1 // kr-87.cxx -- class to impliment the King KR 87 Digital ADF
3 // Written by Curtis Olson, started April 2002.
5 // Copyright (C) 2002 Curtis L. Olson - curt@flightgear.org
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
28 #include <stdio.h> // snprintf
30 #include <simgear/compiler.h>
31 #include <simgear/math/sg_random.h>
33 #include <Aircraft/aircraft.hxx>
34 #include <Navaids/navlist.hxx>
41 static int play_count = 0;
42 static time_t last_time = 0;
46 * Boy, this is ugly! Make the VOR range vary by altitude difference.
48 static double kludgeRange ( double stationElev, double aircraftElev,
51 // Assume that the nominal range (usually
52 // 50nm) applies at a 5,000 ft difference.
54 double factor = (aircraftElev - stationElev)*SG_METER_TO_FEET / 5000.0;
55 double range = fabs(nominalRange * factor);
57 // Clamp the range to keep it sane; for
58 // now, never less than 50% or more than
59 // 500% of nominal range.
60 if (range < nominalRange/2.0) {
61 range = nominalRange/2.0;
62 } else if (range > nominalRange*5.0) {
63 range = nominalRange*5.0;
71 FGKR_87::FGKR_87( SGPropertyNode *node ) :
72 lon_node(fgGetNode("/position/longitude-deg", true)),
73 lat_node(fgGetNode("/position/latitude-deg", true)),
74 alt_node(fgGetNode("/position/altitude-ft", true)),
75 bus_power(fgGetNode("/systems/electrical/outputs/adf", true)),
76 serviceable(fgGetNode("/instrumentation/adf/serviceable", true)),
97 last_flt_et_btn(false),
99 last_set_rst_btn(false),
111 FGKR_87::~FGKR_87() {
115 void FGKR_87::init () {
116 serviceable->setBoolValue( true );
121 void FGKR_87::bind () {
123 fgTie("/radios/kr-87/internal/valid", this, &FGKR_87::get_valid);
124 fgTie("/radios/kr-87/internal/inrange", this, &FGKR_87::get_inrange);
125 fgTie("/radios/kr-87/internal/dist", this, &FGKR_87::get_dist);
126 fgTie("/radios/kr-87/internal/heading", this, &FGKR_87::get_heading);
129 fgTie("/radios/kr-87/modes/ant", this,
130 &FGKR_87::get_ant_mode);
131 fgTie("/radios/kr-87/modes/stby", this,
132 &FGKR_87::get_stby_mode);
133 fgTie("/radios/kr-87/modes/timer", this,
134 &FGKR_87::get_timer_mode);
135 fgTie("/radios/kr-87/modes/count", this,
136 &FGKR_87::get_count_mode);
139 fgTie("/radios/kr-87/inputs/rotation-deg", this,
140 &FGKR_87::get_rotation, &FGKR_87::set_rotation);
141 fgSetArchivable("/radios/kr-87/inputs/rotation-deg");
142 fgTie("/radios/kr-87/inputs/power-btn", this,
143 &FGKR_87::get_power_btn,
144 &FGKR_87::set_power_btn);
145 fgSetArchivable("/radios/kr-87/inputs/power-btn");
146 fgTie("/radios/kr-87/inputs/audio-btn", this,
147 &FGKR_87::get_audio_btn,
148 &FGKR_87::set_audio_btn);
149 fgSetArchivable("/radios/kr-87/inputs/audio-btn");
150 fgTie("/radios/kr-87/inputs/volume", this,
151 &FGKR_87::get_vol_btn,
152 &FGKR_87::set_vol_btn);
153 fgSetArchivable("/radios/kr-87/inputs/volume");
154 fgTie("/radios/kr-87/inputs/adf-btn", this,
155 &FGKR_87::get_adf_btn,
156 &FGKR_87::set_adf_btn);
157 fgTie("/radios/kr-87/inputs/bfo-btn", this,
158 &FGKR_87::get_bfo_btn,
159 &FGKR_87::set_bfo_btn);
160 fgTie("/radios/kr-87/inputs/frq-btn", this,
161 &FGKR_87::get_frq_btn,
162 &FGKR_87::set_frq_btn);
163 fgTie("/radios/kr-87/inputs/flt-et-btn", this,
164 &FGKR_87::get_flt_et_btn,
165 &FGKR_87::set_flt_et_btn);
166 fgTie("/radios/kr-87/inputs/set-rst-btn", this,
167 &FGKR_87::get_set_rst_btn,
168 &FGKR_87::set_set_rst_btn);
171 fgTie("/radios/kr-87/outputs/selected-khz", this,
172 &FGKR_87::get_freq, &FGKR_87::set_freq);
173 fgSetArchivable("/radios/kr-87/outputs/selected-khz");
174 fgTie("/radios/kr-87/outputs/standby-khz", this,
175 &FGKR_87::get_stby_freq, &FGKR_87::set_stby_freq);
176 fgSetArchivable("/radios/kr-87/outputs/standby-khz");
177 fgTie("/radios/kr-87/outputs/needle-deg", this,
178 &FGKR_87::get_needle_deg);
179 fgTie("/radios/kr-87/outputs/flight-timer", this, &FGKR_87::get_flight_timer);
180 fgTie("/radios/kr-87/outputs/elapsed-timer", this,
181 &FGKR_87::get_elapsed_timer,
182 &FGKR_87::set_elapsed_timer);
185 fgTie("/radios/kr-87/annunciators/ant", this, &FGKR_87::get_ant_ann );
186 fgTie("/radios/kr-87/annunciators/adf", this, &FGKR_87::get_adf_ann );
187 fgTie("/radios/kr-87/annunciators/bfo", this, &FGKR_87::get_bfo_ann );
188 fgTie("/radios/kr-87/annunciators/frq", this, &FGKR_87::get_frq_ann );
189 fgTie("/radios/kr-87/annunciators/flt", this, &FGKR_87::get_flt_ann );
190 fgTie("/radios/kr-87/annunciators/et", this, &FGKR_87::get_et_ann );
194 void FGKR_87::unbind () {
196 fgUntie("/radios/kr-87/internal/valid");
197 fgUntie("/radios/kr-87/internal/inrange");
198 fgUntie("/radios/kr-87/internal/dist");
199 fgUntie("/radios/kr-87/internal/heading");
202 fgUntie("/radios/kr-87/modes/ant");
203 fgUntie("/radios/kr-87/modes/stby");
204 fgUntie("/radios/kr-87/modes/timer");
205 fgUntie("/radios/kr-87/modes/count");
208 fgUntie("/radios/kr-87/inputs/rotation-deg");
209 fgUntie("/radios/kr-87/inputs/power-btn");
210 fgUntie("/radios/kr-87/inputs/volume");
211 fgUntie("/radios/kr-87/inputs/adf-btn");
212 fgUntie("/radios/kr-87/inputs/bfo-btn");
213 fgUntie("/radios/kr-87/inputs/frq-btn");
214 fgUntie("/radios/kr-87/inputs/flt-et-btn");
215 fgUntie("/radios/kr-87/inputs/set-rst-btn");
216 fgUntie("/radios/kr-87/inputs/ident-btn");
219 fgUntie("/radios/kr-87/outputs/selected-khz");
220 fgUntie("/radios/kr-87/outputs/standby-khz");
221 fgUntie("/radios/kr-87/outputs/needle-deg");
222 fgUntie("/radios/kr-87/outputs/flight-timer");
223 fgUntie("/radios/kr-87/outputs/elapsed-timer");
226 fgUntie("/radios/kr-87/annunciators/ant");
227 fgUntie("/radios/kr-87/annunciators/adf");
228 fgUntie("/radios/kr-87/annunciators/bfo");
229 fgUntie("/radios/kr-87/annunciators/frq");
230 fgUntie("/radios/kr-87/annunciators/flt");
231 fgUntie("/radios/kr-87/annunciators/et");
235 // Update the various nav values based on position and valid tuned in navs
236 void FGKR_87::update( double dt ) {
237 double acft_lon = lon_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
238 double acft_lat = lat_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
239 double acft_elev = alt_node->getDoubleValue() * SG_FEET_TO_METER;
243 Point3D aircraft = sgGeodToCart( Point3D( acft_lon, acft_lat, acft_elev ) );
247 ////////////////////////////////////////////////////////////////////////
249 ////////////////////////////////////////////////////////////////////////
251 if ( has_power() && serviceable->getBoolValue() ) {
253 if ( adf_btn == 0 ) {
258 // cout << "ant_mode = " << ant_mode << endl;
260 if ( frq_btn && frq_btn != last_frq_btn && stby_mode == 0 ) {
264 } else if ( frq_btn ) {
268 last_frq_btn = frq_btn;
270 if ( flt_et_btn && flt_et_btn != last_flt_et_btn ) {
271 if ( stby_mode == 0 ) {
274 timer_mode = !timer_mode;
278 last_flt_et_btn = flt_et_btn;
280 if ( set_rst_btn == 1 && set_rst_btn != last_set_rst_btn ) {
284 if ( set_rst_btn == 1 && set_rst_btn == last_set_rst_btn ) {
285 // button depressed and was last iteration too
287 // cout << "tmp_timer = " << tmp_timer << endl;
288 if ( tmp_timer > 2.0 ) {
289 // button held depressed for 2 seconds
290 // cout << "entering elapsed count down mode" << endl;
296 if ( set_rst_btn == 0 && set_rst_btn != last_set_rst_btn ) {
298 if ( tmp_timer > 2.0 ) {
299 // button held depressed for 2 seconds, don't adjust
301 } else if ( count_mode == 2 ) {
308 last_set_rst_btn = set_rst_btn;
313 if ( set_rst_btn == 0 ) {
314 // only count if set/rst button not depressed
315 if ( count_mode == 0 ) {
317 } else if ( count_mode == 1 ) {
319 if ( elapsed_timer < 1.0 ) {
330 frq_ann = !stby_mode;
331 flt_ann = stby_mode && !timer_mode;
332 if ( count_mode < 2 ) {
333 et_ann = stby_mode && timer_mode;
336 if ( et_ann && et_flash_time > 0.5 ) {
338 et_flash_time -= 0.5;
339 } else if ( !et_ann && et_flash_time > 0.2 ) {
341 et_flash_time -= 0.2;
346 // cout << "adf is valid" << endl;
347 // staightline distance
348 station = Point3D( x, y, z );
349 dist = aircraft.distance3D( station );
352 geo_inverse_wgs_84( acft_elev,
353 acft_lat * SGD_RADIANS_TO_DEGREES,
354 acft_lon * SGD_RADIANS_TO_DEGREES,
358 // cout << " heading = " << heading
359 // << " dist = " << dist << endl;
361 effective_range = kludgeRange(stn_elev, acft_elev, range);
362 if ( dist < effective_range * SG_NM_TO_METER ) {
364 } else if ( dist < 2 * effective_range * SG_NM_TO_METER ) {
365 inrange = sg_random() <
366 ( 2 * effective_range * SG_NM_TO_METER - dist ) /
367 (effective_range * SG_NM_TO_METER);
372 // cout << "inrange = " << inrange << endl;
375 goal_needle_deg = heading
376 - fgGetDouble("/orientation/heading-deg");
383 goal_needle_deg = 90.0;
387 goal_needle_deg = 0.0;
401 if ( timer_mode == 0 ) {
404 time = elapsed_timer;
406 // cout << time << endl;
407 hours = (int)(time / 3600.0);
408 time -= hours * 3600.00;
409 min = (int)(time / 60.0);
426 char formatted_timer[128];
427 // cout << big << ":" << little << endl;
428 snprintf(formatted_timer, 6, "%02d:%02d", big, little);
429 fgSetString( "/radios/kr-87/outputs/timer-string", formatted_timer );
431 while ( goal_needle_deg < 0.0 ) { goal_needle_deg += 360.0; }
432 while ( goal_needle_deg >= 360.0 ) { goal_needle_deg -= 360.0; }
434 double diff = goal_needle_deg - needle_deg;
435 while ( diff < -180.0 ) { diff += 360.0; }
436 while ( diff > 180.0 ) { diff -= 360.0; }
438 needle_deg += diff * dt * 4;
439 while ( needle_deg < 0.0 ) { needle_deg += 360.0; }
440 while ( needle_deg >= 360.0 ) { needle_deg -= 360.0; }
442 // cout << "goal = " << goal_needle_deg << " actual = " << needle_deg
444 // cout << "flt = " << flight_timer << " et = " << elapsed_timer
445 // << " needle = " << needle_deg << endl;
447 if ( valid && inrange && serviceable->getBoolValue() ) {
448 // play station ident via audio system if on + ant mode,
449 // otherwise turn it off
450 if ( vol_btn >= 0.01 && audio_btn ) {
451 SGSoundSample *sound;
452 sound = globals->get_soundmgr()->find( "adf-ident" );
453 if ( sound != NULL ) {
455 sound->set_volume( vol_btn );
457 sound->set_volume( vol_btn / 4.0 );
460 SG_LOG( SG_COCKPIT, SG_ALERT, "Can't find adf-ident sound" );
463 globals->get_time_params()->get_cur_time() - 30 ) {
464 last_time = globals->get_time_params()->get_cur_time();
467 if ( play_count < 4 ) {
469 if ( !globals->get_soundmgr()->is_playing("adf-ident") ) {
470 globals->get_soundmgr()->play_once( "adf-ident" );
475 globals->get_soundmgr()->stop( "adf-ident" );
481 // Update current nav/adf radio stations based on current postition
482 void FGKR_87::search() {
483 double acft_lon = lon_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
484 double acft_lat = lat_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
485 double acft_elev = alt_node->getDoubleValue() * SG_FEET_TO_METER;
487 // FIXME: the panel should handle this
488 static string last_ident = "";
490 ////////////////////////////////////////////////////////////////////////
492 ////////////////////////////////////////////////////////////////////////
495 = globals->get_navlist()->findByFreq( freq, acft_lon, acft_lat,
499 snprintf( sfreq, 10, "%d", freq );
501 ident += adf->get_ident();
502 // cout << "adf ident = " << ident << endl;
504 if ( last_ident != ident ) {
507 trans_ident = adf->get_trans_ident();
508 stn_lon = adf->get_lon();
509 stn_lat = adf->get_lat();
510 stn_elev = adf->get_elev_ft();
511 range = adf->get_range();
512 effective_range = kludgeRange(stn_elev, acft_elev, range);
517 if ( globals->get_soundmgr()->exists( "adf-ident" ) ) {
518 globals->get_soundmgr()->remove( "adf-ident" );
520 SGSoundSample *sound;
521 sound = morse.make_ident( trans_ident, LO_FREQUENCY );
522 sound->set_volume( 0.3 );
523 globals->get_soundmgr()->add( sound, "adf-ident" );
525 int offset = (int)(sg_random() * 30.0);
526 play_count = offset / 4;
527 last_time = globals->get_time_params()->get_cur_time() -
529 // cout << "offset = " << offset << " play_count = "
530 // << play_count << " last_time = "
531 // << last_time << " current time = "
532 // << globals->get_time_params()->get_cur_time() << endl;
534 // cout << "Found an adf station in range" << endl;
535 // cout << " id = " << nav->get_ident() << endl;
541 globals->get_soundmgr()->remove( "adf-ident" );
543 // cout << "not picking up adf. :-(" << endl;
548 int FGKR_87::get_stby_freq() const {
549 if ( stby_mode == 0 ) {
552 if ( timer_mode == 0 ) {
553 return (int)flight_timer;
555 return (int)elapsed_timer;