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),
106 _time_before_search_sec(0)
112 FGKR_87::~FGKR_87() {
116 void FGKR_87::init () {
117 serviceable->setBoolValue( true );
122 void FGKR_87::bind () {
124 fgTie("/radios/kr-87/internal/valid", this, &FGKR_87::get_valid);
125 fgTie("/radios/kr-87/internal/inrange", this, &FGKR_87::get_inrange);
126 fgTie("/radios/kr-87/internal/dist", this, &FGKR_87::get_dist);
127 fgTie("/radios/kr-87/internal/heading", this, &FGKR_87::get_heading);
130 fgTie("/radios/kr-87/modes/ant", this,
131 &FGKR_87::get_ant_mode);
132 fgTie("/radios/kr-87/modes/stby", this,
133 &FGKR_87::get_stby_mode);
134 fgTie("/radios/kr-87/modes/timer", this,
135 &FGKR_87::get_timer_mode);
136 fgTie("/radios/kr-87/modes/count", this,
137 &FGKR_87::get_count_mode);
140 fgTie("/radios/kr-87/inputs/rotation-deg", this,
141 &FGKR_87::get_rotation, &FGKR_87::set_rotation);
142 fgSetArchivable("/radios/kr-87/inputs/rotation-deg");
143 fgTie("/radios/kr-87/inputs/power-btn", this,
144 &FGKR_87::get_power_btn,
145 &FGKR_87::set_power_btn);
146 fgSetArchivable("/radios/kr-87/inputs/power-btn");
147 fgTie("/radios/kr-87/inputs/audio-btn", this,
148 &FGKR_87::get_audio_btn,
149 &FGKR_87::set_audio_btn);
150 fgSetArchivable("/radios/kr-87/inputs/audio-btn");
151 fgTie("/radios/kr-87/inputs/volume", this,
152 &FGKR_87::get_vol_btn,
153 &FGKR_87::set_vol_btn);
154 fgSetArchivable("/radios/kr-87/inputs/volume");
155 fgTie("/radios/kr-87/inputs/adf-btn", this,
156 &FGKR_87::get_adf_btn,
157 &FGKR_87::set_adf_btn);
158 fgTie("/radios/kr-87/inputs/bfo-btn", this,
159 &FGKR_87::get_bfo_btn,
160 &FGKR_87::set_bfo_btn);
161 fgTie("/radios/kr-87/inputs/frq-btn", this,
162 &FGKR_87::get_frq_btn,
163 &FGKR_87::set_frq_btn);
164 fgTie("/radios/kr-87/inputs/flt-et-btn", this,
165 &FGKR_87::get_flt_et_btn,
166 &FGKR_87::set_flt_et_btn);
167 fgTie("/radios/kr-87/inputs/set-rst-btn", this,
168 &FGKR_87::get_set_rst_btn,
169 &FGKR_87::set_set_rst_btn);
172 fgTie("/radios/kr-87/outputs/selected-khz", this,
173 &FGKR_87::get_freq, &FGKR_87::set_freq);
174 fgSetArchivable("/radios/kr-87/outputs/selected-khz");
175 fgTie("/radios/kr-87/outputs/standby-khz", this,
176 &FGKR_87::get_stby_freq, &FGKR_87::set_stby_freq);
177 fgSetArchivable("/radios/kr-87/outputs/standby-khz");
178 fgTie("/radios/kr-87/outputs/needle-deg", this,
179 &FGKR_87::get_needle_deg);
180 fgTie("/radios/kr-87/outputs/flight-timer", this, &FGKR_87::get_flight_timer);
181 fgTie("/radios/kr-87/outputs/elapsed-timer", this,
182 &FGKR_87::get_elapsed_timer,
183 &FGKR_87::set_elapsed_timer);
186 fgTie("/radios/kr-87/annunciators/ant", this, &FGKR_87::get_ant_ann );
187 fgTie("/radios/kr-87/annunciators/adf", this, &FGKR_87::get_adf_ann );
188 fgTie("/radios/kr-87/annunciators/bfo", this, &FGKR_87::get_bfo_ann );
189 fgTie("/radios/kr-87/annunciators/frq", this, &FGKR_87::get_frq_ann );
190 fgTie("/radios/kr-87/annunciators/flt", this, &FGKR_87::get_flt_ann );
191 fgTie("/radios/kr-87/annunciators/et", this, &FGKR_87::get_et_ann );
195 void FGKR_87::unbind () {
197 fgUntie("/radios/kr-87/internal/valid");
198 fgUntie("/radios/kr-87/internal/inrange");
199 fgUntie("/radios/kr-87/internal/dist");
200 fgUntie("/radios/kr-87/internal/heading");
203 fgUntie("/radios/kr-87/modes/ant");
204 fgUntie("/radios/kr-87/modes/stby");
205 fgUntie("/radios/kr-87/modes/timer");
206 fgUntie("/radios/kr-87/modes/count");
209 fgUntie("/radios/kr-87/inputs/rotation-deg");
210 fgUntie("/radios/kr-87/inputs/power-btn");
211 fgUntie("/radios/kr-87/inputs/volume");
212 fgUntie("/radios/kr-87/inputs/adf-btn");
213 fgUntie("/radios/kr-87/inputs/bfo-btn");
214 fgUntie("/radios/kr-87/inputs/frq-btn");
215 fgUntie("/radios/kr-87/inputs/flt-et-btn");
216 fgUntie("/radios/kr-87/inputs/set-rst-btn");
217 fgUntie("/radios/kr-87/inputs/ident-btn");
220 fgUntie("/radios/kr-87/outputs/selected-khz");
221 fgUntie("/radios/kr-87/outputs/standby-khz");
222 fgUntie("/radios/kr-87/outputs/needle-deg");
223 fgUntie("/radios/kr-87/outputs/flight-timer");
224 fgUntie("/radios/kr-87/outputs/elapsed-timer");
227 fgUntie("/radios/kr-87/annunciators/ant");
228 fgUntie("/radios/kr-87/annunciators/adf");
229 fgUntie("/radios/kr-87/annunciators/bfo");
230 fgUntie("/radios/kr-87/annunciators/frq");
231 fgUntie("/radios/kr-87/annunciators/flt");
232 fgUntie("/radios/kr-87/annunciators/et");
236 // Update the various nav values based on position and valid tuned in navs
237 void FGKR_87::update( double dt_sec ) {
238 double acft_lon = lon_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
239 double acft_lat = lat_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
240 double acft_elev = alt_node->getDoubleValue() * SG_FEET_TO_METER;
244 Point3D aircraft = sgGeodToCart( Point3D( acft_lon, acft_lat, acft_elev ) );
248 // On timeout, scan again
249 _time_before_search_sec -= dt_sec;
250 if ( _time_before_search_sec < 0 ) {
254 ////////////////////////////////////////////////////////////////////////
256 ////////////////////////////////////////////////////////////////////////
258 if ( has_power() && serviceable->getBoolValue() ) {
260 if ( adf_btn == 0 ) {
265 // cout << "ant_mode = " << ant_mode << endl;
267 if ( frq_btn && frq_btn != last_frq_btn && stby_mode == 0 ) {
271 } else if ( frq_btn ) {
275 last_frq_btn = frq_btn;
277 if ( flt_et_btn && flt_et_btn != last_flt_et_btn ) {
278 if ( stby_mode == 0 ) {
281 timer_mode = !timer_mode;
285 last_flt_et_btn = flt_et_btn;
287 if ( set_rst_btn == 1 && set_rst_btn != last_set_rst_btn ) {
291 if ( set_rst_btn == 1 && set_rst_btn == last_set_rst_btn ) {
292 // button depressed and was last iteration too
294 // cout << "tmp_timer = " << tmp_timer << endl;
295 if ( tmp_timer > 2.0 ) {
296 // button held depressed for 2 seconds
297 // cout << "entering elapsed count down mode" << endl;
303 if ( set_rst_btn == 0 && set_rst_btn != last_set_rst_btn ) {
305 if ( tmp_timer > 2.0 ) {
306 // button held depressed for 2 seconds, don't adjust
308 } else if ( count_mode == 2 ) {
315 last_set_rst_btn = set_rst_btn;
318 flight_timer += dt_sec;
320 if ( set_rst_btn == 0 ) {
321 // only count if set/rst button not depressed
322 if ( count_mode == 0 ) {
323 elapsed_timer += dt_sec;
324 } else if ( count_mode == 1 ) {
325 elapsed_timer -= dt_sec;
326 if ( elapsed_timer < 1.0 ) {
337 frq_ann = !stby_mode;
338 flt_ann = stby_mode && !timer_mode;
339 if ( count_mode < 2 ) {
340 et_ann = stby_mode && timer_mode;
342 et_flash_time += dt_sec;
343 if ( et_ann && et_flash_time > 0.5 ) {
345 et_flash_time -= 0.5;
346 } else if ( !et_ann && et_flash_time > 0.2 ) {
348 et_flash_time -= 0.2;
353 // cout << "adf is valid" << endl;
354 // staightline distance
355 station = Point3D( x, y, z );
356 dist = aircraft.distance3D( station );
359 geo_inverse_wgs_84( acft_elev,
360 acft_lat * SGD_RADIANS_TO_DEGREES,
361 acft_lon * SGD_RADIANS_TO_DEGREES,
365 // cout << " heading = " << heading
366 // << " dist = " << dist << endl;
368 effective_range = kludgeRange(stn_elev, acft_elev, range);
369 if ( dist < effective_range * SG_NM_TO_METER ) {
371 } else if ( dist < 2 * effective_range * SG_NM_TO_METER ) {
372 inrange = sg_random() <
373 ( 2 * effective_range * SG_NM_TO_METER - dist ) /
374 (effective_range * SG_NM_TO_METER);
379 // cout << "inrange = " << inrange << endl;
382 goal_needle_deg = heading
383 - fgGetDouble("/orientation/heading-deg");
390 goal_needle_deg = 90.0;
394 goal_needle_deg = 0.0;
408 if ( timer_mode == 0 ) {
411 time = elapsed_timer;
413 // cout << time << endl;
414 hours = (int)(time / 3600.0);
415 time -= hours * 3600.00;
416 min = (int)(time / 60.0);
433 char formatted_timer[128];
434 // cout << big << ":" << little << endl;
435 snprintf(formatted_timer, 6, "%02d:%02d", big, little);
436 fgSetString( "/radios/kr-87/outputs/timer-string", formatted_timer );
438 while ( goal_needle_deg < 0.0 ) { goal_needle_deg += 360.0; }
439 while ( goal_needle_deg >= 360.0 ) { goal_needle_deg -= 360.0; }
441 double diff = goal_needle_deg - needle_deg;
442 while ( diff < -180.0 ) { diff += 360.0; }
443 while ( diff > 180.0 ) { diff -= 360.0; }
445 needle_deg += diff * dt_sec * 4;
446 while ( needle_deg < 0.0 ) { needle_deg += 360.0; }
447 while ( needle_deg >= 360.0 ) { needle_deg -= 360.0; }
449 // cout << "goal = " << goal_needle_deg << " actual = " << needle_deg
451 // cout << "flt = " << flight_timer << " et = " << elapsed_timer
452 // << " needle = " << needle_deg << endl;
454 if ( valid && inrange && serviceable->getBoolValue() ) {
455 // play station ident via audio system if on + ant mode,
456 // otherwise turn it off
457 if ( vol_btn >= 0.01 && audio_btn ) {
458 SGSoundSample *sound;
459 sound = globals->get_soundmgr()->find( "adf-ident" );
460 if ( sound != NULL ) {
462 sound->set_volume( vol_btn );
464 sound->set_volume( vol_btn / 4.0 );
467 SG_LOG( SG_COCKPIT, SG_ALERT, "Can't find adf-ident sound" );
470 globals->get_time_params()->get_cur_time() - 30 ) {
471 last_time = globals->get_time_params()->get_cur_time();
474 if ( play_count < 4 ) {
476 if ( !globals->get_soundmgr()->is_playing("adf-ident") ) {
477 globals->get_soundmgr()->play_once( "adf-ident" );
482 globals->get_soundmgr()->stop( "adf-ident" );
488 // Update current nav/adf radio stations based on current postition
489 void FGKR_87::search() {
490 double acft_lon = lon_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
491 double acft_lat = lat_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
492 double acft_elev = alt_node->getDoubleValue() * SG_FEET_TO_METER;
494 // FIXME: the panel should handle this
495 static string last_ident = "";
498 _time_before_search_sec = 1.0;
500 ////////////////////////////////////////////////////////////////////////
502 ////////////////////////////////////////////////////////////////////////
505 = globals->get_navlist()->findByFreq( freq, acft_lon, acft_lat,
509 snprintf( sfreq, 10, "%d", freq );
511 ident += adf->get_ident();
512 // cout << "adf ident = " << ident << endl;
514 if ( last_ident != ident ) {
517 trans_ident = adf->get_trans_ident();
518 stn_lon = adf->get_lon();
519 stn_lat = adf->get_lat();
520 stn_elev = adf->get_elev_ft();
521 range = adf->get_range();
522 effective_range = kludgeRange(stn_elev, acft_elev, range);
527 if ( globals->get_soundmgr()->exists( "adf-ident" ) ) {
528 globals->get_soundmgr()->remove( "adf-ident" );
530 SGSoundSample *sound;
531 sound = morse.make_ident( trans_ident, LO_FREQUENCY );
532 sound->set_volume( 0.3 );
533 globals->get_soundmgr()->add( sound, "adf-ident" );
535 int offset = (int)(sg_random() * 30.0);
536 play_count = offset / 4;
537 last_time = globals->get_time_params()->get_cur_time() -
539 // cout << "offset = " << offset << " play_count = "
540 // << play_count << " last_time = "
541 // << last_time << " current time = "
542 // << globals->get_time_params()->get_cur_time() << endl;
544 // cout << "Found an adf station in range" << endl;
545 // cout << " id = " << nav->get_ident() << endl;
551 globals->get_soundmgr()->remove( "adf-ident" );
553 // cout << "not picking up adf. :-(" << endl;
558 int FGKR_87::get_stby_freq() const {
559 if ( stby_mode == 0 ) {
562 if ( timer_mode == 0 ) {
563 return (int)flight_timer;
565 return (int)elapsed_timer;