//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
+#include <algorithm>
#include <string>
#include <vector>
-#include <simgear/math/point3d.hxx>
+#include <simgear/sg_inlines.h>
+#include <simgear/math/SGMath.hxx>
#include <simgear/math/sg_geodesy.hxx>
+
#include <math.h>
#include <Main/util.hxx>
#include <Main/viewer.hxx>
#include "AICarrier.hxx"
-#include "AIScenario.hxx"
-
-/** Value of earth radius (meters) */
-#define RADIUS_M SG_EQUATORIAL_RADIUS_M
-
-
-
-FGAICarrier::FGAICarrier(FGAIManager* mgr) : FGAIShip(mgr) {
- _type_str = "carrier";
- _otype = otCarrier;
-
-
+FGAICarrier::FGAICarrier() : FGAIShip(otCarrier) {
}
FGAICarrier::~FGAICarrier() {
}
+void FGAICarrier::readFromScenario(SGPropertyNode* scFileNode) {
+ if (!scFileNode)
+ return;
+
+ FGAIShip::readFromScenario(scFileNode);
+
+ setRadius(scFileNode->getDoubleValue("turn-radius-ft", 2000));
+ setSign(scFileNode->getStringValue("pennant-number"));
+ setWind_from_east(scFileNode->getDoubleValue("wind_from_east", 0));
+ setWind_from_north(scFileNode->getDoubleValue("wind_from_north", 0));
+ setTACANChannelID(scFileNode->getStringValue("TACAN-channel-ID", "029Y"));
+ setMaxLat(scFileNode->getDoubleValue("max-lat", 0));
+ setMinLat(scFileNode->getDoubleValue("min-lat", 0));
+ setMaxLong(scFileNode->getDoubleValue("max-long", 0));
+ setMinLong(scFileNode->getDoubleValue("min-long", 0));
+ setMPControl(scFileNode->getBoolValue("mp-control", false));
+
+ SGPropertyNode* flols = scFileNode->getChild("flols-pos");
+ if (flols) {
+ // Transform to the right coordinate frame, configuration is done in
+ // the usual x-back, y-right, z-up coordinates, computations
+ // in the simulation usual body x-forward, y-right, z-down coordinates
+ flols_off(0) = - flols->getDoubleValue("x-offset-m", 0);
+ flols_off(1) = flols->getDoubleValue("y-offset-m", 0);
+ flols_off(2) = - flols->getDoubleValue("z-offset-m", 0);
+ } else
+ flols_off = SGVec3d::zeros();
+
+ std::vector<SGPropertyNode_ptr> props = scFileNode->getChildren("parking-pos");
+ std::vector<SGPropertyNode_ptr>::const_iterator it;
+ for (it = props.begin(); it != props.end(); ++it) {
+ string name = (*it)->getStringValue("name", "unnamed");
+ // Transform to the right coordinate frame, configuration is done in
+ // the usual x-back, y-right, z-up coordinates, computations
+ // in the simulation usual body x-forward, y-right, z-down coordinates
+ double offset_x = -(*it)->getDoubleValue("x-offset-m", 0);
+ double offset_y = (*it)->getDoubleValue("y-offset-m", 0);
+ double offset_z = -(*it)->getDoubleValue("z-offset-m", 0);
+ double hd = (*it)->getDoubleValue("heading-offset-deg", 0);
+ ParkPosition pp(name, SGVec3d(offset_x, offset_y, offset_z), hd);
+ ppositions.push_back(pp);
+ }
+}
+
void FGAICarrier::setWind_from_east(double fps) {
- wind_from_east = fps;
+ wind_from_east = fps;
}
void FGAICarrier::setWind_from_north(double fps) {
- wind_from_north = fps;
+ wind_from_north = fps;
}
void FGAICarrier::setMaxLat(double deg) {
- max_lat = fabs(deg);
+ max_lat = fabs(deg);
}
void FGAICarrier::setMinLat(double deg) {
- min_lat = fabs(deg);
+ min_lat = fabs(deg);
}
void FGAICarrier::setMaxLong(double deg) {
- max_long = fabs(deg);
+ max_long = fabs(deg);
}
void FGAICarrier::setMinLong(double deg) {
- min_long = fabs(deg);
-}
-
-void FGAICarrier::setSolidObjects(const list<string>& so) {
- solid_objects = so;
-}
-
-void FGAICarrier::setWireObjects(const list<string>& wo) {
- wire_objects = wo;
-}
-
-void FGAICarrier::setCatapultObjects(const list<string>& co) {
- catapult_objects = co;
-}
-
-void FGAICarrier::setParkingPositions(const list<ParkPosition>& p) {
- ppositions = p;
+ min_long = fabs(deg);
}
void FGAICarrier::setSign(const string& s) {
- sign = s;
+ sign = s;
}
void FGAICarrier::setTACANChannelID(const string& id) {
- TACAN_channel_id = id;
+ TACAN_channel_id = id;
}
-void FGAICarrier::setFlolsOffset(const Point3D& off) {
- flols_off = off;
-}
-
-void FGAICarrier::getVelocityWrtEarth(sgdVec3& v, sgdVec3& omega, sgdVec3& pivot) {
- sgdCopyVec3(v, vel_wrt_earth );
- sgdCopyVec3(omega, rot_wrt_earth );
- sgdCopyVec3(pivot, rot_pivot_wrt_earth );
+void FGAICarrier::setMPControl(bool c) {
+ MPControl = c;
}
void FGAICarrier::update(double dt) {
-
- // For computation of rotation speeds we just use finite differences her.
- // That is perfectly valid since this thing is not driven by accelerations
- // but by just apply discrete changes at its velocity variables.
- double old_hdg = hdg;
- double old_roll = roll;
- double old_pitch = pitch;
-
- // Update the velocity information stored in those nodes.
- double v_north = 0.51444444*speed*cos(hdg * SGD_DEGREES_TO_RADIANS);
- double v_east = 0.51444444*speed*sin(hdg * SGD_DEGREES_TO_RADIANS);
-
- double sin_lat = sin(pos.lat() * SGD_DEGREES_TO_RADIANS);
- double cos_lat = cos(pos.lat() * SGD_DEGREES_TO_RADIANS);
- double sin_lon = sin(pos.lon() * SGD_DEGREES_TO_RADIANS);
- double cos_lon = cos(pos.lon() * SGD_DEGREES_TO_RADIANS);
- double sin_roll = sin(roll * SGD_DEGREES_TO_RADIANS);
- double cos_roll = cos(roll * SGD_DEGREES_TO_RADIANS);
- double sin_pitch = sin(pitch * SGD_DEGREES_TO_RADIANS);
- double cos_pitch = cos(pitch * SGD_DEGREES_TO_RADIANS);
- double sin_hdg = sin(hdg * SGD_DEGREES_TO_RADIANS);
- double cos_hdg = cos(hdg * SGD_DEGREES_TO_RADIANS);
-
- // Transform this back the the horizontal local frame.
- sgdMat3 trans;
-
- // set up the transform matrix
- trans[0][0] = cos_pitch*cos_hdg;
- trans[0][1] = sin_roll*sin_pitch*cos_hdg - cos_roll*sin_hdg;
- trans[0][2] = cos_roll*sin_pitch*cos_hdg + sin_roll*sin_hdg;
-
- trans[1][0] = cos_pitch*sin_hdg;
- trans[1][1] = sin_roll*sin_pitch*sin_hdg + cos_roll*cos_hdg;
- trans[1][2] = cos_roll*sin_pitch*sin_hdg - sin_roll*cos_hdg;
-
- trans[2][0] = -sin_pitch;
- trans[2][1] = sin_roll*cos_pitch;
- trans[2][2] = cos_roll*cos_pitch;
-
- sgdSetVec3( vel_wrt_earth,
- - cos_lon*sin_lat*v_north - sin_lon*v_east,
- - sin_lon*sin_lat*v_north + cos_lon*v_east,
- cos_lat*v_north );
- sgGeodToCart(pos.lat() * SGD_DEGREES_TO_RADIANS,
- pos.lon() * SGD_DEGREES_TO_RADIANS,
- pos.elev(), rot_pivot_wrt_earth);
-
- // Now update the position and heading. This will compute new hdg and
- // roll values required for the rotation speed computation.
- FGAIShip::update(dt);
-
-
- //automatic turn into wind with a target wind of 25 kts otd
- if(turn_to_launch_hdg){
- TurnToLaunch();
- } else if(OutsideBox() || returning) {// check that the carrier is inside the operating box
- ReturnToBox();
- } else { //if(!returning
- TurnToBase();
- } //end if
-
- // Only change these values if we are able to compute them safely
- if (dt < DBL_MIN)
- sgdSetVec3( rot_wrt_earth, 0.0, 0.0, 0.0);
- else {
- // Compute the change of the euler angles.
- double hdg_dot = SGD_DEGREES_TO_RADIANS * (hdg-old_hdg)/dt;
- // Allways assume that the movement was done by the shorter way.
- if (hdg_dot < - SGD_DEGREES_TO_RADIANS * 180)
- hdg_dot += SGD_DEGREES_TO_RADIANS * 360;
- if (hdg_dot > SGD_DEGREES_TO_RADIANS * 180)
- hdg_dot -= SGD_DEGREES_TO_RADIANS * 360;
- double pitch_dot = SGD_DEGREES_TO_RADIANS * (pitch-old_pitch)/dt;
- // Allways assume that the movement was done by the shorter way.
- if (pitch_dot < - SGD_DEGREES_TO_RADIANS * 180)
- pitch_dot += SGD_DEGREES_TO_RADIANS * 360;
- if (pitch_dot > SGD_DEGREES_TO_RADIANS * 180)
- pitch_dot -= SGD_DEGREES_TO_RADIANS * 360;
- double roll_dot = SGD_DEGREES_TO_RADIANS * (roll-old_roll)/dt;
- // Allways assume that the movement was done by the shorter way.
- if (roll_dot < - SGD_DEGREES_TO_RADIANS * 180)
- roll_dot += SGD_DEGREES_TO_RADIANS * 360;
- if (roll_dot > SGD_DEGREES_TO_RADIANS * 180)
- roll_dot -= SGD_DEGREES_TO_RADIANS * 360;
- /*cout << "euler derivatives = "
- << roll_dot << " " << pitch_dot << " " << hdg_dot << endl;*/
-
- // Now Compute the rotation vector in the carriers coordinate frame
- // originating from the euler angle changes.
- sgdVec3 body;
- body[0] = roll_dot - hdg_dot*sin_pitch;
- body[1] = pitch_dot*cos_roll + hdg_dot*sin_roll*cos_pitch;
- body[2] = -pitch_dot*sin_roll + hdg_dot*cos_roll*cos_pitch;
-
- // Transform that back to the horizontal local frame.
- sgdVec3 hl;
- hl[0] = body[0]*trans[0][0] + body[1]*trans[0][1] + body[2]*trans[0][2];
- hl[1] = body[0]*trans[1][0] + body[1]*trans[1][1] + body[2]*trans[1][2];
- hl[2] = body[0]*trans[2][0] + body[1]*trans[2][1] + body[2]*trans[2][2];
-
- // Now we need to project out rotation components ending in speeds in y
- // direction in the hoirizontal local frame.
- hl[1] = 0;
-
- // Transform that to the earth centered frame.
- sgdSetVec3(rot_wrt_earth,
- - cos_lon*sin_lat*hl[0] - sin_lon*hl[1] - cos_lat*cos_lon*hl[2],
- - sin_lon*sin_lat*hl[0] + cos_lon*hl[1] - cos_lat*sin_lon*hl[2],
- cos_lat*hl[0] - sin_lat*hl[2]);
- }
-
- UpdateWind(dt);
- UpdateFlols(trans);
- UpdateElevator(dt, transition_time);
+ // Now update the position and heading. This will compute new hdg and
+ // roll values required for the rotation speed computation.
+ FGAIShip::update(dt);
+
+ //automatic turn into wind with a target wind of 25 kts otd
+ //SG_LOG(SG_GENERAL, SG_ALERT, "AICarrier: MPControl " << MPControl );
+ if (!MPControl){
+
+ if(turn_to_launch_hdg){
+ TurnToLaunch();
+ } else if(turn_to_recovery_hdg ){
+ TurnToRecover();
+ } else if(OutsideBox() || returning ) {// check that the carrier is inside
+ ReturnToBox(); // the operating box,
+ } else {
+ TurnToBase();
+ }
+
+ } else {
+ FGAIShip::TurnTo(tgt_heading);
+ FGAIShip::AccelTo(tgt_speed);
+ }
+
+ UpdateWind(dt);
+ UpdateElevator(dt, transition_time);
+ UpdateJBD(dt, jbd_transition_time);
+
+ // Transform that one to the horizontal local coordinate system.
+ SGQuatd ec2hl = SGQuatd::fromLonLat(pos);
+ // The orientation of the carrier wrt the horizontal local frame
+ SGQuatd hl2body = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
+ // and postrotate the orientation of the AIModel wrt the horizontal
+ // local frame
+ SGQuatd ec2body = ec2hl*hl2body;
+ // The cartesian position of the carrier in the wgs84 world
+ SGVec3d cartPos = SGVec3d::fromGeod(pos);
+
+ // The position of the eyepoint - at least near that ...
+ SGVec3d eyePos(globals->get_current_view()->get_view_pos());
+ // Add the position offset of the AIModel to gain the earth
+ // centered position
+ SGVec3d eyeWrtCarrier = eyePos - cartPos;
+ // rotate the eyepoint wrt carrier vector into the carriers frame
+ eyeWrtCarrier = ec2body.transform(eyeWrtCarrier);
+ // the eyepoints vector wrt the flols position
+ SGVec3d eyeWrtFlols = eyeWrtCarrier - flols_off;
+
+ // the distance from the eyepoint to the flols
+ dist = norm(eyeWrtFlols);
+
+ // now the angle, positive angles are upwards
+ if (fabs(dist) < SGLimits<float>::min()) {
+ angle = 0;
+ } else {
+ double sAngle = -eyeWrtFlols(2)/dist;
+ sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
+ angle = SGMiscd::rad2deg(asin(sAngle));
+ }
+
+ // set the value of source
+ if ( angle <= 4.35 && angle > 4.01 )
+ source = 1;
+ else if ( angle <= 4.01 && angle > 3.670 )
+ source = 2;
+ else if ( angle <= 3.670 && angle > 3.330 )
+ source = 3;
+ else if ( angle <= 3.330 && angle > 2.990 )
+ source = 4;
+ else if ( angle <= 2.990 && angle > 2.650 )
+ source = 5;
+ else if ( angle <= 2.650 )
+ source = 6;
+ else
+ source = 0;
} //end update
-bool FGAICarrier::init() {
- if (!FGAIShip::init())
- return false;
-
- // process the 3d model here
- // mark some objects solid, mark the wires ...
-
- // The model should be used for altitude computations.
- // To avoid that every detail in a carrier 3D model will end into
- // the aircraft local cache, only set the HOT traversal bit on
- // selected objects.
- ssgEntity *sel = aip.getSceneGraph();
- // Clear the HOT traversal flag
- mark_nohot(sel);
- // Selectively set that flag again for wires/cats/solid objects.
- // Attach a pointer to this carrier class to those objects.
- mark_wires(sel, wire_objects);
- mark_cat(sel, catapult_objects);
- mark_solid(sel, solid_objects);
-
- _longitude_node = fgGetNode("/position/longitude-deg", true);
- _latitude_node = fgGetNode("/position/latitude-deg", true);
- _altitude_node = fgGetNode("/position/altitude-ft", true);
-// _elevator_node = fgGetNode("/controls/elevators", true);
-
- _surface_wind_from_deg_node =
- fgGetNode("/environment/config/boundary/entry[0]/wind-from-heading-deg", true);
- _surface_wind_speed_node =
- fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt", true);
-
-
- turn_to_launch_hdg = false;
- returning = false;
-
- initialpos = pos;
- base_course = hdg;
- base_speed = speed;
-
- step = 0;
- pos_norm = 0;
- elevators = false;
- transition_time = 150;
- time_constant = 0.005;
-
-
- return true;
+bool FGAICarrier::init(bool search_in_AI_path) {
+ if (!FGAIShip::init(search_in_AI_path))
+ return false;
+
+ _longitude_node = fgGetNode("/position/longitude-deg", true);
+ _latitude_node = fgGetNode("/position/latitude-deg", true);
+ _altitude_node = fgGetNode("/position/altitude-ft", true);
+
+ _launchbar_state_node = fgGetNode("/gear/launchbar/state", true);
+
+ _surface_wind_from_deg_node =
+ fgGetNode("/environment/config/boundary/entry[0]/wind-from-heading-deg", true);
+ _surface_wind_speed_node =
+ fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt", true);
+
+
+ turn_to_launch_hdg = false;
+ turn_to_recovery_hdg = false;
+ turn_to_base_course = true;
+ returning = false;
+ in_to_wind = false;
+
+ mOpBoxPos = pos;
+ base_course = hdg;
+ base_speed = speed;
+
+ pos_norm = raw_pos_norm = 0;
+ elevators = false;
+ transition_time = 150;
+ time_constant = 0.005;
+ jbd_pos_norm = raw_jbd_pos_norm = 0;
+ jbd = false ;
+ jbd_transition_time = 3;
+ jbd_time_constant = 0.1;
+ return true;
}
void FGAICarrier::bind() {
- FGAIShip::bind();
+ FGAIShip::bind();
+
+ props->untie("velocities/true-airspeed-kt");
- props->untie("velocities/true-airspeed-kt");
-
- props->tie("controls/flols/source-lights",
+ props->tie("controls/flols/source-lights",
SGRawValuePointer<int>(&source));
- props->tie("controls/flols/distance-m",
+ props->tie("controls/flols/distance-m",
SGRawValuePointer<double>(&dist));
- props->tie("controls/flols/angle-degs",
+ props->tie("controls/flols/angle-degs",
SGRawValuePointer<double>(&angle));
- props->tie("controls/turn-to-launch-hdg",
+ props->tie("controls/turn-to-launch-hdg",
SGRawValuePointer<bool>(&turn_to_launch_hdg));
- props->tie("controls/in-to-wind",
+ props->tie("controls/in-to-wind",
SGRawValuePointer<bool>(&turn_to_launch_hdg));
- props->tie("controls/base-course-deg",
+ props->tie("controls/base-course-deg",
SGRawValuePointer<double>(&base_course));
- props->tie("controls/base-speed-kts",
+ props->tie("controls/base-speed-kts",
SGRawValuePointer<double>(&base_speed));
- props->tie("controls/start-pos-lat-deg",
- SGRawValuePointer<double>(&initialpos[1]));
- props->tie("controls/start-pos-long-deg",
- SGRawValuePointer<double>(&initialpos[0]));
- props->tie("velocities/speed-kts",
+ props->tie("controls/start-pos-lat-deg",
+ SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLatitudeDeg));
+ props->tie("controls/start-pos-long-deg",
+ SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLongitudeDeg));
+ props->tie("controls/mp-control",
+ SGRawValuePointer<bool>(&MPControl));
+ props->tie("velocities/speed-kts",
SGRawValuePointer<double>(&speed));
- props->tie("environment/surface-wind-speed-true-kts",
+ props->tie("environment/surface-wind-speed-true-kts",
SGRawValuePointer<double>(&wind_speed_kts));
- props->tie("environment/surface-wind-from-true-degs",
+ props->tie("environment/surface-wind-from-true-degs",
SGRawValuePointer<double>(&wind_from_deg));
- props->tie("environment/rel-wind-from-degs",
+ props->tie("environment/rel-wind-from-degs",
SGRawValuePointer<double>(&rel_wind_from_deg));
- props->tie("environment/rel-wind-from-carrier-hdg-degs",
+ props->tie("environment/rel-wind-from-carrier-hdg-degs",
SGRawValuePointer<double>(&rel_wind));
- props->tie("environment/rel-wind-speed-kts",
+ props->tie("environment/rel-wind-speed-kts",
SGRawValuePointer<double>(&rel_wind_speed_kts));
- props->tie("controls/flols/wave-off-lights",
+ props->tie("environment/in-to-wind",
+ SGRawValuePointer<bool>(&in_to_wind));
+ props->tie("controls/flols/wave-off-lights",
SGRawValuePointer<bool>(&wave_off_lights));
- props->tie("controls/elevators",
+ props->tie("controls/elevators",
SGRawValuePointer<bool>(&elevators));
- props->tie("surface-positions/elevators-pos-norm",
+ props->tie("surface-positions/elevators-pos-norm",
SGRawValuePointer<double>(&pos_norm));
- props->tie("controls/elevators-trans-time-s",
+ props->tie("controls/constants/elevators/trans-time-s",
SGRawValuePointer<double>(&transition_time));
- props->tie("controls/elevators-time-constant",
+ props->tie("controls/constants/elevators/time-constant",
SGRawValuePointer<double>(&time_constant));
-
- props->setBoolValue("controls/flols/cut-lights", false);
- props->setBoolValue("controls/flols/wave-off-lights", false);
- props->setBoolValue("controls/flols/cond-datum-lights", true);
- props->setBoolValue("controls/crew", false);
- props->setStringValue("navaids/tacan/channel-ID", TACAN_channel_id.c_str());
- props->setStringValue("sign", sign.c_str());
+ props->tie("controls/jbd",
+ SGRawValuePointer<bool>(&jbd));
+ props->tie("surface-positions/jbd-pos-norm",
+ SGRawValuePointer<double>(&jbd_pos_norm));
+ props->tie("controls/constants/jbd/trans-time-s",
+ SGRawValuePointer<double>(&jbd_transition_time));
+ props->tie("controls/constants/jbd/time-constant",
+ SGRawValuePointer<double>(&jbd_time_constant));
+ props->tie("controls/turn-to-recovery-hdg",
+ SGRawValuePointer<bool>(&turn_to_recovery_hdg));
+ props->tie("controls/turn-to-base-course",
+ SGRawValuePointer<bool>(&turn_to_base_course));
+
+
+ props->setBoolValue("controls/flols/cut-lights", false);
+ props->setBoolValue("controls/flols/wave-off-lights", false);
+ props->setBoolValue("controls/flols/cond-datum-lights", true);
+ props->setBoolValue("controls/crew", false);
+ props->setStringValue("navaids/tacan/channel-ID", TACAN_channel_id.c_str());
+ props->setStringValue("sign", sign.c_str());
+ props->setBoolValue("controls/lighting/deck-lights", false);
+ props->setDoubleValue("controls/lighting/flood-lights-red-norm", 0);
}
+
void FGAICarrier::unbind() {
FGAIShip::unbind();
-
+
props->untie("velocities/true-airspeed-kt");
-
props->untie("controls/flols/source-lights");
props->untie("controls/flols/distance-m");
props->untie("controls/flols/angle-degs");
props->untie("environment/wind-from-true-degs");
props->untie("environment/rel-wind-from-degs");
props->untie("environment/rel-wind-speed-kts");
+ props->untie("environment/in-to-wind");
props->untie("controls/flols/wave-off-lights");
props->untie("controls/elevators");
props->untie("surface-positions/elevators-pos-norm");
- props->untie("controls/elevators-trans-time-secs");
- props->untie("controls/elevators-time-constant");
+ props->untie("controls/constants/elevators/trans-time-secs");
+ props->untie("controls/constants/elevators/time-constant");
+ props->untie("controls/jbd");
+ props->untie("surface-positions/jbd/pos-norm");
+ props->untie("controls/constants/jbd/trans-time-s");
+ props->untie("controls/jbd-time-constant");
+ props->untie("controls/mp-control");
+ props->untie("controls/turn-to-recovery-hdg");
+ props->untie("controls/turn-to-base-course");
}
-bool FGAICarrier::getParkPosition(const string& id, Point3D& geodPos,
- double& hdng, sgdVec3 uvw)
+bool FGAICarrier::getParkPosition(const string& id, SGGeod& geodPos,
+ double& hdng, SGVec3d& uvw)
{
- // FIXME: does not yet cover rotation speeds.
- list<ParkPosition>::iterator it = ppositions.begin();
- while (it != ppositions.end()) {
- // Take either the specified one or the first one ...
- if ((*it).name == id || id.empty()) {
- ParkPosition ppos = *it;
- geodPos = getGeocPosAt(ppos.offset);
- hdng = hdg + ppos.heading_deg;
- double shdng = sin(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
- double chdng = cos(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
- double speed_fps = speed*1.6878099;
- sgdSetVec3(uvw, chdng*speed_fps, shdng*speed_fps, 0);
- return true;
- }
- ++it;
- }
-
- return false;
-}
-
-void FGAICarrier::mark_nohot(ssgEntity* e) {
- if (e->isAKindOf(ssgTypeBranch())) {
- ssgBranch* br = (ssgBranch*)e;
- ssgEntity* kid;
- for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
- mark_nohot(kid);
-
- br->clrTraversalMaskBits(SSGTRAV_HOT);
-
- } else if (e->isAKindOf(ssgTypeLeaf())) {
-
- e->clrTraversalMaskBits(SSGTRAV_HOT);
-
- }
-}
-
-bool FGAICarrier::mark_wires(ssgEntity* e, const list<string>& wire_objects, bool mark) {
- bool found = false;
- if (e->isAKindOf(ssgTypeBranch())) {
- ssgBranch* br = (ssgBranch*)e;
- ssgEntity* kid;
-
- list<string>::const_iterator it;
- for (it = wire_objects.begin(); it != wire_objects.end(); ++it)
- mark = mark || (e->getName() && (*it) == e->getName());
-
- for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
- found = mark_wires(kid, wire_objects, mark) || found;
-
- if (found)
- br->setTraversalMaskBits(SSGTRAV_HOT);
-
- } else if (e->isAKindOf(ssgTypeLeaf())) {
- list<string>::const_iterator it;
- for (it = wire_objects.begin(); it != wire_objects.end(); ++it) {
- if (mark || (e->getName() && (*it) == e->getName())) {
- e->setTraversalMaskBits(SSGTRAV_HOT);
- ssgBase* ud = e->getUserData();
- if (ud) {
- FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
- if (ch) {
- SG_LOG(SG_GENERAL, SG_WARN,
- "AICarrier: Carrier hardware gets marked twice!\n"
- " You have propably a whole branch marked as"
- " a wire which also includes other carrier hardware."
- );
- } else {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "AICarrier: Found user data attached to a leaf node which "
- "should be marked as a wire!\n ****Skipping!****");
- }
- } else {
- e->setUserData( FGAICarrierHardware::newWire( this ) );
- ssgLeaf *l = (ssgLeaf*)e;
- if ( l->getNumLines() != 1 ) {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "AICarrier: Found wires not modelled with exactly one line!");
- }
- found = true;
- }
- }
- }
- }
- return found;
-}
-
-bool FGAICarrier::mark_solid(ssgEntity* e, const list<string>& solid_objects, bool mark) {
- bool found = false;
- if (e->isAKindOf(ssgTypeBranch())) {
- ssgBranch* br = (ssgBranch*)e;
- ssgEntity* kid;
-
- list<string>::const_iterator it;
- for (it = solid_objects.begin(); it != solid_objects.end(); ++it)
- mark = mark || (e->getName() && (*it) == e->getName());
-
- for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
- found = mark_solid(kid, solid_objects, mark) || found;
-
- if (found)
- br->setTraversalMaskBits(SSGTRAV_HOT);
-
- } else if (e->isAKindOf(ssgTypeLeaf())) {
- list<string>::const_iterator it;
- for (it = solid_objects.begin(); it != solid_objects.end(); ++it) {
- if (mark || (e->getName() && (*it) == e->getName())) {
- e->setTraversalMaskBits(SSGTRAV_HOT);
- ssgBase* ud = e->getUserData();
- if (ud) {
- FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
- if (ch) {
- SG_LOG(SG_GENERAL, SG_WARN,
- "AICarrier: Carrier hardware gets marked twice!\n"
- " You have propably a whole branch marked solid"
- " which also includes other carrier hardware."
- );
- } else {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "AICarrier: Found user data attached to a leaf node which "
- "should be marked solid!\n ****Skipping!****");
- }
- } else {
- e->setUserData( FGAICarrierHardware::newSolid( this ) );
- found = true;
+ // FIXME: does not yet cover rotation speeds.
+ list<ParkPosition>::iterator it = ppositions.begin();
+ while (it != ppositions.end()) {
+ // Take either the specified one or the first one ...
+ if ((*it).name == id || id.empty()) {
+ ParkPosition ppos = *it;
+ SGVec3d cartPos = getCartPosAt(ppos.offset);
+ geodPos = SGGeod::fromCart(cartPos);
+ hdng = hdg + ppos.heading_deg;
+ double shdng = sin(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
+ double chdng = cos(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
+ double speed_fps = speed*1.6878099;
+ uvw = SGVec3d(chdng*speed_fps, shdng*speed_fps, 0);
+ return true;
}
- }
+ ++it;
}
- }
- return found;
-}
-bool FGAICarrier::mark_cat(ssgEntity* e, const list<string>& cat_objects, bool mark) {
- bool found = false;
- if (e->isAKindOf(ssgTypeBranch())) {
- ssgBranch* br = (ssgBranch*)e;
- ssgEntity* kid;
-
- list<string>::const_iterator it;
- for (it = cat_objects.begin(); it != cat_objects.end(); ++it)
- mark = mark || (e->getName() && (*it) == e->getName());
-
- for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
- found = mark_cat(kid, cat_objects, mark) || found;
-
- if (found)
- br->setTraversalMaskBits(SSGTRAV_HOT);
-
- } else if (e->isAKindOf(ssgTypeLeaf())) {
- list<string>::const_iterator it;
- for (it = cat_objects.begin(); it != cat_objects.end(); ++it) {
- if (mark || (e->getName() && (*it) == e->getName())) {
- e->setTraversalMaskBits(SSGTRAV_HOT);
- ssgBase* ud = e->getUserData();
- if (ud) {
- FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
- if (ch) {
- SG_LOG(SG_GENERAL, SG_WARN,
- "AICarrier: Carrier hardware gets marked twice!\n"
- "You have probably a whole branch marked as"
- "a catapult which also includes other carrier hardware."
- );
- } else {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "AICarrier: Found user data attached to a leaf node which "
- "should be marked as a catapult!\n ****Skipping!****");
- }
- } else {
- e->setUserData( FGAICarrierHardware::newCatapult( this ) );
- ssgLeaf *l = (ssgLeaf*)e;
- if ( l->getNumLines() != 1 ) {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "AICarrier: Found a cat not modelled with exactly "
- "one line!");
- } else {
- // Now some special code to make sure the cat points in the right
- // direction. The 0 index must be the backward end, the 1 index
- // the forward end.
- // Forward is positive x-direction in our 3D model, also the model
- // as such is flattened when it is loaded, so we do not need to
- // care for transforms ...
- short v[2];
- l->getLine(0, v, v+1 );
- sgVec3 ends[2];
- for (int k=0; k<2; ++k)
- sgCopyVec3( ends[k], l->getVertex( v[k] ) );
-
- // When the 1 end is behind the 0 end, swap the coordinates.
- if (ends[0][0] < ends[1][0]) {
- sgCopyVec3( l->getVertex( v[0] ), ends[1] );
- sgCopyVec3( l->getVertex( v[1] ), ends[0] );
- }
-
- found = true;
- }
- }
- }
- }
- }
- return found;
+ return false;
}
-void FGAICarrier::UpdateFlols(const sgdMat3& trans) {
-
- float in[3];
- float out[3];
-
- double flolsXYZ[3], eyeXYZ[3];
- double lat, lon, alt;
- Point3D eyepos;
- Point3D flolspos;
-
-/* cout << "x_offset " << flols_x_offset
- << " y_offset " << flols_y_offset
- << " z_offset " << flols_z_offset << endl;
-
- cout << "roll " << roll
- << " heading " << hdg
- << " pitch " << pitch << endl;
-
- cout << "carrier lon " << pos[0]
- << " lat " << pos[1]
- << " alt " << pos[2] << endl;*/
-
-// set the Flols intitial position to the carrier position
-
- flolspos = pos;
-
-/* cout << "flols lon " << flolspos[0]
- << " lat " << flolspos[1]
- << " alt " << flolspos[2] << endl;*/
-
-// set the offsets in metres
-
-/* cout << "flols_x_offset " << flols_x_offset << endl
- << "flols_y_offset " << flols_y_offset << endl
- << "flols_z_offset " << flols_z_offset << endl;*/
-
- in[0] = flols_off.x();
- in[1] = flols_off.y();
- in[2] = flols_off.z();
-
-// multiply the input and transform matrices
-
- out[0] = in[0] * trans[0][0] + in[1] * trans[0][1] + in[2] * trans[0][2];
- out[1] = in[0] * trans[1][0] + in[1] * trans[1][1] + in[2] * trans[1][2];
- out[2] = in[0] * trans[2][0] + in[1] * trans[2][1] + in[2] * trans[2][2];
-
-// convert meters to ft to degrees of latitude
- out[0] = (out[0] * 3.28083989501) /(366468.96 - 3717.12 * cos(flolspos[0] * SG_DEGREES_TO_RADIANS));
-
-// convert meters to ft to degrees of longitude
- out[1] = (out[1] * 3.28083989501)/(365228.16 * cos(flolspos[1] * SG_DEGREES_TO_RADIANS));
-
-//print out the result
-/* cout << "lat adjust deg" << out[0]
- << " lon adjust deg " << out[1]
- << " alt adjust m " << out[2] << endl;*/
-
-// adjust Flols position
- flolspos[0] += out[0];
- flolspos[1] += out[1];
- flolspos[2] += out[2];
-
-// convert flols position to cartesian co-ordinates
-
- sgGeodToCart(flolspos[1] * SG_DEGREES_TO_RADIANS,
- flolspos[0] * SG_DEGREES_TO_RADIANS,
- flolspos[2] , flolsXYZ );
-
-
-/* cout << "flols X " << flolsXYZ[0]
- << " Y " << flolsXYZ[1]
- << " Z " << flolsXYZ[2] << endl;
-
-// check the conversion
-
- sgCartToGeod(flolsXYZ, &lat, &lon, &alt);
-
- cout << "flols check lon " << lon
- << " lat " << lat
- << " alt " << alt << endl; */
-
-//get the current position of the pilot's eyepoint (cartesian cordinates)
-
- sgdCopyVec3( eyeXYZ, globals->get_current_view()->get_absolute_view_pos() );
-
- /* cout << "Eye_X " << eyeXYZ[0]
- << " Eye_Y " << eyeXYZ[1]
- << " Eye_Z " << eyeXYZ[2] << endl; */
-
- sgCartToGeod(eyeXYZ, &lat, &lon, &alt);
-
- eyepos[0] = lon * SG_RADIANS_TO_DEGREES;
- eyepos[1] = lat * SG_RADIANS_TO_DEGREES;
- eyepos[2] = alt;
-
-/* cout << "eye lon " << eyepos[0]
- << " eye lat " << eyepos[1]
- << " eye alt " << eyepos[2] << endl; */
-
-//calculate the ditance from eye to flols
-
- dist = sgdDistanceVec3( flolsXYZ, eyeXYZ );
-
-//apply an index error
-
- dist -= 100;
-
- //cout << "distance " << dist << endl;
-
- if ( dist < 5000 ) {
- // calculate height above FLOLS
- double y = eyepos[2] - flolspos[2];
-
- // calculate the angle from the flols to eye
- // above the horizontal
- // double angle;
-
- if ( dist != 0 ) {
- angle = asin( y / dist );
- } else {
- angle = 0.0;
- }
-
- angle *= SG_RADIANS_TO_DEGREES;
-
-
- // cout << " height " << y << " angle " << angle ;
-
-// set the value of source
-
- if ( angle <= 4.35 && angle > 4.01 )
- { source = 1; }
- else if ( angle <= 4.01 && angle > 3.670 )
- { source = 2; }
- else if ( angle <= 3.670 && angle > 3.330 )
- { source = 3; }
- else if ( angle <= 3.330 && angle > 2.990 )
- { source = 4; }
- else if ( angle <= 2.990 && angle > 2.650 )
- { source = 5; }
- else if ( angle <= 2.650 )
- { source = 6; }
- else
- { source = 0; }
-
-// cout << " source " << source << endl;
-
- }
-} // end updateflols
-
// find relative wind
-
-
-
-
void FGAICarrier::UpdateWind( double dt) {
- double recip;
-
- //calculate the reciprocal hdg
-
- if (hdg >= 180){
- recip = hdg - 180;
- }
- else{
- recip = hdg + 180;
- }
-
- //cout <<" heading: " << hdg << "recip: " << recip << endl;
-
//get the surface wind speed and direction
wind_from_deg = _surface_wind_from_deg_node->getDoubleValue();
wind_speed_kts = _surface_wind_speed_node->getDoubleValue();
-
- //calculate the surface wind speed north and east in kts
+
+ //calculate the surface wind speed north and east in kts
double wind_speed_from_north_kts = cos( wind_from_deg / SGD_RADIANS_TO_DEGREES )* wind_speed_kts ;
double wind_speed_from_east_kts = sin( wind_from_deg / SGD_RADIANS_TO_DEGREES )* wind_speed_kts ;
-
- //calculate the carrier speed north and east in kts
+
+ //calculate the carrier speed north and east in kts
double speed_north_kts = cos( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
double speed_east_kts = sin( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
-
+
//calculate the relative wind speed north and east in kts
double rel_wind_speed_from_east_kts = wind_speed_from_east_kts + speed_east_kts;
double rel_wind_speed_from_north_kts = wind_speed_from_north_kts + speed_north_kts;
-
- //combine relative speeds north and east to get relative windspeed in kts
- rel_wind_speed_kts = sqrt((rel_wind_speed_from_east_kts * rel_wind_speed_from_east_kts)
+
+ //combine relative speeds north and east to get relative windspeed in kts
+ rel_wind_speed_kts = sqrt((rel_wind_speed_from_east_kts * rel_wind_speed_from_east_kts)
+ (rel_wind_speed_from_north_kts * rel_wind_speed_from_north_kts));
-
+
//calculate the relative wind direction
- rel_wind_from_deg = atan(rel_wind_speed_from_east_kts/rel_wind_speed_from_north_kts)
+ rel_wind_from_deg = atan2(rel_wind_speed_from_east_kts, rel_wind_speed_from_north_kts)
* SG_RADIANS_TO_DEGREES;
-
- // rationalise the output
- if (rel_wind_speed_from_north_kts <= 0){
- rel_wind_from_deg = 180 + rel_wind_from_deg;
- }
- else{
- if(rel_wind_speed_from_east_kts <= 0){
- rel_wind_from_deg = 360 + rel_wind_from_deg;
- }
- }
-
+
//calculate rel wind
- rel_wind = rel_wind_from_deg - hdg ;
- if (rel_wind > 180) rel_wind -= 360;
-
+ rel_wind = rel_wind_from_deg - hdg;
+ SG_NORMALIZE_RANGE(rel_wind, -180.0, 180.0);
+
//switch the wave-off lights
- if (InToWind()){
+ if (InToWind())
wave_off_lights = false;
- }else{
+ else
wave_off_lights = true;
- }
-
+
// cout << "rel wind: " << rel_wind << endl;
}// end update wind
+
void FGAICarrier::TurnToLaunch(){
-
- //calculate tgt speed
- double tgt_speed = 25 - wind_speed_kts;
- if (tgt_speed < 10) tgt_speed = 10;
-
- //turn the carrier
- FGAIShip::TurnTo(wind_from_deg);
- FGAIShip::AccelTo(tgt_speed);
-
-
-
-} // end turn to launch
-
+
+ // calculate tgt heading
+ if (wind_speed_kts < 3){
+ tgt_heading = base_course;
+ } else {
+ tgt_heading = wind_from_deg;
+ }
+
+ //calculate tgt speed
+ double tgt_speed = 25 - wind_speed_kts;
+ if (tgt_speed < 10)
+ tgt_speed = 10;
+
+ //turn the carrier
+ FGAIShip::TurnTo(tgt_heading);
+ FGAIShip::AccelTo(tgt_speed);
+
+}
+
+void FGAICarrier::TurnToRecover(){
+
+ //these are the rules for adjusting heading to provide a relative wind
+ //down the angled flightdeck
+
+ if (wind_speed_kts < 3){
+ tgt_heading = base_course + 60;
+ } else if (rel_wind < -9 && rel_wind >= -180){
+ tgt_heading = wind_from_deg;
+ } else if (rel_wind > -7 && rel_wind < 45){
+ tgt_heading = wind_from_deg + 60;
+ } else if (rel_wind >=45 && rel_wind < 180){
+ tgt_heading = wind_from_deg + 45;
+ } else
+ tgt_heading = hdg;
+
+ SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
+
+ //calculate tgt speed
+ double tgt_speed = 26 - wind_speed_kts;
+ if (tgt_speed < 10)
+ tgt_speed = 10;
+
+ //turn the carrier
+ FGAIShip::TurnTo(tgt_heading);
+ FGAIShip::AccelTo(tgt_speed);
+
+}
void FGAICarrier::TurnToBase(){
-
+
//turn the carrier
- FGAIShip::TurnTo(base_course);
- FGAIShip::AccelTo(base_speed);
-
-} // end turn to base
+ FGAIShip::TurnTo(base_course);
+ FGAIShip::AccelTo(base_speed);
+
+}
+
void FGAICarrier::ReturnToBox(){
double course, distance, az2;
-
- //get the carrier position
- carrierpos = pos;
-
- //cout << "lat: " << carrierpos[1] << " lon: " << carrierpos[0] << endl;
-
+
//calculate the bearing and range of the initial position from the carrier
- geo_inverse_wgs_84(carrierpos[2],
- carrierpos[1],
- carrierpos[0],
- initialpos[1],
- initialpos[0],
- &course, &az2, &distance);
-
+ geo_inverse_wgs_84(pos, mOpBoxPos, &course, &az2, &distance);
+
distance *= SG_METER_TO_NM;
//cout << "return course: " << course << " distance: " << distance << endl;
//turn the carrier
- FGAIShip::TurnTo(course);
- FGAIShip::AccelTo(base_speed);
- if (distance >= 1 ){
- returning = true;
- }else{
- returning = false;
- }
-
-} // end turn to base
-
-
-
+ FGAIShip::TurnTo(course);
+ FGAIShip::AccelTo(base_speed);
+
+ if (distance >= 1)
+ returning = true;
+ else
+ returning = false;
-bool FGAICarrier::OutsideBox(){ //returns true if the carrier is outside operating box
+} // end turn to base
+
+
+bool FGAICarrier::OutsideBox() { //returns true if the carrier is outside operating box
if ( max_lat == 0 && min_lat == 0 && max_long == 0 && min_long == 0) {
- SG_LOG(SG_GENERAL, SG_DEBUG, "AICarrier: No Operating Box defined" );
- return false;
- }
-
- if (initialpos[1] >= 0){//northern hemisphere
- if (pos[1] >= initialpos[1] + max_lat) {return true;}
- else if (pos[1] <= initialpos[1] - min_lat) {return true;}
- }else{ //southern hemisphere
- if (pos[1] <= initialpos[1] - max_lat) {return true;}
- else if (pos[1] >= initialpos[1] + min_lat) {return true;}
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AICarrier: No Operating Box defined" );
+ return false;
}
-
- if (initialpos[0] >=0) {//eastern hemisphere
- if (pos[0] >= initialpos[0] + max_long) {return true;}
- else if (pos[0] <= initialpos[0] - min_long) {return true;}
- }else{ //western hemisphere
- if (pos[0] <= initialpos[0] - max_long) {return true;}
- else if (pos[0] >= initialpos[0] + min_long) {return true;}
+
+ if (mOpBoxPos.getLatitudeDeg() >= 0) { //northern hemisphere
+ if (pos.getLatitudeDeg() >= mOpBoxPos.getLatitudeDeg() + max_lat)
+ return true;
+
+ if (pos.getLatitudeDeg() <= mOpBoxPos.getLatitudeDeg() - min_lat)
+ return true;
+
+ } else { //southern hemisphere
+ if (pos.getLatitudeDeg() <= mOpBoxPos.getLatitudeDeg() - max_lat)
+ return true;
+
+ if (pos.getLatitudeDeg() >= mOpBoxPos.getLatitudeDeg() + min_lat)
+ return true;
}
-
+
+ if (mOpBoxPos.getLongitudeDeg() >=0) { //eastern hemisphere
+ if (pos.getLongitudeDeg() >= mOpBoxPos.getLongitudeDeg() + max_long)
+ return true;
+
+ if (pos.getLongitudeDeg() <= mOpBoxPos.getLongitudeDeg() - min_long)
+ return true;
+
+ } else { //western hemisphere
+ if (pos.getLongitudeDeg() <= mOpBoxPos.getLongitudeDeg() - max_long)
+ return true;
+
+ if (pos.getLongitudeDeg() >= mOpBoxPos.getLongitudeDeg() + min_long)
+ return true;
+ }
+
SG_LOG(SG_GENERAL, SG_DEBUG, "AICarrier: Inside Operating Box" );
-
- return false;
+ return false;
} // end OutsideBox
-// return the distance to the horizon, given the altitude and the radius of the earth
-float FGAICarrier::Horizon(float h) { return RADIUS_M * acos(RADIUS_M / (RADIUS_M + h)); }
-
-bool FGAICarrier::InToWind(){
-
- // test
- if ( fabs(rel_wind) < 5 ) return true;
+
+bool FGAICarrier::InToWind() {
+ in_to_wind = false;
+
+ if ( fabs(rel_wind) < 10 ){
+ in_to_wind = true;
+ return true;
+ }
return false;
-
-} //end InToWind
+}
+
void FGAICarrier::UpdateElevator(double dt, double transition_time) {
+ double step = 0;
+
if ((elevators && pos_norm >= 1 ) || (!elevators && pos_norm <= 0 ))
return;
// move the elevators
if ( elevators ) {
- step += dt/transition_time;
+ step = dt/transition_time;
if ( step > 1 )
step = 1;
-
} else {
- step -= dt/transition_time;
- if ( step < 0 )
- step = 0;
+ step = -dt/transition_time;
+ if ( step < -1 )
+ step = -1;
}
// assume a linear relationship
- raw_pos_norm = step;
+ raw_pos_norm += step;
+
+ //low pass filter
+ pos_norm = (raw_pos_norm * time_constant) + (pos_norm * (1 - time_constant));
+
+ //sanitise the output
if (raw_pos_norm >= 1) {
raw_pos_norm = 1;
} else if (raw_pos_norm <= 0) {
raw_pos_norm = 0;
}
-
- //low pass filter
- pos_norm = (raw_pos_norm * time_constant) + (pos_norm * (1 - time_constant));
return;
} // end UpdateElevator
+void FGAICarrier::UpdateJBD(double dt, double jbd_transition_time) {
+
+ string launchbar_state = _launchbar_state_node->getStringValue();
+ double step = 0;
+
+ if (launchbar_state == "Engaged"){
+ jbd = true;
+ } else {
+ jbd = false;
+ }
+
+ if (( jbd && jbd_pos_norm >= 1 ) || ( !jbd && jbd_pos_norm <= 0 )){
+ return;
+ }
+
+ // move the jbds
+ if ( jbd ) {
+ step = dt/jbd_transition_time;
+ if ( step > 1 )
+ step = 1;
+ } else {
+ step = -dt/jbd_transition_time;
+ if ( step < -1 )
+ step = -1;
+ }
+
+ // assume a linear relationship
+ raw_jbd_pos_norm += step;
+
+ //low pass filter
+ jbd_pos_norm = (raw_jbd_pos_norm * jbd_time_constant) + (jbd_pos_norm * (1 - jbd_time_constant));
+
+ //sanitise the output
+ if (jbd_pos_norm >= 1) {
+ jbd_pos_norm = 1;
+ } else if (jbd_pos_norm <= 0) {
+ jbd_pos_norm = 0;
+ }
+
+ return;
-int FGAICarrierHardware::unique_id = 1;
+} // end UpdateJBD
projects / flightgear.git / blobdiff