# include <config.h>
#endif
+#include <cstdlib>
#include "AIFlightPlan.hxx"
#include <simgear/math/sg_geodesy.hxx>
#include <Environment/environment_mgr.hxx>
#include <Environment/environment.hxx>
+#include <FDM/LaRCsim/basic_aero.h>
/* FGAIFlightPlan::create()
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
- if (retVal) {
- waypoints.back()->setName( waypoints.back()->getName() + string("legend"));
- retVal = createTakeoffTaxi(ac, false, 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,
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 =
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)
+ {
+ gateId = apt->getDynamics()->getAvailableParking(radius, fltType,
+ acType, airline);
+ if (gateId < 0) {
+ 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);
}
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.
FGTaxiNode *tn =
apt->getDynamics()->getGroundNetwork()->findNode(node);
FGAIWaypoint *wpt =
- createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(),
+ createOnGround(ac, buffer, tn->geod(), apt->getElevation(),
ac->getPerformance()->vTaxi());
wpt->setRouteIndex(route);
//cerr << "Nodes left " << taxiRoute->nodesLeft() << " ";
if (taxiRoute->nodesLeft() == 0) {
wpt->setName(wpt->getName() + string("Accel"));
}
- waypoints.push_back(wpt);
+ 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());
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
//cerr << "[done]" << endl;
return true;
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);
+ FGParking* parkPos = aAirport->getDynamics()->getParking(gateId);
+ if (parkPos) {
+ wpt = createOnGround(ac, "ENDtaxi", parkPos->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,
+ gateId = apt->getDynamics()->getAvailableParking(radius, fltType,
acType, airline);
SGGeod lastWptPos =
}
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...
snprintf(buffer, 10, "%d", node);
FGTaxiNode *tn = gn->findNode(node);
FGAIWaypoint *wpt =
- createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(),
+ createOnGround(ac, buffer, tn->geod(), apt->getElevation(),
ac->getPerformance()->vTaxi());
wpt->setRouteIndex(route);
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
}
return true;
}
//cerr << "Using " << accelDistance << " " << accelMetric << " " << vTakeoffMetric << endl;
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) -
createOnGround(ac, "rotate", accelPoint, airportElev + 1000,
vTakeoff * 1.1);
wpt->setOn_ground(false);
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
wpt = cloneWithPos(ac, wpt, "3000 ft", rwy->end());
wpt->setAltitude(airportElev + 3000);
- waypoints.push_back(wpt);
+ 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->setAltitude(airportElev + 5000);
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
return true;
}
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 {
wpt = createInAir(ac, "10000ft climb", climb1, 10000, vClimb);
wpt->setGear_down(true);
wpt->setFlaps_down(true);
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
SGGeod climb2 = rwy->pointOnCenterline(20 * SG_NM_TO_METER);
wpt = cloneWithPos(ac, wpt, "18000ft climb", climb2);
wpt->setAltitude(18000);
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
}
return true;
}
FGAIWaypoint *wpt;
double vDescent = ac->getPerformance()->vDescent();
double vApproach = ac->getPerformance()->vApproach();
+ double vTouchdown = ac->getPerformance()->vTouchdown();
//Beginning of Descent
//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;
wpt = createInAir(ac, buffer, result, currentAltitude, vDescent);
wpt->setCrossat(currentAltitude);
wpt->setTrackLength((newDistance / nPoints));
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
//cerr << "Track Length : " << wpt->trackLength;
//cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
}
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 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++) {
double alt = currentAltitude - (i * 2000 / (nPoints - 1));
snprintf(buffer, 16, "final%03d", i);
result = rwy->pointOnCenterline((-distanceOut) + currentDist + touchDownPoint);
- wpt = createInAir(ac, buffer, result, alt, vApproach);
+ 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
wpt->setTrackLength(wpt->getTrackLength() + distanceCovered);
}
//cerr << "Track Length : " << wpt->trackLength;
- waypoints.push_back(wpt);
+ pushBackWaypoint(wpt);
//if (apt->ident() == fgGetString("/sim/presets/airport-id")) {
// cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << " " << apt->getElevation() << " " << distanceOut << endl;
//}
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();
FGAIWaypoint *wpt;
- double aptElev = apt->getElevation();
+ //double aptElev = apt->getElevation();
double currElev = 0;
char buffer[12];
FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
coord = rwy->pointOnCenterline((currentDist * (i / nPoints)));
wpt = createInAir(ac, buffer, coord, currentAltitude, (vTouchdown));
}*/
-
- for (int i = 1; i < 10; i++) {
- snprintf(buffer, 12, "wpt%d", i);
+ 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((rwy->lengthM() * 0.9) * (i / 10.0));
- wpt = createOnGround(ac, buffer, coord, currElev, (vTouchdown / i));
- wpt->setCrossat(apt->getElevation());
- waypoints.push_back(wpt);
+ 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);
+ if (!tn)
+ break;
+
+ double dist = SGGeodesy::distanceM(coord, tn->geod());
+ if (dist < (min + 0.75)) {
+ break;
+ }
+ min = dist;
+ }
+ if (tn) {
+ wpt = createOnGround(ac, buffer, tn->geod(), 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;
}
{
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);
+ FGParking* parking = apt->getDynamics()->getParking(gateId);
+ if (!parking) {
+ wpt = createOnGround(ac, "END-Parking", apt->geod(), aptElev,
+ vTaxiReduced);
+ 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);
-
- wpt =
- createOnGround(ac, "END", SGGeod::fromDeg(lon, lat), aptElev,
+ return true;
+ }
+
+ 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;
}
projects / flightgear.git / blobdiff