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>
35 using namespace flightgear;
37 ///////////////////////////////////////////////////////////////////
39 void SGGeodProperty::init(SGPropertyNode* base, const char* lonStr, const char* latStr, const char* altStr)
41 _lon = base->getChild(lonStr, 0, true);
42 _lat = base->getChild(latStr, 0, true);
44 _alt = base->getChild(altStr, 0, true);
48 void SGGeodProperty::init(const char* lonStr, const char* latStr, const char* altStr)
50 _lon = fgGetNode(lonStr, true);
51 _lat = fgGetNode(latStr, true);
53 _alt = fgGetNode(altStr, true);
57 void SGGeodProperty::clear()
59 _lon = _lat = _alt = NULL;
62 void SGGeodProperty::operator=(const SGGeod& geod)
64 _lon->setDoubleValue(geod.getLongitudeDeg());
65 _lat->setDoubleValue(geod.getLatitudeDeg());
67 _alt->setDoubleValue(geod.getElevationFt());
71 SGGeod SGGeodProperty::get() const
73 double lon = _lon->getDoubleValue(),
74 lat = _lat->getDoubleValue();
76 if (osg::isNaN(lon) || osg::isNaN(lat)) {
77 SG_LOG(SG_INSTR, SG_WARN, "read NaN for lon/lat:" << _lon->getPath()
78 << ", " << _lat->getPath());
83 return SGGeod::fromDegFt(lon, lat, _alt->getDoubleValue());
85 return SGGeod::fromDeg(lon,lat);
89 static const char* makeTTWString(double TTW)
91 if ((TTW <= 0.0) || (TTW >= 356400.5)) { // 99 hours
95 unsigned int TTW_seconds = (int) (TTW + 0.5);
96 unsigned int TTW_minutes = 0;
97 unsigned int TTW_hours = 0;
98 static char TTW_str[9];
99 TTW_hours = TTW_seconds / 3600;
100 TTW_minutes = (TTW_seconds / 60) % 60;
101 TTW_seconds = TTW_seconds % 60;
102 snprintf(TTW_str, 9, "%02d:%02d:%02d",
103 TTW_hours, TTW_minutes, TTW_seconds);
107 /////////////////////////////////////////////////////////////////////////////
109 class GPSListener : public SGPropertyChangeListener
112 GPSListener(GPS *m) :
116 virtual void valueChanged (SGPropertyNode * prop)
123 if (prop == _gps->_route_current_wp_node) {
124 _gps->routeManagerSequenced();
125 } else if (prop == _gps->_route_active_node) {
126 _gps->routeActivated();
127 } else if (prop == _gps->_ref_navaid_id_node) {
128 _gps->referenceNavaidSet(prop->getStringValue(""));
129 } else if (prop == _gps->_routeEditedSignal) {
131 } else if (prop == _gps->_routeFinishedSignal) {
132 _gps->routeFinished();
138 void setGuard(bool g) {
143 bool _guard; // re-entrancy guard
146 ////////////////////////////////////////////////////////////////////////////
148 * Helper to monitor for Nasal or other code accessing properties we haven't
149 * defined. For the moment we complain about all such activites, since various
150 * users assume all kinds of weird, wonderful and non-existent interfaces.
153 class DeprecatedPropListener : public SGPropertyChangeListener
156 DeprecatedPropListener(SGPropertyNode* gps)
158 _parents.insert(gps);
159 SGPropertyNode* wp = gps->getChild("wp", 0, true);
161 _parents.insert(wp->getChild("wp", 0, true));
162 _parents.insert(wp->getChild("wp", 1, true));
164 std::set<SGPropertyNode*>::iterator it;
165 for (it = _parents.begin(); it != _parents.end(); ++it) {
166 (*it)->addChangeListener(this);
170 virtual void valueChanged (SGPropertyNode * prop)
174 virtual void childAdded (SGPropertyNode * parent, SGPropertyNode * child)
176 if (isDeprecated(parent, child)) {
177 SG_LOG(SG_INSTR, SG_WARN, "GPS: someone accessed a deprecated property:"
178 << child->getPath(true));
182 bool isDeprecated(SGPropertyNode * parent, SGPropertyNode * child) const
184 if (_parents.count(parent) < 1) {
188 // no child exclusions yet
192 std::set<SGPropertyNode*> _parents;
195 ////////////////////////////////////////////////////////////////////////////
196 // configuration helper object
198 GPS::Config::Config() :
199 _enableTurnAnticipation(true),
200 _turnRate(3.0), // degrees-per-second, so 180 degree turn takes 60 seconds
201 _overflightArmDistance(1.0),
202 _waypointAlertTime(30.0),
203 _minRunwayLengthFt(0.0),
204 _requireHardSurface(true),
205 _cdiMaxDeflectionNm(3.0), // linear mode, 3nm at the peg
206 _driveAutopilot(true),
207 _courseSelectable(false)
209 _enableTurnAnticipation = false;
212 void GPS::Config::bind(GPS* aOwner, SGPropertyNode* aCfg)
214 aOwner->tie(aCfg, "turn-rate-deg-sec", SGRawValuePointer<double>(&_turnRate));
215 aOwner->tie(aCfg, "turn-anticipation", SGRawValuePointer<bool>(&_enableTurnAnticipation));
216 aOwner->tie(aCfg, "wpt-alert-time", SGRawValuePointer<double>(&_waypointAlertTime));
217 aOwner->tie(aCfg, "min-runway-length-ft", SGRawValuePointer<double>(&_minRunwayLengthFt));
218 aOwner->tie(aCfg, "hard-surface-runways-only", SGRawValuePointer<bool>(&_requireHardSurface));
219 aOwner->tie(aCfg, "cdi-max-deflection-nm", SGRawValuePointer<double>(&_cdiMaxDeflectionNm));
220 aOwner->tie(aCfg, "drive-autopilot", SGRawValuePointer<bool>(&_driveAutopilot));
221 aOwner->tie(aCfg, "course-selectable", SGRawValuePointer<bool>(&_courseSelectable));
224 ////////////////////////////////////////////////////////////////////////////
226 GPS::GPS ( SGPropertyNode *node) :
227 _selectedCourse(0.0),
230 _lastPosValid(false),
232 _name(node->getStringValue("name", "gps")),
233 _num(node->getIntValue("number", 0)),
234 _computeTurnData(false),
235 _anticipateTurn(false),
238 string branch = "/instrumentation/" + _name;
239 _gpsNode = fgGetNode(branch.c_str(), _num, true );
240 _scratchNode = _gpsNode->getChild("scratch", 0, true);
242 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
243 _currentWayptNode = wp_node->getChild("wp", 1, true);
253 _routeMgr = (FGRouteMgr*) globals->get_subsystem("route-manager");
256 _position.init("/position/longitude-deg", "/position/latitude-deg", "/position/altitude-ft");
257 _magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
258 _serviceable_node = _gpsNode->getChild("serviceable", 0, true);
259 _serviceable_node->setBoolValue(true);
260 _electrical_node = fgGetNode("/systems/electrical/outputs/gps", true);
263 _raim_node = _gpsNode->getChild("raim", 0, true);
264 _odometer_node = _gpsNode->getChild("odometer", 0, true);
265 _trip_odometer_node = _gpsNode->getChild("trip-odometer", 0, true);
266 _true_bug_error_node = _gpsNode->getChild("true-bug-error-deg", 0, true);
267 _magnetic_bug_error_node = _gpsNode->getChild("magnetic-bug-error-deg", 0, true);
268 _eastWestVelocity = _gpsNode->getChild("ew-velocity-msec", 0, true);
269 _northSouthVelocity = _gpsNode->getChild("ns-velocity-msec", 0, true);
272 // for compatability, alias selected course down to wp/wp[1]/desired-course-deg
273 SGPropertyNode* wp1Crs = _currentWayptNode->getChild("desired-course-deg", 0, true);
274 wp1Crs->alias(_gpsNode->getChild("desired-course-deg", 0, true));
276 _tracking_bug_node = _gpsNode->getChild("tracking-bug", 0, true);
279 SGPropertyNode_ptr ref_navaid = _gpsNode->getChild("ref-navaid", 0, true);
280 _ref_navaid_id_node = ref_navaid->getChild("id", 0, true);
281 _ref_navaid_name_node = ref_navaid->getChild("name", 0, true);
282 _ref_navaid_bearing_node = ref_navaid->getChild("bearing-deg", 0, true);
283 _ref_navaid_frequency_node = ref_navaid->getChild("frequency-mhz", 0, true);
284 _ref_navaid_distance_node = ref_navaid->getChild("distance-nm", 0, true);
285 _ref_navaid_mag_bearing_node = ref_navaid->getChild("mag-bearing-deg", 0, true);
286 _ref_navaid_elapsed = 0.0;
287 _ref_navaid_set = false;
290 // should these move to the route manager?
291 _routeDistanceNm = _gpsNode->getChild("route-distance-nm", 0, true);
292 _routeETE = _gpsNode->getChild("ETE", 0, true);
293 _routeEditedSignal = fgGetNode("/autopilot/route-manager/signals/edited", true);
294 _routeFinishedSignal = fgGetNode("/autopilot/route-manager/signals/finished", true);
296 // add listener to various things
297 _listener = new GPSListener(this);
298 _route_current_wp_node = fgGetNode("/autopilot/route-manager/current-wp", true);
299 _route_current_wp_node->addChangeListener(_listener);
300 _route_active_node = fgGetNode("/autopilot/route-manager/active", true);
301 _route_active_node->addChangeListener(_listener);
302 _ref_navaid_id_node->addChangeListener(_listener);
303 _routeEditedSignal->addChangeListener(_listener);
304 _routeFinishedSignal->addChangeListener(_listener);
306 // navradio slaving properties
307 SGPropertyNode* toFlag = _gpsNode->getChild("to-flag", 0, true);
308 toFlag->alias(_currentWayptNode->getChild("to-flag"));
310 SGPropertyNode* fromFlag = _gpsNode->getChild("from-flag", 0, true);
311 fromFlag->alias(_currentWayptNode->getChild("from-flag"));
313 // autopilot drive properties
314 _apDrivingFlag = fgGetNode("/autopilot/settings/gps-driving-true-heading", true);
315 _apTrueHeading = fgGetNode("/autopilot/settings/true-heading-deg",true);
316 _apTargetAltitudeFt = fgGetNode("/autopilot/settings/target-altitude-ft", true);
317 _apAltitudeLock = fgGetNode("/autopilot/locks/altitude", true);
320 _realismSimpleGps = fgGetNode("/sim/realism/simple-gps", true);
321 if (!_realismSimpleGps->hasValue()) {
322 _realismSimpleGps->setBoolValue(true);
325 // last thing, add the deprecated prop watcher
326 new DeprecatedPropListener(_gpsNode);
334 _config.bind(this, _gpsNode->getChild("config", 0, true));
336 tie(_gpsNode, "selected-course-deg", SGRawValueMethods<GPS, double>
337 (*this, &GPS::getSelectedCourse, &GPS::setSelectedCourse));
339 tie(_gpsNode, "desired-course-deg", SGRawValueMethods<GPS, double>
340 (*this, &GPS::getDesiredCourse, NULL));
341 _desiredCourseNode = _gpsNode->getChild("desired-course-deg", 0, true);
343 tieSGGeodReadOnly(_gpsNode, _indicated_pos, "indicated-longitude-deg",
344 "indicated-latitude-deg", "indicated-altitude-ft");
346 tie(_gpsNode, "indicated-vertical-speed", SGRawValueMethods<GPS, double>
347 (*this, &GPS::getVerticalSpeed, NULL));
348 tie(_gpsNode, "indicated-track-true-deg", SGRawValueMethods<GPS, double>
349 (*this, &GPS::getTrueTrack, NULL));
350 tie(_gpsNode, "indicated-track-magnetic-deg", SGRawValueMethods<GPS, double>
351 (*this, &GPS::getMagTrack, NULL));
352 tie(_gpsNode, "indicated-ground-speed-kt", SGRawValueMethods<GPS, double>
353 (*this, &GPS::getGroundspeedKts, NULL));
356 tie(_gpsNode, "mode", SGRawValueMethods<GPS, const char*>(*this, &GPS::getMode, NULL));
357 tie(_gpsNode, "command", SGRawValueMethods<GPS, const char*>(*this, &GPS::getCommand, &GPS::setCommand));
359 tieSGGeod(_scratchNode, _scratchPos, "longitude-deg", "latitude-deg", "altitude-ft");
360 tie(_scratchNode, "valid", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchValid, NULL));
361 tie(_scratchNode, "distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchDistance, NULL));
362 tie(_scratchNode, "true-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchTrueBearing, NULL));
363 tie(_scratchNode, "mag-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchMagBearing, NULL));
364 tie(_scratchNode, "has-next", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchHasNext, NULL));
365 _scratchValid = false;
368 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
369 SGPropertyNode* wp0_node = wp_node->getChild("wp", 0, true);
371 tieSGGeodReadOnly(wp0_node, _wp0_position, "longitude-deg", "latitude-deg", "altitude-ft");
372 tie(_currentWayptNode, "ID", SGRawValueMethods<GPS, const char*>
373 (*this, &GPS::getWP1Ident, NULL));
375 tie(_currentWayptNode, "distance-nm", SGRawValueMethods<GPS, double>
376 (*this, &GPS::getWP1Distance, NULL));
377 tie(_currentWayptNode, "bearing-true-deg", SGRawValueMethods<GPS, double>
378 (*this, &GPS::getWP1Bearing, NULL));
379 tie(_currentWayptNode, "bearing-mag-deg", SGRawValueMethods<GPS, double>
380 (*this, &GPS::getWP1MagBearing, NULL));
381 tie(_currentWayptNode, "TTW-sec", SGRawValueMethods<GPS, double>
382 (*this, &GPS::getWP1TTW, NULL));
383 tie(_currentWayptNode, "TTW", SGRawValueMethods<GPS, const char*>
384 (*this, &GPS::getWP1TTWString, NULL));
386 tie(_currentWayptNode, "course-deviation-deg", SGRawValueMethods<GPS, double>
387 (*this, &GPS::getWP1CourseDeviation, NULL));
388 tie(_currentWayptNode, "course-error-nm", SGRawValueMethods<GPS, double>
389 (*this, &GPS::getWP1CourseErrorNm, NULL));
390 tie(_currentWayptNode, "to-flag", SGRawValueMethods<GPS, bool>
391 (*this, &GPS::getWP1ToFlag, NULL));
392 tie(_currentWayptNode, "from-flag", SGRawValueMethods<GPS, bool>
393 (*this, &GPS::getWP1FromFlag, NULL));
395 // leg properties (only valid in DTO/LEG modes, not OBS)
396 tie(wp_node, "leg-distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getLegDistance, NULL));
397 tie(wp_node, "leg-true-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegCourse, NULL));
398 tie(wp_node, "leg-mag-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegMagCourse, NULL));
400 // navradio slaving properties
401 tie(_gpsNode, "cdi-deflection", SGRawValueMethods<GPS,double>
402 (*this, &GPS::getCDIDeflection));
408 for (unsigned int t=0; t<_tiedNodes.size(); ++t) {
409 _tiedNodes[t]->untie();
418 _last_speed_kts = 0.0;
419 _last_pos = SGGeod();
420 _lastPosValid = false;
421 _indicated_pos = SGGeod();
422 _last_vertical_speed = 0.0;
423 _last_true_track = 0.0;
424 _lastEWVelocity = _lastNSVelocity = 0.0;
425 _currentWaypt = _prevWaypt = NULL;
426 _legDistanceNm = -1.0;
428 _raim_node->setDoubleValue(0.0);
429 _indicated_pos = SGGeod();
430 _odometer_node->setDoubleValue(0);
431 _trip_odometer_node->setDoubleValue(0);
432 _tracking_bug_node->setDoubleValue(0);
433 _true_bug_error_node->setDoubleValue(0);
434 _magnetic_bug_error_node->setDoubleValue(0);
435 _northSouthVelocity->setDoubleValue(0.0);
436 _eastWestVelocity->setDoubleValue(0.0);
440 GPS::update (double delta_time_sec)
442 if (!_realismSimpleGps->getBoolValue()) {
443 // If it's off, don't bother.
444 if (!_serviceable_node->getBoolValue() || !_electrical_node->getBoolValue()) {
450 if (delta_time_sec <= 0.0) {
451 return; // paused, don't bother
454 _raim_node->setDoubleValue(1.0);
455 _indicated_pos = _position.get();
456 updateBasicData(delta_time_sec);
459 if (_wayptController.get()) {
460 _wayptController->update();
461 SGGeod p(_wayptController->position());
462 _currentWayptNode->setDoubleValue("longitude-deg", p.getLongitudeDeg());
463 _currentWayptNode->setDoubleValue("latitude-deg", p.getLatitudeDeg());
464 _currentWayptNode->setDoubleValue("altitude-ft", p.getElevationFt());
466 _desiredCourse = getLegMagCourse();
474 updateReferenceNavaid(delta_time_sec);
478 if (_dataValid && (_mode == "init")) {
479 // allow a realistic delay in the future, here
480 SG_LOG(SG_INSTR, SG_INFO, "GPS initialisation complete");
482 if (_route_active_node->getBoolValue()) {
483 // GPS init with active route
484 SG_LOG(SG_INSTR, SG_INFO, "GPS init with active route");
487 // initialise in OBS mode, with waypt set to the nearest airport.
488 // keep in mind at this point, _dataValid is not set
490 auto_ptr<FGPositioned::Filter> f(createFilter(FGPositioned::AIRPORT));
491 FGPositionedRef apt = FGPositioned::findClosest(_position.get(), 20.0, f.get());
493 setScratchFromPositioned(apt, 0);
497 } // of init mode check
499 _last_pos = _indicated_pos;
500 _lastPosValid = !(_last_pos == SGGeod());
503 ///////////////////////////////////////////////////////////////////////////
504 // implement the RNAV interface
505 SGGeod GPS::position()
511 return _indicated_pos;
514 double GPS::trackDeg()
516 return _last_true_track;
519 double GPS::groundSpeedKts()
521 return _last_speed_kts;
524 double GPS::vspeedFPM()
526 return _last_vertical_speed;
529 double GPS::magvarDeg()
531 return _magvar_node->getDoubleValue();
534 double GPS::overflightArmDistanceM()
536 return _config.overflightArmDistanceNm() * SG_NM_TO_METER;
539 double GPS::selectedMagCourse()
541 return _selectedCourse;
544 ///////////////////////////////////////////////////////////////////////////
547 GPS::updateBasicData(double dt)
549 if (!_lastPosValid) {
555 SGGeodesy::inverse(_last_pos, _indicated_pos, _last_true_track, track2_deg, distance_m );
557 double speed_kt = ((distance_m * SG_METER_TO_NM) * ((1 / dt) * 3600.0));
558 double vertical_speed_mpm = ((_indicated_pos.getElevationM() - _last_pos.getElevationM()) * 60 / dt);
559 _last_vertical_speed = vertical_speed_mpm * SG_METER_TO_FEET;
561 speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, dt/10.0);
562 _last_speed_kts = speed_kt;
564 SGGeod g = _indicated_pos;
565 g.setLongitudeDeg(_last_pos.getLongitudeDeg());
566 double northSouthM = SGGeodesy::distanceM(_last_pos, g);
567 northSouthM = copysign(northSouthM, _indicated_pos.getLatitudeDeg() - _last_pos.getLatitudeDeg());
569 double nsMSec = fgGetLowPass(_lastNSVelocity, northSouthM / dt, dt/2.0);
570 _lastNSVelocity = nsMSec;
571 _northSouthVelocity->setDoubleValue(nsMSec);
575 g.setLatitudeDeg(_last_pos.getLatitudeDeg());
576 double eastWestM = SGGeodesy::distanceM(_last_pos, g);
577 eastWestM = copysign(eastWestM, _indicated_pos.getLongitudeDeg() - _last_pos.getLongitudeDeg());
579 double ewMSec = fgGetLowPass(_lastEWVelocity, eastWestM / dt, dt/2.0);
580 _lastEWVelocity = ewMSec;
581 _eastWestVelocity->setDoubleValue(ewMSec);
583 double odometer = _odometer_node->getDoubleValue();
584 _odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
585 odometer = _trip_odometer_node->getDoubleValue();
586 _trip_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
589 SG_LOG(SG_INSTR, SG_INFO, "GPS setting data valid");
595 GPS::updateTrackingBug()
597 double tracking_bug = _tracking_bug_node->getDoubleValue();
598 double true_bug_error = tracking_bug - getTrueTrack();
599 double magnetic_bug_error = tracking_bug - getMagTrack();
601 // Get the errors into the (-180,180) range.
602 SG_NORMALIZE_RANGE(true_bug_error, -180.0, 180.0);
603 SG_NORMALIZE_RANGE(magnetic_bug_error, -180.0, 180.0);
605 _true_bug_error_node->setDoubleValue(true_bug_error);
606 _magnetic_bug_error_node->setDoubleValue(magnetic_bug_error);
609 void GPS::updateReferenceNavaid(double dt)
611 if (!_ref_navaid_set) {
612 _ref_navaid_elapsed += dt;
613 if (_ref_navaid_elapsed > 5.0) {
615 FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
616 FGPositionedRef nav = FGPositioned::findClosest(_indicated_pos, 400.0, &vorFilter);
618 SG_LOG(SG_INSTR, SG_INFO, "GPS couldn't find a reference navaid");
619 _ref_navaid_id_node->setStringValue("");
620 _ref_navaid_name_node->setStringValue("");
621 _ref_navaid_bearing_node->setDoubleValue(0.0);
622 _ref_navaid_mag_bearing_node->setDoubleValue(0.0);
623 _ref_navaid_distance_node->setDoubleValue(0.0);
624 _ref_navaid_frequency_node->setStringValue("");
625 } else if (nav != _ref_navaid) {
626 SG_LOG(SG_INSTR, SG_INFO, "GPS code selected new ref-navaid:" << nav->ident());
627 _listener->setGuard(true);
628 _ref_navaid_id_node->setStringValue(nav->ident().c_str());
629 _ref_navaid_name_node->setStringValue(nav->name().c_str());
630 FGNavRecord* vor = (FGNavRecord*) nav.ptr();
631 _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
632 _listener->setGuard(false);
634 // SG_LOG(SG_INSTR, SG_ALERT, "matched existing");
638 // reset elapsed time (do not do that before updating the properties above, since their
639 // listeners may request another update (_ref_navaid_elapsed = 9999), which results in
640 // excessive load (FGPositioned::findClosest called in every update loop...)
641 _ref_navaid_elapsed = 0.0;
646 double trueCourse, distanceM, az2;
647 SGGeodesy::inverse(_indicated_pos, _ref_navaid->geod(), trueCourse, az2, distanceM);
648 _ref_navaid_distance_node->setDoubleValue(distanceM * SG_METER_TO_NM);
649 _ref_navaid_bearing_node->setDoubleValue(trueCourse);
650 _ref_navaid_mag_bearing_node->setDoubleValue(trueCourse - _magvar_node->getDoubleValue());
654 void GPS::referenceNavaidSet(const std::string& aNavaid)
657 // allow setting an empty string to restore normal nearest-vor selection
658 if (aNavaid.size() > 0) {
659 FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
660 _ref_navaid = FGPositioned::findClosestWithIdent(aNavaid,
661 _position.get(), &vorFilter);
664 SG_LOG(SG_INSTR, SG_ALERT, "GPS: unknown ref navaid:" << aNavaid);
669 _ref_navaid_set = true;
670 SG_LOG(SG_INSTR, SG_INFO, "GPS code set explict ref-navaid:" << _ref_navaid->ident());
671 _ref_navaid_id_node->setStringValue(_ref_navaid->ident().c_str());
672 _ref_navaid_name_node->setStringValue(_ref_navaid->name().c_str());
673 FGNavRecord* vor = (FGNavRecord*) _ref_navaid.ptr();
674 _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
676 _ref_navaid_set = false;
677 _ref_navaid_elapsed = 9999.0; // update next tick
681 void GPS::routeActivated()
683 if (_route_active_node->getBoolValue()) {
684 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, switching to LEG mode");
687 // if we've already passed the current waypoint, sequence.
688 if (_dataValid && getWP1FromFlag()) {
689 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, FROM wp1, sequencing");
690 _routeMgr->sequence();
692 } else if (_mode == "leg") {
693 SG_LOG(SG_INSTR, SG_INFO, "GPS::route deactivated, switching to OBS mode");
694 // select OBS mode, but keep current waypoint-as is
700 void GPS::routeManagerSequenced()
702 if (_mode != "leg") {
703 SG_LOG(SG_INSTR, SG_INFO, "GPS ignoring route sequencing, not in LEG mode");
707 int index = _routeMgr->currentIndex(),
708 count = _routeMgr->numWaypts();
709 if ((index < 0) || (index >= count)) {
712 SG_LOG(SG_INSTR, SG_ALERT, "GPS: malformed route, index=" << index);
716 SG_LOG(SG_INSTR, SG_INFO, "GPS waypoint index is now " << index);
719 _prevWaypt = _routeMgr->previousWaypt();
720 if (_prevWaypt->flag(WPT_DYNAMIC)) {
721 _wp0_position = _indicated_pos;
723 _wp0_position = _prevWaypt->position();
727 _currentWaypt = _routeMgr->currentWaypt();
729 _desiredCourse = getLegMagCourse();
730 _desiredCourseNode->fireValueChanged();
734 void GPS::routeEdited()
736 if (_mode != "leg") {
740 SG_LOG(SG_INSTR, SG_INFO, "GPS route edited while in LEG mode, updating waypoints");
741 routeManagerSequenced();
744 void GPS::routeFinished()
746 if (_mode != "leg") {
750 SG_LOG(SG_INSTR, SG_INFO, "GPS route finished, reverting to OBS");
751 // select OBS mode, but keep current waypoint-as is
756 void GPS::updateTurn()
758 bool printProgress = false;
760 if (_computeTurnData) {
761 if (_last_speed_kts < 60) {
762 // need valid leg course and sensible ground speed to compute the turn
767 printProgress = true;
770 if (!_anticipateTurn) {
776 // find bearing to turn centre
777 double bearing, az2, distanceM;
778 SGGeodesy::inverse(_indicated_pos, _turnCentre, bearing, az2, distanceM);
779 double progress = computeTurnProgress(bearing);
782 SG_LOG(SG_INSTR, SG_INFO,"turn progress=" << progress);
785 if (!_inTurn && (progress > 0.0)) {
789 if (_inTurn && !_turnSequenced && (progress > 0.5)) {
790 _turnSequenced = true;
791 SG_LOG(SG_INSTR, SG_INFO, "turn passed midpoint, sequencing");
792 _routeMgr->sequence();
795 if (_inTurn && (progress >= 1.0)) {
800 // drive deviation and desired course
801 double desiredCourse = bearing - copysign(90, _turnAngle);
802 SG_NORMALIZE_RANGE(desiredCourse, 0.0, 360.0);
803 double deviationNm = (distanceM * SG_METER_TO_NM) - _turnRadius;
804 double deviationDeg = desiredCourse - getMagTrack();
805 deviationNm = copysign(deviationNm, deviationDeg);
807 //_wp1_course_deviation_node->setDoubleValue(deviationDeg);
808 //_wp1_course_error_nm_node->setDoubleValue(deviationNm);
809 //_cdiDeflectionNode->setDoubleValue(deviationDeg);
813 void GPS::updateOverflight()
815 if (!_wayptController->isDone()) {
819 if (_mode == "dto") {
820 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO reached destination point");
822 // check for wp1 being on active route - resume leg mode
823 if (_routeMgr->isRouteActive()) {
824 int index = _routeMgr->findWayptIndex(_currentWaypt->position());
826 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO, resuming LEG mode at wp:" << index);
828 _routeMgr->jumpToIndex(index);
832 if (_mode == "dto") {
833 // if we didn't enter leg mode, drop back to OBS mode
834 // select OBS mode, but keep current waypoint-as is
838 } else if (_mode == "leg") {
839 SG_LOG(SG_INSTR, SG_INFO, "GPS doing overflight sequencing");
840 _routeMgr->sequence();
841 } else if (_mode == "obs") {
842 // nothing to do here, TO/FROM will update but that's fine
845 _computeTurnData = true;
848 void GPS::beginTurn()
851 _turnSequenced = false;
852 SG_LOG(SG_INSTR, SG_INFO, "begining turn");
858 SG_LOG(SG_INSTR, SG_INFO, "ending turn");
859 _computeTurnData = true;
862 double GPS::computeTurnProgress(double aBearing) const
864 double startBearing = _turnStartBearing + copysign(90, _turnAngle);
865 return (aBearing - startBearing) / _turnAngle;
868 void GPS::computeTurnData()
870 _computeTurnData = false;
871 if (_mode != "leg") { // and approach modes in the future
872 _anticipateTurn = false;
876 WayptRef next = _routeMgr->nextWaypt();
877 if (!next || next->flag(WPT_DYNAMIC)) {
878 _anticipateTurn = false;
882 if (!_config.turnAnticipationEnabled()) {
883 _anticipateTurn = false;
887 _turnStartBearing = _desiredCourse;
888 // compute next leg course
890 boost::tie(crs, dist) = next->courseAndDistanceFrom(_currentWaypt->position());
893 // compute offset bearing
894 _turnAngle = crs - _turnStartBearing;
895 SG_NORMALIZE_RANGE(_turnAngle, -180.0, 180.0);
896 double median = _turnStartBearing + (_turnAngle * 0.5);
897 double offsetBearing = median + copysign(90, _turnAngle);
898 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
900 SG_LOG(SG_INSTR, SG_INFO, "GPS computeTurnData: in=" << _turnStartBearing <<
901 ", out=" << crs << "; turnAngle=" << _turnAngle << ", median=" << median
902 << ", offset=" << offsetBearing);
904 SG_LOG(SG_INSTR, SG_INFO, "next leg is now:" << _currentWaypt->ident() << "->" << next->ident());
906 _turnPt = _currentWaypt->position();
907 _anticipateTurn = true;
910 void GPS::updateTurnData()
912 // depends on ground speed, so needs to be updated per-frame
913 _turnRadius = computeTurnRadiusNm(_last_speed_kts);
915 // compute the turn centre, based on the turn radius.
916 // key thing is to understand that we're working a right-angle triangle,
917 // where the right-angle is the point we start the turn. From that point,
918 // one side is the inbound course to the turn pt, and the other is the
919 // perpendicular line, of length 'r', to the turn centre.
920 // the triangle's hypotenuse, which we need to find, is the distance from the
921 // turn pt to the turn center (in the direction of the offset bearing)
922 // note that d - _turnRadius tell us how much we're 'cutting' the corner.
924 double halfTurnAngle = fabs(_turnAngle * 0.5) * SG_DEGREES_TO_RADIANS;
925 double d = _turnRadius / cos(halfTurnAngle);
927 // SG_LOG(SG_INSTR, SG_INFO, "turnRadius=" << _turnRadius << ", d=" << d
928 // << " (cut distance=" << d - _turnRadius << ")");
930 double median = _turnStartBearing + (_turnAngle * 0.5);
931 double offsetBearing = median + copysign(90, _turnAngle);
932 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
935 SGGeodesy::direct(_turnPt, offsetBearing, d * SG_NM_TO_METER, _turnCentre, az2);
938 double GPS::computeTurnRadiusNm(double aGroundSpeedKts) const
940 // turn time is seconds to execute a 360 turn.
941 double turnTime = 360.0 / _config.turnRateDegSec();
943 // c is ground distance covered in that time (circumference of the circle)
944 double c = turnTime * (aGroundSpeedKts / 3600.0); // convert knts to nm/sec
946 // divide by 2PI to go from circumference -> radius
947 return c / (2 * M_PI);
950 void GPS::updateRouteData()
952 double totalDistance = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
953 // walk all waypoints from wp2 to route end, and sum
954 for (int i=_routeMgr->currentIndex()+1; i<_routeMgr->numWaypts(); ++i) {
955 //totalDistance += _routeMgr->get_waypoint(i).get_distance();
958 _routeDistanceNm->setDoubleValue(totalDistance * SG_METER_TO_NM);
959 if (_last_speed_kts > 1.0) {
960 double TTW = ((totalDistance * SG_METER_TO_NM) / _last_speed_kts) * 3600.0;
961 _routeETE->setStringValue(makeTTWString(TTW));
965 void GPS::driveAutopilot()
967 if (!_config.driveAutopilot() || !_realismSimpleGps->getBoolValue()) {
968 _apDrivingFlag->setBoolValue(false);
972 // compatability feature - allow the route-manager / GPS to drive the
973 // generic autopilot heading hold *in leg mode only*
975 bool drive = _mode == "leg";
976 _apDrivingFlag->setBoolValue(drive);
979 // FIXME: we want to set desired track, not heading, here
980 _apTrueHeading->setDoubleValue(getWP1Bearing());
984 void GPS::wp1Changed()
988 if (_mode == "leg") {
989 _wayptController.reset(WayptController::createForWaypt(this, _currentWaypt));
990 } else if (_mode == "obs") {
991 _wayptController.reset(new OBSController(this, _currentWaypt));
992 } else if (_mode == "dto") {
993 _wayptController.reset(new DirectToController(this, _currentWaypt, _wp0_position));
996 _wayptController->init();
998 if (_mode == "obs") {
999 _legDistanceNm = -1.0;
1001 _wayptController->update();
1002 _legDistanceNm = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
1005 if (!_config.driveAutopilot()) {
1009 RouteRestriction ar = _currentWaypt->altitudeRestriction();
1010 double restrictAlt = _currentWaypt->altitudeFt();
1011 double alt = _indicated_pos.getElevationFt();
1012 if ((ar == RESTRICT_AT) ||
1013 ((ar == RESTRICT_ABOVE) && (alt < restrictAlt)) ||
1014 ((ar == RESTRICT_BELOW) && (alt > restrictAlt)))
1016 SG_LOG(SG_AUTOPILOT, SG_INFO, "current waypt has altitude set, setting on AP");
1017 _apTargetAltitudeFt->setDoubleValue(restrictAlt);
1021 /////////////////////////////////////////////////////////////////////////////
1022 // property getter/setters
1024 void GPS::setSelectedCourse(double crs)
1026 if (_selectedCourse == crs) {
1030 _selectedCourse = crs;
1031 if ((_mode == "obs") || _config.courseSelectable()) {
1032 _desiredCourse = _selectedCourse;
1033 _desiredCourseNode->fireValueChanged();
1037 double GPS::getLegDistance() const
1039 if (!_dataValid || (_mode == "obs")) {
1043 return _legDistanceNm;
1046 double GPS::getLegCourse() const
1048 if (!_dataValid || !_wayptController.get()) {
1052 return _wayptController->targetTrackDeg();
1055 double GPS::getLegMagCourse() const
1061 double m = getLegCourse() - _magvar_node->getDoubleValue();
1062 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
1066 double GPS::getMagTrack() const
1072 double m = getTrueTrack() - _magvar_node->getDoubleValue();
1073 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
1077 double GPS::getCDIDeflection() const
1084 if (_config.cdiDeflectionIsAngular()) {
1085 defl = getWP1CourseDeviation();
1086 SG_CLAMP_RANGE(defl, -10.0, 10.0); // as in navradio.cxx
1088 double fullScale = _config.cdiDeflectionLinearPeg();
1089 double normError = getWP1CourseErrorNm() / fullScale;
1090 SG_CLAMP_RANGE(normError, -1.0, 1.0);
1091 defl = normError * 10.0; // re-scale to navradio limits, i.e [-10.0 .. 10.0]
1097 const char* GPS::getWP0Ident() const
1099 if (!_dataValid || (_mode != "leg") || (!_prevWaypt)) {
1103 return _prevWaypt->ident().c_str();
1106 const char* GPS::getWP0Name() const
1111 const char* GPS::getWP1Ident() const
1113 if ((!_dataValid)||(!_currentWaypt)) {
1117 return _currentWaypt->ident().c_str();
1120 const char* GPS::getWP1Name() const
1125 double GPS::getWP1Distance() const
1127 if (!_dataValid || !_wayptController.get()) {
1131 return _wayptController->distanceToWayptM() * SG_METER_TO_NM;
1134 double GPS::getWP1TTW() const
1136 if (!_dataValid || !_wayptController.get()) {
1140 return _wayptController->timeToWaypt();
1143 const char* GPS::getWP1TTWString() const
1145 double t = getWP1TTW();
1150 return makeTTWString(t);
1153 double GPS::getWP1Bearing() const
1155 if (!_dataValid || !_wayptController.get()) {
1159 return _wayptController->trueBearingDeg();
1162 double GPS::getWP1MagBearing() const
1164 if (!_dataValid || !_wayptController.get()) {
1168 double magBearing = _wayptController->trueBearingDeg() - _magvar_node->getDoubleValue();
1169 SG_NORMALIZE_RANGE(magBearing, 0.0, 360.0);
1173 double GPS::getWP1CourseDeviation() const
1175 if (!_dataValid || !_wayptController.get()) {
1179 return _wayptController->courseDeviationDeg();
1182 double GPS::getWP1CourseErrorNm() const
1184 if (!_dataValid || !_wayptController.get()) {
1188 return _wayptController->xtrackErrorNm();
1191 bool GPS::getWP1ToFlag() const
1193 if (!_dataValid || !_wayptController.get()) {
1197 return _wayptController->toFlag();
1200 bool GPS::getWP1FromFlag() const
1202 if (!_dataValid || !_wayptController.get()) {
1206 return !getWP1ToFlag();
1209 double GPS::getScratchDistance() const
1211 if (!_scratchValid) {
1215 return SGGeodesy::distanceNm(_indicated_pos, _scratchPos);
1218 double GPS::getScratchTrueBearing() const
1220 if (!_scratchValid) {
1224 return SGGeodesy::courseDeg(_indicated_pos, _scratchPos);
1227 double GPS::getScratchMagBearing() const
1229 if (!_scratchValid) {
1233 double crs = getScratchTrueBearing() - _magvar_node->getDoubleValue();
1234 SG_NORMALIZE_RANGE(crs, 0.0, 360.0);
1238 /////////////////////////////////////////////////////////////////////////////
1239 // command / scratch / search system
1241 void GPS::setCommand(const char* aCmd)
1243 SG_LOG(SG_INSTR, SG_INFO, "GPS command:" << aCmd);
1245 if (!strcmp(aCmd, "direct")) {
1247 } else if (!strcmp(aCmd, "obs")) {
1249 } else if (!strcmp(aCmd, "leg")) {
1251 } else if (!strcmp(aCmd, "load-route-wpt")) {
1252 loadRouteWaypoint();
1253 } else if (!strcmp(aCmd, "nearest")) {
1255 } else if (!strcmp(aCmd, "search")) {
1256 _searchNames = false;
1258 } else if (!strcmp(aCmd, "search-names")) {
1259 _searchNames = true;
1261 } else if (!strcmp(aCmd, "next")) {
1263 } else if (!strcmp(aCmd, "previous")) {
1265 } else if (!strcmp(aCmd, "define-user-wpt")) {
1267 } else if (!strcmp(aCmd, "route-insert-before")) {
1268 int index = _scratchNode->getIntValue("index");
1269 if (index < 0 || (_routeMgr->numWaypts() == 0)) {
1270 index = _routeMgr->numWaypts();
1271 } else if (index >= _routeMgr->numWaypts()) {
1272 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-before, bad index:" << index);
1276 insertWaypointAtIndex(index);
1277 } else if (!strcmp(aCmd, "route-insert-after")) {
1278 int index = _scratchNode->getIntValue("index");
1279 if (index < 0 || (_routeMgr->numWaypts() == 0)) {
1280 index = _routeMgr->numWaypts();
1281 } else if (index >= _routeMgr->numWaypts()) {
1282 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-after, bad index:" << index);
1288 insertWaypointAtIndex(index);
1289 } else if (!strcmp(aCmd, "route-delete")) {
1290 int index = _scratchNode->getIntValue("index");
1292 index = _routeMgr->numWaypts();
1293 } else if (index >= _routeMgr->numWaypts()) {
1294 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-delete, bad index:" << index);
1298 removeWaypointAtIndex(index);
1300 SG_LOG(SG_INSTR, SG_WARN, "GPS:unrecognized command:" << aCmd);
1304 void GPS::clearScratch()
1306 _scratchPos = SGGeod::fromDegFt(-9999.0, -9999.0, -9999.0);
1307 _scratchValid = false;
1308 _scratchNode->setStringValue("type", "");
1309 _scratchNode->setStringValue("query", "");
1312 bool GPS::isScratchPositionValid() const
1314 if ((_scratchPos.getLongitudeDeg() < -9990.0) ||
1315 (_scratchPos.getLatitudeDeg() < -9990.0)) {
1322 void GPS::directTo()
1324 if (!isScratchPositionValid()) {
1329 _wp0_position = _indicated_pos;
1330 _currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
1337 void GPS::loadRouteWaypoint()
1339 _scratchValid = false;
1340 // if (!_routeMgr->isRouteActive()) {
1341 // SG_LOG(SG_INSTR, SG_WARN, "GPS:loadWaypoint: no active route");
1345 int index = _scratchNode->getIntValue("index", -9999);
1348 if ((index < 0) || (index >= _routeMgr->numWaypts())) { // no index supplied, use current wp
1349 index = _routeMgr->currentIndex();
1352 _searchIsRoute = true;
1353 setScratchFromRouteWaypoint(index);
1356 void GPS::setScratchFromRouteWaypoint(int aIndex)
1358 assert(_searchIsRoute);
1359 if ((aIndex < 0) || (aIndex >= _routeMgr->numWaypts())) {
1360 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromRouteWaypoint: route-index out of bounds");
1364 _searchResultIndex = aIndex;
1365 WayptRef wp = _routeMgr->wayptAtIndex(aIndex);
1366 _scratchNode->setStringValue("ident", wp->ident());
1367 _scratchPos = wp->position();
1368 _scratchValid = true;
1369 _scratchNode->setIntValue("index", aIndex);
1372 void GPS::loadNearest()
1374 string sty(_scratchNode->getStringValue("type"));
1375 FGPositioned::Type ty = FGPositioned::typeFromName(sty);
1376 if (ty == FGPositioned::INVALID) {
1377 SG_LOG(SG_INSTR, SG_WARN, "GPS:loadNearest: request type is invalid:" << sty);
1381 auto_ptr<FGPositioned::Filter> f(createFilter(ty));
1382 int limitCount = _scratchNode->getIntValue("max-results", 1);
1383 double cutoffDistance = _scratchNode->getDoubleValue("cutoff-nm", 400.0);
1385 SGGeod searchPos = _indicated_pos;
1386 if (isScratchPositionValid()) {
1387 searchPos = _scratchPos;
1390 clearScratch(); // clear now, regardless of whether we find a match or not
1393 FGPositioned::findClosestN(searchPos, limitCount, cutoffDistance, f.get());
1394 _searchResultIndex = 0;
1395 _searchIsRoute = false;
1397 if (_searchResults.empty()) {
1398 SG_LOG(SG_INSTR, SG_INFO, "GPS:loadNearest: no matches at all");
1402 setScratchFromCachedSearchResult();
1405 bool GPS::SearchFilter::pass(FGPositioned* aPos) const
1407 switch (aPos->type()) {
1408 case FGPositioned::AIRPORT:
1409 // heliport and seaport too?
1410 case FGPositioned::VOR:
1411 case FGPositioned::NDB:
1412 case FGPositioned::FIX:
1413 case FGPositioned::TACAN:
1414 case FGPositioned::WAYPOINT:
1421 FGPositioned::Type GPS::SearchFilter::minType() const
1423 return FGPositioned::AIRPORT;
1426 FGPositioned::Type GPS::SearchFilter::maxType() const
1428 return FGPositioned::WAYPOINT;
1431 FGPositioned::Filter* GPS::createFilter(FGPositioned::Type aTy)
1433 if (aTy == FGPositioned::AIRPORT) {
1434 return new FGAirport::HardSurfaceFilter(_config.minRunwayLengthFt());
1437 // if we were passed INVALID, assume it means 'all types interesting to a GPS'
1438 if (aTy == FGPositioned::INVALID) {
1439 return new SearchFilter;
1442 return new FGPositioned::TypeFilter(aTy);
1447 // parse search terms into local members, and exec the first search
1448 string sty(_scratchNode->getStringValue("type"));
1449 _searchType = FGPositioned::typeFromName(sty);
1450 _searchQuery = _scratchNode->getStringValue("query");
1451 if (_searchQuery.empty()) {
1452 SG_LOG(SG_INSTR, SG_WARN, "empty GPS search query");
1457 _searchExact = _scratchNode->getBoolValue("exact", true);
1458 _searchResultIndex = 0;
1459 _searchIsRoute = false;
1461 auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
1463 _searchResults = FGPositioned::findAllWithName(_searchQuery, f.get(), _searchExact);
1465 _searchResults = FGPositioned::findAllWithIdent(_searchQuery, f.get(), _searchExact);
1468 bool orderByRange = _scratchNode->getBoolValue("order-by-distance", true);
1470 FGPositioned::sortByRange(_searchResults, _indicated_pos);
1473 if (_searchResults.empty()) {
1478 setScratchFromCachedSearchResult();
1481 bool GPS::getScratchHasNext() const
1484 if (_searchIsRoute) {
1485 lastResult = _routeMgr->numWaypts() - 1;
1487 lastResult = (int) _searchResults.size() - 1;
1490 if (lastResult < 0) { // search array might be empty
1494 return (_searchResultIndex < lastResult);
1497 void GPS::setScratchFromCachedSearchResult()
1499 int index = _searchResultIndex;
1501 if ((index < 0) || (index >= (int) _searchResults.size())) {
1502 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromCachedSearchResult: index out of bounds:" << index);
1506 setScratchFromPositioned(_searchResults[index], index);
1509 void GPS::setScratchFromPositioned(FGPositioned* aPos, int aIndex)
1514 _scratchPos = aPos->geod();
1515 _scratchNode->setStringValue("name", aPos->name());
1516 _scratchNode->setStringValue("ident", aPos->ident());
1517 _scratchNode->setStringValue("type", FGPositioned::nameForType(aPos->type()));
1520 _scratchNode->setIntValue("index", aIndex);
1523 _scratchValid = true;
1524 _scratchNode->setIntValue("result-count", _searchResults.size());
1526 switch (aPos->type()) {
1527 case FGPositioned::VOR:
1528 _scratchNode->setDoubleValue("frequency-mhz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1531 case FGPositioned::NDB:
1532 _scratchNode->setDoubleValue("frequency-khz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1535 case FGPositioned::AIRPORT:
1536 addAirportToScratch((FGAirport*)aPos);
1544 // look for being on the route and set?
1547 void GPS::addAirportToScratch(FGAirport* aAirport)
1549 for (unsigned int r=0; r<aAirport->numRunways(); ++r) {
1550 SGPropertyNode* rwyNd = _scratchNode->getChild("runways", r, true);
1551 FGRunway* rwy = aAirport->getRunwayByIndex(r);
1552 // TODO - filter out unsuitable runways in the future
1553 // based on config again
1555 rwyNd->setStringValue("id", rwy->ident().c_str());
1556 rwyNd->setIntValue("length-ft", rwy->lengthFt());
1557 rwyNd->setIntValue("width-ft", rwy->widthFt());
1558 rwyNd->setIntValue("heading-deg", rwy->headingDeg());
1559 // map surface code to a string
1560 // TODO - lighting information
1563 rwyNd->setDoubleValue("ils-frequency-mhz", rwy->ILS()->get_freq() / 100.0);
1565 } // of runways iteration
1569 void GPS::selectOBSMode()
1571 if (!isScratchPositionValid()) {
1575 SG_LOG(SG_INSTR, SG_INFO, "GPS switching to OBS mode");
1578 _currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
1579 _wp0_position = _indicated_pos;
1583 void GPS::selectLegMode()
1585 if (_mode == "leg") {
1589 if (!_routeMgr->isRouteActive()) {
1590 SG_LOG(SG_INSTR, SG_WARN, "GPS:selectLegMode: no active route");
1594 SG_LOG(SG_INSTR, SG_INFO, "GPS switching to LEG mode");
1597 // depending on the situation, this will either get over-written
1598 // in routeManagerSequenced or not; either way it does no harm to
1600 _wp0_position = _indicated_pos;
1602 // not really sequenced, but does all the work of updating wp0/1
1603 routeManagerSequenced();
1606 void GPS::nextResult()
1608 if (!getScratchHasNext()) {
1613 if (_searchIsRoute) {
1614 setScratchFromRouteWaypoint(++_searchResultIndex);
1616 ++_searchResultIndex;
1617 setScratchFromCachedSearchResult();
1621 void GPS::previousResult()
1623 if (_searchResultIndex <= 0) {
1628 --_searchResultIndex;
1630 if (_searchIsRoute) {
1631 setScratchFromRouteWaypoint(_searchResultIndex);
1633 setScratchFromCachedSearchResult();
1637 void GPS::defineWaypoint()
1639 if (!isScratchPositionValid()) {
1640 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: invalid lat/lon");
1644 string ident = _scratchNode->getStringValue("ident");
1645 if (ident.size() < 2) {
1646 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: waypoint identifier must be at least two characters");
1650 // check for duplicate idents
1651 FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
1652 FGPositioned::List dups = FGPositioned::findAllWithIdent(ident, &f);
1653 if (!dups.empty()) {
1654 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: non-unique waypoint identifier, ho-hum");
1657 SG_LOG(SG_INSTR, SG_INFO, "GPS:defineWaypoint: creating waypoint:" << ident);
1658 FGPositionedRef wpt = FGPositioned::createUserWaypoint(ident, _scratchPos);
1659 _searchResults.clear();
1660 _searchResults.push_back(wpt);
1661 setScratchFromPositioned(wpt.get(), -1);
1664 void GPS::insertWaypointAtIndex(int aIndex)
1666 // note we do allow index = routeMgr->size(), that's an append
1667 if ((aIndex < 0) || (aIndex > _routeMgr->numWaypts())) {
1668 throw sg_range_exception("GPS::insertWaypointAtIndex: index out of bounds");
1671 if (!isScratchPositionValid()) {
1672 SG_LOG(SG_INSTR, SG_WARN, "GPS:insertWaypointAtIndex: invalid lat/lon");
1676 string ident = _scratchNode->getStringValue("ident");
1678 WayptRef wpt = new BasicWaypt(_scratchPos, ident, NULL);
1679 _routeMgr->insertWayptAtIndex(wpt, aIndex);
1682 void GPS::removeWaypointAtIndex(int aIndex)
1684 if ((aIndex < 0) || (aIndex >= _routeMgr->numWaypts())) {
1685 throw sg_range_exception("GPS::removeWaypointAtIndex: index out of bounds");
1688 _routeMgr->removeWayptAtIndex(aIndex);
1691 void GPS::tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
1692 const char* lonStr, const char* latStr, const char* altStr)
1694 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, &SGGeod::setLongitudeDeg));
1695 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, &SGGeod::setLatitudeDeg));
1698 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, &SGGeod::setElevationFt));
1702 void GPS::tieSGGeodReadOnly(SGPropertyNode* aNode, SGGeod& aRef,
1703 const char* lonStr, const char* latStr, const char* altStr)
1705 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, NULL));
1706 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, NULL));
1709 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, NULL));