AICarrier fixes from Vivian

diff --git a/src/AIModel/AICarrier.cxx b/src/AIModel/AICarrier.cxx
index 79653fc8617f3f51c6ca09bdd367a1fbe54da031..e522019398fd3a7932152e1d9116fa438fe5e632 100644 (file)
--- a/src/AIModel/AICarrier.cxx
+++ b/src/AIModel/AICarrier.cxx
@@ -194,6 +194,7 @@ void FGAICarrier::readFromScenario(SGPropertyNode* scFileNode) {
   setMinLat(scFileNode->getDoubleValue("min-lat", 0));
   setMaxLong(scFileNode->getDoubleValue("max-long", 0));
   setMinLong(scFileNode->getDoubleValue("min-long", 0));
+  setMPControl(scFileNode->getBoolValue("mp-control", false));
 
   SGPropertyNode* flols = scFileNode->getChild("flols-pos");
   if (flols) {
@@ -268,18 +269,32 @@ void FGAICarrier::setTACANChannelID(const string& id) {
     TACAN_channel_id = id;
 }
 
+void FGAICarrier::setMPControl(bool c) {
+    MPControl = c;
+}
+
 void FGAICarrier::update(double dt) {
     // Now update the position and heading. This will compute new hdg and
     // roll values required for the rotation speed computation.
     FGAIShip::update(dt);
 
     //automatic turn into wind with a target wind of 25 kts otd
-    if(turn_to_launch_hdg){
-        TurnToLaunch();
-    } else if(OutsideBox() || returning) {// check that the carrier is inside the operating box
-        ReturnToBox();
+    //SG_LOG(SG_GENERAL, SG_ALERT, "AICarrier: MPControl " << MPControl );
+    if (!MPControl){
+
+        if(turn_to_launch_hdg){
+            TurnToLaunch();
+        } else if(turn_to_recovery_hdg ){
+            TurnToRecover();
+        } else if(OutsideBox() || returning ) {// check that the carrier is inside 
+            ReturnToBox();                     // the operating box,  
+        } else {
+            TurnToBase();
+        }
+
     } else {
-        TurnToBase();
+        FGAIShip::TurnTo(tgt_heading);
+        FGAIShip::AccelTo(tgt_speed);
     }
 
     UpdateWind(dt);
@@ -352,7 +367,10 @@ bool FGAICarrier::init(bool search_in_AI_path) {
 
 
     turn_to_launch_hdg = false;
+    turn_to_recovery_hdg = false;
+    turn_to_base_course = true;
     returning = false;
+    in_to_wind = false;
 
     mOpBoxPos = pos;
     base_course = hdg;
@@ -402,6 +420,8 @@ void FGAICarrier::bind() {
                SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLatitudeDeg));
     props->tie("controls/start-pos-long-deg",
                SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLongitudeDeg));
+    props->tie("controls/mp-control",
+        SGRawValuePointer<bool>(&MPControl));
     props->tie("velocities/speed-kts",
                 SGRawValuePointer<double>(&speed));
     props->tie("environment/surface-wind-speed-true-kts",
@@ -414,24 +434,31 @@ void FGAICarrier::bind() {
                 SGRawValuePointer<double>(&rel_wind));
     props->tie("environment/rel-wind-speed-kts",
                 SGRawValuePointer<double>(&rel_wind_speed_kts));
+    props->tie("environment/in-to-wind",
+        SGRawValuePointer<bool>(&in_to_wind));
     props->tie("controls/flols/wave-off-lights",
                 SGRawValuePointer<bool>(&wave_off_lights));
     props->tie("controls/elevators",
                 SGRawValuePointer<bool>(&elevators));
     props->tie("surface-positions/elevators-pos-norm",
                 SGRawValuePointer<double>(&pos_norm));
-    props->tie("controls/elevators-trans-time-s",
+    props->tie("controls/constants/elevators/trans-time-s",
                 SGRawValuePointer<double>(&transition_time));
-    props->tie("controls/elevators-time-constant",
+    props->tie("controls/constants/elevators/time-constant",
                 SGRawValuePointer<double>(&time_constant));
     props->tie("controls/jbd",
         SGRawValuePointer<bool>(&jbd));
     props->tie("surface-positions/jbd-pos-norm",
         SGRawValuePointer<double>(&jbd_pos_norm));
-    props->tie("controls/jbd-trans-time-s",
+    props->tie("controls/constants/jbd/trans-time-s",
         SGRawValuePointer<double>(&jbd_transition_time));
-    props->tie("controls/jbd-time-constant",
+    props->tie("controls/constants/jbd/time-constant",
         SGRawValuePointer<double>(&jbd_time_constant));
+    props->tie("controls/turn-to-recovery-hdg",
+        SGRawValuePointer<bool>(&turn_to_recovery_hdg));
+    props->tie("controls/turn-to-base-course",
+        SGRawValuePointer<bool>(&turn_to_base_course));
+
 
     props->setBoolValue("controls/flols/cut-lights", false);
     props->setBoolValue("controls/flols/wave-off-lights", false);
@@ -457,16 +484,19 @@ void FGAICarrier::unbind() {
     props->untie("environment/wind-from-true-degs");
     props->untie("environment/rel-wind-from-degs");
     props->untie("environment/rel-wind-speed-kts");
+    props->untie("environment/in-to-wind");
     props->untie("controls/flols/wave-off-lights");
     props->untie("controls/elevators");
     props->untie("surface-positions/elevators-pos-norm");
-    props->untie("controls/elevators-trans-time-secs");
-    props->untie("controls/elevators-time-constant");
+    props->untie("controls/constants/elevators/trans-time-secs");
+    props->untie("controls/constants/elevators/time-constant");
     props->untie("controls/jbd");
-    props->untie("surface-positions/jbd-pos-norm");
-    props->untie("controls/jbd-trans-time-s");
+    props->untie("surface-positions/jbd/pos-norm");
+    props->untie("controls/constants/jbd/trans-time-s");
     props->untie("controls/jbd-time-constant");
-
+    props->untie("controls/mp-control");
+    props->untie("controls/turn-to-recovery-hdg");
+    props->untie("controls/turn-to-base-course");
 }
 
 
@@ -539,18 +569,52 @@ void FGAICarrier::UpdateWind( double dt) {
 
 void FGAICarrier::TurnToLaunch(){
 
+    // calculate tgt heading
+    if (wind_speed_kts < 3){
+        tgt_heading = base_course;
+    } else {
+        tgt_heading = wind_from_deg;
+    }
+
     //calculate tgt speed
     double tgt_speed = 25 - wind_speed_kts;
     if (tgt_speed < 10)
         tgt_speed = 10;
 
     //turn the carrier
-    FGAIShip::TurnTo(wind_from_deg);
+    FGAIShip::TurnTo(tgt_heading);
     FGAIShip::AccelTo(tgt_speed);
 
 }
 
+void FGAICarrier::TurnToRecover(){
+
+    //these are the rules for adjusting heading to provide a relative wind
+    //down the angled flightdeck
+
+    if (wind_speed_kts < 3){
+        tgt_heading = base_course + 60;
+    } else if (rel_wind < -9 && rel_wind >= -180){
+        tgt_heading = wind_from_deg; 
+    } else if (rel_wind > -7 && rel_wind < 45){
+        tgt_heading = wind_from_deg + 60;
+    } else if (rel_wind >=45 && rel_wind < 180){
+        tgt_heading = wind_from_deg + 45;
+    } else 
+        tgt_heading = hdg;
+
+    SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
 
+    //calculate tgt speed
+    double tgt_speed = 26 - wind_speed_kts;
+    if (tgt_speed < 10)
+        tgt_speed = 10;
+
+    //turn the carrier
+    FGAIShip::TurnTo(tgt_heading);
+    FGAIShip::AccelTo(tgt_speed);
+
+}
 void FGAICarrier::TurnToBase(){
 
     //turn the carrier
@@ -625,9 +689,12 @@ bool FGAICarrier::OutsideBox() { //returns true if the carrier is outside operat
 
 
 bool FGAICarrier::InToWind() {
-    if ( fabs(rel_wind) < 5 )
-        return true;
+    in_to_wind = false;
 
+    if ( fabs(rel_wind) < 10 ){
+        in_to_wind = true;
+        return true;
+    }
     return false;
 }
 

diff --git a/src/AIModel/AICarrier.hxx b/src/AIModel/AICarrier.hxx
index 082e111533d181f8e1833dbf0a9b750609d1f6db..bd7bc405d578f2a8b46cbcafa37b5509f8a4d918 100644 (file)
--- a/src/AIModel/AICarrier.hxx
+++ b/src/AIModel/AICarrier.hxx
@@ -60,7 +60,9 @@ public:
     void setMinLat( double deg );
     void setMaxLong( double deg );
     void setMinLong( double deg );
+    void setMPControl( bool c );
     void TurnToLaunch();
+    void TurnToRecover();
     void TurnToBase();
     void ReturnToBox();
     bool OutsideBox();
@@ -96,6 +98,7 @@ private:
     double rel_wind_from_deg;
 
 
+
     list<string> wire_objects;        // List of wire object names
     list<string> catapult_objects;    // List of catapult object names
     list<ParkPosition> ppositions;    // List of positions where an aircraft can start.
@@ -108,6 +111,7 @@ private:
     double angle;
     int source;             // the flols light which is visible at the moment
     bool wave_off_lights;
+    bool in_to_wind;
 
     // these are for maneuvering the carrier
     SGGeod mOpBoxPos;
@@ -121,8 +125,11 @@ private:
     double base_course, base_speed;
 
     bool turn_to_launch_hdg;
+    bool turn_to_recovery_hdg;
+    bool turn_to_base_course;
     bool returning;      // set if the carrier is returning to an operating box
     bool InToWind();     // set if the carrier is in to wind
+    bool MPControl;
 
 
     SGPropertyNode_ptr _longitude_node;

diff --git a/src/AIModel/AIShip.cxx b/src/AIModel/AIShip.cxx
index c152ce36a6dd2d9c87fee6a9b912550d150f9db7..5111d9981547631548796fbc4d714b7befd24d4d 100644 (file)
--- a/src/AIModel/AIShip.cxx
+++ b/src/AIModel/AIShip.cxx
@@ -29,6 +29,8 @@
 #endif
 
 #include <math.h>
+
+#include <simgear/sg_inlines.h>
 #include <simgear/math/sg_geodesy.hxx>
 #include <simgear/timing/sg_time.hxx>
 #include <simgear/math/sg_random.h>
@@ -162,6 +164,8 @@ void FGAIShip::bind() {
         SGRawValuePointer<bool>(&_waiting));
     props->tie("submodels/serviceable",
         SGRawValuePointer<bool>(&_serviceable));
+    props->tie("controls/turn-radius-ft",
+        SGRawValuePointer<double>(&turn_radius_ft));
 }
 
 void FGAIShip::unbind() {
@@ -184,6 +188,7 @@ void FGAIShip::unbind() {
     props->untie("position/waypoint-wait-count");
     props->untie("position/waypoint-waiting");
     props->untie("submodels/serviceable");
+    props->untie("controls/turn-radius-ft");
 }
 
 void FGAIShip::update(double dt) {
@@ -269,9 +274,6 @@ void FGAIShip::Run(double dt) {
     pos.setLongitudeDeg(pos.getLongitudeDeg() + speed_east_deg_sec * dt);
 
     // adjust heading based on current _rudder angle
-
-    //cout << "turn_radius_ft " << turn_radius_ft ;
-
     if (turn_radius_ft <= 0)
         turn_radius_ft = 0; // don't allow nonsense values
 
@@ -289,8 +291,6 @@ void FGAIShip::Run(double dt) {
         // we need to allow for negative speeds
         _sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft;
 
-    //cout << " speed turn radius " << _sp_turn_radius_ft ;
-
     if (_rudder <= -0.25 || _rudder >= 0.25) {
         // adjust turn radius for _rudder angle. The equation is even more approximate.
         float a = 19;
@@ -299,19 +299,13 @@ void FGAIShip::Run(double dt) {
 
         _rd_turn_radius_ft = (a * exp(b * fabs(_rudder)) + c) * _sp_turn_radius_ft;
 
-        //cout <<" _rudder turn radius " << _rd_turn_radius_ft << endl;
-
         // calculate the angle, alpha, subtended by the arc traversed in time dt
         alpha = ((speed * 1.686 * dt) / _rd_turn_radius_ft) * SG_RADIANS_TO_DEGREES;
 
         // make sure that alpha is applied in the right direction
         hdg += alpha * sign(_rudder);
 
-        if (hdg > 360.0)
-            hdg -= 360.0;
-
-        if (hdg < 0.0)
-            hdg += 360.0;
+        SG_NORMALIZE_RANGE(hdg, 0.0, 360.0);
 
         //adjust roll for rudder angle and speed. Another bit of voodoo
         raw_roll = _roll_factor * speed * _rudder;