GPS
- greatCircleCrossTrackError added to LegWayptCtl, DirectToController, OBSController - config overflight seqence config/over-flight-arm-angle-deg 90 config/over-flight-arm-distance-nm 1 config/over-flight-distance-nm 0
This commit is contained in:
Dirk Dittmann
parent
761b4835f9
commit
778cc8c6a0
4 changed files with 282 additions and 44 deletions
|
|
@ -61,7 +61,9 @@ static const char* makeTTWString(double TTW)
|
|||
GPS::Config::Config() :
|
||||
_enableTurnAnticipation(true),
|
||||
_turnRate(3.0), // degrees-per-second, so 180 degree turn takes 60 seconds
|
||||
_overflightDistance(0.0),
|
||||
_overflightArmDistance(1.0),
|
||||
_overflightArmAngle(90.0),
|
||||
_waypointAlertTime(30.0),
|
||||
_requireHardSurface(true),
|
||||
_cdiMaxDeflectionNm(3.0), // linear mode, 3nm at the peg
|
||||
|
|
@ -80,6 +82,9 @@ void GPS::Config::bind(GPS* aOwner, SGPropertyNode* aCfg)
|
|||
aOwner->tie(aCfg, "cdi-max-deflection-nm", SGRawValuePointer<double>(&_cdiMaxDeflectionNm));
|
||||
aOwner->tie(aCfg, "drive-autopilot", SGRawValuePointer<bool>(&_driveAutopilot));
|
||||
aOwner->tie(aCfg, "course-selectable", SGRawValuePointer<bool>(&_courseSelectable));
|
||||
aOwner->tie(aCfg, "over-flight-distance-nm", SGRawValuePointer<double>(&_overflightDistance));
|
||||
aOwner->tie(aCfg, "over-flight-arm-distance-nm", SGRawValuePointer<double>(&_overflightArmDistance));
|
||||
aOwner->tie(aCfg, "over-flight-arm-angle-deg", SGRawValuePointer<double>(&_overflightArmAngle));
|
||||
}
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
|
|
@ -417,16 +422,39 @@ double GPS::magvarDeg()
|
|||
return _magvar_node->getDoubleValue();
|
||||
}
|
||||
|
||||
double GPS::overflightDistanceM()
|
||||
{
|
||||
return _config.overflightDistanceNm() * SG_NM_TO_METER;
|
||||
}
|
||||
|
||||
double GPS::overflightArmDistanceM()
|
||||
{
|
||||
return _config.overflightArmDistanceNm() * SG_NM_TO_METER;
|
||||
}
|
||||
|
||||
double GPS::overflightArmAngleDeg()
|
||||
{
|
||||
return _config.overflightArmAngleDeg();
|
||||
}
|
||||
|
||||
double GPS::selectedMagCourse()
|
||||
{
|
||||
return _selectedCourse;
|
||||
}
|
||||
|
||||
SGGeod GPS::previousLegWaypointPosition(bool& isValid)
|
||||
{
|
||||
FlightPlan::Leg* leg = _route->previousLeg();
|
||||
if (leg){
|
||||
Waypt* waypt = leg->waypoint();
|
||||
if(waypt){
|
||||
isValid = true;
|
||||
return waypt->position();
|
||||
}
|
||||
}
|
||||
isValid = false;
|
||||
return SGGeod();
|
||||
}
|
||||
///////////////////////////////////////////////////////////////////////////
|
||||
|
||||
void
|
||||
|
|
@ -653,7 +681,6 @@ void GPS::updateOverflight()
|
|||
} else if (_mode == "obs") {
|
||||
// nothing to do here, TO/FROM will update but that's fine
|
||||
}
|
||||
|
||||
_computeTurnData = true;
|
||||
}
|
||||
|
||||
|
|
@ -1128,7 +1155,6 @@ void GPS::directTo()
|
|||
_wp0_position = _indicated_pos;
|
||||
_currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
|
||||
_mode = "dto";
|
||||
|
||||
clearScratch();
|
||||
wp1Changed();
|
||||
}
|
||||
|
|
@ -1145,6 +1171,7 @@ void GPS::selectOBSMode(flightgear::Waypt* waypt)
|
|||
}
|
||||
|
||||
_mode = "obs";
|
||||
|
||||
_currentWaypt = waypt;
|
||||
_wp0_position = _indicated_pos;
|
||||
wp1Changed();
|
||||
|
|
@ -1162,6 +1189,7 @@ void GPS::selectLegMode()
|
|||
}
|
||||
|
||||
_mode = "leg";
|
||||
|
||||
// depending on the situation, this will either get over-written
|
||||
// in routeManagerSequenced or not; either way it does no harm to
|
||||
// set it here.
|
||||
|
|
|
|||
|
|
@ -79,7 +79,10 @@ public:
|
|||
virtual double vspeedFPM();
|
||||
virtual double magvarDeg();
|
||||
virtual double selectedMagCourse();
|
||||
virtual double overflightDistanceM();
|
||||
virtual double overflightArmDistanceM();
|
||||
virtual double overflightArmAngleDeg();
|
||||
virtual SGGeod previousLegWaypointPosition(bool& isValid);
|
||||
|
||||
private:
|
||||
friend class SearchFilter;
|
||||
|
|
@ -102,12 +105,20 @@ private:
|
|||
*/
|
||||
double turnRateDegSec() const { return _turnRate; }
|
||||
|
||||
/**
|
||||
* Distance at which we switch to next waypoint.
|
||||
*/
|
||||
double overflightDistanceNm() const { return _overflightDistance; }
|
||||
/**
|
||||
* Distance at which we arm overflight sequencing. Once inside this
|
||||
* distance, a change of the wp1 'TO' flag to false will be considered
|
||||
* overlight of the wp.
|
||||
*/
|
||||
double overflightArmDistanceNm() const { return _overflightArmDistance; }
|
||||
/**
|
||||
* abs angle at which we arm overflight sequencing.
|
||||
*/
|
||||
double overflightArmAngleDeg() const { return _overflightArmAngle; }
|
||||
|
||||
/**
|
||||
* Time before the next WP to activate an external annunciator
|
||||
|
|
@ -134,9 +145,15 @@ private:
|
|||
// desired turn rate in degrees per second
|
||||
double _turnRate;
|
||||
|
||||
// distance from waypoint to arm overflight sequencing (in nm)
|
||||
double _overflightDistance;
|
||||
|
||||
// distance from waypoint to arm overflight sequencing (in nm)
|
||||
double _overflightArmDistance;
|
||||
|
||||
//abs angle from course to waypoint to arm overflight sequencing (in deg)
|
||||
double _overflightArmAngle;
|
||||
|
||||
// time before reaching a waypoint to trigger annunciator light/sound
|
||||
// (in seconds)
|
||||
double _waypointAlertTime;
|
||||
|
|
|
|||
|
|
@ -121,6 +121,34 @@ bool geocRadialIntersection(const SGGeoc& a, double r1, const SGGeoc& b, double
|
|||
return true;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Helper function Cross track error:
|
||||
* http://williams.best.vwh.net/avform.htm#XTE
|
||||
*
|
||||
* param distanceOriginToPosition in Nautical Miles
|
||||
* param courseDev difference between courseOriginToAircraft(AD) and courseOriginToTarget(AB)
|
||||
* return XTE in Nautical Miles
|
||||
*
|
||||
* A(origin)
|
||||
* B(target)
|
||||
* D(aircraft) perhaps off course
|
||||
*
|
||||
* A-->--B
|
||||
* \ /
|
||||
* \ /
|
||||
* D
|
||||
*/
|
||||
|
||||
double greatCircleCrossTrackError(double distanceOriginToPosition,double courseDev){
|
||||
double crossTrackError = asin(
|
||||
sin(distanceOriginToPosition * SG_NM_TO_RAD) *
|
||||
sin(courseDev * SG_DEGREES_TO_RADIANS)
|
||||
);
|
||||
return crossTrackError * SG_RAD_TO_NM;
|
||||
}
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
WayptController::~WayptController()
|
||||
|
|
@ -158,7 +186,7 @@ class BasicWayptCtl : public WayptController
|
|||
public:
|
||||
BasicWayptCtl(RNAV* aRNAV, const WayptRef& aWpt) :
|
||||
WayptController(aRNAV, aWpt),
|
||||
_distanceM(0.0),
|
||||
_distanceAircraftTargetMeter(0.0),
|
||||
_courseDev(0.0)
|
||||
{
|
||||
if (aWpt->flag(WPT_DYNAMIC)) {
|
||||
|
|
@ -173,30 +201,33 @@ public:
|
|||
|
||||
virtual void update()
|
||||
{
|
||||
double brg, az2;
|
||||
SGGeodesy::inverse(_rnav->position(), _waypt->position(), brg, az2, _distanceM);
|
||||
_courseDev = brg - _targetTrack;
|
||||
double bearingAircraftToTarget;
|
||||
|
||||
bearingAircraftToTarget = SGGeodesy::courseDeg(_rnav->position(), _waypt->position());
|
||||
_distanceAircraftTargetMeter = SGGeodesy::distanceM(_rnav->position(), _waypt->position());
|
||||
|
||||
_courseDev = bearingAircraftToTarget - _targetTrack;
|
||||
SG_NORMALIZE_RANGE(_courseDev, -180.0, 180.0);
|
||||
|
||||
if ((fabs(_courseDev) > 90.0) && (_distanceM < _rnav->overflightArmDistanceM())) {
|
||||
if ((fabs(_courseDev) > _rnav->overflightArmAngleDeg()) && (_distanceAircraftTargetMeter < _rnav->overflightArmDistanceM())) {
|
||||
setDone();
|
||||
}
|
||||
}
|
||||
|
||||
virtual double distanceToWayptM() const
|
||||
{
|
||||
return _distanceM;
|
||||
return _distanceAircraftTargetMeter;
|
||||
}
|
||||
|
||||
virtual double xtrackErrorNm() const
|
||||
{
|
||||
double x = sin(courseDeviationDeg() * SG_DEGREES_TO_RADIANS) * _distanceM;
|
||||
double x = sin(courseDeviationDeg() * SG_DEGREES_TO_RADIANS) * _distanceAircraftTargetMeter;
|
||||
return x * SG_METER_TO_NM;
|
||||
}
|
||||
|
||||
virtual bool toFlag() const
|
||||
{
|
||||
return (fabs(_courseDev) < 90.0);
|
||||
return (fabs(_courseDev) < _rnav->overflightArmAngleDeg());
|
||||
}
|
||||
|
||||
virtual double courseDeviationDeg() const
|
||||
|
|
@ -215,10 +246,136 @@ public:
|
|||
}
|
||||
|
||||
private:
|
||||
double _distanceM;
|
||||
double _distanceAircraftTargetMeter;
|
||||
double _courseDev;
|
||||
};
|
||||
|
||||
/**
|
||||
* Controller for leg course interception.
|
||||
* In leg mode, we want to intercept the leg between 2 waypoints(A->B).
|
||||
* If we can't reach the the selected waypoint leg,we going direct to B.
|
||||
*/
|
||||
|
||||
class LegWayptCtl : public WayptController
|
||||
{
|
||||
public:
|
||||
LegWayptCtl(RNAV* aRNAV, const WayptRef& aWpt) :
|
||||
WayptController(aRNAV, aWpt),
|
||||
_waypointOrigin(),
|
||||
_distanceOriginTargetMeter(0.0),
|
||||
_distanceOriginAircraftMeter(0.0),
|
||||
_distanceAircraftTargetMeter(0.0),
|
||||
_courseOriginToAircraft(0.0),
|
||||
_courseAircraftToTarget(0.0),
|
||||
_courseDev(0.0),
|
||||
_toFlag(true)
|
||||
{
|
||||
if (aWpt->flag(WPT_DYNAMIC)) {
|
||||
throw sg_exception("LegWayptCtl doesn't work with dynamic waypoints");
|
||||
}
|
||||
}
|
||||
|
||||
virtual void init()
|
||||
{
|
||||
double courseOriginTarget;
|
||||
bool isPreviousLegValid = false;
|
||||
|
||||
_waypointOrigin = _rnav->previousLegWaypointPosition(isPreviousLegValid);
|
||||
|
||||
courseOriginTarget = SGGeodesy::courseDeg(_waypointOrigin,_waypt->position());
|
||||
|
||||
_courseAircraftToTarget = SGGeodesy::courseDeg(_rnav->position(),_waypt->position());
|
||||
_distanceAircraftTargetMeter = SGGeodesy::distanceM(_rnav->position(),_waypt->position());
|
||||
|
||||
|
||||
// check reach the leg in 45Deg or going direct
|
||||
bool canReachLeg = (fabs(courseOriginTarget -_courseAircraftToTarget) < 45.0);
|
||||
|
||||
if ( isPreviousLegValid && canReachLeg){
|
||||
_targetTrack = courseOriginTarget;
|
||||
}else{
|
||||
_targetTrack = _courseAircraftToTarget;
|
||||
_waypointOrigin = _rnav->position();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
virtual void update()
|
||||
{
|
||||
_courseOriginToAircraft = SGGeodesy::courseDeg(_waypointOrigin,_rnav->position());
|
||||
_distanceOriginAircraftMeter = SGGeodesy::distanceM(_waypointOrigin,_rnav->position());
|
||||
|
||||
_courseAircraftToTarget = SGGeodesy::courseDeg(_rnav->position(),_waypt->position());
|
||||
_distanceAircraftTargetMeter = SGGeodesy::distanceM(_rnav->position(),_waypt->position());
|
||||
|
||||
_courseDev = -(_courseOriginToAircraft - _targetTrack);
|
||||
|
||||
bool isMinimumOverFlightDistanceReached = _distanceAircraftTargetMeter < _rnav->overflightDistanceM();
|
||||
bool isOverFlightConeArmed = _distanceAircraftTargetMeter < ( _rnav->overflightArmDistanceM() + _rnav->overflightDistanceM() );
|
||||
bool leavingOverFlightCone = (fabs(_courseAircraftToTarget - _targetTrack) > _rnav->overflightArmAngleDeg());
|
||||
|
||||
if( isMinimumOverFlightDistanceReached ){
|
||||
_toFlag = false;
|
||||
setDone();
|
||||
}else{
|
||||
if( isOverFlightConeArmed ){
|
||||
_toFlag = false;
|
||||
if ( leavingOverFlightCone ) {
|
||||
setDone();
|
||||
}
|
||||
}else{
|
||||
_toFlag = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
virtual double distanceToWayptM() const
|
||||
{
|
||||
return _distanceAircraftTargetMeter;
|
||||
}
|
||||
|
||||
virtual double xtrackErrorNm() const
|
||||
{
|
||||
return greatCircleCrossTrackError(_distanceOriginAircraftMeter * SG_METER_TO_NM, _courseDev);
|
||||
}
|
||||
|
||||
virtual bool toFlag() const
|
||||
{
|
||||
return _toFlag;
|
||||
}
|
||||
|
||||
virtual double courseDeviationDeg() const
|
||||
{
|
||||
return _courseDev;
|
||||
}
|
||||
|
||||
virtual double trueBearingDeg() const
|
||||
{
|
||||
return _courseAircraftToTarget;
|
||||
}
|
||||
|
||||
virtual SGGeod position() const
|
||||
{
|
||||
return _waypt->position();
|
||||
}
|
||||
|
||||
private:
|
||||
|
||||
/*
|
||||
* great circle route
|
||||
* A(from), B(to), D(position) perhaps off course
|
||||
*/
|
||||
SGGeod _waypointOrigin;
|
||||
double _distanceOriginTargetMeter;
|
||||
double _distanceOriginAircraftMeter;
|
||||
double _distanceAircraftTargetMeter;
|
||||
double _courseOriginToAircraft;
|
||||
double _courseAircraftToTarget;
|
||||
double _courseDev;
|
||||
bool _toFlag;
|
||||
|
||||
};
|
||||
|
||||
/**
|
||||
* Special controller for runways. For runways, we want very narrow deviation
|
||||
* constraints, and to understand that any point along the paved area is
|
||||
|
|
@ -230,7 +387,7 @@ public:
|
|||
RunwayCtl(RNAV* aRNAV, const WayptRef& aWpt) :
|
||||
WayptController(aRNAV, aWpt),
|
||||
_runway(NULL),
|
||||
_distanceM(0.0),
|
||||
_distanceAircraftRunwayEnd(0.0),
|
||||
_courseDev(0.0)
|
||||
{
|
||||
}
|
||||
|
|
@ -243,16 +400,19 @@ public:
|
|||
|
||||
virtual void update()
|
||||
{
|
||||
double brg, az2;
|
||||
double bearingAircraftRunwayEnd;
|
||||
// use the far end of the runway for course deviation calculations.
|
||||
// this should do the correct thing both for takeoffs (including entering
|
||||
// the runway at a taxiway after the threshold) and also landings.
|
||||
// seperately compute the distance to the threshold for timeToWaypt calc
|
||||
SGGeodesy::inverse(_rnav->position(), _runway->end(), brg, az2, _distanceM);
|
||||
double _courseDev = brg - _targetTrack;
|
||||
|
||||
bearingAircraftRunwayEnd = SGGeodesy::courseDeg(_rnav->position(), _runway->end());
|
||||
_distanceAircraftRunwayEnd = SGGeodesy::distanceM(_rnav->position(), _runway->end());
|
||||
|
||||
double _courseDev = bearingAircraftRunwayEnd - _targetTrack;
|
||||
SG_NORMALIZE_RANGE(_courseDev, -180.0, 180.0);
|
||||
|
||||
if ((fabs(_courseDev) > 90.0) && (_distanceM < _rnav->overflightArmDistanceM())) {
|
||||
if ((fabs(_courseDev) > _rnav->overflightArmAngleDeg()) && (_distanceAircraftRunwayEnd < _rnav->overflightArmDistanceM())) {
|
||||
setDone();
|
||||
}
|
||||
}
|
||||
|
|
@ -264,7 +424,7 @@ public:
|
|||
|
||||
virtual double xtrackErrorNm() const
|
||||
{
|
||||
double x = sin(_courseDev * SG_RADIANS_TO_DEGREES) * _distanceM;
|
||||
double x = sin(_courseDev * SG_RADIANS_TO_DEGREES) * _distanceAircraftRunwayEnd;
|
||||
return x * SG_METER_TO_NM;
|
||||
}
|
||||
|
||||
|
|
@ -286,7 +446,7 @@ public:
|
|||
}
|
||||
private:
|
||||
FGRunway* _runway;
|
||||
double _distanceM;
|
||||
double _distanceAircraftRunwayEnd;
|
||||
double _courseDev;
|
||||
};
|
||||
|
||||
|
|
@ -554,8 +714,9 @@ private:
|
|||
DirectToController::DirectToController(RNAV* aRNAV, const WayptRef& aWpt, const SGGeod& aOrigin) :
|
||||
WayptController(aRNAV, aWpt),
|
||||
_origin(aOrigin),
|
||||
_distanceM(0.0),
|
||||
_courseDev(0.0)
|
||||
_distanceAircraftTargetMeter(0.0),
|
||||
_courseDev(0.0),
|
||||
_courseAircraftToTarget(0.0)
|
||||
{
|
||||
}
|
||||
|
||||
|
|
@ -564,31 +725,44 @@ void DirectToController::init()
|
|||
if (_waypt->flag(WPT_DYNAMIC)) {
|
||||
throw sg_exception("can't direct-to a dynamic waypoint");
|
||||
}
|
||||
|
||||
|
||||
_targetTrack = SGGeodesy::courseDeg(_origin, _waypt->position());
|
||||
}
|
||||
|
||||
void DirectToController::update()
|
||||
{
|
||||
double brg, az2;
|
||||
SGGeodesy::inverse(_rnav->position(), _waypt->position(), brg, az2, _distanceM);
|
||||
_courseDev = brg - _targetTrack;
|
||||
double courseOriginToAircraft;
|
||||
|
||||
courseOriginToAircraft = SGGeodesy::courseDeg(_origin,_rnav->position());
|
||||
|
||||
_courseAircraftToTarget = SGGeodesy::courseDeg(_rnav->position(),_waypt->position());
|
||||
_distanceAircraftTargetMeter = SGGeodesy::distanceM(_rnav->position(),_waypt->position());
|
||||
|
||||
_courseDev = -(courseOriginToAircraft - _targetTrack);
|
||||
|
||||
SG_NORMALIZE_RANGE(_courseDev, -180.0, 180.0);
|
||||
|
||||
if ((fabs(_courseDev) > 90.0) && (_distanceM < _rnav->overflightArmDistanceM())) {
|
||||
setDone();
|
||||
|
||||
bool isMinimumOverFlightDistanceReached = _distanceAircraftTargetMeter < _rnav->overflightDistanceM();
|
||||
bool isOverFlightConeArmed = _distanceAircraftTargetMeter < ( _rnav->overflightArmDistanceM() + _rnav->overflightDistanceM() );
|
||||
bool leavingOverFlightCone = (fabs(_courseAircraftToTarget - _targetTrack) > _rnav->overflightArmAngleDeg());
|
||||
|
||||
if( isMinimumOverFlightDistanceReached ){
|
||||
setDone();
|
||||
}else{
|
||||
if( isOverFlightConeArmed && leavingOverFlightCone ){
|
||||
setDone();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
double DirectToController::distanceToWayptM() const
|
||||
{
|
||||
return _distanceM;
|
||||
return _distanceAircraftTargetMeter;
|
||||
}
|
||||
|
||||
double DirectToController::xtrackErrorNm() const
|
||||
{
|
||||
double x = sin(courseDeviationDeg() * SG_DEGREES_TO_RADIANS) * _distanceM;
|
||||
return x * SG_METER_TO_NM;
|
||||
return greatCircleCrossTrackError(_distanceAircraftTargetMeter * SG_METER_TO_NM, _courseDev);
|
||||
}
|
||||
|
||||
double DirectToController::courseDeviationDeg() const
|
||||
|
|
@ -598,7 +772,7 @@ double DirectToController::courseDeviationDeg() const
|
|||
|
||||
double DirectToController::trueBearingDeg() const
|
||||
{
|
||||
return SGGeodesy::courseDeg(_rnav->position(), _waypt->position());
|
||||
return _courseAircraftToTarget;
|
||||
}
|
||||
|
||||
SGGeod DirectToController::position() const
|
||||
|
|
@ -610,8 +784,9 @@ SGGeod DirectToController::position() const
|
|||
|
||||
OBSController::OBSController(RNAV* aRNAV, const WayptRef& aWpt) :
|
||||
WayptController(aRNAV, aWpt),
|
||||
_distanceM(0.0),
|
||||
_courseDev(0.0)
|
||||
_distanceAircraftTargetMeter(0.0),
|
||||
_courseDev(0.0),
|
||||
_courseAircraftToTarget(0.0)
|
||||
{
|
||||
}
|
||||
|
||||
|
|
@ -627,26 +802,28 @@ void OBSController::init()
|
|||
void OBSController::update()
|
||||
{
|
||||
_targetTrack = _rnav->selectedMagCourse() + _rnav->magvarDeg();
|
||||
double brg, az2;
|
||||
SGGeodesy::inverse(_rnav->position(), _waypt->position(), brg, az2, _distanceM);
|
||||
_courseDev = brg - _targetTrack;
|
||||
|
||||
_courseAircraftToTarget = SGGeodesy::courseDeg(_rnav->position(),_waypt->position());
|
||||
_distanceAircraftTargetMeter = SGGeodesy::distanceM(_rnav->position(),_waypt->position());
|
||||
|
||||
// _courseDev inverted we use point target as origin
|
||||
_courseDev = (_courseAircraftToTarget - _targetTrack);
|
||||
SG_NORMALIZE_RANGE(_courseDev, -180.0, 180.0);
|
||||
}
|
||||
|
||||
bool OBSController::toFlag() const
|
||||
{
|
||||
return (fabs(_courseDev) < 90.0);
|
||||
return (fabs(_courseDev) < _rnav->overflightArmAngleDeg());
|
||||
}
|
||||
|
||||
double OBSController::distanceToWayptM() const
|
||||
{
|
||||
return _distanceM;
|
||||
return _distanceAircraftTargetMeter;
|
||||
}
|
||||
|
||||
double OBSController::xtrackErrorNm() const
|
||||
{
|
||||
double x = sin(_courseDev * SG_DEGREES_TO_RADIANS) * _distanceM;
|
||||
return x * SG_METER_TO_NM;
|
||||
return greatCircleCrossTrackError(_distanceAircraftTargetMeter * SG_METER_TO_NM, _courseDev);
|
||||
}
|
||||
|
||||
double OBSController::courseDeviationDeg() const
|
||||
|
|
@ -662,7 +839,7 @@ double OBSController::courseDeviationDeg() const
|
|||
|
||||
double OBSController::trueBearingDeg() const
|
||||
{
|
||||
return SGGeodesy::courseDeg(_rnav->position(), _waypt->position());
|
||||
return _courseAircraftToTarget;
|
||||
}
|
||||
|
||||
SGGeod OBSController::position() const
|
||||
|
|
@ -703,7 +880,7 @@ WayptController* WayptController::createForWaypt(RNAV* aRNAV, const WayptRef& aW
|
|||
return new HoldCtl(aRNAV, aWpt);
|
||||
}
|
||||
|
||||
return new BasicWayptCtl(aRNAV, aWpt);
|
||||
return new LegWayptCtl(aRNAV, aWpt);
|
||||
}
|
||||
|
||||
} // of namespace flightgear
|
||||
|
|
|
|||
|
|
@ -59,10 +59,24 @@ public:
|
|||
*/
|
||||
virtual double selectedMagCourse() = 0;
|
||||
|
||||
/**
|
||||
* minimum distance to switch next waypoint.
|
||||
*/
|
||||
virtual double overflightDistanceM() = 0;
|
||||
/**
|
||||
* minimum distance to a waypoint for overflight sequencing.
|
||||
*/
|
||||
virtual double overflightArmDistanceM() = 0;
|
||||
/**
|
||||
* angle for overflight sequencing.
|
||||
*/
|
||||
virtual double overflightArmAngleDeg() = 0;
|
||||
|
||||
/**
|
||||
* device leg previous waypoint position(eg, from route manager)
|
||||
*/
|
||||
virtual SGGeod previousLegWaypointPosition(bool& isValid)= 0;
|
||||
|
||||
};
|
||||
|
||||
class WayptController
|
||||
|
|
@ -164,8 +178,9 @@ public:
|
|||
virtual SGGeod position() const;
|
||||
private:
|
||||
SGGeod _origin;
|
||||
double _distanceM;
|
||||
double _distanceAircraftTargetMeter;
|
||||
double _courseDev;
|
||||
double _courseAircraftToTarget;
|
||||
};
|
||||
|
||||
/**
|
||||
|
|
@ -185,8 +200,9 @@ public:
|
|||
virtual bool toFlag() const;
|
||||
virtual SGGeod position() const;
|
||||
private:
|
||||
double _distanceM;
|
||||
double _distanceAircraftTargetMeter;
|
||||
double _courseDev;
|
||||
double _courseAircraftToTarget;
|
||||
};
|
||||
|
||||
} // of namespace flightgear
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue