FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
- FGAIBase(otAircraft) {
- trafficRef = ref;
- if (trafficRef)
- groundOffset = trafficRef->getGroundOffset();
- else
- groundOffset = 0;
- fp = 0;
- dt_count = 0;
- dt_elev_count = 0;
- use_perf_vs = true;
- isTanker = false;
-
- // set heading and altitude locks
- hdg_lock = false;
- alt_lock = false;
- roll = 0;
- headingChangeRate = 0.0;
+ FGAIBase(otAircraft)
+{
+ trafficRef = ref;
+ if (trafficRef)
+ groundOffset = trafficRef->getGroundOffset();
+ else
+ groundOffset = 0;
+
+ fp = 0;
+ dt_count = 0;
+ dt_elev_count = 0;
+ use_perf_vs = true;
+ isTanker = false;
+
+ // set heading and altitude locks
+ hdg_lock = false;
+ alt_lock = false;
+ roll = 0;
+ headingChangeRate = 0.0;
}
FGAIAircraft::~FGAIAircraft() {
- //delete fp;
+ //delete fp;
}
+
void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) {
- if (!scFileNode)
- return;
+ if (!scFileNode)
+ return;
- FGAIBase::readFromScenario(scFileNode);
+ FGAIBase::readFromScenario(scFileNode);
- setPerformance(scFileNode->getStringValue("class", "jet_transport"));
- setFlightPlan(scFileNode->getStringValue("flightplan"),
- scFileNode->getBoolValue("repeat", false));
- setCallSign(scFileNode->getStringValue("callsign"));
- setTACANChannelID(scFileNode->getStringValue("TACAN-channel-ID"));
+ setPerformance(scFileNode->getStringValue("class", "jet_transport"));
+ setFlightPlan(scFileNode->getStringValue("flightplan"),
+ scFileNode->getBoolValue("repeat", false));
+ setCallSign(scFileNode->getStringValue("callsign"));
+ setTACANChannelID(scFileNode->getStringValue("TACAN-channel-ID"));
}
+
bool FGAIAircraft::init() {
- refuel_node = fgGetNode("systems/refuel/contact", true);
- return FGAIBase::init();
+ refuel_node = fgGetNode("systems/refuel/contact", true);
+ return FGAIBase::init();
}
+
void FGAIAircraft::bind() {
FGAIBase::bind();
props->setBoolValue("tanker",isTanker);
}
+
void FGAIAircraft::unbind() {
FGAIBase::unbind();
void FGAIAircraft::update(double dt) {
-
- FGAIBase::update(dt);
- Run(dt);
- Transform();
+ FGAIBase::update(dt);
+ Run(dt);
+ Transform();
}
-void FGAIAircraft::setPerformance(const std::string& acclass)
-{
- if (acclass == "light") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
- } else if (acclass == "ww2_fighter") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
- } else if (acclass == "jet_transport") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
- } else if (acclass == "jet_fighter") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
- } else if (acclass == "tanker") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
- SetTanker(true);
- } else {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
- }
+
+void FGAIAircraft::setPerformance(const std::string& acclass) {
+ if (acclass == "light") {
+ SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
+ } else if (acclass == "ww2_fighter") {
+ SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
+ } else if (acclass == "jet_transport") {
+ SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
+ } else if (acclass == "jet_fighter") {
+ SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
+ } else if (acclass == "tanker") {
+ SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
+ SetTanker(true);
+ } else {
+ SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
+ }
}
+
void FGAIAircraft::SetPerformance(const PERF_STRUCT *ps) {
-
+
performance = ps;
-}
+}
void FGAIAircraft::Run(double dt) {
- FGAIAircraft::dt = dt;
-
- if (fp)
- {
- time_t now = time(NULL) + fgGetLong("/sim/time/warp");
- ProcessFlightPlan(dt, now);
- if (now < fp->getStartTime())
- {
- // Do execute Ground elev for inactive aircraft, so they
- // Are repositioned to the correct ground altitude when the user flies within visibility range.
- if (no_roll)
- {
- Transform(); // make sure aip is initialized.
- getGroundElev(dt); // make sure it's exectuted first time around, so force a large dt value
- //getGroundElev(dt); // Need to do this twice.
- //cerr << trafficRef->getRegistration() << " Setting altitude to " << tgt_altitude;
- doGroundAltitude();
- //cerr << " Actual altitude " << altitude << endl;
- // Transform();
- pos.setelev(altitude * SG_FEET_TO_METER);
- }
- return;
- }
- }
-
- double turn_radius_ft;
- double turn_circum_ft;
- double speed_north_deg_sec;
- double speed_east_deg_sec;
- double dist_covered_ft;
- double alpha;
-
- // adjust speed
- double speed_diff; //= tgt_speed - speed;
- if (!no_roll)
- {
- speed_diff = tgt_speed - speed;
- }
- else
- {
- speed_diff = groundTargetSpeed - speed;
- }
- if (fabs(speed_diff) > 0.2) {
- if (speed_diff > 0.0) speed += performance->accel * dt;
- if (speed_diff < 0.0) {
- if (no_roll) { // was (!no_roll) but seems more logical this way (ground brakes).
- speed -= performance->decel * dt * 3;
- } else {
- speed -= performance->decel * dt;
+ FGAIAircraft::dt = dt;
+
+ if (fp) {
+ time_t now = time(NULL) + fgGetLong("/sim/time/warp");
+ ProcessFlightPlan(dt, now);
+ if (now < fp->getStartTime()) {
+ // Do execute Ground elev for inactive aircraft, so they
+ // Are repositioned to the correct ground altitude when the user flies within visibility range.
+ if (no_roll) {
+ Transform(); // make sure aip is initialized.
+ getGroundElev(dt); // make sure it's exectuted first time around, so force a large dt value
+ //getGroundElev(dt); // Need to do this twice.
+ //cerr << trafficRef->getRegistration() << " Setting altitude to " << tgt_altitude;
+ doGroundAltitude();
+ //cerr << " Actual altitude " << altitude << endl;
+ // Transform();
+ pos.setelev(altitude * SG_FEET_TO_METER);
+ }
+ return;
+ }
+ }
+
+ double turn_radius_ft;
+ double turn_circum_ft;
+ double speed_north_deg_sec;
+ double speed_east_deg_sec;
+ double dist_covered_ft;
+ double alpha;
+
+ // adjust speed
+ double speed_diff; //= tgt_speed - speed;
+ if (!no_roll) {
+ speed_diff = tgt_speed - speed;
+ } else {
+ speed_diff = groundTargetSpeed - speed;
+ }
+ if (fabs(speed_diff) > 0.2) {
+ if (speed_diff > 0.0)
+ speed += performance->accel * dt;
+ if (speed_diff < 0.0) {
+ if (no_roll) { // was (!no_roll) but seems more logical this way (ground brakes).
+ speed -= performance->decel * dt * 3;
+ } else {
+ speed -= performance->decel * dt;
+ }
}
- }
- }
-
- // convert speed to degrees per second
- speed_north_deg_sec = cos( hdg / SG_RADIANS_TO_DEGREES )
+ }
+
+ // convert speed to degrees per second
+ speed_north_deg_sec = cos( hdg / SG_RADIANS_TO_DEGREES )
* speed * 1.686 / ft_per_deg_lat;
- speed_east_deg_sec = sin( hdg / SG_RADIANS_TO_DEGREES )
+ speed_east_deg_sec = sin( hdg / SG_RADIANS_TO_DEGREES )
* speed * 1.686 / ft_per_deg_lon;
- // set new position
- pos.setlat( pos.lat() + speed_north_deg_sec * dt);
- pos.setlon( pos.lon() + speed_east_deg_sec * dt);
- //if (!(finite(pos.lat()) && finite(pos.lon())))
- // {
- // cerr << "Position is not finite" << endl;
- // cerr << "speed = " << speed << endl;
- // cerr << "dt" << dt << endl;
- // cerr << "heading " << hdg << endl;
- // cerr << "speed east " << speed_east_deg_sec << endl;
- // cerr << "speed nrth " << speed_north_deg_sec << endl;
- // cerr << "deg_lat " << ft_per_deg_lat << endl;
- // cerr << "deg_lon " << ft_per_deg_lon << endl;
- // }
-
- // adjust heading based on current bank angle
- if (roll == 0.0)
- roll = 0.01;
- if (roll != 0.0) {
- // double turnConstant;
- //if (no_roll)
- // turnConstant = 0.0088362;
- //else
- // turnConstant = 0.088362;
- // If on ground, calculate heading change directly
- if (no_roll) {
- double headingDiff = fabs(hdg-tgt_heading);
-
- if (headingDiff > 180)
- headingDiff = fabs(headingDiff - 360);
- groundTargetSpeed = tgt_speed - (tgt_speed * (headingDiff/45));
- if (sign(groundTargetSpeed) != sign(tgt_speed))
- groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
- if (headingDiff > 30.0)
- {
-
- headingChangeRate += dt * sign(roll); // invert if pushed backward
- // Print some debug statements to find out why aircraft may get stuck
- // forever turning
- //if (trafficRef->getDepartureAirport()->getId() == string("EHAM"))
- // {
- //cerr << "Turning : " << trafficRef->getRegistration()
- //cerr << " Speed = " << speed << " Heading " << hdg
- //<< " Target Heading " << tgt_heading
- // << " Lead Distance " << fp->getLeadDistance()
- // << " Distance to go "
- // << fp->getDistanceToGo(pos.lat(), pos.lon(), fp->getCurrentWaypoint())
- // << "waypoint name " << fp->getCurrentWaypoint()->name
- // << endl;
- //}
- if (headingChangeRate > 30)
- {
- headingChangeRate = 30;
- }
- else if (headingChangeRate < -30)
- {
- headingChangeRate = -30;
- }
- }
- else
- {
- if (fabs(headingChangeRate) > headingDiff)
- headingChangeRate = headingDiff*sign(roll);
- else
- headingChangeRate += dt * sign(roll);
- }
- hdg += headingChangeRate * dt;
- //cerr << "On ground. Heading: " << hdg << ". Target Heading: " << tgt_heading << ". Target speed: " << groundTargetSpeed << ". heading change rate" << headingChangeRate << endl;
- }
- else {
- if (fabs(speed) > 1.0) {
- turn_radius_ft = 0.088362 * speed * speed
- / tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
- }
- else
- {
- turn_radius_ft = 1.0; // Check if turn_radius_ft == 0; this might lead to a division by 0.
- }
- turn_circum_ft = SGD_2PI * turn_radius_ft;
- dist_covered_ft = speed * 1.686 * dt;
- alpha = dist_covered_ft / turn_circum_ft * 360.0;
- hdg += alpha * sign(roll);
- }
- while ( hdg > 360.0 ) {
- hdg -= 360.0;
- spinCounter++;
- }
- while ( hdg < 0.0)
- {
- hdg += 360.0;
- spinCounter--;
- }
- }
-
-
- // adjust target bank angle if heading lock engaged
- if (hdg_lock) {
- double bank_sense = 0.0;
- double diff = fabs(hdg - tgt_heading);
- if (diff > 180) diff = fabs(diff - 360);
- double sum = hdg + diff;
- if (sum > 360.0) sum -= 360.0;
- if (fabs(sum - tgt_heading) < 1.0) {
- bank_sense = 1.0; // right turn
- } else {
- bank_sense = -1.0; // left turn
- }
- if (diff < 30) {
- tgt_roll = diff * bank_sense;
- } else {
- tgt_roll = 30.0 * bank_sense;
- }
- if ((fabs((double) spinCounter) > 1) && (diff > 30))
- {
- tgt_speed *= 0.999; // Ugly hack: If aircraft get stuck, they will continually spin around.
- // The only way to resolve this is to make them slow down.
- //if (tempReg.empty())
- // tempReg = trafficRef->getRegistration();
- //if (trafficRef->getRegistration() == tempReg)
- // {
- // cerr << trafficRef->getRegistration()
- // << " appears to be spinning: " << spinCounter << endl
- // << " speed " << speed << endl
- // << " heading " << hdg << endl
- // << " lead distance " << fp->getLeadDistance() << endl
- // << " waypoint " << fp->getCurrentWaypoint()->name
- // << " target heading " << tgt_heading << endl
- // << " lead in angle " << fp->getLeadInAngle()<< endl
- // << " roll " << roll << endl
- // << " target_roll " << tgt_roll << endl;
-
- // }
- }
- }
-
- // adjust bank angle, use 9 degrees per second
- double bank_diff = tgt_roll - roll;
- if (fabs(bank_diff) > 0.2) {
- if (bank_diff > 0.0) roll += 9.0 * dt;
- if (bank_diff < 0.0) roll -= 9.0 * dt;
- //while (roll > 180) roll -= 360;
- //while (roll < 180) roll += 360;
- }
-
- // adjust altitude (meters) based on current vertical speed (fpm)
- altitude += vs / 60.0 * dt;
- pos.setelev(altitude * SG_FEET_TO_METER);
- double altitude_ft = altitude;
-
- // adjust target Altitude, based on ground elevation when on ground
- if (no_roll)
- {
- getGroundElev(dt);
- doGroundAltitude();
- }
- else
- {
- // find target vertical speed if altitude lock engaged
- if (alt_lock && use_perf_vs) {
- if (altitude_ft < tgt_altitude) {
- tgt_vs = tgt_altitude - altitude_ft;
- if (tgt_vs > performance->climb_rate)
- tgt_vs = performance->climb_rate;
- } else {
- tgt_vs = tgt_altitude - altitude_ft;
- if (tgt_vs < (-performance->descent_rate))
- tgt_vs = -performance->descent_rate;
- }
- }
-
- if (alt_lock && !use_perf_vs) {
- double max_vs = 4*(tgt_altitude - altitude);
- double min_vs = 100;
- if (tgt_altitude < altitude) min_vs = -100.0;
- if ((fabs(tgt_altitude - altitude) < 1500.0) &&
- (fabs(max_vs) < fabs(tgt_vs))) tgt_vs = max_vs;
- if (fabs(tgt_vs) < fabs(min_vs)) tgt_vs = min_vs;
- }
- }
- // adjust vertical speed
- double vs_diff = tgt_vs - vs;
- if (fabs(vs_diff) > 10.0) {
- if (vs_diff > 0.0) {
- vs += 900.0 * dt;
- if (vs > tgt_vs) vs = tgt_vs;
- } else {
- vs -= 400.0 * dt;
- if (vs < tgt_vs) vs = tgt_vs;
- }
- }
-
- // match pitch angle to vertical speed
- if (vs > 0){
- pitch = vs * 0.005;
- } else {
- pitch = vs * 0.002;
- }
-
- //###########################//
- // do calculations for radar //
- //###########################//
- double range_ft2 = UpdateRadar(manager);
-
- //************************************//
- // Tanker code //
- //************************************//
-
- if ( isTanker) {
- if ( (range_ft2 < 250.0 * 250.0) &&
- (y_shift > 0.0) &&
- (elevation > 0.0) ) {
- refuel_node->setBoolValue(true);
- contact = true;
- } else {
- refuel_node->setBoolValue(false);
- contact = false;
- }
- } else {
- contact = false;
- }
+ // set new position
+ pos.setlat( pos.lat() + speed_north_deg_sec * dt);
+ pos.setlon( pos.lon() + speed_east_deg_sec * dt);
+ //if (!(finite(pos.lat()) && finite(pos.lon())))
+ // {
+ // cerr << "Position is not finite" << endl;
+ // cerr << "speed = " << speed << endl;
+ // cerr << "dt" << dt << endl;
+ // cerr << "heading " << hdg << endl;
+ // cerr << "speed east " << speed_east_deg_sec << endl;
+ // cerr << "speed nrth " << speed_north_deg_sec << endl;
+ // cerr << "deg_lat " << ft_per_deg_lat << endl;
+ // cerr << "deg_lon " << ft_per_deg_lon << endl;
+ // }
+
+ // adjust heading based on current bank angle
+ if (roll == 0.0)
+ roll = 0.01;
+
+ if (roll != 0.0) {
+ // double turnConstant;
+ //if (no_roll)
+ // turnConstant = 0.0088362;
+ //else
+ // turnConstant = 0.088362;
+ // If on ground, calculate heading change directly
+ if (no_roll) {
+ double headingDiff = fabs(hdg-tgt_heading);
+
+ if (headingDiff > 180)
+ headingDiff = fabs(headingDiff - 360);
+
+ groundTargetSpeed = tgt_speed - (tgt_speed * (headingDiff/45));
+ if (sign(groundTargetSpeed) != sign(tgt_speed))
+ groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
+
+ if (headingDiff > 30.0) {
+ headingChangeRate += dt * sign(roll); // invert if pushed backward
+ // Print some debug statements to find out why aircraft may get stuck
+ // forever turning
+ //if (trafficRef->getDepartureAirport()->getId() == string("EHAM")) {
+ // cerr << "Turning : " << trafficRef->getRegistration()
+ // cerr << " Speed = " << speed << " Heading " << hdg
+ // << " Target Heading " << tgt_heading
+ // << " Lead Distance " << fp->getLeadDistance()
+ // << " Distance to go "
+ // << fp->getDistanceToGo(pos.lat(), pos.lon(), fp->getCurrentWaypoint())
+ // << "waypoint name " << fp->getCurrentWaypoint()->name
+ // << endl;
+ //}
+ if (headingChangeRate > 30)
+ headingChangeRate = 30;
+ else if (headingChangeRate < -30)
+ headingChangeRate = -30;
+
+ } else {
+ if (fabs(headingChangeRate) > headingDiff)
+ headingChangeRate = headingDiff*sign(roll);
+ else
+ headingChangeRate += dt * sign(roll);
+ }
+ hdg += headingChangeRate * dt;
+ //cerr << "On ground. Heading: " << hdg << ". Target Heading: " << tgt_heading
+ // << ". Target speed: " << groundTargetSpeed << ". heading change rate"
+ // << headingChangeRate << endl;
+
+ } else {
+ if (fabs(speed) > 1.0) {
+ turn_radius_ft = 0.088362 * speed * speed
+ / tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
+ } else {
+ turn_radius_ft = 1.0; // Check if turn_radius_ft == 0; this might lead to a division by 0.
+ }
+ turn_circum_ft = SGD_2PI * turn_radius_ft;
+ dist_covered_ft = speed * 1.686 * dt;
+ alpha = dist_covered_ft / turn_circum_ft * 360.0;
+ hdg += alpha * sign(roll);
+ }
+ while ( hdg > 360.0 ) {
+ hdg -= 360.0;
+ spinCounter++;
+ }
+ while ( hdg < 0.0) {
+ hdg += 360.0;
+ spinCounter--;
+ }
+ }
+
+
+ // adjust target bank angle if heading lock engaged
+ if (hdg_lock) {
+ double bank_sense = 0.0;
+ double diff = fabs(hdg - tgt_heading);
+ if (diff > 180)
+ diff = fabs(diff - 360);
+
+ double sum = hdg + diff;
+ if (sum > 360.0)
+ sum -= 360.0;
+ if (fabs(sum - tgt_heading) < 1.0) {
+ bank_sense = 1.0; // right turn
+ } else {
+ bank_sense = -1.0; // left turn
+ }
+ if (diff < 30) {
+ tgt_roll = diff * bank_sense;
+ } else {
+ tgt_roll = 30.0 * bank_sense;
+ }
+ if ((fabs((double) spinCounter) > 1) && (diff > 30)) {
+ tgt_speed *= 0.999; // Ugly hack: If aircraft get stuck, they will continually spin around.
+ // The only way to resolve this is to make them slow down.
+ //if (tempReg.empty())
+ // tempReg = trafficRef->getRegistration();
+ //if (trafficRef->getRegistration() == tempReg) {
+ // cerr << trafficRef->getRegistration()
+ // << " appears to be spinning: " << spinCounter << endl
+ // << " speed " << speed << endl
+ // << " heading " << hdg << endl
+ // << " lead distance " << fp->getLeadDistance() << endl
+ // << " waypoint " << fp->getCurrentWaypoint()->name
+ // << " target heading " << tgt_heading << endl
+ // << " lead in angle " << fp->getLeadInAngle()<< endl
+ // << " roll " << roll << endl
+ // << " target_roll " << tgt_roll << endl;
+ //}
+ }
+ }
+
+ // adjust bank angle, use 9 degrees per second
+ double bank_diff = tgt_roll - roll;
+ if (fabs(bank_diff) > 0.2) {
+ if (bank_diff > 0.0)
+ roll += 9.0 * dt;
+
+ if (bank_diff < 0.0)
+ roll -= 9.0 * dt;
+ //while (roll > 180) roll -= 360;
+ //while (roll < 180) roll += 360;
+ }
+
+ // adjust altitude (meters) based on current vertical speed (fpm)
+ altitude += vs / 60.0 * dt;
+ pos.setelev(altitude * SG_FEET_TO_METER);
+ double altitude_ft = altitude;
+
+ // adjust target Altitude, based on ground elevation when on ground
+ if (no_roll) {
+ getGroundElev(dt);
+ doGroundAltitude();
+ } else {
+ // find target vertical speed if altitude lock engaged
+ if (alt_lock && use_perf_vs) {
+ if (altitude_ft < tgt_altitude) {
+ tgt_vs = tgt_altitude - altitude_ft;
+ if (tgt_vs > performance->climb_rate)
+ tgt_vs = performance->climb_rate;
+ } else {
+ tgt_vs = tgt_altitude - altitude_ft;
+ if (tgt_vs < (-performance->descent_rate))
+ tgt_vs = -performance->descent_rate;
+ }
+ }
+
+ if (alt_lock && !use_perf_vs) {
+ double max_vs = 4*(tgt_altitude - altitude);
+ double min_vs = 100;
+ if (tgt_altitude < altitude)
+ min_vs = -100.0;
+ if ((fabs(tgt_altitude - altitude) < 1500.0)
+ && (fabs(max_vs) < fabs(tgt_vs)))
+ tgt_vs = max_vs;
+
+ if (fabs(tgt_vs) < fabs(min_vs))
+ tgt_vs = min_vs;
+ }
+ }
+ // adjust vertical speed
+ double vs_diff = tgt_vs - vs;
+ if (fabs(vs_diff) > 10.0) {
+ if (vs_diff > 0.0) {
+ vs += 900.0 * dt;
+
+ if (vs > tgt_vs)
+ vs = tgt_vs;
+ } else {
+ vs -= 400.0 * dt;
+
+ if (vs < tgt_vs)
+ vs = tgt_vs;
+ }
+ }
+
+ // match pitch angle to vertical speed
+ if (vs > 0){
+ pitch = vs * 0.005;
+ } else {
+ pitch = vs * 0.002;
+ }
+
+ //###########################//
+ // do calculations for radar //
+ //###########################//
+ double range_ft2 = UpdateRadar(manager);
+
+ //************************************//
+ // Tanker code //
+ //************************************//
+
+ if ( isTanker) {
+ if ( (range_ft2 < 250.0 * 250.0) && (y_shift > 0.0)
+ && (elevation > 0.0) ) {
+ refuel_node->setBoolValue(true);
+ contact = true;
+ } else {
+ refuel_node->setBoolValue(false);
+ contact = false;
+ }
+ } else {
+ contact = false;
+ }
}
void FGAIAircraft::AccelTo(double speed) {
- tgt_speed = speed;
+ tgt_speed = speed;
}
void FGAIAircraft::PitchTo(double angle) {
- tgt_pitch = angle;
- alt_lock = false;
+ tgt_pitch = angle;
+ alt_lock = false;
}
void FGAIAircraft::RollTo(double angle) {
- tgt_roll = angle;
- hdg_lock = false;
+ tgt_roll = angle;
+ hdg_lock = false;
}
void FGAIAircraft::YawTo(double angle) {
- tgt_yaw = angle;
+ tgt_yaw = angle;
}
void FGAIAircraft::ClimbTo(double altitude) {
- tgt_altitude = altitude;
- alt_lock = true;
+ tgt_altitude = altitude;
+ alt_lock = true;
}
void FGAIAircraft::TurnTo(double heading) {
- tgt_heading = heading;
- hdg_lock = true;
+ tgt_heading = heading;
+ hdg_lock = true;
}
double FGAIAircraft::sign(double x) {
- if ( x < 0.0 ) { return -1.0; }
- else { return 1.0; }
+ if ( x < 0.0 )
+ return -1.0;
+ else
+ return 1.0;
}
-void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat)
-{
- if (!flightplan.empty()){
- FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
- fp->setRepeat(repeat);
- SetFlightPlan(fp);
- }
+
+void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat) {
+ if (!flightplan.empty()) {
+ FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
+ fp->setRepeat(repeat);
+ SetFlightPlan(fp);
+ }
}
+
void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f) {
- delete fp;
- fp = f;
+ delete fp;
+ fp = f;
}
-void FGAIAircraft::ProcessFlightPlan( double dt, time_t now )
-{
- bool eraseWaypoints;
- if (trafficRef)
- {
-// FGAirport *arr;
-// FGAirport *dep;
- eraseWaypoints = true;
-// cerr << trafficRef->getRegistration();
-// cerr << "Departure airport " << endl;
-// dep = trafficRef->getDepartureAirport();
-// if (dep)
-// cerr << dep->getId() << endl;
-// cerr << "Arrival airport " << endl;
-// arr = trafficRef->getArrivalAirport();
-// if (arr)
-// cerr << arr->getId() <<endl << endl;;
- }
- else
- eraseWaypoints = false;
-
- //cerr << "Processing Flightplan" << endl;
- FGAIFlightPlan::waypoint* prev = 0; // the one behind you
- FGAIFlightPlan::waypoint* curr = 0; // the one ahead
- FGAIFlightPlan::waypoint* next = 0; // the next plus 1
- prev = fp->getPreviousWaypoint();
- curr = fp->getCurrentWaypoint();
- next = fp->getNextWaypoint();
- dt_count += dt;
-
- if (!prev) { //beginning of flightplan, do this initialization once
- //setBank(0.0);
- spinCounter = 0;
- tempReg = "";
- //prev_dist_to_go = HUGE;
- //cerr << "Before increment " << curr-> name << endl;
- fp->IncrementWaypoint(eraseWaypoints);
- //prev = fp->getPreviousWaypoint(); //first waypoint
- //curr = fp->getCurrentWaypoint(); //second waypoint
- //next = fp->getNextWaypoint(); //third waypoint (might not exist!)
- //cerr << "After increment " << prev-> name << endl;
- if (!(fp->getNextWaypoint()) && trafficRef)
- {
- loadNextLeg();
- }
- //cerr << "After load " << prev-> name << endl;
- prev = fp->getPreviousWaypoint(); //first waypoint
- curr = fp->getCurrentWaypoint(); //second waypoint
- next = fp->getNextWaypoint(); //third waypoint (might not exist!)
- //cerr << "After load " << prev-> name << endl;
- setLatitude(prev->latitude);
- setLongitude(prev->longitude);
- setSpeed(prev->speed);
- setAltitude(prev->altitude);
- if (prev->speed > 0.0)
- setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
- else
- {
- setHeading(fp->getBearing(curr->latitude, curr->longitude, prev));
- }
- // If next doesn't exist, as in incrementally created flightplans for
- // AI/Trafficmanager created plans,
- // Make sure lead distance is initialized otherwise
- if (next)
- fp->setLeadDistance(speed, hdg, curr, next);
-
- if (curr->crossat > -1000.0) { //use a calculated descent/climb rate
- use_perf_vs = false;
- tgt_vs = (curr->crossat - prev->altitude)/
- (fp->getDistanceToGo(pos.lat(), pos.lon(), curr)/
- 6076.0/prev->speed*60.0);
- tgt_altitude = curr->crossat;
- } else {
- use_perf_vs = true;
- tgt_altitude = prev->altitude;
- }
- alt_lock = hdg_lock = true;
- no_roll = prev->on_ground;
- if (no_roll)
- {
- Transform(); // make sure aip is initialized.
- getGroundElev(60.1); // make sure it's exectuted first time around, so force a large dt value
- //getGroundElev(60.1); // Need to do this twice.
- //cerr << trafficRef->getRegistration() << " Setting altitude to " << tgt_altitude << endl;
- doGroundAltitude(); //(tgt_altitude);
- }
- prevSpeed = 0;
- //cout << "First waypoint: " << prev->name << endl;
- //cout << " Target speed: " << tgt_speed << endl;
- //cout << " Target altitude: " << tgt_altitude << endl;
- //cout << " Target heading: " << tgt_heading << endl << endl;
- //cerr << "Done Flightplan init" << endl;
- return;
- } // end of initialization
-
- // let's only process the flight plan every 100 ms.
- if ((dt_count < 0.1) || (now < fp->getStartTime()))
- {
- //cerr << "done fp dt" << endl;
- return;
- } else {
- dt_count = 0;
- }
- // check to see if we've reached the lead point for our next turn
- double dist_to_go = fp->getDistanceToGo(pos.lat(), pos.lon(), curr);
-
- //cerr << "2" << endl;
- double lead_dist = fp->getLeadDistance();
- //cerr << " Distance : " << dist_to_go << ": Lead distance " << lead_dist << endl;
- // experimental: Use fabs, because speed can be negative (I hope) during push_back.
- if (lead_dist < fabs(2*speed))
- {
- lead_dist = fabs(2*speed); //don't skip over the waypoint
- //cerr << "Extending lead distance to " << lead_dist << endl;
- }
-// FGAirport * apt = trafficRef->getDepartureAirport();
-// if ((dist_to_go > prev_dist_to_go) && trafficRef && apt)
-// {
-// if (apt->getId() == string("EHAM"))
-// cerr << "Alert: " << trafficRef->getRegistration() << " is moving away from waypoint " << curr->name << endl
-// << "Target heading : " << tgt_heading << "act heading " << hdg << " Tgt speed : " << tgt_speed << endl
-// << "Lead distance : " << lead_dist << endl
-// << "Distance to go: " << dist_to_go << endl;
-
-// }
- prev_dist_to_go = dist_to_go;
- //cerr << "2" << endl;
- //if (no_roll)
- // lead_dist = 10.0;
- //cout << "Leg : " << (fp->getLeg()-1) << ". dist_to_go: " << dist_to_go << ", lead_dist: " << lead_dist << ", tgt_speed " << tgt_speed << ", tgt_heading " << tgt_heading << " speed " << speed << " hdg " << hdg << ". Altitude " << altitude << " TAget alt :" << tgt_altitude << endl;
-
- if ( dist_to_go < lead_dist ) {
- //prev_dist_to_go = HUGE;
- // For traffic manager generated aircraft:
- // check if the aircraft flies of of user range. And adjust the
- // Current waypoint's elevation according to Terrain Elevation
- if (curr->finished) { //end of the flight plan
- {
- if (fp->getRepeat()) {
- fp->restart();
- } else {
- setDie(true);
- }
-
- //cerr << "Done die end of fp" << endl;
- }
- return;
- }
-
- // we've reached the lead-point for the waypoint ahead
- //cerr << "4" << endl;
- //cerr << "Situation after lead point" << endl;
- //cerr << "Prviious: " << prev->name << endl;
- //cerr << "Current : " << curr->name << endl;
- //cerr << "Next : " << next->name << endl;
- if (next)
- {
- tgt_heading = fp->getBearing(curr, next);
- spinCounter = 0;
- }
- fp->IncrementWaypoint(eraseWaypoints);
- if (!(fp->getNextWaypoint()) && trafficRef)
- {
- loadNextLeg();
- }
+
+void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
+ bool eraseWaypoints;
+ if (trafficRef) {
+// FGAirport *arr;
+// FGAirport *dep;
+ eraseWaypoints = true;
+// cerr << trafficRef->getRegistration();
+// cerr << "Departure airport " << endl;
+// dep = trafficRef->getDepartureAirport();
+// if (dep)
+// cerr << dep->getId() << endl;
+// cerr << "Arrival airport " << endl;
+// arr = trafficRef->getArrivalAirport();
+// if (arr)
+// cerr << arr->getId() <<endl << endl;;
+ } else
+ eraseWaypoints = false;
+
+ //cerr << "Processing Flightplan" << endl;
+ FGAIFlightPlan::waypoint* prev = 0; // the one behind you
+ FGAIFlightPlan::waypoint* curr = 0; // the one ahead
+ FGAIFlightPlan::waypoint* next = 0; // the next plus 1
prev = fp->getPreviousWaypoint();
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
- // Now that we have incremented the waypoints, excute some traffic manager specific code
- // based on the name of the waypoint we just passed.
- if (trafficRef)
- {
- double userLatitude = fgGetDouble("/position/latitude-deg");
- double userLongitude = fgGetDouble("/position/longitude-deg");
- double course, distance;
- SGWayPoint current (pos.lon(),
- pos.lat(),
- 0);
- SGWayPoint user ( userLongitude,
- userLatitude,
- 0);
- user.CourseAndDistance(current, &course, &distance);
- if ((distance * SG_METER_TO_NM) > TRAFFICTOAIDIST)
- {
- setDie(true);
- //cerr << "done fp die out of range" << endl;
- return;
- }
-
- FGAirport * dep = trafficRef->getDepartureAirport();
- FGAirport * arr = trafficRef->getArrivalAirport();
- // At parking the beginning of the airport
- if (!( dep && arr))
- {
- setDie(true);
- return;
- }
- //if ((dep->getId() == string("EHAM") || (arr->getId() == string("EHAM"))))
- // {
- // cerr << trafficRef->getRegistration()
- // << " Enroute from " << dep->getId()
- // << " to " << arr->getId()
- // << " just crossed " << prev->name
- // << " Assigned rwy " << fp->getRunwayId()
- // << " " << fp->getRunway() << endl;
- // }
- //if ((dep->getId() == string("EHAM")) && (prev->name == "park2"))
- // {
- // cerr << "Schiphol ground "
- // << trafficRef->getCallSign();
- // if (trafficRef->getHeavy())
- // cerr << "Heavy";
- // cerr << ", is type "
- // << trafficRef->getAircraft()
- // << " ready to go. IFR to "
- // << arr->getId() <<endl;
- // }
- if (prev->name == "park2")
- {
- dep->getDynamics()->releaseParking(fp->getGate());
- }
- // Some debug messages, specific to testing the Logical networks.
- // if ((arr->getId() == string("EHAM")) && (prev->name == "Center"))
-// {
-
-// cerr << "Schiphol ground "
-// << trafficRef->getRegistration() << " "
-// << trafficRef->getCallSign();
-// if (trafficRef->getHeavy())
-// cerr << "Heavy";
-// cerr << ", arriving from " << dep->getName() ;
-// cerr << " landed runway "
-// << fp->getRunway()
-// << " request taxi to gate "
-// << arr->getDynamics()->getParkingName(fp->getGate())
-// << endl;
-// }
- if (prev->name == "END")
- fp->setTime(trafficRef->getDepartureTime());
- //cerr << "5" << endl;
- }
- if (next)
- {
- //cerr << "Current waypoint" << curr->name << endl;
- //cerr << "Next waypoint" << next->name << endl;
- fp->setLeadDistance(speed, tgt_heading, curr, next);
- }
- //cerr << "5.1" << endl;
- if (!(prev->on_ground)) { // only update the tgt altitude from flightplan if not on the ground
- tgt_altitude = prev->altitude;
- if (curr->crossat > -1000.0) {
- //cerr << "5.1a" << endl;
- use_perf_vs = false;
- tgt_vs = (curr->crossat - altitude)/
- (fp->getDistanceToGo(pos.lat(), pos.lon(), curr)/6076.0/speed*60.0);
- //cerr << "5.1b" << endl;
- tgt_altitude = curr->crossat;
- } else {
- //cerr << "5.1c" << endl;
- use_perf_vs = true;
- //cerr << "5.1d" << endl;
-
- //cerr << "Setting target altitude : " <<tgt_altitude << endl;
- }
+ dt_count += dt;
+
+ if (!prev) { //beginning of flightplan, do this initialization once
+ //setBank(0.0);
+ spinCounter = 0;
+ tempReg = "";
+ //prev_dist_to_go = HUGE;
+ //cerr << "Before increment " << curr-> name << endl;
+ fp->IncrementWaypoint(eraseWaypoints);
+ //prev = fp->getPreviousWaypoint(); //first waypoint
+ //curr = fp->getCurrentWaypoint(); //second waypoint
+ //next = fp->getNextWaypoint(); //third waypoint (might not exist!)
+ //cerr << "After increment " << prev-> name << endl;
+ if (!(fp->getNextWaypoint()) && trafficRef)
+ loadNextLeg();
+
+ //cerr << "After load " << prev-> name << endl;
+ prev = fp->getPreviousWaypoint(); //first waypoint
+ curr = fp->getCurrentWaypoint(); //second waypoint
+ next = fp->getNextWaypoint(); //third waypoint (might not exist!)
+ //cerr << "After load " << prev-> name << endl;
+ setLatitude(prev->latitude);
+ setLongitude(prev->longitude);
+ setSpeed(prev->speed);
+ setAltitude(prev->altitude);
+
+ if (prev->speed > 0.0)
+ setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
+ else
+ setHeading(fp->getBearing(curr->latitude, curr->longitude, prev));
+
+ // If next doesn't exist, as in incrementally created flightplans for
+ // AI/Trafficmanager created plans,
+ // Make sure lead distance is initialized otherwise
+ if (next)
+ fp->setLeadDistance(speed, hdg, curr, next);
+
+ if (curr->crossat > -1000.0) { //use a calculated descent/climb rate
+ use_perf_vs = false;
+ tgt_vs = (curr->crossat - prev->altitude)
+ / (fp->getDistanceToGo(pos.lat(), pos.lon(), curr)
+ / 6076.0 / prev->speed*60.0);
+ tgt_altitude = curr->crossat;
+ } else {
+ use_perf_vs = true;
+ tgt_altitude = prev->altitude;
+ }
+ alt_lock = hdg_lock = true;
+ no_roll = prev->on_ground;
+ if (no_roll) {
+ Transform(); // make sure aip is initialized.
+ getGroundElev(60.1); // make sure it's exectuted first time around, so force a large dt value
+ //getGroundElev(60.1); // Need to do this twice.
+ //cerr << trafficRef->getRegistration() << " Setting altitude to " << tgt_altitude << endl;
+ doGroundAltitude(); //(tgt_altitude);
+ }
+ prevSpeed = 0;
+ //cout << "First waypoint: " << prev->name << endl;
+ //cout << " Target speed: " << tgt_speed << endl;
+ //cout << " Target altitude: " << tgt_altitude << endl;
+ //cout << " Target heading: " << tgt_heading << endl << endl;
+ //cerr << "Done Flightplan init" << endl;
+ return;
+ } // end of initialization
+
+ // let's only process the flight plan every 100 ms.
+ if ((dt_count < 0.1) || (now < fp->getStartTime())) {
+ //cerr << "done fp dt" << endl;
+ return;
+ } else {
+ dt_count = 0;
+ }
+ // check to see if we've reached the lead point for our next turn
+ double dist_to_go = fp->getDistanceToGo(pos.lat(), pos.lon(), curr);
+
+ //cerr << "2" << endl;
+ double lead_dist = fp->getLeadDistance();
+ //cerr << " Distance : " << dist_to_go << ": Lead distance " << lead_dist << endl;
+ // experimental: Use fabs, because speed can be negative (I hope) during push_back.
+
+ if (lead_dist < fabs(2*speed)) {
+ lead_dist = fabs(2*speed); //don't skip over the waypoint
+ //cerr << "Extending lead distance to " << lead_dist << endl;
+ }
+// FGAirport * apt = trafficRef->getDepartureAirport();
+// if ((dist_to_go > prev_dist_to_go) && trafficRef && apt) {
+// if (apt->getId() == string("EHAM"))
+// cerr << "Alert: " << trafficRef->getRegistration() << " is moving away from waypoint " << curr->name << endl
+// << "Target heading : " << tgt_heading << "act heading " << hdg << " Tgt speed : " << tgt_speed << endl
+// << "Lead distance : " << lead_dist << endl
+// << "Distance to go: " << dist_to_go << endl;
+// }
+
+ prev_dist_to_go = dist_to_go;
+ //cerr << "2" << endl;
+ //if (no_roll)
+ // lead_dist = 10.0;
+ //cout << "Leg : " << (fp->getLeg()-1) << ". dist_to_go: " << dist_to_go << ", lead_dist: "
+ // << lead_dist << ", tgt_speed " << tgt_speed << ", tgt_heading " << tgt_heading
+ // << " speed " << speed << " hdg " << hdg << ". Altitude " << altitude << " TAget alt :"
+ // << tgt_altitude << endl;
+
+ if ( dist_to_go < lead_dist ) {
+ //prev_dist_to_go = HUGE;
+ // For traffic manager generated aircraft:
+ // check if the aircraft flies of of user range. And adjust the
+ // Current waypoint's elevation according to Terrain Elevation
+ if (curr->finished) { //end of the flight plan
+ if (fp->getRepeat())
+ fp->restart();
+ else
+ setDie(true);
+
+ //cerr << "Done die end of fp" << endl;
+ return;
+ }
+
+ // we've reached the lead-point for the waypoint ahead
+ //cerr << "4" << endl;
+ //cerr << "Situation after lead point" << endl;
+ //cerr << "Prviious: " << prev->name << endl;
+ //cerr << "Current : " << curr->name << endl;
+ //cerr << "Next : " << next->name << endl;
+ if (next) {
+ tgt_heading = fp->getBearing(curr, next);
+ spinCounter = 0;
+ }
+
+ fp->IncrementWaypoint(eraseWaypoints);
+ if (!(fp->getNextWaypoint()) && trafficRef)
+ loadNextLeg();
+
+ prev = fp->getPreviousWaypoint();
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+
+ // Now that we have incremented the waypoints, excute some traffic manager specific code
+ // based on the name of the waypoint we just passed.
+ if (trafficRef) {
+ double userLatitude = fgGetDouble("/position/latitude-deg");
+ double userLongitude = fgGetDouble("/position/longitude-deg");
+ double course, distance;
+ SGWayPoint current (pos.lon(), pos.lat(), 0);
+ SGWayPoint user (userLongitude, userLatitude, 0);
+ user.CourseAndDistance(current, &course, &distance);
+ if ((distance * SG_METER_TO_NM) > TRAFFICTOAIDIST) {
+ setDie(true);
+ //cerr << "done fp die out of range" << endl;
+ return;
+ }
+
+ FGAirport * dep = trafficRef->getDepartureAirport();
+ FGAirport * arr = trafficRef->getArrivalAirport();
+ // At parking the beginning of the airport
+ if (!( dep && arr)) {
+ setDie(true);
+ return;
+ }
+
+ //if ((dep->getId() == string("EHAM") || (arr->getId() == string("EHAM")))) {
+ // cerr << trafficRef->getRegistration()
+ // << " Enroute from " << dep->getId()
+ // << " to " << arr->getId()
+ // << " just crossed " << prev->name
+ // << " Assigned rwy " << fp->getRunwayId()
+ // << " " << fp->getRunway() << endl;
+ // }
+ //if ((dep->getId() == string("EHAM")) && (prev->name == "park2")) {
+ // cerr << "Schiphol ground "
+ // << trafficRef->getCallSign();
+ // if (trafficRef->getHeavy())
+ // cerr << "Heavy";
+ // cerr << ", is type "
+ // << trafficRef->getAircraft()
+ // << " ready to go. IFR to "
+ // << arr->getId() <<endl;
+ // }
+
+ if (prev->name == "park2")
+ dep->getDynamics()->releaseParking(fp->getGate());
+
+ // Some debug messages, specific to testing the Logical networks.
+ // if ((arr->getId() == string("EHAM")) && (prev->name == "Center")) {
+ // cerr << "Schiphol ground "
+ // << trafficRef->getRegistration() << " "
+ // << trafficRef->getCallSign();
+ // if (trafficRef->getHeavy())
+ // cerr << "Heavy";
+ // cerr << ", arriving from " << dep->getName() ;
+ // cerr << " landed runway "
+ // << fp->getRunway()
+ // << " request taxi to gate "
+ // << arr->getDynamics()->getParkingName(fp->getGate())
+ // << endl;
+ // }
+ if (prev->name == "END")
+ fp->setTime(trafficRef->getDepartureTime());
+ //cerr << "5" << endl;
+ }
+
+ if (next) {
+ //cerr << "Current waypoint" << curr->name << endl;
+ //cerr << "Next waypoint" << next->name << endl;
+ fp->setLeadDistance(speed, tgt_heading, curr, next);
+ }
+
+ //cerr << "5.1" << endl;
+ if (!(prev->on_ground)) { // only update the tgt altitude from flightplan if not on the ground
+ tgt_altitude = prev->altitude;
+ if (curr->crossat > -1000.0) {
+ //cerr << "5.1a" << endl;
+ use_perf_vs = false;
+ tgt_vs = (curr->crossat - altitude) / (fp->getDistanceToGo(pos.lat(), pos.lon(), curr)
+ / 6076.0 / speed*60.0);
+ //cerr << "5.1b" << endl;
+ tgt_altitude = curr->crossat;
+ } else {
+ //cerr << "5.1c" << endl;
+ use_perf_vs = true;
+ //cerr << "5.1d" << endl;
+ //cerr << "Setting target altitude : " <<tgt_altitude << endl;
+ }
+ }
+ //cerr << "6" << endl;
+ tgt_speed = prev->speed;
+ hdg_lock = alt_lock = true;
+ no_roll = prev->on_ground;
+ //cout << "Crossing waypoint: " << prev->name << endl;
+ //cout << " Target speed: " << tgt_speed << endl;
+ //cout << " Target altitude: " << tgt_altitude << endl;
+ //cout << " Target heading: " << tgt_heading << endl << endl;
+
+ } else {
+ double calc_bearing = fp->getBearing(pos.lat(), pos.lon(), curr);
+ //cerr << "Bearing = " << calc_bearing << endl;
+ if (speed < 0) {
+ calc_bearing +=180;
+ if (calc_bearing > 360)
+ calc_bearing -= 360;
+ }
+
+ if (finite(calc_bearing)) {
+ double hdg_error = calc_bearing - tgt_heading;
+ if (fabs(hdg_error) > 1.0) {
+ TurnTo( calc_bearing );
+ }
+
+ } else {
+ cerr << "calc_bearing is not a finite number : "
+ << "Speed " << speed
+ << "pos : " << pos.lat() << ", " << pos.lon()
+ << "waypoint " << curr->latitude << ", " << curr->longitude << endl;
+ cerr << "waypoint name " << curr->name;
+ exit(1); // FIXME
+ }
+
+ double speed_diff = speed - prevSpeed;
+ // Update the lead distance calculation if speed has changed sufficiently
+ // to prevent spinning (hopefully);
+ if (fabs(speed_diff) > 10) {
+ prevSpeed = speed;
+ fp->setLeadDistance(speed, tgt_heading, curr, next);
+ }
+
+ //cerr << "Done Processing FlightPlan"<< endl;
}
- //cerr << "6" << endl;
- tgt_speed = prev->speed;
- hdg_lock = alt_lock = true;
- no_roll = prev->on_ground;
- //cout << "Crossing waypoint: " << prev->name << endl;
- //cout << " Target speed: " << tgt_speed << endl;
- //cout << " Target altitude: " << tgt_altitude << endl;
- //cout << " Target heading: " << tgt_heading << endl << endl;
- } else {
-
- double calc_bearing = fp->getBearing(pos.lat(), pos.lon(), curr);
- //cerr << "Bearing = " << calc_bearing << endl;
- if (speed < 0)
- {
- calc_bearing +=180;
- if (calc_bearing > 360)
- calc_bearing -= 360;
- }
- if (finite(calc_bearing))
- {
- double hdg_error = calc_bearing - tgt_heading;
- if (fabs(hdg_error) > 1.0) {
- TurnTo( calc_bearing );
- }
- }
- else
- {
- cerr << "calc_bearing is not a finite number : "
- << "Speed " << speed
- << "pos : " << pos.lat() << ", " << pos.lon()
- << "waypoint " << curr->latitude << ", " << curr->longitude << endl;
- cerr << "waypoint name " << curr->name;
- exit(1);
- }
- double speed_diff = speed - prevSpeed;
- // Update the lead distance calculation if speed has changed sufficiently
- // to prevent spinning (hopefully);
- if (fabs(speed_diff) > 10)
- {
- prevSpeed = speed;
- fp->setLeadDistance(speed, tgt_heading, curr, next);
- }
-
- //cerr << "Done Processing FlightPlan"<< endl;
- } // if (dt count) else
}
- bool FGAIAircraft::_getGearDown() const {
- return ((props->getFloatValue("position/altitude-agl-ft") < 900.0)
+
+bool FGAIAircraft::_getGearDown() const {
+ return ((props->getFloatValue("position/altitude-agl-ft") < 900.0)
&& (props->getFloatValue("velocities/airspeed-kt")
- < performance->land_speed*1.25));
+ < performance->land_speed*1.25));
}
-void FGAIAircraft::loadNextLeg()
-{
- //delete fp;
- //time_t now = time(NULL) + fgGetLong("/sim/time/warp");
-
-
- //FGAIModelEntity entity;
- //entity.m_class = "jet_transport";
- //entity.path = modelPath.c_str();
- //entity.flightplan = "none";
- //entity.latitude = _getLatitude();
- //entity.longitude = _getLongitude();
- //entity.altitude = trafficRef->getCruiseAlt() * 100; // convert from FL to feet
- //entity.speed = 450; // HACK ALERT
- //entity.fp = new FGAIFlightPlan(&entity, courseToDest, i->getDepartureTime(), dep, arr);
- int leg;
- if ((leg = fp->getLeg()) == 10)
- {
- trafficRef->next();
- leg = 1;
- fp->setLeg(leg);
-
- //cerr << "Resetting leg : " << leg << endl;
+void FGAIAircraft::loadNextLeg() {
+ //delete fp;
+ //time_t now = time(NULL) + fgGetLong("/sim/time/warp");
+
+ //FGAIModelEntity entity;
+ //entity.m_class = "jet_transport";
+ //entity.path = modelPath.c_str();
+ //entity.flightplan = "none";
+ //entity.latitude = _getLatitude();
+ //entity.longitude = _getLongitude();
+ //entity.altitude = trafficRef->getCruiseAlt() * 100; // convert from FL to feet
+ //entity.speed = 450; // HACK ALERT
+ //entity.fp = new FGAIFlightPlan(&entity, courseToDest, i->getDepartureTime(), dep, arr);
+ int leg;
+ if ((leg = fp->getLeg()) == 10) {
+ trafficRef->next();
+ leg = 1;
+ fp->setLeg(leg);
+ //cerr << "Resetting leg : " << leg << endl;
}
- //{
- //leg++;
- //fp->setLeg(leg);
- //cerr << "Creating leg number : " << leg << endl;
- FGAirport *dep = trafficRef->getDepartureAirport();
- FGAirport *arr = trafficRef->getArrivalAirport();
- if (!(dep && arr))
- {
- setDie(true);
- //cerr << "Failed to get airport in AIAircraft::ProcessFlightplan()" << endl;
- //if (dep)
- // cerr << "Departure " << dep->getId() << endl;
- //if (arr)
- // cerr << "Arrival " << arr->getId() << endl;
- }
- else
- {
- double cruiseAlt = trafficRef->getCruiseAlt() * 100;
- //cerr << "Creating new leg using " << cruiseAlt << " as cruise altitude."<< endl;
-
- fp->create (dep,
- arr,
- leg,
- cruiseAlt, //(trafficRef->getCruiseAlt() * 100), // convert from FL to feet
- trafficRef->getSpeed(),
- _getLatitude(),
- _getLongitude(),
- false,
- trafficRef->getRadius(),
- trafficRef->getFlightType(),
- acType,
- company);
- //prev = fp->getPreviousWaypoint();
- //curr = fp->getCurrentWaypoint();
- //next = fp->getNextWaypoint();
- //cerr << "25" << endl;
- //if (next)
- // {
- // //cerr << "Next waypoint" << next->name << endl;
- // fp->setLeadDistance(speed, tgt_heading, curr, next);
- // }
- //cerr << "25.1" << endl;
- //if (curr->crossat > -1000.0) {
- // //cerr << "25.1a" << endl;
- // use_perf_vs = false;
- //
- // tgt_vs = (curr->crossat - altitude)/
- // (fp->getDistanceToGo(pos.lat(), pos.lon(), curr)/6076.0/speed*60.0);
- // //cerr << "25.1b" << endl;
- // tgt_altitude = curr->crossat;
- //} else {
- // //cerr << "25.1c" << endl;
- // use_perf_vs = true;
- // //cerr << "25.1d" << endl;
- // tgt_altitude = prev->altitude;
- // //cerr << "Setting target altitude : " <<tgt_altitude << endl;
- // }
- //cerr << "26" << endl;
- //tgt_speed = prev->speed;
- //hdg_lock = alt_lock = true;
- //no_roll = prev->on_ground;
-
+ //leg++;
+ //fp->setLeg(leg);
+ //cerr << "Creating leg number : " << leg << endl;
+ FGAirport *dep = trafficRef->getDepartureAirport();
+ FGAirport *arr = trafficRef->getArrivalAirport();
+ if (!(dep && arr)) {
+ setDie(true);
+ //cerr << "Failed to get airport in AIAircraft::ProcessFlightplan()" << endl;
+ //if (dep)
+ // cerr << "Departure " << dep->getId() << endl;
+ //if (arr)
+ // cerr << "Arrival " << arr->getId() << endl;
+
+ } else {
+ double cruiseAlt = trafficRef->getCruiseAlt() * 100;
+ //cerr << "Creating new leg using " << cruiseAlt << " as cruise altitude."<< endl;
+
+ fp->create (dep,
+ arr,
+ leg,
+ cruiseAlt, //(trafficRef->getCruiseAlt() * 100), // convert from FL to feet
+ trafficRef->getSpeed(),
+ _getLatitude(),
+ _getLongitude(),
+ false,
+ trafficRef->getRadius(),
+ trafficRef->getFlightType(),
+ acType,
+ company);
+ //prev = fp->getPreviousWaypoint();
+ //curr = fp->getCurrentWaypoint();
+ //next = fp->getNextWaypoint();
+ //cerr << "25" << endl;
+ //if (next)
+ // {
+ // //cerr << "Next waypoint" << next->name << endl;
+ // fp->setLeadDistance(speed, tgt_heading, curr, next);
+ // }
+ //cerr << "25.1" << endl;
+ //if (curr->crossat > -1000.0) {
+ // //cerr << "25.1a" << endl;
+ // use_perf_vs = false;
+ //
+ // tgt_vs = (curr->crossat - altitude)/
+ // (fp->getDistanceToGo(pos.lat(), pos.lon(), curr)/6076.0/speed*60.0);
+ // //cerr << "25.1b" << endl;
+ // tgt_altitude = curr->crossat;
+ //} else {
+ // //cerr << "25.1c" << endl;
+ // use_perf_vs = true;
+ // //cerr << "25.1d" << endl;
+ // tgt_altitude = prev->altitude;
+ // //cerr << "Setting target altitude : " <<tgt_altitude << endl;
+ // }
+ //cerr << "26" << endl;
+ //tgt_speed = prev->speed;
+ //hdg_lock = alt_lock = true;
+ //no_roll = prev->on_ground;
}
- //}
- //else
- //{
- //delete entity.fp;
- //entity.fp = new FGAIFlightPlan(&entity,
- // 999, // A hack
- // trafficRef->getDepartureTime(),
- // trafficRef->getDepartureAirport(),
- // trafficRef->getArrivalAirport(),
- // false,
- // acType,
- // company);
- //SetFlightPlan(entity.fp);
+ //else
+ //{
+ //delete entity.fp;
+ //entity.fp = new FGAIFlightPlan(&entity,
+ // 999, // A hack
+ // trafficRef->getDepartureTime(),
+ // trafficRef->getDepartureAirport(),
+ // trafficRef->getArrivalAirport(),
+ // false,
+ // acType,
+ // company);
+ //SetFlightPlan(entity.fp);
}
-
-// Note: This code is copied from David Luff's AILocalTraffic
+// Note: This code is copied from David Luff's AILocalTraffic
// Warning - ground elev determination is CPU intensive
// Either this function or the logic of how often it is called
// will almost certainly change.
void FGAIAircraft::getGroundElev(double dt) {
- dt_elev_count += dt;
- //return;
- if (dt_elev_count < (3.0) + (rand() % 10)) //Update minimally every three secs, but add some randomness to prevent all IA objects doing this in synchrony
- {
- return;
- }
- else
- {
+ dt_elev_count += dt;
+
+ // Update minimally every three secs, but add some randomness
+ // to prevent all IA objects doing this in synchrony
+ if (dt_elev_count < (3.0) + (rand() % 10))
+ return;
+ else
dt_elev_count = 0;
- }
- // It would be nice if we could set the correct tile center here in order to get a correct
- // answer with one call to the function, but what I tried in the two commented-out lines
- // below only intermittently worked, and I haven't quite groked why yet.
- //SGBucket buck(pos.lon(), pos.lat());
- //aip.getSGLocation()->set_tile_center(Point3D(buck.get_center_lon(), buck.get_center_lat(), 0.0));
-
- // Only do the proper hitlist stuff if we are within visible range of the viewer.
- if (!invisible) {
- double visibility_meters = fgGetDouble("/environment/visibility-m");
-
-
- FGViewer* vw = globals->get_current_view();
- double
- course,
- distance;
-
- //Point3D currView(vw->getLongitude_deg(),
- // vw->getLatitude_deg(), 0.0);
- SGWayPoint current (pos.lon(),
- pos.lat(),
- 0);
- SGWayPoint view ( vw->getLongitude_deg(),
- vw->getLatitude_deg(),
- 0);
- view.CourseAndDistance(current, &course, &distance);
- if(distance > visibility_meters) {
- //aip.getSGLocation()->set_cur_elev_m(aptElev);
- return;
- }
-
- // FIXME: make sure the pos.lat/pos.lon values are in degrees ...
- double range = 500.0;
- if (!globals->get_tile_mgr()->scenery_available(pos.lat(), pos.lon(), range))
- {
- // Try to shedule tiles for that position.
- globals->get_tile_mgr()->update( aip.getSGLocation(), range );
- }
-
- // FIXME: make sure the pos.lat/pos.lon values are in degrees ...
- double alt;
- if (globals->get_scenery()->get_elevation_m(pos.lat(), pos.lon(),
- 20000.0, alt))
- tgt_altitude = alt * SG_METER_TO_FEET;
- //cerr << "Target altitude : " << tgt_altitude << endl;
- // if (globals->get_scenery()->get_elevation_m(pos.lat(), pos.lon(),
- // 20000.0, alt))
- // tgt_altitude = alt * SG_METER_TO_FEET;
- //cerr << "Target altitude : " << tgt_altitude << endl;
- }
+
+ // It would be nice if we could set the correct tile center here in order to get a correct
+ // answer with one call to the function, but what I tried in the two commented-out lines
+ // below only intermittently worked, and I haven't quite groked why yet.
+ //SGBucket buck(pos.lon(), pos.lat());
+ //aip.getSGLocation()->set_tile_center(Point3D(buck.get_center_lon(), buck.get_center_lat(), 0.0));
+
+ // Only do the proper hitlist stuff if we are within visible range of the viewer.
+ if (!invisible) {
+ double visibility_meters = fgGetDouble("/environment/visibility-m");
+
+ FGViewer* vw = globals->get_current_view();
+ double course, distance;
+
+ //Point3D currView(vw->getLongitude_deg(),
+ // vw->getLatitude_deg(), 0.0);
+ SGWayPoint current (pos.lon(), pos.lat(), 0);
+ SGWayPoint view (vw->getLongitude_deg(), vw->getLatitude_deg(), 0);
+ view.CourseAndDistance(current, &course, &distance);
+ if(distance > visibility_meters) {
+ //aip.getSGLocation()->set_cur_elev_m(aptElev);
+ return;
+ }
+
+ // FIXME: make sure the pos.lat/pos.lon values are in degrees ...
+ double range = 500.0;
+ if (!globals->get_tile_mgr()->scenery_available(pos.lat(), pos.lon(), range)) {
+ // Try to shedule tiles for that position.
+ globals->get_tile_mgr()->update( aip.getSGLocation(), range );
+ }
+
+ // FIXME: make sure the pos.lat/pos.lon values are in degrees ...
+ double alt;
+ if (globals->get_scenery()->get_elevation_m(pos.lat(), pos.lon(), 20000.0, alt))
+ tgt_altitude = alt * SG_METER_TO_FEET;
+
+ //cerr << "Target altitude : " << tgt_altitude << endl;
+ // if (globals->get_scenery()->get_elevation_m(pos.lat(), pos.lon(),
+ // 20000.0, alt))
+ // tgt_altitude = alt * SG_METER_TO_FEET;
+ //cerr << "Target altitude : " << tgt_altitude << endl;
+ }
}
+
void FGAIAircraft::setCallSign(const string& s) {
callsign = s;
}
+
void FGAIAircraft::setTACANChannelID(const string& id) {
TACAN_channel_id = id;
}
-void FGAIAircraft::doGroundAltitude()
-{
- if (fabs(altitude - (tgt_altitude+groundOffset)) > 1000.0)
- altitude = (tgt_altitude + groundOffset);
- else
- altitude += 0.1 * ((tgt_altitude+groundOffset) - altitude);
+
+void FGAIAircraft::doGroundAltitude() {
+ if (fabs(altitude - (tgt_altitude+groundOffset)) > 1000.0)
+ altitude = (tgt_altitude + groundOffset);
+ else
+ altitude += 0.1 * ((tgt_altitude+groundOffset) - altitude);
}
+
projects / flightgear.git / commitdiff