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Some tweaks and finetuning made possible by the multihreaded modelloader

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and the pushback code:
 - Traffic manager starts modelload requests immediately upon program
   loading
 - Only create legs 1 (push back) or five (cruise) of AI traffic.
 - AIAircraft's rather obsessive behavior to circle around a waypoint is
   largely resolved
 - More realistic ground steering for AI aircraft.
This commit is contained in:
durk 2008-04-02 19:01:48 +00:00
parent 78aaa1ce7a
commit 7783e64953
4 changed files with 77 additions and 43 deletions
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66
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.
//
@ -290,7 +290,7 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
}
if (next) {
fp->setLeadDistance(speed, tgt_heading, curr, next);
fp->setLeadDistance(tgt_speed, tgt_heading, curr, next);
}
if (!(prev->on_ground)) // only update the tgt altitude from flightplan if not on the ground
@ -522,6 +522,7 @@ void FGAIAircraft::processATC(FGATCInstruction instruction) {
void FGAIAircraft::handleFirstWaypoint() {
bool eraseWaypoints; //TODO YAGNI
headingError = 0;
if (trafficRef) {
eraseWaypoints = true;
} else {
@ -609,7 +610,6 @@ bool FGAIAircraft::leadPointReached(FGAIFlightPlan::waypoint* curr) {
//cerr << "2" << endl;
double lead_dist = fp->getLeadDistance();
//cerr << " Distance : " << dist_to_go << ": Lead distance " << lead_dist << endl;
// experimental: Use fabs, because speed can be negative (I hope) during push_back.
if (lead_dist < fabs(2*speed)) {
@ -619,6 +619,8 @@ bool FGAIAircraft::leadPointReached(FGAIFlightPlan::waypoint* curr) {
}
//prev_dist_to_go = dist_to_go;
//if (dist_to_go < lead_dist)
// cerr << trafficRef->getCallSign() << " Distance : " << dist_to_go << ": Lead distance " << lead_dist << " " << curr->name << endl;
return dist_to_go < lead_dist;
}
@ -819,30 +821,62 @@ void FGAIAircraft::updateHeading() {
// If on ground, calculate heading change directly
if (onGround()) {
double headingDiff = fabs(hdg-tgt_heading);
double bank_sense = 0.0;
/*
double diff = fabs(hdg - tgt_heading);
if (diff > 180)
diff = fabs(diff - 360);
double sum = hdg + diff;
if (sum > 360.0)
sum -= 360.0;
if (fabs(sum - tgt_heading) < 1.0) {
bank_sense = 1.0; // right turn
} else {
bank_sense = -1.0; // left turn
}*/
if (headingDiff > 180)
headingDiff = fabs(headingDiff - 360);
groundTargetSpeed = tgt_speed - (tgt_speed * (headingDiff/45));
double sum = hdg + headingDiff;
if (sum > 360.0)
sum -= 360.0;
if (fabs(sum - tgt_heading) > 0.0001) {
bank_sense = -1.0;
} else {
bank_sense = 1.0;
}
if (trafficRef)
//cerr << trafficRef->getCallSign() << " Heading "
// << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << endl;
//if (headingDiff > 60) {
groundTargetSpeed = tgt_speed; // * cos(headingDiff * SG_DEGREES_TO_RADIANS);
//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
if (headingDiff > 30.0) {
// invert if pushed backward
headingChangeRate += dt * sign(roll);
if (headingChangeRate > 30)
headingChangeRate = 30;
else if (headingChangeRate < -30)
headingChangeRate = -30;
headingChangeRate += 10.0 * dt * sign(roll);
// Clamp the maximum steering rate to 30 degrees per second,
// But only do this when the heading error is decreasing.
if ((headingDiff < headingError)) {
if (headingChangeRate > 30)
headingChangeRate = 30;
else if (headingChangeRate < -30)
headingChangeRate = -30;
}
} else {
if (fabs(headingChangeRate) > headingDiff)
headingChangeRate = headingDiff*sign(roll);
else
headingChangeRate += dt * sign(roll);
if (fabs(headingChangeRate) > headingDiff)
headingChangeRate = headingDiff*sign(roll);
else
headingChangeRate += dt * sign(roll);
}
hdg += headingChangeRate * dt;
hdg += headingChangeRate * dt;
headingError = headingDiff;
} else {
if (fabs(speed) > 1.0) {
turn_radius_ft = 0.088362 * speed * speed

1
src/AIModel/AIAircraft.hxx
View file

@ -95,6 +95,7 @@ private:
double dt_count;
double dt_elev_count;
double headingChangeRate;
double headingError;
double groundTargetSpeed;
double groundOffset;
double dt;

41
src/AIModel/AIFlightPlan.cxx
View file

@ -172,7 +172,7 @@ FGAIFlightPlan::FGAIFlightPlan(const std::string& p,
cerr << "Errno = " << errno << endl;
if (errno == ENOENT)
{
cerr << "Reason: No such file or directory" << endl;
SG_LOG(SG_GENERAL, SG_WARN, "Reason: No such file or directory");
}
}
}
@ -184,6 +184,7 @@ FGAIFlightPlan::FGAIFlightPlan(const std::string& p,
time_t now = time(NULL) + fgGetLong("/sim/time/warp");
time_t timeDiff = now-start;
leg = 1;
/*
if ((timeDiff > 300) && (timeDiff < 1200))
leg = 2;
else if ((timeDiff >= 1200) && (timeDiff < 1500))
@ -192,6 +193,9 @@ FGAIFlightPlan::FGAIFlightPlan(const std::string& p,
leg = 4;
else if (timeDiff >= 2000)
leg = 5;
*/
if (timeDiff >= 2000)
leg = 5;
SG_LOG(SG_GENERAL, SG_INFO, "Route from " << dep->getId() << " to " << arr->getId() << ". Set leg to : " << leg);
wpt_iterator = waypoints.begin();
@ -353,39 +357,44 @@ void FGAIFlightPlan::IncrementWaypoint(bool eraseWaypoints )
// gives distance in feet from a position to a waypoint
double FGAIFlightPlan::getDistanceToGo(double lat, double lon, waypoint* wp) const{
double course, distance;
// get size of a degree2 at the present latitude
// this won't work over large distances
double ft_per_deg_lat = 366468.96 - 3717.12 * cos(lat / SG_RADIANS_TO_DEGREES);
double ft_per_deg_lon = 365228.16 * cos(lat / SG_RADIANS_TO_DEGREES);
double lat_diff_ft = fabs(wp->latitude - lat) * ft_per_deg_lat;
double lon_diff_ft = fabs(wp->longitude - lon) * ft_per_deg_lon;
return sqrt((lat_diff_ft * lat_diff_ft) + (lon_diff_ft * lon_diff_ft));
//double ft_per_deg_lat = 366468.96 - 3717.12 * cos(lat / SG_RADIANS_TO_DEGREES);
//double ft_per_deg_lon = 365228.16 * cos(lat / SG_RADIANS_TO_DEGREES);
//double lat_diff_ft = fabs(wp->latitude - lat) * ft_per_deg_lat;
//double lon_diff_ft = fabs(wp->longitude - lon) * ft_per_deg_lon;
//return sqrt((lat_diff_ft * lat_diff_ft) + (lon_diff_ft * lon_diff_ft));
SGWayPoint sgWp(wp->longitude,wp->latitude, wp->altitude, SGWayPoint::WGS84, string("temp"));
sgWp.CourseAndDistance(lon, lat, wp->altitude, &course, &distance);
return distance;
}
// sets distance in feet from a lead point to the current waypoint
void FGAIFlightPlan::setLeadDistance(double speed, double bearing,
waypoint* current, waypoint* next){
double turn_radius;
if (fabs(speed) > 1)
// Handle Ground steering
// At a turn rate of 30 degrees per second, it takes 12 seconds to do a full 360 degree turn
// So, to get an estimate of the turn radius, calculate the cicumference of the circle
// we travel on. Get the turn radius by dividing by PI (*2).
if (speed < 25) {
turn_radius = ((360/30)*15) / (2*M_PI);
} else
turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank
else
turn_radius = 1.0;
double inbound = bearing;
double outbound = getBearing(current, next);
leadInAngle = fabs(inbound - outbound);
if (leadInAngle > 180.0)
leadInAngle = 360.0 - leadInAngle;
if (leadInAngle < 1.0) // To prevent lead_dist from getting so small it is skipped
leadInAngle = 1.0;
//if (leadInAngle < 30.0) // To prevent lead_dist from getting so small it is skipped
// leadInAngle = 30.0;
lead_distance = turn_radius * sin(leadInAngle * SG_DEGREES_TO_RADIANS);
//lead_distance = turn_radius * sin(leadInAngle * SG_DEGREES_TO_RADIANS);
lead_distance = turn_radius * tan((leadInAngle * SG_DEGREES_TO_RADIANS)/2);
// if ((errno == EDOM) || (errno == ERANGE) || lead_distance < 1.0)
// {
// cerr << "Lead Distance = " << lead_distance
// << "Diff = " << diff
// << "Turn Radius = " << turn_radius
// << "Speed = " << speed << endl;
// }
}

12
src/Traffic/TrafficMgr.cxx
View file

@ -167,16 +167,7 @@ void FGTrafficManager::init()
void FGTrafficManager::update(double /*dt*/)
{
//SG_LOG( SG_GENERAL, SG_INFO, "Running TrafficManager::Update() ");
// Hack alert: Skip running for the first frames 1000 after
// initialization to allow proper initialization of wheather stuff
// and runway assignments
if (runCount < 1000)
{
runCount++;
return;
}
//runCount = 0;
time_t now = time(NULL) + fgGetLong("/sim/time/warp");
if (scheduledAircraft.size() == 0) {
//SG_LOG( SG_GENERAL, SG_INFO, "Returned Running TrafficManager::Update() ");
@ -184,7 +175,6 @@ void FGTrafficManager::update(double /*dt*/)
}
if(currAircraft == scheduledAircraft.end())
{
//cerr << "resetting schedule " << endl;
currAircraft = scheduledAircraft.begin();
}
if (!((*currAircraft)->update(now)))