-// // FGAIAircraft - FGAIBase-derived class creates an AI airplane
+// FGAIAircraft - FGAIBase-derived class creates an AI airplane
//
// Written by David Culp, started October 2003.
//
#include "AIAircraft.hxx"
#include "performancedata.hxx"
#include "performancedb.hxx"
+#include <signal.h>
//#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.*/
else
groundOffset = 0;
- fp = 0;
- controller = 0;
- prevController = 0;
+ fp = 0;
+ controller = 0;
+ prevController = 0;
+ towerController = 0;
dt_count = 0;
dt_elev_count = 0;
use_perf_vs = true;
_performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB
dt = 0;
+ takeOffStatus = 0;
}
void FGAIAircraft::AccelTo(double speed) {
tgt_speed = speed;
+ assertSpeed(speed);
if (!isStationary())
_needsGroundElevation = true;
}
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);
+ // 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 {
}
}
+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;
}
}
}
+void FGAIAircraft::scheduleForATCTowerDepartureControl(int state) {
+ if (!takeOffStatus) {
+ int leg = fp->getLeg();
+ if (trafficRef) {
+ if (trafficRef->getDepartureAirport()->getDynamics()) {
+ towerController = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
+ } else {
+ cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
+ }
+ if (towerController) {
+ towerController->announcePosition(getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(),
+ _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
+ trafficRef->getRadius(), leg, this);
+ //cerr << "Scheduling " << trafficRef->getCallSign() << " for takeoff " << endl;
+ }
+ }
+ }
+ takeOffStatus = state;
+}
+
// Process ATC instructions and report back
void FGAIAircraft::processATC(FGATCInstruction instruction) {
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);
+ //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 {
if (tgt_speed > -0.5) {
tgt_speed = -0.5;
}
+ assertSpeed(tgt_speed);
if (fp->getPreviousWaypoint()->getSpeed() < tgt_speed) {
fp->getPreviousWaypoint()->setSpeed(tgt_speed);
}
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 ((dist_to_go < lead_dist) || (bearing > (minBearing * 1.1))) {
minBearing = 360;
+ speedFraction = 1.0;
return true;
} else {
return false;
// This waypoint marks the fact that the aircraft has passed the initial taxi
// departure waypoint, so it can release the parking.
//cerr << trafficRef->getCallSign() << " has passed waypoint " << prev->name << " at speed " << speed << endl;
+ //cerr << "Passing waypoint : " << prev->getName() << endl;
if (prev->contains("PushBackPoint")) {
dep->getDynamics()->releaseParking(fp->getGate());
AccelTo(0.0);
- setTaxiClearanceRequest(true);
+ //setTaxiClearanceRequest(true);
}
if (prev->contains("legend")) {
fp->incrementLeg();
}
-
+ if (prev->contains(string("DepartureHold"))) {
+ //cerr << "Passing point DepartureHold" << endl;
+ scheduleForATCTowerDepartureControl(1);
+ }
+ if (prev->contains(string("Accel"))) {
+ takeOffStatus = 3;
+ }
+ /*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;
+ }*/
// 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")) {
if (nextDeparture < (now+1200)) {
nextDeparture = now + 1200;
}
- fp->setTime(nextDeparture); // should be "next departure"
+ fp->setTime(nextDeparture);
}
return true;
if (fabs(speed_diff) > 10) {
prevSpeed = speed;
+ assertSpeed(speed);
if (next) {
fp->setLeadDistance(speed, tgt_heading, curr, next);
}
// << 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) {
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() {
speed = _performance->actualSpeed(this, groundTargetSpeed, dt);
else
speed = _performance->actualSpeed(this, (tgt_speed *speedFraction), dt);
-
+ assertSpeed(speed);
updateHeading();
roll = _performance->actualBankAngle(this, tgt_roll, dt);
projects / flightgear.git / blobdiff