X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIAircraft.cxx;h=3440290d1789d8b3bf5e6a2e0ad561ee9368b8f8;hb=7d547d128702a643c40b54809e2b4e1a38c4a16d;hp=eb8469fdece8dd419a721b5c7262caf3ddc9a6af;hpb=fa7d9ed549a747deb36cfed0c6128840e47f5963;p=flightgear.git

diff --git a/src/AIModel/AIAircraft.cxx b/src/AIModel/AIAircraft.cxx
index eb8469fde..fe93d938b 100644
--- a/src/AIModel/AIAircraft.cxx
+++ b/src/AIModel/AIAircraft.cxx
@@ -1,4 +1,4 @@
-// // // FGAIAircraft - FGAIBase-derived class creates an AI airplane
+// FGAIAircraft - FGAIBase-derived class creates an AI airplane
 //
 // Written by David Culp, started October 2003.
 //
@@ -22,13 +22,12 @@
 #  include <config.h>
 #endif
 
-#include <simgear/route/waypoint.hxx>
 #include <Main/fg_props.hxx>
 #include <Main/globals.hxx>
-#include <Main/viewer.hxx>
 #include <Scenery/scenery.hxx>
 #include <Scenery/tilemgr.hxx>
 #include <Airports/dynamics.hxx>
+#include <Airports/simple.hxx>
 
 #include <string>
 #include <math.h>
@@ -46,26 +45,27 @@ using std::string;
 #include "AIAircraft.hxx"
 #include "performancedata.hxx"
 #include "performancedb.hxx"
+#include <signal.h>
 
 //#include <Airports/trafficcontroller.hxx>
 
-static string tempReg;
-
-class AI_OutOfSight{};
-class FP_Inactive{};
-
-FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : FGAIBase(otAircraft) {
+FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
+     /* HOT must be disabled for AI Aircraft,
+      * otherwise traffic detection isn't working as expected.*/
+     FGAIBase(otAircraft, false) 
+{
     trafficRef = ref;
     if (trafficRef) {
         groundOffset = trafficRef->getGroundOffset();
-	setCallSign(trafficRef->getCallSign());
+        setCallSign(trafficRef->getCallSign());
     }
     else
         groundOffset = 0;
 
-    fp = 0;
-    controller = 0;
-    prevController = 0;
+    fp              = 0;
+    controller      = 0;
+    prevController  = 0;
+    towerController = 0;
     dt_count = 0;
     dt_elev_count = 0;
     use_perf_vs = true;
@@ -81,11 +81,16 @@ FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : FGAIBase(otAircraft) {
     roll = 0;
     headingChangeRate = 0.0;
     headingError = 0;
+    minBearing = 360;
+    speedFraction =1.0;
 
     holdPos = false;
+    needsTaxiClearance = false;
+    _needsGroundElevation = true;
 
     _performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB
     dt = 0;
+    takeOffStatus = 0;
 }
 
 
@@ -102,7 +107,7 @@ void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) {
 
     FGAIBase::readFromScenario(scFileNode);
 
-    setPerformance(scFileNode->getStringValue("class", "jet_transport"));
+    setPerformance("", scFileNode->getStringValue("class", "jet_transport"));
     setFlightPlan(scFileNode->getStringValue("flightplan"),
                   scFileNode->getBoolValue("repeat", false));
     setCallSign(scFileNode->getStringValue("callsign"));
@@ -112,72 +117,71 @@ void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) {
 void FGAIAircraft::bind() {
     FGAIBase::bind();
 
-    props->tie("controls/gear/gear-down",
-               SGRawValueMethods<FGAIAircraft,bool>(*this,
-                                                    &FGAIAircraft::_getGearDown));
-    props->tie("transponder-id",
-               SGRawValueMethods<FGAIAircraft,const char*>(*this,
-                                                    &FGAIAircraft::_getTransponderCode));
-}
-
-
-void FGAIAircraft::unbind() {
-    FGAIBase::unbind();
-
-    props->untie("controls/gear/gear-down");
-    props->untie("transponder-id");
+    tie("controls/gear/gear-down",
+        SGRawValueMethods<FGAIAircraft,bool>(*this,
+                &FGAIAircraft::_getGearDown));
+    tie("transponder-id",
+        SGRawValueMethods<FGAIAircraft,const char*>(*this,
+                &FGAIAircraft::_getTransponderCode));
 }
 
-
 void FGAIAircraft::update(double dt) {
     FGAIBase::update(dt);
     Run(dt);
     Transform();
 }
 
-void FGAIAircraft::setPerformance(const std::string& acclass) {
-     static PerformanceDB perfdb; //TODO make it a global service
-     setPerformance(perfdb.getDataFor(acclass));
-  }
-
+void FGAIAircraft::setPerformance(const std::string& acType, const std::string& acclass)
+{
+  static PerformanceDB perfdb; //TODO make it a global service
+  _performance = perfdb.getDataFor(acType, acclass);
+}
 
+#if 0
  void FGAIAircraft::setPerformance(PerformanceData *ps) {
      _performance = ps;
   }
-
+#endif
 
  void FGAIAircraft::Run(double dt) {
       FGAIAircraft::dt = dt;
-
-     try {
-         updatePrimaryTargetValues(); // target hdg, alt, speed
-     }
-     catch (AI_OutOfSight) {
-         return;
+    
+     bool outOfSight = false, 
+        flightplanActive = true;
+     updatePrimaryTargetValues(flightplanActive, outOfSight); // target hdg, alt, speed
+     if (outOfSight) {
+        return;
      }
-     catch (FP_Inactive) {
-         //return;
-         groundTargetSpeed = 0;
+
+     if (!flightplanActive) {
+        groundTargetSpeed = 0;
      }
 
      handleATCRequests(); // ATC also has a word to say
      updateSecondaryTargetValues(); // target roll, vertical speed, pitch
      updateActualState(); 
-     UpdateRadar(manager);
+    // We currently have one situation in which an AIAircraft object is used that is not attached to the 
+    // AI manager. In this particular case, the AIAircraft is used to shadow the user's aircraft's behavior in the AI world.
+    // Since we perhaps don't want a radar entry of our own aircraft, the following conditional should probably be adequate
+    // enough
+     if (manager)
+        UpdateRadar(manager);
      checkVisibility();
   }
 
 void FGAIAircraft::checkVisibility() 
 {
   double visibility_meters = fgGetDouble("/environment/visibility-m");
-  FGViewer* vw = globals->get_current_view();
-  invisible = (SGGeodesy::distanceM(vw->getPosition(), pos) > visibility_meters);
+  invisible = (SGGeodesy::distanceM(globals->get_view_position(), pos) > visibility_meters);
 }
 
 
 
 void FGAIAircraft::AccelTo(double speed) {
     tgt_speed = speed;
+    //assertSpeed(speed);
+    if (!isStationary())
+        _needsGroundElevation = true;
 }
 
 
@@ -236,11 +240,11 @@ void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f) {
 void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
 
     // the one behind you
-    FGAIFlightPlan::waypoint* prev = 0;
+    FGAIWaypoint* prev = 0;
     // the one ahead
-    FGAIFlightPlan::waypoint* curr = 0;
+    FGAIWaypoint* curr = 0;
     // the next plus 1
-    FGAIFlightPlan::waypoint* next = 0;
+    FGAIWaypoint* next = 0;
 
     prev = fp->getPreviousWaypoint();
     curr = fp->getCurrentWaypoint();
@@ -259,11 +263,42 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
           return;
     dt_count = 0;
 
+    double distanceToDescent;
+    if(reachedEndOfCruise(distanceToDescent)) {
+        if (!loadNextLeg(distanceToDescent)) {
+            setDie(true);
+            return;
+        }
+        prev = fp->getPreviousWaypoint();
+        curr = fp->getCurrentWaypoint();
+        next = fp->getNextWaypoint();
+    }
+    if (!curr)
+    {
+        // Oops! FIXME
+        return;
+    }
+
     if (! leadPointReached(curr)) {
         controlHeading(curr);
         controlSpeed(curr, next);
+        
+            /*
+            if (speed < 0) { 
+                cerr << getCallSign() 
+                     << ": verifying lead distance to waypoint : " 
+                     << fp->getCurrentWaypoint()->name << " "
+                     << fp->getLeadDistance() << ". Distance to go " 
+                     << (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)) 
+                     << ". Target speed = " 
+                     << tgt_speed
+                     << ". Current speed = "
+                     << speed
+                     << ". Minimum Bearing " << minBearing
+                     << endl;
+            } */
     } else {
-        if (curr->finished)      //end of the flight plan
+        if (curr->isFinished())      //end of the flight plan
         {
             if (fp->getRepeat())
                 fp->restart();
@@ -280,7 +315,7 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
 
         //TODO let the fp handle this (loading of next leg)
         fp->IncrementWaypoint( trafficRef != 0 );
-        if (!(fp->getNextWaypoint()) && trafficRef != 0)
+        if  ( ((!(fp->getNextWaypoint()))) && (trafficRef != 0) )
             if (!loadNextLeg()) {
                 setDie(true);
                 return;
@@ -311,25 +346,100 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
             fp->setLeadDistance(tgt_speed, tgt_heading, curr, next);
         }
 
-        if (!(prev->on_ground))  // only update the tgt altitude from flightplan if not on the ground
+
+        if (!(prev->getOn_ground()))  // only update the tgt altitude from flightplan if not on the ground
         {
-            tgt_altitude_ft = prev->altitude;
-            if (curr->crossat > -1000.0) {
+            tgt_altitude_ft = prev->getAltitude();
+            if (curr->getCrossat() > -1000.0) {
                 use_perf_vs = false;
-                tgt_vs = (curr->crossat - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
-                         / 6076.0 / speed*60.0);
-                tgt_altitude_ft = curr->crossat;
+                // Distance to go in meters
+                double vert_dist_ft = curr->getCrossat() - altitude_ft;
+                double err_dist     = prev->getCrossat() - altitude_ft;
+                double dist_m       = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
+                tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
+                
+                checkTcas();
+                tgt_altitude_ft = curr->getCrossat();
             } else {
                 use_perf_vs = true;
             }
         }
-        tgt_speed = prev->speed;
+        AccelTo(prev->getSpeed());
         hdg_lock = alt_lock = true;
-        no_roll = prev->on_ground;
+        no_roll = prev->getOn_ground();
+    }
+}
+
+double FGAIAircraft::calcVerticalSpeed(double vert_ft, double dist_m, double speed, double err)
+{
+    // err is negative when we passed too high
+    double vert_m = vert_ft * SG_FEET_TO_METER;
+    //double err_m  = err     * SG_FEET_TO_METER;
+    //double angle = atan2(vert_m, dist_m);
+    double speedMs = (speed * SG_NM_TO_METER) / 3600;
+    //double vs = cos(angle) * speedMs; // Now in m/s
+    double vs = 0;
+    //cerr << "Error term = " << err_m << endl;
+    if (dist_m) {
+        vs = ((vert_m) / dist_m) * speedMs;
+    }
+    // Convert to feet per minute
+    vs *= (SG_METER_TO_FEET * 60);
+    //if (getCallSign() == "LUFTHANSA2002")
+    //if (fabs(vs) > 100000) {
+//     if (getCallSign() == "LUFTHANSA2057") {
+//         cerr << getCallSign() << " " << fp->getPreviousWaypoint()->getName() << ". Alt = " << altitude_ft <<  " vertical dist = " << vert_m << " horiz dist = " << dist_m << " << angle  = " << angle * SG_RADIANS_TO_DEGREES << " vs " << vs << " horizontal speed " << speed << "Previous crossAT " << fp->getPreviousWaypoint()->getCrossat() << endl;
+//     //= (curr->getCrossat() - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
+//     //                     / 6076.0 / speed*60.0);
+//         //raise(SIGSEGV);
+//     }
+    return vs;
+}
+
+void FGAIAircraft::assertSpeed(double speed)
+{
+    if ((speed < -50) || (speed > 1000)) {
+        cerr << getCallSign() << " " 
+            << "Previous waypoint " << fp->getPreviousWaypoint()->getName() << " "
+            << "Departure airport " << trafficRef->getDepartureAirport() << " "
+            << "Leg " << fp->getLeg() <<  " "
+            << "target_speed << " << tgt_speed <<  " "
+            << "speedFraction << " << speedFraction << " "
+            << "Currecnt speed << " << speed << " "
+            << endl;
+       //raise(SIGSEGV);
     }
 }
 
 
+
+void FGAIAircraft::checkTcas(void)
+{
+    if (props->getIntValue("tcas/threat-level",0)==3)
+    {
+        int RASense = props->getIntValue("tcas/ra-sense",0);
+        if ((RASense>0)&&(tgt_vs<4000))
+            // upward RA: climb!
+            tgt_vs = 4000;
+        else
+        if (RASense<0)
+        {
+            // downward RA: descend!
+            if (altitude_ft < 1000)
+            {
+                // too low: level off
+                if (tgt_vs>0)
+                    tgt_vs = 0;
+            }
+            else
+            {
+                if (tgt_vs >- 4000)
+                    tgt_vs = -4000;
+            }
+        }
+    }
+}
+
 void FGAIAircraft::initializeFlightPlan() {
 }
 
@@ -343,16 +453,18 @@ const char * FGAIAircraft::_getTransponderCode() const {
   return transponderCode.c_str();
 }
 
+// NOTE: Check whether the new (delayed leg increment code has any effect on this code.
+// Probably not, because it should only be executed after we have already passed the leg incrementing waypoint. 
 
-bool FGAIAircraft::loadNextLeg() {
+bool FGAIAircraft::loadNextLeg(double distance) {
 
     int leg;
-    if ((leg = fp->getLeg())  == 10) {
+    if ((leg = fp->getLeg())  == 9) {
         if (!trafficRef->next()) {
             return false;
         }
         setCallSign(trafficRef->getCallSign());
-        leg = 1;
+        leg = 0;
         fp->setLeg(leg);
     }
 
@@ -367,7 +479,7 @@ bool FGAIAircraft::loadNextLeg() {
         fp->create (this,
                     dep,
                     arr,
-                    leg,
+                    leg+1,
                     cruiseAlt,
                     trafficRef->getSpeed(),
                     _getLatitude(),
@@ -376,7 +488,8 @@ bool FGAIAircraft::loadNextLeg() {
                     trafficRef->getRadius(),
                     trafficRef->getFlightType(),
                     acType,
-                    company);
+                    company,
+                    distance);
        //cerr << "created  leg " << leg << " for " << trafficRef->getCallSign() << endl;
     }
     return true;
@@ -391,6 +504,8 @@ bool FGAIAircraft::loadNextLeg() {
 void FGAIAircraft::getGroundElev(double dt) {
     dt_elev_count += dt;
 
+    if (!needGroundElevation())
+        return;
     // Update minimally every three secs, but add some randomness
     // to prevent all AI objects doing this in synchrony
     if (dt_elev_count < (3.0) + (rand() % 10))
@@ -400,31 +515,40 @@ void FGAIAircraft::getGroundElev(double dt) {
 
     // Only do the proper hitlist stuff if we are within visible range of the viewer.
     if (!invisible) {
-        double visibility_meters = fgGetDouble("/environment/visibility-m");
-        FGViewer* vw = globals->get_current_view();
-        
-        if (SGGeodesy::distanceM(vw->getPosition(), pos) > visibility_meters) {
+        double visibility_meters = fgGetDouble("/environment/visibility-m");        
+        if (SGGeodesy::distanceM(globals->get_view_position(), pos) > visibility_meters) {
             return;
         }
 
         double range = 500.0;
-        if (!globals->get_tile_mgr()->scenery_available(pos, range)) {
-            // Try to shedule tiles for that position.
-            globals->get_tile_mgr()->update( pos, range );
+        if (globals->get_tile_mgr()->schedule_scenery(pos, range, 5.0))
+        {
+            double alt;
+            if (getGroundElevationM(SGGeod::fromGeodM(pos, 20000), alt, 0))
+            {
+                tgt_altitude_ft = alt * SG_METER_TO_FEET;
+                if (isStationary())
+                {
+                    // aircraft is stationary and we obtained altitude for this spot - we're done.
+                    _needsGroundElevation = false;
+                }
+            }
         }
-
-        double alt;
-        if (getGroundElevationM(SGGeod::fromGeodM(pos, 20000), alt, 0))
-            tgt_altitude_ft = alt * SG_METER_TO_FEET;
     }
 }
 
 
 void FGAIAircraft::doGroundAltitude() {
-    if (fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)
-        altitude_ft = (tgt_altitude_ft + groundOffset);
-    else
-        altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
+    if ((fp->getLeg() == 7) && ((altitude_ft -  tgt_altitude_ft) > 5)) {
+        tgt_vs = -500;
+    } else {
+        if ((fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)||
+            (isStationary()))
+            altitude_ft = (tgt_altitude_ft + groundOffset);
+        else
+            altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
+        tgt_vs = 0;
+    }
 }
 
 
@@ -434,24 +558,32 @@ void FGAIAircraft::announcePositionToController() {
 
         // Note that leg has been incremented after creating the current leg, so we should use
         // leg numbers here that are one higher than the number that is used to create the leg
-        //
+        // NOTE: As of July, 30, 2011, the post-creation leg updating is no longer happening. 
+        // Leg numbers are updated only once the aircraft passes the last waypoint created for that legm so I should probably just use
+        // the original leg numbers here!
         switch (leg) {
-          case 2:              // Startup and Push back
+          case 1:              // Startup and Push back
             if (trafficRef->getDepartureAirport()->getDynamics())
                 controller = trafficRef->getDepartureAirport()->getDynamics()->getStartupController();
             break;
-        case 3:              // Taxiing to runway
+        case 2:              // Taxiing to runway
             if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
                 controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
             break;
-        case 4:              //Take off tower controller
+        case 3:              //Take off tower controller
             if (trafficRef->getDepartureAirport()->getDynamics()) {
                 controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
+                towerController = 0;
             } else {
                 cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
             }
             break;
-        case 9:              // Taxiing for parking
+        case 6:
+             if (trafficRef->getDepartureAirport()->getDynamics()) {
+                 controller = trafficRef->getArrivalAirport()->getDynamics()->getApproachController();
+              }
+              break;
+        case 8:              // Taxiing for parking
             if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
                 controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
             break;
@@ -465,13 +597,33 @@ void FGAIAircraft::announcePositionToController() {
         }
         prevController = controller;
         if (controller) {
-            controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->routeIndex,
+            controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(),
                                          _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
                                          trafficRef->getRadius(), leg, this);
         }
     }
 }
 
+void FGAIAircraft::scheduleForATCTowerDepartureControl(int state) {
+    if (!takeOffStatus) {
+        int leg = fp->getLeg();
+        if (trafficRef) {
+            if (trafficRef->getDepartureAirport()->getDynamics()) {
+                towerController = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
+            } else {
+                cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
+            }
+            if (towerController) {
+                towerController->announcePosition(getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(),
+                                                   _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
+                                                    trafficRef->getRadius(), leg, this);
+                //cerr << "Scheduling " << trafficRef->getCallSign() << " for takeoff " << endl;
+            }
+        }
+    }
+    takeOffStatus = state;
+}
+
 // Process ATC instructions and report back
 
 void FGAIAircraft::processATC(FGATCInstruction instruction) {
@@ -508,7 +660,7 @@ void FGAIAircraft::processATC(FGATCInstruction instruction) {
             //cerr << trafficRef->getCallSign() << " Changing Speed " << endl;
             AccelTo(instruction.getSpeed());
         } else {
-            if (fp) AccelTo(fp->getPreviousWaypoint()->speed);
+            if (fp) AccelTo(fp->getPreviousWaypoint()->getSpeed());
         }
     }
     if (instruction.getChangeHeading ()) {
@@ -533,12 +685,11 @@ void FGAIAircraft::handleFirstWaypoint() {
         eraseWaypoints = false;
     }
 
-    FGAIFlightPlan::waypoint* prev = 0; // the one behind you
-    FGAIFlightPlan::waypoint* curr = 0; // the one ahead
-    FGAIFlightPlan::waypoint* next = 0;// the next plus 1
+    FGAIWaypoint* prev = 0; // the one behind you
+    FGAIWaypoint* curr = 0; // the one ahead
+    FGAIWaypoint* next = 0;// the next plus 1
 
     spinCounter = 0;
-    tempReg = "";
 
     //TODO fp should handle this
     fp->IncrementWaypoint(eraseWaypoints);
@@ -552,15 +703,15 @@ void FGAIAircraft::handleFirstWaypoint() {
     curr = fp->getCurrentWaypoint();    //second waypoint
     next = fp->getNextWaypoint();       //third waypoint (might not exist!)
 
-    setLatitude(prev->latitude);
-    setLongitude(prev->longitude);
-    setSpeed(prev->speed);
-    setAltitude(prev->altitude);
+    setLatitude(prev->getLatitude());
+    setLongitude(prev->getLongitude());
+    setSpeed(prev->getSpeed());
+    setAltitude(prev->getAltitude());
 
-    if (prev->speed > 0.0)
-        setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
+    if (prev->getSpeed() > 0.0)
+        setHeading(fp->getBearing(prev->getLatitude(), prev->getLongitude(), curr));
     else
-        setHeading(fp->getBearing(curr->latitude, curr->longitude, prev));
+        setHeading(fp->getBearing(curr->getLatitude(), curr->getLongitude(), prev));
 
     // If next doesn't exist, as in incrementally created flightplans for
     // AI/Trafficmanager created plans,
@@ -568,23 +719,29 @@ void FGAIAircraft::handleFirstWaypoint() {
     if (next)
         fp->setLeadDistance(speed, hdg, curr, next);
 
-    if (curr->crossat > -1000.0) //use a calculated descent/climb rate
+    if (curr->getCrossat() > -1000.0) //use a calculated descent/climb rate
     {
         use_perf_vs = false;
-        tgt_vs = (curr->crossat - prev->altitude)
-                 / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
-                    / 6076.0 / prev->speed*60.0);
-        tgt_altitude_ft = curr->crossat;
+        //tgt_vs = (curr->getCrossat() - prev->getAltitude())
+        //         / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
+        //            / 6076.0 / prev->getSpeed()*60.0);
+        double vert_dist_ft = curr->getCrossat() - altitude_ft;
+        double err_dist     = prev->getCrossat() - altitude_ft;
+        double dist_m       = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
+        tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
+        checkTcas();
+        tgt_altitude_ft = curr->getCrossat();
     } else {
         use_perf_vs = true;
-        tgt_altitude_ft = prev->altitude;
+        tgt_altitude_ft = prev->getAltitude();
     }
     alt_lock = hdg_lock = true;
-    no_roll = prev->on_ground;
+    no_roll = prev->getOn_ground();
     if (no_roll) {
         Transform();             // make sure aip is initialized.
         getGroundElev(60.1);     // make sure it's executed first time around, so force a large dt value
         doGroundAltitude();
+        _needsGroundElevation = true; // check ground elevation again (maybe scenery wasn't available yet)
     }
     // Make sure to announce the aircraft's position
     announcePositionToController();
@@ -612,13 +769,22 @@ bool FGAIAircraft::fpExecutable(time_t now) {
  * @param curr
  * @return
  */
-bool FGAIAircraft::leadPointReached(FGAIFlightPlan::waypoint* curr) {
+bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) {
     double dist_to_go = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
 
     //cerr << "2" << endl;
     double lead_dist = fp->getLeadDistance();
     // experimental: Use fabs, because speed can be negative (I hope) during push_back.
-
+    if ((dist_to_go < fabs(10.0* speed)) && (speed < 0) && (tgt_speed < 0) && fp->getCurrentWaypoint()->contains("PushBackPoint")) {
+          tgt_speed = -(dist_to_go / 10.0);
+          if (tgt_speed > -0.5) {
+                tgt_speed = -0.5;
+          }
+          //assertSpeed(tgt_speed);
+          if (fp->getPreviousWaypoint()->getSpeed() < tgt_speed) {
+              fp->getPreviousWaypoint()->setSpeed(tgt_speed);
+          }
+    }
     if (lead_dist < fabs(2*speed)) {
       //don't skip over the waypoint
       lead_dist = fabs(2*speed);
@@ -631,16 +797,46 @@ bool FGAIAircraft::leadPointReached(FGAIFlightPlan::waypoint* curr) {
     //          << dist_to_go << ": Lead distance " 
     //          << lead_dist << " " << curr->name 
     //          << " Ground target speed " << groundTargetSpeed << endl;
-         
-    return dist_to_go < lead_dist;
+    double bearing = 0;
+     // don't do bearing calculations for ground traffic
+       bearing = getBearing(fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr));
+       if (bearing < minBearing) {
+            minBearing = bearing;
+            if (minBearing < 10) {
+                 minBearing = 10;
+            }
+            if ((minBearing < 360.0) && (minBearing > 10.0)) {
+                speedFraction = 0.5 + (cos(minBearing *SG_DEGREES_TO_RADIANS) * 0.5);
+            } else {
+                speedFraction = 1.0;
+            }
+       } 
+    if (trafficRef) {
+         //cerr << "Tracking callsign : \"" << fgGetString("/ai/track-callsign") << "\"" << endl;
+         //if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
+              //cerr << trafficRef->getCallSign() << " " << tgt_altitude_ft << " " << _getSpeed() << " " 
+              //     << _getAltitude() << " "<< _getLatitude() << " " << _getLongitude() << " " << dist_to_go << " " << lead_dist << " " << curr->getName() << " " << vs << " " << //tgt_vs << " " << bearing << " " << minBearing << " " << speedFraction << endl; 
+         //}
+     }
+    if ((dist_to_go < lead_dist) ||
+        ((dist_to_go > prev_dist_to_go) && (bearing > (minBearing * 1.1))) ) {
+        minBearing = 360;
+        speedFraction = 1.0;
+        prev_dist_to_go = HUGE_VAL;
+        return true;
+    } else {
+        prev_dist_to_go = dist_to_go;
+        return false;
+    }
 }
 
 
-bool FGAIAircraft::aiTrafficVisible() {
-  SGGeod userPos(SGGeod::fromDeg(fgGetDouble("/position/longitude-deg"), 
-    fgGetDouble("/position/latitude-deg")));
-  
-  return (SGGeodesy::distanceNm(userPos, pos) <= TRAFFICTOAIDISTTODIE);
+bool FGAIAircraft::aiTrafficVisible()
+{
+    SGVec3d cartPos = SGVec3d::fromGeod(pos);
+    const double d2 = (TRAFFICTOAIDISTTODIE * SG_NM_TO_METER) *
+        (TRAFFICTOAIDISTTODIE * SG_NM_TO_METER);
+    return (distSqr(cartPos, globals->get_aircraft_position_cart()) < d2);
 }
 
 
@@ -653,7 +849,7 @@ bool FGAIAircraft::aiTrafficVisible() {
  */
 
 //TODO the trafficRef is the right place for the method
-bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t now) {
+bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) {
     // prepare routing from one airport to another
     FGAirport * dep = trafficRef->getDepartureAirport();
     FGAirport * arr = trafficRef->getArrivalAirport();
@@ -664,22 +860,47 @@ bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t
     // This waypoint marks the fact that the aircraft has passed the initial taxi
     // departure waypoint, so it can release the parking.
     //cerr << trafficRef->getCallSign() << " has passed waypoint " << prev->name << " at speed " << speed << endl;
-    if (prev->name == "PushBackPoint") {
+    //cerr << "Passing waypoint : " << prev->getName() << endl;
+    if (prev->contains("PushBackPoint")) {
         dep->getDynamics()->releaseParking(fp->getGate());
-        time_t holdUntil = now + 120;
-	fp->setTime(holdUntil);
-	//cerr << _getCallsign() << "Holding at pushback point" << endl;
+        AccelTo(0.0);
+        //setTaxiClearanceRequest(true);
     }
-
+    if (prev->contains("legend")) {
+        fp->incrementLeg();
+    }
+    if (prev->contains(string("DepartureHold"))) {
+        //cerr << "Passing point DepartureHold" << endl;
+        scheduleForATCTowerDepartureControl(1);
+    }
+    if (prev->contains(string("Accel"))) {
+        takeOffStatus = 3;
+    }
+    //if (prev->contains(string("landing"))) {
+    //    if (speed < _performance->vTaxi() * 2) {
+    //        fp->shortenToFirst(2, "legend");
+    //    }
+    //}
+    //if (prev->contains(string("final"))) {
+    //    
+    //     cerr << getCallSign() << " " 
+    //        << fp->getPreviousWaypoint()->getName() 
+    //        << ". Alt = " << altitude_ft 
+    //        << " vs " << vs 
+    //        << " horizontal speed " << speed 
+    //        << "Previous crossAT " << fp->getPreviousWaypoint()->getCrossat()
+    //        << "Airport elevation" << getTrafficRef()->getArrivalAirport()->getElevation() 
+    //        << "Altitude difference " << (altitude_ft -  fp->getPreviousWaypoint()->getCrossat()) << endl;
+    //q}
     // This is the last taxi waypoint, and marks the the end of the flight plan
     // so, the schedule should update and wait for the next departure time.
-    if (prev->name == "END") {
+    if (prev->contains("END")) {
         time_t nextDeparture = trafficRef->getDepartureTime();
         // make sure to wait at least 20 minutes at parking to prevent "nervous" taxi behavior
         if (nextDeparture < (now+1200)) {
             nextDeparture = now + 1200;
         }
-        fp->setTime(nextDeparture); // should be "next departure"
+        fp->setTime(nextDeparture);
     }
 
     return true;
@@ -691,7 +912,7 @@ bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t
  *
  * @param curr
  */
-void FGAIAircraft::controlHeading(FGAIFlightPlan::waypoint* curr) {
+void FGAIAircraft::controlHeading(FGAIWaypoint* curr) {
     double calc_bearing = fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
     //cerr << "Bearing = " << calc_bearing << endl;
     if (speed < 0) {
@@ -710,9 +931,9 @@ void FGAIAircraft::controlHeading(FGAIFlightPlan::waypoint* curr) {
         cerr << "calc_bearing is not a finite number : "
         << "Speed " << speed
         << "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
-        << "waypoint " << curr->latitude << ", " << curr->longitude << endl;
-        cerr << "waypoint name " << curr->name;
-        exit(1);                 // FIXME
+        << ", waypoint: " << curr->getLatitude() << ", " << curr->getLongitude() << endl;
+        cerr << "waypoint name: '" << curr->getName() << "'" << endl;
+        //exit(1);                 // FIXME
     }
 }
 
@@ -724,11 +945,12 @@ void FGAIAircraft::controlHeading(FGAIFlightPlan::waypoint* curr) {
  * @param curr
  * @param next
  */
-void FGAIAircraft::controlSpeed(FGAIFlightPlan::waypoint* curr, FGAIFlightPlan::waypoint* next) {
+void FGAIAircraft::controlSpeed(FGAIWaypoint* curr, FGAIWaypoint* next) {
     double speed_diff = speed - prevSpeed;
 
     if (fabs(speed_diff) > 10) {
         prevSpeed = speed;
+        //assertSpeed(speed);
         if (next) {
             fp->setLeadDistance(speed, tgt_heading, curr, next);
         }
@@ -739,7 +961,7 @@ void FGAIAircraft::controlSpeed(FGAIFlightPlan::waypoint* curr, FGAIFlightPlan::
 /**
  * Update target values (heading, alt, speed) depending on flight plan or control properties
  */
-void FGAIAircraft::updatePrimaryTargetValues() {
+void FGAIAircraft::updatePrimaryTargetValues(bool& flightplanActive, bool& aiOutOfSight) {
     if (fp)                      // AI object has a flightplan
     {
         //TODO make this a function of AIBase
@@ -760,16 +982,16 @@ void FGAIAircraft::updatePrimaryTargetValues() {
         }
         if (trafficRef) {
            //cerr << trafficRef->getRegistration() << " Setting altitude to " << altitude_ft;
-            if (! aiTrafficVisible()) {
+            aiOutOfSight = !aiTrafficVisible();
+            if (aiOutOfSight) {
                 setDie(true);
                 //cerr << trafficRef->getRegistration() << " is set to die " << endl;
-                throw AI_OutOfSight();
+                aiOutOfSight = true;
+                return;
             }
         }
         timeElapsed = now - fp->getStartTime();
-        if (! fp->isActive(now)) { 
-            throw FP_Inactive();
-        }
+        flightplanActive = fp->isActive(now);
     } else {
         // no flight plan, update target heading, speed, and altitude
         // from control properties.  These default to the initial
@@ -828,7 +1050,7 @@ void FGAIAircraft::updateHeading() {
         // If on ground, calculate heading change directly
         if (onGround()) {
             double headingDiff = fabs(hdg-tgt_heading);
-            double bank_sense = 0.0;
+//            double bank_sense = 0.0;
         /*
         double diff = fabs(hdg - tgt_heading);
         if (diff > 180)
@@ -848,43 +1070,54 @@ void FGAIAircraft::updateHeading() {
             if (sum > 360.0) 
                 sum -= 360.0;
             if (fabs(sum - tgt_heading) > 0.0001) {
-                bank_sense = -1.0;
+//                bank_sense = -1.0;
             } else {
-                bank_sense = 1.0;
+//                bank_sense = 1.0;
             }
             //if (trafficRef)
-            	//cerr << trafficRef->getCallSign() << " Heading " 
-                //     << hdg << ". Target " << tgt_heading <<  ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << endl;
+            //	cerr << trafficRef->getCallSign() << " Heading " 
+            //         << hdg << ". Target " << tgt_heading <<  ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << endl;
             //if (headingDiff > 60) {
             groundTargetSpeed = tgt_speed; // * cos(headingDiff * SG_DEGREES_TO_RADIANS);
+            //assertSpeed(groundTargetSpeed);
                 //groundTargetSpeed = tgt_speed - tgt_speed * (headingDiff/180);
             //} else {
             //    groundTargetSpeed = tgt_speed;
             //}
             if (sign(groundTargetSpeed) != sign(tgt_speed))
                 groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
-
-            if (headingDiff > 30.0) {
-                // invert if pushed backward
-                headingChangeRate += 10.0 * dt * sign(roll);
-
-                // Clamp the maximum steering rate to 30 degrees per second,
-                // But only do this when the heading error is decreasing.
-                if ((headingDiff < headingError)) {
-                    if (headingChangeRate > 30)
-                        headingChangeRate = 30;
-                    else if (headingChangeRate < -30)
-                        headingChangeRate = -30;
+            //assertSpeed(groundTargetSpeed);
+            // Only update the target values when we're not moving because otherwise we might introduce an enormous target change rate while waiting a the gate, or holding.
+            if (speed != 0) {
+                if (headingDiff > 30.0) {
+                    // invert if pushed backward
+                    headingChangeRate += 10.0 * dt * sign(roll);
+
+                    // Clamp the maximum steering rate to 30 degrees per second,
+                    // But only do this when the heading error is decreasing.
+                    if ((headingDiff < headingError)) {
+                        if (headingChangeRate > 30)
+                            headingChangeRate = 30;
+                        else if (headingChangeRate < -30)
+                            headingChangeRate = -30;
+                    }
+                } else {
+                    if (speed != 0) {
+                        if (fabs(headingChangeRate) > headingDiff)
+                            headingChangeRate = headingDiff*sign(roll);
+                        else
+                            headingChangeRate += dt * sign(roll);
+                    }
                 }
-            } else {
-                   if (fabs(headingChangeRate) > headingDiff)
-                       headingChangeRate = headingDiff*sign(roll);
-                   else
-                       headingChangeRate += dt * sign(roll);
             }
-
-	    hdg += headingChangeRate * dt * (fabs(speed) / 15);
+            if (trafficRef)
+            	//cerr << trafficRef->getCallSign() << " Heading " 
+                //     << hdg << ". Target " << tgt_heading <<  ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << "Heading change rate : " << headingChangeRate << " bacnk sence " << bank_sense << endl;
+	    hdg += headingChangeRate * dt * sqrt(fabs(speed) / 15);
             headingError = headingDiff;
+            if (fabs(headingError) < 1.0) {
+                hdg = tgt_heading;
+            }
         } else {
             if (fabs(speed) > 1.0) {
                 turn_radius_ft = 0.088362 * speed * speed
@@ -957,7 +1190,12 @@ void FGAIAircraft::updateVerticalSpeedTarget() {
                     tgt_vs = -_performance->descentRate();
             }
         } else {
-            double max_vs = 4*(tgt_altitude_ft - altitude_ft);
+            double vert_dist_ft = fp->getCurrentWaypoint()->getCrossat() - altitude_ft;
+            double err_dist     = 0; //prev->getCrossat() - altitude_ft;
+            double dist_m       = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), fp->getCurrentWaypoint());
+            tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
+            //cerr << "Target vs before : " << tgt_vs;
+/*            double max_vs = 10*(tgt_altitude_ft - altitude_ft);
             double min_vs = 100;
             if (tgt_altitude_ft < altitude_ft)
                 min_vs = -100.0;
@@ -966,10 +1204,12 @@ void FGAIAircraft::updateVerticalSpeedTarget() {
                 tgt_vs = max_vs;
 
             if (fabs(tgt_vs) < fabs(min_vs))
-                tgt_vs = min_vs;
+                tgt_vs = min_vs;*/
+            //cerr << "target vs : after " << tgt_vs << endl;
         }
     } //else 
     //    tgt_vs = 0.0;
+    checkTcas();
 }
 
 void FGAIAircraft::updatePitchAngleTarget() {
@@ -1004,14 +1244,22 @@ string FGAIAircraft::atGate() {
 void FGAIAircraft::handleATCRequests() {
     //TODO implement NullController for having no ATC to save the conditionals
     if (controller) {
-        controller->update(getID(),
-                           pos.getLatitudeDeg(),
-                           pos.getLongitudeDeg(),
-                           hdg,
-                           speed,
-                           altitude_ft, dt);
+        controller->updateAircraftInformation(getID(),
+                                              pos.getLatitudeDeg(),
+                                              pos.getLongitudeDeg(),
+                                              hdg,
+                                              speed,
+                                              altitude_ft, dt);
         processATC(controller->getInstruction(getID()));
     }
+    if (towerController) {
+        towerController->updateAircraftInformation(getID(),
+                                              pos.getLatitudeDeg(),
+                                              pos.getLongitudeDeg(),
+                                              hdg,
+                                              speed,
+                                              altitude_ft, dt);
+    }
 }
 
 void FGAIAircraft::updateActualState() {
@@ -1020,10 +1268,10 @@ void FGAIAircraft::updateActualState() {
     updatePosition();
 
     if (onGround())
-        speed = _performance->actualSpeed(this, groundTargetSpeed, dt);
+        speed = _performance->actualSpeed(this, groundTargetSpeed, dt, holdPos);
     else
-        speed = _performance->actualSpeed(this, tgt_speed, dt);
-
+        speed = _performance->actualSpeed(this, (tgt_speed *speedFraction), dt, false);
+    //assertSpeed(speed);
     updateHeading();
     roll = _performance->actualBankAngle(this, tgt_roll, dt);
 
@@ -1043,3 +1291,89 @@ void FGAIAircraft::updateSecondaryTargetValues() {
 
     //TODO calculate wind correction angle (tgt_yaw)
 }
+
+
+bool FGAIAircraft::reachedEndOfCruise(double &distance) {
+    FGAIWaypoint* curr = fp->getCurrentWaypoint();
+    if (curr->getName() == string("BOD")) {
+        double dist = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
+        double descentSpeed = (getPerformance()->vDescent() * SG_NM_TO_METER) / 3600.0;     // convert from kts to meter/s
+        double descentRate  = (getPerformance()->descentRate() * SG_FEET_TO_METER) / 60.0;  // convert from feet/min to meter/s
+
+        double verticalDistance  = ((altitude_ft - 2000.0) - trafficRef->getArrivalAirport()->getElevation()) *SG_FEET_TO_METER;
+        double descentTimeNeeded = verticalDistance / descentRate;
+        double distanceCovered   = descentSpeed * descentTimeNeeded; 
+
+        //cerr << "Tracking  : " << fgGetString("/ai/track-callsign");
+        if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
+            cerr << "Checking for end of cruise stage for :" << trafficRef->getCallSign() << endl;
+            cerr << "Descent rate      : " << descentRate << endl;
+            cerr << "Descent speed     : " << descentSpeed << endl;
+            cerr << "VerticalDistance  : " << verticalDistance << ". Altitude : " << altitude_ft << ". Elevation " << trafficRef->getArrivalAirport()->getElevation() << endl;
+            cerr << "DecentTimeNeeded  : " << descentTimeNeeded << endl;
+            cerr << "DistanceCovered   : " << distanceCovered   << endl;
+        }
+        //cerr << "Distance = " << distance << endl;
+        distance = distanceCovered;
+        if (dist < distanceCovered) {
+              if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
+                   //exit(1);
+              }
+              return true;
+        } else {
+              return false;
+        }
+    } else {
+         return false;
+    }
+}
+
+void FGAIAircraft::resetPositionFromFlightPlan()
+{
+    // the one behind you
+    FGAIWaypoint* prev = 0;
+    // the one ahead
+    FGAIWaypoint* curr = 0;
+    // the next plus 1
+    FGAIWaypoint* next = 0;
+
+    prev = fp->getPreviousWaypoint();
+    curr = fp->getCurrentWaypoint();
+    next = fp->getNextWaypoint();
+
+    setLatitude(prev->getLatitude());
+    setLongitude(prev->getLongitude());
+    double tgt_heading = fp->getBearing(curr, next);
+    setHeading(tgt_heading);
+    setAltitude(prev->getAltitude());
+    setSpeed(prev->getSpeed());
+}
+
+double FGAIAircraft::getBearing(double crse) 
+{
+  double hdgDiff = fabs(hdg-crse);
+  if (hdgDiff > 180)
+      hdgDiff = fabs(hdgDiff - 360);
+  return hdgDiff;
+}
+
+time_t FGAIAircraft::checkForArrivalTime(string wptName) {
+     FGAIWaypoint* curr = 0;
+     curr = fp->getCurrentWaypoint();
+
+     double tracklength = fp->checkTrackLength(wptName);
+     if (tracklength > 0.1) {
+          tracklength += fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
+     } else {
+         return 0;
+     }
+     time_t now = time(NULL) + fgGetLong("/sim/time/warp");
+     time_t arrivalTime = fp->getArrivalTime();
+     
+     time_t ete = tracklength / ((speed * SG_NM_TO_METER) / 3600.0); 
+     time_t secondsToGo = arrivalTime - now;
+     if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {    
+          cerr << "Checking arrival time: ete " << ete << ". Time to go : " << secondsToGo << ". Track length = " << tracklength << endl;
+     }
+     return (ete - secondsToGo); // Positive when we're too slow...
+}