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ehofman 2005-10-01 11:08:06 +00:00
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src/Instrumentation/tacan.cxx Executable file
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// tacan.cxx - Tactical Navigation Beacon.
// Written by Vivian Meazaa, started 2005.
//
// This file is in the Public Domain and comes with no warranty.
#include <simgear/compiler.h>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/math/sg_random.h>
#include <Main/fg_props.hxx>
#include <Navaids/navlist.hxx>
#include "tacan.hxx"
/**
* Adjust the range.
*
* Start by calculating the radar horizon based on the elevation
* difference, then clamp to the maximum, then add a fudge for
* borderline reception.
*/
static double
adjust_range (double transmitter_elevation_ft, double aircraft_altitude_ft,
double max_range_nm)
{
max_range_nm = 150;
double delta_elevation_ft =
fabs(aircraft_altitude_ft - transmitter_elevation_ft);
double range_nm = 1.23 * sqrt(delta_elevation_ft);
if (range_nm > max_range_nm)
range_nm = max_range_nm;
else if (range_nm < 20.0)
range_nm = 20.0;
double rand = sg_random();
SG_LOG( SG_INSTR, SG_DEBUG, " tacan range " << range_nm << " max range " << max_range_nm);
return range_nm + (range_nm * rand * rand);
}
TACAN::TACAN ( SGPropertyNode *node )
: _last_distance_nm(0),
_last_frequency_mhz(-1),
_time_before_search_sec(0),
_carrier_valid(false),
_transmitter_valid(false),
_transmitter_elevation_ft(0),
_transmitter_range_nm(0),
_transmitter_bias(0.0),
name("tacan"),
num(0)
{
int i;
for ( i = 0; i < node->nChildren(); ++i ) {
SGPropertyNode *child = node->getChild(i);
string cname = child->getName();
string cval = child->getStringValue();
if ( cname == "name" ) {
name = cval;
} else if ( cname == "number" ) {
num = child->getIntValue();
} else {
SG_LOG( SG_INSTR, SG_DEBUG, "Error in TACAN config logic" );
if ( name.length() ) {
SG_LOG( SG_INSTR, SG_DEBUG, "Section = " << name );
}
}
}
}
TACAN::TACAN ()
: _last_distance_nm(0),
_last_frequency_mhz(-1),
_time_before_search_sec(0),
_carrier_valid(false),
_transmitter_valid(false),
_transmitter_elevation_ft(0),
_transmitter_range_nm(0),
_transmitter_bearing_deg(0),
_transmitter_bias(0.0),
_transmitter_name(""),
name("tacan")
{
}
TACAN::~TACAN ()
{
}
void
TACAN::init ()
{
string branch;
branch = "/instrumentation/" + name;
SGPropertyNode *node = fgGetNode(branch.c_str(), num, true );
_longitude_node = fgGetNode("/position/longitude-deg", true);
_latitude_node = fgGetNode("/position/latitude-deg", true);
_altitude_node = fgGetNode("/position/altitude-ft", true);
_serviceable_node = node->getChild("serviceable", 0, true);
_electrical_node = fgGetNode("/systems/electrical/outputs/tacan", true);
SGPropertyNode *fnode = node->getChild("frequencies", 0, true);
_source_node = fnode->getChild("source", 0, true);
_frequency_node = fnode->getChild("selected-mhz", 0, true);
_channel_node = fnode->getChild("selected-channel", 1, true);
_channel_node = fnode->getChild("selected-channel", 2, true);
_channel_node = fnode->getChild("selected-channel", 3, true);
_channel_node = fnode->getChild("selected-channel", 4, true);
_in_range_node = node->getChild("in-range", 0, true);
_distance_node = node->getChild("indicated-distance-nm", 0, true);
_speed_node = node->getChild("indicated-ground-speed-kt", 0, true);
_time_node = node->getChild("indicated-time-min", 0, true);
_name_node = node->getChild("name", 0, true);
_bearing_node = node->getChild("indicated-bearing-true-deg", 0, true);
_carrier_lat_node = fgGetNode("/ai/models/carrier/position/latitude-deg", true);
_carrier_lon_node = fgGetNode("/ai/models/carrier/position/longitude-deg", true);
_carrier_name_node = fgGetNode("/ai/models/carrier/name", true);
}
void
TACAN::update (double delta_time_sec)
{
double az2 = 0;
double bearing = 0;
double distance = 0;
double carrier_az2= 0;
double carrier_bearing = 0;
double carrier_distance = 0;
double frequency_mhz = 0;
string _channel, _last_channel, _channel_1, _channel_2,_channel_3, _channel_4;
// If it's off, don't waste any time.
if (!_serviceable_node->getBoolValue() ||
!_electrical_node->getBoolValue()
) {
_last_distance_nm = 0;
_in_range_node->setBoolValue(false);
_distance_node->setDoubleValue(0);
_speed_node->setDoubleValue(0);
_time_node->setDoubleValue(0);
SG_LOG( SG_INSTR, SG_DEBUG, "skip tacan " );
return;
}else{
//SG_LOG( SG_INSTR, SG_DEBUG, "run tacan " );
}
// Figure out the source
const char * source = _source_node->getStringValue();
if (source[0] == '\0') {
string branch;
branch = "/instrumentation/" + name + "/frequencies/selected-channel";
// branch = "/instrumentation/" + _name + "/frequencies/selected-mhz";
_source_node->setStringValue(branch.c_str());
source = _source_node->getStringValue();
SG_LOG( SG_INSTR, SG_DEBUG, "source " << source );
}
// Get the channel
_channel_1 = fgGetString("/instrumentation/tacan/frequencies/selected-channel[1]");
_channel_2 = fgGetString("/instrumentation/tacan/frequencies/selected-channel[2]");
_channel_3 = fgGetString("/instrumentation/tacan/frequencies/selected-channel[3]");
_channel_4 = fgGetString("/instrumentation/tacan/frequencies/selected-channel[4]");
SG_LOG( SG_INSTR, SG_DEBUG, "channels " << _channel_1 << _channel_2 << _channel_3 << _channel_4);
_channel = _channel_1 + _channel_2 + _channel_3 + _channel_4;
SG_LOG( SG_INSTR, SG_DEBUG, "channel " << _channel );
// Get the frequecncy
if (_channel != _last_channel) {
_time_before_search_sec = 0;
_last_channel = _channel;
frequency_mhz = searchChannel(_channel);
SG_LOG( SG_INSTR, SG_DEBUG, "frequency " << frequency_mhz );
_frequency_node->setDoubleValue(frequency_mhz);
}
// Get the aircraft position
double longitude_deg = _longitude_node->getDoubleValue();
double latitude_deg = _latitude_node->getDoubleValue();
double altitude_m = _altitude_node->getDoubleValue() * SG_FEET_TO_METER;
double longitude_rad = longitude_deg * SGD_DEGREES_TO_RADIANS;
double latitude_rad = latitude_deg * SGD_DEGREES_TO_RADIANS;
// On timeout, scan again
_time_before_search_sec -= delta_time_sec;
if (_time_before_search_sec < 0 and frequency_mhz > 0)
search(frequency_mhz, longitude_rad,
latitude_rad, altitude_m);
// Calculate the distance to the transmitter
//calculate the bearing and range of the carrier from the aircraft
SG_LOG( SG_INSTR, SG_DEBUG, "carrier_lat " << _carrier_lat);
SG_LOG( SG_INSTR, SG_DEBUG, "carrier_lon " << _carrier_lon);
SG_LOG( SG_INSTR, SG_DEBUG, "carrier_name " << _carrier_name);
SG_LOG( SG_INSTR, SG_DEBUG, "carrier_valid " << _carrier_valid);
geo_inverse_wgs_84(altitude_m,
latitude_deg,
longitude_deg,
_carrier_lat,
_carrier_lon,
&carrier_bearing, &carrier_az2, &carrier_distance);
//calculate the bearing and range of the station from the aircraft
geo_inverse_wgs_84(altitude_m,
latitude_deg,
longitude_deg,
_transmitter_lat,
_transmitter_lon,
&bearing, &az2, &distance);
//select the nearer
if ( carrier_distance <= distance and _carrier_valid) {
SG_LOG( SG_INSTR, SG_DEBUG, "carrier_distance_nm " << carrier_distance);
SG_LOG( SG_INSTR, SG_DEBUG, "distance_nm " << distance);
bearing = carrier_bearing;
distance = carrier_distance;
_transmitter_elevation_ft = _carrier_elevation_ft;
_transmitter_range_nm = _carrier_range_nm;
_transmitter_bias = _carrier_bias;
_transmitter_name = _carrier_name;
_name_node->setStringValue(_transmitter_name.c_str());
}
double distance_nm = distance * SG_METER_TO_NM;
SG_LOG( SG_INSTR, SG_DEBUG, "distance_nm " << distance_nm << " bearing " << bearing);
/*Point3D location =
sgGeodToCart(Point3D(longitude_rad, latitude_rad, altitude_m));
double distance_nm = _transmitter.distance3D(location) * SG_METER_TO_NM;*/
double range_nm = adjust_range(_transmitter_elevation_ft,
altitude_m * SG_METER_TO_FEET,
_transmitter_range_nm);
if (distance_nm <= range_nm) {
double speed_kt = (fabs(distance_nm - _last_distance_nm) *
((1 / delta_time_sec) * 3600.0));
_last_distance_nm = distance_nm;
_in_range_node->setBoolValue(true);
double tmp_dist = distance_nm - _transmitter_bias;
if ( tmp_dist < 0.0 ) {
tmp_dist = 0.0;
}
_distance_node->setDoubleValue( tmp_dist );
_speed_node->setDoubleValue(speed_kt);
_time_node->setDoubleValue(distance_nm/speed_kt*60.0);
_bearing_node->setDoubleValue(bearing);
} else {
_last_distance_nm = 0;
_in_range_node->setBoolValue(false);
_distance_node->setDoubleValue(0);
_speed_node->setDoubleValue(0);
_time_node->setDoubleValue(0);
_bearing_node->setDoubleValue(0);
}
// If we can't find a valid station set everything to zero
if (!_transmitter_valid && !_carrier_valid)
{
_in_range_node->setBoolValue(false);
_distance_node->setDoubleValue(0);
_speed_node->setDoubleValue(0);
_time_node->setDoubleValue(0);
_bearing_node->setDoubleValue(0);
_transmitter_name = "";
_name_node->setStringValue(_transmitter_name.c_str());
return;
}
} // end function update
void
TACAN::search (double frequency_mhz, double longitude_rad,
double latitude_rad, double altitude_m)
{
SG_LOG( SG_INSTR, SG_DEBUG, "tacan freq " << frequency_mhz );
// reset search time
_time_before_search_sec = 1.0;
//try any carriers first
FGNavRecord *carrier_tacan
= globals->get_carrierlist()->findStationByFreq( frequency_mhz );
_carrier_valid = (carrier_tacan != NULL);
if ( _carrier_valid ) {
SG_LOG( SG_INSTR, SG_DEBUG, "carrier transmitter valid " << _carrier_valid );
string str1( carrier_tacan->get_name() );
string str2 ( _carrier_name_node->getStringValue());
SG_LOG( SG_INSTR, SG_DEBUG, "strings 1 " << str1 << " 2 " << str2 );
unsigned int loc1= str1.find( str2, 0 );
if( loc1 != string::npos and str2 != "" ){
SG_LOG( SG_INSTR, SG_DEBUG, " string found" );
_carrier_lat = _carrier_lat_node->getDoubleValue();
_carrier_lon = _carrier_lon_node->getDoubleValue();
_carrier_elevation_ft = carrier_tacan->get_elev_ft();
_carrier_range_nm = carrier_tacan->get_range();
_carrier_bias = carrier_tacan->get_multiuse();
_carrier_name = carrier_tacan->get_name();
}
else{
_carrier_valid = 0;
SG_LOG( SG_INSTR, SG_DEBUG, " carrier transmitter invalid " << _carrier_valid );
}
//_name_node->setStringValue(_transmitter_name.c_str());
SG_LOG( SG_INSTR, SG_DEBUG, "lat " << _carrier_lat << "lon " << _carrier_lon);
SG_LOG( SG_INSTR, SG_DEBUG, "elev " << _carrier_elevation_ft);
SG_LOG( SG_INSTR, SG_DEBUG, "name " << _carrier_name);
} else {
SG_LOG( SG_INSTR, SG_DEBUG, " carrier transmitter invalid " << _carrier_valid );
}
// try the TACAN/VORTAC list next
FGNavRecord *tacan
= globals->get_tacanlist()->findByFreq( frequency_mhz, longitude_rad,
latitude_rad, altitude_m);
_transmitter_valid = (tacan != NULL);
if ( _transmitter_valid ) {
SG_LOG( SG_INSTR, SG_DEBUG, "transmitter valid " << _transmitter_valid );
_transmitter_lat = tacan->get_lat();
_transmitter_lon = tacan->get_lon();
_transmitter_elevation_ft = tacan->get_elev_ft();
_transmitter_range_nm = tacan->get_range();
_transmitter_bias = tacan->get_multiuse();
_transmitter_name = tacan->get_name();
_name_node->setStringValue(_transmitter_name.c_str());
SG_LOG( SG_INSTR, SG_DEBUG, "lat " << _transmitter_lat << "lon " << _transmitter_lon);
SG_LOG( SG_INSTR, SG_DEBUG, "elev " << _transmitter_elevation_ft);
SG_LOG( SG_INSTR, SG_DEBUG, "name " << _transmitter_name);
} else {
SG_LOG( SG_INSTR, SG_DEBUG, "transmitter invalid " << _transmitter_valid );
}
}
double
TACAN::searchChannel (string _channel){
double frequency_khz = 0;
FGTACANRecord *freq
= globals->get_channellist()->findByChannel( _channel );
double _freq_valid = (freq != NULL);
SG_LOG( SG_INSTR, SG_DEBUG, "freq valid " << _freq_valid );
if ( _freq_valid ) {
frequency_khz = freq->get_freq();
SG_LOG( SG_INSTR, SG_DEBUG, "freq output " << frequency_khz );
//check sanity
if (frequency_khz >9620 and frequency_khz <= 12130)return frequency_khz/100;
}
return frequency_khz = 0;
} // end TACAN::searchChannel
// end of TACAN.cxx

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src/Instrumentation/tacan.hxx Executable file
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// dme.hxx - distance-measuring equipment.
// Written by David Megginson, started 2003.
//
// This file is in the Public Domain and comes with no warranty.
#ifndef __INSTRUMENTS_TACAN_HXX
#define __INSTRUMENTS_TACAN_HXX 1
#ifndef __cplusplus
# error This library requires C++
#endif
#include <simgear/math/point3d.hxx>
#include <simgear/props/props.hxx>
#include <simgear/structure/subsystem_mgr.hxx>
/**
* Model a TACAN radio.
*
* Input properties:
*
* /position/longitude-deg
* /position/latitude-deg
* /position/altitude-ft
* /systems/electrical/outputs/TACAN
* /instrumentation/"name"/serviceable
* /instrumentation/"name"/frequencies/source
* /instrumentation/"name"/frequencies/selected-mhz
*
* Output properties:
*
* /instrumentation/"name"/in-range
* /instrumentation/"name"/indicated-distance-nm
* /instrumentation/"name"/indicated-ground-speed-kt
* /instrumentation/"name"/indicated-time-kt
*/
class TACAN : public SGSubsystem
{
public:
TACAN ( SGPropertyNode *node );
TACAN ();
virtual ~TACAN ();
virtual void init ();
virtual void update (double delta_time_sec);
private:
void search (double frequency, double longitude_rad,
double latitude_rad, double altitude_m);
double searchChannel (string _channel);
SGPropertyNode_ptr _longitude_node;
SGPropertyNode_ptr _latitude_node;
SGPropertyNode_ptr _altitude_node;
SGPropertyNode_ptr _serviceable_node;
SGPropertyNode_ptr _electrical_node;
SGPropertyNode_ptr _source_node;
SGPropertyNode_ptr _frequency_node;
SGPropertyNode_ptr _in_range_node;
SGPropertyNode_ptr _distance_node;
SGPropertyNode_ptr _speed_node;
SGPropertyNode_ptr _time_node;
SGPropertyNode_ptr _bearing_node;
SGPropertyNode_ptr _ident_node;
SGPropertyNode_ptr _name_node;
SGPropertyNode_ptr _carrier_lat_node;
SGPropertyNode_ptr _carrier_lon_node;
SGPropertyNode_ptr _carrier_name_node;
SGPropertyNode_ptr _channel_node;
double _last_distance_nm;
double _last_frequency_mhz;
double _time_before_search_sec;
bool _carrier_valid;
bool _transmitter_valid;
Point3D _transmitter;
double _transmitter_lat, _transmitter_lon;
double _transmitter_elevation_ft;
double _transmitter_range_nm;
double _transmitter_bearing_deg;
double _transmitter_bias;
string _transmitter_name;
double _carrier_lat, _carrier_lon;
double _carrier_elevation_ft;
double _carrier_range_nm;
double _carrier_bearing_deg;
double _carrier_bias;
string _carrier_name;
string name;
int num;
};
#endif // __INSTRUMENTS_TACAN_HXX