_turnRate(3.0), // degrees-per-second, so 180 degree turn takes 60 seconds
_overflightArmDistance(1.0),
_waypointAlertTime(30.0),
- _tuneRadio1ToRefVor(false),
_minRunwayLengthFt(0.0),
_requireHardSurface(true),
_cdiMaxDeflectionNm(3.0), // linear mode, 3nm at the peg
- _driveAutopilot(true)
+ _driveAutopilot(true),
+ _courseSelectable(false)
{
_enableTurnAnticipation = false;
- _extCourseSource = fgGetNode("/instrumentation/nav[0]/radials/selected-deg", true);
}
void GPS::Config::bind(GPS* aOwner, SGPropertyNode* aCfg)
{
aOwner->tie(aCfg, "turn-rate-deg-sec", SGRawValuePointer<double>(&_turnRate));
-
aOwner->tie(aCfg, "turn-anticipation", SGRawValuePointer<bool>(&_enableTurnAnticipation));
aOwner->tie(aCfg, "wpt-alert-time", SGRawValuePointer<double>(&_waypointAlertTime));
- aOwner->tie(aCfg, "tune-nav-radio-to-ref-vor", SGRawValuePointer<bool>(&_tuneRadio1ToRefVor));
aOwner->tie(aCfg, "min-runway-length-ft", SGRawValuePointer<double>(&_minRunwayLengthFt));
aOwner->tie(aCfg, "hard-surface-runways-only", SGRawValuePointer<bool>(&_requireHardSurface));
-
- aOwner->tie(aCfg, "course-source", SGRawValueMethods<GPS::Config, const char*>
- (*this, &GPS::Config::getCourseSource, &GPS::Config::setCourseSource));
-
aOwner->tie(aCfg, "cdi-max-deflection-nm", SGRawValuePointer<double>(&_cdiMaxDeflectionNm));
aOwner->tie(aCfg, "drive-autopilot", SGRawValuePointer<bool>(&_driveAutopilot));
+ aOwner->tie(aCfg, "course-selectable", SGRawValuePointer<bool>(&_courseSelectable));
}
-const char*
-GPS::Config::getCourseSource() const
-{
- if (!_extCourseSource) {
- return "";
- }
-
- return _extCourseSource->getPath(true);
-}
-
-void
-GPS::Config::setCourseSource(const char* aPath)
-{
- SGPropertyNode* nd = fgGetNode(aPath, false);
- if (!nd) {
- SG_LOG(SG_INSTR, SG_WARN, "couldn't find course source at:" << aPath);
- _extCourseSource = NULL;
- }
-
- _extCourseSource = nd;
-}
-
-double
-GPS::Config::getExternalCourse() const
-{
- if (!_extCourseSource) {
- return 0.0;
- }
-
- return _extCourseSource->getDoubleValue();
-}
-
-void
-GPS::Config::setExternalCourse(double aCourseDeg)
-{
- if (!_extCourseSource) {
- return;
- }
-
- _extCourseSource->setDoubleValue(aCourseDeg);
-}
-
////////////////////////////////////////////////////////////////////////////
GPS::GPS ( SGPropertyNode *node) :
_selectedCourse(0.0),
+ _desiredCourse(0.0),
_dataValid(false),
_lastPosValid(false),
_mode("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);
// for compatability, alias selected course down to wp/wp[1]/desired-course-deg
SGPropertyNode* wp1Crs = wp1_node->getChild("desired-course-deg", 0, true);
- wp1Crs->alias(_gpsNode->getChild("selected-course-deg"));
+ wp1Crs->alias(_gpsNode->getChild("desired-course-deg", 0, true));
// _true_wp1_bearing_error_node =
// wp1_node->getChild("true-bearing-error-deg", 0, true);
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);
_config.bind(this, _gpsNode->getChild("config", 0, true));
// basic GPS outputs
tie(_gpsNode, "selected-course-deg", SGRawValueMethods<GPS, double>
- (*this, &GPS::getSelectedCourse, NULL));
-
+ (*this, &GPS::getSelectedCourse, &GPS::setSelectedCourse));
+ tie(_gpsNode, "desired-course-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getDesiredCourse, NULL));
+ _desiredCourseNode = _gpsNode->getChild("desired-course-deg");
+
tieSGGeodReadOnly(_gpsNode, _indicated_pos, "indicated-longitude-deg",
"indicated-latitude-deg", "indicated-altitude-ft");
_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();
_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
updateBasicData(delta_time_sec);
if (_dataValid) {
- if (_mode == "obs") {
- _selectedCourse = _config.getExternalCourse();
- } else {
+ if (_mode != "obs") {
updateTurn();
}
if (_dataValid && (_mode == "init")) {
// allow a realistic delay in the future, here
SG_LOG(SG_INSTR, SG_INFO, "GPS initialisation complete");
-
- _selectedCourse = _config.getExternalCourse();
-
+
if (_route_active_node->getBoolValue()) {
// GPS init with active route
SG_LOG(SG_INSTR, SG_INFO, "GPS init with active route");
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();
FGNavRecord* vor = (FGNavRecord*) nav.ptr();
_ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
_listener->setGuard(false);
- tuneNavRadios();
} else {
// SG_LOG(SG_INSTR, SG_ALERT, "matched existing");
}
_ref_navaid_name_node->setStringValue(_ref_navaid->name().c_str());
FGNavRecord* vor = (FGNavRecord*) _ref_navaid.ptr();
_ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
- tuneNavRadios();
} else {
_ref_navaid_set = false;
_ref_navaid_elapsed = 9999.0; // update next tick
}
}
-void GPS::tuneNavRadios()
-{
- if (!_ref_navaid || !_config.tuneNavRadioToRefVor()) {
- return;
- }
-
- SGPropertyNode_ptr navRadio1 = fgGetNode("/instrumentation/nav", false);
- if (!navRadio1) {
- return;
- }
-
- FGNavRecord* vor = (FGNavRecord*) _ref_navaid.ptr();
- SGPropertyNode_ptr freqs = navRadio1->getChild("frequencies");
- freqs->setDoubleValue("selected-mhz", vor->get_freq() / 100.0);
-}
-
void GPS::routeActivated()
{
if (_route_active_node->getBoolValue()) {
_wp1Name = wp1.get_name();
_wp1_position = wp1.get_target();
- _selectedCourse = getLegMagCourse();
+ _desiredCourse = getLegMagCourse();
+ _desiredCourseNode->fireValueChanged();
wp1Changed();
}
return;
}
- _turnStartBearing = _selectedCourse;
+ _turnStartBearing = _desiredCourse;
// compute next leg course
SGWayPoint wp1(_routeMgr->get_waypoint(curIndex)),
wp2(_routeMgr->get_waypoint(curIndex + 1));
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());
}
void GPS::wp1Changed()
{
- // update external HSI/CDI/NavDisplay/PFD/etc
- _config.setExternalCourse(getLegMagCourse());
-
if (!_config.driveAutopilot()) {
return;
}
/////////////////////////////////////////////////////////////////////////////
// property getter/setters
+void GPS::setSelectedCourse(double crs)
+{
+ if (_selectedCourse == crs) {
+ return;
+ }
+
+ _selectedCourse = crs;
+ if ((_mode == "obs") || _config.courseSelectable()) {
+ _desiredCourse = _selectedCourse;
+ _desiredCourseNode->fireValueChanged();
+ }
+}
+
double GPS::getLegDistance() const
{
if (!_dataValid || (_mode == "obs")) {
return 0.0;
}
- double dev = getWP1MagBearing() - _selectedCourse;
+ double dev = getWP1MagBearing() - _desiredCourse;
SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
if (fabs(dev) > 90.0) {
return false;
}
- double dev = getWP1MagBearing() - _selectedCourse;
+ double dev = getWP1MagBearing() - _desiredCourse;
SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
return (fabs(dev) < 90.0);
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";
- _selectedCourse = getLegMagCourse();
+ _desiredCourse = getLegMagCourse();
+ _desiredCourseNode->fireValueChanged();
clearScratch();
-
wp1Changed();
}
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();
}
projects / flightgear.git / blobdiff