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 inrange = signal_quality_norm > 0.2;
464 inrange_node->setBoolValue( inrange );
467 target_radial = sel_radial_node->getDoubleValue();
470 //////////////////////////////////////////////////////////
471 // compute to/from flag status
472 //////////////////////////////////////////////////////////
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 bool loc_backside = false; // an in-code flag indicating that we are
512 // on a localizer backcourse.
513 if ( cdi_serviceable ) {
514 if ( nav_slaved_to_gps_node->getBoolValue() ) {
515 r = gps_cdi_deflection_node->getDoubleValue();
516 // We want +- 5 dots deflection for the gps, so clamp
518 SG_CLAMP_RANGE( r, -12.5, 12.5 );
519 } else if ( inrange ) {
520 r = radial - target_radial;
521 // cout << "Target radial = " << target_radial
522 // << " Actual radial = " << radial << 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 );
534 r = -r; // reverse, since radial is outbound
536 // According to Robin Peel, the ILS is 4x more
537 // sensitive than a vor
540 SG_CLAMP_RANGE( r, -10.0, 10.0 );
541 r *= signal_quality_norm;
544 cdi_deflection_node->setDoubleValue( r );
546 //////////////////////////////////////////////////////////
547 // compute the amount of cross track distance error in meters
548 //////////////////////////////////////////////////////////
549 double xtrack_error = 0.0;
550 if ( inrange && nav_serviceable && cdi_serviceable ) {
551 r = radial - target_radial;
552 // cout << "Target radial = " << target_radial
553 // << " Actual radial = " << radial
554 // << " r = " << r << endl;
556 while ( r > 180.0 ) { r -= 360.0;}
557 while ( r < -180.0 ) { r += 360.0;}
558 if ( fabs(r) > 90.0 ) {
559 r = ( r<0.0 ? -r-180.0 : -r+180.0 );
562 r = -r; // reverse, since radial is outbound
564 xtrack_error = loc_dist * sin(r * SGD_DEGREES_TO_RADIANS);
568 cdi_xtrack_error_node->setDoubleValue( xtrack_error );
570 //////////////////////////////////////////////////////////
571 // compute an approximate ground track heading error
572 //////////////////////////////////////////////////////////
573 double hdg_error = 0.0;
574 if ( inrange && cdi_serviceable ) {
575 double vn = fgGetDouble( "/velocities/speed-north-fps" );
576 double ve = fgGetDouble( "/velocities/speed-east-fps" );
577 double gnd_trk_true = atan2( ve, vn ) * SGD_RADIANS_TO_DEGREES;
578 if ( gnd_trk_true < 0.0 ) { gnd_trk_true += 360.0; }
580 SGPropertyNode *true_hdg
581 = fgGetNode("/orientation/heading-deg", true);
582 hdg_error = gnd_trk_true - true_hdg->getDoubleValue();
584 // cout << "ground track = " << gnd_trk_true
585 // << " orientation = " << true_hdg->getDoubleValue() << endl;
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
608 // CLO - 13 Mar 2006: The glide slope needle should peg at
609 // +/-0.7 degrees off the ideal glideslope. I'm not sure why
610 // we compute the factor the way we do (5*gs_error), but we
611 // need to compensate for our 'odd' number in the glideslope
612 // needle animation. This means that the needle should peg
613 // when this values is +/-3.5.
614 //////////////////////////////////////////////////////////
616 if ( has_gs && gs_serviceable_node->getBoolValue() ) {
617 if ( nav_slaved_to_gps_node->getBoolValue() ) {
618 // FIXME/FINISHME, what should be set here?
619 } else if ( inrange ) {
620 double x = gs_dist_node->getDoubleValue();
621 double y = (alt_node->getDoubleValue() - nav_elev)
623 // cout << "dist = " << x << " height = " << y << endl;
624 double angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
625 r = (target_gs - angle) * 5.0;
626 r *= signal_quality_norm;
629 gs_deflection_node->setDoubleValue( r );
631 //////////////////////////////////////////////////////////
632 // Calculate desired rate of climb for intercepting the GS
633 //////////////////////////////////////////////////////////
634 double x = gs_dist_node->getDoubleValue();
635 double y = (alt_node->getDoubleValue() - nav_elev)
637 double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
639 double target_angle = target_gs;
640 double gs_diff = target_angle - current_angle;
642 // convert desired vertical path angle into a climb rate
643 double des_angle = current_angle - 10 * gs_diff;
645 // estimate horizontal speed towards ILS in meters per minute
646 double dist = last_x - x;
650 double new_vel = ( dist / dt );
652 horiz_vel = 0.75 * horiz_vel + 0.25 * new_vel;
653 // double horiz_vel = cur_fdm_state->get_V_ground_speed()
654 // * SG_FEET_TO_METER * 60.0;
655 // double horiz_vel = airspeed_node->getFloatValue()
656 // * SG_FEET_TO_METER * 60.0;
658 gs_rate_of_climb_node
659 ->setDoubleValue( -sin( des_angle * SGD_DEGREES_TO_RADIANS )
660 * horiz_vel * SG_METER_TO_FEET );
663 //////////////////////////////////////////////////////////
664 // Calculate a suggested target heading to smoothly intercept
666 //////////////////////////////////////////////////////////
668 // Now that we have cross track heading adjustment built in,
669 // we shouldn't need to overdrive the heading angle within 8km
672 // The cdi deflection should be +/-10 for a full range of deflection
673 // so multiplying this by 3 gives us +/- 30 degrees heading
675 double adjustment = cdi_deflection_node->getDoubleValue() * 3.0;
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
682 if ( is_loc && backcourse_node->getBoolValue() ) {
683 // tuned to a localizer and backcourse mode activated
684 trtrue += 180.0; // reverse the target localizer heading
685 while ( trtrue > 360.0 ) { trtrue -= 360.0; }
686 nta_hdg = trtrue - adjustment - hdg_error;
688 nta_hdg = trtrue + adjustment - hdg_error;
691 while ( nta_hdg < 0.0 ) { nta_hdg += 360.0; }
692 while ( nta_hdg >= 360.0 ) { nta_hdg -= 360.0; }
693 target_auto_hdg_node->setDoubleValue( nta_hdg );
695 last_xtrack_error = xtrack_error;
697 inrange_node->setBoolValue( false );
698 cdi_deflection_node->setDoubleValue( 0.0 );
699 cdi_xtrack_error_node->setDoubleValue( 0.0 );
700 cdi_xtrack_hdg_err_node->setDoubleValue( 0.0 );
701 time_to_intercept->setDoubleValue( 0.0 );
702 gs_deflection_node->setDoubleValue( 0.0 );
703 to_flag_node->setBoolValue( false );
704 from_flag_node->setBoolValue( false );
705 // cout << "not picking up vor. :-(" << endl;
709 if ( is_valid && inrange && nav_serviceable ) {
710 // play station ident via audio system if on + ident,
711 // otherwise turn it off
713 && (bus_power_node->getDoubleValue() > 1.0)
714 && ident_btn_node->getBoolValue()
715 && audio_btn_node->getBoolValue() )
717 SGSoundSample *sound;
718 sound = globals->get_soundmgr()->find( nav_fx_name );
719 double vol = vol_btn_node->getDoubleValue();
720 if ( vol < 0.0 ) { vol = 0.0; }
721 if ( vol > 1.0 ) { vol = 1.0; }
722 if ( sound != NULL ) {
723 sound->set_volume( vol );
725 SG_LOG( SG_COCKPIT, SG_ALERT,
726 "Can't find nav-vor-ident sound" );
728 sound = globals->get_soundmgr()->find( dme_fx_name );
729 if ( sound != NULL ) {
730 sound->set_volume( vol );
732 SG_LOG( SG_COCKPIT, SG_ALERT,
733 "Can't find nav-dme-ident sound" );
735 // cout << "last_time = " << last_time << " ";
736 // cout << "cur_time = "
737 // << globals->get_time_params()->get_cur_time();
739 globals->get_time_params()->get_cur_time() - 30 ) {
740 last_time = globals->get_time_params()->get_cur_time();
743 // cout << " play_count = " << play_count << endl;
744 // cout << "playing = "
745 // << globals->get_soundmgr()->is_playing(nav_fx_name)
747 if ( play_count < 4 ) {
749 if ( !globals->get_soundmgr()->is_playing(nav_fx_name) ) {
750 globals->get_soundmgr()->play_once( nav_fx_name );
753 } else if ( play_count < 5 && has_dme ) {
755 if ( !globals->get_soundmgr()->is_playing(nav_fx_name) &&
756 !globals->get_soundmgr()->is_playing(dme_fx_name) ) {
757 globals->get_soundmgr()->play_once( dme_fx_name );
762 globals->get_soundmgr()->stop( nav_fx_name );
763 globals->get_soundmgr()->stop( dme_fx_name );
767 last_loc_dist = loc_dist;
771 // Update current nav/adf radio stations based on current postition
772 void FGNavRadio::search()
776 _time_before_search_sec = 1.0;
778 // cache values locally for speed
779 SGGeod pos = SGGeod::fromDegFt(lon_node->getDoubleValue(),
780 lat_node->getDoubleValue(), alt_node->getDoubleValue());
781 FGNavRecord *nav = NULL;
782 FGNavRecord *loc = NULL;
783 FGNavRecord *dme = NULL;
784 FGNavRecord *gs = NULL;
786 ////////////////////////////////////////////////////////////////////////
788 ////////////////////////////////////////////////////////////////////////
790 double freq = freq_node->getDoubleValue();
791 nav = globals->get_navlist()->findByFreq(freq, pos);
792 dme = globals->get_dmelist()->findByFreq(freq, pos);
794 loc = globals->get_loclist()->findByFreq(freq, pos);
795 gs = globals->get_gslist()->findByFreq(freq, pos);
801 nav_id = loc->get_ident();
802 nav_id_node->setStringValue( nav_id.c_str() );
803 // cout << "localizer = " << nav_id_node->getStringValue() << endl;
805 if ( last_nav_id != nav_id || last_nav_vor ) {
806 trans_ident = loc->get_trans_ident();
807 target_radial = loc->get_multiuse();
808 while ( target_radial < 0.0 ) { target_radial += 360.0; }
809 while ( target_radial > 360.0 ) { target_radial -= 360.0; }
810 loc_lon = loc->get_lon();
811 loc_lat = loc->get_lat();
812 nav_xyz = loc->cart();
813 last_nav_id = nav_id;
814 last_nav_vor = false;
815 loc_node->setBoolValue( true );
816 has_dme = (dme != NULL);
818 has_gs_node->setBoolValue( true );
819 gs_lon = gs->get_lon();
820 gs_lat = gs->get_lat();
821 nav_elev = gs->get_elev_ft();
822 int tmp = (int)(gs->get_multiuse() / 1000.0);
823 target_gs = (double)tmp / 100.0;
826 // derive GS baseline (perpendicular to the runay
828 double tlon, tlat, taz;
829 geo_direct_wgs_84 ( 0.0, gs_lat, gs_lon,
831 100.0, &tlat, &tlon, &taz );
832 // cout << "target_radial = " << target_radial << endl;
833 // cout << "nav_loc = " << loc_node->getBoolValue() << endl;
834 // cout << gs_lon << "," << gs_lat << " "
835 // << tlon << "," << tlat << " (" << nav_elev << ")"
837 SGGeod tpos = SGGeod::fromDegFt(tlon, tlat, nav_elev);
838 SGVec3d p1 = SGVec3d::fromGeod(tpos);
840 // cout << gs_xyz << endl;
841 // cout << p1 << endl;
842 gs_base_vec = p1 - gs_xyz;
843 // cout << gs_base_vec << endl;
845 has_gs_node->setBoolValue( false );
846 nav_elev = loc->get_elev_ft();
849 range = FG_LOC_DEFAULT_RANGE;
850 effective_range = range;
852 if ( globals->get_soundmgr()->exists( nav_fx_name ) ) {
853 globals->get_soundmgr()->remove( nav_fx_name );
855 SGSoundSample *sound;
856 sound = morse.make_ident( trans_ident, LO_FREQUENCY );
857 sound->set_volume( 0.3 );
858 globals->get_soundmgr()->add( sound, nav_fx_name );
860 if ( globals->get_soundmgr()->exists( dme_fx_name ) ) {
861 globals->get_soundmgr()->remove( dme_fx_name );
863 sound = morse.make_ident( trans_ident, HI_FREQUENCY );
864 sound->set_volume( 0.3 );
865 globals->get_soundmgr()->add( sound, dme_fx_name );
867 int offset = (int)(sg_random() * 30.0);
868 play_count = offset / 4;
869 last_time = globals->get_time_params()->get_cur_time() -
871 // cout << "offset = " << offset << " play_count = "
873 // << " last_time = " << last_time
874 // << " current time = "
875 // << globals->get_time_params()->get_cur_time() << endl;
877 // cout << "Found an loc station in range" << endl;
878 // cout << " id = " << loc->get_locident() << endl;
880 } else if ( nav != NULL ) {
881 nav_id = nav->get_ident();
882 nav_id_node->setStringValue( nav_id.c_str() );
883 // cout << "nav = " << nav_id << endl;
885 if ( last_nav_id != nav_id || !last_nav_vor ) {
886 last_nav_id = nav_id;
888 trans_ident = nav->get_trans_ident();
889 loc_node->setBoolValue( false );
890 has_dme = (dme != NULL);
891 has_gs_node->setBoolValue( false );
892 loc_lon = nav->get_lon();
893 loc_lat = nav->get_lat();
894 nav_elev = nav->get_elev_ft();
895 twist = nav->get_multiuse();
896 range = nav->get_range();
897 effective_range = adjustNavRange(nav_elev, pos.getElevationM(), range);
899 target_radial = sel_radial_node->getDoubleValue();
900 nav_xyz = nav->cart();
902 if ( globals->get_soundmgr()->exists( nav_fx_name ) ) {
903 globals->get_soundmgr()->remove( nav_fx_name );
906 SGSoundSample *sound;
907 sound = morse.make_ident( trans_ident, LO_FREQUENCY );
908 sound->set_volume( 0.3 );
909 if ( globals->get_soundmgr()->add( sound, nav_fx_name ) ) {
910 // cout << "Added nav-vor-ident sound" << endl;
912 SG_LOG(SG_COCKPIT, SG_WARN, "Failed to add v1-vor-ident sound");
915 if ( globals->get_soundmgr()->exists( dme_fx_name ) ) {
916 globals->get_soundmgr()->remove( dme_fx_name );
918 sound = morse.make_ident( trans_ident, HI_FREQUENCY );
919 sound->set_volume( 0.3 );
920 globals->get_soundmgr()->add( sound, dme_fx_name );
922 int offset = (int)(sg_random() * 30.0);
923 play_count = offset / 4;
924 last_time = globals->get_time_params()->get_cur_time() - offset;
925 // cout << "offset = " << offset << " play_count = "
926 // << play_count << " last_time = "
927 // << last_time << " current time = "
928 // << globals->get_time_params()->get_cur_time() << endl;
930 // cout << "Found a vor station in range" << endl;
931 // cout << " id = " << nav->get_ident() << endl;
932 } catch ( sg_io_exception &e ) {
933 SG_LOG(SG_GENERAL, SG_ALERT, e.getFormattedMessage());
938 nav_id_node->setStringValue( "" );
942 globals->get_soundmgr()->remove( nav_fx_name );
943 globals->get_soundmgr()->remove( dme_fx_name );
946 is_valid_node->setBoolValue( is_valid );
949 strncpy( tmpid, nav_id.c_str(), 5 );
950 id_c1_node->setIntValue( (int)tmpid[0] );
951 id_c2_node->setIntValue( (int)tmpid[1] );
952 id_c3_node->setIntValue( (int)tmpid[2] );
953 id_c4_node->setIntValue( (int)tmpid[3] );