1 // gps.cxx - distance-measuring equipment.
2 // Written by David Megginson, started 2003.
4 // This file is in the Public Domain and comes with no warranty.
12 #include <boost/tuple/tuple.hpp>
18 #include "Main/fg_props.hxx"
19 #include "Main/globals.hxx" // for get_subsystem
20 #include "Main/util.hxx" // for fgLowPass
21 #include "Navaids/positioned.hxx"
22 #include <Navaids/waypoint.hxx>
23 #include "Navaids/navrecord.hxx"
24 #include "Airports/simple.hxx"
25 #include "Airports/runways.hxx"
26 #include "Autopilot/route_mgr.hxx"
28 #include <simgear/math/sg_random.h>
29 #include <simgear/sg_inlines.h>
30 #include <simgear/math/sg_geodesy.hxx>
31 #include <simgear/structure/exception.hxx>
32 #include <simgear/scene/util/OsgMath.hxx>
36 using namespace flightgear;
38 ///////////////////////////////////////////////////////////////////
40 void SGGeodProperty::init(SGPropertyNode* base, const char* lonStr, const char* latStr, const char* altStr)
42 _lon = base->getChild(lonStr, 0, true);
43 _lat = base->getChild(latStr, 0, true);
45 _alt = base->getChild(altStr, 0, true);
49 void SGGeodProperty::init(const char* lonStr, const char* latStr, const char* altStr)
51 _lon = fgGetNode(lonStr, true);
52 _lat = fgGetNode(latStr, true);
54 _alt = fgGetNode(altStr, true);
58 void SGGeodProperty::clear()
60 _lon = _lat = _alt = NULL;
63 void SGGeodProperty::operator=(const SGGeod& geod)
65 _lon->setDoubleValue(geod.getLongitudeDeg());
66 _lat->setDoubleValue(geod.getLatitudeDeg());
68 _alt->setDoubleValue(geod.getElevationFt());
72 SGGeod SGGeodProperty::get() const
74 double lon = _lon->getDoubleValue(),
75 lat = _lat->getDoubleValue();
77 if (osg::isNaN(lon) || osg::isNaN(lat)) {
78 SG_LOG(SG_INSTR, SG_WARN, "read NaN for lon/lat:" << _lon->getPath()
79 << ", " << _lat->getPath());
84 return SGGeod::fromDegFt(lon, lat, _alt->getDoubleValue());
86 return SGGeod::fromDeg(lon,lat);
90 static const char* makeTTWString(double TTW)
92 if ((TTW <= 0.0) || (TTW >= 356400.5)) { // 99 hours
96 unsigned int TTW_seconds = (int) (TTW + 0.5);
97 unsigned int TTW_minutes = 0;
98 unsigned int TTW_hours = 0;
99 static char TTW_str[9];
100 TTW_hours = TTW_seconds / 3600;
101 TTW_minutes = (TTW_seconds / 60) % 60;
102 TTW_seconds = TTW_seconds % 60;
103 snprintf(TTW_str, 9, "%02d:%02d:%02d",
104 TTW_hours, TTW_minutes, TTW_seconds);
108 /////////////////////////////////////////////////////////////////////////////
110 class GPSListener : public SGPropertyChangeListener
113 GPSListener(GPS *m) :
117 virtual void valueChanged (SGPropertyNode * prop)
124 if (prop == _gps->_route_current_wp_node) {
125 _gps->routeManagerSequenced();
126 } else if (prop == _gps->_route_active_node) {
127 _gps->routeActivated();
128 } else if (prop == _gps->_ref_navaid_id_node) {
129 _gps->referenceNavaidSet(prop->getStringValue(""));
130 } else if (prop == _gps->_routeEditedSignal) {
132 } else if (prop == _gps->_routeFinishedSignal) {
133 _gps->routeFinished();
139 void setGuard(bool g) {
144 bool _guard; // re-entrancy guard
147 ////////////////////////////////////////////////////////////////////////////
149 * Helper to monitor for Nasal or other code accessing properties we haven't
150 * defined. For the moment we complain about all such activites, since various
151 * users assume all kinds of weird, wonderful and non-existent interfaces.
154 class DeprecatedPropListener : public SGPropertyChangeListener
157 DeprecatedPropListener(SGPropertyNode* gps)
159 _parents.insert(gps);
160 SGPropertyNode* wp = gps->getChild("wp", 0, true);
162 _parents.insert(wp->getChild("wp", 0, true));
163 _parents.insert(wp->getChild("wp", 1, true));
165 std::set<SGPropertyNode*>::iterator it;
166 for (it = _parents.begin(); it != _parents.end(); ++it) {
167 (*it)->addChangeListener(this);
171 virtual void valueChanged (SGPropertyNode * prop)
175 virtual void childAdded (SGPropertyNode * parent, SGPropertyNode * child)
177 if (isDeprecated(parent, child)) {
178 SG_LOG(SG_INSTR, SG_WARN, "GPS: someone accessed a deprecated property:"
179 << child->getPath(true));
183 bool isDeprecated(SGPropertyNode * parent, SGPropertyNode * child) const
185 if (_parents.count(parent) < 1) {
189 // no child exclusions yet
193 std::set<SGPropertyNode*> _parents;
196 ////////////////////////////////////////////////////////////////////////////
197 // configuration helper object
199 GPS::Config::Config() :
200 _enableTurnAnticipation(true),
201 _turnRate(3.0), // degrees-per-second, so 180 degree turn takes 60 seconds
202 _overflightArmDistance(1.0),
203 _waypointAlertTime(30.0),
204 _minRunwayLengthFt(0.0),
205 _requireHardSurface(true),
206 _cdiMaxDeflectionNm(3.0), // linear mode, 3nm at the peg
207 _driveAutopilot(true),
208 _courseSelectable(false)
210 _enableTurnAnticipation = false;
213 void GPS::Config::bind(GPS* aOwner, SGPropertyNode* aCfg)
215 aOwner->tie(aCfg, "turn-rate-deg-sec", SGRawValuePointer<double>(&_turnRate));
216 aOwner->tie(aCfg, "turn-anticipation", SGRawValuePointer<bool>(&_enableTurnAnticipation));
217 aOwner->tie(aCfg, "wpt-alert-time", SGRawValuePointer<double>(&_waypointAlertTime));
218 aOwner->tie(aCfg, "min-runway-length-ft", SGRawValuePointer<double>(&_minRunwayLengthFt));
219 aOwner->tie(aCfg, "hard-surface-runways-only", SGRawValuePointer<bool>(&_requireHardSurface));
220 aOwner->tie(aCfg, "cdi-max-deflection-nm", SGRawValuePointer<double>(&_cdiMaxDeflectionNm));
221 aOwner->tie(aCfg, "drive-autopilot", SGRawValuePointer<bool>(&_driveAutopilot));
222 aOwner->tie(aCfg, "course-selectable", SGRawValuePointer<bool>(&_courseSelectable));
225 ////////////////////////////////////////////////////////////////////////////
227 GPS::GPS ( SGPropertyNode *node) :
228 _selectedCourse(0.0),
231 _lastPosValid(false),
233 _name(node->getStringValue("name", "gps")),
234 _num(node->getIntValue("number", 0)),
235 _computeTurnData(false),
236 _anticipateTurn(false),
239 string branch = "/instrumentation/" + _name;
240 _gpsNode = fgGetNode(branch.c_str(), _num, true );
241 _scratchNode = _gpsNode->getChild("scratch", 0, true);
243 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
244 _currentWayptNode = wp_node->getChild("wp", 1, true);
254 _routeMgr = (FGRouteMgr*) globals->get_subsystem("route-manager");
257 _position.init("/position/longitude-deg", "/position/latitude-deg", "/position/altitude-ft");
258 _magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
259 _serviceable_node = _gpsNode->getChild("serviceable", 0, true);
260 _serviceable_node->setBoolValue(true);
261 _electrical_node = fgGetNode("/systems/electrical/outputs/gps", true);
264 _raim_node = _gpsNode->getChild("raim", 0, true);
265 _odometer_node = _gpsNode->getChild("odometer", 0, true);
266 _trip_odometer_node = _gpsNode->getChild("trip-odometer", 0, true);
267 _true_bug_error_node = _gpsNode->getChild("true-bug-error-deg", 0, true);
268 _magnetic_bug_error_node = _gpsNode->getChild("magnetic-bug-error-deg", 0, true);
269 _eastWestVelocity = _gpsNode->getChild("ew-velocity-msec", 0, true);
270 _northSouthVelocity = _gpsNode->getChild("ns-velocity-msec", 0, true);
273 // for compatability, alias selected course down to wp/wp[1]/desired-course-deg
274 SGPropertyNode* wp1Crs = _currentWayptNode->getChild("desired-course-deg", 0, true);
275 wp1Crs->alias(_gpsNode->getChild("desired-course-deg", 0, true));
277 _tracking_bug_node = _gpsNode->getChild("tracking-bug", 0, true);
280 SGPropertyNode_ptr ref_navaid = _gpsNode->getChild("ref-navaid", 0, true);
281 _ref_navaid_id_node = ref_navaid->getChild("id", 0, true);
282 _ref_navaid_name_node = ref_navaid->getChild("name", 0, true);
283 _ref_navaid_bearing_node = ref_navaid->getChild("bearing-deg", 0, true);
284 _ref_navaid_frequency_node = ref_navaid->getChild("frequency-mhz", 0, true);
285 _ref_navaid_distance_node = ref_navaid->getChild("distance-nm", 0, true);
286 _ref_navaid_mag_bearing_node = ref_navaid->getChild("mag-bearing-deg", 0, true);
287 _ref_navaid_elapsed = 0.0;
288 _ref_navaid_set = false;
291 // should these move to the route manager?
292 _routeDistanceNm = _gpsNode->getChild("route-distance-nm", 0, true);
293 _routeETE = _gpsNode->getChild("ETE", 0, true);
294 _routeEditedSignal = fgGetNode("/autopilot/route-manager/signals/edited", true);
295 _routeFinishedSignal = fgGetNode("/autopilot/route-manager/signals/finished", true);
297 // add listener to various things
298 _listener = new GPSListener(this);
299 _route_current_wp_node = fgGetNode("/autopilot/route-manager/current-wp", true);
300 _route_current_wp_node->addChangeListener(_listener);
301 _route_active_node = fgGetNode("/autopilot/route-manager/active", true);
302 _route_active_node->addChangeListener(_listener);
303 _ref_navaid_id_node->addChangeListener(_listener);
304 _routeEditedSignal->addChangeListener(_listener);
305 _routeFinishedSignal->addChangeListener(_listener);
307 // navradio slaving properties
308 SGPropertyNode* toFlag = _gpsNode->getChild("to-flag", 0, true);
309 toFlag->alias(_currentWayptNode->getChild("to-flag"));
311 SGPropertyNode* fromFlag = _gpsNode->getChild("from-flag", 0, true);
312 fromFlag->alias(_currentWayptNode->getChild("from-flag"));
314 // autopilot drive properties
315 _apDrivingFlag = fgGetNode("/autopilot/settings/gps-driving-true-heading", true);
316 _apTrueHeading = fgGetNode("/autopilot/settings/true-heading-deg",true);
317 _apTargetAltitudeFt = fgGetNode("/autopilot/settings/target-altitude-ft", true);
318 _apAltitudeLock = fgGetNode("/autopilot/locks/altitude", true);
321 _realismSimpleGps = fgGetNode("/sim/realism/simple-gps", true);
322 if (!_realismSimpleGps->hasValue()) {
323 _realismSimpleGps->setBoolValue(true);
326 // last thing, add the deprecated prop watcher
327 new DeprecatedPropListener(_gpsNode);
335 _config.bind(this, _gpsNode->getChild("config", 0, true));
337 tie(_gpsNode, "selected-course-deg", SGRawValueMethods<GPS, double>
338 (*this, &GPS::getSelectedCourse, &GPS::setSelectedCourse));
340 tie(_gpsNode, "desired-course-deg", SGRawValueMethods<GPS, double>
341 (*this, &GPS::getDesiredCourse, NULL));
342 _desiredCourseNode = _gpsNode->getChild("desired-course-deg", 0, true);
344 tieSGGeodReadOnly(_gpsNode, _indicated_pos, "indicated-longitude-deg",
345 "indicated-latitude-deg", "indicated-altitude-ft");
347 tie(_gpsNode, "indicated-vertical-speed", SGRawValueMethods<GPS, double>
348 (*this, &GPS::getVerticalSpeed, NULL));
349 tie(_gpsNode, "indicated-track-true-deg", SGRawValueMethods<GPS, double>
350 (*this, &GPS::getTrueTrack, NULL));
351 tie(_gpsNode, "indicated-track-magnetic-deg", SGRawValueMethods<GPS, double>
352 (*this, &GPS::getMagTrack, NULL));
353 tie(_gpsNode, "indicated-ground-speed-kt", SGRawValueMethods<GPS, double>
354 (*this, &GPS::getGroundspeedKts, NULL));
357 tie(_gpsNode, "mode", SGRawValueMethods<GPS, const char*>(*this, &GPS::getMode, NULL));
358 tie(_gpsNode, "command", SGRawValueMethods<GPS, const char*>(*this, &GPS::getCommand, &GPS::setCommand));
360 tieSGGeod(_scratchNode, _scratchPos, "longitude-deg", "latitude-deg", "altitude-ft");
361 tie(_scratchNode, "valid", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchValid, NULL));
362 tie(_scratchNode, "distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchDistance, NULL));
363 tie(_scratchNode, "true-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchTrueBearing, NULL));
364 tie(_scratchNode, "mag-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchMagBearing, NULL));
365 tie(_scratchNode, "has-next", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchHasNext, NULL));
366 _scratchValid = false;
369 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
370 SGPropertyNode* wp0_node = wp_node->getChild("wp", 0, true);
372 tieSGGeodReadOnly(wp0_node, _wp0_position, "longitude-deg", "latitude-deg", "altitude-ft");
373 tie(_currentWayptNode, "ID", SGRawValueMethods<GPS, const char*>
374 (*this, &GPS::getWP1Ident, NULL));
376 tie(_currentWayptNode, "distance-nm", SGRawValueMethods<GPS, double>
377 (*this, &GPS::getWP1Distance, NULL));
378 tie(_currentWayptNode, "bearing-true-deg", SGRawValueMethods<GPS, double>
379 (*this, &GPS::getWP1Bearing, NULL));
380 tie(_currentWayptNode, "bearing-mag-deg", SGRawValueMethods<GPS, double>
381 (*this, &GPS::getWP1MagBearing, NULL));
382 tie(_currentWayptNode, "TTW-sec", SGRawValueMethods<GPS, double>
383 (*this, &GPS::getWP1TTW, NULL));
384 tie(_currentWayptNode, "TTW", SGRawValueMethods<GPS, const char*>
385 (*this, &GPS::getWP1TTWString, NULL));
387 tie(_currentWayptNode, "course-deviation-deg", SGRawValueMethods<GPS, double>
388 (*this, &GPS::getWP1CourseDeviation, NULL));
389 tie(_currentWayptNode, "course-error-nm", SGRawValueMethods<GPS, double>
390 (*this, &GPS::getWP1CourseErrorNm, NULL));
391 tie(_currentWayptNode, "to-flag", SGRawValueMethods<GPS, bool>
392 (*this, &GPS::getWP1ToFlag, NULL));
393 tie(_currentWayptNode, "from-flag", SGRawValueMethods<GPS, bool>
394 (*this, &GPS::getWP1FromFlag, NULL));
396 // leg properties (only valid in DTO/LEG modes, not OBS)
397 tie(wp_node, "leg-distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getLegDistance, NULL));
398 tie(wp_node, "leg-true-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegCourse, NULL));
399 tie(wp_node, "leg-mag-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegMagCourse, NULL));
401 // navradio slaving properties
402 tie(_gpsNode, "cdi-deflection", SGRawValueMethods<GPS,double>
403 (*this, &GPS::getCDIDeflection));
409 for (unsigned int t=0; t<_tiedNodes.size(); ++t) {
410 _tiedNodes[t]->untie();
419 _last_speed_kts = 0.0;
420 _last_pos = SGGeod();
421 _lastPosValid = false;
422 _indicated_pos = SGGeod();
423 _last_vertical_speed = 0.0;
424 _last_true_track = 0.0;
425 _lastEWVelocity = _lastNSVelocity = 0.0;
426 _currentWaypt = _prevWaypt = NULL;
427 _legDistanceNm = -1.0;
429 _raim_node->setDoubleValue(0.0);
430 _indicated_pos = SGGeod();
431 _odometer_node->setDoubleValue(0);
432 _trip_odometer_node->setDoubleValue(0);
433 _tracking_bug_node->setDoubleValue(0);
434 _true_bug_error_node->setDoubleValue(0);
435 _magnetic_bug_error_node->setDoubleValue(0);
436 _northSouthVelocity->setDoubleValue(0.0);
437 _eastWestVelocity->setDoubleValue(0.0);
441 GPS::update (double delta_time_sec)
443 if (!_realismSimpleGps->getBoolValue()) {
444 // If it's off, don't bother.
445 if (!_serviceable_node->getBoolValue() || !_electrical_node->getBoolValue()) {
451 if (delta_time_sec <= 0.0) {
452 return; // paused, don't bother
455 _raim_node->setDoubleValue(1.0);
456 _indicated_pos = _position.get();
457 updateBasicData(delta_time_sec);
460 if (_wayptController.get()) {
461 _wayptController->update();
462 SGGeod p(_wayptController->position());
463 _currentWayptNode->setDoubleValue("longitude-deg", p.getLongitudeDeg());
464 _currentWayptNode->setDoubleValue("latitude-deg", p.getLatitudeDeg());
465 _currentWayptNode->setDoubleValue("altitude-ft", p.getElevationFt());
467 _desiredCourse = getLegMagCourse();
475 updateReferenceNavaid(delta_time_sec);
479 if (_dataValid && (_mode == "init")) {
480 // allow a realistic delay in the future, here
481 SG_LOG(SG_INSTR, SG_INFO, "GPS initialisation complete");
483 if (_route_active_node->getBoolValue()) {
484 // GPS init with active route
485 SG_LOG(SG_INSTR, SG_INFO, "GPS init with active route");
488 // initialise in OBS mode, with waypt set to the nearest airport.
489 // keep in mind at this point, _dataValid is not set
491 auto_ptr<FGPositioned::Filter> f(createFilter(FGPositioned::AIRPORT));
492 FGPositionedRef apt = FGPositioned::findClosest(_position.get(), 20.0, f.get());
494 setScratchFromPositioned(apt, 0);
498 } // of init mode check
500 _last_pos = _indicated_pos;
501 _lastPosValid = !(_last_pos == SGGeod());
504 ///////////////////////////////////////////////////////////////////////////
505 // implement the RNAV interface
506 SGGeod GPS::position()
512 return _indicated_pos;
515 double GPS::trackDeg()
517 return _last_true_track;
520 double GPS::groundSpeedKts()
522 return _last_speed_kts;
525 double GPS::vspeedFPM()
527 return _last_vertical_speed;
530 double GPS::magvarDeg()
532 return _magvar_node->getDoubleValue();
535 double GPS::overflightArmDistanceM()
537 return _config.overflightArmDistanceNm() * SG_NM_TO_METER;
540 double GPS::selectedMagCourse()
542 return _selectedCourse;
545 ///////////////////////////////////////////////////////////////////////////
548 GPS::updateBasicData(double dt)
550 if (!_lastPosValid) {
556 SGGeodesy::inverse(_last_pos, _indicated_pos, _last_true_track, track2_deg, distance_m );
558 double speed_kt = ((distance_m * SG_METER_TO_NM) * ((1 / dt) * 3600.0));
559 double vertical_speed_mpm = ((_indicated_pos.getElevationM() - _last_pos.getElevationM()) * 60 / dt);
560 _last_vertical_speed = vertical_speed_mpm * SG_METER_TO_FEET;
562 speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, dt/10.0);
563 _last_speed_kts = speed_kt;
565 SGGeod g = _indicated_pos;
566 g.setLongitudeDeg(_last_pos.getLongitudeDeg());
567 double northSouthM = SGGeodesy::distanceM(_last_pos, g);
568 northSouthM = copysign(northSouthM, _indicated_pos.getLatitudeDeg() - _last_pos.getLatitudeDeg());
570 double nsMSec = fgGetLowPass(_lastNSVelocity, northSouthM / dt, dt/2.0);
571 _lastNSVelocity = nsMSec;
572 _northSouthVelocity->setDoubleValue(nsMSec);
576 g.setLatitudeDeg(_last_pos.getLatitudeDeg());
577 double eastWestM = SGGeodesy::distanceM(_last_pos, g);
578 eastWestM = copysign(eastWestM, _indicated_pos.getLongitudeDeg() - _last_pos.getLongitudeDeg());
580 double ewMSec = fgGetLowPass(_lastEWVelocity, eastWestM / dt, dt/2.0);
581 _lastEWVelocity = ewMSec;
582 _eastWestVelocity->setDoubleValue(ewMSec);
584 double odometer = _odometer_node->getDoubleValue();
585 _odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
586 odometer = _trip_odometer_node->getDoubleValue();
587 _trip_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
590 SG_LOG(SG_INSTR, SG_INFO, "GPS setting data valid");
596 GPS::updateTrackingBug()
598 double tracking_bug = _tracking_bug_node->getDoubleValue();
599 double true_bug_error = tracking_bug - getTrueTrack();
600 double magnetic_bug_error = tracking_bug - getMagTrack();
602 // Get the errors into the (-180,180) range.
603 SG_NORMALIZE_RANGE(true_bug_error, -180.0, 180.0);
604 SG_NORMALIZE_RANGE(magnetic_bug_error, -180.0, 180.0);
606 _true_bug_error_node->setDoubleValue(true_bug_error);
607 _magnetic_bug_error_node->setDoubleValue(magnetic_bug_error);
610 void GPS::updateReferenceNavaid(double dt)
612 if (!_ref_navaid_set) {
613 _ref_navaid_elapsed += dt;
614 if (_ref_navaid_elapsed > 5.0) {
616 FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
617 FGPositionedRef nav = FGPositioned::findClosest(_indicated_pos, 400.0, &vorFilter);
619 SG_LOG(SG_INSTR, SG_INFO, "GPS couldn't find a reference navaid");
620 _ref_navaid_id_node->setStringValue("");
621 _ref_navaid_name_node->setStringValue("");
622 _ref_navaid_bearing_node->setDoubleValue(0.0);
623 _ref_navaid_mag_bearing_node->setDoubleValue(0.0);
624 _ref_navaid_distance_node->setDoubleValue(0.0);
625 _ref_navaid_frequency_node->setStringValue("");
626 } else if (nav != _ref_navaid) {
627 SG_LOG(SG_INSTR, SG_INFO, "GPS code selected new ref-navaid:" << nav->ident());
628 _listener->setGuard(true);
629 _ref_navaid_id_node->setStringValue(nav->ident().c_str());
630 _ref_navaid_name_node->setStringValue(nav->name().c_str());
631 FGNavRecord* vor = (FGNavRecord*) nav.ptr();
632 _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
633 _listener->setGuard(false);
635 // SG_LOG(SG_INSTR, SG_ALERT, "matched existing");
639 // reset elapsed time (do not do that before updating the properties above, since their
640 // listeners may request another update (_ref_navaid_elapsed = 9999), which results in
641 // excessive load (FGPositioned::findClosest called in every update loop...)
642 _ref_navaid_elapsed = 0.0;
647 double trueCourse, distanceM, az2;
648 SGGeodesy::inverse(_indicated_pos, _ref_navaid->geod(), trueCourse, az2, distanceM);
649 _ref_navaid_distance_node->setDoubleValue(distanceM * SG_METER_TO_NM);
650 _ref_navaid_bearing_node->setDoubleValue(trueCourse);
651 _ref_navaid_mag_bearing_node->setDoubleValue(trueCourse - _magvar_node->getDoubleValue());
655 void GPS::referenceNavaidSet(const std::string& aNavaid)
658 // allow setting an empty string to restore normal nearest-vor selection
659 if (aNavaid.size() > 0) {
660 FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
661 _ref_navaid = FGPositioned::findClosestWithIdent(aNavaid,
662 _position.get(), &vorFilter);
665 SG_LOG(SG_INSTR, SG_ALERT, "GPS: unknown ref navaid:" << aNavaid);
670 _ref_navaid_set = true;
671 SG_LOG(SG_INSTR, SG_INFO, "GPS code set explict ref-navaid:" << _ref_navaid->ident());
672 _ref_navaid_id_node->setStringValue(_ref_navaid->ident().c_str());
673 _ref_navaid_name_node->setStringValue(_ref_navaid->name().c_str());
674 FGNavRecord* vor = (FGNavRecord*) _ref_navaid.ptr();
675 _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
677 _ref_navaid_set = false;
678 _ref_navaid_elapsed = 9999.0; // update next tick
682 void GPS::routeActivated()
684 if (_route_active_node->getBoolValue()) {
685 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, switching to LEG mode");
688 // if we've already passed the current waypoint, sequence.
689 if (_dataValid && getWP1FromFlag()) {
690 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, FROM wp1, sequencing");
691 _routeMgr->sequence();
693 } else if (_mode == "leg") {
694 SG_LOG(SG_INSTR, SG_INFO, "GPS::route deactivated, switching to OBS mode");
695 // select OBS mode, but keep current waypoint-as is
701 void GPS::routeManagerSequenced()
703 if (_mode != "leg") {
704 SG_LOG(SG_INSTR, SG_INFO, "GPS ignoring route sequencing, not in LEG mode");
708 int index = _routeMgr->currentIndex(),
709 count = _routeMgr->numWaypts();
710 if ((index < 0) || (index >= count)) {
713 SG_LOG(SG_INSTR, SG_ALERT, "GPS: malformed route, index=" << index);
717 SG_LOG(SG_INSTR, SG_INFO, "GPS waypoint index is now " << index);
720 _prevWaypt = _routeMgr->previousWaypt();
721 if (_prevWaypt->flag(WPT_DYNAMIC)) {
722 _wp0_position = _indicated_pos;
724 _wp0_position = _prevWaypt->position();
728 _currentWaypt = _routeMgr->currentWaypt();
730 _desiredCourse = getLegMagCourse();
731 _desiredCourseNode->fireValueChanged();
735 void GPS::routeEdited()
737 if (_mode != "leg") {
741 SG_LOG(SG_INSTR, SG_INFO, "GPS route edited while in LEG mode, updating waypoints");
742 routeManagerSequenced();
745 void GPS::routeFinished()
747 if (_mode != "leg") {
751 SG_LOG(SG_INSTR, SG_INFO, "GPS route finished, reverting to OBS");
752 // select OBS mode, but keep current waypoint-as is
757 void GPS::updateTurn()
759 bool printProgress = false;
761 if (_computeTurnData) {
762 if (_last_speed_kts < 60) {
763 // need valid leg course and sensible ground speed to compute the turn
768 printProgress = true;
771 if (!_anticipateTurn) {
777 // find bearing to turn centre
778 double bearing, az2, distanceM;
779 SGGeodesy::inverse(_indicated_pos, _turnCentre, bearing, az2, distanceM);
780 double progress = computeTurnProgress(bearing);
783 SG_LOG(SG_INSTR, SG_INFO,"turn progress=" << progress);
786 if (!_inTurn && (progress > 0.0)) {
790 if (_inTurn && !_turnSequenced && (progress > 0.5)) {
791 _turnSequenced = true;
792 SG_LOG(SG_INSTR, SG_INFO, "turn passed midpoint, sequencing");
793 _routeMgr->sequence();
796 if (_inTurn && (progress >= 1.0)) {
801 // drive deviation and desired course
802 double desiredCourse = bearing - copysign(90, _turnAngle);
803 SG_NORMALIZE_RANGE(desiredCourse, 0.0, 360.0);
804 double deviationNm = (distanceM * SG_METER_TO_NM) - _turnRadius;
805 double deviationDeg = desiredCourse - getMagTrack();
806 deviationNm = copysign(deviationNm, deviationDeg);
808 //_wp1_course_deviation_node->setDoubleValue(deviationDeg);
809 //_wp1_course_error_nm_node->setDoubleValue(deviationNm);
810 //_cdiDeflectionNode->setDoubleValue(deviationDeg);
814 void GPS::updateOverflight()
816 if (!_wayptController->isDone()) {
820 if (_mode == "dto") {
821 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO reached destination point");
823 // check for wp1 being on active route - resume leg mode
824 if (_routeMgr->isRouteActive()) {
825 int index = _routeMgr->findWayptIndex(_currentWaypt->position());
827 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO, resuming LEG mode at wp:" << index);
829 _routeMgr->jumpToIndex(index);
833 if (_mode == "dto") {
834 // if we didn't enter leg mode, drop back to OBS mode
835 // select OBS mode, but keep current waypoint-as is
839 } else if (_mode == "leg") {
840 SG_LOG(SG_INSTR, SG_INFO, "GPS doing overflight sequencing");
841 _routeMgr->sequence();
842 } else if (_mode == "obs") {
843 // nothing to do here, TO/FROM will update but that's fine
846 _computeTurnData = true;
849 void GPS::beginTurn()
852 _turnSequenced = false;
853 SG_LOG(SG_INSTR, SG_INFO, "begining turn");
859 SG_LOG(SG_INSTR, SG_INFO, "ending turn");
860 _computeTurnData = true;
863 double GPS::computeTurnProgress(double aBearing) const
865 double startBearing = _turnStartBearing + copysign(90, _turnAngle);
866 return (aBearing - startBearing) / _turnAngle;
869 void GPS::computeTurnData()
871 _computeTurnData = false;
872 if (_mode != "leg") { // and approach modes in the future
873 _anticipateTurn = false;
877 WayptRef next = _routeMgr->nextWaypt();
878 if (!next || next->flag(WPT_DYNAMIC)) {
879 _anticipateTurn = false;
883 if (!_config.turnAnticipationEnabled()) {
884 _anticipateTurn = false;
888 _turnStartBearing = _desiredCourse;
889 // compute next leg course
891 boost::tie(crs, dist) = next->courseAndDistanceFrom(_currentWaypt->position());
894 // compute offset bearing
895 _turnAngle = crs - _turnStartBearing;
896 SG_NORMALIZE_RANGE(_turnAngle, -180.0, 180.0);
897 double median = _turnStartBearing + (_turnAngle * 0.5);
898 double offsetBearing = median + copysign(90, _turnAngle);
899 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
901 SG_LOG(SG_INSTR, SG_INFO, "GPS computeTurnData: in=" << _turnStartBearing <<
902 ", out=" << crs << "; turnAngle=" << _turnAngle << ", median=" << median
903 << ", offset=" << offsetBearing);
905 SG_LOG(SG_INSTR, SG_INFO, "next leg is now:" << _currentWaypt->ident() << "->" << next->ident());
907 _turnPt = _currentWaypt->position();
908 _anticipateTurn = true;
911 void GPS::updateTurnData()
913 // depends on ground speed, so needs to be updated per-frame
914 _turnRadius = computeTurnRadiusNm(_last_speed_kts);
916 // compute the turn centre, based on the turn radius.
917 // key thing is to understand that we're working a right-angle triangle,
918 // where the right-angle is the point we start the turn. From that point,
919 // one side is the inbound course to the turn pt, and the other is the
920 // perpendicular line, of length 'r', to the turn centre.
921 // the triangle's hypotenuse, which we need to find, is the distance from the
922 // turn pt to the turn center (in the direction of the offset bearing)
923 // note that d - _turnRadius tell us how much we're 'cutting' the corner.
925 double halfTurnAngle = fabs(_turnAngle * 0.5) * SG_DEGREES_TO_RADIANS;
926 double d = _turnRadius / cos(halfTurnAngle);
928 // SG_LOG(SG_INSTR, SG_INFO, "turnRadius=" << _turnRadius << ", d=" << d
929 // << " (cut distance=" << d - _turnRadius << ")");
931 double median = _turnStartBearing + (_turnAngle * 0.5);
932 double offsetBearing = median + copysign(90, _turnAngle);
933 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
936 SGGeodesy::direct(_turnPt, offsetBearing, d * SG_NM_TO_METER, _turnCentre, az2);
939 double GPS::computeTurnRadiusNm(double aGroundSpeedKts) const
941 // turn time is seconds to execute a 360 turn.
942 double turnTime = 360.0 / _config.turnRateDegSec();
944 // c is ground distance covered in that time (circumference of the circle)
945 double c = turnTime * (aGroundSpeedKts / 3600.0); // convert knts to nm/sec
947 // divide by 2PI to go from circumference -> radius
948 return c / (2 * M_PI);
951 void GPS::updateRouteData()
953 double totalDistance = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
954 // walk all waypoints from wp2 to route end, and sum
955 for (int i=_routeMgr->currentIndex()+1; i<_routeMgr->numWaypts(); ++i) {
956 //totalDistance += _routeMgr->get_waypoint(i).get_distance();
959 _routeDistanceNm->setDoubleValue(totalDistance * SG_METER_TO_NM);
960 if (_last_speed_kts > 1.0) {
961 double TTW = ((totalDistance * SG_METER_TO_NM) / _last_speed_kts) * 3600.0;
962 _routeETE->setStringValue(makeTTWString(TTW));
966 void GPS::driveAutopilot()
968 if (!_config.driveAutopilot() || !_realismSimpleGps->getBoolValue()) {
969 _apDrivingFlag->setBoolValue(false);
973 // compatability feature - allow the route-manager / GPS to drive the
974 // generic autopilot heading hold *in leg mode only*
976 bool drive = _mode == "leg";
977 _apDrivingFlag->setBoolValue(drive);
980 // FIXME: we want to set desired track, not heading, here
981 _apTrueHeading->setDoubleValue(getWP1Bearing());
985 void GPS::wp1Changed()
989 if (_mode == "leg") {
990 _wayptController.reset(WayptController::createForWaypt(this, _currentWaypt));
991 } else if (_mode == "obs") {
992 _wayptController.reset(new OBSController(this, _currentWaypt));
993 } else if (_mode == "dto") {
994 _wayptController.reset(new DirectToController(this, _currentWaypt, _wp0_position));
997 _wayptController->init();
999 if (_mode == "obs") {
1000 _legDistanceNm = -1.0;
1002 _wayptController->update();
1003 _legDistanceNm = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
1006 if (!_config.driveAutopilot()) {
1010 RouteRestriction ar = _currentWaypt->altitudeRestriction();
1011 double restrictAlt = _currentWaypt->altitudeFt();
1012 double alt = _indicated_pos.getElevationFt();
1013 if ((ar == RESTRICT_AT) ||
1014 ((ar == RESTRICT_ABOVE) && (alt < restrictAlt)) ||
1015 ((ar == RESTRICT_BELOW) && (alt > restrictAlt)))
1017 SG_LOG(SG_AUTOPILOT, SG_INFO, "current waypt has altitude set, setting on AP");
1018 _apTargetAltitudeFt->setDoubleValue(restrictAlt);
1022 /////////////////////////////////////////////////////////////////////////////
1023 // property getter/setters
1025 void GPS::setSelectedCourse(double crs)
1027 if (_selectedCourse == crs) {
1031 _selectedCourse = crs;
1032 if ((_mode == "obs") || _config.courseSelectable()) {
1033 _desiredCourse = _selectedCourse;
1034 _desiredCourseNode->fireValueChanged();
1038 double GPS::getLegDistance() const
1040 if (!_dataValid || (_mode == "obs")) {
1044 return _legDistanceNm;
1047 double GPS::getLegCourse() const
1049 if (!_dataValid || !_wayptController.get()) {
1053 return _wayptController->targetTrackDeg();
1056 double GPS::getLegMagCourse() const
1062 double m = getLegCourse() - _magvar_node->getDoubleValue();
1063 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
1067 double GPS::getMagTrack() const
1073 double m = getTrueTrack() - _magvar_node->getDoubleValue();
1074 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
1078 double GPS::getCDIDeflection() const
1085 if (_config.cdiDeflectionIsAngular()) {
1086 defl = getWP1CourseDeviation();
1087 SG_CLAMP_RANGE(defl, -10.0, 10.0); // as in navradio.cxx
1089 double fullScale = _config.cdiDeflectionLinearPeg();
1090 double normError = getWP1CourseErrorNm() / fullScale;
1091 SG_CLAMP_RANGE(normError, -1.0, 1.0);
1092 defl = normError * 10.0; // re-scale to navradio limits, i.e [-10.0 .. 10.0]
1098 const char* GPS::getWP0Ident() const
1100 if (!_dataValid || (_mode != "leg") || (!_prevWaypt)) {
1104 return _prevWaypt->ident().c_str();
1107 const char* GPS::getWP0Name() const
1112 const char* GPS::getWP1Ident() const
1114 if ((!_dataValid)||(!_currentWaypt)) {
1118 return _currentWaypt->ident().c_str();
1121 const char* GPS::getWP1Name() const
1126 double GPS::getWP1Distance() const
1128 if (!_dataValid || !_wayptController.get()) {
1132 return _wayptController->distanceToWayptM() * SG_METER_TO_NM;
1135 double GPS::getWP1TTW() const
1137 if (!_dataValid || !_wayptController.get()) {
1141 return _wayptController->timeToWaypt();
1144 const char* GPS::getWP1TTWString() const
1146 double t = getWP1TTW();
1151 return makeTTWString(t);
1154 double GPS::getWP1Bearing() const
1156 if (!_dataValid || !_wayptController.get()) {
1160 return _wayptController->trueBearingDeg();
1163 double GPS::getWP1MagBearing() const
1165 if (!_dataValid || !_wayptController.get()) {
1169 double magBearing = _wayptController->trueBearingDeg() - _magvar_node->getDoubleValue();
1170 SG_NORMALIZE_RANGE(magBearing, 0.0, 360.0);
1174 double GPS::getWP1CourseDeviation() const
1176 if (!_dataValid || !_wayptController.get()) {
1180 return _wayptController->courseDeviationDeg();
1183 double GPS::getWP1CourseErrorNm() const
1185 if (!_dataValid || !_wayptController.get()) {
1189 return _wayptController->xtrackErrorNm();
1192 bool GPS::getWP1ToFlag() const
1194 if (!_dataValid || !_wayptController.get()) {
1198 return _wayptController->toFlag();
1201 bool GPS::getWP1FromFlag() const
1203 if (!_dataValid || !_wayptController.get()) {
1207 return !getWP1ToFlag();
1210 double GPS::getScratchDistance() const
1212 if (!_scratchValid) {
1216 return SGGeodesy::distanceNm(_indicated_pos, _scratchPos);
1219 double GPS::getScratchTrueBearing() const
1221 if (!_scratchValid) {
1225 return SGGeodesy::courseDeg(_indicated_pos, _scratchPos);
1228 double GPS::getScratchMagBearing() const
1230 if (!_scratchValid) {
1234 double crs = getScratchTrueBearing() - _magvar_node->getDoubleValue();
1235 SG_NORMALIZE_RANGE(crs, 0.0, 360.0);
1239 /////////////////////////////////////////////////////////////////////////////
1240 // command / scratch / search system
1242 void GPS::setCommand(const char* aCmd)
1244 SG_LOG(SG_INSTR, SG_INFO, "GPS command:" << aCmd);
1246 if (!strcmp(aCmd, "direct")) {
1248 } else if (!strcmp(aCmd, "obs")) {
1250 } else if (!strcmp(aCmd, "leg")) {
1252 } else if (!strcmp(aCmd, "load-route-wpt")) {
1253 loadRouteWaypoint();
1254 } else if (!strcmp(aCmd, "nearest")) {
1256 } else if (!strcmp(aCmd, "search")) {
1257 _searchNames = false;
1259 } else if (!strcmp(aCmd, "search-names")) {
1260 _searchNames = true;
1262 } else if (!strcmp(aCmd, "next")) {
1264 } else if (!strcmp(aCmd, "previous")) {
1266 } else if (!strcmp(aCmd, "define-user-wpt")) {
1268 } else if (!strcmp(aCmd, "route-insert-before")) {
1269 int index = _scratchNode->getIntValue("index");
1270 if (index < 0 || (_routeMgr->numWaypts() == 0)) {
1271 index = _routeMgr->numWaypts();
1272 } else if (index >= _routeMgr->numWaypts()) {
1273 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-before, bad index:" << index);
1277 insertWaypointAtIndex(index);
1278 } else if (!strcmp(aCmd, "route-insert-after")) {
1279 int index = _scratchNode->getIntValue("index");
1280 if (index < 0 || (_routeMgr->numWaypts() == 0)) {
1281 index = _routeMgr->numWaypts();
1282 } else if (index >= _routeMgr->numWaypts()) {
1283 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-after, bad index:" << index);
1289 insertWaypointAtIndex(index);
1290 } else if (!strcmp(aCmd, "route-delete")) {
1291 int index = _scratchNode->getIntValue("index");
1293 index = _routeMgr->numWaypts();
1294 } else if (index >= _routeMgr->numWaypts()) {
1295 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-delete, bad index:" << index);
1299 removeWaypointAtIndex(index);
1301 SG_LOG(SG_INSTR, SG_WARN, "GPS:unrecognized command:" << aCmd);
1305 void GPS::clearScratch()
1307 _scratchPos = SGGeod::fromDegFt(-9999.0, -9999.0, -9999.0);
1308 _scratchValid = false;
1309 _scratchNode->setStringValue("type", "");
1310 _scratchNode->setStringValue("query", "");
1313 bool GPS::isScratchPositionValid() const
1315 if ((_scratchPos.getLongitudeDeg() < -9990.0) ||
1316 (_scratchPos.getLatitudeDeg() < -9990.0)) {
1323 void GPS::directTo()
1325 if (!isScratchPositionValid()) {
1330 _wp0_position = _indicated_pos;
1331 _currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
1338 void GPS::loadRouteWaypoint()
1340 _scratchValid = false;
1341 // if (!_routeMgr->isRouteActive()) {
1342 // SG_LOG(SG_INSTR, SG_WARN, "GPS:loadWaypoint: no active route");
1346 int index = _scratchNode->getIntValue("index", -9999);
1349 if ((index < 0) || (index >= _routeMgr->numWaypts())) { // no index supplied, use current wp
1350 index = _routeMgr->currentIndex();
1353 _searchIsRoute = true;
1354 setScratchFromRouteWaypoint(index);
1357 void GPS::setScratchFromRouteWaypoint(int aIndex)
1359 assert(_searchIsRoute);
1360 if ((aIndex < 0) || (aIndex >= _routeMgr->numWaypts())) {
1361 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromRouteWaypoint: route-index out of bounds");
1365 _searchResultIndex = aIndex;
1366 WayptRef wp = _routeMgr->wayptAtIndex(aIndex);
1367 _scratchNode->setStringValue("ident", wp->ident());
1368 _scratchPos = wp->position();
1369 _scratchValid = true;
1370 _scratchNode->setIntValue("index", aIndex);
1373 void GPS::loadNearest()
1375 string sty(_scratchNode->getStringValue("type"));
1376 FGPositioned::Type ty = FGPositioned::typeFromName(sty);
1377 if (ty == FGPositioned::INVALID) {
1378 SG_LOG(SG_INSTR, SG_WARN, "GPS:loadNearest: request type is invalid:" << sty);
1382 auto_ptr<FGPositioned::Filter> f(createFilter(ty));
1383 int limitCount = _scratchNode->getIntValue("max-results", 1);
1384 double cutoffDistance = _scratchNode->getDoubleValue("cutoff-nm", 400.0);
1386 SGGeod searchPos = _indicated_pos;
1387 if (isScratchPositionValid()) {
1388 searchPos = _scratchPos;
1391 clearScratch(); // clear now, regardless of whether we find a match or not
1394 FGPositioned::findClosestN(searchPos, limitCount, cutoffDistance, f.get());
1395 _searchResultIndex = 0;
1396 _searchIsRoute = false;
1398 if (_searchResults.empty()) {
1399 SG_LOG(SG_INSTR, SG_INFO, "GPS:loadNearest: no matches at all");
1403 setScratchFromCachedSearchResult();
1406 bool GPS::SearchFilter::pass(FGPositioned* aPos) const
1408 switch (aPos->type()) {
1409 case FGPositioned::AIRPORT:
1410 // heliport and seaport too?
1411 case FGPositioned::VOR:
1412 case FGPositioned::NDB:
1413 case FGPositioned::FIX:
1414 case FGPositioned::TACAN:
1415 case FGPositioned::WAYPOINT:
1422 FGPositioned::Type GPS::SearchFilter::minType() const
1424 return FGPositioned::AIRPORT;
1427 FGPositioned::Type GPS::SearchFilter::maxType() const
1429 return FGPositioned::WAYPOINT;
1432 FGPositioned::Filter* GPS::createFilter(FGPositioned::Type aTy)
1434 if (aTy == FGPositioned::AIRPORT) {
1435 return new FGAirport::HardSurfaceFilter(_config.minRunwayLengthFt());
1438 // if we were passed INVALID, assume it means 'all types interesting to a GPS'
1439 if (aTy == FGPositioned::INVALID) {
1440 return new SearchFilter;
1443 return new FGPositioned::TypeFilter(aTy);
1448 // parse search terms into local members, and exec the first search
1449 string sty(_scratchNode->getStringValue("type"));
1450 _searchType = FGPositioned::typeFromName(sty);
1451 _searchQuery = _scratchNode->getStringValue("query");
1452 if (_searchQuery.empty()) {
1453 SG_LOG(SG_INSTR, SG_WARN, "empty GPS search query");
1458 _searchExact = _scratchNode->getBoolValue("exact", true);
1459 _searchResultIndex = 0;
1460 _searchIsRoute = false;
1462 auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
1464 _searchResults = FGPositioned::findAllWithName(_searchQuery, f.get(), _searchExact);
1466 _searchResults = FGPositioned::findAllWithIdent(_searchQuery, f.get(), _searchExact);
1469 bool orderByRange = _scratchNode->getBoolValue("order-by-distance", true);
1471 FGPositioned::sortByRange(_searchResults, _indicated_pos);
1474 if (_searchResults.empty()) {
1479 setScratchFromCachedSearchResult();
1482 bool GPS::getScratchHasNext() const
1485 if (_searchIsRoute) {
1486 lastResult = _routeMgr->numWaypts() - 1;
1488 lastResult = (int) _searchResults.size() - 1;
1491 if (lastResult < 0) { // search array might be empty
1495 return (_searchResultIndex < lastResult);
1498 void GPS::setScratchFromCachedSearchResult()
1500 int index = _searchResultIndex;
1502 if ((index < 0) || (index >= (int) _searchResults.size())) {
1503 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromCachedSearchResult: index out of bounds:" << index);
1507 setScratchFromPositioned(_searchResults[index], index);
1510 void GPS::setScratchFromPositioned(FGPositioned* aPos, int aIndex)
1515 _scratchPos = aPos->geod();
1516 _scratchNode->setStringValue("name", aPos->name());
1517 _scratchNode->setStringValue("ident", aPos->ident());
1518 _scratchNode->setStringValue("type", FGPositioned::nameForType(aPos->type()));
1521 _scratchNode->setIntValue("index", aIndex);
1524 _scratchValid = true;
1525 _scratchNode->setIntValue("result-count", _searchResults.size());
1527 switch (aPos->type()) {
1528 case FGPositioned::VOR:
1529 _scratchNode->setDoubleValue("frequency-mhz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1532 case FGPositioned::NDB:
1533 _scratchNode->setDoubleValue("frequency-khz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1536 case FGPositioned::AIRPORT:
1537 addAirportToScratch((FGAirport*)aPos);
1545 // look for being on the route and set?
1548 void GPS::addAirportToScratch(FGAirport* aAirport)
1550 for (unsigned int r=0; r<aAirport->numRunways(); ++r) {
1551 SGPropertyNode* rwyNd = _scratchNode->getChild("runways", r, true);
1552 FGRunway* rwy = aAirport->getRunwayByIndex(r);
1553 // TODO - filter out unsuitable runways in the future
1554 // based on config again
1556 rwyNd->setStringValue("id", rwy->ident().c_str());
1557 rwyNd->setIntValue("length-ft", rwy->lengthFt());
1558 rwyNd->setIntValue("width-ft", rwy->widthFt());
1559 rwyNd->setIntValue("heading-deg", rwy->headingDeg());
1560 // map surface code to a string
1561 // TODO - lighting information
1564 rwyNd->setDoubleValue("ils-frequency-mhz", rwy->ILS()->get_freq() / 100.0);
1566 } // of runways iteration
1570 void GPS::selectOBSMode()
1572 if (!isScratchPositionValid()) {
1576 SG_LOG(SG_INSTR, SG_INFO, "GPS switching to OBS mode");
1579 _currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
1580 _wp0_position = _indicated_pos;
1584 void GPS::selectLegMode()
1586 if (_mode == "leg") {
1590 if (!_routeMgr->isRouteActive()) {
1591 SG_LOG(SG_INSTR, SG_WARN, "GPS:selectLegMode: no active route");
1595 SG_LOG(SG_INSTR, SG_INFO, "GPS switching to LEG mode");
1598 // depending on the situation, this will either get over-written
1599 // in routeManagerSequenced or not; either way it does no harm to
1601 _wp0_position = _indicated_pos;
1603 // not really sequenced, but does all the work of updating wp0/1
1604 routeManagerSequenced();
1607 void GPS::nextResult()
1609 if (!getScratchHasNext()) {
1614 if (_searchIsRoute) {
1615 setScratchFromRouteWaypoint(++_searchResultIndex);
1617 ++_searchResultIndex;
1618 setScratchFromCachedSearchResult();
1622 void GPS::previousResult()
1624 if (_searchResultIndex <= 0) {
1629 --_searchResultIndex;
1631 if (_searchIsRoute) {
1632 setScratchFromRouteWaypoint(_searchResultIndex);
1634 setScratchFromCachedSearchResult();
1638 void GPS::defineWaypoint()
1640 if (!isScratchPositionValid()) {
1641 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: invalid lat/lon");
1645 string ident = _scratchNode->getStringValue("ident");
1646 if (ident.size() < 2) {
1647 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: waypoint identifier must be at least two characters");
1651 // check for duplicate idents
1652 FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
1653 FGPositioned::List dups = FGPositioned::findAllWithIdent(ident, &f);
1654 if (!dups.empty()) {
1655 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: non-unique waypoint identifier, ho-hum");
1658 SG_LOG(SG_INSTR, SG_INFO, "GPS:defineWaypoint: creating waypoint:" << ident);
1659 FGPositionedRef wpt = FGPositioned::createUserWaypoint(ident, _scratchPos);
1660 _searchResults.clear();
1661 _searchResults.push_back(wpt);
1662 setScratchFromPositioned(wpt.get(), -1);
1665 void GPS::insertWaypointAtIndex(int aIndex)
1667 // note we do allow index = routeMgr->size(), that's an append
1668 if ((aIndex < 0) || (aIndex > _routeMgr->numWaypts())) {
1669 throw sg_range_exception("GPS::insertWaypointAtIndex: index out of bounds");
1672 if (!isScratchPositionValid()) {
1673 SG_LOG(SG_INSTR, SG_WARN, "GPS:insertWaypointAtIndex: invalid lat/lon");
1677 string ident = _scratchNode->getStringValue("ident");
1679 WayptRef wpt = new BasicWaypt(_scratchPos, ident, NULL);
1680 _routeMgr->insertWayptAtIndex(wpt, aIndex);
1683 void GPS::removeWaypointAtIndex(int aIndex)
1685 if ((aIndex < 0) || (aIndex >= _routeMgr->numWaypts())) {
1686 throw sg_range_exception("GPS::removeWaypointAtIndex: index out of bounds");
1689 _routeMgr->removeWayptAtIndex(aIndex);
1692 void GPS::tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
1693 const char* lonStr, const char* latStr, const char* altStr)
1695 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, &SGGeod::setLongitudeDeg));
1696 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, &SGGeod::setLatitudeDeg));
1699 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, &SGGeod::setElevationFt));
1703 void GPS::tieSGGeodReadOnly(SGPropertyNode* aNode, SGGeod& aRef,
1704 const char* lonStr, const char* latStr, const char* altStr)
1706 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, NULL));
1707 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, NULL));
1710 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, NULL));