if (wpt->name == "END") wpt->finished = true;
else wpt->finished = false;
waypoints.push_back(wpt);
- }
- }
- catch (const sg_exception &) {
- SG_LOG(SG_GENERAL, SG_WARN,
- "Error reading AI flight plan: ");
- cerr << "Errno = " << errno << endl;
- if (errno == ENOENT)
- {
- SG_LOG(SG_GENERAL, SG_WARN, "Reason: No such file or directory");
- }
- }
+ } // of node loop
+ } catch (const sg_exception &e) {
+ SG_LOG(SG_GENERAL, SG_WARN, "Error reading AI flight plan: " <<
+ e.getMessage() << " from " << e.getOrigin());
}
- else
- {
+ } else {
// cout << path.str() << endl;
// cout << "Trying to create this plan dynamically" << endl;
// cout << "Route from " << dep->id << " to " << arr->id << endl;
return;
}
if (speed < 25) {
- turn_radius = ((360/30)*15) / (2*M_PI);
+ turn_radius = ((360/30)*fabs(speed)) / (2*M_PI);
} else
turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank
//lead_distance = turn_radius * sin(leadInAngle * SG_DEGREES_TO_RADIANS);
lead_distance = turn_radius * tan((leadInAngle * SG_DEGREES_TO_RADIANS)/2);
- if (lead_distance > (3*turn_radius)) {
+ if ((lead_distance > (3*turn_radius)) && (current->on_ground == false)) {
// cerr << "Warning: Lead-in distance is large. Inbound = " << inbound
// << ". Outbound = " << outbound << ". Lead in angle = " << leadInAngle << ". Turn radius = " << turn_radius << endl;
lead_distance = 3 * turn_radius;
+ return;
+ }
+ if ((leadInAngle > 90) && (current->on_ground == true)) {
+ lead_distance = turn_radius * tan((90 * SG_DEGREES_TO_RADIANS)/2);
+ return;
}
}