#ifndef __INSTRUMENTS_GPS_HXX
#define __INSTRUMENTS_GPS_HXX 1
-#ifndef __cplusplus
-# error This library requires C++
-#endif
-
#include <simgear/props/props.hxx>
#include <simgear/structure/subsystem_mgr.hxx>
+#include <simgear/math/SGMath.hxx>
+
+// forward decls
+class SGRoute;
+class SGGeodProperty
+{
+public:
+ SGGeodProperty()
+ {
+ }
+
+ void init(SGPropertyNode* base, const char* lonStr, const char* latStr, const char* altStr = NULL);
+ void init(const char* lonStr, const char* latStr, const char* altStr = NULL);
+ void clear();
+ void operator=(const SGGeod& geod);
+ SGGeod get() const;
+private:
+ SGPropertyNode_ptr _lon, _lat, _alt;
+};
/**
* Model a GPS radio.
*
* /instrumentation/gps/wp-longitude-deg
* /instrumentation/gps/wp-latitude-deg
+ * /instrumentation/gps/wp-altitude-ft
* /instrumentation/gps/wp-ID
* /instrumentation/gps/wp-name
* /instrumentation/gps/desired-course-deg
* /instrumentation/gps/indicated-longitude-deg
* /instrumentation/gps/indicated-latitude-deg
* /instrumentation/gps/indicated-altitude-ft
+ * /instrumentation/gps/indicated-vertical-speed-fpm
* /instrumentation/gps/indicated-track-true-deg
* /instrumentation/gps/indicated-track-magnetic-deg
* /instrumentation/gps/indicated-ground-speed-kt
* /instrumentation/gps/trip-odometer
* /instrumentation/gps/true-bug-error-deg
* /instrumentation/gps/magnetic-bug-error-deg
+ * /instrumentation/gps/true-bearing-error-deg
+ * /instrumentation/gps/magnetic-bearing-error-deg
*/
class GPS : public SGSubsystem
{
public:
+ GPS (SGPropertyNode *node);
GPS ();
virtual ~GPS ();
virtual void update (double delta_time_sec);
private:
-
- void search (double frequency, double longitude_rad,
- double latitude_rad, double altitude_m);
-
- double deg360 (double deg);
- double deg180 (double deg);
- double deg90 (double deg);
-
- SGPropertyNode_ptr _longitude_node;
- SGPropertyNode_ptr _latitude_node;
- SGPropertyNode_ptr _altitude_node;
+ typedef struct {
+ double dt;
+ SGGeod pos;
+ SGGeod wp0_pos;
+ SGGeod wp1_pos;
+ bool waypoint_changed;
+ double speed_kt;
+ double track1_deg;
+ double track2_deg;
+ double magvar_deg;
+ double wp0_distance;
+ double wp0_course_deg;
+ double wp0_bearing_deg;
+ double wp1_distance;
+ double wp1_course_deg;
+ double wp1_bearing_deg;
+ } UpdateContext;
+
+ void search (double frequency, const SGGeod& pos);
+
+ /**
+ * reset all output properties to default / non-service values
+ */
+ void clearOutput();
+
+ void updateWithValid(UpdateContext& ctx);
+
+ void updateNearestAirport(UpdateContext& ctx);
+ void updateWaypoint0(UpdateContext& ctx);
+ void updateWaypoint1(UpdateContext& ctx);
+
+ void updateLegCourse(UpdateContext& ctx);
+ void updateWaypoint0Course(UpdateContext& ctx);
+ void updateWaypoint1Course(UpdateContext& ctx);
+
+ void waypointChanged(UpdateContext& ctx);
+ void updateTTWNode(UpdateContext& ctx, double distance_m, SGPropertyNode_ptr node);
+ void updateTrackingBug(UpdateContext& ctx);
+
SGPropertyNode_ptr _magvar_node;
SGPropertyNode_ptr _serviceable_node;
SGPropertyNode_ptr _electrical_node;
- SGPropertyNode_ptr _wp_longitude_node;
- SGPropertyNode_ptr _wp_latitude_node;
- SGPropertyNode_ptr _wp_ID_node;
- SGPropertyNode_ptr _wp_name_node;
- SGPropertyNode_ptr _wp_course_node;
+ SGPropertyNode_ptr _wp0_ID_node;
+ SGPropertyNode_ptr _wp0_name_node;
+ SGPropertyNode_ptr _wp0_course_node;
SGPropertyNode_ptr _get_nearest_airport_node;
- SGPropertyNode_ptr _waypoint_type_node;
+ SGPropertyNode_ptr _wp1_ID_node;
+ SGPropertyNode_ptr _wp1_name_node;
+ SGPropertyNode_ptr _wp1_course_node;
SGPropertyNode_ptr _tracking_bug_node;
SGPropertyNode_ptr _raim_node;
- SGPropertyNode_ptr _indicated_longitude_node;
- SGPropertyNode_ptr _indicated_latitude_node;
- SGPropertyNode_ptr _indicated_altitude_node;
+ SGPropertyNode_ptr _indicated_vertical_speed_node;
SGPropertyNode_ptr _true_track_node;
SGPropertyNode_ptr _magnetic_track_node;
SGPropertyNode_ptr _speed_node;
- SGPropertyNode_ptr _wp_distance_node;
- SGPropertyNode_ptr _wp_ttw_node;
- SGPropertyNode_ptr _wp_bearing_node;
- SGPropertyNode_ptr _wp_mag_bearing_node;
- SGPropertyNode_ptr _wp_course_deviation_node;
- SGPropertyNode_ptr _wp_course_error_nm_node;
- SGPropertyNode_ptr _wp_to_flag_node;
+ SGPropertyNode_ptr _wp0_distance_node;
+ SGPropertyNode_ptr _wp0_ttw_node;
+ SGPropertyNode_ptr _wp0_bearing_node;
+ SGPropertyNode_ptr _wp0_mag_bearing_node;
+ SGPropertyNode_ptr _wp0_course_deviation_node;
+ SGPropertyNode_ptr _wp0_course_error_nm_node;
+ SGPropertyNode_ptr _wp0_to_flag_node;
+ SGPropertyNode_ptr _wp1_distance_node;
+ SGPropertyNode_ptr _wp1_ttw_node;
+ SGPropertyNode_ptr _wp1_bearing_node;
+ SGPropertyNode_ptr _wp1_mag_bearing_node;
+ SGPropertyNode_ptr _wp1_course_deviation_node;
+ SGPropertyNode_ptr _wp1_course_error_nm_node;
+ SGPropertyNode_ptr _wp1_to_flag_node;
SGPropertyNode_ptr _odometer_node;
SGPropertyNode_ptr _trip_odometer_node;
SGPropertyNode_ptr _true_bug_error_node;
SGPropertyNode_ptr _magnetic_bug_error_node;
+ SGPropertyNode_ptr _true_wp0_bearing_error_node;
+ SGPropertyNode_ptr _magnetic_wp0_bearing_error_node;
+ SGPropertyNode_ptr _true_wp1_bearing_error_node;
+ SGPropertyNode_ptr _magnetic_wp1_bearing_error_node;
+ SGPropertyNode_ptr _leg_distance_node;
+ SGPropertyNode_ptr _leg_course_node;
+ SGPropertyNode_ptr _leg_magnetic_course_node;
+ SGPropertyNode_ptr _alt_dist_ratio_node;
+ SGPropertyNode_ptr _leg_course_deviation_node;
+ SGPropertyNode_ptr _leg_course_error_nm_node;
+ SGPropertyNode_ptr _leg_to_flag_node;
+ SGPropertyNode_ptr _alt_deviation_node;
bool _last_valid;
- double _last_longitude_deg;
- double _last_latitude_deg;
- double _last_altitude_m;
+ SGGeod _last_pos;
double _last_speed_kts;
- double _wp_latitude;
- double _wp_longitude;
- string _last_wp_ID;
+ std::string _last_wp0_ID;
+ std::string _last_wp1_ID;
+
+ double _alt_dist_ratio;
+ double _distance_m;
+ double _course_deg;
+
+ double _bias_length;
+ double _bias_angle;
+ double _azimuth_error;
+ double _range_error;
+ double _elapsed_time;
+
+ std::string _name;
+ int _num;
+ SGGeodProperty _position;
+ SGGeodProperty _wp0_position;
+ SGGeodProperty _wp1_position;
+ SGGeodProperty _indicated_pos;
};