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 #ifndef __cplusplus
  11 # error This library requires C++
  12 #endif
  13
  14 #include <simgear/props/props.hxx>
  15 #include <simgear/route/route.hxx>
  16 #include <simgear/structure/subsystem_mgr.hxx>
  17
  18
  19 /**
  20  * Model a GPS radio.
  21  *
  22  * Input properties:
  23  *
  24  * /position/longitude-deg
  25  * /position/latitude-deg
  26  * /position/altitude-ft
  27  * /environment/magnetic-variation-deg
  28  * /systems/electrical/outputs/gps
  29  * /instrumentation/gps/serviceable
  30  *
  31  * /instrumentation/gps/wp-longitude-deg
  32  * /instrumentation/gps/wp-latitude-deg
  33  * /instrumentation/gps/wp-altitude-ft
  34  * /instrumentation/gps/wp-ID
  35  * /instrumentation/gps/wp-name
  36  * /instrumentation/gps/desired-course-deg
  37  * /instrumentation/gps/get-nearest-airport
  38  * /instrumentation/gps/waypoint-type
  39  * /instrumentation/gps/tracking-bug
  40  *
  41  * Output properties:
  42  *
  43  * /instrumentation/gps/indicated-longitude-deg
  44  * /instrumentation/gps/indicated-latitude-deg
  45  * /instrumentation/gps/indicated-altitude-ft
  46  * /instrumentation/gps/indicated-vertical-speed-fpm
  47  * /instrumentation/gps/indicated-track-true-deg
  48  * /instrumentation/gps/indicated-track-magnetic-deg
  49  * /instrumentation/gps/indicated-ground-speed-kt
  50  *
  51  * /instrumentation/gps/wp-distance-nm
  52  * /instrumentation/gps/wp-bearing-deg
  53  * /instrumentation/gps/wp-bearing-mag-deg
  54  * /instrumentation/gps/TTW
  55  * /instrumentation/gps/course-deviation-deg
  56  * /instrumentation/gps/course-error-nm
  57  * /instrumentation/gps/to-flag
  58  * /instrumentation/gps/odometer
  59  * /instrumentation/gps/trip-odometer
  60  * /instrumentation/gps/true-bug-error-deg
  61  * /instrumentation/gps/magnetic-bug-error-deg
  62  * /instrumentation/gps/true-bearing-error-deg
  63  * /instrumentation/gps/magnetic-bearing-error-deg
  64  */
  65 class GPS : public SGSubsystem
  66 {
  67
  68 public:
  69
  70     GPS (SGPropertyNode *node);
  71     GPS ();
  72     virtual ~GPS ();
  73
  74     virtual void init ();
  75     virtual void update (double delta_time_sec);
  76
  77 private:
  78
  79     void search (double frequency, double longitude_rad,
  80                  double latitude_rad, double altitude_m);
  81
  82     SGPropertyNode_ptr _longitude_node;
  83     SGPropertyNode_ptr _latitude_node;
  84     SGPropertyNode_ptr _altitude_node;
  85     SGPropertyNode_ptr _magvar_node;
  86     SGPropertyNode_ptr _serviceable_node;
  87     SGPropertyNode_ptr _electrical_node;
  88     SGPropertyNode_ptr _wp0_longitude_node;
  89     SGPropertyNode_ptr _wp0_latitude_node;
  90     SGPropertyNode_ptr _wp0_altitude_node;
  91     SGPropertyNode_ptr _wp0_ID_node;
  92     SGPropertyNode_ptr _wp0_name_node;
  93     SGPropertyNode_ptr _wp0_course_node;
  94     SGPropertyNode_ptr _get_nearest_airport_node;
  95     SGPropertyNode_ptr _wp0_waypoint_type_node;
  96     SGPropertyNode_ptr _wp1_longitude_node;
  97     SGPropertyNode_ptr _wp1_latitude_node;
  98     SGPropertyNode_ptr _wp1_altitude_node;
  99     SGPropertyNode_ptr _wp1_ID_node;
 100     SGPropertyNode_ptr _wp1_name_node;
 101     SGPropertyNode_ptr _wp1_course_node;
 102     SGPropertyNode_ptr _wp1_waypoint_type_node;
 103     SGPropertyNode_ptr _tracking_bug_node;
 104
 105     SGPropertyNode_ptr _raim_node;
 106     SGPropertyNode_ptr _indicated_longitude_node;
 107     SGPropertyNode_ptr _indicated_latitude_node;
 108     SGPropertyNode_ptr _indicated_altitude_node;
 109     SGPropertyNode_ptr _indicated_vertical_speed_node;
 110     SGPropertyNode_ptr _true_track_node;
 111     SGPropertyNode_ptr _magnetic_track_node;
 112     SGPropertyNode_ptr _speed_node;
 113     SGPropertyNode_ptr _wp0_distance_node;
 114     SGPropertyNode_ptr _wp0_ttw_node;
 115     SGPropertyNode_ptr _wp0_bearing_node;
 116     SGPropertyNode_ptr _wp0_mag_bearing_node;
 117     SGPropertyNode_ptr _wp0_course_deviation_node;
 118     SGPropertyNode_ptr _wp0_course_error_nm_node;
 119     SGPropertyNode_ptr _wp0_to_flag_node;
 120     SGPropertyNode_ptr _wp1_distance_node;
 121     SGPropertyNode_ptr _wp1_ttw_node;
 122     SGPropertyNode_ptr _wp1_bearing_node;
 123     SGPropertyNode_ptr _wp1_mag_bearing_node;
 124     SGPropertyNode_ptr _wp1_course_deviation_node;
 125     SGPropertyNode_ptr _wp1_course_error_nm_node;
 126     SGPropertyNode_ptr _wp1_to_flag_node;
 127     SGPropertyNode_ptr _odometer_node;
 128     SGPropertyNode_ptr _trip_odometer_node;
 129     SGPropertyNode_ptr _true_bug_error_node;
 130     SGPropertyNode_ptr _magnetic_bug_error_node;
 131     SGPropertyNode_ptr _true_wp0_bearing_error_node;
 132     SGPropertyNode_ptr _magnetic_wp0_bearing_error_node;
 133     SGPropertyNode_ptr _true_wp1_bearing_error_node;
 134     SGPropertyNode_ptr _magnetic_wp1_bearing_error_node;
 135     SGPropertyNode_ptr _leg_distance_node;
 136     SGPropertyNode_ptr _leg_course_node;
 137     SGPropertyNode_ptr _leg_magnetic_course_node;
 138     SGPropertyNode_ptr _alt_dist_ratio_node;
 139     SGPropertyNode_ptr _leg_course_deviation_node;
 140     SGPropertyNode_ptr _leg_course_error_nm_node;
 141     SGPropertyNode_ptr _leg_to_flag_node;
 142     SGPropertyNode_ptr _alt_deviation_node;
 143
 144     SGPropertyNode *_route;
 145     SGPropertyNode *addWp;
 146     SGPropertyNode *popWp;
 147
 148     SGRoute *route;
 149
 150     bool _last_valid;
 151     double _last_longitude_deg;
 152     double _last_latitude_deg;
 153     double _last_altitude_m;
 154     double _last_speed_kts;
 155
 156     double _wp0_latitude_deg;
 157     double _wp0_longitude_deg;
 158     double _wp0_altitude_m;
 159     double _wp1_latitude_deg;
 160     double _wp1_longitude_deg;
 161     double _wp1_altitude_m;
 162     string _last_wp0_ID;
 163     string _last_wp1_ID;
 164
 165     double _alt_dist_ratio;
 166     double _distance_m;
 167     double _course_deg;
 168
 169     double bias_length;
 170     double bias_angle;
 171     double azimuth_error;
 172     double range_error;
 173     double elapsed_time;
 174
 175     string name;
 176     int num;
 177
 178 };
 179
 180
 181 #endif // __INSTRUMENTS_GPS_HXX