#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;
_gps->routeActivated();
} else if (prop == _gps->_ref_navaid_id_node) {
_gps->referenceNavaidSet(prop->getStringValue(""));
+ } else if (prop == _gps->_routeEditedSignal) {
+ _gps->routeEdited();
+ } else if (prop == _gps->_routeFinishedSignal) {
+ _gps->routeFinished();
}
_guard = false;
_turnRate(3.0), // degrees-per-second, so 180 degree turn takes 60 seconds
_overflightArmDistance(0.5),
_waypointAlertTime(30.0),
- _tuneRadio1ToRefVor(true),
+ _tuneRadio1ToRefVor(false),
_minRunwayLengthFt(0.0),
_requireHardSurface(true),
- _cdiMaxDeflectionNm(-1) // default to angular mode
+ _cdiMaxDeflectionNm(-1), // default to angular mode
+ _driveAutopilot(true)
{
_enableTurnAnticipation = false;
- _obsCourseSource = fgGetNode("/instrumentation/nav[0]/radials/selected-deg", true);
+ _extCourseSource = fgGetNode("/instrumentation/nav[0]/radials/selected-deg", true);
}
void GPS::Config::init(SGPropertyNode* aCfgNode)
aCfgNode->tie("min-runway-length-ft", SGRawValuePointer<double>(&_minRunwayLengthFt));
aCfgNode->tie("hard-surface-runways-only", SGRawValuePointer<bool>(&_requireHardSurface));
- aCfgNode->tie("obs-course-source", SGRawValueMethods<GPS::Config, const char*>
- (*this, &GPS::Config::getOBSCourseSource, &GPS::Config::setOBSCourseSource));
+ aCfgNode->tie("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));
}
const char*
-GPS::Config::getOBSCourseSource() const
+GPS::Config::getCourseSource() const
{
- if (!_obsCourseSource) {
+ if (!_extCourseSource) {
return "";
}
- return _obsCourseSource->getPath(true);
+ return _extCourseSource->getPath(true);
}
void
-GPS::Config::setOBSCourseSource(const char* aPath)
+GPS::Config::setCourseSource(const char* aPath)
{
SGPropertyNode* nd = fgGetNode(aPath, false);
if (!nd) {
- SG_LOG(SG_INSTR, SG_WARN, "couldn't find OBS course source at:" << aPath);
- _obsCourseSource = NULL;
+ SG_LOG(SG_INSTR, SG_WARN, "couldn't find course source at:" << aPath);
+ _extCourseSource = NULL;
}
- _obsCourseSource = nd;
+ _extCourseSource = nd;
}
double
-GPS::Config::getOBSCourse() const
+GPS::Config::getExternalCourse() const
{
- if (!_obsCourseSource) {
+ if (!_extCourseSource) {
return 0.0;
}
- return _obsCourseSource->getDoubleValue();
+ return _extCourseSource->getDoubleValue();
}
+void
+GPS::Config::setExternalCourse(double aCourseDeg)
+{
+ if (!_extCourseSource) {
+ return;
+ }
+
+ _extCourseSource->setDoubleValue(aCourseDeg);
+}
+
////////////////////////////////////////////////////////////////////////////
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),
_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));
(*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);
// leg properties (only valid in DTO/LEG modes, not OBS)
// should these move to the route manager?
_routeDistanceNm = node->getChild("route-distance-nm", 0, true);
_routeETE = node->getChild("ETE", 0, true);
-
- // disable auto-sequencing in the route manager; we'll deal with it
- // ourselves using turn anticipation
- SGPropertyNode_ptr autoSeq = fgGetNode("/autopilot/route-manager/auto-sequence", true);
- autoSeq->setBoolValue(false);
-
+ _routeEditedSignal = fgGetNode("/autopilot/route-manager/signals/edited", true);
+ _routeFinishedSignal = fgGetNode("/autopilot/route-manager/signals/finished", true);
+
// add listener to various things
_listener = new GPSListener(this);
_route_current_wp_node = fgGetNode("/autopilot/route-manager/current-wp", true);
_route_current_wp_node->addChangeListener(_listener);
_route_active_node = fgGetNode("/autopilot/route-manager/active", true);
_route_active_node->addChangeListener(_listener);
-
_ref_navaid_id_node->addChangeListener(_listener);
-
+ _routeEditedSignal->addChangeListener(_listener);
+ _routeFinishedSignal->addChangeListener(_listener);
+
// navradio slaving properties
node->tie("cdi-deflection", SGRawValueMethods<GPS,double>
(*this, &GPS::getCDIDeflection));
SGPropertyNode* toFlag = node->getChild("to-flag", 0, true);
toFlag->alias(wp1_node->getChild("to-flag"));
- _fromFlagNode = node->getChild("from-flag", 0, true);
+ SGPropertyNode* fromFlag = node->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);
+ _apAltitudeLock = fgGetNode("/autopilot/locks/altitude", true);
+
+// realism prop[s]
+ _realismSimpleGps = fgGetNode("/sim/realism/simple-gps", true);
+ if (!_realismSimpleGps->hasValue()) {
+ _realismSimpleGps->setBoolValue(true);
+ }
// last thing, add the deprecated prop watcher
new DeprecatedPropListener(node);
+
+ clearOutput();
}
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;
- _raim_node->setDoubleValue(false);
+ _raim_node->setDoubleValue(0.0);
_indicated_pos = SGGeod();
_wp1DistanceM = 0.0;
_wp1TrueBearing = 0.0;
_tracking_bug_node->setDoubleValue(0);
_true_bug_error_node->setDoubleValue(0);
_magnetic_bug_error_node->setDoubleValue(0);
-
- _fromFlagNode->setBoolValue(false);
}
void
GPS::update (double delta_time_sec)
{
- // If it's off, don't bother.
- if (!_serviceable_node->getBoolValue() || !_electrical_node->getBoolValue()) {
- clearOutput();
- return;
+ if (!_realismSimpleGps->getBoolValue()) {
+ // If it's off, don't bother.
+ if (!_serviceable_node->getBoolValue() || !_electrical_node->getBoolValue()) {
+ clearOutput();
+ return;
+ }
}
-
+
if (delta_time_sec <= 0.0) {
return; // paused, don't bother
}
printf("%f %f \n", error_length, error_angle);
*/
- _raim_node->setBoolValue(true);
- _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);
-
- if (_mode == "obs") {
- _selectedCourse = _config.getOBSCourse();
- } else {
- updateTurn();
+
+ updateWaypoints();
+ updateTrackingBug();
+ updateReferenceNavaid(delta_time_sec);
+ updateRouteData();
+ driveAutopilot();
}
+
+ if (_dataValid && (_mode == "init")) {
+ // allow a realistic delay in the future, here
+ SG_LOG(SG_INSTR, SG_INFO, "GPS initialisation complete");
+
+ _selectedCourse = _config.getExternalCourse();
- updateWaypoints();
- updateTrackingBug();
- updateReferenceNavaid(dt);
- updateRouteData();
+ 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
{
double az2;
SGGeodesy::inverse(_indicated_pos, _wp1_position, _wp1TrueBearing, az2,_wp1DistanceM);
- bool toWp = getWP1ToFlag();
- _fromFlagNode->setBoolValue(!toWp);
}
void GPS::updateReferenceNavaid(double dt)
{
if (_route_active_node->getBoolValue()) {
SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, switching to LEG mode");
- _mode = "leg";
- _computeTurnData = true;
+ 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");
- _mode = "obs";
+ 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();
_selectedCourse = getLegMagCourse();
+ wp1Changed();
+}
+
+void GPS::routeEdited()
+{
+ if (_mode != "leg") {
+ return;
+ }
+
+ SG_LOG(SG_INSTR, SG_INFO, "GPS route edited while in LEG mode, updating waypoints");
+ routeManagerSequenced();
+}
+
+void GPS::routeFinished()
+{
+ if (_mode != "leg") {
+ return;
+ }
+
+ SG_LOG(SG_INSTR, SG_INFO, "GPS route finished, reverting to OBS");
+ _mode = "obs";
+ _wp0_position = _indicated_pos;
+ wp1Changed();
}
void GPS::updateTurn()
}
}
+void GPS::driveAutopilot()
+{
+ if (!_config.driveAutopilot() || !_realismSimpleGps->getBoolValue()) {
+ return;
+ }
+
+ // 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;
+ }
+
+ double altFt = _wp1_position.getElevationFt();
+ if (altFt < -9990.0) {
+ _apTargetAltitudeFt->setDoubleValue(0.0);
+ } else {
+ _apTargetAltitudeFt->setDoubleValue(altFt);
+ }
+}
+
/////////////////////////////////////////////////////////////////////////////
// property getter/setters
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) {
- return 0.0;
+ if (!_dataValid) {
+ return false;
}
double dev = getWP1MagBearing() - _selectedCourse;
return (fabs(dev) < 90.0);
}
+bool GPS::getWP1FromFlag() const
+{
+ if (!_dataValid) {
+ return false;
+ }
+
+ return !getWP1ToFlag();
+}
+
double GPS::getScratchDistance() const
{
if (!_scratchValid) {
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);
}
}
_mode = "dto";
_selectedCourse = getLegMagCourse();
clearScratch();
+
+ wp1Changed();
}
void GPS::loadRouteWaypoint()
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;
_wp1Name = _scratchNode->getStringValue("name");
_wp1_position = _scratchPos;
_wp0_position = _indicated_pos;
+ wp1Changed();
}
void GPS::selectLegMode()
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);
+}
+
// end of gps.cxx
projects / flightgear.git / blobdiff