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(1.0),
190 _waypointAlertTime(30.0),
191 _minRunwayLengthFt(0.0),
192 _requireHardSurface(true),
193 _cdiMaxDeflectionNm(3.0), // linear mode, 3nm at the peg
194 _driveAutopilot(true),
195 _courseSelectable(false)
197 _enableTurnAnticipation = false;
200 void GPS::Config::bind(GPS* aOwner, SGPropertyNode* aCfg)
202 aOwner->tie(aCfg, "turn-rate-deg-sec", SGRawValuePointer<double>(&_turnRate));
203 aOwner->tie(aCfg, "turn-anticipation", SGRawValuePointer<bool>(&_enableTurnAnticipation));
204 aOwner->tie(aCfg, "wpt-alert-time", SGRawValuePointer<double>(&_waypointAlertTime));
205 aOwner->tie(aCfg, "min-runway-length-ft", SGRawValuePointer<double>(&_minRunwayLengthFt));
206 aOwner->tie(aCfg, "hard-surface-runways-only", SGRawValuePointer<bool>(&_requireHardSurface));
207 aOwner->tie(aCfg, "cdi-max-deflection-nm", SGRawValuePointer<double>(&_cdiMaxDeflectionNm));
208 aOwner->tie(aCfg, "drive-autopilot", SGRawValuePointer<bool>(&_driveAutopilot));
209 aOwner->tie(aCfg, "course-selectable", SGRawValuePointer<bool>(&_courseSelectable));
212 ////////////////////////////////////////////////////////////////////////////
214 GPS::GPS ( SGPropertyNode *node) :
215 _selectedCourse(0.0),
217 _lastPosValid(false),
219 _name(node->getStringValue("name", "gps")),
220 _num(node->getIntValue("number", 0)),
221 _computeTurnData(false),
222 _anticipateTurn(false),
225 string branch = "/instrumentation/" + _name;
226 _gpsNode = fgGetNode(branch.c_str(), _num, true );
227 _scratchNode = _gpsNode->getChild("scratch", 0, true);
237 _routeMgr = (FGRouteMgr*) globals->get_subsystem("route-manager");
240 _position.init("/position/longitude-deg", "/position/latitude-deg", "/position/altitude-ft");
241 _magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
242 _serviceable_node = _gpsNode->getChild("serviceable", 0, true);
243 _serviceable_node->setBoolValue(true);
244 _electrical_node = fgGetNode("/systems/electrical/outputs/gps", true);
247 _raim_node = _gpsNode->getChild("raim", 0, true);
248 _odometer_node = _gpsNode->getChild("odometer", 0, true);
249 _trip_odometer_node = _gpsNode->getChild("trip-odometer", 0, true);
250 _true_bug_error_node = _gpsNode->getChild("true-bug-error-deg", 0, true);
251 _magnetic_bug_error_node = _gpsNode->getChild("magnetic-bug-error-deg", 0, true);
252 _eastWestVelocity = _gpsNode->getChild("ew-velocity-msec", 0, true);
253 _northSouthVelocity = _gpsNode->getChild("ns-velocity-msec", 0, true);
256 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
257 SGPropertyNode *wp1_node = wp_node->getChild("wp", 1, true);
259 // for compatability, alias selected course down to wp/wp[1]/desired-course-deg
260 SGPropertyNode* wp1Crs = wp1_node->getChild("desired-course-deg", 0, true);
261 wp1Crs->alias(_gpsNode->getChild("desired-course-deg", 0, true));
263 // _true_wp1_bearing_error_node =
264 // wp1_node->getChild("true-bearing-error-deg", 0, true);
265 // _magnetic_wp1_bearing_error_node =
266 // wp1_node->getChild("magnetic-bearing-error-deg", 0, true);
268 _tracking_bug_node = _gpsNode->getChild("tracking-bug", 0, true);
271 SGPropertyNode_ptr ref_navaid = _gpsNode->getChild("ref-navaid", 0, true);
272 _ref_navaid_id_node = ref_navaid->getChild("id", 0, true);
273 _ref_navaid_name_node = ref_navaid->getChild("name", 0, true);
274 _ref_navaid_bearing_node = ref_navaid->getChild("bearing-deg", 0, true);
275 _ref_navaid_frequency_node = ref_navaid->getChild("frequency-mhz", 0, true);
276 _ref_navaid_distance_node = ref_navaid->getChild("distance-nm", 0, true);
277 _ref_navaid_mag_bearing_node = ref_navaid->getChild("mag-bearing-deg", 0, true);
278 _ref_navaid_elapsed = 0.0;
279 _ref_navaid_set = false;
282 // should these move to the route manager?
283 _routeDistanceNm = _gpsNode->getChild("route-distance-nm", 0, true);
284 _routeETE = _gpsNode->getChild("ETE", 0, true);
285 _routeEditedSignal = fgGetNode("/autopilot/route-manager/signals/edited", true);
286 _routeFinishedSignal = fgGetNode("/autopilot/route-manager/signals/finished", true);
288 // add listener to various things
289 _listener = new GPSListener(this);
290 _route_current_wp_node = fgGetNode("/autopilot/route-manager/current-wp", true);
291 _route_current_wp_node->addChangeListener(_listener);
292 _route_active_node = fgGetNode("/autopilot/route-manager/active", true);
293 _route_active_node->addChangeListener(_listener);
294 _ref_navaid_id_node->addChangeListener(_listener);
295 _routeEditedSignal->addChangeListener(_listener);
296 _routeFinishedSignal->addChangeListener(_listener);
298 // navradio slaving properties
299 SGPropertyNode* toFlag = _gpsNode->getChild("to-flag", 0, true);
300 toFlag->alias(wp1_node->getChild("to-flag"));
302 SGPropertyNode* fromFlag = _gpsNode->getChild("from-flag", 0, true);
303 fromFlag->alias(wp1_node->getChild("from-flag"));
305 // autopilot drive properties
306 _apDrivingFlag = fgGetNode("/autopilot/settings/gps-driving-true-heading", true);
307 _apTrueHeading = fgGetNode("/autopilot/settings/true-heading-deg",true);
308 _apTargetAltitudeFt = fgGetNode("/autopilot/settings/target-altitude-ft", true);
309 _apAltitudeLock = fgGetNode("/autopilot/locks/altitude", true);
312 _realismSimpleGps = fgGetNode("/sim/realism/simple-gps", true);
313 if (!_realismSimpleGps->hasValue()) {
314 _realismSimpleGps->setBoolValue(true);
317 // last thing, add the deprecated prop watcher
318 new DeprecatedPropListener(_gpsNode);
326 _config.bind(this, _gpsNode->getChild("config", 0, true));
328 tie(_gpsNode, "selected-course-deg", SGRawValueMethods<GPS, double>
329 (*this, &GPS::getSelectedCourse, &GPS::setSelectedCourse));
331 tie(_gpsNode, "desired-course-deg", SGRawValueMethods<GPS, double>
332 (*this, &GPS::getDesiredCourse, NULL));
333 _desiredCourseNode = _gpsNode->getChild("desired-course-deg");
335 tieSGGeodReadOnly(_gpsNode, _indicated_pos, "indicated-longitude-deg",
336 "indicated-latitude-deg", "indicated-altitude-ft");
338 tie(_gpsNode, "indicated-vertical-speed", SGRawValueMethods<GPS, double>
339 (*this, &GPS::getVerticalSpeed, NULL));
340 tie(_gpsNode, "indicated-track-true-deg", SGRawValueMethods<GPS, double>
341 (*this, &GPS::getTrueTrack, NULL));
342 tie(_gpsNode, "indicated-track-magnetic-deg", SGRawValueMethods<GPS, double>
343 (*this, &GPS::getMagTrack, NULL));
344 tie(_gpsNode, "indicated-ground-speed-kt", SGRawValueMethods<GPS, double>
345 (*this, &GPS::getGroundspeedKts, NULL));
348 tie(_gpsNode, "mode", SGRawValueMethods<GPS, const char*>(*this, &GPS::getMode, NULL));
349 tie(_gpsNode, "command", SGRawValueMethods<GPS, const char*>(*this, &GPS::getCommand, &GPS::setCommand));
351 tieSGGeod(_scratchNode, _scratchPos, "longitude-deg", "latitude-deg", "altitude-ft");
352 tie(_scratchNode, "valid", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchValid, NULL));
353 tie(_scratchNode, "distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchDistance, NULL));
354 tie(_scratchNode, "true-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchTrueBearing, NULL));
355 tie(_scratchNode, "mag-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchMagBearing, NULL));
356 tie(_scratchNode, "has-next", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchHasNext, NULL));
357 _scratchValid = false;
359 // waypoint data (including various historical things)
360 SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
361 SGPropertyNode *wp0_node = wp_node->getChild("wp", 0, true);
362 SGPropertyNode *wp1_node = wp_node->getChild("wp", 1, true);
364 tieSGGeodReadOnly(wp0_node, _wp0_position, "longitude-deg", "latitude-deg", "altitude-ft");
365 tie(wp0_node, "ID", SGRawValueMethods<GPS, const char*>
366 (*this, &GPS::getWP0Ident, NULL));
367 tie(wp0_node, "name", SGRawValueMethods<GPS, const char*>
368 (*this, &GPS::getWP0Name, NULL));
370 tieSGGeodReadOnly(wp1_node, _wp1_position, "longitude-deg", "latitude-deg", "altitude-ft");
371 tie(wp1_node, "ID", SGRawValueMethods<GPS, const char*>
372 (*this, &GPS::getWP1Ident, NULL));
373 tie(wp1_node, "name", SGRawValueMethods<GPS, const char*>
374 (*this, &GPS::getWP1Name, NULL));
376 tie(wp1_node, "distance-nm", SGRawValueMethods<GPS, double>
377 (*this, &GPS::getWP1Distance, NULL));
378 tie(wp1_node, "bearing-true-deg", SGRawValueMethods<GPS, double>
379 (*this, &GPS::getWP1Bearing, NULL));
380 tie(wp1_node, "bearing-mag-deg", SGRawValueMethods<GPS, double>
381 (*this, &GPS::getWP1MagBearing, NULL));
382 tie(wp1_node, "TTW-sec", SGRawValueMethods<GPS, double>
383 (*this, &GPS::getWP1TTW, NULL));
384 tie(wp1_node, "TTW", SGRawValueMethods<GPS, const char*>
385 (*this, &GPS::getWP1TTWString, NULL));
387 tie(wp1_node, "course-deviation-deg", SGRawValueMethods<GPS, double>
388 (*this, &GPS::getWP1CourseDeviation, NULL));
389 tie(wp1_node, "course-error-nm", SGRawValueMethods<GPS, double>
390 (*this, &GPS::getWP1CourseErrorNm, NULL));
391 tie(wp1_node, "to-flag", SGRawValueMethods<GPS, bool>
392 (*this, &GPS::getWP1ToFlag, NULL));
393 tie(wp1_node, "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));
400 tie(wp_node, "alt-dist-ratio", SGRawValueMethods<GPS, double>(*this, &GPS::getAltDistanceRatio, NULL));
402 // navradio slaving properties
403 tie(_gpsNode, "cdi-deflection", SGRawValueMethods<GPS,double>
404 (*this, &GPS::getCDIDeflection));
410 for (unsigned int t=0; t<_tiedNodes.size(); ++t) {
411 _tiedNodes[t]->untie();
420 _last_speed_kts = 0.0;
421 _last_pos = SGGeod();
422 _lastPosValid = false;
423 _indicated_pos = SGGeod();
424 _last_vertical_speed = 0.0;
425 _last_true_track = 0.0;
426 _lastEWVelocity = _lastNSVelocity = 0.0;
428 _raim_node->setDoubleValue(0.0);
429 _indicated_pos = SGGeod();
431 _wp1TrueBearing = 0.0;
432 _wp1_position = SGGeod();
433 _odometer_node->setDoubleValue(0);
434 _trip_odometer_node->setDoubleValue(0);
435 _tracking_bug_node->setDoubleValue(0);
436 _true_bug_error_node->setDoubleValue(0);
437 _magnetic_bug_error_node->setDoubleValue(0);
438 _northSouthVelocity->setDoubleValue(0.0);
439 _eastWestVelocity->setDoubleValue(0.0);
443 GPS::update (double delta_time_sec)
445 if (!_realismSimpleGps->getBoolValue()) {
446 // If it's off, don't bother.
447 if (!_serviceable_node->getBoolValue() || !_electrical_node->getBoolValue()) {
453 if (delta_time_sec <= 0.0) {
454 return; // paused, don't bother
456 // TODO: Add noise and other errors.
459 // Bias and random error
460 double random_factor = sg_random();
461 double random_error = 1.4;
462 double error_radius = 5.1;
463 double bias_max_radius = 5.1;
464 double random_max_radius = 1.4;
466 bias_length += (random_factor-0.5) * 1.0e-3;
467 if (bias_length <= 0.0) bias_length = 0.0;
468 else if (bias_length >= bias_max_radius) bias_length = bias_max_radius;
469 bias_angle += (random_factor-0.5) * 1.0e-3;
470 if (bias_angle <= 0.0) bias_angle = 0.0;
471 else if (bias_angle >= 360.0) bias_angle = 360.0;
473 double random_length = random_factor * random_max_radius;
474 double random_angle = random_factor * 360.0;
476 double bias_x = bias_length * cos(bias_angle * SG_PI / 180.0);
477 double bias_y = bias_length * sin(bias_angle * SG_PI / 180.0);
478 double random_x = random_length * cos(random_angle * SG_PI / 180.0);
479 double random_y = random_length * sin(random_angle * SG_PI / 180.0);
480 double error_x = bias_x + random_x;
481 double error_y = bias_y + random_y;
482 double error_length = sqrt(error_x*error_x + error_y*error_y);
483 double error_angle = atan(error_y / error_x) * 180.0 / SG_PI;
488 geo_direct_wgs_84 ( altitude_m, latitude_deg,
489 longitude_deg, error_angle,
490 error_length, &lat2, &lon2,
492 //cout << lat2 << " " << lon2 << endl;
493 printf("%f %f \n", bias_length, bias_angle);
494 printf("%3.7f %3.7f \n", lat2, lon2);
495 printf("%f %f \n", error_length, error_angle);
498 _raim_node->setDoubleValue(1.0);
499 _indicated_pos = _position.get();
500 updateBasicData(delta_time_sec);
503 if (_mode != "obs") {
509 updateReferenceNavaid(delta_time_sec);
514 if (_dataValid && (_mode == "init")) {
515 // allow a realistic delay in the future, here
516 SG_LOG(SG_INSTR, SG_INFO, "GPS initialisation complete");
518 if (_route_active_node->getBoolValue()) {
519 // GPS init with active route
520 SG_LOG(SG_INSTR, SG_INFO, "GPS init with active route");
523 // initialise in OBS mode, with waypt set to the nearest airport.
524 // keep in mind at this point, _dataValid is not set
526 auto_ptr<FGPositioned::Filter> f(createFilter(FGPositioned::AIRPORT));
527 FGPositionedRef apt = FGPositioned::findClosest(_position.get(), 20.0, f.get());
529 setScratchFromPositioned(apt, 0);
533 } // of init mode check
535 _last_pos = _indicated_pos;
536 _lastPosValid = true;
540 GPS::updateBasicData(double dt)
542 if (!_lastPosValid) {
548 SGGeodesy::inverse(_last_pos, _indicated_pos, _last_true_track, track2_deg, distance_m );
550 double speed_kt = ((distance_m * SG_METER_TO_NM) * ((1 / dt) * 3600.0));
551 double vertical_speed_mpm = ((_indicated_pos.getElevationM() - _last_pos.getElevationM()) * 60 / dt);
552 _last_vertical_speed = vertical_speed_mpm * SG_METER_TO_FEET;
554 speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, dt/10.0);
555 _last_speed_kts = speed_kt;
557 SGGeod g = _indicated_pos;
558 g.setLongitudeDeg(_last_pos.getLongitudeDeg());
559 double northSouthM = SGGeodesy::distanceM(_last_pos, g);
560 northSouthM = copysign(northSouthM, _indicated_pos.getLatitudeDeg() - _last_pos.getLatitudeDeg());
562 double nsMSec = fgGetLowPass(_lastNSVelocity, northSouthM / dt, dt/2.0);
563 _lastNSVelocity = nsMSec;
564 _northSouthVelocity->setDoubleValue(nsMSec);
568 g.setLatitudeDeg(_last_pos.getLatitudeDeg());
569 double eastWestM = SGGeodesy::distanceM(_last_pos, g);
570 eastWestM = copysign(eastWestM, _indicated_pos.getLongitudeDeg() - _last_pos.getLongitudeDeg());
572 double ewMSec = fgGetLowPass(_lastEWVelocity, eastWestM / dt, dt/2.0);
573 _lastEWVelocity = ewMSec;
574 _eastWestVelocity->setDoubleValue(ewMSec);
576 double odometer = _odometer_node->getDoubleValue();
577 _odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
578 odometer = _trip_odometer_node->getDoubleValue();
579 _trip_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
582 SG_LOG(SG_INSTR, SG_INFO, "GPS setting data valid");
588 GPS::updateTrackingBug()
590 double tracking_bug = _tracking_bug_node->getDoubleValue();
591 double true_bug_error = tracking_bug - getTrueTrack();
592 double magnetic_bug_error = tracking_bug - getMagTrack();
594 // Get the errors into the (-180,180) range.
595 SG_NORMALIZE_RANGE(true_bug_error, -180.0, 180.0);
596 SG_NORMALIZE_RANGE(magnetic_bug_error, -180.0, 180.0);
598 _true_bug_error_node->setDoubleValue(true_bug_error);
599 _magnetic_bug_error_node->setDoubleValue(magnetic_bug_error);
603 GPS::updateWaypoints()
606 SGGeodesy::inverse(_indicated_pos, _wp1_position, _wp1TrueBearing, az2,_wp1DistanceM);
609 void GPS::updateReferenceNavaid(double dt)
611 if (!_ref_navaid_set) {
612 _ref_navaid_elapsed += dt;
613 if (_ref_navaid_elapsed > 5.0) {
614 _ref_navaid_elapsed = 0.0;
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 navid");
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");
643 double trueCourse, distanceM, az2;
644 SGGeodesy::inverse(_indicated_pos, _ref_navaid->geod(), trueCourse, az2, distanceM);
645 _ref_navaid_distance_node->setDoubleValue(distanceM * SG_METER_TO_NM);
646 _ref_navaid_bearing_node->setDoubleValue(trueCourse);
647 _ref_navaid_mag_bearing_node->setDoubleValue(trueCourse - _magvar_node->getDoubleValue());
651 void GPS::referenceNavaidSet(const std::string& aNavaid)
654 // allow setting an empty string to restore normal nearest-vor selection
655 if (aNavaid.size() > 0) {
656 FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
657 _ref_navaid = FGPositioned::findClosestWithIdent(aNavaid,
658 _position.get(), &vorFilter);
661 SG_LOG(SG_INSTR, SG_ALERT, "GPS: unknown ref navaid:" << aNavaid);
666 _ref_navaid_set = true;
667 SG_LOG(SG_INSTR, SG_INFO, "GPS code set explict ref-navaid:" << _ref_navaid->ident());
668 _ref_navaid_id_node->setStringValue(_ref_navaid->ident().c_str());
669 _ref_navaid_name_node->setStringValue(_ref_navaid->name().c_str());
670 FGNavRecord* vor = (FGNavRecord*) _ref_navaid.ptr();
671 _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
673 _ref_navaid_set = false;
674 _ref_navaid_elapsed = 9999.0; // update next tick
678 void GPS::routeActivated()
680 if (_route_active_node->getBoolValue()) {
681 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, switching to LEG mode");
684 // if we've already passed the current waypoint, sequence.
685 if (_dataValid && getWP1FromFlag()) {
686 SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, FROM wp1, sequencing");
687 _routeMgr->sequence();
689 } else if (_mode == "leg") {
690 SG_LOG(SG_INSTR, SG_INFO, "GPS::route deactivated, switching to OBS mode");
695 void GPS::routeManagerSequenced()
697 if (_mode != "leg") {
698 SG_LOG(SG_INSTR, SG_INFO, "GPS ignoring route sequencing, not in LEG mode");
702 int index = _routeMgr->currentWaypoint(),
703 count = _routeMgr->size();
704 if ((index < 0) || (index >= count)) {
705 SG_LOG(SG_INSTR, SG_ALERT, "GPS: malformed route, index=" << index);
709 SG_LOG(SG_INSTR, SG_INFO, "GPS waypoint index is now " << index);
712 SGWayPoint wp0(_routeMgr->get_waypoint(index - 1));
713 _wp0Ident = wp0.get_id();
714 _wp0Name = wp0.get_name();
715 _wp0_position = wp0.get_target();
719 SGWayPoint wp1(_routeMgr->get_waypoint(index));
720 _wp1Ident = wp1.get_id();
721 _wp1Name = wp1.get_name();
722 _wp1_position = wp1.get_target();
724 _desiredCourse = getLegMagCourse();
725 _desiredCourseNode->fireValueChanged();
729 void GPS::routeEdited()
731 if (_mode != "leg") {
735 SG_LOG(SG_INSTR, SG_INFO, "GPS route edited while in LEG mode, updating waypoints");
736 routeManagerSequenced();
739 void GPS::routeFinished()
741 if (_mode != "leg") {
745 SG_LOG(SG_INSTR, SG_INFO, "GPS route finished, reverting to OBS");
747 _wp0_position = _indicated_pos;
751 void GPS::updateTurn()
753 bool printProgress = false;
755 if (_computeTurnData) {
756 if (_last_speed_kts < 60) {
757 // need valid leg course and sensible ground speed to compute the turn
762 printProgress = true;
765 if (!_anticipateTurn) {
771 // find bearing to turn centre
772 double bearing, az2, distanceM;
773 SGGeodesy::inverse(_indicated_pos, _turnCentre, bearing, az2, distanceM);
774 double progress = computeTurnProgress(bearing);
777 SG_LOG(SG_INSTR, SG_INFO,"turn progress=" << progress);
780 if (!_inTurn && (progress > 0.0)) {
784 if (_inTurn && !_turnSequenced && (progress > 0.5)) {
785 _turnSequenced = true;
786 SG_LOG(SG_INSTR, SG_INFO, "turn passed midpoint, sequencing");
787 _routeMgr->sequence();
790 if (_inTurn && (progress >= 1.0)) {
795 // drive deviation and desired course
796 double desiredCourse = bearing - copysign(90, _turnAngle);
797 SG_NORMALIZE_RANGE(desiredCourse, 0.0, 360.0);
798 double deviationNm = (distanceM * SG_METER_TO_NM) - _turnRadius;
799 double deviationDeg = desiredCourse - getMagTrack();
800 deviationNm = copysign(deviationNm, deviationDeg);
802 //_wp1_course_deviation_node->setDoubleValue(deviationDeg);
803 //_wp1_course_error_nm_node->setDoubleValue(deviationNm);
804 //_cdiDeflectionNode->setDoubleValue(deviationDeg);
808 void GPS::updateOverflight()
810 if ((_wp1DistanceM * SG_METER_TO_NM) > _config.overflightArmDistanceNm()) {
814 if (getWP1ToFlag()) {
815 return; // still heading towards the WP
818 if (_mode == "dto") {
819 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO reached destination point");
821 // check for wp1 being on active route - resume leg mode
822 if (_routeMgr->isRouteActive()) {
823 int index = _routeMgr->findWaypoint(_wp1_position);
825 SG_LOG(SG_INSTR, SG_INFO, "GPS DTO, resuming LEG mode at wp:" << index);
827 _routeMgr->jumpToIndex(index);
830 } else if (_mode == "leg") {
831 SG_LOG(SG_INSTR, SG_INFO, "GPS doing overflight sequencing");
832 _routeMgr->sequence();
833 } else if (_mode == "obs") {
834 // nothing to do here, TO/FROM will update but that's fine
837 _computeTurnData = true;
840 void GPS::beginTurn()
843 _turnSequenced = false;
844 SG_LOG(SG_INSTR, SG_INFO, "begining turn");
850 SG_LOG(SG_INSTR, SG_INFO, "ending turn");
851 _computeTurnData = true;
854 double GPS::computeTurnProgress(double aBearing) const
856 double startBearing = _turnStartBearing + copysign(90, _turnAngle);
857 return (aBearing - startBearing) / _turnAngle;
860 void GPS::computeTurnData()
862 _computeTurnData = false;
863 if (_mode != "leg") { // and approach modes in the future
864 _anticipateTurn = false;
868 int curIndex = _routeMgr->currentWaypoint();
869 if ((curIndex + 1) >= _routeMgr->size()) {
870 _anticipateTurn = false;
874 if (!_config.turnAnticipationEnabled()) {
875 _anticipateTurn = false;
879 _turnStartBearing = _desiredCourse;
880 // compute next leg course
881 SGWayPoint wp1(_routeMgr->get_waypoint(curIndex)),
882 wp2(_routeMgr->get_waypoint(curIndex + 1));
884 wp2.CourseAndDistance(wp1, &crs, &dist);
887 // compute offset bearing
888 _turnAngle = crs - _turnStartBearing;
889 SG_NORMALIZE_RANGE(_turnAngle, -180.0, 180.0);
890 double median = _turnStartBearing + (_turnAngle * 0.5);
891 double offsetBearing = median + copysign(90, _turnAngle);
892 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
894 SG_LOG(SG_INSTR, SG_INFO, "GPS computeTurnData: in=" << _turnStartBearing <<
895 ", out=" << crs << "; turnAngle=" << _turnAngle << ", median=" << median
896 << ", offset=" << offsetBearing);
898 SG_LOG(SG_INSTR, SG_INFO, "next leg is now:" << wp1.get_id() << "->" << wp2.get_id());
900 _turnPt = _wp1_position;
901 _anticipateTurn = true;
904 void GPS::updateTurnData()
906 // depends on ground speed, so needs to be updated per-frame
907 _turnRadius = computeTurnRadiusNm(_last_speed_kts);
909 // compute the turn centre, based on the turn radius.
910 // key thing is to understand that we're working a right-angle triangle,
911 // where the right-angle is the point we start the turn. From that point,
912 // one side is the inbound course to the turn pt, and the other is the
913 // perpendicular line, of length 'r', to the turn centre.
914 // the triangle's hypotenuse, which we need to find, is the distance from the
915 // turn pt to the turn center (in the direction of the offset bearing)
916 // note that d - _turnRadius tell us how much we're 'cutting' the corner.
918 double halfTurnAngle = fabs(_turnAngle * 0.5) * SG_DEGREES_TO_RADIANS;
919 double d = _turnRadius / cos(halfTurnAngle);
921 // SG_LOG(SG_INSTR, SG_INFO, "turnRadius=" << _turnRadius << ", d=" << d
922 // << " (cut distance=" << d - _turnRadius << ")");
924 double median = _turnStartBearing + (_turnAngle * 0.5);
925 double offsetBearing = median + copysign(90, _turnAngle);
926 SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
929 SGGeodesy::direct(_turnPt, offsetBearing, d * SG_NM_TO_METER, _turnCentre, az2);
932 double GPS::computeTurnRadiusNm(double aGroundSpeedKts) const
934 // turn time is seconds to execute a 360 turn.
935 double turnTime = 360.0 / _config.turnRateDegSec();
937 // c is ground distance covered in that time (circumference of the circle)
938 double c = turnTime * (aGroundSpeedKts / 3600.0); // convert knts to nm/sec
940 // divide by 2PI to go from circumference -> radius
941 return c / (2 * M_PI);
944 void GPS::updateRouteData()
946 double totalDistance = _wp1DistanceM * SG_METER_TO_NM;
947 // walk all waypoints from wp2 to route end, and sum
948 for (int i=_routeMgr->currentWaypoint()+1; i<_routeMgr->size(); ++i) {
949 totalDistance += _routeMgr->get_waypoint(i).get_distance();
952 _routeDistanceNm->setDoubleValue(totalDistance * SG_METER_TO_NM);
953 if (_last_speed_kts > 1.0) {
954 double TTW = ((totalDistance * SG_METER_TO_NM) / _last_speed_kts) * 3600.0;
955 _routeETE->setStringValue(makeTTWString(TTW));
959 void GPS::driveAutopilot()
961 if (!_config.driveAutopilot() || !_realismSimpleGps->getBoolValue()) {
962 _apDrivingFlag->setBoolValue(false);
966 // compatability feature - allow the route-manager / GPS to drive the
967 // generic autopilot heading hold *in leg mode only*
969 bool drive = _mode == "leg";
970 _apDrivingFlag->setBoolValue(drive);
973 // FIXME: we want to set desired track, not heading, here
974 _apTrueHeading->setDoubleValue(getWP1Bearing());
978 void GPS::wp1Changed()
980 if (!_config.driveAutopilot()) {
984 double altFt = _wp1_position.getElevationFt();
985 if (altFt > -9990.0) {
986 _apTargetAltitudeFt->setDoubleValue(altFt);
990 /////////////////////////////////////////////////////////////////////////////
991 // property getter/setters
993 void GPS::setSelectedCourse(double crs)
995 if (_selectedCourse == crs) {
999 _selectedCourse = crs;
1000 if ((_mode == "obs") || _config.courseSelectable()) {
1001 _desiredCourse = _selectedCourse;
1002 _desiredCourseNode->fireValueChanged();
1006 double GPS::getLegDistance() const
1008 if (!_dataValid || (_mode == "obs")) {
1012 return SGGeodesy::distanceNm(_wp0_position, _wp1_position);
1015 double GPS::getLegCourse() const
1021 return SGGeodesy::courseDeg(_wp0_position, _wp1_position);
1024 double GPS::getLegMagCourse() const
1030 double m = getLegCourse() - _magvar_node->getDoubleValue();
1031 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
1035 double GPS::getAltDistanceRatio() const
1037 if (!_dataValid || (_mode == "obs")) {
1041 double dist = SGGeodesy::distanceM(_wp0_position, _wp1_position);
1042 if ( dist <= 0.0 ) {
1046 double alt_difference_m = _wp0_position.getElevationM() - _wp1_position.getElevationM();
1047 return alt_difference_m / dist;
1050 double GPS::getMagTrack() const
1056 double m = getTrueTrack() - _magvar_node->getDoubleValue();
1057 SG_NORMALIZE_RANGE(m, 0.0, 360.0);
1061 double GPS::getCDIDeflection() const
1068 if (_config.cdiDeflectionIsAngular()) {
1069 defl = getWP1CourseDeviation();
1070 SG_CLAMP_RANGE(defl, -10.0, 10.0); // as in navradio.cxx
1072 double fullScale = _config.cdiDeflectionLinearPeg();
1073 double normError = getWP1CourseErrorNm() / fullScale;
1074 SG_CLAMP_RANGE(normError, -1.0, 1.0);
1075 defl = normError * 10.0; // re-scale to navradio limits, i.e [-10.0 .. 10.0]
1081 const char* GPS::getWP0Ident() const
1083 if (!_dataValid || (_mode != "leg")) {
1087 return _wp0Ident.c_str();
1090 const char* GPS::getWP0Name() const
1092 if (!_dataValid || (_mode != "leg")) {
1096 return _wp0Name.c_str();
1099 const char* GPS::getWP1Ident() const
1105 return _wp1Ident.c_str();
1108 const char* GPS::getWP1Name() const
1114 return _wp1Name.c_str();
1117 double GPS::getWP1Distance() const
1123 return _wp1DistanceM * SG_METER_TO_NM;
1126 double GPS::getWP1TTW() const
1132 if (_last_speed_kts < 1.0) {
1136 return (getWP1Distance() / _last_speed_kts) * 3600.0;
1139 const char* GPS::getWP1TTWString() const
1145 return makeTTWString(getWP1TTW());
1148 double GPS::getWP1Bearing() const
1154 return _wp1TrueBearing;
1157 double GPS::getWP1MagBearing() const
1163 double magBearing = _wp1TrueBearing - _magvar_node->getDoubleValue();
1164 SG_NORMALIZE_RANGE(magBearing, 0.0, 360.0);
1168 double GPS::getWP1CourseDeviation() const
1174 double dev = getWP1MagBearing() - _desiredCourse;
1175 SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
1177 if (fabs(dev) > 90.0) {
1178 // When the course is away from the waypoint,
1179 // it makes sense to change the sign of the deviation.
1181 SG_NORMALIZE_RANGE(dev, -90.0, 90.0);
1187 double GPS::getWP1CourseErrorNm() const
1193 double radDev = getWP1CourseDeviation() * SG_DEGREES_TO_RADIANS;
1194 double course_error_m = sin(radDev) * _wp1DistanceM;
1195 return course_error_m * SG_METER_TO_NM;
1198 bool GPS::getWP1ToFlag() const
1204 double dev = getWP1MagBearing() - _desiredCourse;
1205 SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
1207 return (fabs(dev) < 90.0);
1210 bool GPS::getWP1FromFlag() const
1216 return !getWP1ToFlag();
1219 double GPS::getScratchDistance() const
1221 if (!_scratchValid) {
1225 return SGGeodesy::distanceNm(_indicated_pos, _scratchPos);
1228 double GPS::getScratchTrueBearing() const
1230 if (!_scratchValid) {
1234 return SGGeodesy::courseDeg(_indicated_pos, _scratchPos);
1237 double GPS::getScratchMagBearing() const
1239 if (!_scratchValid) {
1243 double crs = getScratchTrueBearing() - _magvar_node->getDoubleValue();
1244 SG_NORMALIZE_RANGE(crs, 0.0, 360.0);
1248 /////////////////////////////////////////////////////////////////////////////
1249 // command / scratch / search system
1251 void GPS::setCommand(const char* aCmd)
1253 SG_LOG(SG_INSTR, SG_INFO, "GPS command:" << aCmd);
1255 if (!strcmp(aCmd, "direct")) {
1257 } else if (!strcmp(aCmd, "obs")) {
1259 } else if (!strcmp(aCmd, "leg")) {
1261 } else if (!strcmp(aCmd, "load-route-wpt")) {
1262 loadRouteWaypoint();
1263 } else if (!strcmp(aCmd, "nearest")) {
1265 } else if (!strcmp(aCmd, "search")) {
1266 _searchNames = false;
1268 } else if (!strcmp(aCmd, "search-names")) {
1269 _searchNames = true;
1271 } else if (!strcmp(aCmd, "next")) {
1273 } else if (!strcmp(aCmd, "previous")) {
1275 } else if (!strcmp(aCmd, "define-user-wpt")) {
1277 } else if (!strcmp(aCmd, "route-insert-before")) {
1278 int index = _scratchNode->getIntValue("index");
1279 if (index < 0 || (_routeMgr->size() == 0)) {
1280 index = _routeMgr->size();
1281 } else if (index >= _routeMgr->size()) {
1282 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-before, bad index:" << index);
1286 insertWaypointAtIndex(index);
1287 } else if (!strcmp(aCmd, "route-insert-after")) {
1288 int index = _scratchNode->getIntValue("index");
1289 if (index < 0 || (_routeMgr->size() == 0)) {
1290 index = _routeMgr->size();
1291 } else if (index >= _routeMgr->size()) {
1292 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-after, bad index:" << index);
1298 insertWaypointAtIndex(index);
1299 } else if (!strcmp(aCmd, "route-delete")) {
1300 int index = _scratchNode->getIntValue("index");
1302 index = _routeMgr->size();
1303 } else if (index >= _routeMgr->size()) {
1304 SG_LOG(SG_INSTR, SG_WARN, "GPS:route-delete, bad index:" << index);
1308 removeWaypointAtIndex(index);
1310 SG_LOG(SG_INSTR, SG_WARN, "GPS:unrecognized command:" << aCmd);
1314 void GPS::clearScratch()
1316 _scratchPos = SGGeod::fromDegFt(-9999.0, -9999.0, -9999.0);
1317 _scratchValid = false;
1318 _scratchNode->setStringValue("type", "");
1319 _scratchNode->setStringValue("query", "");
1322 bool GPS::isScratchPositionValid() const
1324 if ((_scratchPos.getLongitudeDeg() < -9990.0) ||
1325 (_scratchPos.getLatitudeDeg() < -9990.0)) {
1332 void GPS::directTo()
1334 _wp0_position = _indicated_pos;
1336 if (isScratchPositionValid()) {
1337 _wp1Ident = _scratchNode->getStringValue("ident");
1338 _wp1Name = _scratchNode->getStringValue("name");
1339 _wp1_position = _scratchPos;
1343 _desiredCourse = getLegMagCourse();
1344 _desiredCourseNode->fireValueChanged();
1349 void GPS::loadRouteWaypoint()
1351 _scratchValid = false;
1352 // if (!_routeMgr->isRouteActive()) {
1353 // SG_LOG(SG_INSTR, SG_WARN, "GPS:loadWaypoint: no active route");
1357 int index = _scratchNode->getIntValue("index", -9999);
1360 if ((index < 0) || (index >= _routeMgr->size())) { // no index supplied, use current wp
1361 index = _routeMgr->currentWaypoint();
1364 _searchIsRoute = true;
1365 setScratchFromRouteWaypoint(index);
1368 void GPS::setScratchFromRouteWaypoint(int aIndex)
1370 assert(_searchIsRoute);
1371 if ((aIndex < 0) || (aIndex >= _routeMgr->size())) {
1372 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromRouteWaypoint: route-index out of bounds");
1376 _searchResultIndex = aIndex;
1377 SGWayPoint wp(_routeMgr->get_waypoint(aIndex));
1378 _scratchNode->setStringValue("name", wp.get_name());
1379 _scratchNode->setStringValue("ident", wp.get_id());
1380 _scratchPos = wp.get_target();
1381 _scratchValid = true;
1382 _scratchNode->setDoubleValue("course", wp.get_track());
1383 _scratchNode->setIntValue("index", aIndex);
1385 int lastResult = _routeMgr->size() - 1;
1386 _searchHasNext = (_searchResultIndex < lastResult);
1389 void GPS::loadNearest()
1391 string sty(_scratchNode->getStringValue("type"));
1392 FGPositioned::Type ty = FGPositioned::typeFromName(sty);
1393 if (ty == FGPositioned::INVALID) {
1394 SG_LOG(SG_INSTR, SG_WARN, "GPS:loadNearest: request type is invalid:" << sty);
1398 auto_ptr<FGPositioned::Filter> f(createFilter(ty));
1399 int limitCount = _scratchNode->getIntValue("max-results", 1);
1400 double cutoffDistance = _scratchNode->getDoubleValue("cutoff-nm", 400.0);
1402 SGGeod searchPos = _indicated_pos;
1403 if (isScratchPositionValid()) {
1404 searchPos = _scratchPos;
1407 clearScratch(); // clear now, regardless of whether we find a match or not
1410 FGPositioned::findClosestN(searchPos, limitCount, cutoffDistance, f.get());
1411 _searchResultsCached = true;
1412 _searchResultIndex = 0;
1413 _searchIsRoute = false;
1414 _searchHasNext = false;
1416 if (_searchResults.empty()) {
1417 SG_LOG(SG_INSTR, SG_INFO, "GPS:loadNearest: no matches at all");
1421 _searchHasNext = (_searchResults.size() > 1);
1422 setScratchFromCachedSearchResult();
1425 bool GPS::SearchFilter::pass(FGPositioned* aPos) const
1427 switch (aPos->type()) {
1428 case FGPositioned::AIRPORT:
1429 // heliport and seaport too?
1430 case FGPositioned::VOR:
1431 case FGPositioned::NDB:
1432 case FGPositioned::FIX:
1433 case FGPositioned::TACAN:
1434 case FGPositioned::WAYPOINT:
1441 FGPositioned::Type GPS::SearchFilter::minType() const
1443 return FGPositioned::AIRPORT;
1446 FGPositioned::Type GPS::SearchFilter::maxType() const
1448 return FGPositioned::WAYPOINT;
1451 FGPositioned::Filter* GPS::createFilter(FGPositioned::Type aTy)
1453 if (aTy == FGPositioned::AIRPORT) {
1454 return new FGAirport::HardSurfaceFilter(_config.minRunwayLengthFt());
1457 // if we were passed INVALID, assume it means 'all types interesting to a GPS'
1458 if (aTy == FGPositioned::INVALID) {
1459 return new SearchFilter;
1462 return new FGPositioned::TypeFilter(aTy);
1467 // parse search terms into local members, and exec the first search
1468 string sty(_scratchNode->getStringValue("type"));
1469 _searchType = FGPositioned::typeFromName(sty);
1470 _searchQuery = _scratchNode->getStringValue("query");
1471 if (_searchQuery.empty()) {
1472 SG_LOG(SG_INSTR, SG_WARN, "empty GPS search query");
1477 _searchExact = _scratchNode->getBoolValue("exact", true);
1478 _searchOrderByRange = _scratchNode->getBoolValue("order-by-distance", true);
1479 _searchResultIndex = 0;
1480 _searchIsRoute = false;
1481 _searchHasNext = false;
1483 if (_searchExact && _searchOrderByRange) {
1484 // immediate mode search, get all the results now and cache them
1485 auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
1487 _searchResults = FGPositioned::findAllWithNameSortedByRange(_searchQuery, _indicated_pos, f.get());
1489 _searchResults = FGPositioned::findAllWithIdentSortedByRange(_searchQuery, _indicated_pos, f.get());
1492 _searchResultsCached = true;
1494 if (_searchResults.empty()) {
1499 _searchHasNext = (_searchResults.size() > 1);
1500 setScratchFromCachedSearchResult();
1502 // iterative search, look up result zero
1503 _searchResultsCached = false;
1508 void GPS::performSearch()
1510 auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
1515 if (_searchOrderByRange) {
1516 r = FGPositioned::findClosestWithPartialName(_indicated_pos, _searchQuery, f.get(), _searchResultIndex, _searchHasNext);
1518 r = FGPositioned::findWithPartialName(_searchQuery, f.get(), _searchResultIndex, _searchHasNext);
1521 if (_searchOrderByRange) {
1522 r = FGPositioned::findClosestWithPartialId(_indicated_pos, _searchQuery, f.get(), _searchResultIndex, _searchHasNext);
1524 r = FGPositioned::findWithPartialId(_searchQuery, f.get(), _searchResultIndex, _searchHasNext);
1532 setScratchFromPositioned(r.get(), _searchResultIndex);
1535 void GPS::setScratchFromCachedSearchResult()
1537 assert(_searchResultsCached);
1538 int index = _searchResultIndex;
1540 if ((index < 0) || (index >= (int) _searchResults.size())) {
1541 SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromCachedSearchResult: index out of bounds:" << index);
1545 setScratchFromPositioned(_searchResults[index], index);
1547 int lastResult = (int) _searchResults.size() - 1;
1548 _searchHasNext = (_searchResultIndex < lastResult);
1551 void GPS::setScratchFromPositioned(FGPositioned* aPos, int aIndex)
1556 _scratchPos = aPos->geod();
1557 _scratchNode->setStringValue("name", aPos->name());
1558 _scratchNode->setStringValue("ident", aPos->ident());
1559 _scratchNode->setStringValue("type", FGPositioned::nameForType(aPos->type()));
1562 _scratchNode->setIntValue("index", aIndex);
1565 _scratchValid = true;
1566 if (_searchResultsCached) {
1567 _scratchNode->setIntValue("result-count", _searchResults.size());
1570 switch (aPos->type()) {
1571 case FGPositioned::VOR:
1572 _scratchNode->setDoubleValue("frequency-mhz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1575 case FGPositioned::NDB:
1576 _scratchNode->setDoubleValue("frequency-khz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
1579 case FGPositioned::AIRPORT:
1580 addAirportToScratch((FGAirport*)aPos);
1588 // look for being on the route and set?
1591 void GPS::addAirportToScratch(FGAirport* aAirport)
1593 for (unsigned int r=0; r<aAirport->numRunways(); ++r) {
1594 SGPropertyNode* rwyNd = _scratchNode->getChild("runways", r, true);
1595 FGRunway* rwy = aAirport->getRunwayByIndex(r);
1596 // TODO - filter out unsuitable runways in the future
1597 // based on config again
1599 rwyNd->setStringValue("id", rwy->ident().c_str());
1600 rwyNd->setIntValue("length-ft", rwy->lengthFt());
1601 rwyNd->setIntValue("width-ft", rwy->widthFt());
1602 rwyNd->setIntValue("heading-deg", rwy->headingDeg());
1603 // map surface code to a string
1604 // TODO - lighting information
1607 rwyNd->setDoubleValue("ils-frequency-mhz", rwy->ILS()->get_freq() / 100.0);
1609 } // of runways iteration
1613 void GPS::selectOBSMode()
1615 if (isScratchPositionValid()) {
1616 _wp1Ident = _scratchNode->getStringValue("ident");
1617 _wp1Name = _scratchNode->getStringValue("name");
1618 _wp1_position = _scratchPos;
1621 SG_LOG(SG_INSTR, SG_INFO, "GPS switching to OBS mode");
1623 _wp0_position = _indicated_pos;
1627 void GPS::selectLegMode()
1629 if (_mode == "leg") {
1633 if (!_routeMgr->isRouteActive()) {
1634 SG_LOG(SG_INSTR, SG_WARN, "GPS:selectLegMode: no active route");
1638 SG_LOG(SG_INSTR, SG_INFO, "GPS switching to LEG mode");
1641 // depending on the situation, this will either get over-written
1642 // in routeManagerSequenced or not; either way it does no harm to
1644 _wp0_position = _indicated_pos;
1646 // not really sequenced, but does all the work of updating wp0/1
1647 routeManagerSequenced();
1650 void GPS::nextResult()
1652 if (!_searchHasNext) {
1657 if (_searchIsRoute) {
1658 setScratchFromRouteWaypoint(++_searchResultIndex);
1659 } else if (_searchResultsCached) {
1660 ++_searchResultIndex;
1661 setScratchFromCachedSearchResult();
1663 ++_searchResultIndex;
1665 } // of iterative search case
1668 void GPS::previousResult()
1670 if (_searchResultIndex <= 0) {
1675 --_searchResultIndex;
1677 if (_searchIsRoute) {
1678 setScratchFromRouteWaypoint(_searchResultIndex);
1679 } else if (_searchResultsCached) {
1680 setScratchFromCachedSearchResult();
1686 void GPS::defineWaypoint()
1688 if (!isScratchPositionValid()) {
1689 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: invalid lat/lon");
1693 string ident = _scratchNode->getStringValue("ident");
1694 if (ident.size() < 2) {
1695 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: waypoint identifier must be at least two characters");
1699 // check for duplicate idents
1700 FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
1701 FGPositioned::List dups = FGPositioned::findAllWithIdentSortedByRange(ident, _indicated_pos, &f);
1702 if (!dups.empty()) {
1703 SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: non-unique waypoint identifier, ho-hum");
1706 SG_LOG(SG_INSTR, SG_INFO, "GPS:defineWaypoint: creating waypoint:" << ident);
1707 FGPositionedRef wpt = FGPositioned::createUserWaypoint(ident, _scratchPos);
1708 _searchResultsCached = false;
1709 setScratchFromPositioned(wpt.get(), -1);
1712 void GPS::insertWaypointAtIndex(int aIndex)
1714 // note we do allow index = routeMgr->size(), that's an append
1715 if ((aIndex < 0) || (aIndex > _routeMgr->size())) {
1716 throw sg_range_exception("GPS::insertWaypointAtIndex: index out of bounds");
1719 if (!isScratchPositionValid()) {
1720 SG_LOG(SG_INSTR, SG_WARN, "GPS:insertWaypointAtIndex: invalid lat/lon");
1724 string ident = _scratchNode->getStringValue("ident");
1725 string name = _scratchNode->getStringValue("name");
1727 _routeMgr->add_waypoint(SGWayPoint(_scratchPos, ident, name), aIndex);
1730 void GPS::removeWaypointAtIndex(int aIndex)
1732 if ((aIndex < 0) || (aIndex >= _routeMgr->size())) {
1733 throw sg_range_exception("GPS::removeWaypointAtIndex: index out of bounds");
1736 _routeMgr->pop_waypoint(aIndex);
1739 void GPS::tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
1740 const char* lonStr, const char* latStr, const char* altStr)
1742 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, &SGGeod::setLongitudeDeg));
1743 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, &SGGeod::setLatitudeDeg));
1746 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, &SGGeod::setElevationFt));
1750 void GPS::tieSGGeodReadOnly(SGPropertyNode* aNode, SGGeod& aRef,
1751 const char* lonStr, const char* latStr, const char* altStr)
1753 tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, NULL));
1754 tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, NULL));
1757 tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, NULL));