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 "navradio.hxx"
43 FGNavRadio::FGNavRadio(SGPropertyNode *node) :
44 lon_node(fgGetNode("/position/longitude-deg", true)),
45 lat_node(fgGetNode("/position/latitude-deg", true)),
46 alt_node(fgGetNode("/position/altitude-ft", true)),
51 sel_radial_node(NULL),
55 backcourse_node(NULL),
56 nav_serviceable_node(NULL),
57 cdi_serviceable_node(NULL),
58 gs_serviceable_node(NULL),
59 tofrom_serviceable_node(NULL),
61 fmt_alt_freq_node(NULL),
64 recip_radial_node(NULL),
65 target_radial_true_node(NULL),
66 target_auto_hdg_node(NULL),
67 time_to_intercept(NULL),
71 cdi_deflection_node(NULL),
72 cdi_xtrack_error_node(NULL),
73 cdi_xtrack_hdg_err_node(NULL),
77 gs_deflection_node(NULL),
78 gs_rate_of_climb_node(NULL),
85 nav_slaved_to_gps_node(NULL),
86 gps_cdi_deflection_node(NULL),
87 gps_to_flag_node(NULL),
88 gps_from_flag_node(NULL),
98 last_xtrack_error(0.0),
99 _name(node->getStringValue("name", "nav")),
100 _num(node->getIntValue("number", 0)),
101 _time_before_search_sec(-1.0)
103 SGPath path( globals->get_fg_root() );
105 term.append( "Navaids/range.term" );
107 low.append( "Navaids/range.low" );
109 high.append( "Navaids/range.high" );
111 term_tbl = new SGInterpTable( term.str() );
112 low_tbl = new SGInterpTable( low.str() );
113 high_tbl = new SGInterpTable( high.str() );
118 FGNavRadio::~FGNavRadio()
132 branch = "/instrumentation/" + _name;
134 SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
137 fgGetNode(("/systems/electrical/outputs/" + _name).c_str(), true);
140 is_valid_node = node->getChild("data-is-valid", 0, true);
141 power_btn_node = node->getChild("power-btn", 0, true);
142 power_btn_node->setBoolValue( true );
143 vol_btn_node = node->getChild("volume", 0, true);
144 ident_btn_node = node->getChild("ident", 0, true);
145 ident_btn_node->setBoolValue( true );
146 audio_btn_node = node->getChild("audio-btn", 0, true);
147 audio_btn_node->setBoolValue( true );
148 backcourse_node = node->getChild("back-course-btn", 0, true);
149 backcourse_node->setBoolValue( false );
150 nav_serviceable_node = node->getChild("serviceable", 0, true);
151 cdi_serviceable_node = (node->getChild("cdi", 0, true))
152 ->getChild("serviceable", 0, true);
153 gs_serviceable_node = (node->getChild("gs", 0, true))
154 ->getChild("serviceable");
155 tofrom_serviceable_node = (node->getChild("to-from", 0, true))
156 ->getChild("serviceable", 0, true);
159 SGPropertyNode *subnode = node->getChild("frequencies", 0, true);
160 freq_node = subnode->getChild("selected-mhz", 0, true);
161 alt_freq_node = subnode->getChild("standby-mhz", 0, true);
162 fmt_freq_node = subnode->getChild("selected-mhz-fmt", 0, true);
163 fmt_alt_freq_node = subnode->getChild("standby-mhz-fmt", 0, true);
166 subnode = node->getChild("radials", 0, true);
167 sel_radial_node = subnode->getChild("selected-deg", 0, true);
168 radial_node = subnode->getChild("actual-deg", 0, true);
169 recip_radial_node = subnode->getChild("reciprocal-radial-deg", 0, true);
170 target_radial_true_node = subnode->getChild("target-radial-deg", 0, true);
171 target_auto_hdg_node = subnode->getChild("target-auto-hdg-deg", 0, true);
174 heading_node = node->getChild("heading-deg", 0, true);
175 time_to_intercept = node->getChild("time-to-intercept-sec", 0, true);
176 to_flag_node = node->getChild("to-flag", 0, true);
177 from_flag_node = node->getChild("from-flag", 0, true);
178 inrange_node = node->getChild("in-range", 0, true);
179 cdi_deflection_node = node->getChild("heading-needle-deflection", 0, true);
180 cdi_xtrack_error_node = node->getChild("crosstrack-error-m", 0, true);
181 cdi_xtrack_hdg_err_node
182 = node->getChild("crosstrack-heading-error-deg", 0, true);
183 has_gs_node = node->getChild("has-gs", 0, true);
184 loc_node = node->getChild("nav-loc", 0, true);
185 loc_dist_node = node->getChild("nav-distance", 0, true);
186 gs_deflection_node = node->getChild("gs-needle-deflection", 0, true);
187 gs_rate_of_climb_node = node->getChild("gs-rate-of-climb", 0, true);
188 gs_dist_node = node->getChild("gs-distance", 0, true);
189 nav_id_node = node->getChild("nav-id", 0, true);
190 id_c1_node = node->getChild("nav-id_asc1", 0, true);
191 id_c2_node = node->getChild("nav-id_asc2", 0, true);
192 id_c3_node = node->getChild("nav-id_asc3", 0, true);
193 id_c4_node = node->getChild("nav-id_asc4", 0, true);
195 // gps slaving support
196 nav_slaved_to_gps_node = node->getChild("slaved-to-gps", 0, true);
197 gps_cdi_deflection_node = fgGetNode("/instrumentation/gps/cdi-deflection", true);
198 gps_to_flag_node = fgGetNode("/instrumentation/gps/to-flag", true);
199 gps_from_flag_node = fgGetNode("/instrumentation/gps/from-flag", true);
201 std::ostringstream temp;
202 temp << _name << "nav-ident" << _num;
203 nav_fx_name = temp.str();
204 temp << _name << "dme-ident" << _num;
205 dme_fx_name = temp.str();
211 std::ostringstream temp;
214 branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
219 FGNavRadio::unbind ()
221 std::ostringstream temp;
224 branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
228 // model standard VOR/DME/TACAN service volumes as per AIM 1-1-8
229 double FGNavRadio::adjustNavRange( double stationElev, double aircraftElev,
230 double nominalRange )
232 // extend out actual usable range to be 1.3x the published safe range
233 const double usability_factor = 1.3;
235 // assumptions we model the standard service volume, plus
236 // ... rather than specifying a cylinder, we model a cone that
237 // contains the cylinder. Then we put an upside down cone on top
238 // to model diminishing returns at too-high altitudes.
240 // altitude difference
241 double alt = ( aircraftElev * SG_METER_TO_FEET - stationElev );
242 // cout << "aircraft elev = " << aircraftElev * SG_METER_TO_FEET
243 // << " station elev = " << stationElev << endl;
245 if ( nominalRange < 25.0 + SG_EPSILON ) {
246 // Standard Terminal Service Volume
247 return term_tbl->interpolate( alt ) * usability_factor;
248 } else if ( nominalRange < 50.0 + SG_EPSILON ) {
249 // Standard Low Altitude Service Volume
250 // table is based on range of 40, scale to actual range
251 return low_tbl->interpolate( alt ) * nominalRange / 40.0
254 // Standard High Altitude Service Volume
255 // table is based on range of 130, scale to actual range
256 return high_tbl->interpolate( alt ) * nominalRange / 130.0
262 // model standard ILS service volumes as per AIM 1-1-9
263 double FGNavRadio::adjustILSRange( double stationElev, double aircraftElev,
264 double offsetDegrees, double distance )
266 // assumptions we model the standard service volume, plus
268 // altitude difference
269 // double alt = ( aircraftElev * SG_METER_TO_FEET - stationElev );
270 // double offset = fabs( offsetDegrees );
272 // if ( offset < 10 ) {
273 // return FG_ILS_DEFAULT_RANGE;
274 // } else if ( offset < 35 ) {
275 // return 10 + (35 - offset) * (FG_ILS_DEFAULT_RANGE - 10) / 25;
276 // } else if ( offset < 45 ) {
277 // return (45 - offset);
278 // } else if ( offset > 170 ) {
279 // return FG_ILS_DEFAULT_RANGE;
280 // } else if ( offset > 145 ) {
281 // return 10 + (offset - 145) * (FG_ILS_DEFAULT_RANGE - 10) / 25;
282 // } else if ( offset > 135 ) {
283 // return (offset - 135);
287 return FG_LOC_DEFAULT_RANGE;
291 //////////////////////////////////////////////////////////////////////////
292 // Update the various nav values based on position and valid tuned in navs
293 //////////////////////////////////////////////////////////////////////////
295 FGNavRadio::update(double dt)
297 // Do a nav station search only once a second to reduce
298 // unnecessary work. (Also, make sure to do this before caching
300 _time_before_search_sec -= dt;
301 if ( _time_before_search_sec < 0 ) {
305 // cache a few strategic values locally for speed
306 SGGeod pos = SGGeod::fromDegFt(lon_node->getDoubleValue(),
307 lat_node->getDoubleValue(),
308 alt_node->getDoubleValue());
309 bool power_btn = power_btn_node->getBoolValue();
310 bool nav_serviceable = nav_serviceable_node->getBoolValue();
311 bool cdi_serviceable = cdi_serviceable_node->getBoolValue();
312 bool tofrom_serviceable = tofrom_serviceable_node->getBoolValue();
313 bool inrange = inrange_node->getBoolValue();
314 bool has_gs = has_gs_node->getBoolValue();
315 bool is_loc = loc_node->getBoolValue();
316 double loc_dist = loc_dist_node->getDoubleValue();
320 // Create "formatted" versions of the nav frequencies for
321 // instrument displays.
323 sprintf( tmp, "%.2f", freq_node->getDoubleValue() );
324 fmt_freq_node->setStringValue(tmp);
325 sprintf( tmp, "%.2f", alt_freq_node->getDoubleValue() );
326 fmt_alt_freq_node->setStringValue(tmp);
328 // cout << "is_valid = " << is_valid
329 // << " power_btn = " << power_btn
330 // << " bus_power = " << bus_power_node->getDoubleValue()
331 // << " nav_serviceable = " << nav_serviceable
334 if ( is_valid && power_btn && (bus_power_node->getDoubleValue() > 1.0)
337 SGVec3d aircraft = SGVec3d::fromGeod(pos);
338 loc_dist = dist(aircraft, nav_xyz);
339 loc_dist_node->setDoubleValue( loc_dist );
340 // cout << "dt = " << dt << " dist = " << loc_dist << endl;
343 // find closest distance to the gs base line
344 SGVec3d p = aircraft;
345 double dist = sgdClosestPointToLineDistSquared(p.sg(), gs_xyz.sg(),
347 gs_dist_node->setDoubleValue( sqrt( dist ) );
348 // cout << "gs_dist = " << gs_dist_node->getDoubleValue()
351 // wgs84 heading to glide slope (to determine sign of distance)
352 geo_inverse_wgs_84( pos, SGGeod::fromDeg(gs_lon, gs_lat),
354 double r = az1 - target_radial;
355 while ( r > 180.0 ) { r -= 360.0;}
356 while ( r < -180.0 ) { r += 360.0;}
357 if ( r >= -90.0 && r <= 90.0 ) {
358 gs_dist_signed = gs_dist_node->getDoubleValue();
360 gs_dist_signed = -gs_dist_node->getDoubleValue();
362 /* cout << "Target Radial = " << target_radial
363 << " Bearing = " << az1
364 << " dist (signed) = " << gs_dist_signed
368 gs_dist_node->setDoubleValue( 0.0 );
371 //////////////////////////////////////////////////////////
372 // compute forward and reverse wgs84 headings to localizer
373 //////////////////////////////////////////////////////////
375 geo_inverse_wgs_84( pos, SGGeod::fromDeg(loc_lon, loc_lat),
377 // cout << "az1 = " << az1 << " magvar = " << nav_magvar << endl;
378 heading_node->setDoubleValue( hdg );
379 radial = az2 - twist;
380 double recip = radial + 180.0;
381 if ( recip >= 360.0 ) { recip -= 360.0; }
382 radial_node->setDoubleValue( radial );
383 recip_radial_node->setDoubleValue( recip );
384 // cout << " heading = " << heading_node->getDoubleValue()
385 // << " dist = " << nav_dist << endl;
387 //////////////////////////////////////////////////////////
388 // compute the target/selected radial in "true" heading
389 //////////////////////////////////////////////////////////
392 // ILS localizers radials are already "true" in our
394 trtrue = target_radial;
396 // VOR radials need to have that vor's offset added in
397 trtrue = target_radial + twist;
400 while ( trtrue < 0.0 ) { trtrue += 360.0; }
401 while ( trtrue > 360.0 ) { trtrue -= 360.0; }
402 target_radial_true_node->setDoubleValue( trtrue );
404 //////////////////////////////////////////////////////////
405 // adjust reception range for altitude
406 // FIXME: make sure we are using the navdata range now that
407 // it is valid in the data file
408 //////////////////////////////////////////////////////////
410 double offset = radial - target_radial;
411 while ( offset < -180.0 ) { offset += 360.0; }
412 while ( offset > 180.0 ) { offset -= 360.0; }
413 // cout << "ils offset = " << offset << endl;
415 = adjustILSRange( nav_elev, pos.getElevationM(), offset,
416 loc_dist * SG_METER_TO_NM );
419 = adjustNavRange( nav_elev, pos.getElevationM(), range );
421 // cout << "nav range = " << effective_range
422 // << " (" << range << ")" << endl;
424 if ( loc_dist < effective_range * SG_NM_TO_METER ) {
426 } else if ( loc_dist < 2 * effective_range * SG_NM_TO_METER ) {
427 inrange = sg_random() < ( 2 * effective_range * SG_NM_TO_METER
429 / (effective_range * SG_NM_TO_METER);
433 inrange_node->setBoolValue( inrange );
436 target_radial = sel_radial_node->getDoubleValue();
439 //////////////////////////////////////////////////////////
440 // compute to/from flag status
441 //////////////////////////////////////////////////////////
443 double offset = fabs(radial - target_radial);
444 if ( tofrom_serviceable ) {
445 if ( nav_slaved_to_gps_node->getBoolValue() ) {
446 value = gps_to_flag_node->getBoolValue();
447 } else if ( inrange ) {
451 value = !(offset <= 90.0 || offset >= 270.0);
457 to_flag_node->setBoolValue( value );
460 if ( tofrom_serviceable ) {
461 if ( nav_slaved_to_gps_node->getBoolValue() ) {
462 value = gps_from_flag_node->getBoolValue();
463 } else if ( inrange ) {
467 value = !(offset > 90.0 && offset < 270.0);
473 from_flag_node->setBoolValue( value );
475 //////////////////////////////////////////////////////////
476 // compute the deflection of the CDI needle, clamped to the range
478 //////////////////////////////////////////////////////////
480 bool loc_backside = false; // an in-code flag indicating that we are
481 // on a localizer backcourse.
482 if ( cdi_serviceable ) {
483 if ( nav_slaved_to_gps_node->getBoolValue() ) {
484 r = gps_cdi_deflection_node->getDoubleValue();
485 // We want +- 5 dots deflection for the gps, so clamp
487 SG_CLAMP_RANGE( r, -12.5, 12.5 );
488 } else if ( inrange ) {
489 r = radial - target_radial;
490 // cout << "Target radial = " << target_radial
491 // << " Actual radial = " << radial << endl;
493 while ( r > 180.0 ) { r -= 360.0;}
494 while ( r < -180.0 ) { r += 360.0;}
495 if ( fabs(r) > 90.0 ) {
496 r = ( r<0.0 ? -r-180.0 : -r+180.0 );
503 r = -r; // reverse, since radial is outbound
505 // According to Robin Peel, the ILS is 4x more
506 // sensitive than a vor
509 SG_CLAMP_RANGE( r, -10.0, 10.0 );
512 cdi_deflection_node->setDoubleValue( r );
514 //////////////////////////////////////////////////////////
515 // compute the amount of cross track distance error in meters
516 //////////////////////////////////////////////////////////
517 double xtrack_error = 0.0;
518 if ( inrange && nav_serviceable && cdi_serviceable ) {
519 r = radial - target_radial;
520 // cout << "Target radial = " << target_radial
521 // << " Actual radial = " << radial
522 // << " r = " << r << endl;
524 while ( r > 180.0 ) { r -= 360.0;}
525 while ( r < -180.0 ) { r += 360.0;}
526 if ( fabs(r) > 90.0 ) {
527 r = ( r<0.0 ? -r-180.0 : -r+180.0 );
530 r = -r; // reverse, since radial is outbound
532 xtrack_error = loc_dist * sin(r * SGD_DEGREES_TO_RADIANS);
536 cdi_xtrack_error_node->setDoubleValue( xtrack_error );
538 //////////////////////////////////////////////////////////
539 // compute an approximate ground track heading error
540 //////////////////////////////////////////////////////////
541 double hdg_error = 0.0;
542 if ( inrange && cdi_serviceable ) {
543 double vn = fgGetDouble( "/velocities/speed-north-fps" );
544 double ve = fgGetDouble( "/velocities/speed-east-fps" );
545 double gnd_trk_true = atan2( ve, vn ) * SGD_RADIANS_TO_DEGREES;
546 if ( gnd_trk_true < 0.0 ) { gnd_trk_true += 360.0; }
548 SGPropertyNode *true_hdg
549 = fgGetNode("/orientation/heading-deg", true);
550 hdg_error = gnd_trk_true - true_hdg->getDoubleValue();
552 // cout << "ground track = " << gnd_trk_true
553 // << " orientation = " << true_hdg->getDoubleValue() << endl;
555 cdi_xtrack_hdg_err_node->setDoubleValue( hdg_error );
557 //////////////////////////////////////////////////////////
558 // compute the time to intercept selected radial (based on
559 // current and last cross track errors and dt
560 //////////////////////////////////////////////////////////
562 if ( inrange && cdi_serviceable ) {
563 double xrate_ms = (last_xtrack_error - xtrack_error) / dt;
564 if ( fabs(xrate_ms) > 0.00001 ) {
565 t = xtrack_error / xrate_ms;
570 time_to_intercept->setDoubleValue( t );
572 //////////////////////////////////////////////////////////
573 // compute the amount of glide slope needle deflection
574 // (.i.e. the number of degrees we are off the glide slope * 5.0
576 // CLO - 13 Mar 2006: The glide slope needle should peg at
577 // +/-0.7 degrees off the ideal glideslope. I'm not sure why
578 // we compute the factor the way we do (5*gs_error), but we
579 // need to compensate for our 'odd' number in the glideslope
580 // needle animation. This means that the needle should peg
581 // when this values is +/-3.5.
582 //////////////////////////////////////////////////////////
584 if ( has_gs && gs_serviceable_node->getBoolValue() ) {
585 if ( nav_slaved_to_gps_node->getBoolValue() ) {
586 // FIXME/FINISHME, what should be set here?
587 } else if ( inrange ) {
588 double x = gs_dist_node->getDoubleValue();
589 double y = (fgGetDouble("/position/altitude-ft") - nav_elev)
591 // cout << "dist = " << x << " height = " << y << endl;
592 double angle = asin( y / x ) * SGD_RADIANS_TO_DEGREES;
593 r = (target_gs - angle) * 5.0;
596 gs_deflection_node->setDoubleValue( r );
598 //////////////////////////////////////////////////////////
599 // Calculate desired rate of climb for intercepting the GS
600 //////////////////////////////////////////////////////////
601 double x = gs_dist_node->getDoubleValue();
602 double y = (alt_node->getDoubleValue() - nav_elev)
604 double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
606 double target_angle = target_gs;
607 double gs_diff = target_angle - current_angle;
609 // convert desired vertical path angle into a climb rate
610 double des_angle = current_angle - 10 * gs_diff;
612 // estimate horizontal speed towards ILS in meters per minute
613 double dist = last_x - x;
617 double new_vel = ( dist / dt );
619 horiz_vel = 0.75 * horiz_vel + 0.25 * new_vel;
620 // double horiz_vel = cur_fdm_state->get_V_ground_speed()
621 // * SG_FEET_TO_METER * 60.0;
622 // double horiz_vel = airspeed_node->getFloatValue()
623 // * SG_FEET_TO_METER * 60.0;
625 gs_rate_of_climb_node
626 ->setDoubleValue( -sin( des_angle * SGD_DEGREES_TO_RADIANS )
627 * horiz_vel * SG_METER_TO_FEET );
630 //////////////////////////////////////////////////////////
631 // Calculate a suggested target heading to smoothly intercept
633 //////////////////////////////////////////////////////////
635 // Now that we have cross track heading adjustment built in,
636 // we shouldn't need to overdrive the heading angle within 8km
639 // The cdi deflection should be +/-10 for a full range of deflection
640 // so multiplying this by 3 gives us +/- 30 degrees heading
642 double adjustment = cdi_deflection_node->getDoubleValue() * 3.0;
643 SG_CLAMP_RANGE( adjustment, -30.0, 30.0 );
645 // determine the target heading to fly to intercept the
646 // tgt_radial = target radial (true) + cdi offset adjustmest -
647 // xtrack heading error adjustment
649 if ( is_loc && backcourse_node->getBoolValue() ) {
650 // tuned to a localizer and backcourse mode activated
651 trtrue += 180.0; // reverse the target localizer heading
652 while ( trtrue > 360.0 ) { trtrue -= 360.0; }
653 nta_hdg = trtrue - adjustment - hdg_error;
655 nta_hdg = trtrue + adjustment - hdg_error;
658 while ( nta_hdg < 0.0 ) { nta_hdg += 360.0; }
659 while ( nta_hdg >= 360.0 ) { nta_hdg -= 360.0; }
660 target_auto_hdg_node->setDoubleValue( nta_hdg );
662 last_xtrack_error = xtrack_error;
664 inrange_node->setBoolValue( false );
665 cdi_deflection_node->setDoubleValue( 0.0 );
666 cdi_xtrack_error_node->setDoubleValue( 0.0 );
667 cdi_xtrack_hdg_err_node->setDoubleValue( 0.0 );
668 time_to_intercept->setDoubleValue( 0.0 );
669 gs_deflection_node->setDoubleValue( 0.0 );
670 to_flag_node->setBoolValue( false );
671 from_flag_node->setBoolValue( false );
672 // cout << "not picking up vor. :-(" << endl;
676 if ( is_valid && inrange && nav_serviceable ) {
677 // play station ident via audio system if on + ident,
678 // otherwise turn it off
680 && (bus_power_node->getDoubleValue() > 1.0)
681 && ident_btn_node->getBoolValue()
682 && audio_btn_node->getBoolValue() )
684 SGSoundSample *sound;
685 sound = globals->get_soundmgr()->find( nav_fx_name );
686 double vol = vol_btn_node->getDoubleValue();
687 if ( vol < 0.0 ) { vol = 0.0; }
688 if ( vol > 1.0 ) { vol = 1.0; }
689 if ( sound != NULL ) {
690 sound->set_volume( vol );
692 SG_LOG( SG_COCKPIT, SG_ALERT,
693 "Can't find nav-vor-ident sound" );
695 sound = globals->get_soundmgr()->find( dme_fx_name );
696 if ( sound != NULL ) {
697 sound->set_volume( vol );
699 SG_LOG( SG_COCKPIT, SG_ALERT,
700 "Can't find nav-dme-ident sound" );
702 // cout << "last_time = " << last_time << " ";
703 // cout << "cur_time = "
704 // << globals->get_time_params()->get_cur_time();
706 globals->get_time_params()->get_cur_time() - 30 ) {
707 last_time = globals->get_time_params()->get_cur_time();
710 // cout << " play_count = " << play_count << endl;
711 // cout << "playing = "
712 // << globals->get_soundmgr()->is_playing(nav_fx_name)
714 if ( play_count < 4 ) {
716 if ( !globals->get_soundmgr()->is_playing(nav_fx_name) ) {
717 globals->get_soundmgr()->play_once( nav_fx_name );
720 } else if ( play_count < 5 && has_dme ) {
722 if ( !globals->get_soundmgr()->is_playing(nav_fx_name) &&
723 !globals->get_soundmgr()->is_playing(dme_fx_name) ) {
724 globals->get_soundmgr()->play_once( dme_fx_name );
729 globals->get_soundmgr()->stop( nav_fx_name );
730 globals->get_soundmgr()->stop( dme_fx_name );
734 last_loc_dist = loc_dist;
738 // Update current nav/adf radio stations based on current postition
739 void FGNavRadio::search()
743 _time_before_search_sec = 1.0;
745 // cache values locally for speed
746 double lon = lon_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
747 double lat = lat_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
748 double elev = alt_node->getDoubleValue() * SG_FEET_TO_METER;
750 FGNavRecord *nav = NULL;
751 FGNavRecord *loc = NULL;
752 FGNavRecord *dme = NULL;
753 FGNavRecord *gs = NULL;
755 ////////////////////////////////////////////////////////////////////////
757 ////////////////////////////////////////////////////////////////////////
759 double freq = freq_node->getDoubleValue();
760 nav = globals->get_navlist()->findByFreq(freq, lon, lat, elev);
761 dme = globals->get_dmelist()->findByFreq(freq, lon, lat, elev);
763 loc = globals->get_loclist()->findByFreq(freq, lon, lat, elev);
764 gs = globals->get_gslist()->findByFreq(freq, lon, lat, elev);
770 nav_id = loc->get_ident();
771 nav_id_node->setStringValue( nav_id.c_str() );
772 // cout << "localizer = " << nav_id_node->getStringValue() << endl;
774 if ( last_nav_id != nav_id || last_nav_vor ) {
775 trans_ident = loc->get_trans_ident();
776 target_radial = loc->get_multiuse();
777 while ( target_radial < 0.0 ) { target_radial += 360.0; }
778 while ( target_radial > 360.0 ) { target_radial -= 360.0; }
779 loc_lon = loc->get_lon();
780 loc_lat = loc->get_lat();
781 nav_xyz = loc->get_cart();
782 last_nav_id = nav_id;
783 last_nav_vor = false;
784 loc_node->setBoolValue( true );
785 has_dme = (dme != NULL);
787 has_gs_node->setBoolValue( true );
788 gs_lon = gs->get_lon();
789 gs_lat = gs->get_lat();
790 nav_elev = gs->get_elev_ft();
791 int tmp = (int)(gs->get_multiuse() / 1000.0);
792 target_gs = (double)tmp / 100.0;
793 gs_xyz = gs->get_cart();
795 // derive GS baseline (perpendicular to the runay
797 double tlon, tlat, taz;
798 geo_direct_wgs_84 ( 0.0, gs_lat, gs_lon,
800 100.0, &tlat, &tlon, &taz );
801 // cout << "target_radial = " << target_radial << endl;
802 // cout << "nav_loc = " << loc_node->getBoolValue() << endl;
803 // cout << gs_lon << "," << gs_lat << " "
804 // << tlon << "," << tlat << " (" << nav_elev << ")"
806 SGGeod tpos = SGGeod::fromDegFt(tlon, tlat, nav_elev);
807 SGVec3d p1 = SGVec3d::fromGeod(tpos);
809 // cout << gs_xyz << endl;
810 // cout << p1 << endl;
811 gs_base_vec = p1 - gs_xyz;
812 // cout << gs_base_vec << endl;
814 has_gs_node->setBoolValue( false );
815 nav_elev = loc->get_elev_ft();
818 range = FG_LOC_DEFAULT_RANGE;
819 effective_range = range;
821 if ( globals->get_soundmgr()->exists( nav_fx_name ) ) {
822 globals->get_soundmgr()->remove( nav_fx_name );
824 SGSoundSample *sound;
825 sound = morse.make_ident( trans_ident, LO_FREQUENCY );
826 sound->set_volume( 0.3 );
827 globals->get_soundmgr()->add( sound, nav_fx_name );
829 if ( globals->get_soundmgr()->exists( dme_fx_name ) ) {
830 globals->get_soundmgr()->remove( dme_fx_name );
832 sound = morse.make_ident( trans_ident, HI_FREQUENCY );
833 sound->set_volume( 0.3 );
834 globals->get_soundmgr()->add( sound, dme_fx_name );
836 int offset = (int)(sg_random() * 30.0);
837 play_count = offset / 4;
838 last_time = globals->get_time_params()->get_cur_time() -
840 // cout << "offset = " << offset << " play_count = "
842 // << " last_time = " << last_time
843 // << " current time = "
844 // << globals->get_time_params()->get_cur_time() << endl;
846 // cout << "Found an loc station in range" << endl;
847 // cout << " id = " << loc->get_locident() << endl;
849 } else if ( nav != NULL ) {
850 nav_id = nav->get_ident();
851 nav_id_node->setStringValue( nav_id.c_str() );
852 // cout << "nav = " << nav_id << endl;
854 if ( last_nav_id != nav_id || !last_nav_vor ) {
855 last_nav_id = nav_id;
857 trans_ident = nav->get_trans_ident();
858 loc_node->setBoolValue( false );
859 has_dme = (dme != NULL);
860 has_gs_node->setBoolValue( false );
861 loc_lon = nav->get_lon();
862 loc_lat = nav->get_lat();
863 nav_elev = nav->get_elev_ft();
864 twist = nav->get_multiuse();
865 range = nav->get_range();
866 effective_range = adjustNavRange(nav_elev, elev, range);
868 target_radial = sel_radial_node->getDoubleValue();
869 nav_xyz = nav->get_cart();
871 if ( globals->get_soundmgr()->exists( nav_fx_name ) ) {
872 globals->get_soundmgr()->remove( nav_fx_name );
875 SGSoundSample *sound;
876 sound = morse.make_ident( trans_ident, LO_FREQUENCY );
877 sound->set_volume( 0.3 );
878 if ( globals->get_soundmgr()->add( sound, nav_fx_name ) ) {
879 // cout << "Added nav-vor-ident sound" << endl;
881 SG_LOG(SG_COCKPIT, SG_WARN, "Failed to add v1-vor-ident sound");
884 if ( globals->get_soundmgr()->exists( dme_fx_name ) ) {
885 globals->get_soundmgr()->remove( dme_fx_name );
887 sound = morse.make_ident( trans_ident, HI_FREQUENCY );
888 sound->set_volume( 0.3 );
889 globals->get_soundmgr()->add( sound, dme_fx_name );
891 int offset = (int)(sg_random() * 30.0);
892 play_count = offset / 4;
893 last_time = globals->get_time_params()->get_cur_time() - offset;
894 // cout << "offset = " << offset << " play_count = "
895 // << play_count << " last_time = "
896 // << last_time << " current time = "
897 // << globals->get_time_params()->get_cur_time() << endl;
899 // cout << "Found a vor station in range" << endl;
900 // cout << " id = " << nav->get_ident() << endl;
901 } catch ( sg_io_exception &e ) {
902 SG_LOG(SG_GENERAL, SG_ALERT, e.getFormattedMessage());
907 nav_id_node->setStringValue( "" );
911 globals->get_soundmgr()->remove( nav_fx_name );
912 globals->get_soundmgr()->remove( dme_fx_name );
915 is_valid_node->setBoolValue( is_valid );
918 strncpy( tmpid, nav_id.c_str(), 5 );
919 id_c1_node->setIntValue( (int)tmpid[0] );
920 id_c2_node->setIntValue( (int)tmpid[1] );
921 id_c3_node->setIntValue( (int)tmpid[2] );
922 id_c4_node->setIntValue( (int)tmpid[3] );