#include <simgear/route/route.hxx>
#include <simgear/math/sg_random.h>
+#include <simgear/sg_inlines.h>
#include <Airports/simple.hxx>
#include <Main/fg_init.hxx>
#include "gps.hxx"
-SG_USING_STD(string);
+using std::string;
-GPS::GPS ()
+GPS::GPS ( SGPropertyNode *node)
: _last_valid(false),
_last_longitude_deg(0),
_last_latitude_deg(0),
_last_altitude_m(0),
- _last_speed_kts(0)
+ _last_speed_kts(0),
+ _wp0_latitude_deg(0),
+ _wp0_longitude_deg(0),
+ _wp0_altitude_m(0),
+ _wp1_latitude_deg(0),
+ _wp1_longitude_deg(0),
+ _wp1_altitude_m(0),
+ _alt_dist_ratio(0),
+ _distance_m(0),
+ _course_deg(0),
+ _name(node->getStringValue("name", "gps")),
+ _num(node->getIntValue("number", 0)),
+ route(0)
{
}
GPS::~GPS ()
{
+ delete route;
}
void
GPS::init ()
{
+ delete route; // in case init is called twice
+ route = new SGRoute;
+ route->clear();
+
+ string branch;
+ branch = "/instrumentation/" + _name;
+
+ SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
+
_longitude_node = fgGetNode("/position/longitude-deg", true);
_latitude_node = fgGetNode("/position/latitude-deg", true);
_altitude_node = fgGetNode("/position/altitude-ft", true);
_magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
- _serviceable_node = fgGetNode("/instrumentation/gps/serviceable", true);
+ _serviceable_node = node->getChild("serviceable", 0, true);
_electrical_node = fgGetNode("/systems/electrical/outputs/gps", true);
- _wp0_longitude_node =
- fgGetNode("/instrumentation/gps/wp/wp[0]/longitude-deg", true);
- _wp0_latitude_node =
- fgGetNode("/instrumentation/gps/wp/wp[0]/latitude-deg", true);
- _wp0_altitude_node =
- fgGetNode("/instrumentation/gps/wp/wp[0]/altitude-ft", true);
- _wp0_ID_node =
- fgGetNode("/instrumentation/gps/wp/wp[0]/ID", true);
- _wp0_name_node =
- fgGetNode("/instrumentation/gps/wp/wp[0]/name", true);
- _wp0_course_node =
- fgGetNode("/instrumentation/gps/wp/wp[0]/desired-course-deg", true);
- _wp0_waypoint_type_node =
- fgGetNode("/instrumentation/gps/wp/wp[0]/waypoint-type", true);
- _wp1_longitude_node =
- fgGetNode("/instrumentation/gps/wp/wp[1]/longitude-deg", true);
- _wp1_latitude_node =
- fgGetNode("/instrumentation/gps/wp/wp[1]/latitude-deg", true);
- _wp1_altitude_node =
- fgGetNode("/instrumentation/gps/wp/wp[1]/altitude-ft", true);
- _wp1_ID_node =
- fgGetNode("/instrumentation/gps/wp/wp[1]/ID", true);
- _wp1_name_node =
- fgGetNode("/instrumentation/gps/wp/wp[1]/name", true);
- _wp1_course_node =
- fgGetNode("/instrumentation/gps/wp/wp[1]/desired-course-deg", true);
- _wp1_waypoint_type_node =
- fgGetNode("/instrumentation/gps/wp/wp[1]/waypoint-type", true);
- _get_nearest_airport_node =
- fgGetNode("/instrumentation/gps/wp/wp[1]/get-nearest-airport", true);
- _tracking_bug_node =
- fgGetNode("/instrumentation/gps/tracking-bug", true);
-
- _raim_node = fgGetNode("/instrumentation/gps/raim", true);
+
+ SGPropertyNode *wp_node = node->getChild("wp", 0, true);
+ SGPropertyNode *wp0_node = wp_node->getChild("wp", 0, true);
+ SGPropertyNode *wp1_node = wp_node->getChild("wp", 1, true);
+ addWp = wp1_node->getChild("Add-to-route", 0, true);
+
+ _wp0_longitude_node = wp0_node->getChild("longitude-deg", 0, true);
+ _wp0_latitude_node = wp0_node->getChild("latitude-deg", 0, true);
+ _wp0_altitude_node = wp0_node->getChild("altitude-ft", 0, true);
+ _wp0_ID_node = wp0_node->getChild("ID", 0, true);
+ _wp0_name_node = wp0_node->getChild("name", 0, true);
+ _wp0_course_node = wp0_node->getChild("desired-course-deg", 0, true);
+ _wp0_waypoint_type_node = wp0_node->getChild("waypoint-type", 0, true);
+ _wp0_distance_node = wp0_node->getChild("distance-nm", 0, true);
+ _wp0_ttw_node = wp0_node->getChild("TTW", 0, true);
+ _wp0_bearing_node = wp0_node->getChild("bearing-true-deg", 0, true);
+ _wp0_mag_bearing_node = wp0_node->getChild("bearing-mag-deg", 0, true);
+ _wp0_course_deviation_node =
+ wp0_node->getChild("course-deviation-deg", 0, true);
+ _wp0_course_error_nm_node = wp0_node->getChild("course-error-nm", 0, true);
+ _wp0_to_flag_node = wp0_node->getChild("to-flag", 0, true);
+ _true_wp0_bearing_error_node =
+ wp0_node->getChild("true-bearing-error-deg", 0, true);
+ _magnetic_wp0_bearing_error_node =
+ wp0_node->getChild("magnetic-bearing-error-deg", 0, true);
+
+ _wp1_longitude_node = wp1_node->getChild("longitude-deg", 0, true);
+ _wp1_latitude_node = wp1_node->getChild("latitude-deg", 0, true);
+ _wp1_altitude_node = wp1_node->getChild("altitude-ft", 0, true);
+ _wp1_ID_node = wp1_node->getChild("ID", 0, true);
+ _wp1_name_node = wp1_node->getChild("name", 0, true);
+ _wp1_course_node = wp1_node->getChild("desired-course-deg", 0, true);
+ _wp1_waypoint_type_node = wp1_node->getChild("waypoint-type", 0, true);
+ _wp1_distance_node = wp1_node->getChild("distance-nm", 0, true);
+ _wp1_ttw_node = wp1_node->getChild("TTW", 0, true);
+ _wp1_bearing_node = wp1_node->getChild("bearing-true-deg", 0, true);
+ _wp1_mag_bearing_node = wp1_node->getChild("bearing-mag-deg", 0, true);
+ _wp1_course_deviation_node =
+ wp1_node->getChild("course-deviation-deg", 0, true);
+ _wp1_course_error_nm_node = wp1_node->getChild("course-error-nm", 0, true);
+ _wp1_to_flag_node = wp1_node->getChild("to-flag", 0, true);
+ _true_wp1_bearing_error_node =
+ wp1_node->getChild("true-bearing-error-deg", 0, true);
+ _magnetic_wp1_bearing_error_node =
+ wp1_node->getChild("magnetic-bearing-error-deg", 0, true);
+ _get_nearest_airport_node =
+ wp1_node->getChild("get-nearest-airport", 0, true);
+
+ _tracking_bug_node = node->getChild("tracking-bug", 0, true);
+ _raim_node = node->getChild("raim", 0, true);
+
_indicated_longitude_node =
- fgGetNode("/instrumentation/gps/indicated-longitude-deg", true);
+ node->getChild("indicated-longitude-deg", 0, true);
_indicated_latitude_node =
- fgGetNode("/instrumentation/gps/indicated-latitude-deg", true);
+ node->getChild("indicated-latitude-deg", 0, true);
_indicated_altitude_node =
- fgGetNode("/instrumentation/gps/indicated-altitude-ft", true);
+ node->getChild("indicated-altitude-ft", 0, true);
_indicated_vertical_speed_node =
- fgGetNode("/instrumentation/gps/indicated-vertical-speed", true);
+ node->getChild("indicated-vertical-speed", 0, true);
_true_track_node =
- fgGetNode("/instrumentation/gps/indicated-track-true-deg", true);
+ node->getChild("indicated-track-true-deg", 0, true);
_magnetic_track_node =
- fgGetNode("/instrumentation/gps/indicated-track-magnetic-deg", true);
+ node->getChild("indicated-track-magnetic-deg", 0, true);
_speed_node =
- fgGetNode("/instrumentation/gps/indicated-ground-speed-kt", true);
- _wp0_distance_node =
- fgGetNode("/instrumentation/gps/wp/wp[0]/distance-nm", true);
- _wp0_ttw_node =
- fgGetNode("/instrumentation/gps/wp/wp[0]/TTW",true);
- _wp0_bearing_node =
- fgGetNode("/instrumentation/gps/wp/wp[0]/bearing-true-deg", true);
- _wp0_mag_bearing_node =
- fgGetNode("/instrumentation/gps/wp/wp[0]/bearing-mag-deg", true);
- _wp0_course_deviation_node =
- fgGetNode("/instrumentation/gps/wp/wp[0]/course-deviation-deg", true);
- _wp0_course_error_nm_node =
- fgGetNode("/instrumentation/gps/wp/wp[0]/course-error-nm", true);
- _wp0_to_flag_node =
- fgGetNode("/instrumentation/gps/wp/wp[0]/to-flag", true);
- _wp1_distance_node =
- fgGetNode("/instrumentation/gps/wp/wp[1]/distance-nm", true);
- _wp1_ttw_node =
- fgGetNode("/instrumentation/gps/wp/wp[1]/TTW",true);
- _wp1_bearing_node =
- fgGetNode("/instrumentation/gps/wp/wp[1]/bearing-true-deg", true);
- _wp1_mag_bearing_node =
- fgGetNode("/instrumentation/gps/wp/wp[1]/bearing-mag-deg", true);
- _wp1_course_deviation_node =
- fgGetNode("/instrumentation/gps/wp/wp[1]/course-deviation-deg", true);
- _wp1_course_error_nm_node =
- fgGetNode("/instrumentation/gps/wp/wp[1]/course-error-nm", true);
- _wp1_to_flag_node =
- fgGetNode("/instrumentation/gps/wp/wp[1]/to-flag", true);
+ node->getChild("indicated-ground-speed-kt", 0, true);
_odometer_node =
- fgGetNode("/instrumentation/gps/odometer", true);
+ node->getChild("odometer", 0, true);
_trip_odometer_node =
- fgGetNode("/instrumentation/gps/trip-odometer", true);
+ node->getChild("trip-odometer", 0, true);
_true_bug_error_node =
- fgGetNode("/instrumentation/gps/true-bug-error-deg", true);
+ node->getChild("true-bug-error-deg", 0, true);
_magnetic_bug_error_node =
- fgGetNode("/instrumentation/gps/magnetic-bug-error-deg", true);
- _true_wp0_bearing_error_node =
- fgGetNode("/instrumentation/gps/wp/wp[0]/true-bearing-error-deg", true);
- _magnetic_wp0_bearing_error_node =
- fgGetNode("/instrumentation/gps/wp/wp[0]/magnetic-bearing-error-deg", true);
- _true_wp1_bearing_error_node =
- fgGetNode("/instrumentation/gps/wp/wp[1]/true-bearing-error-deg", true);
- _magnetic_wp1_bearing_error_node =
- fgGetNode("/instrumentation/gps/wp/wp[1]/magnetic-bearing-error-deg", true);
+ node->getChild("magnetic-bug-error-deg", 0, true);
+
_leg_distance_node =
- fgGetNode("/instrumentation/gps/wp/leg-distance-nm", true);
+ wp_node->getChild("leg-distance-nm", 0, true);
_leg_course_node =
- fgGetNode("/instrumentation/gps/wp/leg-true-course-deg", true);
+ wp_node->getChild("leg-true-course-deg", 0, true);
_leg_magnetic_course_node =
- fgGetNode("/instrumentation/gps/wp/leg-mag-course-deg", true);
+ wp_node->getChild("leg-mag-course-deg", 0, true);
_alt_dist_ratio_node =
- fgGetNode("/instrumentation/gps/wp/alt-dist-ratio", true);
+ wp_node->getChild("alt-dist-ratio", 0, true);
_leg_course_deviation_node =
- fgGetNode("/instrumentation/gps/wp/leg-course-deviation-deg", true);
+ wp_node->getChild("leg-course-deviation-deg", 0, true);
_leg_course_error_nm_node =
- fgGetNode("/instrumentation/gps/wp/leg-course-error-nm", true);
+ wp_node->getChild("leg-course-error-nm", 0, true);
_leg_to_flag_node =
- fgGetNode("/instrumentation/gps/wp/leg-to-flag", true);
+ wp_node->getChild("leg-to-flag", 0, true);
_alt_deviation_node =
- fgGetNode("/instrumentation/gps/wp/alt-deviation-ft", true);
+ wp_node->getChild("alt-deviation-ft", 0, true);
+
+ _route = node->getChild("route", 0, true);
+ popWp = _route->getChild("Pop-WP", 0, true);
+
+ addWp->setBoolValue(false);
+ popWp->setBoolValue(false);
+
+ _serviceable_node->setBoolValue(true);
}
void
_indicated_vertical_speed_node->setDoubleValue
(vertical_speed_mpm * SG_METER_TO_FEET);
_true_track_node->setDoubleValue(track1_deg);
- mag_track_bearing = degrange360(track1_deg - magvar_deg);
+ mag_track_bearing = track1_deg - magvar_deg;
+ SG_NORMALIZE_RANGE(mag_track_bearing, 0.0, 360.0);
_magnetic_track_node->setDoubleValue(mag_track_bearing);
speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, delta_time_sec/20.0);
_last_speed_kts = speed_kt;
// If the get-nearest-airport-node is true.
// Get the nearest airport, and set it as waypoint 1.
if (_get_nearest_airport_node->getBoolValue()) {
- FGAirport a;
- //cout << "Airport found" << endl;
- a = globals->get_airports()->search(longitude_deg, latitude_deg, false);
- _wp1_ID_node->setStringValue(a.id.c_str());
- wp1_longitude_deg = a.longitude;
- wp1_latitude_deg = a.latitude;
- _wp1_name_node->setStringValue(a.name.c_str());
- _get_nearest_airport_node->setBoolValue(false);
- _last_wp1_ID = wp1_ID = a.id.c_str();
+ const FGAirport* a = globals->get_airports()->search(longitude_deg, latitude_deg);
+ if(a) {
+ _wp1_ID_node->setStringValue(a->getId().c_str());
+ wp1_longitude_deg = a->getLongitude();
+ wp1_latitude_deg = a->getLatitude();
+ _wp1_name_node->setStringValue(a->getName().c_str());
+ _get_nearest_airport_node->setBoolValue(false);
+ _last_wp1_ID = wp1_ID = a->getId().c_str();
+ }
}
// If the waypoint 0 ID has changed, try to find the new ID
string waypont_type =
_wp0_waypoint_type_node->getStringValue();
if (waypont_type == "airport") {
- FGAirport a;
- a = globals->get_airports()->search( wp0_ID );
- if ( a.id == wp0_ID ) {
- //cout << "Airport found" << endl;
- wp0_longitude_deg = a.longitude;
- wp0_latitude_deg = a.latitude;
- _wp0_name_node->setStringValue(a.name.c_str());
+ const FGAirport* a = globals->get_airports()->search( wp0_ID );
+ if ( a ) {
+ wp0_longitude_deg = a->getLongitude();
+ wp0_latitude_deg = a->getLatitude();
+ _wp0_name_node->setStringValue(a->getName().c_str());
}
}
else if (waypont_type == "nav") {
- FGNav * n;
- if ( (n = current_navlist->findByIdent(wp0_ID.c_str(),
- longitude_deg,
- latitude_deg)) != NULL) {
+ FGNavRecord *n
+ = globals->get_navlist()->findByIdent(wp0_ID.c_str(),
+ longitude_deg,
+ latitude_deg);
+ if ( n != NULL ) {
//cout << "Nav found" << endl;
wp0_longitude_deg = n->get_lon();
wp0_latitude_deg = n->get_lat();
}
else if (waypont_type == "fix") {
FGFix f;
- if ( current_fixlist->query(wp0_ID, &f) ) {
+ if ( globals->get_fixlist()->query(wp0_ID, &f) ) {
//cout << "Fix found" << endl;
wp0_longitude_deg = f.get_lon();
wp0_latitude_deg = f.get_lat();
string waypont_type =
_wp1_waypoint_type_node->getStringValue();
if (waypont_type == "airport") {
- FGAirport a;
- a = globals->get_airports()->search( wp1_ID );
- if ( a.id == wp1_ID ) {
- //cout << "Airport found" << endl;
- wp1_longitude_deg = a.longitude;
- wp1_latitude_deg = a.latitude;
- _wp1_name_node->setStringValue(a.name.c_str());
+ const FGAirport* a = globals->get_airports()->search( wp1_ID );
+ if ( a ) {
+ wp1_longitude_deg = a->getLongitude();
+ wp1_latitude_deg = a->getLatitude();
+ _wp1_name_node->setStringValue(a->getName().c_str());
}
}
else if (waypont_type == "nav") {
- FGNav * n;
- if ( (n = current_navlist->findByIdent(wp1_ID.c_str(),
- longitude_deg,
- latitude_deg)) != NULL) {
+ FGNavRecord *n
+ = globals->get_navlist()->findByIdent(wp1_ID.c_str(),
+ longitude_deg,
+ latitude_deg);
+ if ( n != NULL ) {
//cout << "Nav found" << endl;
wp1_longitude_deg = n->get_lon();
wp1_latitude_deg = n->get_lat();
}
else if (waypont_type == "fix") {
FGFix f;
- if ( current_fixlist->query(wp1_ID, &f) ) {
+ if ( globals->get_fixlist()->query(wp1_ID, &f) ) {
//cout << "Fix found" << endl;
wp1_longitude_deg = f.get_lon();
wp1_latitude_deg = f.get_lat();
wp1_latitude_deg, wp1_altitude_m);
wp1.CourseAndDistance(wp0, &_course_deg, &_distance_m);
+ double leg_mag_course = _course_deg - magvar_deg;
+ SG_NORMALIZE_RANGE(leg_mag_course, 0.0, 360.0);
// Get the altitude / distance ratio
if ( distance_m > 0.0 ) {
_alt_dist_ratio = alt_difference_m / _distance_m;
}
- _leg_distance_node->setDoubleValue(_distance_m);
+ _leg_distance_node->setDoubleValue(_distance_m * SG_METER_TO_NM);
_leg_course_node->setDoubleValue(_course_deg);
+ _leg_magnetic_course_node->setDoubleValue(leg_mag_course);
_alt_dist_ratio_node->setDoubleValue(_alt_dist_ratio);
+
+ _wp0_longitude_node->setDoubleValue(wp0_longitude_deg);
+ _wp0_latitude_node->setDoubleValue(wp0_latitude_deg);
+ _wp1_longitude_node->setDoubleValue(wp1_longitude_deg);
+ _wp1_latitude_node->setDoubleValue(wp1_latitude_deg);
}
SGWayPoint wp0(wp0_longitude_deg, wp0_latitude_deg, wp0_altitude_m);
wp0.CourseAndDistance(longitude_deg, latitude_deg, altitude_m,
&wp0_bearing_deg, &wp0_distance);
- _wp0_longitude_node->setDoubleValue(wp0_longitude_deg);
- _wp0_latitude_node->setDoubleValue(wp0_latitude_deg);
_wp0_distance_node->setDoubleValue(wp0_distance * SG_METER_TO_NM);
_wp0_bearing_node->setDoubleValue(wp0_bearing_deg);
- double wp0_mag_bearing_deg = degrange360(wp0_bearing_deg - magvar_deg);
+ double wp0_mag_bearing_deg = wp0_bearing_deg - magvar_deg;
+ SG_NORMALIZE_RANGE(wp0_mag_bearing_deg, 0.0, 360.0);
_wp0_mag_bearing_node->setDoubleValue(wp0_mag_bearing_deg);
- wp0_bearing_error_deg = degrange180(track1_deg - wp0_bearing_deg);
+ wp0_bearing_error_deg = track1_deg - wp0_bearing_deg;
+ SG_NORMALIZE_RANGE(wp0_bearing_error_deg, -180.0, 180.0);
_true_wp0_bearing_error_node->setDoubleValue(wp0_bearing_error_deg);
// Estimate time to waypoint 0.
wp0_TTW_seconds -= 60;
wp0_TTW_minutes++;
}
- snprintf(wp0_TTW_str, 8, "%02d:%02d:%02d",
+ snprintf(wp0_TTW_str, 9, "%02d:%02d:%02d",
wp0_TTW_hours, wp0_TTW_minutes, wp0_TTW_seconds);
_wp0_ttw_node->setStringValue(wp0_TTW_str);
}
// Course deviation is the diffenrence between the bearing
// and the course.
wp0_course_deviation_deg = wp0_bearing_deg -
- wp0_course_deg;
- wp0_course_deviation_deg = degrange180(wp0_course_deviation_deg);
+ wp0_course_deg;
+ SG_NORMALIZE_RANGE(wp0_course_deviation_deg, -180.0, 180.0);
// If the course deviation is less than 90 degrees to either side,
// our desired course is towards the waypoint.
// When the course is away from the waypoint,
// it makes sense to change the sign of the deviation.
wp0_course_deviation_deg *= -1.0;
- wp0_course_deviation_deg =
- degrange(wp0_course_deviation_deg, -90.0, 90.0);
+ SG_NORMALIZE_RANGE(wp0_course_deviation_deg, -90.0, 90.0);
}
_wp0_course_deviation_node->setDoubleValue(wp0_course_deviation_deg);
// Cross track error.
- wp0_course_error_m = sin(wp0_course_deviation_deg * SG_PI / 180.0)
+ wp0_course_error_m = sin(wp0_course_deviation_deg * SG_PI / 180.0)
* (wp0_distance);
_wp0_course_error_nm_node->setDoubleValue(wp0_course_error_m
* SG_METER_TO_NM);
SGWayPoint wp1(wp1_longitude_deg, wp1_latitude_deg, wp1_altitude_m);
wp1.CourseAndDistance(longitude_deg, latitude_deg, altitude_m,
&wp1_bearing_deg, &wp1_distance);
- _wp1_longitude_node->setDoubleValue(wp1_longitude_deg);
- _wp1_latitude_node->setDoubleValue(wp1_latitude_deg);
_wp1_distance_node->setDoubleValue(wp1_distance * SG_METER_TO_NM);
_wp1_bearing_node->setDoubleValue(wp1_bearing_deg);
- double wp1_mag_bearing_deg = degrange360(wp1_bearing_deg - magvar_deg);
+ double wp1_mag_bearing_deg = wp1_bearing_deg - magvar_deg;
+ SG_NORMALIZE_RANGE(wp1_mag_bearing_deg, 0.0, 360.0);
_wp1_mag_bearing_node->setDoubleValue(wp1_mag_bearing_deg);
- wp1_bearing_error_deg = degrange180(track1_deg - wp1_bearing_deg);
+ wp1_bearing_error_deg = track1_deg - wp1_bearing_deg;
+ SG_NORMALIZE_RANGE(wp1_bearing_error_deg, -180.0, 180.0);
_true_wp1_bearing_error_node->setDoubleValue(wp1_bearing_error_deg);
// Estimate time to waypoint 1.
wp1_TTW_seconds -= 60;
wp1_TTW_minutes++;
}
- snprintf(wp1_TTW_str, 8, "%02d:%02d:%02d",
+ snprintf(wp1_TTW_str, 9, "%02d:%02d:%02d",
wp1_TTW_hours, wp1_TTW_minutes, wp1_TTW_seconds);
_wp1_ttw_node->setStringValue(wp1_TTW_str);
}
// Course deviation is the diffenrence between the bearing
// and the course.
- wp1_course_deviation_deg = wp1_bearing_deg -
- wp1_course_deg;
- wp1_course_deviation_deg = degrange180(wp1_course_deviation_deg);
+ wp1_course_deviation_deg = wp1_bearing_deg - wp1_course_deg;
+ SG_NORMALIZE_RANGE(wp1_course_deviation_deg, -180.0, 180.0);
// If the course deviation is less than 90 degrees to either side,
// our desired course is towards the waypoint.
// When the course is away from the waypoint,
// it makes sense to change the sign of the deviation.
wp1_course_deviation_deg *= -1.0;
- wp1_course_deviation_deg =
- degrange(wp1_course_deviation_deg, -90.0, 90.0);
+ SG_NORMALIZE_RANGE(wp1_course_deviation_deg, -90.0, 90.0);
}
_wp1_course_deviation_node->setDoubleValue(wp1_course_deviation_deg);
// Leg course deviation is the diffenrence between the bearing
// and the course.
double course_deviation_deg = wp1_bearing_deg - _course_deg;
- course_deviation_deg = degrange180(course_deviation_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.
// When the course is away from the waypoint,
// it makes sense to change the sign of the deviation.
course_deviation_deg *= -1.0;
- course_deviation_deg =
- degrange(course_deviation_deg, -90.0, 90.0);
+ SG_NORMALIZE_RANGE(course_deviation_deg, -90.0, 90.0);
}
_leg_course_deviation_node->setDoubleValue(course_deviation_deg);
double true_bug_error = tracking_bug - track1_deg;
double magnetic_bug_error = tracking_bug - mag_track_bearing;
- // Get the errors into the (-180,180) range.
- true_bug_error = degrange180(true_bug_error);
- magnetic_bug_error = degrange180(magnetic_bug_error);
+ // Get the errors into the (-180,180) range.
+ SG_NORMALIZE_RANGE(true_bug_error, -180.0, 180.0);
+ SG_NORMALIZE_RANGE(magnetic_bug_error, -180.0, 180.0);
_true_bug_error_node->setDoubleValue(true_bug_error);
_magnetic_bug_error_node->setDoubleValue(magnetic_bug_error);
+
+ // Add WP 1 to the route.
+ if ( addWp->getBoolValue() )
+ {
+ addWp->setBoolValue(false);
+
+ SGWayPoint tempWp( _wp1_longitude_node->getDoubleValue(),
+ _wp1_latitude_node->getDoubleValue(),
+ _wp1_altitude_node->getDoubleValue(),
+ SGWayPoint::WGS84,
+ _wp1_ID_node->getStringValue(),
+ _wp1_name_node->getStringValue() );
+
+ route->add_waypoint(tempWp);
+
+ SGPropertyNode *wp =
+ _route->getChild("Waypoint", route->size()-1, true);
+ SGPropertyNode *id = wp->getChild("ID", 0, true);
+ SGPropertyNode *name = wp->getChild("Name", 0, true);
+ SGPropertyNode *lat = wp->getChild("Latitude", 0, true);
+ SGPropertyNode *lon = wp->getChild("Longitude", 0, true);
+ SGPropertyNode *alt = wp->getChild("Altitude", 0, true);
+
+ id->setStringValue( tempWp.get_id().c_str() );
+ name->setStringValue( tempWp.get_name().c_str() );
+ lat->setDoubleValue( tempWp.get_target_lat() );
+ lon->setDoubleValue( tempWp.get_target_lon() );
+ alt->setDoubleValue( tempWp.get_target_alt() );
+ }
+
+ if ( popWp->getBoolValue() )
+ {
+ popWp->setBoolValue(false);
+
+ route->delete_first();
+ _route->removeChild("Waypoint", 0, false);
+ }
+
} else {
_true_track_node->setDoubleValue(0.0);
_magnetic_track_node->setDoubleValue(0.0);
_last_altitude_m = altitude_m;
}
-double GPS::degrange360 (double deg)
-{
- while (deg < 0.0) {
- deg += 360.0; }
- while (deg > 360.0) {
- deg -= 360.0; }
-
- return deg;
-}
-
-double GPS::degrange180 (double deg)
-{
- while (deg < -180.0)
- deg += 360.0;
- while (deg > 180.0)
- deg -= 360.0;
-
- return deg;
-}
-
-double GPS::degrange (double deg, double min, double max)
-{
- double span = max - min;
-
- while (deg < min)
- deg += span;
- while (deg > max)
- deg -= span;
-
- return deg;
-}
// end of gps.cxx
projects / flightgear.git / blobdiff