Add support for high speed trains. Change update rate to main frame rate, and move...

Signed-off-by: v meazza <vivian.meazza@lineone.net>
Conflicts:

	src/AIModel/AIGroundVehicle.cxx

diff --git a/src/AIModel/AIGroundVehicle.cxx b/src/AIModel/AIGroundVehicle.cxx
index fce0e8c8225fc3415e3b7c887c8cccb8e2952746..f7a6a1d9ff02f7533ac85ecc3c119d5bac7981eb 100644 (file)
--- a/src/AIModel/AIGroundVehicle.cxx
+++ b/src/AIModel/AIGroundVehicle.cxx
@@ -45,7 +45,9 @@ _dt_count(0),
 _next_run(0),
 _parent_x_offset(0),
 _parent_y_offset(0),
-_parent("")
+_parent_z_offset(0),
+_parent(""),
+_break_count(0)
 
 {
     invisible = false;
@@ -64,16 +66,18 @@ void FGAIGroundVehicle::readFromScenario(SGPropertyNode* scFileNode) {
     setSMPath(scFileNode->getStringValue("submodel-path", ""));
     setContactX1offset(scFileNode->getDoubleValue("contact-x1-offset", 0.0));
     setContactX2offset(scFileNode->getDoubleValue("contact-x2-offset", 0.0));
-    setXOffset(scFileNode->getDoubleValue("hitch-x-offset", 38.55));
+    setXOffset(scFileNode->getDoubleValue("hitch-x-offset", 35.0));
     setYOffset(scFileNode->getDoubleValue("hitch-y-offset", 0.0));
+    setZOffset(scFileNode->getDoubleValue("hitch-z-offset", 0.0));
     setPitchoffset(scFileNode->getDoubleValue("pitch-offset", 0.0));
     setRolloffset(scFileNode->getDoubleValue("roll-offset", 0.0));
     setYawoffset(scFileNode->getDoubleValue("yaw-offset", 0.0));
     setPitchCoeff(scFileNode->getDoubleValue("pitch-coefficient", 0.1));
     setElevCoeff(scFileNode->getDoubleValue("elevation-coefficient", 0.25));
     setParentName(scFileNode->getStringValue("parent", ""));
-    setTowAngleGain(scFileNode->getDoubleValue("tow-angle-gain", 2.0));
+    setTowAngleGain(scFileNode->getDoubleValue("tow-angle-gain", 1.0));
     setTowAngleLimit(scFileNode->getDoubleValue("tow-angle-limit-deg", 2.0));
+    setInitialTunnel(scFileNode->getBoolValue("tunnel", false));
     //we may need these later for towed vehicles
     //    setSubID(scFileNode->getIntValue("SubID", 0));
     //    setGroundOffset(scFileNode->getDoubleValue("ground-offset", 0.0));
@@ -99,10 +103,14 @@ void FGAIGroundVehicle::bind() {
         SGRawValuePointer<double>(&_x_offset));
     props->tie("hitch/y-offset-ft",
         SGRawValuePointer<double>(&_y_offset));
+    props->tie("hitch/z-offset-ft",
+        SGRawValuePointer<double>(&_z_offset));
     props->tie("hitch/parent-x-offset-ft",
         SGRawValuePointer<double>(&_parent_x_offset));
     props->tie("hitch/parent-y-offset-ft",
         SGRawValuePointer<double>(&_parent_y_offset));
+    props->tie("hitch/parent-z-offset-ft",
+        SGRawValuePointer<double>(&_parent_z_offset));
     props->tie("controls/constants/tow-angle/gain",
         SGRawValuePointer<double>(&_tow_angle_gain));
     props->tie("controls/constants/tow-angle/limit-deg",
@@ -117,15 +125,17 @@ void FGAIGroundVehicle::unbind() {
     FGAIShip::unbind();
 
     props->untie("controls/constants/elevation-coeff");
+       props->untie("controls/constants/pitch-coeff");
     props->untie("position/ht-AGL-ft");
-    props->untie("controls/constants/pitch-coeff");
     props->untie("hitch/rel-bearing-deg");
     props->untie("hitch/tow-angle-deg");
     props->untie("hitch/range-ft");
     props->untie("hitch/x-offset-ft");
     props->untie("hitch/y-offset-ft");
+    props->untie("hitch/z-offset-ft");
     props->untie("hitch/parent-x-offset-ft");
     props->untie("hitch/parent-y-offset-ft");
+    props->untie("hitch/parent-y-offset-ft");
     props->untie("controls/constants/tow-angle/gain");
     props->untie("controls/constants/tow-angle/limit-deg");
     props->untie("controls/contact-x1-offset-ft");
@@ -145,9 +155,9 @@ bool FGAIGroundVehicle::init(bool search_in_AI_path) {
 
 void FGAIGroundVehicle::update(double dt) {
     //    SG_LOG(SG_GENERAL, SG_ALERT, "updating GroundVehicle: " << _name );
+    FGAIShip::update(dt);
 
     RunGroundVehicle(dt);
-//    FGAIShip::update(dt);
 }
 
 void FGAIGroundVehicle::setNoRoll(bool nr) {
@@ -170,6 +180,10 @@ void FGAIGroundVehicle::setYOffset(double y) {
     _y_offset = y;
 }
 
+void FGAIGroundVehicle::setZOffset(double z) {
+    _z_offset = z;
+}
+
 void FGAIGroundVehicle::setPitchCoeff(double pc) {
     _pitch_coeff = pc;
 }
@@ -201,9 +215,12 @@ void FGAIGroundVehicle::setParentName(const string& p) {
 }
 
 void FGAIGroundVehicle::setTowAngle(double ta, double dt, double coeff){
-    //_tow_angle = ta * _tow_angle_gain;
-    _tow_angle = pow(ta,2) * sign(ta);
-    SG_CLAMP_RANGE(_tow_angle, -_tow_angle_limit, _tow_angle_limit);
+    ta *= _tow_angle_gain;
+    double factor = -0.0045 * speed + 1;
+    double limit = _tow_angle_limit * factor;
+//     cout << "speed "<< speed << " _factor " << _factor<<" " <<_tow_angle_limit<< endl; 
+     _tow_angle = pow(ta,2) * sign(ta) * factor;
+    SG_CLAMP_RANGE(_tow_angle, -limit, limit);
 }
 
 bool FGAIGroundVehicle::getGroundElev(SGGeod inpos) {
@@ -242,10 +259,10 @@ bool FGAIGroundVehicle::getGroundElev(SGGeod inpos) {
 bool FGAIGroundVehicle::getPitch() {
 
     if (!_tunnel){
-
         double vel = props->getDoubleValue("velocities/true-airspeed-kt", 0);
         double contact_offset_x1_m = _contact_x1_offset * SG_FEET_TO_METER;
         double contact_offset_x2_m = _contact_x2_offset * SG_FEET_TO_METER;
+        double _z_offset_m = _parent_z_offset * SG_FEET_TO_METER;
 
         SGVec3d front(-contact_offset_x1_m, 0, 0);
         SGVec3d rear(-contact_offset_x2_m, 0, 0);
@@ -261,9 +278,9 @@ bool FGAIGroundVehicle::getPitch() {
         double elev_rear = 0;
         double max_alt = 10000;
 
-        if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(geodFront, 3000), elev_front,
-             &_material, 0)){
-                front_elev_m = elev_front;
+        if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(geodFront, 3000),
+            elev_front, &_material, 0)){
+                front_elev_m = elev_front + _z_offset_m;
         } else
             return false;
 
@@ -297,26 +314,26 @@ bool FGAIGroundVehicle::getPitch() {
 
         if (_new_waypoint){
             //cout << "new waypoint, calculating pitch " << endl;
-            curr_alt = curr->altitude * SG_METER_TO_FEET;
-            prev_alt = prev->altitude * SG_METER_TO_FEET;
-            d_alt = curr_alt - prev_alt;
-
+            curr_alt = curr->altitude;
+            prev_alt = prev->altitude;
+            cout << "prev_alt" <<prev_alt << endl;
+            d_alt = (curr_alt - prev_alt) * SG_METER_TO_FEET;
+            //_elevation = prev->altitude;
             distance = SGGeodesy::distanceM(SGGeod::fromDeg(prev->longitude, prev->latitude),
             SGGeod::fromDeg(curr->longitude, curr->latitude));
-
             _pitch = atan2(d_alt, distance * SG_METER_TO_FEET) * SG_RADIANS_TO_DEGREES;
-//            cout << "new waypoint, calculating pitch " <<  _pitch << endl;
+            //cout << "new waypoint, calculating pitch " <<  _pitch << 
+            //    " " << _pitch_offset << " " << _elevation <<endl;
         }
 
-
         double distance_to_go = SGGeodesy::distanceM(SGGeod::fromDeg(pos.getLongitudeDeg(), pos.getLatitudeDeg()),
             SGGeod::fromDeg(curr->longitude, curr->latitude));
 
-        //cout << "tunnel " << _tunnel
-        //     << " distance curr & prev " << prev->name << " " << curr->name << " " << distance * SG_METER_TO_FEET
-        //     << " distance to go " << distance_to_go * SG_METER_TO_FEET
-        //     << " d_alt ft " << d_alt
-        //     << endl;
+        /*cout << "tunnel " << _tunnel
+             << " distance prev & curr " << prev->name << " " << curr->name << " " << distance * SG_METER_TO_FEET
+             << " distance to go " << distance_to_go * SG_METER_TO_FEET
+             << " d_alt ft " << d_alt
+             << endl;*/
 
         if (distance_to_go > distance)
             _elevation = prev_alt;
@@ -367,13 +384,17 @@ void FGAIGroundVehicle::setParent() {
             * SG_FEET_TO_METER;
         double hitch_y_offset_m = _selected_ac->getDoubleValue("hitch/y-offset-ft")
             * SG_FEET_TO_METER;
-
+        double hitch_z_offset_m = _selected_ac->getDoubleValue("hitch/z-offset-ft")
+            * SG_FEET_TO_METER;
+        
         _selectedpos.setLatitudeDeg(lat);
         _selectedpos.setLongitudeDeg(lon);
         _selectedpos.setElevationFt(elevation);
 
         _parent_x_offset = _selected_ac->getDoubleValue("hitch/x-offset-ft");
         _parent_y_offset = _selected_ac->getDoubleValue("hitch/y-offset-ft");
+        _parent_z_offset = _selected_ac->getDoubleValue("hitch/z-offset-ft");
+
         _parent_speed    = _selected_ac->getDoubleValue("velocities/true-airspeed-kt");
 
         SGVec3d rear_hitch(-hitch_x_offset_m, hitch_y_offset_m, 0);
@@ -534,7 +555,7 @@ void FGAIGroundVehicle::RunGroundVehicle(double dt){
     if (_dt_count < _next_run)
         return;
 
-    _next_run = 0.055 /*+ (0.015 * sg_random())*/;
+    _next_run = 0.05 /*+ (0.015 * sg_random())*/;
 
     if (getPitch()){
         setElevation(_elevation, _dt_count, _elevation_coeff);
@@ -545,7 +566,6 @@ void FGAIGroundVehicle::RunGroundVehicle(double dt){
 
     if(_parent == ""){
         AccelTo(prev->speed);
-        FGAIShip::update(_dt_count);
         _dt_count = 0;
         return;
     }
@@ -554,12 +574,15 @@ void FGAIGroundVehicle::RunGroundVehicle(double dt){
 
     string parent_next_name = _selected_ac->getStringValue("waypoint/name-next");
     bool parent_waiting = _selected_ac->getBoolValue("waypoint/waiting");
+    bool parent_restart = _selected_ac->getBoolValue("controls/restart"); 
 
     if (parent_next_name == "END" && fp->getNextWaypoint()->name != "END" ){
         SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
             << " setting END: getting new waypoints ");
         AdvanceFP();
         setWPNames();
+        setTunnel(_initial_tunnel);
+        if(_restart) _missed_count = 200;
         /*} else if (parent_next_name == "WAIT" && fp->getNextWaypoint()->name != "WAIT" ){*/
     } else if (parent_waiting && !_waiting){
         SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
@@ -585,12 +608,14 @@ void FGAIGroundVehicle::RunGroundVehicle(double dt){
         }
 
         setWPNames();
-    } else if (_range_ft > _parent_x_offset * 4){
-        SG_LOG(SG_GENERAL, SG_INFO, "AIGroundVeh1cle: " << _name
-            << " rescue: reforming train " << _range_ft << " " << _x_offset * 15);
+    } else if (_range_ft > (_x_offset +_parent_x_offset)* 4
+        ){
+        SG_LOG(SG_GENERAL, SG_ALERT, "AIGroundVeh1cle: " << _name
+            << " rescue: reforming train " << _range_ft 
+            );
 
         setTowAngle(0, dt, 1);
-        setSpeed(_parent_speed * 2);
+        setSpeed(_parent_speed + (10 * sign(_parent_speed)));
 
     } else if (_parent_speed > 1){
 
@@ -609,7 +634,7 @@ void FGAIGroundVehicle::RunGroundVehicle(double dt){
     } else
         setSpeed(_parent_speed);
 
-    FGAIShip::update(_dt_count);
+//    FGAIShip::update(_dt_count);
     _dt_count = 0;
 
 }

diff --git a/src/AIModel/AIGroundVehicle.hxx b/src/AIModel/AIGroundVehicle.hxx
index 9be902c8a33c514540f78c4afe5ca0b42836145e..f1f4085a9ef19e7df956285beb3ecc150e89bfc0 100644 (file)
--- a/src/AIModel/AIGroundVehicle.hxx
+++ b/src/AIModel/AIGroundVehicle.hxx
@@ -53,6 +53,7 @@ private:
     void setContactX2offset(double x2);
     void setXOffset(double x);
     void setYOffset(double y);
+    void setZOffset(double z);
 
     void setPitchCoeff(double pc);
     void setElevCoeff(double ec);
@@ -91,8 +92,8 @@ private:
     double _x_offset, _y_offset;
     double _range_ft;
     double _relbrg;
-    double _parent_speed, _parent_x_offset, _parent_y_offset;
-    double _dt_count, _next_run;
+    double _parent_speed, _parent_x_offset, _parent_y_offset, _parent_z_offset;
+    double _dt_count, _next_run, _break_count;
 
     const SGMaterial* _material;
     const SGPropertyNode *_selected_ac;

diff --git a/src/AIModel/AIShip.cxx b/src/AIModel/AIShip.cxx
index 76b470d6d00b8e1a19c68837b3fad34fe7dbe7d7..8fbb4beb5e75fedd9b56cc68c6430282fdf66afc 100644 (file)
--- a/src/AIModel/AIShip.cxx
+++ b/src/AIModel/AIShip.cxx
@@ -68,7 +68,8 @@ _old_range(0),
 _range_rate(0),
 _roll_constant(0.001),
 _hdg_constant(0.01),
-_roll_factor(-0.0083335)
+_roll_factor(-0.0083335),
+_restart(false)
 
 {
         invisible = false;
@@ -89,6 +90,7 @@ void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) {
     setRadius(scFileNode->getDoubleValue("turn-radius-ft", 2000));
     std::string flightplan = scFileNode->getStringValue("flightplan");
     setRepeat(scFileNode->getBoolValue("repeat", false));
+    setRestart(scFileNode->getBoolValue("restart", false));
     setStartTime(scFileNode->getStringValue("time", ""));
     setLeadAngleGain(scFileNode->getDoubleValue("lead-angle-gain", 1.5));
     setLeadAngleLimit(scFileNode->getDoubleValue("lead-angle-limit-deg", 15));
@@ -196,6 +198,8 @@ void FGAIShip::bind() {
         SGRawValuePointer<double>(&_proportion));
     props->tie("controls/fixed-turn-radius-ft",
         SGRawValuePointer<double>(&_fixed_turn_radius));
+    props->tie("controls/restart",
+        SGRawValuePointer<bool>(&_restart));
 }
 
 void FGAIShip::unbind() {
@@ -231,6 +235,7 @@ void FGAIShip::unbind() {
     props->untie("controls/constants/lead-angle/proportion");
     props->untie("controls/fixed-turn-radius-ft");
     props->untie("controls/constants/speed");
+    props->untie("controls/restart");
 
 }
 void FGAIShip::update(double dt) {
@@ -332,17 +337,26 @@ void FGAIShip::Run(double dt) {
 
 
     //we assume that at slow speed ships will manoeuvre using engines/bow thruster
-    if (fabs(speed)<=5)
-        _sp_turn_radius_ft = _fixed_turn_radius;
-    else {
-        // adjust turn radius for speed. The equation is very approximate.
-        // we need to allow for negative speeds
-        if (type == "ship")
-            _sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft;
-        else
-            _sp_turn_radius_ft = turn_radius_ft;
+       if(type == "ship" || type == "carrier"){
+
+               if (fabs(speed)<=5)
+                       _sp_turn_radius_ft = _fixed_turn_radius;
+               else {
+                       // adjust turn radius for speed. The equation is very approximate.
+                       // we need to allow for negative speeds
+                       _sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft;
+               }
+
+       } else {
+               
+               if (fabs(speed) <= 40)
+           _sp_turn_radius_ft = _fixed_turn_radius;
+               else {
+                       // adjust turn radius for speed. 
+                       _sp_turn_radius_ft = turn_radius_ft;
+               }
+       }
 
-    }
 
     if (_rudder <= -0.25 || _rudder >= 0.25) {
         // adjust turn radius for _rudder angle. The equation is even more approximate.
@@ -404,7 +418,7 @@ void FGAIShip::Run(double dt) {
     }
 
     // set the _rudder limit by speed
-    if (type == "ship"){
+    if (type == "ship" || type == "carrier"){
 
         if (speed <= 40)
             rudder_limit = (-0.825 * speed) + 35;
@@ -456,13 +470,6 @@ void FGAIShip::ClimbTo(double altitude) {
 }
 
 void FGAIShip::TurnTo(double heading) {
-    //double relbrg_corr = _relbrg;
-
-    //if ( relbrg_corr > 5)
-    //    relbrg_corr = 5;
-    //else if( relbrg_corr < -5)
-    //    relbrg_corr = -5;
-
     tgt_heading = heading - _lead_angle + _tow_angle;
     SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
     _hdg_lock = true;
@@ -511,6 +518,10 @@ void FGAIShip::setRepeat(bool r) {
     _repeat = r;
 }
 
+void FGAIShip::setRestart(bool r) {
+    _restart = r;
+}
+
 void FGAIShip::setMissed(bool m) {
     _missed = m;
     props->setBoolValue("waypoint/missed", _missed);
@@ -548,6 +559,15 @@ void FGAIShip::setFixedTurnRadius(double ftr) {
     _fixed_turn_radius = ftr;
 }
 
+void FGAIShip::setInitialTunnel(bool t) {
+    _initial_tunnel = t;
+    setTunnel(_initial_tunnel);
+}
+
+void FGAIShip::setTunnel(bool t) {
+    _tunnel = t;
+}
+
 void FGAIShip::setWPNames() {
 
     if (prev != 0)
@@ -614,7 +634,7 @@ void FGAIShip::ProcessFlightPlan(double dt) {
     if (_dt_count < _next_run && _start_sec < time_sec)
         return;
 
-    _next_run = 1.0 + (0.5 * sg_random());
+    _next_run = 0.05 + (0.025 * sg_random());
 
     double until_time_sec = 0;
     _missed = false;
@@ -657,7 +677,7 @@ void FGAIShip::ProcessFlightPlan(double dt) {
         if (_next_name == "TUNNEL"){
             _tunnel = !_tunnel;
 
-            //SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " TUNNEL ");
+            SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " " << sp_turn_radius_nm );
 
             fp->IncrementWaypoint(false);
             next = fp->getNextWaypoint();
@@ -674,7 +694,7 @@ void FGAIShip::ProcessFlightPlan(double dt) {
         }else if(_next_name == "END" || fp->getNextWaypoint() == 0) {
 
             if (_repeat) {
-                SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: "<< _name << "Flightplan restarting ");
+                SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: "<< _name << " Flightplan repeating ");
                 fp->restart();
                 prev = curr;
                 curr = fp->getCurrentWaypoint();
@@ -687,6 +707,10 @@ void FGAIShip::ProcessFlightPlan(double dt) {
                 _missed_count = 0;
                 _lead_angle = 0;
                 AccelTo(prev->speed);
+            } else if (_restart){
+                SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " Flightplan restarting ");
+                _missed_count = 0;
+                initFlightPlan();
             } else {
                 SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " Flightplan dying ");
                 setDie(true);
@@ -802,6 +826,7 @@ bool FGAIShip::initFlightPlan() {
 
     bool init = false;
     _start_sec = 0;
+    _tunnel = _initial_tunnel;
 
     fp->restart();
     fp->IncrementWaypoint(false);
@@ -859,7 +884,7 @@ bool FGAIShip::initFlightPlan() {
     _missed_count = 0;
     _new_waypoint = true;
 
-    SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " done initialising waypoints ");
+    SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " done initialising waypoints " << _tunnel);
     if (prev)
         init = true;
 
@@ -1068,15 +1093,17 @@ void FGAIShip::setXTrackError() {
     double brg = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
         curr->latitude, curr->longitude);
     double xtrack_error_nm = sin((course - brg)* SG_DEGREES_TO_RADIANS) * _wp_range;
+    double factor = -0.0045 * speed + 1;
+    double limit = _lead_angle_limit * factor;
 
     if (_wp_range > 0){
         _lead_angle = atan2(xtrack_error_nm,(_wp_range * _proportion)) * SG_RADIANS_TO_DEGREES;
     } else
         _lead_angle = 0;
 
-    _lead_angle *= _lead_angle_gain;
+    _lead_angle *= _lead_angle_gain * factor;
     _xtrack_error = xtrack_error_nm * 6076.1155;
 
-    SG_CLAMP_RANGE(_lead_angle, -_lead_angle_limit, _lead_angle_limit);
+    SG_CLAMP_RANGE(_lead_angle, -limit, limit);
 
 }

diff --git a/src/AIModel/AIShip.hxx b/src/AIModel/AIShip.hxx
index 0526df32ae7a3f7b4347aa9bc3439f998b1f335e..37689856acdbc43b143a7e67c8ec895f31bd9e7d 100644 (file)
--- a/src/AIModel/AIShip.hxx
+++ b/src/AIModel/AIShip.hxx
@@ -61,6 +61,9 @@ public:
     void setRudderConstant(double rc);
     void setSpeedConstant(double sc);
     void setFixedTurnRadius(double ft);
+    void setTunnel(bool t);
+    void setInitialTunnel(bool t);
+
     void setWPNames();
     void setWPPos();
     double sign(double x);
@@ -69,13 +72,13 @@ public:
     bool _serviceable;
     bool _waiting;
     bool _new_waypoint;
-    bool _tunnel;
-
+    bool _tunnel, _initial_tunnel;
+    bool _restart;
 
     virtual const char* getTypeString(void) const { return "ship"; }
     double _rudder_constant, _speed_constant, _hdg_constant, _limit ;
     double _elevation_m, _elevation_ft;
-    double _missed_range, _tow_angle, _wait_count, _wp_range;
+    double _missed_range, _tow_angle, _wait_count, _missed_count,_wp_range;
 
     FGAIFlightPlan::waypoint* prev; // the one behind you
     FGAIFlightPlan::waypoint* curr; // the one ahead
@@ -92,6 +95,7 @@ private:
     virtual void reinit() { init(); }
 
     void setRepeat(bool r);
+    void setRestart(bool r);
     void setMissed(bool m);
 
     void setServiceable(bool s);
@@ -119,7 +123,7 @@ private:
     double _roll_constant, _roll_factor;
     double _sp_turn_radius_ft, _rd_turn_radius_ft, _fixed_turn_radius;
     double _old_range, _range_rate;
-    double _dt_count, _missed_count;
+    double _dt_count;
     double _next_run;
     double _missed_time_sec;
     double _start_sec;
@@ -137,6 +141,7 @@ private:
     bool _repeat;
     bool _fp_init;
     bool _missed;
+   
 
 };