src/Instrumentation/gps.hxx

   1 // gps.hxx - distance-measuring equipment.
   2 // Written by David Megginson, started 2003.
   3 //
   4 // This file is in the Public Domain and comes with no warranty.
   5
   6
   7 #ifndef __INSTRUMENTS_GPS_HXX
   8 #define __INSTRUMENTS_GPS_HXX 1
   9
  10 #include <simgear/props/props.hxx>
  11 #include <simgear/structure/subsystem_mgr.hxx>
  12 #include <simgear/math/SGMath.hxx>
  13
  14 // forward decls
  15 class SGRoute;
  16
  17 class SGGeodProperty
  18 {
  19 public:
  20     SGGeodProperty()
  21     {
  22     }
  23
  24     void init(SGPropertyNode* base, const char* lonStr, const char* latStr, const char* altStr = NULL);
  25     void init(const char* lonStr, const char* latStr, const char* altStr = NULL);
  26     void clear();
  27     void operator=(const SGGeod& geod);
  28     SGGeod get() const;
  29 private:
  30     SGPropertyNode_ptr _lon, _lat, _alt;
  31 };
  32
  33 /**
  34  * Model a GPS radio.
  35  *
  36  * Input properties:
  37  *
  38  * /position/longitude-deg
  39  * /position/latitude-deg
  40  * /position/altitude-ft
  41  * /environment/magnetic-variation-deg
  42  * /systems/electrical/outputs/gps
  43  * /instrumentation/gps/serviceable
  44  *
  45  * /instrumentation/gps/wp-longitude-deg
  46  * /instrumentation/gps/wp-latitude-deg
  47  * /instrumentation/gps/wp-altitude-ft
  48  * /instrumentation/gps/wp-ID
  49  * /instrumentation/gps/wp-name
  50  * /instrumentation/gps/desired-course-deg
  51  * /instrumentation/gps/get-nearest-airport
  52  * /instrumentation/gps/waypoint-type
  53  * /instrumentation/gps/tracking-bug
  54  *
  55  * Output properties:
  56  *
  57  * /instrumentation/gps/indicated-longitude-deg
  58  * /instrumentation/gps/indicated-latitude-deg
  59  * /instrumentation/gps/indicated-altitude-ft
  60  * /instrumentation/gps/indicated-vertical-speed-fpm
  61  * /instrumentation/gps/indicated-track-true-deg
  62  * /instrumentation/gps/indicated-track-magnetic-deg
  63  * /instrumentation/gps/indicated-ground-speed-kt
  64  *
  65  * /instrumentation/gps/wp-distance-nm
  66  * /instrumentation/gps/wp-bearing-deg
  67  * /instrumentation/gps/wp-bearing-mag-deg
  68  * /instrumentation/gps/TTW
  69  * /instrumentation/gps/course-deviation-deg
  70  * /instrumentation/gps/course-error-nm
  71  * /instrumentation/gps/to-flag
  72  * /instrumentation/gps/odometer
  73  * /instrumentation/gps/trip-odometer
  74  * /instrumentation/gps/true-bug-error-deg
  75  * /instrumentation/gps/magnetic-bug-error-deg
  76  * /instrumentation/gps/true-bearing-error-deg
  77  * /instrumentation/gps/magnetic-bearing-error-deg
  78  */
  79 class GPS : public SGSubsystem
  80 {
  81
  82 public:
  83
  84     GPS (SGPropertyNode *node);
  85     GPS ();
  86     virtual ~GPS ();
  87
  88     virtual void init ();
  89     virtual void update (double delta_time_sec);
  90
  91 private:
  92     typedef struct {
  93         double dt;
  94         SGGeod pos;
  95         SGGeod wp0_pos;
  96         SGGeod wp1_pos;
  97         bool waypoint_changed;
  98         double speed_kt;
  99         double track1_deg;
 100         double track2_deg;
 101         double magvar_deg;
 102         double wp0_distance;
 103         double wp0_course_deg;
 104         double wp0_bearing_deg;
 105         double wp1_distance;
 106         double wp1_course_deg;
 107         double wp1_bearing_deg;
 108     } UpdateContext;
 109
 110     void search (double frequency, const SGGeod& pos);
 111
 112     /**
 113      * reset all output properties to default / non-service values
 114      */
 115     void clearOutput();
 116
 117     void updateWithValid(UpdateContext& ctx);
 118
 119     void updateNearestAirport(UpdateContext& ctx);
 120     void updateWaypoint0(UpdateContext& ctx);
 121     void updateWaypoint1(UpdateContext& ctx);
 122
 123     void updateLegCourse(UpdateContext& ctx);
 124     void updateWaypoint0Course(UpdateContext& ctx);
 125     void updateWaypoint1Course(UpdateContext& ctx);
 126
 127     void waypointChanged(UpdateContext& ctx);
 128     void updateTTWNode(UpdateContext& ctx, double distance_m, SGPropertyNode_ptr node);
 129     void updateTrackingBug(UpdateContext& ctx);
 130
 131     SGPropertyNode_ptr _magvar_node;
 132     SGPropertyNode_ptr _serviceable_node;
 133     SGPropertyNode_ptr _electrical_node;
 134     SGPropertyNode_ptr _wp0_ID_node;
 135     SGPropertyNode_ptr _wp0_name_node;
 136     SGPropertyNode_ptr _wp0_course_node;
 137     SGPropertyNode_ptr _get_nearest_airport_node;
 138     SGPropertyNode_ptr _wp1_ID_node;
 139     SGPropertyNode_ptr _wp1_name_node;
 140     SGPropertyNode_ptr _wp1_course_node;
 141     SGPropertyNode_ptr _tracking_bug_node;
 142
 143     SGPropertyNode_ptr _raim_node;
 144     SGPropertyNode_ptr _indicated_vertical_speed_node;
 145     SGPropertyNode_ptr _true_track_node;
 146     SGPropertyNode_ptr _magnetic_track_node;
 147     SGPropertyNode_ptr _speed_node;
 148     SGPropertyNode_ptr _wp0_distance_node;
 149     SGPropertyNode_ptr _wp0_ttw_node;
 150     SGPropertyNode_ptr _wp0_bearing_node;
 151     SGPropertyNode_ptr _wp0_mag_bearing_node;
 152     SGPropertyNode_ptr _wp0_course_deviation_node;
 153     SGPropertyNode_ptr _wp0_course_error_nm_node;
 154     SGPropertyNode_ptr _wp0_to_flag_node;
 155     SGPropertyNode_ptr _wp1_distance_node;
 156     SGPropertyNode_ptr _wp1_ttw_node;
 157     SGPropertyNode_ptr _wp1_bearing_node;
 158     SGPropertyNode_ptr _wp1_mag_bearing_node;
 159     SGPropertyNode_ptr _wp1_course_deviation_node;
 160     SGPropertyNode_ptr _wp1_course_error_nm_node;
 161     SGPropertyNode_ptr _wp1_to_flag_node;
 162     SGPropertyNode_ptr _odometer_node;
 163     SGPropertyNode_ptr _trip_odometer_node;
 164     SGPropertyNode_ptr _true_bug_error_node;
 165     SGPropertyNode_ptr _magnetic_bug_error_node;
 166     SGPropertyNode_ptr _true_wp0_bearing_error_node;
 167     SGPropertyNode_ptr _magnetic_wp0_bearing_error_node;
 168     SGPropertyNode_ptr _true_wp1_bearing_error_node;
 169     SGPropertyNode_ptr _magnetic_wp1_bearing_error_node;
 170     SGPropertyNode_ptr _leg_distance_node;
 171     SGPropertyNode_ptr _leg_course_node;
 172     SGPropertyNode_ptr _leg_magnetic_course_node;
 173     SGPropertyNode_ptr _alt_dist_ratio_node;
 174     SGPropertyNode_ptr _leg_course_deviation_node;
 175     SGPropertyNode_ptr _leg_course_error_nm_node;
 176     SGPropertyNode_ptr _leg_to_flag_node;
 177     SGPropertyNode_ptr _alt_deviation_node;
 178
 179     bool _last_valid;
 180     SGGeod _last_pos;
 181     double _last_speed_kts;
 182
 183     std::string _last_wp0_ID;
 184     std::string _last_wp1_ID;
 185
 186     double _alt_dist_ratio;
 187     double _distance_m;
 188     double _course_deg;
 189
 190     double _bias_length;
 191     double _bias_angle;
 192     double _azimuth_error;
 193     double _range_error;
 194     double _elapsed_time;
 195
 196     std::string _name;
 197     int _num;
 198
 199     SGGeodProperty _position;
 200     SGGeodProperty _wp0_position;
 201     SGGeodProperty _wp1_position;
 202     SGGeodProperty _indicated_pos;
 203 };
 204
 205
 206 #endif // __INSTRUMENTS_GPS_HXX