#include <vector>
#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"
setMaxLong(scFileNode->getDoubleValue("max-long", 0));
setMinLong(scFileNode->getDoubleValue("min-long", 0));
setMPControl(scFileNode->getBoolValue("mp-control", false));
+ setAIControl(scFileNode->getBoolValue("ai-control", false));
+ setCallSign(scFileNode->getStringValue("callsign", ""));
+
SGPropertyNode* flols = scFileNode->getChild("flols-pos");
if (flols) {
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");
+ const 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
MPControl = c;
}
+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
- //SG_LOG(SG_GENERAL, SG_ALERT, "AICarrier: MPControl " << MPControl );
- if (!MPControl){
+ //SG_LOG(SG_AI, 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 if(OutsideBox() || returning ) {// check that the carrier is inside
+ ReturnToBox(); // the operating box,
} else {
TurnToBase();
}
SGVec3d cartPos = SGVec3d::fromGeod(pos);
// The position of the eyepoint - at least near that ...
- SGVec3d eyePos(globals->get_current_view()->get_view_pos());
+ SGVec3d eyePos(globals->get_view_position_cart());
// 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;
props->untie("velocities/true-airspeed-kt");
- props->tie("controls/flols/source-lights",
- SGRawValuePointer<int>(&source));
- props->tie("controls/flols/distance-m",
- SGRawValuePointer<double>(&dist));
- props->tie("controls/flols/angle-degs",
- SGRawValuePointer<double>(&angle));
- props->tie("controls/turn-to-launch-hdg",
- SGRawValuePointer<bool>(&turn_to_launch_hdg));
- props->tie("controls/in-to-wind",
- SGRawValuePointer<bool>(&turn_to_launch_hdg));
- props->tie("controls/base-course-deg",
- SGRawValuePointer<double>(&base_course));
- props->tie("controls/base-speed-kts",
- SGRawValuePointer<double>(&base_speed));
- 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",
+ tie("controls/flols/source-lights",
+ SGRawValuePointer<int>(&source));
+ tie("controls/flols/distance-m",
+ SGRawValuePointer<double>(&dist));
+ tie("controls/flols/angle-degs",
+ SGRawValuePointer<double>(&angle));
+ tie("controls/turn-to-launch-hdg",
+ SGRawValuePointer<bool>(&turn_to_launch_hdg));
+ tie("controls/in-to-wind",
+ SGRawValuePointer<bool>(&turn_to_launch_hdg));
+ tie("controls/base-course-deg",
+ SGRawValuePointer<double>(&base_course));
+ tie("controls/base-speed-kts",
+ SGRawValuePointer<double>(&base_speed));
+ tie("controls/start-pos-lat-deg",
+ SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLatitudeDeg));
+ tie("controls/start-pos-long-deg",
+ SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLongitudeDeg));
+ tie("controls/mp-control",
SGRawValuePointer<bool>(&MPControl));
- props->tie("velocities/speed-kts",
- SGRawValuePointer<double>(&speed));
- props->tie("environment/surface-wind-speed-true-kts",
- SGRawValuePointer<double>(&wind_speed_kts));
- props->tie("environment/surface-wind-from-true-degs",
- SGRawValuePointer<double>(&wind_from_deg));
- props->tie("environment/rel-wind-from-degs",
- SGRawValuePointer<double>(&rel_wind_from_deg));
- props->tie("environment/rel-wind-from-carrier-hdg-degs",
- SGRawValuePointer<double>(&rel_wind));
- props->tie("environment/rel-wind-speed-kts",
- SGRawValuePointer<double>(&rel_wind_speed_kts));
- props->tie("environment/in-to-wind",
+ tie("controls/ai-control",
+ SGRawValuePointer<bool>(&AIControl));
+ tie("environment/surface-wind-speed-true-kts",
+ SGRawValuePointer<double>(&wind_speed_kts));
+ tie("environment/surface-wind-from-true-degs",
+ SGRawValuePointer<double>(&wind_from_deg));
+ tie("environment/rel-wind-from-degs",
+ SGRawValuePointer<double>(&rel_wind_from_deg));
+ tie("environment/rel-wind-from-carrier-hdg-degs",
+ SGRawValuePointer<double>(&rel_wind));
+ tie("environment/rel-wind-speed-kts",
+ SGRawValuePointer<double>(&rel_wind_speed_kts));
+ 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/constants/elevators/trans-time-s",
- SGRawValuePointer<double>(&transition_time));
- props->tie("controls/constants/elevators/time-constant",
- SGRawValuePointer<double>(&time_constant));
- props->tie("controls/jbd",
+ //tie("controls/flols/wave-off-lights",
+ // SGRawValuePointer<bool>(&wave_off_lights));
+ tie("controls/elevators",
+ SGRawValuePointer<bool>(&elevators));
+ tie("surface-positions/elevators-pos-norm",
+ SGRawValuePointer<double>(&pos_norm));
+ tie("controls/constants/elevators/trans-time-s",
+ SGRawValuePointer<double>(&transition_time));
+ tie("controls/constants/elevators/time-constant",
+ SGRawValuePointer<double>(&time_constant));
+ tie("controls/jbd",
SGRawValuePointer<bool>(&jbd));
- props->tie("surface-positions/jbd-pos-norm",
+ tie("surface-positions/jbd-pos-norm",
SGRawValuePointer<double>(&jbd_pos_norm));
- props->tie("controls/constants/jbd/trans-time-s",
+ tie("controls/constants/jbd/trans-time-s",
SGRawValuePointer<double>(&jbd_transition_time));
- props->tie("controls/constants/jbd/time-constant",
+ tie("controls/constants/jbd/time-constant",
SGRawValuePointer<double>(&jbd_time_constant));
- props->tie("controls/turn-to-recovery-hdg",
+ tie("controls/turn-to-recovery-hdg",
SGRawValuePointer<bool>(&turn_to_recovery_hdg));
- props->tie("controls/turn-to-base-course",
+ 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->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("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("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/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, SGGeod& geodPos,
double& hdng, SGVec3d& uvw)
{
if (wind_speed_kts < 3){
tgt_heading = base_course + 60;
} else if (rel_wind < -9 && rel_wind >= -180){
- tgt_heading = wind_from_deg;
+ 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
+ } else
tgt_heading = hdg;
SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
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" );
+ SG_LOG(SG_AI, SG_DEBUG, "AICarrier: No Operating Box defined" );
return false;
}
return true;
}
- SG_LOG(SG_GENERAL, SG_DEBUG, "AICarrier: Inside Operating Box" );
return false;
} // end OutsideBox
void FGAICarrier::UpdateJBD(double dt, double jbd_transition_time) {
- string launchbar_state = _launchbar_state_node->getStringValue();
+ const string launchbar_state = _launchbar_state_node->getStringValue();
double step = 0;
if (launchbar_state == "Engaged"){
projects / flightgear.git / blobdiff