# include <config.h>
#endif
+
#include "AIFlightPlan.hxx"
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/props/props.hxx>
#include <simgear/props/props_io.hxx>
+#include <Airports/simple.hxx>
#include <Airports/runways.hxx>
#include <Airports/dynamics.hxx>
#include "AIAircraft.hxx"
#include <Environment/environment_mgr.hxx>
#include <Environment/environment.hxx>
+#include <FDM/LaRCsim/basic_aero.h>
/* FGAIFlightPlan::create()
// Check lat/lon values during initialization;
-void FGAIFlightPlan::create(FGAIAircraft * ac, FGAirport * dep,
+bool FGAIFlightPlan::create(FGAIAircraft * ac, FGAirport * dep,
FGAirport * arr, int legNr, double alt,
double speed, double latitude,
double longitude, bool firstFlight,
const string & aircraftType,
const string & airline, double distance)
{
+ bool retVal = true;
int currWpt = wpt_iterator - waypoints.begin();
switch (legNr) {
case 1:
- createPushBack(ac, firstFlight, dep, latitude, longitude,
- radius, fltType, aircraftType, airline);
+ retVal = createPushBack(ac, firstFlight, dep, latitude, longitude,
+ radius, fltType, aircraftType, airline);
+ // Pregenerate the taxi leg.
+ //if (retVal) {
+ // waypoints.back()->setName( waypoints.back()->getName() + string("legend"));
+ // retVal = createTakeoffTaxi(ac, false, dep, radius, fltType, aircraftType, airline);
+ //}
break;
case 2:
- createTakeoffTaxi(ac, firstFlight, dep, radius, fltType,
+ retVal = createTakeoffTaxi(ac, firstFlight, dep, radius, fltType,
aircraftType, airline);
break;
case 3:
- createTakeOff(ac, firstFlight, dep, speed, fltType);
+ retVal = createTakeOff(ac, firstFlight, dep, speed, fltType);
break;
case 4:
- createClimb(ac, firstFlight, dep, speed, alt, fltType);
+ retVal = createClimb(ac, firstFlight, dep, speed, alt, fltType);
break;
case 5:
- createCruise(ac, firstFlight, dep, arr, latitude, longitude, speed,
+ retVal = createCruise(ac, firstFlight, dep, arr, latitude, longitude, speed,
alt, fltType);
break;
case 6:
- createDescent(ac, arr, latitude, longitude, speed, alt, fltType,
+ retVal = createDescent(ac, arr, latitude, longitude, speed, alt, fltType,
distance);
break;
case 7:
- createLanding(ac, arr, fltType);
+ retVal = createLanding(ac, arr, fltType);
break;
case 8:
- createLandingTaxi(ac, arr, radius, fltType, aircraftType, airline);
+ retVal = createLandingTaxi(ac, arr, radius, fltType, aircraftType, airline);
break;
case 9:
- createParking(ac, arr, radius);
+ retVal = createParking(ac, arr, radius);
break;
default:
//exit(1);
- SG_LOG(SG_INPUT, SG_ALERT,
+ SG_LOG(SG_AI, SG_ALERT,
"AIFlightPlan::create() attempting to create unknown leg"
" this is probably an internal program error");
}
wpt_iterator = waypoints.begin() + currWpt;
- leg++;
+ //don't increment leg right away, but only once we pass the actual last waypoint that was created.
+ // to do so, mark the last waypoint with a special status flag
+ if (retVal) {
+ waypoints.back()->setName( waypoints.back()->getName() + string("legend"));
+ // "It's pronounced Leg-end" (Roger Glover (Deep Purple): come Hell or High Water DvD, 1993)
+ }
+
+
+ //leg++;
+ return retVal;
}
-FGAIFlightPlan::waypoint *
- FGAIFlightPlan::createOnGround(FGAIAircraft * ac,
+FGAIWaypoint * FGAIFlightPlan::createOnGround(FGAIAircraft * ac,
const std::string & aName,
const SGGeod & aPos, double aElev,
double aSpeed)
{
- waypoint *wpt = new waypoint;
- wpt->name = aName;
- wpt->longitude = aPos.getLongitudeDeg();
- wpt->latitude = aPos.getLatitudeDeg();
- wpt->altitude = aElev;
- wpt->speed = aSpeed;
- wpt->crossat = -10000.1;
- wpt->gear_down = true;
- wpt->flaps_down = true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
+ FGAIWaypoint *wpt = new FGAIWaypoint;
+ wpt->setName (aName );
+ wpt->setLongitude (aPos.getLongitudeDeg() );
+ wpt->setLatitude (aPos.getLatitudeDeg() );
+ wpt->setAltitude (aElev );
+ wpt->setSpeed (aSpeed );
+ wpt->setCrossat (-10000.1 );
+ wpt->setGear_down (true );
+ wpt->setFlaps_down (true );
+ wpt->setFinished (false );
+ wpt->setOn_ground (true );
+ wpt->setRouteIndex (0 );
return wpt;
}
-FGAIFlightPlan::waypoint *
- FGAIFlightPlan::createInAir(FGAIAircraft * ac,
+FGAIWaypoint * FGAIFlightPlan::createInAir(FGAIAircraft * ac,
const std::string & aName,
const SGGeod & aPos, double aElev,
double aSpeed)
{
- waypoint *wpt = new waypoint;
- wpt->name = aName;
- wpt->longitude = aPos.getLongitudeDeg();
- wpt->latitude = aPos.getLatitudeDeg();
- wpt->altitude = aElev;
- wpt->speed = aSpeed;
- wpt->crossat = -10000.1;
- wpt->gear_down = false;
- wpt->flaps_down = false;
- wpt->finished = false;
- wpt->on_ground = false;
- wpt->routeIndex = 0;
+ FGAIWaypoint * wpt = createOnGround(ac, aName, aPos, aElev, aSpeed);
+ wpt->setGear_down (false );
+ wpt->setFlaps_down (false );
+ wpt->setOn_ground (false );
return wpt;
}
-FGAIFlightPlan::waypoint *
- FGAIFlightPlan::cloneWithPos(FGAIAircraft * ac, waypoint * aWpt,
- const std::string & aName,
- const SGGeod & aPos)
+FGAIWaypoint * FGAIFlightPlan::clone(FGAIWaypoint * aWpt)
{
- waypoint *wpt = new waypoint;
- wpt->name = aName;
- wpt->longitude = aPos.getLongitudeDeg();
- wpt->latitude = aPos.getLatitudeDeg();
-
- wpt->altitude = aWpt->altitude;
- wpt->speed = aWpt->speed;
- wpt->crossat = aWpt->crossat;
- wpt->gear_down = aWpt->gear_down;
- wpt->flaps_down = aWpt->flaps_down;
- wpt->finished = aWpt->finished;
- wpt->on_ground = aWpt->on_ground;
- wpt->routeIndex = 0;
+ FGAIWaypoint *wpt = new FGAIWaypoint;
+ wpt->setName ( aWpt->getName () );
+ wpt->setLongitude ( aWpt->getLongitude() );
+ wpt->setLatitude ( aWpt->getLatitude() );
+ wpt->setAltitude ( aWpt->getAltitude() );
+ wpt->setSpeed ( aWpt->getSpeed() );
+ wpt->setCrossat ( aWpt->getCrossat() );
+ wpt->setGear_down ( aWpt->getGear_down() );
+ wpt->setFlaps_down ( aWpt->getFlaps_down() );
+ wpt->setFinished ( aWpt->isFinished() );
+ wpt->setOn_ground ( aWpt->getOn_ground() );
+ wpt->setRouteIndex ( 0 );
return wpt;
}
-FGAIFlightPlan::waypoint * FGAIFlightPlan::clone(waypoint * aWpt)
+
+FGAIWaypoint * FGAIFlightPlan::cloneWithPos(FGAIAircraft * ac, FGAIWaypoint * aWpt,
+ const std::string & aName,
+ const SGGeod & aPos)
{
- waypoint *wpt = new waypoint;
- wpt->name = aWpt->name;
- wpt->longitude = aWpt->longitude;
- wpt->latitude = aWpt->latitude;
-
- wpt->altitude = aWpt->altitude;
- wpt->speed = aWpt->speed;
- wpt->crossat = aWpt->crossat;
- wpt->gear_down = aWpt->gear_down;
- wpt->flaps_down = aWpt->flaps_down;
- wpt->finished = aWpt->finished;
- wpt->on_ground = aWpt->on_ground;
- wpt->routeIndex = 0;
+ FGAIWaypoint *wpt = clone(aWpt);
+ wpt->setName ( aName );
+ wpt->setLongitude ( aPos.getLongitudeDeg () );
+ wpt->setLatitude ( aPos.getLatitudeDeg () );
return wpt;
}
+
void FGAIFlightPlan::createDefaultTakeoffTaxi(FGAIAircraft * ac,
FGAirport * aAirport,
FGRunway * aRunway)
SGGeod runwayTakeoff = aRunway->pointOnCenterline(5.0);
double airportElev = aAirport->getElevation();
- waypoint *wpt;
+ FGAIWaypoint *wpt;
wpt =
createOnGround(ac, "Airport Center", aAirport->geod(), airportElev,
ac->getPerformance()->vTaxi());
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
wpt =
createOnGround(ac, "Runway Takeoff", runwayTakeoff, airportElev,
ac->getPerformance()->vTaxi());
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
}
-void FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight,
+bool FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight,
FGAirport * apt,
double radius,
const string & fltType,
&heading, &gateId,
radius, fltType,
acType, airline))) {
- SG_LOG(SG_INPUT, SG_WARN, "Could not find parking for a " <<
+ SG_LOG(SG_AI, SG_WARN, "Could not find parking for a " <<
acType <<
" of flight type " << fltType <<
" of airline " << airline <<
apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
depHeading);
}
- rwy = apt->getRunwayByIdent(activeRunway);
+ FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
+ assert( rwy != NULL );
SGGeod runwayTakeoff = rwy->pointOnCenterline(5.0);
FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork();
if (!gn->exists()) {
createDefaultTakeoffTaxi(ac, apt, rwy);
- return;
+ return true;
}
intVec ids;
- int runwayId = gn->findNearestNode(runwayTakeoff);
+ int runwayId = 0;
+ if (gn->getVersion() > 0) {
+ runwayId = gn->findNearestNodeOnRunway(runwayTakeoff);
+ } else {
+ runwayId = gn->findNearestNode(runwayTakeoff);
+ }
// A negative gateId indicates an overflow parking, use a
// fallback mechanism for this.
if (taxiRoute->empty()) {
createDefaultTakeoffTaxi(ac, apt, rwy);
- return;
+ return true;
}
taxiRoute->first();
// push each node on the taxi route as a waypoint
int route;
+ //cerr << "Building taxi route" << endl;
while (taxiRoute->next(&node, &route)) {
char buffer[10];
snprintf(buffer, 10, "%d", node);
FGTaxiNode *tn =
apt->getDynamics()->getGroundNetwork()->findNode(node);
- waypoint *wpt =
+ FGAIWaypoint *wpt =
createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(),
ac->getPerformance()->vTaxi());
- wpt->routeIndex = route;
- waypoints.push_back(wpt);
+ wpt->setRouteIndex(route);
+ //cerr << "Nodes left " << taxiRoute->nodesLeft() << " ";
+ if (taxiRoute->nodesLeft() == 1) {
+ // Note that we actually have hold points in the ground network, but this is just an initial test.
+ //cerr << "Setting departurehold point: " << endl;
+ wpt->setName( wpt->getName() + string("DepartureHold"));
+ }
+ if (taxiRoute->nodesLeft() == 0) {
+ wpt->setName(wpt->getName() + string("Accel"));
+ }
+ pushBackWaypoint(wpt);
}
+ // Acceleration point, 105 meters into the runway,
+ SGGeod accelPoint = rwy->pointOnCenterline(105.0);
+ FGAIWaypoint *wpt = createOnGround(ac, "accel", accelPoint, apt->getElevation(), ac->getPerformance()->vRotate());
+ pushBackWaypoint(wpt);
+
+ //cerr << "[done]" << endl;
+ return true;
}
void FGAIFlightPlan::createDefaultLandingTaxi(FGAIAircraft * ac,
FGAirport * aAirport)
{
SGGeod lastWptPos =
- SGGeod::fromDeg(waypoints.back()->longitude,
- waypoints.back()->latitude);
+ SGGeod::fromDeg(waypoints.back()->getLongitude(),
+ waypoints.back()->getLatitude());
double airportElev = aAirport->getElevation();
- waypoint *wpt;
+ FGAIWaypoint *wpt;
wpt =
createOnGround(ac, "Runway Exit", lastWptPos, airportElev,
ac->getPerformance()->vTaxi());
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
wpt =
createOnGround(ac, "Airport Center", aAirport->geod(), airportElev,
ac->getPerformance()->vTaxi());
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
double heading, lat, lon;
aAirport->getDynamics()->getParking(gateId, &lat, &lon, &heading);
wpt =
- createOnGround(ac, "END", SGGeod::fromDeg(lon, lat), airportElev,
+ createOnGround(ac, "ENDtaxi", SGGeod::fromDeg(lon, lat), airportElev,
ac->getPerformance()->vTaxi());
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
}
-void FGAIFlightPlan::createLandingTaxi(FGAIAircraft * ac, FGAirport * apt,
+bool FGAIFlightPlan::createLandingTaxi(FGAIAircraft * ac, FGAirport * apt,
double radius,
const string & fltType,
const string & acType,
acType, airline);
SGGeod lastWptPos =
- SGGeod::fromDeg(waypoints.back()->longitude,
- waypoints.back()->latitude);
+ SGGeod::fromDeg(waypoints.back()->getLongitude(),
+ waypoints.back()->getLatitude());
FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork();
// Find a route from runway end to parking/gate.
if (!gn->exists()) {
createDefaultLandingTaxi(ac, apt);
- return;
+ return true;
}
intVec ids;
- int runwayId = gn->findNearestNode(lastWptPos);
+ int runwayId = 0;
+ if (gn->getVersion() == 1) {
+ runwayId = gn->findNearestNodeOnRunway(lastWptPos);
+ } else {
+ runwayId = gn->findNearestNode(lastWptPos);
+ }
+ //cerr << "Using network node " << runwayId << endl;
// A negative gateId indicates an overflow parking, use a
// fallback mechanism for this.
// Starting from gate 0 is a bit of a hack...
if (taxiRoute->empty()) {
createDefaultLandingTaxi(ac, apt);
- return;
+ return true;
}
int node;
char buffer[10];
snprintf(buffer, 10, "%d", node);
FGTaxiNode *tn = gn->findNode(node);
- waypoint *wpt =
+ FGAIWaypoint *wpt =
createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(),
ac->getPerformance()->vTaxi());
- wpt->routeIndex = route;
- waypoints.push_back(wpt);
+ wpt->setRouteIndex(route);
+ pushBackWaypoint(wpt);
}
+ return true;
}
/*******************************************************************
* more likely however.
*
******************************************************************/
-void FGAIFlightPlan::createTakeOff(FGAIAircraft * ac, bool firstFlight,
+bool FGAIFlightPlan::createTakeOff(FGAIAircraft * ac, bool firstFlight,
FGAirport * apt, double speed,
const string & fltType)
{
double vTaxi = ac->getPerformance()->vTaxi();
double vRotate = ac->getPerformance()->vRotate();
double vTakeoff = ac->getPerformance()->vTakeoff();
- double vClimb = ac->getPerformance()->vClimb();
+ //double vClimb = ac->getPerformance()->vClimb();
double accelMetric = (accel * SG_NM_TO_METER) / 3600;
double vTaxiMetric = (vTaxi * SG_NM_TO_METER) / 3600;
double vRotateMetric = (vRotate * SG_NM_TO_METER) / 3600;
double vTakeoffMetric = (vTakeoff * SG_NM_TO_METER) / 3600;
- double vClimbMetric = (vClimb * SG_NM_TO_METER) / 3600;
+ //double vClimbMetric = (vClimb * SG_NM_TO_METER) / 3600;
// Acceleration = dV / dT
// Acceleration X dT = dV
// dT = dT / Acceleration
(vRotateMetric * vRotateMetric -
vTaxiMetric * vTaxiMetric) / (2 * accelMetric);
//cerr << "Using " << accelDistance << " " << accelMetric << " " << vRotateMetric << endl;
- waypoint *wpt;
+ FGAIWaypoint *wpt;
// Get the current active runway, based on code from David Luff
// This should actually be unified and extended to include
// Preferential runway use schema's
double heading = ac->getTrafficRef()->getCourse();
apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
heading);
- rwy = apt->getRunwayByIdent(activeRunway);
}
+ FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
+ assert( rwy != NULL );
double airportElev = apt->getElevation();
- // Acceleration point, 105 meters into the runway,
- SGGeod accelPoint = rwy->pointOnCenterline(105.0);
- wpt = createOnGround(ac, "accel", accelPoint, airportElev, vRotate);
- waypoints.push_back(wpt);
-
+
accelDistance =
(vTakeoffMetric * vTakeoffMetric -
vTaxiMetric * vTaxiMetric) / (2 * accelMetric);
//cerr << "Using " << accelDistance << " " << accelMetric << " " << vTakeoffMetric << endl;
- accelPoint = rwy->pointOnCenterline(105.0 + accelDistance);
+ SGGeod accelPoint = rwy->pointOnCenterline(105.0 + accelDistance);
wpt = createOnGround(ac, "rotate", accelPoint, airportElev, vTakeoff);
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
accelDistance =
((vTakeoffMetric * 1.1) * (vTakeoffMetric * 1.1) -
wpt =
createOnGround(ac, "rotate", accelPoint, airportElev + 1000,
vTakeoff * 1.1);
- wpt->on_ground = false;
- waypoints.push_back(wpt);
+ wpt->setOn_ground(false);
+ pushBackWaypoint(wpt);
wpt = cloneWithPos(ac, wpt, "3000 ft", rwy->end());
- wpt->altitude = airportElev + 3000;
- waypoints.push_back(wpt);
+ wpt->setAltitude(airportElev + 3000);
+ pushBackWaypoint(wpt);
// Finally, add two more waypoints, so that aircraft will remain under
// Tower control until they have reached the 3000 ft climb point
SGGeod pt = rwy->pointOnCenterline(5000 + rwy->lengthM() * 0.5);
wpt = cloneWithPos(ac, wpt, "5000 ft", pt);
- wpt->altitude = airportElev + 5000;
- waypoints.push_back(wpt);
+ wpt->setAltitude(airportElev + 5000);
+ pushBackWaypoint(wpt);
+ return true;
}
/*******************************************************************
* CreateClimb
* initialize the Aircraft at the parking location
******************************************************************/
-void FGAIFlightPlan::createClimb(FGAIAircraft * ac, bool firstFlight,
+bool FGAIFlightPlan::createClimb(FGAIAircraft * ac, bool firstFlight,
FGAirport * apt, double speed, double alt,
const string & fltType)
{
- waypoint *wpt;
+ FGAIWaypoint *wpt;
// bool planLoaded = false;
string fPLName;
double vClimb = ac->getPerformance()->vClimb();
double heading = ac->getTrafficRef()->getCourse();
apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
heading);
- rwy = apt->getRunwayByIdent(activeRunway);
}
if (sid) {
for (wpt_vector_iterator i = sid->getFirstWayPoint();
i != sid->getLastWayPoint(); i++) {
- waypoints.push_back(clone(*(i)));
+ pushBackWaypoint(clone(*(i)));
//cerr << " Cloning waypoint " << endl;
}
} else {
+ FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
+ assert( rwy != NULL );
+
SGGeod climb1 = rwy->pointOnCenterline(10 * SG_NM_TO_METER);
- wpt = createInAir(ac, "10000ft climb", climb1, vClimb, 10000);
- wpt->gear_down = true;
- wpt->flaps_down = true;
- waypoints.push_back(wpt);
+ wpt = createInAir(ac, "10000ft climb", climb1, 10000, vClimb);
+ wpt->setGear_down(true);
+ wpt->setFlaps_down(true);
+ pushBackWaypoint(wpt);
SGGeod climb2 = rwy->pointOnCenterline(20 * SG_NM_TO_METER);
wpt = cloneWithPos(ac, wpt, "18000ft climb", climb2);
- wpt->altitude = 18000;
- waypoints.push_back(wpt);
+ wpt->setAltitude(18000);
+ pushBackWaypoint(wpt);
}
+ return true;
}
* Generate a flight path from the last waypoint of the cruise to
* the permission to land point
******************************************************************/
-void FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
+bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
double latitude, double longitude,
double speed, double alt,
const string & fltType,
double requiredDistance)
{
bool reposition = false;
- waypoint *wpt;
+ FGAIWaypoint *wpt;
double vDescent = ac->getPerformance()->vDescent();
double vApproach = ac->getPerformance()->vApproach();
+ double vTouchdown = ac->getPerformance()->vTouchdown();
//Beginning of Descent
double heading = ac->getTrafficRef()->getCourse();
apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway,
heading);
- rwy = apt->getRunwayByIdent(activeRunway);
-
-
+ FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
+ assert( rwy != NULL );
// Create a slow descent path that ends 250 lateral to the runway.
double initialTurnRadius = getTurnRadius(vDescent, true);
- double finalTurnRadius = getTurnRadius(vApproach, true);
+ //double finalTurnRadius = getTurnRadius(vApproach, true);
// get length of the downwind leg for the intended runway
double distanceOut = apt->getDynamics()->getApproachController()->getRunway(rwy->name())->getApproachDistance(); //12 * SG_NM_TO_METER;
}
- double dAlt = alt - (apt->getElevation() + 2000);
+ double dAlt = 0; // = alt - (apt->getElevation() + 2000);
+ FGTaxiNode * tn = 0;
+ if (apt->getDynamics()->getGroundNetwork()) {
+ int node = apt->getDynamics()->getGroundNetwork()->findNearestNode(refPoint);
+ tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
+ }
+ if (tn) {
+ dAlt = alt - ((tn->getElevationFt(apt->getElevation())) + 2000);
+ } else {
+ dAlt = alt - (apt->getElevation() + 2000);
+ }
double nPoints = 100;
SGGeodesy::direct(origin, azimuth, currentDist, result, dummyAz2);
snprintf(buffer, 16, "descent%03d", i);
wpt = createInAir(ac, buffer, result, currentAltitude, vDescent);
- wpt->crossat = currentAltitude;
- wpt->trackLength = (newDistance / nPoints);
- waypoints.push_back(wpt);
+ wpt->setCrossat(currentAltitude);
+ wpt->setTrackLength((newDistance / nPoints));
+ pushBackWaypoint(wpt);
//cerr << "Track Length : " << wpt->trackLength;
//cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
}
}
//cerr << "creating circle between " << startval << " and " << endval << " using " << increment << endl;
+ //FGTaxiNode * tn = apt->getDynamics()->getGroundNetwork()->findNearestNode(initialTarget);
+ double currentAltitude = 0;
+ if (tn) {
+ currentAltitude = (tn->getElevationFt(apt->getElevation())) + 2000;
+ } else {
+ currentAltitude = apt->getElevation() + 2000;
+ }
+
double trackLength = (2 * M_PI * initialTurnRadius) / 360.0;
for (int i = startval; i != endval; i += increment) {
SGGeod result;
- double currentAltitude = apt->getElevation() + 2000;
+ //double currentAltitude = apt->getElevation() + 2000;
+
SGGeodesy::direct(secondaryTarget, i,
initialTurnRadius, result, dummyAz2);
snprintf(buffer, 16, "turn%03d", i);
wpt = createInAir(ac, buffer, result, currentAltitude, vDescent);
- wpt->crossat = currentAltitude;
- wpt->trackLength = trackLength;
+ wpt->setCrossat(currentAltitude);
+ wpt->setTrackLength(trackLength);
//cerr << "Track Length : " << wpt->trackLength;
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
//cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
}
- // The approach leg should bring the aircraft to approximately 4-6 out, after which the landing phase should take over.
+ // The approach leg should bring the aircraft to approximately 4-6 nm out, after which the landing phase should take over.
//cerr << "Phase 3: Approach" << endl;
+ double tgt_speed = vApproach;
distanceOut -= distanceCovered;
+ double touchDownPoint = 0; //(rwy->lengthM() * 0.1);
for (int i = 1; i < nPoints; i++) {
SGGeod result;
double currentDist = i * (distanceOut / nPoints);
- double currentAltitude =
- apt->getElevation() + 2000 - (i * 2000 / nPoints);
+ //double currentAltitude =
+ // apt->getElevation() + 2000 - (i * 2000 / (nPoints-1));
+ double alt = currentAltitude - (i * 2000 / (nPoints - 1));
snprintf(buffer, 16, "final%03d", i);
- result = rwy->pointOnCenterline((-distanceOut) + currentDist);
- wpt = createInAir(ac, buffer, result, currentAltitude, vApproach);
- wpt->crossat = currentAltitude;
- wpt->trackLength = (distanceOut / nPoints);
+ result = rwy->pointOnCenterline((-distanceOut) + currentDist + touchDownPoint);
+ if (i == nPoints - 30) {
+ tgt_speed = vTouchdown;
+ }
+ wpt = createInAir(ac, buffer, result, alt, tgt_speed);
+ wpt->setCrossat(alt);
+ wpt->setTrackLength((distanceOut / nPoints));
// account for the extra distance due to an extended downwind leg
if (i == 1) {
- wpt->trackLength += distanceCovered;
+ wpt->setTrackLength(wpt->getTrackLength() + distanceCovered);
}
//cerr << "Track Length : " << wpt->trackLength;
- waypoints.push_back(wpt);
- //cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
+ pushBackWaypoint(wpt);
+ //if (apt->ident() == fgGetString("/sim/presets/airport-id")) {
+ // cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << " " << apt->getElevation() << " " << distanceOut << endl;
+ //}
}
//cerr << "Done" << endl;
if (reposition) {
double tempDistance;
- double minDistance = HUGE_VAL;
+ //double minDistance = HUGE_VAL;
string wptName;
tempDistance = SGGeodesy::distanceM(current, initialTarget);
time_t eta =
//cerr << "Repositioning to waypoint " << (*waypoints.begin())->name << endl;
ac->resetPositionFromFlightPlan();
}
-
-
+ waypoints[1]->setName( (waypoints[1]->getName() + string("legend")));
+ waypoints.back()->setName(waypoints.back()->getName() + "LandingThreshold");
+ return true;
}
/*******************************************************************
* Create a flight path from the "permision to land" point (currently
hardcoded at 5000 meters from the threshold) to the threshold, at
a standard glide slope angle of 3 degrees.
+ Position : 50.0354 8.52592 384 364 11112
******************************************************************/
-void FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt,
+bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt,
const string & fltType)
{
double vTouchdown = ac->getPerformance()->vTouchdown();
- double vTaxi = ac->getPerformance()->vTaxi();
+ double vTaxi = ac->getPerformance()->vTaxi();
+ double decel = ac->getPerformance()->deceleration() * 1.4;
+
+ double vTouchdownMetric = (vTouchdown * SG_NM_TO_METER) / 3600;
+ double vTaxiMetric = (vTaxi * SG_NM_TO_METER) / 3600;
+ double decelMetric = (decel * SG_NM_TO_METER) / 3600;
//string rwyClass = getRunwayClassFromTrafficType(fltType);
//double heading = ac->getTrafficRef()->getCourse();
//rwy = apt->getRunwayByIdent(activeRunway);
- waypoint *wpt;
- double aptElev = apt->getElevation();
+ FGAIWaypoint *wpt;
+ //double aptElev = apt->getElevation();
+ double currElev = 0;
+ char buffer[12];
+ FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
+ assert( rwy != NULL );
+ SGGeod refPoint = rwy->pointOnCenterline(0);
+ FGTaxiNode *tn = 0;
+ if (apt->getDynamics()->getGroundNetwork()) {
+ int node = apt->getDynamics()->getGroundNetwork()->findNearestNode(refPoint);
+ tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
+ }
+ if (tn) {
+ currElev = tn->getElevationFt(apt->getElevation());
+ } else {
+ currElev = apt->getElevation();
+ }
+
SGGeod coord;
- char buffer[12];
- for (int i = 1; i < 10; i++) {
- snprintf(buffer, 12, "wpt%d", i);
- coord = rwy->pointOnCenterline(rwy->lengthM() * (i / 10.0));
- wpt = createOnGround(ac, buffer, coord, aptElev, (vTouchdown / i));
- wpt->crossat = apt->getElevation();
- waypoints.push_back(wpt);
+
+
+ /*double distanceOut = rwy->lengthM() * .1;
+ double nPoints = 20;
+ for (int i = 1; i < nPoints; i++) {
+ snprintf(buffer, 12, "flare%d", i);
+ double currentDist = i * (distanceOut / nPoints);
+ double currentAltitude = apt->getElevation() + 20 - (i * 20 / nPoints);
+ coord = rwy->pointOnCenterline((currentDist * (i / nPoints)));
+ wpt = createInAir(ac, buffer, coord, currentAltitude, (vTouchdown));
+ }*/
+ double rolloutDistance =
+ (vTouchdownMetric * vTouchdownMetric - vTaxiMetric * vTaxiMetric) / (2 * decelMetric);
+ //cerr << " touchdown speed = " << vTouchdown << ". Rollout distance " << rolloutDistance << endl;
+ int nPoints = 50;
+ for (int i = 1; i < nPoints; i++) {
+ snprintf(buffer, 12, "landing03%d", i);
+
+ coord = rwy->pointOnCenterline((rolloutDistance * ((double) i / (double) nPoints)));
+ wpt = createOnGround(ac, buffer, coord, currElev, 2*vTaxi);
+ wpt->setCrossat(currElev);
+ pushBackWaypoint(wpt);
+ }
+ wpt->setSpeed(vTaxi);
+ double mindist = 1.1 * rolloutDistance;
+ double maxdist = rwy->lengthM();
+ //cerr << "Finding nearest exit" << endl;
+ FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork();
+ if (gn) {
+ double min = 0;
+ for (int i = ceil(mindist); i < floor(maxdist); i++) {
+ coord = rwy->pointOnCenterline(mindist);
+ int nodeId = 0;
+ if (gn->getVersion() > 0) {
+ nodeId = gn->findNearestNodeOnRunway(coord);
+ } else {
+ nodeId = gn->findNearestNode(coord);
+ }
+ if (tn)
+ tn = gn->findNode(nodeId);
+ else {
+ break;
+ }
+
+ double dist = SGGeodesy::distanceM(coord, tn->getGeod());
+ if (dist < (min + 0.75)) {
+ break;
+ }
+ min = dist;
+ }
+ if (tn) {
+ wpt = createOnGround(ac, buffer, tn->getGeod(), currElev, vTaxi);
+ pushBackWaypoint(wpt);
+ }
}
+ //cerr << "Done. " << endl;
/*
//Runway Threshold
wpt = createOnGround(ac, "Threshold", rwy->threshold(), aptElev, vTouchdown);
wpt->crossat = apt->getElevation();
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
// Roll-out
wpt = createOnGround(ac, "Center", rwy->geod(), aptElev, vTaxi*2);
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
SGGeod rollOut = rwy->pointOnCenterline(rwy->lengthM() * 0.9);
wpt = createOnGround(ac, "Roll Out", rollOut, aptElev, vTaxi);
wpt->crossat = apt->getElevation();
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
*/
+ return true;
}
/*******************************************************************
* CreateParking
* initialize the Aircraft at the parking location
******************************************************************/
-void FGAIFlightPlan::createParking(FGAIAircraft * ac, FGAirport * apt,
+bool FGAIFlightPlan::createParking(FGAIAircraft * ac, FGAirport * apt,
double radius)
{
- waypoint *wpt;
+ FGAIWaypoint *wpt;
double aptElev = apt->getElevation();
double lat = 0.0, lat2 = 0.0;
double lon = 0.0, lon2 = 0.0;
wpt =
createOnGround(ac, "taxiStart", SGGeod::fromDeg(lon2, lat2),
aptElev, vTaxiReduced);
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
geo_direct_wgs_84(0, lat, lon, heading,
0.1 * radius, &lat2, &lon2, &az2);
wpt =
createOnGround(ac, "taxiStart2", SGGeod::fromDeg(lon2, lat2),
aptElev, vTaxiReduced);
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
wpt =
- createOnGround(ac, "END", SGGeod::fromDeg(lon, lat), aptElev,
+ createOnGround(ac, "END-Parking", SGGeod::fromDeg(lon, lat), aptElev,
vTaxiReduced);
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
+ return true;
}
/**