#include <Scenery/scenery.hxx>
#include <string>
#include <math.h>
+#include <time.h>
SG_USING_STD(string);
// 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}
+ {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}
};
-FGAIAircraft *FGAIAircraft::_self = NULL;
-
-FGAIAircraft::FGAIAircraft(FGAIManager* mgr) {
+FGAIAircraft::FGAIAircraft(FGAIManager* mgr, FGAISchedule *ref) {
+ trafficRef = ref;
manager = mgr;
- _self = this;
+ _type_str = "aircraft";
+ _otype = otAircraft;
+ fp = 0;
+ dt_count = 0;
+ use_perf_vs = true;
+ isTanker = false;
// set heading and altitude locks
hdg_lock = false;
alt_lock = false;
- _type_str = "aircraft";
}
FGAIAircraft::~FGAIAircraft() {
- _self = NULL;
}
bool FGAIAircraft::init() {
+ refuel_node = fgGetNode("systems/refuel/contact", true);
return FGAIBase::init();
}
FGAIBase::bind();
props->tie("controls/gear/gear-down",
- SGRawValueFunctions<bool>(FGAIAircraft::_getGearDown));
-
-/*
+ SGRawValueMethods<FGAIAircraft,bool>(*this,
+ &FGAIAircraft::_getGearDown));
+#if 0
props->getNode("controls/lighting/landing-lights", true)
->alias("controls/gear/gear-down");
-*/
+#endif
}
void FGAIAircraft::unbind() {
FGAIBase::unbind();
props->untie("controls/gear/gear-down");
-// props->getNode("controls/lighting/landing-lights")->unalias();
+#if 0
+ props->getNode("controls/lighting/landing-lights")->unalias();
+#endif
}
void FGAIAircraft::update(double dt) {
+ FGAIBase::update(dt);
Run(dt);
Transform();
- FGAIBase::update(dt);
}
void FGAIAircraft::SetPerformance(const PERF_STRUCT *ps) {
void FGAIAircraft::Run(double dt) {
FGAIAircraft::dt = dt;
+
+ if (fp)
+ {
+ ProcessFlightPlan(dt);
+ time_t now = time(NULL) + fgGetLong("/sim/time/warp");
+ if (now < fp->getStartTime())
+ return;
+ //ProcessFlightPlan(dt);
+ }
double turn_radius_ft;
double turn_circum_ft;
double speed_north_deg_sec;
double speed_east_deg_sec;
- double ft_per_deg_lon;
- double ft_per_deg_lat;
double dist_covered_ft;
double alpha;
- // get size of a degree at this latitude
- ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.lat()/SG_RADIANS_TO_DEGREES);
- ft_per_deg_lon = 365228.16 * cos(pos.lat() / SG_RADIANS_TO_DEGREES);
-
// adjust speed
double speed_diff = tgt_speed - speed;
if (fabs(speed_diff) > 0.2) {
if (speed_diff > 0.0) speed += performance->accel * dt;
- if (speed_diff < 0.0) speed -= performance->decel * dt;
+ if (speed_diff < 0.0) {
+ if (!no_roll) {
+ speed -= performance->decel * dt * 3;
+ } else {
+ speed -= performance->decel * dt;
+ }
+ }
}
// convert speed to degrees per second
double sum = hdg + diff;
if (sum > 360.0) sum -= 360.0;
if (fabs(sum - tgt_heading) < 1.0) {
- bank_sense = 1.0;
+ bank_sense = 1.0; // right turn
} else {
- bank_sense = -1.0;
+ bank_sense = -1.0; // left turn
}
- if (diff < 30) tgt_roll = diff * bank_sense;
+ if (diff < 30) {
+ tgt_roll = diff * bank_sense;
+ } else {
+ tgt_roll = 30.0 * bank_sense;
+ }
}
- // adjust bank angle
+ // 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 += 5.0 * dt;
- if (bank_diff < 0.0) roll -= 5.0 * dt;
+ if (bank_diff > 0.0) roll += 9.0 * dt;
+ if (bank_diff < 0.0) roll -= 9.0 * dt;
}
// adjust altitude (meters) based on current vertical speed (fpm)
- altitude += vs * 0.0166667 * dt * SG_FEET_TO_METER;
- double altitude_ft = altitude * SG_METER_TO_FEET;
+ altitude += vs / 60.0 * dt;
+ pos.setelev(altitude * SG_FEET_TO_METER);
+ double altitude_ft = altitude;
// find target vertical speed if altitude lock engaged
- if (alt_lock) {
+ if (alt_lock && use_perf_vs) {
if (altitude_ft < tgt_altitude) {
tgt_vs = tgt_altitude - altitude_ft;
if (tgt_vs > performance->climb_rate)
}
}
+ if (alt_lock && !use_perf_vs) {
+ double max_vs = 4*(tgt_altitude - altitude);
+ double min_vs = 100;
+ if (tgt_altitude < altitude) min_vs = -100.0;
+ if ((fabs(tgt_altitude - altitude) < 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) > 1.0) {
+ if (fabs(vs_diff) > 10.0) {
if (vs_diff > 0.0) {
- vs += 400.0 * dt;
+ vs += 900.0 * dt;
if (vs > tgt_vs) vs = tgt_vs;
} else {
- vs -= 300.0 * dt;
+ vs -= 400.0 * dt;
if (vs < tgt_vs) vs = tgt_vs;
}
}
// match pitch angle to vertical speed
- pitch = vs * 0.005;
+ if (vs > 0){
+ pitch = vs * 0.005;
+ } else {
+ pitch = vs * 0.002;
+ }
//###########################//
// do calculations for radar //
//###########################//
+ double range_ft2 = UpdateRadar(manager);
- // copy values from the AIManager
- double user_latitude = manager->get_user_latitude();
- double user_longitude = manager->get_user_longitude();
- 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 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_ft = sqrt( lat_range*lat_range + lon_range*lon_range );
- 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_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
- // 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;
+ //************************************//
+ // Tanker code //
+ //************************************//
+ if ( isTanker) {
+ if ( (range_ft2 < 250.0 * 250.0) &&
+ (y_shift > 0.0) &&
+ (elevation > 0.0) ) {
+ refuel_node->setBoolValue(true);
+ } else {
+ refuel_node->setBoolValue(false);
+ }
+ }
}
double FGAIAircraft::sign(double x) {
-
if ( x < 0.0 ) { return -1.0; }
else { return 1.0; }
}
+
+void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f) {
+ fp = f;
+}
+
+void FGAIAircraft::ProcessFlightPlan( double dt ) {
+
+
+ FGAIFlightPlan::waypoint* prev = 0; // the one behind you
+ FGAIFlightPlan::waypoint* curr = 0; // the one ahead
+ FGAIFlightPlan::waypoint* next = 0; // the next plus 1
+ prev = fp->getPreviousWaypoint();
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ dt_count += dt;
+
+ if (!prev) { //beginning of flightplan, do this initialization once
+ fp->IncrementWaypoint();
+ 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);
+ setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
+ 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.lat(), pos.lon(), curr)/
+ 6076.0/prev->speed*60.0);
+ tgt_altitude = curr->crossat;
+ } else {
+ use_perf_vs = true;
+ tgt_altitude = prev->altitude;
+ }
+ alt_lock = hdg_lock = true;
+ no_roll = prev->on_ground;
+ //cout << "First waypoint: " << prev->name << endl;
+ //cout << " Target speed: " << tgt_speed << endl;
+ //cout << " Target altitude: " << tgt_altitude << endl;
+ //cout << " Target heading: " << tgt_heading << endl << endl;
+ return;
+ } // end of initialization
+
+ // let's only process the flight plan every 100 ms.
+ if (dt_count < 0.1) {
+ return;
+ } 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.lat(), pos.lon(), curr);
+ double lead_dist = fp->getLeadDistance();
+ if (lead_dist < (2*speed)) lead_dist = 2*speed; //don't skip over the waypoint
+ //cout << "dist_to_go: " << dist_to_go << ", lead_dist: " << lead_dist << endl;
+
+ if ( dist_to_go < lead_dist ) {
+ if (curr->finished) { //end of the flight plan, so terminate
+ if (trafficRef)
+ {
+ delete fp;
+ //time_t now = time(NULL) + fgGetLong("/sim/time/warp");
+ trafficRef->next();
+
+ 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;
+ //entity.fp = new FGAIFlightPlan(&entity, courseToDest, i->getDepartureTime(), dep, arr);
+ entity.fp = new FGAIFlightPlan(&entity,
+ 999, // A hack
+ trafficRef->getDepartureTime(),
+ trafficRef->getDepartureAirport(),
+ trafficRef->getArrivalAirport());
+ SetFlightPlan(entity.fp);
+ }
+ else
+ {
+ setDie(true);
+ return;
+ }
+ }
+ // we've reached the lead-point for the waypoint ahead
+ if (next) tgt_heading = fp->getBearing(curr, next);
+ fp->IncrementWaypoint();
+ prev = fp->getPreviousWaypoint();
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ if (next) fp->setLeadDistance(speed, tgt_heading, curr, next);
+ if (curr->crossat > -1000.0) {
+ use_perf_vs = false;
+ tgt_vs = (curr->crossat - altitude)/
+ (fp->getDistanceToGo(pos.lat(), pos.lon(), curr)/6076.0/speed*60.0);
+ tgt_altitude = curr->crossat;
+ } else {
+ use_perf_vs = true;
+ tgt_altitude = prev->altitude;
+ }
+ 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 << endl;
+ //cout << " Target heading: " << tgt_heading << endl << endl;
+ } else {
+ double calc_bearing = fp->getBearing(pos.lat(), pos.lon(), curr);
+ double hdg_error = calc_bearing - tgt_heading;
+ if (fabs(hdg_error) > 1.0) {
+ TurnTo( calc_bearing );
+ }
+ }
+
+ }
+
+}
+
+
+bool FGAIAircraft::_getGearDown() const {
+ return ((props->getFloatValue("position/altitude-agl-ft") < 900.0)
+ && (props->getFloatValue("velocities/airspeed-kt")
+ < performance->land_speed*1.25));
+}
projects / flightgear.git / blobdiff