void
FGNavRadio::update(double dt)
{
- // Do a nav station search only once a second to reduce
- // unnecessary work. (Also, make sure to do this before caching
- // any values!)
- _time_before_search_sec -= dt;
- if ( _time_before_search_sec < 0 ) {
- search();
+ if (dt <= 0.0) {
+ return; // paused
}
-
- bool inrange = false;
-
+
// Create "formatted" versions of the nav frequencies for
// instrument displays.
char tmp[16];
sprintf( tmp, "%.2f", alt_freq_node->getDoubleValue() );
fmt_alt_freq_node->setStringValue(tmp);
- if (_navaid
- && power_btn_node->getBoolValue()
+ if (power_btn_node->getBoolValue()
&& (bus_power_node->getDoubleValue() > 1.0)
&& nav_serviceable_node->getBoolValue() )
{
- inrange = updateWithPower(dt);
+ if (nav_slaved_to_gps_node->getBoolValue()) {
+ updateGPSSlaved();
+ } else {
+ updateReceiver(dt);
+ }
+
+ updateCDI(dt);
} else {
- inrange_node->setBoolValue( false );
- cdi_deflection_node->setDoubleValue( 0.0 );
- cdi_xtrack_error_node->setDoubleValue( 0.0 );
- cdi_xtrack_hdg_err_node->setDoubleValue( 0.0 );
- time_to_intercept->setDoubleValue( 0.0 );
- gs_deflection_node->setDoubleValue( 0.0 );
- to_flag_node->setBoolValue( false );
- from_flag_node->setBoolValue( false );
+ clearOutputs();
}
+
+ updateAudio();
+}
- updateAudio(inrange);
+void FGNavRadio::clearOutputs()
+{
+ inrange_node->setBoolValue( false );
+ cdi_deflection_node->setDoubleValue( 0.0 );
+ cdi_xtrack_error_node->setDoubleValue( 0.0 );
+ cdi_xtrack_hdg_err_node->setDoubleValue( 0.0 );
+ time_to_intercept->setDoubleValue( 0.0 );
+ gs_deflection_node->setDoubleValue( 0.0 );
+ to_flag_node->setBoolValue( false );
+ from_flag_node->setBoolValue( false );
}
-bool FGNavRadio::updateWithPower(double dt)
+void FGNavRadio::updateReceiver(double dt)
{
- bool nav_serviceable = nav_serviceable_node->getBoolValue();
- bool cdi_serviceable = cdi_serviceable_node->getBoolValue();
- bool tofrom_serviceable = tofrom_serviceable_node->getBoolValue();
-
- double az1, az2, s;
-
+ // Do a nav station search only once a second to reduce
+ // unnecessary work. (Also, make sure to do this before caching
+ // any values!)
+ _time_before_search_sec -= dt;
+ if ( _time_before_search_sec < 0 ) {
+ search();
+ }
+
+ if (!_navaid) {
+ _cdiDeflection = 0.0;
+ _cdiCrossTrackErrorM = 0.0;
+ _toFlag = _fromFlag = false;
+ _gsNeedleDeflection = 0.0;
+ inrange_node->setBoolValue(false);
+ return;
+ }
+
SGGeod pos = SGGeod::fromDegFt(lon_node->getDoubleValue(),
lat_node->getDoubleValue(),
alt_node->getDoubleValue());
-
- bool inrange = false;
- if ( nav_slaved_to_gps_node->getBoolValue() ) {
- // FIXME - GPS-slaved GS support in unfinished
- has_gs_node->setBoolValue(gps_has_gs_node->getBoolValue());
- inrange = gps_to_flag_node->getBoolValue() || gps_from_flag_node->getBoolValue();
- } else {
- inrange = inrange_node->getBoolValue();
- }
-
+
double nav_elev = _navaid->get_elev_ft();
SGVec3d aircraft = SGVec3d::fromGeod(pos);
double loc_dist = dist(aircraft, _navaid->cart());
loc_dist_node->setDoubleValue( loc_dist );
bool is_loc = loc_node->getBoolValue();
double signal_quality_norm = signal_quality_norm_node->getDoubleValue();
-
- if (_gs) {
- // find closest distance to the gs base line
- double dist = sgdClosestPointToLineDistSquared(aircraft.data(), _gs->cart().data(),
- gs_base_vec.data());
- gs_dist_node->setDoubleValue( sqrt( dist ) );
- // cout << "gs_dist = " << gs_dist_node->getDoubleValue()
- // << endl;
-
- // wgs84 heading to glide slope (to determine sign of distance)
- SGGeodesy::inverse(pos, _gs->geod(), az1, az2, s);
- double r = az1 - target_radial;
- SG_NORMALIZE_RANGE(r, -180.0, 180.0);
- if (fabs(r) <= 90.0) {
- gs_dist_signed = gs_dist_node->getDoubleValue();
- } else {
- gs_dist_signed = -gs_dist_node->getDoubleValue();
- }
- } else {
- gs_dist_node->setDoubleValue( 0.0 );
- }
-
+
+ double az2, s;
//////////////////////////////////////////////////////////
// compute forward and reverse wgs84 headings to localizer
//////////////////////////////////////////////////////////
double hdg;
SGGeodesy::inverse(pos, _navaid->geod(), hdg, az2, s);
- heading_node->setDoubleValue( hdg );
+ heading_node->setDoubleValue(hdg);
double radial = az2 - twist;
double recip = radial + 180.0;
SG_NORMALIZE_RANGE(recip, 0.0, 360.0);
radial_node->setDoubleValue( radial );
recip_radial_node->setDoubleValue( recip );
-
+
//////////////////////////////////////////////////////////
// compute the target/selected radial in "true" heading
//////////////////////////////////////////////////////////
signal_quality_norm, dt );
signal_quality_norm_node->setDoubleValue( signal_quality_norm );
- if ( ! nav_slaved_to_gps_node->getBoolValue() ) {
- /* not slaved to gps */
- inrange = signal_quality_norm > 0.2;
- }
+ bool inrange = signal_quality_norm > 0.2;
inrange_node->setBoolValue( inrange );
-
+
//////////////////////////////////////////////////////////
// compute to/from flag status
//////////////////////////////////////////////////////////
- if (tofrom_serviceable) {
- if (nav_slaved_to_gps_node->getBoolValue()) {
- to_flag_node->setBoolValue(gps_to_flag_node->getBoolValue());
- from_flag_node->setBoolValue(gps_from_flag_node->getBoolValue());
- } else if (inrange) {
- bool toFlag = false;
- if (is_loc) {
- toFlag = true;
- } else {
- double offset = fabs(radial - target_radial);
- toFlag = (offset > 90.0 && offset < 270.0);
- }
-
- to_flag_node->setBoolValue(toFlag);
- from_flag_node->setBoolValue(!toFlag);
- } else { // out-of-range
- to_flag_node->setBoolValue(false);
- from_flag_node->setBoolValue(false);
+ if (inrange) {
+ if (is_loc) {
+ _toFlag = true;
+ } else {
+ double offset = fabs(radial - target_radial);
+ _toFlag = (offset > 90.0 && offset < 270.0);
}
+ _fromFlag = !_toFlag;
} else {
- to_flag_node->setBoolValue(false);
- from_flag_node->setBoolValue(false);
+ _toFlag = _fromFlag = false;
}
- //////////////////////////////////////////////////////////
- // compute the deflection of the CDI needle, clamped to the range
- // of ( -10 , 10 )
- //////////////////////////////////////////////////////////
- double r = 0.0;
- bool loc_backside = false; // an in-code flag indicating that we are
- // on a localizer backcourse.
- if ( cdi_serviceable ) {
- if ( nav_slaved_to_gps_node->getBoolValue() ) {
- r = gps_cdi_deflection_node->getDoubleValue();
- // We want +- 5 dots deflection for the gps, so clamp
- // to -12.5/12.5
- SG_CLAMP_RANGE( r, -12.5, 12.5 );
- } else if ( inrange ) {
- r = radial - target_radial;
- // cout << "Target radial = " << target_radial
- // << " Actual radial = " << radial << endl;
-
- SG_NORMALIZE_RANGE(r, -180.0, 180.0);
- if ( fabs(r) > 90.0 ) {
- r = ( r<0.0 ? -r-180.0 : -r+180.0 );
- } else {
- if (is_loc) {
- loc_backside = true;
- }
- }
-
- r = -r; // reverse, since radial is outbound
- if ( is_loc ) {
- // According to Robin Peel, the ILS is 4x more
- // sensitive than a vor
- r *= 4.0;
- }
- SG_CLAMP_RANGE( r, -10.0, 10.0 );
- r *= signal_quality_norm;
- }
- }
- cdi_deflection_node->setDoubleValue( r );
-
- //////////////////////////////////////////////////////////
- // compute the amount of cross track distance error in meters
- //////////////////////////////////////////////////////////
- double xtrack_error = 0.0;
- if ( inrange && nav_serviceable && cdi_serviceable ) {
- r = radial - target_radial;
- SG_NORMALIZE_RANGE(r, -180.0, 180.0);
- if ( fabs(r) > 90.0 ) {
- r = ( r<0.0 ? -r-180.0 : -r+180.0 );
- }
-
- r = -r; // reverse, since radial is outbound
-
- xtrack_error = loc_dist * sin(r * SGD_DEGREES_TO_RADIANS);
- } else {
- xtrack_error = 0.0;
+ // CDI deflection
+ double r = radial - target_radial;
+ SG_NORMALIZE_RANGE(r, -180.0, 180.0);
+ if ( fabs(r) > 90.0 ) {
+ r = ( r<0.0 ? -r-180.0 : -r+180.0 );
}
- cdi_xtrack_error_node->setDoubleValue( xtrack_error );
-
- //////////////////////////////////////////////////////////
- // compute an approximate ground track heading error
- //////////////////////////////////////////////////////////
- double hdg_error = 0.0;
- if ( inrange && cdi_serviceable ) {
- double vn = fgGetDouble( "/velocities/speed-north-fps" );
- double ve = fgGetDouble( "/velocities/speed-east-fps" );
- double gnd_trk_true = atan2( ve, vn ) * SGD_RADIANS_TO_DEGREES;
- if ( gnd_trk_true < 0.0 ) { gnd_trk_true += 360.0; }
-
- SGPropertyNode *true_hdg
- = fgGetNode("/orientation/heading-deg", true);
- hdg_error = gnd_trk_true - true_hdg->getDoubleValue();
-
- // cout << "ground track = " << gnd_trk_true
- // << " orientation = " << true_hdg->getDoubleValue() << endl;
+
+ r = -r; // reverse, since radial is outbound
+ _cdiDeflection = r;
+ if ( is_loc ) {
+ // According to Robin Peel, the ILS is 4x more
+ // sensitive than a vor
+ // http://www.allstar.fiu.edu/aero/ILS.htm confirms both the 4x sensitvity
+ // increase, and also the 'full-deflection is 10-degrees for a VOR' clamp
+ _cdiDeflection *= 4.0;
}
- cdi_xtrack_hdg_err_node->setDoubleValue( hdg_error );
+ SG_CLAMP_RANGE(_cdiDeflection, -10.0, 10.0 );
+ _cdiDeflection *= signal_quality_norm;
+
+ // cross-track error (in metres)
+ _cdiCrossTrackErrorM = loc_dist * sin(r * SGD_DEGREES_TO_RADIANS);
+
+ updateGlideSlope(dt, aircraft, signal_quality_norm);
+
+ last_loc_dist = loc_dist;
+}
- //////////////////////////////////////////////////////////
- // compute the time to intercept selected radial (based on
- // current and last cross track errors and dt
- //////////////////////////////////////////////////////////
- if (dt > 0) { // Are we paused?
- double t = 0.0;
- if ( inrange && cdi_serviceable ) {
- double xrate_ms = (last_xtrack_error - xtrack_error) / dt;
- if ( fabs(xrate_ms) > 0.00001 ) {
- t = xtrack_error / xrate_ms;
- } else {
- t = 9999.9;
- }
- }
- time_to_intercept->setDoubleValue( t );
+void FGNavRadio::updateGlideSlope(double dt, const SGVec3d& aircraft, double signal_quality_norm)
+{
+ if (!_gs || !inrange_node->getBoolValue()) {
+ gs_dist_node->setDoubleValue( 0.0 );
+ return;
}
-
+
+ // find closest distance to the gs base line
+ double dist = sgdClosestPointToLineDistSquared(aircraft.data(), _gs->cart().data(),
+ gs_base_vec.data());
+ dist = sqrt(dist);
+ gs_dist_node->setDoubleValue(dist);
+ double heightAboveStationM =
+ (alt_node->getDoubleValue() - _gs->elevation()) * SG_FEET_TO_METER;
+
//////////////////////////////////////////////////////////
// compute the amount of glide slope needle deflection
// (.i.e. the number of degrees we are off the glide slope * 5.0
// needle animation. This means that the needle should peg
// when this values is +/-3.5.
//////////////////////////////////////////////////////////
- r = 0.0;
- if (_gs && gs_serviceable_node->getBoolValue() ) {
- if ( nav_slaved_to_gps_node->getBoolValue() ) {
- // FIXME what should be set here?
- } else if ( inrange ) {
- double x = gs_dist_node->getDoubleValue();
- double y = (alt_node->getDoubleValue() - nav_elev)
- * SG_FEET_TO_METER;
- // cout << "dist = " << x << " height = " << y << endl;
- double angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
- r = (target_gs - angle) * 5.0;
- r *= signal_quality_norm;
- }
- }
- gs_deflection_node->setDoubleValue( r );
-
+ double angle = atan2(heightAboveStationM, dist) * SGD_RADIANS_TO_DEGREES;
+ double deflectionAngle = target_gs - angle;
+ //SG_CLAMP_RANGE(deflectionAngle, -0.7, 0.7);
+ _gsNeedleDeflection = deflectionAngle * 5.0;
+ _gsNeedleDeflection *= signal_quality_norm;
+
//////////////////////////////////////////////////////////
// Calculate desired rate of climb for intercepting the GS
//////////////////////////////////////////////////////////
- double x = gs_dist_node->getDoubleValue();
- double y = (alt_node->getDoubleValue() - nav_elev)
- * SG_FEET_TO_METER;
- double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
-
- double target_angle = target_gs;
- double gs_diff = target_angle - current_angle;
-
+ double gs_diff = target_gs - angle;
// convert desired vertical path angle into a climb rate
- double des_angle = current_angle - 10 * gs_diff;
+ double des_angle = angle - 10 * gs_diff;
// estimate horizontal speed towards ILS in meters per minute
- double dist = last_x - x;
- last_x = x;
- if ( dt > 0.0 ) {
- // avoid nan
- double new_vel = ( dist / dt );
-
- horiz_vel = 0.75 * horiz_vel + 0.25 * new_vel;
- // double horiz_vel = cur_fdm_state->get_V_ground_speed()
- // * SG_FEET_TO_METER * 60.0;
- // double horiz_vel = airspeed_node->getFloatValue()
- // * SG_FEET_TO_METER * 60.0;
-
- gs_rate_of_climb_node
- ->setDoubleValue( -sin( des_angle * SGD_DEGREES_TO_RADIANS )
- * horiz_vel * SG_METER_TO_FEET );
+ double elapsedDistance = last_x - dist;
+ last_x = dist;
+
+ double new_vel = ( elapsedDistance / dt );
+ horiz_vel = 0.75 * horiz_vel + 0.25 * new_vel;
+
+ gs_rate_of_climb_node
+ ->setDoubleValue( -sin( des_angle * SGD_DEGREES_TO_RADIANS )
+ * horiz_vel * SG_METER_TO_FEET );
+}
+
+void FGNavRadio::updateGPSSlaved()
+{
+ has_gs_node->setBoolValue(gps_has_gs_node->getBoolValue());
+
+ _toFlag = gps_to_flag_node->getBoolValue();
+ _fromFlag = gps_from_flag_node->getBoolValue();
+
+ inrange_node->setBoolValue(_toFlag | _fromFlag);
+
+ _cdiDeflection = gps_cdi_deflection_node->getDoubleValue();
+ // clmap to some range (+/- 10 degrees) as the regular deflection
+ SG_CLAMP_RANGE(_cdiDeflection, -10.0, 10.0 );
+
+ _cdiCrossTrackErrorM = 0.0; // FIXME, supply this
+ _gsNeedleDeflection = 0.0; // FIXME, supply this
+}
+
+void FGNavRadio::updateCDI(double dt)
+{
+ bool cdi_serviceable = cdi_serviceable_node->getBoolValue();
+ bool inrange = inrange_node->getBoolValue();
+
+ if (tofrom_serviceable_node->getBoolValue()) {
+ to_flag_node->setBoolValue(_toFlag);
+ from_flag_node->setBoolValue(_fromFlag);
+ } else {
+ to_flag_node->setBoolValue(false);
+ from_flag_node->setBoolValue(false);
+ }
+
+ if (!cdi_serviceable) {
+ _cdiDeflection = 0.0;
+ _cdiCrossTrackErrorM = 0.0;
+ }
+
+ cdi_deflection_node->setDoubleValue(_cdiDeflection);
+ cdi_xtrack_error_node->setDoubleValue(_cdiCrossTrackErrorM);
+
+ //////////////////////////////////////////////////////////
+ // compute an approximate ground track heading error
+ //////////////////////////////////////////////////////////
+ double hdg_error = 0.0;
+ if ( inrange && cdi_serviceable ) {
+ double vn = fgGetDouble( "/velocities/speed-north-fps" );
+ double ve = fgGetDouble( "/velocities/speed-east-fps" );
+ double gnd_trk_true = atan2( ve, vn ) * SGD_RADIANS_TO_DEGREES;
+ if ( gnd_trk_true < 0.0 ) { gnd_trk_true += 360.0; }
+
+ SGPropertyNode *true_hdg
+ = fgGetNode("/orientation/heading-deg", true);
+ hdg_error = gnd_trk_true - true_hdg->getDoubleValue();
+
+ // cout << "ground track = " << gnd_trk_true
+ // << " orientation = " << true_hdg->getDoubleValue() << endl;
}
+ cdi_xtrack_hdg_err_node->setDoubleValue( hdg_error );
//////////////////////////////////////////////////////////
// Calculate a suggested target heading to smoothly intercept
// The cdi deflection should be +/-10 for a full range of deflection
// so multiplying this by 3 gives us +/- 30 degrees heading
// compensation.
- double adjustment = cdi_deflection_node->getDoubleValue() * 3.0;
+ double adjustment = _cdiDeflection * 3.0;
SG_CLAMP_RANGE( adjustment, -30.0, 30.0 );
// determine the target heading to fly to intercept the
// tgt_radial = target radial (true) + cdi offset adjustmest -
// xtrack heading error adjustment
double nta_hdg;
- if ( is_loc && backcourse_node->getBoolValue() ) {
+ double trtrue = target_radial_true_node->getDoubleValue();
+ if ( loc_node->getBoolValue() && backcourse_node->getBoolValue() ) {
// tuned to a localizer and backcourse mode activated
trtrue += 180.0; // reverse the target localizer heading
- while ( trtrue > 360.0 ) { trtrue -= 360.0; }
+ SG_NORMALIZE_RANGE(trtrue, 0.0, 360.0);
nta_hdg = trtrue - adjustment - hdg_error;
} else {
nta_hdg = trtrue + adjustment - hdg_error;
}
- while ( nta_hdg < 0.0 ) { nta_hdg += 360.0; }
- while ( nta_hdg >= 360.0 ) { nta_hdg -= 360.0; }
+ SG_NORMALIZE_RANGE(nta_hdg, 0.0, 360.0);
target_auto_hdg_node->setDoubleValue( nta_hdg );
- last_xtrack_error = xtrack_error;
- last_loc_dist = loc_dist;
- return inrange;
+ //////////////////////////////////////////////////////////
+ // compute the time to intercept selected radial (based on
+ // current and last cross track errors and dt
+ //////////////////////////////////////////////////////////
+ double t = 0.0;
+ if ( inrange && cdi_serviceable ) {
+ double xrate_ms = (last_xtrack_error - _cdiCrossTrackErrorM) / dt;
+ if ( fabs(xrate_ms) > 0.00001 ) {
+ t = _cdiCrossTrackErrorM / xrate_ms;
+ } else {
+ t = 9999.9;
+ }
+ }
+ time_to_intercept->setDoubleValue( t );
+
+ if (!gs_serviceable_node->getBoolValue() ) {
+ _gsNeedleDeflection = 0.0;
+ }
+ gs_deflection_node->setDoubleValue(_gsNeedleDeflection);
+
+ last_xtrack_error = _cdiCrossTrackErrorM;
}
-void FGNavRadio::updateAudio(bool aInRange)
+void FGNavRadio::updateAudio()
{
- if (!_navaid || !aInRange || !nav_serviceable_node->getBoolValue()) {
+ if (!_navaid || !inrange_node->getBoolValue() || !nav_serviceable_node->getBoolValue()) {
return;
}
projects / flightgear.git / commitdiff