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.
15 #include "Main/fg_props.hxx"
16 #include "Main/globals.hxx" // for get_subsystem
17 #include "Main/util.hxx" // for fgLowPass
18 #include "Navaids/positioned.hxx"
19 #include "Navaids/navrecord.hxx"
20 #include "Airports/simple.hxx"
21 #include "Airports/runways.hxx"
22 #include "Autopilot/route_mgr.hxx"
24 #include <simgear/math/sg_random.h>
25 #include <simgear/sg_inlines.h>
26 #include <simgear/math/sg_geodesy.hxx>
27 #include <simgear/structure/exception.hxx>
32 ///////////////////////////////////////////////////////////////////
34 void SGGeodProperty::init(SGPropertyNode* base, const char* lonStr, const char* latStr, const char* altStr)
36 _lon = base->getChild(lonStr, 0, true);
37 _lat = base->getChild(latStr, 0, true);
39 _alt = base->getChild(altStr, 0, true);
43 void SGGeodProperty::init(const char* lonStr, const char* latStr, const char* altStr)
45 _lon = fgGetNode(lonStr, true);
46 _lat = fgGetNode(latStr, true);
48 _alt = fgGetNode(altStr, true);
52 void SGGeodProperty::clear()
54 _lon = _lat = _alt = NULL;
57 void SGGeodProperty::operator=(const SGGeod& geod)
59 _lon->setDoubleValue(geod.getLongitudeDeg());
60 _lat->setDoubleValue(geod.getLatitudeDeg());
62 _alt->setDoubleValue(geod.getElevationFt());
66 SGGeod SGGeodProperty::get() const
68 double lon = _lon->getDoubleValue(),
69 lat = _lat->getDoubleValue();
71 return SGGeod::fromDegFt(lon, lat, _alt->getDoubleValue());
73 return SGGeod::fromDeg(lon,lat);
77 static const char* makeTTWString(double TTW)
79 if ((TTW <= 0.0) || (TTW >= 356400.5)) { // 99 hours
83 unsigned int TTW_seconds = (int) (TTW + 0.5);
84 unsigned int TTW_minutes = 0;
85 unsigned int TTW_hours = 0;
86 static char TTW_str[9];
87 TTW_hours = TTW_seconds / 3600;
88 TTW_minutes = (TTW_seconds / 60) % 60;
89 TTW_seconds = TTW_seconds % 60;
90 snprintf(TTW_str, 9, "%02d:%02d:%02d",
91 TTW_hours, TTW_minutes, TTW_seconds);
95 /////////////////////////////////////////////////////////////////////////////
97 class GPSListener : public SGPropertyChangeListener
100 GPSListener(GPS *m) :
104 virtual void valueChanged (SGPropertyNode * prop)
111 if (prop == _gps->_route_current_wp_node) {
112 _gps->routeManagerSequenced();
113 } else if (prop == _gps->_route_active_node) {
114 _gps->routeActivated();
115 } else if (prop == _gps->_ref_navaid_id_node) {
116 _gps->referenceNavaidSet(prop->getStringValue(""));
117 } else if (prop == _gps->_routeEditedSignal) {
119 } else if (prop == _gps->_routeFinishedSignal) {
120 _gps->routeFinished();
126 void setGuard(bool g) {
131 bool _guard; // re-entrancy guard
134 ////////////////////////////////////////////////////////////////////////////
136 * Helper to monitor for Nasal or other code accessing properties we haven't
137 * defined. For the moment we complain about all such activites, since various
138 * users assume all kinds of weird, wonderful and non-existent interfaces.
141 class DeprecatedPropListener : public SGPropertyChangeListener
144 DeprecatedPropListener(SGPropertyNode* gps)
146 _parents.insert(gps);
147 SGPropertyNode* wp = gps->getChild("wp");
149 _parents.insert(wp->getChild("wp", 0));
150 _parents.insert(wp->getChild("wp", 1));
152 std::set<SGPropertyNode*>::iterator it;
153 for (it = _parents.begin(); it != _parents.end(); ++it) {
154 (*it)->addChangeListener(this);
158 virtual void valueChanged (SGPropertyNode * prop)
162 virtual void childAdded (SGPropertyNode * parent, SGPropertyNode * child)
164 if (isDeprecated(parent, child)) {
165 SG_LOG(SG_INSTR, SG_WARN, "GPS: someone accessed a deprecated property:"
166 << child->getPath(true));
170 bool isDeprecated(SGPropertyNode * parent, SGPropertyNode * child) const
172 if (_parents.count(parent) < 1) {
176 // no child exclusions yet
180 std::set<SGPropertyNode*> _parents;
183 ////////////////////////////////////////////////////////////////////////////
184 // configuration helper object
186 GPS::Config::Config() :
187 _enableTurnAnticipation(true),
188 _turnRate(3.0), // degrees-per-second, so 180 degree turn takes 60 seconds
189 _overflightArmDistance(0.5),
190 _waypointAlertTime(30.0),
191 _tuneRadio1ToRefVor(false),
192 _minRunwayLengthFt(0.0),
193 _requireHardSurface(true),
194 _cdiMaxDeflectionNm(-1), // default to angular mode
195 _driveAutopilot(true)
197 _enableTurnAnticipation = false;
198 _extCourseSource = fgGetNode("/instrumentation/nav[0]/radials/selected-deg", true);
201 void GPS::Config::bind(GPS* aOwner, SGPropertyNode* aCfg)
203 aOwner->tie(aCfg, "turn-rate-deg-sec", SGRawValuePointer<double>(&_turnRate));
205 aOwner->tie(aCfg, "turn-anticipation", SGRawValuePointer<bool>(&_enableTurnAnticipation));
206 aOwner->tie(aCfg, "wpt-alert-time", SGRawValuePointer<double>(&_waypointAlertTime));
207 aOwner->tie(aCfg, "tune-nav-radio-to-ref-vor", SGRawValuePointer<bool>(&_tuneRadio1ToRefVor));
208 aOwner->tie(aCfg, "min-runway-length-ft", SGRawValuePointer<double>(&_minRunwayLengthFt));
209 aOwner->tie(aCfg, "hard-surface-runways-only", SGRawValuePointer<bool>(&_requireHardSurface));
211 aOwner->tie(aCfg, "course-source", SGRawValueMethods<GPS::Config, const char*>
212 (*this, &GPS::Config::getCourseSource, &GPS::Config::setCourseSource));
214 aOwner->tie(aCfg, "cdi-max-deflection-nm", SGRawValuePointer<double>(&_cdiMaxDeflectionNm));
215 aOwner->tie(aCfg, "drive-autopilot", SGRawValuePointer<bool>(&_driveAutopilot));
219 GPS::Config::getCourseSource() const
221 if (!_extCourseSource) {
225 return _extCourseSource->getPath(true);
229 GPS::Config::setCourseSource(const char* aPath)
231 SGPropertyNode* nd = fgGetNode(aPath, false);
233 SG_LOG(SG_INSTR, SG_WARN, "couldn't find course source at:" << aPath);
234 _extCourseSource = NULL;
237 _extCourseSource = nd;
241 GPS::Config::getExternalCourse() const
243 if (!_extCourseSource) {
247 return _extCourseSource->getDoubleValue();
251 GPS::Config::setExternalCourse(double aCourseDeg)
253 if (!_extCourseSource) {
257 _extCourseSource->setDoubleValue(aCourseDeg);
260 ////////////////////////////////////////////////////////////////////////////
262 GPS::GPS ( SGPropertyNode *node) :
263 _selectedCourse(0.0),
265 _lastPosValid(false),
267 _name(node->getStringValue("name", "gps")),
268 _num(node->getIntValue("number", 0)),
269 _computeTurnData(false),
270 _anticipateTurn(false),
273 string branch = "/instrumentation/" + _name;
274 _gpsNode = fgGetNode(branch.c_str(), _num, true );
275 _scratchNode = _gpsNode->getChild("scratch", 0, true);
285 _routeMgr = (FGRouteMgr*) globals->get_subsystem("route-manager");
288 _position.init("/position/longitude-deg", "/position/latitude-deg", "/position/altitude-ft");
289 _magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
290 _serviceable_node = _gpsNode->getChild("serviceable", 0, true);
291 _serviceable_node->setBoolValue(true);
292 _electrical_node = fgGetNode("/systems/electrical/outputs/gps", true);
295 _raim_node = _gpsNode->getChild("raim", 0, true);
296 _odometer_node = _gpsNode->getChild("odometer", 0, true);
297 _trip_odometer_node = _gpsNode->getChild("trip-odometer", 0, true);
298 _true_bug_error_node = _gpsNode->getChild("true-bug-error-deg", 0, true);
299 _magnetic_bug_error_node = _gpsNode->getChild("magnetic-bug-error-deg", 0, true);
302 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
303 SGPropertyNode *wp1_node = wp_node->getChild("wp", 1, true);
305 // for compatability, alias selected course down to wp/wp[1]/desired-course-deg
306 SGPropertyNode* wp1Crs = wp1_node->getChild("desired-course-deg", 0, true);
307 wp1Crs->alias(_gpsNode->getChild("selected-course-deg"));
309 // _true_wp1_bearing_error_node =
310 // wp1_node->getChild("true-bearing-error-deg", 0, true);
311 // _magnetic_wp1_bearing_error_node =
312 // wp1_node->getChild("magnetic-bearing-error-deg", 0, true);
314 _tracking_bug_node = _gpsNode->getChild("tracking-bug", 0, true);
317 SGPropertyNode_ptr ref_navaid = _gpsNode->getChild("ref-navaid", 0, true);
318 _ref_navaid_id_node = ref_navaid->getChild("id", 0, true);
319 _ref_navaid_name_node = ref_navaid->getChild("name", 0, true);
320 _ref_navaid_bearing_node = ref_navaid->getChild("bearing-deg", 0, true);
321 _ref_navaid_frequency_node = ref_navaid->getChild("frequency-mhz", 0, true);
322 _ref_navaid_distance_node = ref_navaid->getChild("distance-nm", 0, true);
323 _ref_navaid_mag_bearing_node = ref_navaid->getChild("mag-bearing-deg", 0, true);
324 _ref_navaid_elapsed = 0.0;
325 _ref_navaid_set = false;
328 // should these move to the route manager?
329 _routeDistanceNm = _gpsNode->getChild("route-distance-nm", 0, true);
330 _routeETE = _gpsNode->getChild("ETE", 0, true);
331 _routeEditedSignal = fgGetNode("/autopilot/route-manager/signals/edited", true);
332 _routeFinishedSignal = fgGetNode("/autopilot/route-manager/signals/finished", true);
334 // add listener to various things
335 _listener = new GPSListener(this);
336 _route_current_wp_node = fgGetNode("/autopilot/route-manager/current-wp", true);
337 _route_current_wp_node->addChangeListener(_listener);
338 _route_active_node = fgGetNode("/autopilot/route-manager/active", true);
339 _route_active_node->addChangeListener(_listener);
340 _ref_navaid_id_node->addChangeListener(_listener);
341 _routeEditedSignal->addChangeListener(_listener);
342 _routeFinishedSignal->addChangeListener(_listener);
344 // navradio slaving properties
345 SGPropertyNode* toFlag = _gpsNode->getChild("to-flag", 0, true);
346 toFlag->alias(wp1_node->getChild("to-flag"));
348 SGPropertyNode* fromFlag = _gpsNode->getChild("from-flag", 0, true);
349 fromFlag->alias(wp1_node->getChild("from-flag"));
351 // autopilot drive properties
352 _apTrueHeading = fgGetNode("/autopilot/settings/true-heading-deg",true);
353 _apTargetAltitudeFt = fgGetNode("/autopilot/settings/target-altitude-ft", true);
354 _apAltitudeLock = fgGetNode("/autopilot/locks/altitude", true);
357 _realismSimpleGps = fgGetNode("/sim/realism/simple-gps", true);
358 if (!_realismSimpleGps->hasValue()) {
359 _realismSimpleGps->setBoolValue(true);
362 // last thing, add the deprecated prop watcher
363 new DeprecatedPropListener(_gpsNode);
371 _config.bind(this, _gpsNode->getChild("config", 0, true));
373 tie(_gpsNode, "selected-course-deg", SGRawValueMethods<GPS, double>
374 (*this, &GPS::getSelectedCourse, NULL));
377 tieSGGeodReadOnly(_gpsNode, _indicated_pos, "indicated-longitude-deg",
378 "indicated-latitude-deg", "indicated-altitude-ft");
380 tie(_gpsNode, "indicated-vertical-speed", SGRawValueMethods<GPS, double>
381 (*this, &GPS::getVerticalSpeed, NULL));
382 tie(_gpsNode, "indicated-track-true-deg", SGRawValueMethods<GPS, double>
383 (*this, &GPS::getTrueTrack, NULL));
384 tie(_gpsNode, "indicated-track-magnetic-deg", SGRawValueMethods<GPS, double>
385 (*this, &GPS::getMagTrack, NULL));
386 tie(_gpsNode, "indicated-ground-speed-kt", SGRawValueMethods<GPS, double>
387 (*this, &GPS::getGroundspeedKts, NULL));
390 tie(_gpsNode, "mode", SGRawValueMethods<GPS, const char*>(*this, &GPS::getMode, NULL));
391 tie(_gpsNode, "command", SGRawValueMethods<GPS, const char*>(*this, &GPS::getCommand, &GPS::setCommand));
393 tieSGGeod(_scratchNode, _scratchPos, "longitude-deg", "latitude-deg", "altitude-ft");
394 tie(_scratchNode, "valid", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchValid, NULL));
395 tie(_scratchNode, "distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchDistance, NULL));
396 tie(_scratchNode, "true-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchTrueBearing, NULL));
397 tie(_scratchNode, "mag-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchMagBearing, NULL));
398 tie(_scratchNode, "has-next", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchHasNext, NULL));
399 _scratchValid = false;
401 // waypoint data (including various historical things)
402 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
403 SGPropertyNode *wp0_node = wp_node->getChild("wp", 0, true);
404 SGPropertyNode *wp1_node = wp_node->getChild("wp", 1, true);
406 tieSGGeodReadOnly(wp0_node, _wp0_position, "longitude-deg", "latitude-deg", "altitude-ft");
407 tie(wp0_node, "ID", SGRawValueMethods<GPS, const char*>
408 (*this, &GPS::getWP0Ident, NULL));
409 tie(wp0_node, "name", SGRawValueMethods<GPS, const char*>
410 (*this, &GPS::getWP0Name, NULL));
412 tieSGGeodReadOnly(wp1_node, _wp1_position, "longitude-deg", "latitude-deg", "altitude-ft");
413 tie(wp1_node, "ID", SGRawValueMethods<GPS, const char*>
414 (*this, &GPS::getWP1Ident, NULL));
415 tie(wp1_node, "name", SGRawValueMethods<GPS, const char*>
416 (*this, &GPS::getWP1Name, NULL));
418 tie(wp1_node, "distance-nm", SGRawValueMethods<GPS, double>
419 (*this, &GPS::getWP1Distance, NULL));
420 tie(wp1_node, "bearing-true-deg", SGRawValueMethods<GPS, double>
421 (*this, &GPS::getWP1Bearing, NULL));
422 tie(wp1_node, "bearing-mag-deg", SGRawValueMethods<GPS, double>
423 (*this, &GPS::getWP1MagBearing, NULL));
424 tie(wp1_node, "TTW-sec", SGRawValueMethods<GPS, double>
425 (*this, &GPS::getWP1TTW, NULL));
426 tie(wp1_node, "TTW", SGRawValueMethods<GPS, const char*>
427 (*this, &GPS::getWP1TTWString, NULL));
429 tie(wp1_node, "course-deviation-deg", SGRawValueMethods<GPS, double>
430 (*this, &GPS::getWP1CourseDeviation, NULL));
431 tie(wp1_node, "course-error-nm", SGRawValueMethods<GPS, double>
432 (*this, &GPS::getWP1CourseErrorNm, NULL));
433 tie(wp1_node, "to-flag", SGRawValueMethods<GPS, bool>
434 (*this, &GPS::getWP1ToFlag, NULL));
435 tie(wp1_node, "from-flag", SGRawValueMethods<GPS, bool>
436 (*this, &GPS::getWP1FromFlag, NULL));
438 // leg properties (only valid in DTO/LEG modes, not OBS)
439 tie(wp_node, "leg-distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getLegDistance, NULL));
440 tie(wp_node, "leg-true-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegCourse, NULL));
441 tie(wp_node, "leg-mag-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegMagCourse, NULL));
442 tie(wp_node, "alt-dist-ratio", SGRawValueMethods<GPS, double>(*this, &GPS::getAltDistanceRatio, NULL));
444 // navradio slaving properties
445 tie(_gpsNode, "cdi-deflection", SGRawValueMethods<GPS,double>
446 (*this, &GPS::getCDIDeflection));
452 for (unsigned int t=0; t<_tiedNodes.size(); ++t) {
453 _tiedNodes[t]->untie();
462 _last_speed_kts = 0.0;
463 _last_pos = SGGeod();
464 _lastPosValid = false;
465 _indicated_pos = SGGeod();
466 _last_vertical_speed = 0.0;
467 _last_true_track = 0.0;
469 _raim_node->setDoubleValue(0.0);
470 _indicated_pos = SGGeod();
472 _wp1TrueBearing = 0.0;
473 _wp1_position = SGGeod();
474 _odometer_node->setDoubleValue(0);
475 _trip_odometer_node->setDoubleValue(0);
476 _tracking_bug_node->setDoubleValue(0);
477 _true_bug_error_node->setDoubleValue(0);
478 _magnetic_bug_error_node->setDoubleValue(0);
482 GPS::update (double delta_time_sec)
484 if (!_realismSimpleGps->getBoolValue()) {
485 // If it's off, don't bother.
486 if (!_serviceable_node->getBoolValue() || !_electrical_node->getBoolValue()) {
492 if (delta_time_sec <= 0.0) {
493 return; // paused, don't bother
495 // TODO: Add noise and other errors.
498 // Bias and random error
499 double random_factor = sg_random();
500 double random_error = 1.4;
501 double error_radius = 5.1;
502 double bias_max_radius = 5.1;
503 double random_max_radius = 1.4;
505 bias_length += (random_factor-0.5) * 1.0e-3;
506 if (bias_length <= 0.0) bias_length = 0.0;
507 else if (bias_length >= bias_max_radius) bias_length = bias_max_radius;
508 bias_angle += (random_factor-0.5) * 1.0e-3;
509 if (bias_angle <= 0.0) bias_angle = 0.0;
510 else if (bias_angle >= 360.0) bias_angle = 360.0;
512 double random_length = random_factor * random_max_radius;
513 double random_angle = random_factor * 360.0;
515 double bias_x = bias_length * cos(bias_angle * SG_PI / 180.0);
516 double bias_y = bias_length * sin(bias_angle * SG_PI / 180.0);
517 double random_x = random_length * cos(random_angle * SG_PI / 180.0);
518 double random_y = random_length * sin(random_angle * SG_PI / 180.0);
519 double error_x = bias_x + random_x;
520 double error_y = bias_y + random_y;
521 double error_length = sqrt(error_x*error_x + error_y*error_y);
522 double error_angle = atan(error_y / error_x) * 180.0 / SG_PI;
527 geo_direct_wgs_84 ( altitude_m, latitude_deg,
528 longitude_deg, error_angle,
529 error_length, &lat2, &lon2,
531 //cout << lat2 << " " << lon2 << endl;
532 printf("%f %f \n", bias_length, bias_angle);
533 printf("%3.7f %3.7f \n", lat2, lon2);
534 printf("%f %f \n", error_length, error_angle);
537 _raim_node->setDoubleValue(1.0);
538 _indicated_pos = _position.get();
539 updateBasicData(delta_time_sec);
542 if (_mode == "obs") {
543 _selectedCourse = _config.getExternalCourse();
550 updateReferenceNavaid(delta_time_sec);
555 if (_dataValid && (_mode == "init")) {
556 // allow a realistic delay in the future, here
557 SG_LOG(SG_INSTR, SG_INFO, "GPS initialisation complete");
559 _selectedCourse = _config.getExternalCourse();
561 if (_route_active_node->getBoolValue()) {
562 // GPS init with active route
563 SG_LOG(SG_INSTR, SG_INFO, "GPS init with active route");
566 // initialise in OBS mode, with waypt set to the nearest airport.
567 // keep in mind at this point, _dataValid is not set
569 auto_ptr<FGPositioned::Filter> f(createFilter(FGPositioned::AIRPORT));
570 FGPositionedRef apt = FGPositioned::findClosest(_position.get(), 20.0, f.get());
572 setScratchFromPositioned(apt, 0);
576 } // of init mode check
578 _last_pos = _indicated_pos;
579 _lastPosValid = true;
583 GPS::updateBasicData(double dt)
585 if (!_lastPosValid) {
591 SGGeodesy::inverse(_last_pos, _indicated_pos, _last_true_track, track2_deg, distance_m );
593 double speed_kt = ((distance_m * SG_METER_TO_NM) * ((1 / dt) * 3600.0));
594 double vertical_speed_mpm = ((_indicated_pos.getElevationM() - _last_pos.getElevationM()) * 60 / dt);
595 _last_vertical_speed = vertical_speed_mpm * SG_METER_TO_FEET;
597 speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, dt/20.0);
598 _last_speed_kts = speed_kt;
600 double odometer = _odometer_node->getDoubleValue();
601 _odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
602 odometer = _trip_odometer_node->getDoubleValue();
603 _trip_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
606 SG_LOG(SG_INSTR, SG_INFO, "GPS setting data valid");
612 GPS::updateTrackingBug()
614 double tracking_bug = _tracking_bug_node->getDoubleValue();
615 double true_bug_error = tracking_bug - getTrueTrack();
616 double magnetic_bug_error = tracking_bug - getMagTrack();
618 // Get the errors into the (-180,180) range.
619 SG_NORMALIZE_RANGE(true_bug_error, -180.0, 180.0);
620 SG_NORMALIZE_RANGE(magnetic_bug_error, -180.0, 180.0);
622 _true_bug_error_node->setDoubleValue(true_bug_error);
623 _magnetic_bug_error_node->setDoubleValue(magnetic_bug_error);
627 GPS::updateWaypoints()
630 SGGeodesy::inverse(_indicated_pos, _wp1_position, _wp1TrueBearing, az2,_wp1DistanceM);
633 void GPS::updateReferenceNavaid(double dt)
635 if (!_ref_navaid_set) {
636 _ref_navaid_elapsed += dt;
637 if (_ref_navaid_elapsed > 5.0) {
638 _ref_navaid_elapsed = 0.0;
640 FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
641 FGPositionedRef nav = FGPositioned::findClosest(_indicated_pos, 400.0, &vorFilter);
643 SG_LOG(SG_INSTR, SG_INFO, "GPS couldn't find a reference navid");
644 _ref_navaid_id_node->setStringValue("");
645 _ref_navaid_name_node->setStringValue("");
646 _ref_navaid_bearing_node->setDoubleValue(0.0);
647 _ref_navaid_mag_bearing_node->setDoubleValue(0.0);
648 _ref_navaid_distance_node->setDoubleValue(0.0);
649 _ref_navaid_frequency_node->setStringValue("");
650 } else if (nav != _ref_navaid) {
651 SG_LOG(SG_INSTR, SG_INFO, "GPS code selected new ref-navaid:" << nav->ident());
652 _listener->setGuard(true);
653 _ref_navaid_id_node->setStringValue(nav->ident().c_str());
654 _ref_navaid_name_node->setStringValue(nav->name().c_str());
655 FGNavRecord* vor = (FGNavRecord*) nav.ptr();
656 _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
657 _listener->setGuard(false);
660 // SG_LOG(SG_INSTR, SG_ALERT, "matched existing");
668 double trueCourse, distanceM, az2;
669 SGGeodesy::inverse(_indicated_pos, _ref_navaid->geod(), trueCourse, az2, distanceM);
670 _ref_navaid_distance_node->setDoubleValue(distanceM * SG_METER_TO_NM);
671 _ref_navaid_bearing_node->setDoubleValue(trueCourse);
672 _ref_navaid_mag_bearing_node->setDoubleValue(trueCourse - _magvar_node->getDoubleValue());
676 void GPS::referenceNavaidSet(const std::string& aNavaid)
679 // allow setting an empty string to restore normal nearest-vor selection
680 if (aNavaid.size() > 0) {
681 FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
682 _ref_navaid = FGPositioned::findClosestWithIdent(aNavaid,
683 _position.get(), &vorFilter);
686 SG_LOG(SG_INSTR, SG_ALERT, "GPS: unknown ref navaid:" << aNavaid);
691 _ref_navaid_set = true;
692 SG_LOG(SG_INSTR, SG_INFO, "GPS code set explict ref-navaid:" << _ref_navaid->ident());
693 _ref_navaid_id_node->setStringValue(_ref_navaid->ident().c_str());
694 _ref_navaid_name_node->setStringValue(_ref_navaid->name().c_str());
695 FGNavRecord* vor = (FGNavRecord*) _ref_navaid.ptr();
696 _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
699 _ref_navaid_set = false;
700 _ref_navaid_elapsed = 9999.0; // update next tick
704 void GPS::tuneNavRadios()
706 if (!_ref_navaid || !_config.tuneNavRadioToRefVor()) {
710 SGPropertyNode_ptr navRadio1 = fgGetNode("/instrumentation/nav", false);
715 FGNavRecord* vor = (FGNavRecord*) _ref_navaid.ptr();
716 SGPropertyNode_ptr freqs = navRadio1->getChild("frequencies");
717 freqs->setDoubleValue("selected-mhz", vor->get_freq() / 100.0);
720 void GPS::routeActivated()
722 if (_route_active_node->getBoolValue()) {
723 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, switching to LEG mode");
726 // if we've already passed the current waypoint, sequence.
727 if (_dataValid && getWP1FromFlag()) {
728 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, FROM wp1, sequencing");
729 _routeMgr->sequence();
731 } else if (_mode == "leg") {
732 SG_LOG(SG_INSTR, SG_INFO, "GPS::route deactivated, switching to OBS mode");
737 void GPS::routeManagerSequenced()
739 if (_mode != "leg") {
740 SG_LOG(SG_INSTR, SG_INFO, "GPS ignoring route sequencing, not in LEG mode");
744 int index = _routeMgr->currentWaypoint(),
745 count = _routeMgr->size();
746 if ((index < 0) || (index >= count)) {
747 SG_LOG(SG_INSTR, SG_ALERT, "GPS: malformed route, index=" << index);
751 SG_LOG(SG_INSTR, SG_INFO, "GPS waypoint index is now " << index);
754 SGWayPoint wp0(_routeMgr->get_waypoint(index - 1));
755 _wp0Ident = wp0.get_id();
756 _wp0Name = wp0.get_name();
757 _wp0_position = wp0.get_target();
761 SGWayPoint wp1(_routeMgr->get_waypoint(index));
762 _wp1Ident = wp1.get_id();
763 _wp1Name = wp1.get_name();
764 _wp1_position = wp1.get_target();
766 _selectedCourse = getLegMagCourse();
770 void GPS::routeEdited()
772 if (_mode != "leg") {
776 SG_LOG(SG_INSTR, SG_INFO, "GPS route edited while in LEG mode, updating waypoints");
777 routeManagerSequenced();
780 void GPS::routeFinished()
782 if (_mode != "leg") {
786 SG_LOG(SG_INSTR, SG_INFO, "GPS route finished, reverting to OBS");
788 _wp0_position = _indicated_pos;
792 void GPS::updateTurn()
794 bool printProgress = false;
796 if (_computeTurnData) {
797 if (_last_speed_kts < 60) {
798 // need valid leg course and sensible ground speed to compute the turn
803 printProgress = true;
806 if (!_anticipateTurn) {
812 // find bearing to turn centre
813 double bearing, az2, distanceM;
814 SGGeodesy::inverse(_indicated_pos, _turnCentre, bearing, az2, distanceM);
815 double progress = computeTurnProgress(bearing);
818 SG_LOG(SG_INSTR, SG_INFO,"turn progress=" << progress);
821 if (!_inTurn && (progress > 0.0)) {
825 if (_inTurn && !_turnSequenced && (progress > 0.5)) {
826 _turnSequenced = true;
827 SG_LOG(SG_INSTR, SG_INFO, "turn passed midpoint, sequencing");
828 _routeMgr->sequence();
831 if (_inTurn && (progress >= 1.0)) {
836 // drive deviation and desired course
837 double desiredCourse = bearing - copysign(90, _turnAngle);
838 SG_NORMALIZE_RANGE(desiredCourse, 0.0, 360.0);
839 double deviationNm = (distanceM * SG_METER_TO_NM) - _turnRadius;
840 double deviationDeg = desiredCourse - getMagTrack();
841 deviationNm = copysign(deviationNm, deviationDeg);
843 //_wp1_course_deviation_node->setDoubleValue(deviationDeg);
844 //_wp1_course_error_nm_node->setDoubleValue(deviationNm);
845 //_cdiDeflectionNode->setDoubleValue(deviationDeg);
849 void GPS::updateOverflight()
851 if ((_wp1DistanceM * SG_METER_TO_NM) > _config.overflightArmDistanceNm()) {
855 if (getWP1ToFlag()) {
856 return; // still heading towards the WP
859 if (_mode == "dto") {
860 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO reached destination point");
862 // check for wp1 being on active route - resume leg mode
863 if (_routeMgr->isRouteActive()) {
864 int index = _routeMgr->findWaypoint(_wp1_position);
866 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO, resuming LEG mode at wp:" << index);
868 _routeMgr->jumpToIndex(index);
871 } else if (_mode == "leg") {
872 SG_LOG(SG_INSTR, SG_INFO, "GPS doing overflight sequencing");
873 _routeMgr->sequence();
874 } else if (_mode == "obs") {
875 // nothing to do here, TO/FROM will update but that's fine
878 _computeTurnData = true;
881 void GPS::beginTurn()
884 _turnSequenced = false;
885 SG_LOG(SG_INSTR, SG_INFO, "begining turn");
891 SG_LOG(SG_INSTR, SG_INFO, "ending turn");
892 _computeTurnData = true;
895 double GPS::computeTurnProgress(double aBearing) const
897 double startBearing = _turnStartBearing + copysign(90, _turnAngle);
898 return (aBearing - startBearing) / _turnAngle;
901 void GPS::computeTurnData()
903 _computeTurnData = false;
904 if (_mode != "leg") { // and approach modes in the future
905 _anticipateTurn = false;
909 int curIndex = _routeMgr->currentWaypoint();
910 if ((curIndex + 1) >= _routeMgr->size()) {
911 _anticipateTurn = false;
915 if (!_config.turnAnticipationEnabled()) {
916 _anticipateTurn = false;
920 _turnStartBearing = _selectedCourse;
921 // compute next leg course
922 SGWayPoint wp1(_routeMgr->get_waypoint(curIndex)),
923 wp2(_routeMgr->get_waypoint(curIndex + 1));
925 wp2.CourseAndDistance(wp1, &crs, &dist);
928 // compute offset bearing
929 _turnAngle = crs - _turnStartBearing;
930 SG_NORMALIZE_RANGE(_turnAngle, -180.0, 180.0);
931 double median = _turnStartBearing + (_turnAngle * 0.5);
932 double offsetBearing = median + copysign(90, _turnAngle);
933 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
935 SG_LOG(SG_INSTR, SG_INFO, "GPS computeTurnData: in=" << _turnStartBearing <<
936 ", out=" << crs << "; turnAngle=" << _turnAngle << ", median=" << median
937 << ", offset=" << offsetBearing);
939 SG_LOG(SG_INSTR, SG_INFO, "next leg is now:" << wp1.get_id() << "->" << wp2.get_id());
941 _turnPt = _wp1_position;
942 _anticipateTurn = true;
945 void GPS::updateTurnData()
947 // depends on ground speed, so needs to be updated per-frame
948 _turnRadius = computeTurnRadiusNm(_last_speed_kts);
950 // compute the turn centre, based on the turn radius.
951 // key thing is to understand that we're working a right-angle triangle,
952 // where the right-angle is the point we start the turn. From that point,
953 // one side is the inbound course to the turn pt, and the other is the
954 // perpendicular line, of length 'r', to the turn centre.
955 // the triangle's hypotenuse, which we need to find, is the distance from the
956 // turn pt to the turn center (in the direction of the offset bearing)
957 // note that d - _turnRadius tell us how much we're 'cutting' the corner.
959 double halfTurnAngle = fabs(_turnAngle * 0.5) * SG_DEGREES_TO_RADIANS;
960 double d = _turnRadius / cos(halfTurnAngle);
962 // SG_LOG(SG_INSTR, SG_INFO, "turnRadius=" << _turnRadius << ", d=" << d
963 // << " (cut distance=" << d - _turnRadius << ")");
965 double median = _turnStartBearing + (_turnAngle * 0.5);
966 double offsetBearing = median + copysign(90, _turnAngle);
967 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
970 SGGeodesy::direct(_turnPt, offsetBearing, d * SG_NM_TO_METER, _turnCentre, az2);
973 double GPS::computeTurnRadiusNm(double aGroundSpeedKts) const
975 // turn time is seconds to execute a 360 turn.
976 double turnTime = 360.0 / _config.turnRateDegSec();
978 // c is ground distance covered in that time (circumference of the circle)
979 double c = turnTime * (aGroundSpeedKts / 3600.0); // convert knts to nm/sec
981 // divide by 2PI to go from circumference -> radius
982 return c / (2 * M_PI);
985 void GPS::updateRouteData()
987 double totalDistance = _wp1DistanceM * SG_METER_TO_NM;
988 // walk all waypoints from wp2 to route end, and sum
989 for (int i=_routeMgr->currentWaypoint()+1; i<_routeMgr->size(); ++i) {
990 totalDistance += _routeMgr->get_waypoint(i).get_distance();
993 _routeDistanceNm->setDoubleValue(totalDistance * SG_METER_TO_NM);
994 if (_last_speed_kts > 1.0) {
995 double TTW = ((totalDistance * SG_METER_TO_NM) / _last_speed_kts) * 3600.0;
996 _routeETE->setStringValue(makeTTWString(TTW));
1000 void GPS::driveAutopilot()
1002 if (!_config.driveAutopilot() || !_realismSimpleGps->getBoolValue()) {
1006 // compatability feature - allow the route-manager / GPS to drive the
1007 // generic autopilot heading hold *in leg mode only*
1008 if (_mode == "leg") {
1009 // FIXME: we want to set desired track, not heading, here
1010 _apTrueHeading->setDoubleValue(getWP1Bearing());
1014 void GPS::wp1Changed()
1016 // update external HSI/CDI/NavDisplay/PFD/etc
1017 _config.setExternalCourse(getLegMagCourse());
1019 if (!_config.driveAutopilot()) {
1023 double altFt = _wp1_position.getElevationFt();
1024 if (altFt < -9990.0) {
1025 _apTargetAltitudeFt->setDoubleValue(0.0);
1027 _apTargetAltitudeFt->setDoubleValue(altFt);
1031 /////////////////////////////////////////////////////////////////////////////
1032 // property getter/setters
1034 double GPS::getLegDistance() const
1036 if (!_dataValid || (_mode == "obs")) {
1040 return SGGeodesy::distanceNm(_wp0_position, _wp1_position);
1043 double GPS::getLegCourse() const
1049 return SGGeodesy::courseDeg(_wp0_position, _wp1_position);
1052 double GPS::getLegMagCourse() const
1058 double m = getLegCourse() - _magvar_node->getDoubleValue();
1059 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
1063 double GPS::getAltDistanceRatio() const
1065 if (!_dataValid || (_mode == "obs")) {
1069 double dist = SGGeodesy::distanceM(_wp0_position, _wp1_position);
1070 if ( dist <= 0.0 ) {
1074 double alt_difference_m = _wp0_position.getElevationM() - _wp1_position.getElevationM();
1075 return alt_difference_m / dist;
1078 double GPS::getMagTrack() const
1084 double m = getTrueTrack() - _magvar_node->getDoubleValue();
1085 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
1089 double GPS::getCDIDeflection() const
1096 if (_config.cdiDeflectionIsAngular()) {
1097 defl = getWP1CourseDeviation();
1098 SG_CLAMP_RANGE(defl, -10.0, 10.0); // as in navradio.cxx
1100 double fullScale = _config.cdiDeflectionLinearPeg();
1101 double normError = getWP1CourseErrorNm() / fullScale;
1102 SG_CLAMP_RANGE(normError, -1.0, 1.0);
1103 defl = normError * 10.0; // re-scale to navradio limits, i.e [-10.0 .. 10.0]
1109 const char* GPS::getWP0Ident() const
1111 if (!_dataValid || (_mode != "leg")) {
1115 return _wp0Ident.c_str();
1118 const char* GPS::getWP0Name() const
1120 if (!_dataValid || (_mode != "leg")) {
1124 return _wp0Name.c_str();
1127 const char* GPS::getWP1Ident() const
1133 return _wp1Ident.c_str();
1136 const char* GPS::getWP1Name() const
1142 return _wp1Name.c_str();
1145 double GPS::getWP1Distance() const
1151 return _wp1DistanceM * SG_METER_TO_NM;
1154 double GPS::getWP1TTW() const
1160 if (_last_speed_kts < 1.0) {
1164 return (getWP1Distance() / _last_speed_kts) * 3600.0;
1167 const char* GPS::getWP1TTWString() const
1173 return makeTTWString(getWP1TTW());
1176 double GPS::getWP1Bearing() const
1182 return _wp1TrueBearing;
1185 double GPS::getWP1MagBearing() const
1191 return _wp1TrueBearing - _magvar_node->getDoubleValue();
1194 double GPS::getWP1CourseDeviation() const
1200 double dev = getWP1MagBearing() - _selectedCourse;
1201 SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
1203 if (fabs(dev) > 90.0) {
1204 // When the course is away from the waypoint,
1205 // it makes sense to change the sign of the deviation.
1207 SG_NORMALIZE_RANGE(dev, -90.0, 90.0);
1213 double GPS::getWP1CourseErrorNm() const
1219 double radDev = getWP1CourseDeviation() * SG_DEGREES_TO_RADIANS;
1220 double course_error_m = sin(radDev) * _wp1DistanceM;
1221 return course_error_m * SG_METER_TO_NM;
1224 bool GPS::getWP1ToFlag() const
1230 double dev = getWP1MagBearing() - _selectedCourse;
1231 SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
1233 return (fabs(dev) < 90.0);
1236 bool GPS::getWP1FromFlag() const
1242 return !getWP1ToFlag();
1245 double GPS::getScratchDistance() const
1247 if (!_scratchValid) {
1251 return SGGeodesy::distanceNm(_indicated_pos, _scratchPos);
1254 double GPS::getScratchTrueBearing() const
1256 if (!_scratchValid) {
1260 return SGGeodesy::courseDeg(_indicated_pos, _scratchPos);
1263 double GPS::getScratchMagBearing() const
1265 if (!_scratchValid) {
1269 double crs = getScratchTrueBearing() - _magvar_node->getDoubleValue();
1270 SG_NORMALIZE_RANGE(crs, 0.0, 360.0);
1274 /////////////////////////////////////////////////////////////////////////////
1275 // command / scratch / search system
1277 void GPS::setCommand(const char* aCmd)
1279 SG_LOG(SG_INSTR, SG_INFO, "GPS command:" << aCmd);
1281 if (!strcmp(aCmd, "direct")) {
1283 } else if (!strcmp(aCmd, "obs")) {
1285 } else if (!strcmp(aCmd, "leg")) {
1287 } else if (!strcmp(aCmd, "load-route-wpt")) {
1288 loadRouteWaypoint();
1289 } else if (!strcmp(aCmd, "nearest")) {
1291 } else if (!strcmp(aCmd, "search")) {
1292 _searchNames = false;
1294 } else if (!strcmp(aCmd, "search-names")) {
1295 _searchNames = true;
1297 } else if (!strcmp(aCmd, "next")) {
1299 } else if (!strcmp(aCmd, "previous")) {
1301 } else if (!strcmp(aCmd, "define-user-wpt")) {
1303 } else if (!strcmp(aCmd, "route-insert-before")) {
1304 int index = _scratchNode->getIntValue("index");
1305 if (index < 0 || (_routeMgr->size() == 0)) {
1306 index = _routeMgr->size();
1307 } else if (index >= _routeMgr->size()) {
1308 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-before, bad index:" << index);
1312 insertWaypointAtIndex(index);
1313 } else if (!strcmp(aCmd, "route-insert-after")) {
1314 int index = _scratchNode->getIntValue("index");
1315 if (index < 0 || (_routeMgr->size() == 0)) {
1316 index = _routeMgr->size();
1317 } else if (index >= _routeMgr->size()) {
1318 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-after, bad index:" << index);
1324 insertWaypointAtIndex(index);
1325 } else if (!strcmp(aCmd, "route-delete")) {
1326 int index = _scratchNode->getIntValue("index");
1328 index = _routeMgr->size();
1329 } else if (index >= _routeMgr->size()) {
1330 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-delete, bad index:" << index);
1334 removeWaypointAtIndex(index);
1336 SG_LOG(SG_INSTR, SG_WARN, "GPS:unrecognized command:" << aCmd);
1340 void GPS::clearScratch()
1342 _scratchPos = SGGeod::fromDegFt(-9999.0, -9999.0, -9999.0);
1343 _scratchValid = false;
1344 _scratchNode->setStringValue("type", "");
1345 _scratchNode->setStringValue("query", "");
1348 bool GPS::isScratchPositionValid() const
1350 if ((_scratchPos.getLongitudeDeg() < -9990.0) ||
1351 (_scratchPos.getLatitudeDeg() < -9990.0)) {
1358 void GPS::directTo()
1360 if (!isScratchPositionValid()) {
1361 SG_LOG(SG_INSTR, SG_WARN, "invalid DTO lat/lon");
1365 _wp0_position = _indicated_pos;
1366 _wp1Ident = _scratchNode->getStringValue("ident");
1367 _wp1Name = _scratchNode->getStringValue("name");
1368 _wp1_position = _scratchPos;
1371 _selectedCourse = getLegMagCourse();
1377 void GPS::loadRouteWaypoint()
1379 _scratchValid = false;
1380 // if (!_routeMgr->isRouteActive()) {
1381 // SG_LOG(SG_INSTR, SG_WARN, "GPS:loadWaypoint: no active route");
1385 int index = _scratchNode->getIntValue("index", -9999);
1388 if ((index < 0) || (index >= _routeMgr->size())) { // no index supplied, use current wp
1389 index = _routeMgr->currentWaypoint();
1392 _searchIsRoute = true;
1393 setScratchFromRouteWaypoint(index);
1396 void GPS::setScratchFromRouteWaypoint(int aIndex)
1398 assert(_searchIsRoute);
1399 if ((aIndex < 0) || (aIndex >= _routeMgr->size())) {
1400 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromRouteWaypoint: route-index out of bounds");
1404 _searchResultIndex = aIndex;
1405 SGWayPoint wp(_routeMgr->get_waypoint(aIndex));
1406 _scratchNode->setStringValue("name", wp.get_name());
1407 _scratchNode->setStringValue("ident", wp.get_id());
1408 _scratchPos = wp.get_target();
1409 _scratchValid = true;
1410 _scratchNode->setDoubleValue("course", wp.get_track());
1411 _scratchNode->setIntValue("index", aIndex);
1413 int lastResult = _routeMgr->size() - 1;
1414 _searchHasNext = (_searchResultIndex < lastResult);
1417 void GPS::loadNearest()
1419 string sty(_scratchNode->getStringValue("type"));
1420 FGPositioned::Type ty = FGPositioned::typeFromName(sty);
1421 if (ty == FGPositioned::INVALID) {
1422 SG_LOG(SG_INSTR, SG_WARN, "GPS:loadNearest: request type is invalid:" << sty);
1426 auto_ptr<FGPositioned::Filter> f(createFilter(ty));
1427 int limitCount = _scratchNode->getIntValue("max-results", 1);
1428 double cutoffDistance = _scratchNode->getDoubleValue("cutoff-nm", 400.0);
1430 SGGeod searchPos = _indicated_pos;
1431 if (isScratchPositionValid()) {
1432 searchPos = _scratchPos;
1435 clearScratch(); // clear now, regardless of whether we find a match or not
1438 FGPositioned::findClosestN(searchPos, limitCount, cutoffDistance, f.get());
1439 _searchResultsCached = true;
1440 _searchResultIndex = 0;
1441 _searchIsRoute = false;
1442 _searchHasNext = false;
1444 if (_searchResults.empty()) {
1445 SG_LOG(SG_INSTR, SG_INFO, "GPS:loadNearest: no matches at all");
1449 _searchHasNext = (_searchResults.size() > 1);
1450 setScratchFromCachedSearchResult();
1453 bool GPS::SearchFilter::pass(FGPositioned* aPos) const
1455 switch (aPos->type()) {
1456 case FGPositioned::AIRPORT:
1457 // heliport and seaport too?
1458 case FGPositioned::VOR:
1459 case FGPositioned::NDB:
1460 case FGPositioned::FIX:
1461 case FGPositioned::TACAN:
1462 case FGPositioned::WAYPOINT:
1469 FGPositioned::Type GPS::SearchFilter::minType() const
1471 return FGPositioned::AIRPORT;
1474 FGPositioned::Type GPS::SearchFilter::maxType() const
1476 return FGPositioned::WAYPOINT;
1479 FGPositioned::Filter* GPS::createFilter(FGPositioned::Type aTy)
1481 if (aTy == FGPositioned::AIRPORT) {
1482 return new FGAirport::HardSurfaceFilter(_config.minRunwayLengthFt());
1485 // if we were passed INVALID, assume it means 'all types interesting to a GPS'
1486 if (aTy == FGPositioned::INVALID) {
1487 return new SearchFilter;
1490 return new FGPositioned::TypeFilter(aTy);
1495 // parse search terms into local members, and exec the first search
1496 string sty(_scratchNode->getStringValue("type"));
1497 _searchType = FGPositioned::typeFromName(sty);
1498 _searchQuery = _scratchNode->getStringValue("query");
1499 if (_searchQuery.empty()) {
1500 SG_LOG(SG_INSTR, SG_WARN, "empty GPS search query");
1505 _searchExact = _scratchNode->getBoolValue("exact", true);
1506 _searchOrderByRange = _scratchNode->getBoolValue("order-by-distance", true);
1507 _searchResultIndex = 0;
1508 _searchIsRoute = false;
1509 _searchHasNext = false;
1511 if (_searchExact && _searchOrderByRange) {
1512 // immediate mode search, get all the results now and cache them
1513 auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
1515 _searchResults = FGPositioned::findAllWithNameSortedByRange(_searchQuery, _indicated_pos, f.get());
1517 _searchResults = FGPositioned::findAllWithIdentSortedByRange(_searchQuery, _indicated_pos, f.get());
1520 _searchResultsCached = true;
1522 if (_searchResults.empty()) {
1527 _searchHasNext = (_searchResults.size() > 1);
1528 setScratchFromCachedSearchResult();
1530 // iterative search, look up result zero
1531 _searchResultsCached = false;
1536 void GPS::performSearch()
1538 auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
1543 if (_searchOrderByRange) {
1544 r = FGPositioned::findClosestWithPartialName(_indicated_pos, _searchQuery, f.get(), _searchResultIndex, _searchHasNext);
1546 r = FGPositioned::findWithPartialName(_searchQuery, f.get(), _searchResultIndex, _searchHasNext);
1549 if (_searchOrderByRange) {
1550 r = FGPositioned::findClosestWithPartialId(_indicated_pos, _searchQuery, f.get(), _searchResultIndex, _searchHasNext);
1552 r = FGPositioned::findWithPartialId(_searchQuery, f.get(), _searchResultIndex, _searchHasNext);
1560 setScratchFromPositioned(r.get(), _searchResultIndex);
1563 void GPS::setScratchFromCachedSearchResult()
1565 assert(_searchResultsCached);
1566 int index = _searchResultIndex;
1568 if ((index < 0) || (index >= (int) _searchResults.size())) {
1569 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromCachedSearchResult: index out of bounds:" << index);
1573 setScratchFromPositioned(_searchResults[index], index);
1575 int lastResult = (int) _searchResults.size() - 1;
1576 _searchHasNext = (_searchResultIndex < lastResult);
1579 void GPS::setScratchFromPositioned(FGPositioned* aPos, int aIndex)
1584 _scratchPos = aPos->geod();
1585 _scratchNode->setStringValue("name", aPos->name());
1586 _scratchNode->setStringValue("ident", aPos->ident());
1587 _scratchNode->setStringValue("type", FGPositioned::nameForType(aPos->type()));
1590 _scratchNode->setIntValue("index", aIndex);
1593 _scratchValid = true;
1594 if (_searchResultsCached) {
1595 _scratchNode->setIntValue("result-count", _searchResults.size());
1598 switch (aPos->type()) {
1599 case FGPositioned::VOR:
1600 _scratchNode->setDoubleValue("frequency-mhz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1603 case FGPositioned::NDB:
1604 _scratchNode->setDoubleValue("frequency-khz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1607 case FGPositioned::AIRPORT:
1608 addAirportToScratch((FGAirport*)aPos);
1616 // look for being on the route and set?
1619 void GPS::addAirportToScratch(FGAirport* aAirport)
1621 for (unsigned int r=0; r<aAirport->numRunways(); ++r) {
1622 SGPropertyNode* rwyNd = _scratchNode->getChild("runways", r, true);
1623 FGRunway* rwy = aAirport->getRunwayByIndex(r);
1624 // TODO - filter out unsuitable runways in the future
1625 // based on config again
1627 rwyNd->setStringValue("id", rwy->ident().c_str());
1628 rwyNd->setIntValue("length-ft", rwy->lengthFt());
1629 rwyNd->setIntValue("width-ft", rwy->widthFt());
1630 rwyNd->setIntValue("heading-deg", rwy->headingDeg());
1631 // map surface code to a string
1632 // TODO - lighting information
1635 rwyNd->setDoubleValue("ils-frequency-mhz", rwy->ILS()->get_freq() / 100.0);
1637 } // of runways iteration
1641 void GPS::selectOBSMode()
1643 if (!isScratchPositionValid()) {
1644 SG_LOG(SG_INSTR, SG_WARN, "invalid OBS lat/lon");
1648 SG_LOG(SG_INSTR, SG_INFO, "GPS switching to OBS mode");
1651 _wp1Ident = _scratchNode->getStringValue("ident");
1652 _wp1Name = _scratchNode->getStringValue("name");
1653 _wp1_position = _scratchPos;
1654 _wp0_position = _indicated_pos;
1658 void GPS::selectLegMode()
1660 if (_mode == "leg") {
1664 if (!_routeMgr->isRouteActive()) {
1665 SG_LOG(SG_INSTR, SG_WARN, "GPS:selectLegMode: no active route");
1669 SG_LOG(SG_INSTR, SG_INFO, "GPS switching to LEG mode");
1672 // depending on the situation, this will either get over-written
1673 // in routeManagerSequenced or not; either way it does no harm to
1675 _wp0_position = _indicated_pos;
1677 // not really sequenced, but does all the work of updating wp0/1
1678 routeManagerSequenced();
1681 void GPS::nextResult()
1683 if (!_searchHasNext) {
1688 if (_searchIsRoute) {
1689 setScratchFromRouteWaypoint(++_searchResultIndex);
1690 } else if (_searchResultsCached) {
1691 ++_searchResultIndex;
1692 setScratchFromCachedSearchResult();
1694 ++_searchResultIndex;
1696 } // of iterative search case
1699 void GPS::previousResult()
1701 if (_searchResultIndex <= 0) {
1706 --_searchResultIndex;
1708 if (_searchIsRoute) {
1709 setScratchFromRouteWaypoint(_searchResultIndex);
1710 } else if (_searchResultsCached) {
1711 setScratchFromCachedSearchResult();
1717 void GPS::defineWaypoint()
1719 if (!isScratchPositionValid()) {
1720 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: invalid lat/lon");
1724 string ident = _scratchNode->getStringValue("ident");
1725 if (ident.size() < 2) {
1726 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: waypoint identifier must be at least two characters");
1730 // check for duplicate idents
1731 FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
1732 FGPositioned::List dups = FGPositioned::findAllWithIdentSortedByRange(ident, _indicated_pos, &f);
1733 if (!dups.empty()) {
1734 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: non-unique waypoint identifier, ho-hum");
1737 SG_LOG(SG_INSTR, SG_INFO, "GPS:defineWaypoint: creating waypoint:" << ident);
1738 FGPositionedRef wpt = FGPositioned::createUserWaypoint(ident, _scratchPos);
1739 _searchResultsCached = false;
1740 setScratchFromPositioned(wpt.get(), -1);
1743 void GPS::insertWaypointAtIndex(int aIndex)
1745 // note we do allow index = routeMgr->size(), that's an append
1746 if ((aIndex < 0) || (aIndex > _routeMgr->size())) {
1747 throw sg_range_exception("GPS::insertWaypointAtIndex: index out of bounds");
1750 if (!isScratchPositionValid()) {
1751 SG_LOG(SG_INSTR, SG_WARN, "GPS:insertWaypointAtIndex: invalid lat/lon");
1755 string ident = _scratchNode->getStringValue("ident");
1756 string name = _scratchNode->getStringValue("name");
1758 _routeMgr->add_waypoint(SGWayPoint(_scratchPos, ident, name), aIndex);
1761 void GPS::removeWaypointAtIndex(int aIndex)
1763 if ((aIndex < 0) || (aIndex >= _routeMgr->size())) {
1764 throw sg_range_exception("GPS::removeWaypointAtIndex: index out of bounds");
1767 _routeMgr->pop_waypoint(aIndex);
1770 void GPS::tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
1771 const char* lonStr, const char* latStr, const char* altStr)
1773 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, &SGGeod::setLongitudeDeg));
1774 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, &SGGeod::setLatitudeDeg));
1777 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, &SGGeod::setElevationFt));
1781 void GPS::tieSGGeodReadOnly(SGPropertyNode* aNode, SGGeod& aRef,
1782 const char* lonStr, const char* latStr, const char* altStr)
1784 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, NULL));
1785 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, NULL));
1788 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, NULL));