# include <config.h>
#endif
-#include <simgear/route/waypoint.hxx>
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
-#include <Main/viewer.hxx>
+#include <Viewer/viewer.hxx>
#include <Scenery/scenery.hxx>
#include <Scenery/tilemgr.hxx>
#include <Airports/dynamics.hxx>
#include "AIAircraft.hxx"
#include "performancedata.hxx"
#include "performancedb.hxx"
+#include <signal.h>
-
-#define TGT_VS_CUTOFF 10000
//#include <Airports/trafficcontroller.hxx>
-static string tempReg;
-
FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
/* HOT must be disabled for AI Aircraft,
* otherwise traffic detection isn't working as expected.*/
void FGAIAircraft::bind() {
FGAIBase::bind();
- props->tie("controls/gear/gear-down",
- SGRawValueMethods<FGAIAircraft,bool>(*this,
- &FGAIAircraft::_getGearDown));
- props->tie("transponder-id",
- SGRawValueMethods<FGAIAircraft,const char*>(*this,
- &FGAIAircraft::_getTransponderCode));
-}
-
-
-void FGAIAircraft::unbind() {
- FGAIBase::unbind();
-
- props->untie("controls/gear/gear-down");
- props->untie("transponder-id");
+ tie("controls/gear/gear-down",
+ SGRawValueMethods<FGAIAircraft,bool>(*this,
+ &FGAIAircraft::_getGearDown));
+ tie("transponder-id",
+ SGRawValueMethods<FGAIAircraft,const char*>(*this,
+ &FGAIAircraft::_getTransponderCode));
}
-
void FGAIAircraft::update(double dt) {
FGAIBase::update(dt);
Run(dt);
void FGAIAircraft::Run(double dt) {
-
FGAIAircraft::dt = dt;
bool outOfSight = false,
void FGAIAircraft::AccelTo(double speed) {
tgt_speed = speed;
+ //assertSpeed(speed);
if (!isStationary())
_needsGroundElevation = true;
}
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
}
+ if (!curr)
+ {
+ // Oops! FIXME
+ return;
+ }
+
if (! leadPointReached(curr)) {
controlHeading(curr);
controlSpeed(curr, next);
+
/*
if (speed < 0) {
cerr << getCallSign()
fp->setLeadDistance(tgt_speed, tgt_heading, curr, next);
}
+
if (!(prev->getOn_ground())) // only update the tgt altitude from flightplan if not on the ground
{
tgt_altitude_ft = prev->getAltitude();
if (curr->getCrossat() > -1000.0) {
use_perf_vs = false;
-// tgt_vs = (curr->getCrossat() - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
-// / 6076.0 / speed*60.0);
-// if (fabs(tgt_vs) > TGT_VS_CUTOFF) { SG_LOG(SG_GENERAL, SG_ALERT, "Rediculously high vertical speed caculated at " << SG_ORIGIN << ". Corresponding to " << (tgt_vs * .005) << "degrees of pitch angle" << prev->getName()); };
-// if (tgt_vs < -1500)
-// tgt_vs = -1500;
-// if (tgt_vs > 1500)
-// tgt_vs = 1500;
-// checkTcas();
+ // Distance to go in meters
+ double vert_dist_ft = curr->getCrossat() - altitude_ft;
+ double err_dist = prev->getCrossat() - altitude_ft;
+ double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
+ tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
+
+ checkTcas();
tgt_altitude_ft = curr->getCrossat();
} else {
use_perf_vs = true;
}
}
+double FGAIAircraft::calcVerticalSpeed(double vert_ft, double dist_m, double speed, double err)
+{
+ // err is negative when we passed too high
+ double vert_m = vert_ft * SG_FEET_TO_METER;
+ //double err_m = err * SG_FEET_TO_METER;
+ //double angle = atan2(vert_m, dist_m);
+ double speedMs = (speed * SG_NM_TO_METER) / 3600;
+ //double vs = cos(angle) * speedMs; // Now in m/s
+ double vs = 0;
+ //cerr << "Error term = " << err_m << endl;
+ if (dist_m) {
+ vs = ((vert_m) / dist_m) * speedMs;
+ }
+ // Convert to feet per minute
+ vs *= (SG_METER_TO_FEET * 60);
+ //if (getCallSign() == "LUFTHANSA2002")
+ //if (fabs(vs) > 100000) {
+// if (getCallSign() == "LUFTHANSA2057") {
+// cerr << getCallSign() << " " << fp->getPreviousWaypoint()->getName() << ". Alt = " << altitude_ft << " vertical dist = " << vert_m << " horiz dist = " << dist_m << " << angle = " << angle * SG_RADIANS_TO_DEGREES << " vs " << vs << " horizontal speed " << speed << "Previous crossAT " << fp->getPreviousWaypoint()->getCrossat() << endl;
+// //= (curr->getCrossat() - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
+// // / 6076.0 / speed*60.0);
+// //raise(SIGSEGV);
+// }
+ return vs;
+}
+
+void FGAIAircraft::assertSpeed(double speed)
+{
+ if ((speed < -50) || (speed > 1000)) {
+ cerr << getCallSign() << " "
+ << "Previous waypoint " << fp->getPreviousWaypoint()->getName() << " "
+ << "Departure airport " << trafficRef->getDepartureAirport() << " "
+ << "Leg " << fp->getLeg() << " "
+ << "target_speed << " << tgt_speed << " "
+ << "speedFraction << " << speedFraction << " "
+ << "Currecnt speed << " << speed << " "
+ << endl;
+ //raise(SIGSEGV);
+ }
+}
+
+
+
void FGAIAircraft::checkTcas(void)
{
if (props->getIntValue("tcas/threat-level",0)==3)
void FGAIAircraft::doGroundAltitude() {
-
- if ((fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)||
- (isStationary()))
- altitude_ft = (tgt_altitude_ft + groundOffset);
- else
- altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
- tgt_vs = 0;
+ if ((fp->getLeg() == 7) && ((altitude_ft - tgt_altitude_ft) > 5)) {
+ tgt_vs = -500;
+ } else {
+ if ((fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)||
+ (isStationary()))
+ altitude_ft = (tgt_altitude_ft + groundOffset);
+ else
+ altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
+ tgt_vs = 0;
+ }
}
case 3: //Take off tower controller
if (trafficRef->getDepartureAirport()->getDynamics()) {
controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
+ towerController = 0;
} else {
cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
}
FGAIWaypoint* next = 0;// the next plus 1
spinCounter = 0;
- tempReg = "";
//TODO fp should handle this
fp->IncrementWaypoint(eraseWaypoints);
if (curr->getCrossat() > -1000.0) //use a calculated descent/climb rate
{
use_perf_vs = false;
-/* tgt_vs = (curr->getCrossat() - prev->getAltitude())
- / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
- / 6076.0 / prev->getSpeed()*60.0);
- if (fabs(tgt_vs) > TGT_VS_CUTOFF) { SG_LOG(SG_GENERAL, SG_ALERT, "Rediculously high vertical speed caculated at " << SG_ORIGIN); };
- checkTcas();*/
+ //tgt_vs = (curr->getCrossat() - prev->getAltitude())
+ // / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
+ // / 6076.0 / prev->getSpeed()*60.0);
+ double vert_dist_ft = curr->getCrossat() - altitude_ft;
+ double err_dist = prev->getCrossat() - altitude_ft;
+ double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
+ tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
+ checkTcas();
tgt_altitude_ft = curr->getCrossat();
} else {
use_perf_vs = true;
if (tgt_speed > -0.5) {
tgt_speed = -0.5;
}
+ //assertSpeed(tgt_speed);
if (fp->getPreviousWaypoint()->getSpeed() < tgt_speed) {
fp->getPreviousWaypoint()->setSpeed(tgt_speed);
}
// << lead_dist << " " << curr->name
// << " Ground target speed " << groundTargetSpeed << endl;
double bearing = 0;
- if (speed > 50) { // don't do bearing calculations for ground traffic
+ // don't do bearing calculations for ground traffic
bearing = getBearing(fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr));
if (bearing < minBearing) {
minBearing = bearing;
minBearing = 10;
}
if ((minBearing < 360.0) && (minBearing > 10.0)) {
- speedFraction = cos(minBearing *SG_DEGREES_TO_RADIANS);
+ speedFraction = 0.5 + (cos(minBearing *SG_DEGREES_TO_RADIANS) * 0.5);
} else {
speedFraction = 1.0;
}
- }
- }
+ }
if (trafficRef) {
//cerr << "Tracking callsign : \"" << fgGetString("/ai/track-callsign") << "\"" << endl;
-/* if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
- cerr << trafficRef->getCallSign() << " " << tgt_altitude_ft << " " << _getSpeed() << " "
- << _getAltitude() << " "<< _getLatitude() << " " << _getLongitude() << " " << dist_to_go << " " << lead_dist << " " << curr->name << " " << vs << " " << tgt_vs << " " << bearing << " " << minBearing << " " << speedFraction << endl;
- }*/
+ //if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
+ //cerr << trafficRef->getCallSign() << " " << tgt_altitude_ft << " " << _getSpeed() << " "
+ // << _getAltitude() << " "<< _getLatitude() << " " << _getLongitude() << " " << dist_to_go << " " << lead_dist << " " << curr->getName() << " " << vs << " " << //tgt_vs << " " << bearing << " " << minBearing << " " << speedFraction << endl;
+ //}
}
- if ((dist_to_go < lead_dist) || (bearing > (minBearing * 1.1))) {
+ if ((dist_to_go < lead_dist) ||
+ ((dist_to_go > prev_dist_to_go) && (bearing > (minBearing * 1.1))) ) {
minBearing = 360;
+ speedFraction = 1.0;
+ prev_dist_to_go = HUGE_VAL;
return true;
} else {
+ prev_dist_to_go = dist_to_go;
return false;
}
}
-bool FGAIAircraft::aiTrafficVisible() {
- SGGeod userPos(SGGeod::fromDeg(fgGetDouble("/position/longitude-deg"),
- fgGetDouble("/position/latitude-deg")));
-
- return (SGGeodesy::distanceNm(userPos, pos) <= TRAFFICTOAIDISTTODIE);
+bool FGAIAircraft::aiTrafficVisible()
+{
+ SGVec3d cartPos = SGVec3d::fromGeod(pos);
+ const double d2 = (TRAFFICTOAIDISTTODIE * SG_NM_TO_METER) *
+ (TRAFFICTOAIDISTTODIE * SG_NM_TO_METER);
+ return (distSqr(cartPos, globals->get_aircraft_positon_cart()) < d2);
}
}
if (prev->contains(string("DepartureHold"))) {
//cerr << "Passing point DepartureHold" << endl;
- scheduleForATCTowerDepartureControl(2);
+ scheduleForATCTowerDepartureControl(1);
}
-
+ if (prev->contains(string("Accel"))) {
+ takeOffStatus = 3;
+ }
+ //if (prev->contains(string("landing"))) {
+ // if (speed < _performance->vTaxi() * 2) {
+ // fp->shortenToFirst(2, "legend");
+ // }
+ //}
+ //if (prev->contains(string("final"))) {
+ //
+ // cerr << getCallSign() << " "
+ // << fp->getPreviousWaypoint()->getName()
+ // << ". Alt = " << altitude_ft
+ // << " vs " << vs
+ // << " horizontal speed " << speed
+ // << "Previous crossAT " << fp->getPreviousWaypoint()->getCrossat()
+ // << "Airport elevation" << getTrafficRef()->getArrivalAirport()->getElevation()
+ // << "Altitude difference " << (altitude_ft - fp->getPreviousWaypoint()->getCrossat()) << endl;
+ //q}
// 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->contains("END")) {
cerr << "calc_bearing is not a finite number : "
<< "Speed " << speed
<< "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
- << "waypoint " << curr->getLatitude() << ", " << curr->getLongitude() << endl;
- cerr << "waypoint name " << curr->getName();
- exit(1); // FIXME
+ << ", waypoint: " << curr->getLatitude() << ", " << curr->getLongitude() << endl;
+ cerr << "waypoint name: '" << curr->getName() << "'" << endl;
+ //exit(1); // FIXME
}
}
if (fabs(speed_diff) > 10) {
prevSpeed = speed;
+ //assertSpeed(speed);
if (next) {
fp->setLeadDistance(speed, tgt_heading, curr, next);
}
// If on ground, calculate heading change directly
if (onGround()) {
double headingDiff = fabs(hdg-tgt_heading);
- double bank_sense = 0.0;
+// double bank_sense = 0.0;
/*
double diff = fabs(hdg - tgt_heading);
if (diff > 180)
if (sum > 360.0)
sum -= 360.0;
if (fabs(sum - tgt_heading) > 0.0001) {
- bank_sense = -1.0;
+// bank_sense = -1.0;
} else {
- bank_sense = 1.0;
+// bank_sense = 1.0;
}
//if (trafficRef)
// cerr << trafficRef->getCallSign() << " Heading "
// << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << endl;
//if (headingDiff > 60) {
groundTargetSpeed = tgt_speed; // * cos(headingDiff * SG_DEGREES_TO_RADIANS);
+ //assertSpeed(groundTargetSpeed);
//groundTargetSpeed = tgt_speed - tgt_speed * (headingDiff/180);
//} else {
// groundTargetSpeed = tgt_speed;
//}
if (sign(groundTargetSpeed) != sign(tgt_speed))
groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
-
+ //assertSpeed(groundTargetSpeed);
// Only update the target values when we're not moving because otherwise we might introduce an enormous target change rate while waiting a the gate, or holding.
if (speed != 0) {
if (headingDiff > 30.0) {
// << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << "Heading change rate : " << headingChangeRate << " bacnk sence " << bank_sense << endl;
hdg += headingChangeRate * dt * sqrt(fabs(speed) / 15);
headingError = headingDiff;
+ if (fabs(headingError) < 1.0) {
+ hdg = tgt_heading;
+ }
} else {
if (fabs(speed) > 1.0) {
turn_radius_ft = 0.088362 * speed * speed
tgt_vs = -_performance->descentRate();
}
} else {
- double max_vs = 4*(tgt_altitude_ft - altitude_ft);
+ double vert_dist_ft = fp->getCurrentWaypoint()->getCrossat() - altitude_ft;
+ double err_dist = 0; //prev->getCrossat() - altitude_ft;
+ double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), fp->getCurrentWaypoint());
+ tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
+ //cerr << "Target vs before : " << tgt_vs;
+/* double max_vs = 10*(tgt_altitude_ft - altitude_ft);
double min_vs = 100;
if (tgt_altitude_ft < altitude_ft)
min_vs = -100.0;
tgt_vs = max_vs;
if (fabs(tgt_vs) < fabs(min_vs))
- tgt_vs = min_vs;
+ tgt_vs = min_vs;*/
+ //cerr << "target vs : after " << tgt_vs << endl;
}
} //else
// tgt_vs = 0.0;
altitude_ft, dt);
processATC(controller->getInstruction(getID()));
}
+ if (towerController) {
+ towerController->updateAircraftInformation(getID(),
+ pos.getLatitudeDeg(),
+ pos.getLongitudeDeg(),
+ hdg,
+ speed,
+ altitude_ft, dt);
+ }
}
void FGAIAircraft::updateActualState() {
updatePosition();
if (onGround())
- speed = _performance->actualSpeed(this, groundTargetSpeed, dt);
+ speed = _performance->actualSpeed(this, groundTargetSpeed, dt, holdPos);
else
- speed = _performance->actualSpeed(this, (tgt_speed *speedFraction), dt);
-
+ speed = _performance->actualSpeed(this, (tgt_speed *speedFraction), dt, false);
+ //assertSpeed(speed);
updateHeading();
roll = _performance->actualBankAngle(this, tgt_roll, dt);
projects / flightgear.git / blobdiff