radius, fltType, aircraftType, airline);
break;
case 2:
- createTaxi(firstFlight, 1, dep, latitude, longitude,
- radius, fltType, aircraftType, airline);
+ createTakeoffTaxi(firstFlight, dep, radius, fltType, aircraftType, airline);
break;
case 3:
createTakeOff(firstFlight, dep, speed, fltType);
createLanding(arr);
break;
case 8:
- createTaxi(false, 2, arr, latitude, longitude, radius,
- fltType, aircraftType, airline);
+ createLandingTaxi(arr, radius, fltType, aircraftType, airline);
break;
case 9:
createParking(arr, radius);
leg++;
}
+FGAIFlightPlan::waypoint*
+FGAIFlightPlan::createOnGround(const std::string& aName, const SGGeod& aPos, double aElev, double aSpeed)
+{
+ waypoint* wpt = new waypoint;
+ wpt->name = aName;
+ wpt->longitude = aPos.getLongitudeDeg();
+ wpt->latitude = aPos.getLatitudeDeg();
+ wpt->altitude = aElev;
+ wpt->speed = aSpeed;
+ wpt->crossat = -10000;
+ wpt->gear_down = true;
+ wpt->flaps_down= true;
+ wpt->finished = false;
+ wpt->on_ground = true;
+ wpt->routeIndex= 0;
+ return wpt;
+}
+FGAIFlightPlan::waypoint*
+FGAIFlightPlan::createInAir(const std::string& aName, const SGGeod& aPos, double aElev, double aSpeed)
+{
+ waypoint* wpt = new waypoint;
+ wpt->name = aName;
+ wpt->longitude = aPos.getLongitudeDeg();
+ wpt->latitude = aPos.getLatitudeDeg();
+ wpt->altitude = aElev;
+ wpt->speed = aSpeed;
+ wpt->crossat = -10000;
+ wpt->gear_down = false;
+ wpt->flaps_down= false;
+ wpt->finished = false;
+ wpt->on_ground = false;
+ wpt->routeIndex= 0;
+ return wpt;
+}
+FGAIFlightPlan::waypoint*
+FGAIFlightPlan::cloneWithPos(waypoint* aWpt, const std::string& aName, const SGGeod& aPos)
+{
+ waypoint* wpt = new waypoint;
+ wpt->name = aName;
+ wpt->longitude = aPos.getLongitudeDeg();
+ wpt->latitude = aPos.getLatitudeDeg();
+
+ wpt->altitude = aWpt->altitude;
+ wpt->speed = aWpt->speed;
+ wpt->crossat = aWpt->crossat;
+ wpt->gear_down = aWpt->gear_down;
+ wpt->flaps_down= aWpt->flaps_down;
+ wpt->finished = aWpt->finished;
+ wpt->on_ground = aWpt->on_ground;
+ wpt->routeIndex = 0;
+
+ return wpt;
+}
+void FGAIFlightPlan::createDefaultTakeoffTaxi(FGAirport* aAirport, FGRunway* aRunway)
+{
+ SGGeod runwayTakeoff = aRunway->pointOnCenterline(5.0);
+ double airportElev = aAirport->getElevation();
+
+ waypoint* wpt;
+ wpt = createOnGround("Airport Center", aAirport->geod(), airportElev, 15);
+ waypoints.push_back(wpt);
+ wpt = createOnGround("Runway Takeoff", runwayTakeoff, airportElev, 15);
+ waypoints.push_back(wpt);
+}
-
-/*******************************************************************
- * createCreate Taxi.
- * initialize the Aircraft at the parking location
- ******************************************************************/
-void FGAIFlightPlan::createTaxi(bool firstFlight, int direction,
- FGAirport *apt, double latitude, double longitude,
+void FGAIFlightPlan::createTakeoffTaxi(bool firstFlight,
+ FGAirport *apt,
double radius, const string& fltType,
const string& acType, const string& airline)
{
- double heading;
- double lat, lon;
- double lat2, lon2, az2;
- waypoint *wpt;
-
- int nrWaypointsToSkip;
-
- if (direction == 1)
+ double heading, lat, lon;
+
+ // If this function is called during initialization,
+ // make sure we obtain a valid gate ID first
+ // and place the model at the location of the gate.
+ if (firstFlight) {
+ if (!(apt->getDynamics()->getAvailableParking(&lat, &lon,
+ &heading, &gateId,
+ radius, fltType,
+ acType, airline)))
{
- // If this function is called during initialization,
- // make sure we obtain a valid gate ID first
- // and place the model at the location of the gate.
- if (firstFlight)
- {
- if (!(apt->getDynamics()->getAvailableParking(&lat, &lon,
- &heading, &gateId,
- radius, fltType,
- acType, airline)))
- {
- SG_LOG(SG_INPUT, SG_WARN, "Could not find parking for a " <<
- acType <<
- " of flight type " << fltType <<
- " of airline " << airline <<
- " at airport " << apt->getId());
- }
- //waypoint *wpt = new waypoint;
- //wpt->name = "park";
- //wpt->latitude = lat;
- //wpt->longitude = lon;
- //wpt->altitude = apt->getElevation();
- //wpt->speed = -10;
- //wpt->crossat = -10000;
- //wpt->gear_down = true;
- //wpt->flaps_down= true;
- //wpt->finished = false;
- //wpt->on_ground = true;
- //waypoints.push_back(wpt);
- }
- string rwyClass = getRunwayClassFromTrafficType(fltType);
- apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway);
- rwy = apt->getRunwayByIdent(activeRunway);
-
- // Determine the beginning of he runway
- heading = rwy->headingDeg();
- double azimuth = heading + 180.0;
- while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
- rwy->lengthM() * 0.5 - 5.0,
- &lat2, &lon2, &az2 );
-
- if (apt->getDynamics()->getGroundNetwork()->exists())
- {
- intVec ids;
- int runwayId = apt->getDynamics()->getGroundNetwork()->findNearestNode(lat2,
- lon2);
-
-
- // A negative gateId indicates an overflow parking, use a
- // fallback mechanism for this.
- // Starting from gate 0 in this case is a bit of a hack
- // which requires a more proper solution later on.
- //FGTaxiRoute route;
- delete taxiRoute;
- taxiRoute = new FGTaxiRoute;
-
- // Determine which node to start from.
- int node;
- // Find out which node to start from
- FGParking *park = apt->getDynamics()->getParking(gateId);
- if (park)
- node = park->getPushBackPoint();
- else
- node = 0;
- if (node == -1)
- node = gateId;
+ SG_LOG(SG_INPUT, SG_WARN, "Could not find parking for a " <<
+ acType <<
+ " of flight type " << fltType <<
+ " of airline " << airline <<
+ " at airport " << apt->getId());
+ }
+ }
+
+ string rwyClass = getRunwayClassFromTrafficType(fltType);
+ apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway);
+ rwy = apt->getRunwayByIdent(activeRunway);
+ SGGeod runwayTakeoff = rwy->pointOnCenterline(5.0);
- // HAndle case where parking doens't have a node
- if ((node == 0) && park) {
- if (firstFlight) {
- node = gateId;
- } else {
- node = lastNodeVisited;
- }
- }
+ FGGroundNetwork* gn = apt->getDynamics()->getGroundNetwork();
+ if (!gn->exists()) {
+ createDefaultTakeoffTaxi(apt, rwy);
+ return;
+ }
+
+ intVec ids;
+ int runwayId = gn->findNearestNode(runwayTakeoff);
+
+ // A negative gateId indicates an overflow parking, use a
+ // fallback mechanism for this.
+ // Starting from gate 0 in this case is a bit of a hack
+ // which requires a more proper solution later on.
+ delete taxiRoute;
+ taxiRoute = new FGTaxiRoute;
+
+ // Determine which node to start from.
+ int node = 0;
+ // Find out which node to start from
+ FGParking *park = apt->getDynamics()->getParking(gateId);
+ if (park) {
+ node = park->getPushBackPoint();
+ }
+
+ if (node == -1) {
+ node = gateId;
+ }
+
+ // HAndle case where parking doens't have a node
+ if ((node == 0) && park) {
+ if (firstFlight) {
+ node = gateId;
+ } else {
+ node = lastNodeVisited;
+ }
+ }
- //cerr << "Using node " << node << endl;
- *taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(node, runwayId);
- intVecIterator i;
+ *taxiRoute = gn->findShortestRoute(node, runwayId);
+ intVecIterator i;
- if (taxiRoute->empty()) {
- //Add the runway startpoint;
- wpt = new waypoint;
- wpt->name = "Airport Center";
- wpt->latitude = latitude;
- wpt->longitude = longitude;
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
-
- //Add the runway startpoint;
- wpt = new waypoint;
- wpt->name = "Runway Takeoff";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
- } else {
- int node;
- taxiRoute->first();
- //bool isPushBackPoint = false;
- if (firstFlight) {
-
- // If this is called during initialization, randomly
- // skip a number of waypoints to get a more realistic
- // taxi situation.
- //isPushBackPoint = true;
- int nrWaypoints = taxiRoute->size();
- nrWaypointsToSkip = rand() % nrWaypoints;
- // but make sure we always keep two active waypoints
- // to prevent a segmentation fault
- for (int i = 0; i < nrWaypointsToSkip-2; i++) {
- //isPushBackPoint = false;
- taxiRoute->next(&node);
- }
- apt->getDynamics()->releaseParking(gateId);
- } else {
- if (taxiRoute->size() > 1) {
- taxiRoute->next(&node); // chop off the first waypoint, because that is already the last of the pushback route
- }
- }
- int route;
- while(taxiRoute->next(&node, &route))
- {
- //FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findSegment(node)->getEnd();
- char buffer[10];
- snprintf (buffer, 10, "%d", node);
- FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
- //ids.pop_back();
- wpt = new waypoint;
- wpt->name = string(buffer); // fixme: should be the name of the taxiway
- wpt->latitude = tn->getLatitude();
- wpt->longitude = tn->getLongitude();
- // Elevation is currently disregarded when on_ground is true
- // because the AIModel obtains a periodic ground elevation estimate.
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = route;
- waypoints.push_back(wpt);
- }
- /*
- //cerr << endl;
- // finally, rewind the taxiRoute object to the point where we started
- // generating the Flightplan, for AI use.
- // This is a bit tricky, because the
- taxiRoute->first();
- if (firstFlight) {
- for (int i = 0; i < nrWaypointsToSkip-1; i++) {
- taxiRoute->next(&node);
- }
- } else {
- int size = taxiRoute->size();
- if (size > 2) {
- //taxiRoute->next(&node);
- //taxiRoute->next(&node);
- //taxiRoute->next(&node);
- }
- }*/
- } // taxiRoute not empty
- }
- else
- {
- // This is the fallback mechanism, in case no ground network is available
- //Add the runway startpoint;
- wpt = new waypoint;
- wpt->name = "Airport Center";
- wpt->latitude = apt->getLatitude();
- wpt->longitude = apt->getLongitude();
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
-
- //Add the runway startpoint;
- wpt = new waypoint;
- wpt->name = "Runway Takeoff";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
- }
+ if (taxiRoute->empty()) {
+ createDefaultTakeoffTaxi(apt, rwy);
+ return;
+ }
+
+ taxiRoute->first();
+ //bool isPushBackPoint = false;
+ if (firstFlight) {
+ // If this is called during initialization, randomly
+ // skip a number of waypoints to get a more realistic
+ // taxi situation.
+ int nrWaypointsToSkip = rand() % taxiRoute->size();
+ // but make sure we always keep two active waypoints
+ // to prevent a segmentation fault
+ for (int i = 0; i < nrWaypointsToSkip-2; i++) {
+ taxiRoute->next(&node);
}
- else // Landing taxi
- {
- apt->getDynamics()->getAvailableParking(&lat, &lon, &heading,
- &gateId, radius, fltType,
- acType, airline);
-
- double lat3 = (*(waypoints.end()-1))->latitude;
- double lon3 = (*(waypoints.end()-1))->longitude;
- //cerr << (*(waypoints.end()-1))->name << endl;
-
- // Find a route from runway end to parking/gate.
- if (apt->getDynamics()->getGroundNetwork()->exists())
- {
- intVec ids;
- int runwayId = apt->getDynamics()->getGroundNetwork()->findNearestNode(lat3,
- lon3);
- // A negative gateId indicates an overflow parking, use a
- // fallback mechanism for this.
- // Starting from gate 0 is a bit of a hack...
- //FGTaxiRoute route;
- delete taxiRoute;
- taxiRoute = new FGTaxiRoute;
- if (gateId >= 0)
- *taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(runwayId,
- gateId);
- else
- *taxiRoute = apt->getDynamics()->getGroundNetwork()->findShortestRoute(runwayId, 0);
- intVecIterator i;
-
- // No route found: go from gate directly to runway
- if (taxiRoute->empty()) {
- //Add the runway startpoint;
- wpt = new waypoint;
- wpt->name = "Airport Center";
- wpt->latitude = latitude;
- wpt->longitude = longitude;
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
-
- //Add the runway startpoint;
- wpt = new waypoint;
- wpt->name = "Runway Takeoff";
- wpt->latitude = lat3;
- wpt->longitude = lon3;
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
- } else {
- int node;
- taxiRoute->first();
- int size = taxiRoute->size();
- // Omit the last two waypoints, as
- // those are created by createParking()
- int route;
- for (int i = 0; i < size-2; i++)
- {
- taxiRoute->next(&node, &route);
+ apt->getDynamics()->releaseParking(gateId);
+ } else {
+ if (taxiRoute->size() > 1) {
+ taxiRoute->next(&node); // chop off the first waypoint, because that is already the last of the pushback route
+ }
+ }
+
+ // push each node on the taxi route as a waypoint
+ int route;
+ while(taxiRoute->next(&node, &route)) {
char buffer[10];
snprintf (buffer, 10, "%d", node);
- //FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
- wpt = new waypoint;
- //wpt->name = "taxiway"; // fixme: should be the name of the taxiway
- wpt->name = string(buffer);// fixme: should be the name of the taxiway
- wpt->latitude = tn->getLatitude();
- wpt->longitude = tn->getLongitude();
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = route;
+ waypoint* wpt = createOnGround(buffer, tn->geod(), apt->getElevation(), 15);
+ wpt->routeIndex = route;
waypoints.push_back(wpt);
- }
- //taxiRoute->first();
- //taxiRoute->next(&node);
- }
- }
- else
- {
- // Use a fallback mechanism in case no ground network is available
- // obtain the location of the gate entrance point
- heading += 180.0;
- if (heading > 360)
- heading -= 360;
- geo_direct_wgs_84 ( 0, lat, lon, heading,
- 100,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "Airport Center";
- wpt->latitude = apt->getLatitude();
- wpt->longitude = apt->getLongitude();
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
-
- wpt = new waypoint;
- wpt->name = "Begin Parking"; //apt->getId(); //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
+ }
+}
- //waypoint* wpt;
- //double lat;
- //double lon;
- //double heading;
- apt->getDynamics()->getParking(gateId, &lat, &lon, &heading);
- heading += 180.0;
- if (heading > 360)
- heading -= 360;
-
- wpt = new waypoint;
- wpt->name = "END"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat;
- wpt->longitude = lon;
- wpt->altitude = 19;
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
- }
-
- }
+void FGAIFlightPlan::createDefaultLandingTaxi(FGAirport* aAirport)
+{
+ SGGeod lastWptPos =
+ SGGeod::fromDeg(waypoints.back()->longitude, waypoints.back()->latitude);
+ double airportElev = aAirport->getElevation();
+
+ waypoint* wpt;
+ wpt = createOnGround("Runway Exit", lastWptPos, airportElev, 15);
+ waypoints.push_back(wpt);
+ wpt = createOnGround("Airport Center", aAirport->geod(), airportElev, 15);
+ waypoints.push_back(wpt);
+
+ double heading, lat, lon;
+ aAirport->getDynamics()->getParking(gateId, &lat, &lon, &heading);
+ wpt = createOnGround("END", SGGeod::fromDeg(lon, lat), airportElev, 15);
+ waypoints.push_back(wpt);
+}
+
+void FGAIFlightPlan::createLandingTaxi(FGAirport *apt,
+ double radius, const string& fltType,
+ const string& acType, const string& airline)
+{
+ double heading, lat, lon;
+ apt->getDynamics()->getAvailableParking(&lat, &lon, &heading,
+ &gateId, radius, fltType, acType, airline);
+
+ SGGeod lastWptPos =
+ SGGeod::fromDeg(waypoints.back()->longitude, waypoints.back()->latitude);
+ FGGroundNetwork* gn = apt->getDynamics()->getGroundNetwork();
+
+ // Find a route from runway end to parking/gate.
+ if (!gn->exists()) {
+ createDefaultLandingTaxi(apt);
+ return;
+ }
+
+ intVec ids;
+ int runwayId = gn->findNearestNode(lastWptPos);
+ // A negative gateId indicates an overflow parking, use a
+ // fallback mechanism for this.
+ // Starting from gate 0 is a bit of a hack...
+ //FGTaxiRoute route;
+ delete taxiRoute;
+ taxiRoute = new FGTaxiRoute;
+ if (gateId >= 0)
+ *taxiRoute = gn->findShortestRoute(runwayId, gateId);
+ else
+ *taxiRoute = gn->findShortestRoute(runwayId, 0);
+ intVecIterator i;
+
+ if (taxiRoute->empty()) {
+ createDefaultLandingTaxi(apt);
+ return;
+ }
+
+ int node;
+ taxiRoute->first();
+ int size = taxiRoute->size();
+ // Omit the last two waypoints, as
+ // those are created by createParking()
+ int route;
+ for (int i = 0; i < size-2; i++) {
+ taxiRoute->next(&node, &route);
+ char buffer[10];
+ snprintf (buffer, 10, "%d", node);
+ FGTaxiNode *tn = gn->findNode(node);
+ waypoint* wpt = createOnGround(buffer, tn->geod(), apt->getElevation(), 15);
+ wpt->routeIndex = route;
+ waypoints.push_back(wpt);
+ }
}
/*******************************************************************
******************************************************************/
void FGAIFlightPlan::createTakeOff(bool firstFlight, FGAirport *apt, double speed, const string &fltType)
{
- double heading;
- double lat, lon, az;
- double lat2, lon2, az2;
waypoint *wpt;
// Get the current active runway, based on code from David Luff
// This should actually be unified and extended to include
// Preferential runway use schema's
if (firstFlight)
- {
- //string name;
- string rwyClass = getRunwayClassFromTrafficType(fltType);
- apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway);
- rwy = apt->getRunwayByIdent(activeRunway);
- }
- // Acceleration point, 105 meters into the runway,
- heading = rwy->headingDeg();
- double azimuth = heading + 180.0;
- while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
- rwy->lengthM() * 0.5 - 105.0,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "accel";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = speed;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
-
- lat = lat2;
- lon = lon2;
- az = az2;
+ {
+ string rwyClass = getRunwayClassFromTrafficType(fltType);
+ apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway);
+ rwy = apt->getRunwayByIdent(activeRunway);
+ }
- //Start Climbing to 3000 ft. Let's do this
- // at the center of the runway for now:
- //
- geo_direct_wgs_84 ( 0, lat, lon, heading,
- 2560 * SG_FEET_TO_METER,
- &lat2, &lon2, &az2 );
-
- wpt = new waypoint;
- wpt->name = "SOC";
- wpt->latitude = rwy->latitude();
- wpt->longitude = rwy->longitude();
- wpt->altitude = apt->getElevation()+1000;
- wpt->speed = speed;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = false;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
-
-
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), heading,
- rwy->lengthM(),
- &lat2, &lon2, &az2 );
+ double airportElev = apt->getElevation();
+ // Acceleration point, 105 meters into the runway,
+ SGGeod accelPoint = rwy->pointOnCenterline(105.0);
+ wpt = createOnGround("accel", accelPoint, airportElev, speed);
+ waypoints.push_back(wpt);
+
+ //Start Climbing to 3000 ft. Let's do this
+ // at the center of the runway for now:
+ wpt = cloneWithPos(wpt, "SOC", rwy->geod());
+ wpt->altitude = airportElev+1000;
+ wpt->on_ground = false;
+ waypoints.push_back(wpt);
- wpt = new waypoint;
- wpt->name = "3000 ft";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation()+3000;
- wpt->speed = speed;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = false;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
+ wpt = cloneWithPos(wpt, "3000 ft", rwy->reverseThreshold());
+ wpt->altitude = airportElev+3000;
+ waypoints.push_back(wpt);
// Finally, add two more waypoints, so that aircraft will remain under
- // Tower control until they have reached the 3000 ft climb point
-
-
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), heading,
- 5000,
- &lat2, &lon2, &az2 );
-
-
- wpt = new waypoint;
- wpt->name = "5000 ft";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation()+5000;
- wpt->speed = speed;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = false;
- wpt->routeIndex = 0;
+ // Tower control until they have reached the 3000 ft climb point
+ SGGeod pt = rwy->pointOnCenterline(5000 + rwy->lengthM() * 0.5);
+ wpt = cloneWithPos(wpt, "5000 ft", pt);
+ wpt->altitude = airportElev+5000;
waypoints.push_back(wpt);
- //cerr << "Created takeoff plan : " << endl;
- //for (wpt_vector_iterator i = waypoints.begin(); i != waypoints.end(); i++) {
- // cerr << "Waypoint Name: " << (*i)->name << ". Speed = " << (*i)->speed << endl;
- //}
-
-
- // geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), heading,
-// 100000,
-// &lat2, &lon2, &az2 );
-// wpt = new waypoint;
-// wpt->name = "5100 ft";
-// wpt->latitude = lat2;
-// wpt->longitude = lon2;
-// wpt->altitude = apt->getElevation()+5100;
-// wpt->speed = speed;
-// wpt->crossat = -10000;
-// wpt->gear_down = true;
-// wpt->flaps_down= true;
-// wpt->finished = false;
-// wpt->on_ground = false;
-// wpt->routeIndex = 0;
-// waypoints.push_back(wpt);
}
-
+
/*******************************************************************
* CreateClimb
* initialize the Aircraft at the parking location
******************************************************************/
void FGAIFlightPlan::createClimb(bool firstFlight, FGAirport *apt, double speed, double alt, const string &fltType)
{
- double heading;
- //FGRunway rwy;
- double lat2, lon2, az2;
- //int direction;
waypoint *wpt;
-
- if (firstFlight)
- {
- //string name;
- string rwyClass = getRunwayClassFromTrafficType(fltType);
- apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway);
- rwy = apt->getRunwayByIdent(activeRunway);
- }
-
+ if (firstFlight) {
+ string rwyClass = getRunwayClassFromTrafficType(fltType);
+ apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway);
+ rwy = apt->getRunwayByIdent(activeRunway);
+ }
- heading = rwy->headingDeg();
- double azimuth = heading + 180.0;
- while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
- //cerr << "Creating climb at : " << rwy._id << " " << rwy._rwy_no << endl;
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), heading,
- 10*SG_NM_TO_METER,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "10000ft climb";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = 10000;
- wpt->speed = speed;
- wpt->crossat = -10000;
+ SGGeod climb1 = rwy->pointOnCenterline(10*SG_NM_TO_METER);
+ wpt = createInAir("10000ft climb", climb1, speed, 10000);
wpt->gear_down = true;
wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = false;
- wpt->routeIndex = 0;
waypoints.push_back(wpt);
-
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), heading,
- 20*SG_NM_TO_METER,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "18000ft climb";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
+ SGGeod climb2 = rwy->pointOnCenterline(20*SG_NM_TO_METER);
+ wpt = cloneWithPos(wpt, "18000ft climb", climb2);
wpt->altitude = 18000;
- wpt->speed = speed;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = false;
- wpt->routeIndex = 0;
waypoints.push_back(wpt);
}
-// /*******************************************************************
-// * CreateCruise
-// * initialize the Aircraft at the parking location
-// ******************************************************************/
-// void FGAIFlightPlan::createCruise(bool firstFlight, FGAirport *dep,
-// FGAirport *arr, double latitude,
-// double longitude, double speed,
-// double alt)
-// {
-// double wind_speed;
-// double wind_heading;
-// double heading;
-// double lat, lon, az;
-// double lat2, lon2, az2;
-// double azimuth;
-// waypoint *wpt;
-
-// wpt = new waypoint;
-// wpt->name = "Cruise"; //wpt_node->getStringValue("name", "END");
-// wpt->latitude = latitude;
-// wpt->longitude = longitude;
-// wpt->altitude = alt;
-// wpt->speed = speed;
-// wpt->crossat = -10000;
-// wpt->gear_down = false;
-// wpt->flaps_down= false;
-// wpt->finished = false;
-// wpt->on_ground = false;
-// waypoints.push_back(wpt);
-
-
-// // should be changed dynamically to allow "gen" and "mil"
-// arr->getDynamics()->getActiveRunway("com", 2, activeRunway);
-// if (!(globals->get_runways()->search(arr->getId(),
-// activeRunway,
-// &rwy)))
-// {
-// SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
-// activeRunway <<
-// " at airport " << arr->getId());
-// exit(1);
-// }
-// heading = rwy->headingDeg();
-// azimuth = heading + 180.0;
-// while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
-
-
-// geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
-// 110000,
-// &lat2, &lon2, &az2 );
-// wpt = new waypoint;
-// wpt->name = "BOD";
-// wpt->latitude = lat2;
-// wpt->longitude = lon2;
-// wpt->altitude = alt;
-// wpt->speed = speed;
-// wpt->crossat = alt;
-// wpt->gear_down = false;
-// wpt->flaps_down= false;
-// wpt->finished = false;
-// wpt->on_ground = false;
-// waypoints.push_back(wpt);
-// }
-
/*******************************************************************
* CreateDecent
* initialize the Aircraft at the parking location
******************************************************************/
void FGAIFlightPlan::createDecent(FGAirport *apt, const string &fltType)
{
-
// Ten thousand ft. Slowing down to 240 kts
- double heading;
- //FGRunway rwy;
- double lat2, lon2, az2;
- double azimuth;
- //int direction;
waypoint *wpt;
//Beginning of Decent
apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway);
rwy = apt->getRunwayByIdent(activeRunway);
- heading = rwy->headingDeg();
- azimuth = heading + 180.0;
- while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
- 100000,
- &lat2, &lon2, &az2 );
-
- wpt = new waypoint;
- wpt->name = "Dec 10000ft"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = 240;
+ SGGeod descent1 = rwy->pointOnCenterline(-100000); // 100km out
+ wpt = createInAir("Dec 10000ft", descent1, apt->getElevation(), 240);
wpt->crossat = 10000;
- wpt->gear_down = false;
- wpt->flaps_down= false;
- wpt->finished = false;
- wpt->on_ground = false;
- wpt->routeIndex = 0;
waypoints.push_back(wpt);
// Three thousand ft. Slowing down to 160 kts
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
- 8*SG_NM_TO_METER,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "DEC 3000ft"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = 160;
+ SGGeod descent2 = rwy->pointOnCenterline(-8*SG_NM_TO_METER); // 8nm out
+ wpt = createInAir("DEC 3000ft", descent2, apt->getElevation(), 160);
wpt->crossat = 3000;
wpt->gear_down = true;
wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = false;
- wpt->routeIndex = 0;
waypoints.push_back(wpt);
}
/*******************************************************************
void FGAIFlightPlan::createLanding(FGAirport *apt)
{
// Ten thousand ft. Slowing down to 150 kts
- double heading;
- //FGRunway rwy;
- double lat2, lon2, az2;
- double azimuth;
- //int direction;
waypoint *wpt;
-
-
- heading = rwy->headingDeg();
- azimuth = heading + 180.0;
- while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
-
+ double aptElev = apt->getElevation();
//Runway Threshold
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
- rwy->lengthM() *0.45,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "Threshold"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = 150;
- wpt->crossat = apt->getElevation();
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
+ wpt = createOnGround("Threshold", rwy->displacedThreshold(), aptElev, 150);
+ wpt->crossat = apt->getElevation();
waypoints.push_back(wpt);
- //Full stop at the runway centerpoint
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), azimuth,
- rwy->lengthFt() *0.45,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "Center"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = rwy->latitude();
- wpt->longitude = rwy->longitude();
- wpt->altitude = apt->getElevation();
- wpt->speed = 30;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
+ // Roll-out
+ wpt = createOnGround("Center", rwy->geod(), aptElev, 30);
waypoints.push_back(wpt);
- geo_direct_wgs_84 ( 0, rwy->latitude(), rwy->longitude(), heading,
- rwy->lengthM() *0.45,
- &lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "Threshold"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
+ SGGeod rollOut = rwy->pointOnCenterline(rwy->lengthM() * 0.9);
+ wpt = createOnGround("Roll Out", rollOut, aptElev, 15);
wpt->crossat = apt->getElevation();
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
waypoints.push_back(wpt);
}
void FGAIFlightPlan::createParking(FGAirport *apt, double radius)
{
waypoint* wpt;
+ double aptElev = apt->getElevation();
double lat, lat2;
double lon, lon2;
double az2;
geo_direct_wgs_84 ( 0, lat, lon, heading,
2.2*radius,
&lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "taxiStart";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = 10;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
- waypoints.push_back(wpt);
+ wpt = createOnGround("taxiStart", SGGeod::fromDeg(lon2, lat2), aptElev, 10);
+ waypoints.push_back(wpt);
+
geo_direct_wgs_84 ( 0, lat, lon, heading,
0.1 *radius,
&lat2, &lon2, &az2 );
- wpt = new waypoint;
- wpt->name = "taxiStart";
- wpt->latitude = lat2;
- wpt->longitude = lon2;
- wpt->altitude = apt->getElevation();
- wpt->speed = 10;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
+
+ wpt = createOnGround("taxiStart2", SGGeod::fromDeg(lon2, lat2), aptElev, 10);
waypoints.push_back(wpt);
- wpt = new waypoint;
- wpt->name = "END"; //wpt_node->getStringValue("name", "END");
- wpt->latitude = lat;
- wpt->longitude = lon;
- wpt->altitude = apt->getElevation();
- wpt->speed = 15;
- wpt->crossat = -10000;
- wpt->gear_down = true;
- wpt->flaps_down= true;
- wpt->finished = false;
- wpt->on_ground = true;
- wpt->routeIndex = 0;
+ wpt = createOnGround("END", SGGeod::fromDeg(lon, lat), aptElev, 10);
waypoints.push_back(wpt);
}
projects / flightgear.git / commitdiff