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/misc/sg_path.hxx>
35 #include <simgear/math/sg_geodesy.hxx>
36 #include <simgear/structure/exception.hxx>
38 #include <Navaids/navlist.hxx>
39 #include <Main/util.hxx>
40 #include "navradio.hxx"
45 FGNavRadio::FGNavRadio(SGPropertyNode *node) :
46 lon_node(fgGetNode("/position/longitude-deg", true)),
47 lat_node(fgGetNode("/position/latitude-deg", true)),
48 alt_node(fgGetNode("/position/altitude-ft", true)),
53 sel_radial_node(NULL),
57 backcourse_node(NULL),
58 nav_serviceable_node(NULL),
59 cdi_serviceable_node(NULL),
60 gs_serviceable_node(NULL),
61 tofrom_serviceable_node(NULL),
63 fmt_alt_freq_node(NULL),
66 recip_radial_node(NULL),
67 target_radial_true_node(NULL),
68 target_auto_hdg_node(NULL),
69 time_to_intercept(NULL),
73 signal_quality_norm_node(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),
92 gps_has_gs_node(NULL),
102 last_xtrack_error(0.0),
103 _name(node->getStringValue("name", "nav")),
104 _num(node->getIntValue("number", 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() );
122 FGNavRadio::~FGNavRadio()
136 branch = "/instrumentation/" + _name;
138 SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
141 fgGetNode(("/systems/electrical/outputs/" + _name).c_str(), true);
144 is_valid_node = node->getChild("data-is-valid", 0, true);
145 power_btn_node = node->getChild("power-btn", 0, true);
146 power_btn_node->setBoolValue( true );
147 vol_btn_node = node->getChild("volume", 0, true);
148 ident_btn_node = node->getChild("ident", 0, true);
149 ident_btn_node->setBoolValue( true );
150 audio_btn_node = node->getChild("audio-btn", 0, true);
151 audio_btn_node->setBoolValue( true );
152 backcourse_node = node->getChild("back-course-btn", 0, true);
153 backcourse_node->setBoolValue( false );
154 nav_serviceable_node = node->getChild("serviceable", 0, true);
155 cdi_serviceable_node = (node->getChild("cdi", 0, true))
156 ->getChild("serviceable", 0, true);
157 gs_serviceable_node = (node->getChild("gs", 0, true))
158 ->getChild("serviceable");
159 tofrom_serviceable_node = (node->getChild("to-from", 0, true))
160 ->getChild("serviceable", 0, true);
163 SGPropertyNode *subnode = node->getChild("frequencies", 0, true);
164 freq_node = subnode->getChild("selected-mhz", 0, true);
165 alt_freq_node = subnode->getChild("standby-mhz", 0, true);
166 fmt_freq_node = subnode->getChild("selected-mhz-fmt", 0, true);
167 fmt_alt_freq_node = subnode->getChild("standby-mhz-fmt", 0, true);
170 subnode = node->getChild("radials", 0, true);
171 sel_radial_node = subnode->getChild("selected-deg", 0, true);
172 radial_node = subnode->getChild("actual-deg", 0, true);
173 recip_radial_node = subnode->getChild("reciprocal-radial-deg", 0, true);
174 target_radial_true_node = subnode->getChild("target-radial-deg", 0, true);
175 target_auto_hdg_node = subnode->getChild("target-auto-hdg-deg", 0, true);
178 heading_node = node->getChild("heading-deg", 0, true);
179 time_to_intercept = node->getChild("time-to-intercept-sec", 0, true);
180 to_flag_node = node->getChild("to-flag", 0, true);
181 from_flag_node = node->getChild("from-flag", 0, true);
182 inrange_node = node->getChild("in-range", 0, true);
183 signal_quality_norm_node = node->getChild("signal-quality-norm", 0, true);
184 cdi_deflection_node = node->getChild("heading-needle-deflection", 0, true);
185 cdi_xtrack_error_node = node->getChild("crosstrack-error-m", 0, true);
186 cdi_xtrack_hdg_err_node
187 = node->getChild("crosstrack-heading-error-deg", 0, true);
188 has_gs_node = node->getChild("has-gs", 0, true);
189 loc_node = node->getChild("nav-loc", 0, true);
190 loc_dist_node = node->getChild("nav-distance", 0, true);
191 gs_deflection_node = node->getChild("gs-needle-deflection", 0, true);
192 gs_rate_of_climb_node = node->getChild("gs-rate-of-climb", 0, true);
193 gs_dist_node = node->getChild("gs-distance", 0, true);
194 nav_id_node = node->getChild("nav-id", 0, true);
195 id_c1_node = node->getChild("nav-id_asc1", 0, true);
196 id_c2_node = node->getChild("nav-id_asc2", 0, true);
197 id_c3_node = node->getChild("nav-id_asc3", 0, true);
198 id_c4_node = node->getChild("nav-id_asc4", 0, true);
200 // gps slaving support
201 nav_slaved_to_gps_node = node->getChild("slaved-to-gps", 0, true);
202 gps_cdi_deflection_node = fgGetNode("/instrumentation/gps/cdi-deflection", true);
203 gps_to_flag_node = fgGetNode("/instrumentation/gps/to-flag", true);
204 gps_from_flag_node = fgGetNode("/instrumentation/gps/from-flag", true);
205 gps_has_gs_node = fgGetNode("/instrumentation/gps/has-gs", true);
207 std::ostringstream temp;
208 temp << _name << "nav-ident" << _num;
209 nav_fx_name = temp.str();
210 temp << _name << "dme-ident" << _num;
211 dme_fx_name = temp.str();
217 std::ostringstream temp;
220 branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
225 FGNavRadio::unbind ()
227 std::ostringstream temp;
230 branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
234 // model standard VOR/DME/TACAN service volumes as per AIM 1-1-8
235 double FGNavRadio::adjustNavRange( double stationElev, double aircraftElev,
236 double nominalRange )
238 // extend out actual usable range to be 1.3x the published safe range
239 const double usability_factor = 1.3;
241 // assumptions we model the standard service volume, plus
242 // ... rather than specifying a cylinder, we model a cone that
243 // contains the cylinder. Then we put an upside down cone on top
244 // to model diminishing returns at too-high altitudes.
246 // altitude difference
247 double alt = ( aircraftElev * SG_METER_TO_FEET - stationElev );
248 // cout << "aircraft elev = " << aircraftElev * SG_METER_TO_FEET
249 // << " station elev = " << stationElev << endl;
251 if ( nominalRange < 25.0 + SG_EPSILON ) {
252 // Standard Terminal Service Volume
253 return term_tbl->interpolate( alt ) * usability_factor;
254 } else if ( nominalRange < 50.0 + SG_EPSILON ) {
255 // Standard Low Altitude Service Volume
256 // table is based on range of 40, scale to actual range
257 return low_tbl->interpolate( alt ) * nominalRange / 40.0
260 // Standard High Altitude Service Volume
261 // table is based on range of 130, scale to actual range
262 return high_tbl->interpolate( alt ) * nominalRange / 130.0
268 // model standard ILS service volumes as per AIM 1-1-9
269 double FGNavRadio::adjustILSRange( double stationElev, double aircraftElev,
270 double offsetDegrees, double distance )
272 // assumptions we model the standard service volume, plus
274 // altitude difference
275 // double alt = ( aircraftElev * SG_METER_TO_FEET - stationElev );
276 // double offset = fabs( offsetDegrees );
278 // if ( offset < 10 ) {
279 // return FG_ILS_DEFAULT_RANGE;
280 // } else if ( offset < 35 ) {
281 // return 10 + (35 - offset) * (FG_ILS_DEFAULT_RANGE - 10) / 25;
282 // } else if ( offset < 45 ) {
283 // return (45 - offset);
284 // } else if ( offset > 170 ) {
285 // return FG_ILS_DEFAULT_RANGE;
286 // } else if ( offset > 145 ) {
287 // return 10 + (offset - 145) * (FG_ILS_DEFAULT_RANGE - 10) / 25;
288 // } else if ( offset > 135 ) {
289 // return (offset - 135);
293 return FG_LOC_DEFAULT_RANGE;
297 //////////////////////////////////////////////////////////////////////////
298 // Update the various nav values based on position and valid tuned in navs
299 //////////////////////////////////////////////////////////////////////////
301 FGNavRadio::update(double dt)
303 // Do a nav station search only once a second to reduce
304 // unnecessary work. (Also, make sure to do this before caching
306 _time_before_search_sec -= dt;
307 if ( _time_before_search_sec < 0 ) {
311 // cache a few strategic values locally for speed
312 SGGeod pos = SGGeod::fromDegFt(lon_node->getDoubleValue(),
313 lat_node->getDoubleValue(),
314 alt_node->getDoubleValue());
315 bool power_btn = power_btn_node->getBoolValue();
316 bool nav_serviceable = nav_serviceable_node->getBoolValue();
317 bool cdi_serviceable = cdi_serviceable_node->getBoolValue();
318 bool tofrom_serviceable = tofrom_serviceable_node->getBoolValue();
319 bool inrange = false;
321 if ( nav_slaved_to_gps_node->getBoolValue() ) {
322 has_gs = gps_has_gs_node->getBoolValue();
323 has_gs_node->setBoolValue( has_gs );
324 inrange = gps_to_flag_node->getBoolValue()
325 || gps_from_flag_node->getBoolValue();
327 has_gs = has_gs_node->getBoolValue();
328 inrange = inrange_node->getBoolValue();
330 bool is_loc = loc_node->getBoolValue();
331 double loc_dist = loc_dist_node->getDoubleValue();
332 double effective_range_m;
333 double signal_quality_norm = signal_quality_norm_node->getDoubleValue();
337 // Create "formatted" versions of the nav frequencies for
338 // instrument displays.
340 sprintf( tmp, "%.2f", freq_node->getDoubleValue() );
341 fmt_freq_node->setStringValue(tmp);
342 sprintf( tmp, "%.2f", alt_freq_node->getDoubleValue() );
343 fmt_alt_freq_node->setStringValue(tmp);
345 // cout << "is_valid = " << is_valid
346 // << " power_btn = " << power_btn
347 // << " bus_power = " << bus_power_node->getDoubleValue()
348 // << " nav_serviceable = " << nav_serviceable
351 if ( is_valid && power_btn && (bus_power_node->getDoubleValue() > 1.0)
354 SGVec3d aircraft = SGVec3d::fromGeod(pos);
355 loc_dist = dist(aircraft, nav_xyz);
356 loc_dist_node->setDoubleValue( loc_dist );
357 // cout << "dt = " << dt << " dist = " << loc_dist << endl;
360 // find closest distance to the gs base line
361 SGVec3d p = aircraft;
362 double dist = sgdClosestPointToLineDistSquared(p.sg(), gs_xyz.sg(),
364 gs_dist_node->setDoubleValue( sqrt( dist ) );
365 // cout << "gs_dist = " << gs_dist_node->getDoubleValue()
368 // wgs84 heading to glide slope (to determine sign of distance)
369 geo_inverse_wgs_84( pos, SGGeod::fromDeg(gs_lon, gs_lat),
371 double r = az1 - target_radial;
372 while ( r > 180.0 ) { r -= 360.0;}
373 while ( r < -180.0 ) { r += 360.0;}
374 if ( r >= -90.0 && r <= 90.0 ) {
375 gs_dist_signed = gs_dist_node->getDoubleValue();
377 gs_dist_signed = -gs_dist_node->getDoubleValue();
379 /* cout << "Target Radial = " << target_radial
380 << " Bearing = " << az1
381 << " dist (signed) = " << gs_dist_signed
385 gs_dist_node->setDoubleValue( 0.0 );
388 //////////////////////////////////////////////////////////
389 // compute forward and reverse wgs84 headings to localizer
390 //////////////////////////////////////////////////////////
392 geo_inverse_wgs_84( pos, SGGeod::fromDeg(loc_lon, loc_lat),
394 // cout << "az1 = " << az1 << " magvar = " << nav_magvar << endl;
395 heading_node->setDoubleValue( hdg );
396 radial = az2 - twist;
397 double recip = radial + 180.0;
398 if ( recip >= 360.0 ) { recip -= 360.0; }
399 radial_node->setDoubleValue( radial );
400 recip_radial_node->setDoubleValue( recip );
401 // cout << " heading = " << heading_node->getDoubleValue()
402 // << " dist = " << nav_dist << endl;
404 //////////////////////////////////////////////////////////
405 // compute the target/selected radial in "true" heading
406 //////////////////////////////////////////////////////////
409 // ILS localizers radials are already "true" in our
411 trtrue = target_radial;
413 // VOR radials need to have that vor's offset added in
414 trtrue = target_radial + twist;
417 while ( trtrue < 0.0 ) { trtrue += 360.0; }
418 while ( trtrue > 360.0 ) { trtrue -= 360.0; }
419 target_radial_true_node->setDoubleValue( trtrue );
421 //////////////////////////////////////////////////////////
422 // adjust reception range for altitude
423 // FIXME: make sure we are using the navdata range now that
424 // it is valid in the data file
425 //////////////////////////////////////////////////////////
427 double offset = radial - target_radial;
428 while ( offset < -180.0 ) { offset += 360.0; }
429 while ( offset > 180.0 ) { offset -= 360.0; }
430 // cout << "ils offset = " << offset << endl;
432 = adjustILSRange( nav_elev, pos.getElevationM(), offset,
433 loc_dist * SG_METER_TO_NM );
436 = adjustNavRange( nav_elev, pos.getElevationM(), range );
439 effective_range_m = effective_range * SG_NM_TO_METER;
441 // cout << "nav range = " << effective_range
442 // << " (" << range << ")" << endl;
444 //////////////////////////////////////////////////////////
445 // compute signal quality
446 // 100% within effective_range
447 // decreases 1/x^2 further out
448 //////////////////////////////////////////////////////////
450 double last_signal_quality_norm = signal_quality_norm;
452 if ( loc_dist < effective_range_m ) {
453 signal_quality_norm = 1.0;
455 double range_exceed_norm = loc_dist/effective_range_m;
456 signal_quality_norm = 1/(range_exceed_norm*range_exceed_norm);
459 signal_quality_norm = fgGetLowPass( last_signal_quality_norm,
460 signal_quality_norm, dt );
462 signal_quality_norm_node->setDoubleValue( signal_quality_norm );
463 if ( ! nav_slaved_to_gps_node->getBoolValue() ) {
464 /* not slaved to gps */
465 inrange = signal_quality_norm > 0.2;
467 inrange_node->setBoolValue( inrange );
470 target_radial = sel_radial_node->getDoubleValue();
473 //////////////////////////////////////////////////////////
474 // compute to/from flag status
475 //////////////////////////////////////////////////////////
477 double offset = fabs(radial - target_radial);
478 if ( tofrom_serviceable ) {
479 if ( nav_slaved_to_gps_node->getBoolValue() ) {
480 value = gps_to_flag_node->getBoolValue();
481 } else if ( inrange ) {
485 value = !(offset <= 90.0 || offset >= 270.0);
491 to_flag_node->setBoolValue( value );
494 if ( tofrom_serviceable ) {
495 if ( nav_slaved_to_gps_node->getBoolValue() ) {
496 value = gps_from_flag_node->getBoolValue();
497 } else if ( inrange ) {
501 value = !(offset > 90.0 && offset < 270.0);
507 from_flag_node->setBoolValue( value );
509 //////////////////////////////////////////////////////////
510 // compute the deflection of the CDI needle, clamped to the range
512 //////////////////////////////////////////////////////////
514 bool loc_backside = false; // an in-code flag indicating that we are
515 // on a localizer backcourse.
516 if ( cdi_serviceable ) {
517 if ( nav_slaved_to_gps_node->getBoolValue() ) {
518 r = gps_cdi_deflection_node->getDoubleValue();
519 // We want +- 5 dots deflection for the gps, so clamp
521 SG_CLAMP_RANGE( r, -12.5, 12.5 );
522 } else if ( inrange ) {
523 r = radial - target_radial;
524 // cout << "Target radial = " << target_radial
525 // << " Actual radial = " << radial << endl;
527 while ( r > 180.0 ) { r -= 360.0;}
528 while ( r < -180.0 ) { r += 360.0;}
529 if ( fabs(r) > 90.0 ) {
530 r = ( r<0.0 ? -r-180.0 : -r+180.0 );
537 r = -r; // reverse, since radial is outbound
539 // According to Robin Peel, the ILS is 4x more
540 // sensitive than a vor
543 SG_CLAMP_RANGE( r, -10.0, 10.0 );
544 r *= signal_quality_norm;
547 cdi_deflection_node->setDoubleValue( r );
549 //////////////////////////////////////////////////////////
550 // compute the amount of cross track distance error in meters
551 //////////////////////////////////////////////////////////
552 double xtrack_error = 0.0;
553 if ( inrange && nav_serviceable && cdi_serviceable ) {
554 r = radial - target_radial;
555 // cout << "Target radial = " << target_radial
556 // << " Actual radial = " << radial
557 // << " r = " << r << endl;
559 while ( r > 180.0 ) { r -= 360.0;}
560 while ( r < -180.0 ) { r += 360.0;}
561 if ( fabs(r) > 90.0 ) {
562 r = ( r<0.0 ? -r-180.0 : -r+180.0 );
565 r = -r; // reverse, since radial is outbound
567 xtrack_error = loc_dist * sin(r * SGD_DEGREES_TO_RADIANS);
571 cdi_xtrack_error_node->setDoubleValue( xtrack_error );
573 //////////////////////////////////////////////////////////
574 // compute an approximate ground track heading error
575 //////////////////////////////////////////////////////////
576 double hdg_error = 0.0;
577 if ( inrange && cdi_serviceable ) {
578 double vn = fgGetDouble( "/velocities/speed-north-fps" );
579 double ve = fgGetDouble( "/velocities/speed-east-fps" );
580 double gnd_trk_true = atan2( ve, vn ) * SGD_RADIANS_TO_DEGREES;
581 if ( gnd_trk_true < 0.0 ) { gnd_trk_true += 360.0; }
583 SGPropertyNode *true_hdg
584 = fgGetNode("/orientation/heading-deg", true);
585 hdg_error = gnd_trk_true - true_hdg->getDoubleValue();
587 // cout << "ground track = " << gnd_trk_true
588 // << " orientation = " << true_hdg->getDoubleValue() << endl;
590 cdi_xtrack_hdg_err_node->setDoubleValue( hdg_error );
592 //////////////////////////////////////////////////////////
593 // compute the time to intercept selected radial (based on
594 // current and last cross track errors and dt
595 //////////////////////////////////////////////////////////
596 if (dt > 0) { // Are we paused?
598 if ( inrange && cdi_serviceable ) {
599 double xrate_ms = (last_xtrack_error - xtrack_error) / dt;
600 if ( fabs(xrate_ms) > 0.00001 ) {
601 t = xtrack_error / xrate_ms;
606 time_to_intercept->setDoubleValue( t );
609 //////////////////////////////////////////////////////////
610 // compute the amount of glide slope needle deflection
611 // (.i.e. the number of degrees we are off the glide slope * 5.0
613 // CLO - 13 Mar 2006: The glide slope needle should peg at
614 // +/-0.7 degrees off the ideal glideslope. I'm not sure why
615 // we compute the factor the way we do (5*gs_error), but we
616 // need to compensate for our 'odd' number in the glideslope
617 // needle animation. This means that the needle should peg
618 // when this values is +/-3.5.
619 //////////////////////////////////////////////////////////
621 if ( has_gs && gs_serviceable_node->getBoolValue() ) {
622 if ( nav_slaved_to_gps_node->getBoolValue() ) {
623 // FIXME/FINISHME, what should be set here?
624 } else if ( inrange ) {
625 double x = gs_dist_node->getDoubleValue();
626 double y = (alt_node->getDoubleValue() - nav_elev)
628 // cout << "dist = " << x << " height = " << y << endl;
629 double angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
630 r = (target_gs - angle) * 5.0;
631 r *= signal_quality_norm;
634 gs_deflection_node->setDoubleValue( r );
636 //////////////////////////////////////////////////////////
637 // Calculate desired rate of climb for intercepting the GS
638 //////////////////////////////////////////////////////////
639 double x = gs_dist_node->getDoubleValue();
640 double y = (alt_node->getDoubleValue() - nav_elev)
642 double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
644 double target_angle = target_gs;
645 double gs_diff = target_angle - current_angle;
647 // convert desired vertical path angle into a climb rate
648 double des_angle = current_angle - 10 * gs_diff;
650 // estimate horizontal speed towards ILS in meters per minute
651 double dist = last_x - x;
655 double new_vel = ( dist / dt );
657 horiz_vel = 0.75 * horiz_vel + 0.25 * new_vel;
658 // double horiz_vel = cur_fdm_state->get_V_ground_speed()
659 // * SG_FEET_TO_METER * 60.0;
660 // double horiz_vel = airspeed_node->getFloatValue()
661 // * SG_FEET_TO_METER * 60.0;
663 gs_rate_of_climb_node
664 ->setDoubleValue( -sin( des_angle * SGD_DEGREES_TO_RADIANS )
665 * horiz_vel * SG_METER_TO_FEET );
668 //////////////////////////////////////////////////////////
669 // Calculate a suggested target heading to smoothly intercept
671 //////////////////////////////////////////////////////////
673 // Now that we have cross track heading adjustment built in,
674 // we shouldn't need to overdrive the heading angle within 8km
677 // The cdi deflection should be +/-10 for a full range of deflection
678 // so multiplying this by 3 gives us +/- 30 degrees heading
680 double adjustment = cdi_deflection_node->getDoubleValue() * 3.0;
681 SG_CLAMP_RANGE( adjustment, -30.0, 30.0 );
683 // determine the target heading to fly to intercept the
684 // tgt_radial = target radial (true) + cdi offset adjustmest -
685 // xtrack heading error adjustment
687 if ( is_loc && backcourse_node->getBoolValue() ) {
688 // tuned to a localizer and backcourse mode activated
689 trtrue += 180.0; // reverse the target localizer heading
690 while ( trtrue > 360.0 ) { trtrue -= 360.0; }
691 nta_hdg = trtrue - adjustment - hdg_error;
693 nta_hdg = trtrue + adjustment - hdg_error;
696 while ( nta_hdg < 0.0 ) { nta_hdg += 360.0; }
697 while ( nta_hdg >= 360.0 ) { nta_hdg -= 360.0; }
698 target_auto_hdg_node->setDoubleValue( nta_hdg );
700 last_xtrack_error = xtrack_error;
702 inrange_node->setBoolValue( false );
703 cdi_deflection_node->setDoubleValue( 0.0 );
704 cdi_xtrack_error_node->setDoubleValue( 0.0 );
705 cdi_xtrack_hdg_err_node->setDoubleValue( 0.0 );
706 time_to_intercept->setDoubleValue( 0.0 );
707 gs_deflection_node->setDoubleValue( 0.0 );
708 to_flag_node->setBoolValue( false );
709 from_flag_node->setBoolValue( false );
710 // cout << "not picking up vor. :-(" << endl;
714 if ( is_valid && inrange && nav_serviceable ) {
715 // play station ident via audio system if on + ident,
716 // otherwise turn it off
718 && (bus_power_node->getDoubleValue() > 1.0)
719 && ident_btn_node->getBoolValue()
720 && audio_btn_node->getBoolValue() )
722 SGSoundSample *sound;
723 sound = globals->get_soundmgr()->find( nav_fx_name );
724 double vol = vol_btn_node->getDoubleValue();
725 if ( vol < 0.0 ) { vol = 0.0; }
726 if ( vol > 1.0 ) { vol = 1.0; }
727 if ( sound != NULL ) {
728 sound->set_volume( vol );
730 SG_LOG( SG_COCKPIT, SG_ALERT,
731 "Can't find nav-vor-ident sound" );
733 sound = globals->get_soundmgr()->find( dme_fx_name );
734 if ( sound != NULL ) {
735 sound->set_volume( vol );
737 SG_LOG( SG_COCKPIT, SG_ALERT,
738 "Can't find nav-dme-ident sound" );
740 // cout << "last_time = " << last_time << " ";
741 // cout << "cur_time = "
742 // << globals->get_time_params()->get_cur_time();
744 globals->get_time_params()->get_cur_time() - 30 ) {
745 last_time = globals->get_time_params()->get_cur_time();
748 // cout << " play_count = " << play_count << endl;
749 // cout << "playing = "
750 // << globals->get_soundmgr()->is_playing(nav_fx_name)
752 if ( play_count < 4 ) {
754 if ( !globals->get_soundmgr()->is_playing(nav_fx_name) ) {
755 globals->get_soundmgr()->play_once( nav_fx_name );
758 } else if ( play_count < 5 && has_dme ) {
760 if ( !globals->get_soundmgr()->is_playing(nav_fx_name) &&
761 !globals->get_soundmgr()->is_playing(dme_fx_name) ) {
762 globals->get_soundmgr()->play_once( dme_fx_name );
767 globals->get_soundmgr()->stop( nav_fx_name );
768 globals->get_soundmgr()->stop( dme_fx_name );
772 last_loc_dist = loc_dist;
776 // Update current nav/adf radio stations based on current postition
777 void FGNavRadio::search()
781 _time_before_search_sec = 1.0;
783 // cache values locally for speed
784 SGGeod pos = SGGeod::fromDegFt(lon_node->getDoubleValue(),
785 lat_node->getDoubleValue(), alt_node->getDoubleValue());
786 FGNavRecord *nav = NULL;
787 FGNavRecord *loc = NULL;
788 FGNavRecord *dme = NULL;
789 FGNavRecord *gs = NULL;
791 ////////////////////////////////////////////////////////////////////////
793 ////////////////////////////////////////////////////////////////////////
795 double freq = freq_node->getDoubleValue();
796 nav = globals->get_navlist()->findByFreq(freq, pos);
797 dme = globals->get_dmelist()->findByFreq(freq, pos);
799 loc = globals->get_loclist()->findByFreq(freq, pos);
800 gs = globals->get_gslist()->findByFreq(freq, pos);
806 nav_id = loc->get_ident();
807 nav_id_node->setStringValue( nav_id.c_str() );
808 // cout << "localizer = " << nav_id_node->getStringValue() << endl;
810 if ( last_nav_id != nav_id || last_nav_vor ) {
811 trans_ident = loc->get_trans_ident();
812 target_radial = loc->get_multiuse();
813 while ( target_radial < 0.0 ) { target_radial += 360.0; }
814 while ( target_radial > 360.0 ) { target_radial -= 360.0; }
815 loc_lon = loc->get_lon();
816 loc_lat = loc->get_lat();
817 nav_xyz = loc->cart();
818 last_nav_id = nav_id;
819 last_nav_vor = false;
820 loc_node->setBoolValue( true );
821 has_dme = (dme != NULL);
823 has_gs_node->setBoolValue( true );
824 gs_lon = gs->get_lon();
825 gs_lat = gs->get_lat();
826 nav_elev = gs->get_elev_ft();
827 int tmp = (int)(gs->get_multiuse() / 1000.0);
828 target_gs = (double)tmp / 100.0;
831 // derive GS baseline (perpendicular to the runay
833 double tlon = 0.0, tlat = 0.0, taz = 0.0;
834 geo_direct_wgs_84 ( 0.0, gs_lat, gs_lon,
836 100.0, &tlat, &tlon, &taz );
837 // cout << "target_radial = " << target_radial << endl;
838 // cout << "nav_loc = " << loc_node->getBoolValue() << endl;
839 // cout << gs_lon << "," << gs_lat << " "
840 // << tlon << "," << tlat << " (" << nav_elev << ")"
842 SGGeod tpos = SGGeod::fromDegFt(tlon, tlat, nav_elev);
843 SGVec3d p1 = SGVec3d::fromGeod(tpos);
845 // cout << gs_xyz << endl;
846 // cout << p1 << endl;
847 gs_base_vec = p1 - gs_xyz;
848 // cout << gs_base_vec << endl;
850 has_gs_node->setBoolValue( false );
851 nav_elev = loc->get_elev_ft();
854 range = FG_LOC_DEFAULT_RANGE;
855 effective_range = range;
857 if ( globals->get_soundmgr()->exists( nav_fx_name ) ) {
858 globals->get_soundmgr()->remove( nav_fx_name );
860 SGSoundSample *sound;
861 sound = morse.make_ident( trans_ident, LO_FREQUENCY );
862 sound->set_volume( 0.3 );
863 globals->get_soundmgr()->add( sound, nav_fx_name );
865 if ( globals->get_soundmgr()->exists( dme_fx_name ) ) {
866 globals->get_soundmgr()->remove( dme_fx_name );
868 sound = morse.make_ident( trans_ident, HI_FREQUENCY );
869 sound->set_volume( 0.3 );
870 globals->get_soundmgr()->add( sound, dme_fx_name );
872 int offset = (int)(sg_random() * 30.0);
873 play_count = offset / 4;
874 last_time = globals->get_time_params()->get_cur_time() -
876 // cout << "offset = " << offset << " play_count = "
878 // << " last_time = " << last_time
879 // << " current time = "
880 // << globals->get_time_params()->get_cur_time() << endl;
882 // cout << "Found an loc station in range" << endl;
883 // cout << " id = " << loc->get_locident() << endl;
885 } else if ( nav != NULL ) {
886 nav_id = nav->get_ident();
887 nav_id_node->setStringValue( nav_id.c_str() );
888 // cout << "nav = " << nav_id << endl;
890 if ( last_nav_id != nav_id || !last_nav_vor ) {
891 last_nav_id = nav_id;
893 trans_ident = nav->get_trans_ident();
894 loc_node->setBoolValue( false );
895 has_dme = (dme != NULL);
896 has_gs_node->setBoolValue( false );
897 loc_lon = nav->get_lon();
898 loc_lat = nav->get_lat();
899 nav_elev = nav->get_elev_ft();
900 twist = nav->get_multiuse();
901 range = nav->get_range();
902 effective_range = adjustNavRange(nav_elev, pos.getElevationM(), range);
904 target_radial = sel_radial_node->getDoubleValue();
905 nav_xyz = nav->cart();
907 if ( globals->get_soundmgr()->exists( nav_fx_name ) ) {
908 globals->get_soundmgr()->remove( nav_fx_name );
911 SGSoundSample *sound;
912 sound = morse.make_ident( trans_ident, LO_FREQUENCY );
913 sound->set_volume( 0.3 );
914 if ( globals->get_soundmgr()->add( sound, nav_fx_name ) ) {
915 // cout << "Added nav-vor-ident sound" << endl;
917 SG_LOG(SG_COCKPIT, SG_WARN, "Failed to add v1-vor-ident sound");
920 if ( globals->get_soundmgr()->exists( dme_fx_name ) ) {
921 globals->get_soundmgr()->remove( dme_fx_name );
923 sound = morse.make_ident( trans_ident, HI_FREQUENCY );
924 sound->set_volume( 0.3 );
925 globals->get_soundmgr()->add( sound, dme_fx_name );
927 int offset = (int)(sg_random() * 30.0);
928 play_count = offset / 4;
929 last_time = globals->get_time_params()->get_cur_time() - offset;
930 // cout << "offset = " << offset << " play_count = "
931 // << play_count << " last_time = "
932 // << last_time << " current time = "
933 // << globals->get_time_params()->get_cur_time() << endl;
935 // cout << "Found a vor station in range" << endl;
936 // cout << " id = " << nav->get_ident() << endl;
937 } catch ( sg_io_exception &e ) {
938 SG_LOG(SG_GENERAL, SG_ALERT, e.getFormattedMessage());
943 nav_id_node->setStringValue( "" );
947 globals->get_soundmgr()->remove( nav_fx_name );
948 globals->get_soundmgr()->remove( dme_fx_name );
951 is_valid_node->setBoolValue( is_valid );
954 strncpy( tmpid, nav_id.c_str(), 5 );
955 id_c1_node->setIntValue( (int)tmpid[0] );
956 id_c2_node->setIntValue( (int)tmpid[1] );
957 id_c3_node->setIntValue( (int)tmpid[2] );
958 id_c4_node->setIntValue( (int)tmpid[3] );