return (head_xyz - tail_xyz) * (1.0/fudge);
}
+// 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;
+}
+
// 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)),
- is_valid_node(NULL),
- power_btn_node(NULL),
- freq_node(NULL),
- alt_freq_node(NULL),
- sel_radial_node(NULL),
- vol_btn_node(NULL),
- ident_btn_node(NULL),
- audio_btn_node(NULL),
- backcourse_node(NULL),
- nav_serviceable_node(NULL),
- cdi_serviceable_node(NULL),
- gs_serviceable_node(NULL),
- tofrom_serviceable_node(NULL),
- fmt_freq_node(NULL),
- fmt_alt_freq_node(NULL),
- heading_node(NULL),
- radial_node(NULL),
- recip_radial_node(NULL),
- target_radial_true_node(NULL),
- target_auto_hdg_node(NULL),
- time_to_intercept(NULL),
- to_flag_node(NULL),
- from_flag_node(NULL),
- inrange_node(NULL),
- signal_quality_norm_node(NULL),
- cdi_deflection_node(NULL),
- cdi_deflection_norm_node(NULL),
- cdi_xtrack_error_node(NULL),
- cdi_xtrack_hdg_err_node(NULL),
- has_gs_node(NULL),
- loc_node(NULL),
- loc_dist_node(NULL),
- gs_deflection_node(NULL),
- gs_deflection_deg_node(NULL),
- gs_deflection_norm_node(NULL),
- gs_rate_of_climb_node(NULL),
- gs_dist_node(NULL),
- gs_inrange_node(NULL),
- nav_id_node(NULL),
- id_c1_node(NULL),
- id_c2_node(NULL),
- id_c3_node(NULL),
- id_c4_node(NULL),
- nav_slaved_to_gps_node(NULL),
- gps_cdi_deflection_node(NULL),
- gps_to_flag_node(NULL),
- gps_from_flag_node(NULL),
- gps_has_gs_node(NULL),
play_count(0),
last_time(0),
target_radial(0.0),
last_x(0.0),
last_loc_dist(0.0),
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)
+ _time_before_search_sec(-1.0),
+ _sgr(NULL)
{
SGPath path( globals->get_fg_root() );
SGPath term = path;
term_tbl = new SGInterpTable( term.str() );
low_tbl = new SGInterpTable( low.str() );
high_tbl = new SGInterpTable( high.str() );
+
+
+ string branch("/instrumentation/" + _name);
+ _radio_node = fgGetNode(branch.c_str(), _num, true);
}
// Destructor
FGNavRadio::~FGNavRadio()
{
+ gps_course_node->removeChangeListener(this);
+ nav_slaved_to_gps_node->removeChangeListener(this);
+
delete term_tbl;
delete low_tbl;
delete high_tbl;
void
FGNavRadio::init ()
{
- morse.init();
+ SGSoundMgr *smgr = globals->get_soundmgr();
+ _sgr = smgr->find("avionics", true);
+ _sgr->tie_to_listener();
- string branch;
- branch = "/instrumentation/" + _name;
-
- SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
+ morse.init();
+ SGPropertyNode* node = _radio_node.get();
bus_power_node =
fgGetNode(("/systems/electrical/outputs/" + _name).c_str(), 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 = (node->getChild("cdi", 0, true))
- ->getChild("serviceable", 0, true);
- gs_serviceable_node = (node->getChild("gs", 0, true))
- ->getChild("serviceable");
- tofrom_serviceable_node = (node->getChild("to-from", 0, true))
- ->getChild("serviceable", 0, 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");
+ if (!falseCoursesEnabledNode) {
+ falseCoursesEnabledNode =
+ fgGetNode("/sim/realism/false-radio-courses-enabled", true);
+ falseCoursesEnabledNode->setBoolValue(true);
+ }
// frequencies
SGPropertyNode *subnode = node->getChild("frequencies", 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_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);
// 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;
void
FGNavRadio::bind ()
{
+ tie("dme-in-range", SGRawValuePointer<bool>(&_dmeInRange));
+ tie("operable", SGRawValueMethods<FGNavRadio, bool>(*this, &FGNavRadio::isOperable, NULL));
}
void
FGNavRadio::unbind ()
{
+ for (unsigned int t=0; t<_tiedNodes.size(); ++t) {
+ _tiedNodes[t]->untie();
+ }
+ _tiedNodes.clear();
}
if (power_btn_node->getBoolValue()
&& (bus_power_node->getDoubleValue() > 1.0)
&& nav_serviceable_node->getBoolValue() )
- {
+ {
+ _operable = true;
if (nav_slaved_to_gps_node->getBoolValue()) {
updateGPSSlaved();
} else {
to_flag_node->setBoolValue( false );
from_flag_node->setBoolValue( false );
+
+ _dmeInRange = false;
+ _operable = false;
}
void FGNavRadio::updateReceiver(double dt)
SG_NORMALIZE_RANGE(r, -180.0, 180.0);
if ( is_loc ) {
- // 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);
+ 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 {
+ // 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
+
const double VOR_FULL_ARC = 20.0; // VOR is -10 .. 10 degree swing
_cdiDeflection *= VOR_FULL_ARC / _localizerWidth; // increased localiser sensitivity
+
+ if (backcourse_node->getBoolValue()) {
+ _cdiDeflection = -_cdiDeflection;
+ }
} else {
// handle the TO side of the VOR
if (fabs(r) > 90.0) {
_cdiCrossTrackErrorM = loc_dist * sin(r * SGD_DEGREES_TO_RADIANS);
updateGlideSlope(dt, aircraft, signal_quality_norm);
+ updateDME(aircraft);
last_loc_dist = loc_dist;
}
if (!_gs || !inrange_node->getBoolValue()) {
gs_dist_node->setDoubleValue( 0.0 );
gs_inrange_node->setBoolValue(false);
+ _gsNeedleDeflection = 0.0;
+ _gsNeedleDeflectionNorm = 0.0;
return;
}
gs_inrange_node->setBoolValue(gsInRange);
if (!gsInRange) {
+ _gsNeedleDeflection = 0.0;
+ _gsNeedleDeflectionNorm = 0.0;
return;
}
double dot_v = dot(pos, _gsVertical);
double angle = atan2(dot_v, dot_h) * SGD_RADIANS_TO_DEGREES;
double deflectionAngle = target_gs - angle;
-
- // 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 {
- // no false GS below the true GS
+
+ 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 {
+ // no false GS below the true GS
+ }
}
_gsNeedleDeflection = deflectionAngle * 5.0;
double gs_diff = target_gs - angle;
// convert desired vertical path angle into a climb rate
double des_angle = angle - 10 * gs_diff;
+ /* printf("target_gs=%.1f angle=%.1f gs_diff=%.1f des_angle=%.1f\n",
+ target_gs, angle, 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 = 0.75 * horiz_vel + 0.25 * new_vel;
+ 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 );
+}
+
+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) {
+ 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, sync up selected course
+ sel_radial_node->setDoubleValue(gps_course_node->getDoubleValue());
+ }
+ }
}
void FGNavRadio::updateGPSSlaved()
_toFlag = gps_to_flag_node->getBoolValue();
_fromFlag = gps_from_flag_node->getBoolValue();
- inrange_node->setBoolValue(_toFlag | _fromFlag);
+ 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;
+ 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 = 0.0; // FIXME, supply this
+ _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 );
}
void FGNavRadio::updateCDI(double dt)
//////////////////////////////////////////////////////////
double t = 0.0;
if ( inrange && cdi_serviceable ) {
- double xrate_ms = (last_xtrack_error - _cdiCrossTrackErrorM) / dt;
+ 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 {
// play station ident via audio system if on + ident,
// otherwise turn it off
- if (!power_btn_node->getBoolValue()
+ if (!power_btn_node->getBoolValue()
|| !(bus_power_node->getDoubleValue() > 1.0)
|| !ident_btn_node->getBoolValue()
|| !audio_btn_node->getBoolValue() ) {
- globals->get_soundmgr()->stop( nav_fx_name );
- globals->get_soundmgr()->stop( dme_fx_name );
+ _sgr->stop( nav_fx_name );
+ _sgr->stop( dme_fx_name );
return;
}
- SGSoundSample *sound = globals->get_soundmgr()->find( nav_fx_name );
- double vol = vol_btn_node->getDoubleValue();
+ SGSoundSample *sound = _sgr->find( nav_fx_name );
+ double vol = vol_btn_node->getFloatValue();
SG_CLAMP_RANGE(vol, 0.0, 1.0);
if ( sound != NULL ) {
SG_LOG( SG_COCKPIT, SG_ALERT, "Can't find nav-vor-ident sound" );
}
- sound = globals->get_soundmgr()->find( dme_fx_name );
+ 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
- if ( last_time < globals->get_time_params()->get_cur_time() - 30 ) {
- last_time = globals->get_time_params()->get_cur_time();
- play_count = 0;
+ // 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
}
- if ( play_count < 4 ) {
- // play VOR ident
- if ( !globals->get_soundmgr()->is_playing(nav_fx_name) ) {
- globals->get_soundmgr()->play_once( nav_fx_name );
- ++play_count;
+ 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);
}
- } else if ( play_count < 5 && 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 );
- ++play_count;
- }
}
}
_navaid = nav;
char identBuffer[5] = " ";
if (nav) {
- FGNavRecord* dme = globals->get_dmelist()->findByFreq(freq, pos);
- has_dme = (dme != NULL);
+ _dme = globals->get_dmelist()->findByFreq(freq, pos);
nav_id_node->setStringValue(nav->get_ident());
strncpy(identBuffer, nav->ident().c_str(), 5);
audioNavidChanged();
} else { // found nothing
_gs = NULL;
+ _dme = NULL;
nav_id_node->setStringValue("");
- has_dme = false;
- globals->get_soundmgr()->remove( nav_fx_name );
- globals->get_soundmgr()->remove( dme_fx_name );
+
+ _sgr->remove( nav_fx_name );
+ _sgr->remove( dme_fx_name );
}
is_valid_node->setBoolValue(nav != NULL);
void FGNavRadio::audioNavidChanged()
{
- if ( globals->get_soundmgr()->exists(nav_fx_name)) {
- globals->get_soundmgr()->remove(nav_fx_name);
+ 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 (!globals->get_soundmgr()->add( sound, nav_fx_name )) {
+ if (!_sgr->add( sound, nav_fx_name )) {
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 );
+ if ( _sgr->exists( dme_fx_name ) ) {
+ _sgr->remove( dme_fx_name );
}
sound = morse.make_ident( trans_ident, HI_FREQUENCY );
sound->set_volume( 0.3 );
- globals->get_soundmgr()->add( sound, dme_fx_name );
+ _sgr->add( sound, dme_fx_name );
int offset = (int)(sg_random() * 30.0);
play_count = offset / 4;
projects / flightgear.git / blobdiff