-// // FGAIAircraft - FGAIBase-derived class creates an AI airplane
+// FGAIAircraft - FGAIBase-derived class creates an AI airplane
//
// Written by David Culp, started October 2003.
//
# include <config.h>
#endif
-#include <simgear/route/waypoint.hxx>
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
-#include <Main/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>
//#include <Airports/trafficcontroller.hxx>
-static string tempReg;
-
-FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : FGAIBase(otAircraft) {
+FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
+ /* HOT must be disabled for AI Aircraft,
+ * otherwise traffic detection isn't working as expected.*/
+ FGAIBase(otAircraft, false)
+{
trafficRef = ref;
if (trafficRef) {
groundOffset = trafficRef->getGroundOffset();
- setCallSign(trafficRef->getCallSign());
+ setCallSign(trafficRef->getCallSign());
}
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;
}
FGAIBase::readFromScenario(scFileNode);
- setPerformance(scFileNode->getStringValue("class", "jet_transport"));
+ setPerformance("", scFileNode->getStringValue("class", "jet_transport"));
setFlightPlan(scFileNode->getStringValue("flightplan"),
scFileNode->getBoolValue("repeat", false));
setCallSign(scFileNode->getStringValue("callsign"));
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);
Transform();
}
-void FGAIAircraft::setPerformance(const std::string& acclass) {
- static PerformanceDB perfdb; //TODO make it a global service
- setPerformance(perfdb.getDataFor(acclass));
- }
-
+void FGAIAircraft::setPerformance(const std::string& acType, const std::string& acclass)
+{
+ static PerformanceDB perfdb; //TODO make it a global service
+ _performance = perfdb.getDataFor(acType, acclass);
+}
+#if 0
void FGAIAircraft::setPerformance(PerformanceData *ps) {
_performance = ps;
}
-
+#endif
void FGAIAircraft::Run(double dt) {
FGAIAircraft::dt = dt;
void FGAIAircraft::checkVisibility()
{
double visibility_meters = fgGetDouble("/environment/visibility-m");
- FGViewer* vw = globals->get_current_view();
- invisible = (SGGeodesy::distanceM(vw->getPosition(), pos) > visibility_meters);
+ invisible = (SGGeodesy::distanceM(globals->get_view_position(), pos) > visibility_meters);
}
void FGAIAircraft::AccelTo(double speed) {
tgt_speed = speed;
+ //assertSpeed(speed);
if (!isStationary())
_needsGroundElevation = true;
}
void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
// the one behind you
- FGAIFlightPlan::waypoint* prev = 0;
+ FGAIWaypoint* prev = 0;
// the one ahead
- FGAIFlightPlan::waypoint* curr = 0;
+ FGAIWaypoint* curr = 0;
// the next plus 1
- FGAIFlightPlan::waypoint* next = 0;
+ FGAIWaypoint* next = 0;
prev = fp->getPreviousWaypoint();
curr = fp->getCurrentWaypoint();
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
}
+ if (!curr)
+ {
+ // Oops! FIXME
+ return;
+ }
+
if (! leadPointReached(curr)) {
controlHeading(curr);
controlSpeed(curr, next);
+
+ /*
if (speed < 0) {
cerr << getCallSign()
<< ": verifying lead distance to waypoint : "
<< speed
<< ". Minimum Bearing " << minBearing
<< endl;
- }
+ } */
} else {
- if (curr->finished) //end of the flight plan
+ if (curr->isFinished()) //end of the flight plan
{
if (fp->getRepeat())
fp->restart();
fp->setLeadDistance(tgt_speed, tgt_heading, curr, next);
}
- if (!(prev->on_ground)) // only update the tgt altitude from flightplan if not on the ground
+
+ if (!(prev->getOn_ground())) // only update the tgt altitude from flightplan if not on the ground
{
- tgt_altitude_ft = prev->altitude;
- if (curr->crossat > -1000.0) {
+ tgt_altitude_ft = prev->getAltitude();
+ if (curr->getCrossat() > -1000.0) {
use_perf_vs = false;
- tgt_vs = (curr->crossat - 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->crossat;
+ tgt_altitude_ft = curr->getCrossat();
} else {
use_perf_vs = true;
}
}
- AccelTo(prev->speed);
+ AccelTo(prev->getSpeed());
hdg_lock = alt_lock = true;
- no_roll = prev->on_ground;
+ no_roll = prev->getOn_ground();
}
}
+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)
return transponderCode.c_str();
}
+// NOTE: Check whether the new (delayed leg increment code has any effect on this code.
+// Probably not, because it should only be executed after we have already passed the leg incrementing waypoint.
bool FGAIAircraft::loadNextLeg(double distance) {
int leg;
- if ((leg = fp->getLeg()) == 10) {
+ if ((leg = fp->getLeg()) == 9) {
if (!trafficRef->next()) {
return false;
}
setCallSign(trafficRef->getCallSign());
- leg = 1;
+ leg = 0;
fp->setLeg(leg);
}
fp->create (this,
dep,
arr,
- leg,
+ leg+1,
cruiseAlt,
trafficRef->getSpeed(),
_getLatitude(),
// Only do the proper hitlist stuff if we are within visible range of the viewer.
if (!invisible) {
- double visibility_meters = fgGetDouble("/environment/visibility-m");
- FGViewer* vw = globals->get_current_view();
-
- if (SGGeodesy::distanceM(vw->getPosition(), pos) > visibility_meters) {
+ double visibility_meters = fgGetDouble("/environment/visibility-m");
+ if (SGGeodesy::distanceM(globals->get_view_position(), pos) > visibility_meters) {
return;
}
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;
+ }
}
// Note that leg has 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
- //
+ // NOTE: As of July, 30, 2011, the post-creation leg updating is no longer happening.
+ // Leg numbers are updated only once the aircraft passes the last waypoint created for that legm so I should probably just use
+ // the original leg numbers here!
switch (leg) {
- case 2: // Startup and Push back
+ case 1: // Startup and Push back
if (trafficRef->getDepartureAirport()->getDynamics())
controller = trafficRef->getDepartureAirport()->getDynamics()->getStartupController();
break;
- case 3: // Taxiing to runway
+ case 2: // Taxiing to runway
if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
break;
- case 4: //Take off tower controller
+ 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;
}
break;
- case 7:
+ case 6:
if (trafficRef->getDepartureAirport()->getDynamics()) {
controller = trafficRef->getArrivalAirport()->getDynamics()->getApproachController();
}
break;
- case 9: // Taxiing for parking
+ case 8: // Taxiing for parking
if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
break;
}
prevController = controller;
if (controller) {
- controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->routeIndex,
+ controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(),
_getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
trafficRef->getRadius(), leg, this);
}
}
}
+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) {
//cerr << trafficRef->getCallSign() << " Changing Speed " << endl;
AccelTo(instruction.getSpeed());
} else {
- if (fp) AccelTo(fp->getPreviousWaypoint()->speed);
+ if (fp) AccelTo(fp->getPreviousWaypoint()->getSpeed());
}
}
if (instruction.getChangeHeading ()) {
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
+ FGAIWaypoint* prev = 0; // the one behind you
+ FGAIWaypoint* curr = 0; // the one ahead
+ FGAIWaypoint* next = 0;// the next plus 1
spinCounter = 0;
- tempReg = "";
//TODO fp should handle this
fp->IncrementWaypoint(eraseWaypoints);
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);
+ setLatitude(prev->getLatitude());
+ setLongitude(prev->getLongitude());
+ setSpeed(prev->getSpeed());
+ setAltitude(prev->getAltitude());
- if (prev->speed > 0.0)
- setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
+ if (prev->getSpeed() > 0.0)
+ setHeading(fp->getBearing(prev->getLatitude(), prev->getLongitude(), curr));
else
- setHeading(fp->getBearing(curr->latitude, curr->longitude, prev));
+ setHeading(fp->getBearing(curr->getLatitude(), curr->getLongitude(), prev));
// If next doesn't exist, as in incrementally created flightplans for
// AI/Trafficmanager created plans,
if (next)
fp->setLeadDistance(speed, hdg, curr, next);
- if (curr->crossat > -1000.0) //use a calculated descent/climb rate
+ if (curr->getCrossat() > -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_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->crossat;
+ tgt_altitude_ft = curr->getCrossat();
} else {
use_perf_vs = true;
- tgt_altitude_ft = prev->altitude;
+ tgt_altitude_ft = prev->getAltitude();
}
alt_lock = hdg_lock = true;
- no_roll = prev->on_ground;
+ no_roll = prev->getOn_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
* @param curr
* @return
*/
-bool FGAIAircraft::leadPointReached(FGAIFlightPlan::waypoint* curr) {
+bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) {
double dist_to_go = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
//cerr << "2" << endl;
double lead_dist = fp->getLeadDistance();
// experimental: Use fabs, because speed can be negative (I hope) during push_back.
- if ((dist_to_go < fabs(10.0* speed)) && (speed < 0) && (tgt_speed < 0) && fp->getCurrentWaypoint()->name == string("PushBackPoint")) {
+ if ((dist_to_go < fabs(10.0* speed)) && (speed < 0) && (tgt_speed < 0) && fp->getCurrentWaypoint()->contains("PushBackPoint")) {
tgt_speed = -(dist_to_go / 10.0);
if (tgt_speed > -0.5) {
tgt_speed = -0.5;
}
- if (fp->getPreviousWaypoint()->speed < tgt_speed) {
- fp->getPreviousWaypoint()->speed = tgt_speed;
+ //assertSpeed(tgt_speed);
+ if (fp->getPreviousWaypoint()->getSpeed() < tgt_speed) {
+ fp->getPreviousWaypoint()->setSpeed(tgt_speed);
}
}
if (lead_dist < fabs(2*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_position_cart()) < d2);
}
*/
//TODO the trafficRef is the right place for the method
-bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t now) {
+bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) {
// prepare routing from one airport to another
FGAirport * dep = trafficRef->getDepartureAirport();
FGAirport * arr = trafficRef->getArrivalAirport();
// 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;
- if (prev->name == "PushBackPoint") {
+ //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("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->name == "END") {
+ if (prev->contains("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"
+ fp->setTime(nextDeparture);
}
return true;
*
* @param curr
*/
-void FGAIAircraft::controlHeading(FGAIFlightPlan::waypoint* curr) {
+void FGAIAircraft::controlHeading(FGAIWaypoint* curr) {
double calc_bearing = fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
//cerr << "Bearing = " << calc_bearing << endl;
if (speed < 0) {
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
+ << ", waypoint: " << curr->getLatitude() << ", " << curr->getLongitude() << endl;
+ cerr << "waypoint name: '" << curr->getName() << "'" << endl;
+ //exit(1); // FIXME
}
}
* @param curr
* @param next
*/
-void FGAIAircraft::controlSpeed(FGAIFlightPlan::waypoint* curr, FGAIFlightPlan::waypoint* next) {
+void FGAIAircraft::controlSpeed(FGAIWaypoint* curr, FGAIWaypoint* next) {
double speed_diff = speed - prevSpeed;
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);
bool FGAIAircraft::reachedEndOfCruise(double &distance) {
- FGAIFlightPlan::waypoint* curr = fp->getCurrentWaypoint();
- if (curr->name == "BOD") {
+ FGAIWaypoint* curr = fp->getCurrentWaypoint();
+ if (curr->getName() == string("BOD")) {
double dist = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
double descentSpeed = (getPerformance()->vDescent() * SG_NM_TO_METER) / 3600.0; // convert from kts to meter/s
double descentRate = (getPerformance()->descentRate() * SG_FEET_TO_METER) / 60.0; // convert from feet/min to meter/s
void FGAIAircraft::resetPositionFromFlightPlan()
{
// the one behind you
- FGAIFlightPlan::waypoint* prev = 0;
+ FGAIWaypoint* prev = 0;
// the one ahead
- FGAIFlightPlan::waypoint* curr = 0;
+ FGAIWaypoint* curr = 0;
// the next plus 1
- FGAIFlightPlan::waypoint* next = 0;
+ FGAIWaypoint* next = 0;
prev = fp->getPreviousWaypoint();
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
- setLatitude(prev->latitude);
- setLongitude(prev->longitude);
+ setLatitude(prev->getLatitude());
+ setLongitude(prev->getLongitude());
double tgt_heading = fp->getBearing(curr, next);
setHeading(tgt_heading);
- setAltitude(prev->altitude);
- setSpeed(prev->speed);
+ setAltitude(prev->getAltitude());
+ setSpeed(prev->getSpeed());
}
double FGAIAircraft::getBearing(double crse)
}
time_t FGAIAircraft::checkForArrivalTime(string wptName) {
- FGAIFlightPlan::waypoint* curr = 0;
+ FGAIWaypoint* curr = 0;
curr = fp->getCurrentWaypoint();
double tracklength = fp->checkTrackLength(wptName);
projects / flightgear.git / blobdiff