X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FInstrumentation%2Fnavradio.cxx;h=4bfe15d48f9fc9071740c3471934c3d671d52dfc;hb=4265b2e2419bd9da2d6e83851c9bd0ab3e41fdb0;hp=b4455be10013b15952ecf0d3823739e4c52e19a8;hpb=90b2d25671d60ff3c5561791676f27d31676904c;p=flightgear.git diff --git a/src/Instrumentation/navradio.cxx b/src/Instrumentation/navradio.cxx index b4455be10..4bfe15d48 100644 --- a/src/Instrumentation/navradio.cxx +++ b/src/Instrumentation/navradio.cxx @@ -25,6 +25,8 @@ # include #endif +#include "navradio.hxx" + #include #include @@ -34,74 +36,77 @@ #include #include #include +#include + +#include +#include #include #include
-#include "navradio.hxx" + using std::string; +// General-purpose sawtooth function. Graph looks like this: +// /\ . +// \/ +// Odd symmetry, inversion symmetry about the origin. +// Unit slope at the origin. +// Max 1, min -1, period 4. +// Two zero-crossings per period, one with + slope, one with - slope. +// Useful for false localizer courses. +static double sawtooth(double xx) +{ + return 4.0 * fabs(xx/4.0 + 0.25 - floor(xx/4.0 + 0.75)) - 1.0; +} + +// Calculate a unit vector in the horizontal tangent plane +// starting at the given "tail" of the vector and going off +// with the given heading. +static SGVec3d tangentVector(const SGGeod& tail, const SGVec3d& tail_xyz, + const double heading) +{ +// The fudge factor here is presumably intended to improve +// numerical stability. I don't know if it is necessary. +// It gets divided out later. + double fudge(100.0); + SGGeod head; + double az2; // ignored + SGGeodesy::direct(tail, heading, fudge, head, az2); + head.setElevationM(tail.getElevationM()); + SGVec3d head_xyz = SGVec3d::fromGeod(head); + return (head_xyz - tail_xyz) * (1.0/fudge); +} + +// Create a "serviceable" node with a default value of "true" +SGPropertyNode_ptr createServiceableProp(SGPropertyNode* aParent, const char* aName) +{ + SGPropertyNode_ptr n = (aParent->getChild(aName, 0, true)->getChild("serviceable", 0, true)); + simgear::props::Type typ = n->getType(); + if ((typ == simgear::props::NONE) || (typ == simgear::props::UNSPECIFIED)) { + n->setBoolValue(true); + } + return n; +} + // Constructor FGNavRadio::FGNavRadio(SGPropertyNode *node) : lon_node(fgGetNode("/position/longitude-deg", true)), lat_node(fgGetNode("/position/latitude-deg", true)), alt_node(fgGetNode("/position/altitude-ft", true)), - is_valid_node(NULL), - power_btn_node(NULL), - freq_node(NULL), - alt_freq_node(NULL), - sel_radial_node(NULL), - vol_btn_node(NULL), - ident_btn_node(NULL), - audio_btn_node(NULL), - backcourse_node(NULL), - nav_serviceable_node(NULL), - cdi_serviceable_node(NULL), - gs_serviceable_node(NULL), - tofrom_serviceable_node(NULL), - fmt_freq_node(NULL), - fmt_alt_freq_node(NULL), - heading_node(NULL), - radial_node(NULL), - recip_radial_node(NULL), - target_radial_true_node(NULL), - target_auto_hdg_node(NULL), - time_to_intercept(NULL), - to_flag_node(NULL), - from_flag_node(NULL), - inrange_node(NULL), - signal_quality_norm_node(NULL), - cdi_deflection_node(NULL), - cdi_xtrack_error_node(NULL), - cdi_xtrack_hdg_err_node(NULL), - has_gs_node(NULL), - loc_node(NULL), - loc_dist_node(NULL), - gs_deflection_node(NULL), - gs_rate_of_climb_node(NULL), - gs_dist_node(NULL), - nav_id_node(NULL), - id_c1_node(NULL), - id_c2_node(NULL), - id_c3_node(NULL), - id_c4_node(NULL), - nav_slaved_to_gps_node(NULL), - gps_cdi_deflection_node(NULL), - gps_to_flag_node(NULL), - gps_from_flag_node(NULL), - last_nav_id(""), - last_nav_vor(false), play_count(0), last_time(0), - radial(0.0), target_radial(0.0), horiz_vel(0.0), last_x(0.0), last_loc_dist(0.0), last_xtrack_error(0.0), + xrate_ms(0.0), + _localizerWidth(5.0), _name(node->getStringValue("name", "nav")), _num(node->getIntValue("number", 0)), - _time_before_search_sec(-1.0) + _time_before_search_sec(-1.0), + _sgr(NULL) { SGPath path( globals->get_fg_root() ); SGPath term = path; @@ -114,12 +119,19 @@ FGNavRadio::FGNavRadio(SGPropertyNode *node) : term_tbl = new SGInterpTable( term.str() ); low_tbl = new SGInterpTable( low.str() ); high_tbl = new SGInterpTable( high.str() ); + + + string branch("/instrumentation/" + _name); + _radio_node = fgGetNode(branch.c_str(), _num, true); } // Destructor FGNavRadio::~FGNavRadio() { + gps_course_node->removeChangeListener(this); + nav_slaved_to_gps_node->removeChangeListener(this); + delete term_tbl; delete low_tbl; delete high_tbl; @@ -129,13 +141,13 @@ FGNavRadio::~FGNavRadio() void FGNavRadio::init () { - morse.init(); - - string branch; - branch = "/instrumentation/" + _name; + SGSoundMgr *smgr = globals->get_soundmgr(); + _sgr = smgr->find("avionics", true); + _sgr->tie_to_listener(); - SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true ); + morse.init(); + SGPropertyNode* node = _radio_node.get(); bus_power_node = fgGetNode(("/systems/electrical/outputs/" + _name).c_str(), true); @@ -150,13 +162,20 @@ FGNavRadio::init () audio_btn_node->setBoolValue( true ); backcourse_node = node->getChild("back-course-btn", 0, true); backcourse_node->setBoolValue( false ); + nav_serviceable_node = node->getChild("serviceable", 0, true); - cdi_serviceable_node = (node->getChild("cdi", 0, true)) - ->getChild("serviceable", 0, true); - gs_serviceable_node = (node->getChild("gs", 0, true)) - ->getChild("serviceable"); - tofrom_serviceable_node = (node->getChild("to-from", 0, true)) - ->getChild("serviceable", 0, true); + cdi_serviceable_node = createServiceableProp(node, "cdi"); + gs_serviceable_node = createServiceableProp(node, "gs"); + tofrom_serviceable_node = createServiceableProp(node, "to-from"); + dme_serviceable_node = createServiceableProp(node, "dme"); + + falseCoursesEnabledNode = + fgGetNode("/sim/realism/false-radio-courses-enabled"); + if (!falseCoursesEnabledNode) { + falseCoursesEnabledNode = + fgGetNode("/sim/realism/false-radio-courses-enabled", true); + falseCoursesEnabledNode->setBoolValue(true); + } // frequencies SGPropertyNode *subnode = node->getChild("frequencies", 0, true); @@ -181,6 +200,7 @@ FGNavRadio::init () inrange_node = node->getChild("in-range", 0, true); signal_quality_norm_node = node->getChild("signal-quality-norm", 0, true); cdi_deflection_node = node->getChild("heading-needle-deflection", 0, true); + cdi_deflection_norm_node = node->getChild("heading-needle-deflection-norm", 0, true); cdi_xtrack_error_node = node->getChild("crosstrack-error-m", 0, true); cdi_xtrack_hdg_err_node = node->getChild("crosstrack-heading-error-deg", 0, true); @@ -188,8 +208,13 @@ FGNavRadio::init () loc_node = node->getChild("nav-loc", 0, true); loc_dist_node = node->getChild("nav-distance", 0, true); gs_deflection_node = node->getChild("gs-needle-deflection", 0, true); + gs_deflection_deg_node = node->getChild("gs-needle-deflection-deg", 0, true); + gs_deflection_norm_node = node->getChild("gs-needle-deflection-norm", 0, true); gs_rate_of_climb_node = node->getChild("gs-rate-of-climb", 0, true); + gs_rate_of_climb_fpm_node = node->getChild("gs-rate-of-climb-fpm", 0, true); gs_dist_node = node->getChild("gs-distance", 0, true); + gs_inrange_node = node->getChild("gs-in-range", 0, true); + nav_id_node = node->getChild("nav-id", 0, true); id_c1_node = node->getChild("nav-id_asc1", 0, true); id_c2_node = node->getChild("nav-id_asc2", 0, true); @@ -198,9 +223,17 @@ FGNavRadio::init () // gps slaving support nav_slaved_to_gps_node = node->getChild("slaved-to-gps", 0, true); + nav_slaved_to_gps_node->addChangeListener(this); + gps_cdi_deflection_node = fgGetNode("/instrumentation/gps/cdi-deflection", true); gps_to_flag_node = fgGetNode("/instrumentation/gps/to-flag", true); gps_from_flag_node = fgGetNode("/instrumentation/gps/from-flag", true); + gps_has_gs_node = fgGetNode("/instrumentation/gps/has-gs", true); + gps_course_node = fgGetNode("/instrumentation/gps/desired-course-deg", true); + gps_course_node->addChangeListener(this); + + gps_xtrack_error_nm_node = fgGetNode("/instrumentation/gps/wp/wp[1]/course-error-nm", true); + _magvarNode = fgGetNode("/environment/magnetic-variation-deg", true); std::ostringstream temp; temp << _name << "nav-ident" << _num; @@ -212,20 +245,18 @@ FGNavRadio::init () void FGNavRadio::bind () { - std::ostringstream temp; - string branch; - temp << _num; - branch = "/instrumentation/" + _name + "[" + temp.str() + "]"; + tie("dme-in-range", SGRawValuePointer(&_dmeInRange)); + tie("operable", SGRawValueMethods(*this, &FGNavRadio::isOperable, NULL)); } void FGNavRadio::unbind () { - std::ostringstream temp; - string branch; - temp << _num; - branch = "/instrumentation/" + _name + "[" + temp.str() + "]"; + for (unsigned int t=0; t<_tiedNodes.size(); ++t) { + _tiedNodes[t]->untie(); + } + _tiedNodes.clear(); } @@ -233,6 +264,10 @@ FGNavRadio::unbind () double FGNavRadio::adjustNavRange( double stationElev, double aircraftElev, double nominalRange ) { + if (nominalRange <= 0.0) { + nominalRange = FG_NAV_DEFAULT_RANGE; + } + // extend out actual usable range to be 1.3x the published safe range const double usability_factor = 1.3; @@ -298,646 +333,666 @@ double FGNavRadio::adjustILSRange( double stationElev, double aircraftElev, void FGNavRadio::update(double dt) { - // Do a nav station search only once a second to reduce - // unnecessary work. (Also, make sure to do this before caching - // any values!) - _time_before_search_sec -= dt; - if ( _time_before_search_sec < 0 ) { - search(); + if (dt <= 0.0) { + return; // paused + } + + // Create "formatted" versions of the nav frequencies for + // instrument displays. + char tmp[16]; + sprintf( tmp, "%.2f", freq_node->getDoubleValue() ); + fmt_freq_node->setStringValue(tmp); + sprintf( tmp, "%.2f", alt_freq_node->getDoubleValue() ); + fmt_alt_freq_node->setStringValue(tmp); + + if (power_btn_node->getBoolValue() + && (bus_power_node->getDoubleValue() > 1.0) + && nav_serviceable_node->getBoolValue() ) + { + _operable = true; + if (nav_slaved_to_gps_node->getBoolValue()) { + updateGPSSlaved(); + } else { + updateReceiver(dt); } + + updateCDI(dt); + } else { + clearOutputs(); + } + + updateAudio(); +} - // cache a few strategic values locally for speed - SGGeod pos = SGGeod::fromDegFt(lon_node->getDoubleValue(), - lat_node->getDoubleValue(), - alt_node->getDoubleValue()); - bool power_btn = power_btn_node->getBoolValue(); - bool nav_serviceable = nav_serviceable_node->getBoolValue(); - bool cdi_serviceable = cdi_serviceable_node->getBoolValue(); - bool tofrom_serviceable = tofrom_serviceable_node->getBoolValue(); - bool inrange = inrange_node->getBoolValue(); - bool has_gs = has_gs_node->getBoolValue(); - bool is_loc = loc_node->getBoolValue(); - double loc_dist = loc_dist_node->getDoubleValue(); - double effective_range_m; - double signal_quality_norm = signal_quality_norm_node->getDoubleValue(); - - double az1, az2, s; - - // Create "formatted" versions of the nav frequencies for - // instrument displays. - char tmp[16]; - sprintf( tmp, "%.2f", freq_node->getDoubleValue() ); - fmt_freq_node->setStringValue(tmp); - sprintf( tmp, "%.2f", alt_freq_node->getDoubleValue() ); - fmt_alt_freq_node->setStringValue(tmp); - - // cout << "is_valid = " << is_valid - // << " power_btn = " << power_btn - // << " bus_power = " << bus_power_node->getDoubleValue() - // << " nav_serviceable = " << nav_serviceable - // << endl; - - if ( is_valid && power_btn && (bus_power_node->getDoubleValue() > 1.0) - && nav_serviceable ) - { - SGVec3d aircraft = SGVec3d::fromGeod(pos); - loc_dist = dist(aircraft, nav_xyz); - loc_dist_node->setDoubleValue( loc_dist ); - // cout << "dt = " << dt << " dist = " << loc_dist << endl; - - if ( has_gs ) { - // find closest distance to the gs base line - SGVec3d p = aircraft; - double dist = sgdClosestPointToLineDistSquared(p.sg(), gs_xyz.sg(), - gs_base_vec.sg()); - gs_dist_node->setDoubleValue( sqrt( dist ) ); - // cout << "gs_dist = " << gs_dist_node->getDoubleValue() - // << endl; - - // wgs84 heading to glide slope (to determine sign of distance) - geo_inverse_wgs_84( pos, SGGeod::fromDeg(gs_lon, gs_lat), - &az1, &az2, &s ); - double r = az1 - target_radial; - while ( r > 180.0 ) { r -= 360.0;} - while ( r < -180.0 ) { r += 360.0;} - if ( r >= -90.0 && r <= 90.0 ) { - gs_dist_signed = gs_dist_node->getDoubleValue(); - } else { - gs_dist_signed = -gs_dist_node->getDoubleValue(); - } - /* cout << "Target Radial = " << target_radial - << " Bearing = " << az1 - << " dist (signed) = " << gs_dist_signed - << endl; */ - - } else { - gs_dist_node->setDoubleValue( 0.0 ); - } - - ////////////////////////////////////////////////////////// +void FGNavRadio::clearOutputs() +{ + inrange_node->setBoolValue( false ); + cdi_deflection_node->setDoubleValue( 0.0 ); + cdi_deflection_norm_node->setDoubleValue( 0.0 ); + cdi_xtrack_error_node->setDoubleValue( 0.0 ); + cdi_xtrack_hdg_err_node->setDoubleValue( 0.0 ); + time_to_intercept->setDoubleValue( 0.0 ); + gs_deflection_node->setDoubleValue( 0.0 ); + gs_deflection_deg_node->setDoubleValue(0.0); + gs_deflection_norm_node->setDoubleValue(0.0); + gs_inrange_node->setBoolValue( false ); + + to_flag_node->setBoolValue( false ); + from_flag_node->setBoolValue( false ); + + _dmeInRange = false; + _operable = false; +} + +void FGNavRadio::updateReceiver(double dt) +{ + // Do a nav station search only once a second to reduce + // unnecessary work. (Also, make sure to do this before caching + // any values!) + _time_before_search_sec -= dt; + if ( _time_before_search_sec < 0 ) { + search(); + } + + if (!_navaid) { + _cdiDeflection = 0.0; + _cdiCrossTrackErrorM = 0.0; + _toFlag = _fromFlag = false; + _gsNeedleDeflection = 0.0; + _gsNeedleDeflectionNorm = 0.0; + inrange_node->setBoolValue(false); + return; + } + + SGGeod pos = SGGeod::fromDegFt(lon_node->getDoubleValue(), + lat_node->getDoubleValue(), + alt_node->getDoubleValue()); + + double nav_elev = _navaid->get_elev_ft(); + SGVec3d aircraft = SGVec3d::fromGeod(pos); + double loc_dist = dist(aircraft, _navaid->cart()); + loc_dist_node->setDoubleValue( loc_dist ); + bool is_loc = loc_node->getBoolValue(); + double signal_quality_norm = signal_quality_norm_node->getDoubleValue(); + + double az2, s; + ////////////////////////////////////////////////////////// // compute forward and reverse wgs84 headings to localizer - ////////////////////////////////////////////////////////// - double hdg; - geo_inverse_wgs_84( pos, SGGeod::fromDeg(loc_lon, loc_lat), - &hdg, &az2, &s ); - // cout << "az1 = " << az1 << " magvar = " << nav_magvar << endl; - heading_node->setDoubleValue( hdg ); - radial = az2 - twist; - double recip = radial + 180.0; - if ( recip >= 360.0 ) { recip -= 360.0; } - radial_node->setDoubleValue( radial ); - recip_radial_node->setDoubleValue( recip ); - // cout << " heading = " << heading_node->getDoubleValue() - // << " dist = " << nav_dist << endl; - - ////////////////////////////////////////////////////////// - // compute the target/selected radial in "true" heading - ////////////////////////////////////////////////////////// - double trtrue = 0.0; - if ( is_loc ) { - // ILS localizers radials are already "true" in our - // database - trtrue = target_radial; - } else { - // VOR radials need to have that vor's offset added in - trtrue = target_radial + twist; - } - - while ( trtrue < 0.0 ) { trtrue += 360.0; } - while ( trtrue > 360.0 ) { trtrue -= 360.0; } - target_radial_true_node->setDoubleValue( trtrue ); - - ////////////////////////////////////////////////////////// - // adjust reception range for altitude - // FIXME: make sure we are using the navdata range now that - // it is valid in the data file - ////////////////////////////////////////////////////////// + ////////////////////////////////////////////////////////// + double hdg; + SGGeodesy::inverse(pos, _navaid->geod(), hdg, az2, s); + heading_node->setDoubleValue(hdg); + double radial = az2 - twist; + double recip = radial + 180.0; + SG_NORMALIZE_RANGE(recip, 0.0, 360.0); + radial_node->setDoubleValue( radial ); + recip_radial_node->setDoubleValue( recip ); + + ////////////////////////////////////////////////////////// + // compute the target/selected radial in "true" heading + ////////////////////////////////////////////////////////// + if (!is_loc) { + target_radial = sel_radial_node->getDoubleValue(); + } + + // VORs need twist (mag-var) added; ILS/LOCs don't but we set twist to 0.0 + double trtrue = target_radial + twist; + SG_NORMALIZE_RANGE(trtrue, 0.0, 360.0); + target_radial_true_node->setDoubleValue( trtrue ); + + ////////////////////////////////////////////////////////// + // adjust reception range for altitude + // FIXME: make sure we are using the navdata range now that + // it is valid in the data file + ////////////////////////////////////////////////////////// if ( is_loc ) { double offset = radial - target_radial; - while ( offset < -180.0 ) { offset += 360.0; } - while ( offset > 180.0 ) { offset -= 360.0; } - // cout << "ils offset = " << offset << endl; + SG_NORMALIZE_RANGE(offset, -180.0, 180.0); effective_range = adjustILSRange( nav_elev, pos.getElevationM(), offset, loc_dist * SG_METER_TO_NM ); } else { effective_range - = adjustNavRange( nav_elev, pos.getElevationM(), range ); + = adjustNavRange( nav_elev, pos.getElevationM(), _navaid->get_range() ); } + + double effective_range_m = effective_range * SG_NM_TO_METER; + + ////////////////////////////////////////////////////////// + // compute signal quality + // 100% within effective_range + // decreases 1/x^2 further out + ////////////////////////////////////////////////////////// + double last_signal_quality_norm = signal_quality_norm; + + if ( loc_dist < effective_range_m ) { + signal_quality_norm = 1.0; + } else { + double range_exceed_norm = loc_dist/effective_range_m; + signal_quality_norm = 1/(range_exceed_norm*range_exceed_norm); + } + + signal_quality_norm = fgGetLowPass( last_signal_quality_norm, + signal_quality_norm, dt ); + + signal_quality_norm_node->setDoubleValue( signal_quality_norm ); + bool inrange = signal_quality_norm > 0.2; + inrange_node->setBoolValue( inrange ); + + ////////////////////////////////////////////////////////// + // compute to/from flag status + ////////////////////////////////////////////////////////// + if (inrange) { + if (is_loc) { + _toFlag = true; + } else { + double offset = fabs(radial - target_radial); + _toFlag = (offset > 90.0 && offset < 270.0); + } + _fromFlag = !_toFlag; + } else { + _toFlag = _fromFlag = false; + } + + // CDI deflection + double r = target_radial - radial; + SG_NORMALIZE_RANGE(r, -180.0, 180.0); + + if ( is_loc ) { + if (falseCoursesEnabledNode->getBoolValue()) { + // The factor of 30.0 gives a period of 120 which gives us 3 cycles and six + // zeros i.e. six courses: one front course, one back course, and four + // false courses. Three of the six are reverse sensing. + _cdiDeflection = 30.0 * sawtooth(r / 30.0); + } else { + // no false courses, but we do need to create a back course + if (fabs(r) > 90.0) { // front course + _cdiDeflection = r - copysign(180.0, r); + } else { + _cdiDeflection = r; // back course + } + + _cdiDeflection = -_cdiDeflection; // reverse for outbound radial + } // of false courses disabled + + const double VOR_FULL_ARC = 20.0; // VOR is -10 .. 10 degree swing + _cdiDeflection *= VOR_FULL_ARC / _localizerWidth; // increased localiser sensitivity + + if (backcourse_node->getBoolValue()) { + _cdiDeflection = -_cdiDeflection; + } + } else { + // handle the TO side of the VOR + if (fabs(r) > 90.0) { + r = ( r<0.0 ? -r-180.0 : -r+180.0 ); + } + _cdiDeflection = r; + } // of non-localiser case + + SG_CLAMP_RANGE(_cdiDeflection, -10.0, 10.0 ); + _cdiDeflection *= signal_quality_norm; + + // cross-track error (in metres) + _cdiCrossTrackErrorM = loc_dist * sin(r * SGD_DEGREES_TO_RADIANS); + + updateGlideSlope(dt, aircraft, signal_quality_norm); + updateDME(aircraft); + + last_loc_dist = loc_dist; +} - effective_range_m = effective_range * SG_NM_TO_METER; - - // cout << "nav range = " << effective_range - // << " (" << range << ")" << endl; - - ////////////////////////////////////////////////////////// - // compute signal quality - // 100% within effective_range - // decreases 1/x^2 further out - ////////////////////////////////////////////////////////// - { - double last_signal_quality_norm = signal_quality_norm; - - if ( loc_dist < effective_range_m ) { - signal_quality_norm = 1.0; - } else { - double range_exceed_norm = loc_dist/effective_range_m; - signal_quality_norm = 1/(range_exceed_norm*range_exceed_norm); - } - - signal_quality_norm = fgGetLowPass( last_signal_quality_norm, - signal_quality_norm, dt ); - } - signal_quality_norm_node->setDoubleValue( signal_quality_norm ); - inrange = signal_quality_norm > 0.2; - inrange_node->setBoolValue( inrange ); - - if ( !is_loc ) { - target_radial = sel_radial_node->getDoubleValue(); - } +void FGNavRadio::updateGlideSlope(double dt, const SGVec3d& aircraft, double signal_quality_norm) +{ + _gsNeedleDeflection = 0.0; + if (!_gs || !inrange_node->getBoolValue()) { + gs_dist_node->setDoubleValue( 0.0 ); + gs_inrange_node->setBoolValue(false); + _gsNeedleDeflection = 0.0; + _gsNeedleDeflectionNorm = 0.0; + return; + } + + double gsDist = dist(aircraft, _gsCart); + gs_dist_node->setDoubleValue(gsDist); + bool gsInRange = (gsDist < (_gs->get_range() * SG_NM_TO_METER)); + gs_inrange_node->setBoolValue(gsInRange); + + if (!gsInRange) { + _gsNeedleDeflection = 0.0; + _gsNeedleDeflectionNorm = 0.0; + return; + } + + SGVec3d pos = aircraft - _gsCart; // relative vector from gs antenna to aircraft + // The positive GS axis points along the runway in the landing direction, + // toward the far end, not toward the approach area, so we need a - sign here: + double dot_h = -dot(pos, _gsAxis); + double dot_v = dot(pos, _gsVertical); + double angle = atan2(dot_v, dot_h) * SGD_RADIANS_TO_DEGREES; + double deflectionAngle = target_gs - angle; + + if (falseCoursesEnabledNode->getBoolValue()) { + // Construct false glideslopes. The scale factor of 1.5 + // in the sawtooth gives a period of 6 degrees. + // There will be zeros at 3, 6r, 9, 12r et cetera + // where "r" indicates reverse sensing. + // This is is consistent with conventional pilot lore + // e.g. http://www.allstar.fiu.edu/aerojava/ILS.htm + // but inconsistent with + // http://www.freepatentsonline.com/3757338.html + // + // It may be that some of each exist. + if (deflectionAngle < 0) { + deflectionAngle = 1.5 * sawtooth(deflectionAngle / 1.5); + } else { + // no false GS below the true GS + } + } + + _gsNeedleDeflection = deflectionAngle * 5.0; + _gsNeedleDeflection *= signal_quality_norm; + + SG_CLAMP_RANGE(deflectionAngle, -0.7, 0.7); + _gsNeedleDeflectionNorm = (deflectionAngle / 0.7) * signal_quality_norm; + + ////////////////////////////////////////////////////////// + // Calculate desired rate of climb for intercepting the GS + ////////////////////////////////////////////////////////// + double gs_diff = target_gs - angle; + // convert desired vertical path angle into a climb rate + double des_angle = angle - 10 * gs_diff; + /* printf("target_gs=%.1f angle=%.1f gs_diff=%.1f des_angle=%.1f\n", + target_gs, angle, gs_diff, des_angle); */ + + // estimate horizontal speed towards ILS in meters per minute + double elapsedDistance = last_x - gsDist; + last_x = gsDist; + + double new_vel = ( elapsedDistance / dt ); + horiz_vel = 0.99 * horiz_vel + 0.01 * new_vel; + /* printf("vel=%.1f (dist=%.1f dt=%.2f)\n", horiz_vel, elapsedDistance, dt);*/ + + gs_rate_of_climb_node + ->setDoubleValue( -sin( des_angle * SGD_DEGREES_TO_RADIANS ) + * horiz_vel * SG_METER_TO_FEET ); + gs_rate_of_climb_fpm_node + ->setDoubleValue( gs_rate_of_climb_node->getDoubleValue() * 60 ); +} - ////////////////////////////////////////////////////////// - // compute to/from flag status - ////////////////////////////////////////////////////////// - bool value = false; - double offset = fabs(radial - target_radial); - if ( tofrom_serviceable ) { - if ( nav_slaved_to_gps_node->getBoolValue() ) { - value = gps_to_flag_node->getBoolValue(); - } else if ( inrange ) { - if ( is_loc ) { - value = true; - } else { - value = !(offset <= 90.0 || offset >= 270.0); - } - } - } else { - value = false; - } - to_flag_node->setBoolValue( value ); - - value = false; - if ( tofrom_serviceable ) { - if ( nav_slaved_to_gps_node->getBoolValue() ) { - value = gps_from_flag_node->getBoolValue(); - } else if ( inrange ) { - if ( is_loc ) { - value = false; - } else { - value = !(offset > 90.0 && offset < 270.0); - } - } - } else { - value = false; - } - from_flag_node->setBoolValue( value ); - - ////////////////////////////////////////////////////////// - // compute the deflection of the CDI needle, clamped to the range - // of ( -10 , 10 ) - ////////////////////////////////////////////////////////// - double r = 0.0; - bool loc_backside = false; // an in-code flag indicating that we are - // on a localizer backcourse. - if ( cdi_serviceable ) { - if ( nav_slaved_to_gps_node->getBoolValue() ) { - r = gps_cdi_deflection_node->getDoubleValue(); - // We want +- 5 dots deflection for the gps, so clamp - // to -12.5/12.5 - SG_CLAMP_RANGE( r, -12.5, 12.5 ); - } else if ( inrange ) { - r = radial - target_radial; - // cout << "Target radial = " << target_radial - // << " Actual radial = " << radial << endl; - - while ( r > 180.0 ) { r -= 360.0;} - while ( r < -180.0 ) { r += 360.0;} - if ( fabs(r) > 90.0 ) { - r = ( r<0.0 ? -r-180.0 : -r+180.0 ); - } else { - if ( is_loc ) { - loc_backside = true; - } - } - - r = -r; // reverse, since radial is outbound - if ( is_loc ) { - // According to Robin Peel, the ILS is 4x more - // sensitive than a vor - r *= 4.0; - } - SG_CLAMP_RANGE( r, -10.0, 10.0 ); - r *= signal_quality_norm; - } - } - cdi_deflection_node->setDoubleValue( r ); - - ////////////////////////////////////////////////////////// - // compute the amount of cross track distance error in meters - ////////////////////////////////////////////////////////// - double xtrack_error = 0.0; - if ( inrange && nav_serviceable && cdi_serviceable ) { - r = radial - target_radial; - // cout << "Target radial = " << target_radial - // << " Actual radial = " << radial - // << " r = " << r << endl; - - while ( r > 180.0 ) { r -= 360.0;} - while ( r < -180.0 ) { r += 360.0;} - if ( fabs(r) > 90.0 ) { - r = ( r<0.0 ? -r-180.0 : -r+180.0 ); - } - - r = -r; // reverse, since radial is outbound - - xtrack_error = loc_dist * sin(r * SGD_DEGREES_TO_RADIANS); - } else { - xtrack_error = 0.0; - } - cdi_xtrack_error_node->setDoubleValue( xtrack_error ); - - ////////////////////////////////////////////////////////// - // compute an approximate ground track heading error - ////////////////////////////////////////////////////////// - double hdg_error = 0.0; - if ( inrange && cdi_serviceable ) { - double vn = fgGetDouble( "/velocities/speed-north-fps" ); - double ve = fgGetDouble( "/velocities/speed-east-fps" ); - double gnd_trk_true = atan2( ve, vn ) * SGD_RADIANS_TO_DEGREES; - if ( gnd_trk_true < 0.0 ) { gnd_trk_true += 360.0; } - - SGPropertyNode *true_hdg - = fgGetNode("/orientation/heading-deg", true); - hdg_error = gnd_trk_true - true_hdg->getDoubleValue(); - - // cout << "ground track = " << gnd_trk_true - // << " orientation = " << true_hdg->getDoubleValue() << endl; - } - cdi_xtrack_hdg_err_node->setDoubleValue( hdg_error ); - - ////////////////////////////////////////////////////////// - // compute the time to intercept selected radial (based on - // current and last cross track errors and dt - ////////////////////////////////////////////////////////// - double t = 0.0; - if ( inrange && cdi_serviceable ) { - double xrate_ms = (last_xtrack_error - xtrack_error) / dt; - if ( fabs(xrate_ms) > 0.00001 ) { - t = xtrack_error / xrate_ms; - } else { - t = 9999.9; - } - } - time_to_intercept->setDoubleValue( t ); - - ////////////////////////////////////////////////////////// - // compute the amount of glide slope needle deflection - // (.i.e. the number of degrees we are off the glide slope * 5.0 - // - // CLO - 13 Mar 2006: The glide slope needle should peg at - // +/-0.7 degrees off the ideal glideslope. I'm not sure why - // we compute the factor the way we do (5*gs_error), but we - // need to compensate for our 'odd' number in the glideslope - // needle animation. This means that the needle should peg - // when this values is +/-3.5. - ////////////////////////////////////////////////////////// - r = 0.0; - if ( has_gs && gs_serviceable_node->getBoolValue() ) { - if ( nav_slaved_to_gps_node->getBoolValue() ) { - // FIXME/FINISHME, what should be set here? - } else if ( inrange ) { - double x = gs_dist_node->getDoubleValue(); - double y = (fgGetDouble("/position/altitude-ft") - nav_elev) - * SG_FEET_TO_METER; - // cout << "dist = " << x << " height = " << y << endl; - double angle = asin( y / x ) * SGD_RADIANS_TO_DEGREES; - r = (target_gs - angle) * 5.0; - r *= signal_quality_norm; - } - } - gs_deflection_node->setDoubleValue( r ); - - ////////////////////////////////////////////////////////// - // Calculate desired rate of climb for intercepting the GS - ////////////////////////////////////////////////////////// - double x = gs_dist_node->getDoubleValue(); - double y = (alt_node->getDoubleValue() - nav_elev) - * SG_FEET_TO_METER; - double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES; - - double target_angle = target_gs; - double gs_diff = target_angle - current_angle; - - // convert desired vertical path angle into a climb rate - double des_angle = current_angle - 10 * gs_diff; - - // estimate horizontal speed towards ILS in meters per minute - double dist = last_x - x; - last_x = x; - if ( dt > 0.0 ) { - // avoid nan - double new_vel = ( dist / dt ); +void FGNavRadio::updateDME(const SGVec3d& aircraft) +{ + if (!_dme || !dme_serviceable_node->getBoolValue()) { + _dmeInRange = false; + return; + } + + double dme_distance = dist(aircraft, _dme->cart()); + _dmeInRange = (dme_distance < _dme->get_range() * SG_NM_TO_METER); +} + +void FGNavRadio::valueChanged (SGPropertyNode* prop) +{ + if (prop == gps_course_node) { + if (!nav_slaved_to_gps_node->getBoolValue()) { + return; + } + + // GPS desired course has changed, sync up our selected-course + double v = prop->getDoubleValue(); + if (v != sel_radial_node->getDoubleValue()) { + sel_radial_node->setDoubleValue(v); + } + } else if (prop == nav_slaved_to_gps_node) { + if (prop->getBoolValue()) { + // slaved-to-GPS activated, sync up selected course + sel_radial_node->setDoubleValue(gps_course_node->getDoubleValue()); + } + } +} + +void FGNavRadio::updateGPSSlaved() +{ + has_gs_node->setBoolValue(gps_has_gs_node->getBoolValue()); - horiz_vel = 0.75 * horiz_vel + 0.25 * new_vel; - // double horiz_vel = cur_fdm_state->get_V_ground_speed() - // * SG_FEET_TO_METER * 60.0; - // double horiz_vel = airspeed_node->getFloatValue() - // * SG_FEET_TO_METER * 60.0; - - gs_rate_of_climb_node - ->setDoubleValue( -sin( des_angle * SGD_DEGREES_TO_RADIANS ) - * horiz_vel * SG_METER_TO_FEET ); - } - - ////////////////////////////////////////////////////////// - // Calculate a suggested target heading to smoothly intercept - // a nav/ils radial. - ////////////////////////////////////////////////////////// - - // Now that we have cross track heading adjustment built in, - // we shouldn't need to overdrive the heading angle within 8km - // of the station. - // - // The cdi deflection should be +/-10 for a full range of deflection - // so multiplying this by 3 gives us +/- 30 degrees heading - // compensation. - double adjustment = cdi_deflection_node->getDoubleValue() * 3.0; - SG_CLAMP_RANGE( adjustment, -30.0, 30.0 ); - - // determine the target heading to fly to intercept the - // tgt_radial = target radial (true) + cdi offset adjustmest - - // xtrack heading error adjustment - double nta_hdg; - if ( is_loc && backcourse_node->getBoolValue() ) { - // tuned to a localizer and backcourse mode activated - trtrue += 180.0; // reverse the target localizer heading - while ( trtrue > 360.0 ) { trtrue -= 360.0; } - nta_hdg = trtrue - adjustment - hdg_error; - } else { - nta_hdg = trtrue + adjustment - hdg_error; - } - - while ( nta_hdg < 0.0 ) { nta_hdg += 360.0; } - while ( nta_hdg >= 360.0 ) { nta_hdg -= 360.0; } - target_auto_hdg_node->setDoubleValue( nta_hdg ); - - last_xtrack_error = xtrack_error; - } else { - inrange_node->setBoolValue( false ); - cdi_deflection_node->setDoubleValue( 0.0 ); - cdi_xtrack_error_node->setDoubleValue( 0.0 ); - cdi_xtrack_hdg_err_node->setDoubleValue( 0.0 ); - time_to_intercept->setDoubleValue( 0.0 ); - gs_deflection_node->setDoubleValue( 0.0 ); - to_flag_node->setBoolValue( false ); - from_flag_node->setBoolValue( false ); - // cout << "not picking up vor. :-(" << endl; + _toFlag = gps_to_flag_node->getBoolValue(); + _fromFlag = gps_from_flag_node->getBoolValue(); + + bool gpsValid = (_toFlag | _fromFlag); + inrange_node->setBoolValue(gpsValid); + if (!gpsValid) { + signal_quality_norm_node->setDoubleValue(0.0); + _cdiDeflection = 0.0; + _cdiCrossTrackErrorM = 0.0; + _gsNeedleDeflection = 0.0; + return; + } + + // this is unfortunate, but panel instruments use this value to decide + // if the navradio output is valid. + signal_quality_norm_node->setDoubleValue(1.0); + + _cdiDeflection = gps_cdi_deflection_node->getDoubleValue(); + // clmap to some range (+/- 10 degrees) as the regular deflection + SG_CLAMP_RANGE(_cdiDeflection, -10.0, 10.0 ); + + _cdiCrossTrackErrorM = gps_xtrack_error_nm_node->getDoubleValue() * SG_NM_TO_METER; + _gsNeedleDeflection = 0.0; // FIXME, supply this + + double trtrue = gps_course_node->getDoubleValue() + _magvarNode->getDoubleValue(); + SG_NORMALIZE_RANGE(trtrue, 0.0, 360.0); + target_radial_true_node->setDoubleValue( trtrue ); +} + +void FGNavRadio::updateCDI(double dt) +{ + bool cdi_serviceable = cdi_serviceable_node->getBoolValue(); + bool inrange = inrange_node->getBoolValue(); + + if (tofrom_serviceable_node->getBoolValue()) { + to_flag_node->setBoolValue(_toFlag); + from_flag_node->setBoolValue(_fromFlag); + } else { + to_flag_node->setBoolValue(false); + from_flag_node->setBoolValue(false); + } + + if (!cdi_serviceable) { + _cdiDeflection = 0.0; + _cdiCrossTrackErrorM = 0.0; + } + + cdi_deflection_node->setDoubleValue(_cdiDeflection); + cdi_deflection_norm_node->setDoubleValue(_cdiDeflection * 0.1); + cdi_xtrack_error_node->setDoubleValue(_cdiCrossTrackErrorM); + + ////////////////////////////////////////////////////////// + // compute an approximate ground track heading error + ////////////////////////////////////////////////////////// + double hdg_error = 0.0; + if ( inrange && cdi_serviceable ) { + double vn = fgGetDouble( "/velocities/speed-north-fps" ); + double ve = fgGetDouble( "/velocities/speed-east-fps" ); + double gnd_trk_true = atan2( ve, vn ) * SGD_RADIANS_TO_DEGREES; + if ( gnd_trk_true < 0.0 ) { gnd_trk_true += 360.0; } + + SGPropertyNode *true_hdg + = fgGetNode("/orientation/heading-deg", true); + hdg_error = gnd_trk_true - true_hdg->getDoubleValue(); + + // cout << "ground track = " << gnd_trk_true + // << " orientation = " << true_hdg->getDoubleValue() << endl; + } + cdi_xtrack_hdg_err_node->setDoubleValue( hdg_error ); + + ////////////////////////////////////////////////////////// + // Calculate a suggested target heading to smoothly intercept + // a nav/ils radial. + ////////////////////////////////////////////////////////// + + // Now that we have cross track heading adjustment built in, + // we shouldn't need to overdrive the heading angle within 8km + // of the station. + // + // The cdi deflection should be +/-10 for a full range of deflection + // so multiplying this by 3 gives us +/- 30 degrees heading + // compensation. + double adjustment = _cdiDeflection * 3.0; + SG_CLAMP_RANGE( adjustment, -30.0, 30.0 ); + + // determine the target heading to fly to intercept the + // tgt_radial = target radial (true) + cdi offset adjustmest - + // xtrack heading error adjustment + double nta_hdg; + double trtrue = target_radial_true_node->getDoubleValue(); + if ( loc_node->getBoolValue() && backcourse_node->getBoolValue() ) { + // tuned to a localizer and backcourse mode activated + trtrue += 180.0; // reverse the target localizer heading + SG_NORMALIZE_RANGE(trtrue, 0.0, 360.0); + nta_hdg = trtrue - adjustment - hdg_error; + } else { + nta_hdg = trtrue + adjustment - hdg_error; + } + + SG_NORMALIZE_RANGE(nta_hdg, 0.0, 360.0); + target_auto_hdg_node->setDoubleValue( nta_hdg ); + + ////////////////////////////////////////////////////////// + // compute the time to intercept selected radial (based on + // current and last cross track errors and dt + ////////////////////////////////////////////////////////// + double t = 0.0; + if ( inrange && cdi_serviceable ) { + double cur_rate = (last_xtrack_error - _cdiCrossTrackErrorM) / dt; + xrate_ms = 0.99 * xrate_ms + 0.01 * cur_rate; + if ( fabs(xrate_ms) > 0.00001 ) { + t = _cdiCrossTrackErrorM / xrate_ms; + } else { + t = 9999.9; } + } + time_to_intercept->setDoubleValue( t ); + + if (!gs_serviceable_node->getBoolValue() ) { + _gsNeedleDeflection = 0.0; + _gsNeedleDeflectionNorm = 0.0; + } + gs_deflection_node->setDoubleValue(_gsNeedleDeflection); + gs_deflection_deg_node->setDoubleValue(_gsNeedleDeflectionNorm * 0.7); + gs_deflection_norm_node->setDoubleValue(_gsNeedleDeflectionNorm); + + last_xtrack_error = _cdiCrossTrackErrorM; +} - // audio effects - if ( is_valid && inrange && nav_serviceable ) { +void FGNavRadio::updateAudio() +{ + if (!_navaid || !inrange_node->getBoolValue() || !nav_serviceable_node->getBoolValue()) { + return; + } + // play station ident via audio system if on + ident, // otherwise turn it off - if ( power_btn - && (bus_power_node->getDoubleValue() > 1.0) - && ident_btn_node->getBoolValue() - && audio_btn_node->getBoolValue() ) - { - SGSoundSample *sound; - sound = globals->get_soundmgr()->find( nav_fx_name ); - double vol = vol_btn_node->getDoubleValue(); - if ( vol < 0.0 ) { vol = 0.0; } - if ( vol > 1.0 ) { vol = 1.0; } - if ( sound != NULL ) { - sound->set_volume( vol ); - } else { - SG_LOG( SG_COCKPIT, SG_ALERT, - "Can't find nav-vor-ident sound" ); - } - sound = globals->get_soundmgr()->find( dme_fx_name ); - if ( sound != NULL ) { - sound->set_volume( vol ); - } else { - SG_LOG( SG_COCKPIT, SG_ALERT, - "Can't find nav-dme-ident sound" ); - } - // cout << "last_time = " << last_time << " "; - // cout << "cur_time = " - // << globals->get_time_params()->get_cur_time(); - if ( last_time < - globals->get_time_params()->get_cur_time() - 30 ) { - last_time = globals->get_time_params()->get_cur_time(); - play_count = 0; - } - // cout << " play_count = " << play_count << endl; - // cout << "playing = " - // << globals->get_soundmgr()->is_playing(nav_fx_name) - // << endl; - if ( play_count < 4 ) { - // play VOR ident - if ( !globals->get_soundmgr()->is_playing(nav_fx_name) ) { - globals->get_soundmgr()->play_once( nav_fx_name ); - ++play_count; - } - } else if ( play_count < 5 && has_dme ) { - // play DME ident - if ( !globals->get_soundmgr()->is_playing(nav_fx_name) && - !globals->get_soundmgr()->is_playing(dme_fx_name) ) { - globals->get_soundmgr()->play_once( dme_fx_name ); - ++play_count; - } - } - } else { - globals->get_soundmgr()->stop( nav_fx_name ); - globals->get_soundmgr()->stop( dme_fx_name ); - } + if (!power_btn_node->getBoolValue() + || !(bus_power_node->getDoubleValue() > 1.0) + || !ident_btn_node->getBoolValue() + || !audio_btn_node->getBoolValue() ) { + _sgr->stop( nav_fx_name ); + _sgr->stop( dme_fx_name ); + return; + } + + SGSoundSample *sound = _sgr->find( nav_fx_name ); + double vol = vol_btn_node->getFloatValue(); + SG_CLAMP_RANGE(vol, 0.0, 1.0); + + if ( sound != NULL ) { + sound->set_volume( vol ); + } else { + SG_LOG( SG_COCKPIT, SG_ALERT, "Can't find nav-vor-ident sound" ); + } + + sound = _sgr->find( dme_fx_name ); + if ( sound != NULL ) { + sound->set_volume( vol ); + } else { + SG_LOG( SG_COCKPIT, SG_ALERT, "Can't find nav-dme-ident sound" ); + } + + const int NUM_IDENT_SLOTS = 5; + const time_t SLOT_LENGTH = 5; // seconds + + // There are N slots numbered 0 through (NUM_IDENT_SLOTS-1) inclusive. + // Each slot is 5 seconds long. + // Slots 0 is for DME + // the rest are for azimuth. + time_t now = globals->get_time_params()->get_cur_time(); + if ((now >= last_time) && (now < last_time + SLOT_LENGTH)) { + return; // wait longer + } + + last_time = now; + play_count = ++play_count % NUM_IDENT_SLOTS; + + // Previous ident is out of time; if still playing, cut it off: + _sgr->stop( nav_fx_name ); + _sgr->stop( dme_fx_name ); + if (play_count == 0) { // the DME slot + if (_dmeInRange && dme_serviceable_node->getBoolValue()) { + // play DME ident + if (vol > 0.05) _sgr->play_once( dme_fx_name ); } - - last_loc_dist = loc_dist; + } else { // NAV slot + if (inrange_node->getBoolValue() && nav_serviceable_node->getBoolValue()) { + if (vol > 0.05) _sgr->play_once(nav_fx_name); + } + } } +FGNavRecord* FGNavRadio::findPrimaryNavaid(const SGGeod& aPos, double aFreqMHz) +{ + FGNavRecord* nav = globals->get_navlist()->findByFreq(aFreqMHz, aPos); + if (nav) { + return nav; + } + + return globals->get_loclist()->findByFreq(aFreqMHz, aPos); +} // Update current nav/adf radio stations based on current postition void FGNavRadio::search() { + _time_before_search_sec = 1.0; + SGGeod pos = SGGeod::fromDegFt(lon_node->getDoubleValue(), + lat_node->getDoubleValue(), alt_node->getDoubleValue()); + double freq = freq_node->getDoubleValue(); + + FGNavRecord* nav = findPrimaryNavaid(pos, freq); + if (nav == _navaid) { + return; // found the same as last search, we're done + } + + _navaid = nav; + char identBuffer[5] = " "; + if (nav) { + _dme = globals->get_dmelist()->findByFreq(freq, pos); + + nav_id_node->setStringValue(nav->get_ident()); + strncpy(identBuffer, nav->ident().c_str(), 5); + + effective_range = adjustNavRange(nav->get_elev_ft(), pos.getElevationM(), nav->get_range()); + loc_node->setBoolValue(nav->type() != FGPositioned::VOR); + twist = nav->get_multiuse(); + + if (nav->type() == FGPositioned::VOR) { + target_radial = sel_radial_node->getDoubleValue(); + _gs = NULL; + has_gs_node->setBoolValue(false); + } else { // ILS or LOC + _gs = globals->get_gslist()->findByFreq(freq, pos); + has_gs_node->setBoolValue(_gs != NULL); + _localizerWidth = localizerWidth(nav); + twist = 0.0; + effective_range = nav->get_range(); + + target_radial = nav->get_multiuse(); + SG_NORMALIZE_RANGE(target_radial, 0.0, 360.0); + + if (_gs) { + int tmp = (int)(_gs->get_multiuse() / 1000.0); + target_gs = (double)tmp / 100.0; + + // until penaltyForNav goes away, we cannot assume we always pick + // paired LOC/GS trasmsitters. As we pass over a runway threshold, we + // often end up picking the 'wrong' LOC, but the correct GS. To avoid + // breaking the basis computation, ensure we use the GS radial and not + // the (potentially reversed) LOC radial. + double gs_radial = fmod(_gs->get_multiuse(), 1000.0); + SG_NORMALIZE_RANGE(gs_radial, 0.0, 360.0); + + // GS axis unit tangent vector + // (along the runway) + _gsCart = _gs->cart(); + _gsAxis = tangentVector(_gs->geod(), _gsCart, gs_radial); + + // GS baseline unit tangent vector + // (perpendicular to the runay along the ground) + SGVec3d baseline = tangentVector(_gs->geod(), _gsCart, gs_radial + 90.0); + _gsVertical = cross(baseline, _gsAxis); + } // of have glideslope + } // of found LOC or ILS + + audioNavidChanged(); + } else { // found nothing + _gs = NULL; + _dme = NULL; + nav_id_node->setStringValue(""); + + _sgr->remove( nav_fx_name ); + _sgr->remove( dme_fx_name ); + } + + is_valid_node->setBoolValue(nav != NULL); + id_c1_node->setIntValue( (int)identBuffer[0] ); + id_c2_node->setIntValue( (int)identBuffer[1] ); + id_c3_node->setIntValue( (int)identBuffer[2] ); + id_c4_node->setIntValue( (int)identBuffer[3] ); +} + +double FGNavRadio::localizerWidth(FGNavRecord* aLOC) +{ + FGRunway* rwy = aLOC->runway(); + assert(rwy); + + SGVec3d thresholdCart(SGVec3d::fromGeod(rwy->threshold())); + double axisLength = dist(aLOC->cart(), thresholdCart); + double landingLength = dist(thresholdCart, SGVec3d::fromGeod(rwy->end())); + +// Reference: http://dcaa.slv.dk:8000/icaodocs/ +// ICAO standard width at threshold is 210 m = 689 feet = approx 700 feet. +// ICAO 3.1.1 half course = DDM = 0.0775 +// ICAO 3.1.3.7.1 Sensitivity 0.00145 DDM/m at threshold +// implies peg-to-peg of 214 m ... we will stick with 210. +// ICAO 3.1.3.7.1 "Course sector angle shall not exceed 6 degrees." + +// Very short runway: less than 1200 m (4000 ft) landing length: + if (landingLength < 1200.0) { +// ICAO fudges localizer sensitivity for very short runways. +// This produces a non-monotonic sensitivity-versus length relation. + axisLength += 1050.0; + } + +// Example: very short: San Diego KMYF (Montgomery Field) ILS RWY 28R +// Example: short: Tom's River KMJX (Robert J. Miller) ILS RWY 6 +// Example: very long: Denver KDEN (Denver) ILS RWY 16R + double raw_width = 210.0 / axisLength * SGD_RADIANS_TO_DEGREES; + return raw_width < 6.0? raw_width : 6.0; +} - // reset search time - _time_before_search_sec = 1.0; - - // cache values locally for speed - SGGeod pos = SGGeod::fromDegFt(lon_node->getDoubleValue(), - lat_node->getDoubleValue(), alt_node->getDoubleValue()); - FGNavRecord *nav = NULL; - FGNavRecord *loc = NULL; - FGNavRecord *dme = NULL; - FGNavRecord *gs = NULL; - - //////////////////////////////////////////////////////////////////////// - // Nav. - //////////////////////////////////////////////////////////////////////// - - double freq = freq_node->getDoubleValue(); - nav = globals->get_navlist()->findByFreq(freq, pos); - dme = globals->get_dmelist()->findByFreq(freq, pos); - if ( nav == NULL ) { - loc = globals->get_loclist()->findByFreq(freq, pos); - gs = globals->get_gslist()->findByFreq(freq, pos); +void FGNavRadio::audioNavidChanged() +{ + if (_sgr->exists(nav_fx_name)) { + _sgr->remove(nav_fx_name); + } + + try { + string trans_ident(_navaid->get_trans_ident()); + SGSoundSample* sound = morse.make_ident(trans_ident, LO_FREQUENCY); + sound->set_volume( 0.3 ); + if (!_sgr->add( sound, nav_fx_name )) { + SG_LOG(SG_COCKPIT, SG_WARN, "Failed to add v1-vor-ident sound"); } - string nav_id = ""; - - if ( loc != NULL ) { - nav_id = loc->get_ident(); - nav_id_node->setStringValue( nav_id.c_str() ); - // cout << "localizer = " << nav_id_node->getStringValue() << endl; - is_valid = true; - if ( last_nav_id != nav_id || last_nav_vor ) { - trans_ident = loc->get_trans_ident(); - target_radial = loc->get_multiuse(); - while ( target_radial < 0.0 ) { target_radial += 360.0; } - while ( target_radial > 360.0 ) { target_radial -= 360.0; } - loc_lon = loc->get_lon(); - loc_lat = loc->get_lat(); - nav_xyz = loc->cart(); - last_nav_id = nav_id; - last_nav_vor = false; - loc_node->setBoolValue( true ); - has_dme = (dme != NULL); - if ( gs != NULL ) { - has_gs_node->setBoolValue( true ); - gs_lon = gs->get_lon(); - gs_lat = gs->get_lat(); - nav_elev = gs->get_elev_ft(); - int tmp = (int)(gs->get_multiuse() / 1000.0); - target_gs = (double)tmp / 100.0; - gs_xyz = gs->cart(); - - // derive GS baseline (perpendicular to the runay - // along the ground) - double tlon, tlat, taz; - geo_direct_wgs_84 ( 0.0, gs_lat, gs_lon, - target_radial + 90, - 100.0, &tlat, &tlon, &taz ); - // cout << "target_radial = " << target_radial << endl; - // cout << "nav_loc = " << loc_node->getBoolValue() << endl; - // cout << gs_lon << "," << gs_lat << " " - // << tlon << "," << tlat << " (" << nav_elev << ")" - // << endl; - SGGeod tpos = SGGeod::fromDegFt(tlon, tlat, nav_elev); - SGVec3d p1 = SGVec3d::fromGeod(tpos); - - // cout << gs_xyz << endl; - // cout << p1 << endl; - gs_base_vec = p1 - gs_xyz; - // cout << gs_base_vec << endl; - } else { - has_gs_node->setBoolValue( false ); - nav_elev = loc->get_elev_ft(); - } - twist = 0; - range = FG_LOC_DEFAULT_RANGE; - effective_range = range; - - if ( globals->get_soundmgr()->exists( nav_fx_name ) ) { - globals->get_soundmgr()->remove( nav_fx_name ); - } - SGSoundSample *sound; - sound = morse.make_ident( trans_ident, LO_FREQUENCY ); - sound->set_volume( 0.3 ); - globals->get_soundmgr()->add( sound, nav_fx_name ); - - if ( globals->get_soundmgr()->exists( dme_fx_name ) ) { - globals->get_soundmgr()->remove( dme_fx_name ); - } - sound = morse.make_ident( trans_ident, HI_FREQUENCY ); - sound->set_volume( 0.3 ); - globals->get_soundmgr()->add( sound, dme_fx_name ); - - int offset = (int)(sg_random() * 30.0); - play_count = offset / 4; - last_time = globals->get_time_params()->get_cur_time() - - offset; - // cout << "offset = " << offset << " play_count = " - // << play_count - // << " last_time = " << last_time - // << " current time = " - // << globals->get_time_params()->get_cur_time() << endl; - - // cout << "Found an loc station in range" << endl; - // cout << " id = " << loc->get_locident() << endl; - } - } else if ( nav != NULL ) { - nav_id = nav->get_ident(); - nav_id_node->setStringValue( nav_id.c_str() ); - // cout << "nav = " << nav_id << endl; - is_valid = true; - if ( last_nav_id != nav_id || !last_nav_vor ) { - last_nav_id = nav_id; - last_nav_vor = true; - trans_ident = nav->get_trans_ident(); - loc_node->setBoolValue( false ); - has_dme = (dme != NULL); - has_gs_node->setBoolValue( false ); - loc_lon = nav->get_lon(); - loc_lat = nav->get_lat(); - nav_elev = nav->get_elev_ft(); - twist = nav->get_multiuse(); - range = nav->get_range(); - effective_range = adjustNavRange(nav_elev, pos.getElevationM(), range); - target_gs = 0.0; - target_radial = sel_radial_node->getDoubleValue(); - nav_xyz = nav->cart(); - - if ( globals->get_soundmgr()->exists( nav_fx_name ) ) { - globals->get_soundmgr()->remove( nav_fx_name ); - } - try { - SGSoundSample *sound; - sound = morse.make_ident( trans_ident, LO_FREQUENCY ); - sound->set_volume( 0.3 ); - if ( globals->get_soundmgr()->add( sound, nav_fx_name ) ) { - // cout << "Added nav-vor-ident sound" << endl; - } else { - SG_LOG(SG_COCKPIT, SG_WARN, "Failed to add v1-vor-ident sound"); - } - - if ( globals->get_soundmgr()->exists( dme_fx_name ) ) { - globals->get_soundmgr()->remove( dme_fx_name ); - } - sound = morse.make_ident( trans_ident, HI_FREQUENCY ); - sound->set_volume( 0.3 ); - globals->get_soundmgr()->add( sound, dme_fx_name ); - - int offset = (int)(sg_random() * 30.0); - play_count = offset / 4; - last_time = globals->get_time_params()->get_cur_time() - offset; - // cout << "offset = " << offset << " play_count = " - // << play_count << " last_time = " - // << last_time << " current time = " - // << globals->get_time_params()->get_cur_time() << endl; - - // cout << "Found a vor station in range" << endl; - // cout << " id = " << nav->get_ident() << endl; - } catch ( sg_io_exception &e ) { - SG_LOG(SG_GENERAL, SG_ALERT, e.getFormattedMessage()); - } - } - } else { - is_valid = false; - nav_id_node->setStringValue( "" ); - target_radial = 0; - trans_ident = ""; - last_nav_id = ""; - globals->get_soundmgr()->remove( nav_fx_name ); - globals->get_soundmgr()->remove( dme_fx_name ); + if ( _sgr->exists( dme_fx_name ) ) { + _sgr->remove( dme_fx_name ); } - - is_valid_node->setBoolValue( is_valid ); - - char tmpid[5]; - strncpy( tmpid, nav_id.c_str(), 5 ); - id_c1_node->setIntValue( (int)tmpid[0] ); - id_c2_node->setIntValue( (int)tmpid[1] ); - id_c3_node->setIntValue( (int)tmpid[2] ); - id_c4_node->setIntValue( (int)tmpid[3] ); + + sound = morse.make_ident( trans_ident, HI_FREQUENCY ); + sound->set_volume( 0.3 ); + _sgr->add( sound, dme_fx_name ); + + int offset = (int)(sg_random() * 30.0); + play_count = offset / 4; + last_time = globals->get_time_params()->get_cur_time() - offset; + } catch (sg_io_exception& e) { + SG_LOG(SG_GENERAL, SG_ALERT, e.getFormattedMessage()); + } }