//
// 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/sg_inlines.h>
#include <simgear/math/SGMath.hxx>
-#include <simgear/math/point3d.hxx>
#include <simgear/math/sg_geodesy.hxx>
+
#include <math.h>
#include <Main/util.hxx>
#include <Main/viewer.hxx>
#include "AICarrier.hxx"
-/** Value of earth radius (meters) */
-#define RADIUS_M SG_EQUATORIAL_RADIUS_M
-
-
-
FGAICarrier::FGAICarrier() : FGAIShip(otCarrier) {
}
setMinLat(scFileNode->getDoubleValue("min-lat", 0));
setMaxLong(scFileNode->getDoubleValue("max-long", 0));
setMinLong(scFileNode->getDoubleValue("min-long", 0));
+ setMPControl(scFileNode->getBoolValue("mp-control", false));
+ setAIControl(scFileNode->getBoolValue("ai-control", false));
SGPropertyNode* flols = scFileNode->getChild("flols-pos");
if (flols) {
} else
flols_off = SGVec3d::zeros();
- std::vector<SGPropertyNode_ptr> props = scFileNode->getChildren("wire");
+ std::vector<SGPropertyNode_ptr> props = scFileNode->getChildren("parking-pos");
std::vector<SGPropertyNode_ptr>::const_iterator it;
- for (it = props.begin(); it != props.end(); ++it) {
- std::string s = (*it)->getStringValue();
- if (!s.empty())
- wire_objects.push_back(s);
- }
-
- props = scFileNode->getChildren("catapult");
- for (it = props.begin(); it != props.end(); ++it) {
- std::string s = (*it)->getStringValue();
- if (!s.empty())
- catapult_objects.push_back(s);
- }
-
- props = scFileNode->getChildren("solid");
- for (it = props.begin(); it != props.end(); ++it) {
- std::string s = (*it)->getStringValue();
- if (!s.empty())
- solid_objects.push_back(s);
- }
-
- props = scFileNode->getChildren("parking-pos");
for (it = props.begin(); it != props.end(); ++it) {
string name = (*it)->getStringValue("name", "unnamed");
// Transform to the right coordinate frame, configuration is done in
TACAN_channel_id = id;
}
-void FGAICarrier::getVelocityWrtEarth(sgdVec3& v, sgdVec3& omega, sgdVec3& pivot) {
- sgdCopyVec3(v, vel_wrt_earth.sg() );
- sgdCopyVec3(omega, rot_wrt_earth.sg() );
- sgdCopyVec3(pivot, rot_pivot_wrt_earth.sg() );
+void FGAICarrier::setMPControl(bool c) {
+ MPControl = c;
}
-void FGAICarrier::update(double dt) {
- // For computation of rotation speeds we just use finite differences here.
- // That is perfectly valid since this thing is not driven by accelerations
- // but by just apply discrete changes at its velocity variables.
- // Update the velocity information stored in those nodes.
- // Transform that one to the horizontal local coordinate system.
- SGQuatd ec2hl = SGQuatd::fromLonLatDeg(pos.lon(), pos.lat());
- // 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 = SGGeod::fromDegFt(pos.lon(), pos.lat(), pos.elev());
- // Store for later use by the groundcache
- rot_pivot_wrt_earth = cartPos;
-
- // Compute the velocity in m/s in the earth centered coordinate system axis
- double v_north = 0.51444444*speed*cos(hdg * SGD_DEGREES_TO_RADIANS);
- double v_east = 0.51444444*speed*sin(hdg * SGD_DEGREES_TO_RADIANS);
- vel_wrt_earth = ec2hl.backTransform(SGVec3d(v_north, v_east, 0));
+void FGAICarrier::setAIControl(bool c) {
+ AIControl = c;
+}
+void FGAICarrier::update(double dt) {
// 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 {
- TurnToBase();
- }
+ //SG_LOG(SG_GENERAL, SG_ALERT, "AICarrier: MPControl " << MPControl << " AIControl " << AIControl);
+ if (!MPControl && AIControl){
+
+ 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();
+ }
- // Only change these values if we are able to compute them safely
- if (dt < DBL_MIN)
- rot_wrt_earth = SGVec3d::zeros();
- else {
- // Now here is the finite difference ...
-
- // Transform that one to the horizontal local coordinate system.
- SGQuatd ec2hlNew = SGQuatd::fromLonLatDeg(pos.lon(), pos.lat());
- // compute the new orientation
- SGQuatd hl2bodyNew = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
- // The rotation difference
- SGQuatd dOr = inverse(ec2body)*ec2hlNew*hl2bodyNew;
- SGVec3d dOrAngleAxis;
- dOr.getAngleAxis(dOrAngleAxis);
- // divided by the time difference provides a rotation speed vector
- dOrAngleAxis /= dt;
-
- // now rotate the rotation speed vector back into the
- // earth centered frames coordinates
- dOrAngleAxis = ec2body.backTransform(dOrAngleAxis);
-// dOrAngleAxis = hl2body.backTransform(dOrAngleAxis);
-// dOrAngleAxis(1) = 0;
-// dOrAngleAxis = ec2hl.backTransform(dOrAngleAxis);
- rot_wrt_earth = dOrAngleAxis;
+ } else {
+ FGAIShip::TurnTo(tgt_heading);
+ FGAIShip::AccelTo(tgt_speed);
}
UpdateWind(dt);
UpdateElevator(dt, transition_time);
+ UpdateJBD(dt, jbd_transition_time);
- // For the flols reuse some computations done above ...
+ // 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_absolute_view_pos());
+ 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;
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;
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;
source = 0;
} //end update
-bool FGAICarrier::init() {
- if (!FGAIShip::init())
+bool FGAICarrier::init(bool search_in_AI_path) {
+ if (!FGAIShip::init(search_in_AI_path))
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);
+
+ _launchbar_state_node = fgGetNode("/gear/launchbar/state", true);
_surface_wind_from_deg_node =
fgGetNode("/environment/config/boundary/entry[0]/wind-from-heading-deg", true);
turn_to_launch_hdg = false;
+ turn_to_recovery_hdg = false;
+ turn_to_base_course = true;
returning = false;
+ in_to_wind = false;
- initialpos = pos;
+ mOpBoxPos = pos;
base_course = hdg;
base_speed = speed;
- step = 0;
- pos_norm = 0;
+ 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;
}
props->tie("controls/base-speed-kts",
SGRawValuePointer<double>(&base_speed));
props->tie("controls/start-pos-lat-deg",
- SGRawValuePointer<double>(&initialpos[1]));
+ SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLatitudeDeg));
props->tie("controls/start-pos-long-deg",
- SGRawValuePointer<double>(&initialpos[0]));
- props->tie("velocities/speed-kts",
- SGRawValuePointer<double>(&speed));
+ SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLongitudeDeg));
+ props->tie("controls/mp-control",
+ SGRawValuePointer<bool>(&MPControl));
+ props->tie("controls/ai-control",
+ SGRawValuePointer<bool>(&AIControl));
props->tie("environment/surface-wind-speed-true-kts",
SGRawValuePointer<double>(&wind_speed_kts));
props->tie("environment/surface-wind-from-true-degs",
SGRawValuePointer<double>(&rel_wind));
props->tie("environment/rel-wind-speed-kts",
SGRawValuePointer<double>(&rel_wind_speed_kts));
- props->tie("controls/flols/wave-off-lights",
- SGRawValuePointer<bool>(&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",
SGRawValuePointer<bool>(&elevators));
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->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/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);
}
props->untie("controls/flols/distance-m");
props->untie("controls/flols/angle-degs");
props->untie("controls/turn-to-launch-hdg");
- props->untie("velocities/speed-kts");
props->untie("environment/wind-speed-true-kts");
props->untie("environment/wind-from-true-degs");
props->untie("environment/rel-wind-from-degs");
props->untie("environment/rel-wind-speed-kts");
- props->untie("controls/flols/wave-off-lights");
+ 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/ai-control");
+ props->untie("controls/turn-to-recovery-hdg");
+ props->untie("controls/turn-to-base-course");
}
if ((*it).name == id || id.empty()) {
ParkPosition ppos = *it;
SGVec3d cartPos = getCartPosAt(ppos.offset);
- geodPos = cartPos;
+ 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);
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 probably 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 modeled 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 probably 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;
- }
- }
- }
- }
- 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 modeled 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;
-}
-
// 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();
+ (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;
+ SG_NORMALIZE_RANGE(rel_wind, -180.0, 180.0);
+
+ //set in to wind property
+ InToWind();
//switch the wave-off lights
- if (InToWind())
- wave_off_lights = false;
- else
- wave_off_lights = true;
+ //if (InToWind())
+ // wave_off_lights = false;
+ //else
+ // wave_off_lights = true;
// cout << "rel wind: " << rel_wind << endl;
void FGAICarrier::TurnToLaunch(){
+ // 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(wind_from_deg);
+ 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
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;
return false;
}
- if (initialpos[1] >= 0) { //northern hemisphere
- if (pos[1] >= initialpos[1] + max_lat)
+ if (mOpBoxPos.getLatitudeDeg() >= 0) { //northern hemisphere
+ if (pos.getLatitudeDeg() >= mOpBoxPos.getLatitudeDeg() + max_lat)
return true;
- if (pos[1] <= initialpos[1] - min_lat)
+ if (pos.getLatitudeDeg() <= mOpBoxPos.getLatitudeDeg() - min_lat)
return true;
} else { //southern hemisphere
- if (pos[1] <= initialpos[1] - max_lat)
+ if (pos.getLatitudeDeg() <= mOpBoxPos.getLatitudeDeg() - max_lat)
return true;
- if (pos[1] >= initialpos[1] + min_lat)
+ if (pos.getLatitudeDeg() >= mOpBoxPos.getLatitudeDeg() + min_lat)
return true;
}
- if (initialpos[0] >=0) { //eastern hemisphere
- if (pos[0] >= initialpos[0] + max_long)
+ if (mOpBoxPos.getLongitudeDeg() >=0) { //eastern hemisphere
+ if (pos.getLongitudeDeg() >= mOpBoxPos.getLongitudeDeg() + max_long)
return true;
- if (pos[0] <= initialpos[0] - min_long)
+ if (pos.getLongitudeDeg() <= mOpBoxPos.getLongitudeDeg() - min_long)
return true;
} else { //western hemisphere
- if (pos[0] <= initialpos[0] - max_long)
+ if (pos.getLongitudeDeg() <= mOpBoxPos.getLongitudeDeg() - max_long)
return true;
- if (pos[0] >= initialpos[0] + min_long)
+ if (pos.getLongitudeDeg() >= mOpBoxPos.getLongitudeDeg() + min_long)
return true;
}
} // 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() {
- if ( fabs(rel_wind) < 5 )
- return true;
+ in_to_wind = false;
+ if ( fabs(rel_wind) < 10 ){
+ in_to_wind = true;
+ return true;
+ }
return false;
}
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;
+ }
-int FGAICarrierHardware::unique_id = 1;
+ 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;
+} // end UpdateJBD
projects / flightgear.git / blobdiff