Changes to support new simgear waypoint module.

src/Autopilot/auto_gui.cxx

@@ -609,8 +609,10 @@ void TgtAptDialog_OK (puObject *)
 		current_options.set_airport_id( TgtAptId.c_str() );
 		sprintf( NewTgtAirportId, "%s", TgtAptId.c_str() );
 			
-		current_autopilot->set_TargetLatitude( a.latitude );
+		current_autopilot->set_WayPoint( a.longitude, a.latitude,
-		current_autopilot->set_TargetLongitude( a.longitude );
+						 TgtAptId );
+		// current_autopilot->set_TargetLatitude( a.latitude );
+		// current_autopilot->set_TargetLongitude( a.longitude );
 		current_autopilot->MakeTargetLatLonStr(
 				     current_autopilot->get_TargetLatitude(),
 				     current_autopilot->get_TargetLongitude() );

src/Autopilot/newauto.cxx

@@ -67,8 +67,8 @@ extern char *coord_format_lon(float);
 			
 
 void FGAutopilot::MakeTargetLatLonStr( double lat, double lon ) {
-    sprintf( TargetLatitudeStr , "%s", coord_format_lat(TargetLatitude) );
+    sprintf( TargetLatitudeStr , "%s", coord_format_lat(get_TargetLatitude()));
-    sprintf( TargetLongitudeStr, "%s", coord_format_lon(TargetLongitude) );
+    sprintf( TargetLongitudeStr, "%s", coord_format_lon(get_TargetLongitude()));
     sprintf( TargetLatLonStr, "%s  %s", TargetLatitudeStr, TargetLongitudeStr );
 }
 
@@ -144,10 +144,11 @@ void FGAutopilot::init() {
     auto_throttle = false ;	// turn the auto throttle off
 
     // Initialize target location to startup location
-    old_lat = TargetLatitude = FGBFI::getLatitude();
+    old_lat = FGBFI::getLatitude();
-    old_lon = TargetLongitude = FGBFI::getLongitude();
+    old_lon = FGBFI::getLongitude();
+    set_WayPoint( old_lon, old_lat, "default" );
 
-    MakeTargetLatLonStr( TargetLatitude, TargetLongitude);
+    MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() );
 	
     TargetHeading = 0.0;	// default direction, due north
     TargetAltitude = 3000;	// default altitude in meters
@@ -212,9 +213,11 @@ void FGAutopilot::reset() {
 
     sprintf( NewTgtAirportId, "%s", current_options.get_airport_id().c_str() );
 	
-    TargetLatitude = FGBFI::getLatitude();
+    // TargetLatitude = FGBFI::getLatitude();
-    TargetLongitude = FGBFI::getLongitude();
+    // TargetLongitude = FGBFI::getLongitude();
-    MakeTargetLatLonStr( TargetLatitude, TargetLongitude );
+    set_WayPoint( FGBFI::getLongitude(), FGBFI::getLatitude(), "reset" );
+
+    MakeTargetLatLonStr( get_TargetLatitude(), get_TargetLongitude() );
 }
 
 
@@ -330,7 +333,7 @@ int FGAutopilot::run() {
 	} else if ( heading_mode == FG_HEADING_WAYPOINT ) {
 	    // update target heading to waypoint
 
-	    double wp_course, wp_reverse, wp_distance;
+	    double wp_course, /*wp_reverse,*/ wp_distance;
 
 #ifdef DO_fgAP_CORRECTED_COURSE
 	    // compute course made good
@@ -349,39 +352,31 @@ int FGAutopilot::run() {
 
 	    // compute course to way_point
 	    // need to test for iter
-	    if( ! geo_inverse_wgs_84( 0, //fgAPget_altitude(),
+	    waypoint.CourseAndDistance( lon, lat, &wp_course, &wp_distance );
-				      lat,
+
-				      lon,
-				      TargetLatitude,
-				      TargetLongitude,
-				      &wp_course,
-				      &wp_reverse,
-				      &wp_distance ) ) {
-		
 #ifdef DO_fgAP_CORRECTED_COURSE
-		corrected_course = course - wp_course;
+	    corrected_course = course - wp_course;
-		if( fabs(corrected_course) > 0.1 )
+	    if( fabs(corrected_course) > 0.1 )
-		    printf("fgAP: course %f  wp_course %f  %f  %f\n",
+		printf("fgAP: course %f  wp_course %f  %f  %f\n",
-			   course, wp_course, fabs(corrected_course),
+		       course, wp_course, fabs(corrected_course),
-			   distance );
+		       distance );
 #endif // DO_fgAP_CORRECTED_COURSE
 		
-		if ( wp_distance > 100 ) {
+	    if ( wp_distance > 100 ) {
-		    // corrected_course = course - wp_course;
+		// corrected_course = course - wp_course;
-		    TargetHeading = NormalizeDegrees(wp_course);
+		TargetHeading = NormalizeDegrees(wp_course);
-		} else {
+	    } else {
-		    printf("distance(%f) to close\n", wp_distance);
+		printf("distance(%f) to close\n", wp_distance);
-		    // Real Close -- set heading hold to current heading
+		// Real Close -- set heading hold to current heading
-		    // and Ring the arival bell !!
+		// and Ring the arival bell !!
-		    heading_mode = FG_HEADING_LOCK;
+		heading_mode = FG_HEADING_LOCK;
-		    // use current heading
+		// use current heading
-		    TargetHeading = FGBFI::getHeading();
+		TargetHeading = FGBFI::getHeading();
-		}
-		MakeTargetHeadingStr( TargetHeading );
-		// Force this just in case
-		TargetDistance = wp_distance;
-		MakeTargetDistanceStr( wp_distance );
 	    }
+	    MakeTargetHeadingStr( TargetHeading );
+	    // Force this just in case
+	    TargetDistance = wp_distance;
+	    MakeTargetDistanceStr( wp_distance );
 	}
 
 	double RelHeading;
@@ -628,29 +623,21 @@ void FGAutopilot::set_HeadingMode( fgAutoHeadingMode mode ) {
 	// set heading hold to current heading
 	TargetHeading = FGBFI::getHeading();
     } else if ( heading_mode == FG_HEADING_WAYPOINT ) {
-	double course, reverse, distance;
+	double course, /*reverse,*/ distance;
 	// turn on location hold
 	// turn on heading hold
 	old_lat = FGBFI::getLatitude();
 	old_lon = FGBFI::getLongitude();
 			
-	// need to test for iter
+	waypoint.CourseAndDistance( FGBFI::getLongitude(), FGBFI::getLatitude(),
-	if( !geo_inverse_wgs_84( FGBFI::getAltitude() * FEET_TO_METER,
+				    &course, &distance );
-				 FGBFI::getLatitude(),
+	TargetHeading = course;
-				 FGBFI::getLongitude(),
+	TargetDistance = distance;
-				 TargetLatitude,
+	MakeTargetDistanceStr( distance );
-				 TargetLongitude,
-				 &course,
-				 &reverse,
-				 &distance ) ) {
-	    TargetHeading = course;
-	    TargetDistance = distance;
-	    MakeTargetDistanceStr( distance );
-	}
 
 	FG_LOG( FG_COCKPIT, FG_INFO, " fgAPSetLocation: ( "
-		<< TargetLatitude  << " "
+		<< get_TargetLatitude()  << " "
-		<< TargetLongitude << " ) "
+		<< get_TargetLongitude() << " ) "
 		);
     }
 	

src/Autopilot/newauto.hxx

@@ -27,6 +27,9 @@
 #define _NEWAUTO_HXX
 
 
+#include <simgear/route/waypoint.hxx>
+
+
 // Structures
 class FGAutopilot {
 
@@ -55,8 +58,10 @@ private:
     fgAutoHeadingMode heading_mode;
     fgAutoAltitudeMode altitude_mode;
 
-    double TargetLatitude;	// the latitude the AP should steer to.
+    SGWayPoint waypoint;	// the waypoint the AP should steer to.
-    double TargetLongitude;	// the longitude the AP should steer to.
+
+    // double TargetLatitude;	// the latitude the AP should steer to.
+    // double TargetLongitude;	// the longitude the AP should steer to.
     double TargetDistance;	// the distance to Target.
     double TargetHeading;	// the heading the AP should steer to.
     double TargetAltitude;	// altitude to hold
@@ -130,11 +135,19 @@ public:
     inline bool get_AutoThrottleEnabled() const { return auto_throttle; }
     void set_AutoThrottleEnabled( bool value );
 
-    inline double get_TargetLatitude() const { return TargetLatitude; }
+    inline void set_WayPoint( const double lon, const double lat,
-    inline void set_TargetLatitude( double val ) { TargetLatitude = val; }
+			      const string s ) {
+	waypoint = SGWayPoint( lon, lat, SGWayPoint::WGS84, "Current WP" );
+    }
+    inline double get_TargetLatitude() const {
+	return waypoint.get_target_lat();
+    }
+    inline double get_TargetLongitude() const {
+	return waypoint.get_target_lon();
+    }
+    // inline void set_TargetLatitude( double val ) { TargetLatitude = val; }
+    // inline void set_TargetLongitude( double val ) { TargetLongitude = val; }
     inline void set_old_lat( double val ) { old_lat = val; }
-    inline double get_TargetLongitude() const { return TargetLongitude; }
-    inline void set_TargetLongitude( double val ) { TargetLongitude = val; }
     inline void set_old_lon( double val ) { old_lon = val; }
     inline double get_TargetHeading() const { return TargetHeading; }
     inline void set_TargetHeading( double val ) { TargetHeading = val; }

src/Main/Makefile.am

@@ -65,8 +65,8 @@ fgfs_LDADD = \
 	$(top_builddir)/src/Time/libTime.a \
 	$(WEATHER_LIBS) \
 	$(top_builddir)/src/Joystick/libJoystick.a \
-	-lsgsky -lsgephem -lsgtiming -lsgio -lsgscreen -lsgmath -lsgbucket \
+	-lsgroute -lsgsky -lsgephem -lsgtiming -lsgio -lsgscreen -lsgmath \
-	-lsgdebug -lsgmagvar -lsgmisc -lsgxml \
+	-lsgbucket -lsgdebug -lsgmagvar -lsgmisc -lsgxml \
 	$(SERIAL_LIBS) \
 	-lplibpu -lplibfnt -lplibssg -lplibsg \
 	-lmk4 -lz \

src/Main/bfi.cxx

@@ -314,8 +314,9 @@ FGBFI::reinit ()
   setAPAltitude(apAltitude);
   setTargetAirport(targetAirport);
   setGPSLock(gpsLock);
-  setGPSTargetLatitude(gpsLatitude);
+  // setGPSTargetLatitude(gpsLatitude);
-  setGPSTargetLongitude(gpsLongitude);
+  // setGPSTargetLongitude(gpsLongitude);
+  setGPSTargetWayPoint(gpsLatitude, gpsLongitude);
 
   _needReinit = false;
 
@@ -1556,6 +1557,17 @@ FGBFI::getGPSTargetLatitude ()
 }
 
 
+/**
+ * Set the GPS target waypoint
+ */
+void
+FGBFI::setGPSTargetWayPoint (double latitude, double longitude)
+{
+  current_autopilot->set_WayPoint( longitude, latitude, "reload" );
+}
+
+
+#if 0
 /**
  * Set the GPS target latitude in degrees (negative for south).
  */
@@ -1564,6 +1576,7 @@ FGBFI::setGPSTargetLatitude (double latitude)
 {
   current_autopilot->set_TargetLatitude( latitude );
 }
+#endif
 
 
 /**
@@ -1575,7 +1588,7 @@ FGBFI::getGPSTargetLongitude ()
   return current_autopilot->get_TargetLongitude();
 }
 
-
+#if 0
 /**
  * Set the GPS target longitude in degrees (negative for west).
  */
@@ -1584,6 +1597,7 @@ FGBFI::setGPSTargetLongitude (double longitude)
 {
   current_autopilot->set_TargetLongitude( longitude );
 }
+#endif
 
 
 

src/Main/bfi.hxx

@@ -197,8 +197,9 @@ public:
 
   static void setTargetAirport (const string &targetAirport);
   static void setGPSLock (bool lock);
-  static void setGPSTargetLatitude (double latitude);
+  // static void setGPSTargetLatitude (double latitude);
-  static void setGPSTargetLongitude (double longitude);
+  // static void setGPSTargetLongitude (double longitude);
+  static void setGPSTargetWayPoint (double latitude, double longitude);
 
 
 				// Weather