1 // navradio.cxx -- class to manage a nav radio instance
3 // Written by Curtis Olson, started April 2000.
5 // Copyright (C) 2000 - 2002 Curtis L. Olson - http://www.flightgear.org/~curt
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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
30 #include <simgear/sg_inlines.h>
31 #include <simgear/timing/sg_time.hxx>
32 #include <simgear/math/vector.hxx>
33 #include <simgear/math/sg_random.h>
34 #include <simgear/math/sg_geodesy.hxx>
35 #include <simgear/structure/exception.hxx>
37 #include <Navaids/navlist.hxx>
38 #include <Main/util.hxx>
39 #include "navradio.hxx"
44 FGNavRadio::FGNavRadio(SGPropertyNode *node) :
45 lon_node(fgGetNode("/position/longitude-deg", true)),
46 lat_node(fgGetNode("/position/latitude-deg", true)),
47 alt_node(fgGetNode("/position/altitude-ft", true)),
52 sel_radial_node(NULL),
56 backcourse_node(NULL),
57 nav_serviceable_node(NULL),
58 cdi_serviceable_node(NULL),
59 gs_serviceable_node(NULL),
60 tofrom_serviceable_node(NULL),
62 fmt_alt_freq_node(NULL),
65 recip_radial_node(NULL),
66 target_radial_true_node(NULL),
67 target_auto_hdg_node(NULL),
68 time_to_intercept(NULL),
72 signal_quality_norm_node(NULL),
73 cdi_deflection_node(NULL),
74 cdi_xtrack_error_node(NULL),
75 cdi_xtrack_hdg_err_node(NULL),
79 gs_deflection_node(NULL),
80 gs_rate_of_climb_node(NULL),
87 nav_slaved_to_gps_node(NULL),
88 gps_cdi_deflection_node(NULL),
89 gps_to_flag_node(NULL),
90 gps_from_flag_node(NULL),
100 last_xtrack_error(0.0),
101 _name(node->getStringValue("name", "nav")),
102 _num(node->getIntValue("number", 0)),
103 _time_before_search_sec(-1.0)
105 SGPath path( globals->get_fg_root() );
107 term.append( "Navaids/range.term" );
109 low.append( "Navaids/range.low" );
111 high.append( "Navaids/range.high" );
113 term_tbl = new SGInterpTable( term.str() );
114 low_tbl = new SGInterpTable( low.str() );
115 high_tbl = new SGInterpTable( high.str() );
120 FGNavRadio::~FGNavRadio()
134 branch = "/instrumentation/" + _name;
136 SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
139 fgGetNode(("/systems/electrical/outputs/" + _name).c_str(), true);
142 is_valid_node = node->getChild("data-is-valid", 0, true);
143 power_btn_node = node->getChild("power-btn", 0, true);
144 power_btn_node->setBoolValue( true );
145 vol_btn_node = node->getChild("volume", 0, true);
146 ident_btn_node = node->getChild("ident", 0, true);
147 ident_btn_node->setBoolValue( true );
148 audio_btn_node = node->getChild("audio-btn", 0, true);
149 audio_btn_node->setBoolValue( true );
150 backcourse_node = node->getChild("back-course-btn", 0, true);
151 backcourse_node->setBoolValue( false );
152 nav_serviceable_node = node->getChild("serviceable", 0, true);
153 cdi_serviceable_node = (node->getChild("cdi", 0, true))
154 ->getChild("serviceable", 0, true);
155 gs_serviceable_node = (node->getChild("gs", 0, true))
156 ->getChild("serviceable");
157 tofrom_serviceable_node = (node->getChild("to-from", 0, true))
158 ->getChild("serviceable", 0, true);
161 SGPropertyNode *subnode = node->getChild("frequencies", 0, true);
162 freq_node = subnode->getChild("selected-mhz", 0, true);
163 alt_freq_node = subnode->getChild("standby-mhz", 0, true);
164 fmt_freq_node = subnode->getChild("selected-mhz-fmt", 0, true);
165 fmt_alt_freq_node = subnode->getChild("standby-mhz-fmt", 0, true);
168 subnode = node->getChild("radials", 0, true);
169 sel_radial_node = subnode->getChild("selected-deg", 0, true);
170 radial_node = subnode->getChild("actual-deg", 0, true);
171 recip_radial_node = subnode->getChild("reciprocal-radial-deg", 0, true);
172 target_radial_true_node = subnode->getChild("target-radial-deg", 0, true);
173 target_auto_hdg_node = subnode->getChild("target-auto-hdg-deg", 0, true);
176 heading_node = node->getChild("heading-deg", 0, true);
177 time_to_intercept = node->getChild("time-to-intercept-sec", 0, true);
178 to_flag_node = node->getChild("to-flag", 0, true);
179 from_flag_node = node->getChild("from-flag", 0, true);
180 inrange_node = node->getChild("in-range", 0, true);
181 signal_quality_norm_node = node->getChild("signal-quality-norm", 0, true);
182 cdi_deflection_node = node->getChild("heading-needle-deflection", 0, true);
183 cdi_xtrack_error_node = node->getChild("crosstrack-error-m", 0, true);
184 cdi_xtrack_hdg_err_node
185 = node->getChild("crosstrack-heading-error-deg", 0, true);
186 has_gs_node = node->getChild("has-gs", 0, true);
187 loc_node = node->getChild("nav-loc", 0, true);
188 loc_dist_node = node->getChild("nav-distance", 0, true);
189 gs_deflection_node = node->getChild("gs-needle-deflection", 0, true);
190 gs_rate_of_climb_node = node->getChild("gs-rate-of-climb", 0, true);
191 gs_dist_node = node->getChild("gs-distance", 0, true);
192 nav_id_node = node->getChild("nav-id", 0, true);
193 id_c1_node = node->getChild("nav-id_asc1", 0, true);
194 id_c2_node = node->getChild("nav-id_asc2", 0, true);
195 id_c3_node = node->getChild("nav-id_asc3", 0, true);
196 id_c4_node = node->getChild("nav-id_asc4", 0, true);
198 // gps slaving support
199 nav_slaved_to_gps_node = node->getChild("slaved-to-gps", 0, true);
200 gps_cdi_deflection_node = fgGetNode("/instrumentation/gps/cdi-deflection", true);
201 gps_to_flag_node = fgGetNode("/instrumentation/gps/to-flag", true);
202 gps_from_flag_node = fgGetNode("/instrumentation/gps/from-flag", true);
204 std::ostringstream temp;
205 temp << _name << "nav-ident" << _num;
206 nav_fx_name = temp.str();
207 temp << _name << "dme-ident" << _num;
208 dme_fx_name = temp.str();
214 std::ostringstream temp;
217 branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
222 FGNavRadio::unbind ()
224 std::ostringstream temp;
227 branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
231 // model standard VOR/DME/TACAN service volumes as per AIM 1-1-8
232 double FGNavRadio::adjustNavRange( double stationElev, double aircraftElev,
233 double nominalRange )
235 // extend out actual usable range to be 1.3x the published safe range
236 const double usability_factor = 1.3;
238 // assumptions we model the standard service volume, plus
239 // ... rather than specifying a cylinder, we model a cone that
240 // contains the cylinder. Then we put an upside down cone on top
241 // to model diminishing returns at too-high altitudes.
243 // altitude difference
244 double alt = ( aircraftElev * SG_METER_TO_FEET - stationElev );
245 // cout << "aircraft elev = " << aircraftElev * SG_METER_TO_FEET
246 // << " station elev = " << stationElev << endl;
248 if ( nominalRange < 25.0 + SG_EPSILON ) {
249 // Standard Terminal Service Volume
250 return term_tbl->interpolate( alt ) * usability_factor;
251 } else if ( nominalRange < 50.0 + SG_EPSILON ) {
252 // Standard Low Altitude Service Volume
253 // table is based on range of 40, scale to actual range
254 return low_tbl->interpolate( alt ) * nominalRange / 40.0
257 // Standard High Altitude Service Volume
258 // table is based on range of 130, scale to actual range
259 return high_tbl->interpolate( alt ) * nominalRange / 130.0
265 // model standard ILS service volumes as per AIM 1-1-9
266 double FGNavRadio::adjustILSRange( double stationElev, double aircraftElev,
267 double offsetDegrees, double distance )
269 // assumptions we model the standard service volume, plus
271 // altitude difference
272 // double alt = ( aircraftElev * SG_METER_TO_FEET - stationElev );
273 // double offset = fabs( offsetDegrees );
275 // if ( offset < 10 ) {
276 // return FG_ILS_DEFAULT_RANGE;
277 // } else if ( offset < 35 ) {
278 // return 10 + (35 - offset) * (FG_ILS_DEFAULT_RANGE - 10) / 25;
279 // } else if ( offset < 45 ) {
280 // return (45 - offset);
281 // } else if ( offset > 170 ) {
282 // return FG_ILS_DEFAULT_RANGE;
283 // } else if ( offset > 145 ) {
284 // return 10 + (offset - 145) * (FG_ILS_DEFAULT_RANGE - 10) / 25;
285 // } else if ( offset > 135 ) {
286 // return (offset - 135);
290 return FG_LOC_DEFAULT_RANGE;
294 //////////////////////////////////////////////////////////////////////////
295 // Update the various nav values based on position and valid tuned in navs
296 //////////////////////////////////////////////////////////////////////////
298 FGNavRadio::update(double dt)
300 // Do a nav station search only once a second to reduce
301 // unnecessary work. (Also, make sure to do this before caching
303 _time_before_search_sec -= dt;
304 if ( _time_before_search_sec < 0 ) {
308 // cache a few strategic values locally for speed
309 SGGeod pos = SGGeod::fromDegFt(lon_node->getDoubleValue(),
310 lat_node->getDoubleValue(),
311 alt_node->getDoubleValue());
312 bool power_btn = power_btn_node->getBoolValue();
313 bool nav_serviceable = nav_serviceable_node->getBoolValue();
314 bool cdi_serviceable = cdi_serviceable_node->getBoolValue();
315 bool tofrom_serviceable = tofrom_serviceable_node->getBoolValue();
316 bool inrange = inrange_node->getBoolValue();
317 bool has_gs = has_gs_node->getBoolValue();
318 bool is_loc = loc_node->getBoolValue();
319 double loc_dist = loc_dist_node->getDoubleValue();
320 double effective_range_m;
321 double signal_quality_norm = signal_quality_norm_node->getDoubleValue();
325 // Create "formatted" versions of the nav frequencies for
326 // instrument displays.
328 sprintf( tmp, "%.2f", freq_node->getDoubleValue() );
329 fmt_freq_node->setStringValue(tmp);
330 sprintf( tmp, "%.2f", alt_freq_node->getDoubleValue() );
331 fmt_alt_freq_node->setStringValue(tmp);
333 // cout << "is_valid = " << is_valid
334 // << " power_btn = " << power_btn
335 // << " bus_power = " << bus_power_node->getDoubleValue()
336 // << " nav_serviceable = " << nav_serviceable
339 if ( is_valid && power_btn && (bus_power_node->getDoubleValue() > 1.0)
342 SGVec3d aircraft = SGVec3d::fromGeod(pos);
343 loc_dist = dist(aircraft, nav_xyz);
344 loc_dist_node->setDoubleValue( loc_dist );
345 // cout << "dt = " << dt << " dist = " << loc_dist << endl;
348 // find closest distance to the gs base line
349 SGVec3d p = aircraft;
350 double dist = sgdClosestPointToLineDistSquared(p.sg(), gs_xyz.sg(),
352 gs_dist_node->setDoubleValue( sqrt( dist ) );
353 // cout << "gs_dist = " << gs_dist_node->getDoubleValue()
356 // wgs84 heading to glide slope (to determine sign of distance)
357 geo_inverse_wgs_84( pos, SGGeod::fromDeg(gs_lon, gs_lat),
359 double r = az1 - target_radial;
360 while ( r > 180.0 ) { r -= 360.0;}
361 while ( r < -180.0 ) { r += 360.0;}
362 if ( r >= -90.0 && r <= 90.0 ) {
363 gs_dist_signed = gs_dist_node->getDoubleValue();
365 gs_dist_signed = -gs_dist_node->getDoubleValue();
367 /* cout << "Target Radial = " << target_radial
368 << " Bearing = " << az1
369 << " dist (signed) = " << gs_dist_signed
373 gs_dist_node->setDoubleValue( 0.0 );
376 //////////////////////////////////////////////////////////
377 // compute forward and reverse wgs84 headings to localizer
378 //////////////////////////////////////////////////////////
380 geo_inverse_wgs_84( pos, SGGeod::fromDeg(loc_lon, loc_lat),
382 // cout << "az1 = " << az1 << " magvar = " << nav_magvar << endl;
383 heading_node->setDoubleValue( hdg );
384 radial = az2 - twist;
385 double recip = radial + 180.0;
386 if ( recip >= 360.0 ) { recip -= 360.0; }
387 radial_node->setDoubleValue( radial );
388 recip_radial_node->setDoubleValue( recip );
389 // cout << " heading = " << heading_node->getDoubleValue()
390 // << " dist = " << nav_dist << endl;
392 //////////////////////////////////////////////////////////
393 // compute the target/selected radial in "true" heading
394 //////////////////////////////////////////////////////////
397 // ILS localizers radials are already "true" in our
399 trtrue = target_radial;
401 // VOR radials need to have that vor's offset added in
402 trtrue = target_radial + twist;
405 while ( trtrue < 0.0 ) { trtrue += 360.0; }
406 while ( trtrue > 360.0 ) { trtrue -= 360.0; }
407 target_radial_true_node->setDoubleValue( trtrue );
409 //////////////////////////////////////////////////////////
410 // adjust reception range for altitude
411 // FIXME: make sure we are using the navdata range now that
412 // it is valid in the data file
413 //////////////////////////////////////////////////////////
415 double offset = radial - target_radial;
416 while ( offset < -180.0 ) { offset += 360.0; }
417 while ( offset > 180.0 ) { offset -= 360.0; }
418 // cout << "ils offset = " << offset << endl;
420 = adjustILSRange( nav_elev, pos.getElevationM(), offset,
421 loc_dist * SG_METER_TO_NM );
424 = adjustNavRange( nav_elev, pos.getElevationM(), range );
427 effective_range_m = effective_range * SG_NM_TO_METER;
429 // cout << "nav range = " << effective_range
430 // << " (" << range << ")" << endl;
432 //////////////////////////////////////////////////////////
433 // compute signal quality
434 // 100% within effective_range
435 // decreases 1/x^2 further out
436 //////////////////////////////////////////////////////////
438 double last_signal_quality_norm = signal_quality_norm;
440 if ( loc_dist < effective_range_m ) {
441 signal_quality_norm = 1.0;
443 double range_exceed_norm = loc_dist/effective_range_m;
444 signal_quality_norm = 1/(range_exceed_norm*range_exceed_norm);
447 signal_quality_norm = fgGetLowPass( last_signal_quality_norm,
448 signal_quality_norm, dt );
450 signal_quality_norm_node->setDoubleValue( signal_quality_norm );
451 inrange = signal_quality_norm > 0.2;
452 inrange_node->setBoolValue( inrange );
455 target_radial = sel_radial_node->getDoubleValue();
458 //////////////////////////////////////////////////////////
459 // compute to/from flag status
460 //////////////////////////////////////////////////////////
462 double offset = fabs(radial - target_radial);
463 if ( tofrom_serviceable ) {
464 if ( nav_slaved_to_gps_node->getBoolValue() ) {
465 value = gps_to_flag_node->getBoolValue();
466 } else if ( inrange ) {
470 value = !(offset <= 90.0 || offset >= 270.0);
476 to_flag_node->setBoolValue( value );
479 if ( tofrom_serviceable ) {
480 if ( nav_slaved_to_gps_node->getBoolValue() ) {
481 value = gps_from_flag_node->getBoolValue();
482 } else if ( inrange ) {
486 value = !(offset > 90.0 && offset < 270.0);
492 from_flag_node->setBoolValue( value );
494 //////////////////////////////////////////////////////////
495 // compute the deflection of the CDI needle, clamped to the range
497 //////////////////////////////////////////////////////////
499 bool loc_backside = false; // an in-code flag indicating that we are
500 // on a localizer backcourse.
501 if ( cdi_serviceable ) {
502 if ( nav_slaved_to_gps_node->getBoolValue() ) {
503 r = gps_cdi_deflection_node->getDoubleValue();
504 // We want +- 5 dots deflection for the gps, so clamp
506 SG_CLAMP_RANGE( r, -12.5, 12.5 );
507 } else if ( inrange ) {
508 r = radial - target_radial;
509 // cout << "Target radial = " << target_radial
510 // << " Actual radial = " << radial << endl;
512 while ( r > 180.0 ) { r -= 360.0;}
513 while ( r < -180.0 ) { r += 360.0;}
514 if ( fabs(r) > 90.0 ) {
515 r = ( r<0.0 ? -r-180.0 : -r+180.0 );
522 r = -r; // reverse, since radial is outbound
524 // According to Robin Peel, the ILS is 4x more
525 // sensitive than a vor
528 SG_CLAMP_RANGE( r, -10.0, 10.0 );
529 r *= signal_quality_norm;
532 cdi_deflection_node->setDoubleValue( r );
534 //////////////////////////////////////////////////////////
535 // compute the amount of cross track distance error in meters
536 //////////////////////////////////////////////////////////
537 double xtrack_error = 0.0;
538 if ( inrange && nav_serviceable && cdi_serviceable ) {
539 r = radial - target_radial;
540 // cout << "Target radial = " << target_radial
541 // << " Actual radial = " << radial
542 // << " r = " << r << endl;
544 while ( r > 180.0 ) { r -= 360.0;}
545 while ( r < -180.0 ) { r += 360.0;}
546 if ( fabs(r) > 90.0 ) {
547 r = ( r<0.0 ? -r-180.0 : -r+180.0 );
550 r = -r; // reverse, since radial is outbound
552 xtrack_error = loc_dist * sin(r * SGD_DEGREES_TO_RADIANS);
556 cdi_xtrack_error_node->setDoubleValue( xtrack_error );
558 //////////////////////////////////////////////////////////
559 // compute an approximate ground track heading error
560 //////////////////////////////////////////////////////////
561 double hdg_error = 0.0;
562 if ( inrange && cdi_serviceable ) {
563 double vn = fgGetDouble( "/velocities/speed-north-fps" );
564 double ve = fgGetDouble( "/velocities/speed-east-fps" );
565 double gnd_trk_true = atan2( ve, vn ) * SGD_RADIANS_TO_DEGREES;
566 if ( gnd_trk_true < 0.0 ) { gnd_trk_true += 360.0; }
568 SGPropertyNode *true_hdg
569 = fgGetNode("/orientation/heading-deg", true);
570 hdg_error = gnd_trk_true - true_hdg->getDoubleValue();
572 // cout << "ground track = " << gnd_trk_true
573 // << " orientation = " << true_hdg->getDoubleValue() << endl;
575 cdi_xtrack_hdg_err_node->setDoubleValue( hdg_error );
577 //////////////////////////////////////////////////////////
578 // compute the time to intercept selected radial (based on
579 // current and last cross track errors and dt
580 //////////////////////////////////////////////////////////
582 if ( inrange && cdi_serviceable ) {
583 double xrate_ms = (last_xtrack_error - xtrack_error) / dt;
584 if ( fabs(xrate_ms) > 0.00001 ) {
585 t = xtrack_error / xrate_ms;
590 time_to_intercept->setDoubleValue( t );
592 //////////////////////////////////////////////////////////
593 // compute the amount of glide slope needle deflection
594 // (.i.e. the number of degrees we are off the glide slope * 5.0
596 // CLO - 13 Mar 2006: The glide slope needle should peg at
597 // +/-0.7 degrees off the ideal glideslope. I'm not sure why
598 // we compute the factor the way we do (5*gs_error), but we
599 // need to compensate for our 'odd' number in the glideslope
600 // needle animation. This means that the needle should peg
601 // when this values is +/-3.5.
602 //////////////////////////////////////////////////////////
604 if ( has_gs && gs_serviceable_node->getBoolValue() ) {
605 if ( nav_slaved_to_gps_node->getBoolValue() ) {
606 // FIXME/FINISHME, what should be set here?
607 } else if ( inrange ) {
608 double x = gs_dist_node->getDoubleValue();
609 double y = (fgGetDouble("/position/altitude-ft") - nav_elev)
611 // cout << "dist = " << x << " height = " << y << endl;
612 double angle = asin( y / x ) * SGD_RADIANS_TO_DEGREES;
613 r = (target_gs - angle) * 5.0;
614 r *= signal_quality_norm;
617 gs_deflection_node->setDoubleValue( r );
619 //////////////////////////////////////////////////////////
620 // Calculate desired rate of climb for intercepting the GS
621 //////////////////////////////////////////////////////////
622 double x = gs_dist_node->getDoubleValue();
623 double y = (alt_node->getDoubleValue() - nav_elev)
625 double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
627 double target_angle = target_gs;
628 double gs_diff = target_angle - current_angle;
630 // convert desired vertical path angle into a climb rate
631 double des_angle = current_angle - 10 * gs_diff;
633 // estimate horizontal speed towards ILS in meters per minute
634 double dist = last_x - x;
638 double new_vel = ( dist / dt );
640 horiz_vel = 0.75 * horiz_vel + 0.25 * new_vel;
641 // double horiz_vel = cur_fdm_state->get_V_ground_speed()
642 // * SG_FEET_TO_METER * 60.0;
643 // double horiz_vel = airspeed_node->getFloatValue()
644 // * SG_FEET_TO_METER * 60.0;
646 gs_rate_of_climb_node
647 ->setDoubleValue( -sin( des_angle * SGD_DEGREES_TO_RADIANS )
648 * horiz_vel * SG_METER_TO_FEET );
651 //////////////////////////////////////////////////////////
652 // Calculate a suggested target heading to smoothly intercept
654 //////////////////////////////////////////////////////////
656 // Now that we have cross track heading adjustment built in,
657 // we shouldn't need to overdrive the heading angle within 8km
660 // The cdi deflection should be +/-10 for a full range of deflection
661 // so multiplying this by 3 gives us +/- 30 degrees heading
663 double adjustment = cdi_deflection_node->getDoubleValue() * 3.0;
664 SG_CLAMP_RANGE( adjustment, -30.0, 30.0 );
666 // determine the target heading to fly to intercept the
667 // tgt_radial = target radial (true) + cdi offset adjustmest -
668 // xtrack heading error adjustment
670 if ( is_loc && backcourse_node->getBoolValue() ) {
671 // tuned to a localizer and backcourse mode activated
672 trtrue += 180.0; // reverse the target localizer heading
673 while ( trtrue > 360.0 ) { trtrue -= 360.0; }
674 nta_hdg = trtrue - adjustment - hdg_error;
676 nta_hdg = trtrue + adjustment - hdg_error;
679 while ( nta_hdg < 0.0 ) { nta_hdg += 360.0; }
680 while ( nta_hdg >= 360.0 ) { nta_hdg -= 360.0; }
681 target_auto_hdg_node->setDoubleValue( nta_hdg );
683 last_xtrack_error = xtrack_error;
685 inrange_node->setBoolValue( false );
686 cdi_deflection_node->setDoubleValue( 0.0 );
687 cdi_xtrack_error_node->setDoubleValue( 0.0 );
688 cdi_xtrack_hdg_err_node->setDoubleValue( 0.0 );
689 time_to_intercept->setDoubleValue( 0.0 );
690 gs_deflection_node->setDoubleValue( 0.0 );
691 to_flag_node->setBoolValue( false );
692 from_flag_node->setBoolValue( false );
693 // cout << "not picking up vor. :-(" << endl;
697 if ( is_valid && inrange && nav_serviceable ) {
698 // play station ident via audio system if on + ident,
699 // otherwise turn it off
701 && (bus_power_node->getDoubleValue() > 1.0)
702 && ident_btn_node->getBoolValue()
703 && audio_btn_node->getBoolValue() )
705 SGSoundSample *sound;
706 sound = globals->get_soundmgr()->find( nav_fx_name );
707 double vol = vol_btn_node->getDoubleValue();
708 if ( vol < 0.0 ) { vol = 0.0; }
709 if ( vol > 1.0 ) { vol = 1.0; }
710 if ( sound != NULL ) {
711 sound->set_volume( vol );
713 SG_LOG( SG_COCKPIT, SG_ALERT,
714 "Can't find nav-vor-ident sound" );
716 sound = globals->get_soundmgr()->find( dme_fx_name );
717 if ( sound != NULL ) {
718 sound->set_volume( vol );
720 SG_LOG( SG_COCKPIT, SG_ALERT,
721 "Can't find nav-dme-ident sound" );
723 // cout << "last_time = " << last_time << " ";
724 // cout << "cur_time = "
725 // << globals->get_time_params()->get_cur_time();
727 globals->get_time_params()->get_cur_time() - 30 ) {
728 last_time = globals->get_time_params()->get_cur_time();
731 // cout << " play_count = " << play_count << endl;
732 // cout << "playing = "
733 // << globals->get_soundmgr()->is_playing(nav_fx_name)
735 if ( play_count < 4 ) {
737 if ( !globals->get_soundmgr()->is_playing(nav_fx_name) ) {
738 globals->get_soundmgr()->play_once( nav_fx_name );
741 } else if ( play_count < 5 && has_dme ) {
743 if ( !globals->get_soundmgr()->is_playing(nav_fx_name) &&
744 !globals->get_soundmgr()->is_playing(dme_fx_name) ) {
745 globals->get_soundmgr()->play_once( dme_fx_name );
750 globals->get_soundmgr()->stop( nav_fx_name );
751 globals->get_soundmgr()->stop( dme_fx_name );
755 last_loc_dist = loc_dist;
759 // Update current nav/adf radio stations based on current postition
760 void FGNavRadio::search()
764 _time_before_search_sec = 1.0;
766 // cache values locally for speed
767 double lon = lon_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
768 double lat = lat_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
769 double elev = alt_node->getDoubleValue() * SG_FEET_TO_METER;
771 FGNavRecord *nav = NULL;
772 FGNavRecord *loc = NULL;
773 FGNavRecord *dme = NULL;
774 FGNavRecord *gs = NULL;
776 ////////////////////////////////////////////////////////////////////////
778 ////////////////////////////////////////////////////////////////////////
780 double freq = freq_node->getDoubleValue();
781 nav = globals->get_navlist()->findByFreq(freq, lon, lat, elev);
782 dme = globals->get_dmelist()->findByFreq(freq, lon, lat, elev);
784 loc = globals->get_loclist()->findByFreq(freq, lon, lat, elev);
785 gs = globals->get_gslist()->findByFreq(freq, lon, lat, elev);
791 nav_id = loc->get_ident();
792 nav_id_node->setStringValue( nav_id.c_str() );
793 // cout << "localizer = " << nav_id_node->getStringValue() << endl;
795 if ( last_nav_id != nav_id || last_nav_vor ) {
796 trans_ident = loc->get_trans_ident();
797 target_radial = loc->get_multiuse();
798 while ( target_radial < 0.0 ) { target_radial += 360.0; }
799 while ( target_radial > 360.0 ) { target_radial -= 360.0; }
800 loc_lon = loc->get_lon();
801 loc_lat = loc->get_lat();
802 nav_xyz = loc->get_cart();
803 last_nav_id = nav_id;
804 last_nav_vor = false;
805 loc_node->setBoolValue( true );
806 has_dme = (dme != NULL);
808 has_gs_node->setBoolValue( true );
809 gs_lon = gs->get_lon();
810 gs_lat = gs->get_lat();
811 nav_elev = gs->get_elev_ft();
812 int tmp = (int)(gs->get_multiuse() / 1000.0);
813 target_gs = (double)tmp / 100.0;
814 gs_xyz = gs->get_cart();
816 // derive GS baseline (perpendicular to the runay
818 double tlon, tlat, taz;
819 geo_direct_wgs_84 ( 0.0, gs_lat, gs_lon,
821 100.0, &tlat, &tlon, &taz );
822 // cout << "target_radial = " << target_radial << endl;
823 // cout << "nav_loc = " << loc_node->getBoolValue() << endl;
824 // cout << gs_lon << "," << gs_lat << " "
825 // << tlon << "," << tlat << " (" << nav_elev << ")"
827 SGGeod tpos = SGGeod::fromDegFt(tlon, tlat, nav_elev);
828 SGVec3d p1 = SGVec3d::fromGeod(tpos);
830 // cout << gs_xyz << endl;
831 // cout << p1 << endl;
832 gs_base_vec = p1 - gs_xyz;
833 // cout << gs_base_vec << endl;
835 has_gs_node->setBoolValue( false );
836 nav_elev = loc->get_elev_ft();
839 range = FG_LOC_DEFAULT_RANGE;
840 effective_range = range;
842 if ( globals->get_soundmgr()->exists( nav_fx_name ) ) {
843 globals->get_soundmgr()->remove( nav_fx_name );
845 SGSoundSample *sound;
846 sound = morse.make_ident( trans_ident, LO_FREQUENCY );
847 sound->set_volume( 0.3 );
848 globals->get_soundmgr()->add( sound, nav_fx_name );
850 if ( globals->get_soundmgr()->exists( dme_fx_name ) ) {
851 globals->get_soundmgr()->remove( dme_fx_name );
853 sound = morse.make_ident( trans_ident, HI_FREQUENCY );
854 sound->set_volume( 0.3 );
855 globals->get_soundmgr()->add( sound, dme_fx_name );
857 int offset = (int)(sg_random() * 30.0);
858 play_count = offset / 4;
859 last_time = globals->get_time_params()->get_cur_time() -
861 // cout << "offset = " << offset << " play_count = "
863 // << " last_time = " << last_time
864 // << " current time = "
865 // << globals->get_time_params()->get_cur_time() << endl;
867 // cout << "Found an loc station in range" << endl;
868 // cout << " id = " << loc->get_locident() << endl;
870 } else if ( nav != NULL ) {
871 nav_id = nav->get_ident();
872 nav_id_node->setStringValue( nav_id.c_str() );
873 // cout << "nav = " << nav_id << endl;
875 if ( last_nav_id != nav_id || !last_nav_vor ) {
876 last_nav_id = nav_id;
878 trans_ident = nav->get_trans_ident();
879 loc_node->setBoolValue( false );
880 has_dme = (dme != NULL);
881 has_gs_node->setBoolValue( false );
882 loc_lon = nav->get_lon();
883 loc_lat = nav->get_lat();
884 nav_elev = nav->get_elev_ft();
885 twist = nav->get_multiuse();
886 range = nav->get_range();
887 effective_range = adjustNavRange(nav_elev, elev, range);
889 target_radial = sel_radial_node->getDoubleValue();
890 nav_xyz = nav->get_cart();
892 if ( globals->get_soundmgr()->exists( nav_fx_name ) ) {
893 globals->get_soundmgr()->remove( nav_fx_name );
896 SGSoundSample *sound;
897 sound = morse.make_ident( trans_ident, LO_FREQUENCY );
898 sound->set_volume( 0.3 );
899 if ( globals->get_soundmgr()->add( sound, nav_fx_name ) ) {
900 // cout << "Added nav-vor-ident sound" << endl;
902 SG_LOG(SG_COCKPIT, SG_WARN, "Failed to add v1-vor-ident sound");
905 if ( globals->get_soundmgr()->exists( dme_fx_name ) ) {
906 globals->get_soundmgr()->remove( dme_fx_name );
908 sound = morse.make_ident( trans_ident, HI_FREQUENCY );
909 sound->set_volume( 0.3 );
910 globals->get_soundmgr()->add( sound, dme_fx_name );
912 int offset = (int)(sg_random() * 30.0);
913 play_count = offset / 4;
914 last_time = globals->get_time_params()->get_cur_time() - offset;
915 // cout << "offset = " << offset << " play_count = "
916 // << play_count << " last_time = "
917 // << last_time << " current time = "
918 // << globals->get_time_params()->get_cur_time() << endl;
920 // cout << "Found a vor station in range" << endl;
921 // cout << " id = " << nav->get_ident() << endl;
922 } catch ( sg_io_exception &e ) {
923 SG_LOG(SG_GENERAL, SG_ALERT, e.getFormattedMessage());
928 nav_id_node->setStringValue( "" );
932 globals->get_soundmgr()->remove( nav_fx_name );
933 globals->get_soundmgr()->remove( dme_fx_name );
936 is_valid_node->setBoolValue( is_valid );
939 strncpy( tmpid, nav_id.c_str(), 5 );
940 id_c1_node->setIntValue( (int)tmpid[0] );
941 id_c2_node->setIntValue( (int)tmpid[1] );
942 id_c3_node->setIntValue( (int)tmpid[2] );
943 id_c4_node->setIntValue( (int)tmpid[3] );