116 lines
2.9 KiB
C++
116 lines
2.9 KiB
C++
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/*
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* Copyright (C) 2019 James Turner
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*
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* This file is part of the program FlightGear.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "TestPilot.hxx"
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#include <simgear/math/SGGeodesy.hxx>
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#include <simgear/props/props.hxx>
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#include <simgear/math/SGGeod.hxx>
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#include <Main/globals.hxx>
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namespace FGTestApi {
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TestPilot::TestPilot(SGPropertyNode_ptr props) :
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_propRoot(props)
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{
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if (!_propRoot) {
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// use default properties
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_propRoot = globals->get_props();
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}
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globals->add_subsystem("flight", this, SGSubsystemMgr::FDM);
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}
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TestPilot::~TestPilot()
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{
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}
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void TestPilot::resetAtPosition(const SGGeod& pos)
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{
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_turnActive = false;
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setPosition(pos);
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}
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void TestPilot::init()
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{
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}
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void TestPilot::update(double dt)
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{
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updateValues(dt);
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}
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void TestPilot::setSpeedKts(double knots)
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{
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_speedKnots = knots;
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}
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void TestPilot::setCourseTrue(double deg)
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{
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_trueCourseDeg = deg;
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}
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void TestPilot::turnToCourse(double deg)
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{
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_turnActive = true;
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_targetCourseDeg = deg;
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}
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void TestPilot::updateValues(double dt)
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{
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if (_turnActive) {
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if (fabs(_targetCourseDeg - _trueCourseDeg) < 0.1) {
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_trueCourseDeg = _targetCourseDeg;
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_turnActive = false;
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} else {
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// standard 2-minute turn, 180-deg min, thus 3-degrees per second
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double turnDeg = 3.0 * dt;
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double errorDeg = _targetCourseDeg - _trueCourseDeg;
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if (fabs(errorDeg) > 180.0) {
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errorDeg = 360.0 - errorDeg;
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}
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turnDeg = copysign(turnDeg, errorDeg);
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// simple integral
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_trueCourseDeg += std::min(turnDeg, errorDeg);
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}
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}
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SGGeod currentPos = globals->get_aircraft_position();
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double d = _speedKnots * SG_KT_TO_MPS * dt;
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SGGeod newPos = SGGeodesy::direct(currentPos, _trueCourseDeg, d);
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setPosition(newPos);
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}
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void TestPilot::setPosition(const SGGeod& pos)
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{
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_propRoot->setDoubleValue("position/latitude-deg", pos.getLatitudeDeg());
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_propRoot->setDoubleValue("position/longitude-deg", pos.getLongitudeDeg());
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_propRoot->setDoubleValue("position/altitude-ft", pos.getElevationFt());
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_propRoot->setDoubleValue("orientation/heading-deg", _trueCourseDeg);
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_propRoot->setDoubleValue("velocities/speed-knots", _speedKnots);
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}
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} // of namespace
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