//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
-// $Id$
-
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
-#include <iostream>
-#include <string>
#include <sstream>
+#include <cstring>
+#include <cstdio>
-#include <simgear/compiler.h>
#include <simgear/sg_inlines.h>
+#include <simgear/timing/sg_time.hxx>
#include <simgear/math/sg_random.h>
-#include <simgear/math/vector.hxx>
-
-#include <Aircraft/aircraft.hxx>
+#include <simgear/misc/sg_path.hxx>
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/structure/exception.hxx>
+#include <simgear/math/interpolater.hxx>
+#include <simgear/misc/strutils.hxx>
+#include <simgear/sound/sample_group.hxx>
+
+#include <Navaids/navrecord.hxx>
+#include <Sound/audioident.hxx>
+#include <Airports/runways.hxx>
#include <Navaids/navlist.hxx>
+#include <Main/util.hxx>
#include "navradio.hxx"
-#include <string>
-SG_USING_STD(string);
+using std::string;
+
+// General-purpose sawtooth function. Graph looks like this:
+// /\ .
+// \/
+// Odd symmetry, inversion symmetry about the origin.
+// Unit slope at the origin.
+// Max 1, min -1, period 4.
+// Two zero-crossings per period, one with + slope, one with - slope.
+// Useful for false localizer courses.
+static double sawtooth(double xx)
+{
+ return 4.0 * fabs(xx/4.0 + 0.25 - floor(xx/4.0 + 0.75)) - 1.0;
+}
+// Calculate a Cartesian unit vector in the
+// local horizontal plane, i.e. tangent to the
+// surface of the earth at the local ground zero.
+// The tangent vector passes through the given <midpoint>
+// and points forward along the given <heading>.
+// The <heading> is given in degrees.
+static SGVec3d tangentVector(const SGGeod& midpoint, const double heading)
+{
+// The size of the delta is presumably chosen to give
+// numerical stability. I don't know how the value was chosen.
+// It probably doesn't matter much. It gets divided out.
+ double delta(100.0); // in meters
+ SGGeod head, tail;
+ double az2; // ignored
+ SGGeodesy::direct(midpoint, heading, delta, head, az2);
+ SGGeodesy::direct(midpoint, 180+heading, delta, tail, az2);
+ head.setElevationM(midpoint.getElevationM());
+ tail.setElevationM(midpoint.getElevationM());
+ SGVec3d head_xyz = SGVec3d::fromGeod(head);
+ SGVec3d tail_xyz = SGVec3d::fromGeod(tail);
+// Awkward formula here, needed because vector-by-scalar
+// multiplication is defined, but not vector-by-scalar division.
+ return (head_xyz - tail_xyz) * (0.5/delta);
+}
+
+// Create a "serviceable" node with a default value of "true"
+SGPropertyNode_ptr createServiceableProp(SGPropertyNode* aParent,
+ const char* aName)
+{
+ SGPropertyNode_ptr n =
+ aParent->getChild(aName, 0, true)->getChild("serviceable", 0, true);
+ simgear::props::Type typ = n->getType();
+ if ((typ == simgear::props::NONE) || (typ == simgear::props::UNSPECIFIED)) {
+ n->setBoolValue(true);
+ }
+ return n;
+}
+
+static std::auto_ptr<SGInterpTable> static_terminalRangeInterp,
+ static_lowRangeInterp, static_highRangeInterp;
// Constructor
FGNavRadio::FGNavRadio(SGPropertyNode *node) :
- lon_node(fgGetNode("/position/longitude-deg", true)),
- lat_node(fgGetNode("/position/latitude-deg", true)),
- alt_node(fgGetNode("/position/altitude-ft", true)),
- last_nav_id(""),
- last_nav_vor(false),
- nav_play_count(0),
- nav_last_time(0),
- need_update(true),
- power_btn(true),
- audio_btn(true),
- nav_freq(0.0),
- nav_alt_freq(0.0),
- fmt_freq(""),
- fmt_alt_freq(""),
- nav_heading(0.0),
- nav_radial(0.0),
- nav_target_radial(0.0),
- nav_target_radial_true(0.0),
- nav_target_auto_hdg(0.0),
- nav_gs_rate_of_climb(0.0),
- nav_vol_btn(0.0),
- nav_ident_btn(true),
+ _operable(false),
+ play_count(0),
+ _nav_search(true),
+ _last_freq(0.0),
+ target_radial(0.0),
+ effective_range(0.0),
+ target_gs(0.0),
+ twist(0.0),
horiz_vel(0.0),
last_x(0.0),
- name("nav"),
- num(0),
- _time_before_search_sec(-1.0)
+ last_xtrack_error(0.0),
+ xrate_ms(0.0),
+ _localizerWidth(5.0),
+ _name(node->getStringValue("name", "nav")),
+ _num(node->getIntValue("number", 0)),
+ _time_before_search_sec(-1.0),
+ _gsCart(SGVec3d::zeros()),
+ _gsAxis(SGVec3d::zeros()),
+ _gsVertical(SGVec3d::zeros()),
+ _toFlag(false),
+ _fromFlag(false),
+ _cdiDeflection(0.0),
+ _cdiCrossTrackErrorM(0.0),
+ _gsNeedleDeflection(0.0),
+ _gsNeedleDeflectionNorm(0.0),
+ _audioIdent(NULL)
{
- SGPath path( globals->get_fg_root() );
- SGPath term = path;
- term.append( "Navaids/range.term" );
- SGPath low = path;
- low.append( "Navaids/range.low" );
- SGPath high = path;
- high.append( "Navaids/range.high" );
-
- term_tbl = new SGInterpTable( term.str() );
- low_tbl = new SGInterpTable( low.str() );
- high_tbl = new SGInterpTable( high.str() );
-
- int i;
- for ( i = 0; i < node->nChildren(); ++i ) {
- SGPropertyNode *child = node->getChild(i);
- string cname = child->getName();
- string cval = child->getStringValue();
- if ( cname == "name" ) {
- name = cval;
- } else if ( cname == "number" ) {
- num = child->getIntValue();
- } else {
- SG_LOG( SG_INSTR, SG_WARN,
- "Error in nav radio config logic" );
- if ( name.length() ) {
- SG_LOG( SG_INSTR, SG_WARN, "Section = " << name );
- }
- }
+ if (!static_terminalRangeInterp.get()) {
+ // one-time interpolator init
+ SGPath path( globals->get_fg_root() );
+ SGPath term = path;
+ term.append( "Navaids/range.term" );
+ SGPath low = path;
+ low.append( "Navaids/range.low" );
+ SGPath high = path;
+ high.append( "Navaids/range.high" );
+
+ static_terminalRangeInterp.reset(new SGInterpTable(term.str()));
+ static_lowRangeInterp.reset(new SGInterpTable(low.str()));
+ static_highRangeInterp.reset(new SGInterpTable(high.str()));
}
-
+
+ string branch("/instrumentation/" + _name);
+ _radio_node = fgGetNode(branch.c_str(), _num, true);
}
// Destructor
FGNavRadio::~FGNavRadio()
{
- delete term_tbl;
- delete low_tbl;
- delete high_tbl;
+ if (gps_course_node) {
+ gps_course_node->removeChangeListener(this);
+ }
+
+ if (nav_slaved_to_gps_node) {
+ nav_slaved_to_gps_node->removeChangeListener(this);
+ }
+
+ delete _audioIdent;
}
void
FGNavRadio::init ()
{
- morse.init();
-
- string branch;
- branch = "/instrumentation/" + name;
-
- SGPropertyNode *node = fgGetNode(branch.c_str(), num, true );
-
- bus_power =
- fgGetNode(("/systems/electrical/outputs/" + name).c_str(), true);
- nav_serviceable = node->getChild("serviceable", 0, true);
- cdi_serviceable = (node->getChild("cdi", 0, true))
- ->getChild("serviceable", 0, true);
- gs_serviceable = (node->getChild("gs", 0, true))
- ->getChild("serviceable");
- tofrom_serviceable = (node->getChild("to-from", 0, true))
- ->getChild("serviceable", 0, true);
- nav_slaved_to_gps = node->getChild("slaved-to-gps", 0, true);
-
- gps_cdi_deflection = fgGetNode("/instrumentation/gps/cdi-deflection", true);
- gps_to_flag = fgGetNode("/instrumentation/gps/to-flag", true);
+ SGPropertyNode* node = _radio_node.get();
+ bus_power_node =
+ fgGetNode(("/systems/electrical/outputs/" + _name).c_str(), true);
+
+ // inputs
+ is_valid_node = node->getChild("data-is-valid", 0, true);
+ power_btn_node = node->getChild("power-btn", 0, true);
+ power_btn_node->setBoolValue( true );
+ vol_btn_node = node->getChild("volume", 0, true);
+ ident_btn_node = node->getChild("ident", 0, true);
+ ident_btn_node->setBoolValue( true );
+ audio_btn_node = node->getChild("audio-btn", 0, true);
+ audio_btn_node->setBoolValue( true );
+ backcourse_node = node->getChild("back-course-btn", 0, true);
+ backcourse_node->setBoolValue( false );
+
+ nav_serviceable_node = node->getChild("serviceable", 0, true);
+ cdi_serviceable_node = createServiceableProp(node, "cdi");
+ gs_serviceable_node = createServiceableProp(node, "gs");
+ tofrom_serviceable_node = createServiceableProp(node, "to-from");
+
+ falseCoursesEnabledNode =
+ fgGetNode("/sim/realism/false-radio-courses-enabled");
+ if (!falseCoursesEnabledNode) {
+ falseCoursesEnabledNode =
+ fgGetNode("/sim/realism/false-radio-courses-enabled", true);
+ falseCoursesEnabledNode->setBoolValue(true);
+ }
+
+ // frequencies
+ SGPropertyNode *subnode = node->getChild("frequencies", 0, true);
+ freq_node = subnode->getChild("selected-mhz", 0, true);
+ alt_freq_node = subnode->getChild("standby-mhz", 0, true);
+ fmt_freq_node = subnode->getChild("selected-mhz-fmt", 0, true);
+ fmt_alt_freq_node = subnode->getChild("standby-mhz-fmt", 0, true);
+ is_loc_freq_node = subnode->getChild("is-localizer-frequency", 0, true );
+
+ // radials
+ subnode = node->getChild("radials", 0, true);
+ sel_radial_node = subnode->getChild("selected-deg", 0, true);
+ radial_node = subnode->getChild("actual-deg", 0, true);
+ recip_radial_node = subnode->getChild("reciprocal-radial-deg", 0, true);
+ target_radial_true_node = subnode->getChild("target-radial-deg", 0, true);
+ target_auto_hdg_node = subnode->getChild("target-auto-hdg-deg", 0, true);
+
+ // outputs
+ heading_node = node->getChild("heading-deg", 0, true);
+ time_to_intercept = node->getChild("time-to-intercept-sec", 0, true);
+ to_flag_node = node->getChild("to-flag", 0, true);
+ from_flag_node = node->getChild("from-flag", 0, true);
+ inrange_node = node->getChild("in-range", 0, true);
+ signal_quality_norm_node = node->getChild("signal-quality-norm", 0, true);
+ cdi_deflection_node = node->getChild("heading-needle-deflection", 0, true);
+ cdi_deflection_norm_node = node->getChild("heading-needle-deflection-norm", 0, true);
+ cdi_xtrack_error_node = node->getChild("crosstrack-error-m", 0, true);
+ cdi_xtrack_hdg_err_node
+ = node->getChild("crosstrack-heading-error-deg", 0, true);
+ has_gs_node = node->getChild("has-gs", 0, true);
+ loc_node = node->getChild("nav-loc", 0, true);
+ loc_dist_node = node->getChild("nav-distance", 0, true);
+ gs_deflection_node = node->getChild("gs-needle-deflection", 0, true);
+ gs_deflection_deg_node = node->getChild("gs-needle-deflection-deg", 0, true);
+ gs_deflection_norm_node = node->getChild("gs-needle-deflection-norm", 0, true);
+ gs_direct_node = node->getChild("gs-direct-deg", 0, true);
+ gs_rate_of_climb_node = node->getChild("gs-rate-of-climb", 0, true);
+ gs_rate_of_climb_fpm_node = node->getChild("gs-rate-of-climb-fpm", 0, true);
+ gs_dist_node = node->getChild("gs-distance", 0, true);
+ gs_inrange_node = node->getChild("gs-in-range", 0, true);
+
+ nav_id_node = node->getChild("nav-id", 0, true);
+ id_c1_node = node->getChild("nav-id_asc1", 0, true);
+ id_c2_node = node->getChild("nav-id_asc2", 0, true);
+ id_c3_node = node->getChild("nav-id_asc3", 0, true);
+ id_c4_node = node->getChild("nav-id_asc4", 0, true);
+
+ // gps slaving support
+ nav_slaved_to_gps_node = node->getChild("slaved-to-gps", 0, true);
+ nav_slaved_to_gps_node->addChangeListener(this);
+
+ gps_cdi_deflection_node = fgGetNode("/instrumentation/gps/cdi-deflection", true);
+ gps_to_flag_node = fgGetNode("/instrumentation/gps/to-flag", true);
+ gps_from_flag_node = fgGetNode("/instrumentation/gps/from-flag", true);
+ gps_has_gs_node = fgGetNode("/instrumentation/gps/has-gs", true);
+ gps_course_node = fgGetNode("/instrumentation/gps/desired-course-deg", true);
+ gps_course_node->addChangeListener(this);
+
+ gps_xtrack_error_nm_node = fgGetNode("/instrumentation/gps/wp/wp[1]/course-error-nm", true);
+ _magvarNode = fgGetNode("/environment/magnetic-variation-deg", true);
std::ostringstream temp;
- temp << name << "nav-ident" << num;
- nav_fx_name = temp.str();
- temp << name << "dme-ident" << num;
- dme_fx_name = temp.str();
+ temp << _name << "-ident-" << _num;
+ if( NULL == _audioIdent )
+ _audioIdent = new VORAudioIdent( temp.str() );
+ _audioIdent->init();
+
+ // dme-in-range is deprecated,
+ // temporarily create dme-in-range alias for instrumentation/dme[0]/in-range
+ // remove after flightgear 2.6.0
+ node->getNode( "dme-in-range", true )->alias( fgGetNode("/instrumentation/dme[0]/in-range", true ) );
}
void
-FGNavRadio::bind ()
+FGNavRadio::reinit ()
{
- std::ostringstream temp;
- string branch;
- temp << num;
- branch = "/instrumentation/" + name + "[" + temp.str() + "]";
-
- // User inputs
- fgTie( (branch + "power-btn").c_str(), this,
- &FGNavRadio::get_power_btn, &FGNavRadio::set_power_btn );
- fgSetArchivable( (branch + "power-btn").c_str() );
-
- fgTie( (branch + "/frequencies/selected-mhz").c_str() , this,
- &FGNavRadio::get_nav_freq, &FGNavRadio::set_nav_freq );
- fgSetArchivable( (branch + "/frequencies/selected-mhz").c_str() );
-
- fgTie( (branch + "/frequencies/standby-mhz").c_str() , this,
- &FGNavRadio::get_nav_alt_freq, &FGNavRadio::set_nav_alt_freq);
- fgSetArchivable( (branch + "/frequencies/standby-mhz").c_str() );
-
- fgTie( (branch + "/frequencies/selected-mhz-fmt").c_str() , this,
- &FGNavRadio::get_fmt_freq, &FGNavRadio::set_fmt_freq );
- fgSetArchivable( (branch + "/frequencies/selected-mhz-fmt").c_str() );
-
- fgTie( (branch + "/frequencies/standby-mhz-fmt").c_str() , this,
- &FGNavRadio::get_fmt_alt_freq, &FGNavRadio::set_fmt_alt_freq);
- fgSetArchivable( (branch + "/frequencies/standby-mhz-fmt").c_str() );
-
- fgTie( (branch + "/radials/selected-deg").c_str() , this,
- &FGNavRadio::get_nav_sel_radial, &FGNavRadio::set_nav_sel_radial );
- fgSetArchivable((branch + "/radials/selected-deg").c_str() );
-
- fgTie( (branch + "/volume").c_str() , this,
- &FGNavRadio::get_nav_vol_btn, &FGNavRadio::set_nav_vol_btn );
- fgSetArchivable( (branch + "/volume").c_str() );
-
- fgTie( (branch + "/ident").c_str(), this,
- &FGNavRadio::get_nav_ident_btn, &FGNavRadio::set_nav_ident_btn );
- fgSetArchivable( (branch + "/ident").c_str() );
-
- // Radio outputs
- fgTie( (branch + "/audio-btn").c_str(), this,
- &FGNavRadio::get_audio_btn, &FGNavRadio::set_audio_btn );
- fgSetArchivable( (branch + "/audio-btn").c_str() );
-
- fgTie( (branch + "/heading-deg").c_str(),
- this, &FGNavRadio::get_nav_heading );
-
- fgTie( (branch + "/radials/actual-deg").c_str(),
- this, &FGNavRadio::get_nav_radial );
-
- fgTie( (branch + "/radials/target-radial-deg").c_str(),
- this, &FGNavRadio::get_nav_target_radial_true );
-
- fgTie( (branch + "/radials/reciprocal-radial-deg").c_str(),
- this, &FGNavRadio::get_nav_reciprocal_radial );
-
- fgTie( (branch + "/radials/target-auto-hdg-deg").c_str(),
- this, &FGNavRadio::get_nav_target_auto_hdg );
-
- fgTie( (branch + "/to-flag").c_str(),
- this, &FGNavRadio::get_nav_to_flag );
-
- fgTie( (branch + "/from-flag").c_str(),
- this, &FGNavRadio::get_nav_from_flag );
-
- fgTie( (branch + "/in-range").c_str(),
- this, &FGNavRadio::get_nav_inrange );
-
- fgTie( (branch + "/heading-needle-deflection").c_str(),
- this, &FGNavRadio::get_nav_cdi_deflection );
-
- fgTie( (branch + "/crosstrack-error-m").c_str(),
- this, &FGNavRadio::get_nav_cdi_xtrack_error );
-
- fgTie( (branch + "/has-gs").c_str(),
- this, &FGNavRadio::get_nav_has_gs );
-
- fgTie( (branch + "/nav-loc").c_str(),
- this, &FGNavRadio::get_nav_loc );
-
- fgTie( (branch + "/gs-rate-of-climb").c_str(),
- this, &FGNavRadio::get_nav_gs_rate_of_climb );
-
- fgTie( (branch + "/gs-needle-deflection").c_str(),
- this, &FGNavRadio::get_nav_gs_deflection );
-
- fgTie( (branch + "/gs-distance").c_str(),
- this, &FGNavRadio::get_nav_gs_dist_signed );
-
- fgTie( (branch + "/nav-distance").c_str(),
- this, &FGNavRadio::get_nav_loc_dist );
-
- fgTie( (branch + "/nav-id").c_str(),
- this, &FGNavRadio::get_nav_id );
-
- // put nav_id characters into seperate properties for instrument displays
- fgTie( (branch + "/nav-id_asc1").c_str(),
- this, &FGNavRadio::get_nav_id_c1 );
-
- fgTie( (branch + "/nav-id_asc2").c_str(),
- this, &FGNavRadio::get_nav_id_c2 );
-
- fgTie( (branch + "/nav-id_asc3").c_str(),
- this, &FGNavRadio::get_nav_id_c3 );
-
- fgTie( (branch + "/nav-id_asc4").c_str(),
- this, &FGNavRadio::get_nav_id_c4 );
+ _time_before_search_sec = -1.0;
+}
- // end of binding
+void
+FGNavRadio::bind ()
+{
+ _radio_node->tie( "operable", SGRawValueMethods<FGNavRadio,bool>( *this, &FGNavRadio::isOperable ) );
}
void
FGNavRadio::unbind ()
{
- std::ostringstream temp;
- string branch;
- temp << num;
- branch = "/instrumentation/" + name + "[" + temp.str() + "]";
-
- fgUntie( (branch + "/frequencies/selected-mhz").c_str() );
- fgUntie( (branch + "/frequencies/standby-mhz").c_str() );
- fgUntie( (branch + "/radials/actual-deg").c_str() );
- fgUntie( (branch + "/radials/selected-deg").c_str() );
- fgUntie( (branch + "/ident").c_str() );
- fgUntie( (branch + "/to-flag").c_str() );
- fgUntie( (branch + "/from-flag").c_str() );
- fgUntie( (branch + "/in-range").c_str() );
- fgUntie( (branch + "/heading-needle-deflection").c_str() );
- fgUntie( (branch + "/gs-needle-deflection").c_str() );
+ _radio_node->untie("operable");
}
double FGNavRadio::adjustNavRange( double stationElev, double aircraftElev,
double nominalRange )
{
+ if (nominalRange <= 0.0) {
+ nominalRange = FG_NAV_DEFAULT_RANGE;
+ }
+
// extend out actual usable range to be 1.3x the published safe range
const double usability_factor = 1.3;
// << " station elev = " << stationElev << endl;
if ( nominalRange < 25.0 + SG_EPSILON ) {
- // Standard Terminal Service Volume
- return term_tbl->interpolate( alt ) * usability_factor;
+ // Standard Terminal Service Volume
+ return static_terminalRangeInterp->interpolate( alt ) * usability_factor;
} else if ( nominalRange < 50.0 + SG_EPSILON ) {
// Standard Low Altitude Service Volume
// table is based on range of 40, scale to actual range
- return low_tbl->interpolate( alt ) * nominalRange / 40.0
+ return static_lowRangeInterp->interpolate( alt ) * nominalRange / 40.0
* usability_factor;
} else {
// Standard High Altitude Service Volume
// table is based on range of 130, scale to actual range
- return high_tbl->interpolate( alt ) * nominalRange / 130.0
+ return static_highRangeInterp->interpolate( alt ) * nominalRange / 130.0
* usability_factor;
}
}
return FG_LOC_DEFAULT_RANGE;
}
+// Frequencies with odd 100kHz numbers in the range from 108.00 - 111.95
+// are LOC/GS (ILS) frequency pairs
+// (108.00, 108.05, 108.20, 108.25.. =VOR)
+// (108.10, 108.15, 108.30, 108.35.. =ILS)
+static inline bool IsLocalizerFrequency( double f )
+{
+ if( f < 108.0 || f >= 112.00 ) return false;
+ return (((SGMiscd::roundToInt(f * 100.0) % 100)/10) % 2) != 0;
+}
+
+//////////////////////////////////////////////////////////////////////////
// Update the various nav values based on position and valid tuned in navs
+//////////////////////////////////////////////////////////////////////////
void
FGNavRadio::update(double dt)
{
- double lon = lon_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
- double lat = lat_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
- double elev = alt_node->getDoubleValue() * SG_FEET_TO_METER;
-
- need_update = false;
-
- Point3D aircraft = sgGeodToCart( Point3D( lon, lat, elev ) );
- Point3D station;
- double az1, az2, s;
-
- // Create "formatted" versions of the nav frequencies for
- // consistant display output.
- char tmp[16];
- sprintf( tmp, "%.2f", nav_freq );
- fmt_freq = tmp;
- sprintf( tmp, "%.2f", nav_alt_freq );
- fmt_alt_freq = tmp;
-
- // On timeout, scan again
- _time_before_search_sec -= dt;
- if ( _time_before_search_sec < 0 ) {
- search();
- }
-
- ////////////////////////////////////////////////////////////////////////
- // Nav.
- ////////////////////////////////////////////////////////////////////////
-
- // cout << "nav_valid = " << nav_valid
- // << " power_btn = " << power_btn
- // << " bus_power = " << bus_power->getDoubleValue()
- // << " nav_serviceable = " << nav_serviceable->getBoolValue()
- // << endl;
-
- if ( nav_valid && power_btn && (bus_power->getDoubleValue() > 1.0)
- && nav_serviceable->getBoolValue() )
- {
- station = Point3D( nav_x, nav_y, nav_z );
- nav_loc_dist = aircraft.distance3D( station );
- // cout << "station = " << station << " dist = " << nav_loc_dist
- // << endl;
-
- if ( nav_has_gs ) {
- // find closest distance to the gs base line
- sgdVec3 p;
- sgdSetVec3( p, aircraft.x(), aircraft.y(), aircraft.z() );
- sgdVec3 p0;
- sgdSetVec3( p0, nav_gs_x, nav_gs_y, nav_gs_z );
- double dist = sgdClosestPointToLineDistSquared( p, p0,
- gs_base_vec );
- nav_gs_dist = sqrt( dist );
- // cout << "nav_gs_dist = " << nav_gs_dist << endl;
-
- Point3D tmp( nav_gs_x, nav_gs_y, nav_gs_z );
- // cout << " (" << aircraft.distance3D( tmp ) << ")" << endl;
-
- // wgs84 heading to glide slope (to determine sign of distance)
- geo_inverse_wgs_84( elev,
- lat * SGD_RADIANS_TO_DEGREES,
- lon * SGD_RADIANS_TO_DEGREES,
- nav_gslat, nav_gslon,
- &az1, &az2, &s );
- double r = az1 - nav_target_radial;
- while ( r > 180.0 ) { r -= 360.0;}
- while ( r < -180.0 ) { r += 360.0;}
- if ( r >= -90.0 && r <= 90.0 ) {
- nav_gs_dist_signed = nav_gs_dist;
- } else {
- nav_gs_dist_signed = -nav_gs_dist;
- }
- /* cout << "Target Radial = " << nav_target_radial
- << " Bearing = " << az1
- << " dist (signed) = " << nav_gs_dist_signed
- << endl; */
-
- } else {
- nav_gs_dist = 0.0;
- }
-
- // wgs84 heading to localizer
- geo_inverse_wgs_84( elev,
- lat * SGD_RADIANS_TO_DEGREES,
- lon * SGD_RADIANS_TO_DEGREES,
- nav_loclat, nav_loclon,
- &nav_heading, &az2, &s );
- // cout << "az1 = " << az1 << " magvar = " << nav_magvar << endl;
- nav_radial = az2 - nav_twist;
- // cout << " heading = " << nav_heading
- // << " dist = " << nav_dist << endl;
-
- if ( nav_loc ) {
- double offset = nav_radial - nav_target_radial;
- while ( offset < -180.0 ) { offset += 360.0; }
- while ( offset > 180.0 ) { offset -= 360.0; }
- // cout << "ils offset = " << offset << endl;
- nav_effective_range
- = adjustILSRange( nav_elev, elev, offset,
- nav_loc_dist * SG_METER_TO_NM );
- } else {
- nav_effective_range = adjustNavRange( nav_elev, elev, nav_range );
- }
- // cout << "nav range = " << nav_effective_range
- // << " (" << nav_range << ")" << endl;
-
- if ( nav_loc_dist < nav_effective_range * SG_NM_TO_METER ) {
- nav_inrange = true;
- } else if ( nav_loc_dist < 2 * nav_effective_range * SG_NM_TO_METER ) {
- nav_inrange = sg_random() <
- ( 2 * nav_effective_range * SG_NM_TO_METER - nav_loc_dist ) /
- (nav_effective_range * SG_NM_TO_METER);
- } else {
- nav_inrange = false;
- }
-
- if ( !nav_loc ) {
- nav_target_radial = nav_sel_radial;
- }
-
- // Calculate some values for the nav/ils hold autopilot
-
- double cur_radial = get_nav_reciprocal_radial();
- if ( nav_loc ) {
- // ILS localizers radials are already "true" in our
- // database
- } else {
- cur_radial += nav_twist;
- }
- if ( get_nav_from_flag() ) {
- cur_radial += 180.0;
- while ( cur_radial >= 360.0 ) { cur_radial -= 360.0; }
- }
-
- // AUTOPILOT HELPERS
-
- // determine the target radial in "true" heading
- nav_target_radial_true = nav_target_radial;
- if ( nav_loc ) {
- // ILS localizers radials are already "true" in our
- // database
- } else {
- // VOR radials need to have that vor's offset added in
- nav_target_radial_true += nav_twist;
- }
-
- while ( nav_target_radial_true < 0.0 ) {
- nav_target_radial_true += 360.0;
- }
- while ( nav_target_radial_true > 360.0 ) {
- nav_target_radial_true -= 360.0;
- }
-
- // determine the heading adjustment needed.
- // over 8km scale by 3.0
- // (3 is chosen because max deflection is 10
- // and 30 is clamped angle to radial)
- // under 8km scale by 10.0
- // because the overstated error helps drive it to the radial in a
- // moderate cross wind.
- double adjustment = 0.0;
- if (nav_loc_dist > 8000) {
- adjustment = get_nav_cdi_deflection() * 3.0;
- } else {
- adjustment = get_nav_cdi_deflection() * 10.0;
- }
- SG_CLAMP_RANGE( adjustment, -30.0, 30.0 );
-
- // determine the target heading to fly to intercept the
- // tgt_radial
- nav_target_auto_hdg = nav_target_radial_true + adjustment;
- while ( nav_target_auto_hdg < 0.0 ) { nav_target_auto_hdg += 360.0; }
- while ( nav_target_auto_hdg > 360.0 ) { nav_target_auto_hdg -= 360.0; }
-
- // cross track error
- // ????
-
- // Calculate desired rate of climb for intercepting the GS
- double x = nav_gs_dist;
- double y = (alt_node->getDoubleValue() - nav_elev)
- * SG_FEET_TO_METER;
- double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
-
- double target_angle = nav_target_gs;
- double gs_diff = target_angle - current_angle;
-
- // convert desired vertical path angle into a climb rate
- double des_angle = current_angle - 10 * gs_diff;
-
- // estimate horizontal speed towards ILS in meters per minute
- double dist = last_x - x;
- last_x = x;
- if ( dt > 0.0 ) {
- // avoid nan
- double new_vel = ( dist / dt );
-
- horiz_vel = 0.75 * horiz_vel + 0.25 * new_vel;
- // double horiz_vel = cur_fdm_state->get_V_ground_speed()
- // * SG_FEET_TO_METER * 60.0;
- // double horiz_vel = airspeed_node->getFloatValue()
- // * SG_FEET_TO_METER * 60.0;
-
- nav_gs_rate_of_climb = -sin( des_angle * SGD_DEGREES_TO_RADIANS )
- * horiz_vel * SG_METER_TO_FEET;
- }
- } else {
- nav_inrange = false;
- // cout << "not picking up vor. :-(" << endl;
- }
-
- if ( nav_valid && nav_inrange && nav_serviceable->getBoolValue() ) {
- // play station ident via audio system if on + ident,
- // otherwise turn it off
- if ( power_btn && (bus_power->getDoubleValue() > 1.0)
- && nav_ident_btn && audio_btn )
- {
- SGSoundSample *sound;
- sound = globals->get_soundmgr()->find( nav_fx_name );
- if ( sound != NULL ) {
- sound->set_volume( nav_vol_btn );
- } else {
- SG_LOG( SG_COCKPIT, SG_ALERT,
- "Can't find nav-vor-ident sound" );
- }
- sound = globals->get_soundmgr()->find( dme_fx_name );
- if ( sound != NULL ) {
- sound->set_volume( nav_vol_btn );
- } else {
- SG_LOG( SG_COCKPIT, SG_ALERT,
- "Can't find nav-dme-ident sound" );
- }
- // cout << "nav_last_time = " << nav_last_time << " ";
- // cout << "cur_time = "
- // << globals->get_time_params()->get_cur_time();
- if ( nav_last_time <
- globals->get_time_params()->get_cur_time() - 30 ) {
- nav_last_time = globals->get_time_params()->get_cur_time();
- nav_play_count = 0;
- }
- // cout << " nav_play_count = " << nav_play_count << endl;
- // cout << "playing = "
- // << globals->get_soundmgr()->is_playing(nav_fx_name)
- // << endl;
- if ( nav_play_count < 4 ) {
- // play VOR ident
- if ( !globals->get_soundmgr()->is_playing(nav_fx_name) ) {
- globals->get_soundmgr()->play_once( nav_fx_name );
- ++nav_play_count;
- }
- } else if ( nav_play_count < 5 && nav_has_dme ) {
- // play DME ident
- if ( !globals->get_soundmgr()->is_playing(nav_fx_name) &&
- !globals->get_soundmgr()->is_playing(dme_fx_name) ) {
- globals->get_soundmgr()->play_once( dme_fx_name );
- ++nav_play_count;
- }
- }
- } else {
- globals->get_soundmgr()->stop( nav_fx_name );
- globals->get_soundmgr()->stop( dme_fx_name );
- }
- }
+ if (dt <= 0.0) {
+ return; // paused
+ }
+
+ // Create "formatted" versions of the nav frequencies for
+ // instrument displays.
+ char tmp[16];
+ sprintf( tmp, "%.2f", freq_node->getDoubleValue() );
+ fmt_freq_node->setStringValue(tmp);
+ sprintf( tmp, "%.2f", alt_freq_node->getDoubleValue() );
+ fmt_alt_freq_node->setStringValue(tmp);
+ is_loc_freq_node->setBoolValue( IsLocalizerFrequency( freq_node->getDoubleValue() ));
+
+ if (power_btn_node->getBoolValue()
+ && (bus_power_node->getDoubleValue() > 1.0)
+ && nav_serviceable_node->getBoolValue() )
+ {
+ _operable = true;
+ updateReceiver(dt);
+ updateCDI(dt);
+ } else {
+ clearOutputs();
+ }
+
+ updateAudio( dt );
}
-
-// Update current nav/adf radio stations based on current postition
-void FGNavRadio::search()
+void FGNavRadio::clearOutputs()
{
+ inrange_node->setBoolValue( false );
+ signal_quality_norm_node->setDoubleValue( 0.0 );
+ cdi_deflection_node->setDoubleValue( 0.0 );
+ cdi_deflection_norm_node->setDoubleValue( 0.0 );
+ cdi_xtrack_error_node->setDoubleValue( 0.0 );
+ cdi_xtrack_hdg_err_node->setDoubleValue( 0.0 );
+ time_to_intercept->setDoubleValue( 0.0 );
+ heading_node->setDoubleValue(0.0);
+ gs_deflection_node->setDoubleValue( 0.0 );
+ gs_deflection_deg_node->setDoubleValue(0.0);
+ gs_deflection_norm_node->setDoubleValue(0.0);
+ gs_direct_node->setDoubleValue(0.0);
+ gs_inrange_node->setBoolValue( false );
+ loc_node->setBoolValue( false );
+ has_gs_node->setBoolValue(false);
+
+ to_flag_node->setBoolValue( false );
+ from_flag_node->setBoolValue( false );
+ is_valid_node->setBoolValue(false);
+ nav_id_node->setStringValue("");
+
+ _operable = false;
+ _navaid = NULL;
+}
- // reset search time
- _time_before_search_sec = 1.0;
-
- double lon = lon_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
- double lat = lat_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
- double elev = alt_node->getDoubleValue() * SG_FEET_TO_METER;
-
- FGNavRecord *nav = NULL;
- FGNavRecord *loc = NULL;
- FGNavRecord *dme = NULL;
- FGNavRecord *gs = NULL;
-
- ////////////////////////////////////////////////////////////////////////
- // Nav.
- ////////////////////////////////////////////////////////////////////////
-
- nav = globals->get_navlist()->findByFreq(nav_freq, lon, lat, elev);
- dme = globals->get_dmelist()->findByFreq(nav_freq, lon, lat, elev);
- if ( nav == NULL ) {
- loc = globals->get_loclist()->findByFreq(nav_freq, lon, lat, elev);
- gs = globals->get_gslist()->findByFreq(nav_freq, lon, lat, elev);
- }
-
- if ( loc != NULL ) {
- nav_id = loc->get_ident();
- // cout << "localizer = " << nav_id << endl;
- nav_valid = true;
- if ( last_nav_id != nav_id || last_nav_vor ) {
- nav_trans_ident = loc->get_trans_ident();
- nav_target_radial = loc->get_multiuse();
- while ( nav_target_radial < 0.0 ) { nav_target_radial += 360.0; }
- while ( nav_target_radial > 360.0 ) { nav_target_radial -= 360.0; }
- nav_loclon = loc->get_lon();
- nav_loclat = loc->get_lat();
- nav_x = loc->get_x();
- nav_y = loc->get_y();
- nav_z = loc->get_z();
- last_nav_id = nav_id;
- last_nav_vor = false;
- nav_loc = true;
- nav_has_dme = (dme != NULL);
- nav_has_gs = (gs != NULL);
- if ( nav_has_gs ) {
- nav_gslon = gs->get_lon();
- nav_gslat = gs->get_lat();
- nav_elev = gs->get_elev_ft();
- int tmp = (int)(gs->get_multiuse() / 1000.0);
- nav_target_gs = (double)tmp / 100.0;
- nav_gs_x = gs->get_x();
- nav_gs_y = gs->get_y();
- nav_gs_z = gs->get_z();
-
- // derive GS baseline (perpendicular to the runay
- // along the ground)
- double tlon, tlat, taz;
- geo_direct_wgs_84 ( 0.0, nav_gslat, nav_gslon,
- nav_target_radial + 90,
- 100.0, &tlat, &tlon, &taz );
- // cout << "nav_target_radial = " << nav_target_radial << endl;
- // cout << "nav_loc = " << nav_loc << endl;
- // cout << nav_gslon << "," << nav_gslat << " "
- // << tlon << "," << tlat << " (" << nav_elev << ")"
- // << endl;
- Point3D p1 = sgGeodToCart( Point3D(tlon*SGD_DEGREES_TO_RADIANS,
- tlat*SGD_DEGREES_TO_RADIANS,
- nav_elev*SG_FEET_TO_METER)
- );
- // cout << nav_gs_x << "," << nav_gs_y << "," << nav_gs_z
- // << endl;
- // cout << p1 << endl;
- sgdSetVec3( gs_base_vec,
- p1.x()-nav_gs_x, p1.y()-nav_gs_y, p1.z()-nav_gs_z );
- // cout << gs_base_vec[0] << "," << gs_base_vec[1] << ","
- // << gs_base_vec[2] << endl;
- } else {
- nav_elev = loc->get_elev_ft();
- }
- nav_twist = 0;
- nav_range = FG_LOC_DEFAULT_RANGE;
- nav_effective_range = nav_range;
-
- if ( globals->get_soundmgr()->exists( nav_fx_name ) ) {
- globals->get_soundmgr()->remove( nav_fx_name );
- }
- SGSoundSample *sound;
- sound = morse.make_ident( nav_trans_ident, LO_FREQUENCY );
- sound->set_volume( 0.3 );
- globals->get_soundmgr()->add( sound, nav_fx_name );
-
- if ( globals->get_soundmgr()->exists( dme_fx_name ) ) {
- globals->get_soundmgr()->remove( dme_fx_name );
- }
- sound = morse.make_ident( nav_trans_ident, HI_FREQUENCY );
- sound->set_volume( 0.3 );
- globals->get_soundmgr()->add( sound, dme_fx_name );
-
- int offset = (int)(sg_random() * 30.0);
- nav_play_count = offset / 4;
- nav_last_time = globals->get_time_params()->get_cur_time() -
- offset;
- // cout << "offset = " << offset << " play_count = "
- // << nav_play_count
- // << " nav_last_time = " << nav_last_time
- // << " current time = "
- // << globals->get_time_params()->get_cur_time() << endl;
-
- // cout << "Found an loc station in range" << endl;
- // cout << " id = " << loc->get_locident() << endl;
- }
- } else if ( nav != NULL ) {
- nav_id = nav->get_ident();
- // cout << "nav = " << nav_id << endl;
- nav_valid = true;
- if ( last_nav_id != nav_id || !last_nav_vor ) {
- last_nav_id = nav_id;
- last_nav_vor = true;
- nav_trans_ident = nav->get_trans_ident();
- nav_loc = false;
- nav_has_dme = (dme != NULL);
- nav_has_gs = false;
- nav_loclon = nav->get_lon();
- nav_loclat = nav->get_lat();
- nav_elev = nav->get_elev_ft();
- nav_twist = nav->get_multiuse();
- nav_range = nav->get_range();
- nav_effective_range = adjustNavRange(nav_elev, elev, nav_range);
- nav_target_gs = 0.0;
- nav_target_radial = nav_sel_radial;
- nav_x = nav->get_x();
- nav_y = nav->get_y();
- nav_z = nav->get_z();
-
- if ( globals->get_soundmgr()->exists( nav_fx_name ) ) {
- globals->get_soundmgr()->remove( nav_fx_name );
- }
- SGSoundSample *sound;
- sound = morse.make_ident( nav_trans_ident, LO_FREQUENCY );
- sound->set_volume( 0.3 );
- if ( globals->get_soundmgr()->add( sound, nav_fx_name ) ) {
- // cout << "Added nav-vor-ident sound" << endl;
- } else {
- SG_LOG(SG_COCKPIT, SG_WARN, "Failed to add v1-vor-ident sound");
- }
-
- if ( globals->get_soundmgr()->exists( dme_fx_name ) ) {
- globals->get_soundmgr()->remove( dme_fx_name );
- }
- sound = morse.make_ident( nav_trans_ident, HI_FREQUENCY );
- sound->set_volume( 0.3 );
- globals->get_soundmgr()->add( sound, dme_fx_name );
-
- int offset = (int)(sg_random() * 30.0);
- nav_play_count = offset / 4;
- nav_last_time = globals->get_time_params()->get_cur_time() -
- offset;
- // cout << "offset = " << offset << " play_count = "
- // << nav_play_count << " nav_last_time = "
- // << nav_last_time << " current time = "
- // << globals->get_time_params()->get_cur_time() << endl;
-
- // cout << "Found a vor station in range" << endl;
- // cout << " id = " << nav->get_ident() << endl;
+void FGNavRadio::updateReceiver(double dt)
+{
+ SGVec3d aircraft = SGVec3d::fromGeod(globals->get_aircraft_position());
+ double loc_dist = 0;
+
+ // Do a nav station search only once a second to reduce
+ // unnecessary work. (Also, make sure to do this before caching
+ // any values!)
+ _time_before_search_sec -= dt;
+ if ( _time_before_search_sec < 0 ) {
+ search();
+ }
+
+ if (_navaid)
+ {
+ loc_dist = dist(aircraft, _navaid->cart());
+ loc_dist_node->setDoubleValue( loc_dist );
+ }
+
+ if (nav_slaved_to_gps_node->getBoolValue()) {
+ // when slaved to GPS: only allow stuff above: tune NAV station
+ // All other data driven by GPS only.
+ updateGPSSlaved();
+ return;
+ }
+
+ if (!_navaid) {
+ _cdiDeflection = 0.0;
+ _cdiCrossTrackErrorM = 0.0;
+ _toFlag = _fromFlag = false;
+ _gsNeedleDeflection = 0.0;
+ _gsNeedleDeflectionNorm = 0.0;
+ heading_node->setDoubleValue(0.0);
+ inrange_node->setBoolValue(false);
+ signal_quality_norm_node->setDoubleValue(0.0);
+ gs_dist_node->setDoubleValue( 0.0 );
+ gs_inrange_node->setBoolValue(false);
+ return;
+ }
+
+ double nav_elev = _navaid->get_elev_ft();
+
+ bool is_loc = loc_node->getBoolValue();
+ double signal_quality_norm = signal_quality_norm_node->getDoubleValue();
+
+ double az2, s;
+ //////////////////////////////////////////////////////////
+ // compute forward and reverse wgs84 headings to localizer
+ //////////////////////////////////////////////////////////
+ double hdg;
+ SGGeodesy::inverse(globals->get_aircraft_position(), _navaid->geod(), hdg, az2, s);
+ heading_node->setDoubleValue(hdg);
+ double radial = az2 - twist;
+ double recip = radial + 180.0;
+ SG_NORMALIZE_RANGE(recip, 0.0, 360.0);
+ radial_node->setDoubleValue( radial );
+ recip_radial_node->setDoubleValue( recip );
+
+ //////////////////////////////////////////////////////////
+ // compute the target/selected radial in "true" heading
+ //////////////////////////////////////////////////////////
+ if (!is_loc) {
+ target_radial = sel_radial_node->getDoubleValue();
+ }
+
+ // VORs need twist (mag-var) added; ILS/LOCs don't but we set twist to 0.0
+ double trtrue = target_radial + twist;
+ SG_NORMALIZE_RANGE(trtrue, 0.0, 360.0);
+ target_radial_true_node->setDoubleValue( trtrue );
+
+ //////////////////////////////////////////////////////////
+ // adjust reception range for altitude
+ // FIXME: make sure we are using the navdata range now that
+ // it is valid in the data file
+ //////////////////////////////////////////////////////////
+ if ( is_loc ) {
+ double offset = radial - target_radial;
+ SG_NORMALIZE_RANGE(offset, -180.0, 180.0);
+ effective_range
+ = adjustILSRange( nav_elev, globals->get_aircraft_position().getElevationM(), offset,
+ loc_dist * SG_METER_TO_NM );
+ } else {
+ effective_range
+ = adjustNavRange( nav_elev, globals->get_aircraft_position().getElevationM(), _navaid->get_range() );
}
+
+ double effective_range_m = effective_range * SG_NM_TO_METER;
+
+ //////////////////////////////////////////////////////////
+ // compute signal quality
+ // 100% within effective_range
+ // decreases 1/x^2 further out
+ //////////////////////////////////////////////////////////
+ double last_signal_quality_norm = signal_quality_norm;
+
+ if ( loc_dist < effective_range_m ) {
+ signal_quality_norm = 1.0;
+ } else {
+ double range_exceed_norm = loc_dist/effective_range_m;
+ signal_quality_norm = 1/(range_exceed_norm*range_exceed_norm);
+ }
+
+ signal_quality_norm = fgGetLowPass( last_signal_quality_norm,
+ signal_quality_norm, dt );
+
+ signal_quality_norm_node->setDoubleValue( signal_quality_norm );
+ bool inrange = signal_quality_norm > 0.2;
+ inrange_node->setBoolValue( inrange );
+
+ //////////////////////////////////////////////////////////
+ // compute to/from flag status
+ //////////////////////////////////////////////////////////
+ if (inrange) {
+ if (is_loc) {
+ _toFlag = true;
} else {
- nav_valid = false;
- nav_id = "";
- nav_target_radial = 0;
- nav_trans_ident = "";
- last_nav_id = "";
- if ( ! globals->get_soundmgr()->remove( nav_fx_name ) ) {
- SG_LOG(SG_COCKPIT, SG_WARN, "Failed to remove nav-vor-ident sound");
- }
- globals->get_soundmgr()->remove( dme_fx_name );
- // cout << "not picking up vor1. :-(" << endl;
+ double offset = fabs(radial - target_radial);
+ _toFlag = (offset > 90.0 && offset < 270.0);
}
-}
-
-
-// return the amount of heading needle deflection, returns a value
-// clamped to the range of ( -10 , 10 )
-double FGNavRadio::get_nav_cdi_deflection() const {
- double r;
-
- if ( nav_inrange && nav_serviceable->getBoolValue()
- && cdi_serviceable->getBoolValue() && !nav_slaved_to_gps->getBoolValue() )
- {
- r = nav_radial - nav_target_radial;
- // cout << "Target radial = " << nav_target_radial
- // << " Actual radial = " << nav_radial << endl;
-
- while ( r > 180.0 ) { r -= 360.0;}
- while ( r < -180.0 ) { r += 360.0;}
- if ( fabs(r) > 90.0 )
- r = ( r<0.0 ? -r-180.0 : -r+180.0 );
-
- // According to Robin Peel, the ILS is 4x more sensitive than a vor
- r = -r; // reverse, since radial is outbound
- if ( nav_loc ) { r *= 4.0; }
- if ( r < -10.0 ) { r = -10.0; }
- if ( r > 10.0 ) { r = 10.0; }
- } else if ( nav_slaved_to_gps->getBoolValue() ) {
- r = gps_cdi_deflection->getDoubleValue();
- // We want +- 5 dots deflection for the gps, so clamp to -12.5/12.5
- if ( r < -12.5 ) { r = -12.5; }
- if ( r > 12.5 ) { r = 12.5; }
+ _fromFlag = !_toFlag;
+ } else {
+ _toFlag = _fromFlag = false;
+ }
+
+ // CDI deflection
+ double r = target_radial - radial;
+ SG_NORMALIZE_RANGE(r, -180.0, 180.0);
+
+ if ( is_loc ) {
+ if (falseCoursesEnabledNode->getBoolValue()) {
+ // The factor of 30.0 gives a period of 120 which gives us 3 cycles and six
+ // zeros i.e. six courses: one front course, one back course, and four
+ // false courses. Three of the six are reverse sensing.
+ _cdiDeflection = 30.0 * sawtooth(r / 30.0);
} else {
- r = 0.0;
- }
-
- return r;
-}
-
-// return the amount of cross track distance error, returns a meters
-double FGNavRadio::get_nav_cdi_xtrack_error() const {
- double r, m;
-
- if ( nav_inrange
- && nav_serviceable->getBoolValue() && cdi_serviceable->getBoolValue() )
- {
- r = nav_radial - nav_target_radial;
- // cout << "Target radial = " << nav_target_radial
- // << " Actual radial = " << nav_radial
- // << " r = " << r << endl;
+ // no false courses, but we do need to create a back course
+ if (fabs(r) > 90.0) { // front course
+ _cdiDeflection = r - copysign(180.0, r);
+ } else {
+ _cdiDeflection = r; // back course
+ }
+
+ _cdiDeflection = -_cdiDeflection; // reverse for outbound radial
+ } // of false courses disabled
- while ( r > 180.0 ) { r -= 360.0;}
- while ( r < -180.0 ) { r += 360.0;}
- if ( fabs(r) > 90.0 )
- r = ( r<0.0 ? -r-180.0 : -r+180.0 );
-
- r = -r; // reverse, since radial is outbound
-
- m = nav_loc_dist * sin(r * SGD_DEGREES_TO_RADIANS);
-
- } else {
- m = 0.0;
+ const double VOR_FULL_ARC = 20.0; // VOR is -10 .. 10 degree swing
+ _cdiDeflection *= VOR_FULL_ARC / _localizerWidth; // increased localizer sensitivity
+
+ if (backcourse_node->getBoolValue()) {
+ _cdiDeflection = -_cdiDeflection;
}
-
- return m;
+ } else {
+ // handle the TO side of the VOR
+ if (fabs(r) > 90.0) {
+ r = ( r<0.0 ? -r-180.0 : -r+180.0 );
+ }
+ _cdiDeflection = r;
+ } // of non-localizer case
+
+ SG_CLAMP_RANGE(_cdiDeflection, -10.0, 10.0 );
+ _cdiDeflection *= signal_quality_norm;
+
+ // cross-track error (in meters)
+ _cdiCrossTrackErrorM = loc_dist * sin(r * SGD_DEGREES_TO_RADIANS);
+
+ updateGlideSlope(dt, aircraft, signal_quality_norm);
}
-// return the amount of glide slope needle deflection (.i.e. the
-// number of degrees we are off the glide slope * 5.0
-double FGNavRadio::get_nav_gs_deflection() const {
- if ( nav_inrange && nav_has_gs && nav_serviceable->getBoolValue()
- && gs_serviceable->getBoolValue() && !nav_slaved_to_gps->getBoolValue() )
- {
- double x = nav_gs_dist;
- double y = (fgGetDouble("/position/altitude-ft") - nav_elev)
- * SG_FEET_TO_METER;
- // cout << "dist = " << x << " height = " << y << endl;
- double angle = asin( y / x ) * SGD_RADIANS_TO_DEGREES;
- return (nav_target_gs - angle) * 5.0;
+void FGNavRadio::updateGlideSlope(double dt, const SGVec3d& aircraft, double signal_quality_norm)
+{
+ bool gsInRange = (_gs && inrange_node->getBoolValue());
+ double gsDist = 0;
+
+ if (gsInRange)
+ {
+ gsDist = dist(aircraft, _gsCart);
+ gsInRange = (gsDist < (_gs->get_range() * SG_NM_TO_METER));
+ }
+
+ gs_inrange_node->setBoolValue(gsInRange);
+ gs_dist_node->setDoubleValue( gsDist );
+
+ if (!gsInRange)
+ {
+ _gsNeedleDeflection = 0.0;
+ _gsNeedleDeflectionNorm = 0.0;
+ return;
+ }
+
+ SGVec3d pos = aircraft - _gsCart; // relative vector from gs antenna to aircraft
+ // The positive GS axis points along the runway in the landing direction,
+ // toward the far end, not toward the approach area, so we need a - sign here:
+ double comp_h = -dot(pos, _gsAxis); // component in horiz direction
+ double comp_v = dot(pos, _gsVertical); // component in vertical direction
+ //double comp_b = dot(pos, _gsBaseline); // component in baseline direction
+ //if (comp_b) {} // ... (useful for debugging)
+
+// _gsDirect represents the angle of elevation of the aircraft
+// as seen by the GS transmitter.
+ _gsDirect = atan2(comp_v, comp_h) * SGD_RADIANS_TO_DEGREES;
+// At this point, if the aircraft is centered on the glide slope,
+// _gsDirect will be a small positive number, e.g. 3.0 degrees
+
+// Aim the branch cut straight down
+// into the ground below the GS transmitter:
+ if (_gsDirect < -90.0) _gsDirect += 360.0;
+
+ double deflectionAngle = target_gs - _gsDirect;
+
+ if (falseCoursesEnabledNode->getBoolValue()) {
+ // Construct false glideslopes. The scale factor of 1.5
+ // in the sawtooth gives a period of 6 degrees.
+ // There will be zeros at 3, 6r, 9, 12r et cetera
+ // where "r" indicates reverse sensing.
+ // This is is consistent with conventional pilot lore
+ // e.g. http://www.allstar.fiu.edu/aerojava/ILS.htm
+ // but inconsistent with
+ // http://www.freepatentsonline.com/3757338.html
+ //
+ // It may be that some of each exist.
+ if (deflectionAngle < 0) {
+ deflectionAngle = 1.5 * sawtooth(deflectionAngle / 1.5);
} else {
- return 0.0;
+ // no false GS below the true GS
}
+ }
+
+// GS is documented to be 1.4 degrees thick,
+// i.e. plus or minus 0.7 degrees from the midline:
+ SG_CLAMP_RANGE(deflectionAngle, -0.7, 0.7);
+
+// Many older instrument xml frontends depend on
+// the un-normalized gs-needle-deflection.
+// Apparently the interface standard is plus or minus 3.5 "volts"
+// for a full-scale deflection:
+ _gsNeedleDeflection = deflectionAngle * 5.0;
+ _gsNeedleDeflection *= signal_quality_norm;
+
+ _gsNeedleDeflectionNorm = (deflectionAngle / 0.7) * signal_quality_norm;
+
+ //////////////////////////////////////////////////////////
+ // Calculate desired rate of climb for intercepting the GS
+ //////////////////////////////////////////////////////////
+ double gs_diff = target_gs - _gsDirect;
+ // convert desired vertical path angle into a climb rate
+ double des_angle = _gsDirect - 10 * gs_diff;
+ /* printf("target_gs=%.1f angle=%.1f gs_diff=%.1f des_angle=%.1f\n",
+ target_gs, _gsDirect, gs_diff, des_angle); */
+
+ // estimate horizontal speed towards ILS in meters per minute
+ double elapsedDistance = last_x - gsDist;
+ last_x = gsDist;
+
+ double new_vel = ( elapsedDistance / dt );
+ horiz_vel = 0.99 * horiz_vel + 0.01 * new_vel;
+ /* printf("vel=%.1f (dist=%.1f dt=%.2f)\n", horiz_vel, elapsedDistance, dt);*/
+
+ gs_rate_of_climb_node
+ ->setDoubleValue( -sin( des_angle * SGD_DEGREES_TO_RADIANS )
+ * horiz_vel * SG_METER_TO_FEET );
+ gs_rate_of_climb_fpm_node
+ ->setDoubleValue( gs_rate_of_climb_node->getDoubleValue() * 60 );
}
-
-/**
- * Return true if the NAV TO flag should be active.
- */
-bool
-FGNavRadio::get_nav_to_flag () const
+void FGNavRadio::valueChanged (SGPropertyNode* prop)
{
- if ( nav_inrange
- && nav_serviceable->getBoolValue()
- && tofrom_serviceable->getBoolValue()
- && !nav_slaved_to_gps->getBoolValue() )
- {
- double offset = fabs(nav_radial - nav_target_radial);
- if (nav_loc) {
- return true;
- } else {
- return !(offset <= 90.0 || offset >= 270.0);
- }
- } else if( nav_slaved_to_gps->getBoolValue() ) {
- return( gps_to_flag->getBoolValue() );
- } else {
- return false;
+ if (prop == gps_course_node) {
+ if (!nav_slaved_to_gps_node->getBoolValue()) {
+ return;
}
+
+ // GPS desired course has changed, sync up our selected-course
+ double v = prop->getDoubleValue();
+ if (v != sel_radial_node->getDoubleValue()) {
+ sel_radial_node->setDoubleValue(v);
+ }
+ } else if (prop == nav_slaved_to_gps_node) {
+ if (prop->getBoolValue()) {
+ // slaved-to-GPS activated, clear obsolete NAV outputs and sync up selected course
+ clearOutputs();
+ sel_radial_node->setDoubleValue(gps_course_node->getDoubleValue());
+ }
+ // slave-to-GPS enabled/disabled, resync NAV station (update all outputs)
+ _navaid = NULL;
+ _time_before_search_sec = 0;
+ }
}
+void FGNavRadio::updateGPSSlaved()
+{
+ has_gs_node->setBoolValue(gps_has_gs_node->getBoolValue());
+
+ _toFlag = gps_to_flag_node->getBoolValue();
+ _fromFlag = gps_from_flag_node->getBoolValue();
+
+ bool gpsValid = (_toFlag | _fromFlag);
+ inrange_node->setBoolValue(gpsValid);
+ if (!gpsValid) {
+ signal_quality_norm_node->setDoubleValue(0.0);
+ _cdiDeflection = 0.0;
+ _cdiCrossTrackErrorM = 0.0;
+ _gsNeedleDeflection = 0.0;
+ _gsNeedleDeflectionNorm = 0.0;
+ return;
+ }
+
+ // this is unfortunate, but panel instruments use this value to decide
+ // if the navradio output is valid.
+ signal_quality_norm_node->setDoubleValue(1.0);
+
+ _cdiDeflection = gps_cdi_deflection_node->getDoubleValue();
+ // clmap to some range (+/- 10 degrees) as the regular deflection
+ SG_CLAMP_RANGE(_cdiDeflection, -10.0, 10.0 );
+
+ _cdiCrossTrackErrorM = gps_xtrack_error_nm_node->getDoubleValue() * SG_NM_TO_METER;
+ _gsNeedleDeflection = 0.0; // FIXME, supply this
+
+ double trtrue = gps_course_node->getDoubleValue() + _magvarNode->getDoubleValue();
+ SG_NORMALIZE_RANGE(trtrue, 0.0, 360.0);
+ target_radial_true_node->setDoubleValue( trtrue );
+}
-/**
- * Return true if the NAV FROM flag should be active.
- */
-bool
-FGNavRadio::get_nav_from_flag () const
+void FGNavRadio::updateCDI(double dt)
{
- if ( nav_inrange
- && nav_serviceable->getBoolValue()
- && tofrom_serviceable->getBoolValue() ) {
- double offset = fabs(nav_radial - nav_target_radial);
- if (nav_loc) {
- return false;
- } else {
- return !(offset > 90.0 && offset < 270.0);
- }
+ bool cdi_serviceable = cdi_serviceable_node->getBoolValue();
+ bool inrange = inrange_node->getBoolValue();
+
+ if (tofrom_serviceable_node->getBoolValue()) {
+ to_flag_node->setBoolValue(_toFlag);
+ from_flag_node->setBoolValue(_fromFlag);
+ } else {
+ to_flag_node->setBoolValue(false);
+ from_flag_node->setBoolValue(false);
+ }
+
+ if (!cdi_serviceable) {
+ _cdiDeflection = 0.0;
+ _cdiCrossTrackErrorM = 0.0;
+ }
+
+ cdi_deflection_node->setDoubleValue(_cdiDeflection);
+ cdi_deflection_norm_node->setDoubleValue(_cdiDeflection * 0.1);
+ cdi_xtrack_error_node->setDoubleValue(_cdiCrossTrackErrorM);
+
+ //////////////////////////////////////////////////////////
+ // compute an approximate ground track heading error
+ //////////////////////////////////////////////////////////
+ double hdg_error = 0.0;
+ if ( inrange && cdi_serviceable ) {
+ double vn = fgGetDouble( "/velocities/speed-north-fps" );
+ double ve = fgGetDouble( "/velocities/speed-east-fps" );
+ double gnd_trk_true = atan2( ve, vn ) * SGD_RADIANS_TO_DEGREES;
+ if ( gnd_trk_true < 0.0 ) { gnd_trk_true += 360.0; }
+
+ SGPropertyNode *true_hdg
+ = fgGetNode("/orientation/heading-deg", true);
+ hdg_error = gnd_trk_true - true_hdg->getDoubleValue();
+
+ // cout << "ground track = " << gnd_trk_true
+ // << " orientation = " << true_hdg->getDoubleValue() << endl;
+ }
+ cdi_xtrack_hdg_err_node->setDoubleValue( hdg_error );
+
+ //////////////////////////////////////////////////////////
+ // Calculate a suggested target heading to smoothly intercept
+ // a nav/ils radial.
+ //////////////////////////////////////////////////////////
+
+ // Now that we have cross track heading adjustment built in,
+ // we shouldn't need to overdrive the heading angle within 8km
+ // of the station.
+ //
+ // The cdi deflection should be +/-10 for a full range of deflection
+ // so multiplying this by 3 gives us +/- 30 degrees heading
+ // compensation.
+ double adjustment = _cdiDeflection * 3.0;
+ SG_CLAMP_RANGE( adjustment, -30.0, 30.0 );
+
+ // determine the target heading to fly to intercept the
+ // tgt_radial = target radial (true) + cdi offset adjustment -
+ // xtrack heading error adjustment
+ double nta_hdg;
+ double trtrue = target_radial_true_node->getDoubleValue();
+ if ( loc_node->getBoolValue() && backcourse_node->getBoolValue() ) {
+ // tuned to a localizer and backcourse mode activated
+ trtrue += 180.0; // reverse the target localizer heading
+ SG_NORMALIZE_RANGE(trtrue, 0.0, 360.0);
+ nta_hdg = trtrue - adjustment - hdg_error;
+ } else {
+ nta_hdg = trtrue + adjustment - hdg_error;
+ }
+
+ SG_NORMALIZE_RANGE(nta_hdg, 0.0, 360.0);
+ target_auto_hdg_node->setDoubleValue( nta_hdg );
+
+ //////////////////////////////////////////////////////////
+ // compute the time to intercept selected radial (based on
+ // current and last cross track errors and dt)
+ //////////////////////////////////////////////////////////
+ double t = 0.0;
+ if ( inrange && cdi_serviceable ) {
+ double cur_rate = (last_xtrack_error - _cdiCrossTrackErrorM) / dt;
+ xrate_ms = 0.99 * xrate_ms + 0.01 * cur_rate;
+ if ( fabs(xrate_ms) > 0.00001 ) {
+ t = _cdiCrossTrackErrorM / xrate_ms;
} else {
- return false;
+ t = 9999.9;
}
+ }
+ time_to_intercept->setDoubleValue( t );
+
+ if (!gs_serviceable_node->getBoolValue() ) {
+ _gsNeedleDeflection = 0.0;
+ _gsNeedleDeflectionNorm = 0.0;
+ }
+ gs_deflection_node->setDoubleValue(_gsNeedleDeflection);
+ gs_deflection_deg_node->setDoubleValue(_gsNeedleDeflectionNorm * 0.7);
+ gs_deflection_norm_node->setDoubleValue(_gsNeedleDeflectionNorm);
+ gs_direct_node->setDoubleValue(_gsDirect);
+
+ last_xtrack_error = _cdiCrossTrackErrorM;
}
-
-/**
- * Return the true heading to station
- */
-double
-FGNavRadio::get_nav_heading () const
+void FGNavRadio::updateAudio( double dt )
{
- return nav_heading;
+ if (!_navaid || !inrange_node->getBoolValue() || !nav_serviceable_node->getBoolValue()) {
+ _audioIdent->setIdent("", 0.0 );
+ return;
+ }
+
+ // play station ident via audio system if on + ident,
+ // otherwise turn it off
+ if (!power_btn_node->getBoolValue()
+ || !(bus_power_node->getDoubleValue() > 1.0)
+ || !ident_btn_node->getBoolValue()
+ || !audio_btn_node->getBoolValue() ) {
+ _audioIdent->setIdent("", 0.0 );
+ return;
+ }
+
+ _audioIdent->setIdent( _navaid->get_trans_ident(), vol_btn_node->getFloatValue() );
+
+ _audioIdent->update( dt );
}
+FGNavRecord* FGNavRadio::findPrimaryNavaid(const SGGeod& aPos, double aFreqMHz)
+{
+ return FGNavList::findByFreq(aFreqMHz, aPos, FGNavList::navFilter());
+}
-/**
- * Return the current radial.
- */
-double
-FGNavRadio::get_nav_radial () const
+// Update current nav/adf radio stations based on current position
+void FGNavRadio::search()
{
- return nav_radial;
+ // set delay for next search
+ _time_before_search_sec = 1.0;
+
+ double freq = freq_node->getDoubleValue();
+
+ // immediate NAV search when frequency has changed (toggle between nav and g/s search otherwise)
+ _nav_search |= (_last_freq != freq);
+
+ // do we need to search a new NAV station in this iteration?
+ if (_nav_search)
+ {
+ _last_freq = freq;
+ FGNavRecord* nav = findPrimaryNavaid(globals->get_aircraft_position(), freq);
+ if (nav == _navaid) {
+ if (nav && (nav->type() != FGPositioned::VOR))
+ _nav_search = false; // search glideslope on next iteration
+ return; // nav hasn't changed, we're done
+ }
+ // remember new navaid station
+ _navaid = nav;
+ }
+
+ // search glideslope station
+ if ((_navaid.valid()) && (_navaid->type() != FGPositioned::VOR))
+ {
+ FGNavList::TypeFilter gsFilter(FGPositioned::GS);
+ FGNavRecord* gs = FGNavList::findByFreq(freq, globals->get_aircraft_position(),
+ &gsFilter);
+ if ((!_nav_search) && (gs == _gs))
+ {
+ _nav_search = true; // search NAV on next iteration
+ return; // g/s hasn't changed, neither has nav - we're done
+ }
+ // remember new glideslope station
+ _gs = gs;
+ }
+
+ _nav_search = true; // search NAV on next iteration
+
+ // nav or gs station has changed
+ updateNav();
}
-double
-FGNavRadio::get_nav_reciprocal_radial () const
+// Update current nav/adf/glideslope outputs when station has changed
+void FGNavRadio::updateNav()
{
- double recip = nav_radial + 180;
- if ( recip >= 360 ) {
- recip -= 360;
- }
- return recip;
+ // update necessary, nav and/or gs has changed
+ FGNavRecord* nav = _navaid;
+ string identBuffer(4, ' ');
+ if (nav) {
+ nav_id_node->setStringValue(nav->get_ident());
+ identBuffer = simgear::strutils::rpad( nav->ident(), 4, ' ' );
+
+ effective_range = adjustNavRange(nav->get_elev_ft(), globals->get_aircraft_position().getElevationM(), nav->get_range());
+ loc_node->setBoolValue(nav->type() != FGPositioned::VOR);
+ twist = nav->get_multiuse();
+
+ if (nav->type() == FGPositioned::VOR) {
+ target_radial = sel_radial_node->getDoubleValue();
+ _gs = NULL;
+ } else { // ILS or LOC
+ _localizerWidth = nav->localizerWidth();
+ twist = 0.0;
+ effective_range = nav->get_range();
+
+ target_radial = nav->get_multiuse();
+ SG_NORMALIZE_RANGE(target_radial, 0.0, 360.0);
+
+ if (_gs) {
+ int tmp = (int)(_gs->get_multiuse() / 1000.0);
+ target_gs = (double)tmp / 100.0;
+
+ double gs_radial = fmod(_gs->get_multiuse(), 1000.0);
+ SG_NORMALIZE_RANGE(gs_radial, 0.0, 360.0);
+ _gsCart = _gs->cart();
+
+ // GS axis unit tangent vector
+ // (along the runway):
+ _gsAxis = tangentVector(_gs->geod(), gs_radial);
+
+ // GS baseline unit tangent vector
+ // (transverse to the runway along the ground)
+ _gsBaseline = tangentVector(_gs->geod(), gs_radial + 90.0);
+ _gsVertical = cross(_gsBaseline, _gsAxis);
+ } // of have glideslope
+ } // of found LOC or ILS
+
+ } else { // found nothing
+ _gs = NULL;
+ nav_id_node->setStringValue("");
+ loc_node->setBoolValue(false);
+ _audioIdent->setIdent("", 0.0 );
+ }
+
+ has_gs_node->setBoolValue(_gs != NULL);
+ is_valid_node->setBoolValue(nav != NULL);
+ id_c1_node->setIntValue( (int)identBuffer[0] );
+ id_c2_node->setIntValue( (int)identBuffer[1] );
+ id_c3_node->setIntValue( (int)identBuffer[2] );
+ id_c4_node->setIntValue( (int)identBuffer[3] );
}
projects / flightgear.git / blobdiff