1 // gps.hxx - distance-measuring equipment.
2 // Written by David Megginson, started 2003.
4 // This file is in the Public Domain and comes with no warranty.
7 #ifndef __INSTRUMENTS_GPS_HXX
8 #define __INSTRUMENTS_GPS_HXX 1
10 #include <simgear/props/props.hxx>
11 #include <simgear/structure/subsystem_mgr.hxx>
12 #include <simgear/math/SGMath.hxx>
14 #include "Navaids/positioned.hxx"
29 void init(SGPropertyNode* base, const char* lonStr, const char* latStr, const char* altStr = NULL);
30 void init(const char* lonStr, const char* latStr, const char* altStr = NULL);
32 void operator=(const SGGeod& geod);
35 SGPropertyNode_ptr _lon, _lat, _alt;
43 * /position/longitude-deg
44 * /position/latitude-deg
45 * /position/altitude-ft
46 * /environment/magnetic-variation-deg
47 * /systems/electrical/outputs/gps
48 * /instrumentation/gps/serviceable
53 * /instrumentation/gps/indicated-longitude-deg
54 * /instrumentation/gps/indicated-latitude-deg
55 * /instrumentation/gps/indicated-altitude-ft
56 * /instrumentation/gps/indicated-vertical-speed-fpm
57 * /instrumentation/gps/indicated-track-true-deg
58 * /instrumentation/gps/indicated-track-magnetic-deg
59 * /instrumentation/gps/indicated-ground-speed-kt
61 * /instrumentation/gps/wp-distance-nm
62 * /instrumentation/gps/wp-bearing-deg
63 * /instrumentation/gps/wp-bearing-mag-deg
64 * /instrumentation/gps/TTW
65 * /instrumentation/gps/course-deviation-deg
66 * /instrumentation/gps/course-error-nm
67 * /instrumentation/gps/to-flag
68 * /instrumentation/gps/odometer
69 * /instrumentation/gps/trip-odometer
70 * /instrumentation/gps/true-bug-error-deg
71 * /instrumentation/gps/magnetic-bug-error-deg
74 class GPS : public SGSubsystem
79 GPS (SGPropertyNode *node);
84 virtual void update (double delta_time_sec);
87 friend class GPSListener;
88 friend class SearchFilter;
91 * Configuration manager, track data relating to aircraft installation
98 void init(SGPropertyNode*);
100 bool turnAnticipationEnabled() const
101 { return _enableTurnAnticipation; }
104 * Desired turn rate in degrees/second. From this we derive the turn
105 * radius and hence how early we need to anticipate it.
107 double turnRateDegSec() const
108 { return _turnRate; }
111 * Distance at which we arm overflight sequencing. Once inside this
112 * distance, a change of the wp1 'TO' flag to false will be considered
113 * overlight of the wp.
115 double overflightArmDistanceNm() const
116 { return _overflightArmDistance; }
119 * Time before the next WP to activate an external annunciator
121 double waypointAlertTime() const
122 { return _waypointAlertTime; }
124 bool tuneNavRadioToRefVor() const
125 { return _tuneRadio1ToRefVor; }
127 bool requireHardSurface() const
128 { return _requireHardSurface; }
130 double minRunwayLengthFt() const
131 { return _minRunwayLengthFt; }
133 double getExternalCourse() const;
135 void setExternalCourse(double aCourseDeg);
137 bool cdiDeflectionIsAngular() const
138 { return (_cdiMaxDeflectionNm <= 0.0); }
140 double cdiDeflectionLinearPeg() const
142 assert(_cdiMaxDeflectionNm > 0.0);
143 return _cdiMaxDeflectionNm;
146 bool driveAutopilot() const
147 { return _driveAutopilot; }
149 bool _enableTurnAnticipation;
151 // desired turn rate in degrees per second
154 // distance from waypoint to arm overflight sequencing (in nm)
155 double _overflightArmDistance;
157 // time before reaching a waypoint to trigger annunicator light/sound
159 double _waypointAlertTime;
161 // should GPS automatically tune NAV1 to the reference VOR?
162 bool _tuneRadio1ToRefVor;
164 // minimum runway length to require when filtering
165 double _minRunwayLengthFt;
167 // should we require a hard-surfaced runway when filtering?
168 bool _requireHardSurface;
170 // helpers to tie course-source property
171 const char* getCourseSource() const;
172 void setCourseSource(const char* aPropPath);
174 // property to retrieve the external course from
175 SGPropertyNode_ptr _extCourseSource;
177 double _cdiMaxDeflectionNm;
179 bool _driveAutopilot;
182 class SearchFilter : public FGPositioned::Filter
185 virtual bool pass(FGPositioned* aPos) const;
187 virtual FGPositioned::Type minType() const;
188 virtual FGPositioned::Type maxType() const;
192 * reset all output properties to default / non-service values
196 void updateWithValid(double dt);
197 void updateBasicData(double dt);
198 void updateWaypoints();
200 void updateTrackingBug();
201 void updateReferenceNavaid(double dt);
202 void referenceNavaidSet(const std::string& aNavaid);
203 void tuneNavRadios();
204 void updateRouteData();
205 void driveAutopilot();
207 void routeActivated();
208 void routeManagerSequenced();
210 void routeFinished();
213 void updateOverflight();
217 double computeTurnProgress(double aBearing) const;
218 void computeTurnData();
219 void updateTurnData();
220 double computeTurnRadiusNm(double aGroundSpeedKts) const;
223 * Update one-shot things when WP1 / leg data change
227 // scratch maintenence utilities
228 void setScratchFromPositioned(FGPositioned* aPos, int aIndex);
229 void setScratchFromCachedSearchResult();
230 void setScratchFromRouteWaypoint(int aIndex);
233 * Add airport-specific information to a scratch result
235 void addAirportToScratch(FGAirport* aAirport);
240 * Predicate, determine if the lon/lat position in the scratch is
243 bool isScratchPositionValid() const;
245 FGPositioned::Filter* createFilter(FGPositioned::Type aTy);
248 * Search kernel - called each time we step through a result
250 void performSearch();
253 void selectLegMode();
254 void selectOBSMode();
256 void loadRouteWaypoint();
260 void previousResult();
261 void defineWaypoint();
263 // tied-property getter/setters
264 void setCommand(const char* aCmd);
265 const char* getCommand() const { return ""; }
267 const char* getMode() const { return _mode.c_str(); }
269 bool getScratchValid() const { return _scratchValid; }
270 double getScratchDistance() const;
271 double getScratchMagBearing() const;
272 double getScratchTrueBearing() const;
273 bool getScratchHasNext() const { return _searchHasNext; }
275 double getSelectedCourse() const { return _selectedCourse; }
276 double getCDIDeflection() const;
278 double getLegDistance() const;
279 double getLegCourse() const;
280 double getLegMagCourse() const;
281 double getAltDistanceRatio() const;
283 double getTrueTrack() const { return _last_true_track; }
284 double getMagTrack() const;
285 double getGroundspeedKts() const { return _last_speed_kts; }
286 double getVerticalSpeed() const { return _last_vertical_speed; }
288 //bool getLegMode() const { return _mode == "leg"; }
289 //bool getObsMode() const { return _mode == "obs"; }
291 const char* getWP0Ident() const;
292 const char* getWP0Name() const;
294 const char* getWP1Ident() const;
295 const char* getWP1Name() const;
297 double getWP1Distance() const;
298 double getWP1TTW() const;
299 const char* getWP1TTWString() const;
300 double getWP1Bearing() const;
301 double getWP1MagBearing() const;
302 double getWP1CourseDeviation() const;
303 double getWP1CourseErrorNm() const;
304 bool getWP1ToFlag() const;
305 bool getWP1FromFlag() const;
307 // true-bearing-error and mag-bearing-error
312 SGPropertyNode_ptr _magvar_node;
313 SGPropertyNode_ptr _serviceable_node;
314 SGPropertyNode_ptr _electrical_node;
315 SGPropertyNode_ptr _tracking_bug_node;
316 SGPropertyNode_ptr _raim_node;
318 SGPropertyNode_ptr _odometer_node;
319 SGPropertyNode_ptr _trip_odometer_node;
320 SGPropertyNode_ptr _true_bug_error_node;
321 SGPropertyNode_ptr _magnetic_bug_error_node;
323 SGPropertyNode_ptr _ref_navaid_id_node;
324 SGPropertyNode_ptr _ref_navaid_bearing_node;
325 SGPropertyNode_ptr _ref_navaid_distance_node;
326 SGPropertyNode_ptr _ref_navaid_mag_bearing_node;
327 SGPropertyNode_ptr _ref_navaid_frequency_node;
328 SGPropertyNode_ptr _ref_navaid_name_node;
330 SGPropertyNode_ptr _route_active_node;
331 SGPropertyNode_ptr _route_current_wp_node;
332 SGPropertyNode_ptr _routeDistanceNm;
333 SGPropertyNode_ptr _routeETE;
334 SGPropertyNode_ptr _routeEditedSignal;
335 SGPropertyNode_ptr _routeFinishedSignal;
337 double _selectedCourse;
341 double _last_speed_kts;
342 double _last_true_track;
343 double _last_vertical_speed;
346 GPSListener* _listener;
348 FGRouteMgr* _routeMgr;
350 bool _ref_navaid_set;
351 double _ref_navaid_elapsed;
352 FGPositionedRef _ref_navaid;
357 SGGeodProperty _position;
358 SGGeod _wp0_position;
359 SGGeod _wp1_position;
360 SGGeod _indicated_pos;
361 std::string _wp0Ident, _wp0Name, _wp1Ident, _wp1Name;
362 double _wp1DistanceM, _wp1TrueBearing;
366 SGPropertyNode_ptr _scratchNode;
370 int _searchResultIndex;
371 std::string _searchQuery;
372 FGPositioned::Type _searchType;
374 bool _searchOrderByRange;
375 bool _searchResultsCached;
376 FGPositioned::List _searchResults;
377 bool _searchIsRoute; ///< set if 'search' is actually the current route
378 bool _searchHasNext; ///< is there a result after this one?
379 bool _searchNames; ///< set if we're searching names instead of idents
382 bool _computeTurnData; ///< do we need to update the turn data?
383 bool _anticipateTurn; ///< are we anticipating the next turn or not?
384 bool _inTurn; // is a turn in progress?
385 bool _turnSequenced; // have we sequenced the new leg?
386 double _turnAngle; // angle to turn through, in degrees
387 double _turnStartBearing; // bearing of inbound leg
388 double _turnRadius; // radius of turn in nm
392 SGPropertyNode_ptr _realismSimpleGps; ///< should the GPS be simple or realistic?
394 // autopilot drive properties
395 SGPropertyNode_ptr _apTrueHeading;
396 SGPropertyNode_ptr _apTargetAltitudeFt;
397 SGPropertyNode_ptr _apAltitudeLock;
401 #endif // __INSTRUMENTS_GPS_HXX