#endif
#include <math.h>
+
+#include <simgear/sg_inlines.h>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/timing/sg_time.hxx>
#include <simgear/math/sg_random.h>
+
#include <simgear/scene/util/SGNodeMasks.hxx>
+#include <Scenery/scenery.hxx>
#include "AIShip.hxx"
FGAIShip::FGAIShip(object_type ot) :
FGAIBase(ot),
+ _limit(40),
+ _elevation_m(0),
+ _elevation_ft(0),
+ _tow_angle(0),
_dt_count(0),
- _next_run(0)
+ _next_run(0),
+ _lead_angle(0),
+ _xtrack_error(0)
+
{
}
std::string flightplan = scFileNode->getStringValue("flightplan");
setRepeat(scFileNode->getBoolValue("repeat", false));
setStartTime(scFileNode->getStringValue("time", ""));
+ setLeadAngleGain(scFileNode->getDoubleValue("lead-angle-gain", 1.5));
+ setLeadAngleLimit(scFileNode->getDoubleValue("lead-angle-limit-deg", 15));
+ setLeadAngleProp(scFileNode->getDoubleValue("lead-angle-proportion", 0.75));
+ setRudderConstant(scFileNode->getDoubleValue("rudder-constant", 0.5));
+ setFixedTurnRadius(scFileNode->getDoubleValue("fixed-turn-radius-ft", 500));
+ setSpeedConstant(scFileNode->getDoubleValue("speed-constant", 0.5));
if (!flightplan.empty()) {
+ SG_LOG(SG_GENERAL, SG_ALERT, "getting flightplan: " << _name );
+
FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
setFlightPlan(fp);
}
_until_time = "";
props->setStringValue("name", _name.c_str());
- props->setStringValue("position/waypoint-name-prev", _prev_name.c_str());
- props->setStringValue("position/waypoint-name-curr", _curr_name.c_str());
- props->setStringValue("position/waypoint-name-next", _next_name.c_str());
+ props->setStringValue("waypoint/name-prev", _prev_name.c_str());
+ props->setStringValue("waypoint/name-curr", _curr_name.c_str());
+ props->setStringValue("waypoint/name-next", _next_name.c_str());
props->setStringValue("submodels/path", _path.c_str());
- props->setStringValue("position/waypoint-start-time", _start_time.c_str());
- props->setStringValue("position/waypoint-wait-until-time", _until_time.c_str());
+ props->setStringValue("waypoint/start-time", _start_time.c_str());
+ props->setStringValue("waypoint/wait-until-time", _until_time.c_str());
_hdg_lock = false;
_rudder = 0.0;
no_roll = false;
- _rudder_constant = 0.5;
_roll_constant = 0.001;
- _speed_constant = 0.05;
_hdg_constant = 0.01;
_roll_factor = -0.0083335;
return FGAIBase::init(search_in_AI_path);
}
-void FGAIShip::initModel(osg::Node *node) {
- FGAIBase::initModel(node);
- model->setNodeMask(model->getNodeMask() | SG_NODEMASK_TERRAIN_BIT);
-}
-
void FGAIShip::bind() {
FGAIBase::bind();
SGRawValuePointer<double>(&_rudder_constant));
props->tie("controls/constants/speed",
SGRawValuePointer<double>(&_speed_constant));
- props->tie("position/waypoint-range-nm",
+ props->tie("waypoint/range-nm",
SGRawValuePointer<double>(&_wp_range));
- props->tie("position/waypoint-range-old-nm",
- SGRawValuePointer<double>(&_old_range));
- props->tie("position/waypoint-range-rate-nm-sec",
+ props->tie("waypoint/brg-deg",
+ SGRawValuePointer<double>(&_course));
+ props->tie("waypoint/rangerate-nm-sec",
SGRawValuePointer<double>(&_range_rate));
- props->tie("position/waypoint-new",
+ props->tie("waypoint/new",
SGRawValuePointer<bool>(&_new_waypoint));
- props->tie("position/waypoint-missed",
+ props->tie("waypoint/missed",
SGRawValuePointer<bool>(&_missed));
- props->tie("position/waypoint-missed-count",
+ props->tie("waypoint/missed-count-sec",
SGRawValuePointer<double>(&_missed_count));
- props->tie("position/waypoint-missed-time-sec",
+ props->tie("waypoint/missed-range-nm",
+ SGRawValuePointer<double>(&_missed_range));
+ props->tie("waypoint/missed-time-sec",
SGRawValuePointer<double>(&_missed_time_sec));
- props->tie("position/waypoint-wait-count",
+ props->tie("waypoint/wait-count-sec",
SGRawValuePointer<double>(&_wait_count));
- props->tie("position/waypoint-waiting",
+ props->tie("waypoint/xtrack-error-ft",
+ SGRawValuePointer<double>(&_xtrack_error));
+ props->tie("waypoint/waiting",
SGRawValuePointer<bool>(&_waiting));
+ props->tie("waypoint/lead-angle-deg",
+ SGRawValuePointer<double>(&_lead_angle));
props->tie("submodels/serviceable",
SGRawValuePointer<bool>(&_serviceable));
+ props->tie("controls/turn-radius-ft",
+ SGRawValuePointer<double>(&turn_radius_ft));
+ props->tie("controls/turn-radius-corrected-ft",
+ SGRawValuePointer<double>(&_rd_turn_radius_ft));
+ props->tie("controls/constants/lead-angle/gain",
+ SGRawValuePointer<double>(&_lead_angle_gain));
+ props->tie("controls/constants/lead-angle/limit-deg",
+ SGRawValuePointer<double>(&_lead_angle_limit));
+ props->tie("controls/constants/lead-angle/proportion",
+ SGRawValuePointer<double>(&_proportion));
+ props->tie("controls/fixed-turn-radius-ft",
+ SGRawValuePointer<double>(&_fixed_turn_radius));
}
void FGAIShip::unbind() {
props->untie("controls/constants/rudder");
props->untie("controls/constants/roll-factor");
props->untie("controls/constants/speed");
- props->untie("position/waypoint-range-nm");
- props->untie("position/waypoint-range-old-nm");
- props->untie("position/waypoint-range-rate-nm-sec");
- props->untie("position/waypoint-new");
- props->untie("position/waypoint-missed");
- props->untie("position/waypoint-missed-count");
- props->untie("position/waypoint-missed-time-sec");
- props->untie("position/waypoint-wait-count");
- props->untie("position/waypoint-waiting");
+ props->untie("waypoint/range-nm");
+ props->untie("waypoint/range-brg-deg");
+ props->untie("waypoint/rangerate-nm-sec");
+ props->untie("waypoint/new");
+ props->untie("waypoint/missed");
+ props->untie("waypoint/missed-count-sec");
+ props->untie("waypoint/missed-time-sec");
+ props->untie("waypoint/missed-range");
+ props->untie("waypoint/wait-count-sec");
+ props->untie("waypoint/lead-angle-deg");
+ props->untie("waypoint/xtrack-error-ft");
+ props->untie("waypoint/waiting");
props->untie("submodels/serviceable");
-}
+ props->untie("controls/turn-radius-ft");
+ props->untie("controls/turn-radius-corrected-ft");
+ props->untie("controls/constants/lead-angle/gain");
+ props->untie("controls/constants/lead-angle/limit-deg");
+ props->untie("controls/constants/lead-angle/proportion");
+ props->untie("controls/fixed-turn-radius-ft");
+ props->untie("controls/constants/speed");
+}
void FGAIShip::update(double dt) {
+ //SG_LOG(SG_GENERAL, SG_ALERT, "updating Ship: " << _name <<hdg<<pitch<<roll);
// For computation of rotation speeds we just use finite differences here.
// That is perfectly valid since this thing is not driven by accelerations
// but by just apply discrete changes at its velocity variables.
// The cartesian position of the carrier in the wgs84 world
SGVec3d cartPos = SGVec3d::fromGeod(pos);
+ // The simulation time this transform is meant for
+ aip.setReferenceTime(globals->get_sim_time_sec());
+
// Compute the velocity in m/s in the body frame
aip.setBodyLinearVelocity(SGVec3d(0.51444444*speed, 0, 0));
FGAIBase::update(dt);
Run(dt);
Transform();
+ if (fp)
+ setXTrackError();
// Only change these values if we are able to compute them safely
if (SGLimits<double>::min() < dt) {
}
void FGAIShip::Run(double dt) {
- //cout << _name << " init: " << _fp_init << endl;
if (_fp_init)
ProcessFlightPlan(dt);
- // double speed_north_deg_sec;
- // double speed_east_deg_sec;
+ string type = getTypeString();
+
double alpha;
double rudder_limit;
double raw_roll;
}
- // do not allow unreasonable ship speeds
- if (speed > 40)
- speed = 40;
+ // do not allow unreasonable speeds
+ if (speed > _limit)
+ speed = _limit;
// convert speed to degrees per second
speed_north_deg_sec = cos(hdg / SGD_RADIANS_TO_DEGREES)
* speed * 1.686 / ft_per_deg_lon;
// set new position
+ //cout << _name << " " << type << " run: " << _elevation_m << " " <<_elevation_ft << endl;
pos.setLatitudeDeg(pos.getLatitudeDeg() + speed_north_deg_sec * dt);
pos.setLongitudeDeg(pos.getLongitudeDeg() + speed_east_deg_sec * dt);
+ pos.setElevationFt(tgt_altitude_ft);
+ pitch = tgt_pitch;
// adjust heading based on current _rudder angle
-
- //cout << "turn_radius_ft " << turn_radius_ft ;
-
if (turn_radius_ft <= 0)
turn_radius_ft = 0; // don't allow nonsense values
if (_rudder < -45)
_rudder = -45;
+
//we assume that at slow speed ships will manoeuvre using engines/bow thruster
if (fabs(speed)<=5)
- _sp_turn_radius_ft = 500;
- else
+ _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;
- //cout << " speed turn radius " << _sp_turn_radius_ft ;
+ }
if (_rudder <= -0.25 || _rudder >= 0.25) {
// adjust turn radius for _rudder angle. The equation is even more approximate.
_rd_turn_radius_ft = (a * exp(b * fabs(_rudder)) + c) * _sp_turn_radius_ft;
- //cout <<" _rudder turn radius " << _rd_turn_radius_ft << endl;
-
// calculate the angle, alpha, subtended by the arc traversed in time dt
alpha = ((speed * 1.686 * dt) / _rd_turn_radius_ft) * SG_RADIANS_TO_DEGREES;
-
+ //cout << _name << " alpha " << alpha << endl;
// make sure that alpha is applied in the right direction
hdg += alpha * sign(_rudder);
- if (hdg > 360.0)
- hdg -= 360.0;
-
- if (hdg < 0.0)
- hdg += 360.0;
+ SG_NORMALIZE_RANGE(hdg, 0.0, 360.0);
//adjust roll for rudder angle and speed. Another bit of voodoo
raw_roll = _roll_factor * speed * _rudder;
}
// set the _rudder limit by speed
+ if (type == "ship"){
+
if (speed <= 40)
rudder_limit = (-0.825 * speed) + 35;
else
rudder_limit = 2;
+ } else
+ rudder_limit = 20;
+
if (fabs(rudder_diff)> 0.1) { // apply dead zone
if (rudder_diff > 0.0) {
}
void FGAIShip::ClimbTo(double altitude) {
+ tgt_altitude_ft = altitude;
+ _setAltitude(altitude);
}
-
void FGAIShip::TurnTo(double heading) {
- tgt_heading = 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;
}
void FGAIShip::setUntilTime(const string& ut) {
_until_time = ut;
- props->setStringValue("position/waypoint-wait-until-time", _until_time.c_str());
+ props->setStringValue("waypoint/wait-until-time", _until_time.c_str());
}
void FGAIShip::setCurrName(const string& c) {
_curr_name = c;
- props->setStringValue("position/waypoint-name-curr", _curr_name.c_str());
+ props->setStringValue("waypoint/name-curr", _curr_name.c_str());
}
void FGAIShip::setNextName(const string& n) {
_next_name = n;
- props->setStringValue("position/waypoint-name-next", _next_name.c_str());
+ props->setStringValue("waypoint/name-next", _next_name.c_str());
}
void FGAIShip::setPrevName(const string& p) {
_prev_name = p;
- props->setStringValue("position/waypoint-name-prev", _prev_name.c_str());
+ props->setStringValue("waypoint/name-prev", _prev_name.c_str());
}
void FGAIShip::setRepeat(bool r) {
void FGAIShip::setMissed(bool m) {
_missed = m;
- props->setBoolValue("position/waypoint-missed", _missed);
+ props->setBoolValue("waypoint/missed", _missed);
}
void FGAIShip::setRudder(float r) {
roll = rl;
}
+void FGAIShip::setLeadAngleGain(double g) {
+ _lead_angle_gain = g;
+}
+
+void FGAIShip::setLeadAngleLimit(double l) {
+ _lead_angle_limit = l;
+}
+
+void FGAIShip::setLeadAngleProp(double p) {
+ _proportion = p;
+}
+
+void FGAIShip::setRudderConstant(double rc) {
+ _rudder_constant = rc;
+}
+
+void FGAIShip::setSpeedConstant(double sc) {
+ _speed_constant = sc;
+}
+
+void FGAIShip::setFixedTurnRadius(double ftr) {
+ _fixed_turn_radius = ftr;
+}
+
void FGAIShip::setWPNames() {
if (prev != 0)
else
setPrevName("");
+ if (curr != 0)
setCurrName(curr->name);
+ else{
+ setCurrName("");
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: current wp name error" );
+ }
if (next != 0)
setNextName(next->name);
geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &recip, &distance);
if (tgt_speed >= 0) {
return course;
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: course " << course);
} else {
return recip;
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: recip " << recip);
}
}
_wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
_range_rate = (_wp_range - _old_range) / _dt_count;
double sp_turn_radius_nm = _sp_turn_radius_ft / 6076.1155;
-
// we need to try to identify a _missed waypoint
- // calculate the time needed to turn through an arc of 90 degrees, and allow an error of 30 secs
+ // calculate the time needed to turn through an arc of 90 degrees,
+ // and allow a time error
if (speed != 0)
- _missed_time_sec = 30 + ((SGD_PI * sp_turn_radius_nm * 60 * 60) / (2 * fabs(speed)));
+ _missed_time_sec = 10 + ((SGD_PI * sp_turn_radius_nm * 60 * 60) / (2 * fabs(speed)));
else
- _missed_time_sec = 30;
+ _missed_time_sec = 10;
- if ((_range_rate > 0) && (_wp_range < 3 * sp_turn_radius_nm) && !_new_waypoint)
+ _missed_range = 4 * sp_turn_radius_nm;
+
+ //cout << _name << " range_rate " << _range_rate << " " << _new_waypoint<< endl ;
+ //if ((_range_rate > 0) && !_new_waypoint){
+ if (_range_rate > 0 && _wp_range < _missed_range && !_new_waypoint){
_missed_count += _dt_count;
+ }
- if (_missed_count >= _missed_time_sec) {
+ if (_missed_count >= 120)
setMissed(true);
- } else {
+ else if (_missed_count >= _missed_time_sec)
+ setMissed(true);
+ else
setMissed(false);
- }
_old_range = _wp_range;
setWPNames();
- if ((_wp_range < sp_turn_radius_nm) || _missed || _waiting && !_new_waypoint) {
+ if ((_wp_range < (sp_turn_radius_nm * 1.25)) || _missed || (_waiting && !_new_waypoint)) {
- if (_next_name == "END") {
+ if (_next_name == "END" || fp->getNextWaypoint() == 0) {
if (_repeat) {
- SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: Flightplan restarting ");
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: "<< _name << "Flightplan restarting ");
fp->restart();
prev = curr;
curr = fp->getCurrentWaypoint();
_range_rate = 0;
_new_waypoint = true;
_missed_count = 0;
+ _lead_angle = 0;
AccelTo(prev->speed);
} else {
- SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: Flightplan dieing ");
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " Flightplan dying ");
setDie(true);
_dt_count = 0;
return;
_waiting = true;
_wait_count += _dt_count;
_dt_count = 0;
+ _lead_angle = 0;
return;
} else {
SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name
_until_time = next->time;
setUntilTime(next->time);
if (until_time_sec > time_sec) {
- SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " waiting until: "
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " "
+ << curr->name << " waiting until: "
<< _until_time << " " << until_time_sec << " now " << time_sec );
setSpeed(0);
+ _lead_angle = 0;
_waiting = true;
return;
} else {
_new_waypoint = true;
_missed_count = 0;
_range_rate = 0;
+ _lead_angle = 0;
_wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
_old_range = _wp_range;
+ setWPPos();
AccelTo(prev->speed);
+
} else {
_new_waypoint = false;
}
// now revise the required course for the next way point
- double course = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
+ _course = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
- if (finite(course))
- TurnTo(course);
+ if (finite(_course))
+ TurnTo(_course);
else
- SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: Bearing or Range is not a finite number");
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: Bearing or Range is not a finite number");
_dt_count = 0;
} // end Processing FlightPlan
bool FGAIShip::initFlightPlan() {
- SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " initializing waypoints ");
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " initializing waypoints ");
bool init = false;
_missed_count = 0;
_new_waypoint = true;
- SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " done initialising waypoints ");
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " done initialising waypoints ");
if (prev)
init = true;
while ( elapsed_sec < day_sec ) {
- if (next->name == "END") {
+ if (next->name == "END" || fp->getNextWaypoint() == 0) {
if (_repeat ) {
//cout << _name << ": " << "restarting flightplan" << endl;
// the required position lies between the previous and current waypoints
// 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;*/
distance_nm * SG_NM_TO_METER, &lat, &lon, &recip );
}
- //cout << "Pos " << lat << ", " << lon << " recip " << recip << endl;
-
setLatitude(lat);
setLongitude(lon);
+
return true;
}
+
+void FGAIShip::setWPPos() {
+
+ if (curr->name == "END" || curr->name == "WAIT" || curr->name == "WAITUNTIL"){
+ cout<< curr->name << endl;
+ return;
+ }
+
+ double elevation_m = 0;
+ wppos.setLatitudeDeg(curr->latitude);
+ wppos.setLongitudeDeg(curr->longitude);
+ wppos.setElevationFt(0);
+
+ if (curr->on_ground){
+
+ if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(wppos, 10000),
+ elevation_m, &_material)){
+ wppos.setElevationM(elevation_m);
+ }
+
+ } else {
+ wppos.setElevationFt(curr->altitude);
+ }
+
+}
+
+void FGAIShip::setXTrackError() {
+
+ double course = getCourse(prev->latitude, prev->longitude,
+ curr->latitude, curr->longitude);
+ double brg = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
+ curr->latitude, curr->longitude);
+ double xtrack_error_nm = sin((course - brg)* SG_DEGREES_TO_RADIANS) * _wp_range;
+
+ //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;
+ _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;
+
+}