#endif
#include <simgear/compiler.h>
-
#include <Aircraft/aircraft.hxx>
-#include <simgear/route/route.hxx>
+#include <simgear/route/route.hxx>
+#include <simgear/math/sg_random.h>
+#include <simgear/sg_inlines.h>
#include <Airports/simple.hxx>
+
#include <Main/fg_init.hxx>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
SG_USING_STD(string);
+GPS::GPS ( SGPropertyNode *node)
+ : _last_valid(false),
+ _last_longitude_deg(0),
+ _last_latitude_deg(0),
+ _last_altitude_m(0),
+ _last_speed_kts(0),
+ _wp0_latitude_deg(0),
+ _wp0_longitude_deg(0),
+ _wp0_altitude_m(0),
+ _wp1_latitude_deg(0),
+ _wp1_longitude_deg(0),
+ _wp1_altitude_m(0),
+ _alt_dist_ratio(0),
+ _distance_m(0),
+ _course_deg(0)
+{
+ int i;
+ for ( i = 0; i < node->nChildren(); ++i ) {
+ SGPropertyNode *child = node->getChild(i);
+ string cname = child->getName();
+ string cval = child->getStringValue();
+ if ( cname == "name" ) {
+ name = cval;
+ } else if ( cname == "number" ) {
+ num = child->getIntValue();
+ } else {
+ SG_LOG( SG_INSTR, SG_WARN, "Error in gps config logic" );
+ if ( name.length() ) {
+ SG_LOG( SG_INSTR, SG_WARN, "Section = " << name );
+ }
+ }
+ }
+}
+
GPS::GPS ()
: _last_valid(false),
_last_longitude_deg(0),
_last_latitude_deg(0),
_last_altitude_m(0),
- _last_speed_kts(0)
+ _last_speed_kts(0),
+ _wp0_latitude_deg(0),
+ _wp0_longitude_deg(0),
+ _wp0_altitude_m(0),
+ _wp1_latitude_deg(0),
+ _wp1_longitude_deg(0),
+ _wp1_altitude_m(0),
+ _alt_dist_ratio(0),
+ _distance_m(0),
+ _course_deg(0)
{
}
void
GPS::init ()
{
+ route = new SGRoute;
+ route->clear();
+
+ string branch;
+ branch = "/instrumentation/" + name;
+
+ SGPropertyNode *node = fgGetNode(branch.c_str(), num, true );
+
_longitude_node = fgGetNode("/position/longitude-deg", true);
_latitude_node = fgGetNode("/position/latitude-deg", true);
_altitude_node = fgGetNode("/position/altitude-ft", true);
_magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
- _serviceable_node = fgGetNode("/instrumentation/gps/serviceable", true);
+ _serviceable_node = node->getChild("serviceable", 0, true);
_electrical_node = fgGetNode("/systems/electrical/outputs/gps", true);
- _wp_longitude_node =
- fgGetNode("/instrumentation/gps/wp-longitude-deg", true);
- _wp_latitude_node =
- fgGetNode("/instrumentation/gps/wp-latitude-deg", true);
- _wp_ID_node =
- fgGetNode("/instrumentation/gps/wp-ID", true);
- _wp_name_node =
- fgGetNode("/instrumentation/gps/wp-name", true);
- _wp_course_node =
- fgGetNode("/instrumentation/gps/desired-course-deg", true);
- _get_nearest_airport_node =
- fgGetNode("/instrumentation/gps/get-nearest-airport", true);
- _waypoint_type_node =
- fgGetNode("/instrumentation/gps/waypoint-type", true);
- _tracking_bug_node =
- fgGetNode("/instrumentation/gps/tracking-bug", true);
-
- _raim_node = fgGetNode("/instrumentation/gps/raim", true);
+
+ SGPropertyNode *wp_node = node->getChild("wp", 0, true);
+ SGPropertyNode *wp0_node = wp_node->getChild("wp", 0, true);
+ SGPropertyNode *wp1_node = wp_node->getChild("wp", 1, true);
+ addWp = wp1_node->getChild("Add-to-route", 0, true);
+
+ _wp0_longitude_node = wp0_node->getChild("longitude-deg", 0, true);
+ _wp0_latitude_node = wp0_node->getChild("latitude-deg", 0, true);
+ _wp0_altitude_node = wp0_node->getChild("altitude-ft", 0, true);
+ _wp0_ID_node = wp0_node->getChild("ID", 0, true);
+ _wp0_name_node = wp0_node->getChild("name", 0, true);
+ _wp0_course_node = wp0_node->getChild("desired-course-deg", 0, true);
+ _wp0_waypoint_type_node = wp0_node->getChild("waypoint-type", 0, true);
+ _wp0_distance_node = wp0_node->getChild("distance-nm", 0, true);
+ _wp0_ttw_node = wp0_node->getChild("TTW", 0, true);
+ _wp0_bearing_node = wp0_node->getChild("bearing-true-deg", 0, true);
+ _wp0_mag_bearing_node = wp0_node->getChild("bearing-mag-deg", 0, true);
+ _wp0_course_deviation_node =
+ wp0_node->getChild("course-deviation-deg", 0, true);
+ _wp0_course_error_nm_node = wp0_node->getChild("course-error-nm", 0, true);
+ _wp0_to_flag_node = wp0_node->getChild("to-flag", 0, true);
+ _true_wp0_bearing_error_node =
+ wp0_node->getChild("true-bearing-error-deg", 0, true);
+ _magnetic_wp0_bearing_error_node =
+ wp0_node->getChild("magnetic-bearing-error-deg", 0, true);
+
+ _wp1_longitude_node = wp1_node->getChild("longitude-deg", 0, true);
+ _wp1_latitude_node = wp1_node->getChild("latitude-deg", 0, true);
+ _wp1_altitude_node = wp1_node->getChild("altitude-ft", 0, true);
+ _wp1_ID_node = wp1_node->getChild("ID", 0, true);
+ _wp1_name_node = wp1_node->getChild("name", 0, true);
+ _wp1_course_node = wp1_node->getChild("desired-course-deg", 0, true);
+ _wp1_waypoint_type_node = wp1_node->getChild("waypoint-type", 0, true);
+ _wp1_distance_node = wp1_node->getChild("distance-nm", 0, true);
+ _wp1_ttw_node = wp1_node->getChild("TTW", 0, true);
+ _wp1_bearing_node = wp1_node->getChild("bearing-true-deg", 0, true);
+ _wp1_mag_bearing_node = wp1_node->getChild("bearing-mag-deg", 0, true);
+ _wp1_course_deviation_node =
+ wp1_node->getChild("course-deviation-deg", 0, true);
+ _wp1_course_error_nm_node = wp1_node->getChild("course-error-nm", 0, true);
+ _wp1_to_flag_node = wp1_node->getChild("to-flag", 0, true);
+ _true_wp1_bearing_error_node =
+ wp1_node->getChild("true-bearing-error-deg", 0, true);
+ _magnetic_wp1_bearing_error_node =
+ wp1_node->getChild("magnetic-bearing-error-deg", 0, true);
+ _get_nearest_airport_node =
+ wp1_node->getChild("get-nearest-airport", 0, true);
+
+ _tracking_bug_node = node->getChild("tracking-bug", 0, true);
+ _raim_node = node->getChild("raim", 0, true);
+
_indicated_longitude_node =
- fgGetNode("/instrumentation/gps/indicated-longitude-deg", true);
+ node->getChild("indicated-longitude-deg", 0, true);
_indicated_latitude_node =
- fgGetNode("/instrumentation/gps/indicated-latitude-deg", true);
+ node->getChild("indicated-latitude-deg", 0, true);
_indicated_altitude_node =
- fgGetNode("/instrumentation/gps/indicated-altitude-ft", true);
+ node->getChild("indicated-altitude-ft", 0, true);
+ _indicated_vertical_speed_node =
+ node->getChild("indicated-vertical-speed", 0, true);
_true_track_node =
- fgGetNode("/instrumentation/gps/indicated-track-true-deg", true);
+ node->getChild("indicated-track-true-deg", 0, true);
_magnetic_track_node =
- fgGetNode("/instrumentation/gps/indicated-track-magnetic-deg", true);
+ node->getChild("indicated-track-magnetic-deg", 0, true);
_speed_node =
- fgGetNode("/instrumentation/gps/indicated-ground-speed-kt", true);
- _wp_distance_node =
- fgGetNode("/instrumentation/gps/wp-distance-nm", true);
- _wp_ttw_node =
- fgGetNode("/instrumentation/gps/TTW",true);
- _wp_bearing_node =
- fgGetNode("/instrumentation/gps/wp-bearing-deg", true);
- _wp_mag_bearing_node =
- fgGetNode("/instrumentation/gps/wp-bearing-mag-deg", true);
- _wp_course_deviation_node =
- fgGetNode("/instrumentation/gps/course-deviation-deg", true);
- _wp_course_error_nm_node =
- fgGetNode("/instrumentation/gps/course-error-nm", true);
- _wp_to_flag_node =
- fgGetNode("/instrumentation/gps/to-flag", true);
+ node->getChild("indicated-ground-speed-kt", 0, true);
_odometer_node =
- fgGetNode("/instrumentation/gps/odometer", true);
+ node->getChild("odometer", 0, true);
_trip_odometer_node =
- fgGetNode("/instrumentation/gps/trip-odometer", true);
+ node->getChild("trip-odometer", 0, true);
_true_bug_error_node =
- fgGetNode("/instrumentation/gps/true-bug-error-deg", true);
+ node->getChild("true-bug-error-deg", 0, true);
_magnetic_bug_error_node =
- fgGetNode("/instrumentation/gps/magnetic-bug-error-deg", true);
-
+ node->getChild("magnetic-bug-error-deg", 0, true);
+
+ _leg_distance_node =
+ wp_node->getChild("leg-distance-nm", 0, true);
+ _leg_course_node =
+ wp_node->getChild("leg-true-course-deg", 0, true);
+ _leg_magnetic_course_node =
+ wp_node->getChild("leg-mag-course-deg", 0, true);
+ _alt_dist_ratio_node =
+ wp_node->getChild("alt-dist-ratio", 0, true);
+ _leg_course_deviation_node =
+ wp_node->getChild("leg-course-deviation-deg", 0, true);
+ _leg_course_error_nm_node =
+ wp_node->getChild("leg-course-error-nm", 0, true);
+ _leg_to_flag_node =
+ wp_node->getChild("leg-to-flag", 0, true);
+ _alt_deviation_node =
+ wp_node->getChild("alt-deviation-ft", 0, true);
+
+ _route = node->getChild("route", 0, true);
+ popWp = _route->getChild("Pop-WP", 0, true);
+
+ addWp->setBoolValue(false);
+ popWp->setBoolValue(false);
+
+ _serviceable_node->setBoolValue(true);
}
void
_indicated_longitude_node->setDoubleValue(0);
_indicated_latitude_node->setDoubleValue(0);
_indicated_altitude_node->setDoubleValue(0);
+ _indicated_vertical_speed_node->setDoubleValue(0);
_true_track_node->setDoubleValue(0);
_magnetic_track_node->setDoubleValue(0);
_speed_node->setDoubleValue(0);
- _wp_distance_node->setDoubleValue(0);
- _wp_bearing_node->setDoubleValue(0);
- _wp_longitude_node->setDoubleValue(0);
- _wp_latitude_node->setDoubleValue(0);
- _wp_course_node->setDoubleValue(0);
+ _wp1_distance_node->setDoubleValue(0);
+ _wp1_bearing_node->setDoubleValue(0);
+ _wp1_longitude_node->setDoubleValue(0);
+ _wp1_latitude_node->setDoubleValue(0);
+ _wp1_course_node->setDoubleValue(0);
_odometer_node->setDoubleValue(0);
_trip_odometer_node->setDoubleValue(0);
_tracking_bug_node->setDoubleValue(0);
_true_bug_error_node->setDoubleValue(0);
_magnetic_bug_error_node->setDoubleValue(0);
+ _true_wp1_bearing_error_node->setDoubleValue(0);
+ _magnetic_wp1_bearing_error_node->setDoubleValue(0);
return;
}
double altitude_m = _altitude_node->getDoubleValue() * SG_FEET_TO_METER;
double magvar_deg = _magvar_node->getDoubleValue();
- double speed_kt;
+/*
+
+ // Bias and random error
+ double random_factor = sg_random();
+ double random_error = 1.4;
+ double error_radius = 5.1;
+ double bias_max_radius = 5.1;
+ double random_max_radius = 1.4;
+
+ bias_length += (random_factor-0.5) * 1.0e-3;
+ if (bias_length <= 0.0) bias_length = 0.0;
+ else if (bias_length >= bias_max_radius) bias_length = bias_max_radius;
+ bias_angle += (random_factor-0.5) * 1.0e-3;
+ if (bias_angle <= 0.0) bias_angle = 0.0;
+ else if (bias_angle >= 360.0) bias_angle = 360.0;
+
+ double random_length = random_factor * random_max_radius;
+ double random_angle = random_factor * 360.0;
+
+ double bias_x = bias_length * cos(bias_angle * SG_PI / 180.0);
+ double bias_y = bias_length * sin(bias_angle * SG_PI / 180.0);
+ double random_x = random_length * cos(random_angle * SG_PI / 180.0);
+ double random_y = random_length * sin(random_angle * SG_PI / 180.0);
+ double error_x = bias_x + random_x;
+ double error_y = bias_y + random_y;
+ double error_length = sqrt(error_x*error_x + error_y*error_y);
+ double error_angle = atan(error_y / error_x) * 180.0 / SG_PI;
+
+ double lat2;
+ double lon2;
+ double az2;
+ geo_direct_wgs_84 ( altitude_m, latitude_deg,
+ longitude_deg, error_angle,
+ error_length, &lat2, &lon2,
+ &az2 );
+ //cout << lat2 << " " << lon2 << endl;
+ printf("%f %f \n", bias_length, bias_angle);
+ printf("%3.7f %3.7f \n", lat2, lon2);
+ printf("%f %f \n", error_length, error_angle);
+
+*/
+
+
+
+ double speed_kt, vertical_speed_mpm;
_raim_node->setBoolValue(true);
_indicated_longitude_node->setDoubleValue(longitude_deg);
&track1_deg, &track2_deg, &distance_m);
speed_kt = ((distance_m * SG_METER_TO_NM) *
((1 / delta_time_sec) * 3600.0));
+ vertical_speed_mpm = ((altitude_m - _last_altitude_m) * 60 /
+ delta_time_sec);
+ _indicated_vertical_speed_node->setDoubleValue
+ (vertical_speed_mpm * SG_METER_TO_FEET);
_true_track_node->setDoubleValue(track1_deg);
- mag_track_bearing = deg360(track1_deg - magvar_deg);
+ mag_track_bearing = track1_deg - magvar_deg;
+ SG_NORMALIZE_RANGE(mag_track_bearing, 0.0, 360.0);
_magnetic_track_node->setDoubleValue(mag_track_bearing);
speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, delta_time_sec/20.0);
_last_speed_kts = speed_kt;
odometer = _trip_odometer_node->getDoubleValue();
_trip_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
- // Get waypoint position
- double wp_longitude_deg = _wp_longitude_node->getDoubleValue();
- double wp_latitude_deg = _wp_latitude_node->getDoubleValue();
- double wp_course_deg =
- _wp_course_node->getDoubleValue();
- double wp_distance, wp_bearing_deg, wp_course_deviation_deg,
- wp_course_error_m, wp_TTW;
- string wp_ID = _wp_ID_node->getStringValue();
-
+ // Get waypoint 0 position
+ double wp0_longitude_deg = _wp0_longitude_node->getDoubleValue();
+ double wp0_latitude_deg = _wp0_latitude_node->getDoubleValue();
+ double wp0_altitude_m = _wp0_altitude_node->getDoubleValue()
+ * SG_FEET_TO_METER;
+ double wp0_course_deg = _wp0_course_node->getDoubleValue();
+ double wp0_distance, wp0_bearing_deg, wp0_course_deviation_deg,
+ wp0_course_error_m, wp0_TTW, wp0_bearing_error_deg;
+ string wp0_ID = _wp0_ID_node->getStringValue();
+
+ // Get waypoint 1 position
+ double wp1_longitude_deg = _wp1_longitude_node->getDoubleValue();
+ double wp1_latitude_deg = _wp1_latitude_node->getDoubleValue();
+ double wp1_altitude_m = _wp1_altitude_node->getDoubleValue()
+ * SG_FEET_TO_METER;
+ double wp1_course_deg = _wp1_course_node->getDoubleValue();
+ double wp1_distance, wp1_bearing_deg, wp1_course_deviation_deg,
+ wp1_course_error_m, wp1_TTW, wp1_bearing_error_deg;
+ string wp1_ID = _wp1_ID_node->getStringValue();
+
// If the get-nearest-airport-node is true.
- // Get the nearest airport, and set it as waypoint.
+ // Get the nearest airport, and set it as waypoint 1.
if (_get_nearest_airport_node->getBoolValue()) {
- FGAirport a;
- cout << "Airport found" << endl;
- a = globals->get_airports()->search(longitude_deg, latitude_deg, false);
- _wp_ID_node->setStringValue(a.id.c_str());
- wp_longitude_deg = a.longitude;
- wp_latitude_deg = a.latitude;
- _wp_name_node->setStringValue(a.name.c_str());
- _get_nearest_airport_node->setBoolValue(false);
- _last_wp_ID = wp_ID = a.id.c_str();
+ const FGAirport* a = globals->get_airports()->search(longitude_deg, latitude_deg, false);
+ if(a) {
+ _wp1_ID_node->setStringValue(a->getId().c_str());
+ wp1_longitude_deg = a->getLongitude();
+ wp1_latitude_deg = a->getLatitude();
+ _wp1_name_node->setStringValue(a->getName().c_str());
+ _get_nearest_airport_node->setBoolValue(false);
+ _last_wp1_ID = wp1_ID = a->getId().c_str();
+ }
}
-
- // If the waypoint ID has changed, try to find the new ID
+
+ // If the waypoint 0 ID has changed, try to find the new ID
// in the airport-, fix-, nav-database.
- if ( !(_last_wp_ID == wp_ID) ) {
- string waypont_type =
- _waypoint_type_node->getStringValue();
- if (waypont_type == "airport") {
- FGAirport a;
- a = globals->get_airports()->search( wp_ID );
- if ( a.id == wp_ID ) {
- cout << "Airport found" << endl;
- wp_longitude_deg = a.longitude;
- wp_latitude_deg = a.latitude;
- _wp_name_node->setStringValue(a.name.c_str());
+ if ( !(_last_wp0_ID == wp0_ID) ) {
+ string waypont_type =
+ _wp0_waypoint_type_node->getStringValue();
+ if (waypont_type == "airport") {
+ const FGAirport* a = globals->get_airports()->search( wp0_ID );
+ if ( a ) {
+ wp0_longitude_deg = a->getLongitude();
+ wp0_latitude_deg = a->getLatitude();
+ _wp0_name_node->setStringValue(a->getName().c_str());
+ }
}
- }
- else if (waypont_type == "nav") {
- FGNav * n;
- if ( (n = current_navlist->findByIdent(wp_ID.c_str(),
- longitude_deg,
- latitude_deg)) != NULL) {
- cout << "Nav found" << endl;
- wp_longitude_deg = n->get_lon();
- wp_latitude_deg = n->get_lat();
- _wp_name_node->setStringValue(n->get_name().c_str());
+ else if (waypont_type == "nav") {
+ FGNavRecord *n
+ = globals->get_navlist()->findByIdent(wp0_ID.c_str(),
+ longitude_deg,
+ latitude_deg);
+ if ( n != NULL ) {
+ //cout << "Nav found" << endl;
+ wp0_longitude_deg = n->get_lon();
+ wp0_latitude_deg = n->get_lat();
+ _wp0_name_node->setStringValue(n->get_name().c_str());
+ }
}
- }
- else if (waypont_type == "fix") {
- FGFix f;
- if ( current_fixlist->query(wp_ID, &f) ) {
- cout << "Fix found" << endl;
- wp_longitude_deg = f.get_lon();
- wp_latitude_deg = f.get_lat();
- _wp_name_node->setStringValue(wp_ID.c_str());
+ else if (waypont_type == "fix") {
+ FGFix f;
+ if ( globals->get_fixlist()->query(wp0_ID, &f) ) {
+ //cout << "Fix found" << endl;
+ wp0_longitude_deg = f.get_lon();
+ wp0_latitude_deg = f.get_lat();
+ _wp0_name_node->setStringValue(wp0_ID.c_str());
+ }
}
- }
- _last_wp_ID = wp_ID;
+ _last_wp0_ID = wp0_ID;
}
+
+ // If the waypoint 1 ID has changed, try to find the new ID
+ // in the airport-, fix-, nav-database.
+ if ( !(_last_wp1_ID == wp1_ID) ) {
+ string waypont_type =
+ _wp1_waypoint_type_node->getStringValue();
+ if (waypont_type == "airport") {
+ const FGAirport* a = globals->get_airports()->search( wp1_ID );
+ if ( a ) {
+ wp1_longitude_deg = a->getLongitude();
+ wp1_latitude_deg = a->getLatitude();
+ _wp1_name_node->setStringValue(a->getName().c_str());
+ }
+ }
+ else if (waypont_type == "nav") {
+ FGNavRecord *n
+ = globals->get_navlist()->findByIdent(wp1_ID.c_str(),
+ longitude_deg,
+ latitude_deg);
+ if ( n != NULL ) {
+ //cout << "Nav found" << endl;
+ wp1_longitude_deg = n->get_lon();
+ wp1_latitude_deg = n->get_lat();
+ _wp1_name_node->setStringValue(n->get_name().c_str());
+ }
+ }
+ else if (waypont_type == "fix") {
+ FGFix f;
+ if ( globals->get_fixlist()->query(wp1_ID, &f) ) {
+ //cout << "Fix found" << endl;
+ wp1_longitude_deg = f.get_lon();
+ wp1_latitude_deg = f.get_lat();
+ _wp1_name_node->setStringValue(wp1_ID.c_str());
+ }
+ }
+ _last_wp1_ID = wp1_ID;
+ }
+
+
+
+ // If any of the two waypoints have changed
+ // we need to calculate a new course between them,
+ // and values for vertical navigation.
+ if ( wp0_longitude_deg != _wp0_longitude_deg ||
+ wp0_latitude_deg != _wp0_latitude_deg ||
+ wp0_altitude_m != _wp0_altitude_m ||
+ wp1_longitude_deg != _wp1_longitude_deg ||
+ wp1_latitude_deg != _wp1_latitude_deg ||
+ wp1_altitude_m != _wp1_altitude_m )
+ {
+ // Update the global variables
+ _wp0_longitude_deg = wp0_longitude_deg;
+ _wp0_latitude_deg = wp0_latitude_deg;
+ _wp0_altitude_m = wp0_altitude_m;
+ _wp1_longitude_deg = wp1_longitude_deg;
+ _wp1_latitude_deg = wp1_latitude_deg;
+ _wp1_altitude_m = wp1_altitude_m;
+
+ // Get the course and distance from wp0 to wp1
+ SGWayPoint wp0(wp0_longitude_deg,
+ wp0_latitude_deg, wp0_altitude_m);
+ SGWayPoint wp1(wp1_longitude_deg,
+ wp1_latitude_deg, wp1_altitude_m);
+
+ wp1.CourseAndDistance(wp0, &_course_deg, &_distance_m);
+ double leg_mag_course = _course_deg - magvar_deg;
+ SG_NORMALIZE_RANGE(leg_mag_course, 0.0, 360.0);
+
+ // Get the altitude / distance ratio
+ if ( distance_m > 0.0 ) {
+ double alt_difference_m = wp0_altitude_m - wp1_altitude_m;
+ _alt_dist_ratio = alt_difference_m / _distance_m;
+ }
+
+ _leg_distance_node->setDoubleValue(_distance_m * SG_METER_TO_NM);
+ _leg_course_node->setDoubleValue(_course_deg);
+ _leg_magnetic_course_node->setDoubleValue(leg_mag_course);
+ _alt_dist_ratio_node->setDoubleValue(_alt_dist_ratio);
+
+ _wp0_longitude_node->setDoubleValue(wp0_longitude_deg);
+ _wp0_latitude_node->setDoubleValue(wp0_latitude_deg);
+ _wp1_longitude_node->setDoubleValue(wp1_longitude_deg);
+ _wp1_latitude_node->setDoubleValue(wp1_latitude_deg);
+ }
+
- // Find the bearing and distance to the waypoint.
- SGWayPoint wp(wp_longitude_deg, wp_latitude_deg, altitude_m);
- wp.CourseAndDistance(longitude_deg, latitude_deg, altitude_m,
- &wp_bearing_deg, &wp_distance);
- _wp_longitude_node->setDoubleValue(wp_longitude_deg);
- _wp_latitude_node->setDoubleValue(wp_latitude_deg);
- _wp_distance_node->setDoubleValue(wp_distance * SG_METER_TO_NM);
- _wp_bearing_node->setDoubleValue(wp_bearing_deg);
- _wp_mag_bearing_node->setDoubleValue(deg360(wp_bearing_deg - magvar_deg));
+ // Find the bearing and distance to waypoint 0.
+ SGWayPoint wp0(wp0_longitude_deg, wp0_latitude_deg, wp0_altitude_m);
+ wp0.CourseAndDistance(longitude_deg, latitude_deg, altitude_m,
+ &wp0_bearing_deg, &wp0_distance);
+ _wp0_distance_node->setDoubleValue(wp0_distance * SG_METER_TO_NM);
+ _wp0_bearing_node->setDoubleValue(wp0_bearing_deg);
+ double wp0_mag_bearing_deg = wp0_bearing_deg - magvar_deg;
+ SG_NORMALIZE_RANGE(wp0_mag_bearing_deg, 0.0, 360.0);
+ _wp0_mag_bearing_node->setDoubleValue(wp0_mag_bearing_deg);
+ wp0_bearing_error_deg = track1_deg - wp0_bearing_deg;
+ SG_NORMALIZE_RANGE(wp0_bearing_error_deg, -180.0, 180.0);
+ _true_wp0_bearing_error_node->setDoubleValue(wp0_bearing_error_deg);
- // Estimate time to waypoint.
+ // Estimate time to waypoint 0.
// The estimation does not take track into consideration,
// so if you are going away from the waypoint the TTW will
// increase. Makes most sense when travelling directly towards
// the waypoint.
- if (speed_kt > 0.0 && wp_distance > 0.0) {
- wp_TTW = (wp_distance * SG_METER_TO_NM) / (speed_kt / 3600);
+ if (speed_kt > 0.0 && wp0_distance > 0.0) {
+ wp0_TTW = (wp0_distance * SG_METER_TO_NM) / (speed_kt / 3600);
}
else {
- wp_TTW = 0.0;
+ wp0_TTW = 0.0;
}
- unsigned int wp_TTW_seconds = (int) (wp_TTW + 0.5);
- if (wp_TTW_seconds < 356400) { // That's 99 hours
- unsigned int wp_TTW_minutes = 0;
- unsigned int wp_TTW_hours = 0;
- char wp_TTW_str[8];
- while (wp_TTW_seconds >= 3600) {
- wp_TTW_seconds -= 3600;
- wp_TTW_hours++;
+ unsigned int wp0_TTW_seconds = (int) (wp0_TTW + 0.5);
+ if (wp0_TTW_seconds < 356400) { // That's 99 hours
+ unsigned int wp0_TTW_minutes = 0;
+ unsigned int wp0_TTW_hours = 0;
+ char wp0_TTW_str[9];
+ while (wp0_TTW_seconds >= 3600) {
+ wp0_TTW_seconds -= 3600;
+ wp0_TTW_hours++;
}
- while (wp_TTW_seconds >= 60) {
- wp_TTW_seconds -= 60;
- wp_TTW_minutes++;
+ while (wp0_TTW_seconds >= 60) {
+ wp0_TTW_seconds -= 60;
+ wp0_TTW_minutes++;
}
- sprintf(wp_TTW_str, "%02d:%02d:%02d",
- wp_TTW_hours, wp_TTW_minutes, wp_TTW_seconds);
- _wp_ttw_node->setStringValue(wp_TTW_str);
+ snprintf(wp0_TTW_str, 9, "%02d:%02d:%02d",
+ wp0_TTW_hours, wp0_TTW_minutes, wp0_TTW_seconds);
+ _wp0_ttw_node->setStringValue(wp0_TTW_str);
}
else
- _wp_ttw_node->setStringValue("--:--:--");
+ _wp0_ttw_node->setStringValue("--:--:--");
// Course deviation is the diffenrence between the bearing
// and the course.
- wp_course_deviation_deg = wp_bearing_deg -
- wp_course_deg;
- while (wp_course_deviation_deg < -180.0) {
- wp_course_deviation_deg += 360.0; }
- while (wp_course_deviation_deg > 180.0) {
- wp_course_deviation_deg -= 360.0; }
+ wp0_course_deviation_deg = wp0_bearing_deg -
+ wp0_course_deg;
+ SG_NORMALIZE_RANGE(wp0_course_deviation_deg, -180.0, 180.0);
// If the course deviation is less than 90 degrees to either side,
// our desired course is towards the waypoint.
- // It does not matter if we are actually moving towards or from the waypoint.
- if (fabs(wp_course_deviation_deg) < 90.0) {
- _wp_to_flag_node->setBoolValue(true); }
- // If it's more than 90 degrees the desired course is from the waypoint.
- else if (fabs(wp_course_deviation_deg) > 90.0) {
- _wp_to_flag_node->setBoolValue(false);
+ // It does not matter if we are actually moving
+ // towards or from the waypoint.
+ if (fabs(wp0_course_deviation_deg) < 90.0) {
+ _wp0_to_flag_node->setBoolValue(true); }
+ // If it's more than 90 degrees the desired
+ // course is from the waypoint.
+ else if (fabs(wp0_course_deviation_deg) > 90.0) {
+ _wp0_to_flag_node->setBoolValue(false);
// When the course is away from the waypoint,
// it makes sense to change the sign of the deviation.
- wp_course_deviation_deg *= -1.0;
- while (wp_course_deviation_deg < -90.0)
- wp_course_deviation_deg += 180.0;
- while (wp_course_deviation_deg > 90.0)
- wp_course_deviation_deg -= 180.0; }
+ wp0_course_deviation_deg *= -1.0;
+ SG_NORMALIZE_RANGE(wp0_course_deviation_deg, -90.0, 90.0);
+ }
- _wp_course_deviation_node->setDoubleValue(wp_course_deviation_deg);
+ _wp0_course_deviation_node->setDoubleValue(wp0_course_deviation_deg);
// Cross track error.
- wp_course_error_m = sin(wp_course_deviation_deg * SG_PI / 180.0)
- * (wp_distance);
- _wp_course_error_nm_node->setDoubleValue(wp_course_error_m
+ wp0_course_error_m = sin(wp0_course_deviation_deg * SG_PI / 180.0)
+ * (wp0_distance);
+ _wp0_course_error_nm_node->setDoubleValue(wp0_course_error_m
* SG_METER_TO_NM);
+
+
+ // Find the bearing and distance to waypoint 1.
+ SGWayPoint wp1(wp1_longitude_deg, wp1_latitude_deg, wp1_altitude_m);
+ wp1.CourseAndDistance(longitude_deg, latitude_deg, altitude_m,
+ &wp1_bearing_deg, &wp1_distance);
+ _wp1_distance_node->setDoubleValue(wp1_distance * SG_METER_TO_NM);
+ _wp1_bearing_node->setDoubleValue(wp1_bearing_deg);
+ double wp1_mag_bearing_deg = wp1_bearing_deg - magvar_deg;
+ SG_NORMALIZE_RANGE(wp1_mag_bearing_deg, 0.0, 360.0);
+ _wp1_mag_bearing_node->setDoubleValue(wp1_mag_bearing_deg);
+ wp1_bearing_error_deg = track1_deg - wp1_bearing_deg;
+ SG_NORMALIZE_RANGE(wp1_bearing_error_deg, -180.0, 180.0);
+ _true_wp1_bearing_error_node->setDoubleValue(wp1_bearing_error_deg);
+
+ // Estimate time to waypoint 1.
+ // The estimation does not take track into consideration,
+ // so if you are going away from the waypoint the TTW will
+ // increase. Makes most sense when travelling directly towards
+ // the waypoint.
+ if (speed_kt > 0.0 && wp1_distance > 0.0) {
+ wp1_TTW = (wp1_distance * SG_METER_TO_NM) / (speed_kt / 3600);
+ }
+ else {
+ wp1_TTW = 0.0;
+ }
+ unsigned int wp1_TTW_seconds = (int) (wp1_TTW + 0.5);
+ if (wp1_TTW_seconds < 356400) { // That's 99 hours
+ unsigned int wp1_TTW_minutes = 0;
+ unsigned int wp1_TTW_hours = 0;
+ char wp1_TTW_str[9];
+ while (wp1_TTW_seconds >= 3600) {
+ wp1_TTW_seconds -= 3600;
+ wp1_TTW_hours++;
+ }
+ while (wp1_TTW_seconds >= 60) {
+ wp1_TTW_seconds -= 60;
+ wp1_TTW_minutes++;
+ }
+ snprintf(wp1_TTW_str, 9, "%02d:%02d:%02d",
+ wp1_TTW_hours, wp1_TTW_minutes, wp1_TTW_seconds);
+ _wp1_ttw_node->setStringValue(wp1_TTW_str);
+ }
+ else
+ _wp1_ttw_node->setStringValue("--:--:--");
+
+ // Course deviation is the diffenrence between the bearing
+ // and the course.
+ wp1_course_deviation_deg = wp1_bearing_deg - wp1_course_deg;
+ SG_NORMALIZE_RANGE(wp1_course_deviation_deg, -180.0, 180.0);
+
+ // If the course deviation is less than 90 degrees to either side,
+ // our desired course is towards the waypoint.
+ // It does not matter if we are actually moving
+ // towards or from the waypoint.
+ if (fabs(wp1_course_deviation_deg) < 90.0) {
+ _wp1_to_flag_node->setBoolValue(true); }
+ // If it's more than 90 degrees the desired
+ // course is from the waypoint.
+ else if (fabs(wp1_course_deviation_deg) > 90.0) {
+ _wp1_to_flag_node->setBoolValue(false);
+ // When the course is away from the waypoint,
+ // it makes sense to change the sign of the deviation.
+ wp1_course_deviation_deg *= -1.0;
+ SG_NORMALIZE_RANGE(wp1_course_deviation_deg, -90.0, 90.0);
+ }
+
+ _wp1_course_deviation_node->setDoubleValue(wp1_course_deviation_deg);
+
+ // Cross track error.
+ wp1_course_error_m = sin(wp1_course_deviation_deg * SG_PI / 180.0)
+ * (wp1_distance);
+ _wp1_course_error_nm_node->setDoubleValue(wp1_course_error_m
+ * SG_METER_TO_NM);
+
+
+ // Leg course deviation is the diffenrence between the bearing
+ // and the course.
+ double course_deviation_deg = wp1_bearing_deg - _course_deg;
+ SG_NORMALIZE_RANGE(course_deviation_deg, -180.0, 180.0);
+
+ // If the course deviation is less than 90 degrees to either side,
+ // our desired course is towards the waypoint.
+ // It does not matter if we are actually moving
+ // towards or from the waypoint.
+ if (fabs(course_deviation_deg) < 90.0) {
+ _leg_to_flag_node->setBoolValue(true); }
+ // If it's more than 90 degrees the desired
+ // course is from the waypoint.
+ else if (fabs(course_deviation_deg) > 90.0) {
+ _leg_to_flag_node->setBoolValue(false);
+ // When the course is away from the waypoint,
+ // it makes sense to change the sign of the deviation.
+ course_deviation_deg *= -1.0;
+ SG_NORMALIZE_RANGE(course_deviation_deg, -90.0, 90.0);
+ }
+
+ _leg_course_deviation_node->setDoubleValue(course_deviation_deg);
+
+ // Cross track error.
+ double course_error_m = sin(course_deviation_deg * SG_PI / 180.0)
+ * (_distance_m);
+ _leg_course_error_nm_node->setDoubleValue(course_error_m * SG_METER_TO_NM);
+
+ // Altitude deviation
+ double desired_altitude_m = wp1_altitude_m
+ + wp1_distance * _alt_dist_ratio;
+ double altitude_deviation_m = altitude_m - desired_altitude_m;
+ _alt_deviation_node->setDoubleValue(altitude_deviation_m * SG_METER_TO_FEET);
+
+
+
// Tracking bug.
double tracking_bug = _tracking_bug_node->getDoubleValue();
double true_bug_error = tracking_bug - track1_deg;
double magnetic_bug_error = tracking_bug - mag_track_bearing;
- // Get the errors into the (-180,180) range.
- while (true_bug_error < -180.0)
- true_bug_error += 360.0;
- while (true_bug_error > 180.0)
- true_bug_error -= 360.0;
-
- while (magnetic_bug_error < -180.0)
- magnetic_bug_error += 360.0;
- while (magnetic_bug_error > 180.0)
- magnetic_bug_error -= 360.0;
+ // Get the errors into the (-180,180) range.
+ SG_NORMALIZE_RANGE(true_bug_error, -180.0, 180.0);
+ SG_NORMALIZE_RANGE(magnetic_bug_error, -180.0, 180.0);
_true_bug_error_node->setDoubleValue(true_bug_error);
_magnetic_bug_error_node->setDoubleValue(magnetic_bug_error);
+
+ // Add WP 1 to the route.
+ if ( addWp->getBoolValue() )
+ {
+ addWp->setBoolValue(false);
+
+ SGWayPoint tempWp( _wp1_longitude_node->getDoubleValue(),
+ _wp1_latitude_node->getDoubleValue(),
+ _wp1_altitude_node->getDoubleValue(),
+ SGWayPoint::WGS84,
+ _wp1_ID_node->getStringValue(),
+ _wp1_name_node->getStringValue() );
+
+ route->add_waypoint(tempWp);
+
+ SGPropertyNode *wp =
+ _route->getChild("Waypoint", route->size()-1, true);
+ SGPropertyNode *id = wp->getChild("ID", 0, true);
+ SGPropertyNode *name = wp->getChild("Name", 0, true);
+ SGPropertyNode *lat = wp->getChild("Latitude", 0, true);
+ SGPropertyNode *lon = wp->getChild("Longitude", 0, true);
+ SGPropertyNode *alt = wp->getChild("Altitude", 0, true);
+
+ id->setStringValue( tempWp.get_id().c_str() );
+ name->setStringValue( tempWp.get_name().c_str() );
+ lat->setDoubleValue( tempWp.get_target_lat() );
+ lon->setDoubleValue( tempWp.get_target_lon() );
+ alt->setDoubleValue( tempWp.get_target_alt() );
+ }
+
+ if ( popWp->getBoolValue() )
+ {
+ popWp->setBoolValue(false);
+
+ route->delete_first();
+ _route->removeChild("Waypoint", 0, false);
+ }
+
} else {
_true_track_node->setDoubleValue(0.0);
_magnetic_track_node->setDoubleValue(0.0);
_last_altitude_m = altitude_m;
}
-double GPS::deg360 (double deg)
-{
- while (deg <= 0.0) {
- deg += 360.0; }
- while (deg > 360.0) {
- deg -= 360.0; }
-
- return deg;
-}
-
-
-
-
// end of gps.cxx
projects / flightgear.git / blobdiff