X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIAircraft.cxx;h=69c519f63d9824231fd4d33998b48bec2a980467;hb=0905b4f36781c057b0c17b5af2c9ccfd72cf0fcd;hp=be0556c8533dad170a0b3c56d981f1162ecf8c82;hpb=5a198ca9f50db714a5171b6db3cbb0348945b08c;p=flightgear.git diff --git a/src/AIModel/AIAircraft.cxx b/src/AIModel/AIAircraft.cxx index be0556c85..69c519f63 100644 --- a/src/AIModel/AIAircraft.cxx +++ b/src/AIModel/AIAircraft.cxx @@ -47,13 +47,10 @@ using std::string; #include "AIAircraft.hxx" #include "performancedata.hxx" #include "performancedb.hxx" +#include - -#define TGT_VS_CUTOFF 10000 //#include -static string tempReg; - FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : /* HOT must be disabled for AI Aircraft, * otherwise traffic detection isn't working as expected.*/ @@ -157,7 +154,6 @@ void FGAIAircraft::setPerformance(const std::string& acclass) { void FGAIAircraft::Run(double dt) { - FGAIAircraft::dt = dt; bool outOfSight = false, @@ -194,6 +190,7 @@ void FGAIAircraft::checkVisibility() void FGAIAircraft::AccelTo(double speed) { tgt_speed = speed; + //assertSpeed(speed); if (!isStationary()) _needsGroundElevation = true; } @@ -290,6 +287,7 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) { if (! leadPointReached(curr)) { controlHeading(curr); controlSpeed(curr, next); + /* if (speed < 0) { cerr << getCallSign() @@ -353,19 +351,19 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) { fp->setLeadDistance(tgt_speed, tgt_heading, curr, next); } + if (!(prev->getOn_ground())) // only update the tgt altitude from flightplan if not on the ground { tgt_altitude_ft = prev->getAltitude(); if (curr->getCrossat() > -1000.0) { use_perf_vs = false; -// tgt_vs = (curr->getCrossat() - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr) -// / 6076.0 / speed*60.0); -// if (fabs(tgt_vs) > TGT_VS_CUTOFF) { SG_LOG(SG_GENERAL, SG_ALERT, "Rediculously high vertical speed caculated at " << SG_ORIGIN << ". Corresponding to " << (tgt_vs * .005) << "degrees of pitch angle" << prev->getName()); }; -// if (tgt_vs < -1500) -// tgt_vs = -1500; -// if (tgt_vs > 1500) -// tgt_vs = 1500; -// checkTcas(); + // 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; @@ -377,6 +375,49 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) { } } +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) @@ -505,13 +546,16 @@ void FGAIAircraft::getGroundElev(double dt) { void FGAIAircraft::doGroundAltitude() { - - 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; + 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; + } } @@ -536,6 +580,7 @@ void FGAIAircraft::announcePositionToController() { 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; } @@ -652,7 +697,6 @@ void FGAIAircraft::handleFirstWaypoint() { FGAIWaypoint* next = 0;// the next plus 1 spinCounter = 0; - tempReg = ""; //TODO fp should handle this fp->IncrementWaypoint(eraseWaypoints); @@ -685,11 +729,14 @@ void FGAIAircraft::handleFirstWaypoint() { if (curr->getCrossat() > -1000.0) //use a calculated descent/climb rate { use_perf_vs = false; -/* tgt_vs = (curr->getCrossat() - prev->getAltitude()) - / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr) - / 6076.0 / prev->getSpeed()*60.0); - if (fabs(tgt_vs) > TGT_VS_CUTOFF) { SG_LOG(SG_GENERAL, SG_ALERT, "Rediculously high vertical speed caculated at " << SG_ORIGIN); }; - checkTcas();*/ + //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; @@ -740,6 +787,7 @@ bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) { if (tgt_speed > -0.5) { tgt_speed = -0.5; } + //assertSpeed(tgt_speed); if (fp->getPreviousWaypoint()->getSpeed() < tgt_speed) { fp->getPreviousWaypoint()->setSpeed(tgt_speed); } @@ -757,7 +805,7 @@ bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) { // << lead_dist << " " << curr->name // << " Ground target speed " << groundTargetSpeed << endl; double bearing = 0; - if (speed > 50) { // don't do bearing calculations for ground traffic + // don't do bearing calculations for ground traffic bearing = getBearing(fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)); if (bearing < minBearing) { minBearing = bearing; @@ -765,33 +813,37 @@ bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) { minBearing = 10; } if ((minBearing < 360.0) && (minBearing > 10.0)) { - speedFraction = cos(minBearing *SG_DEGREES_TO_RADIANS); + 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->name << " " << vs << " " << tgt_vs << " " << bearing << " " << minBearing << " " << speedFraction << 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) || (bearing > (minBearing * 1.1))) { + 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_positon_cart()) < d2); } @@ -826,9 +878,27 @@ bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) { } if (prev->contains(string("DepartureHold"))) { //cerr << "Passing point DepartureHold" << endl; - scheduleForATCTowerDepartureControl(2); + 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->contains("END")) { @@ -887,6 +957,7 @@ void FGAIAircraft::controlSpeed(FGAIWaypoint* curr, FGAIWaypoint* next) { if (fabs(speed_diff) > 10) { prevSpeed = speed; + //assertSpeed(speed); if (next) { fp->setLeadDistance(speed, tgt_heading, curr, next); } @@ -1015,13 +1086,14 @@ void FGAIAircraft::updateHeading() { // << 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 - + //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) { @@ -1050,6 +1122,9 @@ void FGAIAircraft::updateHeading() { // << 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 @@ -1122,7 +1197,12 @@ 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; @@ -1131,7 +1211,8 @@ 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; @@ -1178,6 +1259,14 @@ void FGAIAircraft::handleATCRequests() { altitude_ft, dt); processATC(controller->getInstruction(getID())); } + if (towerController) { + towerController->updateAircraftInformation(getID(), + pos.getLatitudeDeg(), + pos.getLongitudeDeg(), + hdg, + speed, + altitude_ft, dt); + } } void FGAIAircraft::updateActualState() { @@ -1186,10 +1275,10 @@ 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 *speedFraction), dt); - + speed = _performance->actualSpeed(this, (tgt_speed *speedFraction), dt, false); + //assertSpeed(speed); updateHeading(); roll = _performance->actualBankAngle(this, tgt_roll, dt);