1 // mk_viii.cxx -- Honeywell MK VIII EGPWS emulation
3 // Written by Jean-Yves Lefort, started September 2005.
5 // Copyright (C) 2005, 2006 Jean-Yves Lefort - jylefort@FreeBSD.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.
22 #ifndef __INSTRUMENTS_MK_VIII_HXX
23 #define __INSTRUMENTS_MK_VIII_HXX
31 #include <simgear/props/props.hxx>
32 #include <simgear/sound/sample_openal.hxx>
33 #include <simgear/structure/subsystem_mgr.hxx>
39 #include <Airports/runways.hxx>
40 #include <Airports/simple.hxx>
41 #include <Main/globals.hxx>
44 # pragma warning( push )
45 # pragma warning( disable: 4355 )
48 ///////////////////////////////////////////////////////////////////////////////
49 // MK_VIII ////////////////////////////////////////////////////////////////////
50 ///////////////////////////////////////////////////////////////////////////////
52 class MK_VIII : public SGSubsystem
54 // keep in sync with Mode6Handler::altitude_callout_definitions[]
55 static const unsigned n_altitude_callouts = 11;
57 /////////////////////////////////////////////////////////////////////////////
58 // MK_VIII::RawValueMethodsData /////////////////////////////////////////////
59 /////////////////////////////////////////////////////////////////////////////
61 template <class C, class VT, class DT>
62 class RawValueMethodsData : public SGRawValue<VT>
65 typedef VT (C::*getter_t) (DT) const;
66 typedef void (C::*setter_t) (DT, VT);
68 RawValueMethodsData (C &obj, DT data, getter_t getter = 0, setter_t setter = 0)
69 : _obj(obj), _data(data), _getter(getter), _setter(setter) {}
71 virtual VT getValue () const
74 return (_obj.*_getter)(_data);
76 return SGRawValue<VT>::DefaultValue();
78 virtual bool setValue (VT value)
82 (_obj.*_setter)(_data, value);
88 virtual SGRawValue<VT> *clone () const
90 return new RawValueMethodsData<C,VT,DT>(_obj, _data, _getter, _setter);
100 /////////////////////////////////////////////////////////////////////////////
101 // MK_VIII::Parameter ///////////////////////////////////////////////////////
102 /////////////////////////////////////////////////////////////////////////////
113 : _value(0), ncd(true) {}
115 inline T get () const { assert(! ncd); return _value; }
116 inline T *get_pointer () { return &_value; }
117 inline void set (T value) { ncd = false; _value = value; }
118 inline void unset () { ncd = true; }
120 inline void set (const Parameter<T> *parameter)
125 set(parameter->get());
128 inline void set (const Parameter<double> *parameter, double factor)
133 set(parameter->get() * factor);
137 /////////////////////////////////////////////////////////////////////////////
138 // MK_VIII::Sample //////////////////////////////////////////////////////////
139 /////////////////////////////////////////////////////////////////////////////
148 inline Sample (T _value)
149 : timestamp(globals->get_sim_time_sec()), value(_value) {}
152 /////////////////////////////////////////////////////////////////////////////
153 // MK_VIII::Timer ///////////////////////////////////////////////////////////
154 /////////////////////////////////////////////////////////////////////////////
166 inline void start () { running = true; start_time = globals->get_sim_time_sec(); }
167 inline void stop () { running = false; }
168 inline double elapsed () const { assert(running); return globals->get_sim_time_sec() - start_time; }
169 inline double start_or_elapsed ()
181 /////////////////////////////////////////////////////////////////////////////
182 // MK_VIII::PropertiesHandler ///////////////////////////////////////////////
183 /////////////////////////////////////////////////////////////////////////////
185 class PropertiesHandler
189 vector<SGPropertyNode_ptr> tied_properties;
194 SGPropertyNode_ptr ai_caged;
195 SGPropertyNode_ptr ai_roll;
196 SGPropertyNode_ptr ai_serviceable;
197 SGPropertyNode_ptr altimeter_altitude;
198 SGPropertyNode_ptr altimeter_serviceable;
199 SGPropertyNode_ptr altitude;
200 SGPropertyNode_ptr altitude_agl;
201 SGPropertyNode_ptr asi_serviceable;
202 SGPropertyNode_ptr asi_speed;
203 SGPropertyNode_ptr autopilot_heading_lock;
204 SGPropertyNode_ptr flaps;
205 SGPropertyNode_ptr gear_down;
206 SGPropertyNode_ptr latitude;
207 SGPropertyNode_ptr longitude;
208 SGPropertyNode_ptr nav0_cdi_serviceable;
209 SGPropertyNode_ptr nav0_gs_distance;
210 SGPropertyNode_ptr nav0_gs_needle_deflection;
211 SGPropertyNode_ptr nav0_gs_serviceable;
212 SGPropertyNode_ptr nav0_has_gs;
213 SGPropertyNode_ptr nav0_heading_needle_deflection;
214 SGPropertyNode_ptr nav0_in_range;
215 SGPropertyNode_ptr nav0_nav_loc;
216 SGPropertyNode_ptr nav0_serviceable;
217 SGPropertyNode_ptr power;
218 SGPropertyNode_ptr replay_state;
219 SGPropertyNode_ptr vs;
220 } external_properties;
222 inline PropertiesHandler (MK_VIII *device)
226 inline void tie (SGPropertyNode *node, const SGRawValue<T> &raw_value)
228 node->tie(raw_value);
229 tied_properties.push_back(node);
233 inline void tie (SGPropertyNode *node,
234 const char *relative_path,
235 const SGRawValue<T> &raw_value)
237 tie(node->getNode(relative_path, true), raw_value);
240 PropertiesHandler() {};
247 PropertiesHandler properties_handler;
250 /////////////////////////////////////////////////////////////////////////////
251 // MK_VIII::PowerHandler ////////////////////////////////////////////////////
252 /////////////////////////////////////////////////////////////////////////////
261 Timer power_loss_timer;
262 Timer abnormal_timer;
263 Timer low_surge_timer;
264 Timer high_surge_timer;
265 Timer very_high_surge_timer;
267 bool handle_abnormal_voltage (bool abnormal,
269 double max_duration);
275 inline PowerHandler (MK_VIII *device)
276 : mk(device), serviceable(false), powered(false) {}
278 void bind (SGPropertyNode *node);
282 /////////////////////////////////////////////////////////////////////////////
283 // MK_VIII::SystemHandler ///////////////////////////////////////////////////
284 /////////////////////////////////////////////////////////////////////////////
293 int last_replay_state;
294 Timer reposition_timer;
307 inline SystemHandler (MK_VIII *device)
308 : mk(device), state(STATE_OFF) {}
315 /////////////////////////////////////////////////////////////////////////////
316 // MK_VIII::ConfigurationModule /////////////////////////////////////////////
317 /////////////////////////////////////////////////////////////////////////////
319 class ConfigurationModule
322 // keep in sync with IOHandler::present_status()
325 CATEGORY_AIRCRAFT_MODE_TYPE_SELECT,
326 CATEGORY_AIR_DATA_INPUT_SELECT,
327 CATEGORY_POSITION_INPUT_SELECT,
328 CATEGORY_ALTITUDE_CALLOUTS,
329 CATEGORY_AUDIO_MENU_SELECT,
330 CATEGORY_TERRAIN_DISPLAY_SELECT,
331 CATEGORY_OPTIONS_SELECT_GROUP_1,
332 CATEGORY_RADIO_ALTITUDE_INPUT_SELECT,
333 CATEGORY_NAVIGATION_INPUT_SELECT,
334 CATEGORY_ATTITUDE_INPUT_SELECT,
335 CATEGORY_HEADING_INPUT_SELECT,
336 CATEGORY_WINDSHEAR_INPUT_SELECT,
337 CATEGORY_INPUT_OUTPUT_DISCRETE_TYPE_SELECT,
338 CATEGORY_AUDIO_OUTPUT_LEVEL,
339 CATEGORY_UNDEFINED_INPUT_SELECT_1,
340 CATEGORY_UNDEFINED_INPUT_SELECT_2,
341 CATEGORY_UNDEFINED_INPUT_SELECT_3,
348 STATE_INVALID_DATABASE,
349 STATE_INVALID_AIRCRAFT_TYPE
353 int effective_categories[N_CATEGORIES];
355 ConfigurationModule (MK_VIII *device);
358 void bind (SGPropertyNode *node);
363 int categories[N_CATEGORIES];
365 bool read_aircraft_mode_type_select (int value);
366 bool read_air_data_input_select (int value);
367 bool read_position_input_select (int value);
368 bool read_altitude_callouts (int value);
369 bool read_audio_menu_select (int value);
370 bool read_terrain_display_select (int value);
371 bool read_options_select_group_1 (int value);
372 bool read_radio_altitude_input_select (int value);
373 bool read_navigation_input_select (int value);
374 bool read_attitude_input_select (int value);
375 bool read_heading_input_select (int value);
376 bool read_windshear_input_select (int value);
377 bool read_input_output_discrete_type_select (int value);
378 bool read_audio_output_level (int value);
379 bool read_undefined_input_select (int value);
381 static bool m6_t2_is_bank_angle (Parameter<double> *agl,
384 static bool m6_t4_is_bank_angle (Parameter<double> *agl,
389 /////////////////////////////////////////////////////////////////////////////
390 // MK_VIII::FaultHandler ////////////////////////////////////////////////////
391 /////////////////////////////////////////////////////////////////////////////
403 static const unsigned int fault_inops[];
405 bool has_faults (unsigned int inop);
408 // keep in sync with IOHandler::present_status()
411 FAULT_ALL_MODES_INHIBIT,
414 FAULT_MOMENTARY_FLAP_OVERRIDE_INVALID,
415 FAULT_SELF_TEST_INVALID,
416 FAULT_GLIDESLOPE_CANCEL_INVALID,
417 FAULT_STEEP_APPROACH_INVALID,
419 FAULT_TA_TCF_INHIBIT,
420 FAULT_MODES14_INPUTS_INVALID,
421 FAULT_MODE5_INPUTS_INVALID,
422 FAULT_MODE6_INPUTS_INVALID,
423 FAULT_BANK_ANGLE_INPUTS_INVALID,
424 FAULT_TCF_INPUTS_INVALID,
428 bool faults[N_FAULTS];
430 inline FaultHandler (MK_VIII *device)
435 void set_fault (Fault fault);
436 void unset_fault (Fault fault);
438 bool has_faults () const;
441 /////////////////////////////////////////////////////////////////////////////
442 // MK_VIII::IOHandler ///////////////////////////////////////////////////////
443 /////////////////////////////////////////////////////////////////////////////
457 struct LampConfiguration
463 struct FaultsConfiguration
465 double max_flaps_down_airspeed;
466 double max_gear_down_airspeed;
471 const LampConfiguration *lamp;
472 const FaultsConfiguration *faults;
474 bool steep_approach_enabled;
475 bool gpws_inhibit_enabled;
476 bool momentary_flap_override_enabled;
477 bool alternate_steep_approach;
478 bool use_internal_gps;
479 bool localizer_enabled;
482 struct _s_input_feeders
488 bool glideslope_inhibit;
489 bool decision_height;
490 bool autopilot_engaged;
495 bool uncorrected_barometric_altitude;
496 bool barometric_altitude_rate;
498 bool glideslope_deviation;
500 bool localizer_deviation;
501 bool computed_airspeed;
502 bool decision_height;
510 bool landing_gear; // appendix E 6.6.2, 3.15.1.4
511 bool landing_flaps; // appendix E 6.6.4, 3.15.1.2
512 bool momentary_flap_override; // appendix E 6.6.6, 3.15.1.6
513 bool self_test; // appendix E 6.6.7, 3.15.1.10
514 bool glideslope_inhibit; // appendix E 6.6.11, 3.15.1.1
515 bool glideslope_cancel; // appendix E 6.6.13, 3.15.1.5
516 bool decision_height; // appendix E 6.6.14, 3.10.2
517 bool mode6_low_volume; // appendix E 6.6.15, 3.15.1.7
518 bool audio_inhibit; // appendix E 6.6.16, 3.15.1.3
519 bool ta_tcf_inhibit; // appendix E 6.6.20, 3.15.1.9
520 bool autopilot_engaged; // appendix E 6.6.21, 3.15.1.8
521 bool steep_approach; // appendix E 6.6.25, 3.15.1.11
522 bool gpws_inhibit; // appendix E 6.6.27, 3.15.1.12
527 Parameter<double> uncorrected_barometric_altitude; // appendix E 6.2.1
528 Parameter<double> barometric_altitude_rate; // appendix E 6.2.2
529 Parameter<double> gps_altitude; // appendix E 6.2.4
530 Parameter<double> gps_latitude; // appendix E 6.2.7
531 Parameter<double> gps_longitude; // appendix E 6.2.8
532 Parameter<double> gps_vertical_figure_of_merit; // appendix E 6.2.13
533 Parameter<double> radio_altitude; // appendix E 6.2.29
534 Parameter<double> glideslope_deviation; // appendix E 6.2.30
535 Parameter<double> roll_angle; // appendix E 6.2.31
536 Parameter<double> localizer_deviation; // appendix E 6.2.33
537 Parameter<double> computed_airspeed; // appendix E 6.2.39
538 Parameter<double> decision_height; // appendix E 6.2.41
546 bool gpws_warning; // appendix E 7.4.1, 3.15.2.5
547 bool gpws_alert; // appendix E 7.4.1, 3.15.2.6
548 bool audio_on; // appendix E 7.4.2, 3.15.2.10
549 bool gpws_inop; // appendix E 7.4.3, 3.15.2.3
550 bool tad_inop; // appendix E 7.4.3, 3.15.2.4
551 bool flap_override; // appendix E 7.4.5, 3.15.2.8
552 bool glideslope_cancel; // appendix E 7.4.6, 3.15.2.7
553 bool steep_approach; // appendix E 7.4.12, 3.15.2.9
558 int egpws_alert_discrete_1; // appendix E 7.1.1.1
559 int egpwc_logic_discretes; // appendix E 7.1.1.2
560 int mode6_callouts_discrete_1; // appendix E 7.1.1.3
561 int mode6_callouts_discrete_2; // appendix E 7.1.1.4
562 int egpws_alert_discrete_2; // appendix E 7.1.1.5
563 int egpwc_alert_discrete_3; // appendix E 7.1.1.6
571 Parameter<double> barometric_altitude_rate;
572 Parameter<double> decision_height;
573 Parameter<double> geometric_altitude;
574 Parameter<double> glideslope_deviation_dots;
575 Parameter<double> gps_altitude;
576 Parameter<double> gps_latitude;
577 Parameter<double> gps_longitude;
578 Parameter<double> gps_vertical_figure_of_merit;
579 Parameter<double> localizer_deviation_dots;
580 Parameter<double> radio_altitude;
581 Parameter<double> roll_angle;
582 Parameter<double> terrain_clearance;
585 IOHandler (MK_VIII *device);
591 void enter_ground ();
592 void enter_takeoff ();
594 void update_inputs ();
595 void update_input_faults ();
596 void update_alternate_discrete_input (bool *ptr);
597 void update_internal_latches ();
599 void update_egpws_alert_discrete_1 ();
600 void update_egpwc_logic_discretes ();
601 void update_mode6_callouts_discrete_1 ();
602 void update_mode6_callouts_discrete_2 ();
603 void update_egpws_alert_discrete_2 ();
604 void update_egpwc_alert_discrete_3 ();
605 void update_outputs ();
607 void update_lamps ();
608 void set_lamp (Lamp lamp);
610 bool gpws_inhibit () const;
611 bool real_flaps_down () const;
612 bool flaps_down () const;
613 bool flap_override () const;
614 bool steep_approach () const;
615 bool momentary_steep_approach_enabled () const;
617 void bind (SGPropertyNode *node);
623 ///////////////////////////////////////////////////////////////////////////
624 // MK_VIII::IOHandler::TerrainClearanceFilter /////////////////////////////
625 ///////////////////////////////////////////////////////////////////////////
627 class TerrainClearanceFilter
629 typedef deque< Sample<double> > samples_type;
630 samples_type samples;
634 inline TerrainClearanceFilter ()
637 double update (double agl);
641 ///////////////////////////////////////////////////////////////////////////
642 // MK_VIII::IOHandler (continued) /////////////////////////////////////////
643 ///////////////////////////////////////////////////////////////////////////
645 TerrainClearanceFilter terrain_clearance_filter;
650 Timer audio_inhibit_fault_timer;
651 Timer landing_gear_fault_timer;
652 Timer flaps_down_fault_timer;
653 Timer momentary_flap_override_fault_timer;
654 Timer self_test_fault_timer;
655 Timer glideslope_cancel_fault_timer;
656 Timer steep_approach_fault_timer;
657 Timer gpws_inhibit_fault_timer;
658 Timer ta_tcf_inhibit_fault_timer;
660 bool last_landing_gear;
661 bool last_real_flaps_down;
663 typedef deque< Sample< Parameter<double> > > altitude_samples_type;
664 altitude_samples_type altitude_samples;
668 bool glideslope_cancel;
671 void update_terrain_clearance ();
672 void reset_terrain_clearance ();
674 void handle_input_fault (bool test, FaultHandler::Fault fault);
675 void handle_input_fault (bool test,
678 FaultHandler::Fault fault);
680 void tie_input (SGPropertyNode *node,
684 void tie_input (SGPropertyNode *node,
686 Parameter<double> *input,
688 void tie_output (SGPropertyNode *node,
691 void tie_output (SGPropertyNode *node,
697 bool get_discrete_input (bool *ptr) const;
698 void set_discrete_input (bool *ptr, bool value);
700 void present_status ();
701 void present_status_section (const char *name);
702 void present_status_item (const char *name, const char *value = NULL);
703 void present_status_subitem (const char *name);
705 bool get_present_status () const;
706 void set_present_status (bool value);
708 bool *get_lamp_output (Lamp lamp);
711 /////////////////////////////////////////////////////////////////////////////
712 // MK_VIII::VoicePlayer /////////////////////////////////////////////////////
713 /////////////////////////////////////////////////////////////////////////////
719 ///////////////////////////////////////////////////////////////////////////
720 // MK_VIII::VoicePlayer::Voice ////////////////////////////////////////////
721 ///////////////////////////////////////////////////////////////////////////
727 /////////////////////////////////////////////////////////////////////////
728 // MK_VIII::VoicePlayer::Voice::Element ////////////////////////////////////////
729 /////////////////////////////////////////////////////////////////////////
736 virtual inline void play (double volume) {}
737 virtual inline void stop () {}
738 virtual bool is_playing () = 0;
739 virtual inline void set_volume (double volume) {}
742 /////////////////////////////////////////////////////////////////////////
743 // MK_VIII::VoicePlayer::Voice::SampleElement ///////////////////////////
744 /////////////////////////////////////////////////////////////////////////
746 class SampleElement : public Element
748 SGSoundSample *_sample;
752 inline SampleElement (SGSoundSample *sample, double volume = 1.0)
753 : _sample(sample), _volume(volume) { silence = false; }
755 virtual inline void play (double volume) { if (_sample) { set_volume(volume); _sample->play_once(); } }
756 virtual inline void stop () { if (_sample) _sample->stop(); }
757 virtual inline bool is_playing () { return _sample ? _sample->is_playing() : false; }
758 virtual inline void set_volume (double volume) { if (_sample) _sample->set_volume(volume * _volume); }
761 /////////////////////////////////////////////////////////////////////////
762 // MK_VIII::VoicePlayer::Voice::SilenceElement //////////////////////////
763 /////////////////////////////////////////////////////////////////////////
765 class SilenceElement : public Element
771 inline SilenceElement (double duration)
772 : _duration(duration) { silence = true; }
774 virtual inline void play (double volume) { start_time = globals->get_sim_time_sec(); }
775 virtual inline bool is_playing () { return globals->get_sim_time_sec() - start_time < _duration; }
778 /////////////////////////////////////////////////////////////////////////
779 // MK_VIII::VoicePlayer::Voice (continued) //////////////////////////////
780 /////////////////////////////////////////////////////////////////////////
784 inline Voice (VoicePlayer *_player)
785 : element(NULL), player(_player), volume(1.0) {}
789 inline void append (Element *_element) { elements.push_back(_element); }
792 void stop (bool now);
793 void set_volume (double _volume);
794 void volume_changed ();
802 vector<Element *> elements;
803 vector<Element *>::iterator iter;
805 inline double get_volume () const { return player->volume * player->speaker.volume * volume; }
808 ///////////////////////////////////////////////////////////////////////////
809 // MK_VIII::VoicePlayer (continued) ///////////////////////////////////////
810 ///////////////////////////////////////////////////////////////////////////
824 Voice *application_data_base_failed;
826 Voice *bank_angle_bank_angle;
827 Voice *bank_angle_bank_angle_3;
828 Voice *bank_angle_inop;
829 Voice *bank_angle_pause_bank_angle;
830 Voice *bank_angle_pause_bank_angle_3;
831 Voice *callouts_inop;
832 Voice *configuration_type_invalid;
834 Voice *dont_sink_pause_dont_sink;
835 Voice *five_hundred_above;
837 Voice *glideslope_inop;
839 Voice *hard_glideslope;
841 Voice *minimums_minimums;
844 Voice *sink_rate_pause_sink_rate;
845 Voice *soft_glideslope;
847 Voice *terrain_pause_terrain;
848 Voice *too_low_flaps;
850 Voice *too_low_terrain;
851 Voice *altitude_callouts[n_altitude_callouts];
854 inline VoicePlayer (MK_VIII *device)
855 : voice(NULL), next_voice(NULL), mk(device), speaker(this) {}
866 void play (Voice *_voice, unsigned int flags = 0);
872 void stop (unsigned int flags = 0);
874 void set_volume (double _volume);
877 inline void bind (SGPropertyNode *node) { speaker.bind(node); }
881 ///////////////////////////////////////////////////////////////////////////
882 // MK_VIII::VoicePlayer::Speaker //////////////////////////////////////////
883 ///////////////////////////////////////////////////////////////////////////
891 float orientation[3];
895 float reference_dist;
899 inline void tie (SGPropertyNode *node, const char *name, T *ptr)
901 player->mk->properties_handler.tie
902 (node, (string("speaker/") + name).c_str(),
903 RawValueMethodsData<MK_VIII::VoicePlayer::Speaker,T,T*>
905 &MK_VIII::VoicePlayer::Speaker::get_property,
906 &MK_VIII::VoicePlayer::Speaker::set_property));
911 inline void set_property (T *ptr, T value) { *ptr = value; update_configuration(); }
914 inline T get_property (T *ptr) const { return *ptr; }
918 inline Speaker (VoicePlayer *_player)
928 position[0] = 0; position[1] = 0; position[2] = 0;
929 orientation[0] = 0; orientation[1] = 0; orientation[2] = 0;
932 void bind (SGPropertyNode *node);
933 void update_configuration ();
937 ///////////////////////////////////////////////////////////////////////////
938 // MK_VIII::VoicePlayer (continued) ///////////////////////////////////////
939 ///////////////////////////////////////////////////////////////////////////
945 map<string, SGSoundSample *> samples;
946 vector<Voice *> _voices;
951 SGSoundSample *get_sample (const char *name);
953 inline void append (Voice *voice, Voice::Element *element) { voice->append(element); }
954 inline void append (Voice *voice, const char *sample_name) { voice->append(new Voice::SampleElement(get_sample(sample_name))); }
955 inline void append (Voice *voice, double silence) { voice->append(new Voice::SilenceElement(silence)); }
957 inline void make_voice (Voice **voice) { *voice = new Voice(this); _voices.push_back(*voice); }
960 inline void make_voice (Voice **voice, T1 e1) { make_voice(voice); append(*voice, e1); }
961 template <class T1, class T2>
962 inline void make_voice (Voice **voice, T1 e1, T2 e2) { make_voice(voice, e1); append(*voice, e2); }
963 template <class T1, class T2, class T3>
964 inline void make_voice (Voice **voice, T1 e1, T2 e2, T3 e3) { make_voice(voice, e1, e2); append(*voice, e3); }
965 template <class T1, class T2, class T3, class T4>
966 inline void make_voice (Voice **voice, T1 e1, T2 e2, T3 e3, T4 e4) { make_voice(voice, e1, e2, e3); append(*voice, e4); }
970 /////////////////////////////////////////////////////////////////////////////
971 // MK_VIII::SelfTestHandler /////////////////////////////////////////////////
972 /////////////////////////////////////////////////////////////////////////////
974 class SelfTestHandler
987 ACTION_SLEEP = 1 << 0,
988 ACTION_VOICE = 1 << 1,
989 ACTION_DISCRETE_ON_OFF = 1 << 2,
996 double sleep_duration;
1003 bool button_pressed;
1004 double button_press_timestamp;
1005 IOHandler::Outputs saved_outputs;
1008 bool _was_here (int position);
1010 Action sleep (double duration);
1011 Action play (VoicePlayer::Voice *voice);
1012 Action discrete_on (bool *discrete, double duration);
1013 Action discrete_on_off (bool *discrete, double duration);
1014 Action discrete_on_off (bool *discrete, VoicePlayer::Voice *voice);
1033 inline SelfTestHandler (MK_VIII *device)
1034 : mk(device), button_pressed(false), state(STATE_NONE) {}
1036 inline void power_off () { stop(); }
1037 inline void set_inop () { stop(); }
1038 void handle_button_event (bool value);
1042 /////////////////////////////////////////////////////////////////////////////
1043 // MK_VIII::AlertHandler ////////////////////////////////////////////////////
1044 /////////////////////////////////////////////////////////////////////////////
1050 unsigned int old_alerts;
1051 unsigned int voice_alerts;
1052 unsigned int repeated_alerts;
1053 VoicePlayer::Voice *altitude_callout_voice;
1056 inline bool has_alerts (unsigned int test) const { return (alerts & test) != 0; }
1057 inline bool has_old_alerts (unsigned int test) const { return (old_alerts & test) != 0; }
1058 inline bool must_play_voice (unsigned int test) const { return ! has_old_alerts(test) || (repeated_alerts & test) != 0; }
1059 bool select_voice_alerts (unsigned int test);
1064 ALERT_MODE1_PULL_UP = 1 << 0,
1065 ALERT_MODE1_SINK_RATE = 1 << 1,
1067 ALERT_MODE2A_PREFACE = 1 << 2,
1068 ALERT_MODE2B_PREFACE = 1 << 3,
1069 ALERT_MODE2A = 1 << 4,
1070 ALERT_MODE2B = 1 << 5,
1071 ALERT_MODE2B_LANDING_MODE = 1 << 6,
1072 ALERT_MODE2A_ALTITUDE_GAIN = 1 << 7,
1073 ALERT_MODE2A_ALTITUDE_GAIN_TERRAIN_CLOSING = 1 << 8,
1075 ALERT_MODE3 = 1 << 9,
1077 ALERT_MODE4_TOO_LOW_FLAPS = 1 << 10,
1078 ALERT_MODE4_TOO_LOW_GEAR = 1 << 11,
1079 ALERT_MODE4AB_TOO_LOW_TERRAIN = 1 << 12,
1080 ALERT_MODE4C_TOO_LOW_TERRAIN = 1 << 13,
1082 ALERT_MODE5_SOFT = 1 << 14,
1083 ALERT_MODE5_HARD = 1 << 15,
1085 ALERT_MODE6_MINIMUMS = 1 << 16,
1086 ALERT_MODE6_ALTITUDE_CALLOUT = 1 << 17,
1087 ALERT_MODE6_LOW_BANK_ANGLE_1 = 1 << 18,
1088 ALERT_MODE6_HIGH_BANK_ANGLE_1 = 1 << 19,
1089 ALERT_MODE6_LOW_BANK_ANGLE_2 = 1 << 20,
1090 ALERT_MODE6_HIGH_BANK_ANGLE_2 = 1 << 21,
1091 ALERT_MODE6_LOW_BANK_ANGLE_3 = 1 << 22,
1092 ALERT_MODE6_HIGH_BANK_ANGLE_3 = 1 << 23,
1094 ALERT_TCF_TOO_LOW_TERRAIN = 1 << 24
1099 ALERT_FLAG_REPEAT = 1 << 0
1102 unsigned int alerts;
1104 inline AlertHandler (MK_VIII *device)
1111 void set_alerts (unsigned int _alerts,
1112 unsigned int flags = 0,
1113 VoicePlayer::Voice *_altitude_callout_voice = NULL);
1114 void unset_alerts (unsigned int _alerts);
1116 inline void repeat_alert (unsigned int alert) { set_alerts(alert, ALERT_FLAG_REPEAT); }
1117 inline void set_altitude_callout_alert (VoicePlayer::Voice *voice) { set_alerts(ALERT_MODE6_ALTITUDE_CALLOUT, 0, voice); }
1120 /////////////////////////////////////////////////////////////////////////////
1121 // MK_VIII::StateHandler ////////////////////////////////////////////////////
1122 /////////////////////////////////////////////////////////////////////////////
1128 Timer potentially_airborne_timer;
1130 void update_ground ();
1131 void enter_ground ();
1132 void leave_ground ();
1134 void update_takeoff ();
1135 void enter_takeoff ();
1136 void leave_takeoff ();
1142 inline StateHandler (MK_VIII *device)
1143 : mk(device), ground(true), takeoff(true) {}
1145 void post_reposition ();
1149 /////////////////////////////////////////////////////////////////////////////
1150 // MK_VIII::Mode1Handler ////////////////////////////////////////////////////
1151 /////////////////////////////////////////////////////////////////////////////
1157 Timer pull_up_timer;
1158 Timer sink_rate_timer;
1160 double sink_rate_tti; // time-to-impact in minutes
1162 double get_pull_up_bias ();
1165 double get_sink_rate_bias ();
1166 bool is_sink_rate ();
1167 double get_sink_rate_tti ();
1169 void update_pull_up ();
1170 void update_sink_rate ();
1175 bool flap_override_bias;
1177 double (*pull_up_min_agl1) (double vs);
1178 int pull_up_max_agl1;
1179 double (*pull_up_min_agl2) (double vs);
1180 int pull_up_max_agl2;
1181 } EnvelopesConfiguration;
1185 const EnvelopesConfiguration *envelopes;
1188 inline Mode1Handler (MK_VIII *device)
1194 /////////////////////////////////////////////////////////////////////////////
1195 // MK_VIII::Mode2Handler ////////////////////////////////////////////////////
1196 /////////////////////////////////////////////////////////////////////////////
1201 ///////////////////////////////////////////////////////////////////////////
1202 // MK_VIII::Mode2Handler::ClosureRateFilter ///////////////////////////////
1203 ///////////////////////////////////////////////////////////////////////////
1205 class ClosureRateFilter
1207 /////////////////////////////////////////////////////////////////////////
1208 // MK_VIII::Mode2Handler::ClosureRateFilter::PassFilter /////////////////
1209 /////////////////////////////////////////////////////////////////////////
1221 inline PassFilter (double _a0, double _a1, double _b1)
1222 : a0(_a0), a1(_a1), b1(_b1) {}
1224 inline double filter (double input)
1226 last_output = a0 * input + a1 * last_input + b1 * last_output;
1232 inline void reset ()
1239 /////////////////////////////////////////////////////////////////////////
1240 // MK_VIII::Mode2Handler::ClosureRateFilter (continued) /////////////////
1241 /////////////////////////////////////////////////////////////////////////
1246 Parameter<double> last_ra; // last radio altitude
1247 Parameter<double> last_ba; // last barometric altitude
1248 PassFilter ra_filter; // radio altitude rate filter
1249 PassFilter ba_filter; // barometric altitude rate filter
1251 double limit_radio_altitude_rate (double r);
1254 Parameter<double> output;
1256 inline ClosureRateFilter (MK_VIII *device)
1258 ra_filter(0.05, 0, 0.95), // low-pass filter
1259 ba_filter(0.93, -0.93, 0.86) {} // high-pass-filter
1265 ///////////////////////////////////////////////////////////////////////////
1266 // MK_VIII::Mode2Handler (continued) //////////////////////////////////////
1267 ///////////////////////////////////////////////////////////////////////////
1271 ClosureRateFilter closure_rate_filter;
1273 Timer takeoff_timer;
1274 Timer pull_up_timer;
1276 double a_start_time;
1277 Timer a_altitude_gain_timer;
1278 double a_altitude_gain_alt;
1280 void check_pull_up (unsigned int preface_alert, unsigned int alert);
1282 bool b_conditions ();
1297 const Configuration *conf;
1299 inline Mode2Handler (MK_VIII *device)
1300 : mk(device), closure_rate_filter(device) {}
1304 void leave_ground ();
1305 void enter_takeoff ();
1309 /////////////////////////////////////////////////////////////////////////////
1310 // MK_VIII::Mode3Handler ////////////////////////////////////////////////////
1311 /////////////////////////////////////////////////////////////////////////////
1318 bool has_descent_alt;
1322 double max_alt_loss (double _bias);
1323 double get_bias (double initial_bias, double alt_loss);
1324 bool is (double *alt_loss);
1330 int (*max_agl) (bool flap_override);
1331 double (*max_alt_loss) (bool flap_override, double agl);
1334 const Configuration *conf;
1336 inline Mode3Handler (MK_VIII *device)
1337 : mk(device), armed(false), has_descent_alt(false) {}
1339 void enter_takeoff ();
1343 /////////////////////////////////////////////////////////////////////////////
1344 // MK_VIII::Mode4Handler ////////////////////////////////////////////////////
1345 /////////////////////////////////////////////////////////////////////////////
1355 double (*min_agl2) (double airspeed);
1357 } EnvelopesConfiguration;
1361 const EnvelopesConfiguration *ac;
1362 const EnvelopesConfiguration *b;
1363 } ModesConfiguration;
1367 VoicePlayer::Voice *voice_too_low_gear;
1368 const ModesConfiguration *modes;
1371 inline Mode4Handler (MK_VIII *device)
1374 double get_upper_agl (const EnvelopesConfiguration *c);
1381 double ab_expanded_bias;
1384 const EnvelopesConfiguration *get_ab_envelope ();
1385 double get_bias (double initial_bias, double min_agl);
1386 void handle_alert (unsigned int alert, double min_agl, double *bias);
1389 void update_ab_expanded ();
1393 /////////////////////////////////////////////////////////////////////////////
1394 // MK_VIII::Mode5Handler ////////////////////////////////////////////////////
1395 /////////////////////////////////////////////////////////////////////////////
1407 bool is_soft (double bias);
1409 double get_soft_bias (double initial_bias);
1411 void update_hard (bool is);
1412 void update_soft (bool is);
1415 inline Mode5Handler (MK_VIII *device)
1421 /////////////////////////////////////////////////////////////////////////////
1422 // MK_VIII::Mode6Handler ////////////////////////////////////////////////////
1423 /////////////////////////////////////////////////////////////////////////////
1428 // keep in sync with altitude_callout_definitions[]
1431 ALTITUDE_CALLOUT_1000,
1432 ALTITUDE_CALLOUT_500,
1433 ALTITUDE_CALLOUT_400,
1434 ALTITUDE_CALLOUT_300,
1435 ALTITUDE_CALLOUT_200,
1436 ALTITUDE_CALLOUT_100,
1437 ALTITUDE_CALLOUT_50,
1438 ALTITUDE_CALLOUT_40,
1439 ALTITUDE_CALLOUT_30,
1440 ALTITUDE_CALLOUT_20,
1444 typedef bool (*BankAnglePredicate) (Parameter<double> *agl,
1445 double abs_roll_deg,
1450 bool minimums_enabled;
1451 bool smart_500_enabled;
1452 VoicePlayer::Voice *above_field_voice;
1454 bool altitude_callouts_enabled[n_altitude_callouts];
1455 bool bank_angle_enabled;
1456 BankAnglePredicate is_bank_angle;
1459 static const int altitude_callout_definitions[];
1461 inline Mode6Handler (MK_VIII *device)
1466 void enter_takeoff ();
1467 void leave_takeoff ();
1468 void set_volume (double volume);
1469 bool altitude_callouts_enabled ();
1475 bool last_decision_height;
1476 Parameter<double> last_radio_altitude;
1477 Parameter<double> last_altitude_above_field;
1479 bool altitude_callouts_issued[n_altitude_callouts];
1480 bool minimums_issued;
1481 bool above_field_issued;
1484 Parameter<bool> has_runway;
1488 double elevation; // elevation in feet
1491 void reset_minimums ();
1492 void reset_altitude_callouts ();
1493 bool is_playing_altitude_callout ();
1494 bool is_near_minimums (double callout);
1495 bool is_outside_band (double elevation, double callout);
1496 bool inhibit_smart_500 ();
1498 void update_minimums ();
1499 void update_altitude_callouts ();
1501 bool test_runway (const FGRunway *_runway);
1502 bool test_airport (const FGAirport *airport);
1503 void update_runway ();
1505 void get_altitude_above_field (Parameter<double> *parameter);
1506 void update_above_field_callout ();
1508 bool is_bank_angle (double abs_roll_angle, double bias);
1509 bool is_high_bank_angle ();
1510 unsigned int get_bank_angle_alerts ();
1511 void update_bank_angle ();
1513 class AirportFilter : public FGAirport::AirportFilter
1516 AirportFilter(Mode6Handler *s)
1519 virtual bool passAirport(FGAirport *a) const;
1521 virtual FGPositioned::Type maxType() const {
1522 return FGPositioned::AIRPORT;
1530 /////////////////////////////////////////////////////////////////////////////
1531 // MK_VIII::TCFHandler //////////////////////////////////////////////////////
1532 /////////////////////////////////////////////////////////////////////////////
1538 double latitude; // latitude in degrees
1539 double longitude; // longitude in degrees
1544 Position position; // position of threshold
1545 double heading; // runway heading
1550 static const double k;
1557 Position center; // center point
1558 double elevation; // elevation in feet
1559 double half_length; // runway half length, in nautical miles
1560 RunwayEdge edges[2]; // runway threshold and end
1561 Position bias_area[4]; // vertices of the bias area
1566 double initial_value;
1568 double get_azimuth_difference (double from_lat,
1573 double get_azimuth_difference (const FGRunway *_runway);
1575 FGRunway* select_runway (const FGAirport *airport);
1576 void update_runway ();
1578 void get_bias_area_edges (Position *edge,
1580 double half_width_m,
1581 Position *bias_edge1,
1582 Position *bias_edge2);
1584 bool is_inside_edge_triangle (RunwayEdge *edge);
1585 bool is_inside_bias_area ();
1590 class AirportFilter : public FGAirport::AirportFilter
1593 AirportFilter(MK_VIII *device)
1596 virtual bool passAirport(FGAirport *a) const;
1598 virtual FGPositioned::Type maxType() const {
1599 return FGPositioned::AIRPORT;
1610 inline TCFHandler (MK_VIII *device)
1616 /////////////////////////////////////////////////////////////////////////////
1617 // MK_VIII (continued) //////////////////////////////////////////////////////
1618 /////////////////////////////////////////////////////////////////////////////
1623 PowerHandler power_handler;
1624 SystemHandler system_handler;
1625 ConfigurationModule configuration_module;
1626 FaultHandler fault_handler;
1627 IOHandler io_handler;
1628 VoicePlayer voice_player;
1629 SelfTestHandler self_test_handler;
1630 AlertHandler alert_handler;
1631 StateHandler state_handler;
1632 Mode1Handler mode1_handler;
1633 Mode2Handler mode2_handler;
1634 Mode3Handler mode3_handler;
1635 Mode4Handler mode4_handler;
1636 Mode5Handler mode5_handler;
1637 Mode6Handler mode6_handler;
1638 TCFHandler tcf_handler;
1642 int runway_database;
1646 MK_VIII (SGPropertyNode *node);
1648 virtual void init ();
1649 virtual void bind ();
1650 virtual void unbind ();
1651 virtual void update (double dt);
1655 # pragma warning( pop )
1658 #endif // __INSTRUMENTS_MK_VIII_HXX