Merge branch 'next' of http://git.gitorious.org/fg/flightgear into next

src/AIModel/AIMultiplayer.cxx

@@ -335,35 +335,13 @@ void FGAIMultiplayer::update(double dt)
       if (prevIt != mMotionInfo.begin()) 
       {
         --prevIt;
-        
-        MotionInfo::iterator delIt;
-        delIt = mMotionInfo.begin();
-        
-        while (delIt != prevIt) 
-        {
-          std::vector<FGPropertyData*>::const_iterator propIt;
-          std::vector<FGPropertyData*>::const_iterator propItEnd;
-          propIt = delIt->second.properties.begin();
-          propItEnd = delIt->second.properties.end();
-
-          //cout << "Deleting data\n";
-          
-          while (propIt != propItEnd)
-          {
-            delete *propIt;
-            propIt++;
-          }
-          
-          delIt++;
-        }
-        
         mMotionInfo.erase(mMotionInfo.begin(), prevIt);
       }
     }
   } else {
     // Ok, we need to predict the future, so, take the best data we can have
     // and do some eom computation to guess that for now.
-    FGExternalMotionData motionInfo = it->second;
+    FGExternalMotionData& motionInfo = it->second;
 
     // The time to predict, limit to 5 seconds
     double t = tInterp - motionInfo.time;
@@ -488,7 +466,7 @@ void FGAIMultiplayer::update(double dt)
 }
 
 void
-FGAIMultiplayer::addMotionInfo(const FGExternalMotionData& motionInfo,
+FGAIMultiplayer::addMotionInfo(FGExternalMotionData& motionInfo,
                                long stamp)
 {
   mLastTimestamp = stamp;
@@ -505,6 +483,9 @@ FGAIMultiplayer::addMotionInfo(const FGExternalMotionData& motionInfo,
       return;
   }
   mMotionInfo[motionInfo.time] = motionInfo;
+  // We just copied the property (pointer) list - they are ours now. Clear the
+  // properties list in given/returned object, so former owner won't deallocate them.
+  motionInfo.properties.clear();
 }
 
 void

src/AIModel/AIMultiplayer.hxx

@@ -37,7 +37,7 @@ public:
   virtual void unbind();
   virtual void update(double dt);
 
-  void addMotionInfo(const FGExternalMotionData& motionInfo, long stamp);
+  void addMotionInfo(FGExternalMotionData& motionInfo, long stamp);
   void setDoubleProperty(const std::string& prop, double val);
 
   long getLastTimestamp(void) const

src/Environment/ridge_lift.cxx

@@ -36,25 +36,12 @@
 #include <Scenery/scenery.hxx>
 #include <string>
 #include <math.h>
-
+#include <simgear/sg_inlines.h>
 
 using std::string;
 
 #include "ridge_lift.hxx"
 
-static string CreateIndexedPropertyName(string Property, int index)
-{
-	std::stringstream str;
-	str << index;
-	string tmp;
-	str >> tmp;
-	return Property + "[" + tmp + "]";
-}
-
-static inline double sign(double x) {
-	return x == 0 ? 0 : x > 0 ? 1.0 : -1.0;
-}
-
 static const double BOUNDARY1_m = 40.0;
 
 const double FGRidgeLift::dist_probe_m[] = { // in meters
@@ -172,7 +159,7 @@ void FGRidgeLift::update(double dt) {
 		slope[3] = (probe_elev_m[4] - probe_elev_m[0]) / -dist_probe_m[4];
 	
 		for (unsigned i = 0; i < sizeof(slope)/sizeof(slope[0]); i++)
-			adj_slope[i] = sin(atan(5.0 * pow ( (fabs(slope[i])),1.7) ) ) *sign(slope[i]);
+			adj_slope[i] = sin(atan(5.0 * pow ( (fabs(slope[i])),1.7) ) ) *SG_SIGN<double>(slope[i]);
 	
 		//adjustment
 		adj_slope[0] *= 0.2;

src/Instrumentation/navradio.cxx

@@ -61,28 +61,37 @@ static double sawtooth(double xx)
   return 4.0 * fabs(xx/4.0 + 0.25 - floor(xx/4.0 + 0.75)) - 1.0;
 }
 
-// Calculate a unit vector in the horizontal tangent plane
+// Calculate a Cartesian unit vector in the
-// starting at the given "tail" of the vector and going off 
+// local horizontal plane, i.e. tangent to the 
-// with the given heading.
+// surface of the earth at the local ground zero.
-static SGVec3d tangentVector(const SGGeod& tail, const SGVec3d& tail_xyz, 
+// The tangent vector passes through the given  <midpoint> 
-          const double heading)
+// and points forward along the given <heading>.
+// The <heading> is given in degrees.
+static SGVec3d tangentVector(const SGGeod& midpoint, const double heading)
 {
-// The fudge factor here is presumably intended to improve
+// The size of the delta is presumably chosen to give
-// numerical stability.  I don't know if it is necessary.
+// numerical stability.  I don't know how the value was chosen.
-// It gets divided out later.
+// It probably doesn't matter much.  It gets divided out.
-  double fudge(100.0);
+  double delta(100.0);          // in meters
-  SGGeod head;
+  SGGeod head, tail;
-  double az2; // ignored
+  double az2;                   // ignored
-  SGGeodesy::direct(tail, heading, fudge, head, az2);
+  SGGeodesy::direct(midpoint, heading,     delta, head, az2);
-  head.setElevationM(tail.getElevationM());
+  SGGeodesy::direct(midpoint, 180+heading, delta, tail, az2);
+  head.setElevationM(midpoint.getElevationM());
+  tail.setElevationM(midpoint.getElevationM());
   SGVec3d head_xyz = SGVec3d::fromGeod(head);
-  return (head_xyz - tail_xyz) * (1.0/fudge);
+  SGVec3d tail_xyz = SGVec3d::fromGeod(tail);
+// Awkward formula here, needed because vector-by-scalar
+// multiplication is defined, but not vector-by-scalar division.
+  return (head_xyz - tail_xyz) * (0.5/delta);
 }
 
 // Create a "serviceable" node with a default value of "true"
-SGPropertyNode_ptr createServiceableProp(SGPropertyNode* aParent, const char* aName)
+SGPropertyNode_ptr createServiceableProp(SGPropertyNode* aParent, 
+        const char* aName)
 {
-  SGPropertyNode_ptr n = (aParent->getChild(aName, 0, true)->getChild("serviceable", 0, true));
+  SGPropertyNode_ptr n = 
+     aParent->getChild(aName, 0, true)->getChild("serviceable", 0, true);
   simgear::props::Type typ = n->getType();
   if ((typ == simgear::props::NONE) || (typ == simgear::props::UNSPECIFIED)) {
     n->setBoolValue(true);
@@ -231,6 +240,7 @@ FGNavRadio::init ()
     gs_deflection_node = node->getChild("gs-needle-deflection", 0, true);
     gs_deflection_deg_node = node->getChild("gs-needle-deflection-deg", 0, true);
     gs_deflection_norm_node = node->getChild("gs-needle-deflection-norm", 0, true);
+    gs_direct_node = node->getChild("gs-direct-deg", 0, true);
     gs_rate_of_climb_node = node->getChild("gs-rate-of-climb", 0, true);
     gs_rate_of_climb_fpm_node = node->getChild("gs-rate-of-climb-fpm", 0, true);
     gs_dist_node = node->getChild("gs-distance", 0, true);
@@ -393,6 +403,7 @@ void FGNavRadio::clearOutputs()
   gs_deflection_node->setDoubleValue( 0.0 );
   gs_deflection_deg_node->setDoubleValue(0.0);
   gs_deflection_norm_node->setDoubleValue(0.0);
+  gs_direct_node->setDoubleValue(0.0);
   gs_inrange_node->setBoolValue( false );
   loc_node->setBoolValue( false );
   has_gs_node->setBoolValue(false);
@@ -592,19 +603,27 @@ void FGNavRadio::updateGlideSlope(double dt, const SGVec3d& aircraft, double sig
   bool gsInRange = (gsDist < (_gs->get_range() * SG_NM_TO_METER));
   gs_inrange_node->setBoolValue(gsInRange);
         
-  if (!gsInRange) {
+  if (!gsInRange) return;
-    _gsNeedleDeflection = 0.0;
-    _gsNeedleDeflectionNorm = 0.0;
-    return;
-  }
   
   SGVec3d pos = aircraft - _gsCart; // relative vector from gs antenna to aircraft
   // The positive GS axis points along the runway in the landing direction,
   // toward the far end, not toward the approach area, so we need a - sign here:
-  double dot_h = -dot(pos, _gsAxis);
+  double comp_h = -dot(pos, _gsAxis);      // component in horiz direction
-  double dot_v = dot(pos, _gsVertical);
+  double comp_v = dot(pos, _gsVertical);   // component in vertical direction
-  double angle = atan2(dot_v, dot_h) * SGD_RADIANS_TO_DEGREES;
+  //double comp_b = dot(pos, _gsBaseline);   // component in baseline direction
-  double deflectionAngle = target_gs - angle;
+  //if (comp_b) {}                           // ... (useful for debugging)
+
+// _gsDirect represents the angle of elevation of the aircraft
+// as seen by the GS transmitter.
+  _gsDirect = atan2(comp_v, comp_h) * SGD_RADIANS_TO_DEGREES;
+// At this point, if the aircraft is centered on the glide slope,
+// _gsDirect will be a small positive number, e.g. 3.0 degrees
+
+// Aim the branch cut straight down 
+// into the ground below the GS transmitter:
+  if (_gsDirect < -90.0) _gsDirect += 360.0;
+
+  double deflectionAngle = target_gs - _gsDirect;
   
   if (falseCoursesEnabledNode->getBoolValue()) {
     // Construct false glideslopes.  The scale factor of 1.5 
@@ -624,20 +643,27 @@ void FGNavRadio::updateGlideSlope(double dt, const SGVec3d& aircraft, double sig
     }
   }
   
+// GS is documented to be 1.4 degrees thick, 
+// i.e. plus or minus 0.7 degrees from the midline:
+  SG_CLAMP_RANGE(deflectionAngle, -0.7, 0.7);
+
+// Many older instrument xml frontends depend on
+// the un-normalized gs-needle-deflection.
+// Apparently the interface standard is plus or minus 3.5 "volts"
+// for a full-scale deflection:
   _gsNeedleDeflection = deflectionAngle * 5.0;
   _gsNeedleDeflection *= signal_quality_norm;
   
-  SG_CLAMP_RANGE(deflectionAngle, -0.7, 0.7);
   _gsNeedleDeflectionNorm = (deflectionAngle / 0.7) * signal_quality_norm;
   
   //////////////////////////////////////////////////////////
   // Calculate desired rate of climb for intercepting the GS
   //////////////////////////////////////////////////////////
-  double gs_diff = target_gs - angle;
+  double gs_diff = target_gs - _gsDirect;
   // convert desired vertical path angle into a climb rate
-  double des_angle = angle - 10 * gs_diff;
+  double des_angle = _gsDirect - 10 * gs_diff;
   /* printf("target_gs=%.1f angle=%.1f gs_diff=%.1f des_angle=%.1f\n",
-     target_gs, angle, gs_diff, des_angle); */
+     target_gs, _gsDirect, gs_diff, des_angle); */
 
   // estimate horizontal speed towards ILS in meters per minute
   double elapsedDistance = last_x - gsDist;
@@ -798,7 +824,7 @@ void FGNavRadio::updateCDI(double dt)
 
   //////////////////////////////////////////////////////////
   // compute the time to intercept selected radial (based on
-  // current and last cross track errors and dt
+  // current and last cross track errors and dt)
   //////////////////////////////////////////////////////////
   double t = 0.0;
   if ( inrange && cdi_serviceable ) {
@@ -819,6 +845,7 @@ void FGNavRadio::updateCDI(double dt)
   gs_deflection_node->setDoubleValue(_gsNeedleDeflection);
   gs_deflection_deg_node->setDoubleValue(_gsNeedleDeflectionNorm * 0.7);
   gs_deflection_norm_node->setDoubleValue(_gsNeedleDeflectionNorm);
+  gs_direct_node->setDoubleValue(_gsDirect);
   
   last_xtrack_error = _cdiCrossTrackErrorM;
 }
@@ -939,24 +966,19 @@ void FGNavRadio::search()
       if (_gs) {
         int tmp = (int)(_gs->get_multiuse() / 1000.0);
         target_gs = (double)tmp / 100.0;
-        
+
-        // until penaltyForNav goes away, we cannot assume we always pick
-        // paired LOC/GS trasmsitters. As we pass over a runway threshold, we
-        // often end up picking the 'wrong' LOC, but the correct GS. To avoid
-        // breaking the basis computation, ensure we use the GS radial and not
-        // the (potentially reversed) LOC radial.
         double gs_radial = fmod(_gs->get_multiuse(), 1000.0);
         SG_NORMALIZE_RANGE(gs_radial, 0.0, 360.0);
-                
-        // GS axis unit tangent vector
-        // (along the runway)
         _gsCart = _gs->cart();
-        _gsAxis = tangentVector(_gs->geod(), _gsCart, gs_radial);
+                
+        // GS axis unit tangent vector 
+        // (along the runway):
+        _gsAxis = tangentVector(_gs->geod(), gs_radial);
 
         // GS baseline unit tangent vector
-        // (perpendicular to the runay along the ground)
+        // (transverse to the runay along the ground)
-        SGVec3d baseline = tangentVector(_gs->geod(), _gsCart, gs_radial + 90.0);
+        _gsBaseline = tangentVector(_gs->geod(), gs_radial + 90.0);
-        _gsVertical = cross(baseline, _gsAxis);
+        _gsVertical = cross(_gsBaseline, _gsAxis);
       } // of have glideslope
     } // of found LOC or ILS
     

src/Instrumentation/navradio.hxx

@@ -102,6 +102,7 @@ class FGNavRadio : public SGSubsystem, public SGPropertyChangeListener
     SGPropertyNode_ptr gs_deflection_node;
     SGPropertyNode_ptr gs_deflection_deg_node;
     SGPropertyNode_ptr gs_deflection_norm_node;
+    SGPropertyNode_ptr gs_direct_node;
     SGPropertyNode_ptr gs_rate_of_climb_node;
     SGPropertyNode_ptr gs_rate_of_climb_fpm_node;
     SGPropertyNode_ptr gs_dist_node;
@@ -152,7 +153,7 @@ class FGNavRadio : public SGSubsystem, public SGPropertyChangeListener
     // internal periodic station search timer
     double _time_before_search_sec;
 
-    SGVec3d _gsCart, _gsAxis, _gsVertical;
+    SGVec3d _gsCart, _gsAxis, _gsVertical, _gsBaseline;
 
     FGNavRecordPtr _dme;
     bool _dmeInRange;
@@ -163,6 +164,7 @@ class FGNavRadio : public SGSubsystem, public SGPropertyChangeListener
     double _cdiCrossTrackErrorM;
     double _gsNeedleDeflection;
     double _gsNeedleDeflectionNorm;
+    double _gsDirect;
     
     SGSharedPtr<SGSampleGroup> _sgr;
     std::vector<SGPropertyNode_ptr> _tiedNodes;

src/MultiPlayer/mpmessages.hxx

@@ -141,7 +141,7 @@ struct FGExternalMotionData {
   // simulation time when this packet was generated
   double time;
   // the artificial lag the client should stay behind the average
-  // simulation time to arrival time diference
+  // simulation time to arrival time difference
   // FIXME: should be some 'per model' instead of 'per packet' property
   double lag;
   
@@ -166,6 +166,20 @@ struct FGExternalMotionData {
   
   // The set of properties recieved for this timeslot
   std::vector<FGPropertyData*> properties;
+
+  ~FGExternalMotionData()
+  {
+      std::vector<FGPropertyData*>::const_iterator propIt;
+      std::vector<FGPropertyData*>::const_iterator propItEnd;
+      propIt = properties.begin();
+      propItEnd = properties.end();
+
+      while (propIt != propItEnd)
+      {
+        delete *propIt;
+        propIt++;
+      }
+  }
 };
 
 #endif

src/MultiPlayer/multiplaymgr.cxx

@@ -923,19 +923,20 @@ FGMultiplayMgr::ProcessPosMsg(const FGMultiplayMgr::MsgBuf& Msg,
       goto noprops;
   }
   while (xdr < Msg.propsRecvdEnd()) {
-    FGPropertyData* pData = new FGPropertyData;
     // simgear::props::Type type = simgear::props::UNSPECIFIED;
     
     // First element is always the ID
-    pData->id = XDR_decode_uint32(*xdr);
+    unsigned id = XDR_decode_uint32(*xdr);
     //cout << pData->id << " ";
     xdr++;
     
     // Check the ID actually exists and get the type
-    const IdPropertyList* plist = findProperty(pData->id);
+    const IdPropertyList* plist = findProperty(id);
     
     if (plist)
     {
+      FGPropertyData* pData = new FGPropertyData;
+      pData->id = id;
       pData->type = plist->type;
       // How we decode the remainder of the property depends on the type
       switch (pData->type) {
@@ -1001,7 +1002,7 @@ FGMultiplayMgr::ProcessPosMsg(const FGMultiplayMgr::MsgBuf& Msg,
       // We failed to find the property. We'll try the next packet immediately.
       SG_LOG(SG_NETWORK, SG_INFO, "FGMultiplayMgr::ProcessPosMsg - "
              "message from " << MsgHdr->Callsign << " has unknown property id "
-             << pData->id); 
+             << id); 
     }
   }
  noprops:
@@ -1015,7 +1016,7 @@ FGMultiplayMgr::ProcessPosMsg(const FGMultiplayMgr::MsgBuf& Msg,
 //////////////////////////////////////////////////////////////////////
 //
 //  handle a chat message
-//  FIXME: display chat message withi flightgear
+//  FIXME: display chat message within flightgear
 //
 //////////////////////////////////////////////////////////////////////
 void

src/Network/multiplay.cxx

@@ -283,20 +283,6 @@ bool FGMultiplay::process() {
 
     FGMultiplayMgr* mpmgr = (FGMultiplayMgr*) globals->get_subsystem("mp");
     mpmgr->SendMyPosition(motionInfo);
-    
-    // Now remove the data
-    std::vector<FGPropertyData*>::const_iterator propIt;
-    std::vector<FGPropertyData*>::const_iterator propItEnd;
-    propIt = motionInfo.properties.begin();
-    propItEnd = motionInfo.properties.end();
-
-    //cout << "Deleting data\n";
-
-    while (propIt != propItEnd)
-    {
-      delete *propIt;
-      propIt++;
-    }    
   }
 
   return true;