+ props->untie("orientation/true-heading-deg");
+
+ props->untie("radar/in-range");
+ props->untie("radar/bearing-deg");
+ props->untie("radar/elevation-deg");
+ props->untie("radar/range-nm");
+ props->untie("radar/h-offset");
+ props->untie("radar/v-offset");
+ props->untie("radar/x-shift");
+ props->untie("radar/y-shift");
+ props->untie("radar/rotation");
+
+ props->untie("controls/lighting/nav-lights");
+}
+
+double FGAIBase::UpdateRadar(FGAIManager* manager)
+{
+ double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
+ radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
+ radar_range_ft2 *= radar_range_ft2;
+
+ double user_latitude = manager->get_user_latitude();
+ double user_longitude = manager->get_user_longitude();
+ double lat_range = fabs(pos.lat() - user_latitude) * ft_per_deg_lat;
+ double lon_range = fabs(pos.lon() - user_longitude) * ft_per_deg_lon;
+ double range_ft2 = lat_range*lat_range + lon_range*lon_range;
+
+ //
+ // Test whether the target is within radar range.
+ //
+ in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
+ if ( in_range )
+ {
+ props->setBoolValue("radar/in-range", true);
+
+ // copy values from the AIManager
+ double user_altitude = manager->get_user_altitude();
+ double user_heading = manager->get_user_heading();
+ double user_pitch = manager->get_user_pitch();
+ double user_yaw = manager->get_user_yaw();
+ double user_speed = manager->get_user_speed();
+
+ // calculate range to target in feet and nautical miles
+ double range_ft = sqrt( range_ft2 );
+ range = range_ft / 6076.11549;
+
+ // calculate bearing to target
+ if (pos.lat() >= user_latitude) {
+ bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
+ if (pos.lon() >= user_longitude) {
+ bearing = 90.0 - bearing;
+ } else {
+ bearing = 270.0 + bearing;
+ }
+ } else {
+ bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
+ if (pos.lon() >= user_longitude) {
+ bearing = 180.0 - bearing;
+ } else {
+ bearing = 180.0 + bearing;
+ }
+ }
+
+ // calculate look left/right to target, without yaw correction
+ horiz_offset = bearing - user_heading;
+ if (horiz_offset > 180.0) horiz_offset -= 360.0;
+ if (horiz_offset < -180.0) horiz_offset += 360.0;
+
+ // calculate elevation to target
+ elevation = atan2( altitude * SG_METER_TO_FEET - user_altitude, range_ft )
+ * SG_RADIANS_TO_DEGREES;
+
+ // calculate look up/down to target
+ vert_offset = elevation + user_pitch;
+
+ /* this calculation needs to be fixed, but it isn't important anyway
+ // calculate range rate
+ double recip_bearing = bearing + 180.0;
+ if (recip_bearing > 360.0) recip_bearing -= 360.0;
+ double my_horiz_offset = recip_bearing - hdg;
+ if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
+ if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
+ rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
+ +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
+*/
+
+ // now correct look left/right for yaw
+ horiz_offset += user_yaw;
+
+ // calculate values for radar display
+ y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
+ x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
+ rotation = hdg - user_heading;
+ if (rotation < 0.0) rotation += 360.0;
+
+ }
+
+ return range_ft2;
+}
+
+Point3D
+FGAIBase::getCartPosAt(const Point3D& off) const
+{
+ // The offset converted to the usual body fixed coordinate system.
+ sgdVec3 sgdOff;
+ sgdSetVec3(sgdOff, -off.x(), off.z(), -off.y());
+
+ // Transform that one to the horizontal local coordinate system.
+ sgdMat4 hlTrans;
+ sgdMakeRotMat4(hlTrans, hdg, pitch, roll);
+ sgdXformPnt3(sgdOff, hlTrans);
+
+ // Now transform to the wgs84 earth centeres system.
+ Point3D pos2(pos.lon()* SGD_DEGREES_TO_RADIANS,
+ pos.lat() * SGD_DEGREES_TO_RADIANS,
+ pos.elev());
+ Point3D cartPos3D = sgGeodToCart(pos2);
+ sgdMat4 ecTrans;
+ sgdMakeCoordMat4(ecTrans, cartPos3D.x(), cartPos3D.y(), cartPos3D.z(),
+ pos.lon(), 0, - 90 - pos.lat());
+ sgdXformPnt3(sgdOff, ecTrans);
+
+ return Point3D(sgdOff[0], sgdOff[1], sgdOff[2]);
+}
+
+Point3D
+FGAIBase::getGeocPosAt(const Point3D& off) const
+{
+ return sgCartToGeod(getCartPosAt(off));
+}
+
+/*
+ * getters and Setters
+ */
+void FGAIBase::_setLongitude( double longitude ) {
+ pos.setlon(longitude);
+}
+void FGAIBase::_setLatitude ( double latitude ) {
+ pos.setlat(latitude);
+}
+
+double FGAIBase::_getLongitude() const {
+ return pos.lon();
+}
+double FGAIBase::_getLatitude () const {
+ return pos.lat();
+}
+double FGAIBase::_getRdot() const {
+ return rdot;
+}
+double FGAIBase::_getVS_fps() const {
+ return vs*60.0;
+}
+void FGAIBase::_setVS_fps( double _vs ) {
+ vs = _vs/60.0;
+}
+
+double FGAIBase::_getAltitude() const {
+ return altitude;
+}
+void FGAIBase::_setAltitude( double _alt ) {
+ setAltitude( _alt );
+}
+
+bool FGAIBase::_isNight() {
+ return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
+}
+
+int FGAIBase::getID() const {
+ return _refID;
+}
+
+void FGAIBase::CalculateMach() {
+ // Calculate rho at altitude, using standard atmosphere
+ // For the temperature T and the pressure p,
+
+ if (altitude < 36152) { // curve fits for the troposphere
+ T = 59 - 0.00356 * altitude;
+ p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
+
+ } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
+ T = -70;
+ p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
+
+ } else { // upper stratosphere
+ T = -205.05 + (0.00164 * altitude);
+ p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
+ }
+
+ rho = p / (1718 * (T + 459.7));
+
+ // calculate the speed of sound at altitude
+ // a = sqrt ( g * R * (T + 459.7))
+ // where:
+ // a = speed of sound [ft/s]
+ // g = specific heat ratio, which is usually equal to 1.4
+ // R = specific gas constant, which equals 1716 ft-lb/slug/°R
+
+ a = sqrt ( 1.4 * 1716 * (T + 459.7));
+
+ // calculate Mach number
+
+ Mach = speed/a;
+
+ // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach;
+}