X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FInstrumentation%2Fnavradio.cxx;h=dc9c094b9871af5e0a2a2b1b622804710b65ca4f;hb=61812ef4b88f5aa74e9cc0630c84d6fc6b4a51cd;hp=f98e891bebdd82c4ce8a7def98c6c3eadf245657;hpb=ccddc99e7339ecd8914d947eea18818ee33deccf;p=flightgear.git diff --git a/src/Instrumentation/navradio.cxx b/src/Instrumentation/navradio.cxx index f98e891be..dc9c094b9 100644 --- a/src/Instrumentation/navradio.cxx +++ b/src/Instrumentation/navradio.cxx @@ -16,7 +16,7 @@ // // You should have received a copy of the GNU General Public License // along with this program; if not, write to the Free Software -// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. +// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. // // $Id$ @@ -33,6 +33,7 @@ #include #include #include +#include #include #include @@ -40,7 +41,7 @@ #include "navradio.hxx" #include -SG_USING_STD(string); +using std::string; // Constructor @@ -48,36 +49,40 @@ 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), - fmt_freq_node(NULL), - fmt_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), 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), - id_node(NULL), + nav_id_node(NULL), id_c1_node(NULL), id_c2_node(NULL), id_c3_node(NULL), @@ -86,15 +91,18 @@ FGNavRadio::FGNavRadio(SGPropertyNode *node) : gps_cdi_deflection_node(NULL), gps_to_flag_node(NULL), gps_from_flag_node(NULL), - last_id(""), + 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), - name("nav"), - num(0), + last_loc_dist(0.0), + last_xtrack_error(0.0), + _name(node->getStringValue("name", "nav")), + _num(node->getIntValue("number", 0)), _time_before_search_sec(-1.0) { SGPath path( globals->get_fg_root() ); @@ -108,25 +116,6 @@ FGNavRadio::FGNavRadio(SGPropertyNode *node) : term_tbl = new SGInterpTable( term.str() ); low_tbl = new SGInterpTable( low.str() ); high_tbl = new SGInterpTable( high.str() ); - - int i; - for ( i = 0; i < node->nChildren(); ++i ) { - SGPropertyNode *child = node->getChild(i); - string cname = child->getName(); - string cval = child->getStringValue(); - if ( cname == "name" ) { - name = cval; - } else if ( cname == "number" ) { - num = child->getIntValue(); - } else { - SG_LOG( SG_INSTR, SG_WARN, - "Error in nav radio config logic" ); - if ( name.length() ) { - SG_LOG( SG_INSTR, SG_WARN, "Section = " << name ); - } - } - } - } @@ -145,14 +134,15 @@ FGNavRadio::init () morse.init(); string branch; - branch = "/instrumentation/" + name; + branch = "/instrumentation/" + _name; - SGPropertyNode *node = fgGetNode(branch.c_str(), num, true ); + SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true ); bus_power_node = - fgGetNode(("/systems/electrical/outputs/" + name).c_str(), true); + fgGetNode(("/systems/electrical/outputs/" + _name).c_str(), true); // inputs + is_valid_node = node->getChild("data-is-valid", 0, true); power_btn_node = node->getChild("power-btn", 0, true); power_btn_node->setBoolValue( true ); vol_btn_node = node->getChild("volume", 0, true); @@ -160,6 +150,8 @@ FGNavRadio::init () ident_btn_node->setBoolValue( true ); audio_btn_node = node->getChild("audio-btn", 0, true); 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); @@ -185,18 +177,21 @@ FGNavRadio::init () // outputs heading_node = node->getChild("heading-deg", 0, true); + time_to_intercept = node->getChild("time-to-intercept-sec", 0, true); to_flag_node = node->getChild("to-flag", 0, true); from_flag_node = node->getChild("from-flag", 0, true); inrange_node = node->getChild("in-range", 0, true); cdi_deflection_node = node->getChild("heading-needle-deflection", 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); has_gs_node = node->getChild("has-gs", 0, true); 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_rate_of_climb_node = node->getChild("gs-rate-of-climb", 0, true); gs_dist_node = node->getChild("gs-distance", 0, true); - id_node = node->getChild("nav-id", 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); id_c3_node = node->getChild("nav-id_asc3", 0, true); @@ -209,9 +204,9 @@ FGNavRadio::init () gps_from_flag_node = fgGetNode("/instrumentation/gps/from-flag", true); std::ostringstream temp; - temp << name << "nav-ident" << num; + temp << _name << "nav-ident" << _num; nav_fx_name = temp.str(); - temp << name << "dme-ident" << num; + temp << _name << "dme-ident" << _num; dme_fx_name = temp.str(); } @@ -220,8 +215,8 @@ FGNavRadio::bind () { std::ostringstream temp; string branch; - temp << num; - branch = "/instrumentation/" + name + "[" + temp.str() + "]"; + temp << _num; + branch = "/instrumentation/" + _name + "[" + temp.str() + "]"; } @@ -230,8 +225,8 @@ FGNavRadio::unbind () { std::ostringstream temp; string branch; - temp << num; - branch = "/instrumentation/" + name + "[" + temp.str() + "]"; + temp << _num; + branch = "/instrumentation/" + _name + "[" + temp.str() + "]"; } @@ -298,73 +293,68 @@ double FGNavRadio::adjustILSRange( double stationElev, double aircraftElev, } +////////////////////////////////////////////////////////////////////////// // Update the various nav values based on position and valid tuned in navs +////////////////////////////////////////////////////////////////////////// void FGNavRadio::update(double dt) { - double lon = lon_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS; - double lat = lat_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS; - double elev = alt_node->getDoubleValue() * SG_FEET_TO_METER; + // 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(); + } - // SGPropertyNode *node = fgGetNode(branch.c_str(), num, true ); + // 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(); - Point3D aircraft = sgGeodToCart( Point3D( lon, lat, elev ) ); - Point3D station; double az1, az2, s; // Create "formatted" versions of the nav frequencies for - // consistant display output. + // 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); - // On timeout, scan again - _time_before_search_sec -= dt; - if ( _time_before_search_sec < 0 ) { - search(); - } - - //////////////////////////////////////////////////////////////////////// - // Nav. - //////////////////////////////////////////////////////////////////////// - // cout << "is_valid = " << is_valid - // << " power_btn = " << power_btn_node->getBoolValue() + // << " power_btn = " << power_btn // << " bus_power = " << bus_power_node->getDoubleValue() - // << " nav_serviceable = " << nav_serviceable->getBoolValue() + // << " nav_serviceable = " << nav_serviceable // << endl; - if ( is_valid && power_btn_node->getBoolValue() - && (bus_power_node->getDoubleValue() > 1.0) - && nav_serviceable_node->getBoolValue() ) + if ( is_valid && power_btn && (bus_power_node->getDoubleValue() > 1.0) + && nav_serviceable ) { - station = Point3D( nav_x, nav_y, nav_z ); - loc_dist_node->setDoubleValue( aircraft.distance3D( station ) ); - // cout << "station = " << station << " dist = " - // << loc_dist_node->getDoubleValue() << endl; + 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_node->getBoolValue() ) { + if ( has_gs ) { // find closest distance to the gs base line - sgdVec3 p; - sgdSetVec3( p, aircraft.x(), aircraft.y(), aircraft.z() ); - sgdVec3 p0; - sgdSetVec3( p0, gs_x, gs_y, gs_z ); - double dist = sgdClosestPointToLineDistSquared( p, p0, - gs_base_vec ); + 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; - Point3D tmp( gs_x, gs_y, gs_z ); - // cout << " (" << aircraft.distance3D( tmp ) << ")" << endl; - // wgs84 heading to glide slope (to determine sign of distance) - geo_inverse_wgs_84( elev, - lat * SGD_RADIANS_TO_DEGREES, - lon * SGD_RADIANS_TO_DEGREES, - gs_lat, gs_lon, + 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;} @@ -383,16 +373,15 @@ FGNavRadio::update(double dt) gs_dist_node->setDoubleValue( 0.0 ); } - // wgs84 heading to localizer + ////////////////////////////////////////////////////////// + // compute forward and reverse wgs84 headings to localizer + ////////////////////////////////////////////////////////// double hdg; - geo_inverse_wgs_84( elev, - lat * SGD_RADIANS_TO_DEGREES, - lon * SGD_RADIANS_TO_DEGREES, - loc_lat, loc_lon, + 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 ); - double radial = az2 - twist; + radial = az2 - twist; double recip = radial + 180.0; if ( recip >= 360.0 ) { recip -= 360.0; } radial_node->setDoubleValue( radial ); @@ -400,97 +389,220 @@ FGNavRadio::update(double dt) // cout << " heading = " << heading_node->getDoubleValue() // << " dist = " << nav_dist << endl; - if ( loc_node->getBoolValue() ) { + ////////////////////////////////////////////////////////// + // 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 + ////////////////////////////////////////////////////////// + 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; effective_range - = adjustILSRange( nav_elev, elev, offset, - loc_dist_node->getDoubleValue() - * SG_METER_TO_NM ); + = adjustILSRange( nav_elev, pos.getElevationM(), offset, + loc_dist * SG_METER_TO_NM ); } else { - effective_range = adjustNavRange( nav_elev, elev, range ); + effective_range + = adjustNavRange( nav_elev, pos.getElevationM(), range ); } // cout << "nav range = " << effective_range // << " (" << range << ")" << endl; - if ( loc_dist_node->getDoubleValue() - < effective_range * SG_NM_TO_METER ) - { - inrange_node->setBoolValue( true ); - } else if ( loc_dist_node->getDoubleValue() - < 2 * effective_range * SG_NM_TO_METER ) - { - inrange_node->setBoolValue( sg_random() < - ( 2 * effective_range * SG_NM_TO_METER - - loc_dist_node->getDoubleValue() ) / - (effective_range * SG_NM_TO_METER) ); + if ( loc_dist < effective_range * SG_NM_TO_METER ) { + inrange = true; + } else if ( loc_dist < 2 * effective_range * SG_NM_TO_METER ) { + inrange = sg_random() < ( 2 * effective_range * SG_NM_TO_METER + - loc_dist ) + / (effective_range * SG_NM_TO_METER); } else { - inrange_node->setBoolValue( false ); + inrange = false; } + inrange_node->setBoolValue( inrange ); - if ( !loc_node->getBoolValue() ) { + if ( !is_loc ) { target_radial = sel_radial_node->getDoubleValue(); } - // Calculate some values for the nav/ils hold autopilot - - double cur_radial = recip; - if ( loc_node->getBoolValue() ) { - // ILS localizers radials are already "true" in our - // database + ////////////////////////////////////////////////////////// + // 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 { - cur_radial += twist; + value = false; } - if ( from_flag_node->getBoolValue() ) { - cur_radial += 180.0; - while ( cur_radial >= 360.0 ) { cur_radial -= 360.0; } + 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; } - - // AUTOPILOT/FLIGHT-DIRECTOR HELPERS + 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; + } + } - // determine the target radial in "true" heading - double trtrue = 0.0; - if ( loc_node->getBoolValue() ) { - // 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; + 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 ); + } } + 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 ); + } - while ( trtrue < 0.0 ) { trtrue += 360.0; } - while ( trtrue > 360.0 ) { trtrue -= 360.0; } - target_radial_true_node->setDoubleValue( trtrue ); + r = -r; // reverse, since radial is outbound - // determine the heading adjustment needed. - // over 8km scale by 3.0 - // (3 is chosen because max deflection is 10 - // and 30 is clamped angle to radial) - // under 8km scale by 10.0 - // because the overstated error helps drive it to the radial in a - // moderate cross wind. - double adjustment = 0.0; - if (loc_dist_node->getDoubleValue() > 8000) { - adjustment = cdi_deflection_node->getDoubleValue() * 3.0; + xtrack_error = loc_dist * sin(r * SGD_DEGREES_TO_RADIANS); } else { - adjustment = cdi_deflection_node->getDoubleValue() * 10.0; + xtrack_error = 0.0; } - SG_CLAMP_RANGE( adjustment, -30.0, 30.0 ); - - // determine the target heading to fly to intercept the - // tgt_radial - double nta_hdg = trtrue + adjustment; - 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 ); - - // cross track error - // ???? + 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; + } + } + 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; @@ -519,128 +631,57 @@ FGNavRadio::update(double dt) ->setDoubleValue( -sin( des_angle * SGD_DEGREES_TO_RADIANS ) * horiz_vel * SG_METER_TO_FEET ); } - } else { - inrange_node->setBoolValue( false ); - // cout << "not picking up vor. :-(" << endl; - } - // compute to/from flag status - double value = false; - double offset = fabs(radial_node->getDoubleValue() - target_radial); - if ( nav_slaved_to_gps_node->getBoolValue() ) { - value = gps_to_flag_node->getBoolValue(); - } else if ( inrange_node->getBoolValue() - && nav_serviceable_node->getBoolValue() - && tofrom_serviceable_node->getBoolValue() ) - { - if ( loc_node->getBoolValue() ) { - value = true; - } else { - value = !(offset <= 90.0 || offset >= 270.0); - } - } - to_flag_node->setBoolValue( value ); - - value = false; - if ( nav_slaved_to_gps_node->getBoolValue() ) { - value = gps_from_flag_node->getBoolValue(); - } else if ( inrange_node->getBoolValue() - && nav_serviceable_node->getBoolValue() - && tofrom_serviceable_node->getBoolValue() ) - { - if ( loc_node->getBoolValue() ) { - value = false; - } else { - value = !(offset > 90.0 && offset < 270.0); - } - } - from_flag_node->setBoolValue( value ); - - // compute the deflection of the CDI needle, clamped to the range - // of ( -10 , 10 ) - double r = 0.0; - 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 - if ( r < -12.5 ) { r = -12.5; } - if ( r > 12.5 ) { r = 12.5; } - } else if ( inrange_node->getBoolValue() - && nav_serviceable_node->getBoolValue() - && cdi_serviceable_node->getBoolValue() ) - { - r = radial_node->getDoubleValue() - target_radial; - // cout << "Target radial = " << target_radial - // << " Actual radial = " << radial_node->getDoubleValue() - // << 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 ); - } - - // According to Robin Peel, the ILS is 4x more sensitive than a vor - r = -r; // reverse, since radial is outbound - if ( loc_node->getBoolValue() ) { r *= 4.0; } - if ( r < -10.0 ) { r = -10.0; } - if ( r > 10.0 ) { r = 10.0; } - } else { - r = 0.0; - } - cdi_deflection_node->setDoubleValue( r ); + ////////////////////////////////////////////////////////// + // 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 ); - // compute the amount of cross track distance error in meters - double m = 0.0; - if ( inrange_node->getBoolValue() - && nav_serviceable_node->getBoolValue() - && cdi_serviceable_node->getBoolValue() ) - { - r = radial_node->getDoubleValue() - target_radial; - // cout << "Target radial = " << target_radial - // << " Actual radial = " << radial_node->getDoubleValue() - // << " 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 ); + // 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; } - r = -r; // reverse, since radial is outbound - - m = loc_dist_node->getDoubleValue() * sin(r * SGD_DEGREES_TO_RADIANS); + 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 ); - } else { - m = 0.0; - } - cdi_xtrack_error_node->setDoubleValue( m ); - - // compute the amount of glide slope needle deflection (.i.e. the - // number of degrees we are off the glide slope * 5.0 - r = 0.0; - if ( nav_slaved_to_gps_node->getBoolValue() ) { - // FIXME, what should be set here? - } else if ( inrange_node->getBoolValue() && has_gs_node->getBoolValue() - && nav_serviceable_node->getBoolValue() - && gs_serviceable_node->getBoolValue() ) - { - 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; + 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; } - gs_deflection_node->setDoubleValue( r ); // audio effects - if ( is_valid - && inrange_node->getBoolValue() - && nav_serviceable_node->getBoolValue() ) - { + if ( is_valid && inrange && nav_serviceable ) { // play station ident via audio system if on + ident, // otherwise turn it off - if ( power_btn_node->getBoolValue() + if ( power_btn && (bus_power_node->getDoubleValue() > 1.0) && ident_btn_node->getBoolValue() && audio_btn_node->getBoolValue() ) @@ -694,6 +735,8 @@ FGNavRadio::update(double dt) globals->get_soundmgr()->stop( dme_fx_name ); } } + + last_loc_dist = loc_dist; } @@ -704,6 +747,7 @@ void FGNavRadio::search() // reset search time _time_before_search_sec = 1.0; + // cache values locally for speed double lon = lon_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS; double lat = lat_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS; double elev = alt_node->getDoubleValue() * SG_FEET_TO_METER; @@ -724,59 +768,55 @@ void FGNavRadio::search() loc = globals->get_loclist()->findByFreq(freq, lon, lat, elev); gs = globals->get_gslist()->findByFreq(freq, lon, lat, elev); } - + + string nav_id = ""; + if ( loc != NULL ) { - id_node->setStringValue( loc->get_ident() ); - // cout << "localizer = " << id_node->getStringValue() << endl; + 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_id != id_node->getStringValue() || last_nav_vor ) { + 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_x = loc->get_x(); - nav_y = loc->get_y(); - nav_z = loc->get_z(); - last_id = id_node->getStringValue(); + nav_xyz = loc->get_cart(); + last_nav_id = nav_id; last_nav_vor = false; loc_node->setBoolValue( true ); has_dme = (dme != NULL); - has_gs_node->setBoolValue( gs != NULL ); - if ( has_gs_node->getBoolValue() ) { + 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_x = gs->get_x(); - gs_y = gs->get_y(); - gs_z = gs->get_z(); + gs_xyz = gs->get_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, + 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; - Point3D p1 = sgGeodToCart( Point3D(tlon*SGD_DEGREES_TO_RADIANS, - tlat*SGD_DEGREES_TO_RADIANS, - nav_elev*SG_FEET_TO_METER) - ); - // cout << gs_x << "," << gs_y << "," << gs_z - // << endl; + SGGeod tpos = SGGeod::fromDegFt(tlon, tlat, nav_elev); + SGVec3d p1 = SGVec3d::fromGeod(tpos); + + // cout << gs_xyz << endl; // cout << p1 << endl; - sgdSetVec3( gs_base_vec, - p1.x()-gs_x, p1.y()-gs_y, p1.z()-gs_z ); - // cout << gs_base_vec[0] << "," << gs_base_vec[1] << "," - // << gs_base_vec[2] << 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; @@ -812,11 +852,12 @@ void FGNavRadio::search() // cout << " id = " << loc->get_locident() << endl; } } else if ( nav != NULL ) { - id_node->setStringValue( nav->get_ident() ); - // cout << "nav = " << id_node->getStringValue() << endl; + nav_id = nav->get_ident(); + nav_id_node->setStringValue( nav_id.c_str() ); + // cout << "nav = " << nav_id << endl; is_valid = true; - if ( last_id != id_node->getStringValue() || !last_nav_vor ) { - last_id = id_node->getStringValue(); + 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 ); @@ -830,55 +871,56 @@ void FGNavRadio::search() effective_range = adjustNavRange(nav_elev, elev, range); target_gs = 0.0; target_radial = sel_radial_node->getDoubleValue(); - nav_x = nav->get_x(); - nav_y = nav->get_y(); - nav_z = nav->get_z(); + nav_xyz = nav->get_cart(); 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 ); - 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; + 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"); + } - // cout << "Found a vor station in range" << endl; - // cout << " id = " << nav->get_ident() << endl; + 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; - id_node->setStringValue( "" ); + nav_id_node->setStringValue( "" ); target_radial = 0; trans_ident = ""; - last_id = ""; - if ( ! globals->get_soundmgr()->remove( nav_fx_name ) ) { - SG_LOG(SG_COCKPIT, SG_WARN, "Failed to remove nav-vor-ident sound"); - } + last_nav_id = ""; + globals->get_soundmgr()->remove( nav_fx_name ); globals->get_soundmgr()->remove( dme_fx_name ); - // cout << "not picking up vor1. :-(" << endl; } + is_valid_node->setBoolValue( is_valid ); + char tmpid[5]; - strncpy( tmpid, id_node->getStringValue(), 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] );