- if (_last_valid) {
- double track1_deg, track2_deg, distance_m, odometer, mag_track_bearing;
- geo_inverse_wgs_84(altitude_m,
- _last_latitude_deg, _last_longitude_deg,
- latitude_deg, longitude_deg,
- &track1_deg, &track2_deg, &distance_m);
- speed_kt = ((distance_m * SG_METER_TO_NM) *
- ((1 / delta_time_sec) * 3600.0));
- vertical_speed_mpm = ((altitude_m - _last_altitude_m) * 60 /
- delta_time_sec);
- _indicated_vertical_speed_node->setDoubleValue
- (vertical_speed_mpm * SG_METER_TO_FEET);
- _true_track_node->setDoubleValue(track1_deg);
- mag_track_bearing = track1_deg - magvar_deg;
- SG_NORMALIZE_RANGE(mag_track_bearing, 0.0, 360.0);
- _magnetic_track_node->setDoubleValue(mag_track_bearing);
- speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, delta_time_sec/20.0);
- _last_speed_kts = speed_kt;
- _speed_node->setDoubleValue(speed_kt);
-
- odometer = _odometer_node->getDoubleValue();
- _odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
- odometer = _trip_odometer_node->getDoubleValue();
- _trip_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
-
- // Get waypoint 0 position
- double wp0_longitude_deg = _wp0_longitude_node->getDoubleValue();
- double wp0_latitude_deg = _wp0_latitude_node->getDoubleValue();
- double wp0_altitude_m = _wp0_altitude_node->getDoubleValue()
- * SG_FEET_TO_METER;
- double wp0_course_deg = _wp0_course_node->getDoubleValue();
- double wp0_distance, wp0_bearing_deg, wp0_course_deviation_deg,
- wp0_course_error_m, wp0_TTW, wp0_bearing_error_deg;
- string wp0_ID = _wp0_ID_node->getStringValue();
-
- // Get waypoint 1 position
- double wp1_longitude_deg = _wp1_longitude_node->getDoubleValue();
- double wp1_latitude_deg = _wp1_latitude_node->getDoubleValue();
- double wp1_altitude_m = _wp1_altitude_node->getDoubleValue()
- * SG_FEET_TO_METER;
- double wp1_course_deg = _wp1_course_node->getDoubleValue();
- double wp1_distance, wp1_bearing_deg, wp1_course_deviation_deg,
- wp1_course_error_m, wp1_TTW, wp1_bearing_error_deg;
- string wp1_ID = _wp1_ID_node->getStringValue();
-
- // If the get-nearest-airport-node is true.
- // Get the nearest airport, and set it as waypoint 1.
- if (_get_nearest_airport_node->getBoolValue()) {
- FGAirport a;
- //cout << "Airport found" << endl;
- a = globals->get_airports()->search(longitude_deg, latitude_deg, false);
- _wp1_ID_node->setStringValue(a.id.c_str());
- wp1_longitude_deg = a.longitude;
- wp1_latitude_deg = a.latitude;
- _wp1_name_node->setStringValue(a.name.c_str());
- _get_nearest_airport_node->setBoolValue(false);
- _last_wp1_ID = wp1_ID = a.id.c_str();
- }
-
- // If the waypoint 0 ID has changed, try to find the new ID
- // in the airport-, fix-, nav-database.
- if ( !(_last_wp0_ID == wp0_ID) ) {
- string waypont_type =
- _wp0_waypoint_type_node->getStringValue();
- if (waypont_type == "airport") {
- FGAirport a;
- a = globals->get_airports()->search( wp0_ID );
- if ( a.id == wp0_ID ) {
- //cout << "Airport found" << endl;
- wp0_longitude_deg = a.longitude;
- wp0_latitude_deg = a.latitude;
- _wp0_name_node->setStringValue(a.name.c_str());
- }
- }
- else if (waypont_type == "nav") {
- FGNavRecord *n
- = globals->get_navlist()->findByIdent(wp0_ID.c_str(),
- longitude_deg,
- latitude_deg);
- if ( n != NULL ) {
- //cout << "Nav found" << endl;
- wp0_longitude_deg = n->get_lon();
- wp0_latitude_deg = n->get_lat();
- _wp0_name_node->setStringValue(n->get_name().c_str());
- }
- }
- else if (waypont_type == "fix") {
- FGFix f;
- if ( globals->get_fixlist()->query(wp0_ID, &f) ) {
- //cout << "Fix found" << endl;
- wp0_longitude_deg = f.get_lon();
- wp0_latitude_deg = f.get_lat();
- _wp0_name_node->setStringValue(wp0_ID.c_str());
- }
- }
- _last_wp0_ID = wp0_ID;
- }
-
- // If the waypoint 1 ID has changed, try to find the new ID
- // in the airport-, fix-, nav-database.
- if ( !(_last_wp1_ID == wp1_ID) ) {
- string waypont_type =
- _wp1_waypoint_type_node->getStringValue();
- if (waypont_type == "airport") {
- FGAirport a;
- a = globals->get_airports()->search( wp1_ID );
- if ( a.id == wp1_ID ) {
- //cout << "Airport found" << endl;
- wp1_longitude_deg = a.longitude;
- wp1_latitude_deg = a.latitude;
- _wp1_name_node->setStringValue(a.name.c_str());
- }
- }
- else if (waypont_type == "nav") {
- FGNavRecord *n
- = globals->get_navlist()->findByIdent(wp1_ID.c_str(),
- longitude_deg,
- latitude_deg);
- if ( n != NULL ) {
- //cout << "Nav found" << endl;
- wp1_longitude_deg = n->get_lon();
- wp1_latitude_deg = n->get_lat();
- _wp1_name_node->setStringValue(n->get_name().c_str());
- }
- }
- else if (waypont_type == "fix") {
- FGFix f;
- if ( globals->get_fixlist()->query(wp1_ID, &f) ) {
- //cout << "Fix found" << endl;
- wp1_longitude_deg = f.get_lon();
- wp1_latitude_deg = f.get_lat();
- _wp1_name_node->setStringValue(wp1_ID.c_str());
- }
- }
- _last_wp1_ID = wp1_ID;
- }
-
-
-
- // If any of the two waypoints have changed
- // we need to calculate a new course between them,
- // and values for vertical navigation.
- if ( wp0_longitude_deg != _wp0_longitude_deg ||
- wp0_latitude_deg != _wp0_latitude_deg ||
- wp0_altitude_m != _wp0_altitude_m ||
- wp1_longitude_deg != _wp1_longitude_deg ||
- wp1_latitude_deg != _wp1_latitude_deg ||
- wp1_altitude_m != _wp1_altitude_m )
- {
- // Update the global variables
- _wp0_longitude_deg = wp0_longitude_deg;
- _wp0_latitude_deg = wp0_latitude_deg;
- _wp0_altitude_m = wp0_altitude_m;
- _wp1_longitude_deg = wp1_longitude_deg;
- _wp1_latitude_deg = wp1_latitude_deg;
- _wp1_altitude_m = wp1_altitude_m;
-
- // Get the course and distance from wp0 to wp1
- SGWayPoint wp0(wp0_longitude_deg,
- wp0_latitude_deg, wp0_altitude_m);
- SGWayPoint wp1(wp1_longitude_deg,
- wp1_latitude_deg, wp1_altitude_m);
-
- wp1.CourseAndDistance(wp0, &_course_deg, &_distance_m);
- double leg_mag_course = _course_deg - magvar_deg;
- SG_NORMALIZE_RANGE(leg_mag_course, 0.0, 360.0);
-
- // Get the altitude / distance ratio
- if ( distance_m > 0.0 ) {
- double alt_difference_m = wp0_altitude_m - wp1_altitude_m;
- _alt_dist_ratio = alt_difference_m / _distance_m;
- }
-
- _leg_distance_node->setDoubleValue(_distance_m * SG_METER_TO_NM);
- _leg_course_node->setDoubleValue(_course_deg);
- _leg_magnetic_course_node->setDoubleValue(leg_mag_course);
- _alt_dist_ratio_node->setDoubleValue(_alt_dist_ratio);
-
- _wp0_longitude_node->setDoubleValue(wp0_longitude_deg);
- _wp0_latitude_node->setDoubleValue(wp0_latitude_deg);
- _wp1_longitude_node->setDoubleValue(wp1_longitude_deg);
- _wp1_latitude_node->setDoubleValue(wp1_latitude_deg);
- }
-
-
- // Find the bearing and distance to waypoint 0.
- SGWayPoint wp0(wp0_longitude_deg, wp0_latitude_deg, wp0_altitude_m);
- wp0.CourseAndDistance(longitude_deg, latitude_deg, altitude_m,
- &wp0_bearing_deg, &wp0_distance);
- _wp0_distance_node->setDoubleValue(wp0_distance * SG_METER_TO_NM);
- _wp0_bearing_node->setDoubleValue(wp0_bearing_deg);
- double wp0_mag_bearing_deg = wp0_bearing_deg - magvar_deg;
- SG_NORMALIZE_RANGE(wp0_mag_bearing_deg, 0.0, 360.0);
- _wp0_mag_bearing_node->setDoubleValue(wp0_mag_bearing_deg);
- wp0_bearing_error_deg = track1_deg - wp0_bearing_deg;
- SG_NORMALIZE_RANGE(wp0_bearing_error_deg, -180.0, 180.0);
- _true_wp0_bearing_error_node->setDoubleValue(wp0_bearing_error_deg);
-
- // Estimate time to waypoint 0.
- // The estimation does not take track into consideration,
- // so if you are going away from the waypoint the TTW will
- // increase. Makes most sense when travelling directly towards
- // the waypoint.
- if (speed_kt > 0.0 && wp0_distance > 0.0) {
- wp0_TTW = (wp0_distance * SG_METER_TO_NM) / (speed_kt / 3600);
- }
- else {
- wp0_TTW = 0.0;
- }
- unsigned int wp0_TTW_seconds = (int) (wp0_TTW + 0.5);
- if (wp0_TTW_seconds < 356400) { // That's 99 hours
- unsigned int wp0_TTW_minutes = 0;
- unsigned int wp0_TTW_hours = 0;
- char wp0_TTW_str[9];
- while (wp0_TTW_seconds >= 3600) {
- wp0_TTW_seconds -= 3600;
- wp0_TTW_hours++;
- }
- while (wp0_TTW_seconds >= 60) {
- wp0_TTW_seconds -= 60;
- wp0_TTW_minutes++;
- }
- snprintf(wp0_TTW_str, 9, "%02d:%02d:%02d",
- wp0_TTW_hours, wp0_TTW_minutes, wp0_TTW_seconds);
- _wp0_ttw_node->setStringValue(wp0_TTW_str);
- }
- else
- _wp0_ttw_node->setStringValue("--:--:--");
-
- // Course deviation is the diffenrence between the bearing
- // and the course.
- wp0_course_deviation_deg = wp0_bearing_deg -
- wp0_course_deg;
- SG_NORMALIZE_RANGE(wp0_course_deviation_deg, -180.0, 180.0);
-
- // If the course deviation is less than 90 degrees to either side,
- // our desired course is towards the waypoint.
- // It does not matter if we are actually moving
- // towards or from the waypoint.
- if (fabs(wp0_course_deviation_deg) < 90.0) {
- _wp0_to_flag_node->setBoolValue(true); }
- // If it's more than 90 degrees the desired
- // course is from the waypoint.
- else if (fabs(wp0_course_deviation_deg) > 90.0) {
- _wp0_to_flag_node->setBoolValue(false);
- // When the course is away from the waypoint,
- // it makes sense to change the sign of the deviation.
- wp0_course_deviation_deg *= -1.0;
- SG_NORMALIZE_RANGE(wp0_course_deviation_deg, -90.0, 90.0);
- }
-
- _wp0_course_deviation_node->setDoubleValue(wp0_course_deviation_deg);
-
- // Cross track error.
- wp0_course_error_m = sin(wp0_course_deviation_deg * SG_PI / 180.0)
- * (wp0_distance);
- _wp0_course_error_nm_node->setDoubleValue(wp0_course_error_m
- * SG_METER_TO_NM);
-
-
-
- // Find the bearing and distance to waypoint 1.
- SGWayPoint wp1(wp1_longitude_deg, wp1_latitude_deg, wp1_altitude_m);
- wp1.CourseAndDistance(longitude_deg, latitude_deg, altitude_m,
- &wp1_bearing_deg, &wp1_distance);
- _wp1_distance_node->setDoubleValue(wp1_distance * SG_METER_TO_NM);
- _wp1_bearing_node->setDoubleValue(wp1_bearing_deg);
- double wp1_mag_bearing_deg = wp1_bearing_deg - magvar_deg;
- SG_NORMALIZE_RANGE(wp1_mag_bearing_deg, 0.0, 360.0);
- _wp1_mag_bearing_node->setDoubleValue(wp1_mag_bearing_deg);
- wp1_bearing_error_deg = track1_deg - wp1_bearing_deg;
- SG_NORMALIZE_RANGE(wp1_bearing_error_deg, -180.0, 180.0);
- _true_wp1_bearing_error_node->setDoubleValue(wp1_bearing_error_deg);
-
- // Estimate time to waypoint 1.
- // The estimation does not take track into consideration,
- // so if you are going away from the waypoint the TTW will
- // increase. Makes most sense when travelling directly towards
- // the waypoint.
- if (speed_kt > 0.0 && wp1_distance > 0.0) {
- wp1_TTW = (wp1_distance * SG_METER_TO_NM) / (speed_kt / 3600);
- }
- else {
- wp1_TTW = 0.0;
- }
- unsigned int wp1_TTW_seconds = (int) (wp1_TTW + 0.5);
- if (wp1_TTW_seconds < 356400) { // That's 99 hours
- unsigned int wp1_TTW_minutes = 0;
- unsigned int wp1_TTW_hours = 0;
- char wp1_TTW_str[9];
- while (wp1_TTW_seconds >= 3600) {
- wp1_TTW_seconds -= 3600;
- wp1_TTW_hours++;
- }
- while (wp1_TTW_seconds >= 60) {
- wp1_TTW_seconds -= 60;
- wp1_TTW_minutes++;
- }
- snprintf(wp1_TTW_str, 9, "%02d:%02d:%02d",
- wp1_TTW_hours, wp1_TTW_minutes, wp1_TTW_seconds);
- _wp1_ttw_node->setStringValue(wp1_TTW_str);
- }
- else
- _wp1_ttw_node->setStringValue("--:--:--");
-
- // Course deviation is the diffenrence between the bearing
- // and the course.
- wp1_course_deviation_deg = wp1_bearing_deg - wp1_course_deg;
- SG_NORMALIZE_RANGE(wp1_course_deviation_deg, -180.0, 180.0);
-
- // If the course deviation is less than 90 degrees to either side,
- // our desired course is towards the waypoint.
- // It does not matter if we are actually moving
- // towards or from the waypoint.
- if (fabs(wp1_course_deviation_deg) < 90.0) {
- _wp1_to_flag_node->setBoolValue(true); }
- // If it's more than 90 degrees the desired
- // course is from the waypoint.
- else if (fabs(wp1_course_deviation_deg) > 90.0) {
- _wp1_to_flag_node->setBoolValue(false);
- // When the course is away from the waypoint,
- // it makes sense to change the sign of the deviation.
- wp1_course_deviation_deg *= -1.0;
- SG_NORMALIZE_RANGE(wp1_course_deviation_deg, -90.0, 90.0);
- }
-
- _wp1_course_deviation_node->setDoubleValue(wp1_course_deviation_deg);
-
- // Cross track error.
- wp1_course_error_m = sin(wp1_course_deviation_deg * SG_PI / 180.0)
- * (wp1_distance);
- _wp1_course_error_nm_node->setDoubleValue(wp1_course_error_m
- * SG_METER_TO_NM);
-
-
- // Leg course deviation is the diffenrence between the bearing
- // and the course.
- double course_deviation_deg = wp1_bearing_deg - _course_deg;
- SG_NORMALIZE_RANGE(course_deviation_deg, -180.0, 180.0);
-
- // If the course deviation is less than 90 degrees to either side,
- // our desired course is towards the waypoint.
- // It does not matter if we are actually moving
- // towards or from the waypoint.
- if (fabs(course_deviation_deg) < 90.0) {
- _leg_to_flag_node->setBoolValue(true); }
- // If it's more than 90 degrees the desired
- // course is from the waypoint.
- else if (fabs(course_deviation_deg) > 90.0) {
- _leg_to_flag_node->setBoolValue(false);
- // When the course is away from the waypoint,
- // it makes sense to change the sign of the deviation.
- course_deviation_deg *= -1.0;
- SG_NORMALIZE_RANGE(course_deviation_deg, -90.0, 90.0);
- }