//
// This file is in the Public Domain and comes with no warranty.
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
#include <simgear/compiler.h>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/math/sg_random.h>
: _last_distance_nm(0),
_last_frequency_mhz(-1),
_time_before_search_sec(0),
- _carrier_valid(false),
+ _mobile_valid(false),
_transmitter_valid(false),
- _transmitter_elevation_ft(0),
+ _transmitter_pos(SGGeod::fromDeg(0, 0)),
_transmitter_range_nm(0),
_transmitter_bias(0.0),
-
name("tacan"),
num(0)
{
: _last_distance_nm(0),
_last_frequency_mhz(-1),
_time_before_search_sec(0),
- _carrier_valid(false),
+ _mobile_valid(false),
_transmitter_valid(false),
- _transmitter_elevation_ft(0),
+ _transmitter_pos(SGGeod::fromDeg(0, 0)),
_transmitter_range_nm(0),
_transmitter_bearing_deg(0),
_transmitter_bias(0.0),
_longitude_node = fgGetNode("/position/longitude-deg", true);
_latitude_node = fgGetNode("/position/latitude-deg", true);
_altitude_node = fgGetNode("/position/altitude-ft", true);
+ _heading_node = fgGetNode("/orientation/heading-deg", true);
+ _yaw_node = fgGetNode("/orientation/side-slip-deg", true);
_serviceable_node = node->getChild("serviceable", 0, true);
_electrical_node = fgGetNode("/systems/electrical/outputs/tacan", true);
+ _ident_node = node->getChild("ident", 0, true);
SGPropertyNode *fnode = node->getChild("frequencies", 0, true);
_source_node = fnode->getChild("source", 0, true);
_frequency_node = fnode->getChild("selected-mhz", 0, true);
_time_node = node->getChild("indicated-time-min", 0, true);
_name_node = node->getChild("name", 0, true);
_bearing_node = node->getChild("indicated-bearing-true-deg", 0, true);
- SGPropertyNode *cnode = fgGetNode("/ai/models/carrier", num, true );
- _carrier_name_node = cnode->getChild("name", 0, true);
-
+ SGPropertyNode *dnode = node->getChild("display", 0, true);
+ _x_shift_node = dnode->getChild("x-shift", 0, true);
+ _y_shift_node = dnode->getChild("y-shift", 0, true);
+ _rotation_node = dnode->getChild("rotation", 0, true);
+ _channel_node = dnode->getChild("channel", 0, true);
+
+ SGPropertyNode *cnode = fgGetNode("/ai/models/carrier", num, false );
+ if (cnode)
+ _carrier_name_node = cnode->getChild("name", 0, false);
+
+ SGPropertyNode *tnode = fgGetNode("/ai/models/aircraft", num, false);
+ if (tnode)
+ _tanker_callsign_node = tnode->getChild("callsign", 0, false);
+
+ SGPropertyNode *mnode = fgGetNode("/ai/models/multiplayer", num, false);
+ if (mnode)
+ _mp_callsign_node = mnode->getChild("callsign", 0, false);
}
void
double az2 = 0;
double bearing = 0;
double distance = 0;
- double carrier_az2= 0;
- double carrier_bearing = 0;
- double carrier_distance = 0;
+ double mobile_az2 = 0;
+ double mobile_bearing = 0;
+ double mobile_distance = 0;
double frequency_mhz = 0;
+
string _channel, _last_channel, _channel_1, _channel_2,_channel_3, _channel_4;
// If it's off, don't waste any time.
_channel_2 = fgGetString("/instrumentation/tacan/frequencies/selected-channel[2]");
_channel_3 = fgGetString("/instrumentation/tacan/frequencies/selected-channel[3]");
_channel_4 = fgGetString("/instrumentation/tacan/frequencies/selected-channel[4]");
+
SG_LOG( SG_INSTR, SG_DEBUG, "channels " << _channel_1 << _channel_2 << _channel_3 << _channel_4);
+
_channel = _channel_1 + _channel_2 + _channel_3 + _channel_4;
- SG_LOG( SG_INSTR, SG_DEBUG, "channel " << _channel );
- // Get the frequecncy
+ // Get the frequency
if (_channel != _last_channel) {
_time_before_search_sec = 0;
_last_channel = _channel;
_frequency_node->setDoubleValue(frequency_mhz);
}
+ SG_LOG( SG_INSTR, SG_DEBUG, "channel " << _channel );
// Get the aircraft position
double longitude_deg = _longitude_node->getDoubleValue();
double latitude_deg = _latitude_node->getDoubleValue();
double altitude_m = _altitude_node->getDoubleValue() * SG_FEET_TO_METER;
+ double heading = _heading_node->getDoubleValue() ;
+ double yaw = _yaw_node->getDoubleValue() ;
double longitude_rad = longitude_deg * SGD_DEGREES_TO_RADIANS;
double latitude_rad = latitude_deg * SGD_DEGREES_TO_RADIANS;
// On timeout, scan again
_time_before_search_sec -= delta_time_sec;
- if (_time_before_search_sec < 0 && frequency_mhz > 0)
+ if (_time_before_search_sec < 0 && frequency_mhz >= 0)
search(frequency_mhz, longitude_rad, latitude_rad, altitude_m);
// Calculate the distance to the transmitter
- //calculate the bearing and range of the carrier from the aircraft
- SG_LOG( SG_INSTR, SG_DEBUG, "carrier_lat " << _carrier_lat);
- SG_LOG( SG_INSTR, SG_DEBUG, "carrier_lon " << _carrier_lon);
- SG_LOG( SG_INSTR, SG_DEBUG, "carrier_name " << _carrier_name);
- SG_LOG( SG_INSTR, SG_DEBUG, "carrier_valid " << _carrier_valid);
+ //calculate the bearing and range of the mobile from the aircraft
+ SG_LOG( SG_INSTR, SG_DEBUG, "carrier_lat " << _mobile_lat);
+ SG_LOG( SG_INSTR, SG_DEBUG, "carrier_lon " << _mobile_lon);
+ SG_LOG( SG_INSTR, SG_DEBUG, "carrier_name " << _mobile_name);
+ SG_LOG( SG_INSTR, SG_DEBUG, "carrier_valid " << _mobile_valid);
geo_inverse_wgs_84(altitude_m,
latitude_deg,
longitude_deg,
- _carrier_lat,
- _carrier_lon,
- &carrier_bearing, &carrier_az2, &carrier_distance);
-
+ _mobile_lat,
+ _mobile_lon,
+ &mobile_bearing, &mobile_az2, &mobile_distance);
//calculate the bearing and range of the station from the aircraft
- geo_inverse_wgs_84(altitude_m,
- latitude_deg,
- longitude_deg,
- _transmitter_lat,
- _transmitter_lon,
+ SGGeod pos = SGGeod::fromDegM(longitude_deg, latitude_deg, altitude_m);
+ geo_inverse_wgs_84(pos, _transmitter_pos,
&bearing, &az2, &distance);
//select the nearer
- if ( carrier_distance <= distance && _carrier_valid) {
- SG_LOG( SG_INSTR, SG_DEBUG, "carrier_distance_nm " << carrier_distance);
- SG_LOG( SG_INSTR, SG_DEBUG, "distance_nm " << distance);
- bearing = carrier_bearing;
- distance = carrier_distance;
- _transmitter_elevation_ft = _carrier_elevation_ft;
- _transmitter_range_nm = _carrier_range_nm;
- _transmitter_bias = _carrier_bias;
- _transmitter_name = _carrier_name;
+ if ( mobile_distance <= distance && _mobile_valid) {
+ SG_LOG( SG_INSTR, SG_DEBUG, "mobile_distance_m " << mobile_distance);
+ SG_LOG( SG_INSTR, SG_DEBUG, "distance_m " << distance);
+ bearing = mobile_bearing;
+ distance = mobile_distance;
+ _transmitter_pos.setElevationFt(_mobile_elevation_ft);
+ _transmitter_range_nm = _mobile_range_nm;
+ _transmitter_bias = _mobile_bias;
+ _transmitter_name = _mobile_name;
_name_node->setStringValue(_transmitter_name.c_str());
+ _transmitter_ident = _mobile_ident;
+ _ident_node->setStringValue(_transmitter_ident.c_str());
+ _channel_node->setStringValue(_channel.c_str());
}
+ //// calculate some values for boresight display
double distance_nm = distance * SG_METER_TO_NM;
- SG_LOG( SG_INSTR, SG_DEBUG, "distance_nm " << distance_nm << " bearing " << bearing);
- /*Point3D location =
- sgGeodToCart(Point3D(longitude_rad, latitude_rad, altitude_m));
- double distance_nm = _transmitter.distance3D(location) * SG_METER_TO_NM;*/
+ //// calculate look left/right to target, without yaw correction
+ // double horiz_offset = bearing - heading;
+ //
+ // if (horiz_offset > 180.0) horiz_offset -= 360.0;
+ // if (horiz_offset < -180.0) horiz_offset += 360.0;
+
+ //// now correct look left/right for yaw
+ // horiz_offset += yaw;
+
+ // use the bearing for a plan position indicator display
- double range_nm = adjust_range(_transmitter_elevation_ft,
+ double horiz_offset = bearing;
+
+ SG_LOG( SG_INSTR, SG_DEBUG, "distance_nm " << distance_nm << " bearing "
+ << bearing << " horiz_offset " << horiz_offset);
+
+ // calculate values for radar display
+ double y_shift = distance_nm * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
+ double x_shift = distance_nm * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
+
+ SG_LOG( SG_INSTR, SG_DEBUG, "y_shift " << y_shift << " x_shift " << x_shift);
+
+ double rotation = 0;
+
+ double range_nm = adjust_range(_transmitter_pos.getElevationFt(),
altitude_m * SG_METER_TO_FEET,
_transmitter_range_nm);
_speed_node->setDoubleValue(speed_kt);
_time_node->setDoubleValue(distance_nm/speed_kt*60.0);
_bearing_node->setDoubleValue(bearing);
-
+ _x_shift_node->setDoubleValue(x_shift);
+ _y_shift_node->setDoubleValue(y_shift);
+ _rotation_node->setDoubleValue(rotation);
} else {
_last_distance_nm = 0;
_in_range_node->setBoolValue(false);
_speed_node->setDoubleValue(0);
_time_node->setDoubleValue(0);
_bearing_node->setDoubleValue(0);
+ _x_shift_node->setDoubleValue(0);
+ _y_shift_node->setDoubleValue(0);
+ _rotation_node->setDoubleValue(0);
}
// If we can't find a valid station set everything to zero
- if (!_transmitter_valid && !_carrier_valid) {
+ if (!_transmitter_valid && !_mobile_valid ) {
_in_range_node->setBoolValue(false);
_distance_node->setDoubleValue(0);
_speed_node->setDoubleValue(0);
_time_node->setDoubleValue(0);
_bearing_node->setDoubleValue(0);
+ _x_shift_node->setDoubleValue(0);
+ _y_shift_node->setDoubleValue(0);
+ _rotation_node->setDoubleValue(0);
_transmitter_name = "";
_name_node->setStringValue(_transmitter_name.c_str());
+ _transmitter_ident = "";
+ _ident_node->setStringValue(_transmitter_ident.c_str());
+ _channel_node->setStringValue(_channel.c_str());
return;
}
} // end function update
TACAN::search (double frequency_mhz, double longitude_rad,
double latitude_rad, double altitude_m)
{
+ int number, i;
+ bool freq_valid = false;
SG_LOG( SG_INSTR, SG_DEBUG, "tacan freq " << frequency_mhz );
_time_before_search_sec = 1.0;
//try any carriers first
- FGNavRecord *carrier_tacan
+ FGNavRecord *mobile_tacan
= globals->get_carrierlist()->findStationByFreq( frequency_mhz );
- _carrier_valid = (carrier_tacan != NULL);
+ freq_valid = (mobile_tacan != NULL);
+ SG_LOG( SG_INSTR, SG_DEBUG, "mobile freqency valid " << freq_valid );
- if ( _carrier_valid ) {
- SG_LOG( SG_INSTR, SG_DEBUG, "carrier transmitter valid " << _carrier_valid );
+ if ( freq_valid ) {
- string str1( carrier_tacan->get_name() );
+ string str1( mobile_tacan->get_name() );
SGPropertyNode * branch = fgGetNode("ai/models", true);
vector<SGPropertyNode_ptr> carrier = branch->getChildren("carrier");
- int number = carrier.size();
+ number = carrier.size();
SG_LOG( SG_INSTR, SG_DEBUG, "carrier " << number );
- int i;
for ( i = 0; i < number; ++i ) {
string str2 ( carrier[i]->getStringValue("name", ""));
- // SG_LOG( SG_INSTR, SG_DEBUG, "carrier name " << str2 );
+ SG_LOG( SG_INSTR, SG_DEBUG, "carrier name " << str2 );
SG_LOG( SG_INSTR, SG_DEBUG, "strings 1 " << str1 << " 2 " << str2 );
unsigned int loc1= str1.find( str2, 0 );
if ( loc1 != string::npos && str2 != "" ) {
SG_LOG( SG_INSTR, SG_DEBUG, " string found" );
- _carrier_lat = carrier[i]->getDoubleValue("position/latitude-deg");
- _carrier_lon = carrier[i]->getDoubleValue("position/longitude-deg");
- _carrier_elevation_ft = carrier_tacan->get_elev_ft();
- _carrier_range_nm = carrier_tacan->get_range();
- _carrier_bias = carrier_tacan->get_multiuse();
- _carrier_name = carrier_tacan->get_name();
- _carrier_valid = 1;
- SG_LOG( SG_INSTR, SG_DEBUG, " carrier transmitter valid " << _carrier_valid );
+ _mobile_lat = carrier[i]->getDoubleValue("position/latitude-deg");
+ _mobile_lon = carrier[i]->getDoubleValue("position/longitude-deg");
+ _mobile_elevation_ft = mobile_tacan->get_elev_ft();
+ _mobile_range_nm = mobile_tacan->get_range();
+ _mobile_bias = mobile_tacan->get_multiuse();
+ _mobile_name = mobile_tacan->get_name();
+ _mobile_ident = mobile_tacan->get_trans_ident();
+ _mobile_valid = true;
+ SG_LOG( SG_INSTR, SG_DEBUG, " carrier transmitter valid " << _mobile_valid );
break;
} else {
- _carrier_valid = 0;
- SG_LOG( SG_INSTR, SG_DEBUG, " carrier transmitter invalid " << _carrier_valid );
+ _mobile_valid = false;
+ SG_LOG( SG_INSTR, SG_DEBUG, " carrier transmitter invalid " << _mobile_valid );
}
}
- SG_LOG( SG_INSTR, SG_DEBUG, "name " << _carrier_name);
- SG_LOG( SG_INSTR, SG_DEBUG, "lat " << _carrier_lat << "lon " << _carrier_lon);
- SG_LOG( SG_INSTR, SG_DEBUG, "elev " << _carrier_elevation_ft);
+ SG_LOG( SG_INSTR, SG_DEBUG, "name " << _mobile_name);
+ SG_LOG( SG_INSTR, SG_DEBUG, "lat " << _mobile_lat << "lon " << _mobile_lon);
+ SG_LOG( SG_INSTR, SG_DEBUG, "elev " << _mobile_elevation_ft);
- } else {
- SG_LOG( SG_INSTR, SG_DEBUG, " carrier transmitter invalid " << _carrier_valid );
+ //try any AI tankers second
+
+ if ( !_mobile_valid) {
+ SG_LOG( SG_INSTR, SG_DEBUG, "tanker transmitter valid start " << _mobile_valid );
+
+ SGPropertyNode * branch = fgGetNode("ai/models", true);
+ vector<SGPropertyNode_ptr> tanker = branch->getChildren("aircraft");
+
+ number = tanker.size();
+
+ SG_LOG( SG_INSTR, SG_DEBUG, "tanker number " << number );
+
+ for ( i = 0; i < number; ++i ) {
+ string str4 ( tanker[i]->getStringValue("callsign", ""));
+ SG_LOG( SG_INSTR, SG_DEBUG, "tanker callsign " << str4 );
+
+ SG_LOG( SG_INSTR, SG_DEBUG, "strings 1 " << str1 << " 4 " << str4 );
+ unsigned int loc1= str1.find( str4, 0 );
+ if ( loc1 != string::npos && str4 != "" ) {
+ SG_LOG( SG_INSTR, SG_DEBUG, " string found" );
+ _mobile_lat = tanker[i]->getDoubleValue("position/latitude-deg");
+ _mobile_lon = tanker[i]->getDoubleValue("position/longitude-deg");
+ _mobile_elevation_ft = tanker[i]->getDoubleValue("position/altitude-ft");
+ _mobile_range_nm = mobile_tacan->get_range();
+ _mobile_bias = mobile_tacan->get_multiuse();
+ _mobile_name = mobile_tacan->get_name();
+ _mobile_ident = mobile_tacan->get_trans_ident();
+ _mobile_valid = true;
+ SG_LOG( SG_INSTR, SG_DEBUG, " tanker transmitter valid " << _mobile_valid );
+ break;
+ } else {
+ _mobile_valid = false;
+ SG_LOG( SG_INSTR, SG_DEBUG, " tanker transmitter invalid " << _mobile_valid );
+ }
+ }
+
+ SG_LOG( SG_INSTR, SG_DEBUG, "tanker name " << _mobile_name);
+ SG_LOG( SG_INSTR, SG_DEBUG, "lat " << _mobile_lat << "lon " << _mobile_lon);
+ SG_LOG( SG_INSTR, SG_DEBUG, "elev " << _mobile_elevation_ft);
+ SG_LOG( SG_INSTR, SG_DEBUG, "range " << _mobile_range_nm);
}
+ //try any mp tankers third, if we haven't found the tanker in the ai aircraft
+
+ if ( !_mobile_valid ) {
+ SG_LOG( SG_INSTR, SG_DEBUG, " mp tanker transmitter valid start " << _mobile_valid );
+
+ SGPropertyNode * branch = fgGetNode("ai/models", true);
+ vector<SGPropertyNode_ptr> mp_tanker = branch->getChildren("multiplayer");
+
+ number = mp_tanker.size();
+
+ SG_LOG( SG_INSTR, SG_DEBUG, " mp tanker number " << number );
+
+ for ( i = 0; i < number; ++i ) {
+ string str6 ( mp_tanker[i]->getStringValue("callsign", ""));
+ SG_LOG( SG_INSTR, SG_DEBUG, "mp tanker callsign " << str6 );
+
+ SG_LOG( SG_INSTR, SG_DEBUG, "strings 1 " << str1 << " 5 " << str6 );
+ unsigned int loc1= str1.find( str6, 0 );
+ if ( loc1 != string::npos && str6 != "" ) {
+ SG_LOG( SG_INSTR, SG_DEBUG, " string found" );
+ _mobile_lat = mp_tanker[i]->getDoubleValue("position/latitude-deg");
+ _mobile_lon = mp_tanker[i]->getDoubleValue("position/longitude-deg");
+ _mobile_elevation_ft = mp_tanker[i]->getDoubleValue("position/altitude-ft");
+ _mobile_range_nm = mobile_tacan->get_range();
+ _mobile_bias = mobile_tacan->get_multiuse();
+ _mobile_name = mobile_tacan->get_name();
+ _mobile_ident = mobile_tacan->get_trans_ident();
+ _mobile_valid = true;
+
+ SG_LOG( SG_INSTR, SG_DEBUG, " mp tanker transmitter valid " << _mobile_valid );
+ SG_LOG( SG_INSTR, SG_DEBUG, " mp_tanker name " << _mobile_name);
+ SG_LOG( SG_INSTR, SG_DEBUG, " mp lat " << _mobile_lat << "lon " << _mobile_lon);
+ SG_LOG( SG_INSTR, SG_DEBUG, " mp elev " << _mobile_elevation_ft);
+ SG_LOG( SG_INSTR, SG_DEBUG, " mp range " << _mobile_range_nm);
+ break;
+ } else {
+ _mobile_valid = false;
+ SG_LOG( SG_INSTR, SG_DEBUG, " mp tanker transmitter invalid " << _mobile_valid );
+ }
+ }
+ }
+ } else {
+ _mobile_valid = false;
+ SG_LOG( SG_INSTR, SG_DEBUG, " mobile transmitter invalid " << _mobile_valid );
+ }
// try the TACAN/VORTAC list next
FGNavRecord *tacan
if ( _transmitter_valid ) {
SG_LOG( SG_INSTR, SG_DEBUG, "transmitter valid " << _transmitter_valid );
- _transmitter_lat = tacan->get_lat();
- _transmitter_lon = tacan->get_lon();
- _transmitter_elevation_ft = tacan->get_elev_ft();
+ _transmitter_pos = tacan->get_pos();
_transmitter_range_nm = tacan->get_range();
_transmitter_bias = tacan->get_multiuse();
_transmitter_name = tacan->get_name();
_name_node->setStringValue(_transmitter_name.c_str());
+ _transmitter_ident = tacan->get_trans_ident();
+ _ident_node->setStringValue(_transmitter_ident.c_str());
SG_LOG( SG_INSTR, SG_DEBUG, "name " << _transmitter_name);
- SG_LOG( SG_INSTR, SG_DEBUG, "lat " << _transmitter_lat << "lon " << _transmitter_lon);
- SG_LOG( SG_INSTR, SG_DEBUG, "elev " << _transmitter_elevation_ft);
+ SG_LOG( SG_INSTR, SG_DEBUG, _transmitter_pos);
} else {
SG_LOG( SG_INSTR, SG_DEBUG, "transmitter invalid " << _transmitter_valid );
frequency_khz = freq->get_freq();
SG_LOG( SG_INSTR, SG_DEBUG, "freq output " << frequency_khz );
//check sanity
- if (frequency_khz >=9620 && frequency_khz <= 12130)
+ if (frequency_khz >=9620 && frequency_khz <= 121300)
return frequency_khz/100;
}
return frequency_khz = 0;