gps warning fix (xxx will be initialized after yyy)

[flightgear.git] / src / Instrumentation / gps.cxx

diff --git a/src/Instrumentation/gps.cxx b/src/Instrumentation/gps.cxx
index 16714a9c9d7f298ee30a2bd14c944a0b9d8c7dea..1ddb87e083356db9c883a4e360e67c6eca49ec9c 100644 (file)
--- a/src/Instrumentation/gps.cxx
+++ b/src/Instrumentation/gps.cxx
@@ -213,6 +213,7 @@ void GPS::Config::bind(GPS* aOwner, SGPropertyNode* aCfg)
 
 GPS::GPS ( SGPropertyNode *node) : 
   _selectedCourse(0.0),
+  _desiredCourse(0.0),
   _dataValid(false),
   _lastPosValid(false),
   _mode("init"),
@@ -249,6 +250,8 @@ GPS::init ()
   _trip_odometer_node = _gpsNode->getChild("trip-odometer", 0, true);
   _true_bug_error_node = _gpsNode->getChild("true-bug-error-deg", 0, true);
   _magnetic_bug_error_node = _gpsNode->getChild("magnetic-bug-error-deg", 0, true);
+  _eastWestVelocity = _gpsNode->getChild("ew-velocity-msec", 0, true);
+  _northSouthVelocity = _gpsNode->getChild("ns-velocity-msec", 0, true);
   
 // waypoints
   SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
@@ -301,6 +304,7 @@ GPS::init ()
   fromFlag->alias(wp1_node->getChild("from-flag"));
     
 // autopilot drive properties
+  _apDrivingFlag = fgGetNode("/autopilot/settings/gps-driving-true-heading", true);
   _apTrueHeading = fgGetNode("/autopilot/settings/true-heading-deg",true);
   _apTargetAltitudeFt = fgGetNode("/autopilot/settings/target-altitude-ft", true);
   _apAltitudeLock = fgGetNode("/autopilot/locks/altitude", true);
@@ -420,6 +424,7 @@ GPS::clearOutput()
   _indicated_pos = SGGeod();
   _last_vertical_speed = 0.0;
   _last_true_track = 0.0;
+  _lastEWVelocity = _lastNSVelocity = 0.0;
   
   _raim_node->setDoubleValue(0.0);
   _indicated_pos = SGGeod();
@@ -431,6 +436,8 @@ GPS::clearOutput()
   _tracking_bug_node->setDoubleValue(0);
   _true_bug_error_node->setDoubleValue(0);
   _magnetic_bug_error_node->setDoubleValue(0);
+  _northSouthVelocity->setDoubleValue(0.0);
+  _eastWestVelocity->setDoubleValue(0.0);
 }
 
 void
@@ -545,9 +552,28 @@ GPS::updateBasicData(double dt)
   double vertical_speed_mpm = ((_indicated_pos.getElevationM() - _last_pos.getElevationM()) * 60 / dt);
   _last_vertical_speed = vertical_speed_mpm * SG_METER_TO_FEET;
   
-  speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, dt/20.0);
+  speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, dt/10.0);
   _last_speed_kts = speed_kt;
   
+  SGGeod g = _indicated_pos;
+  g.setLongitudeDeg(_last_pos.getLongitudeDeg());
+  double northSouthM = SGGeodesy::distanceM(_last_pos, g);
+  northSouthM = copysign(northSouthM, _indicated_pos.getLatitudeDeg() - _last_pos.getLatitudeDeg());
+  
+  double nsMSec = fgGetLowPass(_lastNSVelocity, northSouthM / dt, dt/2.0);
+  _lastNSVelocity = nsMSec;
+  _northSouthVelocity->setDoubleValue(nsMSec);
+
+
+  g = _indicated_pos;
+  g.setLatitudeDeg(_last_pos.getLatitudeDeg());
+  double eastWestM = SGGeodesy::distanceM(_last_pos, g);
+  eastWestM = copysign(eastWestM, _indicated_pos.getLongitudeDeg() - _last_pos.getLongitudeDeg());
+  
+  double ewMSec = fgGetLowPass(_lastEWVelocity, eastWestM / dt, dt/2.0);
+  _lastEWVelocity = ewMSec;
+  _eastWestVelocity->setDoubleValue(ewMSec);
+  
   double odometer = _odometer_node->getDoubleValue();
   _odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
   odometer = _trip_odometer_node->getDoubleValue();
@@ -934,12 +960,17 @@ void GPS::updateRouteData()
 void GPS::driveAutopilot()
 {
   if (!_config.driveAutopilot() || !_realismSimpleGps->getBoolValue()) {
+    _apDrivingFlag->setBoolValue(false);
     return;
   }
  
   // compatability feature - allow the route-manager / GPS to drive the
   // generic autopilot heading hold *in leg mode only* 
-  if (_mode == "leg") {
+  
+  bool drive = _mode == "leg";
+  _apDrivingFlag->setBoolValue(drive);
+  
+  if (drive) {
     // FIXME: we want to set desired track, not heading, here
     _apTrueHeading->setDoubleValue(getWP1Bearing());
   }
@@ -1301,21 +1332,18 @@ bool GPS::isScratchPositionValid() const
 
 void GPS::directTo()
 {
-  if (!isScratchPositionValid()) {
-    SG_LOG(SG_INSTR, SG_WARN, "invalid DTO lat/lon");
-    return;
+  _wp0_position = _indicated_pos;
+  
+  if (isScratchPositionValid()) {
+    _wp1Ident = _scratchNode->getStringValue("ident");
+    _wp1Name = _scratchNode->getStringValue("name");
+    _wp1_position = _scratchPos;
   }
   
-  _wp0_position = _indicated_pos;
-  _wp1Ident = _scratchNode->getStringValue("ident");
-  _wp1Name = _scratchNode->getStringValue("name");
-  _wp1_position = _scratchPos;
-
   _mode = "dto";
   _desiredCourse = getLegMagCourse();
   _desiredCourseNode->fireValueChanged();
   clearScratch();
-  
   wp1Changed();
 }
 
@@ -1585,17 +1613,14 @@ void GPS::addAirportToScratch(FGAirport* aAirport)
 
 void GPS::selectOBSMode()
 {
-  if (!isScratchPositionValid()) {
-    SG_LOG(SG_INSTR, SG_WARN, "invalid OBS lat/lon");
-    return;
+  if (isScratchPositionValid()) {
+    _wp1Ident = _scratchNode->getStringValue("ident");
+    _wp1Name = _scratchNode->getStringValue("name");
+    _wp1_position = _scratchPos;
   }
   
   SG_LOG(SG_INSTR, SG_INFO, "GPS switching to OBS mode");
   _mode = "obs";
-  
-  _wp1Ident = _scratchNode->getStringValue("ident");
-  _wp1Name = _scratchNode->getStringValue("name");
-  _wp1_position = _scratchPos;
   _wp0_position = _indicated_pos;
   wp1Changed();
 }