// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
-// $Id$
-
#ifdef HAVE_CONFIG_H
# include <config.h>
#include <simgear/misc/strutils.hxx>
#include <Navaids/navrecord.hxx>
-
+#include <Sound/audioident.hxx>
#include <Airports/runways.hxx>
#include <Navaids/navlist.hxx>
#include <Main/util.hxx>
-
using std::string;
// General-purpose sawtooth function. Graph looks like this:
return 4.0 * fabs(xx/4.0 + 0.25 - floor(xx/4.0 + 0.75)) - 1.0;
}
-// Calculate a unit vector in the horizontal tangent plane
-// starting at the given "tail" of the vector and going off
-// with the given heading.
-static SGVec3d tangentVector(const SGGeod& tail, const SGVec3d& tail_xyz,
- const double heading)
+// 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 fudge factor here is presumably intended to improve
-// numerical stability. I don't know if it is necessary.
-// It gets divided out later.
- double fudge(100.0);
- SGGeod head;
- double az2; // ignored
- SGGeodesy::direct(tail, heading, fudge, head, az2);
- head.setElevationM(tail.getElevationM());
+// 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);
- return (head_xyz - tail_xyz) * (1.0/fudge);
+ 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 createServiceableProp(SGPropertyNode* aParent,
+ const char* aName)
{
- SGPropertyNode_ptr n = (aParent->getChild(aName, 0, true)->getChild("serviceable", 0, true));
+ 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);
term_tbl(NULL),
low_tbl(NULL),
high_tbl(NULL),
- lon_node(fgGetNode("/position/longitude-deg", true)),
- lat_node(fgGetNode("/position/latitude-deg", true)),
- alt_node(fgGetNode("/position/altitude-ft", true)),
_operable(false),
play_count(0),
last_time(0),
_gsCart(SGVec3d::zeros()),
_gsAxis(SGVec3d::zeros()),
_gsVertical(SGVec3d::zeros()),
- _dmeInRange(false),
_toFlag(false),
_fromFlag(false),
_cdiDeflection(0.0),
_cdiCrossTrackErrorM(0.0),
_gsNeedleDeflection(0.0),
_gsNeedleDeflectionNorm(0.0),
- _sgr(NULL)
+ _audioIdent(NULL)
{
SGPath path( globals->get_fg_root() );
SGPath term = path;
delete term_tbl;
delete low_tbl;
delete high_tbl;
+
+ delete _audioIdent;
}
void
FGNavRadio::init ()
{
- SGSoundMgr *smgr = globals->get_soundmgr();
- _sgr = smgr->find("avionics", true);
- _sgr->tie_to_listener();
-
- morse.init();
-
SGPropertyNode* node = _radio_node.get();
bus_power_node =
fgGetNode(("/systems/electrical/outputs/" + _name).c_str(), true);
cdi_serviceable_node = createServiceableProp(node, "cdi");
gs_serviceable_node = createServiceableProp(node, "gs");
tofrom_serviceable_node = createServiceableProp(node, "to-from");
- dme_serviceable_node = createServiceableProp(node, "dme");
falseCoursesEnabledNode =
fgGetNode("/sim/realism/false-radio-courses-enabled");
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);
_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 ()
{
- tie("dme-in-range", SGRawValuePointer<bool>(&_dmeInRange));
- tie("operable", SGRawValueMethods<FGNavRadio, bool>(*this, &FGNavRadio::isOperable, NULL));
+ _radio_node->tie( "operable", SGRawValueMethods<FGNavRadio,bool>( *this, &FGNavRadio::isOperable ) );
}
void
FGNavRadio::unbind ()
{
- for (unsigned int t=0; t<_tiedNodes.size(); ++t) {
- _tiedNodes[t]->untie();
- }
- _tiedNodes.clear();
+ _radio_node->untie("operable");
}
clearOutputs();
}
- updateAudio();
+ updateAudio( dt );
}
void FGNavRadio::clearOutputs()
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);
is_valid_node->setBoolValue(false);
nav_id_node->setStringValue("");
- _dmeInRange = false;
_operable = false;
_navaid = NULL;
}
void FGNavRadio::updateReceiver(double dt)
{
- SGGeod pos = SGGeod::fromDegFt(lon_node->getDoubleValue(),
- lat_node->getDoubleValue(),
- alt_node->getDoubleValue());
- SGVec3d aircraft = SGVec3d::fromGeod(pos);
+ SGVec3d aircraft = SGVec3d::fromGeod(globals->get_aircraft_position());
double loc_dist = 0;
// Do a nav station search only once a second to reduce
loc_dist = dist(aircraft, _navaid->cart());
loc_dist_node->setDoubleValue( loc_dist );
}
- updateDME(aircraft);
if (nav_slaved_to_gps_node->getBoolValue()) {
// when slaved to GPS: only allow stuff above: tune NAV station
- // upate DME. All other data driven by GPS only.
+ // All other data driven by GPS only.
updateGPSSlaved();
return;
}
// compute forward and reverse wgs84 headings to localizer
//////////////////////////////////////////////////////////
double hdg;
- SGGeodesy::inverse(pos, _navaid->geod(), hdg, az2, s);
+ SGGeodesy::inverse(globals->get_aircraft_position(), _navaid->geod(), hdg, az2, s);
heading_node->setDoubleValue(hdg);
double radial = az2 - twist;
double recip = radial + 180.0;
double offset = radial - target_radial;
SG_NORMALIZE_RANGE(offset, -180.0, 180.0);
effective_range
- = adjustILSRange( nav_elev, pos.getElevationM(), offset,
+ = adjustILSRange( nav_elev, globals->get_aircraft_position().getElevationM(), offset,
loc_dist * SG_METER_TO_NM );
} else {
effective_range
- = adjustNavRange( nav_elev, pos.getElevationM(), _navaid->get_range() );
+ = adjustNavRange( nav_elev, globals->get_aircraft_position().getElevationM(), _navaid->get_range() );
}
double effective_range_m = effective_range * SG_NM_TO_METER;
bool gsInRange = (gsDist < (_gs->get_range() * SG_NM_TO_METER));
gs_inrange_node->setBoolValue(gsInRange);
- if (!gsInRange) {
- _gsNeedleDeflection = 0.0;
- _gsNeedleDeflectionNorm = 0.0;
- return;
- }
+ if (!gsInRange) 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 dot_h = -dot(pos, _gsAxis);
- double dot_v = dot(pos, _gsVertical);
- double angle = atan2(dot_v, dot_h) * SGD_RADIANS_TO_DEGREES;
- double deflectionAngle = target_gs - angle;
+ 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
}
}
+// 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;
- SG_CLAMP_RANGE(deflectionAngle, -0.7, 0.7);
_gsNeedleDeflectionNorm = (deflectionAngle / 0.7) * signal_quality_norm;
//////////////////////////////////////////////////////////
// Calculate desired rate of climb for intercepting the GS
//////////////////////////////////////////////////////////
- double gs_diff = target_gs - angle;
+ double gs_diff = target_gs - _gsDirect;
// convert desired vertical path angle into a climb rate
- double des_angle = angle - 10 * gs_diff;
+ double des_angle = _gsDirect - 10 * gs_diff;
/* printf("target_gs=%.1f angle=%.1f gs_diff=%.1f des_angle=%.1f\n",
- target_gs, angle, gs_diff, des_angle); */
+ target_gs, _gsDirect, gs_diff, des_angle); */
// estimate horizontal speed towards ILS in meters per minute
double elapsedDistance = last_x - gsDist;
->setDoubleValue( gs_rate_of_climb_node->getDoubleValue() * 60 );
}
-void FGNavRadio::updateDME(const SGVec3d& aircraft)
-{
- if (!_dme || !dme_serviceable_node->getBoolValue()) {
- _dmeInRange = false;
- return;
- }
-
- double dme_distance = dist(aircraft, _dme->cart());
- _dmeInRange = (dme_distance < _dme->get_range() * SG_NM_TO_METER);
-}
-
void FGNavRadio::valueChanged (SGPropertyNode* prop)
{
if (prop == gps_course_node) {
//////////////////////////////////////////////////////////
// compute the time to intercept selected radial (based on
- // current and last cross track errors and dt
+ // current and last cross track errors and dt)
//////////////////////////////////////////////////////////
double t = 0.0;
if ( inrange && cdi_serviceable ) {
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;
}
-void FGNavRadio::updateAudio()
+void FGNavRadio::updateAudio( double dt )
{
if (!_navaid || !inrange_node->getBoolValue() || !nav_serviceable_node->getBoolValue()) {
+ _audioIdent->setIdent("", 0.0 );
return;
}
|| !(bus_power_node->getDoubleValue() > 1.0)
|| !ident_btn_node->getBoolValue()
|| !audio_btn_node->getBoolValue() ) {
- _sgr->stop( nav_fx_name );
- _sgr->stop( dme_fx_name );
+ _audioIdent->setIdent("", 0.0 );
return;
}
- SGSoundSample *sound = _sgr->find( nav_fx_name );
- double vol = vol_btn_node->getFloatValue();
- SG_CLAMP_RANGE(vol, 0.0, 1.0);
-
- if ( sound != NULL ) {
- sound->set_volume( vol );
- } else {
- SG_LOG( SG_COCKPIT, SG_ALERT, "Can't find nav-vor-ident sound" );
- }
-
- sound = _sgr->find( dme_fx_name );
- if ( sound != NULL ) {
- sound->set_volume( vol );
- } else {
- SG_LOG( SG_COCKPIT, SG_ALERT, "Can't find nav-dme-ident sound" );
- }
-
- const int NUM_IDENT_SLOTS = 5;
- const time_t SLOT_LENGTH = 5; // seconds
+ _audioIdent->setIdent( _navaid->get_trans_ident(), vol_btn_node->getFloatValue() );
- // There are N slots numbered 0 through (NUM_IDENT_SLOTS-1) inclusive.
- // Each slot is 5 seconds long.
- // Slots 0 is for DME
- // the rest are for azimuth.
- time_t now = globals->get_time_params()->get_cur_time();
- if ((now >= last_time) && (now < last_time + SLOT_LENGTH)) {
- return; // wait longer
- }
-
- last_time = now;
- play_count = ++play_count % NUM_IDENT_SLOTS;
-
- // Previous ident is out of time; if still playing, cut it off:
- _sgr->stop( nav_fx_name );
- _sgr->stop( dme_fx_name );
- if (play_count == 0) { // the DME slot
- if (_dmeInRange && dme_serviceable_node->getBoolValue()) {
- // play DME ident
- if (vol > 0.05) _sgr->play_once( dme_fx_name );
- }
- } else { // NAV slot
- if (inrange_node->getBoolValue() && nav_serviceable_node->getBoolValue()) {
- if (vol > 0.05) _sgr->play_once(nav_fx_name);
- }
- }
+ _audioIdent->update( dt );
}
FGNavRecord* FGNavRadio::findPrimaryNavaid(const SGGeod& aPos, double aFreqMHz)
void FGNavRadio::search()
{
_time_before_search_sec = 1.0;
- SGGeod pos = SGGeod::fromDegFt(lon_node->getDoubleValue(),
- lat_node->getDoubleValue(), alt_node->getDoubleValue());
double freq = freq_node->getDoubleValue();
- FGNavRecord* nav = findPrimaryNavaid(pos, freq);
+ FGNavRecord* nav = findPrimaryNavaid(globals->get_aircraft_position(), freq);
if (nav == _navaid) {
return; // found the same as last search, we're done
}
_navaid = nav;
string identBuffer(4, ' ');
if (nav) {
- _dme = globals->get_dmelist()->findByFreq(freq, pos);
-
nav_id_node->setStringValue(nav->get_ident());
identBuffer = simgear::strutils::rpad( nav->ident(), 4, ' ' );
- effective_range = adjustNavRange(nav->get_elev_ft(), pos.getElevationM(), nav->get_range());
+ 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();
_gs = NULL;
has_gs_node->setBoolValue(false);
} else { // ILS or LOC
- _gs = globals->get_gslist()->findByFreq(freq, pos);
+ _gs = globals->get_gslist()->findByFreq(freq, globals->get_aircraft_position());
has_gs_node->setBoolValue(_gs != NULL);
_localizerWidth = nav->localizerWidth();
twist = 0.0;
if (_gs) {
int tmp = (int)(_gs->get_multiuse() / 1000.0);
target_gs = (double)tmp / 100.0;
-
- // until penaltyForNav goes away, we cannot assume we always pick
- // paired LOC/GS trasmsitters. As we pass over a runway threshold, we
- // often end up picking the 'wrong' LOC, but the correct GS. To avoid
- // breaking the basis computation, ensure we use the GS radial and not
- // the (potentially reversed) LOC radial.
+
double gs_radial = fmod(_gs->get_multiuse(), 1000.0);
SG_NORMALIZE_RANGE(gs_radial, 0.0, 360.0);
-
- // GS axis unit tangent vector
- // (along the runway)
_gsCart = _gs->cart();
- _gsAxis = tangentVector(_gs->geod(), _gsCart, gs_radial);
+
+ // GS axis unit tangent vector
+ // (along the runway):
+ _gsAxis = tangentVector(_gs->geod(), gs_radial);
// GS baseline unit tangent vector
- // (perpendicular to the runay along the ground)
- SGVec3d baseline = tangentVector(_gs->geod(), _gsCart, gs_radial + 90.0);
- _gsVertical = cross(baseline, _gsAxis);
+ // (transverse to the runay along the ground)
+ _gsBaseline = tangentVector(_gs->geod(), gs_radial + 90.0);
+ _gsVertical = cross(_gsBaseline, _gsAxis);
} // of have glideslope
} // of found LOC or ILS
- audioNavidChanged();
} else { // found nothing
_gs = NULL;
- _dme = NULL;
nav_id_node->setStringValue("");
loc_node->setBoolValue(false);
has_gs_node->setBoolValue(false);
-
- _sgr->remove( nav_fx_name );
- _sgr->remove( dme_fx_name );
+ _audioIdent->setIdent("", 0.0 );
}
is_valid_node->setBoolValue(nav != NULL);
id_c3_node->setIntValue( (int)identBuffer[2] );
id_c4_node->setIntValue( (int)identBuffer[3] );
}
-
-void FGNavRadio::audioNavidChanged()
-{
- if (_sgr->exists(nav_fx_name)) {
- _sgr->remove(nav_fx_name);
- }
-
- try {
- string trans_ident(_navaid->get_trans_ident());
- SGSoundSample* sound = morse.make_ident(trans_ident, LO_FREQUENCY);
- sound->set_volume( 0.3 );
- if (!_sgr->add( sound, nav_fx_name )) {
- SG_LOG(SG_COCKPIT, SG_WARN, "Failed to add v1-vor-ident sound");
- }
-
- if ( _sgr->exists( dme_fx_name ) ) {
- _sgr->remove( dme_fx_name );
- }
-
- sound = morse.make_ident( trans_ident, HI_FREQUENCY );
- sound->set_volume( 0.3 );
- _sgr->add( sound, dme_fx_name );
-
- int offset = (int)(sg_random() * 30.0);
- play_count = offset / 4;
- last_time = globals->get_time_params()->get_cur_time() - offset;
- } catch (sg_io_exception& e) {
- SG_LOG(SG_GENERAL, SG_ALERT, e.getFormattedMessage());
- }
-}
projects / flightgear.git / blobdiff