Make the vertical acceleration rate scale with vertical performance. The

[flightgear.git] / src / AIModel / AIBase.cxx

diff --git a/src/AIModel/AIBase.cxx b/src/AIModel/AIBase.cxx
index 8746af4c1048d3ebafa57bb7fa8e5371d75b5b37..ac9d0861afcc140e6a6d78e1c50a055d4b9935d2 100644 (file)
--- a/src/AIModel/AIBase.cxx
+++ b/src/AIModel/AIBase.cxx
@@ -30,6 +30,7 @@
 #include <plib/ssg.h>
 
 #include <simgear/math/point3d.hxx>
+#include <simgear/math/polar3d.hxx>
 #include <simgear/math/sg_geodesy.hxx>
 #include <simgear/misc/sg_path.hxx>
 #include <simgear/scene/model/location.hxx>
@@ -49,14 +50,14 @@ const double FGAIBase::e = 2.71828183;
 const double FGAIBase::lbs_to_slugs = 0.031080950172;   //conversion factor
 
 
-FGAIBase::FGAIBase(object_type ot)
-  : fp( NULL ),
+FGAIBase::FGAIBase(object_type ot) :
     props( NULL ),
     manager( NULL ),
+    fp( NULL ),
     _refID( _newAIModelID() ),
     _otype(ot)
 {
-    tgt_heading = hdg = tgt_altitude = tgt_speed = 0.0;
+    tgt_heading = hdg = tgt_altitude_ft = tgt_speed = 0.0;
     tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
     bearing = elevation = range = rdot = 0.0;
     x_shift = y_shift = rotation = 0.0;
@@ -223,6 +224,17 @@ void FGAIBase::bind() {
    props->setBoolValue("controls/lighting/beacon", true);
    props->setBoolValue("controls/lighting/strobe", true);
    props->setBoolValue("controls/glide-path", true);
+
+   props->setStringValue("controls/flight/lateral-mode", "roll");
+   props->setDoubleValue("controls/flight/target-hdg", hdg);
+   props->setDoubleValue("controls/flight/target-roll", roll);
+
+   props->setStringValue("controls/flight/longitude-mode", "alt");
+   props->setDoubleValue("controls/flight/target-alt", altitude_ft);
+   props->setDoubleValue("controls/flight/target-pitch", pitch);
+
+   props->setDoubleValue("controls/flight/target-spd", speed);
+
 }
 
 void FGAIBase::unbind() {
@@ -255,6 +267,7 @@ void FGAIBase::unbind() {
 double FGAIBase::UpdateRadar(FGAIManager* manager)
 {
    double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
+   bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false);
    radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
    radar_range_ft2 *= radar_range_ft2;
 
@@ -268,7 +281,7 @@ double FGAIBase::UpdateRadar(FGAIManager* manager)
    // Test whether the target is within radar range.
    //
    in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
-   if ( in_range )
+   if ( in_range || force_on )
    {
      props->setBoolValue("radar/in-range", true);
 
@@ -276,8 +289,8 @@ double FGAIBase::UpdateRadar(FGAIManager* manager)
      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();
+     //double user_yaw       = manager->get_user_yaw();
+     //double user_speed     = manager->get_user_speed();
 
      // calculate range to target in feet and nautical miles
      double range_ft = sqrt( range_ft2 );
@@ -300,13 +313,26 @@ double FGAIBase::UpdateRadar(FGAIManager* manager)
         }
      }
 
+     // This is an alternate way to compute bearing and distance which
+     // agrees with the original scheme within about 0.1 degrees.
+     //
+     // Point3D start( user_longitude * SGD_DEGREES_TO_RADIANS,
+     //                user_latitude * SGD_DEGREES_TO_RADIANS, 0 );
+     // Point3D dest( pos.getLongitudeRad(), pos.getLatitudeRad(), 0 );
+     // double gc_bearing, gc_range;
+     // calc_gc_course_dist( start, dest, &gc_bearing, &gc_range );
+     // gc_range *= SG_METER_TO_NM;
+     // gc_bearing *= SGD_RADIANS_TO_DEGREES;
+     // printf("orig b = %.3f %.2f  gc b= %.3f, %.2f\n",
+     //        bearing, range, gc_bearing, gc_range);
+
      // 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 - user_altitude, range_ft ) * SG_RADIANS_TO_DEGREES;
+     elevation = atan2( altitude_ft - user_altitude, range_ft ) * SG_RADIANS_TO_DEGREES;
 
      // calculate look up/down to target
      vert_offset = elevation - user_pitch;
@@ -323,14 +349,14 @@ double FGAIBase::UpdateRadar(FGAIManager* manager)
 */
 
      // now correct look left/right for yaw
-     horiz_offset += user_yaw;
+     // horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
 
      // 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;
-     ht_diff = altitude - user_altitude;
+     ht_diff = altitude_ft - user_altitude;
 
    }
 
@@ -384,7 +410,7 @@ void FGAIBase::_setVS_fps( double _vs ) {
 }
 
 double FGAIBase::_getAltitude() const {
-    return altitude;
+    return altitude_ft;
 }
 void FGAIBase::_setAltitude( double _alt ) {
     setAltitude( _alt );
@@ -402,6 +428,8 @@ void FGAIBase::CalculateMach() {
     // Calculate rho at altitude, using standard atmosphere
     // For the temperature T and the pressure p,
 
+    double altitude = altitude_ft;
+
     if (altitude < 36152) {            // curve fits for the troposphere
       T = 59 - 0.00356 * altitude;
       p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);