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)),
56 fmt_alt_freq_node(NULL),
57 sel_radial_node(NULL),
61 nav_serviceable_node(NULL),
62 cdi_serviceable_node(NULL),
63 gs_serviceable_node(NULL),
64 tofrom_serviceable_node(NULL),
67 recip_radial_node(NULL),
68 target_radial_true_node(NULL),
69 target_auto_hdg_node(NULL),
70 time_to_intercept(NULL),
74 cdi_deflection_node(NULL),
75 cdi_xtrack_error_node(NULL),
76 cdi_xtrack_hdg_err_node(NULL),
80 gs_deflection_node(NULL),
81 gs_rate_of_climb_node(NULL),
88 nav_slaved_to_gps_node(NULL),
89 gps_cdi_deflection_node(NULL),
90 gps_to_flag_node(NULL),
91 gps_from_flag_node(NULL),
101 last_xtrack_error(0.0),
104 _time_before_search_sec(-1.0)
106 SGPath path( globals->get_fg_root() );
108 term.append( "Navaids/range.term" );
110 low.append( "Navaids/range.low" );
112 high.append( "Navaids/range.high" );
114 term_tbl = new SGInterpTable( term.str() );
115 low_tbl = new SGInterpTable( low.str() );
116 high_tbl = new SGInterpTable( high.str() );
119 for ( i = 0; i < node->nChildren(); ++i ) {
120 SGPropertyNode *child = node->getChild(i);
121 string cname = child->getName();
122 string cval = child->getStringValue();
123 if ( cname == "name" ) {
125 } else if ( cname == "number" ) {
126 num = child->getIntValue();
128 SG_LOG( SG_INSTR, SG_WARN,
129 "Error in nav radio config logic" );
130 if ( name.length() ) {
131 SG_LOG( SG_INSTR, SG_WARN, "Section = " << name );
140 FGNavRadio::~FGNavRadio()
154 branch = "/instrumentation/" + name;
156 SGPropertyNode *node = fgGetNode(branch.c_str(), num, true );
159 fgGetNode(("/systems/electrical/outputs/" + name).c_str(), true);
162 is_valid_node = node->getChild("data-is-valid", 0, true);
163 power_btn_node = node->getChild("power-btn", 0, true);
164 power_btn_node->setBoolValue( true );
165 vol_btn_node = node->getChild("volume", 0, true);
166 ident_btn_node = node->getChild("ident", 0, true);
167 ident_btn_node->setBoolValue( true );
168 audio_btn_node = node->getChild("audio-btn", 0, true);
169 audio_btn_node->setBoolValue( true );
170 nav_serviceable_node = node->getChild("serviceable", 0, true);
171 cdi_serviceable_node = (node->getChild("cdi", 0, true))
172 ->getChild("serviceable", 0, true);
173 gs_serviceable_node = (node->getChild("gs", 0, true))
174 ->getChild("serviceable");
175 tofrom_serviceable_node = (node->getChild("to-from", 0, true))
176 ->getChild("serviceable", 0, true);
179 SGPropertyNode *subnode = node->getChild("frequencies", 0, true);
180 freq_node = subnode->getChild("selected-mhz", 0, true);
181 alt_freq_node = subnode->getChild("standby-mhz", 0, true);
182 fmt_freq_node = subnode->getChild("selected-mhz-fmt", 0, true);
183 fmt_alt_freq_node = subnode->getChild("standby-mhz-fmt", 0, true);
186 subnode = node->getChild("radials", 0, true);
187 sel_radial_node = subnode->getChild("selected-deg", 0, true);
188 radial_node = subnode->getChild("actual-deg", 0, true);
189 recip_radial_node = subnode->getChild("reciprocal-radial-deg", 0, true);
190 target_radial_true_node = subnode->getChild("target-radial-deg", 0, true);
191 target_auto_hdg_node = subnode->getChild("target-auto-hdg-deg", 0, true);
194 heading_node = node->getChild("heading-deg", 0, true);
195 time_to_intercept = node->getChild("time-to-intercept-sec", 0, true);
196 to_flag_node = node->getChild("to-flag", 0, true);
197 from_flag_node = node->getChild("from-flag", 0, true);
198 inrange_node = node->getChild("in-range", 0, true);
199 cdi_deflection_node = node->getChild("heading-needle-deflection", 0, true);
200 cdi_xtrack_error_node = node->getChild("crosstrack-error-m", 0, true);
201 cdi_xtrack_hdg_err_node
202 = node->getChild("crosstrack-heading-error-deg", 0, true);
203 has_gs_node = node->getChild("has-gs", 0, true);
204 loc_node = node->getChild("nav-loc", 0, true);
205 loc_dist_node = node->getChild("nav-distance", 0, true);
206 gs_deflection_node = node->getChild("gs-needle-deflection", 0, true);
207 gs_rate_of_climb_node = node->getChild("gs-rate-of-climb", 0, true);
208 gs_dist_node = node->getChild("gs-distance", 0, true);
209 nav_id_node = node->getChild("nav-id", 0, true);
210 id_c1_node = node->getChild("nav-id_asc1", 0, true);
211 id_c2_node = node->getChild("nav-id_asc2", 0, true);
212 id_c3_node = node->getChild("nav-id_asc3", 0, true);
213 id_c4_node = node->getChild("nav-id_asc4", 0, true);
215 // gps slaving support
216 nav_slaved_to_gps_node = node->getChild("slaved-to-gps", 0, true);
217 gps_cdi_deflection_node = fgGetNode("/instrumentation/gps/cdi-deflection", true);
218 gps_to_flag_node = fgGetNode("/instrumentation/gps/to-flag", true);
219 gps_from_flag_node = fgGetNode("/instrumentation/gps/from-flag", true);
221 std::ostringstream temp;
222 temp << name << "nav-ident" << num;
223 nav_fx_name = temp.str();
224 temp << name << "dme-ident" << num;
225 dme_fx_name = temp.str();
231 std::ostringstream temp;
234 branch = "/instrumentation/" + name + "[" + temp.str() + "]";
239 FGNavRadio::unbind ()
241 std::ostringstream temp;
244 branch = "/instrumentation/" + name + "[" + temp.str() + "]";
248 // model standard VOR/DME/TACAN service volumes as per AIM 1-1-8
249 double FGNavRadio::adjustNavRange( double stationElev, double aircraftElev,
250 double nominalRange )
252 // extend out actual usable range to be 1.3x the published safe range
253 const double usability_factor = 1.3;
255 // assumptions we model the standard service volume, plus
256 // ... rather than specifying a cylinder, we model a cone that
257 // contains the cylinder. Then we put an upside down cone on top
258 // to model diminishing returns at too-high altitudes.
260 // altitude difference
261 double alt = ( aircraftElev * SG_METER_TO_FEET - stationElev );
262 // cout << "aircraft elev = " << aircraftElev * SG_METER_TO_FEET
263 // << " station elev = " << stationElev << endl;
265 if ( nominalRange < 25.0 + SG_EPSILON ) {
266 // Standard Terminal Service Volume
267 return term_tbl->interpolate( alt ) * usability_factor;
268 } else if ( nominalRange < 50.0 + SG_EPSILON ) {
269 // Standard Low Altitude Service Volume
270 // table is based on range of 40, scale to actual range
271 return low_tbl->interpolate( alt ) * nominalRange / 40.0
274 // Standard High Altitude Service Volume
275 // table is based on range of 130, scale to actual range
276 return high_tbl->interpolate( alt ) * nominalRange / 130.0
282 // model standard ILS service volumes as per AIM 1-1-9
283 double FGNavRadio::adjustILSRange( double stationElev, double aircraftElev,
284 double offsetDegrees, double distance )
286 // assumptions we model the standard service volume, plus
288 // altitude difference
289 // double alt = ( aircraftElev * SG_METER_TO_FEET - stationElev );
290 // double offset = fabs( offsetDegrees );
292 // if ( offset < 10 ) {
293 // return FG_ILS_DEFAULT_RANGE;
294 // } else if ( offset < 35 ) {
295 // return 10 + (35 - offset) * (FG_ILS_DEFAULT_RANGE - 10) / 25;
296 // } else if ( offset < 45 ) {
297 // return (45 - offset);
298 // } else if ( offset > 170 ) {
299 // return FG_ILS_DEFAULT_RANGE;
300 // } else if ( offset > 145 ) {
301 // return 10 + (offset - 145) * (FG_ILS_DEFAULT_RANGE - 10) / 25;
302 // } else if ( offset > 135 ) {
303 // return (offset - 135);
307 return FG_LOC_DEFAULT_RANGE;
311 //////////////////////////////////////////////////////////////////////////
312 // Update the various nav values based on position and valid tuned in navs
313 //////////////////////////////////////////////////////////////////////////
315 FGNavRadio::update(double dt)
317 // Do a nav station search only once a second to reduce
318 // unnecessary work. (Also, make sure to do this before caching
320 _time_before_search_sec -= dt;
321 if ( _time_before_search_sec < 0 ) {
325 // cache a few strategic values locally for speed
326 double lon = lon_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
327 double lat = lat_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
328 double elev = alt_node->getDoubleValue() * SG_FEET_TO_METER;
329 bool power_btn = power_btn_node->getBoolValue();
330 bool nav_serviceable = nav_serviceable_node->getBoolValue();
331 bool cdi_serviceable = cdi_serviceable_node->getBoolValue();
332 bool tofrom_serviceable = tofrom_serviceable_node->getBoolValue();
333 bool inrange = inrange_node->getBoolValue();
334 bool has_gs = has_gs_node->getBoolValue();
335 bool is_loc = loc_node->getBoolValue();
336 double loc_dist = loc_dist_node->getDoubleValue();
338 Point3D aircraft = sgGeodToCart( Point3D( lon, lat, elev ) );
342 // Create "formatted" versions of the nav frequencies for
343 // instrument displays.
345 sprintf( tmp, "%.2f", freq_node->getDoubleValue() );
346 fmt_freq_node->setStringValue(tmp);
347 sprintf( tmp, "%.2f", alt_freq_node->getDoubleValue() );
348 fmt_alt_freq_node->setStringValue(tmp);
350 // cout << "is_valid = " << is_valid
351 // << " power_btn = " << power_btn
352 // << " bus_power = " << bus_power_node->getDoubleValue()
353 // << " nav_serviceable = " << nav_serviceable
356 if ( is_valid && power_btn && (bus_power_node->getDoubleValue() > 1.0)
359 station = Point3D( nav_x, nav_y, nav_z );
360 loc_dist = aircraft.distance3D( station );
361 loc_dist_node->setDoubleValue( loc_dist );
362 // cout << "station = " << station << " dist = " << loc_dist << endl;
365 // find closest distance to the gs base line
367 sgdSetVec3( p, aircraft.x(), aircraft.y(), aircraft.z() );
369 sgdSetVec3( p0, gs_x, gs_y, gs_z );
370 double dist = sgdClosestPointToLineDistSquared( p, p0,
372 gs_dist_node->setDoubleValue( sqrt( dist ) );
373 // cout << "gs_dist = " << gs_dist_node->getDoubleValue()
376 Point3D tmp( gs_x, gs_y, gs_z );
377 // cout << " (" << aircraft.distance3D( tmp ) << ")" << endl;
379 // wgs84 heading to glide slope (to determine sign of distance)
380 geo_inverse_wgs_84( elev,
381 lat * SGD_RADIANS_TO_DEGREES,
382 lon * SGD_RADIANS_TO_DEGREES,
385 double r = az1 - target_radial;
386 while ( r > 180.0 ) { r -= 360.0;}
387 while ( r < -180.0 ) { r += 360.0;}
388 if ( r >= -90.0 && r <= 90.0 ) {
389 gs_dist_signed = gs_dist_node->getDoubleValue();
391 gs_dist_signed = -gs_dist_node->getDoubleValue();
393 /* cout << "Target Radial = " << target_radial
394 << " Bearing = " << az1
395 << " dist (signed) = " << gs_dist_signed
399 gs_dist_node->setDoubleValue( 0.0 );
402 //////////////////////////////////////////////////////////
403 // compute forward and reverse wgs84 headings to localizer
404 //////////////////////////////////////////////////////////
406 geo_inverse_wgs_84( elev,
407 lat * SGD_RADIANS_TO_DEGREES,
408 lon * SGD_RADIANS_TO_DEGREES,
411 // cout << "az1 = " << az1 << " magvar = " << nav_magvar << endl;
412 heading_node->setDoubleValue( hdg );
413 radial = az2 - twist;
414 double recip = radial + 180.0;
415 if ( recip >= 360.0 ) { recip -= 360.0; }
416 radial_node->setDoubleValue( radial );
417 recip_radial_node->setDoubleValue( recip );
418 // cout << " heading = " << heading_node->getDoubleValue()
419 // << " dist = " << nav_dist << endl;
421 //////////////////////////////////////////////////////////
422 // compute the target/selected radial in "true" heading
423 //////////////////////////////////////////////////////////
426 // ILS localizers radials are already "true" in our
428 trtrue = target_radial;
430 // VOR radials need to have that vor's offset added in
431 trtrue = target_radial + twist;
434 while ( trtrue < 0.0 ) { trtrue += 360.0; }
435 while ( trtrue > 360.0 ) { trtrue -= 360.0; }
436 target_radial_true_node->setDoubleValue( trtrue );
438 //////////////////////////////////////////////////////////
439 // adjust reception range for altitude
440 //////////////////////////////////////////////////////////
442 double offset = radial - target_radial;
443 while ( offset < -180.0 ) { offset += 360.0; }
444 while ( offset > 180.0 ) { offset -= 360.0; }
445 // cout << "ils offset = " << offset << endl;
447 = adjustILSRange( nav_elev, elev, offset,
448 loc_dist * SG_METER_TO_NM );
450 effective_range = adjustNavRange( nav_elev, elev, range );
452 // cout << "nav range = " << effective_range
453 // << " (" << range << ")" << endl;
455 if ( loc_dist < effective_range * SG_NM_TO_METER ) {
457 } else if ( loc_dist < 2 * effective_range * SG_NM_TO_METER ) {
458 inrange = sg_random() < ( 2 * effective_range * SG_NM_TO_METER
460 / (effective_range * SG_NM_TO_METER);
464 inrange_node->setBoolValue( inrange );
467 target_radial = sel_radial_node->getDoubleValue();
470 //////////////////////////////////////////////////////////
471 // compute to/from flag status
472 //////////////////////////////////////////////////////////
473 double value = false;
474 double offset = fabs(radial - target_radial);
475 if ( tofrom_serviceable ) {
476 if ( nav_slaved_to_gps_node->getBoolValue() ) {
477 value = gps_to_flag_node->getBoolValue();
478 } else if ( inrange ) {
482 value = !(offset <= 90.0 || offset >= 270.0);
488 to_flag_node->setBoolValue( value );
491 if ( tofrom_serviceable ) {
492 if ( nav_slaved_to_gps_node->getBoolValue() ) {
493 value = gps_from_flag_node->getBoolValue();
494 } else if ( inrange ) {
498 value = !(offset > 90.0 && offset < 270.0);
504 from_flag_node->setBoolValue( value );
506 //////////////////////////////////////////////////////////
507 // compute the deflection of the CDI needle, clamped to the range
509 //////////////////////////////////////////////////////////
511 if ( cdi_serviceable ) {
512 if ( nav_slaved_to_gps_node->getBoolValue() ) {
513 r = gps_cdi_deflection_node->getDoubleValue();
514 // We want +- 5 dots deflection for the gps, so clamp
516 if ( r < -12.5 ) { r = -12.5; }
517 if ( r > 12.5 ) { r = 12.5; }
518 } else if ( inrange ) {
519 r = radial - target_radial;
520 // cout << "Target radial = " << target_radial
521 // << " Actual radial = " << radial << endl;
523 while ( r > 180.0 ) { r -= 360.0;}
524 while ( r < -180.0 ) { r += 360.0;}
525 if ( fabs(r) > 90.0 ) {
526 r = ( r<0.0 ? -r-180.0 : -r+180.0 );
529 // According to Robin Peel, the ILS is 4x more
530 // sensitive than a vor
531 r = -r; // reverse, since radial is outbound
532 if ( is_loc ) { r *= 4.0; }
533 if ( r < -10.0 ) { r = -10.0; }
534 if ( r > 10.0 ) { r = 10.0; }
537 cdi_deflection_node->setDoubleValue( r );
539 //////////////////////////////////////////////////////////
540 // compute the amount of cross track distance error in meters
541 //////////////////////////////////////////////////////////
542 double xtrack_error = 0.0;
543 if ( inrange && nav_serviceable && cdi_serviceable ) {
544 r = radial - target_radial;
545 // cout << "Target radial = " << target_radial
546 // << " Actual radial = " << radial
547 // << " r = " << r << endl;
549 while ( r > 180.0 ) { r -= 360.0;}
550 while ( r < -180.0 ) { r += 360.0;}
551 if ( fabs(r) > 90.0 ) {
552 r = ( r<0.0 ? -r-180.0 : -r+180.0 );
555 r = -r; // reverse, since radial is outbound
557 xtrack_error = loc_dist * sin(r * SGD_DEGREES_TO_RADIANS);
561 cdi_xtrack_error_node->setDoubleValue( xtrack_error );
563 //////////////////////////////////////////////////////////
564 // compute an approximate ground track heading error
565 //////////////////////////////////////////////////////////
566 double hdg_error = 0.0;
567 if ( inrange && cdi_serviceable ) {
568 double ddist = last_loc_dist - loc_dist;
569 double dxtrack = last_xtrack_error - xtrack_error;
570 double a = atan2( dxtrack, ddist ) * SGD_RADIANS_TO_DEGREES;
571 if ( from_flag_node->getBoolValue() ) {
573 if ( a > 180.0 ) { a -= 360.0; }
574 if ( a < -180.0 ) { a += 360.0; }
576 SGPropertyNode *true_hdg
577 = fgGetNode("/orientation/heading-deg", true);
578 // cout << "true heading = " << true_hdg->getDoubleValue()
579 // << " selrad = " << sel_radial_node->getDoubleValue()
580 // << " artr = " << a
582 double est_hdg = trtrue + a;
583 if ( est_hdg < 0.0 ) { est_hdg += 360.0; }
584 if ( est_hdg >= 360.0 ) { est_hdg -= 360.0; }
585 hdg_error = est_hdg - true_hdg->getDoubleValue();
587 cdi_xtrack_hdg_err_node->setDoubleValue( hdg_error );
589 //////////////////////////////////////////////////////////
590 // compute the time to intercept selected radial (based on
591 // current and last cross track errors and dt
592 //////////////////////////////////////////////////////////
594 if ( inrange && cdi_serviceable ) {
595 double xrate_ms = (last_xtrack_error - xtrack_error) / dt;
596 if ( fabs(xrate_ms) > 0.00001 ) {
597 t = xtrack_error / xrate_ms;
602 time_to_intercept->setDoubleValue( t );
604 //////////////////////////////////////////////////////////
605 // compute the amount of glide slope needle deflection
606 // (.i.e. the number of degrees we are off the glide slope * 5.0
607 //////////////////////////////////////////////////////////
609 if ( has_gs && gs_serviceable_node->getBoolValue() ) {
610 if ( nav_slaved_to_gps_node->getBoolValue() ) {
611 // FIXME/FINISHME, what should be set here?
612 } else if ( inrange ) {
613 double x = gs_dist_node->getDoubleValue();
614 double y = (fgGetDouble("/position/altitude-ft") - nav_elev)
616 // cout << "dist = " << x << " height = " << y << endl;
617 double angle = asin( y / x ) * SGD_RADIANS_TO_DEGREES;
618 r = (target_gs - angle) * 5.0;
621 gs_deflection_node->setDoubleValue( r );
623 //////////////////////////////////////////////////////////
624 // Calculate desired rate of climb for intercepting the GS
625 //////////////////////////////////////////////////////////
626 double x = gs_dist_node->getDoubleValue();
627 double y = (alt_node->getDoubleValue() - nav_elev)
629 double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
631 double target_angle = target_gs;
632 double gs_diff = target_angle - current_angle;
634 // convert desired vertical path angle into a climb rate
635 double des_angle = current_angle - 10 * gs_diff;
637 // estimate horizontal speed towards ILS in meters per minute
638 double dist = last_x - x;
642 double new_vel = ( dist / dt );
644 horiz_vel = 0.75 * horiz_vel + 0.25 * new_vel;
645 // double horiz_vel = cur_fdm_state->get_V_ground_speed()
646 // * SG_FEET_TO_METER * 60.0;
647 // double horiz_vel = airspeed_node->getFloatValue()
648 // * SG_FEET_TO_METER * 60.0;
650 gs_rate_of_climb_node
651 ->setDoubleValue( -sin( des_angle * SGD_DEGREES_TO_RADIANS )
652 * horiz_vel * SG_METER_TO_FEET );
655 //////////////////////////////////////////////////////////
656 // Calculate a suggested target heading to smoothly intercept
658 //////////////////////////////////////////////////////////
660 // FIXME: this smells odd, there must be a better (or more
663 // determine the heading adjustment needed.
664 // over 8km scale by 3.0
665 // (3 is chosen because max deflection is 10
666 // and 30 is clamped angle to radial)
667 // under 8km scale by 10.0
668 // because the overstated error helps drive it to the radial in a
669 // moderate cross wind.
670 double adjustment = 0.0;
671 if ( loc_dist > 8000 ) {
672 adjustment = cdi_deflection_node->getDoubleValue() * 3.0;
674 adjustment = cdi_deflection_node->getDoubleValue() * 10.0;
676 SG_CLAMP_RANGE( adjustment, -30.0, 30.0 );
678 // determine the target heading to fly to intercept the
679 // tgt_radial = target radial (true) + cdi offset adjustmest -
680 // xtrack heading error adjustment
681 double nta_hdg = trtrue + adjustment - hdg_error;
682 while ( nta_hdg < 0.0 ) { nta_hdg += 360.0; }
683 while ( nta_hdg > 360.0 ) { nta_hdg -= 360.0; }
684 target_auto_hdg_node->setDoubleValue( nta_hdg );
686 last_xtrack_error = xtrack_error;
688 inrange_node->setBoolValue( false );
689 cdi_deflection_node->setDoubleValue( 0.0 );
690 cdi_xtrack_error_node->setDoubleValue( 0.0 );
691 cdi_xtrack_hdg_err_node->setDoubleValue( 0.0 );
692 time_to_intercept->setDoubleValue( 0.0 );
693 gs_deflection_node->setDoubleValue( 0.0 );
694 to_flag_node->setBoolValue( false );
695 from_flag_node->setBoolValue( false );
696 // cout << "not picking up vor. :-(" << endl;
700 if ( is_valid && inrange && nav_serviceable ) {
701 // play station ident via audio system if on + ident,
702 // otherwise turn it off
704 && (bus_power_node->getDoubleValue() > 1.0)
705 && ident_btn_node->getBoolValue()
706 && audio_btn_node->getBoolValue() )
708 SGSoundSample *sound;
709 sound = globals->get_soundmgr()->find( nav_fx_name );
710 double vol = vol_btn_node->getDoubleValue();
711 if ( vol < 0.0 ) { vol = 0.0; }
712 if ( vol > 1.0 ) { vol = 1.0; }
713 if ( sound != NULL ) {
714 sound->set_volume( vol );
716 SG_LOG( SG_COCKPIT, SG_ALERT,
717 "Can't find nav-vor-ident sound" );
719 sound = globals->get_soundmgr()->find( dme_fx_name );
720 if ( sound != NULL ) {
721 sound->set_volume( vol );
723 SG_LOG( SG_COCKPIT, SG_ALERT,
724 "Can't find nav-dme-ident sound" );
726 // cout << "last_time = " << last_time << " ";
727 // cout << "cur_time = "
728 // << globals->get_time_params()->get_cur_time();
730 globals->get_time_params()->get_cur_time() - 30 ) {
731 last_time = globals->get_time_params()->get_cur_time();
734 // cout << " play_count = " << play_count << endl;
735 // cout << "playing = "
736 // << globals->get_soundmgr()->is_playing(nav_fx_name)
738 if ( play_count < 4 ) {
740 if ( !globals->get_soundmgr()->is_playing(nav_fx_name) ) {
741 globals->get_soundmgr()->play_once( nav_fx_name );
744 } else if ( play_count < 5 && has_dme ) {
746 if ( !globals->get_soundmgr()->is_playing(nav_fx_name) &&
747 !globals->get_soundmgr()->is_playing(dme_fx_name) ) {
748 globals->get_soundmgr()->play_once( dme_fx_name );
753 globals->get_soundmgr()->stop( nav_fx_name );
754 globals->get_soundmgr()->stop( dme_fx_name );
758 last_loc_dist = loc_dist;
762 // Update current nav/adf radio stations based on current postition
763 void FGNavRadio::search()
767 _time_before_search_sec = 1.0;
769 // cache values locally for speed
770 double lon = lon_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
771 double lat = lat_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
772 double elev = alt_node->getDoubleValue() * SG_FEET_TO_METER;
774 FGNavRecord *nav = NULL;
775 FGNavRecord *loc = NULL;
776 FGNavRecord *dme = NULL;
777 FGNavRecord *gs = NULL;
779 ////////////////////////////////////////////////////////////////////////
781 ////////////////////////////////////////////////////////////////////////
783 double freq = freq_node->getDoubleValue();
784 nav = globals->get_navlist()->findByFreq(freq, lon, lat, elev);
785 dme = globals->get_dmelist()->findByFreq(freq, lon, lat, elev);
787 loc = globals->get_loclist()->findByFreq(freq, lon, lat, elev);
788 gs = globals->get_gslist()->findByFreq(freq, lon, lat, elev);
794 nav_id = loc->get_ident();
795 nav_id_node->setStringValue( nav_id.c_str() );
796 // cout << "localizer = " << nav_id_node->getStringValue() << endl;
798 if ( last_nav_id != nav_id || last_nav_vor ) {
799 trans_ident = loc->get_trans_ident();
800 target_radial = loc->get_multiuse();
801 while ( target_radial < 0.0 ) { target_radial += 360.0; }
802 while ( target_radial > 360.0 ) { target_radial -= 360.0; }
803 loc_lon = loc->get_lon();
804 loc_lat = loc->get_lat();
805 nav_x = loc->get_x();
806 nav_y = loc->get_y();
807 nav_z = loc->get_z();
808 last_nav_id = nav_id;
809 last_nav_vor = false;
810 loc_node->setBoolValue( true );
811 has_dme = (dme != NULL);
813 has_gs_node->setBoolValue( true );
814 gs_lon = gs->get_lon();
815 gs_lat = gs->get_lat();
816 nav_elev = gs->get_elev_ft();
817 int tmp = (int)(gs->get_multiuse() / 1000.0);
818 target_gs = (double)tmp / 100.0;
823 // derive GS baseline (perpendicular to the runay
825 double tlon, tlat, taz;
826 geo_direct_wgs_84 ( 0.0, gs_lat, gs_lon,
828 100.0, &tlat, &tlon, &taz );
829 // cout << "target_radial = " << target_radial << endl;
830 // cout << "nav_loc = " << loc_node->getBoolValue() << endl;
831 // cout << gs_lon << "," << gs_lat << " "
832 // << tlon << "," << tlat << " (" << nav_elev << ")"
834 Point3D p1 = sgGeodToCart( Point3D(tlon*SGD_DEGREES_TO_RADIANS,
835 tlat*SGD_DEGREES_TO_RADIANS,
836 nav_elev*SG_FEET_TO_METER)
838 // cout << gs_x << "," << gs_y << "," << gs_z
840 // cout << p1 << endl;
841 sgdSetVec3( gs_base_vec,
842 p1.x()-gs_x, p1.y()-gs_y, p1.z()-gs_z );
843 // cout << gs_base_vec[0] << "," << gs_base_vec[1] << ","
844 // << gs_base_vec[2] << endl;
846 has_gs_node->setBoolValue( false );
847 nav_elev = loc->get_elev_ft();
850 range = FG_LOC_DEFAULT_RANGE;
851 effective_range = range;
853 if ( globals->get_soundmgr()->exists( nav_fx_name ) ) {
854 globals->get_soundmgr()->remove( nav_fx_name );
856 SGSoundSample *sound;
857 sound = morse.make_ident( trans_ident, LO_FREQUENCY );
858 sound->set_volume( 0.3 );
859 globals->get_soundmgr()->add( sound, nav_fx_name );
861 if ( globals->get_soundmgr()->exists( dme_fx_name ) ) {
862 globals->get_soundmgr()->remove( dme_fx_name );
864 sound = morse.make_ident( trans_ident, HI_FREQUENCY );
865 sound->set_volume( 0.3 );
866 globals->get_soundmgr()->add( sound, dme_fx_name );
868 int offset = (int)(sg_random() * 30.0);
869 play_count = offset / 4;
870 last_time = globals->get_time_params()->get_cur_time() -
872 // cout << "offset = " << offset << " play_count = "
874 // << " last_time = " << last_time
875 // << " current time = "
876 // << globals->get_time_params()->get_cur_time() << endl;
878 // cout << "Found an loc station in range" << endl;
879 // cout << " id = " << loc->get_locident() << endl;
881 } else if ( nav != NULL ) {
882 nav_id = nav->get_ident();
883 nav_id_node->setStringValue( nav_id.c_str() );
884 // cout << "nav = " << nav_id << endl;
886 if ( last_nav_id != nav_id || !last_nav_vor ) {
887 last_nav_id = nav_id;
889 trans_ident = nav->get_trans_ident();
890 loc_node->setBoolValue( false );
891 has_dme = (dme != NULL);
892 has_gs_node->setBoolValue( false );
893 loc_lon = nav->get_lon();
894 loc_lat = nav->get_lat();
895 nav_elev = nav->get_elev_ft();
896 twist = nav->get_multiuse();
897 range = nav->get_range();
898 effective_range = adjustNavRange(nav_elev, elev, range);
900 target_radial = sel_radial_node->getDoubleValue();
901 nav_x = nav->get_x();
902 nav_y = nav->get_y();
903 nav_z = nav->get_z();
905 if ( globals->get_soundmgr()->exists( nav_fx_name ) ) {
906 globals->get_soundmgr()->remove( nav_fx_name );
909 SGSoundSample *sound;
910 sound = morse.make_ident( trans_ident, LO_FREQUENCY );
911 sound->set_volume( 0.3 );
912 if ( globals->get_soundmgr()->add( sound, nav_fx_name ) ) {
913 // cout << "Added nav-vor-ident sound" << endl;
915 SG_LOG(SG_COCKPIT, SG_WARN, "Failed to add v1-vor-ident sound");
918 if ( globals->get_soundmgr()->exists( dme_fx_name ) ) {
919 globals->get_soundmgr()->remove( dme_fx_name );
921 sound = morse.make_ident( trans_ident, HI_FREQUENCY );
922 sound->set_volume( 0.3 );
923 globals->get_soundmgr()->add( sound, dme_fx_name );
925 int offset = (int)(sg_random() * 30.0);
926 play_count = offset / 4;
927 last_time = globals->get_time_params()->get_cur_time() - offset;
928 // cout << "offset = " << offset << " play_count = "
929 // << play_count << " last_time = "
930 // << last_time << " current time = "
931 // << globals->get_time_params()->get_cur_time() << endl;
933 // cout << "Found a vor station in range" << endl;
934 // cout << " id = " << nav->get_ident() << endl;
935 } catch ( sg_io_exception &e ) {
936 SG_LOG(SG_GENERAL, SG_ALERT, e.getFormattedMessage());
941 nav_id_node->setStringValue( "" );
945 if ( ! globals->get_soundmgr()->remove( nav_fx_name ) ) {
946 SG_LOG(SG_COCKPIT, SG_WARN, "Failed to remove nav-vor-ident sound");
948 globals->get_soundmgr()->remove( dme_fx_name );
949 // cout << "not picking up vor1. :-(" << endl;
952 is_valid_node->setBoolValue( is_valid );
955 strncpy( tmpid, nav_id.c_str(), 5 );
956 id_c1_node->setIntValue( (int)tmpid[0] );
957 id_c2_node->setIntValue( (int)tmpid[1] );
958 id_c3_node->setIntValue( (int)tmpid[2] );
959 id_c4_node->setIntValue( (int)tmpid[3] );