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.
32 #include <simgear/compiler.h>
33 #include <simgear/sg_inlines.h>
34 #include <simgear/math/sg_random.h>
35 #include <simgear/math/vector.hxx>
37 #include <Aircraft/aircraft.hxx>
38 #include <Navaids/navlist.hxx>
40 #include "navradio.hxx"
47 FGNavRadio::FGNavRadio(SGPropertyNode *node) :
48 lon_node(fgGetNode("/position/longitude-deg", true)),
49 lat_node(fgGetNode("/position/latitude-deg", true)),
50 alt_node(fgGetNode("/position/altitude-ft", true)),
55 sel_radial_node(NULL),
59 backcourse_node(NULL),
60 nav_serviceable_node(NULL),
61 cdi_serviceable_node(NULL),
62 gs_serviceable_node(NULL),
63 tofrom_serviceable_node(NULL),
65 fmt_alt_freq_node(NULL),
68 recip_radial_node(NULL),
69 target_radial_true_node(NULL),
70 target_auto_hdg_node(NULL),
71 time_to_intercept(NULL),
75 cdi_deflection_node(NULL),
76 cdi_xtrack_error_node(NULL),
77 cdi_xtrack_hdg_err_node(NULL),
81 gs_deflection_node(NULL),
82 gs_rate_of_climb_node(NULL),
89 nav_slaved_to_gps_node(NULL),
90 gps_cdi_deflection_node(NULL),
91 gps_to_flag_node(NULL),
92 gps_from_flag_node(NULL),
102 last_xtrack_error(0.0),
105 _time_before_search_sec(-1.0)
107 SGPath path( globals->get_fg_root() );
109 term.append( "Navaids/range.term" );
111 low.append( "Navaids/range.low" );
113 high.append( "Navaids/range.high" );
115 term_tbl = new SGInterpTable( term.str() );
116 low_tbl = new SGInterpTable( low.str() );
117 high_tbl = new SGInterpTable( high.str() );
120 for ( i = 0; i < node->nChildren(); ++i ) {
121 SGPropertyNode *child = node->getChild(i);
122 string cname = child->getName();
123 string cval = child->getStringValue();
124 if ( cname == "name" ) {
126 } else if ( cname == "number" ) {
127 num = child->getIntValue();
129 SG_LOG( SG_INSTR, SG_WARN,
130 "Error in nav radio config logic" );
131 if ( name.length() ) {
132 SG_LOG( SG_INSTR, SG_WARN, "Section = " << name );
141 FGNavRadio::~FGNavRadio()
155 branch = "/instrumentation/" + name;
157 SGPropertyNode *node = fgGetNode(branch.c_str(), num, true );
160 fgGetNode(("/systems/electrical/outputs/" + name).c_str(), true);
163 is_valid_node = node->getChild("data-is-valid", 0, true);
164 power_btn_node = node->getChild("power-btn", 0, true);
165 power_btn_node->setBoolValue( true );
166 vol_btn_node = node->getChild("volume", 0, true);
167 ident_btn_node = node->getChild("ident", 0, true);
168 ident_btn_node->setBoolValue( true );
169 audio_btn_node = node->getChild("audio-btn", 0, true);
170 audio_btn_node->setBoolValue( true );
171 backcourse_node = node->getChild("back-course-btn", 0, true);
172 backcourse_node->setBoolValue( false );
173 nav_serviceable_node = node->getChild("serviceable", 0, true);
174 cdi_serviceable_node = (node->getChild("cdi", 0, true))
175 ->getChild("serviceable", 0, true);
176 gs_serviceable_node = (node->getChild("gs", 0, true))
177 ->getChild("serviceable");
178 tofrom_serviceable_node = (node->getChild("to-from", 0, true))
179 ->getChild("serviceable", 0, true);
182 SGPropertyNode *subnode = node->getChild("frequencies", 0, true);
183 freq_node = subnode->getChild("selected-mhz", 0, true);
184 alt_freq_node = subnode->getChild("standby-mhz", 0, true);
185 fmt_freq_node = subnode->getChild("selected-mhz-fmt", 0, true);
186 fmt_alt_freq_node = subnode->getChild("standby-mhz-fmt", 0, true);
189 subnode = node->getChild("radials", 0, true);
190 sel_radial_node = subnode->getChild("selected-deg", 0, true);
191 radial_node = subnode->getChild("actual-deg", 0, true);
192 recip_radial_node = subnode->getChild("reciprocal-radial-deg", 0, true);
193 target_radial_true_node = subnode->getChild("target-radial-deg", 0, true);
194 target_auto_hdg_node = subnode->getChild("target-auto-hdg-deg", 0, true);
197 heading_node = node->getChild("heading-deg", 0, true);
198 time_to_intercept = node->getChild("time-to-intercept-sec", 0, true);
199 to_flag_node = node->getChild("to-flag", 0, true);
200 from_flag_node = node->getChild("from-flag", 0, true);
201 inrange_node = node->getChild("in-range", 0, true);
202 cdi_deflection_node = node->getChild("heading-needle-deflection", 0, true);
203 cdi_xtrack_error_node = node->getChild("crosstrack-error-m", 0, true);
204 cdi_xtrack_hdg_err_node
205 = node->getChild("crosstrack-heading-error-deg", 0, true);
206 has_gs_node = node->getChild("has-gs", 0, true);
207 loc_node = node->getChild("nav-loc", 0, true);
208 loc_dist_node = node->getChild("nav-distance", 0, true);
209 gs_deflection_node = node->getChild("gs-needle-deflection", 0, true);
210 gs_rate_of_climb_node = node->getChild("gs-rate-of-climb", 0, true);
211 gs_dist_node = node->getChild("gs-distance", 0, true);
212 nav_id_node = node->getChild("nav-id", 0, true);
213 id_c1_node = node->getChild("nav-id_asc1", 0, true);
214 id_c2_node = node->getChild("nav-id_asc2", 0, true);
215 id_c3_node = node->getChild("nav-id_asc3", 0, true);
216 id_c4_node = node->getChild("nav-id_asc4", 0, true);
218 // gps slaving support
219 nav_slaved_to_gps_node = node->getChild("slaved-to-gps", 0, true);
220 gps_cdi_deflection_node = fgGetNode("/instrumentation/gps/cdi-deflection", true);
221 gps_to_flag_node = fgGetNode("/instrumentation/gps/to-flag", true);
222 gps_from_flag_node = fgGetNode("/instrumentation/gps/from-flag", true);
224 std::ostringstream temp;
225 temp << name << "nav-ident" << num;
226 nav_fx_name = temp.str();
227 temp << name << "dme-ident" << num;
228 dme_fx_name = temp.str();
234 std::ostringstream temp;
237 branch = "/instrumentation/" + name + "[" + temp.str() + "]";
242 FGNavRadio::unbind ()
244 std::ostringstream temp;
247 branch = "/instrumentation/" + name + "[" + temp.str() + "]";
251 // model standard VOR/DME/TACAN service volumes as per AIM 1-1-8
252 double FGNavRadio::adjustNavRange( double stationElev, double aircraftElev,
253 double nominalRange )
255 // extend out actual usable range to be 1.3x the published safe range
256 const double usability_factor = 1.3;
258 // assumptions we model the standard service volume, plus
259 // ... rather than specifying a cylinder, we model a cone that
260 // contains the cylinder. Then we put an upside down cone on top
261 // to model diminishing returns at too-high altitudes.
263 // altitude difference
264 double alt = ( aircraftElev * SG_METER_TO_FEET - stationElev );
265 // cout << "aircraft elev = " << aircraftElev * SG_METER_TO_FEET
266 // << " station elev = " << stationElev << endl;
268 if ( nominalRange < 25.0 + SG_EPSILON ) {
269 // Standard Terminal Service Volume
270 return term_tbl->interpolate( alt ) * usability_factor;
271 } else if ( nominalRange < 50.0 + SG_EPSILON ) {
272 // Standard Low Altitude Service Volume
273 // table is based on range of 40, scale to actual range
274 return low_tbl->interpolate( alt ) * nominalRange / 40.0
277 // Standard High Altitude Service Volume
278 // table is based on range of 130, scale to actual range
279 return high_tbl->interpolate( alt ) * nominalRange / 130.0
285 // model standard ILS service volumes as per AIM 1-1-9
286 double FGNavRadio::adjustILSRange( double stationElev, double aircraftElev,
287 double offsetDegrees, double distance )
289 // assumptions we model the standard service volume, plus
291 // altitude difference
292 // double alt = ( aircraftElev * SG_METER_TO_FEET - stationElev );
293 // double offset = fabs( offsetDegrees );
295 // if ( offset < 10 ) {
296 // return FG_ILS_DEFAULT_RANGE;
297 // } else if ( offset < 35 ) {
298 // return 10 + (35 - offset) * (FG_ILS_DEFAULT_RANGE - 10) / 25;
299 // } else if ( offset < 45 ) {
300 // return (45 - offset);
301 // } else if ( offset > 170 ) {
302 // return FG_ILS_DEFAULT_RANGE;
303 // } else if ( offset > 145 ) {
304 // return 10 + (offset - 145) * (FG_ILS_DEFAULT_RANGE - 10) / 25;
305 // } else if ( offset > 135 ) {
306 // return (offset - 135);
310 return FG_LOC_DEFAULT_RANGE;
314 //////////////////////////////////////////////////////////////////////////
315 // Update the various nav values based on position and valid tuned in navs
316 //////////////////////////////////////////////////////////////////////////
318 FGNavRadio::update(double dt)
320 // Do a nav station search only once a second to reduce
321 // unnecessary work. (Also, make sure to do this before caching
323 _time_before_search_sec -= dt;
324 if ( _time_before_search_sec < 0 ) {
328 // cache a few strategic values locally for speed
329 SGGeod pos = SGGeod::fromDegFt(lon_node->getDoubleValue(),
330 lat_node->getDoubleValue(),
331 alt_node->getDoubleValue());
332 bool power_btn = power_btn_node->getBoolValue();
333 bool nav_serviceable = nav_serviceable_node->getBoolValue();
334 bool cdi_serviceable = cdi_serviceable_node->getBoolValue();
335 bool tofrom_serviceable = tofrom_serviceable_node->getBoolValue();
336 bool inrange = inrange_node->getBoolValue();
337 bool has_gs = has_gs_node->getBoolValue();
338 bool is_loc = loc_node->getBoolValue();
339 double loc_dist = loc_dist_node->getDoubleValue();
343 // Create "formatted" versions of the nav frequencies for
344 // instrument displays.
346 sprintf( tmp, "%.2f", freq_node->getDoubleValue() );
347 fmt_freq_node->setStringValue(tmp);
348 sprintf( tmp, "%.2f", alt_freq_node->getDoubleValue() );
349 fmt_alt_freq_node->setStringValue(tmp);
351 // cout << "is_valid = " << is_valid
352 // << " power_btn = " << power_btn
353 // << " bus_power = " << bus_power_node->getDoubleValue()
354 // << " nav_serviceable = " << nav_serviceable
357 if ( is_valid && power_btn && (bus_power_node->getDoubleValue() > 1.0)
360 SGVec3d aircraft = SGVec3d::fromGeod(pos);
361 loc_dist = dist(aircraft, nav_xyz);
362 loc_dist_node->setDoubleValue( loc_dist );
363 // cout << "dt = " << dt << " dist = " << loc_dist << endl;
366 // find closest distance to the gs base line
367 SGVec3d p = aircraft;
368 double dist = sgdClosestPointToLineDistSquared(p.sg(), gs_xyz.sg(),
370 gs_dist_node->setDoubleValue( sqrt( dist ) );
371 // cout << "gs_dist = " << gs_dist_node->getDoubleValue()
374 // wgs84 heading to glide slope (to determine sign of distance)
375 geo_inverse_wgs_84( pos, SGGeod::fromDeg(gs_lon, gs_lat),
377 double r = az1 - target_radial;
378 while ( r > 180.0 ) { r -= 360.0;}
379 while ( r < -180.0 ) { r += 360.0;}
380 if ( r >= -90.0 && r <= 90.0 ) {
381 gs_dist_signed = gs_dist_node->getDoubleValue();
383 gs_dist_signed = -gs_dist_node->getDoubleValue();
385 /* cout << "Target Radial = " << target_radial
386 << " Bearing = " << az1
387 << " dist (signed) = " << gs_dist_signed
391 gs_dist_node->setDoubleValue( 0.0 );
394 //////////////////////////////////////////////////////////
395 // compute forward and reverse wgs84 headings to localizer
396 //////////////////////////////////////////////////////////
398 geo_inverse_wgs_84( pos, SGGeod::fromDeg(loc_lon, loc_lat),
400 // cout << "az1 = " << az1 << " magvar = " << nav_magvar << endl;
401 heading_node->setDoubleValue( hdg );
402 radial = az2 - twist;
403 double recip = radial + 180.0;
404 if ( recip >= 360.0 ) { recip -= 360.0; }
405 radial_node->setDoubleValue( radial );
406 recip_radial_node->setDoubleValue( recip );
407 // cout << " heading = " << heading_node->getDoubleValue()
408 // << " dist = " << nav_dist << endl;
410 //////////////////////////////////////////////////////////
411 // compute the target/selected radial in "true" heading
412 //////////////////////////////////////////////////////////
415 // ILS localizers radials are already "true" in our
417 trtrue = target_radial;
419 // VOR radials need to have that vor's offset added in
420 trtrue = target_radial + twist;
423 while ( trtrue < 0.0 ) { trtrue += 360.0; }
424 while ( trtrue > 360.0 ) { trtrue -= 360.0; }
425 target_radial_true_node->setDoubleValue( trtrue );
427 //////////////////////////////////////////////////////////
428 // adjust reception range for altitude
429 // FIXME: make sure we are using the navdata range now that
430 // it is valid in the data file
431 //////////////////////////////////////////////////////////
433 double offset = radial - target_radial;
434 while ( offset < -180.0 ) { offset += 360.0; }
435 while ( offset > 180.0 ) { offset -= 360.0; }
436 // cout << "ils offset = " << offset << endl;
438 = adjustILSRange( nav_elev, pos.getElevationM(), offset,
439 loc_dist * SG_METER_TO_NM );
442 = adjustNavRange( nav_elev, pos.getElevationM(), range );
444 // cout << "nav range = " << effective_range
445 // << " (" << range << ")" << endl;
447 if ( loc_dist < effective_range * SG_NM_TO_METER ) {
449 } else if ( loc_dist < 2 * effective_range * SG_NM_TO_METER ) {
450 inrange = sg_random() < ( 2 * effective_range * SG_NM_TO_METER
452 / (effective_range * SG_NM_TO_METER);
456 inrange_node->setBoolValue( inrange );
459 target_radial = sel_radial_node->getDoubleValue();
462 //////////////////////////////////////////////////////////
463 // compute to/from flag status
464 //////////////////////////////////////////////////////////
465 double value = false;
466 double offset = fabs(radial - target_radial);
467 if ( tofrom_serviceable ) {
468 if ( nav_slaved_to_gps_node->getBoolValue() ) {
469 value = gps_to_flag_node->getBoolValue();
470 } else if ( inrange ) {
474 value = !(offset <= 90.0 || offset >= 270.0);
480 to_flag_node->setBoolValue( value );
483 if ( tofrom_serviceable ) {
484 if ( nav_slaved_to_gps_node->getBoolValue() ) {
485 value = gps_from_flag_node->getBoolValue();
486 } else if ( inrange ) {
490 value = !(offset > 90.0 && offset < 270.0);
496 from_flag_node->setBoolValue( value );
498 //////////////////////////////////////////////////////////
499 // compute the deflection of the CDI needle, clamped to the range
501 //////////////////////////////////////////////////////////
503 bool loc_backside = false; // an in-code flag indicating that we are
504 // on a localizer backcourse.
505 if ( cdi_serviceable ) {
506 if ( nav_slaved_to_gps_node->getBoolValue() ) {
507 r = gps_cdi_deflection_node->getDoubleValue();
508 // We want +- 5 dots deflection for the gps, so clamp
510 SG_CLAMP_RANGE( r, -12.5, 12.5 );
511 } else if ( inrange ) {
512 r = radial - target_radial;
513 // cout << "Target radial = " << target_radial
514 // << " Actual radial = " << radial << endl;
516 while ( r > 180.0 ) { r -= 360.0;}
517 while ( r < -180.0 ) { r += 360.0;}
518 if ( fabs(r) > 90.0 ) {
519 r = ( r<0.0 ? -r-180.0 : -r+180.0 );
526 r = -r; // reverse, since radial is outbound
528 // According to Robin Peel, the ILS is 4x more
529 // sensitive than a vor
532 SG_CLAMP_RANGE( r, -10.0, 10.0 );
535 cdi_deflection_node->setDoubleValue( r );
537 //////////////////////////////////////////////////////////
538 // compute the amount of cross track distance error in meters
539 //////////////////////////////////////////////////////////
540 double xtrack_error = 0.0;
541 if ( inrange && nav_serviceable && cdi_serviceable ) {
542 r = radial - target_radial;
543 // cout << "Target radial = " << target_radial
544 // << " Actual radial = " << radial
545 // << " r = " << r << endl;
547 while ( r > 180.0 ) { r -= 360.0;}
548 while ( r < -180.0 ) { r += 360.0;}
549 if ( fabs(r) > 90.0 ) {
550 r = ( r<0.0 ? -r-180.0 : -r+180.0 );
553 r = -r; // reverse, since radial is outbound
555 xtrack_error = loc_dist * sin(r * SGD_DEGREES_TO_RADIANS);
559 cdi_xtrack_error_node->setDoubleValue( xtrack_error );
561 //////////////////////////////////////////////////////////
562 // compute an approximate ground track heading error
563 //////////////////////////////////////////////////////////
564 double hdg_error = 0.0;
565 if ( inrange && cdi_serviceable ) {
566 double vn = fgGetDouble( "/velocities/speed-north-fps" );
567 double ve = fgGetDouble( "/velocities/speed-east-fps" );
568 double gnd_trk_true = atan2( ve, vn ) * SGD_RADIANS_TO_DEGREES;
569 if ( gnd_trk_true < 0.0 ) { gnd_trk_true += 360.0; }
571 SGPropertyNode *true_hdg
572 = fgGetNode("/orientation/heading-deg", true);
573 hdg_error = gnd_trk_true - true_hdg->getDoubleValue();
575 // cout << "ground track = " << gnd_trk_true
576 // << " orientation = " << true_hdg->getDoubleValue() << endl;
578 cdi_xtrack_hdg_err_node->setDoubleValue( hdg_error );
580 //////////////////////////////////////////////////////////
581 // compute the time to intercept selected radial (based on
582 // current and last cross track errors and dt
583 //////////////////////////////////////////////////////////
585 if ( inrange && cdi_serviceable ) {
586 double xrate_ms = (last_xtrack_error - xtrack_error) / dt;
587 if ( fabs(xrate_ms) > 0.00001 ) {
588 t = xtrack_error / xrate_ms;
593 time_to_intercept->setDoubleValue( t );
595 //////////////////////////////////////////////////////////
596 // compute the amount of glide slope needle deflection
597 // (.i.e. the number of degrees we are off the glide slope * 5.0
599 // CLO - 13 Mar 2006: The glide slope needle should peg at
600 // +/-0.7 degrees off the ideal glideslope. I'm not sure why
601 // we compute the factor the way we do (5*gs_error), but we
602 // need to compensate for our 'odd' number in the glideslope
603 // needle animation. This means that the needle should peg
604 // when this values is +/-3.5.
605 //////////////////////////////////////////////////////////
607 if ( has_gs && gs_serviceable_node->getBoolValue() ) {
608 if ( nav_slaved_to_gps_node->getBoolValue() ) {
609 // FIXME/FINISHME, what should be set here?
610 } else if ( inrange ) {
611 double x = gs_dist_node->getDoubleValue();
612 double y = (fgGetDouble("/position/altitude-ft") - nav_elev)
614 // cout << "dist = " << x << " height = " << y << endl;
615 double angle = asin( y / x ) * SGD_RADIANS_TO_DEGREES;
616 r = (target_gs - angle) * 5.0;
619 gs_deflection_node->setDoubleValue( r );
621 //////////////////////////////////////////////////////////
622 // Calculate desired rate of climb for intercepting the GS
623 //////////////////////////////////////////////////////////
624 double x = gs_dist_node->getDoubleValue();
625 double y = (alt_node->getDoubleValue() - nav_elev)
627 double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
629 double target_angle = target_gs;
630 double gs_diff = target_angle - current_angle;
632 // convert desired vertical path angle into a climb rate
633 double des_angle = current_angle - 10 * gs_diff;
635 // estimate horizontal speed towards ILS in meters per minute
636 double dist = last_x - x;
640 double new_vel = ( dist / dt );
642 horiz_vel = 0.75 * horiz_vel + 0.25 * new_vel;
643 // double horiz_vel = cur_fdm_state->get_V_ground_speed()
644 // * SG_FEET_TO_METER * 60.0;
645 // double horiz_vel = airspeed_node->getFloatValue()
646 // * SG_FEET_TO_METER * 60.0;
648 gs_rate_of_climb_node
649 ->setDoubleValue( -sin( des_angle * SGD_DEGREES_TO_RADIANS )
650 * horiz_vel * SG_METER_TO_FEET );
653 //////////////////////////////////////////////////////////
654 // Calculate a suggested target heading to smoothly intercept
656 //////////////////////////////////////////////////////////
658 // Now that we have cross track heading adjustment built in,
659 // we shouldn't need to overdrive the heading angle within 8km
662 // The cdi deflection should be +/-10 for a full range of deflection
663 // so multiplying this by 3 gives us +/- 30 degrees heading
665 double adjustment = cdi_deflection_node->getDoubleValue() * 3.0;
666 SG_CLAMP_RANGE( adjustment, -30.0, 30.0 );
668 // determine the target heading to fly to intercept the
669 // tgt_radial = target radial (true) + cdi offset adjustmest -
670 // xtrack heading error adjustment
672 if ( is_loc && backcourse_node->getBoolValue() ) {
673 // tuned to a localizer and backcourse mode activated
674 trtrue += 180.0; // reverse the target localizer heading
675 while ( trtrue > 360.0 ) { trtrue -= 360.0; }
676 nta_hdg = trtrue - adjustment - hdg_error;
678 nta_hdg = trtrue + adjustment - hdg_error;
681 while ( nta_hdg < 0.0 ) { nta_hdg += 360.0; }
682 while ( nta_hdg >= 360.0 ) { nta_hdg -= 360.0; }
683 target_auto_hdg_node->setDoubleValue( nta_hdg );
685 last_xtrack_error = xtrack_error;
687 inrange_node->setBoolValue( false );
688 cdi_deflection_node->setDoubleValue( 0.0 );
689 cdi_xtrack_error_node->setDoubleValue( 0.0 );
690 cdi_xtrack_hdg_err_node->setDoubleValue( 0.0 );
691 time_to_intercept->setDoubleValue( 0.0 );
692 gs_deflection_node->setDoubleValue( 0.0 );
693 to_flag_node->setBoolValue( false );
694 from_flag_node->setBoolValue( false );
695 // cout << "not picking up vor. :-(" << endl;
699 if ( is_valid && inrange && nav_serviceable ) {
700 // play station ident via audio system if on + ident,
701 // otherwise turn it off
703 && (bus_power_node->getDoubleValue() > 1.0)
704 && ident_btn_node->getBoolValue()
705 && audio_btn_node->getBoolValue() )
707 SGSoundSample *sound;
708 sound = globals->get_soundmgr()->find( nav_fx_name );
709 double vol = vol_btn_node->getDoubleValue();
710 if ( vol < 0.0 ) { vol = 0.0; }
711 if ( vol > 1.0 ) { vol = 1.0; }
712 if ( sound != NULL ) {
713 sound->set_volume( vol );
715 SG_LOG( SG_COCKPIT, SG_ALERT,
716 "Can't find nav-vor-ident sound" );
718 sound = globals->get_soundmgr()->find( dme_fx_name );
719 if ( sound != NULL ) {
720 sound->set_volume( vol );
722 SG_LOG( SG_COCKPIT, SG_ALERT,
723 "Can't find nav-dme-ident sound" );
725 // cout << "last_time = " << last_time << " ";
726 // cout << "cur_time = "
727 // << globals->get_time_params()->get_cur_time();
729 globals->get_time_params()->get_cur_time() - 30 ) {
730 last_time = globals->get_time_params()->get_cur_time();
733 // cout << " play_count = " << play_count << endl;
734 // cout << "playing = "
735 // << globals->get_soundmgr()->is_playing(nav_fx_name)
737 if ( play_count < 4 ) {
739 if ( !globals->get_soundmgr()->is_playing(nav_fx_name) ) {
740 globals->get_soundmgr()->play_once( nav_fx_name );
743 } else if ( play_count < 5 && has_dme ) {
745 if ( !globals->get_soundmgr()->is_playing(nav_fx_name) &&
746 !globals->get_soundmgr()->is_playing(dme_fx_name) ) {
747 globals->get_soundmgr()->play_once( dme_fx_name );
752 globals->get_soundmgr()->stop( nav_fx_name );
753 globals->get_soundmgr()->stop( dme_fx_name );
757 last_loc_dist = loc_dist;
761 // Update current nav/adf radio stations based on current postition
762 void FGNavRadio::search()
766 _time_before_search_sec = 1.0;
768 // cache values locally for speed
769 double lon = lon_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
770 double lat = lat_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
771 double elev = alt_node->getDoubleValue() * SG_FEET_TO_METER;
773 FGNavRecord *nav = NULL;
774 FGNavRecord *loc = NULL;
775 FGNavRecord *dme = NULL;
776 FGNavRecord *gs = NULL;
778 ////////////////////////////////////////////////////////////////////////
780 ////////////////////////////////////////////////////////////////////////
782 double freq = freq_node->getDoubleValue();
783 nav = globals->get_navlist()->findByFreq(freq, lon, lat, elev);
784 dme = globals->get_dmelist()->findByFreq(freq, lon, lat, elev);
786 loc = globals->get_loclist()->findByFreq(freq, lon, lat, elev);
787 gs = globals->get_gslist()->findByFreq(freq, lon, lat, elev);
793 nav_id = loc->get_ident();
794 nav_id_node->setStringValue( nav_id.c_str() );
795 // cout << "localizer = " << nav_id_node->getStringValue() << endl;
797 if ( last_nav_id != nav_id || last_nav_vor ) {
798 trans_ident = loc->get_trans_ident();
799 target_radial = loc->get_multiuse();
800 while ( target_radial < 0.0 ) { target_radial += 360.0; }
801 while ( target_radial > 360.0 ) { target_radial -= 360.0; }
802 loc_lon = loc->get_lon();
803 loc_lat = loc->get_lat();
804 nav_xyz = loc->get_cart();
805 last_nav_id = nav_id;
806 last_nav_vor = false;
807 loc_node->setBoolValue( true );
808 has_dme = (dme != NULL);
810 has_gs_node->setBoolValue( true );
811 gs_lon = gs->get_lon();
812 gs_lat = gs->get_lat();
813 nav_elev = gs->get_elev_ft();
814 int tmp = (int)(gs->get_multiuse() / 1000.0);
815 target_gs = (double)tmp / 100.0;
816 gs_xyz = gs->get_cart();
818 // derive GS baseline (perpendicular to the runay
820 double tlon, tlat, taz;
821 geo_direct_wgs_84 ( 0.0, gs_lat, gs_lon,
823 100.0, &tlat, &tlon, &taz );
824 // cout << "target_radial = " << target_radial << endl;
825 // cout << "nav_loc = " << loc_node->getBoolValue() << endl;
826 // cout << gs_lon << "," << gs_lat << " "
827 // << tlon << "," << tlat << " (" << nav_elev << ")"
829 SGGeod tpos = SGGeod::fromDegFt(tlon, tlat, nav_elev);
830 SGVec3d p1 = SGVec3d::fromGeod(tpos);
832 // cout << gs_xyz << endl;
833 // cout << p1 << endl;
834 gs_base_vec = p1 - gs_xyz;
835 // cout << gs_base_vec << endl;
837 has_gs_node->setBoolValue( false );
838 nav_elev = loc->get_elev_ft();
841 range = FG_LOC_DEFAULT_RANGE;
842 effective_range = range;
844 if ( globals->get_soundmgr()->exists( nav_fx_name ) ) {
845 globals->get_soundmgr()->remove( nav_fx_name );
847 SGSoundSample *sound;
848 sound = morse.make_ident( trans_ident, LO_FREQUENCY );
849 sound->set_volume( 0.3 );
850 globals->get_soundmgr()->add( sound, nav_fx_name );
852 if ( globals->get_soundmgr()->exists( dme_fx_name ) ) {
853 globals->get_soundmgr()->remove( dme_fx_name );
855 sound = morse.make_ident( trans_ident, HI_FREQUENCY );
856 sound->set_volume( 0.3 );
857 globals->get_soundmgr()->add( sound, dme_fx_name );
859 int offset = (int)(sg_random() * 30.0);
860 play_count = offset / 4;
861 last_time = globals->get_time_params()->get_cur_time() -
863 // cout << "offset = " << offset << " play_count = "
865 // << " last_time = " << last_time
866 // << " current time = "
867 // << globals->get_time_params()->get_cur_time() << endl;
869 // cout << "Found an loc station in range" << endl;
870 // cout << " id = " << loc->get_locident() << endl;
872 } else if ( nav != NULL ) {
873 nav_id = nav->get_ident();
874 nav_id_node->setStringValue( nav_id.c_str() );
875 // cout << "nav = " << nav_id << endl;
877 if ( last_nav_id != nav_id || !last_nav_vor ) {
878 last_nav_id = nav_id;
880 trans_ident = nav->get_trans_ident();
881 loc_node->setBoolValue( false );
882 has_dme = (dme != NULL);
883 has_gs_node->setBoolValue( false );
884 loc_lon = nav->get_lon();
885 loc_lat = nav->get_lat();
886 nav_elev = nav->get_elev_ft();
887 twist = nav->get_multiuse();
888 range = nav->get_range();
889 effective_range = adjustNavRange(nav_elev, elev, range);
891 target_radial = sel_radial_node->getDoubleValue();
892 nav_xyz = nav->get_cart();
894 if ( globals->get_soundmgr()->exists( nav_fx_name ) ) {
895 globals->get_soundmgr()->remove( nav_fx_name );
898 SGSoundSample *sound;
899 sound = morse.make_ident( trans_ident, LO_FREQUENCY );
900 sound->set_volume( 0.3 );
901 if ( globals->get_soundmgr()->add( sound, nav_fx_name ) ) {
902 // cout << "Added nav-vor-ident sound" << endl;
904 SG_LOG(SG_COCKPIT, SG_WARN, "Failed to add v1-vor-ident sound");
907 if ( globals->get_soundmgr()->exists( dme_fx_name ) ) {
908 globals->get_soundmgr()->remove( dme_fx_name );
910 sound = morse.make_ident( trans_ident, HI_FREQUENCY );
911 sound->set_volume( 0.3 );
912 globals->get_soundmgr()->add( sound, dme_fx_name );
914 int offset = (int)(sg_random() * 30.0);
915 play_count = offset / 4;
916 last_time = globals->get_time_params()->get_cur_time() - offset;
917 // cout << "offset = " << offset << " play_count = "
918 // << play_count << " last_time = "
919 // << last_time << " current time = "
920 // << globals->get_time_params()->get_cur_time() << endl;
922 // cout << "Found a vor station in range" << endl;
923 // cout << " id = " << nav->get_ident() << endl;
924 } catch ( sg_io_exception &e ) {
925 SG_LOG(SG_GENERAL, SG_ALERT, e.getFormattedMessage());
930 nav_id_node->setStringValue( "" );
934 globals->get_soundmgr()->remove( nav_fx_name );
935 globals->get_soundmgr()->remove( dme_fx_name );
938 is_valid_node->setBoolValue( is_valid );
941 strncpy( tmpid, nav_id.c_str(), 5 );
942 id_c1_node->setIntValue( (int)tmpid[0] );
943 id_c2_node->setIntValue( (int)tmpid[1] );
944 id_c3_node->setIntValue( (int)tmpid[2] );
945 id_c4_node->setIntValue( (int)tmpid[3] );