X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIShip.cxx;h=b0e0eb65f00f8c5022a607055a7d054ab19575f4;hb=3922c121631a159d911a96353aad06a3d8896769;hp=c152ce36a6dd2d9c87fee6a9b912550d150f9db7;hpb=da8b3f9ce5ce936df130ea817efbbc4d2527eca7;p=flightgear.git diff --git a/src/AIModel/AIShip.cxx b/src/AIModel/AIShip.cxx index c152ce36a..b0e0eb65f 100644 --- a/src/AIModel/AIShip.cxx +++ b/src/AIModel/AIShip.cxx @@ -29,19 +29,50 @@ #endif #include + +#include #include #include #include + #include +#include #include "AIShip.hxx" FGAIShip::FGAIShip(object_type ot) : - FGAIBase(ot), - _dt_count(0), - _next_run(0) +FGAIBase(ot), +_limit(100), +_elevation_m(0), +_elevation_ft(0), +_tow_angle(0), +_dt_count(0), +_next_run(0), +_lead_angle(0), +_xtrack_error(0), +_tunnel(false), +_curr_alt(0), +_prev_alt(0), +_until_time(""), +_fp_init(false), +_missed(false), +_waiting(false), +_new_waypoint(true), +_missed_count(0), +_wait_count(0), +_missed_time_sec(30), +_day(86400), +_wp_range(0), +_old_range(0), +_range_rate(0), +_roll_constant(0.001), +_hdg_constant(0.01), +_roll_factor(-0.0083335), +_restart(false) + { + invisible = false; } FGAIShip::~FGAIShip() { @@ -59,9 +90,18 @@ void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) { setRadius(scFileNode->getDoubleValue("turn-radius-ft", 2000)); std::string flightplan = scFileNode->getStringValue("flightplan"); setRepeat(scFileNode->getBoolValue("repeat", false)); + setRestart(scFileNode->getBoolValue("restart", false)); setStartTime(scFileNode->getStringValue("time", "")); + setLeadAngleGain(scFileNode->getDoubleValue("lead-angle-gain", 1.5)); + setLeadAngleLimit(scFileNode->getDoubleValue("lead-angle-limit-deg", 15)); + setLeadAngleProp(scFileNode->getDoubleValue("lead-angle-proportion", 0.75)); + setRudderConstant(scFileNode->getDoubleValue("rudder-constant", 0.5)); + setFixedTurnRadius(scFileNode->getDoubleValue("fixed-turn-radius-ft", 500)); + setSpeedConstant(scFileNode->getDoubleValue("speed-constant", 0.5)); if (!flightplan.empty()) { + SG_LOG(SG_GENERAL, SG_ALERT, "getting flightplan: " << _name ); + FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan); setFlightPlan(fp); } @@ -73,54 +113,26 @@ bool FGAIShip::init(bool search_in_AI_path) { curr = 0; // the one ahead next = 0; // the next plus 1 - _until_time = ""; - props->setStringValue("name", _name.c_str()); - props->setStringValue("position/waypoint-name-prev", _prev_name.c_str()); - props->setStringValue("position/waypoint-name-curr", _curr_name.c_str()); - props->setStringValue("position/waypoint-name-next", _next_name.c_str()); + props->setStringValue("waypoint/name-prev", _prev_name.c_str()); + props->setStringValue("waypoint/name-curr", _curr_name.c_str()); + props->setStringValue("waypoint/name-next", _next_name.c_str()); props->setStringValue("submodels/path", _path.c_str()); - props->setStringValue("position/waypoint-start-time", _start_time.c_str()); - props->setStringValue("position/waypoint-wait-until-time", _until_time.c_str()); + props->setStringValue("waypoint/start-time", _start_time.c_str()); + props->setStringValue("waypoint/wait-until-time", _until_time.c_str()); _hdg_lock = false; _rudder = 0.0; no_roll = false; - _rudder_constant = 0.5; - _roll_constant = 0.001; - _speed_constant = 0.05; - _hdg_constant = 0.01; - _roll_factor = -0.0083335; - _rd_turn_radius_ft = _sp_turn_radius_ft = turn_radius_ft; - _fp_init = false; - _missed = false; - _waiting = false; - _new_waypoint = true; - - _missed_count = 0; - _wait_count = 0; - _missed_time_sec = 30; - - _day = 86400; - - - _wp_range = _old_range = 0; - _range_rate = 0; - if (fp) _fp_init = initFlightPlan(); return FGAIBase::init(search_in_AI_path); } -void FGAIShip::initModel(osg::Node *node) { - FGAIBase::initModel(node); - model->setNodeMask(model->getNodeMask() | SG_NODEMASK_TERRAIN_BIT); -} - void FGAIShip::bind() { FGAIBase::bind(); @@ -142,26 +154,54 @@ void FGAIShip::bind() { SGRawValuePointer(&_rudder_constant)); props->tie("controls/constants/speed", SGRawValuePointer(&_speed_constant)); - props->tie("position/waypoint-range-nm", + props->tie("waypoint/range-nm", SGRawValuePointer(&_wp_range)); - props->tie("position/waypoint-range-old-nm", - SGRawValuePointer(&_old_range)); - props->tie("position/waypoint-range-rate-nm-sec", + props->tie("waypoint/brg-deg", + SGRawValuePointer(&_course)); + props->tie("waypoint/rangerate-nm-sec", SGRawValuePointer(&_range_rate)); - props->tie("position/waypoint-new", + props->tie("waypoint/new", SGRawValuePointer(&_new_waypoint)); - props->tie("position/waypoint-missed", + props->tie("waypoint/missed", SGRawValuePointer(&_missed)); - props->tie("position/waypoint-missed-count", + props->tie("waypoint/missed-count-sec", SGRawValuePointer(&_missed_count)); - props->tie("position/waypoint-missed-time-sec", + props->tie("waypoint/missed-range-nm", + SGRawValuePointer(&_missed_range)); + props->tie("waypoint/missed-time-sec", SGRawValuePointer(&_missed_time_sec)); - props->tie("position/waypoint-wait-count", + props->tie("waypoint/wait-count-sec", SGRawValuePointer(&_wait_count)); - props->tie("position/waypoint-waiting", + props->tie("waypoint/xtrack-error-ft", + SGRawValuePointer(&_xtrack_error)); + props->tie("waypoint/waiting", SGRawValuePointer(&_waiting)); + props->tie("waypoint/lead-angle-deg", + SGRawValuePointer(&_lead_angle)); + props->tie("waypoint/tunnel", + SGRawValuePointer(&_tunnel)); + props->tie("waypoint/alt-curr-m", + SGRawValuePointer(&_curr_alt)); + props->tie("waypoint/alt-prev-m", + SGRawValuePointer(&_prev_alt)); props->tie("submodels/serviceable", SGRawValuePointer(&_serviceable)); + props->tie("controls/turn-radius-ft", + SGRawValuePointer(&turn_radius_ft)); + props->tie("controls/turn-radius-corrected-ft", + SGRawValuePointer(&_rd_turn_radius_ft)); + props->tie("controls/constants/lead-angle/gain", + SGRawValuePointer(&_lead_angle_gain)); + props->tie("controls/constants/lead-angle/limit-deg", + SGRawValuePointer(&_lead_angle_limit)); + props->tie("controls/constants/lead-angle/proportion", + SGRawValuePointer(&_proportion)); + props->tie("controls/fixed-turn-radius-ft", + SGRawValuePointer(&_fixed_turn_radius)); + props->tie("controls/restart", + SGRawValuePointer(&_restart)); + props->tie("velocities/speed-kts", + SGRawValuePointer(&speed)); } void FGAIShip::unbind() { @@ -174,19 +214,35 @@ void FGAIShip::unbind() { props->untie("controls/constants/rudder"); props->untie("controls/constants/roll-factor"); props->untie("controls/constants/speed"); - props->untie("position/waypoint-range-nm"); - props->untie("position/waypoint-range-old-nm"); - props->untie("position/waypoint-range-rate-nm-sec"); - props->untie("position/waypoint-new"); - props->untie("position/waypoint-missed"); - props->untie("position/waypoint-missed-count"); - props->untie("position/waypoint-missed-time-sec"); - props->untie("position/waypoint-wait-count"); - props->untie("position/waypoint-waiting"); + props->untie("waypoint/range-nm"); + props->untie("waypoint/range-brg-deg"); + props->untie("waypoint/rangerate-nm-sec"); + props->untie("waypoint/new"); + props->untie("waypoint/missed"); + props->untie("waypoint/missed-count-sec"); + props->untie("waypoint/missed-time-sec"); + props->untie("waypoint/missed-range"); + props->untie("waypoint/wait-count-sec"); + props->untie("waypoint/lead-angle-deg"); + props->untie("waypoint/xtrack-error-ft"); + props->untie("waypoint/waiting"); + props->untie("waypoint/tunnel"); + props->untie("waypoint/alt-curr-m"); + props->untie("waypoint/alt-prev-m"); props->untie("submodels/serviceable"); -} + props->untie("controls/turn-radius-ft"); + props->untie("controls/turn-radius-corrected-ft"); + props->untie("controls/constants/lead-angle/gain"); + props->untie("controls/constants/lead-angle/limit-deg"); + props->untie("controls/constants/lead-angle/proportion"); + props->untie("controls/fixed-turn-radius-ft"); + props->untie("controls/constants/speed"); + props->untie("controls/restart"); + props->untie("velocities/speed-kts"); +} void FGAIShip::update(double dt) { + //SG_LOG(SG_GENERAL, SG_ALERT, "updating Ship: " << _name <::min() < dt) { // Now here is the finite difference ... - + // Transform that one to the horizontal local coordinate system. SGQuatd ec2hlNew = SGQuatd::fromLonLat(pos); // compute the new orientation @@ -225,18 +283,17 @@ void FGAIShip::update(double dt) { dOr.getAngleAxis(dOrAngleAxis); // divided by the time difference provides a rotation speed vector dOrAngleAxis /= dt; - + aip.setBodyAngularVelocity(dOrAngleAxis); } } void FGAIShip::Run(double dt) { - //cout << _name << " init: " << _fp_init << endl; if (_fp_init) ProcessFlightPlan(dt); - // double speed_north_deg_sec; - // double speed_east_deg_sec; + string type = getTypeString(); + double alpha; double rudder_limit; double raw_roll; @@ -254,9 +311,8 @@ void FGAIShip::Run(double dt) { } - // do not allow unreasonable ship speeds - if (speed > 40) - speed = 40; + // do not allow unreasonable speeds + SG_CLAMP_RANGE(speed, -_limit * 0.75, _limit); // convert speed to degrees per second speed_north_deg_sec = cos(hdg / SGD_RADIANS_TO_DEGREES) @@ -265,13 +321,13 @@ void FGAIShip::Run(double dt) { * speed * 1.686 / ft_per_deg_lon; // set new position + //cout << _name << " " << type << " run: " << _elevation_m << " " <<_elevation_ft << endl; pos.setLatitudeDeg(pos.getLatitudeDeg() + speed_north_deg_sec * dt); pos.setLongitudeDeg(pos.getLongitudeDeg() + speed_east_deg_sec * dt); + pos.setElevationFt(tgt_altitude_ft); + pitch = tgt_pitch; // adjust heading based on current _rudder angle - - //cout << "turn_radius_ft " << turn_radius_ft ; - if (turn_radius_ft <= 0) turn_radius_ft = 0; // don't allow nonsense values @@ -281,15 +337,28 @@ void FGAIShip::Run(double dt) { if (_rudder < -45) _rudder = -45; + //we assume that at slow speed ships will manoeuvre using engines/bow thruster - if (fabs(speed)<=5) - _sp_turn_radius_ft = 500; - else - // adjust turn radius for speed. The equation is very approximate. - // we need to allow for negative speeds - _sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft; + if(type == "ship" || type == "carrier" || type == "escort"){ + + if (fabs(speed)<=5) + _sp_turn_radius_ft = _fixed_turn_radius; + else { + // adjust turn radius for speed. The equation is very approximate. + // we need to allow for negative speeds + _sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft; + } + + } else { + + if (fabs(speed) <= 40) + _sp_turn_radius_ft = _fixed_turn_radius; + else { + // adjust turn radius for speed. + _sp_turn_radius_ft = turn_radius_ft; + } + } - //cout << " speed turn radius " << _sp_turn_radius_ft ; if (_rudder <= -0.25 || _rudder >= 0.25) { // adjust turn radius for _rudder angle. The equation is even more approximate. @@ -299,19 +368,13 @@ void FGAIShip::Run(double dt) { _rd_turn_radius_ft = (a * exp(b * fabs(_rudder)) + c) * _sp_turn_radius_ft; - //cout <<" _rudder turn radius " << _rd_turn_radius_ft << endl; - // calculate the angle, alpha, subtended by the arc traversed in time dt alpha = ((speed * 1.686 * dt) / _rd_turn_radius_ft) * SG_RADIANS_TO_DEGREES; - + //cout << _name << " alpha " << alpha << endl; // make sure that alpha is applied in the right direction hdg += alpha * sign(_rudder); - if (hdg > 360.0) - hdg -= 360.0; - - if (hdg < 0.0) - hdg += 360.0; + SG_NORMALIZE_RANGE(hdg, 0.0, 360.0); //adjust roll for rudder angle and speed. Another bit of voodoo raw_roll = _roll_factor * speed * _rudder; @@ -357,10 +420,15 @@ void FGAIShip::Run(double dt) { } // set the _rudder limit by speed - if (speed <= 40) - rudder_limit = (-0.825 * speed) + 35; - else - rudder_limit = 2; + if (type == "ship" || type == "carrier" || type == "escort"){ + + if (speed <= 40) + rudder_limit = (-0.825 * speed) + 35; + else + rudder_limit = 2; + + } else + rudder_limit = 20; if (fabs(rudder_diff)> 0.1) { // apply dead zone @@ -399,11 +467,13 @@ void FGAIShip::YawTo(double angle) { } void FGAIShip::ClimbTo(double altitude) { + tgt_altitude_ft = altitude; + _setAltitude(altitude); } - void FGAIShip::TurnTo(double heading) { - tgt_heading = heading; + tgt_heading = heading - _lead_angle + _tow_angle; + SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0); _hdg_lock = true; } @@ -428,31 +498,35 @@ void FGAIShip::setStartTime(const string& st) { void FGAIShip::setUntilTime(const string& ut) { _until_time = ut; - props->setStringValue("position/waypoint-wait-until-time", _until_time.c_str()); + props->setStringValue("waypoint/wait-until-time", _until_time.c_str()); } void FGAIShip::setCurrName(const string& c) { _curr_name = c; - props->setStringValue("position/waypoint-name-curr", _curr_name.c_str()); + props->setStringValue("waypoint/name-curr", _curr_name.c_str()); } void FGAIShip::setNextName(const string& n) { _next_name = n; - props->setStringValue("position/waypoint-name-next", _next_name.c_str()); + props->setStringValue("waypoint/name-next", _next_name.c_str()); } void FGAIShip::setPrevName(const string& p) { _prev_name = p; - props->setStringValue("position/waypoint-name-prev", _prev_name.c_str()); + props->setStringValue("waypoint/name-prev", _prev_name.c_str()); } void FGAIShip::setRepeat(bool r) { _repeat = r; } +void FGAIShip::setRestart(bool r) { + _restart = r; +} + void FGAIShip::setMissed(bool m) { _missed = m; - props->setBoolValue("position/waypoint-missed", _missed); + props->setBoolValue("waypoint/missed", _missed); } void FGAIShip::setRudder(float r) { @@ -463,6 +537,39 @@ void FGAIShip::setRoll(double rl) { roll = rl; } +void FGAIShip::setLeadAngleGain(double g) { + _lead_angle_gain = g; +} + +void FGAIShip::setLeadAngleLimit(double l) { + _lead_angle_limit = l; +} + +void FGAIShip::setLeadAngleProp(double p) { + _proportion = p; +} + +void FGAIShip::setRudderConstant(double rc) { + _rudder_constant = rc; +} + +void FGAIShip::setSpeedConstant(double sc) { + _speed_constant = sc; +} + +void FGAIShip::setFixedTurnRadius(double ftr) { + _fixed_turn_radius = ftr; +} + +void FGAIShip::setInitialTunnel(bool t) { + _initial_tunnel = t; + setTunnel(_initial_tunnel); +} + +void FGAIShip::setTunnel(bool t) { + _tunnel = t; +} + void FGAIShip::setWPNames() { if (prev != 0) @@ -470,7 +577,12 @@ void FGAIShip::setWPNames() { else setPrevName(""); - setCurrName(curr->name); + if (curr != 0) + setCurrName(curr->name); + else{ + setCurrName(""); + SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: current wp name error" ); + } if (next != 0) setNextName(next->name); @@ -501,17 +613,17 @@ double FGAIShip::getCourse(double lat, double lon, double lat2, double lon2) con geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &recip, &distance); if (tgt_speed >= 0) { return course; + SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: course " << course); } else { return recip; + SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: recip " << recip); } } void FGAIShip::ProcessFlightPlan(double dt) { double time_sec = getDaySeconds(); - double until_time_sec = 0; - _missed = false; _dt_count += dt; /////////////////////////////////////////////////////////////////////////// @@ -524,7 +636,10 @@ void FGAIShip::ProcessFlightPlan(double dt) { if (_dt_count < _next_run && _start_sec < time_sec) return; - _next_run = 1.0 + (0.5 * sg_random()); + _next_run = 0.05 + (0.025 * sg_random()); + + double until_time_sec = 0; + _missed = false; // check to see if we've reached the point for our next turn // if the range to the waypoint is less than the calculated turn @@ -532,33 +647,56 @@ void FGAIShip::ProcessFlightPlan(double dt) { _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude); _range_rate = (_wp_range - _old_range) / _dt_count; double sp_turn_radius_nm = _sp_turn_radius_ft / 6076.1155; - // we need to try to identify a _missed waypoint - // calculate the time needed to turn through an arc of 90 degrees, and allow an error of 30 secs + // calculate the time needed to turn through an arc of 90 degrees, + // and allow a time error if (speed != 0) - _missed_time_sec = 30 + ((SGD_PI * sp_turn_radius_nm * 60 * 60) / (2 * fabs(speed))); + _missed_time_sec = 10 + ((SGD_PI * sp_turn_radius_nm * 60 * 60) / (2 * fabs(speed))); else - _missed_time_sec = 30; + _missed_time_sec = 10; + + _missed_range = 4 * sp_turn_radius_nm; - if ((_range_rate > 0) && (_wp_range < 3 * sp_turn_radius_nm) && !_new_waypoint) + //cout << _name << " range_rate " << _range_rate << " " << _new_waypoint<< endl ; + //if ((_range_rate > 0) && !_new_waypoint){ + if (_range_rate > 0 && _wp_range < _missed_range && !_new_waypoint){ _missed_count += _dt_count; + } - if (_missed_count >= _missed_time_sec) { + if (_missed_count >= 120) setMissed(true); - } else { + else if (_missed_count >= _missed_time_sec) + setMissed(true); + else setMissed(false); - } _old_range = _wp_range; setWPNames(); - if ((_wp_range < sp_turn_radius_nm) || _missed || _waiting && !_new_waypoint) { + if ((_wp_range < (sp_turn_radius_nm * 1.25)) || _missed || (_waiting && !_new_waypoint)) { + + if (_next_name == "TUNNEL"){ + _tunnel = !_tunnel; - if (_next_name == "END") { + SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " " << sp_turn_radius_nm ); + + fp->IncrementWaypoint(false); + next = fp->getNextWaypoint(); + + if (next->name == "WAITUNTIL" || next->name == "WAIT" + || next->name == "END" || next->name == "TUNNEL") + return; + + prev = curr; + fp->IncrementWaypoint(false); + curr = fp->getCurrentWaypoint(); + next = fp->getNextWaypoint(); + + }else if(_next_name == "END" || fp->getNextWaypoint() == 0) { if (_repeat) { - SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: Flightplan restarting "); + SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: "<< _name << " Flightplan repeating "); fp->restart(); prev = curr; curr = fp->getCurrentWaypoint(); @@ -569,9 +707,14 @@ void FGAIShip::ProcessFlightPlan(double dt) { _range_rate = 0; _new_waypoint = true; _missed_count = 0; + _lead_angle = 0; AccelTo(prev->speed); + } else if (_restart){ + SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " Flightplan restarting "); + _missed_count = 0; + initFlightPlan(); } else { - SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: Flightplan dieing "); + SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " Flightplan dying "); setDie(true); _dt_count = 0; return; @@ -585,6 +728,7 @@ void FGAIShip::ProcessFlightPlan(double dt) { _waiting = true; _wait_count += _dt_count; _dt_count = 0; + _lead_angle = 0; return; } else { SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name @@ -595,7 +739,7 @@ void FGAIShip::ProcessFlightPlan(double dt) { next = fp->getNextWaypoint(); if (next->name == "WAITUNTIL" || next->name == "WAIT" - || next->name == "END") + || next->name == "END" || next->name == "TUNNEL") return; prev = curr; @@ -610,9 +754,11 @@ void FGAIShip::ProcessFlightPlan(double dt) { _until_time = next->time; setUntilTime(next->time); if (until_time_sec > time_sec) { - SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " waiting until: " + SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " " + << curr->name << " waiting until: " << _until_time << " " << until_time_sec << " now " << time_sec ); setSpeed(0); + _lead_angle = 0; _waiting = true; return; } else { @@ -649,31 +795,40 @@ void FGAIShip::ProcessFlightPlan(double dt) { _new_waypoint = true; _missed_count = 0; _range_rate = 0; + _lead_angle = 0; _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude); _old_range = _wp_range; - AccelTo(prev->speed); + setWPPos(); + object_type type = getType(); + + if (type != 10) + AccelTo(prev->speed); + + _curr_alt = curr->altitude; + _prev_alt = prev->altitude; + } else { _new_waypoint = false; } // now revise the required course for the next way point - double course = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude); + _course = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude); - if (finite(course)) - TurnTo(course); + if (finite(_course)) + TurnTo(_course); else - SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: Bearing or Range is not a finite number"); + SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: Bearing or Range is not a finite number"); - _dt_count = 0; + _dt_count = 0; } // end Processing FlightPlan bool FGAIShip::initFlightPlan() { - SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " initializing waypoints "); + SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " initializing waypoints "); bool init = false; - _start_sec = 0; + _tunnel = _initial_tunnel; fp->restart(); fp->IncrementWaypoint(false); @@ -687,7 +842,7 @@ bool FGAIShip::initFlightPlan() { fp->IncrementWaypoint(false); curr = fp->getCurrentWaypoint(); next = fp->getNextWaypoint(); - } + } // end while loop if (!_start_time.empty()){ _start_sec = processTimeString(_start_time); @@ -716,9 +871,9 @@ bool FGAIShip::initFlightPlan() { } } else { - setLatitude(prev->latitude); - setLongitude(prev->longitude); - setSpeed(prev->speed); + setLatitude(prev->latitude); + setLongitude(prev->longitude); + setSpeed(prev->speed); } setWPNames(); @@ -731,7 +886,7 @@ bool FGAIShip::initFlightPlan() { _missed_count = 0; _new_waypoint = true; - SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " done initialising waypoints "); + SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " done initialising waypoints " << _tunnel); if (prev) init = true; @@ -783,7 +938,7 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) { while ( elapsed_sec < day_sec ) { - if (next->name == "END") { + if (next->name == "END" || fp->getNextWaypoint() == 0) { if (_repeat ) { //cout << _name << ": " << "restarting flightplan" << endl; @@ -809,11 +964,11 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) { next = fp->getNextWaypoint(); if (next->name != "WAITUNTIL" && next->name != "WAIT" - && next->name != "END") { - prev = curr; - fp->IncrementWaypoint(false); - curr = fp->getCurrentWaypoint(); - next = fp->getNextWaypoint(); + && next->name != "END") { + prev = curr; + fp->IncrementWaypoint(false); + curr = fp->getCurrentWaypoint(); + next = fp->getNextWaypoint(); } } else if (next->name == "WAITUNTIL") { @@ -859,8 +1014,9 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) { // the required position lies between the previous and current waypoints // so we will calculate the distance back up the track from the current waypoint // then calculate the lat and lon. - /*cout << "advancing flight plan done elapsed_sec: " << elapsed_sec - << " " << day_sec << endl;*/ + + //cout << "advancing flight plan done elapsed_sec: " << elapsed_sec + // << " " << day_sec << endl; double time_diff = elapsed_sec - day_sec; double lat, lon, recip; @@ -895,9 +1051,61 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) { distance_nm * SG_NM_TO_METER, &lat, &lon, &recip ); } - //cout << "Pos " << lat << ", " << lon << " recip " << recip << endl; - setLatitude(lat); setLongitude(lon); + return true; } + +void FGAIShip::setWPPos() { + + if (curr->name == "END" || curr->name == "WAIT" + || curr->name == "WAITUNTIL" || curr->name == "TUNNEL"){ + //cout << curr->name << " returning" << endl; + return; + } + + double elevation_m = 0; + wppos.setLatitudeDeg(curr->latitude); + wppos.setLongitudeDeg(curr->longitude); + wppos.setElevationM(0); + + if (curr->on_ground){ + + if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(wppos, 3000), + elevation_m, &_material, 0)){ + wppos.setElevationM(elevation_m); + } + + //cout << curr->name << " setting measured elev " << elevation_m << endl; + + } else { + wppos.setElevationM(curr->altitude); + //cout << curr->name << " setting FP elev " << elevation_m << endl; + } + + curr->altitude = wppos.getElevationM(); + +} + +void FGAIShip::setXTrackError() { + + double course = getCourse(prev->latitude, prev->longitude, + curr->latitude, curr->longitude); + double brg = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), + curr->latitude, curr->longitude); + double xtrack_error_nm = sin((course - brg)* SG_DEGREES_TO_RADIANS) * _wp_range; + double factor = -0.0045 * speed + 1; + double limit = _lead_angle_limit * factor; + + if (_wp_range > 0){ + _lead_angle = atan2(xtrack_error_nm,(_wp_range * _proportion)) * SG_RADIANS_TO_DEGREES; + } else + _lead_angle = 0; + + _lead_angle *= _lead_angle_gain * factor; + _xtrack_error = xtrack_error_nm * 6076.1155; + + SG_CLAMP_RANGE(_lead_angle, -limit, limit); + +}