#include <stdio.h> // snprintf
#include <simgear/compiler.h>
+#include <simgear/sg_inlines.h>
#include <simgear/math/sg_random.h>
#include <simgear/math/vector.hxx>
#include <Aircraft/aircraft.hxx>
#include <Navaids/ilslist.hxx>
#include <Navaids/navlist.hxx>
-#include <Time/FGEventMgr.hxx>
#include "navcom.hxx"
comm_vol_btn(0.0),
nav_freq(0.0),
nav_alt_freq(0.0),
+ nav_heading(0.0),
nav_radial(0.0),
+ nav_target_radial(0.0),
+ nav_target_radial_true(0.0),
+ nav_target_auto_hdg(0.0),
+ nav_gs_rate_of_climb(0.0),
nav_vol_btn(0.0),
- nav_ident_btn(true)
+ nav_ident_btn(true),
+ horiz_vel(0.0),
+ last_x(0.0)
{
SGPath path( globals->get_fg_root() );
SGPath term = path;
fgSetDouble( propname, 60.0 );
bus_power = fgGetNode( propname, true );
- snprintf(propname, 256, "/instrumentation/comm[%d]/servicable", index);
- com_servicable = fgGetNode( propname, true );
- com_servicable->setBoolValue( true );
+ snprintf(propname, 256, "/instrumentation/comm[%d]/serviceable", index);
+ com_serviceable = fgGetNode( propname, true );
+ com_serviceable->setBoolValue( true );
- snprintf(propname, 256, "/instrumentation/nav[%d]/servicable", index);
- nav_servicable = fgGetNode( propname, true );
- nav_servicable->setBoolValue( true );
+ snprintf(propname, 256, "/instrumentation/nav[%d]/serviceable", index);
+ nav_serviceable = fgGetNode( propname, true );
+ nav_serviceable->setBoolValue( true );
- snprintf(propname, 256, "/instrumentation/vor[%d]/cdi/servicable", index);
- cdi_servicable = fgGetNode( propname, true );
- cdi_servicable->setBoolValue( true );
+ snprintf(propname, 256, "/instrumentation/vor[%d]/cdi/serviceable", index);
+ cdi_serviceable = fgGetNode( propname, true );
+ cdi_serviceable->setBoolValue( true );
- snprintf(propname, 256, "/instrumentation/vor[%d]/gs/servicable", index);
- gs_servicable = fgGetNode( propname, true );
- gs_servicable->setBoolValue( true );
+ snprintf(propname, 256, "/instrumentation/vor[%d]/gs/serviceable", index);
+ gs_serviceable = fgGetNode( propname, true );
+ gs_serviceable->setBoolValue( true );
- snprintf(propname, 256, "/instrumentation/vor[%d]/to-from/servicable", index);
- tofrom_servicable = fgGetNode( propname, true );
- tofrom_servicable->setBoolValue( true );
+ snprintf(propname, 256, "/instrumentation/vor[%d]/to-from/serviceable", index);
+ tofrom_serviceable = fgGetNode( propname, true );
+ tofrom_serviceable->setBoolValue( true );
}
void
&FGNavCom::get_audio_btn, &FGNavCom::set_audio_btn );
fgSetArchivable( propname );
+ snprintf(propname, 256, "/radios/nav[%d]/heading-deg", index);
+ fgTie( propname, this, &FGNavCom::get_nav_heading );
+
snprintf(propname, 256, "/radios/nav[%d]/radials/actual-deg", index);
fgTie( propname, this, &FGNavCom::get_nav_radial );
+ snprintf(propname, 256, "/radios/nav[%d]/radials/target-radial-deg", index);
+ fgTie( propname, this, &FGNavCom::get_nav_target_radial_true );
+
+ snprintf(propname, 256, "/radios/nav[%d]/radials/target-auto-hdg-deg",
+ index);
+ fgTie( propname, this, &FGNavCom::get_nav_target_auto_hdg );
+
snprintf(propname, 256, "/radios/nav[%d]/to-flag", index);
fgTie( propname, this, &FGNavCom::get_nav_to_flag );
fgTie( propname, this, &FGNavCom::get_nav_inrange );
snprintf(propname, 256, "/radios/nav[%d]/heading-needle-deflection", index);
- fgTie( propname, this, &FGNavCom::get_nav_heading_needle_deflection );
+ fgTie( propname, this, &FGNavCom::get_nav_cdi_deflection );
+
+ snprintf(propname, 256, "/radios/nav[%d]/crosstrack-error-m", index);
+ fgTie( propname, this, &FGNavCom::get_nav_cdi_xtrack_error );
snprintf(propname, 256, "/radios/nav[%d]/has-gs", index);
fgTie( propname, this, &FGNavCom::get_nav_has_gs );
+ snprintf(propname, 256, "/radios/nav[%d]/nav-loc", index);
+ fgTie( propname, this, &FGNavCom::get_nav_loc );
+
+ snprintf(propname, 256, "/radios/nav[%d]/gs-rate-of-climb", index);
+ fgTie( propname, this, &FGNavCom::get_nav_gs_rate_of_climb );
+
snprintf(propname, 256, "/radios/nav[%d]/gs-needle-deflection", index);
- fgTie( propname, this, &FGNavCom::get_nav_gs_needle_deflection );
+ fgTie( propname, this, &FGNavCom::get_nav_gs_deflection );
snprintf(propname, 256, "/radios/nav[%d]/nav-id", index);
fgTie( propname, this, &FGNavCom::get_nav_id );
////////////////////////////////////////////////////////////////////////
if ( nav_valid && power_btn && (bus_power->getDoubleValue() > 1.0)
- && nav_servicable->getBoolValue() )
+ && nav_serviceable->getBoolValue() )
{
station = Point3D( nav_x, nav_y, nav_z );
nav_loc_dist = aircraft.distance3D( station );
lon * SGD_RADIANS_TO_DEGREES,
nav_gslat, nav_gslon,
&az1, &az2, &s );
- double r = az1 - nav_radial;
+ double r = az1 - nav_target_radial;
while ( r > 180.0 ) { r -= 360.0;}
while ( r < -180.0 ) { r += 360.0;}
if ( r >= -90.0 && r <= 90.0 ) {
} else {
nav_gs_dist_signed = -nav_gs_dist;
}
- /* cout << "Target Radial = " << nav_radial
+ /* cout << "Target Radial = " << nav_target_radial
<< " Bearing = " << az1
<< " dist (signed) = " << nav_gs_dist_signed
<< endl; */
lat * SGD_RADIANS_TO_DEGREES,
lon * SGD_RADIANS_TO_DEGREES,
nav_loclat, nav_loclon,
- &az1, &az2, &s );
+ &nav_heading, &az2, &s );
// cout << "az1 = " << az1 << " magvar = " << nav_magvar << endl;
- nav_heading = az1 - nav_magvar;
+ nav_radial = az2 - nav_twist;
// cout << " heading = " << nav_heading
// << " dist = " << nav_dist << endl;
if ( nav_loc ) {
- double offset = nav_heading - nav_radial;
+ double offset = nav_radial - nav_target_radial;
while ( offset < -180.0 ) { offset += 360.0; }
while ( offset > 180.0 ) { offset -= 360.0; }
// cout << "ils offset = " << offset << endl;
}
if ( !nav_loc ) {
- nav_radial = nav_sel_radial;
+ nav_target_radial = nav_sel_radial;
}
+
+ // Calculate some values for the nav/ils hold autopilot
+
+ double cur_radial = get_nav_reciprocal_radial();
+ if ( nav_loc ) {
+ // ILS localizers radials are already "true" in our
+ // database
+ } else {
+ cur_radial += nav_twist;
+ }
+ if ( get_nav_from_flag() ) {
+ cur_radial += 180.0;
+ while ( cur_radial >= 360.0 ) { cur_radial -= 360.0; }
+ }
+
+ // AUTOPILOT HELPERS
+
+ // determine the target radial in "true" heading
+ nav_target_radial_true = nav_target_radial;
+ if ( nav_loc ) {
+ // ILS localizers radials are already "true" in our
+ // database
+ } else {
+ // VOR radials need to have that vor's offset added in
+ nav_target_radial_true += nav_twist;
+ }
+
+ while ( nav_target_radial_true < 0.0 ) {
+ nav_target_radial_true += 360.0;
+ }
+ while ( nav_target_radial_true > 360.0 ) {
+ nav_target_radial_true -= 360.0;
+ }
+
+ // determine the heading adjustment needed.
+ // over 8km scale by 3.0
+ // (3 is chosen because max deflection is 10
+ // and 30 is clamped angle to radial)
+ // under 8km scale by 10.0
+ // because the overstated error helps drive it to the radial in a
+ // moderate cross wind.
+ double adjustment = 0.0;
+ if (nav_loc_dist > 8000) {
+ adjustment = get_nav_cdi_deflection() * 3.0;
+ } else {
+ adjustment = get_nav_cdi_deflection() * 10.0;
+ }
+ SG_CLAMP_RANGE( adjustment, -30.0, 30.0 );
+
+ // determine the target heading to fly to intercept the
+ // tgt_radial
+ nav_target_auto_hdg = nav_target_radial_true + adjustment;
+ while ( nav_target_auto_hdg < 0.0 ) { nav_target_auto_hdg += 360.0; }
+ while ( nav_target_auto_hdg > 360.0 ) { nav_target_auto_hdg -= 360.0; }
+
+ // cross track error
+ // ????
+
+ // Calculate desired rate of climb for intercepting the GS
+ double x = nav_gs_dist;
+ double y = (alt_node->getDoubleValue() - nav_elev)
+ * SG_FEET_TO_METER;
+ double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
+
+ double target_angle = nav_target_gs;
+ double gs_diff = target_angle - current_angle;
+
+ // convert desired vertical path angle into a climb rate
+ double des_angle = current_angle - 10 * gs_diff;
+
+ // estimate horizontal speed towards ILS in meters per minute
+ double dist = last_x - x;
+ last_x = x;
+ if ( dt > 0.0 ) {
+ // avoid nan
+ double new_vel = ( dist / dt );
+
+ horiz_vel = 0.75 * horiz_vel + 0.25 * new_vel;
+ // double horiz_vel = cur_fdm_state->get_V_ground_speed()
+ // * SG_FEET_TO_METER * 60.0;
+ // double horiz_vel = airspeed_node->getFloatValue()
+ // * SG_FEET_TO_METER * 60.0;
+
+ nav_gs_rate_of_climb = -sin( des_angle * SGD_DEGREES_TO_RADIANS )
+ * horiz_vel * SG_METER_TO_FEET;
+ }
} else {
nav_inrange = false;
// cout << "not picking up vor. :-(" << endl;
}
- if ( nav_valid && nav_inrange && nav_servicable->getBoolValue() ) {
+ if ( nav_valid && nav_inrange && nav_serviceable->getBoolValue() ) {
// play station ident via audio system if on + ident,
// otherwise turn it off
if ( power_btn && (bus_power->getDoubleValue() > 1.0)
nav_gslon = ils->get_gslon();
nav_gslat = ils->get_gslat();
nav_elev = ils->get_gselev();
- nav_magvar = 0;
+ nav_twist = 0;
nav_range = FG_ILS_DEFAULT_RANGE;
nav_effective_range = nav_range;
nav_target_gs = ils->get_gsangle();
- nav_radial = ils->get_locheading();
- while ( nav_radial < 0.0 ) { nav_radial += 360.0; }
- while ( nav_radial > 360.0 ) { nav_radial -= 360.0; }
+ nav_target_radial = ils->get_locheading();
+ while ( nav_target_radial < 0.0 ) { nav_target_radial += 360.0; }
+ while ( nav_target_radial > 360.0 ) { nav_target_radial -= 360.0; }
nav_x = ils->get_x();
nav_y = ils->get_y();
nav_z = ils->get_z();
// derive GS baseline
double tlon, tlat, taz;
- geo_direct_wgs_84 ( 0.0, nav_gslat, nav_gslon, nav_radial + 90,
+ geo_direct_wgs_84 ( 0.0, nav_gslat, nav_gslon, nav_target_radial + 90,
100.0, &tlat, &tlon, &taz );
// cout << nav_gslon << "," << nav_gslat << " "
// << tlon << "," << tlat << " (" << nav_elev << ")" << endl;
nav_has_gs = false;
nav_loclon = nav->get_lon();
nav_loclat = nav->get_lat();
- nav_elev = nav->get_elev();
- nav_magvar = nav->get_magvar();
+ nav_elev = nav->get_elev_ft();
+ nav_twist = nav->get_magvar();
nav_range = nav->get_range();
nav_effective_range = adjustNavRange(nav_elev, elev, nav_range);
nav_target_gs = 0.0;
- nav_radial = nav_sel_radial;
+ nav_target_radial = nav_sel_radial;
nav_x = nav->get_x();
nav_y = nav->get_y();
nav_z = nav->get_z();
} else {
nav_valid = false;
nav_id = "";
- nav_radial = 0;
+ nav_target_radial = 0;
nav_trans_ident = "";
last_nav_id = "";
if ( ! globals->get_soundmgr()->remove( nav_fx_name ) ) {
// return the amount of heading needle deflection, returns a value
// clamped to the range of ( -10 , 10 )
-double FGNavCom::get_nav_heading_needle_deflection() const {
+double FGNavCom::get_nav_cdi_deflection() const {
double r;
if ( nav_inrange
- && nav_servicable->getBoolValue() && cdi_servicable->getBoolValue() )
+ && nav_serviceable->getBoolValue() && cdi_serviceable->getBoolValue() )
{
- r = nav_heading - nav_radial;
- // cout << "Radial = " << nav_radial
- // << " Bearing = " << nav_heading << endl;
+ r = nav_radial - nav_target_radial;
+ // cout << "Target radial = " << nav_target_radial
+ // << " Actual radial = " << nav_radial << endl;
while ( r > 180.0 ) { r -= 360.0;}
while ( r < -180.0 ) { r += 360.0;}
r = ( r<0.0 ? -r-180.0 : -r+180.0 );
// According to Robin Peel, the ILS is 4x more sensitive than a vor
+ r = -r; // reverse, since radial is outbound
if ( nav_loc ) { r *= 4.0; }
if ( r < -10.0 ) { r = -10.0; }
if ( r > 10.0 ) { r = 10.0; }
return r;
}
+// return the amount of cross track distance error, returns a meters
+double FGNavCom::get_nav_cdi_xtrack_error() const {
+ double r, m;
+
+ if ( nav_inrange
+ && nav_serviceable->getBoolValue() && cdi_serviceable->getBoolValue() )
+ {
+ r = nav_radial - nav_target_radial;
+ // cout << "Target radial = " << nav_target_radial
+ // << " Actual radial = " << nav_radial
+ // << " r = " << r << endl;
+
+ while ( r > 180.0 ) { r -= 360.0;}
+ while ( r < -180.0 ) { r += 360.0;}
+ if ( fabs(r) > 90.0 )
+ r = ( r<0.0 ? -r-180.0 : -r+180.0 );
+
+ r = -r; // reverse, since radial is outbound
+
+ m = nav_loc_dist * sin(r * SGD_DEGREES_TO_RADIANS);
+
+ } else {
+ m = 0.0;
+ }
+
+ return m;
+}
// return the amount of glide slope needle deflection (.i.e. the
// number of degrees we are off the glide slope * 5.0
-double FGNavCom::get_nav_gs_needle_deflection() const {
+double FGNavCom::get_nav_gs_deflection() const {
if ( nav_inrange && nav_has_gs
- && nav_servicable->getBoolValue() && gs_servicable->getBoolValue() )
+ && nav_serviceable->getBoolValue() && gs_serviceable->getBoolValue() )
{
double x = nav_gs_dist;
double y = (fgGetDouble("/position/altitude-ft") - nav_elev)
FGNavCom::get_nav_to_flag () const
{
if ( nav_inrange
- && nav_servicable->getBoolValue()
- && tofrom_servicable->getBoolValue() )
+ && nav_serviceable->getBoolValue()
+ && tofrom_serviceable->getBoolValue() )
{
- double offset = fabs(nav_heading - nav_radial);
+ double offset = fabs(nav_radial - nav_target_radial);
if (nav_loc) {
return true;
} else {
- return (offset <= 90.0 || offset >= 270.0);
+ return !(offset <= 90.0 || offset >= 270.0);
}
} else {
return false;
FGNavCom::get_nav_from_flag () const
{
if ( nav_inrange
- && nav_servicable->getBoolValue()
- && tofrom_servicable->getBoolValue() ) {
- double offset = fabs(nav_heading - nav_radial);
+ && nav_serviceable->getBoolValue()
+ && tofrom_serviceable->getBoolValue() ) {
+ double offset = fabs(nav_radial - nav_target_radial);
if (nav_loc) {
return false;
} else {
- return (offset > 90.0 && offset < 270.0);
+ return !(offset > 90.0 && offset < 270.0);
}
} else {
return false;
}
+/**
+ * Return the true heading to station
+ */
+double
+FGNavCom::get_nav_heading () const
+{
+ return nav_heading;
+}
+
+
/**
* Return the current radial.
- *
- * FIXME: the variable 'nav_radial' does not contain the current
- * radial, while the variable 'nav_heading' contains the reciprocal of
- * the current radial.
*/
double
FGNavCom::get_nav_radial () const
{
- if (nav_inrange && nav_serviceable->getBoolValue()) {
- double radial = nav_heading + 180;
- if (radial >= 360)
- radial -= 360;
- return radial;
- } else {
- return 0.0;
+ return nav_radial;
+}
+
+double
+FGNavCom::get_nav_reciprocal_radial () const
+{
+ double recip = nav_radial + 180;
+ if ( recip >= 360 ) {
+ recip -= 360;
}
+ return recip;
}
projects / flightgear.git / blobdiff