#endif
#include <cstdlib>
+#include <cstdio>
#include "AIFlightPlan.hxx"
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/props/props.hxx>
#include <simgear/props/props_io.hxx>
-#include <Airports/simple.hxx>
+#include <Airports/airport.hxx>
#include <Airports/runways.hxx>
#include <Airports/dynamics.hxx>
#include "AIAircraft.hxx"
#include <Environment/environment_mgr.hxx>
#include <Environment/environment.hxx>
#include <FDM/LaRCsim/basic_aero.h>
+#include <Navaids/navrecord.hxx>
+using std::string;
/* FGAIFlightPlan::create()
* dynamically create a flight plan for AI traffic, based on data provided by the
int currWpt = wpt_iterator - waypoints.begin();
switch (legNr) {
case 1:
- retVal = createPushBack(ac, firstFlight, dep, latitude, longitude,
+ retVal = createPushBack(ac, firstFlight, dep,
radius, fltType, aircraftType, airline);
// Pregenerate the taxi leg.
//if (retVal) {
retVal = createTakeOff(ac, firstFlight, dep, speed, fltType);
break;
case 4:
- retVal = createClimb(ac, firstFlight, dep, speed, alt, fltType);
+ retVal = createClimb(ac, firstFlight, dep, arr, speed, alt, fltType);
break;
case 5:
retVal = createCruise(ac, firstFlight, dep, arr, latitude, longitude, speed,
SG_LOG(SG_AI, SG_ALERT,
"AIFlightPlan::create() attempting to create unknown leg"
" this is probably an internal program error");
+ break;
}
wpt_iterator = waypoints.begin() + currWpt;
//don't increment leg right away, but only once we pass the actual last waypoint that was created.
wpt->setGear_down (false );
wpt->setFlaps_down (false );
wpt->setOn_ground (false );
+ wpt->setCrossat (aElev );
return wpt;
}
const string & acType,
const string & airline)
{
- double heading, lat, lon;
// If this function is called during initialization,
// make sure we obtain a valid gate ID first
// and place the model at the location of the gate.
- if (firstFlight) {
- if (!(apt->getDynamics()->getAvailableParking(&lat, &lon,
- &heading, &gateId,
- radius, fltType,
- acType, airline))) {
- SG_LOG(SG_AI, SG_WARN, "Could not find parking for a " <<
- acType <<
- " of flight type " << fltType <<
- " of airline " << airline <<
- " at airport " << apt->getId());
- }
+ if (firstFlight)
+ {
+ gate = apt->getDynamics()->getAvailableParking(radius, fltType,
+ acType, airline);
+ if (!gate.isValid()) {
+ SG_LOG(SG_AI, SG_WARN, "Could not find parking for a " <<
+ acType <<
+ " of flight type " << fltType <<
+ " of airline " << airline <<
+ " at airport " << apt->getId());
+ }
}
- string rwyClass = getRunwayClassFromTrafficType(fltType);
+ const string& rwyClass = getRunwayClassFromTrafficType(fltType);
// Only set this if it hasn't been set by ATC already.
if (activeRunway.empty()) {
}
intVec ids;
- int runwayId = 0;
+ PositionedID runwayId = 0;
if (gn->getVersion() > 0) {
runwayId = gn->findNearestNodeOnRunway(runwayTakeoff);
} else {
// fallback mechanism for this.
// Starting from gate 0 in this case is a bit of a hack
// which requires a more proper solution later on.
- delete taxiRoute;
- taxiRoute = new FGTaxiRoute;
+ // delete taxiRoute;
+ // taxiRoute = new FGTaxiRoute;
// Determine which node to start from.
- int node = 0;
+ PositionedID node = 0;
// Find out which node to start from
- FGParking *park = apt->getDynamics()->getParking(gateId);
+ FGParking *park = gate.parking();
if (park) {
node = park->getPushBackPoint();
- }
-
- if (node == -1) {
- node = gateId;
- }
- // HAndle case where parking doens't have a node
- if ((node == 0) && park) {
- if (firstFlight) {
- node = gateId;
- } else {
- node = lastNodeVisited;
+ if (node == -1) {
+ node = park->guid();
+ } else if (node == 0) {
+ // HAndle case where parking doens't have a node
+ if (firstFlight) {
+ node = park->guid();
+ } else {
+ node = lastNodeVisited;
+ }
}
}
-
- *taxiRoute = gn->findShortestRoute(node, runwayId);
+
+ FGTaxiRoute taxiRoute = gn->findShortestRoute(node, runwayId);
intVecIterator i;
- if (taxiRoute->empty()) {
+ if (taxiRoute.empty()) {
createDefaultTakeoffTaxi(ac, apt, rwy);
return true;
}
- taxiRoute->first();
+ taxiRoute.first();
//bool isPushBackPoint = false;
if (firstFlight) {
// If this is called during initialization, randomly
// skip a number of waypoints to get a more realistic
// taxi situation.
- int nrWaypointsToSkip = rand() % taxiRoute->size();
+ int nrWaypointsToSkip = rand() % taxiRoute.size();
// but make sure we always keep two active waypoints
// to prevent a segmentation fault
for (int i = 0; i < nrWaypointsToSkip - 3; i++) {
- taxiRoute->next(&node);
+ taxiRoute.next(&node);
}
- apt->getDynamics()->releaseParking(gateId);
+
+ gate.release(); // free up our gate as required
} else {
- if (taxiRoute->size() > 1) {
- taxiRoute->next(&node); // chop off the first waypoint, because that is already the last of the pushback route
+ if (taxiRoute.size() > 1) {
+ taxiRoute.next(&node); // chop off the first waypoint, because that is already the last of the pushback route
}
}
// push each node on the taxi route as a waypoint
- int route;
+ // int route;
//cerr << "Building taxi route" << endl;
- while (taxiRoute->next(&node, &route)) {
+ while (taxiRoute.next(&node)) {
char buffer[10];
- snprintf(buffer, 10, "%d", node);
+ snprintf(buffer, 10, "%lld", (long long int) node);
FGTaxiNode *tn =
apt->getDynamics()->getGroundNetwork()->findNode(node);
FGAIWaypoint *wpt =
- createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(),
+ createOnGround(ac, buffer, tn->geod(), apt->getElevation(),
ac->getPerformance()->vTaxi());
- wpt->setRouteIndex(route);
+ // wpt->setRouteIndex(route);
//cerr << "Nodes left " << taxiRoute->nodesLeft() << " ";
- if (taxiRoute->nodesLeft() == 1) {
+ if (taxiRoute.nodesLeft() == 1) {
// Note that we actually have hold points in the ground network, but this is just an initial test.
//cerr << "Setting departurehold point: " << endl;
wpt->setName( wpt->getName() + string("DepartureHold"));
}
- if (taxiRoute->nodesLeft() == 0) {
+ if (taxiRoute.nodesLeft() == 0) {
wpt->setName(wpt->getName() + string("Accel"));
}
pushBackWaypoint(wpt);
ac->getPerformance()->vTaxi());
pushBackWaypoint(wpt);
- double heading, lat, lon;
- aAirport->getDynamics()->getParking(gateId, &lat, &lon, &heading);
- wpt =
- createOnGround(ac, "ENDtaxi", SGGeod::fromDeg(lon, lat), airportElev,
- ac->getPerformance()->vTaxi());
- pushBackWaypoint(wpt);
+ if (gate.isValid()) {
+ wpt = createOnGround(ac, "ENDtaxi", gate.parking()->geod(), airportElev,
+ ac->getPerformance()->vTaxi());
+ pushBackWaypoint(wpt);
+ }
}
bool FGAIFlightPlan::createLandingTaxi(FGAIAircraft * ac, FGAirport * apt,
const string & acType,
const string & airline)
{
- double heading, lat, lon;
- apt->getDynamics()->getAvailableParking(&lat, &lon, &heading,
- &gateId, radius, fltType,
+ gate = apt->getDynamics()->getAvailableParking(radius, fltType,
acType, airline);
- SGGeod lastWptPos =
- SGGeod::fromDeg(waypoints.back()->getLongitude(),
- waypoints.back()->getLatitude());
+ SGGeod lastWptPos = waypoints.back()->getPos();
FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork();
// Find a route from runway end to parking/gate.
}
intVec ids;
- int runwayId = 0;
+ PositionedID runwayId = 0;
if (gn->getVersion() == 1) {
runwayId = gn->findNearestNodeOnRunway(lastWptPos);
} else {
// fallback mechanism for this.
// Starting from gate 0 is a bit of a hack...
//FGTaxiRoute route;
- delete taxiRoute;
- taxiRoute = new FGTaxiRoute;
- if (gateId >= 0)
- *taxiRoute = gn->findShortestRoute(runwayId, gateId);
+ // delete taxiRoute;
+ // taxiRoute = new FGTaxiRoute;
+ FGTaxiRoute taxiRoute;
+ if (gate.isValid())
+ taxiRoute = gn->findShortestRoute(runwayId, gate.parking()->guid());
else
- *taxiRoute = gn->findShortestRoute(runwayId, 0);
+ taxiRoute = gn->findShortestRoute(runwayId, 0);
intVecIterator i;
- if (taxiRoute->empty()) {
+ if (taxiRoute.empty()) {
createDefaultLandingTaxi(ac, apt);
return true;
}
- int node;
- taxiRoute->first();
- int size = taxiRoute->size();
+ PositionedID node;
+ taxiRoute.first();
+ int size = taxiRoute.size();
// Omit the last two waypoints, as
// those are created by createParking()
- int route;
+ // int route;
for (int i = 0; i < size - 2; i++) {
- taxiRoute->next(&node, &route);
+ taxiRoute.next(&node);
char buffer[10];
- snprintf(buffer, 10, "%d", node);
+ snprintf(buffer, 10, "%lld", (long long int) node);
FGTaxiNode *tn = gn->findNode(node);
FGAIWaypoint *wpt =
- createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(),
+ createOnGround(ac, buffer, tn->geod(), apt->getElevation(),
ac->getPerformance()->vTaxi());
- wpt->setRouteIndex(route);
+ // wpt->setRouteIndex(route);
pushBackWaypoint(wpt);
}
return true;
}
+static double accelDistance(double v0, double v1, double accel)
+{
+ double t = fabs(v1 - v0) / accel; // time in seconds to change velocity
+ // area under the v/t graph: (t * v0) + (dV / 2t) where (dV = v1 - v0)
+ return t * 0.5 * (v1 + v0);
+}
+
+// find the horizontal distance to gain the specific altiude, holding
+// a constant pitch angle. Used to compute distance based on standard FD/AP
+// PITCH mode prior to VS or CLIMB engaging. Visually, we want to avoid
+// a dip in the nose angle after rotation, during initial climb-out.
+static double pitchDistance(double pitchAngleDeg, double altGainM)
+{
+ return altGainM / tan(pitchAngleDeg * SG_DEGREES_TO_RADIANS);
+}
+
/*******************************************************************
* CreateTakeOff
* A note on units:
FGAirport * apt, double speed,
const string & fltType)
{
+ const double ACCEL_POINT = 105.0;
+ // climb-out angle in degrees. could move this to the perf-db but this
+ // value is pretty sane
+ const double INITIAL_PITCH_ANGLE = 10.0;
+
double accel = ac->getPerformance()->acceleration();
double vTaxi = ac->getPerformance()->vTaxi();
double vRotate = ac->getPerformance()->vRotate();
double vTakeoff = ac->getPerformance()->vTakeoff();
- //double vClimb = ac->getPerformance()->vClimb();
-
- double accelMetric = (accel * SG_NM_TO_METER) / 3600;
- double vTaxiMetric = (vTaxi * SG_NM_TO_METER) / 3600;
- double vRotateMetric = (vRotate * SG_NM_TO_METER) / 3600;
- double vTakeoffMetric = (vTakeoff * SG_NM_TO_METER) / 3600;
- //double vClimbMetric = (vClimb * SG_NM_TO_METER) / 3600;
- // Acceleration = dV / dT
- // Acceleration X dT = dV
- // dT = dT / Acceleration
- //d = (Vf^2 - Vo^2) / (2*a)
- //double accelTime = (vRotate - vTaxi) / accel;
- //cerr << "Using " << accelTime << " as total acceleration time" << endl;
- double accelDistance =
- (vRotateMetric * vRotateMetric -
- vTaxiMetric * vTaxiMetric) / (2 * accelMetric);
- //cerr << "Using " << accelDistance << " " << accelMetric << " " << vRotateMetric << endl;
+
+ double accelMetric = accel * SG_KT_TO_MPS;
+ double vTaxiMetric = vTaxi * SG_KT_TO_MPS;
+ double vRotateMetric = vRotate * SG_KT_TO_MPS;
+
FGAIWaypoint *wpt;
// Get the current active runway, based on code from David Luff
// This should actually be unified and extended to include
// NOTE: DT (2009-01-18: IIRC, this is currently already the case,
// because the getActive runway function takes care of that.
if (firstFlight) {
- string rwyClass = getRunwayClassFromTrafficType(fltType);
+ const string& rwyClass = getRunwayClassFromTrafficType(fltType);
double heading = ac->getTrafficRef()->getCourse();
apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
heading);
}
+
FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
assert( rwy != NULL );
-
double airportElev = apt->getElevation();
-
- accelDistance =
- (vTakeoffMetric * vTakeoffMetric -
- vTaxiMetric * vTaxiMetric) / (2 * accelMetric);
- //cerr << "Using " << accelDistance << " " << accelMetric << " " << vTakeoffMetric << endl;
- SGGeod accelPoint = rwy->pointOnCenterline(105.0 + accelDistance);
+ double d = accelDistance(vTaxiMetric, vRotateMetric, accelMetric) + ACCEL_POINT;
+
+ SGGeod accelPoint = rwy->pointOnCenterline(d);
wpt = createOnGround(ac, "rotate", accelPoint, airportElev, vTakeoff);
pushBackWaypoint(wpt);
- accelDistance =
- ((vTakeoffMetric * 1.1) * (vTakeoffMetric * 1.1) -
- vTaxiMetric * vTaxiMetric) / (2 * accelMetric);
- //cerr << "Using " << accelDistance << " " << accelMetric << " " << vTakeoffMetric << endl;
- accelPoint = rwy->pointOnCenterline(105.0 + accelDistance);
- wpt =
- createOnGround(ac, "rotate", accelPoint, airportElev + 1000,
- vTakeoff * 1.1);
+ double vRef = vTakeoff + 20; // climb-out at v2 + 20kts
+
+ double gearUpDist = d + pitchDistance(INITIAL_PITCH_ANGLE, 400 * SG_FEET_TO_METER);
+ accelPoint = rwy->pointOnCenterline(gearUpDist);
+
+ wpt = cloneWithPos(ac, wpt, "gear-up", accelPoint);
+ wpt->setSpeed(vRef);
+ wpt->setCrossat(airportElev + 400);
wpt->setOn_ground(false);
+ wpt->setGear_down(false);
pushBackWaypoint(wpt);
-
- wpt = cloneWithPos(ac, wpt, "3000 ft", rwy->end());
- wpt->setAltitude(airportElev + 3000);
+
+ // limit climbout speed to 240kts below 10000'
+ double vClimbBelow10000 = std::min(240.0, ac->getPerformance()->vClimb());
+
+ // create two climb-out points. This is important becuase the first climb point will
+ // be a (sometimes large) turn towards the destination, and we don't want to
+ // commence that turn below 2000'
+ double climbOut = d + pitchDistance(INITIAL_PITCH_ANGLE, 2000 * SG_FEET_TO_METER);
+ accelPoint = rwy->pointOnCenterline(climbOut);
+ wpt = createInAir(ac, "2000'", accelPoint, airportElev + 2000, vClimbBelow10000);
pushBackWaypoint(wpt);
-
- // Finally, add two more waypoints, so that aircraft will remain under
- // Tower control until they have reached the 3000 ft climb point
- SGGeod pt = rwy->pointOnCenterline(5000 + rwy->lengthM() * 0.5);
- wpt = cloneWithPos(ac, wpt, "5000 ft", pt);
- wpt->setAltitude(airportElev + 5000);
+
+ climbOut = d + pitchDistance(INITIAL_PITCH_ANGLE, 2500 * SG_FEET_TO_METER);
+ accelPoint = rwy->pointOnCenterline(climbOut);
+ wpt = createInAir(ac, "2500'", accelPoint, airportElev + 2500, vClimbBelow10000);
pushBackWaypoint(wpt);
+
return true;
}
* initialize the Aircraft at the parking location
******************************************************************/
bool FGAIFlightPlan::createClimb(FGAIAircraft * ac, bool firstFlight,
- FGAirport * apt, double speed, double alt,
+ FGAirport * apt, FGAirport* arrival,
+ double speed, double alt,
const string & fltType)
{
FGAIWaypoint *wpt;
-// bool planLoaded = false;
- string fPLName;
+ // string fPLName;
double vClimb = ac->getPerformance()->vClimb();
-
+
if (firstFlight) {
- string rwyClass = getRunwayClassFromTrafficType(fltType);
+ const string& rwyClass = getRunwayClassFromTrafficType(fltType);
double heading = ac->getTrafficRef()->getCourse();
apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
heading);
//cerr << " Cloning waypoint " << endl;
}
} else {
- FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
- assert( rwy != NULL );
-
- SGGeod climb1 = rwy->pointOnCenterline(10 * SG_NM_TO_METER);
+ FGRunway* runway = apt->getRunwayByIdent(activeRunway);
+ SGGeod cur = runway->end();
+ if (!waypoints.empty()) {
+ cur = waypoints.back()->getPos();
+ }
+
+ // compute course towards destination
+ double course = SGGeodesy::courseDeg(cur, arrival->geod());
+
+ SGGeod climb1 = SGGeodesy::direct(cur, course, 10 * SG_NM_TO_METER);
wpt = createInAir(ac, "10000ft climb", climb1, 10000, vClimb);
wpt->setGear_down(true);
wpt->setFlaps_down(true);
pushBackWaypoint(wpt);
- SGGeod climb2 = rwy->pointOnCenterline(20 * SG_NM_TO_METER);
- wpt = cloneWithPos(ac, wpt, "18000ft climb", climb2);
- wpt->setAltitude(18000);
+ SGGeod climb2 = SGGeodesy::direct(cur, course, 20 * SG_NM_TO_METER);
+ wpt = createInAir(ac, "18000ft climb", climb2, 18000, vClimb);
pushBackWaypoint(wpt);
}
return true;
FGAIWaypoint *wpt;
double vDescent = ac->getPerformance()->vDescent();
double vApproach = ac->getPerformance()->vApproach();
- double vTouchdown = ac->getPerformance()->vTouchdown();
-
//Beginning of Descent
- string rwyClass = getRunwayClassFromTrafficType(fltType);
+ const string& rwyClass = getRunwayClassFromTrafficType(fltType);
double heading = ac->getTrafficRef()->getCourse();
apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway,
heading);
origin = current;
}
-
double dAlt = 0; // = alt - (apt->getElevation() + 2000);
FGTaxiNode * tn = 0;
if (apt->getDynamics()->getGroundNetwork()) {
int node = apt->getDynamics()->getGroundNetwork()->findNearestNode(refPoint);
tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
}
+
if (tn) {
- dAlt = alt - ((tn->getElevationFt(apt->getElevation())) + 2000);
+ dAlt = alt - ((tn->getElevationFt()) + 2000);
} else {
dAlt = alt - (apt->getElevation() + 2000);
}
-
+
double nPoints = 100;
-
char buffer[16];
// The descent path contains the following phases:
//FGTaxiNode * tn = apt->getDynamics()->getGroundNetwork()->findNearestNode(initialTarget);
double currentAltitude = 0;
if (tn) {
- currentAltitude = (tn->getElevationFt(apt->getElevation())) + 2000;
+ currentAltitude = (tn->getElevationFt()) + 2000;
} else {
currentAltitude = apt->getElevation() + 2000;
}
// The approach leg should bring the aircraft to approximately 4-6 nm out, after which the landing phase should take over.
//cerr << "Phase 3: Approach" << endl;
- double tgt_speed = vApproach;
- distanceOut -= distanceCovered;
- double touchDownPoint = 0; //(rwy->lengthM() * 0.1);
- for (int i = 1; i < nPoints; i++) {
- SGGeod result;
- double currentDist = i * (distanceOut / nPoints);
- //double currentAltitude =
- // apt->getElevation() + 2000 - (i * 2000 / (nPoints-1));
- double alt = currentAltitude - (i * 2000 / (nPoints - 1));
- snprintf(buffer, 16, "final%03d", i);
- result = rwy->pointOnCenterline((-distanceOut) + currentDist + touchDownPoint);
- if (i == nPoints - 30) {
- tgt_speed = vTouchdown;
- }
- wpt = createInAir(ac, buffer, result, alt, tgt_speed);
- wpt->setCrossat(alt);
- wpt->setTrackLength((distanceOut / nPoints));
- // account for the extra distance due to an extended downwind leg
- if (i == 1) {
- wpt->setTrackLength(wpt->getTrackLength() + distanceCovered);
- }
- //cerr << "Track Length : " << wpt->trackLength;
- pushBackWaypoint(wpt);
- //if (apt->ident() == fgGetString("/sim/presets/airport-id")) {
- // cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << " " << apt->getElevation() << " " << distanceOut << endl;
- //}
- }
-
+
//cerr << "Done" << endl;
// Erase the two bogus BOD points: Note check for conflicts with scripted AI flightPlans
if (reposition) {
double tempDistance;
//double minDistance = HUGE_VAL;
- string wptName;
+ //string wptName;
tempDistance = SGGeodesy::distanceM(current, initialTarget);
time_t eta =
tempDistance / ((vDescent * SG_NM_TO_METER) / 3600.0) + now;
ac->resetPositionFromFlightPlan();
}
waypoints[1]->setName( (waypoints[1]->getName() + string("legend")));
- waypoints.back()->setName(waypoints.back()->getName() + "LandingThreshold");
return true;
}
+/**
+ * compute the distance along the centerline, to the ILS glideslope
+ * transmitter. Return -1 if there's no GS for the runway
+ */
+static double runwayGlideslopeTouchdownDistance(FGRunway* rwy)
+{
+ FGNavRecord* gs = rwy->glideslope();
+ if (!gs) {
+ return -1;
+ }
+
+ SGVec3d runwayPosCart = SGVec3d::fromGeod(rwy->pointOnCenterline(0.0));
+ // compute a unit vector in ECF cartesian space, from the runway beginning to the end
+ SGVec3d runwayDirectionVec = normalize(SGVec3d::fromGeod(rwy->end()) - runwayPosCart);
+ SGVec3d gsTransmitterVec = gs->cart() - runwayPosCart;
+
+// project the gsTransmitterVec along the runwayDirctionVec to get out
+// final value (in metres)
+ double dist = dot(runwayDirectionVec, gsTransmitterVec);
+ return dist;
+}
+
/*******************************************************************
* CreateLanding
* Create a flight path from the "permision to land" point (currently
{
double vTouchdown = ac->getPerformance()->vTouchdown();
double vTaxi = ac->getPerformance()->vTaxi();
- double decel = ac->getPerformance()->deceleration() * 1.4;
-
- double vTouchdownMetric = (vTouchdown * SG_NM_TO_METER) / 3600;
- double vTaxiMetric = (vTaxi * SG_NM_TO_METER) / 3600;
- double decelMetric = (decel * SG_NM_TO_METER) / 3600;
-
- //string rwyClass = getRunwayClassFromTrafficType(fltType);
- //double heading = ac->getTrafficRef()->getCourse();
- //apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway, heading);
- //rwy = apt->getRunwayByIdent(activeRunway);
-
+ double decel = ac->getPerformance()->decelerationOnGround();
+ double vApproach = ac->getPerformance()->vApproach();
+
+ double vTouchdownMetric = vTouchdown * SG_KT_TO_MPS;
+ double vTaxiMetric = vTaxi * SG_KT_TO_MPS;
+ double decelMetric = decel * SG_KT_TO_MPS;
- FGAIWaypoint *wpt;
- //double aptElev = apt->getElevation();
- double currElev = 0;
char buffer[12];
FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
assert( rwy != NULL );
- SGGeod refPoint = rwy->pointOnCenterline(0);
- FGTaxiNode *tn = 0;
- if (apt->getDynamics()->getGroundNetwork()) {
- int node = apt->getDynamics()->getGroundNetwork()->findNearestNode(refPoint);
- tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
- }
- if (tn) {
- currElev = tn->getElevationFt(apt->getElevation());
- } else {
- currElev = apt->getElevation();
+ SGGeod threshold = rwy->threshold();
+ double currElev = threshold.getElevationFt();
+
+ double touchdownDistance = runwayGlideslopeTouchdownDistance(rwy);
+ if (touchdownDistance < 0.0) {
+ double landingLength = rwy->lengthM() - (rwy->displacedThresholdM());
+ // touchdown 25% of the way along the landing area
+ touchdownDistance = rwy->displacedThresholdM() + (landingLength * 0.25);
}
-
-
+
SGGeod coord;
-
-
- /*double distanceOut = rwy->lengthM() * .1;
- double nPoints = 20;
- for (int i = 1; i < nPoints; i++) {
- snprintf(buffer, 12, "flare%d", i);
- double currentDist = i * (distanceOut / nPoints);
- double currentAltitude = apt->getElevation() + 20 - (i * 20 / nPoints);
- coord = rwy->pointOnCenterline((currentDist * (i / nPoints)));
- wpt = createInAir(ac, buffer, coord, currentAltitude, (vTouchdown));
- }*/
- double rolloutDistance =
- (vTouchdownMetric * vTouchdownMetric - vTaxiMetric * vTaxiMetric) / (2 * decelMetric);
- //cerr << " touchdown speed = " << vTouchdown << ". Rollout distance " << rolloutDistance << endl;
+ // find glideslope entry point, 2000' above touchdown elevation
+ double glideslopeEntry = -((2000 * SG_FEET_TO_METER) / tan(3.0)) + touchdownDistance;
+ FGAIWaypoint *wpt = createInAir(ac, "Glideslope begin", rwy->pointOnCenterline(glideslopeEntry),
+ currElev + 2000, vApproach);
+ pushBackWaypoint(wpt);
+
+ // deceleration point, 500' above touchdown elevation - slow from approach speed
+ // to touchdown speed
+ double decelPoint = -((500 * SG_FEET_TO_METER) / tan(3.0)) + touchdownDistance;
+ wpt = createInAir(ac, "500' decel", rwy->pointOnCenterline(decelPoint),
+ currElev + 2000, vTouchdown);
+ pushBackWaypoint(wpt);
+
+ // compute elevation above the runway start, based on a 3-degree glideslope
+ double heightAboveRunwayStart = touchdownDistance *
+ tan(3.0 * SG_DEGREES_TO_RADIANS) * SG_METER_TO_FEET;
+ wpt = createInAir(ac, "CrossThreshold", rwy->begin(),
+ heightAboveRunwayStart + currElev, vTouchdown);
+ pushBackWaypoint(wpt);
+
+ double rolloutDistance = accelDistance(vTouchdownMetric, vTaxiMetric, decelMetric);
+
int nPoints = 50;
for (int i = 1; i < nPoints; i++) {
snprintf(buffer, 12, "landing03%d", i);
-
- coord = rwy->pointOnCenterline((rolloutDistance * ((double) i / (double) nPoints)));
- wpt = createOnGround(ac, buffer, coord, currElev, 2*vTaxi);
+ double t = ((double) i) / nPoints;
+ coord = rwy->pointOnCenterline(touchdownDistance + (rolloutDistance * t));
+ double vel = (vTouchdownMetric * (1.0 - t)) + (vTaxiMetric * t);
+ wpt = createOnGround(ac, buffer, coord, currElev, vel);
wpt->setCrossat(currElev);
pushBackWaypoint(wpt);
}
+
wpt->setSpeed(vTaxi);
- double mindist = 1.1 * rolloutDistance;
- double maxdist = rwy->lengthM();
- //cerr << "Finding nearest exit" << endl;
+ double mindist = (1.1 * rolloutDistance) + touchdownDistance;
+
FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork();
- if (gn) {
- double min = 0;
- for (int i = ceil(mindist); i < floor(maxdist); i++) {
- coord = rwy->pointOnCenterline(mindist);
- int nodeId = 0;
- if (gn->getVersion() > 0) {
- nodeId = gn->findNearestNodeOnRunway(coord);
- } else {
- nodeId = gn->findNearestNode(coord);
- }
- if (tn)
- tn = gn->findNode(nodeId);
- if (!tn)
- break;
-
- double dist = SGGeodesy::distanceM(coord, tn->getGeod());
- if (dist < (min + 0.75)) {
- break;
- }
- min = dist;
- }
- if (tn) {
- wpt = createOnGround(ac, buffer, tn->getGeod(), currElev, vTaxi);
- pushBackWaypoint(wpt);
- }
+ if (!gn) {
+ return true;
+ }
+
+ coord = rwy->pointOnCenterline(mindist);
+ int nodeId = 0;
+ if (gn->getVersion() > 0) {
+ nodeId = gn->findNearestNodeOnRunway(coord, rwy);
+ } else {
+ nodeId = gn->findNearestNode(coord);
+ }
+
+ FGTaxiNode* tn = gn->findNode(nodeId);
+ if (tn) {
+ wpt = createOnGround(ac, buffer, tn->geod(), currElev, vTaxi);
+ pushBackWaypoint(wpt);
}
- //cerr << "Done. " << endl;
-
- /*
- //Runway Threshold
- wpt = createOnGround(ac, "Threshold", rwy->threshold(), aptElev, vTouchdown);
- wpt->crossat = apt->getElevation();
- pushBackWaypoint(wpt);
-
- // Roll-out
- wpt = createOnGround(ac, "Center", rwy->geod(), aptElev, vTaxi*2);
- pushBackWaypoint(wpt);
-
- SGGeod rollOut = rwy->pointOnCenterline(rwy->lengthM() * 0.9);
- wpt = createOnGround(ac, "Roll Out", rollOut, aptElev, vTaxi);
- wpt->crossat = apt->getElevation();
- pushBackWaypoint(wpt);
- */
+
return true;
}
{
FGAIWaypoint *wpt;
double aptElev = apt->getElevation();
- double lat = 0.0, lat2 = 0.0;
- double lon = 0.0, lon2 = 0.0;
- double az2 = 0.0;
- double heading = 0.0;
-
double vTaxi = ac->getPerformance()->vTaxi();
double vTaxiReduced = vTaxi * (2.0 / 3.0);
- apt->getDynamics()->getParking(gateId, &lat, &lon, &heading);
- heading += 180.0;
- if (heading > 360)
- heading -= 360;
- geo_direct_wgs_84(0, lat, lon, heading,
- 2.2 * radius, &lat2, &lon2, &az2);
- wpt =
- createOnGround(ac, "taxiStart", SGGeod::fromDeg(lon2, lat2),
- aptElev, vTaxiReduced);
+ if (!gate.isValid()) {
+ wpt = createOnGround(ac, "END-Parking", apt->geod(), aptElev,
+ vTaxiReduced);
+ pushBackWaypoint(wpt);
+ return true;
+ }
+
+ FGParking* parking = gate.parking();
+ double heading = SGMiscd::normalizePeriodic(0, 360, parking->getHeading() + 180.0);
+ double az; // unused
+ SGGeod pos;
+
+ SGGeodesy::direct(parking->geod(), heading, 2.2 * parking->getRadius(),
+ pos, az);
+
+ wpt = createOnGround(ac, "taxiStart", pos, aptElev, vTaxiReduced);
pushBackWaypoint(wpt);
- geo_direct_wgs_84(0, lat, lon, heading,
- 0.1 * radius, &lat2, &lon2, &az2);
-
- wpt =
- createOnGround(ac, "taxiStart2", SGGeod::fromDeg(lon2, lat2),
- aptElev, vTaxiReduced);
+ SGGeodesy::direct(parking->geod(), heading, 0.1 * parking->getRadius(),
+ pos, az);
+ wpt = createOnGround(ac, "taxiStart2", pos, aptElev, vTaxiReduced);
pushBackWaypoint(wpt);
- wpt =
- createOnGround(ac, "END-Parking", SGGeod::fromDeg(lon, lat), aptElev,
+ wpt = createOnGround(ac, "END-Parking", parking->geod(), aptElev,
vTaxiReduced);
pushBackWaypoint(wpt);
return true;
* - ul (ultralight: I can imagine that these may share a runway with ga on some airports)
* - mil (all military traffic)
*/
-string FGAIFlightPlan::getRunwayClassFromTrafficType(string fltType)
+const char* FGAIFlightPlan::getRunwayClassFromTrafficType(const string& fltType)
{
if ((fltType == "gate") || (fltType == "cargo")) {
- return string("com");
+ return "com";
}
if (fltType == "ga") {
- return string("gen");
+ return "gen";
}
if (fltType == "ul") {
- return string("ul");
+ return "ul";
}
if ((fltType == "mil-fighter") || (fltType == "mil-transport")) {
- return string("mil");
+ return "mil";
}
- return string("com");
+ return "com";
}