#include <Scenery/scenery.hxx>
#include <string>
#include <math.h>
+#include <time.h>
SG_USING_STD(string);
#include "AIAircraft.hxx"
-
+//
+// 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},
// 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() {
+FGAIAircraft::FGAIAircraft(FGAIManager* mgr, FGAISchedule *ref) {
+ trafficRef = ref;
+ manager = mgr;
+ _type_str = "aircraft";
+ _otype = otAircraft;
+ fp = 0;
+ dt_count = 0;
+ use_perf_vs = true;
+ isTanker = false;
// set heading and altitude locks
hdg_lock = false;
bool FGAIAircraft::init() {
+ refuel_node = fgGetNode("systems/refuel/contact", true);
return FGAIBase::init();
}
+void FGAIAircraft::bind() {
+ FGAIBase::bind();
+
+ props->tie("controls/gear/gear-down",
+ 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");
+#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() / 57.2958 );
- ft_per_deg_lon = 365228.16 * cos(pos.lat() / 57.2958);
-
// 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
- speed_north_deg_sec = cos( hdg / 57.29577951 ) * speed * 1.686 / ft_per_deg_lat;
- speed_east_deg_sec = sin( hdg / 57.29577951 ) * speed * 1.686 / ft_per_deg_lon;
+ speed_north_deg_sec = cos( hdg / SG_RADIANS_TO_DEGREES )
+ * speed * 1.686 / ft_per_deg_lat;
+ speed_east_deg_sec = sin( hdg / SG_RADIANS_TO_DEGREES )
+ * speed * 1.686 / ft_per_deg_lon;
// set new position
pos.setlat( pos.lat() + speed_north_deg_sec * dt);
// adjust heading based on current bank angle
if (roll != 0.0) {
- turn_radius_ft = 0.088362 * speed * speed / tan( fabs(roll) / 57.2958 );
- turn_circum_ft = 6.2831853 * turn_radius_ft;
+ turn_radius_ft = 0.088362 * speed * speed
+ / tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
+ 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 );
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 * 0.3048;
+ 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) {
- double altitude_ft = altitude * 3.28084;
+ if (alt_lock && use_perf_vs) {
if (altitude_ft < tgt_altitude) {
- tgt_vs = tgt_altitude - altitude_ft;
- if (tgt_vs > performance->climb_rate) tgt_vs = performance->climb_rate;
+ tgt_vs = tgt_altitude - altitude_ft;
+ if (tgt_vs > performance->climb_rate)
+ tgt_vs = performance->climb_rate;
} else {
- tgt_vs = tgt_altitude - altitude_ft;
- if (tgt_vs < (-performance->descent_rate)) tgt_vs = -performance->descent_rate;
+ tgt_vs = tgt_altitude - altitude_ft;
+ if (tgt_vs < (-performance->descent_rate))
+ tgt_vs = -performance->descent_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);
+ //************************************//
+ // 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