#include <simgear/misc/sg_path.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/structure/exception.hxx>
+#include <simgear/math/interpolater.hxx>
+#include "Navaids/navrecord.hxx"
#include <Navaids/navlist.hxx>
#include <Main/util.hxx>
#include "navradio.hxx"
gps_to_flag_node(NULL),
gps_from_flag_node(NULL),
gps_has_gs_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),
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();
- }
+ // 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();
+ }
+
+ bool inrange = false;
+
+ // 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 (_navaid
+ && power_btn_node->getBoolValue()
+ && (bus_power_node->getDoubleValue() > 1.0)
+ && nav_serviceable_node->getBoolValue() )
+ {
+ inrange = updateWithPower(dt);
+ } 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 );
+ }
+
+ updateAudio(inrange);
+}
- // 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 = false;
- bool has_gs = false;
- if ( nav_slaved_to_gps_node->getBoolValue() ) {
- has_gs = gps_has_gs_node->getBoolValue();
- has_gs_node->setBoolValue( has_gs );
- inrange = gps_to_flag_node->getBoolValue()
- || gps_from_flag_node->getBoolValue();
- } else {
- has_gs = has_gs_node->getBoolValue();
- inrange = inrange_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
+bool FGNavRadio::updateWithPower(double dt)
+{
+ bool nav_serviceable = nav_serviceable_node->getBoolValue();
+ bool cdi_serviceable = cdi_serviceable_node->getBoolValue();
+ bool tofrom_serviceable = tofrom_serviceable_node->getBoolValue();
+
+ double az1, az2, s;
+
+ SGGeod pos = SGGeod::fromDegFt(lon_node->getDoubleValue(),
+ lat_node->getDoubleValue(),
+ alt_node->getDoubleValue());
+
+ bool inrange = false;
+ if ( nav_slaved_to_gps_node->getBoolValue() ) {
+ // FIXME - GPS-slaved GS support in unfinished
+ has_gs_node->setBoolValue(gps_has_gs_node->getBoolValue());
+ inrange = gps_to_flag_node->getBoolValue() || gps_from_flag_node->getBoolValue();
+ } else {
+ inrange = inrange_node->getBoolValue();
+ }
+
+ 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();
+
+ if (_gs) {
+ // find closest distance to the gs base line
+ double dist = sgdClosestPointToLineDistSquared(aircraft.sg(), _gs->cart().sg(),
+ gs_base_vec.sg());
+ gs_dist_node->setDoubleValue( sqrt( dist ) );
+ // cout << "gs_dist = " << gs_dist_node->getDoubleValue()
// << 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 );
- }
+ // wgs84 heading to glide slope (to determine sign of distance)
+ SGGeodesy::inverse(pos, _gs->geod(), az1, az2, s);
+ double r = az1 - target_radial;
+ SG_NORMALIZE_RANGE(r, -180.0, 180.0);
+ if (fabs(r) <= 90.0) {
+ gs_dist_signed = gs_dist_node->getDoubleValue();
+ } else {
+ gs_dist_signed = -gs_dist_node->getDoubleValue();
+ }
+ } else {
+ gs_dist_node->setDoubleValue( 0.0 );
+ }
- //////////////////////////////////////////////////////////
+ //////////////////////////////////////////////////////////
// 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() );
}
- 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 );
- if ( ! nav_slaved_to_gps_node->getBoolValue() ) {
- /* not slaved to gps */
- inrange = signal_quality_norm > 0.2;
- }
- inrange_node->setBoolValue( inrange );
-
- if ( !is_loc ) {
- target_radial = sel_radial_node->getDoubleValue();
- }
-
- //////////////////////////////////////////////////////////
- // compute to/from flag status
- //////////////////////////////////////////////////////////
- bool value = false;
+ 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 );
+ if ( ! nav_slaved_to_gps_node->getBoolValue() ) {
+ /* not slaved to gps */
+ inrange = signal_quality_norm > 0.2;
+ }
+ inrange_node->setBoolValue( inrange );
+
+ //////////////////////////////////////////////////////////
+ // compute to/from flag status
+ //////////////////////////////////////////////////////////
+ if (tofrom_serviceable) {
+ if (nav_slaved_to_gps_node->getBoolValue()) {
+ to_flag_node->setBoolValue(gps_to_flag_node->getBoolValue());
+ from_flag_node->setBoolValue(gps_from_flag_node->getBoolValue());
+ } else if (inrange) {
+ bool toFlag = false;
+ if (is_loc) {
+ toFlag = true;
+ } else {
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
- //////////////////////////////////////////////////////////
- if (dt > 0) { // Are we paused?
- 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 = (alt_node->getDoubleValue() - nav_elev)
- * SG_FEET_TO_METER;
- // cout << "dist = " << x << " height = " << y << endl;
- double angle = atan2( 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 );
-
- 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;
+ toFlag = (offset > 90.0 && offset < 270.0);
+ }
+
+ to_flag_node->setBoolValue(toFlag);
+ from_flag_node->setBoolValue(!toFlag);
+ } else { // out-of-range
+ to_flag_node->setBoolValue(false);
+ from_flag_node->setBoolValue(false);
+ }
+ } else {
+ to_flag_node->setBoolValue(false);
+ from_flag_node->setBoolValue(false);
+ }
+
+ //////////////////////////////////////////////////////////
+ // 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;
+
+ SG_NORMALIZE_RANGE(r, -180.0, 180.0);
+ if ( fabs(r) > 90.0 ) {
+ r = ( r<0.0 ? -r-180.0 : -r+180.0 );
+ } else {
+ if (is_loc) {
+ loc_backside = true;
}
-
- 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;
+ }
+
+ 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;
+ SG_NORMALIZE_RANGE(r, -180.0, 180.0);
+ 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
+ //////////////////////////////////////////////////////////
+ if (dt > 0) { // Are we paused?
+ 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 (_gs && gs_serviceable_node->getBoolValue() ) {
+ if ( nav_slaved_to_gps_node->getBoolValue() ) {
+ // FIXME what should be set here?
+ } else if ( inrange ) {
+ double x = gs_dist_node->getDoubleValue();
+ double y = (alt_node->getDoubleValue() - nav_elev)
+ * SG_FEET_TO_METER;
+ // cout << "dist = " << x << " height = " << y << endl;
+ double angle = atan2( 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 );
+
+ 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;
+ last_loc_dist = loc_dist;
+ return inrange;
+}
- // audio effects
- if ( is_valid && inrange && nav_serviceable ) {
+void FGNavRadio::updateAudio(bool aInRange)
+{
+ if (!_navaid || !aInRange || !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 ) {
+ if (!power_btn_node->getBoolValue()
+ || !(bus_power_node->getDoubleValue() > 1.0)
+ || !ident_btn_node->getBoolValue()
+ || !audio_btn_node->getBoolValue() ) {
+ globals->get_soundmgr()->stop( nav_fx_name );
+ globals->get_soundmgr()->stop( dme_fx_name );
+ return;
+ }
+
+ SGSoundSample *sound = globals->get_soundmgr()->find( nav_fx_name );
+ double vol = vol_btn_node->getDoubleValue();
+ 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 = 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" );
+ }
+
+ 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 ) {
+ }
+
+ 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 ) {
+ }
+ } 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 );
- }
- }
-
- last_loc_dist = loc_dist;
+ }
}
+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) {
+ FGNavRecord* dme = globals->get_dmelist()->findByFreq(freq, pos);
+ has_dme = (dme != NULL);
+
+ 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;
+ } else { // ILS or LOC
+ _gs = globals->get_gslist()->findByFreq(freq, pos);
+ has_gs_node->setBoolValue(_gs != NULL);
+ twist = 0.0;
+ effective_range = FG_LOC_DEFAULT_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;
+
+ SGGeod baseLine;
+ double dummy;
+ SGGeodesy::direct(_gs->geod(), target_radial + 90.0, 100.0, baseLine, dummy);
+ gs_base_vec = SGVec3d::fromGeod(baseLine) - _gs->cart();
+ } // of have glideslope
+ } // of found LOC or ILS
+
+ audioNavidChanged();
+ } else { // found nothing
+ _gs = NULL;
+ nav_id_node->setStringValue("");
+ has_dme = false;
+ globals->get_soundmgr()->remove( nav_fx_name );
+ globals->get_soundmgr()->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] );
+}
- // 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 ( globals->get_soundmgr()->exists(nav_fx_name)) {
+ globals->get_soundmgr()->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 (!globals->get_soundmgr()->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 = 0.0, tlat = 0.0, taz = 0.0;
- 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 ( globals->get_soundmgr()->exists( dme_fx_name ) ) {
+ globals->get_soundmgr()->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 );
+ 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;
+ } catch (sg_io_exception& e) {
+ SG_LOG(SG_GENERAL, SG_ALERT, e.getFormattedMessage());
+ }
}
projects / flightgear.git / commitdiff