# include <config.h>
#endif
+#include <cstdlib>
+#include <cstdio>
+
#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/airport.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>
+#include <Navaids/navrecord.hxx>
+using std::string;
/* FGAIFlightPlan::create()
* dynamically create a flight plan for AI traffic, based on data provided by the
int currWpt = wpt_iterator - waypoints.begin();
switch (legNr) {
case 1:
- retVal = createPushBack(ac, firstFlight, dep, latitude, longitude,
+ retVal = createPushBack(ac, firstFlight, dep,
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:
retVal = createTakeoffTaxi(ac, firstFlight, dep, radius, fltType,
retVal = createTakeOff(ac, firstFlight, dep, speed, fltType);
break;
case 4:
- retVal = createClimb(ac, firstFlight, dep, speed, alt, fltType);
+ retVal = createClimb(ac, firstFlight, dep, arr, speed, alt, fltType);
break;
case 5:
retVal = createCruise(ac, firstFlight, dep, arr, latitude, longitude, speed,
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");
+ break;
}
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 );
+ wpt->setCrossat (aElev );
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);
}
bool FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight,
const string & acType,
const string & airline)
{
- double heading, lat, lon;
// If this function is called during initialization,
// make sure we obtain a valid gate ID first
// and place the model at the location of the gate.
- if (firstFlight) {
- if (!(apt->getDynamics()->getAvailableParking(&lat, &lon,
- &heading, &gateId,
- radius, fltType,
- acType, airline))) {
- SG_LOG(SG_INPUT, SG_WARN, "Could not find parking for a " <<
- acType <<
- " of flight type " << fltType <<
- " of airline " << airline <<
- " at airport " << apt->getId());
- }
+ if (firstFlight)
+ {
+ gate = apt->getDynamics()->getAvailableParking(radius, fltType,
+ acType, airline);
+ if (!gate.isValid()) {
+ SG_LOG(SG_AI, SG_WARN, "Could not find parking for a " <<
+ acType <<
+ " of flight type " << fltType <<
+ " of airline " << airline <<
+ " at airport " << apt->getId());
+ }
}
- string rwyClass = getRunwayClassFromTrafficType(fltType);
+ const string& rwyClass = getRunwayClassFromTrafficType(fltType);
// Only set this if it hasn't been set by ATC already.
if (activeRunway.empty()) {
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();
}
intVec ids;
- int runwayId = gn->findNearestNode(runwayTakeoff);
+ PositionedID 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.
// Starting from gate 0 in this case is a bit of a hack
// which requires a more proper solution later on.
- delete taxiRoute;
- taxiRoute = new FGTaxiRoute;
+ // delete taxiRoute;
+ // taxiRoute = new FGTaxiRoute;
// Determine which node to start from.
- int node = 0;
+ PositionedID node = 0;
// Find out which node to start from
- FGParking *park = apt->getDynamics()->getParking(gateId);
+ FGParking *park = gate.parking();
if (park) {
node = park->getPushBackPoint();
- }
-
- if (node == -1) {
- node = gateId;
- }
- // HAndle case where parking doens't have a node
- if ((node == 0) && park) {
- if (firstFlight) {
- node = gateId;
- } else {
- node = lastNodeVisited;
+ if (node == -1) {
+ node = park->guid();
+ } else if (node == 0) {
+ // HAndle case where parking doens't have a node
+ if (firstFlight) {
+ node = park->guid();
+ } else {
+ node = lastNodeVisited;
+ }
}
}
-
- *taxiRoute = gn->findShortestRoute(node, runwayId);
+
+ FGTaxiRoute taxiRoute = gn->findShortestRoute(node, runwayId);
intVecIterator i;
- if (taxiRoute->empty()) {
+ if (taxiRoute.empty()) {
createDefaultTakeoffTaxi(ac, apt, rwy);
return true;
}
- taxiRoute->first();
+ taxiRoute.first();
//bool isPushBackPoint = false;
if (firstFlight) {
// If this is called during initialization, randomly
// skip a number of waypoints to get a more realistic
// taxi situation.
- int nrWaypointsToSkip = rand() % taxiRoute->size();
+ int nrWaypointsToSkip = rand() % taxiRoute.size();
// but make sure we always keep two active waypoints
// to prevent a segmentation fault
for (int i = 0; i < nrWaypointsToSkip - 3; i++) {
- taxiRoute->next(&node);
+ taxiRoute.next(&node);
}
- apt->getDynamics()->releaseParking(gateId);
+
+ gate.release(); // free up our gate as required
} else {
- if (taxiRoute->size() > 1) {
- taxiRoute->next(&node); // chop off the first waypoint, because that is already the last of the pushback route
+ if (taxiRoute.size() > 1) {
+ taxiRoute.next(&node); // chop off the first waypoint, because that is already the last of the pushback route
}
}
// push each node on the taxi route as a waypoint
- int route;
- while (taxiRoute->next(&node, &route)) {
+ // int route;
+ //cerr << "Building taxi route" << endl;
+ while (taxiRoute.next(&node)) {
char buffer[10];
- snprintf(buffer, 10, "%d", node);
+ snprintf(buffer, 10, "%lld", (long long int) node);
FGTaxiNode *tn =
apt->getDynamics()->getGroundNetwork()->findNode(node);
- waypoint *wpt =
- createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(),
+ FGAIWaypoint *wpt =
+ createOnGround(ac, buffer, tn->geod(), 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;
}
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,
- ac->getPerformance()->vTaxi());
- waypoints.push_back(wpt);
+ if (gate.isValid()) {
+ wpt = createOnGround(ac, "ENDtaxi", gate.parking()->geod(), airportElev,
+ ac->getPerformance()->vTaxi());
+ pushBackWaypoint(wpt);
+ }
}
bool FGAIFlightPlan::createLandingTaxi(FGAIAircraft * ac, FGAirport * apt,
const string & acType,
const string & airline)
{
- double heading, lat, lon;
- apt->getDynamics()->getAvailableParking(&lat, &lon, &heading,
- &gateId, radius, fltType,
+ gate = apt->getDynamics()->getAvailableParking(radius, fltType,
acType, airline);
- SGGeod lastWptPos =
- SGGeod::fromDeg(waypoints.back()->longitude,
- waypoints.back()->latitude);
+ SGGeod lastWptPos = waypoints.back()->getPos();
FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork();
// Find a route from runway end to parking/gate.
}
intVec ids;
- int runwayId = gn->findNearestNode(lastWptPos);
+ PositionedID 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...
//FGTaxiRoute route;
- delete taxiRoute;
- taxiRoute = new FGTaxiRoute;
- if (gateId >= 0)
- *taxiRoute = gn->findShortestRoute(runwayId, gateId);
+ // delete taxiRoute;
+ // taxiRoute = new FGTaxiRoute;
+ FGTaxiRoute taxiRoute;
+ if (gate.isValid())
+ taxiRoute = gn->findShortestRoute(runwayId, gate.parking()->guid());
else
- *taxiRoute = gn->findShortestRoute(runwayId, 0);
+ taxiRoute = gn->findShortestRoute(runwayId, 0);
intVecIterator i;
- if (taxiRoute->empty()) {
+ if (taxiRoute.empty()) {
createDefaultLandingTaxi(ac, apt);
return true;
}
- int node;
- taxiRoute->first();
- int size = taxiRoute->size();
+ PositionedID node;
+ taxiRoute.first();
+ int size = taxiRoute.size();
// Omit the last two waypoints, as
// those are created by createParking()
- int route;
+ // int route;
for (int i = 0; i < size - 2; i++) {
- taxiRoute->next(&node, &route);
+ taxiRoute.next(&node);
char buffer[10];
- snprintf(buffer, 10, "%d", node);
+ snprintf(buffer, 10, "%lld", (long long int) node);
FGTaxiNode *tn = gn->findNode(node);
- waypoint *wpt =
- createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(),
+ FGAIWaypoint *wpt =
+ createOnGround(ac, buffer, tn->geod(), apt->getElevation(),
ac->getPerformance()->vTaxi());
- wpt->routeIndex = route;
- waypoints.push_back(wpt);
+ // wpt->setRouteIndex(route);
+ pushBackWaypoint(wpt);
}
return true;
}
+static double accelDistance(double v0, double v1, double accel)
+{
+ double t = fabs(v1 - v0) / accel; // time in seconds to change velocity
+ // area under the v/t graph: (t * v0) + (dV / 2t) where (dV = v1 - v0)
+ return t * 0.5 * (v1 + v0);
+}
+
+// find the horizontal distance to gain the specific altiude, holding
+// a constant pitch angle. Used to compute distance based on standard FD/AP
+// PITCH mode prior to VS or CLIMB engaging. Visually, we want to avoid
+// a dip in the nose angle after rotation, during initial climb-out.
+static double pitchDistance(double pitchAngleDeg, double altGainM)
+{
+ return altGainM / tan(pitchAngleDeg * SG_DEGREES_TO_RADIANS);
+}
+
/*******************************************************************
* CreateTakeOff
* A note on units:
FGAirport * apt, double speed,
const string & fltType)
{
+ const double ACCEL_POINT = 105.0;
+ // climb-out angle in degrees. could move this to the perf-db but this
+ // value is pretty sane
+ const double INITIAL_PITCH_ANGLE = 10.0;
+
double accel = ac->getPerformance()->acceleration();
double vTaxi = ac->getPerformance()->vTaxi();
double vRotate = ac->getPerformance()->vRotate();
double vTakeoff = ac->getPerformance()->vTakeoff();
- //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;
- // Acceleration = dV / dT
- // Acceleration X dT = dV
- // dT = dT / Acceleration
- //d = (Vf^2 - Vo^2) / (2*a)
- //double accelTime = (vRotate - vTaxi) / accel;
- //cerr << "Using " << accelTime << " as total acceleration time" << endl;
- double accelDistance =
- (vRotateMetric * vRotateMetric -
- vTaxiMetric * vTaxiMetric) / (2 * accelMetric);
- //cerr << "Using " << accelDistance << " " << accelMetric << " " << vRotateMetric << endl;
- waypoint *wpt;
+
+ double accelMetric = accel * SG_KT_TO_MPS;
+ double vTaxiMetric = vTaxi * SG_KT_TO_MPS;
+ double vRotateMetric = vRotate * SG_KT_TO_MPS;
+
+ 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
// NOTE: DT (2009-01-18: IIRC, this is currently already the case,
// because the getActive runway function takes care of that.
if (firstFlight) {
- string rwyClass = getRunwayClassFromTrafficType(fltType);
+ const string& rwyClass = getRunwayClassFromTrafficType(fltType);
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);
+
+ double d = accelDistance(vTaxiMetric, vRotateMetric, accelMetric) + ACCEL_POINT;
+
+ SGGeod accelPoint = rwy->pointOnCenterline(d);
wpt = createOnGround(ac, "rotate", accelPoint, airportElev, vTakeoff);
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
+
+ double vRef = vTakeoff + 20; // climb-out at v2 + 20kts
+
+ double gearUpDist = d + pitchDistance(INITIAL_PITCH_ANGLE, 400 * SG_FEET_TO_METER);
+ accelPoint = rwy->pointOnCenterline(gearUpDist);
+
+ wpt = cloneWithPos(ac, wpt, "gear-up", accelPoint);
+ wpt->setSpeed(vRef);
+ wpt->setCrossat(airportElev + 400);
+ wpt->setOn_ground(false);
+ wpt->setGear_down(false);
+ pushBackWaypoint(wpt);
+
+ // limit climbout speed to 240kts below 10000'
+ double vClimbBelow10000 = std::min(240.0, ac->getPerformance()->vClimb());
+
+ // create two climb-out points. This is important becuase the first climb point will
+ // be a (sometimes large) turn towards the destination, and we don't want to
+ // commence that turn below 2000'
+ double climbOut = d + pitchDistance(INITIAL_PITCH_ANGLE, 2000 * SG_FEET_TO_METER);
+ accelPoint = rwy->pointOnCenterline(climbOut);
+ wpt = createInAir(ac, "2000'", accelPoint, airportElev + 2000, vClimbBelow10000);
+ pushBackWaypoint(wpt);
+
+ climbOut = d + pitchDistance(INITIAL_PITCH_ANGLE, 2500 * SG_FEET_TO_METER);
+ accelPoint = rwy->pointOnCenterline(climbOut);
+ wpt = createInAir(ac, "2500'", accelPoint, airportElev + 2500, vClimbBelow10000);
+ pushBackWaypoint(wpt);
- accelDistance =
- ((vTakeoffMetric * 1.1) * (vTakeoffMetric * 1.1) -
- vTaxiMetric * vTaxiMetric) / (2 * accelMetric);
- //cerr << "Using " << accelDistance << " " << accelMetric << " " << vTakeoffMetric << endl;
- accelPoint = rwy->pointOnCenterline(105.0 + accelDistance);
- wpt =
- createOnGround(ac, "rotate", accelPoint, airportElev + 1000,
- vTakeoff * 1.1);
- wpt->on_ground = false;
- waypoints.push_back(wpt);
-
- wpt = cloneWithPos(ac, wpt, "3000 ft", rwy->end());
- wpt->altitude = airportElev + 3000;
- waypoints.push_back(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);
return true;
}
* initialize the Aircraft at the parking location
******************************************************************/
bool FGAIFlightPlan::createClimb(FGAIAircraft * ac, bool firstFlight,
- FGAirport * apt, double speed, double alt,
+ FGAirport * apt, FGAirport* arrival,
+ double speed, double alt,
const string & fltType)
{
- waypoint *wpt;
-// bool planLoaded = false;
- string fPLName;
+ FGAIWaypoint *wpt;
+ // string fPLName;
double vClimb = ac->getPerformance()->vClimb();
-
+
if (firstFlight) {
- string rwyClass = getRunwayClassFromTrafficType(fltType);
+ const string& rwyClass = getRunwayClassFromTrafficType(fltType);
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 {
- 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);
-
- SGGeod climb2 = rwy->pointOnCenterline(20 * SG_NM_TO_METER);
- wpt = cloneWithPos(ac, wpt, "18000ft climb", climb2);
- wpt->altitude = 18000;
- waypoints.push_back(wpt);
+ FGRunway* runway = apt->getRunwayByIdent(activeRunway);
+ SGGeod cur = runway->end();
+ if (!waypoints.empty()) {
+ cur = waypoints.back()->getPos();
+ }
+
+ // compute course towards destination
+ double course = SGGeodesy::courseDeg(cur, arrival->geod());
+
+ SGGeod climb1 = SGGeodesy::direct(cur, course, 10 * SG_NM_TO_METER);
+ wpt = createInAir(ac, "10000ft climb", climb1, 10000, vClimb);
+ wpt->setGear_down(true);
+ wpt->setFlaps_down(true);
+ pushBackWaypoint(wpt);
+
+ SGGeod climb2 = SGGeodesy::direct(cur, course, 20 * SG_NM_TO_METER);
+ wpt = createInAir(ac, "18000ft climb", climb2, 18000, vClimb);
+ pushBackWaypoint(wpt);
}
return true;
}
double requiredDistance)
{
bool reposition = false;
- waypoint *wpt;
+ FGAIWaypoint *wpt;
double vDescent = ac->getPerformance()->vDescent();
double vApproach = ac->getPerformance()->vApproach();
-
//Beginning of Descent
- string rwyClass = getRunwayClassFromTrafficType(fltType);
+ const string& rwyClass = getRunwayClassFromTrafficType(fltType);
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);
origin = current;
}
-
- 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()) + 2000);
+ } else {
+ dAlt = alt - (apt->getElevation() + 2000);
+ }
+
double nPoints = 100;
-
char buffer[16];
// The descent path contains the following phases:
//cerr << "Distance : " << distance << endl;
//cerr << "Azimuth : " << azimuth << endl;
//cerr << "Initial Lateral point: " << lateralOffset << endl;
- double lat = refPoint.getLatitudeDeg();
- double lon = refPoint.getLongitudeDeg();
+// double lat = refPoint.getLatitudeDeg();
+// double lon = refPoint.getLongitudeDeg();
//cerr << "Reference point (" << lat << ", " << lon << ")." << endl;
- lat = initialTarget.getLatitudeDeg();
- lon = initialTarget.getLongitudeDeg();
+// lat = initialTarget.getLatitudeDeg();
+// lon = initialTarget.getLongitudeDeg();
//cerr << "Initial Target point (" << lat << ", " << lon << ")." << endl;
double ratio = initialTurnRadius / distance;
azimuth = SGGeodesy::courseDeg(origin, secondaryTarget);
- lat = secondaryTarget.getLatitudeDeg();
- lon = secondaryTarget.getLongitudeDeg();
+// lat = secondaryTarget.getLatitudeDeg();
+// lon = secondaryTarget.getLongitudeDeg();
//cerr << "Secondary Target point (" << lat << ", " << lon << ")." << endl;
//cerr << "Distance : " << distance << endl;
//cerr << "Azimuth : " << azimuth << endl;
SGGeodesy::direct(origin, azimuth,
newDistance, tertiaryTarget, dummyAz2);
- lat = tertiaryTarget.getLatitudeDeg();
- lon = tertiaryTarget.getLongitudeDeg();
+// lat = tertiaryTarget.getLatitudeDeg();
+// lon = tertiaryTarget.getLongitudeDeg();
//cerr << "tertiary Target point (" << lat << ", " << lon << ")." << endl;
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()) + 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;
- distanceOut -= distanceCovered;
- for (int i = 1; i < nPoints; i++) {
- SGGeod result;
- double currentDist = i * (distanceOut / nPoints);
- double currentAltitude =
- apt->getElevation() + 2000 - (i * 2000 / nPoints);
- 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);
- // account for the extra distance due to an extended downwind leg
- if (i == 1) {
- wpt->trackLength += distanceCovered;
- }
- //cerr << "Track Length : " << wpt->trackLength;
- waypoints.push_back(wpt);
- //cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
- }
-
+
//cerr << "Done" << endl;
// Erase the two bogus BOD points: Note check for conflicts with scripted AI flightPlans
if (reposition) {
double tempDistance;
//double minDistance = HUGE_VAL;
- string wptName;
+ //string wptName;
tempDistance = SGGeodesy::distanceM(current, initialTarget);
time_t eta =
tempDistance / ((vDescent * SG_NM_TO_METER) / 3600.0) + now;
//cerr << "Repositioning to waypoint " << (*waypoints.begin())->name << endl;
ac->resetPositionFromFlightPlan();
}
+ waypoints[1]->setName( (waypoints[1]->getName() + string("legend")));
return true;
}
+/**
+ * compute the distance along the centerline, to the ILS glideslope
+ * transmitter. Return -1 if there's no GS for the runway
+ */
+static double runwayGlideslopeTouchdownDistance(FGRunway* rwy)
+{
+ FGNavRecord* gs = rwy->glideslope();
+ if (!gs) {
+ return -1;
+ }
+
+ SGVec3d runwayPosCart = SGVec3d::fromGeod(rwy->pointOnCenterline(0.0));
+ // compute a unit vector in ECF cartesian space, from the runway beginning to the end
+ SGVec3d runwayDirectionVec = normalize(SGVec3d::fromGeod(rwy->end()) - runwayPosCart);
+ SGVec3d gsTransmitterVec = gs->cart() - runwayPosCart;
+
+// project the gsTransmitterVec along the runwayDirctionVec to get out
+// final value (in metres)
+ double dist = dot(runwayDirectionVec, gsTransmitterVec);
+ return dist;
+}
+
/*******************************************************************
* CreateLanding
* 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
******************************************************************/
bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt,
const string & fltType)
{
double vTouchdown = ac->getPerformance()->vTouchdown();
- //double vTaxi = ac->getPerformance()->vTaxi();
-
- //string rwyClass = getRunwayClassFromTrafficType(fltType);
- //double heading = ac->getTrafficRef()->getCourse();
- //apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway, heading);
- //rwy = apt->getRunwayByIdent(activeRunway);
+ double vTaxi = ac->getPerformance()->vTaxi();
+ double decel = ac->getPerformance()->decelerationOnGround();
+ double vApproach = ac->getPerformance()->vApproach();
+
+ double vTouchdownMetric = vTouchdown * SG_KT_TO_MPS;
+ double vTaxiMetric = vTaxi * SG_KT_TO_MPS;
+ double decelMetric = decel * SG_KT_TO_MPS;
+ char buffer[12];
+ FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
+ assert( rwy != NULL );
+ SGGeod threshold = rwy->threshold();
+ double currElev = threshold.getElevationFt();
+
+ double touchdownDistance = runwayGlideslopeTouchdownDistance(rwy);
+ if (touchdownDistance < 0.0) {
+ double landingLength = rwy->lengthM() - (rwy->displacedThresholdM());
+ // touchdown 25% of the way along the landing area
+ touchdownDistance = rwy->displacedThresholdM() + (landingLength * 0.25);
+ }
+
+ SGGeod coord;
+ // find glideslope entry point, 2000' above touchdown elevation
+ double glideslopeEntry = -((2000 * SG_FEET_TO_METER) / tan(3.0)) + touchdownDistance;
+ FGAIWaypoint *wpt = createInAir(ac, "Glideslope begin", rwy->pointOnCenterline(glideslopeEntry),
+ currElev + 2000, vApproach);
+ pushBackWaypoint(wpt);
+
+ // deceleration point, 500' above touchdown elevation - slow from approach speed
+ // to touchdown speed
+ double decelPoint = -((500 * SG_FEET_TO_METER) / tan(3.0)) + touchdownDistance;
+ wpt = createInAir(ac, "500' decel", rwy->pointOnCenterline(decelPoint),
+ currElev + 2000, vTouchdown);
+ pushBackWaypoint(wpt);
+
+ // compute elevation above the runway start, based on a 3-degree glideslope
+ double heightAboveRunwayStart = touchdownDistance *
+ tan(3.0 * SG_DEGREES_TO_RADIANS) * SG_METER_TO_FEET;
+ wpt = createInAir(ac, "CrossThreshold", rwy->begin(),
+ heightAboveRunwayStart + currElev, vTouchdown);
+ pushBackWaypoint(wpt);
+
+ double rolloutDistance = accelDistance(vTouchdownMetric, vTaxiMetric, decelMetric);
+
+ int nPoints = 50;
+ for (int i = 1; i < nPoints; i++) {
+ snprintf(buffer, 12, "landing03%d", i);
+ double t = ((double) i) / nPoints;
+ coord = rwy->pointOnCenterline(touchdownDistance + (rolloutDistance * t));
+ double vel = (vTouchdownMetric * (1.0 - t)) + (vTaxiMetric * t);
+ wpt = createOnGround(ac, buffer, coord, currElev, vel);
+ wpt->setCrossat(currElev);
+ pushBackWaypoint(wpt);
+ }
+
+ wpt->setSpeed(vTaxi);
+ double mindist = (1.1 * rolloutDistance) + touchdownDistance;
- waypoint *wpt;
- double aptElev = apt->getElevation();
+ FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork();
+ if (!gn) {
+ return true;
+ }
+
+ coord = rwy->pointOnCenterline(mindist);
+ int nodeId = 0;
+ if (gn->getVersion() > 0) {
+ nodeId = gn->findNearestNodeOnRunway(coord, rwy);
+ } else {
+ nodeId = gn->findNearestNode(coord);
+ }
+
+ FGTaxiNode* tn = gn->findNode(nodeId);
+ if (tn) {
+ wpt = createOnGround(ac, buffer, tn->geod(), currElev, vTaxi);
+ pushBackWaypoint(wpt);
+ }
- 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);
- }
-
- /*
- //Runway Threshold
- wpt = createOnGround(ac, "Threshold", rwy->threshold(), aptElev, vTouchdown);
- wpt->crossat = apt->getElevation();
- waypoints.push_back(wpt);
-
- // Roll-out
- wpt = createOnGround(ac, "Center", rwy->geod(), aptElev, vTaxi*2);
- waypoints.push_back(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);
- */
return true;
}
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;
- double az2 = 0.0;
- double heading = 0.0;
-
double vTaxi = ac->getPerformance()->vTaxi();
double vTaxiReduced = vTaxi * (2.0 / 3.0);
- apt->getDynamics()->getParking(gateId, &lat, &lon, &heading);
- heading += 180.0;
- if (heading > 360)
- heading -= 360;
- geo_direct_wgs_84(0, lat, lon, heading,
- 2.2 * radius, &lat2, &lon2, &az2);
- wpt =
- createOnGround(ac, "taxiStart", SGGeod::fromDeg(lon2, lat2),
- aptElev, vTaxiReduced);
- waypoints.push_back(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);
-
- wpt =
- createOnGround(ac, "END", SGGeod::fromDeg(lon, lat), aptElev,
+ if (!gate.isValid()) {
+ wpt = createOnGround(ac, "END-Parking", apt->geod(), aptElev,
+ vTaxiReduced);
+ pushBackWaypoint(wpt);
+ return true;
+ }
+
+ FGParking* parking = gate.parking();
+ double heading = SGMiscd::normalizePeriodic(0, 360, parking->getHeading() + 180.0);
+ double az; // unused
+ SGGeod pos;
+
+ SGGeodesy::direct(parking->geod(), heading, 2.2 * parking->getRadius(),
+ pos, az);
+
+ wpt = createOnGround(ac, "taxiStart", pos, aptElev, vTaxiReduced);
+ pushBackWaypoint(wpt);
+
+ SGGeodesy::direct(parking->geod(), heading, 0.1 * parking->getRadius(),
+ pos, az);
+ wpt = createOnGround(ac, "taxiStart2", pos, aptElev, vTaxiReduced);
+ pushBackWaypoint(wpt);
+
+ wpt = createOnGround(ac, "END-Parking", parking->geod(), aptElev,
vTaxiReduced);
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
return true;
}
* - ul (ultralight: I can imagine that these may share a runway with ga on some airports)
* - mil (all military traffic)
*/
-string FGAIFlightPlan::getRunwayClassFromTrafficType(string fltType)
+const char* FGAIFlightPlan::getRunwayClassFromTrafficType(const string& fltType)
{
if ((fltType == "gate") || (fltType == "cargo")) {
- return string("com");
+ return "com";
}
if (fltType == "ga") {
- return string("gen");
+ return "gen";
}
if (fltType == "ul") {
- return string("ul");
+ return "ul";
}
if ((fltType == "mil-fighter") || (fltType == "mil-transport")) {
- return string("mil");
+ return "mil";
}
- return string("com");
+ return "com";
}
projects / flightgear.git / blobdiff