FGAIShip::FGAIShip(object_type ot) :
- FGAIBase(ot),
- _limit(40),
- _elevation_m(0),
- _elevation_ft(0),
- _tow_angle(0),
- _dt_count(0),
- _next_run(0),
- _lead_angle(0),
- _xtrack_error(0)
+FGAIBase(ot),
+_limit(100),
+_elevation_m(0),
+_elevation_ft(0),
+_tow_angle(0),
+_dt_count(0),
+_next_run(0),
+_lead_angle(0),
+_xtrack_error(0),
+_tunnel(false),
+_initial_tunnel(false),
+_curr_alt(0),
+_prev_alt(0),
+_until_time(""),
+_fp_init(false),
+_missed(false),
+_waiting(false),
+_new_waypoint(true),
+_missed_count(0),
+_wait_count(0),
+_missed_time_sec(30),
+_day(86400),
+_wp_range(0),
+_old_range(0),
+_range_rate(0),
+_roll_constant(0.001),
+_hdg_constant(0.01),
+_roll_factor(-0.0083335),
+_restart(false)
{
+ invisible = false;
}
FGAIShip::~FGAIShip() {
setRadius(scFileNode->getDoubleValue("turn-radius-ft", 2000));
std::string flightplan = scFileNode->getStringValue("flightplan");
setRepeat(scFileNode->getBoolValue("repeat", false));
+ setRestart(scFileNode->getBoolValue("restart", false));
setStartTime(scFileNode->getStringValue("time", ""));
setLeadAngleGain(scFileNode->getDoubleValue("lead-angle-gain", 1.5));
setLeadAngleLimit(scFileNode->getDoubleValue("lead-angle-limit-deg", 15));
setSpeedConstant(scFileNode->getDoubleValue("speed-constant", 0.5));
if (!flightplan.empty()) {
- SG_LOG(SG_GENERAL, SG_ALERT, "getting flightplan: " << _name );
+ SG_LOG(SG_GENERAL, SG_ALERT, "getting flightplan: " << _name );
FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
setFlightPlan(fp);
curr = 0; // the one ahead
next = 0; // the next plus 1
- _until_time = "";
-
props->setStringValue("name", _name.c_str());
props->setStringValue("waypoint/name-prev", _prev_name.c_str());
props->setStringValue("waypoint/name-curr", _curr_name.c_str());
_rudder = 0.0;
no_roll = false;
- _roll_constant = 0.001;
- _hdg_constant = 0.01;
- _roll_factor = -0.0083335;
-
_rd_turn_radius_ft = _sp_turn_radius_ft = turn_radius_ft;
- _fp_init = false;
- _missed = false;
- _waiting = false;
- _new_waypoint = true;
-
- _missed_count = 0;
- _wait_count = 0;
- _missed_time_sec = 30;
-
- _day = 86400;
-
-
- _wp_range = _old_range = 0;
- _range_rate = 0;
-
if (fp)
_fp_init = initFlightPlan();
SGRawValuePointer<bool>(&_waiting));
props->tie("waypoint/lead-angle-deg",
SGRawValuePointer<double>(&_lead_angle));
+ props->tie("waypoint/tunnel",
+ SGRawValuePointer<bool>(&_tunnel));
+ props->tie("waypoint/alt-curr-m",
+ SGRawValuePointer<double>(&_curr_alt));
+ props->tie("waypoint/alt-prev-m",
+ SGRawValuePointer<double>(&_prev_alt));
props->tie("submodels/serviceable",
SGRawValuePointer<bool>(&_serviceable));
props->tie("controls/turn-radius-ft",
SGRawValuePointer<double>(&_proportion));
props->tie("controls/fixed-turn-radius-ft",
SGRawValuePointer<double>(&_fixed_turn_radius));
+ props->tie("controls/restart",
+ SGRawValuePointer<bool>(&_restart));
+ props->tie("velocities/speed-kts",
+ SGRawValuePointer<double>(&speed));
}
void FGAIShip::unbind() {
props->untie("waypoint/lead-angle-deg");
props->untie("waypoint/xtrack-error-ft");
props->untie("waypoint/waiting");
+ props->untie("waypoint/tunnel");
+ props->untie("waypoint/alt-curr-m");
+ props->untie("waypoint/alt-prev-m");
props->untie("submodels/serviceable");
props->untie("controls/turn-radius-ft");
props->untie("controls/turn-radius-corrected-ft");
props->untie("controls/constants/lead-angle/proportion");
props->untie("controls/fixed-turn-radius-ft");
props->untie("controls/constants/speed");
+ props->untie("controls/restart");
+ props->untie("velocities/speed-kts");
}
void FGAIShip::update(double dt) {
// Only change these values if we are able to compute them safely
if (SGLimits<double>::min() < dt) {
// Now here is the finite difference ...
-
+
// Transform that one to the horizontal local coordinate system.
SGQuatd ec2hlNew = SGQuatd::fromLonLat(pos);
// compute the new orientation
dOr.getAngleAxis(dOrAngleAxis);
// divided by the time difference provides a rotation speed vector
dOrAngleAxis /= dt;
-
+
aip.setBodyAngularVelocity(dOrAngleAxis);
}
}
}
// do not allow unreasonable speeds
- if (speed > _limit)
- speed = _limit;
+ SG_CLAMP_RANGE(speed, -_limit * 0.75, _limit);
// convert speed to degrees per second
speed_north_deg_sec = cos(hdg / SGD_RADIANS_TO_DEGREES)
//we assume that at slow speed ships will manoeuvre using engines/bow thruster
- if (fabs(speed)<=5)
- _sp_turn_radius_ft = _fixed_turn_radius;
- else {
- // adjust turn radius for speed. The equation is very approximate.
- // we need to allow for negative speeds
- if (type == "ship")
- _sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft;
- else
- _sp_turn_radius_ft = turn_radius_ft;
+ if(type == "ship" || type == "carrier" || type == "escort"){
+
+ if (fabs(speed)<=5)
+ _sp_turn_radius_ft = _fixed_turn_radius;
+ else {
+ // adjust turn radius for speed. The equation is very approximate.
+ // we need to allow for negative speeds
+ _sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft;
+ }
+
+ } else {
+
+ if (fabs(speed) <= 40)
+ _sp_turn_radius_ft = _fixed_turn_radius;
+ else {
+ // adjust turn radius for speed.
+ _sp_turn_radius_ft = turn_radius_ft;
+ }
+ }
- }
if (_rudder <= -0.25 || _rudder >= 0.25) {
// adjust turn radius for _rudder angle. The equation is even more approximate.
}
// set the _rudder limit by speed
- if (type == "ship"){
+ if (type == "ship" || type == "carrier" || type == "escort"){
- if (speed <= 40)
- rudder_limit = (-0.825 * speed) + 35;
- else
- rudder_limit = 2;
+ if (speed <= 40)
+ rudder_limit = (-0.825 * speed) + 35;
+ else
+ rudder_limit = 2;
} else
rudder_limit = 20;
}
void FGAIShip::TurnTo(double heading) {
- //double relbrg_corr = _relbrg;
-
- //if ( relbrg_corr > 5)
- // relbrg_corr = 5;
- //else if( relbrg_corr < -5)
- // relbrg_corr = -5;
-
tgt_heading = heading - _lead_angle + _tow_angle;
SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
_hdg_lock = true;
_repeat = r;
}
+void FGAIShip::setRestart(bool r) {
+ _restart = r;
+}
+
void FGAIShip::setMissed(bool m) {
_missed = m;
props->setBoolValue("waypoint/missed", _missed);
_fixed_turn_radius = ftr;
}
+void FGAIShip::setInitialTunnel(bool t) {
+ _initial_tunnel = t;
+ setTunnel(_initial_tunnel);
+}
+
+void FGAIShip::setTunnel(bool t) {
+ _tunnel = t;
+}
+
void FGAIShip::setWPNames() {
if (prev != 0)
setPrevName("");
if (curr != 0)
- setCurrName(curr->name);
+ setCurrName(curr->name);
else{
setCurrName("");
SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: current wp name error" );
void FGAIShip::ProcessFlightPlan(double dt) {
double time_sec = getDaySeconds();
- double until_time_sec = 0;
- _missed = false;
_dt_count += dt;
///////////////////////////////////////////////////////////////////////////
if (_dt_count < _next_run && _start_sec < time_sec)
return;
- _next_run = 1.0 + (0.5 * sg_random());
+ _next_run = 0.05 + (0.025 * sg_random());
+
+ double until_time_sec = 0;
+ _missed = false;
// check to see if we've reached the point for our next turn
// if the range to the waypoint is less than the calculated turn
if ((_wp_range < (sp_turn_radius_nm * 1.25)) || _missed || (_waiting && !_new_waypoint)) {
- if (_next_name == "END" || fp->getNextWaypoint() == 0) {
+ if (_next_name == "TUNNEL"){
+ _tunnel = !_tunnel;
+
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " " << sp_turn_radius_nm );
+
+ fp->IncrementWaypoint(false);
+ next = fp->getNextWaypoint();
+
+ if (next->name == "WAITUNTIL" || next->name == "WAIT"
+ || next->name == "END" || next->name == "TUNNEL")
+ return;
+
+ prev = curr;
+ fp->IncrementWaypoint(false);
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+
+ }else if(_next_name == "END" || fp->getNextWaypoint() == 0) {
if (_repeat) {
- SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: "<< _name << "Flightplan restarting ");
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: "<< _name << " Flightplan repeating ");
fp->restart();
prev = curr;
curr = fp->getCurrentWaypoint();
_missed_count = 0;
_lead_angle = 0;
AccelTo(prev->speed);
+ } else if (_restart){
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " Flightplan restarting ");
+ _missed_count = 0;
+ initFlightPlan();
} else {
SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " Flightplan dying ");
setDie(true);
next = fp->getNextWaypoint();
if (next->name == "WAITUNTIL" || next->name == "WAIT"
- || next->name == "END")
+ || next->name == "END" || next->name == "TUNNEL")
return;
prev = curr;
_until_time = next->time;
setUntilTime(next->time);
if (until_time_sec > time_sec) {
- SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " "
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " "
<< curr->name << " waiting until: "
<< _until_time << " " << until_time_sec << " now " << time_sec );
setSpeed(0);
_wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
_old_range = _wp_range;
setWPPos();
- AccelTo(prev->speed);
+ object_type type = getType();
+
+ if (type != 10)
+ AccelTo(prev->speed);
+
+ _curr_alt = curr->altitude;
+ _prev_alt = prev->altitude;
} else {
_new_waypoint = false;
else
SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: Bearing or Range is not a finite number");
- _dt_count = 0;
+ _dt_count = 0;
} // end Processing FlightPlan
bool FGAIShip::initFlightPlan() {
SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " initializing waypoints ");
bool init = false;
-
_start_sec = 0;
+ _tunnel = _initial_tunnel;
fp->restart();
fp->IncrementWaypoint(false);
fp->IncrementWaypoint(false);
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
- }
+ } // end while loop
if (!_start_time.empty()){
_start_sec = processTimeString(_start_time);
}
} else {
- setLatitude(prev->latitude);
- setLongitude(prev->longitude);
- setSpeed(prev->speed);
+ setLatitude(prev->latitude);
+ setLongitude(prev->longitude);
+ setSpeed(prev->speed);
}
setWPNames();
_missed_count = 0;
_new_waypoint = true;
- SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " done initialising waypoints ");
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " done initialising waypoints " << _tunnel);
if (prev)
init = true;
next = fp->getNextWaypoint();
if (next->name != "WAITUNTIL" && next->name != "WAIT"
- && next->name != "END") {
- prev = curr;
- fp->IncrementWaypoint(false);
- curr = fp->getCurrentWaypoint();
- next = fp->getNextWaypoint();
+ && next->name != "END") {
+ prev = curr;
+ fp->IncrementWaypoint(false);
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
}
} else if (next->name == "WAITUNTIL") {
// so we will calculate the distance back up the track from the current waypoint
// then calculate the lat and lon.
- /*cout << "advancing flight plan done elapsed_sec: " << elapsed_sec
- << " " << day_sec << endl;*/
+ //cout << "advancing flight plan done elapsed_sec: " << elapsed_sec
+ // << " " << day_sec << endl;
double time_diff = elapsed_sec - day_sec;
double lat, lon, recip;
void FGAIShip::setWPPos() {
- if (curr->name == "END" || curr->name == "WAIT" || curr->name == "WAITUNTIL"){
- cout<< curr->name << endl;
- return;
+ if (curr->name == "END" || curr->name == "WAIT"
+ || curr->name == "WAITUNTIL" || curr->name == "TUNNEL"){
+ //cout << curr->name << " returning" << endl;
+ return;
}
double elevation_m = 0;
wppos.setLatitudeDeg(curr->latitude);
wppos.setLongitudeDeg(curr->longitude);
- wppos.setElevationFt(0);
+ wppos.setElevationM(0);
if (curr->on_ground){
- if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(wppos, 10000),
- elevation_m, &_material)){
+ if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(wppos, 3000),
+ elevation_m, &_material, 0)){
wppos.setElevationM(elevation_m);
}
+ //cout << curr->name << " setting measured elev " << elevation_m << endl;
+
} else {
- wppos.setElevationFt(curr->altitude);
+ wppos.setElevationM(curr->altitude);
+ //cout << curr->name << " setting FP elev " << elevation_m << endl;
}
+ curr->altitude = wppos.getElevationM();
+
}
void FGAIShip::setXTrackError() {
double brg = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
curr->latitude, curr->longitude);
double xtrack_error_nm = sin((course - brg)* SG_DEGREES_TO_RADIANS) * _wp_range;
+ double factor = -0.0045 * speed + 1;
+ double limit = _lead_angle_limit * factor;
- //if (_wp_range > _sp_turn_radius_ft / (2 * 6076.1155)){
if (_wp_range > 0){
_lead_angle = atan2(xtrack_error_nm,(_wp_range * _proportion)) * SG_RADIANS_TO_DEGREES;
} else
_lead_angle = 0;
- _lead_angle *= _lead_angle_gain;
+ _lead_angle *= _lead_angle_gain * factor;
_xtrack_error = xtrack_error_nm * 6076.1155;
- if (_lead_angle<= -_lead_angle_limit)
- _lead_angle = -_lead_angle_limit;
- else if (_lead_angle >= _lead_angle_limit)
- _lead_angle = _lead_angle_limit;
+ SG_CLAMP_RANGE(_lead_angle, -limit, limit);
}
projects / flightgear.git / blobdiff