fly/flightgear
1
0
Fork 0
Code Activity

Several Bugfixes:

Browse source 
* Landing AIAircraft now land properly!!!
 * Fixed problems with takeoff scheduling.
 * Untangled several vertical speed calculation algorithms.
 * No more bent-over-backwards and jump-in-the-air AI aircraft initializations.
 * Fixed intermixed target speed and target altitude during climb phase.
 * Implemented beginnings of a "line up and wait" procedure.
 * Tried to use actual runway elevation for calculating the decent profile.
This commit is contained in:
Durk Talsma 2011-10-09 00:25:04 +02:00
parent ef995913e1
commit 02712dc1ad
10 changed files with 313 additions and 101 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

132
src/AIModel/AIAircraft.cxx
View file

@ -1,4 +1,4 @@
// // FGAIAircraft - FGAIBase-derived class creates an AI airplane
// FGAIAircraft - FGAIBase-derived class creates an AI airplane
//
// Written by David Culp, started October 2003.
//
@ -47,11 +47,10 @@ using std::string;
#include "AIAircraft.hxx"
#include "performancedata.hxx"
#include "performancedb.hxx"
#include <signal.h>
//#include <Airports/trafficcontroller.hxx>
static string tempReg;
FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
/* HOT must be disabled for AI Aircraft,
* otherwise traffic detection isn't working as expected.*/
@ -191,6 +190,7 @@ void FGAIAircraft::checkVisibility()
void FGAIAircraft::AccelTo(double speed) {
tgt_speed = speed;
assertSpeed(speed);
if (!isStationary())
_needsGroundElevation = true;
}
@ -287,6 +287,7 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
if (! leadPointReached(curr)) {
controlHeading(curr);
controlSpeed(curr, next);
/*
if (speed < 0) {
cerr << getCallSign()
@ -350,13 +351,18 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
fp->setLeadDistance(tgt_speed, tgt_heading, curr, next);
}
if (!(prev->getOn_ground())) // only update the tgt altitude from flightplan if not on the ground
{
tgt_altitude_ft = prev->getAltitude();
if (curr->getCrossat() > -1000.0) {
use_perf_vs = false;
tgt_vs = (curr->getCrossat() - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
/ 6076.0 / speed*60.0);
// Distance to go in meters
double vert_dist_ft = curr->getCrossat() - altitude_ft;
double err_dist = prev->getCrossat() - altitude_ft;
double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
checkTcas();
tgt_altitude_ft = curr->getCrossat();
} else {
@ -369,6 +375,49 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
}
}
double FGAIAircraft::calcVerticalSpeed(double vert_ft, double dist_m, double speed, double err)
{
// err is negative when we passed too high
double vert_m = vert_ft * SG_FEET_TO_METER;
double err_m = err * SG_FEET_TO_METER;
//double angle = atan2(vert_m, dist_m);
double speedMs = (speed * SG_NM_TO_METER) / 3600;
//double vs = cos(angle) * speedMs; // Now in m/s
double vs = 0;
//cerr << "Error term = " << err_m << endl;
if (dist_m) {
vs = ((vert_m) / dist_m) * speedMs;
}
// Convert to feet per minute
vs *= (SG_METER_TO_FEET * 60);
//if (getCallSign() == "LUFTHANSA2002")
//if (fabs(vs) > 100000) {
// if (getCallSign() == "LUFTHANSA2057") {
// cerr << getCallSign() << " " << fp->getPreviousWaypoint()->getName() << ". Alt = " << altitude_ft << " vertical dist = " << vert_m << " horiz dist = " << dist_m << " << angle = " << angle * SG_RADIANS_TO_DEGREES << " vs " << vs << " horizontal speed " << speed << "Previous crossAT " << fp->getPreviousWaypoint()->getCrossat() << endl;
// //= (curr->getCrossat() - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
// // / 6076.0 / speed*60.0);
// //raise(SIGSEGV);
// }
return vs;
}
void FGAIAircraft::assertSpeed(double speed)
{
if ((speed < -50) || (speed > 1000)) {
cerr << getCallSign() << " "
<< "Previous waypoint " << fp->getPreviousWaypoint()->getName() << " "
<< "Departure airport " << trafficRef->getDepartureAirport() << " "
<< "Leg " << fp->getLeg() << " "
<< "target_speed << " << tgt_speed << " "
<< "speedFraction << " << speedFraction << " "
<< "Currecnt speed << " << speed << " "
<< endl;
raise(SIGSEGV);
}
}
void FGAIAircraft::checkTcas(void)
{
if (props->getIntValue("tcas/threat-level",0)==3)
@ -497,12 +546,16 @@ void FGAIAircraft::getGroundElev(double dt) {
void FGAIAircraft::doGroundAltitude() {
if ((fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)||
(isStationary()))
altitude_ft = (tgt_altitude_ft + groundOffset);
else
altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
tgt_vs = 0;
if ((fp->getLeg() == 7) && ((altitude_ft - tgt_altitude_ft) > 5)) {
tgt_vs = -500;
} else {
if ((fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)||
(isStationary()))
altitude_ft = (tgt_altitude_ft + groundOffset);
else
altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
tgt_vs = 0;
}
}
@ -527,6 +580,7 @@ void FGAIAircraft::announcePositionToController() {
case 3: //Take off tower controller
if (trafficRef->getDepartureAirport()->getDynamics()) {
controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
towerController = 0;
} else {
cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
}
@ -643,7 +697,6 @@ void FGAIAircraft::handleFirstWaypoint() {
FGAIWaypoint* next = 0;// the next plus 1
spinCounter = 0;
tempReg = "";
//TODO fp should handle this
fp->IncrementWaypoint(eraseWaypoints);
@ -676,9 +729,13 @@ void FGAIAircraft::handleFirstWaypoint() {
if (curr->getCrossat() > -1000.0) //use a calculated descent/climb rate
{
use_perf_vs = false;
tgt_vs = (curr->getCrossat() - prev->getAltitude())
/ (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
/ 6076.0 / prev->getSpeed()*60.0);
//tgt_vs = (curr->getCrossat() - prev->getAltitude())
// / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
// / 6076.0 / prev->getSpeed()*60.0);
double vert_dist_ft = curr->getCrossat() - altitude_ft;
double err_dist = prev->getCrossat() - altitude_ft;
double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
checkTcas();
tgt_altitude_ft = curr->getCrossat();
} else {
@ -730,6 +787,7 @@ bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) {
if (tgt_speed > -0.5) {
tgt_speed = -0.5;
}
assertSpeed(tgt_speed);
if (fp->getPreviousWaypoint()->getSpeed() < tgt_speed) {
fp->getPreviousWaypoint()->setSpeed(tgt_speed);
}
@ -755,7 +813,7 @@ bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) {
minBearing = 10;
}
if ((minBearing < 360.0) && (minBearing > 10.0)) {
speedFraction = cos(minBearing *SG_DEGREES_TO_RADIANS);
speedFraction = 0.5 + (cos(minBearing *SG_DEGREES_TO_RADIANS) * 0.5);
} else {
speedFraction = 1.0;
}
@ -770,6 +828,7 @@ bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) {
}
if ((dist_to_go < lead_dist) || (bearing > (minBearing * 1.1))) {
minBearing = 360;
speedFraction = 1.0;
return true;
} else {
return false;
@ -816,9 +875,22 @@ bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) {
}
if (prev->contains(string("DepartureHold"))) {
//cerr << "Passing point DepartureHold" << endl;
scheduleForATCTowerDepartureControl(2);
scheduleForATCTowerDepartureControl(1);
}
if (prev->contains(string("Accel"))) {
takeOffStatus = 3;
}
/*if (prev->contains(string("final"))) {
cerr << getCallSign() << " "
<< fp->getPreviousWaypoint()->getName()
<< ". Alt = " << altitude_ft
<< " vs " << vs
<< " horizontal speed " << speed
<< "Previous crossAT " << fp->getPreviousWaypoint()->getCrossat()
<< "Airport elevation" << getTrafficRef()->getArrivalAirport()->getElevation()
<< "Altitude difference " << (altitude_ft - fp->getPreviousWaypoint()->getCrossat()) << endl;
}*/
// This is the last taxi waypoint, and marks the the end of the flight plan
// so, the schedule should update and wait for the next departure time.
if (prev->contains("END")) {
@ -877,6 +949,7 @@ void FGAIAircraft::controlSpeed(FGAIWaypoint* curr, FGAIWaypoint* next) {
if (fabs(speed_diff) > 10) {
prevSpeed = speed;
assertSpeed(speed);
if (next) {
fp->setLeadDistance(speed, tgt_heading, curr, next);
}
@ -1005,13 +1078,14 @@ void FGAIAircraft::updateHeading() {
// << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << endl;
//if (headingDiff > 60) {
groundTargetSpeed = tgt_speed; // * cos(headingDiff * SG_DEGREES_TO_RADIANS);
assertSpeed(groundTargetSpeed);
//groundTargetSpeed = tgt_speed - tgt_speed * (headingDiff/180);
//} else {
// groundTargetSpeed = tgt_speed;
//}
if (sign(groundTargetSpeed) != sign(tgt_speed))
groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
assertSpeed(groundTargetSpeed);
// Only update the target values when we're not moving because otherwise we might introduce an enormous target change rate while waiting a the gate, or holding.
if (speed != 0) {
if (headingDiff > 30.0) {
@ -1112,7 +1186,12 @@ void FGAIAircraft::updateVerticalSpeedTarget() {
tgt_vs = -_performance->descentRate();
}
} else {
double max_vs = 4*(tgt_altitude_ft - altitude_ft);
double vert_dist_ft = fp->getCurrentWaypoint()->getCrossat() - altitude_ft;
double err_dist = 0; //prev->getCrossat() - altitude_ft;
double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), fp->getCurrentWaypoint());
tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
//cerr << "Target vs before : " << tgt_vs;
/* double max_vs = 10*(tgt_altitude_ft - altitude_ft);
double min_vs = 100;
if (tgt_altitude_ft < altitude_ft)
min_vs = -100.0;
@ -1121,7 +1200,8 @@ void FGAIAircraft::updateVerticalSpeedTarget() {
tgt_vs = max_vs;
if (fabs(tgt_vs) < fabs(min_vs))
tgt_vs = min_vs;
tgt_vs = min_vs;*/
//cerr << "target vs : after " << tgt_vs << endl;
}
} //else
// tgt_vs = 0.0;
@ -1168,6 +1248,14 @@ void FGAIAircraft::handleATCRequests() {
altitude_ft, dt);
processATC(controller->getInstruction(getID()));
}
if (towerController) {
towerController->updateAircraftInformation(getID(),
pos.getLatitudeDeg(),
pos.getLongitudeDeg(),
hdg,
speed,
altitude_ft, dt);
}
}
void FGAIAircraft::updateActualState() {
@ -1179,7 +1267,7 @@ void FGAIAircraft::updateActualState() {
speed = _performance->actualSpeed(this, groundTargetSpeed, dt);
else
speed = _performance->actualSpeed(this, (tgt_speed *speedFraction), dt);
assertSpeed(speed);
updateHeading();
roll = _performance->actualBankAngle(this, tgt_roll, dt);

3
src/AIModel/AIAircraft.hxx
View file

@ -103,6 +103,7 @@ public:
int getTakeOffStatus() { return takeOffStatus; };
void checkTcas();
double calcVerticalSpeed(double vert_ft, double dist_m, double speed, double error);
FGATCController * getATCController() { return controller; };
@ -181,6 +182,8 @@ private:
time_t timeElapsed;
PerformanceData* _performance; // the performance data for this aircraft
void assertSpeed(double speed);
};

10
src/AIModel/AIFlightPlan.cxx
View file

@ -223,12 +223,12 @@ FGAIFlightPlan::FGAIFlightPlan(FGAIAircraft *ac,
time_t timeDiff = now-start;
leg = 1;
if ((timeDiff > 60) && (timeDiff < 1200))
if ((timeDiff > 60) && (timeDiff < 1500))
leg = 2;
else if ((timeDiff >= 1200) && (timeDiff < 1500)) {
leg = 3;
ac->setTakeOffStatus(2);
}
//else if ((timeDiff >= 1200) && (timeDiff < 1500)) {
//leg = 3;
//ac->setTakeOffStatus(2);
//}
else if ((timeDiff >= 1500) && (timeDiff < 2000))
leg = 4;
else if (timeDiff >= 2000)

85
src/AIModel/AIFlightPlanCreate.cxx
View file

@ -316,6 +316,9 @@ bool FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight,
//cerr << "Setting departurehold point: " << endl;
wpt->setName( wpt->getName() + string("DepartureHold"));
}
if (taxiRoute->nodesLeft() == 0) {
wpt->setName(wpt->getName() + string("Accel"));
}
waypoints.push_back(wpt);
}
// Acceleration point, 105 meters into the runway,
@ -530,7 +533,7 @@ bool FGAIFlightPlan::createClimb(FGAIAircraft * ac, bool firstFlight,
assert( rwy != NULL );
SGGeod climb1 = rwy->pointOnCenterline(10 * SG_NM_TO_METER);
wpt = createInAir(ac, "10000ft climb", climb1, vClimb, 10000);
wpt = createInAir(ac, "10000ft climb", climb1, 10000, vClimb);
wpt->setGear_down(true);
wpt->setFlaps_down(true);
waypoints.push_back(wpt);
@ -607,7 +610,17 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
}
double dAlt = alt - (apt->getElevation() + 2000);
double dAlt = 0; // = alt - (apt->getElevation() + 2000);
FGTaxiNode * tn = 0;
if (apt->getDynamics()->getGroundNetwork()) {
int node = apt->getDynamics()->getGroundNetwork()->findNearestNode(refPoint);
tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
}
if (tn) {
dAlt = alt - ((tn->getElevationFt(apt->getElevation())) + 2000);
} else {
dAlt = alt - (apt->getElevation() + 2000);
}
double nPoints = 100;
@ -769,10 +782,19 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
}
//cerr << "creating circle between " << startval << " and " << endval << " using " << increment << endl;
//FGTaxiNode * tn = apt->getDynamics()->getGroundNetwork()->findNearestNode(initialTarget);
double currentAltitude = 0;
if (tn) {
currentAltitude = (tn->getElevationFt(apt->getElevation())) + 2000;
} else {
currentAltitude = apt->getElevation() + 2000;
}
double trackLength = (2 * M_PI * initialTurnRadius) / 360.0;
for (int i = startval; i != endval; i += increment) {
SGGeod result;
double currentAltitude = apt->getElevation() + 2000;
//double currentAltitude = apt->getElevation() + 2000;
SGGeodesy::direct(secondaryTarget, i,
initialTurnRadius, result, dummyAz2);
snprintf(buffer, 16, "turn%03d", i);
@ -785,18 +807,20 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
}
// The approach leg should bring the aircraft to approximately 4-6 out, after which the landing phase should take over.
// The approach leg should bring the aircraft to approximately 4-6 nm out, after which the landing phase should take over.
//cerr << "Phase 3: Approach" << endl;
distanceOut -= distanceCovered;
double touchDownPoint = 0; //(rwy->lengthM() * 0.1);
for (int i = 1; i < nPoints; i++) {
SGGeod result;
double currentDist = i * (distanceOut / nPoints);
double currentAltitude =
apt->getElevation() + 2000 - (i * 2000 / nPoints);
//double currentAltitude =
// apt->getElevation() + 2000 - (i * 2000 / (nPoints-1));
double alt = currentAltitude - (i * 2000 / (nPoints - 1));
snprintf(buffer, 16, "final%03d", i);
result = rwy->pointOnCenterline((-distanceOut) + currentDist);
wpt = createInAir(ac, buffer, result, currentAltitude, vApproach);
wpt->setCrossat(currentAltitude);
result = rwy->pointOnCenterline((-distanceOut) + currentDist + touchDownPoint);
wpt = createInAir(ac, buffer, result, alt, vApproach);
wpt->setCrossat(alt);
wpt->setTrackLength((distanceOut / nPoints));
// account for the extra distance due to an extended downwind leg
if (i == 1) {
@ -804,7 +828,9 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
}
//cerr << "Track Length : " << wpt->trackLength;
waypoints.push_back(wpt);
//cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
//if (apt->ident() == fgGetString("/sim/presets/airport-id")) {
// cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << " " << apt->getElevation() << " " << distanceOut << endl;
//}
}
//cerr << "Done" << endl;
@ -837,6 +863,7 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
ac->resetPositionFromFlightPlan();
}
waypoints[1]->setName( (waypoints[1]->getName() + string("legend")));
waypoints.back()->setName(waypoints.back()->getName() + "LandingThreshold");
return true;
}
@ -845,6 +872,7 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
* Create a flight path from the "permision to land" point (currently
hardcoded at 5000 meters from the threshold) to the threshold, at
a standard glide slope angle of 3 degrees.
Position : 50.0354 8.52592 384 364 11112
******************************************************************/
bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt,
const string & fltType)
@ -860,16 +888,41 @@ bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt,
FGAIWaypoint *wpt;
double aptElev = apt->getElevation();
double currElev = 0;
char buffer[12];
FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
assert( rwy != NULL );
SGGeod refPoint = rwy->pointOnCenterline(0);
FGTaxiNode *tn = 0;
if (apt->getDynamics()->getGroundNetwork()) {
int node = apt->getDynamics()->getGroundNetwork()->findNearestNode(refPoint);
tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
}
if (tn) {
currElev = tn->getElevationFt(apt->getElevation());
} else {
currElev = apt->getElevation();
}
SGGeod coord;
char buffer[12];
/*double distanceOut = rwy->lengthM() * .1;
double nPoints = 20;
for (int i = 1; i < nPoints; i++) {
snprintf(buffer, 12, "flare%d", i);
double currentDist = i * (distanceOut / nPoints);
double currentAltitude = apt->getElevation() + 20 - (i * 20 / nPoints);
coord = rwy->pointOnCenterline((currentDist * (i / nPoints)));
wpt = createInAir(ac, buffer, coord, currentAltitude, (vTouchdown));
}*/
for (int i = 1; i < 10; i++) {
snprintf(buffer, 12, "wpt%d", i);
FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
assert( rwy != NULL );
coord = rwy->pointOnCenterline(rwy->lengthM() * (i / 10.0));
wpt = createOnGround(ac, buffer, coord, aptElev, (vTouchdown / i));
coord = rwy->pointOnCenterline((rwy->lengthM() * 0.9) * (i / 10.0));
wpt = createOnGround(ac, buffer, coord, currElev, (vTouchdown / i));
wpt->setCrossat(apt->getElevation());
waypoints.push_back(wpt);
}

2
src/AIModel/performancedata.cxx
View file

@ -130,7 +130,7 @@ double PerformanceData::actualVerticalSpeed(FGAIAircraft* ac, double tgt_vs, dou
double vs = ac->getVerticalSpeed();
double vs_diff = tgt_vs - vs;
if (fabs(vs_diff) > 10.0) {
if (fabs(vs_diff) > .001) {
if (vs_diff > 0.0) {
vs += _climbRate * dt / 3.0; //TODO avoid hardcoded 3 secs to attain climb rate from level flight

92
src/ATC/trafficcontrol.cxx
View file

@ -140,6 +140,27 @@ time_t ActiveRunway::requestTimeSlot(time_t eta)
return newEta;
}
void ActiveRunway::printDepartureCue()
{
cout << "Departure cue for " << rwy << ": " << endl;
for (AircraftVecIterator atc = departureCue.begin(); atc != departureCue.end(); atc++) {
cout << " " << (*atc)->getCallSign() << " " << (*atc)->getTakeOffStatus();
cout << " " << (*atc)->_getLatitude() << " " << (*atc)->_getLongitude() << (*atc)-> getSpeed() << " " << (*atc)->getAltitude() << endl;
}
}
FGAIAircraft* ActiveRunway::getFirstOfStatus(int stat)
{
for (AircraftVecIterator atc =departureCue.begin(); atc != departureCue.end(); atc++) {
if ((*atc)->getTakeOffStatus() == stat)
return (*atc);
}
return 0;
}
/***************************************************************************
* FGTrafficRecord
**************************************************************************/
@ -165,7 +186,7 @@ void FGTrafficRecord::setPositionAndIntentions(int pos,
intVecIterator i = intentions.begin();
if ((*i) != pos) {
SG_LOG(SG_GENERAL, SG_ALERT,
"Error in FGTrafficRecord::setPositionAndIntentions");
"Error in FGTrafficRecord::setPositionAndIntentions at " << SG_ORIGIN);
//cerr << "Pos : " << pos << " Curr " << *(intentions.begin()) << endl;
for (intVecIterator i = intentions.begin();
i != intentions.end(); i++) {
@ -845,7 +866,7 @@ void FGTowerController::updateAircraftInformation(int id, double lat, double lon
// // update position of the current aircraft
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: updating aircraft without traffic record");
"AI error: updating aircraft without traffic record at " << SG_ORIGIN);
} else {
i->setPositionAndHeading(lat, lon, heading, speed, alt);
current = i;
@ -855,7 +876,15 @@ void FGTowerController::updateAircraftInformation(int id, double lat, double lon
// see if we already have a clearance record for the currently active runway
// NOTE: dd. 2011-08-07: Because the active runway has been constructed in the announcePosition function, we may safely assume that is
// already exists here. So, we can simplify the current code.
ActiveRunwayVecIterator rwy = activeRunways.begin();
if (parent->getId() == fgGetString("/sim/presets/airport-id")) {
//for (rwy = activeRunways.begin(); rwy != activeRunways.end(); rwy++) {
// rwy->printDepartureCue();
//}
}
rwy = activeRunways.begin();
while (rwy != activeRunways.end()) {
if (rwy->getRunwayName() == current->getRunway()) {
break;
@ -878,22 +907,29 @@ void FGTowerController::updateAircraftInformation(int id, double lat, double lon
}
} */
// only bother with aircraft that have a takeoff status of 2, since those are essentially under tower control
FGAIAircraft* ac= rwy->getFirstAircraftInDepartureCue();
if (ac->getTakeOffStatus() == 1) {
ac->setTakeOffStatus(2);
}
if (current->getAircraft()->getTakeOffStatus() == 2) {
current -> setHoldPosition(false);
} else {
current->setHoldPosition(true);
int clearanceId = rwy->getCleared();
if (clearanceId) {
if (id == clearanceId) {
current->setHoldPosition(false);
}
} else {
if (current->getAircraft() == rwy->getFirstAircraftInDepartureCue()) {
rwy->setCleared(id);
}
}
int clearanceId = rwy->getCleared();
if (clearanceId) {
if (id == clearanceId) {
current->setHoldPosition(false);
}
} else {
if (current->getAircraft() == rwy->getFirstAircraftInDepartureCue()) {
rwy->setCleared(id);
FGAIAircraft *ac = rwy->getFirstOfStatus(1);
if (ac)
ac->setTakeOffStatus(2);
}
}
}
}
void FGTowerController::signOff(int id)
@ -925,12 +961,12 @@ void FGTowerController::signOff(int id)
rwy->updateDepartureCue();
} else {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: Attempting to erase non-existing runway clearance record in FGTowerController::signoff");
"AI error: Attempting to erase non-existing runway clearance record in FGTowerController::signoff at " << SG_ORIGIN);
}
}
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: Aircraft without traffic record is signing off from tower");
"AI error: Aircraft without traffic record is signing off from tower at " << SG_ORIGIN);
} else {
i->getAircraft()->resetTakeOffStatus();
i = activeTraffic.erase(i);
@ -960,7 +996,7 @@ bool FGTowerController::hasInstruction(int id)
}
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: checking ATC instruction for aircraft without traffic record");
"AI error: checking ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
} else {
return i->hasInstruction();
}
@ -984,7 +1020,7 @@ FGATCInstruction FGTowerController::getInstruction(int id)
}
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: requesting ATC instruction for aircraft without traffic record");
"AI error: requesting ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
} else {
return i->getInstruction();
}
@ -1079,7 +1115,7 @@ bool FGStartupController::hasInstruction(int id)
}
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: checking ATC instruction for aircraft without traffic record");
"AI error: checking ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
} else {
return i->hasInstruction();
}
@ -1103,7 +1139,7 @@ FGATCInstruction FGStartupController::getInstruction(int id)
}
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: requesting ATC instruction for aircraft without traffic record");
"AI error: requesting ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
} else {
return i->getInstruction();
}
@ -1126,7 +1162,7 @@ void FGStartupController::signOff(int id)
}
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: Aircraft without traffic record is signing off from tower");
"AI error: Aircraft without traffic record is signing off from tower at " << SG_ORIGIN);
} else {
//cerr << i->getAircraft()->getCallSign() << " signing off from startupcontroller" << endl;
i = activeTraffic.erase(i);
@ -1187,7 +1223,7 @@ void FGStartupController::updateAircraftInformation(int id, double lat, double l
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: updating aircraft without traffic record");
"AI error: updating aircraft without traffic record at " << SG_ORIGIN);
} else {
i->setPositionAndHeading(lat, lon, heading, speed, alt);
current = i;
@ -1313,7 +1349,7 @@ void FGStartupController::render(bool visible)
} else {
elevationStart = ((i)->getAircraft()->_getAltitude() * SG_FEET_TO_METER);
}
double elevationEnd = segment->getEnd()->getElevation();
double elevationEnd = segment->getEnd()->getElevationM(parent->getElevation()*SG_FEET_TO_METER);
if ((elevationEnd == 0) || (elevationEnd == parent->getElevation())) {
SGGeod center2 = end;
center2.setElevationM(SG_MAX_ELEVATION_M);
@ -1375,8 +1411,8 @@ void FGStartupController::render(bool visible)
obj_trans->setDataVariance(osg::Object::STATIC);
FGTaxiSegment *segment = parent->getGroundNetwork()->findSegment(k);
double elevationStart = segment->getStart()->getElevation();
double elevationEnd = segment->getEnd ()->getElevation();
double elevationStart = segment->getStart()->getElevationM(parent->getElevation()*SG_FEET_TO_METER);
double elevationEnd = segment->getEnd ()->getElevationM(parent->getElevation()*SG_FEET_TO_METER);
if ((elevationStart == 0) || (elevationStart == parent->getElevation())) {
SGGeod center2 = segment->getStart()->getGeod();
center2.setElevationM(SG_MAX_ELEVATION_M);
@ -1529,7 +1565,7 @@ void FGApproachController::updateAircraftInformation(int id, double lat, double
// // update position of the current aircraft
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: updating aircraft without traffic record");
"AI error: updating aircraft without traffic record at " << SG_ORIGIN);
} else {
i->setPositionAndHeading(lat, lon, heading, speed, alt);
current = i;
@ -1577,7 +1613,7 @@ void FGApproachController::signOff(int id)
}
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: Aircraft without traffic record is signing off from approach");
"AI error: Aircraft without traffic record is signing off from approach at " << SG_ORIGIN);
} else {
i = activeTraffic.erase(i);
}
@ -1606,7 +1642,7 @@ bool FGApproachController::hasInstruction(int id)
}
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: checking ATC instruction for aircraft without traffic record");
"AI error: checking ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
} else {
return i->hasInstruction();
}
@ -1630,7 +1666,7 @@ FGATCInstruction FGApproachController::getInstruction(int id)
}
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: requesting ATC instruction for aircraft without traffic record");
"AI error: requesting ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
} else {
return i->getInstruction();
}

2
src/ATC/trafficcontrol.hxx
View file

@ -372,9 +372,11 @@ public:
FGAIAircraft* getFirstAircraftInDepartureCue() {
return departureCue.size() ? *(departureCue.begin()) : NULL;
};
FGAIAircraft* getFirstOfStatus(int stat);
void updateDepartureCue() {
departureCue.erase(departureCue.begin());
}
void printDepartureCue();
};
typedef vector<ActiveRunway> ActiveRunwayVec;

35
src/Airports/gnnode.cxx
View file

@ -3,6 +3,11 @@
#include <iostream>
#include <algorithm>
#include <osg/Geode>
#include <Main/globals.hxx>
#include <Scenery/scenery.hxx>
using std::sort;
/*****************************************************************************
@ -68,12 +73,26 @@ void FGTaxiNode::setLongitude(const string& val)
geod.setLongitudeDeg(processPosition(val));
}
//void FGTaxiNode::sortEndSegments(bool byLength)
//{
// if (byLength)
// sort(next.begin(), next.end(), sortByLength);
// else
// sort(next.begin(), next.end(), sortByHeadingDiff);
//}
double FGTaxiNode::getElevationFt(double refelev)
{
double elevF = geod.getElevationFt();
double elevationEnd = 0;
if ((elevF == 0) || (elevF == refelev)) {
SGGeod center2 = geod;
FGScenery * local_scenery = globals->get_scenery();
center2.setElevationM(SG_MAX_ELEVATION_M);
if (local_scenery->get_elevation_m( center2, elevationEnd, NULL )) {
geod.setElevationM(elevationEnd);
}
}
//cerr << "Returning elevation : " << geod.getElevationM() << ". Ref elev (feet) = " << refelev << endl;
return geod.getElevationFt();
}
double FGTaxiNode::getElevationM(double refelev)
{
double refelevFt = refelev * SG_METER_TO_FEET;
double retval = getElevationFt(refelevFt);
//cerr << "Returning elevation : " << geod.getElevationM() << ". Ref elev (meters) = " << refelev << endl;
return geod.getElevationM();
}

3
src/Airports/gnnode.hxx
View file

@ -101,7 +101,8 @@ FGTaxiNode &operator =(const FGTaxiNode &other)
double getPathScore() { return pathScore; };
double getLatitude() { return geod.getLatitudeDeg();};
double getLongitude(){ return geod.getLongitudeDeg();};
double getElevation() { return geod.getElevationM();};
double getElevationM (double refelev=0);
double getElevationFt(double refelev=0);
const SGGeod& getGeod() const { return geod; }

50
src/Airports/groundnetwork.cxx
View file

@ -252,7 +252,7 @@ FGGroundNetwork::~FGGroundNetwork()
node != nodes.end(); node++) {
if (saveData) {
cachefile << (*node)->getIndex () << " "
<< (*node)->getElevation () << " "
<< (*node)->getElevationM (parent->getElevation()*SG_FEET_TO_METER) << " "
<< endl;
}
delete(*node);
@ -296,7 +296,7 @@ void FGGroundNetwork::saveElevationCache() {
node != nodes.end(); node++) {
if (saveData) {
cachefile << (*node)->getIndex () << " "
<< (*node)->getElevation () << " "
<< (*node)->getElevationM (parent->getElevation()*SG_FEET_TO_METER) << " "
<< endl;
}
}
@ -323,7 +323,7 @@ void FGGroundNetwork::addNodes(FGParkingVec * parkings)
n.setIndex(i->getIndex());
n.setLatitude(i->getLatitude());
n.setLongitude(i->getLongitude());
n.setElevation(parent->getElevation());
n.setElevation(parent->getElevation()*SG_FEET_TO_METER);
nodes.push_back(new FGTaxiNode(n));
i++;
@ -653,7 +653,7 @@ void FGGroundNetwork::signOff(int id)
}
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: Aircraft without traffic record is signing off");
"AI error: Aircraft without traffic record is signing off at " << SG_ORIGIN);
} else {
i = activeTraffic.erase(i);
}
@ -733,7 +733,7 @@ void FGGroundNetwork::updateAircraftInformation(int id, double lat, double lon,
// update position of the current aircraft
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: updating aircraft without traffic record");
"AI error: updating aircraft without traffic record at " << SG_ORIGIN);
} else {
i->setPositionAndHeading(lat, lon, heading, speed, alt);
current = i;
@ -818,7 +818,7 @@ void FGGroundNetwork::checkSpeedAdjustment(int id, double lat,
}
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkSpeedAdjustment");
"AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkSpeedAdjustment at " << SG_ORIGIN);
}
current = i;
//closest = current;
@ -910,12 +910,13 @@ void FGGroundNetwork::checkSpeedAdjustment(int id, double lat,
current->setSpeedAdjustment(closest->getSpeed() *
(mindist / 100));
needBraking = true;
if (
closest->getAircraft()->getTakeOffStatus() &&
(current->getAircraft()->getTrafficRef()->getDepartureAirport() == closest->getAircraft()->getTrafficRef()->getDepartureAirport()) &&
(current->getAircraft()->GetFlightPlan()->getRunway() == closest->getAircraft()->GetFlightPlan()->getRunway())
)
current->getAircraft()->scheduleForATCTowerDepartureControl(1);
// if (
// closest->getAircraft()->getTakeOffStatus() &&
// (current->getAircraft()->getTrafficRef()->getDepartureAirport() == closest->getAircraft()->getTrafficRef()->getDepartureAirport()) &&
// (current->getAircraft()->GetFlightPlan()->getRunway() == closest->getAircraft()->GetFlightPlan()->getRunway())
// )
// current->getAircraft()->scheduleForATCTowerDepartureControl(1);
} else {
current->setSpeedAdjustment(0); // This can only happen when the user aircraft is the one closest
}
@ -962,9 +963,18 @@ void FGGroundNetwork::checkHoldPosition(int id, double lat,
}
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkHoldPosition");
"AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkHoldPosition at " << SG_ORIGIN);
}
current = i;
//
if (current->getAircraft()->getTakeOffStatus() == 1) {
current->setHoldPosition(true);
return;
}
if (current->getAircraft()->getTakeOffStatus() == 2) {
current->setHoldPosition(false);
return;
}
bool origStatus = current->hasHoldPosition();
current->setHoldPosition(false);
SGGeod curr(SGGeod::fromDegM(lon, lat, alt));
@ -1154,7 +1164,7 @@ bool FGGroundNetwork::checkForCircularWaits(int id)
}
if (i == activeTraffic.end() || (trafficSize == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkForCircularWaits");
"AI error: Trying to access non-existing aircraft in FGGroundNetwork::checkForCircularWaits at " << SG_ORIGIN);
}
current = i;
@ -1246,7 +1256,7 @@ bool FGGroundNetwork::hasInstruction(int id)
}
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: checking ATC instruction for aircraft without traffic record");
"AI error: checking ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
} else {
return i->hasInstruction();
}
@ -1269,7 +1279,7 @@ FGATCInstruction FGGroundNetwork::getInstruction(int id)
}
if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AI error: requesting ATC instruction for aircraft without traffic record");
"AI error: requesting ATC instruction for aircraft without traffic record at " << SG_ORIGIN);
} else {
return i->getInstruction();
}
@ -1345,7 +1355,7 @@ void FGGroundNetwork::render(bool visible)
} else {
elevationStart = ((i)->getAircraft()->_getAltitude());
}
double elevationEnd = segments[pos]->getEnd()->getElevation();
double elevationEnd = segments[pos]->getEnd()->getElevationM(parent->getElevation()*SG_FEET_TO_METER);
//cerr << "Using elevation " << elevationEnd << endl;
if ((elevationEnd == 0) || (elevationEnd = parent->getElevation())) {
@ -1406,8 +1416,8 @@ void FGGroundNetwork::render(bool visible)
obj_trans->setDataVariance(osg::Object::STATIC);
// Experimental: Calculate slope here, based on length, and the individual elevations
double elevationStart = segments[k]->getStart()->getElevation();
double elevationEnd = segments[k]->getEnd ()->getElevation();
double elevationStart = segments[k]->getStart()->getElevationM(parent->getElevation()*SG_FEET_TO_METER);
double elevationEnd = segments[k]->getEnd ()->getElevationM(parent->getElevation()*SG_FEET_TO_METER);
if ((elevationStart == 0) || (elevationStart == parent->getElevation())) {
SGGeod center2 = segments[k]->getStart()->getGeod();
center2.setElevationM(SG_MAX_ELEVATION_M);
@ -1544,7 +1554,7 @@ void FGGroundNetwork::update(double dt)
int pos = i->getCurrentPosition();
if (pos > 0) {
if (segments[pos-1]->hasBlock()) {
SG_LOG(SG_GENERAL, SG_ALERT, "Taxiway incursion for AI aircraft" << i->getAircraft()->getCallSign());
//SG_LOG(SG_GENERAL, SG_ALERT, "Taxiway incursion for AI aircraft" << i->getAircraft()->getCallSign());
}
}