#include "gps.hxx"
+#include <boost/tuple/tuple.hpp>
+
#include <memory>
#include <set>
+#include <cstring>
#include "Main/fg_props.hxx"
#include "Main/globals.hxx" // for get_subsystem
#include "Main/util.hxx" // for fgLowPass
#include "Navaids/positioned.hxx"
+#include <Navaids/waypoint.hxx>
#include "Navaids/navrecord.hxx"
#include "Airports/simple.hxx"
#include "Airports/runways.hxx"
#include <simgear/sg_inlines.h>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/structure/exception.hxx>
+#include <simgear/scene/util/OsgMath.hxx>
using std::auto_ptr;
using std::string;
+using namespace flightgear;
///////////////////////////////////////////////////////////////////
{
double lon = _lon->getDoubleValue(),
lat = _lat->getDoubleValue();
+
+ if (osg::isNaN(lon) || osg::isNaN(lat)) {
+ SG_LOG(SG_INSTR, SG_WARN, "read NaN for lon/lat:" << _lon->getPath()
+ << ", " << _lat->getPath());
+ return SGGeod();
+ }
+
if (_alt) {
return SGGeod::fromDegFt(lon, lat, _alt->getDoubleValue());
} else {
DeprecatedPropListener(SGPropertyNode* gps)
{
_parents.insert(gps);
- SGPropertyNode* wp = gps->getChild("wp");
+ SGPropertyNode* wp = gps->getChild("wp", 0, true);
_parents.insert(wp);
- _parents.insert(wp->getChild("wp", 0));
- _parents.insert(wp->getChild("wp", 1));
+ _parents.insert(wp->getChild("wp", 0, true));
+ _parents.insert(wp->getChild("wp", 1, true));
std::set<SGPropertyNode*>::iterator it;
for (it = _parents.begin(); it != _parents.end(); ++it) {
_turnRate(3.0), // degrees-per-second, so 180 degree turn takes 60 seconds
_overflightArmDistance(1.0),
_waypointAlertTime(30.0),
- _minRunwayLengthFt(0.0),
_requireHardSurface(true),
_cdiMaxDeflectionNm(3.0), // linear mode, 3nm at the peg
_driveAutopilot(true),
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, "min-runway-length-ft", SGRawValuePointer<double>(&_minRunwayLengthFt));
aOwner->tie(aCfg, "hard-surface-runways-only", SGRawValuePointer<bool>(&_requireHardSurface));
aOwner->tie(aCfg, "cdi-max-deflection-nm", SGRawValuePointer<double>(&_cdiMaxDeflectionNm));
aOwner->tie(aCfg, "drive-autopilot", SGRawValuePointer<bool>(&_driveAutopilot));
GPS::GPS ( SGPropertyNode *node) :
_selectedCourse(0.0),
+ _desiredCourse(0.0),
_dataValid(false),
_lastPosValid(false),
_mode("init"),
_name(node->getStringValue("name", "gps")),
_num(node->getIntValue("number", 0)),
+ _searchResultIndex(0),
+ _searchExact(true),
+ _searchIsRoute(false),
+ _searchHasNext(false),
+ _searchNames(false),
_computeTurnData(false),
_anticipateTurn(false),
_inTurn(false)
string branch = "/instrumentation/" + _name;
_gpsNode = fgGetNode(branch.c_str(), _num, true );
_scratchNode = _gpsNode->getChild("scratch", 0, true);
+
+ SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
+ _currentWayptNode = wp_node->getChild("wp", 1, true);
}
GPS::~GPS ()
_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);
- SGPropertyNode *wp1_node = wp_node->getChild("wp", 1, true);
-
// for compatability, alias selected course down to wp/wp[1]/desired-course-deg
- SGPropertyNode* wp1Crs = wp1_node->getChild("desired-course-deg", 0, true);
+ SGPropertyNode* wp1Crs = _currentWayptNode->getChild("desired-course-deg", 0, true);
wp1Crs->alias(_gpsNode->getChild("desired-course-deg", 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);
_tracking_bug_node = _gpsNode->getChild("tracking-bug", 0, true);
// navradio slaving properties
SGPropertyNode* toFlag = _gpsNode->getChild("to-flag", 0, true);
- toFlag->alias(wp1_node->getChild("to-flag"));
+ toFlag->alias(_currentWayptNode->getChild("to-flag"));
SGPropertyNode* fromFlag = _gpsNode->getChild("from-flag", 0, true);
- fromFlag->alias(wp1_node->getChild("from-flag"));
+ fromFlag->alias(_currentWayptNode->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);
// last thing, add the deprecated prop watcher
new DeprecatedPropListener(_gpsNode);
-
+}
+
+void
+GPS::reinit ()
+{
clearOutput();
}
GPS::bind()
{
_config.bind(this, _gpsNode->getChild("config", 0, true));
+
// basic GPS outputs
tie(_gpsNode, "selected-course-deg", SGRawValueMethods<GPS, double>
(*this, &GPS::getSelectedCourse, &GPS::setSelectedCourse));
-
+
tie(_gpsNode, "desired-course-deg", SGRawValueMethods<GPS, double>
(*this, &GPS::getDesiredCourse, NULL));
- _desiredCourseNode = _gpsNode->getChild("desired-course-deg");
+ _desiredCourseNode = _gpsNode->getChild("desired-course-deg", 0, true);
tieSGGeodReadOnly(_gpsNode, _indicated_pos, "indicated-longitude-deg",
"indicated-latitude-deg", "indicated-altitude-ft");
tie(_gpsNode, "indicated-ground-speed-kt", SGRawValueMethods<GPS, double>
(*this, &GPS::getGroundspeedKts, NULL));
-// command system
+// 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));
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);
-
+ SGPropertyNode* wp0_node = wp_node->getChild("wp", 0, 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*>
+ tie(_currentWayptNode, "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>
+ tie(_currentWayptNode, "distance-nm", SGRawValueMethods<GPS, double>
(*this, &GPS::getWP1Distance, NULL));
- tie(wp1_node, "bearing-true-deg", SGRawValueMethods<GPS, double>
+ tie(_currentWayptNode, "bearing-true-deg", SGRawValueMethods<GPS, double>
(*this, &GPS::getWP1Bearing, NULL));
- tie(wp1_node, "bearing-mag-deg", SGRawValueMethods<GPS, double>
+ tie(_currentWayptNode, "bearing-mag-deg", SGRawValueMethods<GPS, double>
(*this, &GPS::getWP1MagBearing, NULL));
- tie(wp1_node, "TTW-sec", SGRawValueMethods<GPS, double>
+ tie(_currentWayptNode, "TTW-sec", SGRawValueMethods<GPS, double>
(*this, &GPS::getWP1TTW, NULL));
- tie(wp1_node, "TTW", SGRawValueMethods<GPS, const char*>
+ tie(_currentWayptNode, "TTW", SGRawValueMethods<GPS, const char*>
(*this, &GPS::getWP1TTWString, NULL));
- tie(wp1_node, "course-deviation-deg", SGRawValueMethods<GPS, double>
+ tie(_currentWayptNode, "course-deviation-deg", SGRawValueMethods<GPS, double>
(*this, &GPS::getWP1CourseDeviation, NULL));
- tie(wp1_node, "course-error-nm", SGRawValueMethods<GPS, double>
+ tie(_currentWayptNode, "course-error-nm", SGRawValueMethods<GPS, double>
(*this, &GPS::getWP1CourseErrorNm, NULL));
- tie(wp1_node, "to-flag", SGRawValueMethods<GPS, bool>
+ tie(_currentWayptNode, "to-flag", SGRawValueMethods<GPS, bool>
(*this, &GPS::getWP1ToFlag, NULL));
- tie(wp1_node, "from-flag", SGRawValueMethods<GPS, bool>
+ tie(_currentWayptNode, "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>
void
GPS::unbind()
{
- for (unsigned int t=0; t<_tiedNodes.size(); ++t) {
- _tiedNodes[t]->untie();
- }
- _tiedNodes.clear();
+ _tiedProperties.Untie();
}
void
_indicated_pos = SGGeod();
_last_vertical_speed = 0.0;
_last_true_track = 0.0;
+ _lastEWVelocity = _lastNSVelocity = 0.0;
+ _currentWaypt = _prevWaypt = NULL;
+ _legDistanceNm = -1.0;
_raim_node->setDoubleValue(0.0);
_indicated_pos = SGGeod();
- _wp1DistanceM = 0.0;
- _wp1TrueBearing = 0.0;
- _wp1_position = SGGeod();
_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);
+ _northSouthVelocity->setDoubleValue(0.0);
+ _eastWestVelocity->setDoubleValue(0.0);
}
void
if (delta_time_sec <= 0.0) {
return; // paused, don't bother
}
- // TODO: Add noise and other errors.
-/*
-
- // 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);
-
-*/
+
_raim_node->setDoubleValue(1.0);
_indicated_pos = _position.get();
updateBasicData(delta_time_sec);
if (_dataValid) {
- if (_mode != "obs") {
+ if (_wayptController.get()) {
+ _wayptController->update();
+ SGGeod p(_wayptController->position());
+ _currentWayptNode->setDoubleValue("longitude-deg", p.getLongitudeDeg());
+ _currentWayptNode->setDoubleValue("latitude-deg", p.getLatitudeDeg());
+ _currentWayptNode->setDoubleValue("altitude-ft", p.getElevationFt());
+
+ _desiredCourse = getLegMagCourse();
+
updateTurn();
+ updateRouteData();
}
-
- 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");
if (_route_active_node->getBoolValue()) {
// GPS init with active route
selectOBSMode();
}
}
+
+ if (_mode != "init")
+ {
+ // allow a realistic delay in the future, here
+ SG_LOG(SG_INSTR, SG_INFO, "GPS initialisation complete");
+ }
} // of init mode check
_last_pos = _indicated_pos;
- _lastPosValid = true;
+ _lastPosValid = !(_last_pos == SGGeod());
+}
+
+///////////////////////////////////////////////////////////////////////////
+// implement the RNAV interface
+SGGeod GPS::position()
+{
+ if (!_dataValid) {
+ return SGGeod();
+ }
+
+ return _indicated_pos;
+}
+
+double GPS::trackDeg()
+{
+ return _last_true_track;
+}
+
+double GPS::groundSpeedKts()
+{
+ return _last_speed_kts;
+}
+
+double GPS::vspeedFPM()
+{
+ return _last_vertical_speed;
}
+double GPS::magvarDeg()
+{
+ return _magvar_node->getDoubleValue();
+}
+
+double GPS::overflightArmDistanceM()
+{
+ return _config.overflightArmDistanceNm() * SG_NM_TO_METER;
+}
+
+double GPS::selectedMagCourse()
+{
+ return _selectedCourse;
+}
+
+///////////////////////////////////////////////////////////////////////////
+
void
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();
_magnetic_bug_error_node->setDoubleValue(magnetic_bug_error);
}
-void
-GPS::updateWaypoints()
-{
- double az2;
- SGGeodesy::inverse(_indicated_pos, _wp1_position, _wp1TrueBearing, az2,_wp1DistanceM);
-}
-
void GPS::updateReferenceNavaid(double dt)
{
if (!_ref_navaid_set) {
_ref_navaid_elapsed += dt;
if (_ref_navaid_elapsed > 5.0) {
- _ref_navaid_elapsed = 0.0;
FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
FGPositionedRef nav = FGPositioned::findClosest(_indicated_pos, 400.0, &vorFilter);
if (!nav) {
- SG_LOG(SG_INSTR, SG_INFO, "GPS couldn't find a reference navid");
+ SG_LOG(SG_INSTR, SG_INFO, "GPS couldn't find a reference navaid");
_ref_navaid_id_node->setStringValue("");
_ref_navaid_name_node->setStringValue("");
_ref_navaid_bearing_node->setDoubleValue(0.0);
}
_ref_navaid = nav;
+ // reset elapsed time (do not do that before updating the properties above, since their
+ // listeners may request another update (_ref_navaid_elapsed = 9999), which results in
+ // excessive load (FGPositioned::findClosest called in every update loop...)
+ _ref_navaid_elapsed = 0.0;
}
}
if (_ref_navaid) {
_ref_navaid_set = true;
- SG_LOG(SG_INSTR, SG_INFO, "GPS code set explict ref-navaid:" << _ref_navaid->ident());
+ SG_LOG(SG_INSTR, SG_INFO, "GPS code set explicit ref-navaid:" << _ref_navaid->ident());
_ref_navaid_id_node->setStringValue(_ref_navaid->ident().c_str());
_ref_navaid_name_node->setStringValue(_ref_navaid->name().c_str());
FGNavRecord* vor = (FGNavRecord*) _ref_navaid.ptr();
}
} else if (_mode == "leg") {
SG_LOG(SG_INSTR, SG_INFO, "GPS::route deactivated, switching to OBS mode");
- selectOBSMode();
+ // select OBS mode, but keep current waypoint-as is
+ _mode = "obs";
+ wp1Changed();
}
}
return;
}
- int index = _routeMgr->currentWaypoint(),
- count = _routeMgr->size();
+ int index = _routeMgr->currentIndex(),
+ count = _routeMgr->numWaypts();
if ((index < 0) || (index >= count)) {
+ _currentWaypt=NULL;
+ _prevWaypt=NULL;
SG_LOG(SG_INSTR, SG_ALERT, "GPS: malformed route, index=" << index);
return;
}
SG_LOG(SG_INSTR, SG_INFO, "GPS waypoint index is now " << index);
if (index > 0) {
- SGWayPoint wp0(_routeMgr->get_waypoint(index - 1));
- _wp0Ident = wp0.get_id();
- _wp0Name = wp0.get_name();
- _wp0_position = wp0.get_target();
-
+ _prevWaypt = _routeMgr->wayptAtIndex(index - 1);
+ if (_prevWaypt->flag(WPT_DYNAMIC)) {
+ _wp0_position = _indicated_pos;
+ } else {
+ _wp0_position = _prevWaypt->position();
+ }
}
- SGWayPoint wp1(_routeMgr->get_waypoint(index));
- _wp1Ident = wp1.get_id();
- _wp1Name = wp1.get_name();
- _wp1_position = wp1.get_target();
+ _currentWaypt = _routeMgr->currentWaypt();
_desiredCourse = getLegMagCourse();
_desiredCourseNode->fireValueChanged();
}
SG_LOG(SG_INSTR, SG_INFO, "GPS route finished, reverting to OBS");
+ // select OBS mode, but keep current waypoint-as is
_mode = "obs";
- _wp0_position = _indicated_pos;
wp1Changed();
}
double deviationNm = (distanceM * SG_METER_TO_NM) - _turnRadius;
double deviationDeg = desiredCourse - getMagTrack();
deviationNm = copysign(deviationNm, deviationDeg);
- // FXIME
+ // FIXME
//_wp1_course_deviation_node->setDoubleValue(deviationDeg);
//_wp1_course_error_nm_node->setDoubleValue(deviationNm);
//_cdiDeflectionNode->setDoubleValue(deviationDeg);
void GPS::updateOverflight()
{
- if ((_wp1DistanceM * SG_METER_TO_NM) > _config.overflightArmDistanceNm()) {
+ if (!_wayptController->isDone()) {
return;
}
- if (getWP1ToFlag()) {
- return; // still heading towards the WP
- }
-
if (_mode == "dto") {
SG_LOG(SG_INSTR, SG_INFO, "GPS DTO reached destination point");
// check for wp1 being on active route - resume leg mode
if (_routeMgr->isRouteActive()) {
- int index = _routeMgr->findWaypoint(_wp1_position);
+ int index = _routeMgr->flightPlan()->findWayptIndex(_currentWaypt->position());
if (index >= 0) {
SG_LOG(SG_INSTR, SG_INFO, "GPS DTO, resuming LEG mode at wp:" << index);
_mode = "leg";
_routeMgr->jumpToIndex(index);
}
}
+
+ if (_mode == "dto") {
+ // if we didn't enter leg mode, drop back to OBS mode
+ // select OBS mode, but keep current waypoint-as is
+ _mode = "obs";
+ wp1Changed();
+ }
} else if (_mode == "leg") {
SG_LOG(SG_INSTR, SG_INFO, "GPS doing overflight sequencing");
_routeMgr->sequence();
{
_inTurn = true;
_turnSequenced = false;
- SG_LOG(SG_INSTR, SG_INFO, "begining turn");
+ SG_LOG(SG_INSTR, SG_INFO, "beginning turn");
}
void GPS::endTurn()
return;
}
- int curIndex = _routeMgr->currentWaypoint();
- if ((curIndex + 1) >= _routeMgr->size()) {
+ WayptRef next = _routeMgr->wayptAtIndex(_routeMgr->currentIndex() + 1);
+ if (!next || next->flag(WPT_DYNAMIC)) {
_anticipateTurn = false;
return;
}
_turnStartBearing = _desiredCourse;
// compute next leg course
- SGWayPoint wp1(_routeMgr->get_waypoint(curIndex)),
- wp2(_routeMgr->get_waypoint(curIndex + 1));
double crs, dist;
- wp2.CourseAndDistance(wp1, &crs, &dist);
-
+ boost::tie(crs, dist) = next->courseAndDistanceFrom(_currentWaypt->position());
+
// compute offset bearing
_turnAngle = crs - _turnStartBearing;
", out=" << crs << "; turnAngle=" << _turnAngle << ", median=" << median
<< ", offset=" << offsetBearing);
- SG_LOG(SG_INSTR, SG_INFO, "next leg is now:" << wp1.get_id() << "->" << wp2.get_id());
+ SG_LOG(SG_INSTR, SG_INFO, "next leg is now:" << _currentWaypt->ident() << "->" << next->ident());
- _turnPt = _wp1_position;
+ _turnPt = _currentWaypt->position();
_anticipateTurn = true;
}
void GPS::updateRouteData()
{
- double totalDistance = _wp1DistanceM * SG_METER_TO_NM;
+ double totalDistance = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
// walk all waypoints from wp2 to route end, and sum
- for (int i=_routeMgr->currentWaypoint()+1; i<_routeMgr->size(); ++i) {
- totalDistance += _routeMgr->get_waypoint(i).get_distance();
+ for (int i=_routeMgr->currentIndex()+1; i<_routeMgr->numWaypts(); ++i) {
+ //totalDistance += _routeMgr->get_waypoint(i).get_distance();
}
_routeDistanceNm->setDoubleValue(totalDistance * SG_METER_TO_NM);
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()
{
+ if (!_currentWaypt)
+ return;
+ if (_mode == "leg") {
+ _wayptController.reset(WayptController::createForWaypt(this, _currentWaypt));
+ } else if (_mode == "obs") {
+ _wayptController.reset(new OBSController(this, _currentWaypt));
+ } else if (_mode == "dto") {
+ _wayptController.reset(new DirectToController(this, _currentWaypt, _wp0_position));
+ }
+
+ _wayptController->init();
+
+ if (_mode == "obs") {
+ _legDistanceNm = -1.0;
+ } else {
+ _wayptController->update();
+ _legDistanceNm = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
+ }
+
if (!_config.driveAutopilot()) {
return;
}
- double altFt = _wp1_position.getElevationFt();
- if (altFt > -9990.0) {
- _apTargetAltitudeFt->setDoubleValue(altFt);
+ RouteRestriction ar = _currentWaypt->altitudeRestriction();
+ double restrictAlt = _currentWaypt->altitudeFt();
+ double alt = _indicated_pos.getElevationFt();
+ if ((ar == RESTRICT_AT) ||
+ ((ar == RESTRICT_ABOVE) && (alt < restrictAlt)) ||
+ ((ar == RESTRICT_BELOW) && (alt > restrictAlt)))
+ {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "current waypt has altitude set, setting on AP");
+ _apTargetAltitudeFt->setDoubleValue(restrictAlt);
}
}
return -1;
}
- return SGGeodesy::distanceNm(_wp0_position, _wp1_position);
+ return _legDistanceNm;
}
double GPS::getLegCourse() const
{
- if (!_dataValid) {
+ if (!_dataValid || !_wayptController.get()) {
return -9999.0;
}
- return SGGeodesy::courseDeg(_wp0_position, _wp1_position);
+ return _wayptController->targetTrackDeg();
}
double GPS::getLegMagCourse() const
return m;
}
-double GPS::getAltDistanceRatio() const
-{
- if (!_dataValid || (_mode == "obs")) {
- return 0.0;
- }
-
- double dist = SGGeodesy::distanceM(_wp0_position, _wp1_position);
- if ( dist <= 0.0 ) {
- return 0.0;
- }
-
- double alt_difference_m = _wp0_position.getElevationM() - _wp1_position.getElevationM();
- return alt_difference_m / dist;
-}
-
double GPS::getMagTrack() const
{
if (!_dataValid) {
const char* GPS::getWP0Ident() const
{
- if (!_dataValid || (_mode != "leg")) {
+ if (!_dataValid || (_mode != "leg") || (!_prevWaypt)) {
return "";
}
- return _wp0Ident.c_str();
+ return _prevWaypt->ident().c_str();
}
const char* GPS::getWP0Name() const
{
- if (!_dataValid || (_mode != "leg")) {
- return "";
- }
-
- return _wp0Name.c_str();
+ return "";
}
const char* GPS::getWP1Ident() const
{
- if (!_dataValid) {
+ if ((!_dataValid)||(!_currentWaypt)) {
return "";
}
- return _wp1Ident.c_str();
+ return _currentWaypt->ident().c_str();
}
const char* GPS::getWP1Name() const
{
- if (!_dataValid) {
- return "";
- }
-
- return _wp1Name.c_str();
+ return "";
}
double GPS::getWP1Distance() const
{
- if (!_dataValid) {
+ if (!_dataValid || !_wayptController.get()) {
return -1.0;
}
- return _wp1DistanceM * SG_METER_TO_NM;
+ return _wayptController->distanceToWayptM() * SG_METER_TO_NM;
}
double GPS::getWP1TTW() const
{
- if (!_dataValid) {
- return -1.0;
- }
-
- if (_last_speed_kts < 1.0) {
+ if (!_dataValid || !_wayptController.get()) {
return -1.0;
}
- return (getWP1Distance() / _last_speed_kts) * 3600.0;
+ return _wayptController->timeToWaypt();
}
const char* GPS::getWP1TTWString() const
{
- if (!_dataValid) {
+ double t = getWP1TTW();
+ if (t <= 0.0) {
return "";
}
- return makeTTWString(getWP1TTW());
+ return makeTTWString(t);
}
double GPS::getWP1Bearing() const
{
- if (!_dataValid) {
+ if (!_dataValid || !_wayptController.get()) {
return -9999.0;
}
- return _wp1TrueBearing;
+ return _wayptController->trueBearingDeg();
}
double GPS::getWP1MagBearing() const
{
- if (!_dataValid) {
+ if (!_dataValid || !_wayptController.get()) {
return -9999.0;
}
- double magBearing = _wp1TrueBearing - _magvar_node->getDoubleValue();
+ double magBearing = _wayptController->trueBearingDeg() - _magvar_node->getDoubleValue();
SG_NORMALIZE_RANGE(magBearing, 0.0, 360.0);
return magBearing;
}
double GPS::getWP1CourseDeviation() const
{
- if (!_dataValid) {
+ if (!_dataValid || !_wayptController.get()) {
return 0.0;
}
-
- double dev = getWP1MagBearing() - _desiredCourse;
- SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
-
- if (fabs(dev) > 90.0) {
- // When the course is away from the waypoint,
- // it makes sense to change the sign of the deviation.
- dev *= -1.0;
- SG_NORMALIZE_RANGE(dev, -90.0, 90.0);
- }
-
- return dev;
+
+ return _wayptController->courseDeviationDeg();
}
double GPS::getWP1CourseErrorNm() const
{
- if (!_dataValid) {
+ if (!_dataValid || !_wayptController.get()) {
return 0.0;
}
- double radDev = getWP1CourseDeviation() * SG_DEGREES_TO_RADIANS;
- double course_error_m = sin(radDev) * _wp1DistanceM;
- return course_error_m * SG_METER_TO_NM;
+ return _wayptController->xtrackErrorNm();
}
bool GPS::getWP1ToFlag() const
{
- if (!_dataValid) {
+ if (!_dataValid || !_wayptController.get()) {
return false;
}
- double dev = getWP1MagBearing() - _desiredCourse;
- SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
-
- return (fabs(dev) < 90.0);
+ return _wayptController->toFlag();
}
bool GPS::getWP1FromFlag() const
{
- if (!_dataValid) {
+ if (!_dataValid || !_wayptController.get()) {
return false;
}
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()) {
+ if (index < 0 || (_routeMgr->numWaypts() == 0)) {
+ index = _routeMgr->numWaypts();
+ } else if (index >= _routeMgr->numWaypts()) {
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()) {
+ if (index < 0 || (_routeMgr->numWaypts() == 0)) {
+ index = _routeMgr->numWaypts();
+ } else if (index >= _routeMgr->numWaypts()) {
SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-after, bad index:" << index);
return;
} else {
} else if (!strcmp(aCmd, "route-delete")) {
int index = _scratchNode->getIntValue("index");
if (index < 0) {
- index = _routeMgr->size();
- } else if (index >= _routeMgr->size()) {
+ index = _routeMgr->numWaypts();
+ } else if (index >= _routeMgr->numWaypts()) {
SG_LOG(SG_INSTR, SG_WARN, "GPS:route-delete, bad index:" << index);
return;
}
}
void GPS::directTo()
-{
+{
if (!isScratchPositionValid()) {
- SG_LOG(SG_INSTR, SG_WARN, "invalid DTO lat/lon");
return;
}
+ _prevWaypt = NULL;
_wp0_position = _indicated_pos;
- _wp1Ident = _scratchNode->getStringValue("ident");
- _wp1Name = _scratchNode->getStringValue("name");
- _wp1_position = _scratchPos;
-
+ _currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
_mode = "dto";
- _desiredCourse = getLegMagCourse();
- _desiredCourseNode->fireValueChanged();
+
clearScratch();
-
wp1Changed();
}
int index = _scratchNode->getIntValue("index", -9999);
clearScratch();
- if ((index < 0) || (index >= _routeMgr->size())) { // no index supplied, use current wp
- index = _routeMgr->currentWaypoint();
+ if ((index < 0) || (index >= _routeMgr->numWaypts())) { // no index supplied, use current wp
+ index = _routeMgr->currentIndex();
}
_searchIsRoute = true;
void GPS::setScratchFromRouteWaypoint(int aIndex)
{
assert(_searchIsRoute);
- if ((aIndex < 0) || (aIndex >= _routeMgr->size())) {
+ if ((aIndex < 0) || (aIndex >= _routeMgr->numWaypts())) {
SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromRouteWaypoint: route-index out of bounds");
return;
}
_searchResultIndex = aIndex;
- SGWayPoint wp(_routeMgr->get_waypoint(aIndex));
- _scratchNode->setStringValue("name", wp.get_name());
- _scratchNode->setStringValue("ident", wp.get_id());
- _scratchPos = wp.get_target();
+ WayptRef wp = _routeMgr->wayptAtIndex(aIndex);
+ _scratchNode->setStringValue("ident", wp->ident());
+ _scratchPos = wp->position();
_scratchValid = true;
- _scratchNode->setDoubleValue("course", wp.get_track());
_scratchNode->setIntValue("index", aIndex);
-
- int lastResult = _routeMgr->size() - 1;
- _searchHasNext = (_searchResultIndex < lastResult);
}
void GPS::loadNearest()
_searchResults =
FGPositioned::findClosestN(searchPos, limitCount, cutoffDistance, f.get());
- _searchResultsCached = true;
_searchResultIndex = 0;
_searchIsRoute = false;
- _searchHasNext = false;
if (_searchResults.empty()) {
SG_LOG(SG_INSTR, SG_INFO, "GPS:loadNearest: no matches at all");
return;
}
- _searchHasNext = (_searchResults.size() > 1);
setScratchFromCachedSearchResult();
}
FGPositioned::Filter* GPS::createFilter(FGPositioned::Type aTy)
{
if (aTy == FGPositioned::AIRPORT) {
- return new FGAirport::HardSurfaceFilter(_config.minRunwayLengthFt());
+ return new FGAirport::HardSurfaceFilter();
}
// if we were passed INVALID, assume it means 'all types interesting to a GPS'
}
_searchExact = _scratchNode->getBoolValue("exact", true);
- _searchOrderByRange = _scratchNode->getBoolValue("order-by-distance", true);
_searchResultIndex = 0;
_searchIsRoute = false;
- _searchHasNext = false;
-
- if (_searchExact && _searchOrderByRange) {
- // immediate mode search, get all the results now and cache them
- auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
- if (_searchNames) {
- _searchResults = FGPositioned::findAllWithNameSortedByRange(_searchQuery, _indicated_pos, f.get());
- } else {
- _searchResults = FGPositioned::findAllWithIdentSortedByRange(_searchQuery, _indicated_pos, f.get());
- }
-
- _searchResultsCached = true;
-
- if (_searchResults.empty()) {
- clearScratch();
- return;
- }
-
- _searchHasNext = (_searchResults.size() > 1);
- setScratchFromCachedSearchResult();
- } else {
- // iterative search, look up result zero
- _searchResultsCached = false;
- performSearch();
- }
-}
-void GPS::performSearch()
-{
auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
- clearScratch();
-
- FGPositionedRef r;
if (_searchNames) {
- if (_searchOrderByRange) {
- r = FGPositioned::findClosestWithPartialName(_indicated_pos, _searchQuery, f.get(), _searchResultIndex, _searchHasNext);
- } else {
- r = FGPositioned::findWithPartialName(_searchQuery, f.get(), _searchResultIndex, _searchHasNext);
- }
+ _searchResults = FGPositioned::findAllWithName(_searchQuery, f.get(), _searchExact);
} else {
- if (_searchOrderByRange) {
- r = FGPositioned::findClosestWithPartialId(_indicated_pos, _searchQuery, f.get(), _searchResultIndex, _searchHasNext);
- } else {
- r = FGPositioned::findWithPartialId(_searchQuery, f.get(), _searchResultIndex, _searchHasNext);
- }
+ _searchResults = FGPositioned::findAllWithIdent(_searchQuery, f.get(), _searchExact);
}
- if (!r) {
+ bool orderByRange = _scratchNode->getBoolValue("order-by-distance", true);
+ if (orderByRange) {
+ FGPositioned::sortByRange(_searchResults, _indicated_pos);
+ }
+
+ if (_searchResults.empty()) {
+ clearScratch();
return;
}
- setScratchFromPositioned(r.get(), _searchResultIndex);
+ setScratchFromCachedSearchResult();
+}
+
+bool GPS::getScratchHasNext() const
+{
+ int lastResult;
+ if (_searchIsRoute) {
+ lastResult = _routeMgr->numWaypts() - 1;
+ } else {
+ lastResult = (int) _searchResults.size() - 1;
+ }
+
+ if (lastResult < 0) { // search array might be empty
+ return false;
+ }
+
+ return (_searchResultIndex < lastResult);
}
void GPS::setScratchFromCachedSearchResult()
{
- assert(_searchResultsCached);
int index = _searchResultIndex;
if ((index < 0) || (index >= (int) _searchResults.size())) {
}
setScratchFromPositioned(_searchResults[index], index);
-
- int lastResult = (int) _searchResults.size() - 1;
- _searchHasNext = (_searchResultIndex < lastResult);
}
void GPS::setScratchFromPositioned(FGPositioned* aPos, int aIndex)
}
_scratchValid = true;
- if (_searchResultsCached) {
- _scratchNode->setIntValue("result-count", _searchResults.size());
- }
+ _scratchNode->setIntValue("result-count", _searchResults.size());
switch (aPos->type()) {
case FGPositioned::VOR:
void GPS::selectOBSMode()
{
if (!isScratchPositionValid()) {
- SG_LOG(SG_INSTR, SG_WARN, "invalid OBS lat/lon");
return;
}
SG_LOG(SG_INSTR, SG_INFO, "GPS switching to OBS mode");
_mode = "obs";
-
- _wp1Ident = _scratchNode->getStringValue("ident");
- _wp1Name = _scratchNode->getStringValue("name");
- _wp1_position = _scratchPos;
+
+ _currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
_wp0_position = _indicated_pos;
wp1Changed();
}
void GPS::nextResult()
{
- if (!_searchHasNext) {
+ if (!getScratchHasNext()) {
return;
}
clearScratch();
if (_searchIsRoute) {
setScratchFromRouteWaypoint(++_searchResultIndex);
- } else if (_searchResultsCached) {
- ++_searchResultIndex;
- setScratchFromCachedSearchResult();
} else {
++_searchResultIndex;
- performSearch();
- } // of iterative search case
+ setScratchFromCachedSearchResult();
+ }
}
void GPS::previousResult()
if (_searchIsRoute) {
setScratchFromRouteWaypoint(_searchResultIndex);
- } else if (_searchResultsCached) {
- setScratchFromCachedSearchResult();
} else {
- performSearch();
+ setScratchFromCachedSearchResult();
}
}
// check for duplicate idents
FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
- FGPositioned::List dups = FGPositioned::findAllWithIdentSortedByRange(ident, _indicated_pos, &f);
+ FGPositioned::List dups = FGPositioned::findAllWithIdent(ident, &f);
if (!dups.empty()) {
SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: non-unique waypoint identifier, ho-hum");
}
SG_LOG(SG_INSTR, SG_INFO, "GPS:defineWaypoint: creating waypoint:" << ident);
FGPositionedRef wpt = FGPositioned::createUserWaypoint(ident, _scratchPos);
- _searchResultsCached = false;
+ _searchResults.clear();
+ _searchResults.push_back(wpt);
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())) {
+ if ((aIndex < 0) || (aIndex > _routeMgr->numWaypts())) {
throw sg_range_exception("GPS::insertWaypointAtIndex: index out of bounds");
}
}
string ident = _scratchNode->getStringValue("ident");
- string name = _scratchNode->getStringValue("name");
-
- _routeMgr->add_waypoint(SGWayPoint(_scratchPos, ident, name), aIndex);
+
+ WayptRef wpt = new BasicWaypt(_scratchPos, ident, NULL);
+ _routeMgr->flightPlan()->insertWayptAtIndex(wpt, aIndex);
}
void GPS::removeWaypointAtIndex(int aIndex)
{
- if ((aIndex < 0) || (aIndex >= _routeMgr->size())) {
+ if ((aIndex < 0) || (aIndex >= _routeMgr->numWaypts())) {
throw sg_range_exception("GPS::removeWaypointAtIndex: index out of bounds");
}
- _routeMgr->pop_waypoint(aIndex);
+ _routeMgr->removeLegAtIndex(aIndex);
}
void GPS::tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
projects / flightgear.git / blobdiff