#include <simgear/math/sg_random.h>
#include <simgear/sg_inlines.h>
#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/structure/exception.hxx>
using std::auto_ptr;
using std::string;
}
}
-static void tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
- const char* lonStr, const char* latStr, const char* altStr)
-{
- aNode->tie(lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, &SGGeod::setLongitudeDeg));
- aNode->tie(latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, &SGGeod::setLatitudeDeg));
-
- if (altStr) {
- aNode->tie(altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, &SGGeod::setElevationFt));
- }
-}
-
-static void tieSGGeodReadOnly(SGPropertyNode* aNode, SGGeod& aRef,
- const char* lonStr, const char* latStr, const char* altStr)
-{
- aNode->tie(lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, NULL));
- aNode->tie(latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, NULL));
-
- if (altStr) {
- aNode->tie(altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, NULL));
- }
-}
-
static const char* makeTTWString(double TTW)
{
if ((TTW <= 0.0) || (TTW >= 356400.5)) { // 99 hours
GPS::Config::Config() :
_enableTurnAnticipation(true),
_turnRate(3.0), // degrees-per-second, so 180 degree turn takes 60 seconds
- _overflightArmDistance(0.5),
+ _overflightArmDistance(1.0),
_waypointAlertTime(30.0),
_tuneRadio1ToRefVor(false),
_minRunwayLengthFt(0.0),
_requireHardSurface(true),
- _cdiMaxDeflectionNm(-1), // default to angular mode
+ _cdiMaxDeflectionNm(3.0), // linear mode, 3nm at the peg
_driveAutopilot(true)
{
_enableTurnAnticipation = false;
_extCourseSource = fgGetNode("/instrumentation/nav[0]/radials/selected-deg", true);
}
-void GPS::Config::init(SGPropertyNode* aCfgNode)
+void GPS::Config::bind(GPS* aOwner, SGPropertyNode* aCfg)
{
- aCfgNode->tie("turn-rate-deg-sec", SGRawValuePointer<double>(&_turnRate));
- aCfgNode->tie("turn-anticipation", SGRawValuePointer<bool>(&_enableTurnAnticipation));
- aCfgNode->tie("wpt-alert-time", SGRawValuePointer<double>(&_waypointAlertTime));
- aCfgNode->tie("tune-nav-radio-to-ref-vor", SGRawValuePointer<bool>(&_tuneRadio1ToRefVor));
- aCfgNode->tie("min-runway-length-ft", SGRawValuePointer<double>(&_minRunwayLengthFt));
- aCfgNode->tie("hard-surface-runways-only", SGRawValuePointer<bool>(&_requireHardSurface));
+ 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));
- aCfgNode->tie("course-source", SGRawValueMethods<GPS::Config, const char*>
+ aOwner->tie(aCfg, "course-source", SGRawValueMethods<GPS::Config, const char*>
(*this, &GPS::Config::getCourseSource, &GPS::Config::setCourseSource));
- aCfgNode->tie("cdi-max-deflection-nm", SGRawValuePointer<double>(&_cdiMaxDeflectionNm));
- aCfgNode->tie("drive-autopilot", SGRawValuePointer<bool>(&_driveAutopilot));
+ aOwner->tie(aCfg, "cdi-max-deflection-nm", SGRawValuePointer<double>(&_cdiMaxDeflectionNm));
+ aOwner->tie(aCfg, "drive-autopilot", SGRawValuePointer<bool>(&_driveAutopilot));
}
const char*
////////////////////////////////////////////////////////////////////////////
GPS::GPS ( SGPropertyNode *node) :
- _last_valid(false),
+ _selectedCourse(0.0),
+ _dataValid(false),
+ _lastPosValid(false),
+ _mode("init"),
_name(node->getStringValue("name", "gps")),
_num(node->getIntValue("number", 0)),
_computeTurnData(false),
_anticipateTurn(false),
_inTurn(false)
{
+ string branch = "/instrumentation/" + _name;
+ _gpsNode = fgGetNode(branch.c_str(), _num, true );
+ _scratchNode = _gpsNode->getChild("scratch", 0, true);
}
GPS::~GPS ()
void
GPS::init ()
{
- _routeMgr = (FGRouteMgr*) globals->get_subsystem("route-manager");
- assert(_routeMgr);
+ _routeMgr = (FGRouteMgr*) globals->get_subsystem("route-manager");
+ assert(_routeMgr);
- string branch;
- branch = "/instrumentation/" + _name;
-
- SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
- _config.init(node->getChild("config", 0, true));
-
_position.init("/position/longitude-deg", "/position/latitude-deg", "/position/altitude-ft");
_magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
- _serviceable_node = node->getChild("serviceable", 0, true);
+ _serviceable_node = _gpsNode->getChild("serviceable", 0, true);
_serviceable_node->setBoolValue(true);
_electrical_node = fgGetNode("/systems/electrical/outputs/gps", true);
// basic GPS outputs
- node->tie("selected-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getSelectedCourse, NULL));
-
- _raim_node = node->getChild("raim", 0, true);
-
- tieSGGeodReadOnly(node, _indicated_pos, "indicated-longitude-deg",
- "indicated-latitude-deg", "indicated-altitude-ft");
-
- node->tie("indicated-vertical-speed", SGRawValueMethods<GPS, double>
- (*this, &GPS::getVerticalSpeed, NULL));
- node->tie("indicated-track-true-deg", SGRawValueMethods<GPS, double>
- (*this, &GPS::getTrueTrack, NULL));
- node->tie("indicated-track-magnetic-deg", SGRawValueMethods<GPS, double>
- (*this, &GPS::getMagTrack, NULL));
- node->tie("indicated-ground-speed-kt", SGRawValueMethods<GPS, double>
- (*this, &GPS::getGroundspeedKts, NULL));
-
- _odometer_node = node->getChild("odometer", 0, true);
- _trip_odometer_node = node->getChild("trip-odometer", 0, true);
- _true_bug_error_node = node->getChild("true-bug-error-deg", 0, true);
- _magnetic_bug_error_node = node->getChild("magnetic-bug-error-deg", 0, true);
-
-// command system
- _mode = "obs";
- node->tie("mode", SGRawValueMethods<GPS, const char*>(*this, &GPS::getMode, NULL));
- node->tie("command", SGRawValueMethods<GPS, const char*>(*this, &GPS::getCommand, &GPS::setCommand));
-
- _scratchNode = node->getChild("scratch", 0, true);
- tieSGGeod(_scratchNode, _scratchPos, "longitude-deg", "latitude-deg", "altitude-ft");
- _scratchNode->tie("valid", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchValid, NULL));
- _scratchNode->tie("distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchDistance, NULL));
- _scratchNode->tie("true-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchTrueBearing, NULL));
- _scratchNode->tie("mag-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchMagBearing, NULL));
- _scratchNode->tie("has-next", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchHasNext, NULL));
- _scratchValid = false;
-
-// waypoint data (including various historical things)
- SGPropertyNode *wp_node = node->getChild("wp", 0, true);
- SGPropertyNode *wp0_node = wp_node->getChild("wp", 0, true);
+ _raim_node = _gpsNode->getChild("raim", 0, true);
+ _odometer_node = _gpsNode->getChild("odometer", 0, true);
+ _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);
+
+// waypoints
+ SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
SGPropertyNode *wp1_node = wp_node->getChild("wp", 1, true);
- tieSGGeodReadOnly(wp0_node, _wp0_position, "longitude-deg", "latitude-deg", "altitude-ft");
- wp0_node->tie("ID", SGRawValueMethods<GPS, const char*>
- (*this, &GPS::getWP0Ident, NULL));
- wp0_node->tie("name", SGRawValueMethods<GPS, const char*>
- (*this, &GPS::getWP0Name, NULL));
-
- tieSGGeodReadOnly(wp1_node, _wp1_position, "longitude-deg", "latitude-deg", "altitude-ft");
- wp1_node->tie("ID", SGRawValueMethods<GPS, const char*>
- (*this, &GPS::getWP1Ident, NULL));
- wp1_node->tie("name", SGRawValueMethods<GPS, const char*>
- (*this, &GPS::getWP1Name, NULL));
-
// 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(node->getChild("selected-course-deg"));
+ wp1Crs->alias(_gpsNode->getChild("selected-course-deg"));
// _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);
- wp1_node->tie("distance-nm", SGRawValueMethods<GPS, double>
- (*this, &GPS::getWP1Distance, NULL));
- wp1_node->tie("bearing-true-deg", SGRawValueMethods<GPS, double>
- (*this, &GPS::getWP1Bearing, NULL));
- wp1_node->tie("bearing-mag-deg", SGRawValueMethods<GPS, double>
- (*this, &GPS::getWP1MagBearing, NULL));
- wp1_node->tie("TTW-sec", SGRawValueMethods<GPS, double>
- (*this, &GPS::getWP1TTW, NULL));
- wp1_node->tie("TTW", SGRawValueMethods<GPS, const char*>
- (*this, &GPS::getWP1TTWString, NULL));
-
- wp1_node->tie("course-deviation-deg", SGRawValueMethods<GPS, double>
- (*this, &GPS::getWP1CourseDeviation, NULL));
- wp1_node->tie("course-error-nm", SGRawValueMethods<GPS, double>
- (*this, &GPS::getWP1CourseErrorNm, NULL));
- wp1_node->tie("to-flag", SGRawValueMethods<GPS, bool>
- (*this, &GPS::getWP1ToFlag, NULL));
- wp1_node->tie("from-flag", SGRawValueMethods<GPS, bool>
- (*this, &GPS::getWP1FromFlag, NULL));
-
- _tracking_bug_node = node->getChild("tracking-bug", 0, true);
+ _tracking_bug_node = _gpsNode->getChild("tracking-bug", 0, true);
-// leg properties (only valid in DTO/LEG modes, not OBS)
- wp_node->tie("leg-distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getLegDistance, NULL));
- wp_node->tie("leg-true-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegCourse, NULL));
- wp_node->tie("leg-mag-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegMagCourse, NULL));
- wp_node->tie("alt-dist-ratio", SGRawValueMethods<GPS, double>(*this, &GPS::getAltDistanceRatio, NULL));
-
// reference navid
- SGPropertyNode_ptr ref_navaid = node->getChild("ref-navaid", 0, true);
+ SGPropertyNode_ptr ref_navaid = _gpsNode->getChild("ref-navaid", 0, true);
_ref_navaid_id_node = ref_navaid->getChild("id", 0, true);
_ref_navaid_name_node = ref_navaid->getChild("name", 0, true);
_ref_navaid_bearing_node = ref_navaid->getChild("bearing-deg", 0, true);
// route properties
// should these move to the route manager?
- _routeDistanceNm = node->getChild("route-distance-nm", 0, true);
- _routeETE = node->getChild("ETE", 0, true);
+ _routeDistanceNm = _gpsNode->getChild("route-distance-nm", 0, true);
+ _routeETE = _gpsNode->getChild("ETE", 0, true);
_routeEditedSignal = fgGetNode("/autopilot/route-manager/signals/edited", true);
_routeFinishedSignal = fgGetNode("/autopilot/route-manager/signals/finished", true);
_routeFinishedSignal->addChangeListener(_listener);
// navradio slaving properties
- node->tie("cdi-deflection", SGRawValueMethods<GPS,double>
- (*this, &GPS::getCDIDeflection));
-
- SGPropertyNode* toFlag = node->getChild("to-flag", 0, true);
+ SGPropertyNode* toFlag = _gpsNode->getChild("to-flag", 0, true);
toFlag->alias(wp1_node->getChild("to-flag"));
- SGPropertyNode* fromFlag = node->getChild("from-flag", 0, true);
+ SGPropertyNode* fromFlag = _gpsNode->getChild("from-flag", 0, true);
fromFlag->alias(wp1_node->getChild("from-flag"));
-
// autopilot drive properties
_apTrueHeading = fgGetNode("/autopilot/settings/true-heading-deg",true);
_apTargetAltitudeFt = fgGetNode("/autopilot/settings/target-altitude-ft", true);
}
// last thing, add the deprecated prop watcher
- new DeprecatedPropListener(node);
+ new DeprecatedPropListener(_gpsNode);
- // initialise in OBS mode, with waypt set to the nearest airport.
- // keep in mind at this point, _last_valid is not set
+ clearOutput();
+}
+
+void
+GPS::bind()
+{
+ _config.bind(this, _gpsNode->getChild("config", 0, true));
+// basic GPS outputs
+ tie(_gpsNode, "selected-course-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getSelectedCourse, NULL));
- auto_ptr<FGPositioned::Filter> f(createFilter(FGPositioned::AIRPORT));
- FGPositionedRef apt = FGPositioned::findClosest(_position.get(), 20.0, f.get());
- if (apt) {
- setScratchFromPositioned(apt, 0);
- selectOBSMode();
+
+ tieSGGeodReadOnly(_gpsNode, _indicated_pos, "indicated-longitude-deg",
+ "indicated-latitude-deg", "indicated-altitude-ft");
+
+ tie(_gpsNode, "indicated-vertical-speed", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getVerticalSpeed, NULL));
+ tie(_gpsNode, "indicated-track-true-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getTrueTrack, NULL));
+ tie(_gpsNode, "indicated-track-magnetic-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getMagTrack, NULL));
+ tie(_gpsNode, "indicated-ground-speed-kt", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getGroundspeedKts, NULL));
+
+// command system
+ tie(_gpsNode, "mode", SGRawValueMethods<GPS, const char*>(*this, &GPS::getMode, NULL));
+ tie(_gpsNode, "command", SGRawValueMethods<GPS, const char*>(*this, &GPS::getCommand, &GPS::setCommand));
+
+ tieSGGeod(_scratchNode, _scratchPos, "longitude-deg", "latitude-deg", "altitude-ft");
+ tie(_scratchNode, "valid", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchValid, NULL));
+ tie(_scratchNode, "distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchDistance, NULL));
+ tie(_scratchNode, "true-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchTrueBearing, NULL));
+ tie(_scratchNode, "mag-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchMagBearing, NULL));
+ tie(_scratchNode, "has-next", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchHasNext, NULL));
+ _scratchValid = false;
+
+// waypoint data (including various historical things)
+ SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
+ SGPropertyNode *wp0_node = wp_node->getChild("wp", 0, true);
+ SGPropertyNode *wp1_node = wp_node->getChild("wp", 1, true);
+
+ tieSGGeodReadOnly(wp0_node, _wp0_position, "longitude-deg", "latitude-deg", "altitude-ft");
+ tie(wp0_node, "ID", SGRawValueMethods<GPS, const char*>
+ (*this, &GPS::getWP0Ident, NULL));
+ tie(wp0_node, "name", SGRawValueMethods<GPS, const char*>
+ (*this, &GPS::getWP0Name, NULL));
+
+ tieSGGeodReadOnly(wp1_node, _wp1_position, "longitude-deg", "latitude-deg", "altitude-ft");
+ tie(wp1_node, "ID", SGRawValueMethods<GPS, const char*>
+ (*this, &GPS::getWP1Ident, NULL));
+ tie(wp1_node, "name", SGRawValueMethods<GPS, const char*>
+ (*this, &GPS::getWP1Name, NULL));
+
+ tie(wp1_node, "distance-nm", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1Distance, NULL));
+ tie(wp1_node, "bearing-true-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1Bearing, NULL));
+ tie(wp1_node, "bearing-mag-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1MagBearing, NULL));
+ tie(wp1_node, "TTW-sec", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1TTW, NULL));
+ tie(wp1_node, "TTW", SGRawValueMethods<GPS, const char*>
+ (*this, &GPS::getWP1TTWString, NULL));
+
+ tie(wp1_node, "course-deviation-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1CourseDeviation, NULL));
+ tie(wp1_node, "course-error-nm", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1CourseErrorNm, NULL));
+ tie(wp1_node, "to-flag", SGRawValueMethods<GPS, bool>
+ (*this, &GPS::getWP1ToFlag, NULL));
+ tie(wp1_node, "from-flag", SGRawValueMethods<GPS, bool>
+ (*this, &GPS::getWP1FromFlag, NULL));
+
+// leg properties (only valid in DTO/LEG modes, not OBS)
+ tie(wp_node, "leg-distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getLegDistance, NULL));
+ tie(wp_node, "leg-true-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegCourse, NULL));
+ tie(wp_node, "leg-mag-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegMagCourse, NULL));
+ tie(wp_node, "alt-dist-ratio", SGRawValueMethods<GPS, double>(*this, &GPS::getAltDistanceRatio, NULL));
+
+// navradio slaving properties
+ tie(_gpsNode, "cdi-deflection", SGRawValueMethods<GPS,double>
+ (*this, &GPS::getCDIDeflection));
+}
+
+void
+GPS::unbind()
+{
+ for (unsigned int t=0; t<_tiedNodes.size(); ++t) {
+ _tiedNodes[t]->untie();
}
+ _tiedNodes.clear();
}
void
GPS::clearOutput()
{
- _last_valid = false;
+ _dataValid = false;
_last_speed_kts = 0.0;
_last_pos = SGGeod();
+ _lastPosValid = false;
_indicated_pos = SGGeod();
_last_vertical_speed = 0.0;
_last_true_track = 0.0;
printf("%f %f \n", error_length, error_angle);
*/
- _raim_node->setDoubleValue(1.0);
- _indicated_pos = _position.get();
+ _raim_node->setDoubleValue(1.0);
+ _indicated_pos = _position.get();
+ updateBasicData(delta_time_sec);
- if (_last_valid) {
- updateWithValid(delta_time_sec);
+ if (_dataValid) {
+ if (_mode == "obs") {
+ _selectedCourse = _config.getExternalCourse();
} else {
- _last_valid = true;
-
- if (_route_active_node->getBoolValue()) {
- // GPS init with active route
- SG_LOG(SG_INSTR, SG_INFO, "GPS init with active route");
- _listener->setGuard(true);
- routeActivated();
- routeManagerSequenced();
- _listener->setGuard(false);
- }
+ updateTurn();
}
-
- _last_pos = _indicated_pos;
-}
-
-void
-GPS::updateWithValid(double dt)
-{
- assert(_last_valid);
-
- updateBasicData(dt);
+
+ updateWaypoints();
+ updateTrackingBug();
+ updateReferenceNavaid(delta_time_sec);
+ updateRouteData();
+ driveAutopilot();
+ }
- if (_mode == "obs") {
+ if (_dataValid && (_mode == "init")) {
+ // allow a realistic delay in the future, here
+ SG_LOG(SG_INSTR, SG_INFO, "GPS initialisation complete");
+
_selectedCourse = _config.getExternalCourse();
- } else {
- updateTurn();
- }
- updateWaypoints();
- updateTrackingBug();
- updateReferenceNavaid(dt);
- updateRouteData();
- driveAutopilot();
+ if (_route_active_node->getBoolValue()) {
+ // GPS init with active route
+ SG_LOG(SG_INSTR, SG_INFO, "GPS init with active route");
+ selectLegMode();
+ } else {
+ // initialise in OBS mode, with waypt set to the nearest airport.
+ // keep in mind at this point, _dataValid is not set
+
+ auto_ptr<FGPositioned::Filter> f(createFilter(FGPositioned::AIRPORT));
+ FGPositionedRef apt = FGPositioned::findClosest(_position.get(), 20.0, f.get());
+ if (apt) {
+ setScratchFromPositioned(apt, 0);
+ selectOBSMode();
+ }
+ }
+ } // of init mode check
+
+ _last_pos = _indicated_pos;
+ _lastPosValid = true;
}
void
GPS::updateBasicData(double dt)
{
+ if (!_lastPosValid) {
+ return;
+ }
+
double distance_m;
double track2_deg;
SGGeodesy::inverse(_last_pos, _indicated_pos, _last_true_track, track2_deg, distance_m );
_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
odometer = _trip_odometer_node->getDoubleValue();
_trip_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
+
+ if (!_dataValid) {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS setting data valid");
+ _dataValid = true;
+ }
}
void
if (_route_active_node->getBoolValue()) {
SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, switching to LEG mode");
selectLegMode();
+
+ // if we've already passed the current waypoint, sequence.
+ if (_dataValid && getWP1FromFlag()) {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, FROM wp1, sequencing");
+ _routeMgr->sequence();
+ }
} else if (_mode == "leg") {
SG_LOG(SG_INSTR, SG_INFO, "GPS::route deactivated, switching to OBS mode");
selectOBSMode();
int index = _routeMgr->currentWaypoint(),
count = _routeMgr->size();
- if ((index < 1) || (index >= count)) {
+ if ((index < 0) || (index >= count)) {
SG_LOG(SG_INSTR, SG_ALERT, "GPS: malformed route, index=" << index);
return;
}
SG_LOG(SG_INSTR, SG_INFO, "GPS waypoint index is now " << index);
- SGWayPoint wp0(_routeMgr->get_waypoint(index - 1));
- SGWayPoint wp1(_routeMgr->get_waypoint(index));
-
- _wp0Ident = wp0.get_id();
- _wp0Name = wp0.get_name();
- _wp0_position = wp0.get_target();
+
+ if (index > 0) {
+ SGWayPoint wp0(_routeMgr->get_waypoint(index - 1));
+ _wp0Ident = wp0.get_id();
+ _wp0Name = wp0.get_name();
+ _wp0_position = wp0.get_target();
+ }
+
+ SGWayPoint wp1(_routeMgr->get_waypoint(index));
_wp1Ident = wp1.get_id();
_wp1Name = wp1.get_name();
_wp1_position = wp1.get_target();
return;
}
- // FIXME: we want to set desired track, not heading, here
- _apTrueHeading->setDoubleValue(getWP1Bearing());
+ // compatability feature - allow the route-manager / GPS to drive the
+ // generic autopilot heading hold *in leg mode only*
+ if (_mode == "leg") {
+ // FIXME: we want to set desired track, not heading, here
+ _apTrueHeading->setDoubleValue(getWP1Bearing());
+ }
}
void GPS::wp1Changed()
}
double altFt = _wp1_position.getElevationFt();
- if (altFt < -9990.0) {
- _apTargetAltitudeFt->setDoubleValue(0.0);
- } else {
+ if (altFt > -9990.0) {
_apTargetAltitudeFt->setDoubleValue(altFt);
}
}
double GPS::getLegDistance() const
{
- if (!_last_valid || (_mode == "obs")) {
+ if (!_dataValid || (_mode == "obs")) {
return -1;
}
double GPS::getLegCourse() const
{
- if (!_last_valid || (_mode == "obs")) {
+ if (!_dataValid) {
return -9999.0;
}
double GPS::getLegMagCourse() const
{
- if (!_last_valid || (_mode == "obs")) {
+ if (!_dataValid) {
return 0.0;
}
double GPS::getAltDistanceRatio() const
{
- if (!_last_valid || (_mode == "obs")) {
+ if (!_dataValid || (_mode == "obs")) {
return 0.0;
}
double GPS::getMagTrack() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return 0.0;
}
double GPS::getCDIDeflection() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return 0.0;
}
const char* GPS::getWP0Ident() const
{
- if (!_last_valid || (_mode != "leg")) {
+ if (!_dataValid || (_mode != "leg")) {
return "";
}
const char* GPS::getWP0Name() const
{
- if (!_last_valid || (_mode != "leg")) {
+ if (!_dataValid || (_mode != "leg")) {
return "";
}
const char* GPS::getWP1Ident() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return "";
}
const char* GPS::getWP1Name() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return "";
}
double GPS::getWP1Distance() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return -1.0;
}
double GPS::getWP1TTW() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return -1.0;
}
const char* GPS::getWP1TTWString() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return "";
}
double GPS::getWP1Bearing() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return -9999.0;
}
double GPS::getWP1MagBearing() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return -9999.0;
}
double GPS::getWP1CourseDeviation() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return 0.0;
}
double GPS::getWP1CourseErrorNm() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return 0.0;
}
bool GPS::getWP1ToFlag() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return false;
}
bool GPS::getWP1FromFlag() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return false;
}
previousResult();
} else if (!strcmp(aCmd, "define-user-wpt")) {
defineWaypoint();
+ } else if (!strcmp(aCmd, "route-insert-before")) {
+ int index = _scratchNode->getIntValue("index");
+ if (index < 0 || (_routeMgr->size() == 0)) {
+ index = _routeMgr->size();
+ } else if (index >= _routeMgr->size()) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-before, bad index:" << index);
+ return;
+ }
+
+ insertWaypointAtIndex(index);
+ } else if (!strcmp(aCmd, "route-insert-after")) {
+ int index = _scratchNode->getIntValue("index");
+ if (index < 0 || (_routeMgr->size() == 0)) {
+ index = _routeMgr->size();
+ } else if (index >= _routeMgr->size()) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-after, bad index:" << index);
+ return;
+ } else {
+ ++index;
+ }
+
+ insertWaypointAtIndex(index);
+ } else if (!strcmp(aCmd, "route-delete")) {
+ int index = _scratchNode->getIntValue("index");
+ if (index < 0) {
+ index = _routeMgr->size();
+ } else if (index >= _routeMgr->size()) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:route-delete, bad index:" << index);
+ return;
+ }
+
+ removeWaypointAtIndex(index);
} else {
- SG_LOG(SG_INSTR, SG_WARN, "GPS:unrecognzied command:" << aCmd);
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:unrecognized command:" << aCmd);
}
}
int index = _scratchNode->getIntValue("index", -9999);
clearScratch();
- if (index == -9999) { // no index supplied, use current wp
+ if ((index < 0) || (index >= _routeMgr->size())) { // no index supplied, use current wp
index = _routeMgr->currentWaypoint();
}
int limitCount = _scratchNode->getIntValue("max-results", 1);
double cutoffDistance = _scratchNode->getDoubleValue("cutoff-nm", 400.0);
- clearScratch(); // clear now, regardless of whether we find a match or not
+ SGGeod searchPos = _indicated_pos;
+ if (isScratchPositionValid()) {
+ searchPos = _scratchPos;
+ }
+ clearScratch(); // clear now, regardless of whether we find a match or not
+
_searchResults =
- FGPositioned::findClosestN(_indicated_pos, limitCount, cutoffDistance, f.get());
+ FGPositioned::findClosestN(searchPos, limitCount, cutoffDistance, f.get());
_searchResultsCached = true;
_searchResultIndex = 0;
_searchIsRoute = false;
string sty(_scratchNode->getStringValue("type"));
_searchType = FGPositioned::typeFromName(sty);
_searchQuery = _scratchNode->getStringValue("query");
+ if (_searchQuery.empty()) {
+ SG_LOG(SG_INSTR, SG_WARN, "empty GPS search query");
+ clearScratch();
+ return;
+ }
+
_searchExact = _scratchNode->getBoolValue("exact", true);
_searchOrderByRange = _scratchNode->getBoolValue("order-by-distance", true);
_searchResultIndex = 0;
SG_LOG(SG_INSTR, SG_INFO, "GPS switching to LEG mode");
_mode = "leg";
+ // depending on the situation, this will either get over-written
+ // in routeManagerSequenced or not; either way it does no harm to
+ // set it here.
+ _wp0_position = _indicated_pos;
+
// not really sequenced, but does all the work of updating wp0/1
routeManagerSequenced();
}
setScratchFromPositioned(wpt.get(), -1);
}
+void GPS::insertWaypointAtIndex(int aIndex)
+{
+ // note we do allow index = routeMgr->size(), that's an append
+ if ((aIndex < 0) || (aIndex > _routeMgr->size())) {
+ throw sg_range_exception("GPS::insertWaypointAtIndex: index out of bounds");
+ }
+
+ if (!isScratchPositionValid()) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:insertWaypointAtIndex: invalid lat/lon");
+ return;
+ }
+
+ string ident = _scratchNode->getStringValue("ident");
+ string name = _scratchNode->getStringValue("name");
+
+ _routeMgr->add_waypoint(SGWayPoint(_scratchPos, ident, name), aIndex);
+}
+
+void GPS::removeWaypointAtIndex(int aIndex)
+{
+ if ((aIndex < 0) || (aIndex >= _routeMgr->size())) {
+ throw sg_range_exception("GPS::removeWaypointAtIndex: index out of bounds");
+ }
+
+ _routeMgr->pop_waypoint(aIndex);
+}
+
+void GPS::tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
+ const char* lonStr, const char* latStr, const char* altStr)
+{
+ tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, &SGGeod::setLongitudeDeg));
+ tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, &SGGeod::setLatitudeDeg));
+
+ if (altStr) {
+ tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, &SGGeod::setElevationFt));
+ }
+}
+
+void GPS::tieSGGeodReadOnly(SGPropertyNode* aNode, SGGeod& aRef,
+ const char* lonStr, const char* latStr, const char* altStr)
+{
+ tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, NULL));
+ tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, NULL));
+
+ if (altStr) {
+ tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, NULL));
+ }
+}
+
// end of gps.cxx
projects / flightgear.git / blobdiff