+ props->untie("radar/ht-diff-ft");
+
+ props->untie("controls/lighting/nav-lights");
+
+ props->setBoolValue("/sim/controls/radar/", true);
+
+}
+
+double FGAIBase::UpdateRadar(FGAIManager* manager) {
+ bool control = fgGetBool("/sim/controls/radar", true);
+
+ if(!control) return 0;
+
+ double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
+ bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false);
+ 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.getLatitudeDeg() - user_latitude) * ft_per_deg_lat;
+ double lon_range = fabs(pos.getLongitudeDeg() - 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 || force_on ) {
+ 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.getLatitudeDeg() >= user_latitude) {
+ bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
+ if (pos.getLongitudeDeg() >= user_longitude) {
+ bearing = 90.0 - bearing;
+ } else {
+ bearing = 270.0 + bearing;
+ }
+ } else {
+ bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
+ if (pos.getLongitudeDeg() >= user_longitude) {
+ bearing = 180.0 - bearing;
+ } else {
+ bearing = 180.0 + bearing;
+ }
+ }
+
+ // This is an alternate way to compute bearing and distance which
+ // agrees with the original scheme within about 0.1 degrees.
+ //
+ // Point3D start( user_longitude * SGD_DEGREES_TO_RADIANS,
+ // user_latitude * SGD_DEGREES_TO_RADIANS, 0 );
+ // Point3D dest( pos.getLongitudeRad(), pos.getLatitudeRad(), 0 );
+ // double gc_bearing, gc_range;
+ // calc_gc_course_dist( start, dest, &gc_bearing, &gc_range );
+ // gc_range *= SG_METER_TO_NM;
+ // gc_bearing *= SGD_RADIANS_TO_DEGREES;
+ // printf("orig b = %.3f %.2f gc b= %.3f, %.2f\n",
+ // bearing, range, gc_bearing, gc_range);
+
+ // 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_ft - 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; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
+
+ // 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;
+ ht_diff = altitude_ft - user_altitude;
+
+ }
+
+ return range_ft2;
+}
+
+/*
+* Getters and Setters
+*/
+
+SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const {
+ // Transform that one to the horizontal local coordinate system.
+ SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
+
+ // and postrotate the orientation of the AIModel wrt the horizontal
+ // local frame
+ hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
+
+ // The offset converted to the usual body fixed coordinate system
+ // rotated to the earth fiexed coordinates axis
+ SGVec3d off = hlTrans.backTransform(_off);
+
+ // Add the position offset of the AIModel to gain the earth centered position
+ SGVec3d cartPos = SGVec3d::fromGeod(pos);
+
+ return cartPos + off;
+}
+
+SGVec3d FGAIBase::getCartPos() const {
+ SGVec3d cartPos = SGVec3d::fromGeod(pos);
+ return cartPos;
+}
+
+bool FGAIBase::getGroundElevationM(const SGGeod& pos, double& elev,
+ const SGMaterial** material) const {
+ return globals->get_scenery()->get_elevation_m(pos, elev, material,
+ model.get());
+}
+
+double FGAIBase::_getCartPosX() const {
+ SGVec3d cartPos = getCartPos();
+ return cartPos.x();
+}
+
+double FGAIBase::_getCartPosY() const {
+ SGVec3d cartPos = getCartPos();
+ return cartPos.y();
+}
+
+double FGAIBase::_getCartPosZ() const {
+ SGVec3d cartPos = getCartPos();
+ return cartPos.z();
+}
+
+void FGAIBase::_setLongitude( double longitude ) {
+ pos.setLongitudeDeg(longitude);
+}
+
+void FGAIBase::_setLatitude ( double latitude ) {
+ pos.setLatitudeDeg(latitude);
+}
+
+void FGAIBase::_setUserPos(){
+ userpos.setLatitudeDeg(manager->get_user_latitude());
+ userpos.setLongitudeDeg(manager->get_user_longitude());
+ userpos.setElevationM(manager->get_user_altitude() * SG_FEET_TO_METER);
+}
+
+void FGAIBase::_setSubID( int s ) {
+ _subID = s;
+}
+
+double FGAIBase::_getLongitude() const {
+ return pos.getLongitudeDeg();
+}
+
+double FGAIBase::_getLatitude() const {
+ return pos.getLatitudeDeg();
+}
+
+double FGAIBase::_getElevationFt () const {
+ return pos.getElevationFt();
+}
+
+double FGAIBase::_getRdot() const {
+ return rdot;
+}
+
+double FGAIBase::_getVS_fps() const {
+ return vs*60.0;
+}
+
+double FGAIBase::_get_speed_east_fps() const {
+ return speed_east_deg_sec * ft_per_deg_lon;
+}
+
+double FGAIBase::_get_speed_north_fps() const {
+ return speed_north_deg_sec * ft_per_deg_lat;
+}
+
+void FGAIBase::_setVS_fps( double _vs ) {
+ vs = _vs/60.0;
+}
+
+double FGAIBase::_getAltitude() const {
+ return altitude_ft;
+}
+
+bool FGAIBase::_getServiceable() const {
+ return serviceable;
+}
+
+SGPropertyNode* FGAIBase::_getProps() const {
+ return props;
+}
+
+void FGAIBase::_setAltitude( double _alt ) {
+ setAltitude( _alt );
+}
+
+bool FGAIBase::_isNight() {
+ return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
+}
+
+bool FGAIBase::_getCollisionData() {
+ return _collision_reported;
+}
+
+bool FGAIBase::_getImpactData() {
+ return _impact_reported;
+}
+
+double FGAIBase::_getImpactLat() const {
+ return _impact_lat;
+}
+
+double FGAIBase::_getImpactLon() const {
+ return _impact_lon;
+}
+
+double FGAIBase::_getImpactElevFt() const {
+ return _impact_elev * SG_METER_TO_FEET;
+}
+
+double FGAIBase::_getImpactPitch() const {
+ return _impact_pitch;
+}
+
+double FGAIBase::_getImpactRoll() const {
+ return _impact_roll;
+}
+
+double FGAIBase::_getImpactHdg() const {
+ return _impact_hdg;
+}
+
+double FGAIBase::_getImpactSpeed() const {
+ return _impact_speed;
+}
+
+int FGAIBase::getID() const {
+ return _refID;
+}
+
+int FGAIBase::_getSubID() const {
+ return _subID;
+}
+
+double FGAIBase::_getSpeed() const {
+ return speed;
+}
+
+double FGAIBase::_getRoll() const {
+ return roll;
+}
+
+double FGAIBase::_getPitch() const {
+ return pitch;
+}
+
+double FGAIBase::_getHeading() const {
+ return hdg;
+}
+
+double FGAIBase::_getXOffset() const {
+ return _x_offset;
+}
+
+double FGAIBase::_getYOffset() const {
+ return _y_offset;
+}
+
+double FGAIBase::_getZOffset() const {
+ return _z_offset;
+}
+
+const char* FGAIBase::_getPath() const {
+ return model_path.c_str();
+}
+
+const char* FGAIBase::_getSMPath() const {
+ return _path.c_str();
+}
+
+const char* FGAIBase::_getName() const {
+ return _name.c_str();
+}
+
+const char* FGAIBase::_getCallsign() const {
+ return _callsign.c_str();
+}
+
+const char* FGAIBase::_getSubmodel() const {
+ return _submodel.c_str();
+}
+
+void FGAIBase::CalculateMach() {
+ // Calculate rho at altitude, using standard atmosphere
+ // For the temperature T and the pressure p,
+ double altitude = altitude_ft;
+
+ 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 << endl;
+}
+
+int FGAIBase::_newAIModelID() {
+ static int id = 0;
+
+ if (!++id)
+ id++; // id = 0 is not allowed.