SG_USING_STD(string);
#include "AIAircraft.hxx"
+#include "performancedata.hxx"
+#include "performancedb.hxx"
+
//#include <Airports/trafficcontroller.hxx>
- static string tempReg;
-//
-// accel, decel, climb_rate, descent_rate, takeoff_speed, climb_speed,
-// cruise_speed, descent_speed, land_speed
-//
-const FGAIAircraft::PERF_STRUCT FGAIAircraft::settings[] = {
- // light aircraft
- {2.0, 2.0, 450.0, 1000.0, 70.0, 80.0, 100.0, 80.0, 60.0},
- // ww2_fighter
- {4.0, 2.0, 3000.0, 1500.0, 110.0, 180.0, 250.0, 200.0, 100.0},
- // jet_transport
- {5.0, 2.0, 3000.0, 1500.0, 140.0, 300.0, 430.0, 300.0, 130.0},
- // jet_fighter
- {7.0, 3.0, 4000.0, 2000.0, 150.0, 350.0, 500.0, 350.0, 150.0},
- // tanker
- {5.0, 2.0, 3000.0, 1500.0, 140.0, 300.0, 430.0, 300.0, 130.0},
- // ufo (extreme accel/decel)
- {30.0, 30.0, 6000.0, 6000.0, 150.0, 300.0, 430.0, 300.0, 130.0}
-};
-
-
-FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
- FGAIBase(otAircraft)
-{
+
+static string tempReg;
+
+class AI_OutOfSight{};
+class FP_Inactive{};
+
+FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : FGAIBase(otAircraft) {
trafficRef = ref;
- if (trafficRef)
+ if (trafficRef) {
groundOffset = trafficRef->getGroundOffset();
+ setCallSign(trafficRef->getCallSign());
+ }
else
groundOffset = 0;
dt_count = 0;
dt_elev_count = 0;
use_perf_vs = true;
- isTanker = false;
no_roll = false;
tgt_speed = 0;
headingChangeRate = 0.0;
holdPos = false;
+
+ _performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB
+
}
FGAIAircraft::~FGAIAircraft() {
//delete fp;
- if (controller)
- controller->signOff(getID());
+ if (controller)
+ controller->signOff(getID());
}
setFlightPlan(scFileNode->getStringValue("flightplan"),
scFileNode->getBoolValue("repeat", false));
setCallSign(scFileNode->getStringValue("callsign"));
- setTACANChannelID(scFileNode->getStringValue("TACAN-channel-ID"));
-}
-
-
-bool FGAIAircraft::init(bool search_in_AI_path) {
- //refuel_node = fgGetNode("systems/refuel/contact", true);
- return FGAIBase::init(search_in_AI_path);
}
props->tie("controls/gear/gear-down",
SGRawValueMethods<FGAIAircraft,bool>(*this,
- &FGAIAircraft::_getGearDown));
- props->tie("refuel/contact", SGRawValuePointer<bool>(&contact));
- props->setStringValue("callsign", callsign.c_str());
- props->setStringValue("navaids/tacan/channel-ID", TACAN_channel_id.c_str());
- props->setBoolValue("tanker",isTanker);
+ &FGAIAircraft::_getGearDown));
}
FGAIBase::unbind();
props->untie("controls/gear/gear-down");
- props->untie("refuel/contact");
}
Transform();
}
-
void FGAIAircraft::setPerformance(const std::string& acclass) {
- if (acclass == "light") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
- } else if (acclass == "ww2_fighter") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
- } else if (acclass == "jet_transport") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
- } else if (acclass == "jet_fighter") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
- } else if (acclass == "tanker") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
- SetTanker(true);
- } else if (acclass == "ufo") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::UFO]);
- } else {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
- }
-}
-
-
-void FGAIAircraft::SetPerformance(const PERF_STRUCT *ps) {
-
- performance = ps;
-}
-
-
-void FGAIAircraft::Run(double dt) {
-
- FGAIAircraft::dt = dt;
-
- if (fp) {
- time_t now = time(NULL) + fgGetLong("/sim/time/warp");
- ProcessFlightPlan(dt, now);
- if (now < fp->getStartTime()) {
- // Do execute Ground elev for inactive aircraft, so they
- // Are repositioned to the correct ground altitude when the user flies within visibility range.
- // In addition, check whether we are out of user range, so this aircraft
- // can be deleted.
- if (no_roll) {
- Transform(); // make sure aip is initialized.
- if (trafficRef) {
- double userLatitude = fgGetDouble("/position/latitude-deg");
- double userLongitude = fgGetDouble("/position/longitude-deg");
- double course, distance;
- SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
- SGWayPoint user (userLongitude, userLatitude, 0);
- user.CourseAndDistance(current, &course, &distance);
- if ((distance * SG_METER_TO_NM) > TRAFFICTOAIDIST) {
- setDie(true);
- return;
- }
- getGroundElev(dt); // make sure it's exectuted first time around, so force a large dt value
- //getGroundElev(dt); // Need to do this twice.
- //cerr << trafficRef->getRegistration() << " Setting altitude to " << tgt_altitude;
- doGroundAltitude();
- //cerr << " Actual altitude " << altitude << endl;
- // Transform();
- pos.setElevationFt(altitude_ft);
- }
- }
- return;
- }
- } else {
- // no flight plan, update target heading, speed, and altitude
- // from control properties. These default to the initial
- // settings in the config file, but can be changed "on the
- // fly".
- string lat_mode = props->getStringValue("controls/flight/lateral-mode");
- if ( lat_mode == "roll" ) {
- double angle
- = props->getDoubleValue("controls/flight/target-roll" );
- RollTo( angle );
- } else {
- double angle
- = props->getDoubleValue("controls/flight/target-hdg" );
- TurnTo( angle );
- }
-
- string lon_mode
- = props->getStringValue("controls/flight/longitude-mode");
- if ( lon_mode == "alt" ) {
- double alt = props->getDoubleValue("controls/flight/target-alt" );
- ClimbTo( alt );
- } else {
- double angle
- = props->getDoubleValue("controls/flight/target-pitch" );
- PitchTo( angle );
- }
-
- AccelTo( props->getDoubleValue("controls/flight/target-spd" ) );
- }
- if (controller)
- {
- controller->update(getID(),
- pos.getLatitudeDeg(),
- pos.getLongitudeDeg(),
- hdg,
- speed,
- altitude_ft, dt);
- processATC(controller->getInstruction(getID()));
- }
-
- double turn_radius_ft;
- double turn_circum_ft;
- double speed_north_deg_sec;
- double speed_east_deg_sec;
- double dist_covered_ft;
- double alpha;
-
- // adjust speed
- double speed_diff; //= tgt_speed - speed;
- if (!no_roll) {
- speed_diff = tgt_speed - speed;
- } else {
- speed_diff = groundTargetSpeed - speed;
- }
-
- if (speed_diff > 0.0) {
- speed += performance->accel * dt;
- if (no_roll) { // apply overshoot correction
- if ( speed > groundTargetSpeed ) speed = groundTargetSpeed;
- }else {
- if ( speed > tgt_speed ) speed = tgt_speed;
- }
- } else if (speed_diff < 0.0) {
- if (no_roll) {
- // on ground (aircraft can't roll)
- // deceleration performance is better due to wheel brakes.
- speed -= performance->decel * dt * 3;
- } else {
- speed -= performance->decel * dt;
- }
- if (no_roll) { // apply overshoot correction
- if (speed < groundTargetSpeed ) speed = groundTargetSpeed;
- } else {
- if ( speed < tgt_speed ) speed = tgt_speed;
- }
- }
-
-
- // convert speed to degrees per second
- speed_north_deg_sec = cos( hdg * SGD_DEGREES_TO_RADIANS )
- * speed * 1.686 / ft_per_deg_lat;
- speed_east_deg_sec = sin( hdg * SGD_DEGREES_TO_RADIANS )
- * speed * 1.686 / ft_per_deg_lon;
-
- // set new position
- pos.setLatitudeDeg( pos.getLatitudeDeg() + speed_north_deg_sec * dt);
- pos.setLongitudeDeg( pos.getLongitudeDeg() + speed_east_deg_sec * dt);
-
- /* printf("%.7f %0.4f %.7f %.5f %.7f %.7f %.8f %.8f %.9f %.9f\n",
- dt, hdg, speed, ft_per_deg_lat,
- cos( hdg * SGD_DEGREES_TO_RADIANS ),
- speed * 1.686 / ft_per_deg_lat,
- speed_north_deg_sec, speed_east_deg_sec,
- pos.getLatitudeDeg(), pos.getLongitudeDeg()); */
-
- //if (!(finite(pos.lat()) && finite(pos.lon())))
- // {
- // cerr << "Position is not finite" << endl;
- // cerr << "speed = " << speed << endl;
- // cerr << "dt" << dt << endl;
- // cerr << "heading " << hdg << endl;
- // cerr << "speed east " << speed_east_deg_sec << endl;
- // cerr << "speed nrth " << speed_north_deg_sec << endl;
- // cerr << "deg_lat " << ft_per_deg_lat << endl;
- // cerr << "deg_lon " << ft_per_deg_lon << endl;
- // }
-
- // adjust heading based on current bank angle
- if (roll == 0.0)
- roll = 0.01;
-
- if (roll != 0.0) {
- // double turnConstant;
- //if (no_roll)
- // turnConstant = 0.0088362;
- //else
- // turnConstant = 0.088362;
- // If on ground, calculate heading change directly
- if (no_roll) {
- double headingDiff = fabs(hdg-tgt_heading);
-
- if (headingDiff > 180)
- headingDiff = fabs(headingDiff - 360);
-
- groundTargetSpeed = tgt_speed - (tgt_speed * (headingDiff/45));
- if (sign(groundTargetSpeed) != sign(tgt_speed))
- groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
-
- if (headingDiff > 30.0) {
- headingChangeRate += dt * sign(roll); // invert if pushed backward
- // Print some debug statements to find out why aircraft may get stuck
- // forever turning
- //if (trafficRef->getDepartureAirport()->getId() == string("EHAM")) {
- // cerr << "Turning : " << trafficRef->getRegistration()
- // cerr << " Speed = " << speed << " Heading " << hdg
- // << " Target Heading " << tgt_heading
- // << " Lead Distance " << fp->getLeadDistance()
- // << " Distance to go "
- // << fp->getDistanceToGo(pos.lat(), pos.lon(), fp->getCurrentWaypoint())
- // << "waypoint name " << fp->getCurrentWaypoint()->name
- // << endl;
- //}
- if (headingChangeRate > 30)
- headingChangeRate = 30;
- else if (headingChangeRate < -30)
- headingChangeRate = -30;
-
- } else {
- if (fabs(headingChangeRate) > headingDiff)
- headingChangeRate = headingDiff*sign(roll);
- else
- headingChangeRate += dt * sign(roll);
- }
- hdg += headingChangeRate * dt;
- //cerr << "On ground. Heading: " << hdg << ". Target Heading: " << tgt_heading
- // << ". Target speed: " << groundTargetSpeed << ". heading change rate"
- // << headingChangeRate << endl;
-
- } else {
- if (fabs(speed) > 1.0) {
- turn_radius_ft = 0.088362 * speed * speed
- / tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
- } else {
- turn_radius_ft = 1.0; // Check if turn_radius_ft == 0; this might lead to a division by 0.
- }
- turn_circum_ft = SGD_2PI * turn_radius_ft;
- dist_covered_ft = speed * 1.686 * dt;
- alpha = dist_covered_ft / turn_circum_ft * 360.0;
- hdg += alpha * sign(roll);
- }
- while ( hdg > 360.0 ) {
- hdg -= 360.0;
- spinCounter++;
- }
- while ( hdg < 0.0) {
- hdg += 360.0;
- spinCounter--;
- }
- }
-
-
- // adjust target bank angle if heading lock engaged
- if (hdg_lock) {
- double bank_sense = 0.0;
- double diff = fabs(hdg - tgt_heading);
- if (diff > 180)
- diff = fabs(diff - 360);
-
- double sum = hdg + diff;
- if (sum > 360.0)
- sum -= 360.0;
- if (fabs(sum - tgt_heading) < 1.0) {
- bank_sense = 1.0; // right turn
- } else {
- bank_sense = -1.0; // left turn
- }
- if (diff < 30) {
- tgt_roll = diff * bank_sense;
- } else {
- tgt_roll = 30.0 * bank_sense;
- }
- if ((fabs((double) spinCounter) > 1) && (diff > 30)) {
- tgt_speed *= 0.999; // Ugly hack: If aircraft get stuck, they will continually spin around.
- // The only way to resolve this is to make them slow down.
- //if (tempReg.empty())
- // tempReg = trafficRef->getRegistration();
- //if (trafficRef->getRegistration() == tempReg) {
- // cerr << trafficRef->getRegistration()
- // << " appears to be spinning: " << spinCounter << endl
- // << " speed " << speed << endl
- // << " heading " << hdg << endl
- // << " lead distance " << fp->getLeadDistance() << endl
- // << " waypoint " << fp->getCurrentWaypoint()->name
- // << " target heading " << tgt_heading << endl
- // << " lead in angle " << fp->getLeadInAngle()<< endl
- // << " roll " << roll << endl
- // << " target_roll " << tgt_roll << endl;
- //}
- }
- }
-
- // adjust bank angle, use 9 degrees per second
- double bank_diff = tgt_roll - roll;
- if (fabs(bank_diff) > 0.2) {
- if (bank_diff > 0.0)
- roll += 9.0 * dt;
-
- if (bank_diff < 0.0)
- roll -= 9.0 * dt;
- //while (roll > 180) roll -= 360;
- //while (roll < 180) roll += 360;
- }
-
- // adjust altitude (meters) based on current vertical speed (fpm)
- altitude_ft += vs / 60.0 * dt;
- pos.setElevationFt(altitude_ft);
-
- // adjust target Altitude, based on ground elevation when on ground
- if (no_roll) {
- getGroundElev(dt);
- doGroundAltitude();
- } else {
- // find target vertical speed if altitude lock engaged
- if (alt_lock && use_perf_vs) {
- if (altitude_ft < tgt_altitude_ft) {
- tgt_vs = tgt_altitude_ft - altitude_ft;
- if (tgt_vs > performance->climb_rate)
- tgt_vs = performance->climb_rate;
- } else {
- tgt_vs = tgt_altitude_ft - altitude_ft;
- if (tgt_vs < (-performance->descent_rate))
- tgt_vs = -performance->descent_rate;
- }
- }
+ static PerformanceDB perfdb; //TODO make it a global service
+ setPerformance(perfdb.getDataFor(acclass));
+ }
- if (alt_lock && !use_perf_vs) {
- double max_vs = 4*(tgt_altitude_ft - altitude_ft);
- double min_vs = 100;
- if (tgt_altitude_ft < altitude_ft)
- min_vs = -100.0;
- if ((fabs(tgt_altitude_ft - altitude_ft) < 1500.0)
- && (fabs(max_vs) < fabs(tgt_vs)))
- tgt_vs = max_vs;
- if (fabs(tgt_vs) < fabs(min_vs))
- tgt_vs = min_vs;
- }
- }
- // adjust vertical speed
- double vs_diff = tgt_vs - vs;
- if (fabs(vs_diff) > 10.0) {
- if (vs_diff > 0.0) {
- vs += (performance->climb_rate / 3.0) * dt;
-
- if (vs > tgt_vs)
- vs = tgt_vs;
- } else {
- vs -= (performance->descent_rate / 3.0) * dt;
+ void FGAIAircraft::setPerformance(PerformanceData *ps) {
+ _performance = ps;
+ }
- if (vs < tgt_vs)
- vs = tgt_vs;
- }
- }
- // match pitch angle to vertical speed
- if (vs > 0) {
- pitch = vs * 0.005;
- } else {
- pitch = vs * 0.002;
- }
+ void FGAIAircraft::Run(double dt) {
+ FGAIAircraft::dt = dt;
- //###########################//
- // do calculations for radar //
- //###########################//
- double range_ft2 = UpdateRadar(manager);
+ try {
+ updatePrimaryTargetValues(); // target hdg, alt, speed
+ }
+ catch (AI_OutOfSight) {
+ return;
+ }
+ catch (FP_Inactive) {
+ return;
+ }
- //************************************//
- // Tanker code //
- //************************************//
+ handleATCRequests(); // ATC also has a word to say
+ updateSecondaryTargetValues(); // target roll, vertical speed, pitch
+ updateActualState();
+ UpdateRadar(manager);
+ }
- if ( isTanker) {
- if ( (range_ft2 < 250.0 * 250.0) && (y_shift > 0.0)
- && (elevation > 0.0) ) {
- //refuel_node->setBoolValue(true);
- contact = true;
- } else {
- //refuel_node->setBoolValue(false);
- contact = false;
- }
- } else {
- contact = false;
- }
-}
void FGAIAircraft::AccelTo(double speed) {
double FGAIAircraft::sign(double x) {
- if ( x < 0.0 )
- return -1.0;
+ if (x == 0.0)
+ return x;
else
- return 1.0;
+ return x/fabs(x);
}
void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
- bool eraseWaypoints;
- if (trafficRef) {
- eraseWaypoints = true;
- } else
- eraseWaypoints = false;
-
- FGAIFlightPlan::waypoint* prev = 0; // the one behind you
- FGAIFlightPlan::waypoint* curr = 0; // the one ahead
- FGAIFlightPlan::waypoint* next = 0; // the next plus 1
+ // the one behind you
+ FGAIFlightPlan::waypoint* prev = 0;
+ // the one ahead
+ FGAIFlightPlan::waypoint* curr = 0;
+ // the next plus 1
+ FGAIFlightPlan::waypoint* next = 0;
+
prev = fp->getPreviousWaypoint();
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
+
dt_count += dt;
///////////////////////////////////////////////////////////////////////////
// Initialize the flightplan
//////////////////////////////////////////////////////////////////////////
if (!prev) {
+ handleFirstWaypoint();
+ return;
+ } // end of initialization
+ if (! fpExecutable(now))
+ return;
+ dt_count = 0;
- spinCounter = 0;
- tempReg = "";
- fp->IncrementWaypoint(eraseWaypoints);
- if (!(fp->getNextWaypoint()) && trafficRef)
- loadNextLeg();
-
- prev = fp->getPreviousWaypoint(); //first waypoint
- curr = fp->getCurrentWaypoint(); //second waypoint
- next = fp->getNextWaypoint(); //third waypoint (might not exist!)
-
- setLatitude(prev->latitude);
- setLongitude(prev->longitude);
- setSpeed(prev->speed);
- setAltitude(prev->altitude);
-
- if (prev->speed > 0.0)
- setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
- else
- setHeading(fp->getBearing(curr->latitude, curr->longitude, prev));
-
- // If next doesn't exist, as in incrementally created flightplans for
- // AI/Trafficmanager created plans,
- // Make sure lead distance is initialized otherwise
- if (next)
- fp->setLeadDistance(speed, hdg, curr, next);
-
- if (curr->crossat > -1000.0) { //use a calculated descent/climb rate
- use_perf_vs = false;
- tgt_vs = (curr->crossat - prev->altitude)
- / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
- / 6076.0 / prev->speed*60.0);
- tgt_altitude_ft = curr->crossat;
- } else {
- use_perf_vs = true;
- tgt_altitude_ft = prev->altitude;
- }
- alt_lock = hdg_lock = true;
- no_roll = prev->on_ground;
- if (no_roll) {
- Transform(); // make sure aip is initialized.
- getGroundElev(60.1); // make sure it's executed first time around, so force a large dt value
- doGroundAltitude();
- }
- // Make sure to announce the aircraft's position
- announcePositionToController();
- prevSpeed = 0;
- return;
- } // end of initialization
- ///////////////////////////////////////////////////////////////////////////
- // Check Execution time (currently once every 100 ms)
- // Add a bit of randomization to prevent the execution of all flight plans
- // in synchrony, which can add significant periodic framerate flutter.
- ///////////////////////////////////////////////////////////////////////////
- double rand_exec_time = (rand() % 100) / 100;
- if ((dt_count < (0.1+rand_exec_time)) || (now < fp->getStartTime())) {
- //cerr << "done fp dt" << endl;
- return;
+ if (! leadPointReached(curr)) {
+ controlHeading(curr);
+ controlSpeed(curr, next);
} else {
- dt_count = 0;
- }
-
- // check to see if we've reached the lead point for our next turn
- double dist_to_go = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
-
- //cerr << "2" << endl;
- double lead_dist = fp->getLeadDistance();
- //cerr << " Distance : " << dist_to_go << ": Lead distance " << lead_dist << endl;
- // experimental: Use fabs, because speed can be negative (I hope) during push_back.
-
- if (lead_dist < fabs(2*speed)) {
- lead_dist = fabs(2*speed); //don't skip over the waypoint
- //cerr << "Extending lead distance to " << lead_dist << endl;
- }
-
- //prev_dist_to_go = dist_to_go;
-
- if ( dist_to_go < lead_dist ) {
- if (curr->finished) { //end of the flight plan
+ if (curr->finished) //end of the flight plan
+ {
if (fp->getRepeat())
fp->restart();
else
}
if (next) {
+ //TODO more intelligent method in AIFlightPlan, no need to send data it already has :-)
tgt_heading = fp->getBearing(curr, next);
spinCounter = 0;
}
- fp->IncrementWaypoint(eraseWaypoints);
+ //TODO let the fp handle this (loading of next leg)
+ fp->IncrementWaypoint((bool) trafficRef);
if (!(fp->getNextWaypoint()) && trafficRef)
loadNextLeg();
// Now that we have incremented the waypoints, excute some traffic manager specific code
if (trafficRef) {
- double userLatitude = fgGetDouble("/position/latitude-deg");
- double userLongitude = fgGetDouble("/position/longitude-deg");
- double course, distance;
- SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
- SGWayPoint user (userLongitude, userLatitude, 0);
- user.CourseAndDistance(current, &course, &distance);
- if ((distance * SG_METER_TO_NM) > TRAFFICTOAIDIST) {
+ //TODO isn't this best executed right at the beginning?
+ if (! aiTrafficVisible()) {
setDie(true);
return;
}
- FGAirport * dep = trafficRef->getDepartureAirport();
- FGAirport * arr = trafficRef->getArrivalAirport();
- if (!( dep && arr)) {
+ if (! handleAirportEndPoints(prev, now)) {
setDie(true);
return;
}
- // This waypoint marks the fact that the aircraft has passed the initial taxi
- // departure waypoint, so it can release the parking.
- if (prev->name == "park2")
- dep->getDynamics()->releaseParking(fp->getGate());
- // This is the last taxi waypoint, and marks the the end of the flight plan
- // so, the schedule should update and wait for the next departure time.
- if (prev->name == "END") {
- // make sure to wait at least 20 minutes at parking to prevent "nervous" taxi behavior
- // delayed aircraft.
- time_t nextDeparture = trafficRef->getDepartureTime();
- if (nextDeparture < (now+1200)) {
- nextDeparture = now + 1200;
- }
- fp->setTime(trafficRef->getDepartureTime());
- }
- announcePositionToController();
-
+
+ announcePositionToController();
+
}
if (next) {
- //cerr << "Current waypoint" << curr->name << endl;
- //cerr << "Next waypoint" << next->name << endl;
fp->setLeadDistance(speed, tgt_heading, curr, next);
}
- //cerr << "5.1" << endl;
- if (!(prev->on_ground)) { // only update the tgt altitude from flightplan if not on the ground
+ if (!(prev->on_ground)) // only update the tgt altitude from flightplan if not on the ground
+ {
tgt_altitude_ft = prev->altitude;
if (curr->crossat > -1000.0) {
- //cerr << "5.1a" << endl;
use_perf_vs = false;
tgt_vs = (curr->crossat - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
- / 6076.0 / speed*60.0);
- //cerr << "5.1b" << endl;
+ / 6076.0 / speed*60.0);
tgt_altitude_ft = curr->crossat;
} else {
- //cerr << "5.1c" << endl;
use_perf_vs = true;
- //cerr << "5.1d" << endl;
- //cerr << "Setting target altitude : " <<tgt_altitude_ft << endl;
}
}
- //cerr << "6" << endl;
tgt_speed = prev->speed;
hdg_lock = alt_lock = true;
no_roll = prev->on_ground;
- //cout << "Crossing waypoint: " << prev->name << endl;
- //cout << " Target speed: " << tgt_speed << endl;
- //cout << " Target altitude: " << tgt_altitude_ft << endl;
- //cout << " Target heading: " << tgt_heading << endl << endl;
-
- } else {
- double calc_bearing = fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
- //cerr << "Bearing = " << calc_bearing << endl;
- if (speed < 0) {
- calc_bearing +=180;
- if (calc_bearing > 360)
- calc_bearing -= 360;
- }
-
- if (finite(calc_bearing)) {
- double hdg_error = calc_bearing - tgt_heading;
- if (fabs(hdg_error) > 1.0) {
- TurnTo( calc_bearing );
- }
-
- } else {
- cerr << "calc_bearing is not a finite number : "
- << "Speed " << speed
- << "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
- << "waypoint " << curr->latitude << ", " << curr->longitude << endl;
- cerr << "waypoint name " << curr->name;
- exit(1); // FIXME
- }
-
- double speed_diff = speed - prevSpeed;
- // Update the lead distance calculation if speed has changed sufficiently
- // to prevent spinning (hopefully);
- if (fabs(speed_diff) > 10) {
- prevSpeed = speed;
- fp->setLeadDistance(speed, tgt_heading, curr, next);
- }
-
- //cerr << "Done Processing FlightPlan"<< endl;
}
}
-void FGAIAircraft::initializeFlightPlan()
-{
+void FGAIAircraft::initializeFlightPlan() {
}
bool FGAIAircraft::_getGearDown() const {
- return ((props->getFloatValue("position/altitude-agl-ft") < 900.0)
- && (props->getFloatValue("velocities/airspeed-kt")
- < performance->land_speed*1.25));
+ return _performance->gearExtensible(this);
}
void FGAIAircraft::loadNextLeg() {
- //delete fp;
- //time_t now = time(NULL) + fgGetLong("/sim/time/warp");
-
- //FGAIModelEntity entity;
- //entity.m_class = "jet_transport";
- //entity.path = modelPath.c_str();
- //entity.flightplan = "none";
- //entity.latitude = _getLatitude();
- //entity.longitude = _getLongitude();
- //entity.altitude = trafficRef->getCruiseAlt() * 100; // convert from FL to feet
- //entity.speed = 450; // HACK ALERT
- //entity.fp = new FGAIFlightPlan(&entity, courseToDest, i->getDepartureTime(), dep, arr);
+
int leg;
if ((leg = fp->getLeg()) == 10) {
trafficRef->next();
+ setCallSign(trafficRef->getCallSign());
+ //props->setStringValue("callsign", callsign.c_str());
leg = 1;
fp->setLeg(leg);
- //cerr << "Resetting leg : " << leg << endl;
}
- //leg++;
- //fp->setLeg(leg);
- //cerr << "Creating leg number : " << leg << endl;
+
FGAirport *dep = trafficRef->getDepartureAirport();
FGAirport *arr = trafficRef->getArrivalAirport();
if (!(dep && arr)) {
setDie(true);
- //cerr << "Failed to get airport in AIAircraft::ProcessFlightplan()" << endl;
- //if (dep)
- // cerr << "Departure " << dep->getId() << endl;
- //if (arr)
- // cerr << "Arrival " << arr->getId() << endl;
} else {
double cruiseAlt = trafficRef->getCruiseAlt() * 100;
- //cerr << "Creating new leg using " << cruiseAlt << " as cruise altitude."<< endl;
fp->create (dep,
arr,
leg,
- cruiseAlt, //(trafficRef->getCruiseAlt() * 100), // convert from FL to feet
+ cruiseAlt, //(trafficRef->getCruiseAlt() * 100), // convert from FL to feet
trafficRef->getSpeed(),
_getLatitude(),
_getLongitude(),
trafficRef->getFlightType(),
acType,
company);
- //prev = fp->getPreviousWaypoint();
- //curr = fp->getCurrentWaypoint();
- //next = fp->getNextWaypoint();
- //cerr << "25" << endl;
- //if (next)
- // {
- // //cerr << "Next waypoint" << next->name << endl;
- // fp->setLeadDistance(speed, tgt_heading, curr, next);
- // }
- //cerr << "25.1" << endl;
- //if (curr->crossat > -1000.0) {
- // //cerr << "25.1a" << endl;
- // use_perf_vs = false;
- //
- // tgt_vs = (curr->crossat - altitude_ft)/
- // (fp->getDistanceToGo(pos.lat(), pos.lon(), curr)/6076.0/speed*60.0);
- // //cerr << "25.1b" << endl;
- // tgt_altitude_ft = curr->crossat;
- //} else {
- // //cerr << "25.1c" << endl;
- // use_perf_vs = true;
- // //cerr << "25.1d" << endl;
- // tgt_altitude_ft = prev->altitude;
- // //cerr << "Setting target altitude : " <<tgt_altitude_ft << endl;
- // }
- //cerr << "26" << endl;
- //tgt_speed = prev->speed;
- //hdg_lock = alt_lock = true;
- //no_roll = prev->on_ground;
}
- //else
- //{
- //delete entity.fp;
- //entity.fp = new FGAIFlightPlan(&entity,
- // 999, // A hack
- // trafficRef->getDepartureTime(),
- // trafficRef->getDepartureAirport(),
- // trafficRef->getArrivalAirport(),
- // false,
- // acType,
- // company);
- //SetFlightPlan(entity.fp);
}
// to prevent all IA objects doing this in synchrony
if (dt_elev_count < (3.0) + (rand() % 10))
return;
- else
- dt_elev_count = 0;
+
+ dt_elev_count = 0;
// Only do the proper hitlist stuff if we are within visible range of the viewer.
if (!invisible) {
SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
SGWayPoint view (vw->getLongitude_deg(), vw->getLatitude_deg(), 0);
view.CourseAndDistance(current, &course, &distance);
- if(distance > visibility_meters) {
+ if (distance > visibility_meters) {
//aip.getSGLocation()->set_cur_elev_m(aptElev);
return;
}
double alt;
if (globals->get_scenery()->get_elevation_m(pos.getLatitudeDeg(), pos.getLongitudeDeg(), 20000.0, alt, 0))
tgt_altitude_ft = alt * SG_METER_TO_FEET;
+ }
+}
+
+
+void FGAIAircraft::doGroundAltitude() {
+ if (fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)
+ altitude_ft = (tgt_altitude_ft + groundOffset);
+ else
+ altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
+}
+
+
+void FGAIAircraft::announcePositionToController() {
+ if (trafficRef) {
+ int leg = fp->getLeg();
+
+ // Note that leg was been incremented after creating the current leg, so we should use
+ // leg numbers here that are one higher than the number that is used to create the leg
+ //
+ switch (leg) {
+ case 3: // Taxiing to runway
+ if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
+ controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
+ break;
+ case 4: //Take off tower controller
+ if (trafficRef->getDepartureAirport()->getDynamics()) {
+ controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
+ //if (trafficRef->getDepartureAirport()->getId() == "EHAM") {
+ //cerr << trafficRef->getCallSign() << " at runway " << fp->getRunway() << "Ready for departure "
+ // << trafficRef->getFlightType() << " to " << trafficRef->getArrivalAirport()->getId() << endl;
+ // if (controller == 0) {
+ //cerr << "Error in assigning controller at " << trafficRef->getDepartureAirport()->getId() << endl;
+ //}
+
+ } else {
+ cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
+ }
+ break;
+ case 9: // Taxiing for parking
+ if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
+ controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
+ break;
+ default:
+ controller = 0;
+ break;
+ }
- //cerr << "Target altitude : " << tgt_altitude_ft << endl;
- // if (globals->get_scenery()->get_elevation_m(pos.lat(), pos.lon(),
- // 20000.0, alt))
- // tgt_altitude_ft = alt * SG_METER_TO_FEET;
- //cerr << "Target altitude : " << tgt_altitude_ft << endl;
+ if ((controller != prevController) && (prevController != 0)) {
+ prevController->signOff(getID());
+ string callsign = trafficRef->getCallSign();
+ if ( trafficRef->getHeavy())
+ callsign += "Heavy";
+ switch (leg) {
+ case 3:
+ //cerr << callsign << " ready to taxi to runway " << fp->getRunway() << endl;
+ break;
+ case 4:
+ //cerr << callsign << " at runway " << fp->getRunway() << "Ready for take-off. "
+ // << trafficRef->getFlightRules() << " to " << trafficRef->getArrivalAirport()->getId()
+ // << "(" << trafficRef->getArrivalAirport()->getName() << ")."<< endl;
+ break;
+ }
+ }
+ prevController = controller;
+ if (controller) {
+ controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->routeIndex,
+ _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
+ trafficRef->getRadius(), leg, trafficRef->getCallSign());
+ }
}
}
-void FGAIAircraft::setCallSign(const string& s) {
- callsign = s;
+void FGAIAircraft::processATC(FGATCInstruction instruction) {
+ if (instruction.getCheckForCircularWait()) {
+ // This is not exactly an elegant solution,
+ // but at least it gives me a chance to check
+ // if circular waits are resolved.
+ // For now, just take the offending aircraft
+ // out of the scene
+ setDie(true);
+ // a more proper way should be - of course - to
+ // let an offending aircraft take an evasive action
+ // for instance taxi back a little bit.
+ }
+ //cerr << "Processing ATC instruction (not Implimented yet)" << endl;
+ if (instruction.getHoldPattern ()) {}
+
+ // Hold Position
+ if (instruction.getHoldPosition ()) {
+ if (!holdPos) {
+ holdPos = true;
+ }
+ AccelTo(0.0);
+ } else {
+ if (holdPos) {
+ //if (trafficRef)
+ // cerr << trafficRef->getCallSign() << " Resuming Taxi " << endl;
+ holdPos = false;
+ }
+ // Change speed Instruction. This can only be excecuted when there is no
+ // Hold position instruction.
+ if (instruction.getChangeSpeed ()) {
+ // if (trafficRef)
+ //cerr << trafficRef->getCallSign() << " Changing Speed " << endl;
+ AccelTo(instruction.getSpeed());
+ } else {
+ if (fp) AccelTo(fp->getPreviousWaypoint()->speed);
+ }
+ }
+ if (instruction.getChangeHeading ()) {
+ hdg_lock = false;
+ TurnTo(instruction.getHeading());
+ } else {
+ if (fp) {
+ hdg_lock = true;
+ }
+ }
+ if (instruction.getChangeAltitude()) {}
+
}
-void FGAIAircraft::setTACANChannelID(const string& id) {
- TACAN_channel_id = id;
+void FGAIAircraft::handleFirstWaypoint() {
+ bool eraseWaypoints; //TODO YAGNI
+ if (trafficRef) {
+ eraseWaypoints = true;
+ } else {
+ eraseWaypoints = false;
+ }
+
+ FGAIFlightPlan::waypoint* prev = 0; // the one behind you
+ FGAIFlightPlan::waypoint* curr = 0; // the one ahead
+ FGAIFlightPlan::waypoint* next = 0;// the next plus 1
+
+ spinCounter = 0;
+ tempReg = "";
+
+ //TODO fp should handle this
+ fp->IncrementWaypoint(eraseWaypoints);
+ if (!(fp->getNextWaypoint()) && trafficRef)
+ loadNextLeg();
+
+ prev = fp->getPreviousWaypoint(); //first waypoint
+ curr = fp->getCurrentWaypoint(); //second waypoint
+ next = fp->getNextWaypoint(); //third waypoint (might not exist!)
+
+ setLatitude(prev->latitude);
+ setLongitude(prev->longitude);
+ setSpeed(prev->speed);
+ setAltitude(prev->altitude);
+
+ if (prev->speed > 0.0)
+ setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
+ else
+ setHeading(fp->getBearing(curr->latitude, curr->longitude, prev));
+
+ // If next doesn't exist, as in incrementally created flightplans for
+ // AI/Trafficmanager created plans,
+ // Make sure lead distance is initialized otherwise
+ if (next)
+ fp->setLeadDistance(speed, hdg, curr, next);
+
+ if (curr->crossat > -1000.0) //use a calculated descent/climb rate
+ {
+ use_perf_vs = false;
+ tgt_vs = (curr->crossat - prev->altitude)
+ / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
+ / 6076.0 / prev->speed*60.0);
+ tgt_altitude_ft = curr->crossat;
+ } else {
+ use_perf_vs = true;
+ tgt_altitude_ft = prev->altitude;
+ }
+ alt_lock = hdg_lock = true;
+ no_roll = prev->on_ground;
+ if (no_roll) {
+ Transform(); // make sure aip is initialized.
+ getGroundElev(60.1); // make sure it's executed first time around, so force a large dt value
+ doGroundAltitude();
+ }
+ // Make sure to announce the aircraft's position
+ announcePositionToController();
+ prevSpeed = 0;
}
-void FGAIAircraft::doGroundAltitude() {
- if (fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)
- altitude_ft = (tgt_altitude_ft + groundOffset);
- else
- altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
+/**
+ * Check Execution time (currently once every 100 ms)
+ * Add a bit of randomization to prevent the execution of all flight plans
+ * in synchrony, which can add significant periodic framerate flutter.
+ *
+ * @param now
+ * @return
+ */
+bool FGAIAircraft::fpExecutable(time_t now) {
+ double rand_exec_time = (rand() % 100) / 100;
+ return (dt_count > (0.1+rand_exec_time)) && (fp->isActive(now));
}
-void FGAIAircraft::announcePositionToController()
-{
- if (trafficRef) {
- //FGTaxiRoute *taxiRoute = fp->getTaxiRoute();
-
- int leg = fp->getLeg();
-
- //if (fp->getCurrentWaypoint()->routeIndex != 0) {
- //char buffer[10];
- //snprintf (buffer, 10, "%d", node);
- // Note that leg was been incremented after creating the current leg, so we should use
- // leg numbers here that are one higher than the number that is used to create the leg
- //
- switch (leg) {
- case 3: // Taxiing to runway
- if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
- controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
- break;
- case 4: //Take off tower controller
- if (trafficRef->getDepartureAirport()->getDynamics())
- {
- controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
- //if (trafficRef->getDepartureAirport()->getId() == "EHAM") {
- //cerr << trafficRef->getCallSign() << " at runway " << fp->getRunway() << "Ready for departure "
- // << trafficRef->getFlightType() << " to " << trafficRef->getArrivalAirport()->getId() << endl;
- // if (controller == 0) {
- //cerr << "Error in assigning controller at " << trafficRef->getDepartureAirport()->getId() << endl;
- //}
-
- }
- else {
- cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
- }
- break;
- case 9: // Taxiing for parking
- if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
- controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
- break;
- default:
- controller = 0;
- break;
- }
-
- if ((controller != prevController) && (prevController != 0)) {
- prevController->signOff(getID());
- string callsign = trafficRef->getCallSign();
- if ( trafficRef->getHeavy())
- callsign += "Heavy";
- switch (leg) {
- case 3:
- //cerr << callsign << " ready to taxi to runway " << fp->getRunway() << endl;
- break;
- case 4:
- //cerr << callsign << " at runway " << fp->getRunway() << "Ready for take-off. "
- // << trafficRef->getFlightRules() << " to " << trafficRef->getArrivalAirport()->getId()
- // << "(" << trafficRef->getArrivalAirport()->getName() << ")."<< endl;
- break;
- }
+/**
+ * Check to see if we've reached the lead point for our next turn
+ *
+ * @param curr
+ * @return
+ */
+bool FGAIAircraft::leadPointReached(FGAIFlightPlan::waypoint* curr) {
+ double dist_to_go = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
+
+ //cerr << "2" << endl;
+ double lead_dist = fp->getLeadDistance();
+ //cerr << " Distance : " << dist_to_go << ": Lead distance " << lead_dist << endl;
+ // experimental: Use fabs, because speed can be negative (I hope) during push_back.
+
+ if (lead_dist < fabs(2*speed)) {
+ //don't skip over the waypoint
+ lead_dist = fabs(2*speed);
+ //cerr << "Extending lead distance to " << lead_dist << endl;
}
- prevController = controller;
- if (controller) {
- controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->routeIndex,
- _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
- trafficRef->getRadius(), leg, trafficRef->getCallSign());
+
+ //prev_dist_to_go = dist_to_go;
+ return dist_to_go < lead_dist;
+}
+
+
+bool FGAIAircraft::aiTrafficVisible() {
+ double userLatitude = fgGetDouble("/position/latitude-deg");
+ double userLongitude = fgGetDouble("/position/longitude-deg");
+ double course, distance;
+
+ SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
+ SGWayPoint user (userLongitude, userLatitude, 0);
+
+ user.CourseAndDistance(current, &course, &distance);
+
+ return ((distance * SG_METER_TO_NM) <= TRAFFICTOAIDIST);
+}
+
+
+/**
+ * Handle release of parking gate, once were taxiing. Also ensure service time at the gate
+ * in the case of an arrival.
+ *
+ * @param prev
+ * @return
+ */
+
+//TODO the trafficRef is the right place for the method
+bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t now) {
+ // prepare routing from one airport to another
+ FGAirport * dep = trafficRef->getDepartureAirport();
+ FGAirport * arr = trafficRef->getArrivalAirport();
+
+ if (!( dep && arr))
+ return false;
+
+ // This waypoint marks the fact that the aircraft has passed the initial taxi
+ // departure waypoint, so it can release the parking.
+ if (prev->name == "park2") {
+ dep->getDynamics()->releaseParking(fp->getGate());
}
- }
+
+ // This is the last taxi waypoint, and marks the the end of the flight plan
+ // so, the schedule should update and wait for the next departure time.
+ if (prev->name == "END") {
+ time_t nextDeparture = trafficRef->getDepartureTime();
+ // make sure to wait at least 20 minutes at parking to prevent "nervous" taxi behavior
+ if (nextDeparture < (now+1200)) {
+ nextDeparture = now + 1200;
+ }
+ fp->setTime(nextDeparture); // should be "next departure"
+ }
+
+ return true;
}
-void FGAIAircraft::processATC(FGATCInstruction instruction)
-{
- //cerr << "Processing ATC instruction (not Implimented yet)" << endl;
- if (instruction.getHoldPattern ()) {
- }
-
- // Hold Position
- if (instruction.getHoldPosition ()) {
- if (!holdPos) {
- //if (trafficRef)
- //cerr << trafficRef->getCallSign() << "Holding Position " << endl;
- holdPos = true;
+/**
+ * Check difference between target bearing and current heading and correct if necessary.
+ *
+ * @param curr
+ */
+void FGAIAircraft::controlHeading(FGAIFlightPlan::waypoint* curr) {
+ double calc_bearing = fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
+ //cerr << "Bearing = " << calc_bearing << endl;
+ if (speed < 0) {
+ calc_bearing +=180;
+ if (calc_bearing > 360)
+ calc_bearing -= 360;
}
- AccelTo(0.0);
- } else {
- if (holdPos) {
- //if (trafficRef)
- // cerr << trafficRef->getCallSign() << " Resuming Taxi " << endl;
- holdPos = false;
- }
- // Change speed Instruction. This can only be excecuted when there is no
- // Hold position instruction.
- if (instruction.getChangeSpeed ()) {
- // if (trafficRef)
- //cerr << trafficRef->getCallSign() << " Changing Speed " << endl;
- AccelTo(instruction.getSpeed());
- }else {
- if (fp) AccelTo(fp->getPreviousWaypoint()->speed);
+
+ if (finite(calc_bearing)) {
+ double hdg_error = calc_bearing - tgt_heading;
+ if (fabs(hdg_error) > 0.01) {
+ TurnTo( calc_bearing );
+ }
+
+ } else {
+ cerr << "calc_bearing is not a finite number : "
+ << "Speed " << speed
+ << "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
+ << "waypoint " << curr->latitude << ", " << curr->longitude << endl;
+ cerr << "waypoint name " << curr->name;
+ exit(1); // FIXME
}
- }
- if (instruction.getChangeHeading ()) {
- hdg_lock = false;
- TurnTo(instruction.getHeading());
- } else {
- if (fp) {hdg_lock = true;}
- }
- if (instruction.getChangeAltitude()) {
- }
+}
+
+
+/**
+ * Update the lead distance calculation if speed has changed sufficiently
+ * to prevent spinning (hopefully);
+ *
+ * @param curr
+ * @param next
+ */
+void FGAIAircraft::controlSpeed(FGAIFlightPlan::waypoint* curr, FGAIFlightPlan::waypoint* next) {
+ double speed_diff = speed - prevSpeed;
+
+ if (fabs(speed_diff) > 10) {
+ prevSpeed = speed;
+ if (next) {
+ fp->setLeadDistance(speed, tgt_heading, curr, next);
+ }
+ }
+}
+
+
+/**
+ * Update target values (heading, alt, speed) depending on flight plan or control properties
+ */
+void FGAIAircraft::updatePrimaryTargetValues() {
+ if (fp) // AI object has a flightplan
+ {
+ //TODO make this a function of AIBase
+ time_t now = time(NULL) + fgGetLong("/sim/time/warp");
+ //cerr << "UpateTArgetValues() " << endl;
+ ProcessFlightPlan(dt, now);
+
+ // Do execute Ground elev for inactive aircraft, so they
+ // Are repositioned to the correct ground altitude when the user flies within visibility range.
+ // In addition, check whether we are out of user range, so this aircraft
+ // can be deleted.
+ if (onGround()) {
+ Transform(); // make sure aip is initialized.
+ getGroundElev(dt);
+ doGroundAltitude();
+ // Transform();
+ pos.setElevationFt(altitude_ft);
+ }
+ if (trafficRef) {
+ //cerr << trafficRef->getRegistration() << " Setting altitude to " << altitude_ft;
+ if (! aiTrafficVisible()) {
+ setDie(true);
+ //cerr << trafficRef->getRegistration() << " is set to die " << endl;
+ throw AI_OutOfSight();
+ }
+ }
+ if (! fp->isActive(now)) {
+ throw FP_Inactive();
+ }
+ } else {
+ // no flight plan, update target heading, speed, and altitude
+ // from control properties. These default to the initial
+ // settings in the config file, but can be changed "on the
+ // fly".
+ string lat_mode = props->getStringValue("controls/flight/lateral-mode");
+ if ( lat_mode == "roll" ) {
+ double angle
+ = props->getDoubleValue("controls/flight/target-roll" );
+ RollTo( angle );
+ } else {
+ double angle
+ = props->getDoubleValue("controls/flight/target-hdg" );
+ TurnTo( angle );
+ }
+
+ string lon_mode
+ = props->getStringValue("controls/flight/longitude-mode");
+ if ( lon_mode == "alt" ) {
+ double alt = props->getDoubleValue("controls/flight/target-alt" );
+ ClimbTo( alt );
+ } else {
+ double angle
+ = props->getDoubleValue("controls/flight/target-pitch" );
+ PitchTo( angle );
+ }
+
+ AccelTo( props->getDoubleValue("controls/flight/target-spd" ) );
+ }
+}
+
+void FGAIAircraft::updatePosition() {
+ // convert speed to degrees per second
+ double speed_north_deg_sec = cos( hdg * SGD_DEGREES_TO_RADIANS )
+ * speed * 1.686 / ft_per_deg_lat;
+ double speed_east_deg_sec = sin( hdg * SGD_DEGREES_TO_RADIANS )
+ * speed * 1.686 / ft_per_deg_lon;
+
+ // set new position
+ pos.setLatitudeDeg( pos.getLatitudeDeg() + speed_north_deg_sec * dt);
+ pos.setLongitudeDeg( pos.getLongitudeDeg() + speed_east_deg_sec * dt);
+}
+
+
+void FGAIAircraft::updateHeading() {
+ // adjust heading based on current bank angle
+ if (roll == 0.0)
+ roll = 0.01;
+
+ if (roll != 0.0) {
+ // double turnConstant;
+ //if (no_roll)
+ // turnConstant = 0.0088362;
+ //else
+ // turnConstant = 0.088362;
+ // If on ground, calculate heading change directly
+ if (onGround()) {
+ double headingDiff = fabs(hdg-tgt_heading);
+
+ if (headingDiff > 180)
+ headingDiff = fabs(headingDiff - 360);
+
+ groundTargetSpeed = tgt_speed - (tgt_speed * (headingDiff/45));
+ if (sign(groundTargetSpeed) != sign(tgt_speed))
+ groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
+
+ if (headingDiff > 30.0) {
+ // invert if pushed backward
+ headingChangeRate += dt * sign(roll);
+
+ if (headingChangeRate > 30)
+ headingChangeRate = 30;
+ else if (headingChangeRate < -30)
+ headingChangeRate = -30;
+
+ } else {
+ if (fabs(headingChangeRate) > headingDiff)
+ headingChangeRate = headingDiff*sign(roll);
+ else
+ headingChangeRate += dt * sign(roll);
+ }
+ hdg += headingChangeRate * dt;
+ } else {
+ if (fabs(speed) > 1.0) {
+ turn_radius_ft = 0.088362 * speed * speed
+ / tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
+ } else {
+ // Check if turn_radius_ft == 0; this might lead to a division by 0.
+ turn_radius_ft = 1.0;
+ }
+ double turn_circum_ft = SGD_2PI * turn_radius_ft;
+ double dist_covered_ft = speed * 1.686 * dt;
+ double alpha = dist_covered_ft / turn_circum_ft * 360.0;
+ hdg += alpha * sign(roll);
+ }
+ while ( hdg > 360.0 ) {
+ hdg -= 360.0;
+ spinCounter++;
+ }
+ while ( hdg < 0.0) {
+ hdg += 360.0;
+ spinCounter--;
+ }
+ }
+}
+
+
+void FGAIAircraft::updateBankAngleTarget() {
+ // adjust target bank angle if heading lock engaged
+ if (hdg_lock) {
+ double bank_sense = 0.0;
+ double diff = fabs(hdg - tgt_heading);
+ if (diff > 180)
+ diff = fabs(diff - 360);
+
+ double sum = hdg + diff;
+ if (sum > 360.0)
+ sum -= 360.0;
+ if (fabs(sum - tgt_heading) < 1.0) {
+ bank_sense = 1.0; // right turn
+ } else {
+ bank_sense = -1.0; // left turn
+ }
+ if (diff < _performance->maximumBankAngle()) {
+ tgt_roll = diff * bank_sense;
+ } else {
+ tgt_roll = _performance->maximumBankAngle() * bank_sense;
+ }
+ if ((fabs((double) spinCounter) > 1) && (diff > _performance->maximumBankAngle())) {
+ tgt_speed *= 0.999; // Ugly hack: If aircraft get stuck, they will continually spin around.
+ // The only way to resolve this is to make them slow down.
+ }
+ }
+}
+
+
+void FGAIAircraft::updateVerticalSpeedTarget() {
+ // adjust target Altitude, based on ground elevation when on ground
+ if (onGround()) {
+ getGroundElev(dt);
+ doGroundAltitude();
+ } else if (alt_lock) {
+ // find target vertical speed
+ if (use_perf_vs) {
+ if (altitude_ft < tgt_altitude_ft) {
+ tgt_vs = tgt_altitude_ft - altitude_ft;
+ if (tgt_vs > _performance->climbRate())
+ tgt_vs = _performance->climbRate();
+ } else {
+ tgt_vs = tgt_altitude_ft - altitude_ft;
+ if (tgt_vs < (-_performance->descentRate()))
+ tgt_vs = -_performance->descentRate();
+ }
+ } else {
+ double max_vs = 4*(tgt_altitude_ft - altitude_ft);
+ double min_vs = 100;
+ if (tgt_altitude_ft < altitude_ft)
+ min_vs = -100.0;
+ if ((fabs(tgt_altitude_ft - altitude_ft) < 1500.0)
+ && (fabs(max_vs) < fabs(tgt_vs)))
+ tgt_vs = max_vs;
+
+ if (fabs(tgt_vs) < fabs(min_vs))
+ tgt_vs = min_vs;
+ }
+ } //else
+ // tgt_vs = 0.0;
+}
+
+void FGAIAircraft::updatePitchAngleTarget() {
+ // if on ground and above vRotate -> initial rotation
+ if (onGround() && (speed > _performance->vRotate()))
+ tgt_pitch = 8.0; // some rough B737 value
+
+ //TODO pitch angle on approach and landing
+
+ // match pitch angle to vertical speed
+ else if (tgt_vs > 0) {
+ tgt_pitch = tgt_vs * 0.005;
+ } else {
+ tgt_pitch = tgt_vs * 0.002;
+ }
+}
+
+void FGAIAircraft::handleATCRequests() {
+ //TODO implement NullController for having no ATC to save the conditionals
+ if (controller) {
+ controller->update(getID(),
+ pos.getLatitudeDeg(),
+ pos.getLongitudeDeg(),
+ hdg,
+ speed,
+ altitude_ft, dt);
+ processATC(controller->getInstruction(getID()));
+ }
+}
+
+void FGAIAircraft::updateActualState() {
+ //update current state
+ //TODO have a single tgt_speed and check speed limit on ground on setting tgt_speed
+ updatePosition();
+
+ if (onGround())
+ speed = _performance->actualSpeed(this, groundTargetSpeed, dt);
+ else
+ speed = _performance->actualSpeed(this, tgt_speed, dt);
+
+ updateHeading();
+ roll = _performance->actualBankAngle(this, tgt_roll, dt);
+
+ // adjust altitude (meters) based on current vertical speed (fpm)
+ altitude_ft += vs / 60.0 * dt;
+ pos.setElevationFt(altitude_ft);
+
+ vs = _performance->actualVerticalSpeed(this, tgt_vs, dt);
+ pitch = _performance->actualPitch(this, tgt_pitch, dt);
+}
+
+void FGAIAircraft::updateSecondaryTargetValues() {
+ // derived target state values
+ updateBankAngleTarget();
+ updateVerticalSpeedTarget();
+ updatePitchAngleTarget();
+ //TODO calculate wind correction angle (tgt_yaw)
}
projects / flightgear.git / blobdiff