(normError, -1.0, 1.0);
1078 defl = normError * 10.0; // re-scale to navradio limits, i.e [-10.0 .. 10.0]
1084 const char* GPS::getWP0Ident() const
1086 if (!_dataValid || (_mode != "leg")) {
1090 return _wp0Ident.c_str();
1093 const char* GPS::getWP0Name() const
1095 if (!_dataValid || (_mode != "leg")) {
1099 return _wp0Name.c_str();
1102 const char* GPS::getWP1Ident() const
1108 return _wp1Ident.c_str();
1111 const char* GPS::getWP1Name() const
1117 return _wp1Name.c_str();
1120 double GPS::getWP1Distance() const
1126 return _wp1DistanceM * SG_METER_TO_NM;
1129 double GPS::getWP1TTW() const
1135 if (_last_speed_kts < 1.0) {
1139 return (getWP1Distance() / _last_speed_kts) * 3600.0;
1142 const char* GPS::getWP1TTWString() const
1148 return makeTTWString(getWP1TTW());
1151 double GPS::getWP1Bearing() const
1157 return _wp1TrueBearing;
1160 double GPS::getWP1MagBearing() const
1166 double magBearing = _wp1TrueBearing - _magvar_node->getDoubleValue();
1167 SG_NORMALIZE_RANGE(magBearing, 0.0, 360.0);
1171 double GPS::getWP1CourseDeviation() const
1177 double dev = getWP1MagBearing() - _desiredCourse;
1178 SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
1180 if (fabs(dev) > 90.0) {
1181 // When the course is away from the waypoint,
1182 // it makes sense to change the sign of the deviation.
1184 SG_NORMALIZE_RANGE(dev, -90.0, 90.0);
1190 double GPS::getWP1CourseErrorNm() const
1196 double radDev = getWP1CourseDeviation() * SG_DEGREES_TO_RADIANS;
1197 double course_error_m = sin(radDev) * _wp1DistanceM;
1198 return course_error_m * SG_METER_TO_NM;
1201 bool GPS::getWP1ToFlag() const
1207 double dev = getWP1MagBearing() - _desiredCourse;
1208 SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
1210 return (fabs(dev) < 90.0);
1213 bool GPS::getWP1FromFlag() const
1219 return !getWP1ToFlag();
1222 double GPS::getScratchDistance() const
1224 if (!_scratchValid) {
1228 return SGGeodesy::distanceNm(_indicated_pos, _scratchPos);
1231 double GPS::getScratchTrueBearing() const
1233 if (!_scratchValid) {
1237 return SGGeodesy::courseDeg(_indicated_pos, _scratchPos);
1240 double GPS::getScratchMagBearing() const
1242 if (!_scratchValid) {
1246 double crs = getScratchTrueBearing() - _magvar_node->getDoubleValue();
1247 SG_NORMALIZE_RANGE(crs, 0.0, 360.0);
1251 /////////////////////////////////////////////////////////////////////////////
1252 // command / scratch / search system
1254 void GPS::setCommand(const char* aCmd)
1256 SG_LOG(SG_INSTR, SG_INFO, "GPS command:" << aCmd);
1258 if (!strcmp(aCmd, "direct")) {
1260 } else if (!strcmp(aCmd, "obs")) {
1262 } else if (!strcmp(aCmd, "leg")) {
1264 } else if (!strcmp(aCmd, "load-route-wpt")) {
1265 loadRouteWaypoint();
1266 } else if (!strcmp(aCmd, "nearest")) {
1268 } else if (!strcmp(aCmd, "search")) {
1269 _searchNames = false;
1271 } else if (!strcmp(aCmd, "search-names")) {
1272 _searchNames = true;
1274 } else if (!strcmp(aCmd, "next")) {
1276 } else if (!strcmp(aCmd, "previous")) {
1278 } else if (!strcmp(aCmd, "define-user-wpt")) {
1280 } else if (!strcmp(aCmd, "route-insert-before")) {
1281 int index = _scratchNode->getIntValue("index");
1282 if (index < 0 || (_routeMgr->size() == 0)) {
1283 index = _routeMgr->size();
1284 } else if (index >= _routeMgr->size()) {
1285 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-before, bad index:" << index);
1289 insertWaypointAtIndex(index);
1290 } else if (!strcmp(aCmd, "route-insert-after")) {
1291 int index = _scratchNode->getIntValue("index");
1292 if (index < 0 || (_routeMgr->size() == 0)) {
1293 index = _routeMgr->size();
1294 } else if (index >= _routeMgr->size()) {
1295 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-after, bad index:" << index);
1301 insertWaypointAtIndex(index);
1302 } else if (!strcmp(aCmd, "route-delete")) {
1303 int index = _scratchNode->getIntValue("index");
1305 index = _routeMgr->size();
1306 } else if (index >= _routeMgr->size()) {
1307 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-delete, bad index:" << index);
1311 removeWaypointAtIndex(index);
1313 SG_LOG(SG_INSTR, SG_WARN, "GPS:unrecognized command:" << aCmd);
1317 void GPS::clearScratch()
1319 _scratchPos = SGGeod::fromDegFt(-9999.0, -9999.0, -9999.0);
1320 _scratchValid = false;
1321 _scratchNode->setStringValue("type", "");
1322 _scratchNode->setStringValue("query", "");
1325 bool GPS::isScratchPositionValid() const
1327 if ((_scratchPos.getLongitudeDeg() < -9990.0) ||
1328 (_scratchPos.getLatitudeDeg() < -9990.0)) {
1335 void GPS::directTo()
1337 _wp0_position = _indicated_pos;
1339 if (isScratchPositionValid()) {
1340 _wp1Ident = _scratchNode->getStringValue("ident");
1341 _wp1Name = _scratchNode->getStringValue("name");
1342 _wp1_position = _scratchPos;
1346 _desiredCourse = getLegMagCourse();
1347 _desiredCourseNode->fireValueChanged();
1352 void GPS::loadRouteWaypoint()
1354 _scratchValid = false;
1355 // if (!_routeMgr->isRouteActive()) {
1356 // SG_LOG(SG_INSTR, SG_WARN, "GPS:loadWaypoint: no active route");
1360 int index = _scratchNode->getIntValue("index", -9999);
1363 if ((index < 0) || (index >= _routeMgr->size())) { // no index supplied, use current wp
1364 index = _routeMgr->currentWaypoint();
1367 _searchIsRoute = true;
1368 setScratchFromRouteWaypoint(index);
1371 void GPS::setScratchFromRouteWaypoint(int aIndex)
1373 assert(_searchIsRoute);
1374 if ((aIndex < 0) || (aIndex >= _routeMgr->size())) {
1375 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromRouteWaypoint: route-index out of bounds");
1379 _searchResultIndex = aIndex;
1380 SGWayPoint wp(_routeMgr->get_waypoint(aIndex));
1381 _scratchNode->setStringValue("name", wp.get_name());
1382 _scratchNode->setStringValue("ident", wp.get_id());
1383 _scratchPos = wp.get_target();
1384 _scratchValid = true;
1385 _scratchNode->setDoubleValue("course", wp.get_track());
1386 _scratchNode->setIntValue("index", aIndex);
1388 int lastResult = _routeMgr->size() - 1;
1389 _searchHasNext = (_searchResultIndex < lastResult);
1392 void GPS::loadNearest()
1394 string sty(_scratchNode->getStringValue("type"));
1395 FGPositioned::Type ty = FGPositioned::typeFromName(sty);
1396 if (ty == FGPositioned::INVALID) {
1397 SG_LOG(SG_INSTR, SG_WARN, "GPS:loadNearest: request type is invalid:" << sty);
1401 auto_ptr<FGPositioned::Filter> f(createFilter(ty));
1402 int limitCount = _scratchNode->getIntValue("max-results", 1);
1403 double cutoffDistance = _scratchNode->getDoubleValue("cutoff-nm", 400.0);
1405 SGGeod searchPos = _indicated_pos;
1406 if (isScratchPositionValid()) {
1407 searchPos = _scratchPos;
1410 clearScratch(); // clear now, regardless of whether we find a match or not
1413 FGPositioned::findClosestN(searchPos, limitCount, cutoffDistance, f.get());
1414 _searchResultsCached = true;
1415 _searchResultIndex = 0;
1416 _searchIsRoute = false;
1417 _searchHasNext = false;
1419 if (_searchResults.empty()) {
1420 SG_LOG(SG_INSTR, SG_INFO, "GPS:loadNearest: no matches at all");
1424 _searchHasNext = (_searchResults.size() > 1);
1425 setScratchFromCachedSearchResult();
1428 bool GPS::SearchFilter::pass(FGPositioned* aPos) const
1430 switch (aPos->type()) {
1431 case FGPositioned::AIRPORT:
1432 // heliport and seaport too?
1433 case FGPositioned::VOR:
1434 case FGPositioned::NDB:
1435 case FGPositioned::FIX:
1436 case FGPositioned::TACAN:
1437 case FGPositioned::WAYPOINT:
1444 FGPositioned::Type GPS::SearchFilter::minType() const
1446 return FGPositioned::AIRPORT;
1449 FGPositioned::Type GPS::SearchFilter::maxType() const
1451 return FGPositioned::WAYPOINT;
1454 FGPositioned::Filter* GPS::createFilter(FGPositioned::Type aTy)
1456 if (aTy == FGPositioned::AIRPORT) {
1457 return new FGAirport::HardSurfaceFilter(_config.minRunwayLengthFt());
1460 // if we were passed INVALID, assume it means 'all types interesting to a GPS'
1461 if (aTy == FGPositioned::INVALID) {
1462 return new SearchFilter;
1465 return new FGPositioned::TypeFilter(aTy);
1470 // parse search terms into local members, and exec the first search
1471 string sty(_scratchNode->getStringValue("type"));
1472 _searchType = FGPositioned::typeFromName(sty);
1473 _searchQuery = _scratchNode->getStringValue("query");
1474 if (_searchQuery.empty()) {
1475 SG_LOG(SG_INSTR, SG_WARN, "empty GPS search query");
1480 _searchExact = _scratchNode->getBoolValue("exact", true);
1481 _searchOrderByRange = _scratchNode->getBoolValue("order-by-distance", true);
1482 _searchResultIndex = 0;
1483 _searchIsRoute = false;
1484 _searchHasNext = false;
1486 if (_searchExact && _searchOrderByRange) {
1487 // immediate mode search, get all the results now and cache them
1488 auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
1490 _searchResults = FGPositioned::findAllWithNameSortedByRange(_searchQuery, _indicated_pos, f.get());
1492 _searchResults = FGPositioned::findAllWithIdentSortedByRange(_searchQuery, _indicated_pos, f.get());
1495 _searchResultsCached = true;
1497 if (_searchResults.empty()) {
1502 _searchHasNext = (_searchResults.size() > 1);
1503 setScratchFromCachedSearchResult();
1505 // iterative search, look up result zero
1506 _searchResultsCached = false;
1511 void GPS::performSearch()
1513 auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
1518 if (_searchOrderByRange) {
1519 r = FGPositioned::findClosestWithPartialName(_indicated_pos, _searchQuery, f.get(), _searchResultIndex, _searchHasNext);
1521 r = FGPositioned::findWithPartialName(_searchQuery, f.get(), _searchResultIndex, _searchHasNext);
1524 if (_searchOrderByRange) {
1525 r = FGPositioned::findClosestWithPartialId(_indicated_pos, _searchQuery, f.get(), _searchResultIndex, _searchHasNext);
1527 r = FGPositioned::findWithPartialId(_searchQuery, f.get(), _searchResultIndex, _searchHasNext);
1535 setScratchFromPositioned(r.get(), _searchResultIndex);
1538 void GPS::setScratchFromCachedSearchResult()
1540 assert(_searchResultsCached);
1541 int index = _searchResultIndex;
1543 if ((index < 0) || (index >= (int) _searchResults.size())) {
1544 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromCachedSearchResult: index out of bounds:" << index);
1548 setScratchFromPositioned(_searchResults[index], index);
1550 int lastResult = (int) _searchResults.size() - 1;
1551 _searchHasNext = (_searchResultIndex < lastResult);
1554 void GPS::setScratchFromPositioned(FGPositioned* aPos, int aIndex)
1559 _scratchPos = aPos->geod();
1560 _scratchNode->setStringValue("name", aPos->name());
1561 _scratchNode->setStringValue("ident", aPos->ident());
1562 _scratchNode->setStringValue("type", FGPositioned::nameForType(aPos->type()));
1565 _scratchNode->setIntValue("index", aIndex);
1568 _scratchValid = true;
1569 if (_searchResultsCached) {
1570 _scratchNode->setIntValue("result-count", _searchResults.size());
1573 switch (aPos->type()) {
1574 case FGPositioned::VOR:
1575 _scratchNode->setDoubleValue("frequency-mhz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1578 case FGPositioned::NDB:
1579 _scratchNode->setDoubleValue("frequency-khz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1582 case FGPositioned::AIRPORT:
1583 addAirportToScratch((FGAirport*)aPos);
1591 // look for being on the route and set?
1594 void GPS::addAirportToScratch(FGAirport* aAirport)
1596 for (unsigned int r=0; r<aAirport->numRunways(); ++r) {
1597 SGPropertyNode* rwyNd = _scratchNode->getChild("runways", r, true);
1598 FGRunway* rwy = aAirport->getRunwayByIndex(r);
1599 // TODO - filter out unsuitable runways in the future
1600 // based on config again
1602 rwyNd->setStringValue("id", rwy->ident().c_str());
1603 rwyNd->setIntValue("length-ft", rwy->lengthFt());
1604 rwyNd->setIntValue("width-ft", rwy->widthFt());
1605 rwyNd->setIntValue("heading-deg", rwy->headingDeg());
1606 // map surface code to a string
1607 // TODO - lighting information
1610 rwyNd->setDoubleValue("ils-frequency-mhz", rwy->ILS()->get_freq() / 100.0);
1612 } // of runways iteration
1616 void GPS::selectOBSMode()
1618 if (isScratchPositionValid()) {
1619 _wp1Ident = _scratchNode->getStringValue("ident");
1620 _wp1Name = _scratchNode->getStringValue("name");
1621 _wp1_position = _scratchPos;
1624 SG_LOG(SG_INSTR, SG_INFO, "GPS switching to OBS mode");
1626 _wp0_position = _indicated_pos;
1630 void GPS::selectLegMode()
1632 if (_mode == "leg") {
1636 if (!_routeMgr->isRouteActive()) {
1637 SG_LOG(SG_INSTR, SG_WARN, "GPS:selectLegMode: no active route");
1641 SG_LOG(SG_INSTR, SG_INFO, "GPS switching to LEG mode");
1644 // depending on the situation, this will either get over-written
1645 // in routeManagerSequenced or not; either way it does no harm to
1647 _wp0_position = _indicated_pos;
1649 // not really sequenced, but does all the work of updating wp0/1
1650 routeManagerSequenced();
1653 void GPS::nextResult()
1655 if (!_searchHasNext) {
1660 if (_searchIsRoute) {
1661 setScratchFromRouteWaypoint(++_searchResultIndex);
1662 } else if (_searchResultsCached) {
1663 ++_searchResultIndex;
1664 setScratchFromCachedSearchResult();
1666 ++_searchResultIndex;
1668 } // of iterative search case
1671 void GPS::previousResult()
1673 if (_searchResultIndex <= 0) {
1678 --_searchResultIndex;
1680 if (_searchIsRoute) {
1681 setScratchFromRouteWaypoint(_searchResultIndex);
1682 } else if (_searchResultsCached) {
1683 setScratchFromCachedSearchResult();
1689 void GPS::defineWaypoint()
1691 if (!isScratchPositionValid()) {
1692 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: invalid lat/lon");
1696 string ident = _scratchNode->getStringValue("ident");
1697 if (ident.size() < 2) {
1698 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: waypoint identifier must be at least two characters");
1702 // check for duplicate idents
1703 FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
1704 FGPositioned::List dups = FGPositioned::findAllWithIdentSortedByRange(ident, _indicated_pos, &f);
1705 if (!dups.empty()) {
1706 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: non-unique waypoint identifier, ho-hum");
1709 SG_LOG(SG_INSTR, SG_INFO, "GPS:defineWaypoint: creating waypoint:" << ident);
1710 FGPositionedRef wpt = FGPositioned::createUserWaypoint(ident, _scratchPos);
1711 _searchResultsCached = false;
1712 setScratchFromPositioned(wpt.get(), -1);
1715 void GPS::insertWaypointAtIndex(int aIndex)
1717 // note we do allow index = routeMgr->size(), that's an append
1718 if ((aIndex < 0) || (aIndex > _routeMgr->size())) {
1719 throw sg_range_exception("GPS::insertWaypointAtIndex: index out of bounds");
1722 if (!isScratchPositionValid()) {
1723 SG_LOG(SG_INSTR, SG_WARN, "GPS:insertWaypointAtIndex: invalid lat/lon");
1727 string ident = _scratchNode->getStringValue("ident");
1728 string name = _scratchNode->getStringValue("name");
1730 _routeMgr->add_waypoint(SGWayPoint(_scratchPos, ident, name), aIndex);
1733 void GPS::removeWaypointAtIndex(int aIndex)
1735 if ((aIndex < 0) || (aIndex >= _routeMgr->size())) {
1736 throw sg_range_exception("GPS::removeWaypointAtIndex: index out of bounds");
1739 _routeMgr->pop_waypoint(aIndex);
1742 void GPS::tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
1743 const char* lonStr, const char* latStr, const char* altStr)
1745 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, &SGGeod::setLongitudeDeg));
1746 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, &SGGeod::setLatitudeDeg));
1749 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, &SGGeod::setElevationFt));
1753 void GPS::tieSGGeodReadOnly(SGPropertyNode* aNode, SGGeod& aRef,
1754 const char* lonStr, const char* latStr, const char* altStr)
1756 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, NULL));
1757 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, NULL));
1760 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, NULL));