#include <simgear/compiler.h>
-#include <FDM/flight.hxx>
-#include <Main/fg_props.hxx>
-#include <Navaids/positioned.hxx>
-
#include "route_mgr.hxx"
+#include <simgear/misc/strutils.hxx>
+#include <simgear/structure/exception.hxx>
+
+#include <simgear/props/props_io.hxx>
+#include <simgear/misc/sg_path.hxx>
+#include <simgear/route/route.hxx>
+#include <simgear/sg_inlines.h>
+
+#include "Main/fg_props.hxx"
+#include "Navaids/positioned.hxx"
+#include "Airports/simple.hxx"
+#include "Airports/runways.hxx"
+
+#include "FDM/flight.hxx" // for getting ground speed
+
#define RM "/autopilot/route-manager/"
+static double get_ground_speed() {
+ // starts in ft/s so we convert to kts
+ static const SGPropertyNode * speedup_node = fgGetNode("/sim/speed-up");
+
+ double ft_s = cur_fdm_state->get_V_ground_speed()
+ * speedup_node->getIntValue();
+ double kts = ft_s * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM;
+ return kts;
+}
FGRouteMgr::FGRouteMgr() :
- route( new SGRoute ),
+ _route( new SGRoute ),
+ _autoSequence(true),
lon( NULL ),
lat( NULL ),
alt( NULL ),
- true_hdg_deg( NULL ),
target_altitude_ft( NULL ),
altitude_lock( NULL ),
- wp0_id( NULL ),
- wp0_dist( NULL ),
- wp0_eta( NULL ),
- wp1_id( NULL ),
- wp1_dist( NULL ),
- wp1_eta( NULL ),
- wpn_id( NULL ),
- wpn_dist( NULL ),
- wpn_eta( NULL ),
input(fgGetNode( RM "input", true )),
- listener(new Listener(this)),
+ listener(new InputListener(this)),
mirror(fgGetNode( RM "route", true )),
altitude_set( false )
{
FGRouteMgr::~FGRouteMgr() {
input->removeChangeListener(listener);
+
delete listener;
- delete route;
+ delete _route;
}
void FGRouteMgr::init() {
- lon = fgGetNode( "/position/longitude-deg", true );
- lat = fgGetNode( "/position/latitude-deg", true );
- alt = fgGetNode( "/position/altitude-ft", true );
-
- true_hdg_deg = fgGetNode( "/autopilot/settings/true-heading-deg", true );
- target_altitude_ft = fgGetNode( "/autopilot/settings/target-altitude-ft", true );
- altitude_lock = fgGetNode( "/autopilot/locks/altitude", true );
-
- wp0_id = fgGetNode( RM "wp[0]/id", true );
- wp0_dist = fgGetNode( RM "wp[0]/dist", true );
- wp0_eta = fgGetNode( RM "wp[0]/eta", true );
-
- wp1_id = fgGetNode( RM "wp[1]/id", true );
- wp1_dist = fgGetNode( RM "wp[1]/dist", true );
- wp1_eta = fgGetNode( RM "wp[1]/eta", true );
-
- wpn_id = fgGetNode( RM "wp-last/id", true );
- wpn_dist = fgGetNode( RM "wp-last/dist", true );
- wpn_eta = fgGetNode( RM "wp-last/eta", true );
-
- route->clear();
- update_mirror();
+ SGPropertyNode_ptr rm(fgGetNode(RM));
+
+ lon = fgGetNode( "/position/longitude-deg", true );
+ lat = fgGetNode( "/position/latitude-deg", true );
+ alt = fgGetNode( "/position/altitude-ft", true );
+ magvar = fgGetNode("/environment/magnetic-variation-deg", true);
+
+ target_altitude_ft = fgGetNode( "/autopilot/settings/target-altitude-ft", true );
+ altitude_lock = fgGetNode( "/autopilot/locks/altitude", true );
+
+ departure = fgGetNode(RM "departure", true);
+// init departure information from current location
+ SGGeod pos = SGGeod::fromDegFt(lon->getDoubleValue(), lat->getDoubleValue(), alt->getDoubleValue());
+ FGAirport* apt = FGAirport::findClosest(pos, 10.0);
+ if (apt) {
+ departure->setStringValue("airport", apt->ident().c_str());
+ FGRunway* active = apt->getActiveRunwayForUsage();
+ departure->setStringValue("runway", active->ident().c_str());
+ } else {
+ departure->setStringValue("airport", "");
+ departure->setStringValue("runway", "");
+ }
+
+ departure->getChild("etd", 0, true);
+ departure->getChild("takeoff-time", 0, true);
+
+ destination = fgGetNode(RM "destination", true);
+ destination->getChild("airport", 0, true);
+ destination->getChild("runway", 0, true);
+ destination->getChild("eta", 0, true);
+ destination->getChild("touchdown-time", 0, true);
+
+ alternate = fgGetNode(RM "alternate", true);
+ alternate->getChild("airport", 0, true);
+ alternate->getChild("runway", 0, true);
+
+ cruise = fgGetNode(RM "cruise", true);
+ cruise->getChild("altitude", 0, true);
+ cruise->getChild("flight-level", 0, true);
+ cruise->getChild("speed", 0, true);
+
+ totalDistance = fgGetNode(RM "total-distance", true);
+ totalDistance->setDoubleValue(0.0);
+
+ ete = fgGetNode(RM "ete", true);
+ ete->setDoubleValue(0.0);
+
+ elapsedFlightTime = fgGetNode(RM "flight-time", true);
+ elapsedFlightTime->setDoubleValue(0.0);
+
+ active = fgGetNode(RM "active", true);
+ active->setBoolValue(false);
+
+ airborne = fgGetNode(RM "airborne", true);
+ airborne->setBoolValue(false);
+
+ rm->tie("auto-sequence", SGRawValuePointer<bool>(&_autoSequence));
+
+ currentWp = fgGetNode(RM "current-wp", true);
+ currentWp->setIntValue(_route->current_index());
+
+ // temporary distance / eta calculations, for backward-compatability
+ wp0 = fgGetNode(RM "wp", 0, true);
+ wp0->getChild("id", 0, true);
+ wp0->getChild("dist", 0, true);
+ wp0->getChild("eta", 0, true);
+ wp0->getChild("bearing-deg", 0, true);
+
+ wp1 = fgGetNode(RM "wp", 1, true);
+ wp1->getChild("id", 0, true);
+ wp1->getChild("dist", 0, true);
+ wp1->getChild("eta", 0, true);
+
+ wpn = fgGetNode(RM "wp-last", 0, true);
+ wpn->getChild("dist", 0, true);
+ wpn->getChild("eta", 0, true);
+
+ _route->clear();
+ update_mirror();
+
+ _pathNode = fgGetNode(RM "file-path", 0, true);
}
void FGRouteMgr::postinit() {
string_list *waypoints = globals->get_initial_waypoints();
- if (!waypoints)
- return;
-
- vector<string>::iterator it;
- for (it = waypoints->begin(); it != waypoints->end(); ++it)
+ if (waypoints) {
+ vector<string>::iterator it;
+ for (it = waypoints->begin(); it != waypoints->end(); ++it)
new_waypoint(*it);
+ }
+
+ weightOnWheels = fgGetNode("/gear/gear[0]/wow", false);
+ // check airbone flag agrees with presets
+
}
void FGRouteMgr::bind() { }
void FGRouteMgr::unbind() { }
-
-static double get_ground_speed() {
- // starts in ft/s so we convert to kts
- static const SGPropertyNode * speedup_node = fgGetNode("/sim/speed-up");
-
- double ft_s = cur_fdm_state->get_V_ground_speed()
- * speedup_node->getIntValue();
- double kts = ft_s * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM;
-
- return kts;
-}
-
void FGRouteMgr::updateTargetAltitude() {
- if (route->size() == 0) {
+ if (_route->current_index() == _route->size()) {
altitude_set = false;
return;
}
- SGWayPoint wp = route->get_waypoint( 0 );
- if (wp.get_target_alt() < -9990.0) {
+ SGWayPoint wp = _route->get_current();
+ if (wp.get_target().getElevationM() < -9990.0) {
altitude_set = false;
return;
}
altitude_set = true;
- target_altitude_ft->setDoubleValue( wp.get_target_alt() * SG_METER_TO_FEET );
+ target_altitude_ft->setDoubleValue(wp.get_target().getElevationFt());
if ( !near_ground() ) {
// James Turner [zakalawe]: there's no explanation for this logic,
}
}
+bool FGRouteMgr::isRouteActive() const
+{
+ return active->getBoolValue();
+}
+
void FGRouteMgr::update( double dt ) {
- if (route->size() == 0) {
- return; // no route set, early return
+ if (!active->getBoolValue()) {
+ return;
}
- double wp_course, wp_distance;
-
- // first way point
- SGWayPoint wp = route->get_waypoint( 0 );
+ double groundSpeed = get_ground_speed();
+ if (!airborne->getBoolValue()) {
+ if (weightOnWheels->getBoolValue() || (groundSpeed < 40)) {
+ return;
+ }
+
+ airborne->setBoolValue(true);
+ _takeoffTime = time(NULL); // start the clock
+ departure->setIntValue("takeoff-time", _takeoffTime);
+ }
+
+ time_t now = time(NULL);
+ elapsedFlightTime->setDoubleValue(difftime(now, _takeoffTime));
+
+ double inboundCourse, dummy, wp_course, wp_distance;
+ SGWayPoint wp = _route->get_current();
+
+ wp.CourseAndDistance(_route->get_waypoint(_route->current_index() - 1),
+ &inboundCourse, &dummy);
+
wp.CourseAndDistance( lon->getDoubleValue(), lat->getDoubleValue(),
alt->getDoubleValue(), &wp_course, &wp_distance );
- true_hdg_deg->setDoubleValue( wp_course );
- if ( wp_distance < 200.0 ) {
- pop_waypoint();
- if (route->size() == 0) {
- return; // end of route, we're done for the time being
- }
-
- wp = route->get_waypoint( 0 );
+ if (_autoSequence && (wp_distance < 2000.0)) {
+ double courseDeviation = inboundCourse - wp_course;
+ SG_NORMALIZE_RANGE(courseDeviation, -180.0, 180.0);
+ if (fabs(courseDeviation) < 90.0) {
+ SG_LOG( SG_AUTOPILOT, SG_INFO, "route manager doing sequencing");
+ sequence();
+ }
}
- // update the property tree info for WP0
- wp0_id->setStringValue( wp.get_id().c_str() );
- double accum = wp_distance;
- wp0_dist->setDoubleValue( accum * SG_METER_TO_NM );
- setETAPropertyFromDistance(wp0_eta, accum);
-
- // next way point
- if ( route->size() > 1 ) {
- SGWayPoint wp = route->get_waypoint( 1 );
-
- // update the property tree info
- wp1_id->setStringValue( wp.get_id().c_str() );
- accum += wp.get_distance();
- wp1_dist->setDoubleValue( accum * SG_METER_TO_NM );
- setETAPropertyFromDistance(wp1_eta, accum);
+ wp0->setDoubleValue("dist", wp_distance * SG_METER_TO_NM);
+ wp_course -= magvar->getDoubleValue(); // expose magnetic bearing
+ wp0->setDoubleValue("bearing-deg", wp_course);
+ setETAPropertyFromDistance(wp0->getChild("eta"), wp_distance);
+
+ if ((_route->current_index() + 1) < _route->size()) {
+ wp = _route->get_waypoint(_route->current_index() + 1);
+ double wp1_course, wp1_distance;
+ wp.CourseAndDistance(lon->getDoubleValue(), lat->getDoubleValue(),
+ alt->getDoubleValue(), &wp1_course, &wp1_distance);
+
+ wp1->setDoubleValue("dist", wp1_distance * SG_METER_TO_NM);
+ setETAPropertyFromDistance(wp1->getChild("eta"), wp1_distance);
}
-
- // summarize remaining way points
- if ( route->size() > 2 ) {
- SGWayPoint wp;
- for ( int i = 2; i < route->size(); ++i ) {
- wp = route->get_waypoint( i );
- accum += wp.get_distance();
- }
-
- // update the property tree info
- wpn_id->setStringValue( wp.get_id().c_str() );
- wpn_dist->setDoubleValue( accum * SG_METER_TO_NM );
- setETAPropertyFromDistance(wpn_eta, accum);
+
+ double totalDistanceRemaining = wp_distance; // distance to current waypoint
+ for (int i=_route->current_index() + 1; i<_route->size(); ++i) {
+ totalDistanceRemaining += _route->get_waypoint(i).get_distance();
}
+
+ wpn->setDoubleValue("dist", totalDistanceRemaining * SG_METER_TO_NM);
+ ete->setDoubleValue(totalDistanceRemaining * SG_METER_TO_NM / groundSpeed * 3600.0);
+ setETAPropertyFromDistance(wpn->getChild("eta"), totalDistanceRemaining);
+
+ // get time now at destination tz as tm struct
+ // add ete seconds
+ // convert to string ... and stash in property
+ //destination->setDoubleValue("eta", eta);
}
+
void FGRouteMgr::setETAPropertyFromDistance(SGPropertyNode_ptr aProp, double aDistance) {
char eta_str[64];
double eta = aDistance * SG_METER_TO_NM / get_ground_speed();
}
if ( eta < (1.0/6.0) ) {
- // within 10 minutes, bump up to min/secs
- eta *= 60.0;
+ eta *= 60.0; // within 10 minutes, bump up to min/secs
}
int major = (int)eta,
}
void FGRouteMgr::add_waypoint( const SGWayPoint& wp, int n ) {
- route->add_waypoint( wp, n );
+ _route->add_waypoint( wp, n );
update_mirror();
- if ((n==0) || (route->size() == 1)) {
+ if ((n==0) || (_route->size() == 1)) {
updateTargetAltitude();
}
}
SGWayPoint FGRouteMgr::pop_waypoint( int n ) {
SGWayPoint wp;
- if ( route->size() > 0 ) {
+ if ( _route->size() > 0 ) {
if ( n < 0 )
- n = route->size() - 1;
- wp = route->get_waypoint(n);
- route->delete_waypoint(n);
- }
-
- if ( route->size() <= 2 ) {
- wpn_id->setStringValue( "" );
- wpn_dist->setDoubleValue( 0.0 );
- wpn_eta->setStringValue( "" );
- }
-
- if ( route->size() <= 1 ) {
- wp1_id->setStringValue( "" );
- wp1_dist->setDoubleValue( 0.0 );
- wp1_eta->setStringValue( "" );
- }
-
- if ( route->size() <= 0 ) {
- wp0_id->setStringValue( "" );
- wp0_dist->setDoubleValue( 0.0 );
- wp0_eta->setStringValue( "" );
+ n = _route->size() - 1;
+ wp = _route->get_waypoint(n);
+ _route->delete_waypoint(n);
}
updateTargetAltitude();
string target = tgt;
// make upper case
- for (unsigned int i = 0; i < target.size(); i++)
- if (target[i] >= 'a' && target[i] <= 'z')
- target[i] -= 'a' - 'A';
+ for (unsigned int i = 0; i < target.size(); i++) {
+ target[i] = toupper(target[i]);
+ }
// extract altitude
double alt = -9999.0;
if ( pos != string::npos ) {
double lon = atof( target.substr(0, pos).c_str());
double lat = atof( target.c_str() + pos + 1);
-
- SG_LOG( SG_GENERAL, SG_INFO, "Adding waypoint lon = " << lon << ", lat = " << lat );
return new SGWayPoint( lon, lat, alt, SGWayPoint::WGS84, target );
}
SGGeod basePosition;
- if (route->size() > 0) {
- SGWayPoint wp = get_waypoint(route->size()-1);
- basePosition = SGGeod::fromDeg(wp.get_target_lon(), wp.get_target_lat());
+ if (_route->size() > 0) {
+ SGWayPoint wp = get_waypoint(_route->size()-1);
+ basePosition = wp.get_target();
} else {
// route is empty, use current position
basePosition = SGGeod::fromDeg(
fgGetNode("/position/longitude-deg")->getDoubleValue(),
fgGetNode("/position/latitude-deg")->getDoubleValue());
}
+
+ vector<string> pieces(simgear::strutils::split(target, "/"));
- FGPositionedRef p = FGPositioned::findClosestWithIdent(target, basePosition);
+ FGPositionedRef p = FGPositioned::findClosestWithIdent(pieces.front(), basePosition);
if (!p) {
- SG_LOG( SG_GENERAL, SG_INFO, "Unable to find FGPositioned with ident:" << target);
+ SG_LOG( SG_AUTOPILOT, SG_INFO, "Unable to find FGPositioned with ident:" << pieces.front());
+ return NULL;
+ }
+
+ if (pieces.size() == 1) {
+ // simple case
+ return new SGWayPoint(p->geod(), target, p->name());
+ }
+
+ if (pieces.size() == 3) {
+ // navaid/radial/distance-nm notation
+ double radial = atof(pieces[1].c_str()),
+ distanceNm = atof(pieces[2].c_str()),
+ az2;
+ radial += magvar->getDoubleValue(); // convert to true bearing
+ SGGeod offsetPos;
+ SGGeodesy::direct(p->geod(), radial, distanceNm * SG_NM_TO_METER, offsetPos, az2);
+
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "final offset radial is " << radial);
+
+ if (alt > -9990) {
+ offsetPos.setElevationM(alt);
+ } // otherwise use the elevation of navid
+ return new SGWayPoint(offsetPos, p->ident() + pieces[2], target);
+ }
+
+ if (pieces.size() == 2) {
+ FGAirport* apt = dynamic_cast<FGAirport*>(p.ptr());
+ if (!apt) {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "Waypoint is not an airport:" << pieces.front());
return NULL;
+ }
+
+ if (!apt->hasRunwayWithIdent(pieces[1])) {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "No runway: " << pieces[1] << " at " << pieces[0]);
+ return NULL;
+ }
+
+ FGRunway* runway = apt->getRunwayByIdent(pieces[1]);
+ SGGeod t = runway->threshold();
+ return new SGWayPoint(t.getLongitudeDeg(), t.getLatitudeDeg(), alt, SGWayPoint::WGS84, pieces[1]);
}
- return new SGWayPoint(p->longitude(), p->latitude(), alt, SGWayPoint::WGS84, target);
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "Unable to parse waypoint:" << target);
+ return NULL;
}
// mirror internal route to the property system for inspection by other subsystems
void FGRouteMgr::update_mirror() {
mirror->removeChildren("wp");
- for (int i = 0; i < route->size(); i++) {
- SGWayPoint wp = route->get_waypoint(i);
+ for (int i = 0; i < _route->size(); i++) {
+ SGWayPoint wp = _route->get_waypoint(i);
SGPropertyNode *prop = mirror->getChild("wp", i, 1);
+ const SGGeod& pos(wp.get_target());
prop->setStringValue("id", wp.get_id().c_str());
prop->setStringValue("name", wp.get_name().c_str());
- prop->setDoubleValue("longitude-deg", wp.get_target_lon());
- prop->setDoubleValue("latitude-deg", wp.get_target_lat());
- prop->setDoubleValue("altitude-m", wp.get_target_alt());
- prop->setDoubleValue("altitude-ft", wp.get_target_alt() * SG_METER_TO_FEET);
+ prop->setDoubleValue("longitude-deg", pos.getLongitudeDeg());
+ prop->setDoubleValue("latitude-deg",pos.getLatitudeDeg());
+ prop->setDoubleValue("altitude-m", pos.getElevationM());
+ prop->setDoubleValue("altitude-ft", pos.getElevationFt());
}
// set number as listener attachment point
- mirror->setIntValue("num", route->size());
+ mirror->setIntValue("num", _route->size());
}
// @INSERT2:KSFO@900 ... insert "KSFO@900" as 3rd entry
// KSFO@900 ... append "KSFO@900"
//
-void FGRouteMgr::Listener::valueChanged(SGPropertyNode *prop)
+void FGRouteMgr::InputListener::valueChanged(SGPropertyNode *prop)
{
const char *s = prop->getStringValue();
if (!strcmp(s, "@CLEAR"))
mgr->init();
- else if (!strcmp(s, "@POP"))
+ else if (!strcmp(s, "@ACTIVATE"))
+ mgr->activate();
+ else if (!strcmp(s, "@LOAD")) {
+ mgr->loadRoute();
+ } else if (!strcmp(s, "@SAVE")) {
+ mgr->saveRoute();
+ } else if (!strcmp(s, "@POP"))
mgr->pop_waypoint(0);
else if (!strncmp(s, "@DELETE", 7))
mgr->pop_waypoint(atoi(s + 7));
mgr->new_waypoint(s);
}
+// SGWayPoint( const double lon = 0.0, const double lat = 0.0,
+// const double alt = 0.0, const modetype m = WGS84,
+// const string& s = "", const string& n = "" );
+
+bool FGRouteMgr::activate()
+{
+ const FGAirport* depApt = fgFindAirportID(departure->getStringValue("airport"));
+ if (!depApt) {
+ SG_LOG(SG_AUTOPILOT, SG_ALERT,
+ "unable to activate route: departure airport is invalid:"
+ << departure->getStringValue("airport") );
+ return false;
+ }
+
+ string runwayId(departure->getStringValue("runway"));
+ FGRunway* runway = NULL;
+ if (depApt->hasRunwayWithIdent(runwayId)) {
+ runway = depApt->getRunwayByIdent(runwayId);
+ } else {
+ SG_LOG(SG_AUTOPILOT, SG_INFO,
+ "route-manager, departure runway not found:" << runwayId);
+ runway = depApt->getActiveRunwayForUsage();
+ }
+
+ SGWayPoint swp(runway->threshold(),
+ depApt->ident() + "-" + runway->ident(), runway->name());
+ add_waypoint(swp, 0);
+
+ const FGAirport* destApt = fgFindAirportID(destination->getStringValue("airport"));
+ if (!destApt) {
+ SG_LOG(SG_AUTOPILOT, SG_ALERT,
+ "unable to activate route: destination airport is invalid:"
+ << destination->getStringValue("airport") );
+ return false;
+ }
+
+ runwayId = (destination->getStringValue("runway"));
+ if (destApt->hasRunwayWithIdent(runwayId)) {
+ FGRunway* runway = depApt->getRunwayByIdent(runwayId);
+ SGWayPoint swp(runway->end(),
+ destApt->ident() + "-" + runway->ident(), runway->name());
+ add_waypoint(swp);
+ } else {
+ // quite likely, since destination runway may not be known until enroute
+ // probably want a listener on the 'destination' node to allow an enroute
+ // update
+ add_waypoint(SGWayPoint(destApt->geod(), destApt->ident(), destApt->name()));
+ }
+
+ _route->set_current(0);
+
+ double routeDistanceNm = _route->total_distance() * SG_METER_TO_NM;
+ totalDistance->setDoubleValue(routeDistanceNm);
+ double cruiseSpeedKts = cruise->getDoubleValue("speed", 0.0);
+ if (cruiseSpeedKts > 1.0) {
+ // very very crude approximation, doesn't allow for climb / descent
+ // performance or anything else at all
+ ete->setDoubleValue(routeDistanceNm / cruiseSpeedKts * (60.0 * 60.0));
+ }
+
+ active->setBoolValue(true);
+ sequence(); // sequence will sync up wp0, wp1 and current-wp
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "route-manager, activate route ok");
+ return true;
+}
+
+
+void FGRouteMgr::sequence()
+{
+ if (!active->getBoolValue()) {
+ SG_LOG(SG_AUTOPILOT, SG_ALERT, "trying to sequence waypoints with no active route");
+ return;
+ }
+
+ if (_route->current_index() == _route->size()) {
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "reached end of active route");
+ // what now?
+ active->setBoolValue(false);
+ return;
+ }
+
+ _route->increment_current();
+ currentWaypointChanged();
+}
+
+void FGRouteMgr::jumpToIndex(int index)
+{
+ if (!active->getBoolValue()) {
+ SG_LOG(SG_AUTOPILOT, SG_ALERT, "trying to sequence waypoints with no active route");
+ return;
+ }
+
+ if ((index < 0) || (index >= _route->size())) {
+ SG_LOG(SG_AUTOPILOT, SG_ALERT, "passed invalid index (" <<
+ index << ") to FGRouteMgr::jumpToIndex");
+ return;
+ }
+
+ if (_route->current_index() == index) {
+ return; // no-op
+ }
+
+ _route->set_current(index);
+ currentWaypointChanged();
+}
+
+void FGRouteMgr::currentWaypointChanged()
+{
+ SGWayPoint previous = _route->get_previous();
+ SGWayPoint cur = _route->get_current();
+
+ wp0->getChild("id")->setStringValue(cur.get_id());
+ if ((_route->current_index() + 1) < _route->size()) {
+ wp1->getChild("id")->setStringValue(_route->get_next().get_id());
+ } else {
+ wp1->getChild("id")->setStringValue("");
+ }
+
+ currentWp->setIntValue(_route->current_index());
+ SG_LOG(SG_AUTOPILOT, SG_INFO, "route manager, current-wp is now " << _route->current_index());
+}
+
+int FGRouteMgr::findWaypoint(const SGGeod& aPos) const
+{
+ for (int i=0; i<_route->size(); ++i) {
+ double d = SGGeodesy::distanceM(aPos, _route->get_waypoint(i).get_target());
+ if (d < 200.0) { // 200 metres seems close enough
+ return i;
+ }
+ }
+
+ return -1;
+}
+
+SGWayPoint FGRouteMgr::get_waypoint( int i ) const
+{
+ return _route->get_waypoint(i);
+}
+
+int FGRouteMgr::size() const
+{
+ return _route->size();
+}
+
+int FGRouteMgr::currentWaypoint() const
+{
+ return _route->current_index();
+}
+
+void FGRouteMgr::saveRoute()
+{
+ SGPath path(_pathNode->getStringValue());
+ SG_LOG(SG_IO, SG_INFO, "Saving route to " << path.str());
+ try {
+ writeProperties(path.str(), mirror, false, SGPropertyNode::ARCHIVE);
+ } catch (const sg_exception &e) {
+ SG_LOG(SG_IO, SG_WARN, "Error saving route:" << e.getMessage());
+ //guiErrorMessage("Error writing autosave.xml: ", e);
+ }
+}
+
+void FGRouteMgr::loadRoute()
+{
+ try {
+ // deactivate route first
+ active->setBoolValue(false);
+
+ SGPropertyNode_ptr routeData(new SGPropertyNode);
+ SGPath path(_pathNode->getStringValue());
+
+ SG_LOG(SG_IO, SG_INFO, "going to read flight-plan from:" << path.str());
+ readProperties(path.str(), routeData);
+
+ // departure nodes
+ SGPropertyNode* dep = routeData->getChild("departure");
+ if (!dep) {
+ throw sg_io_exception("malformed route file, no departure node");
+ }
+
+ string depIdent = dep->getStringValue("airport");
+ const FGAirport* depApt = fgFindAirportID(depIdent);
+ if (!depApt) {
+ throw sg_io_exception("bad route file, unknown airport:" + depIdent);
+ }
+
+ departure->setStringValue("runway", dep->getStringValue("runway"));
+
+ // destination
+ SGPropertyNode* dst = routeData->getChild("destination");
+ if (!dst) {
+ throw sg_io_exception("malformed route file, no destination node");
+ }
+
+ destination->setStringValue("airport", dst->getStringValue("airport"));
+ destination->setStringValue("runay", dst->getStringValue("runway"));
+
+ // alternate
+ SGPropertyNode* alt = routeData->getChild("alternate");
+ if (alt) {
+ alternate->setStringValue(alt->getStringValue("airport"));
+ } // of cruise data loading
+
+ // cruise
+ SGPropertyNode* crs = routeData->getChild("cruise");
+ if (crs) {
+ cruise->setDoubleValue(crs->getDoubleValue("speed"));
+ } // of cruise data loading
+
+ // route nodes
+ _route->clear();
+ SGPropertyNode_ptr _route = routeData->getChild("route", 0);
+ SGGeod lastPos(depApt->geod());
+
+ for (int i=0; i<_route->nChildren(); ++i) {
+ SGPropertyNode_ptr wp = _route->getChild("wp", i);
+ parseRouteWaypoint(wp);
+ } // of route iteration
+ } catch (sg_exception& e) {
+ SG_LOG(SG_IO, SG_WARN, "failed to load flight-plan (from '" << e.getOrigin()
+ << "'):" << e.getMessage());
+ }
+}
+void FGRouteMgr::parseRouteWaypoint(SGPropertyNode* aWP)
+{
+ SGGeod lastPos;
+ if (_route->size() > 0) {
+ lastPos = get_waypoint(_route->size()-1).get_target();
+ } else {
+ // route is empty, use departure airport position
+ const FGAirport* apt = fgFindAirportID(departure->getStringValue("airport"));
+ assert(apt); // shouldn't have got this far with an invalid airport
+ lastPos = apt->geod();
+ }
+
+ SGPropertyNode_ptr altProp = aWP->getChild("altitude-ft");
+ double alt = -9999.0;
+ if (altProp) {
+ alt = altProp->getDoubleValue();
+ }
+
+ string ident(aWP->getStringValue("ident"));
+ if (aWP->hasChild("longitude-deg")) {
+ // explicit longitude/latitude
+ if (alt < -9990.0) {
+ alt = 0.0; // don't export wyapoints with invalid altitude
+ }
+
+ SGWayPoint swp(aWP->getDoubleValue("longitude-deg"),
+ aWP->getDoubleValue("latitude-deg"), alt,
+ SGWayPoint::WGS84, ident, aWP->getStringValue("name"));
+ add_waypoint(swp);
+ } else if (aWP->hasChild("navid")) {
+ // lookup by navid (possibly with offset)
+ string nid(aWP->getStringValue("navid"));
+ FGPositionedRef p = FGPositioned::findClosestWithIdent(nid, lastPos);
+ if (!p) {
+ throw sg_io_exception("bad route file, unknown navid:" + nid);
+ }
+
+ SGGeod pos(p->geod());
+ if (aWP->hasChild("offset-nm") && aWP->hasChild("offset-radial")) {
+ double radialDeg = aWP->getDoubleValue("offset-radial");
+ // convert magnetic radial to a true radial!
+ radialDeg += magvar->getDoubleValue();
+ double offsetNm = aWP->getDoubleValue("offset-nm");
+ double az2;
+ SGGeodesy::direct(p->geod(), radialDeg, offsetNm * SG_NM_TO_METER, pos, az2);
+ }
+
+ if (alt < -9990.0) {
+ alt = p->elevation();
+ }
+
+ SGWayPoint swp(pos.getLongitudeDeg(), pos.getLatitudeDeg(), alt,
+ SGWayPoint::WGS84, ident, "");
+ add_waypoint(swp);
+ } else {
+ // lookup by ident (symbolic waypoint)
+ FGPositionedRef p = FGPositioned::findClosestWithIdent(ident, lastPos);
+ if (!p) {
+ throw sg_io_exception("bad route file, unknown waypoint:" + ident);
+ }
+
+ if (alt < -9990.0) {
+ alt = p->elevation();
+ }
+
+ SGWayPoint swp(p->longitude(), p->latitude(), alt,
+ SGWayPoint::WGS84, p->ident(), p->name());
+ add_waypoint(swp);
+ }
+}
#include "gps.hxx"
-#include <simgear/compiler.h>
-#include <Aircraft/aircraft.hxx>
-#include <Main/fg_props.hxx>
-#include <Main/util.hxx> // for fgLowPass
-#include <Navaids/positioned.hxx>
+#include <set>
+
+#include "Main/fg_props.hxx"
+#include "Main/globals.hxx" // for get_subsystem
+#include "Main/util.hxx" // for fgLowPass
+#include "Navaids/positioned.hxx"
+#include "Navaids/navrecord.hxx"
+#include "Airports/simple.hxx"
+#include "Airports/runways.hxx"
+#include "Autopilot/route_mgr.hxx"
#include <simgear/math/sg_random.h>
#include <simgear/sg_inlines.h>
using std::string;
-
+///////////////////////////////////////////////////////////////////
+
void SGGeodProperty::init(SGPropertyNode* base, const char* lonStr, const char* latStr, const char* altStr)
{
_lon = base->getChild(lonStr, 0, true);
}
}
+static void tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
+ const char* lonStr, const char* latStr, const char* altStr)
+{
+ aNode->tie(lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, &SGGeod::setLongitudeDeg));
+ aNode->tie(latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, &SGGeod::setLatitudeDeg));
+
+ if (altStr) {
+ aNode->tie(altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, &SGGeod::setElevationFt));
+ }
+}
+
+static void tieSGGeodReadOnly(SGPropertyNode* aNode, SGGeod& aRef,
+ const char* lonStr, const char* latStr, const char* altStr)
+{
+ aNode->tie(lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, NULL));
+ aNode->tie(latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, NULL));
+
+ if (altStr) {
+ aNode->tie(altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, NULL));
+ }
+}
-GPS::GPS ( SGPropertyNode *node)
- : _last_valid(false),
- _alt_dist_ratio(0),
- _distance_m(0),
- _course_deg(0),
- _name(node->getStringValue("name", "gps")),
- _num(node->getIntValue("number", 0))
+static const char* makeTTWString(double TTW)
+{
+ if ((TTW <= 0.0) || (TTW >= 356400.5)) { // 99 hours
+ return "--:--:--";
+ }
+
+ unsigned int TTW_seconds = (int) (TTW + 0.5);
+ unsigned int TTW_minutes = 0;
+ unsigned int TTW_hours = 0;
+ static char TTW_str[9];
+ TTW_hours = TTW_seconds / 3600;
+ TTW_minutes = (TTW_seconds / 60) % 60;
+ TTW_seconds = TTW_seconds % 60;
+ snprintf(TTW_str, 9, "%02d:%02d:%02d",
+ TTW_hours, TTW_minutes, TTW_seconds);
+ return TTW_str;
+}
+
+/////////////////////////////////////////////////////////////////////////////
+
+class GPSListener : public SGPropertyChangeListener
+{
+public:
+ GPSListener(GPS *m) :
+ _gps(m),
+ _guard(false) {}
+
+ virtual void valueChanged (SGPropertyNode * prop)
+ {
+ if (_guard) {
+ return;
+ }
+
+ _guard = true;
+ if (prop == _gps->_route_current_wp_node) {
+ _gps->routeManagerSequenced();
+ } else if (prop == _gps->_route_active_node) {
+ _gps->routeActivated();
+ } else if (prop == _gps->_ref_navaid_id_node) {
+ _gps->referenceNavaidSet(prop->getStringValue(""));
+ }
+
+ _guard = false;
+ }
+
+ void setGuard(bool g) {
+ _guard = g;
+ }
+private:
+ GPS* _gps;
+ bool _guard; // re-entrancy guard
+};
+
+////////////////////////////////////////////////////////////////////////////
+/**
+ * Helper to monitor for Nasal or other code accessing properties we haven't
+ * defined. For the moment we complain about all such activites, since various
+ * users assume all kinds of weird, wonderful and non-existent interfaces.
+ */
+
+class DeprecatedPropListener : public SGPropertyChangeListener
+{
+public:
+ DeprecatedPropListener(SGPropertyNode* gps)
+ {
+ _parents.insert(gps);
+ SGPropertyNode* wp = gps->getChild("wp");
+ _parents.insert(wp);
+ _parents.insert(wp->getChild("wp", 0));
+ _parents.insert(wp->getChild("wp", 1));
+
+ std::set<SGPropertyNode*>::iterator it;
+ for (it = _parents.begin(); it != _parents.end(); ++it) {
+ (*it)->addChangeListener(this);
+ }
+ }
+
+ virtual void valueChanged (SGPropertyNode * prop)
+ {
+ }
+
+ virtual void childAdded (SGPropertyNode * parent, SGPropertyNode * child)
+ {
+ if (isDeprecated(parent, child)) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS: someone accessed a deprecated property:"
+ << child->getPath(true));
+ }
+ }
+private:
+ bool isDeprecated(SGPropertyNode * parent, SGPropertyNode * child) const
+ {
+ if (_parents.count(parent) < 1) {
+ return false;
+ }
+
+ // no child exclusions yet
+ return true;
+ }
+
+ std::set<SGPropertyNode*> _parents;
+};
+
+////////////////////////////////////////////////////////////////////////////
+// configuration helper object
+
+GPS::Config::Config() :
+ _enableTurnAnticipation(true),
+ _turnRate(3.0), // degrees-per-second, so 180 degree turn takes 60 seconds
+ _overflightArmDistance(0.5),
+ _waypointAlertTime(30.0),
+ _tuneRadio1ToRefVor(true),
+ _minRunwayLengthFt(0.0),
+ _requireHardSurface(true),
+ _cdiMaxDeflectionNm(-1) // default to angular mode
+{
+ _enableTurnAnticipation = false;
+ _obsCourseSource = fgGetNode("/instrumentation/nav[0]/radials/selected-deg", true);
+}
+
+void GPS::Config::init(SGPropertyNode* aCfgNode)
+{
+ aCfgNode->tie("turn-rate-deg-sec", SGRawValuePointer<double>(&_turnRate));
+ aCfgNode->tie("turn-anticipation", SGRawValuePointer<bool>(&_enableTurnAnticipation));
+ aCfgNode->tie("wpt-alert-time", SGRawValuePointer<double>(&_waypointAlertTime));
+ aCfgNode->tie("tune-nav-radio-to-ref-vor", SGRawValuePointer<bool>(&_tuneRadio1ToRefVor));
+ aCfgNode->tie("min-runway-length-ft", SGRawValuePointer<double>(&_minRunwayLengthFt));
+ aCfgNode->tie("hard-surface-runways-only", SGRawValuePointer<bool>(&_requireHardSurface));
+
+ aCfgNode->tie("obs-course-source", SGRawValueMethods<GPS::Config, const char*>
+ (*this, &GPS::Config::getOBSCourseSource, &GPS::Config::setOBSCourseSource));
+
+ aCfgNode->tie("cdi-max-deflection-nm", SGRawValuePointer<double>(&_cdiMaxDeflectionNm));
+}
+
+const char*
+GPS::Config::getOBSCourseSource() const
+{
+ if (!_obsCourseSource) {
+ return "";
+ }
+
+ return _obsCourseSource->getPath(true);
+}
+
+void
+GPS::Config::setOBSCourseSource(const char* aPath)
+{
+ SGPropertyNode* nd = fgGetNode(aPath, false);
+ if (!nd) {
+ SG_LOG(SG_INSTR, SG_WARN, "couldn't find OBS course source at:" << aPath);
+ _obsCourseSource = NULL;
+ }
+
+ _obsCourseSource = nd;
+}
+
+double
+GPS::Config::getOBSCourse() const
+{
+ if (!_obsCourseSource) {
+ return 0.0;
+ }
+
+ return _obsCourseSource->getDoubleValue();
+}
+
+////////////////////////////////////////////////////////////////////////////
+
+GPS::GPS ( SGPropertyNode *node) :
+ _last_valid(false),
+ _name(node->getStringValue("name", "gps")),
+ _num(node->getIntValue("number", 0)),
+ _computeTurnData(false),
+ _anticipateTurn(false),
+ _inTurn(false)
{
}
void
GPS::init ()
{
+ _routeMgr = (FGRouteMgr*) globals->get_subsystem("route-manager");
+ assert(_routeMgr);
+
string branch;
branch = "/instrumentation/" + _name;
- SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
- _position.init("/position/longitude-deg", "/position/latitude-deg", "/position/altitude-ft");
- _magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
- _serviceable_node = node->getChild("serviceable", 0, true);
- _electrical_node = fgGetNode("/systems/electrical/outputs/gps", true);
-
- SGPropertyNode *wp_node = node->getChild("wp", 0, true);
- SGPropertyNode *wp0_node = wp_node->getChild("wp", 0, true);
- SGPropertyNode *wp1_node = wp_node->getChild("wp", 1, true);
-
- _wp0_position.init(wp0_node, "longitude-deg", "latitude-deg", "altitude-ft");
- _wp0_ID_node = wp0_node->getChild("ID", 0, true);
- _wp0_name_node = wp0_node->getChild("name", 0, true);
- _wp0_course_node = wp0_node->getChild("desired-course-deg", 0, true);
- _wp0_distance_node = wp0_node->getChild("distance-nm", 0, true);
- _wp0_ttw_node = wp0_node->getChild("TTW", 0, true);
- _wp0_bearing_node = wp0_node->getChild("bearing-true-deg", 0, true);
- _wp0_mag_bearing_node = wp0_node->getChild("bearing-mag-deg", 0, true);
- _wp0_course_deviation_node =
- wp0_node->getChild("course-deviation-deg", 0, true);
- _wp0_course_error_nm_node = wp0_node->getChild("course-error-nm", 0, true);
- _wp0_to_flag_node = wp0_node->getChild("to-flag", 0, true);
- _true_wp0_bearing_error_node =
- wp0_node->getChild("true-bearing-error-deg", 0, true);
- _magnetic_wp0_bearing_error_node =
- wp0_node->getChild("magnetic-bearing-error-deg", 0, true);
-
- _wp1_position.init(wp1_node, "longitude-deg", "latitude-deg", "altitude-ft");
- _wp1_ID_node = wp1_node->getChild("ID", 0, true);
- _wp1_name_node = wp1_node->getChild("name", 0, true);
- _wp1_course_node = wp1_node->getChild("desired-course-deg", 0, true);
- _wp1_distance_node = wp1_node->getChild("distance-nm", 0, true);
- _wp1_ttw_node = wp1_node->getChild("TTW", 0, true);
- _wp1_bearing_node = wp1_node->getChild("bearing-true-deg", 0, true);
- _wp1_mag_bearing_node = wp1_node->getChild("bearing-mag-deg", 0, true);
- _wp1_course_deviation_node =
- wp1_node->getChild("course-deviation-deg", 0, true);
- _wp1_course_error_nm_node = wp1_node->getChild("course-error-nm", 0, true);
- _wp1_to_flag_node = wp1_node->getChild("to-flag", 0, true);
- _true_wp1_bearing_error_node =
- wp1_node->getChild("true-bearing-error-deg", 0, true);
- _magnetic_wp1_bearing_error_node =
- wp1_node->getChild("magnetic-bearing-error-deg", 0, true);
- _get_nearest_airport_node =
- wp1_node->getChild("get-nearest-airport", 0, true);
-
- _tracking_bug_node = node->getChild("tracking-bug", 0, true);
- _raim_node = node->getChild("raim", 0, true);
-
- _indicated_pos.init(node, "indicated-longitude-deg",
+ SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
+ _config.init(node->getChild("config", 0, true));
+
+ _position.init("/position/longitude-deg", "/position/latitude-deg", "/position/altitude-ft");
+ _magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
+ _serviceable_node = node->getChild("serviceable", 0, true);
+ _serviceable_node->setBoolValue(true);
+ _electrical_node = fgGetNode("/systems/electrical/outputs/gps", true);
+
+// basic GPS outputs
+ node->tie("selected-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getSelectedCourse, NULL));
+
+ _raim_node = node->getChild("raim", 0, true);
+
+ tieSGGeodReadOnly(node, _indicated_pos, "indicated-longitude-deg",
"indicated-latitude-deg", "indicated-altitude-ft");
+
+ node->tie("indicated-vertical-speed", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getVerticalSpeed, NULL));
+ node->tie("indicated-track-true-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getTrueTrack, NULL));
+ node->tie("indicated-track-magnetic-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getMagTrack, NULL));
+ node->tie("indicated-ground-speed-kt", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getGroundspeedKts, NULL));
- _indicated_vertical_speed_node =
- node->getChild("indicated-vertical-speed", 0, true);
- _true_track_node =
- node->getChild("indicated-track-true-deg", 0, true);
- _magnetic_track_node =
- node->getChild("indicated-track-magnetic-deg", 0, true);
- _speed_node =
- node->getChild("indicated-ground-speed-kt", 0, true);
- _odometer_node =
- node->getChild("odometer", 0, true);
- _trip_odometer_node =
- node->getChild("trip-odometer", 0, true);
- _true_bug_error_node =
- node->getChild("true-bug-error-deg", 0, true);
- _magnetic_bug_error_node =
- node->getChild("magnetic-bug-error-deg", 0, true);
-
- _leg_distance_node =
- wp_node->getChild("leg-distance-nm", 0, true);
- _leg_course_node =
- wp_node->getChild("leg-true-course-deg", 0, true);
- _leg_magnetic_course_node =
- wp_node->getChild("leg-mag-course-deg", 0, true);
- _alt_dist_ratio_node =
- wp_node->getChild("alt-dist-ratio", 0, true);
- _leg_course_deviation_node =
- wp_node->getChild("leg-course-deviation-deg", 0, true);
- _leg_course_error_nm_node =
- wp_node->getChild("leg-course-error-nm", 0, true);
- _leg_to_flag_node =
- wp_node->getChild("leg-to-flag", 0, true);
- _alt_deviation_node =
- wp_node->getChild("alt-deviation-ft", 0, true);
+ _odometer_node = node->getChild("odometer", 0, true);
+ _trip_odometer_node = node->getChild("trip-odometer", 0, true);
+ _true_bug_error_node = node->getChild("true-bug-error-deg", 0, true);
+ _magnetic_bug_error_node = node->getChild("magnetic-bug-error-deg", 0, true);
+
+// command system
+ _mode = "obs";
+ node->tie("mode", SGRawValueMethods<GPS, const char*>(*this, &GPS::getMode, NULL));
+ node->tie("command", SGRawValueMethods<GPS, const char*>(*this, &GPS::getCommand, &GPS::setCommand));
+
+ _scratchNode = node->getChild("scratch", 0, true);
+ tieSGGeod(_scratchNode, _scratchPos, "longitude-deg", "latitude-deg", "altitude-ft");
+ _scratchNode->tie("valid", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchValid, NULL));
+ _scratchNode->tie("distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchDistance, NULL));
+ _scratchNode->tie("true-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchTrueBearing, NULL));
+ _scratchNode->tie("mag-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchMagBearing, NULL));
+ _scratchNode->tie("has-next", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchHasNext, NULL));
+ _scratchValid = false;
+
+// waypoint data (including various historical things)
+ SGPropertyNode *wp_node = node->getChild("wp", 0, true);
+ SGPropertyNode *wp0_node = wp_node->getChild("wp", 0, true);
+ SGPropertyNode *wp1_node = wp_node->getChild("wp", 1, true);
+
+ tieSGGeodReadOnly(wp0_node, _wp0_position, "longitude-deg", "latitude-deg", "altitude-ft");
+ wp0_node->tie("ID", SGRawValueMethods<GPS, const char*>
+ (*this, &GPS::getWP0Ident, NULL));
+ wp0_node->tie("name", SGRawValueMethods<GPS, const char*>
+ (*this, &GPS::getWP0Name, NULL));
+
+ tieSGGeodReadOnly(wp1_node, _wp1_position, "longitude-deg", "latitude-deg", "altitude-ft");
+ wp1_node->tie("ID", SGRawValueMethods<GPS, const char*>
+ (*this, &GPS::getWP1Ident, NULL));
+ wp1_node->tie("name", SGRawValueMethods<GPS, const char*>
+ (*this, &GPS::getWP1Name, NULL));
+
+ // for compatability, alias selected course down to wp/wp[1]/desired-course-deg
+ SGPropertyNode* wp1Crs = wp1_node->getChild("desired-course-deg", 0, true);
+ wp1Crs->alias(node->getChild("selected-course-deg"));
+
+// _true_wp1_bearing_error_node =
+// wp1_node->getChild("true-bearing-error-deg", 0, true);
+// _magnetic_wp1_bearing_error_node =
+ // wp1_node->getChild("magnetic-bearing-error-deg", 0, true);
+
+ wp1_node->tie("distance-nm", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1Distance, NULL));
+ wp1_node->tie("bearing-true-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1Bearing, NULL));
+ wp1_node->tie("bearing-mag-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1MagBearing, NULL));
+ wp1_node->tie("TTW-sec", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1TTW, NULL));
+ wp1_node->tie("TTW", SGRawValueMethods<GPS, const char*>
+ (*this, &GPS::getWP1TTWString, NULL));
+
+ wp1_node->tie("course-deviation-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1CourseDeviation, NULL));
+ wp1_node->tie("course-error-nm", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1CourseErrorNm, NULL));
+ wp1_node->tie("to-flag", SGRawValueMethods<GPS, bool>
+ (*this, &GPS::getWP1ToFlag, NULL));
+
+ _tracking_bug_node = node->getChild("tracking-bug", 0, true);
+
+// leg properties (only valid in DTO/LEG modes, not OBS)
+ wp_node->tie("leg-distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getLegDistance, NULL));
+ wp_node->tie("leg-true-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegCourse, NULL));
+ wp_node->tie("leg-mag-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegMagCourse, NULL));
+ wp_node->tie("alt-dist-ratio", SGRawValueMethods<GPS, double>(*this, &GPS::getAltDistanceRatio, NULL));
+
+// reference navid
+ SGPropertyNode_ptr ref_navaid = node->getChild("ref-navaid", 0, true);
+ _ref_navaid_id_node = ref_navaid->getChild("id", 0, true);
+ _ref_navaid_name_node = ref_navaid->getChild("name", 0, true);
+ _ref_navaid_bearing_node = ref_navaid->getChild("bearing-deg", 0, true);
+ _ref_navaid_frequency_node = ref_navaid->getChild("frequency-mhz", 0, true);
+ _ref_navaid_distance_node = ref_navaid->getChild("distance-nm", 0, true);
+ _ref_navaid_mag_bearing_node = ref_navaid->getChild("mag-bearing-deg", 0, true);
+ _ref_navaid_elapsed = 0.0;
+ _ref_navaid_set = false;
+
+// route properties
+ // should these move to the route manager?
+ _routeDistanceNm = node->getChild("route-distance-nm", 0, true);
+ _routeETE = node->getChild("ETE", 0, true);
+
+ // disable auto-sequencing in the route manager; we'll deal with it
+ // ourselves using turn anticipation
+ SGPropertyNode_ptr autoSeq = fgGetNode("/autopilot/route-manager/auto-sequence", true);
+ autoSeq->setBoolValue(false);
+
+// add listener to various things
+ _listener = new GPSListener(this);
+ _route_current_wp_node = fgGetNode("/autopilot/route-manager/current-wp", true);
+ _route_current_wp_node->addChangeListener(_listener);
+ _route_active_node = fgGetNode("/autopilot/route-manager/active", true);
+ _route_active_node->addChangeListener(_listener);
+
+ _ref_navaid_id_node->addChangeListener(_listener);
- _serviceable_node->setBoolValue(true);
+// navradio slaving properties
+ node->tie("cdi-deflection", SGRawValueMethods<GPS,double>
+ (*this, &GPS::getCDIDeflection));
+
+ SGPropertyNode* toFlag = node->getChild("to-flag", 0, true);
+ toFlag->alias(wp1_node->getChild("to-flag"));
+
+ _fromFlagNode = node->getChild("from-flag", 0, true);
+
+ // last thing, add the deprecated prop watcher
+ new DeprecatedPropListener(node);
}
void
GPS::clearOutput()
{
- _last_valid = false;
- _last_speed_kts = 0;
- _last_pos = SGGeod();
- _raim_node->setDoubleValue(false);
- _indicated_pos = SGGeod();
- _indicated_vertical_speed_node->setDoubleValue(0);
- _true_track_node->setDoubleValue(0);
- _magnetic_track_node->setDoubleValue(0);
- _speed_node->setDoubleValue(0);
- _wp1_distance_node->setDoubleValue(0);
- _wp1_bearing_node->setDoubleValue(0);
- _wp1_position = SGGeod();
- _wp1_course_node->setDoubleValue(0);
- _odometer_node->setDoubleValue(0);
- _trip_odometer_node->setDoubleValue(0);
- _tracking_bug_node->setDoubleValue(0);
- _true_bug_error_node->setDoubleValue(0);
- _magnetic_bug_error_node->setDoubleValue(0);
- _true_wp1_bearing_error_node->setDoubleValue(0);
- _magnetic_wp1_bearing_error_node->setDoubleValue(0);
+ _last_valid = false;
+ _last_speed_kts = 0.0;
+ _last_pos = SGGeod();
+ _indicated_pos = SGGeod();
+ _last_vertical_speed = 0.0;
+ _last_true_track = 0.0;
+
+ _raim_node->setDoubleValue(false);
+ _indicated_pos = SGGeod();
+ _wp1DistanceM = 0.0;
+ _wp1TrueBearing = 0.0;
+ _wp1_position = SGGeod();
+ _odometer_node->setDoubleValue(0);
+ _trip_odometer_node->setDoubleValue(0);
+ _tracking_bug_node->setDoubleValue(0);
+ _true_bug_error_node->setDoubleValue(0);
+ _magnetic_bug_error_node->setDoubleValue(0);
+
+ _fromFlagNode->setBoolValue(false);
}
void
GPS::update (double delta_time_sec)
{
- // If it's off, don't bother.
- if (!_serviceable_node->getBoolValue() || !_electrical_node->getBoolValue()) {
- clearOutput();
- return;
- }
+ // If it's off, don't bother.
+ if (!_serviceable_node->getBoolValue() || !_electrical_node->getBoolValue()) {
+ clearOutput();
+ return;
+ }
- UpdateContext ctx;
- ctx.dt = delta_time_sec;
- ctx.waypoint_changed = false;
- ctx.pos = _position.get();
-
+ if (delta_time_sec <= 0.0) {
+ return; // paused, don't bother
+ }
// TODO: Add noise and other errors.
/*
*/
_raim_node->setBoolValue(true);
- _indicated_pos = ctx.pos;
+ _indicated_pos = _position.get();
if (_last_valid) {
- updateWithValid(ctx);
+ updateWithValid(delta_time_sec);
} else {
- _true_track_node->setDoubleValue(0.0);
- _magnetic_track_node->setDoubleValue(0.0);
- _speed_node->setDoubleValue(0.0);
- _last_valid = true;
+ _last_valid = true;
+
+ if (_route_active_node->getBoolValue()) {
+ // GPS init with active route
+ SG_LOG(SG_INSTR, SG_INFO, "GPS init with active route");
+ _listener->setGuard(true);
+ routeActivated();
+ routeManagerSequenced();
+ _listener->setGuard(false);
+ }
}
- _last_pos = ctx.pos;
+ _last_pos = _indicated_pos;
}
void
-GPS::updateNearestAirport(UpdateContext& ctx)
+GPS::updateWithValid(double dt)
{
- if (!_get_nearest_airport_node->getBoolValue()) {
- return;
- }
+ assert(_last_valid);
- // If the get-nearest-airport-node is true.
- // Get the nearest airport, and set it as waypoint 1.
+ updateBasicData(dt);
+
+ if (_mode == "obs") {
+ _selectedCourse = _config.getOBSCourse();
+ } else {
+ updateTurn();
+ }
- FGPositioned::TypeFilter aptFilter(FGPositioned::AIRPORT);
- FGPositionedRef a = FGPositioned::findClosest(ctx.pos, 360.0, &aptFilter);
- if (!a) {
- return;
- }
-
- _wp1_position = a->geod();
- _wp1_ID_node->setStringValue(a->ident().c_str());
- _wp1_name_node->setStringValue(a->name().c_str());
- _get_nearest_airport_node->setBoolValue(false);
- _last_wp1_ID = a->ident(); // don't trigger updateWaypoint1();
- ctx.waypoint_changed = true;
+ updateWaypoints();
+ updateTrackingBug();
+ updateReferenceNavaid(dt);
+ updateRouteData();
}
void
-GPS::updateWithValid(UpdateContext& ctx)
+GPS::updateBasicData(double dt)
{
- assert(_last_valid);
- double distance_m;
- SGGeodesy::inverse(_last_pos, ctx.pos, ctx.track1_deg, ctx.track2_deg, distance_m );
+ double distance_m;
+ double track2_deg;
+ SGGeodesy::inverse(_last_pos, _indicated_pos, _last_true_track, track2_deg, distance_m );
- ctx.speed_kt = ((distance_m * SG_METER_TO_NM) * ((1 / ctx.dt) * 3600.0));
-
- double vertical_speed_mpm = ((ctx.pos.getElevationM() - _last_pos.getElevationM()) * 60 /
- ctx.dt);
- _indicated_vertical_speed_node->setDoubleValue(vertical_speed_mpm * SG_METER_TO_FEET);
- _true_track_node->setDoubleValue(ctx.track1_deg);
-
- ctx.magvar_deg = _magvar_node->getDoubleValue();
- double mag_track_bearing = ctx.track1_deg - ctx.magvar_deg;
- SG_NORMALIZE_RANGE(mag_track_bearing, 0.0, 360.0);
- _magnetic_track_node->setDoubleValue(mag_track_bearing);
- ctx.speed_kt = fgGetLowPass(_last_speed_kts, ctx.speed_kt, ctx.dt/20.0);
- _last_speed_kts = ctx.speed_kt;
- _speed_node->setDoubleValue(ctx.speed_kt);
-
- double odometer = _odometer_node->getDoubleValue();
- _odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
- odometer = _trip_odometer_node->getDoubleValue();
- _trip_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
-
- updateNearestAirport(ctx);
- updateWaypoint0(ctx);
- updateWaypoint1(ctx);
-
- ctx.wp0_pos = _wp0_position.get();
- ctx.wp1_pos = _wp1_position.get();
- // if this flag is set, we need to recompute leg data, because either
- // WP0 or WP1 has been updated
- if (ctx.waypoint_changed) {
- waypointChanged(ctx);
- }
+ double speed_kt = ((distance_m * SG_METER_TO_NM) * ((1 / dt) * 3600.0));
+ double vertical_speed_mpm = ((_indicated_pos.getElevationM() - _last_pos.getElevationM()) * 60 / dt);
+ _last_vertical_speed = vertical_speed_mpm * SG_METER_TO_FEET;
+
+ speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, dt/20.0);
+ _last_speed_kts = speed_kt;
- ctx.wp0_course_deg = _wp0_course_node->getDoubleValue();
- ctx.wp1_course_deg = _wp1_course_node->getDoubleValue();
-
- updateWaypoint0Course(ctx);
- updateWaypoint1Course(ctx);
- updateLegCourse(ctx);
-
- // Altitude deviation
- //double desired_altitude_m = wp1_altitude_m
- // + wp1_distance * _alt_dist_ratio;
- //double altitude_deviation_m = altitude_m - desired_altitude_m;
- // _alt_deviation_node->setDoubleValue(altitude_deviation_m * SG_METER_TO_FEET);
-
- updateTrackingBug(ctx);
+ double odometer = _odometer_node->getDoubleValue();
+ _odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
+ odometer = _trip_odometer_node->getDoubleValue();
+ _trip_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
}
void
-GPS::updateLegCourse(UpdateContext& ctx)
+GPS::updateTrackingBug()
{
- // Leg course deviation is the diffenrence between the bearing
- // and the course.
- double course_deviation_deg = ctx.wp1_bearing_deg - _course_deg;
- SG_NORMALIZE_RANGE(course_deviation_deg, -180.0, 180.0);
-
- // If the course deviation is less than 90 degrees to either side,
- // our desired course is towards the waypoint.
- // It does not matter if we are actually moving
- // towards or from the waypoint.
- if (fabs(course_deviation_deg) < 90.0) {
- _leg_to_flag_node->setBoolValue(true);
- }
- // If it's more than 90 degrees the desired
- // course is from the waypoint.
- else if (fabs(course_deviation_deg) > 90.0) {
- _leg_to_flag_node->setBoolValue(false);
- // When the course is away from the waypoint,
- // it makes sense to change the sign of the deviation.
- course_deviation_deg *= -1.0;
- SG_NORMALIZE_RANGE(course_deviation_deg, -90.0, 90.0);
- }
-
- _leg_course_deviation_node->setDoubleValue(course_deviation_deg);
-
- // Cross track error.
- double course_error_m = sin(course_deviation_deg * SG_PI / 180.0)
- * (_distance_m);
- _leg_course_error_nm_node->setDoubleValue(course_error_m * SG_METER_TO_NM);
+ double tracking_bug = _tracking_bug_node->getDoubleValue();
+ double true_bug_error = tracking_bug - getTrueTrack();
+ double magnetic_bug_error = tracking_bug - getMagTrack();
+ // Get the errors into the (-180,180) range.
+ SG_NORMALIZE_RANGE(true_bug_error, -180.0, 180.0);
+ SG_NORMALIZE_RANGE(magnetic_bug_error, -180.0, 180.0);
+
+ _true_bug_error_node->setDoubleValue(true_bug_error);
+ _magnetic_bug_error_node->setDoubleValue(magnetic_bug_error);
}
void
-GPS::updateTrackingBug(UpdateContext& ctx)
+GPS::updateWaypoints()
+{
+ double az2;
+ SGGeodesy::inverse(_indicated_pos, _wp1_position, _wp1TrueBearing, az2,_wp1DistanceM);
+ bool toWp = getWP1ToFlag();
+ _fromFlagNode->setBoolValue(!toWp);
+}
+
+void GPS::updateReferenceNavaid(double dt)
+{
+ if (!_ref_navaid_set) {
+ _ref_navaid_elapsed += dt;
+ if (_ref_navaid_elapsed > 5.0) {
+ _ref_navaid_elapsed = 0.0;
+
+ FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
+ FGPositionedRef nav = FGPositioned::findClosest(_indicated_pos, 400.0, &vorFilter);
+ if (!nav) {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS couldn't find a reference navid");
+ _ref_navaid_id_node->setStringValue("");
+ _ref_navaid_name_node->setStringValue("");
+ _ref_navaid_bearing_node->setDoubleValue(0.0);
+ _ref_navaid_mag_bearing_node->setDoubleValue(0.0);
+ _ref_navaid_distance_node->setDoubleValue(0.0);
+ _ref_navaid_frequency_node->setStringValue("");
+ } else if (nav != _ref_navaid) {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS code selected new ref-navaid:" << nav->ident());
+ _listener->setGuard(true);
+ _ref_navaid_id_node->setStringValue(nav->ident().c_str());
+ _ref_navaid_name_node->setStringValue(nav->name().c_str());
+ FGNavRecord* vor = (FGNavRecord*) nav.ptr();
+ _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
+ _listener->setGuard(false);
+ tuneNavRadios();
+ } else {
+ // SG_LOG(SG_INSTR, SG_ALERT, "matched existing");
+ }
+
+ _ref_navaid = nav;
+ }
+ }
+
+ if (_ref_navaid) {
+ double trueCourse, distanceM, az2;
+ SGGeodesy::inverse(_indicated_pos, _ref_navaid->geod(), trueCourse, az2, distanceM);
+ _ref_navaid_distance_node->setDoubleValue(distanceM * SG_METER_TO_NM);
+ _ref_navaid_bearing_node->setDoubleValue(trueCourse);
+ _ref_navaid_mag_bearing_node->setDoubleValue(trueCourse - _magvar_node->getDoubleValue());
+ }
+}
+
+void GPS::referenceNavaidSet(const std::string& aNavaid)
{
- double tracking_bug = _tracking_bug_node->getDoubleValue();
- double true_bug_error = tracking_bug - ctx.track1_deg;
- double magnetic_bug_error = tracking_bug - _magnetic_track_node->getDoubleValue();
+ _ref_navaid = NULL;
+ // allow setting an empty string to restore normal nearest-vor selection
+ if (aNavaid.size() > 0) {
+ FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
+ _ref_navaid = FGPositioned::findClosestWithIdent(aNavaid,
+ _position.get(), &vorFilter);
+
+ if (!_ref_navaid) {
+ SG_LOG(SG_INSTR, SG_ALERT, "GPS: unknown ref navaid:" << aNavaid);
+ }
+ }
- // Get the errors into the (-180,180) range.
- SG_NORMALIZE_RANGE(true_bug_error, -180.0, 180.0);
- SG_NORMALIZE_RANGE(magnetic_bug_error, -180.0, 180.0);
+ if (_ref_navaid) {
+ _ref_navaid_set = true;
+ SG_LOG(SG_INSTR, SG_INFO, "GPS code set explict ref-navaid:" << _ref_navaid->ident());
+ _ref_navaid_id_node->setStringValue(_ref_navaid->ident().c_str());
+ _ref_navaid_name_node->setStringValue(_ref_navaid->name().c_str());
+ FGNavRecord* vor = (FGNavRecord*) _ref_navaid.ptr();
+ _ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
+ tuneNavRadios();
+ } else {
+ _ref_navaid_set = false;
+ _ref_navaid_elapsed = 9999.0; // update next tick
+ }
+}
- _true_bug_error_node->setDoubleValue(true_bug_error);
- _magnetic_bug_error_node->setDoubleValue(magnetic_bug_error);
+void GPS::tuneNavRadios()
+{
+ if (!_ref_navaid || !_config.tuneNavRadioToRefVor()) {
+ return;
+ }
+
+ SGPropertyNode_ptr navRadio1 = fgGetNode("/instrumentation/nav", false);
+ if (!navRadio1) {
+ return;
+ }
+
+ FGNavRecord* vor = (FGNavRecord*) _ref_navaid.ptr();
+ SGPropertyNode_ptr freqs = navRadio1->getChild("frequencies");
+ freqs->setDoubleValue("selected-mhz", vor->get_freq() / 100.0);
}
-void
-GPS::waypointChanged(UpdateContext& ctx)
+void GPS::routeActivated()
{
- // If any of the two waypoints have changed
- // we need to calculate a new course between them,
- // and values for vertical navigation.
- assert(ctx.waypoint_changed);
+ if (_route_active_node->getBoolValue()) {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, switching to LEG mode");
+ _mode = "leg";
+ _computeTurnData = true;
+ } else if (_mode == "leg") {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS::route deactivated, switching to OBS mode");
+ _mode = "obs";
+ }
+}
- double track2;
- SGGeodesy::inverse(ctx.wp0_pos, ctx.wp1_pos, _course_deg, track2, _distance_m);
+void GPS::routeManagerSequenced()
+{
+ if (_mode != "leg") {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS ignoring route sequencing, not in LEG mode");
+ return;
+ }
+
+ int index = _routeMgr->currentWaypoint(),
+ count = _routeMgr->size();
+ if ((index < 1) || (index >= count)) {
+ SG_LOG(SG_INSTR, SG_ALERT, "GPS: malformed route, index=" << index);
+ return;
+ }
+
+ SG_LOG(SG_INSTR, SG_INFO, "GPS waypoint index is now " << index);
+ SGWayPoint wp0(_routeMgr->get_waypoint(index - 1));
+ SGWayPoint wp1(_routeMgr->get_waypoint(index));
- double leg_mag_course = _course_deg - _magvar_node->getDoubleValue();
- SG_NORMALIZE_RANGE(leg_mag_course, 0.0, 360.0);
+ _wp0Ident = wp0.get_id();
+ _wp0Name = wp0.get_name();
+ _wp0_position = wp0.get_target();
- // Get the altitude / distance ratio
- if ( _distance_m > 0.0 ) {
- double alt_difference_m = ctx.wp0_pos.getElevationM() - ctx.wp1_pos.getElevationM();
- _alt_dist_ratio = alt_difference_m / _distance_m;
- }
+ _wp1Ident = wp1.get_id();
+ _wp1Name = wp1.get_name();
+ _wp1_position = wp1.get_target();
- _leg_distance_node->setDoubleValue(_distance_m * SG_METER_TO_NM);
- _leg_course_node->setDoubleValue(_course_deg);
- _leg_magnetic_course_node->setDoubleValue(leg_mag_course);
- _alt_dist_ratio_node->setDoubleValue(_alt_dist_ratio);
+ _selectedCourse = getLegMagCourse();
}
-void
-GPS::updateWaypoint0(UpdateContext& ctx)
+void GPS::updateTurn()
{
- string id(_wp0_ID_node->getStringValue());
- if (_last_wp0_ID == id) {
- return; // easy, nothing to do
+ bool printProgress = false;
+
+ if (_computeTurnData) {
+ if (_last_speed_kts < 60) {
+ // need valid leg course and sensible ground speed to compute the turn
+ return;
}
- FGPositionedRef result = FGPositioned::findClosestWithIdent(id, ctx.pos);
- if (!result) {
- // not found, hmm
- _last_wp0_ID = id;
- return;
- }
+ computeTurnData();
+ printProgress = true;
+ }
+
+ if (!_anticipateTurn) {
+ updateOverflight();
+ return;
+ }
+
+ updateTurnData();
+ // find bearing to turn centre
+ double bearing, az2, distanceM;
+ SGGeodesy::inverse(_indicated_pos, _turnCentre, bearing, az2, distanceM);
+ double progress = computeTurnProgress(bearing);
+
+ if (printProgress) {
+ SG_LOG(SG_INSTR, SG_INFO,"turn progress=" << progress);
+ }
+
+ if (!_inTurn && (progress > 0.0)) {
+ beginTurn();
+ }
+
+ if (_inTurn && !_turnSequenced && (progress > 0.5)) {
+ _turnSequenced = true;
+ SG_LOG(SG_INSTR, SG_INFO, "turn passed midpoint, sequencing");
+ _routeMgr->sequence();
+ }
+
+ if (_inTurn && (progress >= 1.0)) {
+ endTurn();
+ }
+
+ if (_inTurn) {
+ // drive deviation and desired course
+ double desiredCourse = bearing - copysign(90, _turnAngle);
+ SG_NORMALIZE_RANGE(desiredCourse, 0.0, 360.0);
+ double deviationNm = (distanceM * SG_METER_TO_NM) - _turnRadius;
+ double deviationDeg = desiredCourse - getMagTrack();
+ deviationNm = copysign(deviationNm, deviationDeg);
+ // FXIME
+ //_wp1_course_deviation_node->setDoubleValue(deviationDeg);
+ //_wp1_course_error_nm_node->setDoubleValue(deviationNm);
+ //_cdiDeflectionNode->setDoubleValue(deviationDeg);
+ }
+}
+
+void GPS::updateOverflight()
+{
+ if ((_wp1DistanceM * SG_METER_TO_NM) > _config.overflightArmDistanceNm()) {
+ return;
+ }
+
+ if (getWP1ToFlag()) {
+ return; // still heading towards the WP
+ }
+
+ if (_mode == "dto") {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS DTO reached destination point");
- _wp0_position = result->geod();
- _wp0_name_node->setStringValue(result->name().c_str());
- _last_wp0_ID = id;
- ctx.waypoint_changed = true;
+ // check for wp1 being on active route - resume leg mode
+ if (_routeMgr->isRouteActive()) {
+ int index = _routeMgr->findWaypoint(_wp1_position);
+ if (index >= 0) {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS DTO, resuming LEG mode at wp:" << index);
+ _mode = "leg";
+ _routeMgr->jumpToIndex(index);
+ }
+ }
+ } else if (_mode == "leg") {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS doing overflight sequencing");
+ _routeMgr->sequence();
+ } else if (_mode == "obs") {
+ // nothing to do here, TO/FROM will update but that's fine
+ }
+
+ _computeTurnData = true;
}
-void
-GPS::updateWaypoint1(UpdateContext& ctx)
+void GPS::beginTurn()
{
- string id(_wp1_ID_node->getStringValue());
- if (_last_wp1_ID == id) {
- return; // easy, nothing to do
+ _inTurn = true;
+ _turnSequenced = false;
+ SG_LOG(SG_INSTR, SG_INFO, "begining turn");
+}
+
+void GPS::endTurn()
+{
+ _inTurn = false;
+ SG_LOG(SG_INSTR, SG_INFO, "ending turn");
+ _computeTurnData = true;
+}
+
+double GPS::computeTurnProgress(double aBearing) const
+{
+ double startBearing = _turnStartBearing + copysign(90, _turnAngle);
+ return (aBearing - startBearing) / _turnAngle;
+}
+
+void GPS::computeTurnData()
+{
+ _computeTurnData = false;
+ if (_mode != "leg") { // and approach modes in the future
+ _anticipateTurn = false;
+ return;
+ }
+
+ int curIndex = _routeMgr->currentWaypoint();
+ if ((curIndex + 1) >= _routeMgr->size()) {
+ _anticipateTurn = false;
+ return;
+ }
+
+ if (!_config.turnAnticipationEnabled()) {
+ _anticipateTurn = false;
+ return;
+ }
+
+ _turnStartBearing = _selectedCourse;
+// compute next leg course
+ SGWayPoint wp1(_routeMgr->get_waypoint(curIndex)),
+ wp2(_routeMgr->get_waypoint(curIndex + 1));
+ double crs, dist;
+ wp2.CourseAndDistance(wp1, &crs, &dist);
+
+
+// compute offset bearing
+ _turnAngle = crs - _turnStartBearing;
+ SG_NORMALIZE_RANGE(_turnAngle, -180.0, 180.0);
+ double median = _turnStartBearing + (_turnAngle * 0.5);
+ double offsetBearing = median + copysign(90, _turnAngle);
+ SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
+
+ SG_LOG(SG_INSTR, SG_INFO, "GPS computeTurnData: in=" << _turnStartBearing <<
+ ", out=" << crs << "; turnAngle=" << _turnAngle << ", median=" << median
+ << ", offset=" << offsetBearing);
+
+ SG_LOG(SG_INSTR, SG_INFO, "next leg is now:" << wp1.get_id() << "->" << wp2.get_id());
+
+ _turnPt = _wp1_position;
+ _anticipateTurn = true;
+}
+
+void GPS::updateTurnData()
+{
+ // depends on ground speed, so needs to be updated per-frame
+ _turnRadius = computeTurnRadiusNm(_last_speed_kts);
+
+ // compute the turn centre, based on the turn radius.
+ // key thing is to understand that we're working a right-angle triangle,
+ // where the right-angle is the point we start the turn. From that point,
+ // one side is the inbound course to the turn pt, and the other is the
+ // perpendicular line, of length 'r', to the turn centre.
+ // the triangle's hypotenuse, which we need to find, is the distance from the
+ // turn pt to the turn center (in the direction of the offset bearing)
+ // note that d - _turnRadius tell us how much we're 'cutting' the corner.
+
+ double halfTurnAngle = fabs(_turnAngle * 0.5) * SG_DEGREES_TO_RADIANS;
+ double d = _turnRadius / cos(halfTurnAngle);
+
+ // SG_LOG(SG_INSTR, SG_INFO, "turnRadius=" << _turnRadius << ", d=" << d
+ // << " (cut distance=" << d - _turnRadius << ")");
+
+ double median = _turnStartBearing + (_turnAngle * 0.5);
+ double offsetBearing = median + copysign(90, _turnAngle);
+ SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
+
+ double az2;
+ SGGeodesy::direct(_turnPt, offsetBearing, d * SG_NM_TO_METER, _turnCentre, az2);
+}
+
+double GPS::computeTurnRadiusNm(double aGroundSpeedKts) const
+{
+ // turn time is seconds to execute a 360 turn.
+ double turnTime = 360.0 / _config.turnRateDegSec();
+
+ // c is ground distance covered in that time (circumference of the circle)
+ double c = turnTime * (aGroundSpeedKts / 3600.0); // convert knts to nm/sec
+
+ // divide by 2PI to go from circumference -> radius
+ return c / (2 * M_PI);
+}
+
+void GPS::updateRouteData()
+{
+ double totalDistance = _wp1DistanceM * SG_METER_TO_NM;
+ // walk all waypoints from wp2 to route end, and sum
+ for (int i=_routeMgr->currentWaypoint()+1; i<_routeMgr->size(); ++i) {
+ totalDistance += _routeMgr->get_waypoint(i).get_distance();
+ }
+
+ _routeDistanceNm->setDoubleValue(totalDistance * SG_METER_TO_NM);
+ double TTW = ((totalDistance * SG_METER_TO_NM) / _last_speed_kts) * 3600.0;
+ _routeETE->setStringValue(makeTTWString(TTW));
+}
+
+/////////////////////////////////////////////////////////////////////////////
+// property getter/setters
+
+double GPS::getLegDistance() const
+{
+ if (_mode == "obs") {
+ return -1;
+ }
+
+ return SGGeodesy::distanceNm(_wp0_position, _wp1_position);
+}
+
+double GPS::getLegCourse() const
+{
+ if (_mode == "obs") {
+ return -9999.0;
+ }
+
+ return SGGeodesy::courseDeg(_wp0_position, _wp1_position);
+}
+
+double GPS::getLegMagCourse() const
+{
+ if (!_last_valid || (_mode == "obs")) {
+ return 0.0;
+ }
+
+ double m = getLegCourse() - _magvar_node->getDoubleValue();
+ SG_NORMALIZE_RANGE(m, 0.0, 360.0);
+ return m;
+}
+
+double GPS::getAltDistanceRatio() const
+{
+ if (!_last_valid || (_mode == "obs")) {
+ return 0.0;
+ }
+
+ double dist = SGGeodesy::distanceM(_wp0_position, _wp1_position);
+ if ( dist <= 0.0 ) {
+ return 0.0;
+ }
+
+ double alt_difference_m = _wp0_position.getElevationM() - _wp1_position.getElevationM();
+ return alt_difference_m / dist;
+}
+
+double GPS::getMagTrack() const
+{
+ if (!_last_valid) {
+ return 0.0;
+ }
+
+ double m = getTrueTrack() - _magvar_node->getDoubleValue();
+ SG_NORMALIZE_RANGE(m, 0.0, 360.0);
+ return m;
+}
+
+double GPS::getCDIDeflection() const
+{
+ if (!_last_valid) {
+ return 0.0;
+ }
+
+ double defl;
+ if (_config.cdiDeflectionIsAngular()) {
+ defl = getWP1CourseDeviation();
+ SG_CLAMP_RANGE(defl, -10.0, 10.0); // as in navradio.cxx
+ } else {
+ double fullScale = _config.cdiDeflectionLinearPeg();
+ double normError = getWP1CourseErrorNm() / fullScale;
+ SG_CLAMP_RANGE(normError, -1.0, 1.0);
+ defl = normError * 10.0; // re-scale to navradio limits, i.e [-10.0 .. 10.0]
+ }
+
+ return defl;
+}
+
+const char* GPS::getWP0Ident() const
+{
+ if (_mode != "leg") {
+ return "";
+ }
+
+ return _wp0Ident.c_str();
+}
+
+const char* GPS::getWP0Name() const
+{
+ if (_mode != "leg") {
+ return "";
+ }
+
+ return _wp0Name.c_str();
+}
+
+const char* GPS::getWP1Ident() const
+{
+ return _wp1Ident.c_str();
+}
+
+const char* GPS::getWP1Name() const
+{
+ return _wp1Name.c_str();
+}
+
+double GPS::getWP1Distance() const
+{
+ if (!_last_valid) {
+ return -1.0;
+ }
+
+ return _wp1DistanceM * SG_METER_TO_NM;
+}
+
+double GPS::getWP1TTW() const
+{
+ if (!_last_valid) {
+ return -1.0;
+ }
+
+ if (_last_speed_kts <= 0.0) {
+ return -1.0;
+ }
+
+ return (getWP1Distance() / _last_speed_kts) * 3600.0;
+}
+
+const char* GPS::getWP1TTWString() const
+{
+ return makeTTWString(getWP1TTW());
+}
+
+double GPS::getWP1Bearing() const
+{
+ if (!_last_valid) {
+ return -9999.0;
+ }
+
+ return _wp1TrueBearing;
+}
+
+double GPS::getWP1MagBearing() const
+{
+ if (!_last_valid) {
+ return -9999.0;
+ }
+
+ return _wp1TrueBearing - _magvar_node->getDoubleValue();
+}
+
+double GPS::getWP1CourseDeviation() const
+{
+ if (!_last_valid) {
+ return 0.0;
+ }
+
+ double dev = getWP1MagBearing() - _selectedCourse;
+ SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
+
+ if (fabs(dev) > 90.0) {
+ // When the course is away from the waypoint,
+ // it makes sense to change the sign of the deviation.
+ dev *= -1.0;
+ SG_NORMALIZE_RANGE(dev, -90.0, 90.0);
+ }
+
+ return dev;
+}
+
+double GPS::getWP1CourseErrorNm() const
+{
+ if (!_last_valid) {
+ return 0.0;
+ }
+
+ double radDev = getWP1CourseDeviation() * SG_DEGREES_TO_RADIANS;
+ double course_error_m = sin(radDev) * _wp1DistanceM;
+ return course_error_m * SG_METER_TO_NM;
+}
+
+bool GPS::getWP1ToFlag() const
+{
+ if (!_last_valid) {
+ return 0.0;
+ }
+
+ double dev = getWP1MagBearing() - _selectedCourse;
+ SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
+
+ return (fabs(dev) < 90.0);
+}
+
+double GPS::getScratchDistance() const
+{
+ if (!_scratchValid) {
+ return 0.0;
+ }
+
+ return SGGeodesy::distanceNm(_indicated_pos, _scratchPos);
+}
+
+double GPS::getScratchTrueBearing() const
+{
+ if (!_scratchValid) {
+ return 0.0;
+ }
+
+ return SGGeodesy::courseDeg(_indicated_pos, _scratchPos);
+}
+
+double GPS::getScratchMagBearing() const
+{
+ if (!_scratchValid) {
+ return 0.0;
+ }
+
+ double crs = getScratchTrueBearing() - _magvar_node->getDoubleValue();
+ SG_NORMALIZE_RANGE(crs, 0.0, 360.0);
+ return crs;
+}
+
+/////////////////////////////////////////////////////////////////////////////
+// command / scratch / search system
+
+void GPS::setCommand(const char* aCmd)
+{
+ SG_LOG(SG_INSTR, SG_INFO, "GPS command:" << aCmd);
+
+ if (!strcmp(aCmd, "direct")) {
+ directTo();
+ } else if (!strcmp(aCmd, "obs")) {
+ selectOBSMode();
+ } else if (!strcmp(aCmd, "leg")) {
+ selectLegMode();
+ } else if (!strcmp(aCmd, "load-route-wpt")) {
+ loadRouteWaypoint();
+ } else if (!strcmp(aCmd, "nearest")) {
+ loadNearest();
+ } else if (!strcmp(aCmd, "search")) {
+ _searchNames = false;
+ search();
+ } else if (!strcmp(aCmd, "search-names")) {
+ _searchNames = true;
+ search();
+ } else if (!strcmp(aCmd, "next")) {
+ nextResult();
+ } else if (!strcmp(aCmd, "previous")) {
+ previousResult();
+ } else if (!strcmp(aCmd, "define-user-wpt")) {
+ defineWaypoint();
+ } else {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:unrecognzied command:" << aCmd);
+ }
+}
+
+void GPS::clearScratch()
+{
+ _scratchPos = SGGeod::fromDegFt(-9999.0, -9999.0, -9999.0);
+ _scratchValid = false;
+ _scratchNode->setStringValue("type", "");
+ _scratchNode->setStringValue("query", "");
+}
+
+bool GPS::isScratchPositionValid() const
+{
+ if ((_scratchPos.getLongitudeDeg() < -9990.0) ||
+ (_scratchPos.getLatitudeDeg() < -9990.0)) {
+ return false;
+ }
+
+ return true;
+}
+
+void GPS::directTo()
+{
+ if (!isScratchPositionValid()) {
+ SG_LOG(SG_INSTR, SG_WARN, "invalid DTO lat/lon");
+ return;
+ }
+
+ _wp0_position = _indicated_pos;
+ _wp1Ident = _scratchNode->getStringValue("ident");
+ _wp1Name = _scratchNode->getStringValue("name");
+ _wp1_position = _scratchPos;
+
+ _mode = "dto";
+ _selectedCourse = getLegMagCourse();
+ clearScratch();
+}
+
+void GPS::loadRouteWaypoint()
+{
+ _scratchValid = false;
+// if (!_routeMgr->isRouteActive()) {
+// SG_LOG(SG_INSTR, SG_WARN, "GPS:loadWaypoint: no active route");
+// return;
+// }
+
+ int index = _scratchNode->getIntValue("index", -9999);
+ clearScratch();
+
+ if (index == -9999) { // no index supplied, use current wp
+ index = _routeMgr->currentWaypoint();
+ }
+
+ _searchIsRoute = true;
+ setScratchFromRouteWaypoint(index);
+}
+
+void GPS::setScratchFromRouteWaypoint(int aIndex)
+{
+ assert(_searchIsRoute);
+ if ((aIndex < 0) || (aIndex >= _routeMgr->size())) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromRouteWaypoint: route-index out of bounds");
+ return;
+ }
+
+ _searchResultIndex = aIndex;
+ SGWayPoint wp(_routeMgr->get_waypoint(aIndex));
+ _scratchNode->setStringValue("name", wp.get_name());
+ _scratchNode->setStringValue("ident", wp.get_id());
+ _scratchPos = wp.get_target();
+ _scratchValid = true;
+ _scratchNode->setDoubleValue("course", wp.get_track());
+ _scratchNode->setIntValue("index", aIndex);
+
+ int lastResult = _routeMgr->size() - 1;
+ _searchHasNext = (_searchResultIndex < lastResult);
+}
+
+void GPS::loadNearest()
+{
+ string sty(_scratchNode->getStringValue("type"));
+ FGPositioned::Type ty = FGPositioned::typeFromName(sty);
+ if (ty == FGPositioned::INVALID) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:loadNearest: request type is invalid:" << sty);
+ return;
+ }
+
+ auto_ptr<FGPositioned::Filter> f(createFilter(ty));
+ int limitCount = _scratchNode->getIntValue("max-results", 1);
+ double cutoffDistance = _scratchNode->getDoubleValue("cutoff-nm", 400.0);
+
+ clearScratch(); // clear now, regardless of whether we find a match or not
+
+ _searchResults =
+ FGPositioned::findClosestN(_indicated_pos, limitCount, cutoffDistance, f.get());
+ _searchResultsCached = true;
+ _searchResultIndex = 0;
+ _searchIsRoute = false;
+ _searchHasNext = false;
+
+ if (_searchResults.empty()) {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS:loadNearest: no matches at all");
+ return;
+ }
+
+ _searchHasNext = (_searchResults.size() > 1);
+ setScratchFromCachedSearchResult();
+}
+
+bool GPS::SearchFilter::pass(FGPositioned* aPos) const
+{
+ switch (aPos->type()) {
+ case FGPositioned::AIRPORT:
+ // heliport and seaport too?
+ case FGPositioned::VOR:
+ case FGPositioned::NDB:
+ case FGPositioned::FIX:
+ case FGPositioned::TACAN:
+ case FGPositioned::WAYPOINT:
+ return true;
+ default:
+ return false;
+ }
+}
+
+FGPositioned::Type GPS::SearchFilter::minType() const
+{
+ return FGPositioned::AIRPORT;
+}
+
+FGPositioned::Type GPS::SearchFilter::maxType() const
+{
+ return FGPositioned::WAYPOINT;
+}
+
+FGPositioned::Filter* GPS::createFilter(FGPositioned::Type aTy)
+{
+ if (aTy == FGPositioned::AIRPORT) {
+ return new FGAirport::HardSurfaceFilter(_config.minRunwayLengthFt());
+ }
+
+ // if we were passed INVALID, assume it means 'all types interesting to a GPS'
+ if (aTy == FGPositioned::INVALID) {
+ return new SearchFilter;
+ }
+
+ return new FGPositioned::TypeFilter(aTy);
+}
+
+void GPS::search()
+{
+ // parse search terms into local members, and exec the first search
+ string sty(_scratchNode->getStringValue("type"));
+ _searchType = FGPositioned::typeFromName(sty);
+ _searchQuery = _scratchNode->getStringValue("query");
+ _searchExact = _scratchNode->getBoolValue("exact", true);
+ _searchOrderByRange = _scratchNode->getBoolValue("order-by-distance", true);
+ _searchResultIndex = 0;
+ _searchIsRoute = false;
+ _searchHasNext = false;
+
+ if (_searchExact && _searchOrderByRange) {
+ // immediate mode search, get all the results now and cache them
+ auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
+ if (_searchNames) {
+ _searchResults = FGPositioned::findAllWithNameSortedByRange(_searchQuery, _indicated_pos, f.get());
+ } else {
+ _searchResults = FGPositioned::findAllWithIdentSortedByRange(_searchQuery, _indicated_pos, f.get());
}
- FGPositionedRef result = FGPositioned::findClosestWithIdent(id, ctx.pos);
- if (!result) {
- // not found, hmm
- _last_wp1_ID = id;
- return;
+ _searchResultsCached = true;
+
+ if (_searchResults.empty()) {
+ clearScratch();
+ return;
}
- _wp1_position = result->geod();
- _wp1_name_node->setStringValue(result->name().c_str());
- _last_wp1_ID = id;
- ctx.waypoint_changed = true;
+ _searchHasNext = (_searchResults.size() > 1);
+ setScratchFromCachedSearchResult();
+ } else {
+ // iterative search, look up result zero
+ _searchResultsCached = false;
+ performSearch();
+ }
}
-void
-GPS::updateTTWNode(UpdateContext& ctx, double distance_m, SGPropertyNode_ptr node)
-{
- // Estimate time to waypoint.
- // The estimation does not take track into consideration,
- // so if you are going away from the waypoint the TTW will
- // increase. Makes most sense when travelling directly towards
- // the waypoint.
- double TTW = 0.0;
- if (ctx.speed_kt > 0.0 && distance_m > 0.0) {
- TTW = (distance_m * SG_METER_TO_NM) / (ctx.speed_kt / 3600);
+void GPS::performSearch()
+{
+ auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
+ clearScratch();
+
+ FGPositionedRef r;
+ if (_searchNames) {
+ if (_searchOrderByRange) {
+ r = FGPositioned::findClosestWithPartialName(_indicated_pos, _searchQuery, f.get(), _searchResultIndex, _searchHasNext);
+ } else {
+ r = FGPositioned::findWithPartialName(_searchQuery, f.get(), _searchResultIndex, _searchHasNext);
}
- if (TTW < 356400.5) { // That's 99 hours
- unsigned int TTW_seconds = (int) (TTW + 0.5);
- unsigned int TTW_minutes = 0;
- unsigned int TTW_hours = 0;
- char TTW_str[9];
- TTW_hours = TTW_seconds / 3600;
- TTW_minutes = (TTW_seconds / 60) % 60;
- TTW_seconds = TTW_seconds % 60;
- snprintf(TTW_str, 9, "%02d:%02d:%02d",
- TTW_hours, TTW_minutes, TTW_seconds);
- node->setStringValue(TTW_str);
+ } else {
+ if (_searchOrderByRange) {
+ r = FGPositioned::findClosestWithPartialId(_indicated_pos, _searchQuery, f.get(), _searchResultIndex, _searchHasNext);
} else {
- node->setStringValue("--:--:--");
+ r = FGPositioned::findWithPartialId(_searchQuery, f.get(), _searchResultIndex, _searchHasNext);
}
+ }
+
+ if (!r) {
+ return;
+ }
+
+ setScratchFromPositioned(r.get(), _searchResultIndex);
}
-void
-GPS::updateWaypoint0Course(UpdateContext& ctx)
+void GPS::setScratchFromCachedSearchResult()
{
- // Find the bearing and distance to waypoint 0.
- double az2;
- SGGeodesy::inverse(ctx.pos, ctx.wp0_pos, ctx.wp0_bearing_deg, az2,ctx.wp0_distance);
- _wp0_distance_node->setDoubleValue(ctx.wp0_distance * SG_METER_TO_NM);
- _wp0_bearing_node->setDoubleValue(ctx.wp0_bearing_deg);
-
- double mag_bearing_deg = ctx.wp0_bearing_deg - ctx.magvar_deg;
- SG_NORMALIZE_RANGE(mag_bearing_deg, 0.0, 360.0);
- _wp0_mag_bearing_node->setDoubleValue(mag_bearing_deg);
- double bearing_error_deg = ctx.track1_deg - ctx.wp0_bearing_deg;
- SG_NORMALIZE_RANGE(bearing_error_deg, -180.0, 180.0);
- _true_wp0_bearing_error_node->setDoubleValue(bearing_error_deg);
-
- updateTTWNode(ctx, ctx.wp0_distance, _wp0_ttw_node);
-
- // Course deviation is the diffenrence between the bearing
- // and the course.
- double course_deviation_deg = ctx.wp0_bearing_deg -
- ctx.wp0_course_deg;
- SG_NORMALIZE_RANGE(course_deviation_deg, -180.0, 180.0);
-
- // If the course deviation is less than 90 degrees to either side,
- // our desired course is towards the waypoint.
- // It does not matter if we are actually moving
- // towards or from the waypoint.
- if (fabs(course_deviation_deg) < 90.0) {
- _wp0_to_flag_node->setBoolValue(true);
- }
- // If it's more than 90 degrees the desired
- // course is from the waypoint.
- else if (fabs(course_deviation_deg) > 90.0) {
- _wp0_to_flag_node->setBoolValue(false);
- // When the course is away from the waypoint,
- // it makes sense to change the sign of the deviation.
- course_deviation_deg *= -1.0;
- SG_NORMALIZE_RANGE(course_deviation_deg, -90.0, 90.0);
- }
+ assert(_searchResultsCached);
+ int index = _searchResultIndex;
+
+ if ((index < 0) || (index >= (int) _searchResults.size())) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromCachedSearchResult: index out of bounds:" << index);
+ return;
+ }
+
+ setScratchFromPositioned(_searchResults[index], index);
+
+ int lastResult = (int) _searchResults.size() - 1;
+ _searchHasNext = (_searchResultIndex < lastResult);
+}
- _wp0_course_deviation_node->setDoubleValue(course_deviation_deg);
+void GPS::setScratchFromPositioned(FGPositioned* aPos, int aIndex)
+{
+ clearScratch();
+ assert(aPos);
- // Cross track error.
- double course_error_m = sin(course_deviation_deg * SG_PI / 180.0)
- * (ctx.wp0_distance);
- _wp0_course_error_nm_node->setDoubleValue(course_error_m * SG_METER_TO_NM);
+ _scratchPos = aPos->geod();
+ _scratchNode->setStringValue("name", aPos->name());
+ _scratchNode->setStringValue("ident", aPos->ident());
+ _scratchNode->setStringValue("type", FGPositioned::nameForType(aPos->type()));
+
+ if (aIndex >= 0) {
+ _scratchNode->setIntValue("index", aIndex);
+ }
+
+ _scratchValid = true;
+ if (_searchResultsCached) {
+ _scratchNode->setIntValue("result-count", _searchResults.size());
+ }
+
+ switch (aPos->type()) {
+ case FGPositioned::VOR:
+ _scratchNode->setDoubleValue("frequency-mhz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
+ break;
+
+ case FGPositioned::NDB:
+ _scratchNode->setDoubleValue("frequency-khz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
+ break;
+
+ case FGPositioned::AIRPORT:
+ addAirportToScratch((FGAirport*)aPos);
+ break;
+
+ default:
+ // no-op
+ break;
+ }
+
+ // look for being on the route and set?
}
-void
-GPS::updateWaypoint1Course(UpdateContext& ctx)
+void GPS::addAirportToScratch(FGAirport* aAirport)
{
- // Find the bearing and distance to waypoint 0.
- double az2;
- SGGeodesy::inverse(ctx.pos, ctx.wp1_pos, ctx.wp1_bearing_deg, az2,ctx.wp1_distance);
- _wp1_distance_node->setDoubleValue(ctx.wp1_distance * SG_METER_TO_NM);
- _wp1_bearing_node->setDoubleValue(ctx.wp1_bearing_deg);
-
- double mag_bearing_deg = ctx.wp1_bearing_deg - ctx.magvar_deg;
- SG_NORMALIZE_RANGE(mag_bearing_deg, 0.0, 360.0);
- _wp1_mag_bearing_node->setDoubleValue(mag_bearing_deg);
- double bearing_error_deg = ctx.track1_deg - ctx.wp1_bearing_deg;
- SG_NORMALIZE_RANGE(bearing_error_deg, -180.0, 180.0);
- _true_wp1_bearing_error_node->setDoubleValue(bearing_error_deg);
+ for (unsigned int r=0; r<aAirport->numRunways(); ++r) {
+ SGPropertyNode* rwyNd = _scratchNode->getChild("runways", r, true);
+ FGRunway* rwy = aAirport->getRunwayByIndex(r);
+ // TODO - filter out unsuitable runways in the future
+ // based on config again
- updateTTWNode(ctx, ctx.wp1_distance, _wp1_ttw_node);
-
- // Course deviation is the diffenrence between the bearing
- // and the course.
- double course_deviation_deg = ctx.wp1_bearing_deg -
- ctx.wp1_course_deg;
- SG_NORMALIZE_RANGE(course_deviation_deg, -180.0, 180.0);
-
- // If the course deviation is less than 90 degrees to either side,
- // our desired course is towards the waypoint.
- // It does not matter if we are actually moving
- // towards or from the waypoint.
- if (fabs(course_deviation_deg) < 90.0) {
- _wp1_to_flag_node->setBoolValue(true);
- }
- // If it's more than 90 degrees the desired
- // course is from the waypoint.
- else if (fabs(course_deviation_deg) > 90.0) {
- _wp1_to_flag_node->setBoolValue(false);
- // When the course is away from the waypoint,
- // it makes sense to change the sign of the deviation.
- course_deviation_deg *= -1.0;
- SG_NORMALIZE_RANGE(course_deviation_deg, -90.0, 90.0);
+ rwyNd->setStringValue("id", rwy->ident().c_str());
+ rwyNd->setIntValue("length-ft", rwy->lengthFt());
+ rwyNd->setIntValue("width-ft", rwy->widthFt());
+ rwyNd->setIntValue("heading-deg", rwy->headingDeg());
+ // map surface code to a string
+ // TODO - lighting information
+
+ if (rwy->ILS()) {
+ rwyNd->setDoubleValue("ils-frequency-mhz", rwy->ILS()->get_freq() / 100.0);
}
+ } // of runways iteration
+}
- _wp1_course_deviation_node->setDoubleValue(course_deviation_deg);
- // Cross track error.
- double course_error_m = sin(course_deviation_deg * SG_PI / 180.0)
- * (ctx.wp1_distance);
- _wp1_course_error_nm_node->setDoubleValue(course_error_m * SG_METER_TO_NM);
+void GPS::selectOBSMode()
+{
+ if (!isScratchPositionValid()) {
+ SG_LOG(SG_INSTR, SG_WARN, "invalid OBS lat/lon");
+ return;
+ }
+
+ SG_LOG(SG_INSTR, SG_INFO, "GPS switching to OBS mode");
+ _mode = "obs";
+
+ _wp1Ident = _scratchNode->getStringValue("ident");
+ _wp1Name = _scratchNode->getStringValue("name");
+ _wp1_position = _scratchPos;
+ _wp0_position = _indicated_pos;
+}
+
+void GPS::selectLegMode()
+{
+ if (_mode == "leg") {
+ return;
+ }
+
+ if (!_routeMgr->isRouteActive()) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:selectLegMode: no active route");
+ return;
+ }
+
+ SG_LOG(SG_INSTR, SG_INFO, "GPS switching to LEG mode");
+ _mode = "leg";
+
+ // not really sequenced, but does all the work of updating wp0/1
+ routeManagerSequenced();
+}
+void GPS::nextResult()
+{
+ if (!_searchHasNext) {
+ return;
+ }
+
+ clearScratch();
+ if (_searchIsRoute) {
+ setScratchFromRouteWaypoint(++_searchResultIndex);
+ } else if (_searchResultsCached) {
+ ++_searchResultIndex;
+ setScratchFromCachedSearchResult();
+ } else {
+ ++_searchResultIndex;
+ performSearch();
+ } // of iterative search case
+}
+
+void GPS::previousResult()
+{
+ if (_searchResultIndex <= 0) {
+ return;
+ }
+
+ clearScratch();
+ --_searchResultIndex;
+
+ if (_searchIsRoute) {
+ setScratchFromRouteWaypoint(_searchResultIndex);
+ } else if (_searchResultsCached) {
+ setScratchFromCachedSearchResult();
+ } else {
+ performSearch();
+ }
+}
+
+void GPS::defineWaypoint()
+{
+ if (!isScratchPositionValid()) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: invalid lat/lon");
+ return;
+ }
+
+ string ident = _scratchNode->getStringValue("ident");
+ if (ident.size() < 2) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: waypoint identifier must be at least two characters");
+ return;
+ }
+
+// check for duplicate idents
+ FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
+ FGPositioned::List dups = FGPositioned::findAllWithIdentSortedByRange(ident, _indicated_pos, &f);
+ if (!dups.empty()) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: non-unique waypoint identifier, ho-hum");
+ }
+
+ SG_LOG(SG_INSTR, SG_INFO, "GPS:defineWaypoint: creating waypoint:" << ident);
+ FGPositionedRef wpt = FGPositioned::createUserWaypoint(ident, _scratchPos);
+ _searchResultsCached = false;
+ setScratchFromPositioned(wpt.get(), -1);
}
// end of gps.cxx
projects / flightgear.git / commitdiff