#include "gps.hxx"
-#include <simgear/compiler.h>
-#include <Aircraft/aircraft.hxx>
-#include <Main/fg_props.hxx>
-#include <Main/util.hxx> // for fgLowPass
-#include <Navaids/positioned.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 "Autopilot/route_mgr.hxx"
#include <simgear/math/sg_random.h>
#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;
+
+///////////////////////////////////////////////////////////////////
-
void SGGeodProperty::init(SGPropertyNode* base, const char* lonStr, const char* latStr, const char* altStr)
{
_lon = base->getChild(lonStr, 0, true);
{
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 {
}
}
+static const char* makeTTWString(double TTW)
+{
+ if ((TTW <= 0.0) || (TTW >= 356400.5)) { // 99 hours
+ return "--:--:--";
+ }
+
+ unsigned int TTW_seconds = (int) (TTW + 0.5);
+ unsigned int TTW_minutes = 0;
+ unsigned int TTW_hours = 0;
+ static char TTW_str[9];
+ TTW_hours = TTW_seconds / 3600;
+ TTW_minutes = (TTW_seconds / 60) % 60;
+ TTW_seconds = TTW_seconds % 60;
+ snprintf(TTW_str, 9, "%02d:%02d:%02d",
+ TTW_hours, TTW_minutes, TTW_seconds);
+ return TTW_str;
+}
+
+/////////////////////////////////////////////////////////////////////////////
+
+class GPSListener : public SGPropertyChangeListener
+{
+public:
+ GPSListener(GPS *m) :
+ _gps(m),
+ _guard(false) {}
+
+ virtual void valueChanged (SGPropertyNode * prop)
+ {
+ if (_guard) {
+ return;
+ }
+
+ _guard = true;
+ if (prop == _gps->_route_current_wp_node) {
+ _gps->routeManagerSequenced();
+ } else if (prop == _gps->_route_active_node) {
+ _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;
+ }
+
+ void setGuard(bool g) {
+ _guard = g;
+ }
+private:
+ GPS* _gps;
+ bool _guard; // re-entrancy guard
+};
+
+////////////////////////////////////////////////////////////////////////////
+/**
+ * Helper to monitor for Nasal or other code accessing properties we haven't
+ * defined. For the moment we complain about all such activites, since various
+ * users assume all kinds of weird, wonderful and non-existent interfaces.
+ */
+
+class DeprecatedPropListener : public SGPropertyChangeListener
+{
+public:
+ DeprecatedPropListener(SGPropertyNode* gps)
+ {
+ _parents.insert(gps);
+ SGPropertyNode* wp = gps->getChild("wp", 0, true);
+ _parents.insert(wp);
+ _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) {
+ (*it)->addChangeListener(this);
+ }
+ }
+
+ virtual void valueChanged (SGPropertyNode * prop)
+ {
+ }
+
+ virtual void childAdded (SGPropertyNode * parent, SGPropertyNode * child)
+ {
+ if (isDeprecated(parent, child)) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS: someone accessed a deprecated property:"
+ << child->getPath(true));
+ }
+ }
+private:
+ bool isDeprecated(SGPropertyNode * parent, SGPropertyNode * child) const
+ {
+ if (_parents.count(parent) < 1) {
+ return false;
+ }
+
+ // no child exclusions yet
+ return true;
+ }
+
+ std::set<SGPropertyNode*> _parents;
+};
+
+////////////////////////////////////////////////////////////////////////////
+// configuration helper object
+
+GPS::Config::Config() :
+ _enableTurnAnticipation(true),
+ _turnRate(3.0), // degrees-per-second, so 180 degree turn takes 60 seconds
+ _overflightArmDistance(1.0),
+ _waypointAlertTime(30.0),
+ _requireHardSurface(true),
+ _cdiMaxDeflectionNm(3.0), // linear mode, 3nm at the peg
+ _driveAutopilot(true),
+ _courseSelectable(false)
+{
+ _enableTurnAnticipation = false;
+}
+
+void GPS::Config::bind(GPS* aOwner, SGPropertyNode* aCfg)
+{
+ aOwner->tie(aCfg, "turn-rate-deg-sec", SGRawValuePointer<double>(&_turnRate));
+ aOwner->tie(aCfg, "turn-anticipation", SGRawValuePointer<bool>(&_enableTurnAnticipation));
+ aOwner->tie(aCfg, "wpt-alert-time", SGRawValuePointer<double>(&_waypointAlertTime));
+ aOwner->tie(aCfg, "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));
+ aOwner->tie(aCfg, "course-selectable", SGRawValuePointer<bool>(&_courseSelectable));
+}
-GPS::GPS ( SGPropertyNode *node)
- : _last_valid(false),
- _alt_dist_ratio(0),
- _distance_m(0),
- _course_deg(0),
- _name(node->getStringValue("name", "gps")),
- _num(node->getIntValue("number", 0))
+////////////////////////////////////////////////////////////////////////////
+
+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 ()
void
GPS::init ()
{
- string branch;
- branch = "/instrumentation/" + _name;
-
- SGPropertyNode *node = fgGetNode(branch.c_str(), _num, 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);
- _electrical_node = fgGetNode("/systems/electrical/outputs/gps", 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);
-
- _wp0_position.init(wp0_node, "longitude-deg", "latitude-deg", "altitude-ft");
- _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_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_position.init(wp1_node, "longitude-deg", "latitude-deg", "altitude-ft");
- _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_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_pos.init(node, "indicated-longitude-deg",
+ _routeMgr = (FGRouteMgr*) globals->get_subsystem("route-manager");
+ assert(_routeMgr);
+
+ _position.init("/position/longitude-deg", "/position/latitude-deg", "/position/altitude-ft");
+ _magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
+ _serviceable_node = _gpsNode->getChild("serviceable", 0, true);
+ _serviceable_node->setBoolValue(true);
+ _electrical_node = fgGetNode("/systems/electrical/outputs/gps", true);
+
+// basic GPS outputs
+ _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);
+ _eastWestVelocity = _gpsNode->getChild("ew-velocity-msec", 0, true);
+ _northSouthVelocity = _gpsNode->getChild("ns-velocity-msec", 0, true);
+
+// waypoints
+ // for compatability, alias selected course down to wp/wp[1]/desired-course-deg
+ SGPropertyNode* wp1Crs = _currentWayptNode->getChild("desired-course-deg", 0, true);
+ wp1Crs->alias(_gpsNode->getChild("desired-course-deg", 0, true));
+
+ _tracking_bug_node = _gpsNode->getChild("tracking-bug", 0, true);
+
+// reference navid
+ 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);
+ _ref_navaid_frequency_node = ref_navaid->getChild("frequency-mhz", 0, true);
+ _ref_navaid_distance_node = ref_navaid->getChild("distance-nm", 0, true);
+ _ref_navaid_mag_bearing_node = ref_navaid->getChild("mag-bearing-deg", 0, true);
+ _ref_navaid_elapsed = 0.0;
+ _ref_navaid_set = false;
+
+// route properties
+ // should these move to the route manager?
+ _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);
+
+// 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
+ SGPropertyNode* toFlag = _gpsNode->getChild("to-flag", 0, true);
+ toFlag->alias(_currentWayptNode->getChild("to-flag"));
+
+ SGPropertyNode* fromFlag = _gpsNode->getChild("from-flag", 0, true);
+ 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);
+
+// 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(_gpsNode);
+}
+
+void
+GPS::reinit ()
+{
+ 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, &GPS::setSelectedCourse));
+
+ tie(_gpsNode, "desired-course-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getDesiredCourse, NULL));
+ _desiredCourseNode = _gpsNode->getChild("desired-course-deg", 0, true);
+
+ tieSGGeodReadOnly(_gpsNode, _indicated_pos, "indicated-longitude-deg",
"indicated-latitude-deg", "indicated-altitude-ft");
-
- _indicated_vertical_speed_node =
- node->getChild("indicated-vertical-speed", 0, true);
- _true_track_node =
- node->getChild("indicated-track-true-deg", 0, true);
- _magnetic_track_node =
- node->getChild("indicated-track-magnetic-deg", 0, true);
- _speed_node =
- node->getChild("indicated-ground-speed-kt", 0, true);
- _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);
-
- _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);
-
- _serviceable_node->setBoolValue(true);
+
+ 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;
+
+
+ SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
+ SGPropertyNode* wp0_node = wp_node->getChild("wp", 0, true);
+
+ tieSGGeodReadOnly(wp0_node, _wp0_position, "longitude-deg", "latitude-deg", "altitude-ft");
+ tie(_currentWayptNode, "ID", SGRawValueMethods<GPS, const char*>
+ (*this, &GPS::getWP1Ident, NULL));
+
+ tie(_currentWayptNode, "distance-nm", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1Distance, NULL));
+ tie(_currentWayptNode, "bearing-true-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1Bearing, NULL));
+ tie(_currentWayptNode, "bearing-mag-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1MagBearing, NULL));
+ tie(_currentWayptNode, "TTW-sec", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1TTW, NULL));
+ tie(_currentWayptNode, "TTW", SGRawValueMethods<GPS, const char*>
+ (*this, &GPS::getWP1TTWString, NULL));
+
+ tie(_currentWayptNode, "course-deviation-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1CourseDeviation, NULL));
+ tie(_currentWayptNode, "course-error-nm", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1CourseErrorNm, NULL));
+ tie(_currentWayptNode, "to-flag", SGRawValueMethods<GPS, bool>
+ (*this, &GPS::getWP1ToFlag, NULL));
+ 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));
+
+// navradio slaving properties
+ tie(_gpsNode, "cdi-deflection", SGRawValueMethods<GPS,double>
+ (*this, &GPS::getCDIDeflection));
+}
+
+void
+GPS::unbind()
+{
+ _tiedProperties.Untie();
}
void
GPS::clearOutput()
{
- _last_valid = false;
- _last_speed_kts = 0;
- _last_pos = SGGeod();
- _raim_node->setDoubleValue(false);
- _indicated_pos = SGGeod();
- _indicated_vertical_speed_node->setDoubleValue(0);
- _true_track_node->setDoubleValue(0);
- _magnetic_track_node->setDoubleValue(0);
- _speed_node->setDoubleValue(0);
- _wp1_distance_node->setDoubleValue(0);
- _wp1_bearing_node->setDoubleValue(0);
- _wp1_position = SGGeod();
- _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);
+ _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;
+ _lastEWVelocity = _lastNSVelocity = 0.0;
+ _currentWaypt = _prevWaypt = NULL;
+ _legDistanceNm = -1.0;
+
+ _raim_node->setDoubleValue(0.0);
+ _indicated_pos = 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
GPS::update (double delta_time_sec)
{
- // If it's off, don't bother.
+ if (!_realismSimpleGps->getBoolValue()) {
+ // If it's off, don't bother.
if (!_serviceable_node->getBoolValue() || !_electrical_node->getBoolValue()) {
- clearOutput();
- return;
+ clearOutput();
+ return;
+ }
+ }
+
+ if (delta_time_sec <= 0.0) {
+ return; // paused, don't bother
+ }
+
+ _raim_node->setDoubleValue(1.0);
+ _indicated_pos = _position.get();
+ updateBasicData(delta_time_sec);
+
+ if (_dataValid) {
+ 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();
}
- UpdateContext ctx;
- ctx.dt = delta_time_sec;
- ctx.waypoint_changed = false;
- ctx.pos = _position.get();
- // 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->setBoolValue(true);
- _indicated_pos = ctx.pos;
-
- if (_last_valid) {
- updateWithValid(ctx);
+ updateTrackingBug();
+ updateReferenceNavaid(delta_time_sec);
+ driveAutopilot();
+ }
+
+ if (_dataValid && (_mode == "init")) {
+
+ if (_route_active_node->getBoolValue()) {
+ // GPS init with active route
+ SG_LOG(SG_INSTR, SG_INFO, "GPS init with active route");
+ selectLegMode();
} else {
- _true_track_node->setDoubleValue(0.0);
- _magnetic_track_node->setDoubleValue(0.0);
- _speed_node->setDoubleValue(0.0);
- _last_valid = true;
+ // 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();
+ }
}
- _last_pos = ctx.pos;
+ 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 = !(_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::updateNearestAirport(UpdateContext& ctx)
+GPS::updateBasicData(double dt)
{
- if (!_get_nearest_airport_node->getBoolValue()) {
- return;
- }
-
- // If the get-nearest-airport-node is true.
- // Get the nearest airport, and set it as waypoint 1.
+ if (!_lastPosValid) {
+ return;
+ }
+
+ double distance_m;
+ double track2_deg;
+ SGGeodesy::inverse(_last_pos, _indicated_pos, _last_true_track, track2_deg, distance_m );
- FGPositioned::TypeFilter aptFilter(FGPositioned::AIRPORT);
- FGPositionedRef a = FGPositioned::findClosest(ctx.pos, 360.0, &aptFilter);
- if (!a) {
- return;
- }
+ double speed_kt = ((distance_m * SG_METER_TO_NM) * ((1 / dt) * 3600.0));
+ 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/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);
+
- _wp1_position = a->geod();
- _wp1_ID_node->setStringValue(a->ident().c_str());
- _wp1_name_node->setStringValue(a->name().c_str());
- _get_nearest_airport_node->setBoolValue(false);
- _last_wp1_ID = a->ident(); // don't trigger updateWaypoint1();
- ctx.waypoint_changed = true;
+ 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();
+ _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
-GPS::updateWithValid(UpdateContext& ctx)
+GPS::updateTrackingBug()
{
- assert(_last_valid);
- double distance_m;
- SGGeodesy::inverse(_last_pos, ctx.pos, ctx.track1_deg, ctx.track2_deg, distance_m );
-
- ctx.speed_kt = ((distance_m * SG_METER_TO_NM) * ((1 / ctx.dt) * 3600.0));
-
- double vertical_speed_mpm = ((ctx.pos.getElevationM() - _last_pos.getElevationM()) * 60 /
- ctx.dt);
- _indicated_vertical_speed_node->setDoubleValue(vertical_speed_mpm * SG_METER_TO_FEET);
- _true_track_node->setDoubleValue(ctx.track1_deg);
-
- ctx.magvar_deg = _magvar_node->getDoubleValue();
- double mag_track_bearing = ctx.track1_deg - ctx.magvar_deg;
- SG_NORMALIZE_RANGE(mag_track_bearing, 0.0, 360.0);
- _magnetic_track_node->setDoubleValue(mag_track_bearing);
- ctx.speed_kt = fgGetLowPass(_last_speed_kts, ctx.speed_kt, ctx.dt/20.0);
- _last_speed_kts = ctx.speed_kt;
- _speed_node->setDoubleValue(ctx.speed_kt);
-
- double odometer = _odometer_node->getDoubleValue();
- _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);
-
- updateNearestAirport(ctx);
- updateWaypoint0(ctx);
- updateWaypoint1(ctx);
-
- ctx.wp0_pos = _wp0_position.get();
- ctx.wp1_pos = _wp1_position.get();
- // if this flag is set, we need to recompute leg data, because either
- // WP0 or WP1 has been updated
- if (ctx.waypoint_changed) {
- waypointChanged(ctx);
+ double tracking_bug = _tracking_bug_node->getDoubleValue();
+ double true_bug_error = tracking_bug - getTrueTrack();
+ double magnetic_bug_error = tracking_bug - getMagTrack();
+
+ // 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);
+}
+
+void GPS::updateReferenceNavaid(double dt)
+{
+ if (!_ref_navaid_set) {
+ _ref_navaid_elapsed += dt;
+ if (_ref_navaid_elapsed > 5.0) {
+
+ 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 navaid");
+ _ref_navaid_id_node->setStringValue("");
+ _ref_navaid_name_node->setStringValue("");
+ _ref_navaid_bearing_node->setDoubleValue(0.0);
+ _ref_navaid_mag_bearing_node->setDoubleValue(0.0);
+ _ref_navaid_distance_node->setDoubleValue(0.0);
+ _ref_navaid_frequency_node->setStringValue("");
+ } else if (nav != _ref_navaid) {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS code selected new ref-navaid:" << nav->ident());
+ _listener->setGuard(true);
+ _ref_navaid_id_node->setStringValue(nav->ident().c_str());
+ _ref_navaid_name_node->setStringValue(nav->name().c_str());
+ FGNavRecord* vor = (FGNavRecord*) nav.ptr();
+ _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
+ _listener->setGuard(false);
+ } else {
+ // SG_LOG(SG_INSTR, SG_ALERT, "matched existing");
+ }
+
+ _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) {
+ double trueCourse, distanceM, az2;
+ SGGeodesy::inverse(_indicated_pos, _ref_navaid->geod(), trueCourse, az2, distanceM);
+ _ref_navaid_distance_node->setDoubleValue(distanceM * SG_METER_TO_NM);
+ _ref_navaid_bearing_node->setDoubleValue(trueCourse);
+ _ref_navaid_mag_bearing_node->setDoubleValue(trueCourse - _magvar_node->getDoubleValue());
+ }
+}
- ctx.wp0_course_deg = _wp0_course_node->getDoubleValue();
- ctx.wp1_course_deg = _wp1_course_node->getDoubleValue();
+void GPS::referenceNavaidSet(const std::string& aNavaid)
+{
+ _ref_navaid = NULL;
+ // allow setting an empty string to restore normal nearest-vor selection
+ if (aNavaid.size() > 0) {
+ FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
+ _ref_navaid = FGPositioned::findClosestWithIdent(aNavaid,
+ _position.get(), &vorFilter);
- updateWaypoint0Course(ctx);
- updateWaypoint1Course(ctx);
- updateLegCourse(ctx);
-
- // 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);
+ if (!_ref_navaid) {
+ SG_LOG(SG_INSTR, SG_ALERT, "GPS: unknown ref navaid:" << aNavaid);
+ }
+ }
+
+ if (_ref_navaid) {
+ _ref_navaid_set = true;
+ 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();
+ _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
+ } else {
+ _ref_navaid_set = false;
+ _ref_navaid_elapsed = 9999.0; // update next tick
+ }
+}
+
+void GPS::routeActivated()
+{
+ if (_route_active_node->getBoolValue()) {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, switching to LEG mode");
+ selectLegMode();
- updateTrackingBug(ctx);
+ // 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");
+ // select OBS mode, but keep current waypoint-as is
+ _mode = "obs";
+ wp1Changed();
+ }
}
-void
-GPS::updateLegCourse(UpdateContext& ctx)
+void GPS::routeManagerSequenced()
{
- // Leg course deviation is the diffenrence between the bearing
- // and the course.
- double course_deviation_deg = ctx.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 (_mode != "leg") {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS ignoring route sequencing, not in LEG mode");
+ return;
+ }
+
+ 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) {
+ _prevWaypt = _routeMgr->wayptAtIndex(index - 1);
+ if (_prevWaypt->flag(WPT_DYNAMIC)) {
+ _wp0_position = _indicated_pos;
+ } else {
+ _wp0_position = _prevWaypt->position();
}
- // 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);
+ }
+
+ _currentWaypt = _routeMgr->currentWaypt();
+
+ _desiredCourse = getLegMagCourse();
+ _desiredCourseNode->fireValueChanged();
+ 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");
+ // select OBS mode, but keep current waypoint-as is
+ _mode = "obs";
+ wp1Changed();
+}
+
+void GPS::updateTurn()
+{
+ bool printProgress = false;
+
+ if (_computeTurnData) {
+ if (_last_speed_kts < 60) {
+ // need valid leg course and sensible ground speed to compute the turn
+ return;
}
- _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);
+ computeTurnData();
+ printProgress = true;
+ }
+
+ if (!_anticipateTurn) {
+ updateOverflight();
+ return;
+ }
+ updateTurnData();
+ // find bearing to turn centre
+ double bearing, az2, distanceM;
+ SGGeodesy::inverse(_indicated_pos, _turnCentre, bearing, az2, distanceM);
+ double progress = computeTurnProgress(bearing);
+
+ if (printProgress) {
+ SG_LOG(SG_INSTR, SG_INFO,"turn progress=" << progress);
+ }
+
+ if (!_inTurn && (progress > 0.0)) {
+ beginTurn();
+ }
+
+ if (_inTurn && !_turnSequenced && (progress > 0.5)) {
+ _turnSequenced = true;
+ SG_LOG(SG_INSTR, SG_INFO, "turn passed midpoint, sequencing");
+ _routeMgr->sequence();
+ }
+
+ if (_inTurn && (progress >= 1.0)) {
+ endTurn();
+ }
+
+ if (_inTurn) {
+ // drive deviation and desired course
+ double desiredCourse = bearing - copysign(90, _turnAngle);
+ SG_NORMALIZE_RANGE(desiredCourse, 0.0, 360.0);
+ double deviationNm = (distanceM * SG_METER_TO_NM) - _turnRadius;
+ double deviationDeg = desiredCourse - getMagTrack();
+ deviationNm = copysign(deviationNm, deviationDeg);
+ // FIXME
+ //_wp1_course_deviation_node->setDoubleValue(deviationDeg);
+ //_wp1_course_error_nm_node->setDoubleValue(deviationNm);
+ //_cdiDeflectionNode->setDoubleValue(deviationDeg);
+ }
}
-void
-GPS::updateTrackingBug(UpdateContext& ctx)
+void GPS::updateOverflight()
{
- double tracking_bug = _tracking_bug_node->getDoubleValue();
- double true_bug_error = tracking_bug - ctx.track1_deg;
- double magnetic_bug_error = tracking_bug - _magnetic_track_node->getDoubleValue();
+ if (!_wayptController->isDone()) {
+ return;
+ }
+
+ 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->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();
+ } else if (_mode == "obs") {
+ // nothing to do here, TO/FROM will update but that's fine
+ }
+
+ _computeTurnData = true;
+}
- // 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);
+void GPS::beginTurn()
+{
+ _inTurn = true;
+ _turnSequenced = false;
+ SG_LOG(SG_INSTR, SG_INFO, "beginning turn");
+}
- _true_bug_error_node->setDoubleValue(true_bug_error);
- _magnetic_bug_error_node->setDoubleValue(magnetic_bug_error);
+void GPS::endTurn()
+{
+ _inTurn = false;
+ SG_LOG(SG_INSTR, SG_INFO, "ending turn");
+ _computeTurnData = true;
}
-void
-GPS::waypointChanged(UpdateContext& ctx)
+double GPS::computeTurnProgress(double aBearing) const
{
- // If any of the two waypoints have changed
- // we need to calculate a new course between them,
- // and values for vertical navigation.
- assert(ctx.waypoint_changed);
+ double startBearing = _turnStartBearing + copysign(90, _turnAngle);
+ return (aBearing - startBearing) / _turnAngle;
+}
- double track2;
- SGGeodesy::inverse(ctx.wp0_pos, ctx.wp1_pos, _course_deg, track2, _distance_m);
+void GPS::computeTurnData()
+{
+ _computeTurnData = false;
+ if (_mode != "leg") { // and approach modes in the future
+ _anticipateTurn = false;
+ return;
+ }
+
+ WayptRef next = _routeMgr->wayptAtIndex(_routeMgr->currentIndex() + 1);
+ if (!next || next->flag(WPT_DYNAMIC)) {
+ _anticipateTurn = false;
+ return;
+ }
+
+ if (!_config.turnAnticipationEnabled()) {
+ _anticipateTurn = false;
+ return;
+ }
+
+ _turnStartBearing = _desiredCourse;
+// compute next leg course
+ double crs, dist;
+ boost::tie(crs, dist) = next->courseAndDistanceFrom(_currentWaypt->position());
- double leg_mag_course = _course_deg - _magvar_node->getDoubleValue();
- SG_NORMALIZE_RANGE(leg_mag_course, 0.0, 360.0);
- // Get the altitude / distance ratio
- if ( _distance_m > 0.0 ) {
- double alt_difference_m = ctx.wp0_pos.getElevationM() - ctx.wp1_pos.getElevationM();
- _alt_dist_ratio = alt_difference_m / _distance_m;
- }
+// compute offset bearing
+ _turnAngle = crs - _turnStartBearing;
+ SG_NORMALIZE_RANGE(_turnAngle, -180.0, 180.0);
+ double median = _turnStartBearing + (_turnAngle * 0.5);
+ double offsetBearing = median + copysign(90, _turnAngle);
+ SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
+
+ SG_LOG(SG_INSTR, SG_INFO, "GPS computeTurnData: in=" << _turnStartBearing <<
+ ", out=" << crs << "; turnAngle=" << _turnAngle << ", median=" << median
+ << ", offset=" << offsetBearing);
+
+ SG_LOG(SG_INSTR, SG_INFO, "next leg is now:" << _currentWaypt->ident() << "->" << next->ident());
- _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);
+ _turnPt = _currentWaypt->position();
+ _anticipateTurn = true;
}
-void
-GPS::updateWaypoint0(UpdateContext& ctx)
+void GPS::updateTurnData()
+{
+ // depends on ground speed, so needs to be updated per-frame
+ _turnRadius = computeTurnRadiusNm(_last_speed_kts);
+
+ // compute the turn centre, based on the turn radius.
+ // key thing is to understand that we're working a right-angle triangle,
+ // where the right-angle is the point we start the turn. From that point,
+ // one side is the inbound course to the turn pt, and the other is the
+ // perpendicular line, of length 'r', to the turn centre.
+ // the triangle's hypotenuse, which we need to find, is the distance from the
+ // turn pt to the turn center (in the direction of the offset bearing)
+ // note that d - _turnRadius tell us how much we're 'cutting' the corner.
+
+ double halfTurnAngle = fabs(_turnAngle * 0.5) * SG_DEGREES_TO_RADIANS;
+ double d = _turnRadius / cos(halfTurnAngle);
+
+ // SG_LOG(SG_INSTR, SG_INFO, "turnRadius=" << _turnRadius << ", d=" << d
+ // << " (cut distance=" << d - _turnRadius << ")");
+
+ double median = _turnStartBearing + (_turnAngle * 0.5);
+ double offsetBearing = median + copysign(90, _turnAngle);
+ SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
+
+ double az2;
+ SGGeodesy::direct(_turnPt, offsetBearing, d * SG_NM_TO_METER, _turnCentre, az2);
+}
+
+double GPS::computeTurnRadiusNm(double aGroundSpeedKts) const
+{
+ // turn time is seconds to execute a 360 turn.
+ double turnTime = 360.0 / _config.turnRateDegSec();
+
+ // c is ground distance covered in that time (circumference of the circle)
+ double c = turnTime * (aGroundSpeedKts / 3600.0); // convert knts to nm/sec
+
+ // divide by 2PI to go from circumference -> radius
+ return c / (2 * M_PI);
+}
+
+void GPS::updateRouteData()
+{
+ double totalDistance = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
+ // walk all waypoints from wp2 to route end, and sum
+ for (int i=_routeMgr->currentIndex()+1; i<_routeMgr->numWaypts(); ++i) {
+ //totalDistance += _routeMgr->get_waypoint(i).get_distance();
+ }
+
+ _routeDistanceNm->setDoubleValue(totalDistance * SG_METER_TO_NM);
+ if (_last_speed_kts > 1.0) {
+ double TTW = ((totalDistance * SG_METER_TO_NM) / _last_speed_kts) * 3600.0;
+ _routeETE->setStringValue(makeTTWString(TTW));
+ }
+}
+
+void GPS::driveAutopilot()
{
- string id(_wp0_ID_node->getStringValue());
- if (_last_wp0_ID == id) {
- return; // easy, nothing to do
+ 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*
+
+ 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;
+ }
+
+ 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);
+ }
+}
+
+/////////////////////////////////////////////////////////////////////////////
+// property getter/setters
+
+void GPS::setSelectedCourse(double crs)
+{
+ if (_selectedCourse == crs) {
+ return;
+ }
+
+ _selectedCourse = crs;
+ if ((_mode == "obs") || _config.courseSelectable()) {
+ _desiredCourse = _selectedCourse;
+ _desiredCourseNode->fireValueChanged();
+ }
+}
+
+double GPS::getLegDistance() const
+{
+ if (!_dataValid || (_mode == "obs")) {
+ return -1;
+ }
+
+ return _legDistanceNm;
+}
+
+double GPS::getLegCourse() const
+{
+ if (!_dataValid || !_wayptController.get()) {
+ return -9999.0;
+ }
+
+ return _wayptController->targetTrackDeg();
+}
+
+double GPS::getLegMagCourse() const
+{
+ if (!_dataValid) {
+ return 0.0;
+ }
+
+ double m = getLegCourse() - _magvar_node->getDoubleValue();
+ SG_NORMALIZE_RANGE(m, 0.0, 360.0);
+ return m;
+}
+
+double GPS::getMagTrack() const
+{
+ if (!_dataValid) {
+ return 0.0;
+ }
+
+ double m = getTrueTrack() - _magvar_node->getDoubleValue();
+ SG_NORMALIZE_RANGE(m, 0.0, 360.0);
+ return m;
+}
+
+double GPS::getCDIDeflection() const
+{
+ if (!_dataValid) {
+ return 0.0;
+ }
+
+ double defl;
+ if (_config.cdiDeflectionIsAngular()) {
+ defl = getWP1CourseDeviation();
+ SG_CLAMP_RANGE(defl, -10.0, 10.0); // as in navradio.cxx
+ } else {
+ double fullScale = _config.cdiDeflectionLinearPeg();
+ double normError = getWP1CourseErrorNm() / fullScale;
+ SG_CLAMP_RANGE(normError, -1.0, 1.0);
+ defl = normError * 10.0; // re-scale to navradio limits, i.e [-10.0 .. 10.0]
+ }
+
+ return defl;
+}
+
+const char* GPS::getWP0Ident() const
+{
+ if (!_dataValid || (_mode != "leg") || (!_prevWaypt)) {
+ return "";
+ }
+
+ return _prevWaypt->ident().c_str();
+}
+
+const char* GPS::getWP0Name() const
+{
+ return "";
+}
+
+const char* GPS::getWP1Ident() const
+{
+ if ((!_dataValid)||(!_currentWaypt)) {
+ return "";
+ }
+
+ return _currentWaypt->ident().c_str();
+}
+
+const char* GPS::getWP1Name() const
+{
+ return "";
+}
+
+double GPS::getWP1Distance() const
+{
+ if (!_dataValid || !_wayptController.get()) {
+ return -1.0;
+ }
+
+ return _wayptController->distanceToWayptM() * SG_METER_TO_NM;
+}
+
+double GPS::getWP1TTW() const
+{
+ if (!_dataValid || !_wayptController.get()) {
+ return -1.0;
+ }
+
+ return _wayptController->timeToWaypt();
+}
+
+const char* GPS::getWP1TTWString() const
+{
+ double t = getWP1TTW();
+ if (t <= 0.0) {
+ return "";
+ }
+
+ return makeTTWString(t);
+}
+
+double GPS::getWP1Bearing() const
+{
+ if (!_dataValid || !_wayptController.get()) {
+ return -9999.0;
+ }
+
+ return _wayptController->trueBearingDeg();
+}
+
+double GPS::getWP1MagBearing() const
+{
+ if (!_dataValid || !_wayptController.get()) {
+ return -9999.0;
+ }
+
+ double magBearing = _wayptController->trueBearingDeg() - _magvar_node->getDoubleValue();
+ SG_NORMALIZE_RANGE(magBearing, 0.0, 360.0);
+ return magBearing;
+}
+
+double GPS::getWP1CourseDeviation() const
+{
+ if (!_dataValid || !_wayptController.get()) {
+ return 0.0;
+ }
+
+ return _wayptController->courseDeviationDeg();
+}
+
+double GPS::getWP1CourseErrorNm() const
+{
+ if (!_dataValid || !_wayptController.get()) {
+ return 0.0;
+ }
+
+ return _wayptController->xtrackErrorNm();
+}
+
+bool GPS::getWP1ToFlag() const
+{
+ if (!_dataValid || !_wayptController.get()) {
+ return false;
+ }
+
+ return _wayptController->toFlag();
+}
+
+bool GPS::getWP1FromFlag() const
+{
+ if (!_dataValid || !_wayptController.get()) {
+ return false;
+ }
+
+ return !getWP1ToFlag();
+}
+
+double GPS::getScratchDistance() const
+{
+ if (!_scratchValid) {
+ return 0.0;
+ }
+
+ return SGGeodesy::distanceNm(_indicated_pos, _scratchPos);
+}
+
+double GPS::getScratchTrueBearing() const
+{
+ if (!_scratchValid) {
+ return 0.0;
+ }
+
+ return SGGeodesy::courseDeg(_indicated_pos, _scratchPos);
+}
+
+double GPS::getScratchMagBearing() const
+{
+ if (!_scratchValid) {
+ return 0.0;
+ }
+
+ double crs = getScratchTrueBearing() - _magvar_node->getDoubleValue();
+ SG_NORMALIZE_RANGE(crs, 0.0, 360.0);
+ return crs;
+}
+
+/////////////////////////////////////////////////////////////////////////////
+// command / scratch / search system
+
+void GPS::setCommand(const char* aCmd)
+{
+ SG_LOG(SG_INSTR, SG_INFO, "GPS command:" << aCmd);
+
+ if (!strcmp(aCmd, "direct")) {
+ directTo();
+ } else if (!strcmp(aCmd, "obs")) {
+ selectOBSMode();
+ } else if (!strcmp(aCmd, "leg")) {
+ selectLegMode();
+ } else if (!strcmp(aCmd, "load-route-wpt")) {
+ loadRouteWaypoint();
+ } else if (!strcmp(aCmd, "nearest")) {
+ loadNearest();
+ } else if (!strcmp(aCmd, "search")) {
+ _searchNames = false;
+ search();
+ } else if (!strcmp(aCmd, "search-names")) {
+ _searchNames = true;
+ search();
+ } else if (!strcmp(aCmd, "next")) {
+ nextResult();
+ } else if (!strcmp(aCmd, "previous")) {
+ 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->numWaypts() == 0)) {
+ index = _routeMgr->numWaypts();
+ } else if (index >= _routeMgr->numWaypts()) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-before, bad index:" << index);
+ return;
}
- FGPositionedRef result = FGPositioned::findClosestWithIdent(id, ctx.pos);
- if (!result) {
- // not found, hmm
- _last_wp0_ID = id;
- return;
+ insertWaypointAtIndex(index);
+ } else if (!strcmp(aCmd, "route-insert-after")) {
+ int index = _scratchNode->getIntValue("index");
+ 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 {
+ ++index;
+ }
+
+ insertWaypointAtIndex(index);
+ } else if (!strcmp(aCmd, "route-delete")) {
+ int index = _scratchNode->getIntValue("index");
+ if (index < 0) {
+ index = _routeMgr->numWaypts();
+ } else if (index >= _routeMgr->numWaypts()) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:route-delete, bad index:" << index);
+ return;
}
- _wp0_position = result->geod();
- _wp0_name_node->setStringValue(result->name().c_str());
- _last_wp0_ID = id;
- ctx.waypoint_changed = true;
+ removeWaypointAtIndex(index);
+ } else {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:unrecognized command:" << aCmd);
+ }
}
-void
-GPS::updateWaypoint1(UpdateContext& ctx)
+void GPS::clearScratch()
{
- string id(_wp1_ID_node->getStringValue());
- if (_last_wp1_ID == id) {
- return; // easy, nothing to do
- }
-
- FGPositionedRef result = FGPositioned::findClosestWithIdent(id, ctx.pos);
- if (!result) {
- // not found, hmm
- _last_wp1_ID = id;
- return;
- }
+ _scratchPos = SGGeod::fromDegFt(-9999.0, -9999.0, -9999.0);
+ _scratchValid = false;
+ _scratchNode->setStringValue("type", "");
+ _scratchNode->setStringValue("query", "");
+}
+
+bool GPS::isScratchPositionValid() const
+{
+ if ((_scratchPos.getLongitudeDeg() < -9990.0) ||
+ (_scratchPos.getLatitudeDeg() < -9990.0)) {
+ return false;
+ }
+
+ return true;
+}
+
+void GPS::directTo()
+{
+ if (!isScratchPositionValid()) {
+ return;
+ }
+
+ _prevWaypt = NULL;
+ _wp0_position = _indicated_pos;
+ _currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
+ _mode = "dto";
+
+ clearScratch();
+ wp1Changed();
+}
+
+void GPS::loadRouteWaypoint()
+{
+ _scratchValid = false;
+// if (!_routeMgr->isRouteActive()) {
+// SG_LOG(SG_INSTR, SG_WARN, "GPS:loadWaypoint: no active route");
+// return;
+// }
+
+ int index = _scratchNode->getIntValue("index", -9999);
+ clearScratch();
+
+ if ((index < 0) || (index >= _routeMgr->numWaypts())) { // no index supplied, use current wp
+ index = _routeMgr->currentIndex();
+ }
+
+ _searchIsRoute = true;
+ setScratchFromRouteWaypoint(index);
+}
+
+void GPS::setScratchFromRouteWaypoint(int aIndex)
+{
+ assert(_searchIsRoute);
+ if ((aIndex < 0) || (aIndex >= _routeMgr->numWaypts())) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromRouteWaypoint: route-index out of bounds");
+ return;
+ }
+
+ _searchResultIndex = aIndex;
+ WayptRef wp = _routeMgr->wayptAtIndex(aIndex);
+ _scratchNode->setStringValue("ident", wp->ident());
+ _scratchPos = wp->position();
+ _scratchValid = true;
+ _scratchNode->setIntValue("index", aIndex);
+}
+
+void GPS::loadNearest()
+{
+ string sty(_scratchNode->getStringValue("type"));
+ FGPositioned::Type ty = FGPositioned::typeFromName(sty);
+ if (ty == FGPositioned::INVALID) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:loadNearest: request type is invalid:" << sty);
+ return;
+ }
+
+ auto_ptr<FGPositioned::Filter> f(createFilter(ty));
+ int limitCount = _scratchNode->getIntValue("max-results", 1);
+ double cutoffDistance = _scratchNode->getDoubleValue("cutoff-nm", 400.0);
+
+ SGGeod searchPos = _indicated_pos;
+ if (isScratchPositionValid()) {
+ searchPos = _scratchPos;
+ }
+
+ clearScratch(); // clear now, regardless of whether we find a match or not
- _wp1_position = result->geod();
- _wp1_name_node->setStringValue(result->name().c_str());
- _last_wp1_ID = id;
- ctx.waypoint_changed = true;
+ _searchResults =
+ FGPositioned::findClosestN(searchPos, limitCount, cutoffDistance, f.get());
+ _searchResultIndex = 0;
+ _searchIsRoute = false;
+
+ if (_searchResults.empty()) {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS:loadNearest: no matches at all");
+ return;
+ }
+
+ setScratchFromCachedSearchResult();
}
-void
-GPS::updateTTWNode(UpdateContext& ctx, double distance_m, SGPropertyNode_ptr node)
-{
- // Estimate time to waypoint.
- // 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.
- double TTW = 0.0;
- double speed_nm_per_second = ctx.speed_kt / 3600;
- if (speed_nm_per_second > SGLimitsd::min() && distance_m > 0.0) {
- TTW = (distance_m * SG_METER_TO_NM) / speed_nm_per_second;
- }
- if (TTW < 356400.5) { // That's 99 hours
- unsigned int TTW_seconds = (int) (TTW + 0.5);
- unsigned int TTW_minutes = 0;
- unsigned int TTW_hours = 0;
- char TTW_str[9];
- TTW_hours = TTW_seconds / 3600;
- TTW_minutes = (TTW_seconds / 60) % 60;
- TTW_seconds = TTW_seconds % 60;
- snprintf(TTW_str, 9, "%02d:%02d:%02d",
- TTW_hours, TTW_minutes, TTW_seconds);
- node->setStringValue(TTW_str);
- } else {
- node->setStringValue("--:--:--");
- }
+bool GPS::SearchFilter::pass(FGPositioned* aPos) const
+{
+ switch (aPos->type()) {
+ case FGPositioned::AIRPORT:
+ // heliport and seaport too?
+ case FGPositioned::VOR:
+ case FGPositioned::NDB:
+ case FGPositioned::FIX:
+ case FGPositioned::TACAN:
+ case FGPositioned::WAYPOINT:
+ return true;
+ default:
+ return false;
+ }
}
-void
-GPS::updateWaypoint0Course(UpdateContext& ctx)
+FGPositioned::Type GPS::SearchFilter::minType() const
{
- // Find the bearing and distance to waypoint 0.
- double az2;
- SGGeodesy::inverse(ctx.pos, ctx.wp0_pos, ctx.wp0_bearing_deg, az2,ctx.wp0_distance);
- _wp0_distance_node->setDoubleValue(ctx.wp0_distance * SG_METER_TO_NM);
- _wp0_bearing_node->setDoubleValue(ctx.wp0_bearing_deg);
-
- double mag_bearing_deg = ctx.wp0_bearing_deg - ctx.magvar_deg;
- SG_NORMALIZE_RANGE(mag_bearing_deg, 0.0, 360.0);
- _wp0_mag_bearing_node->setDoubleValue(mag_bearing_deg);
- double bearing_error_deg = ctx.track1_deg - ctx.wp0_bearing_deg;
- SG_NORMALIZE_RANGE(bearing_error_deg, -180.0, 180.0);
- _true_wp0_bearing_error_node->setDoubleValue(bearing_error_deg);
+ return FGPositioned::AIRPORT;
+}
+
+FGPositioned::Type GPS::SearchFilter::maxType() const
+{
+ return FGPositioned::WAYPOINT;
+}
+
+FGPositioned::Filter* GPS::createFilter(FGPositioned::Type aTy)
+{
+ if (aTy == FGPositioned::AIRPORT) {
+ return new FGAirport::HardSurfaceFilter();
+ }
+
+ // if we were passed INVALID, assume it means 'all types interesting to a GPS'
+ if (aTy == FGPositioned::INVALID) {
+ return new SearchFilter;
+ }
+
+ return new FGPositioned::TypeFilter(aTy);
+}
+
+void GPS::search()
+{
+ // parse search terms into local members, and exec the first search
+ 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);
+ _searchResultIndex = 0;
+ _searchIsRoute = false;
+
+ auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
+ if (_searchNames) {
+ _searchResults = FGPositioned::findAllWithName(_searchQuery, f.get(), _searchExact);
+ } else {
+ _searchResults = FGPositioned::findAllWithIdent(_searchQuery, f.get(), _searchExact);
+ }
+
+ bool orderByRange = _scratchNode->getBoolValue("order-by-distance", true);
+ if (orderByRange) {
+ FGPositioned::sortByRange(_searchResults, _indicated_pos);
+ }
+
+ if (_searchResults.empty()) {
+ clearScratch();
+ return;
+ }
+
+ 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()
+{
+ int index = _searchResultIndex;
+
+ if ((index < 0) || (index >= (int) _searchResults.size())) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromCachedSearchResult: index out of bounds:" << index);
+ return;
+ }
+
+ setScratchFromPositioned(_searchResults[index], index);
+}
+
+void GPS::setScratchFromPositioned(FGPositioned* aPos, int aIndex)
+{
+ clearScratch();
+ assert(aPos);
+
+ _scratchPos = aPos->geod();
+ _scratchNode->setStringValue("name", aPos->name());
+ _scratchNode->setStringValue("ident", aPos->ident());
+ _scratchNode->setStringValue("type", FGPositioned::nameForType(aPos->type()));
- updateTTWNode(ctx, ctx.wp0_distance, _wp0_ttw_node);
-
- // Course deviation is the diffenrence between the bearing
- // and the course.
- double course_deviation_deg = ctx.wp0_bearing_deg -
- ctx.wp0_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) {
- _wp0_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) {
- _wp0_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);
+ if (aIndex >= 0) {
+ _scratchNode->setIntValue("index", aIndex);
+ }
+
+ _scratchValid = true;
+ _scratchNode->setIntValue("result-count", _searchResults.size());
+
+ switch (aPos->type()) {
+ case FGPositioned::VOR:
+ _scratchNode->setDoubleValue("frequency-mhz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
+ break;
+
+ case FGPositioned::NDB:
+ _scratchNode->setDoubleValue("frequency-khz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
+ break;
+
+ case FGPositioned::AIRPORT:
+ addAirportToScratch((FGAirport*)aPos);
+ break;
+
+ default:
+ // no-op
+ break;
+ }
+
+ // look for being on the route and set?
+}
+
+void GPS::addAirportToScratch(FGAirport* aAirport)
+{
+ for (unsigned int r=0; r<aAirport->numRunways(); ++r) {
+ SGPropertyNode* rwyNd = _scratchNode->getChild("runways", r, true);
+ FGRunway* rwy = aAirport->getRunwayByIndex(r);
+ // TODO - filter out unsuitable runways in the future
+ // based on config again
+
+ rwyNd->setStringValue("id", rwy->ident().c_str());
+ rwyNd->setIntValue("length-ft", rwy->lengthFt());
+ rwyNd->setIntValue("width-ft", rwy->widthFt());
+ rwyNd->setIntValue("heading-deg", rwy->headingDeg());
+ // map surface code to a string
+ // TODO - lighting information
+
+ if (rwy->ILS()) {
+ rwyNd->setDoubleValue("ils-frequency-mhz", rwy->ILS()->get_freq() / 100.0);
}
+ } // of runways iteration
+}
- _wp0_course_deviation_node->setDoubleValue(course_deviation_deg);
- // Cross track error.
- double course_error_m = sin(course_deviation_deg * SG_PI / 180.0)
- * (ctx.wp0_distance);
- _wp0_course_error_nm_node->setDoubleValue(course_error_m * SG_METER_TO_NM);
+void GPS::selectOBSMode()
+{
+ if (!isScratchPositionValid()) {
+ return;
+ }
+
+ SG_LOG(SG_INSTR, SG_INFO, "GPS switching to OBS mode");
+ _mode = "obs";
+
+ _currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
+ _wp0_position = _indicated_pos;
+ wp1Changed();
}
-void
-GPS::updateWaypoint1Course(UpdateContext& ctx)
+void GPS::selectLegMode()
{
- // Find the bearing and distance to waypoint 0.
- double az2;
- SGGeodesy::inverse(ctx.pos, ctx.wp1_pos, ctx.wp1_bearing_deg, az2,ctx.wp1_distance);
- _wp1_distance_node->setDoubleValue(ctx.wp1_distance * SG_METER_TO_NM);
- _wp1_bearing_node->setDoubleValue(ctx.wp1_bearing_deg);
-
- double mag_bearing_deg = ctx.wp1_bearing_deg - ctx.magvar_deg;
- SG_NORMALIZE_RANGE(mag_bearing_deg, 0.0, 360.0);
- _wp1_mag_bearing_node->setDoubleValue(mag_bearing_deg);
- double bearing_error_deg = ctx.track1_deg - ctx.wp1_bearing_deg;
- SG_NORMALIZE_RANGE(bearing_error_deg, -180.0, 180.0);
- _true_wp1_bearing_error_node->setDoubleValue(bearing_error_deg);
+ if (_mode == "leg") {
+ return;
+ }
+
+ if (!_routeMgr->isRouteActive()) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:selectLegMode: no active route");
+ return;
+ }
+
+ 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();
+}
+
+void GPS::nextResult()
+{
+ if (!getScratchHasNext()) {
+ return;
+ }
+
+ clearScratch();
+ if (_searchIsRoute) {
+ setScratchFromRouteWaypoint(++_searchResultIndex);
+ } else {
+ ++_searchResultIndex;
+ setScratchFromCachedSearchResult();
+ }
+}
+
+void GPS::previousResult()
+{
+ if (_searchResultIndex <= 0) {
+ return;
+ }
+
+ clearScratch();
+ --_searchResultIndex;
+
+ if (_searchIsRoute) {
+ setScratchFromRouteWaypoint(_searchResultIndex);
+ } else {
+ setScratchFromCachedSearchResult();
+ }
+}
+
+void GPS::defineWaypoint()
+{
+ if (!isScratchPositionValid()) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: invalid lat/lon");
+ return;
+ }
+
+ string ident = _scratchNode->getStringValue("ident");
+ if (ident.size() < 2) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: waypoint identifier must be at least two characters");
+ return;
+ }
- updateTTWNode(ctx, ctx.wp1_distance, _wp1_ttw_node);
-
- // Course deviation is the diffenrence between the bearing
- // and the course.
- double course_deviation_deg = ctx.wp1_bearing_deg -
- ctx.wp1_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) {
- _wp1_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) {
- _wp1_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);
- }
+// check for duplicate idents
+ FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
+ 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);
+ _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->numWaypts())) {
+ 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");
- _wp1_course_deviation_node->setDoubleValue(course_deviation_deg);
+ WayptRef wpt = new BasicWaypt(_scratchPos, ident, NULL);
+ _routeMgr->flightPlan()->insertWayptAtIndex(wpt, aIndex);
+}
- // Cross track error.
- double course_error_m = sin(course_deviation_deg * SG_PI / 180.0)
- * (ctx.wp1_distance);
- _wp1_course_error_nm_node->setDoubleValue(course_error_m * SG_METER_TO_NM);
+void GPS::removeWaypointAtIndex(int aIndex)
+{
+ if ((aIndex < 0) || (aIndex >= _routeMgr->numWaypts())) {
+ throw sg_range_exception("GPS::removeWaypointAtIndex: index out of bounds");
+ }
+
+ _routeMgr->removeLegAtIndex(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