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),
- dme_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),
- _falseCoursesEnabled(true),
_sgr(NULL)
{
SGPath path( globals->get_fg_root() );
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;
morse.init();
- string branch;
- branch = "/instrumentation/" + _name;
-
- SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
-
+ SGPropertyNode* node = _radio_node.get();
bus_power_node =
fgGetNode(("/systems/electrical/outputs/" + _name).c_str(), true);
tofrom_serviceable_node = createServiceableProp(node, "to-from");
dme_serviceable_node = createServiceableProp(node, "dme");
- globals->get_props()->tie("sim/realism/false-radio-courses-enabled",
- SGRawValuePointer<bool>(&_falseCoursesEnabled));
-
+ 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);
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);
id_c3_node = node->getChild("nav-id_asc3", 0, true);
id_c4_node = node->getChild("nav-id_asc4", 0, true);
- node->tie("dme-in-range", SGRawValuePointer<bool>(&_dmeInRange));
-
// 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 {
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 ) {
- if (_falseCoursesEnabled) {
+ 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.
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 angle = atan2(dot_v, dot_h) * SGD_RADIANS_TO_DEGREES;
double deflectionAngle = target_gs - angle;
- if (_falseCoursesEnabled) {
+ 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
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)
_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()
{
has_gs_node->setBoolValue(gps_has_gs_node->getBoolValue());
_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 {
projects / flightgear.git / blobdiff