//
// 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.
//
// $Id$
# include <config.h>
#endif
-#include <iostream>
-#include <string>
#include <sstream>
-#include <simgear/compiler.h>
#include <simgear/sg_inlines.h>
-#include <simgear/math/sg_random.h>
+#include <simgear/timing/sg_time.hxx>
#include <simgear/math/vector.hxx>
+#include <simgear/math/sg_random.h>
+#include <simgear/misc/sg_path.hxx>
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/structure/exception.hxx>
-#include <Aircraft/aircraft.hxx>
#include <Navaids/navlist.hxx>
-
+#include <Main/util.hxx>
#include "navradio.hxx"
-#include <string>
-SG_USING_STD(string);
-
+using std::string;
// 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_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_rate_of_climb_node(NULL),
+ gs_dist_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),
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),
- 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),
+ play_count(0),
+ last_time(0),
+ radial(0.0),
+ target_radial(0.0),
horiz_vel(0.0),
last_x(0.0),
- name("nav"),
- num(0),
- _time_before_search_sec(0.0)
+ last_loc_dist(0.0),
+ last_xtrack_error(0.0),
+ _name(node->getStringValue("name", "nav")),
+ _num(node->getIntValue("number", 0)),
+ _time_before_search_sec(-1.0)
{
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() );
-
- 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 );
- }
- }
- }
-
}
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))
+ branch = "/instrumentation/" + _name;
+
+ SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
+
+ 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 = (node->getChild("cdi", 0, true))
->getChild("serviceable", 0, true);
- gs_serviceable = (node->getChild("gs", 0, true))
+ gs_serviceable_node = (node->getChild("gs", 0, true))
->getChild("serviceable");
- tofrom_serviceable = (node->getChild("to-from", 0, true))
+ tofrom_serviceable_node = (node->getChild("to-from", 0, true))
->getChild("serviceable", 0, 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);
+
+ // 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_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_rate_of_climb_node = node->getChild("gs-rate-of-climb", 0, true);
+ gs_dist_node = node->getChild("gs-distance", 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);
+ 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);
+
std::ostringstream temp;
- temp << name << "nav-ident" << num;
+ temp << _name << "nav-ident" << _num;
nav_fx_name = temp.str();
- temp << name << "dme-ident" << num;
+ temp << _name << "dme-ident" << _num;
dme_fx_name = temp.str();
}
{
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 + "/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 );
-
- // end of binding
+ temp << _num;
+ branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
}
{
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() );
+ temp << _num;
+ branch = "/instrumentation/" + _name + "[" + temp.str() + "]";
}
}
+//////////////////////////////////////////////////////////////////////////
// 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;
-
- // On timeout, scan again
+ // 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();
}
- ////////////////////////////////////////////////////////////////////////
- // Nav.
- ////////////////////////////////////////////////////////////////////////
+ // cache a few strategic values locally for speed
+ SGGeod pos = SGGeod::fromDegFt(lon_node->getDoubleValue(),
+ lat_node->getDoubleValue(),
+ alt_node->getDoubleValue());
+ bool power_btn = power_btn_node->getBoolValue();
+ bool nav_serviceable = nav_serviceable_node->getBoolValue();
+ bool cdi_serviceable = cdi_serviceable_node->getBoolValue();
+ bool tofrom_serviceable = tofrom_serviceable_node->getBoolValue();
+ bool inrange = inrange_node->getBoolValue();
+ bool has_gs = has_gs_node->getBoolValue();
+ bool is_loc = loc_node->getBoolValue();
+ double loc_dist = loc_dist_node->getDoubleValue();
+ double effective_range_m;
+ double signal_quality_norm = signal_quality_norm_node->getDoubleValue();
+
+ double az1, az2, s;
+
+ // 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);
- // cout << "nav_valid = " << nav_valid
+ // cout << "is_valid = " << is_valid
// << " power_btn = " << power_btn
- // << " bus_power = " << bus_power->getDoubleValue()
- // << " nav_serviceable = " << nav_serviceable->getBoolValue()
+ // << " bus_power = " << bus_power_node->getDoubleValue()
+ // << " nav_serviceable = " << nav_serviceable
// << endl;
- if ( nav_valid && power_btn && (bus_power->getDoubleValue() > 1.0)
- && nav_serviceable->getBoolValue() )
+ if ( is_valid && power_btn && (bus_power_node->getDoubleValue() > 1.0)
+ && nav_serviceable )
{
- station = Point3D( nav_x, nav_y, nav_z );
- nav_loc_dist = aircraft.distance3D( station );
- // cout << "station = " << station << " dist = " << nav_loc_dist
- // << endl;
+ SGVec3d aircraft = SGVec3d::fromGeod(pos);
+ loc_dist = dist(aircraft, nav_xyz);
+ loc_dist_node->setDoubleValue( loc_dist );
+ // cout << "dt = " << dt << " dist = " << loc_dist << endl;
- if ( nav_has_gs ) {
+ if ( 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;
+ SGVec3d p = aircraft;
+ double dist = sgdClosestPointToLineDistSquared(p.sg(), gs_xyz.sg(),
+ gs_base_vec.sg());
+ gs_dist_node->setDoubleValue( sqrt( dist ) );
+ // cout << "gs_dist = " << gs_dist_node->getDoubleValue()
+ // << 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,
+ geo_inverse_wgs_84( pos, SGGeod::fromDeg(gs_lon, gs_lat),
&az1, &az2, &s );
- double r = az1 - nav_target_radial;
+ double r = az1 - 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;
+ gs_dist_signed = gs_dist_node->getDoubleValue();
} else {
- nav_gs_dist_signed = -nav_gs_dist;
+ gs_dist_signed = -gs_dist_node->getDoubleValue();
}
- /* cout << "Target Radial = " << nav_target_radial
+ /* cout << "Target Radial = " << target_radial
<< " Bearing = " << az1
- << " dist (signed) = " << nav_gs_dist_signed
+ << " dist (signed) = " << gs_dist_signed
<< endl; */
} else {
- nav_gs_dist = 0.0;
+ gs_dist_node->setDoubleValue( 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 );
+ //////////////////////////////////////////////////////////
+ // compute forward and reverse wgs84 headings to localizer
+ //////////////////////////////////////////////////////////
+ double hdg;
+ geo_inverse_wgs_84( pos, SGGeod::fromDeg(loc_lon, loc_lat),
+ &hdg, &az2, &s );
// cout << "az1 = " << az1 << " magvar = " << nav_magvar << endl;
- nav_radial = az2 - nav_twist;
- // cout << " heading = " << nav_heading
+ heading_node->setDoubleValue( hdg );
+ radial = az2 - twist;
+ double recip = radial + 180.0;
+ if ( recip >= 360.0 ) { recip -= 360.0; }
+ radial_node->setDoubleValue( radial );
+ recip_radial_node->setDoubleValue( recip );
+ // cout << " heading = " << heading_node->getDoubleValue()
// << " dist = " << nav_dist << endl;
- if ( nav_loc ) {
- double offset = nav_radial - nav_target_radial;
+ //////////////////////////////////////////////////////////
+ // compute the target/selected radial in "true" heading
+ //////////////////////////////////////////////////////////
+ double trtrue = 0.0;
+ if ( is_loc ) {
+ // ILS localizers radials are already "true" in our
+ // database
+ trtrue = target_radial;
+ } else {
+ // VOR radials need to have that vor's offset added in
+ trtrue = target_radial + twist;
+ }
+
+ while ( trtrue < 0.0 ) { trtrue += 360.0; }
+ while ( trtrue > 360.0 ) { trtrue -= 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;
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 );
+ effective_range
+ = adjustILSRange( nav_elev, pos.getElevationM(), offset,
+ 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;
+ effective_range
+ = adjustNavRange( nav_elev, pos.getElevationM(), range );
}
- if ( !nav_loc ) {
- nav_target_radial = nav_sel_radial;
- }
+ effective_range_m = effective_range * SG_NM_TO_METER;
- // Calculate some values for the nav/ils hold autopilot
+ // cout << "nav range = " << effective_range
+ // << " (" << range << ")" << endl;
- 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; }
+ //////////////////////////////////////////////////////////
+ // 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 );
}
-
- // AUTOPILOT HELPERS
+ signal_quality_norm_node->setDoubleValue( signal_quality_norm );
+ inrange = signal_quality_norm > 0.2;
+ inrange_node->setBoolValue( inrange );
- // 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
+ if ( !is_loc ) {
+ target_radial = sel_radial_node->getDoubleValue();
+ }
+
+ //////////////////////////////////////////////////////////
+ // compute to/from flag status
+ //////////////////////////////////////////////////////////
+ bool value = false;
+ double offset = fabs(radial - target_radial);
+ if ( tofrom_serviceable ) {
+ if ( nav_slaved_to_gps_node->getBoolValue() ) {
+ value = gps_to_flag_node->getBoolValue();
+ } else if ( inrange ) {
+ if ( is_loc ) {
+ value = true;
+ } else {
+ value = !(offset <= 90.0 || offset >= 270.0);
+ }
+ }
} else {
- // VOR radials need to have that vor's offset added in
- nav_target_radial_true += nav_twist;
+ value = false;
}
-
- while ( nav_target_radial_true < 0.0 ) {
- nav_target_radial_true += 360.0;
+ to_flag_node->setBoolValue( value );
+
+ value = false;
+ if ( tofrom_serviceable ) {
+ if ( nav_slaved_to_gps_node->getBoolValue() ) {
+ value = gps_from_flag_node->getBoolValue();
+ } else if ( inrange ) {
+ if ( is_loc ) {
+ value = false;
+ } else {
+ value = !(offset > 90.0 && offset < 270.0);
+ }
+ }
+ } else {
+ value = false;
}
- while ( nav_target_radial_true > 360.0 ) {
- nav_target_radial_true -= 360.0;
+ from_flag_node->setBoolValue( value );
+
+ //////////////////////////////////////////////////////////
+ // compute the deflection of the CDI needle, clamped to the range
+ // of ( -10 , 10 )
+ //////////////////////////////////////////////////////////
+ double r = 0.0;
+ bool loc_backside = false; // an in-code flag indicating that we are
+ // on a localizer backcourse.
+ if ( cdi_serviceable ) {
+ if ( nav_slaved_to_gps_node->getBoolValue() ) {
+ r = gps_cdi_deflection_node->getDoubleValue();
+ // We want +- 5 dots deflection for the gps, so clamp
+ // to -12.5/12.5
+ SG_CLAMP_RANGE( r, -12.5, 12.5 );
+ } else if ( inrange ) {
+ r = radial - target_radial;
+ // cout << "Target radial = " << target_radial
+ // << " Actual radial = " << 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 );
+ } else {
+ if ( is_loc ) {
+ loc_backside = true;
+ }
+ }
+
+ r = -r; // reverse, since radial is outbound
+ if ( is_loc ) {
+ // According to Robin Peel, the ILS is 4x more
+ // sensitive than a vor
+ r *= 4.0;
+ }
+ SG_CLAMP_RANGE( r, -10.0, 10.0 );
+ r *= signal_quality_norm;
+ }
}
+ cdi_deflection_node->setDoubleValue( r );
+
+ //////////////////////////////////////////////////////////
+ // compute the amount of cross track distance error in meters
+ //////////////////////////////////////////////////////////
+ double xtrack_error = 0.0;
+ if ( inrange && nav_serviceable && cdi_serviceable ) {
+ r = radial - target_radial;
+ // cout << "Target radial = " << target_radial
+ // << " Actual radial = " << radial
+ // << " r = " << r << 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 );
+ }
+
+ r = -r; // reverse, since radial is outbound
- // 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;
+ xtrack_error = loc_dist * sin(r * SGD_DEGREES_TO_RADIANS);
} else {
- adjustment = get_nav_cdi_deflection() * 10.0;
+ xtrack_error = 0.0;
}
- 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
- // ????
+ cdi_xtrack_error_node->setDoubleValue( xtrack_error );
+
+ //////////////////////////////////////////////////////////
+ // 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 );
+
+ //////////////////////////////////////////////////////////
+ // 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 xrate_ms = (last_xtrack_error - xtrack_error) / dt;
+ if ( fabs(xrate_ms) > 0.00001 ) {
+ t = xtrack_error / xrate_ms;
+ } else {
+ t = 9999.9;
+ }
+ }
+ time_to_intercept->setDoubleValue( t );
+
+ //////////////////////////////////////////////////////////
+ // compute the amount of glide slope needle deflection
+ // (.i.e. the number of degrees we are off the glide slope * 5.0
+ //
+ // CLO - 13 Mar 2006: The glide slope needle should peg at
+ // +/-0.7 degrees off the ideal glideslope. I'm not sure why
+ // we compute the factor the way we do (5*gs_error), but we
+ // need to compensate for our 'odd' number in the glideslope
+ // needle animation. This means that the needle should peg
+ // when this values is +/-3.5.
+ //////////////////////////////////////////////////////////
+ r = 0.0;
+ if ( has_gs && gs_serviceable_node->getBoolValue() ) {
+ if ( nav_slaved_to_gps_node->getBoolValue() ) {
+ // FIXME/FINISHME, what should be set here?
+ } else if ( inrange ) {
+ double x = gs_dist_node->getDoubleValue();
+ 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;
+ r = (target_gs - angle) * 5.0;
+ r *= signal_quality_norm;
+ }
+ }
+ gs_deflection_node->setDoubleValue( r );
+ //////////////////////////////////////////////////////////
// Calculate desired rate of climb for intercepting the GS
- double x = nav_gs_dist;
+ //////////////////////////////////////////////////////////
+ double x = gs_dist_node->getDoubleValue();
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 target_angle = target_gs;
double gs_diff = target_angle - current_angle;
// convert desired vertical path angle into a climb rate
// 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;
+ gs_rate_of_climb_node
+ ->setDoubleValue( -sin( des_angle * SGD_DEGREES_TO_RADIANS )
+ * horiz_vel * SG_METER_TO_FEET );
}
- } else {
- nav_inrange = false;
+
+ //////////////////////////////////////////////////////////
+ // 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 = cdi_deflection_node->getDoubleValue() * 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 adjustmest -
+ // xtrack heading error adjustment
+ double nta_hdg;
+ if ( is_loc && backcourse_node->getBoolValue() ) {
+ // tuned to a localizer and backcourse mode activated
+ trtrue += 180.0; // reverse the target localizer heading
+ while ( trtrue > 360.0 ) { trtrue -= 360.0; }
+ nta_hdg = trtrue - adjustment - hdg_error;
+ } else {
+ nta_hdg = trtrue + adjustment - hdg_error;
+ }
+
+ while ( nta_hdg < 0.0 ) { nta_hdg += 360.0; }
+ while ( nta_hdg >= 360.0 ) { nta_hdg -= 360.0; }
+ target_auto_hdg_node->setDoubleValue( nta_hdg );
+
+ last_xtrack_error = xtrack_error;
+ } else {
+ inrange_node->setBoolValue( false );
+ cdi_deflection_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 );
+ gs_deflection_node->setDoubleValue( 0.0 );
+ to_flag_node->setBoolValue( false );
+ from_flag_node->setBoolValue( false );
// cout << "not picking up vor. :-(" << endl;
}
- if ( nav_valid && nav_inrange && nav_serviceable->getBoolValue() ) {
+ // audio effects
+ if ( is_valid && inrange && nav_serviceable ) {
// 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 )
+ if ( power_btn
+ && (bus_power_node->getDoubleValue() > 1.0)
+ && ident_btn_node->getBoolValue()
+ && audio_btn_node->getBoolValue() )
{
SGSoundSample *sound;
sound = globals->get_soundmgr()->find( nav_fx_name );
+ double vol = vol_btn_node->getDoubleValue();
+ if ( vol < 0.0 ) { vol = 0.0; }
+ if ( vol > 1.0 ) { vol = 1.0; }
if ( sound != NULL ) {
- sound->set_volume( nav_vol_btn );
+ sound->set_volume( vol );
} 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 );
+ sound->set_volume( vol );
} else {
SG_LOG( SG_COCKPIT, SG_ALERT,
"Can't find nav-dme-ident sound" );
}
- // cout << "nav_last_time = " << nav_last_time << " ";
+ // cout << "last_time = " << last_time << " ";
// cout << "cur_time = "
// << globals->get_time_params()->get_cur_time();
- if ( nav_last_time <
+ if ( last_time <
globals->get_time_params()->get_cur_time() - 30 ) {
- nav_last_time = globals->get_time_params()->get_cur_time();
- nav_play_count = 0;
+ last_time = globals->get_time_params()->get_cur_time();
+ play_count = 0;
}
- // cout << " nav_play_count = " << nav_play_count << endl;
+ // cout << " play_count = " << play_count << endl;
// cout << "playing = "
// << globals->get_soundmgr()->is_playing(nav_fx_name)
// << endl;
- if ( nav_play_count < 4 ) {
+ if ( 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;
+ ++play_count;
}
- } else if ( nav_play_count < 5 && nav_has_dme ) {
+ } 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 );
- ++nav_play_count;
+ ++play_count;
}
}
} else {
globals->get_soundmgr()->stop( dme_fx_name );
}
}
+
+ last_loc_dist = loc_dist;
}
// 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;
-
+ // cache values locally for speed
+ SGGeod pos = SGGeod::fromDegFt(lon_node->getDoubleValue(),
+ lat_node->getDoubleValue(), alt_node->getDoubleValue());
FGNavRecord *nav = NULL;
FGNavRecord *loc = NULL;
FGNavRecord *dme = NULL;
// Nav.
////////////////////////////////////////////////////////////////////////
- nav = globals->get_navlist()->findByFreq(nav_freq, lon, lat, elev);
- dme = globals->get_dmelist()->findByFreq(nav_freq, lon, lat, elev);
+ double freq = freq_node->getDoubleValue();
+ nav = globals->get_navlist()->findByFreq(freq, pos);
+ dme = globals->get_dmelist()->findByFreq(freq, pos);
if ( nav == NULL ) {
- loc = globals->get_loclist()->findByFreq(nav_freq, lon, lat, elev);
- gs = globals->get_gslist()->findByFreq(nav_freq, lon, lat, elev);
+ loc = globals->get_loclist()->findByFreq(freq, pos);
+ gs = globals->get_gslist()->findByFreq(freq, pos);
}
-
+
+ string nav_id = "";
+
if ( loc != NULL ) {
- nav_id = loc->get_ident();
- // cout << "localizer = " << nav_id << endl;
- nav_valid = true;
+ nav_id = loc->get_ident();
+ nav_id_node->setStringValue( nav_id.c_str() );
+ // cout << "localizer = " << nav_id_node->getStringValue() << endl;
+ is_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();
+ trans_ident = loc->get_trans_ident();
+ target_radial = loc->get_multiuse();
+ while ( target_radial < 0.0 ) { target_radial += 360.0; }
+ while ( target_radial > 360.0 ) { target_radial -= 360.0; }
+ loc_lon = loc->get_lon();
+ loc_lat = loc->get_lat();
+ nav_xyz = loc->cart();
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();
+ loc_node->setBoolValue( true );
+ has_dme = (dme != NULL);
+ if ( gs != NULL ) {
+ has_gs_node->setBoolValue( true );
+ gs_lon = gs->get_lon();
+ gs_lat = 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();
+ target_gs = (double)tmp / 100.0;
+ gs_xyz = gs->cart();
// 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,
+ geo_direct_wgs_84 ( 0.0, gs_lat, gs_lon,
+ 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 << " "
+ // cout << "target_radial = " << target_radial << endl;
+ // cout << "nav_loc = " << loc_node->getBoolValue() << endl;
+ // cout << gs_lon << "," << gs_lat << " "
// << 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;
+ SGGeod tpos = SGGeod::fromDegFt(tlon, tlat, nav_elev);
+ SGVec3d p1 = SGVec3d::fromGeod(tpos);
+
+ // cout << gs_xyz << 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;
+ gs_base_vec = p1 - gs_xyz;
+ // cout << gs_base_vec << endl;
} else {
+ has_gs_node->setBoolValue( false );
nav_elev = loc->get_elev_ft();
}
- nav_twist = 0;
- nav_range = FG_LOC_DEFAULT_RANGE;
- nav_effective_range = nav_range;
+ twist = 0;
+ range = FG_LOC_DEFAULT_RANGE;
+ effective_range = 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 = morse.make_ident( 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 = morse.make_ident( 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() -
+ play_count = offset / 4;
+ last_time = globals->get_time_params()->get_cur_time() -
offset;
// cout << "offset = " << offset << " play_count = "
- // << nav_play_count
- // << " nav_last_time = " << nav_last_time
+ // << play_count
+ // << " last_time = " << last_time
// << " current time = "
// << globals->get_time_params()->get_cur_time() << endl;
// cout << " id = " << loc->get_locident() << endl;
}
} else if ( nav != NULL ) {
- nav_id = nav->get_ident();
+ nav_id = nav->get_ident();
+ nav_id_node->setStringValue( nav_id.c_str() );
// cout << "nav = " << nav_id << endl;
- nav_valid = true;
+ is_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();
+ trans_ident = nav->get_trans_ident();
+ loc_node->setBoolValue( false );
+ has_dme = (dme != NULL);
+ has_gs_node->setBoolValue( false );
+ loc_lon = nav->get_lon();
+ loc_lat = 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();
+ twist = nav->get_multiuse();
+ range = nav->get_range();
+ effective_range = adjustNavRange(nav_elev, pos.getElevationM(), range);
+ target_gs = 0.0;
+ target_radial = sel_radial_node->getDoubleValue();
+ nav_xyz = nav->cart();
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;
+ try {
+ SGSoundSample *sound;
+ sound = morse.make_ident( 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");
+ }
- // cout << "Found a vor station in range" << endl;
- // cout << " id = " << nav->get_ident() << endl;
+ if ( globals->get_soundmgr()->exists( dme_fx_name ) ) {
+ globals->get_soundmgr()->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 );
+
+ int offset = (int)(sg_random() * 30.0);
+ play_count = offset / 4;
+ last_time = globals->get_time_params()->get_cur_time() - offset;
+ // cout << "offset = " << offset << " play_count = "
+ // << play_count << " last_time = "
+ // << 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;
+ } catch ( sg_io_exception &e ) {
+ SG_LOG(SG_GENERAL, SG_ALERT, e.getFormattedMessage());
+ }
}
} else {
- nav_valid = false;
- nav_id = "";
- nav_target_radial = 0;
- nav_trans_ident = "";
+ is_valid = false;
+ nav_id_node->setStringValue( "" );
+ target_radial = 0;
+ 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( nav_fx_name );
globals->get_soundmgr()->remove( dme_fx_name );
- // cout << "not picking up vor1. :-(" << endl;
- }
-}
-
-
-// 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() )
- {
- 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 {
- 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;
-
- 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;
- }
-
- return m;
-}
-
-// 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() )
- {
- 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;
- } else {
- return 0.0;
- }
-}
-
-
-/**
- * Return true if the NAV TO flag should be active.
- */
-bool
-FGNavRadio::get_nav_to_flag () const
-{
- if ( nav_inrange
- && nav_serviceable->getBoolValue()
- && tofrom_serviceable->getBoolValue() )
- {
- double offset = fabs(nav_radial - nav_target_radial);
- if (nav_loc) {
- return true;
- } else {
- return !(offset <= 90.0 || offset >= 270.0);
- }
- } else {
- return false;
}
-}
+ is_valid_node->setBoolValue( is_valid );
-/**
- * Return true if the NAV FROM flag should be active.
- */
-bool
-FGNavRadio::get_nav_from_flag () const
-{
- 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);
- }
- } else {
- return false;
- }
-}
-
-
-/**
- * Return the true heading to station
- */
-double
-FGNavRadio::get_nav_heading () const
-{
- return nav_heading;
-}
-
-
-/**
- * Return the current radial.
- */
-double
-FGNavRadio::get_nav_radial () const
-{
- return nav_radial;
-}
-
-double
-FGNavRadio::get_nav_reciprocal_radial () const
-{
- double recip = nav_radial + 180;
- if ( recip >= 360 ) {
- recip -= 360;
- }
- return recip;
+ char tmpid[5];
+ strncpy( tmpid, nav_id.c_str(), 5 );
+ id_c1_node->setIntValue( (int)tmpid[0] );
+ id_c2_node->setIntValue( (int)tmpid[1] );
+ id_c3_node->setIntValue( (int)tmpid[2] );
+ id_c4_node->setIntValue( (int)tmpid[3] );
}
projects / flightgear.git / blobdiff