Merge branch 'next' of D:\Git_New\flightgear into next

docs-mini/README.MSVC

@@ -83,12 +83,17 @@ Typical setup should decompose into the following steps :
  10. Open file D:\FGFSDevel\SimGear\simgear\version.h.in and change @VERSION@ into "2.0.0" or any current version
  11. Save file as version.h in the same directory
  12. Start build (usually F7)
- 13. Wait...
- 14. Enjoy - programs are in D:\FGFSDevel\FlightGear\projects\VC90\Win32\Release
+ 13. Get the data from Gitorious too : git clone git://gitorious.org/fg/fgdata.git fgdata
+ 14. Wait...
+ 15. Add <any_directory_on_any_drive>/install/msvc90/OpenSceneGraph/bin and <any_directory_on_any_drive>/3rdParty/bin to your PATH environment variable
+ 16. Enjoy - programs are in D:\FGFSDevel\FlightGear\projects\VC90\Win32\Release
 
 It is also possible to compile a Debug version. This is only useful when hacking the code because 
 a Debug version is way slower than the Release one.
 
+The 64bit build is only available to people having the Professional edition of Visual Studio 2008. In that case, 14. above should be :
+ 14. Add <any_directory_on_any_drive>/install/msvc90-64/OpenSceneGraph/bin and <any_directory_on_any_drive>/3rdParty.x64/bin to your PATH environment variable
+
 When the manual build works, it is possible to start it from the command line. This is useful 
 when setting up a build server or automating the process of retrieving the code and building 
 it in a scheduled task. To do that :

src/AIModel/AIAircraft.cxx

@@ -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.
 //
@@ -78,6 +78,8 @@ FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : FGAIBase(otAircraft) {
     roll = 0;
     headingChangeRate = 0.0;
     headingError = 0;
+    minBearing = 360;
+    speedFraction =1.0;
 
     holdPos = false;
     needsTaxiClearance = false;
@@ -257,6 +259,16 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
           return;
     dt_count = 0;
 
+    double distanceToDescent;
+    if(reachedEndOfCruise(distanceToDescent)) {
+        if (!loadNextLeg(distanceToDescent)) {
+            setDie(true);
+            return;
+        }
+        prev = fp->getPreviousWaypoint();
+        curr = fp->getCurrentWaypoint();
+        next = fp->getNextWaypoint();
+    }
     if (! leadPointReached(curr)) {
         controlHeading(curr);
         controlSpeed(curr, next);
@@ -278,7 +290,7 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
 
         //TODO let the fp handle this (loading of next leg)
         fp->IncrementWaypoint( trafficRef != 0 );
-        if (!(fp->getNextWaypoint()) && trafficRef != 0)
+        if  ( ((!(fp->getNextWaypoint()))) && (trafficRef != 0) )
             if (!loadNextLeg()) {
                 setDie(true);
                 return;
@@ -342,7 +354,7 @@ const char * FGAIAircraft::_getTransponderCode() const {
 }
 
 
-bool FGAIAircraft::loadNextLeg() {
+bool FGAIAircraft::loadNextLeg(double distance) {
 
     int leg;
     if ((leg = fp->getLeg())  == 10) {
@@ -374,7 +386,8 @@ bool FGAIAircraft::loadNextLeg() {
                     trafficRef->getRadius(),
                     trafficRef->getFlightType(),
                     acType,
-                    company);
+                    company,
+                    distance);
        //cerr << "created  leg " << leg << " for " << trafficRef->getCallSign() << endl;
     }
     return true;
@@ -423,6 +436,7 @@ void FGAIAircraft::doGroundAltitude() {
         altitude_ft = (tgt_altitude_ft + groundOffset);
     else
         altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
+    tgt_vs = 0;
 }
 
 
@@ -449,6 +463,11 @@ void FGAIAircraft::announcePositionToController() {
                 cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
             }
             break;
+        case 7:
+             if (trafficRef->getDepartureAirport()->getDynamics()) {
+                 controller = trafficRef->getArrivalAirport()->getDynamics()->getApproachController();
+              }
+              break;
         case 9:              // Taxiing for parking
             if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
                 controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
@@ -629,13 +648,34 @@ bool FGAIAircraft::leadPointReached(FGAIFlightPlan::waypoint* curr) {
     //          << dist_to_go << ": Lead distance " 
     //          << lead_dist << " " << curr->name 
     //          << " Ground target speed " << groundTargetSpeed << endl;
-   // if (trafficRef) {
-   //      if (trafficRef->getCallSign() == "Transavia7584") {
-   //           cerr << trafficRef->getCallSign() << " " << tgt_altitude_ft << " " << _getSpeed() << " " 
-   //                << _getAltitude() << " "<< _getLatitude() << " " << _getLongitude() << " " << dist_to_go << " " << lead_dist << curr->name << endl; 
-   //      }
-   //  }
-    return dist_to_go < lead_dist;
+    double bearing;
+    if (speed > 50) { // don't do bearing calculations for ground traffic
+       bearing = getBearing(fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr));
+       if (bearing < minBearing) {
+            minBearing = bearing;
+            if (minBearing < 10) {
+                 minBearing = 10;
+            }
+            if ((minBearing < 360.0) && (minBearing > 10.0)) {
+                speedFraction = cos(minBearing *SG_DEGREES_TO_RADIANS);
+            } else {
+                speedFraction = 1.0;
+            }
+       }
+    } 
+    if (trafficRef) {
+         //cerr << "Tracking callsign : \"" << fgGetString("/ai/track-callsign") << "\"" << endl;
+/*         if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
+              cerr << trafficRef->getCallSign() << " " << tgt_altitude_ft << " " << _getSpeed() << " " 
+                   << _getAltitude() << " "<< _getLatitude() << " " << _getLongitude() << " " << dist_to_go << " " << lead_dist << " " << curr->name << " " << vs << " " << tgt_vs << " " << bearing << " " << minBearing << " " << speedFraction << endl; 
+         }*/
+     }
+    if ((dist_to_go < lead_dist) || (bearing > (minBearing * 1.1))) {
+        minBearing = 360;
+        return true;
+    } else {
+        return false;
+    }
 }
 
 
@@ -1024,7 +1064,7 @@ void FGAIAircraft::updateActualState() {
     if (onGround())
         speed = _performance->actualSpeed(this, groundTargetSpeed, dt);
     else
-        speed = _performance->actualSpeed(this, tgt_speed, dt);
+        speed = _performance->actualSpeed(this, (tgt_speed *speedFraction), dt);
 
     updateHeading();
     roll = _performance->actualBankAngle(this, tgt_roll, dt);
@@ -1045,3 +1085,89 @@ void FGAIAircraft::updateSecondaryTargetValues() {
 
     //TODO calculate wind correction angle (tgt_yaw)
 }
+
+
+bool FGAIAircraft::reachedEndOfCruise(double &distance) {
+    FGAIFlightPlan::waypoint* curr = fp->getCurrentWaypoint();
+    if (curr->name == "BOD") {
+        double dist = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
+        double descentSpeed = (getPerformance()->vDescent() * SG_NM_TO_METER) / 3600.0;     // convert from kts to meter/s
+        double descentRate  = (getPerformance()->descentRate() * SG_FEET_TO_METER) / 60.0;  // convert from feet/min to meter/s
+
+        double verticalDistance  = ((altitude_ft - 2000.0) - trafficRef->getArrivalAirport()->getElevation()) *SG_FEET_TO_METER;
+        double descentTimeNeeded = verticalDistance / descentRate;
+        double distanceCovered   = descentSpeed * descentTimeNeeded; 
+
+        //cerr << "Tracking  : " << fgGetString("/ai/track-callsign");
+        if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
+            cerr << "Checking for end of cruise stage for :" << trafficRef->getCallSign() << endl;
+            cerr << "Descent rate      : " << descentRate << endl;
+            cerr << "Descent speed     : " << descentSpeed << endl;
+            cerr << "VerticalDistance  : " << verticalDistance << ". Altitude : " << altitude_ft << ". Elevation " << trafficRef->getArrivalAirport()->getElevation() << endl;
+            cerr << "DecentTimeNeeded  : " << descentTimeNeeded << endl;
+            cerr << "DistanceCovered   : " << distanceCovered   << endl;
+        }
+        //cerr << "Distance = " << distance << endl;
+        distance = distanceCovered;
+        if (dist < distanceCovered) {
+              if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
+                   //exit(1);
+              }
+              return true;
+        } else {
+              return false;
+        }
+    } else {
+         return false;
+    }
+}
+
+void FGAIAircraft::resetPositionFromFlightPlan()
+{
+    // the one behind you
+    FGAIFlightPlan::waypoint* prev = 0;
+    // the one ahead
+    FGAIFlightPlan::waypoint* curr = 0;
+    // the next plus 1
+    FGAIFlightPlan::waypoint* next = 0;
+
+    prev = fp->getPreviousWaypoint();
+    curr = fp->getCurrentWaypoint();
+    next = fp->getNextWaypoint();
+
+    setLatitude(prev->latitude);
+    setLongitude(prev->longitude);
+    double tgt_heading = fp->getBearing(curr, next);
+    setHeading(tgt_heading);
+    setAltitude(prev->altitude);
+    setSpeed(prev->speed);
+}
+
+double FGAIAircraft::getBearing(double crse) 
+{
+  double hdgDiff = fabs(hdg-crse);
+  if (hdgDiff > 180)
+      hdgDiff = fabs(hdgDiff - 360);
+  return hdgDiff;
+}
+
+time_t FGAIAircraft::checkForArrivalTime(string wptName) {
+     FGAIFlightPlan::waypoint* curr = 0;
+     curr = fp->getCurrentWaypoint();
+
+     double tracklength = fp->checkTrackLength(wptName);
+     if (tracklength > 0.1) {
+          tracklength += fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
+     } else {
+         return 0;
+     }
+     time_t now = time(NULL) + fgGetLong("/sim/time/warp");
+     time_t arrivalTime = fp->getArrivalTime();
+     
+     time_t ete = tracklength / ((speed * SG_NM_TO_METER) / 3600.0); 
+     time_t secondsToGo = arrivalTime - now;
+     if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {    
+          cerr << "Checking arrival time: ete " << ete << ". Time to go : " << secondsToGo << ". Track length = " << tracklength << endl;
+     }
+     return (ete - secondsToGo); // Positive when we're too slow...
+}

src/AIModel/AIAircraft.hxx

@@ -53,6 +53,7 @@ public:
     void initializeFlightPlan();
     FGAIFlightPlan* GetFlightPlan() const { return fp; };
     void ProcessFlightPlan( double dt, time_t now );
+    time_t checkForArrivalTime(string wptName);
     
     void AccelTo(double speed);
     void PitchTo(double angle);
@@ -63,7 +64,9 @@ public:
     
     void getGroundElev(double dt); //TODO these 3 really need to be public?
     void doGroundAltitude();
-    bool loadNextLeg  ();
+    bool loadNextLeg  (double dist=0);
+    void resetPositionFromFlightPlan();
+    double getBearing(double crse);
 
     void setAcType(const std::string& ac) { acType = ac; };
     void setCompany(const std::string& comp) { company = comp;};
@@ -91,6 +94,7 @@ public:
     inline double airspeed() const { return props->getFloatValue("velocities/airspeed-kt");};
     std::string atGate();
 
+    
 protected:
     void Run(double dt);
 
@@ -104,6 +108,8 @@ private:
     double dt_elev_count;
     double headingChangeRate;
     double headingError;
+    double minBearing;
+    double speedFraction;
     double groundTargetSpeed;
     double groundOffset;
     double dt;
@@ -118,6 +124,7 @@ private:
     void handleFirstWaypoint(void);
     bool leadPointReached(FGAIFlightPlan::waypoint* curr);
     bool handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t now);
+    bool reachedEndOfCruise(double&);
     bool aiTrafficVisible(void);
     void controlHeading(FGAIFlightPlan::waypoint* curr);
     void controlSpeed(FGAIFlightPlan::waypoint* curr,

src/AIModel/AIFlightPlan.cxx

@@ -187,8 +187,8 @@ FGAIFlightPlan::FGAIFlightPlan(FGAIAircraft *ac,
       time_t now = time(NULL) + fgGetLong("/sim/time/warp");
       time_t timeDiff = now-start; 
       leg = 1;
-      /*
-      if ((timeDiff > 300) && (timeDiff < 1200))
+      
+      if ((timeDiff > 60) && (timeDiff < 1200))
 	leg = 2;
       else if ((timeDiff >= 1200) && (timeDiff < 1500))
 	leg = 3;
@@ -196,14 +196,15 @@ FGAIFlightPlan::FGAIFlightPlan(FGAIAircraft *ac,
 	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 << " " << ac->getTrafficRef()->getCallSign());
       wpt_iterator = waypoints.begin();
+      bool dist = 0;
       create(ac, dep,arr, leg, alt, speed, lat, lon,
-	     firstLeg, radius, fltType, acType, airline);
+	     firstLeg, radius, fltType, acType, airline, dist);
       wpt_iterator = waypoints.begin();
       //cerr << "after create: " << (*wpt_iterator)->name << endl;
       //leg++;
@@ -411,6 +412,7 @@ void FGAIFlightPlan::setLeadDistance(double speed, double bearing,
   
   //lead_distance = turn_radius * sin(leadInAngle * SG_DEGREES_TO_RADIANS); 
   lead_distance = turn_radius * tan((leadInAngle * SG_DEGREES_TO_RADIANS)/2);
+  /*
   if ((lead_distance > (3*turn_radius)) && (current->on_ground == false)) {
       // cerr << "Warning: Lead-in distance is large. Inbound = " << inbound
       //      << ". Outbound = " << outbound << ". Lead in angle = " << leadInAngle  << ". Turn radius = " << turn_radius << endl;
@@ -420,7 +422,7 @@ void FGAIFlightPlan::setLeadDistance(double speed, double bearing,
   if ((leadInAngle > 90) && (current->on_ground == true)) {
       lead_distance = turn_radius * tan((90 * SG_DEGREES_TO_RADIANS)/2);
       return;
-  }
+  }*/
 }
 
 void FGAIFlightPlan::setLeadDistance(double distance_ft){
@@ -493,3 +495,20 @@ int FGAIFlightPlan::getRouteIndex(int i) {
   else
     return 0;
 }
+
+
+double FGAIFlightPlan::checkTrackLength(string wptName) {
+    // skip the first two waypoints: first one is behind, second one is partially done;
+    double trackDistance = 0;
+    wpt_vector_iterator wptvec = waypoints.begin();
+    wptvec++;
+    wptvec++;
+    while ((wptvec != waypoints.end()) && ((*wptvec)->name != wptName)) {
+           trackDistance += (*wptvec)->trackLength;
+           wptvec++;
+    }
+    if (wptvec == waypoints.end()) {
+        trackDistance = 0; // name not found
+    }
+    return trackDistance;
+}

src/AIModel/AIFlightPlan.hxx

@@ -55,6 +55,7 @@ public:
    bool on_ground;
     int routeIndex;  // For AI/ATC purposes;
    double time_sec;
+   double trackLength; // distance from previous waypoint (for AI purposes);
    string time;
 
   } waypoint;
@@ -90,10 +91,12 @@ public:
    double getLeadDistance( void ) const {return lead_distance;}
    double getBearing(waypoint* previous, waypoint* next) const;
    double getBearing(double lat, double lon, waypoint* next) const;
+   double checkTrackLength(string wptName);
   time_t getStartTime() const { return start_time; }
+   time_t getArrivalTime() const { return arrivalTime; }
 
   void    create(FGAIAircraft *, FGAirport *dep, FGAirport *arr, int leg, double alt, double speed, double lat, double lon,
-		 bool firstLeg, double radius, const string& fltType, const string& aircraftType, const string& airline);
+		 bool firstLeg, double radius, const string& fltType, const string& aircraftType, const string& airline, double distance);
 
   void setLeg(int val) { leg = val;}
   void setTime(time_t st) { start_time = st; }
@@ -128,6 +131,7 @@ private:
   typedef vector <waypoint*> wpt_vector_type;
   typedef wpt_vector_type::const_iterator wpt_vector_iterator;
 
+
   wpt_vector_type       waypoints;
   wpt_vector_iterator   wpt_iterator;
 
@@ -136,6 +140,7 @@ private:
   double lead_distance;
   double leadInAngle;
   time_t start_time;
+  time_t arrivalTime;       // For AI/ATC purposes.
   int leg;
   int gateId, lastNodeVisited;
   string activeRunway;
@@ -148,7 +153,7 @@ private:
   void createTakeOff(FGAIAircraft *, bool, FGAirport *, double, const string&);
   void createClimb(FGAIAircraft *, bool, FGAirport *, double, double, const string&);
   void createCruise(FGAIAircraft *, bool, FGAirport*, FGAirport*, double, double, double, double, const string&);
-  void createDecent(FGAIAircraft *, FGAirport *, const string&);
+  void createDescent(FGAIAircraft *, FGAirport *,  double latitude, double longitude, double speed, double alt,const string&, double distance);
   void createLanding(FGAIAircraft *, FGAirport *, const string&);
   void createParking(FGAIAircraft *, FGAirport *, double radius);
   void deleteWaypoints(); 
@@ -159,6 +164,8 @@ private:
   void createDefaultTakeoffTaxi(FGAIAircraft *, FGAirport* aAirport, FGRunway* aRunway);
   void createTakeoffTaxi(FGAIAircraft *, bool firstFlight, FGAirport *apt, double radius, const string& fltType, const string& acType, const string& airline);
 
+  double getTurnRadius(double, bool);
+        
   waypoint* createOnGround(FGAIAircraft *, const std::string& aName, const SGGeod& aPos, double aElev, double aSpeed);
   waypoint* createInAir(FGAIAircraft *, const std::string& aName, const SGGeod& aPos, double aElev, double aSpeed);
   waypoint* cloneWithPos(FGAIAircraft *, waypoint* aWpt, const std::string& aName, const SGGeod& aPos);

src/AIModel/AIFlightPlanCreate.cxx

@@ -46,21 +46,23 @@
 
 
 // Check lat/lon values during initialization;
-void FGAIFlightPlan::create(FGAIAircraft *ac, FGAirport *dep, FGAirport *arr, int legNr, 
-			    double alt, double speed, double latitude, 
-			    double longitude, bool firstFlight,double radius, 
-			    const string& fltType, const string& aircraftType, 
-			    const string& airline)
+void FGAIFlightPlan::create(FGAIAircraft * ac, FGAirport * dep,
+                            FGAirport * arr, int legNr, double alt,
+                            double speed, double latitude,
+                            double longitude, bool firstFlight,
+                            double radius, const string & fltType,
+                            const string & aircraftType,
+                            const string & airline, double distance)
 {
     int currWpt = wpt_iterator - waypoints.begin();
-  switch(legNr)
-    {
+    switch (legNr) {
     case 1:
         createPushBack(ac, firstFlight, dep, latitude, longitude,
                        radius, fltType, aircraftType, airline);
         break;
     case 2:
-      createTakeoffTaxi(ac, firstFlight, dep, radius, fltType, aircraftType, airline);
+        createTakeoffTaxi(ac, firstFlight, dep, radius, fltType,
+                          aircraftType, airline);
         break;
     case 3:
         createTakeOff(ac, firstFlight, dep, speed, fltType);
@@ -69,10 +71,12 @@ void FGAIFlightPlan::create(FGAIAircraft *ac, FGAirport *dep, FGAirport *arr, in
         createClimb(ac, firstFlight, dep, speed, alt, fltType);
         break;
     case 5:
-      createCruise(ac, firstFlight, dep,arr, latitude, longitude, speed, alt, fltType);
+        createCruise(ac, firstFlight, dep, arr, latitude, longitude, speed,
+                     alt, fltType);
         break;
     case 6:
-      createDecent(ac, arr, fltType);
+        createDescent(ac, arr, latitude, longitude, speed, alt, fltType,
+                      distance);
         break;
     case 7:
         createLanding(ac, arr, fltType);
@@ -85,7 +89,8 @@ void FGAIFlightPlan::create(FGAIAircraft *ac, FGAirport *dep, FGAirport *arr, in
         break;
     default:
         //exit(1);
-      SG_LOG(SG_INPUT, SG_ALERT, "AIFlightPlan::create() attempting to create unknown leg"
+        SG_LOG(SG_INPUT, SG_ALERT,
+               "AIFlightPlan::create() attempting to create unknown leg"
                " this is probably an internal program error");
     }
     wpt_iterator = waypoints.begin() + currWpt;
@@ -93,7 +98,10 @@ void FGAIFlightPlan::create(FGAIAircraft *ac, FGAirport *dep, FGAirport *arr, in
 }
 
 FGAIFlightPlan::waypoint *
-FGAIFlightPlan::createOnGround(FGAIAircraft *ac, const std::string& aName, const SGGeod& aPos, double aElev, double aSpeed)
+    FGAIFlightPlan::createOnGround(FGAIAircraft * ac,
+                                   const std::string & aName,
+                                   const SGGeod & aPos, double aElev,
+                                   double aSpeed)
 {
     waypoint *wpt = new waypoint;
     wpt->name = aName;
@@ -101,7 +109,7 @@ FGAIFlightPlan::createOnGround(FGAIAircraft *ac, const std::string& aName, const
     wpt->latitude = aPos.getLatitudeDeg();
     wpt->altitude = aElev;
     wpt->speed = aSpeed;
-  wpt->crossat   = -10000;
+    wpt->crossat = -10000.1;
     wpt->gear_down = true;
     wpt->flaps_down = true;
     wpt->finished = false;
@@ -111,7 +119,10 @@ FGAIFlightPlan::createOnGround(FGAIAircraft *ac, const std::string& aName, const
 }
 
 FGAIFlightPlan::waypoint *
-FGAIFlightPlan::createInAir(FGAIAircraft *ac, const std::string& aName, const SGGeod& aPos, double aElev, double aSpeed)
+    FGAIFlightPlan::createInAir(FGAIAircraft * ac,
+                                const std::string & aName,
+                                const SGGeod & aPos, double aElev,
+                                double aSpeed)
 {
     waypoint *wpt = new waypoint;
     wpt->name = aName;
@@ -119,7 +130,7 @@ FGAIFlightPlan::createInAir(FGAIAircraft *ac, const std::string& aName, const SG
     wpt->latitude = aPos.getLatitudeDeg();
     wpt->altitude = aElev;
     wpt->speed = aSpeed;
-  wpt->crossat   = -10000;
+    wpt->crossat = -10000.1;
     wpt->gear_down = false;
     wpt->flaps_down = false;
     wpt->finished = false;
@@ -129,7 +140,9 @@ FGAIFlightPlan::createInAir(FGAIAircraft *ac, const std::string& aName, const SG
 }
 
 FGAIFlightPlan::waypoint *
-FGAIFlightPlan::cloneWithPos(FGAIAircraft *ac, waypoint* aWpt, const std::string& aName, const SGGeod& aPos)
+    FGAIFlightPlan::cloneWithPos(FGAIAircraft * ac, waypoint * aWpt,
+                                 const std::string & aName,
+                                 const SGGeod & aPos)
 {
     waypoint *wpt = new waypoint;
     wpt->name = aName;
@@ -148,8 +161,7 @@ FGAIFlightPlan::cloneWithPos(FGAIAircraft *ac, waypoint* aWpt, const std::string
     return wpt;
 }
 
-FGAIFlightPlan::waypoint*
-FGAIFlightPlan::clone(waypoint* aWpt)
+FGAIFlightPlan::waypoint * FGAIFlightPlan::clone(waypoint * aWpt)
 {
     waypoint *wpt = new waypoint;
     wpt->name = aWpt->name;
@@ -169,22 +181,30 @@ FGAIFlightPlan::clone(waypoint* aWpt)
 }
 
 
-void FGAIFlightPlan::createDefaultTakeoffTaxi(FGAIAircraft *ac, FGAirport* aAirport, FGRunway* aRunway)
+void FGAIFlightPlan::createDefaultTakeoffTaxi(FGAIAircraft * ac,
+                                              FGAirport * aAirport,
+                                              FGRunway * aRunway)
 {
     SGGeod runwayTakeoff = aRunway->pointOnCenterline(5.0);
     double airportElev = aAirport->getElevation();
 
     waypoint *wpt;
-  wpt = createOnGround(ac, "Airport Center", aAirport->geod(), airportElev, ac->getPerformance()->vTaxi());
+    wpt =
+        createOnGround(ac, "Airport Center", aAirport->geod(), airportElev,
+                       ac->getPerformance()->vTaxi());
     waypoints.push_back(wpt);
-  wpt = createOnGround(ac, "Runway Takeoff", runwayTakeoff, airportElev, ac->getPerformance()->vTaxi());
+    wpt =
+        createOnGround(ac, "Runway Takeoff", runwayTakeoff, airportElev,
+                       ac->getPerformance()->vTaxi());
     waypoints.push_back(wpt);
 }
 
 void FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight,
                                        FGAirport * apt,
-				double radius, const string& fltType, 
-				const string& acType, const string& airline)
+                                       double radius,
+                                       const string & fltType,
+                                       const string & acType,
+                                       const string & airline)
 {
     double heading, lat, lon;
 
@@ -195,8 +215,7 @@ void FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft *ac, bool firstFlight,
         if (!(apt->getDynamics()->getAvailableParking(&lat, &lon,
                                                       &heading, &gateId,
                                                       radius, fltType,
-              acType, airline)))
-    {
+                                                      acType, airline))) {
             SG_LOG(SG_INPUT, SG_WARN, "Could not find parking for a " <<
                    acType <<
                    " of flight type " << fltType <<
@@ -211,7 +230,8 @@ void FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft *ac, bool firstFlight,
     if (activeRunway.empty()) {
         //cerr << "Getting runway for " << ac->getTrafficRef()->getCallSign() << " at " << apt->getId() << endl;
         double depHeading = ac->getTrafficRef()->getCourse();
-      apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway, depHeading);
+        apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
+                                            depHeading);
     }
     rwy = apt->getRunwayByIdent(activeRunway);
     SGGeod runwayTakeoff = rwy->pointOnCenterline(5.0);
@@ -243,7 +263,6 @@ void FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft *ac, bool firstFlight,
     if (node == -1) {
         node = gateId;
     }
-  
     // HAndle case where parking doens't have a node
     if ((node == 0) && park) {
         if (firstFlight) {
@@ -270,7 +289,7 @@ void FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft *ac, bool firstFlight,
         int nrWaypointsToSkip = rand() % taxiRoute->size();
         // but make sure we always keep two active waypoints
         // to prevent a segmentation fault
-    for (int i = 0; i < nrWaypointsToSkip-2; i++) {
+        for (int i = 0; i < nrWaypointsToSkip - 3; i++) {
             taxiRoute->next(&node);
         }
         apt->getDynamics()->releaseParking(gateId);
@@ -285,41 +304,56 @@ void FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft *ac, bool firstFlight,
     while (taxiRoute->next(&node, &route)) {
         char buffer[10];
         snprintf(buffer, 10, "%d", node);
-		FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
-    waypoint* wpt = createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(), ac->getPerformance()->vTaxi());
+        FGTaxiNode *tn =
+            apt->getDynamics()->getGroundNetwork()->findNode(node);
+        waypoint *wpt =
+            createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(),
+                           ac->getPerformance()->vTaxi());
         wpt->routeIndex = route;
         waypoints.push_back(wpt);
     }
 }
 
-void FGAIFlightPlan::createDefaultLandingTaxi(FGAIAircraft *ac, FGAirport* aAirport)
+void FGAIFlightPlan::createDefaultLandingTaxi(FGAIAircraft * ac,
+                                              FGAirport * aAirport)
 {
     SGGeod lastWptPos =
-    SGGeod::fromDeg(waypoints.back()->longitude, waypoints.back()->latitude);
+        SGGeod::fromDeg(waypoints.back()->longitude,
+                        waypoints.back()->latitude);
     double airportElev = aAirport->getElevation();
 
     waypoint *wpt;
-  wpt = createOnGround(ac, "Runway Exit", lastWptPos, airportElev, ac->getPerformance()->vTaxi());
+    wpt =
+        createOnGround(ac, "Runway Exit", lastWptPos, airportElev,
+                       ac->getPerformance()->vTaxi());
     waypoints.push_back(wpt);
-  wpt = createOnGround(ac, "Airport Center", aAirport->geod(), airportElev, ac->getPerformance()->vTaxi());
+    wpt =
+        createOnGround(ac, "Airport Center", aAirport->geod(), airportElev,
+                       ac->getPerformance()->vTaxi());
     waypoints.push_back(wpt);
 
     double heading, lat, lon;
     aAirport->getDynamics()->getParking(gateId, &lat, &lon, &heading);
-  wpt = createOnGround(ac, "END", SGGeod::fromDeg(lon, lat), airportElev, ac->getPerformance()->vTaxi());
+    wpt =
+        createOnGround(ac, "END", SGGeod::fromDeg(lon, lat), airportElev,
+                       ac->getPerformance()->vTaxi());
     waypoints.push_back(wpt);
 }
 
 void FGAIFlightPlan::createLandingTaxi(FGAIAircraft * ac, FGAirport * apt,
-				double radius, const string& fltType, 
-				const string& acType, const string& airline)
+                                       double radius,
+                                       const string & fltType,
+                                       const string & acType,
+                                       const string & airline)
 {
     double heading, lat, lon;
     apt->getDynamics()->getAvailableParking(&lat, &lon, &heading,
-        &gateId, radius, fltType, acType, airline);
+                                            &gateId, radius, fltType,
+                                            acType, airline);
 
     SGGeod lastWptPos =
-    SGGeod::fromDeg(waypoints.back()->longitude, waypoints.back()->latitude);
+        SGGeod::fromDeg(waypoints.back()->longitude,
+                        waypoints.back()->latitude);
     FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork();
 
     // Find a route from runway end to parking/gate.
@@ -358,7 +392,9 @@ void FGAIFlightPlan::createLandingTaxi(FGAIAircraft *ac, FGAirport *apt,
         char buffer[10];
         snprintf(buffer, 10, "%d", node);
         FGTaxiNode *tn = gn->findNode(node);
-    waypoint* wpt = createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(), ac->getPerformance()->vTaxi());
+        waypoint *wpt =
+            createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(),
+                           ac->getPerformance()->vTaxi());
         wpt->routeIndex = route;
         waypoints.push_back(wpt);
     }
@@ -375,7 +411,9 @@ void FGAIFlightPlan::createLandingTaxi(FGAIAircraft *ac, FGAirport *apt,
  *  more likely however. 
  * 
  ******************************************************************/
-void FGAIFlightPlan::createTakeOff(FGAIAircraft *ac, bool firstFlight, FGAirport *apt, double speed, const string &fltType)
+void FGAIFlightPlan::createTakeOff(FGAIAircraft * ac, bool firstFlight,
+                                   FGAirport * apt, double speed,
+                                   const string & fltType)
 {
     double accel = ac->getPerformance()->acceleration();
     double vTaxi = ac->getPerformance()->vTaxi();
@@ -394,19 +432,21 @@ void FGAIFlightPlan::createTakeOff(FGAIAircraft *ac, bool firstFlight, FGAirport
     //d = (Vf^2 - Vo^2) / (2*a)
     //double accelTime = (vRotate - vTaxi) / accel;
     //cerr << "Using " << accelTime << " as total acceleration time" << endl;
-    double accelDistance = (vRotateMetric*vRotateMetric - vTaxiMetric*vTaxiMetric) / (2*accelMetric);
-    cerr << "Using " << accelDistance << " " << accelMetric << " " << vRotateMetric << endl;
+    double accelDistance =
+        (vRotateMetric * vRotateMetric -
+         vTaxiMetric * vTaxiMetric) / (2 * accelMetric);
+    //cerr << "Using " << accelDistance << " " << accelMetric << " " << vRotateMetric << endl;
     waypoint *wpt;
     // Get the current active runway, based on code from David Luff
     // This should actually be unified and extended to include 
     // Preferential runway use schema's 
     // NOTE: DT (2009-01-18: IIRC, this is currently already the case, 
     // because the getActive runway function takes care of that.
-    if (firstFlight)
-    {
+    if (firstFlight) {
         string rwyClass = getRunwayClassFromTrafficType(fltType);
         double heading = ac->getTrafficRef()->getCourse();
-        apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway, heading);
+        apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
+                                            heading);
         rwy = apt->getRunwayByIdent(activeRunway);
     }
 
@@ -417,16 +457,22 @@ void FGAIFlightPlan::createTakeOff(FGAIAircraft *ac, bool firstFlight, FGAirport
     waypoints.push_back(wpt);
 
 
-    accelDistance = (vTakeoffMetric*vTakeoffMetric - vTaxiMetric*vTaxiMetric) / (2*accelMetric);
-    cerr << "Using " << accelDistance << " " << accelMetric << " " << vTakeoffMetric << endl;
+    accelDistance =
+        (vTakeoffMetric * vTakeoffMetric -
+         vTaxiMetric * vTaxiMetric) / (2 * accelMetric);
+    //cerr << "Using " << accelDistance << " " << accelMetric << " " << vTakeoffMetric << endl;
     accelPoint = rwy->pointOnCenterline(105.0 + accelDistance);
     wpt = createOnGround(ac, "rotate", accelPoint, airportElev, vTakeoff);
     waypoints.push_back(wpt);
 
-    accelDistance = ((vTakeoffMetric*1.1)*(vTakeoffMetric*1.1) - vTaxiMetric*vTaxiMetric) / (2*accelMetric);
-    cerr << "Using " << accelDistance << " " << accelMetric << " " << vTakeoffMetric << endl;
+    accelDistance =
+        ((vTakeoffMetric * 1.1) * (vTakeoffMetric * 1.1) -
+         vTaxiMetric * vTaxiMetric) / (2 * accelMetric);
+    //cerr << "Using " << accelDistance << " " << accelMetric << " " << vTakeoffMetric << endl;
     accelPoint = rwy->pointOnCenterline(105.0 + accelDistance);
-    wpt = createOnGround(ac, "rotate", accelPoint, airportElev+1000, vTakeoff*1.1);
+    wpt =
+        createOnGround(ac, "rotate", accelPoint, airportElev + 1000,
+                       vTakeoff * 1.1);
     wpt->on_ground = false;
     waypoints.push_back(wpt);
 
@@ -446,7 +492,9 @@ void FGAIFlightPlan::createTakeOff(FGAIAircraft *ac, bool firstFlight, FGAirport
  * CreateClimb
  * initialize the Aircraft at the parking location
  ******************************************************************/
-void FGAIFlightPlan::createClimb(FGAIAircraft *ac, bool firstFlight, FGAirport *apt, double speed, double alt, const string &fltType)
+void FGAIFlightPlan::createClimb(FGAIAircraft * ac, bool firstFlight,
+                                 FGAirport * apt, double speed, double alt,
+                                 const string & fltType)
 {
     waypoint *wpt;
 //  bool planLoaded = false;
@@ -456,13 +504,13 @@ void FGAIFlightPlan::createClimb(FGAIAircraft *ac, bool firstFlight, FGAirport *
     if (firstFlight) {
         string rwyClass = getRunwayClassFromTrafficType(fltType);
         double heading = ac->getTrafficRef()->getCourse();
-    apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway, heading);
+        apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
+                                            heading);
         rwy = apt->getRunwayByIdent(activeRunway);
     }
     if (sid) {
         for (wpt_vector_iterator i = sid->getFirstWayPoint();
-         i != sid->getLastWayPoint(); 
-         i++) {
+             i != sid->getLastWayPoint(); i++) {
             waypoints.push_back(clone(*(i)));
             //cerr << " Cloning waypoint " << endl;
         }
@@ -483,50 +531,317 @@ void FGAIFlightPlan::createClimb(FGAIAircraft *ac, bool firstFlight, FGAirport *
 
 
 /*******************************************************************
- * CreateDecent
- * initialize the Aircraft at the parking location
+ * CreateDescent
+ * Generate a flight path from the last waypoint of the cruise to 
+ * the permission to land point
  ******************************************************************/
-void FGAIFlightPlan::createDecent(FGAIAircraft *ac, FGAirport *apt, const string &fltType)
+void FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
+                                   double latitude, double longitude,
+                                   double speed, double alt,
+                                   const string & fltType,
+                                   double requiredDistance)
 {
-  // Ten thousand ft. Slowing down to 240 kts
+    bool reposition = false;
     waypoint *wpt;
-  double vDecent   = ac->getPerformance()->vDescent();
+    double vDescent = ac->getPerformance()->vDescent();
     double vApproach = ac->getPerformance()->vApproach();
 
-  //Beginning of Decent
-  //string name;
-  // allow "mil" and "gen" as well
+
+    //Beginning of Descent 
     string rwyClass = getRunwayClassFromTrafficType(fltType);
     double heading = ac->getTrafficRef()->getCourse();
-  apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway, heading);
+    apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway,
+                                        heading);
     rwy = apt->getRunwayByIdent(activeRunway);
 
-  SGGeod descent1 = rwy->pointOnCenterline(-100000); // 100km out
-  wpt = createInAir(ac, "Dec 10000ft", descent1, apt->getElevation(), vDecent);
-  wpt->crossat   = 10000;
-  waypoints.push_back(wpt);  
 
-  // Three thousand ft. Slowing down to 160 kts
-  SGGeod descent2 = rwy->pointOnCenterline(-8*SG_NM_TO_METER); // 8nm out
-  wpt = createInAir(ac, "DEC 3000ft", descent2, apt->getElevation(), vApproach);
-  wpt->crossat   = 3000;
-  wpt->gear_down = true;
-  wpt->flaps_down= true;
-  waypoints.push_back(wpt);
+
+    // Create a slow descent path that ends 250 lateral to the runway.
+    double initialTurnRadius = getTurnRadius(vDescent, true);
+    double finalTurnRadius = getTurnRadius(vApproach, true);
+
+// get length of the downwind leg for the intended runway
+    double distanceOut = apt->getDynamics()->getApproachController()->getRunway(rwy->name())->getApproachDistance();    //12 * SG_NM_TO_METER;
+    //time_t previousArrivalTime=  apt->getDynamics()->getApproachController()->getRunway(rwy->name())->getEstApproachTime();
+
+
+    SGGeod current = SGGeod::fromDegM(longitude, latitude, 0);
+    SGGeod initialTarget = rwy->pointOnCenterline(-distanceOut);
+    SGGeod refPoint = rwy->pointOnCenterline(0);
+    double distance = SGGeodesy::distanceM(current, initialTarget);
+    double azimuth = SGGeodesy::courseDeg(current, initialTarget);
+    double dummyAz2;
+
+    // To prevent absurdly steep approaches, compute the origin from where the approach should have started
+    SGGeod origin;
+
+    if (ac->getTrafficRef()->getCallSign() ==
+        fgGetString("/ai/track-callsign")) {
+        //cerr << "Reposition information: Actual distance " << distance << ". required distance " << requiredDistance << endl;
+        //exit(1);
     }
+
+    if (distance < requiredDistance * 0.8) {
+        reposition = true;
+        SGGeodesy::direct(initialTarget, azimuth,
+                          -requiredDistance, origin, dummyAz2);
+
+        distance = SGGeodesy::distanceM(current, initialTarget);
+        azimuth = SGGeodesy::courseDeg(current, initialTarget);
+    } else {
+        origin = current;
+    }
+
+
+    double dAlt = alt - (apt->getElevation() + 2000);
+
+    double nPoints = 100;
+
+    char buffer[16];
+
+    // The descent path contains the following phases:
+    // 1) a linear glide path from the initial position to
+    // 2) a semi circle turn to final
+    // 3) approach
+
+    //cerr << "Phase 1: Linear Descent path to runway" << rwy->name() << endl;
+    // Create an initial destination point on a semicircle
+    //cerr << "lateral offset : " << lateralOffset << endl;
+    //cerr << "Distance       : " << distance      << endl;
+    //cerr << "Azimuth        : " << azimuth       << endl;
+    //cerr << "Initial Lateral point: " << lateralOffset << endl;
+    double lat = refPoint.getLatitudeDeg();
+    double lon = refPoint.getLongitudeDeg();
+    //cerr << "Reference point (" << lat << ", " << lon << ")." << endl;
+    lat = initialTarget.getLatitudeDeg();
+    lon = initialTarget.getLongitudeDeg();
+    //cerr << "Initial Target point (" << lat << ", " << lon << ")." << endl;
+
+    double ratio = initialTurnRadius / distance;
+    if (ratio > 1.0)
+        ratio = 1.0;
+    if (ratio < -1.0)
+        ratio = -1.0;
+
+    double newHeading = asin(ratio) * SG_RADIANS_TO_DEGREES;
+    double newDistance =
+        cos(newHeading * SG_DEGREES_TO_RADIANS) * distance;
+    //cerr << "new distance " << newDistance << ". additional Heading " << newHeading << endl;
+    double side = azimuth - rwy->headingDeg();
+    double lateralOffset = initialTurnRadius;
+    if (side < 0)
+        side += 360;
+    if (side < 180) {
+        lateralOffset *= -1;
+    }
+    // Calculate the ETA at final, based on remaining distance, and approach speed.
+    // distance should really consist of flying time to terniary target, plus circle 
+    // but the distance to secondary target should work as a reasonable approximation
+    // aditionally add the amount of distance covered by making a turn of "side"
+    double turnDistance = (2 * M_PI * initialTurnRadius) * (side / 360.0);
+    time_t remaining =
+        (turnDistance + distance) / ((vDescent * SG_NM_TO_METER) / 3600.0);
+    time_t now = time(NULL) + fgGetLong("/sim/time/warp");
+    //if (ac->getTrafficRef()->getCallSign() == fgGetString("/ai/track-callsign")) {
+    //     cerr << "   Arrival time estimation: turn angle " <<  side << ". Turn distance " << turnDistance << ". Linear distance " << distance << ". Time to go " << remaining << endl;
+    //     //exit(1);
+    //}
+
+    time_t eta = now + remaining;
+    //choose a distance to the runway such that it will take at least 60 seconds more
+    // time to get there than the previous aircraft.
+    // Don't bother when aircraft need to be repositioned, because that marks the initialization phased...
+
+    time_t newEta;
+
+    if (reposition == false) {
+        newEta =
+            apt->getDynamics()->getApproachController()->getRunway(rwy->
+                                                                   name
+                                                                   ())->
+            requestTimeSlot(eta);
+    } else {
+        newEta = eta;
+    }
+    //if ((eta < (previousArrivalTime+60)) && (reposition == false)) {
+    arrivalTime = newEta;
+    time_t additionalTimeNeeded = newEta - eta;
+    double distanceCovered =
+        ((vApproach * SG_NM_TO_METER) / 3600.0) * additionalTimeNeeded;
+    distanceOut += distanceCovered;
+    //apt->getDynamics()->getApproachController()->getRunway(rwy->name())->setEstApproachTime(eta+additionalTimeNeeded);
+    //cerr << "Adding additional distance: " << distanceCovered << " to allow " << additionalTimeNeeded << " seconds of flying time" << endl << endl;
+    //} else {
+    //apt->getDynamics()->getApproachController()->getRunway(rwy->name())->setEstApproachTime(eta);
+    //}
+    //cerr << "Timing information : Previous eta: " << previousArrivalTime << ". Current ETA : " << eta << endl;
+
+    SGGeod secondaryTarget =
+        rwy->pointOffCenterline(-distanceOut, lateralOffset);
+    initialTarget = rwy->pointOnCenterline(-distanceOut);
+    distance = SGGeodesy::distanceM(origin, secondaryTarget);
+    azimuth = SGGeodesy::courseDeg(origin, secondaryTarget);
+
+
+    lat = secondaryTarget.getLatitudeDeg();
+    lon = secondaryTarget.getLongitudeDeg();
+    //cerr << "Secondary Target point (" << lat << ", " << lon << ")." << endl;
+    //cerr << "Distance       : " << distance      << endl;
+    //cerr << "Azimuth        : " << azimuth       << endl;
+
+
+    ratio = initialTurnRadius / distance;
+    if (ratio > 1.0)
+        ratio = 1.0;
+    if (ratio < -1.0)
+        ratio = -1.0;
+    newHeading = asin(ratio) * SG_RADIANS_TO_DEGREES;
+    newDistance = cos(newHeading * SG_DEGREES_TO_RADIANS) * distance;
+    //cerr << "new distance realative to secondary target: " << newDistance << ". additional Heading " << newHeading << endl;
+    if (side < 180) {
+        azimuth += newHeading;
+    } else {
+        azimuth -= newHeading;
+    }
+
+    SGGeod tertiaryTarget;
+    SGGeodesy::direct(origin, azimuth,
+                      newDistance, tertiaryTarget, dummyAz2);
+
+    lat = tertiaryTarget.getLatitudeDeg();
+    lon = tertiaryTarget.getLongitudeDeg();
+    //cerr << "tertiary Target point (" << lat << ", " << lon << ")." << endl;
+
+
+    for (int i = 1; i < nPoints; i++) {
+        SGGeod result;
+        double currentDist = i * (newDistance / nPoints);
+        double currentAltitude = alt - (i * (dAlt / nPoints));
+        SGGeodesy::direct(origin, azimuth, currentDist, result, dummyAz2);
+        snprintf(buffer, 16, "descent%03d", i);
+        wpt = createInAir(ac, buffer, result, currentAltitude, vDescent);
+        wpt->crossat = currentAltitude;
+        wpt->trackLength = (newDistance / nPoints);
+        waypoints.push_back(wpt);
+        //cerr << "Track Length : " << wpt->trackLength;
+        //cerr << "  Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
+    }
+
+    //cerr << "Phase 2: Circle " << endl;
+    double initialAzimuth =
+        SGGeodesy::courseDeg(secondaryTarget, tertiaryTarget);
+    double finalAzimuth =
+        SGGeodesy::courseDeg(secondaryTarget, initialTarget);
+
+    //cerr << "Angles from secondary target: " << initialAzimuth << " " << finalAzimuth << endl;
+    int increment, startval, endval;
+    // circle right around secondary target if orig of position is to the right of the runway
+    // i.e. use negative angles; else circle leftward and use postivi
+    if (side < 180) {
+        increment = -1;
+        startval = floor(initialAzimuth);
+        endval = ceil(finalAzimuth);
+        if (endval > startval) {
+            endval -= 360;
+        }
+    } else {
+        increment = 1;
+        startval = ceil(initialAzimuth);
+        endval = floor(finalAzimuth);
+        if (endval < startval) {
+            endval += 360;
+        }
+
+    }
+
+    //cerr << "creating circle between " << startval << " and " << endval << " using " << increment << endl;
+    double trackLength = (2 * M_PI * initialTurnRadius) / 360.0;
+    for (int i = startval; i != endval; i += increment) {
+        SGGeod result;
+        double currentAltitude = apt->getElevation() + 2000;
+        SGGeodesy::direct(secondaryTarget, i,
+                          initialTurnRadius, result, dummyAz2);
+        snprintf(buffer, 16, "turn%03d", i);
+        wpt = createInAir(ac, buffer, result, currentAltitude, vDescent);
+        wpt->crossat = currentAltitude;
+        wpt->trackLength = trackLength;
+        //cerr << "Track Length : " << wpt->trackLength;
+        waypoints.push_back(wpt);
+        //cerr << "  Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
+    }
+
+
+    // The approach leg should bring the aircraft to approximately 4-6 out, after which the landing phase should take over. 
+    //cerr << "Phase 3: Approach" << endl;
+    distanceOut -= distanceCovered;
+    for (int i = 1; i < nPoints; i++) {
+        SGGeod result;
+        double currentDist = i * (distanceOut / nPoints);
+        double currentAltitude =
+            apt->getElevation() + 2000 - (i * 2000 / nPoints);
+        snprintf(buffer, 16, "final%03d", i);
+        result = rwy->pointOnCenterline((-distanceOut) + currentDist);
+        wpt = createInAir(ac, buffer, result, currentAltitude, vApproach);
+        wpt->crossat = currentAltitude;
+        wpt->trackLength = (distanceOut / nPoints);
+        // account for the extra distance due to an extended downwind leg
+        if (i == 1) {
+            wpt->trackLength += distanceCovered;
+        }
+        //cerr << "Track Length : " << wpt->trackLength;
+        waypoints.push_back(wpt);
+        //cerr << "  Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl;
+    }
+
+    //cerr << "Done" << endl;
+
+    // Erase the two bogus BOD points: Note check for conflicts with scripted AI flightPlans
+    IncrementWaypoint(true);
+    IncrementWaypoint(true);
+
+    if (reposition) {
+        double tempDistance;
+        double minDistance = HUGE_VAL;
+        string wptName;
+        tempDistance = SGGeodesy::distanceM(current, initialTarget);
+        time_t eta =
+            tempDistance / ((vDescent * SG_NM_TO_METER) / 3600.0) + now;
+        time_t newEta =
+            apt->getDynamics()->getApproachController()->getRunway(rwy->
+                                                                   name
+                                                                   ())->
+            requestTimeSlot(eta);
+        arrivalTime = newEta;
+        double newDistance =
+            ((vDescent * SG_NM_TO_METER) / 3600.0) * (newEta - now);
+        //cerr << "Repositioning information : eta" << eta << ". New ETA " << newEta << ". Diff = " << (newEta - eta) << ". Distance = " << tempDistance << ". New distance = " << newDistance << endl;
+        IncrementWaypoint(true);        // remove waypoint BOD2
+        while (checkTrackLength("final001") > newDistance) {
+            IncrementWaypoint(true);
+        }
+        //cerr << "Repositioning to waypoint " << (*waypoints.begin())->name << endl;
+        ac->resetPositionFromFlightPlan();
+    }
+
+
+}
+
 /*******************************************************************
  * CreateLanding
- * initialize the Aircraft at the parking location
+ * Create a flight path from the "permision to land" point (currently
+   hardcoded at 5000 meters from the threshold) to the threshold, at
+   a standard glide slope angle of 3 degrees. 
  ******************************************************************/
-void FGAIFlightPlan::createLanding(FGAIAircraft *ac, FGAirport *apt, const string &fltType)
+void FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt,
+                                   const string & fltType)
 {
     double vTouchdown = ac->getPerformance()->vTouchdown();
     double vTaxi = ac->getPerformance()->vTaxi();
 
-  string rwyClass = getRunwayClassFromTrafficType(fltType);
-  double heading = ac->getTrafficRef()->getCourse();
-  apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway, heading);
-  rwy = apt->getRunwayByIdent(activeRunway);
+    //string rwyClass = getRunwayClassFromTrafficType(fltType);
+    //double heading = ac->getTrafficRef()->getCourse();
+    //apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway, heading);
+    //rwy = apt->getRunwayByIdent(activeRunway);
 
 
     waypoint *wpt;
@@ -563,7 +878,8 @@ void FGAIFlightPlan::createLanding(FGAIAircraft *ac, FGAirport *apt, const strin
  * CreateParking
  * initialize the Aircraft at the parking location
  ******************************************************************/
-void FGAIFlightPlan::createParking(FGAIAircraft *ac, FGAirport *apt, double radius)
+void FGAIFlightPlan::createParking(FGAIAircraft * ac, FGAirport * apt,
+                                   double radius)
 {
     waypoint *wpt;
     double aptElev = apt->getElevation();
@@ -579,19 +895,23 @@ void FGAIFlightPlan::createParking(FGAIAircraft *ac, FGAirport *apt, double radi
     if (heading > 360)
         heading -= 360;
     geo_direct_wgs_84(0, lat, lon, heading,
- 		      2.2*radius,           
- 		      &lat2, &lon2, &az2 );
-  wpt = createOnGround(ac, "taxiStart", SGGeod::fromDeg(lon2, lat2), aptElev, vTaxiReduced);
+                      2.2 * radius, &lat2, &lon2, &az2);
+    wpt =
+        createOnGround(ac, "taxiStart", SGGeod::fromDeg(lon2, lat2),
+                       aptElev, vTaxiReduced);
     waypoints.push_back(wpt);
 
     geo_direct_wgs_84(0, lat, lon, heading,
- 		      0.1 *radius,           
- 		      &lat2, &lon2, &az2 );
+                      0.1 * radius, &lat2, &lon2, &az2);
 
-  wpt = createOnGround(ac, "taxiStart2", SGGeod::fromDeg(lon2, lat2), aptElev, vTaxiReduced);
+    wpt =
+        createOnGround(ac, "taxiStart2", SGGeod::fromDeg(lon2, lat2),
+                       aptElev, vTaxiReduced);
     waypoints.push_back(wpt);
 
-  wpt = createOnGround(ac, "END", SGGeod::fromDeg(lon, lat), aptElev, vTaxiReduced);
+    wpt =
+        createOnGround(ac, "END", SGGeod::fromDeg(lon, lat), aptElev,
+                       vTaxiReduced);
     waypoints.push_back(wpt);
 }
 
@@ -634,3 +954,15 @@ string FGAIFlightPlan::getRunwayClassFromTrafficType(string fltType)
     }
     return string("com");
 }
+
+
+double FGAIFlightPlan::getTurnRadius(double speed, bool inAir)
+{
+    double turn_radius;
+    if (inAir == false) {
+        turn_radius = ((360 / 30) * fabs(speed)) / (2 * M_PI);
+    } else {
+        turn_radius = 0.1911 * speed * speed;   // an estimate for 25 degrees bank
+    }
+    return turn_radius;
+}

src/AIModel/AIFlightPlanCreateCruise.cxx

@@ -300,8 +300,11 @@ void FGAIFlightPlan::createCruise(FGAIAircraft *ac, bool firstFlight, FGAirport
   arr->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway, heading);
   rwy = arr->getRunwayByIdent(activeRunway);
   // begin descent 110km out
-  SGGeod beginDescentPoint = rwy->pointOnCenterline(-110000);
+  SGGeod beginDescentPoint     = rwy->pointOnCenterline(0);
+  SGGeod secondaryDescentPoint = rwy->pointOnCenterline(-10000);
   
   wpt = createInAir(ac, "BOD", beginDescentPoint,  alt, vCruise);
   waypoints.push_back(wpt); 
+  wpt = createInAir(ac, "BOD2", secondaryDescentPoint, alt, vCruise);
+  waypoints.push_back(wpt); 
 }

src/ATC/trafficcontrol.cxx

@@ -24,13 +24,110 @@
 #  include <config.h>
 #endif
 
+#include <algorithm>
+
 #include "trafficcontrol.hxx"
 #include <AIModel/AIAircraft.hxx>
 #include <AIModel/AIFlightPlan.hxx>
+#include <AIModel/performancedata.hxx>
+#include <AIModel/performancedb.hxx>
 #include <Traffic/TrafficMgr.hxx>
 #include <Airports/groundnetwork.hxx>
 #include <Airports/dynamics.hxx>
 
+
+using std::sort;
+
+/***************************************************************************
+ * ActiveRunway
+ **************************************************************************/
+time_t ActiveRunway::requestTimeSlot(time_t eta)
+{
+    time_t newEta;
+    time_t separation = 90;
+    bool found = false;
+    if (estimatedArrivalTimes.size() == 0) {
+        estimatedArrivalTimes.push_back(eta);
+        return eta;
+    } else {
+        TimeVectorIterator i = estimatedArrivalTimes.begin();
+        //cerr << "Checking eta slots " << eta << ": " << endl;
+        for (i = estimatedArrivalTimes.begin();
+             i != estimatedArrivalTimes.end(); i++) {
+            //cerr << "Stored time : " << (*i) << endl;
+        }
+        i = estimatedArrivalTimes.begin();
+        if ((eta + separation) < (*i)) {
+            newEta = eta;
+            found = true;
+            //cerr << "Storing at beginning" << endl;
+        }
+        while ((i != estimatedArrivalTimes.end()) && (!found)) {
+            TimeVectorIterator j = i + 1;
+            if (j == estimatedArrivalTimes.end()) {
+                if (((*i) + separation) < eta) {
+                    //cerr << "Storing at end" << endl;
+                    newEta = eta;
+                } else {
+                    newEta = (*i) + separation;
+                    //cerr << "Storing at end + separation" << endl;
+                }
+            } else {
+                if ((((*j) - (*i)) > (separation * 2))) {       // found a potential slot
+                    // now check whether this slow is usable:
+                    // 1) eta should fall between the two points
+                    //    i.e. eta > i AND eta < j
+                    //
+                    //cerr << "Found potential slot after " << (*i) << endl;
+                    if (eta > (*i) && (eta < (*j))) {
+                        found = true;
+                        if (eta < ((*i) + separation)) {
+                            newEta = (*i) + separation;
+                            //cerr << "Using  original" << (*i) << " + separation " << endl;
+                        } else {
+                            newEta = eta;
+                            //cerr << "Using original after " << (*i) << endl;
+                        }
+                    } else if (eta < (*i)) {
+                        found = true;
+                        newEta = (*i) + separation;
+                        //cerr << "Using delayed slot after " << (*i) << endl;
+                    }
+                    /*
+                       if (((*j) - separation) < eta) {
+                       found = true;
+                       if (((*i) + separation) < eta) {
+                       newEta = eta;
+                       cerr << "Using original after " << (*i) << endl;
+                       } else {
+                       newEta = (*i) + separation;
+                       cerr << "Using  " << (*i) << " + separation " << endl;
+                       }
+                       } */
+                }
+            }
+            i++;
+        }
+    }
+    //cerr << ". done. New ETA : " << newEta << endl;
+
+    estimatedArrivalTimes.push_back(newEta);
+    sort(estimatedArrivalTimes.begin(), estimatedArrivalTimes.end());
+    // do some housekeeping : remove any timestamps that are past
+    time_t now = time(NULL) + fgGetLong("/sim/time/warp");
+    TimeVectorIterator i = estimatedArrivalTimes.begin();
+    while (i != estimatedArrivalTimes.end()) {
+        if ((*i) < now) {
+            //cerr << "Deleting timestamp " << (*i) << " (now = " << now << "). " << endl;
+            estimatedArrivalTimes.erase(i);
+            i = estimatedArrivalTimes.begin();
+        } else {
+            i++;
+        }
+    }
+    return newEta;
+}
+
 /***************************************************************************
  * FGTrafficRecord
  **************************************************************************/
@@ -41,25 +138,23 @@ FGTrafficRecord::FGTrafficRecord() :
 frequencyId(0),
 state(0),
 allowTransmission(true),
-  latitude(0),
-  longitude(0), 
-   heading(0), 
-   speed(0), 
-   altitude(0), 
-   radius(0)
+latitude(0), longitude(0), heading(0), speed(0), altitude(0), radius(0)
 {
 }
 
-void FGTrafficRecord::setPositionAndIntentions(int pos, FGAIFlightPlan *route)
+void FGTrafficRecord::setPositionAndIntentions(int pos,
+                                               FGAIFlightPlan * route)
 {
 
     currentPos = pos;
     if (intentions.size()) {
         intVecIterator i = intentions.begin();
         if ((*i) != pos) {
-       SG_LOG(SG_GENERAL, SG_ALERT, "Error in FGTrafficRecord::setPositionAndIntentions");
+            SG_LOG(SG_GENERAL, SG_ALERT,
+                   "Error in FGTrafficRecord::setPositionAndIntentions");
             //cerr << "Pos : " << pos << " Curr " << *(intentions.begin())  << endl;
-       for (intVecIterator i = intentions.begin(); i != intentions.end() ; i++) {
+            for (intVecIterator i = intentions.begin();
+                 i != intentions.end(); i++) {
                 //cerr << (*i) << " ";
             }
             //cerr << endl;
@@ -73,8 +168,7 @@ void FGTrafficRecord::setPositionAndIntentions(int pos, FGAIFlightPlan *route)
         for (int i = 0; i < size; i++) {
             int val = route->getRouteIndex(i);
             //cerr << val<< " ";
-       if ((val) && (val != pos))
- 	{
+            if ((val) && (val != pos)) {
                 intentions.push_back(val);
                 //cerr << "[set] ";
             }
@@ -92,8 +186,7 @@ bool FGTrafficRecord::checkPositionAndIntentions(FGTrafficRecord &other)
 {
     bool result = false;
     //cerr << "Start check 1" << endl;
-   if (currentPos == other.currentPos) 
-     {
+    if (currentPos == other.currentPos) {
         //cerr << callsign << ": Check Position and intentions: we are on the same taxiway" << other.callsign << "Index = " << currentPos << endl;
         result = true;
     }
@@ -126,8 +219,9 @@ bool FGTrafficRecord::checkPositionAndIntentions(FGTrafficRecord &other)
     return result;
 }
 
-void FGTrafficRecord::setPositionAndHeading(double lat, double lon, double hdg, 
-					    double spd, double alt)
+void FGTrafficRecord::setPositionAndHeading(double lat, double lon,
+                                            double hdg, double spd,
+                                            double alt)
 {
     latitude = lat;
     longitude = lon;
@@ -136,9 +230,11 @@ void FGTrafficRecord::setPositionAndHeading(double lat, double lon, double hdg,
     altitude = alt;
 }
 
-int FGTrafficRecord::crosses(FGGroundNetwork *net, FGTrafficRecord &other)
+int FGTrafficRecord::crosses(FGGroundNetwork * net,
+                             FGTrafficRecord & other)
 {
-   if (checkPositionAndIntentions(other) || (other.checkPositionAndIntentions(*this)))
+    if (checkPositionAndIntentions(other)
+        || (other.checkPositionAndIntentions(*this)))
         return -1;
     intVecIterator i, j;
     int currentTargetNode = 0, otherTargetNode = 0;
@@ -148,44 +244,40 @@ int FGTrafficRecord::crosses(FGGroundNetwork *net, FGTrafficRecord &other)
         otherTargetNode = net->findSegment(other.currentPos)->getEnd()->getIndex();     // OKAY,...
     if ((currentTargetNode == otherTargetNode) && currentTargetNode > 0)
         return currentTargetNode;
-   if (intentions.size())
-     {
-       for (i = intentions.begin(); i != intentions.end(); i++)
- 	{
+    if (intentions.size()) {
+        for (i = intentions.begin(); i != intentions.end(); i++) {
             if ((*i) > 0) {
- 	    if ((currentTargetNode == net->findSegment(*i)->getEnd()->getIndex()))
- 	      {
+                if ((currentTargetNode ==
+                     net->findSegment(*i)->getEnd()->getIndex())) {
                     //cerr << "Current crosses at " << currentTargetNode <<endl;
                     return currentTargetNode;
                 }
             }
         }
     }
-   if (other.intentions.size())
-     {
-       for (i = other.intentions.begin(); i != other.intentions.end(); i++)
- 	{
+    if (other.intentions.size()) {
+        for (i = other.intentions.begin(); i != other.intentions.end();
+             i++) {
             if ((*i) > 0) {
- 	    if (otherTargetNode == net->findSegment(*i)->getEnd()->getIndex())
- 	      {
+                if (otherTargetNode ==
+                    net->findSegment(*i)->getEnd()->getIndex()) {
                     //cerr << "Other crosses at " << currentTargetNode <<endl;
                     return otherTargetNode;
                 }
             }
         }
     }
-   if (intentions.size() && other.intentions.size())
-     {
-       for (i = intentions.begin(); i != intentions.end(); i++) 
- 	{
- 	  for (j = other.intentions.begin(); j != other.intentions.end(); j++)
- 	    {
+    if (intentions.size() && other.intentions.size()) {
+        for (i = intentions.begin(); i != intentions.end(); i++) {
+            for (j = other.intentions.begin(); j != other.intentions.end();
+                 j++) {
                 //cerr << "finding segment " << *i << " and " << *j << endl;
                 if (((*i) > 0) && ((*j) > 0)) {
- 		currentTargetNode = net->findSegment(*i)->getEnd()->getIndex();
- 		otherTargetNode   = net->findSegment(*j)->getEnd()->getIndex();
- 		if (currentTargetNode == otherTargetNode) 
- 		  {
+                    currentTargetNode =
+                        net->findSegment(*i)->getEnd()->getIndex();
+                    otherTargetNode =
+                        net->findSegment(*j)->getEnd()->getIndex();
+                    if (currentTargetNode == otherTargetNode) {
                         //cerr << "Routes will cross at " << currentTargetNode << endl;
                         return currentTargetNode;
                     }
@@ -196,21 +288,21 @@ int FGTrafficRecord::crosses(FGGroundNetwork *net, FGTrafficRecord &other)
     return -1;
 }
 
-bool FGTrafficRecord::onRoute(FGGroundNetwork *net, FGTrafficRecord &other)
+bool FGTrafficRecord::onRoute(FGGroundNetwork * net,
+                              FGTrafficRecord & other)
 {
     int node = -1, othernode = -1;
     if (currentPos > 0)
         node = net->findSegment(currentPos)->getEnd()->getIndex();
     if (other.currentPos > 0)
-    othernode = net->findSegment(other.currentPos)->getEnd()->getIndex();
+        othernode =
+            net->findSegment(other.currentPos)->getEnd()->getIndex();
     if ((node == othernode) && (node != -1))
         return true;
-  if (other.intentions.size())
-    {
-      for (intVecIterator i = other.intentions.begin(); i != other.intentions.end(); i++)
-	{
-	  if (*i > 0) 
-	    {
+    if (other.intentions.size()) {
+        for (intVecIterator i = other.intentions.begin();
+             i != other.intentions.end(); i++) {
+            if (*i > 0) {
                 othernode = net->findSegment(*i)->getEnd()->getIndex();
                 if ((node == othernode) && (node > -1))
                     return true;
@@ -235,27 +327,27 @@ bool FGTrafficRecord::onRoute(FGGroundNetwork *net, FGTrafficRecord &other)
 }
 
 
-bool FGTrafficRecord::isOpposing (FGGroundNetwork *net, FGTrafficRecord &other, int node)
+bool FGTrafficRecord::isOpposing(FGGroundNetwork * net,
+                                 FGTrafficRecord & other, int node)
 {
     // Check if current segment is the reverse segment for the other aircraft
     FGTaxiSegment *opp;
     //cerr << "Current segment " << currentPos << endl;
-   if ((currentPos > 0) && (other.currentPos > 0))
-     {
+    if ((currentPos > 0) && (other.currentPos > 0)) {
         opp = net->findSegment(currentPos)->opposite();
         if (opp) {
             if (opp->getIndex() == other.currentPos)
                 return true;
         }
 
-       for (intVecIterator i = intentions.begin(); i != intentions.end(); i++)
- 	{
-         if ((opp = net->findSegment(other.currentPos)->opposite()))
-	    {
+        for (intVecIterator i = intentions.begin(); i != intentions.end();
+             i++) {
+            if ((opp = net->findSegment(other.currentPos)->opposite())) {
                 if ((*i) > 0)
-		if (opp->getIndex() == net->findSegment(*i)->getIndex())
-		  {
-		    if (net->findSegment(*i)->getStart()->getIndex() == node) {
+                    if (opp->getIndex() ==
+                        net->findSegment(*i)->getIndex()) {
+                        if (net->findSegment(*i)->getStart()->getIndex() ==
+                            node) {
                             {
                                 //cerr << "Found the node " << node << endl;
                                 return true;
@@ -263,21 +355,19 @@ bool FGTrafficRecord::isOpposing (FGGroundNetwork *net, FGTrafficRecord &other,
                         }
                     }
             }
-	  if (other.intentions.size())
-	    {
-	      for (intVecIterator j = other.intentions.begin(); j != other.intentions.end(); j++)
-		{
+            if (other.intentions.size()) {
+                for (intVecIterator j = other.intentions.begin();
+                     j != other.intentions.end(); j++) {
                     // cerr << "Current segment 1 " << (*i) << endl;
                     if ((*i) > 0) {
-		    if ((opp = net->findSegment(*i)->opposite()))
-		      {
+                        if ((opp = net->findSegment(*i)->opposite())) {
                             if (opp->getIndex() ==
-			    net->findSegment(*j)->getIndex())
-			  {
+                                net->findSegment(*j)->getIndex()) {
                                 //cerr << "Nodes " << net->findSegment(*i)->getIndex()
                                 //   << " and  " << net->findSegment(*j)->getIndex()
                                 //   << " are opposites " << endl;
-			    if (net->findSegment(*i)->getStart()->getIndex() == node) {
+                                if (net->findSegment(*i)->getStart()->
+                                    getIndex() == node) {
                                     {
                                         //cerr << "Found the node " << node << endl;
                                         return true;
@@ -305,11 +395,11 @@ void FGTrafficRecord::setHeadingAdjustment(double heading)
     instruction.setHeading(heading);
 }
 
-bool FGTrafficRecord::pushBackAllowed() {
+bool FGTrafficRecord::pushBackAllowed()
+{
     double course, az2, dist;
     SGGeod curr(SGGeod::fromDegM(getLongitude(),
-                                       getLatitude(), 
-                                       getAltitude()));
+                                 getLatitude(), getAltitude()));
 
     double userLatitude = fgGetDouble("/position/latitude-deg");
     double userLongitude = fgGetDouble("/position/longitude-deg");
@@ -343,7 +433,8 @@ FGATCInstruction::FGATCInstruction()
 
 bool FGATCInstruction::hasInstruction()
 {
-  return (holdPattern || holdPosition || changeSpeed || changeHeading || changeAltitude || resolveCircularWait);
+    return (holdPattern || holdPosition || changeSpeed || changeHeading
+            || changeAltitude || resolveCircularWait);
 }
 
 /***************************************************************************
@@ -366,7 +457,8 @@ string FGATCController::getGateName(FGAIAircraft *ref)
     return ref->atGate();
 }
 
-void FGATCController::transmit(FGTrafficRecord *rec, AtcMsgId msgId, AtcMsgDir msgDir)
+void FGATCController::transmit(FGTrafficRecord * rec, AtcMsgId msgId,
+                               AtcMsgDir msgDir)
 {
     string sender, receiver;
     int stationFreq = 0;
@@ -392,14 +484,22 @@ void FGATCController::transmit(FGTrafficRecord *rec, AtcMsgId msgId, AtcMsgDir m
     case 3:
         freqId = rec->getNextFrequency();
         stationFreq =
-            rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getDynamics()->getGroundFrequency(rec->getLeg()+freqId);
+            rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
+            getDynamics()->getGroundFrequency(rec->getLeg() + freqId);
         taxiFreq =
-            rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getDynamics()->getGroundFrequency(3);
-            receiver = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getName() + "-Ground";
-            atisInformation = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getDynamics()->getAtisInformation();
+            rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
+            getDynamics()->getGroundFrequency(3);
+        receiver =
+            rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
+            getName() + "-Ground";
+        atisInformation =
+            rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
+            getDynamics()->getAtisInformation();
         break;
     case 4:
-            receiver = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getName() + "-Tower";
+        receiver =
+            rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
+            getName() + "-Tower";
         break;
     }
     // Swap sender and receiver value in case of a ground to air transmission
@@ -413,10 +513,14 @@ void FGATCController::transmit(FGTrafficRecord *rec, AtcMsgId msgId, AtcMsgDir m
         text = sender + ". Ready to Start up";
         break;
     case MSG_REQUEST_ENGINE_START:
-               text = receiver + ", This is " + sender + ". Position " +getGateName(rec->getAircraft()) +
-                       ". Information " + atisInformation + ". " +
-                       rec->getAircraft()->getTrafficRef()->getFlightRules() + " to " + 
-                       rec->getAircraft()->getTrafficRef()->getArrivalAirport()->getName() + ". Request start-up";
+        text =
+            receiver + ", This is " + sender + ". Position " +
+            getGateName(rec->getAircraft()) + ". Information " +
+            atisInformation + ". " +
+            rec->getAircraft()->getTrafficRef()->getFlightRules() +
+            " to " +
+            rec->getAircraft()->getTrafficRef()->getArrivalAirport()->
+            getName() + ". Request start-up";
         break;
         // Acknowledge engine startup permission
         // Assign departure runway
@@ -426,11 +530,16 @@ void FGATCController::transmit(FGTrafficRecord *rec, AtcMsgId msgId, AtcMsgDir m
 
         heading = rec->getAircraft()->getTrafficRef()->getCourse();
         fltType = rec->getAircraft()->getTrafficRef()->getFlightType();
-               rwyClass= rec->getAircraft()->GetFlightPlan()->getRunwayClassFromTrafficType(fltType);
+        rwyClass =
+            rec->getAircraft()->GetFlightPlan()->
+            getRunwayClassFromTrafficType(fltType);
 
-               rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway, heading);
+        rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
+            getDynamics()->getActiveRunway(rwyClass, 1, activeRunway,
+                                           heading);
         rec->getAircraft()->GetFlightPlan()->setRunway(activeRunway);
-               fp = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->getDynamics()->getSID(activeRunway, heading);
+        fp = rec->getAircraft()->getTrafficRef()->getDepartureAirport()->
+            getDynamics()->getSID(activeRunway, heading);
         rec->getAircraft()->GetFlightPlan()->setSID(fp);
         if (fp) {
             SID = fp->getName() + " departure";
@@ -441,9 +550,12 @@ void FGATCController::transmit(FGTrafficRecord *rec, AtcMsgId msgId, AtcMsgDir m
         fltRules = rec->getAircraft()->getTrafficRef()->getFlightRules();
         transponderCode = genTransponderCode(fltRules);
         rec->getAircraft()->SetTransponderCode(transponderCode);
-               text = receiver + ". Start-up approved. " + atisInformation + " correct, runway " + activeRunway
-                       + ", " + SID + ", squawk " + transponderCode + ". " +
-                      "For push-back and taxi clearance call " + taxiFreqStr + ". " + sender + " control.";
+        text =
+            receiver + ". Start-up approved. " + atisInformation +
+            " correct, runway " + activeRunway + ", " + SID + ", squawk " +
+            transponderCode + ". " +
+            "For push-back and taxi clearance call " + taxiFreqStr + ". " +
+            sender + " control.";
         break;
     case MSG_DENY_ENGINE_START:
         text = receiver + ". Standby";
@@ -451,16 +563,21 @@ void FGATCController::transmit(FGTrafficRecord *rec, AtcMsgId msgId, AtcMsgDir m
     case MSG_ACKNOWLEDGE_ENGINE_START:
         fp = rec->getAircraft()->GetFlightPlan()->getSID();
         if (fp) {
-                  SID = rec->getAircraft()->GetFlightPlan()->getSID()->getName() + " departure";
+            SID =
+                rec->getAircraft()->GetFlightPlan()->getSID()->getName() +
+                " departure";
         } else {
             SID = "fly runway heading ";
         }
         taxiFreqStr = formatATCFrequency3_2(taxiFreq);
         activeRunway = rec->getAircraft()->GetFlightPlan()->getRunway();
         transponderCode = rec->getAircraft()->GetTransponderCode();
-               text = receiver + ". Start-up approved. " + atisInformation + " correct, runway " +
-                      activeRunway + ", " + SID + ", squawk " + transponderCode + ". " +
-                      "For push-back and taxi clearance call " + taxiFreqStr + ". " + sender;
+        text =
+            receiver + ". Start-up approved. " + atisInformation +
+            " correct, runway " + activeRunway + ", " + SID + ", squawk " +
+            transponderCode + ". " +
+            "For push-back and taxi clearance call " + taxiFreqStr + ". " +
+            sender;
         break;
     case MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY:
         taxiFreqStr = formatATCFrequency3_2(taxiFreq);
@@ -506,8 +623,10 @@ void FGATCController::transmit(FGTrafficRecord *rec, AtcMsgId msgId, AtcMsgDir m
         text = text + sender + ". Transmitting unknown Message";
         break;
     }
-    double onBoardRadioFreq0 = fgGetDouble("/instrumentation/comm[0]/frequencies/selected-mhz");
-    double onBoardRadioFreq1 = fgGetDouble("/instrumentation/comm[1]/frequencies/selected-mhz");
+    double onBoardRadioFreq0 =
+        fgGetDouble("/instrumentation/comm[0]/frequencies/selected-mhz");
+    double onBoardRadioFreq1 =
+        fgGetDouble("/instrumentation/comm[1]/frequencies/selected-mhz");
     int onBoardRadioFreqI0 = (int) floor(onBoardRadioFreq0 * 100 + 0.5);
     int onBoardRadioFreqI1 = (int) floor(onBoardRadioFreq1 * 100 + 0.5);
     //cerr << "Using " << onBoardRadioFreq0 << ", " << onBoardRadioFreq1 << " and " << stationFreq << " for " << text << endl;
@@ -515,14 +634,16 @@ void FGATCController::transmit(FGTrafficRecord *rec, AtcMsgId msgId, AtcMsgDir m
     // Display ATC message only when one of the radios is tuned
     // the relevant frequency.
     // Note that distance attenuation is currently not yet implemented
-    if ((onBoardRadioFreqI0 == stationFreq) || (onBoardRadioFreqI1 == stationFreq)) {
+    if ((onBoardRadioFreqI0 == stationFreq)
+        || (onBoardRadioFreqI1 == stationFreq)) {
         if (rec->allowTransmissions()) {
             fgSetString("/sim/messages/atc", text.c_str());
         }
     }
 }
 
-string FGATCController::formatATCFrequency3_2(int freq) {
+string FGATCController::formatATCFrequency3_2(int freq)
+{
     char buffer[7];
     snprintf(buffer, 7, "%3.2f", ((float) freq / 100.0));
     return string(buffer);
@@ -530,12 +651,14 @@ string FGATCController::formatATCFrequency3_2(int freq) {
 
 // TODO: Set transponder codes according to real-world routes.
 // The current version just returns a random string of four octal numbers. 
-string FGATCController::genTransponderCode(string fltRules) {
+string FGATCController::genTransponderCode(string fltRules)
+{
     if (fltRules == "VFR") {
         return string("1200");
     } else {
         char buffer[5];
-        snprintf(buffer, 5, "%d%d%d%d", rand() % 8, rand() % 8,rand() % 8, rand() % 8);
+        snprintf(buffer, 5, "%d%d%d%d", rand() % 8, rand() % 8, rand() % 8,
+                 rand() % 8);
         return string(buffer);
     }
 }
@@ -550,9 +673,12 @@ FGTowerController::FGTowerController() :
 }
 
 // 
-void FGTowerController::announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentPosition,
-					 double lat, double lon, double heading, 
-					 double speed, double alt, double radius, int leg,
+void FGTowerController::announcePosition(int id,
+                                         FGAIFlightPlan * intendedRoute,
+                                         int currentPosition, double lat,
+                                         double lon, double heading,
+                                         double speed, double alt,
+                                         double radius, int leg,
                                          FGAIAircraft * ref)
 {
     TrafficVectorIterator i = activeTraffic.begin();
@@ -567,7 +693,6 @@ void FGTowerController::announcePosition(int id, FGAIFlightPlan *intendedRoute,
             i++;
         }
     }
-  
     // Add a new TrafficRecord if no one exsists for this aircraft.
     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
         FGTrafficRecord rec;
@@ -584,11 +709,12 @@ void FGTowerController::announcePosition(int id, FGAIFlightPlan *intendedRoute,
     }
 }
 
-void FGTowerController::update(int id, double lat, double lon, double heading, double speed, double alt, 
+void FGTowerController::update(int id, double lat, double lon,
+                               double heading, double speed, double alt,
                                double dt)
 {
     TrafficVectorIterator i = activeTraffic.begin();
-    // Search search if the current id has an entry
+    // Search whether the current id has an entry
     // This might be faster using a map instead of a vector, but let's start by taking a safe route
     TrafficVectorIterator current, closest;
     if (activeTraffic.size()) {
@@ -600,10 +726,10 @@ void FGTowerController::update(int id, double lat, double lon, double heading, d
             i++;
         }
     }
-
 //    // update position of the current aircraft
     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
-      SG_LOG(SG_GENERAL, SG_ALERT, "AI error: updating aircraft without traffic record");
+        SG_LOG(SG_GENERAL, SG_ALERT,
+               "AI error: updating aircraft without traffic record");
     } else {
         i->setPositionAndHeading(lat, lon, heading, speed, alt);
         current = i;
@@ -626,8 +752,7 @@ void FGTowerController::update(int id, double lat, double lon, double heading, d
         ActiveRunway aRwy(current->getRunway(), id);
         activeRunways.push_back(aRwy);  // Since there are no clearance records for this runway yet
         current->setHoldPosition(false);        // Clear the current aircraft to continue
-    }
-    else {
+    } else {
         // Okay, we have a clearance record for this runway, so check
         // whether the clearence ID matches that of the current aircraft
         if (id == rwy->getCleared()) {
@@ -666,11 +791,13 @@ void FGTowerController::signOff(int id)
         if (rwy != activeRunways.end()) {
             rwy = activeRunways.erase(rwy);
         } else {
-        SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Attempting to erase non-existing runway clearance record in FGTowerController::signoff");
+            SG_LOG(SG_GENERAL, SG_ALERT,
+                   "AI error: Attempting to erase non-existing runway clearance record in FGTowerController::signoff");
         }
     }
     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
-      SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Aircraft without traffic record is signing off from tower");
+        SG_LOG(SG_GENERAL, SG_ALERT,
+               "AI error: Aircraft without traffic record is signing off from tower");
     } else {
         i = activeTraffic.erase(i);
     }
@@ -687,8 +814,7 @@ bool FGTowerController::hasInstruction(int id)
     TrafficVectorIterator i = activeTraffic.begin();
     // Search search if the current id has an entry
     // This might be faster using a map instead of a vector, but let's start by taking a safe route
-    if (activeTraffic.size()) 
-      {
+    if (activeTraffic.size()) {
         //while ((i->getId() != id) && i != activeTraffic.end()) {
         while (i != activeTraffic.end()) {
             if (i->getId() == id) {
@@ -698,7 +824,8 @@ bool FGTowerController::hasInstruction(int id)
         }
     }
     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
-      SG_LOG(SG_GENERAL, SG_ALERT, "AI error: checking ATC instruction for aircraft without traffic record");
+        SG_LOG(SG_GENERAL, SG_ALERT,
+               "AI error: checking ATC instruction for aircraft without traffic record");
     } else {
         return i->hasInstruction();
     }
@@ -721,7 +848,8 @@ FGATCInstruction FGTowerController::getInstruction(int id)
         }
     }
     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
-    SG_LOG(SG_GENERAL, SG_ALERT, "AI error: requesting ATC instruction for aircraft without traffic record");
+        SG_LOG(SG_GENERAL, SG_ALERT,
+               "AI error: requesting ATC instruction for aircraft without traffic record");
     } else {
         return i->getInstruction();
     }
@@ -737,9 +865,12 @@ FGStartupController::FGStartupController() :
 {
 }
 
-void FGStartupController::announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentPosition,
-					 double lat, double lon, double heading, 
-					 double speed, double alt, double radius, int leg,
+void FGStartupController::announcePosition(int id,
+                                           FGAIFlightPlan * intendedRoute,
+                                           int currentPosition, double lat,
+                                           double lon, double heading,
+                                           double speed, double alt,
+                                           double radius, int leg,
                                            FGAIAircraft * ref)
 {
     TrafficVectorIterator i = activeTraffic.begin();
@@ -754,7 +885,6 @@ void FGStartupController::announcePosition(int id, FGAIFlightPlan *intendedRoute
             i++;
         }
     }
-  
     // Add a new TrafficRecord if no one exsists for this aircraft.
     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
         FGTrafficRecord rec;
@@ -784,8 +914,7 @@ bool FGStartupController::hasInstruction(int id)
     TrafficVectorIterator i = activeTraffic.begin();
     // Search search if the current id has an entry
     // This might be faster using a map instead of a vector, but let's start by taking a safe route
-    if (activeTraffic.size()) 
-      {
+    if (activeTraffic.size()) {
         //while ((i->getId() != id) && i != activeTraffic.end()) {
         while (i != activeTraffic.end()) {
             if (i->getId() == id) {
@@ -795,7 +924,8 @@ bool FGStartupController::hasInstruction(int id)
         }
     }
     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
-      SG_LOG(SG_GENERAL, SG_ALERT, "AI error: checking ATC instruction for aircraft without traffic record");
+        SG_LOG(SG_GENERAL, SG_ALERT,
+               "AI error: checking ATC instruction for aircraft without traffic record");
     } else {
         return i->hasInstruction();
     }
@@ -818,7 +948,8 @@ FGATCInstruction FGStartupController::getInstruction(int id)
         }
     }
     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
-    SG_LOG(SG_GENERAL, SG_ALERT, "AI error: requesting ATC instruction for aircraft without traffic record");
+        SG_LOG(SG_GENERAL, SG_ALERT,
+               "AI error: requesting ATC instruction for aircraft without traffic record");
     } else {
         return i->getInstruction();
     }
@@ -840,13 +971,15 @@ void FGStartupController::signOff(int id)
         }
     }
     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
-      SG_LOG(SG_GENERAL, SG_ALERT, "AI error: Aircraft without traffic record is signing off from tower");
+        SG_LOG(SG_GENERAL, SG_ALERT,
+               "AI error: Aircraft without traffic record is signing off from tower");
     } else {
         i = activeTraffic.erase(i);
     }
 }
 
-void FGStartupController::update(int id, double lat, double lon, double heading, double speed, double alt, 
+void FGStartupController::update(int id, double lat, double lon,
+                                 double heading, double speed, double alt,
                                  double dt)
 {
     TrafficVectorIterator i = activeTraffic.begin();
@@ -862,10 +995,10 @@ void FGStartupController::update(int id, double lat, double lon, double heading,
             i++;
         }
     }
-
 //    // update position of the current aircraft
     if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
-      SG_LOG(SG_GENERAL, SG_ALERT, "AI error: updating aircraft without traffic record");
+        SG_LOG(SG_GENERAL, SG_ALERT,
+               "AI error: updating aircraft without traffic record");
     } else {
         i->setPositionAndHeading(lat, lon, heading, speed, alt);
         current = i;
@@ -873,7 +1006,8 @@ void FGStartupController::update(int id, double lat, double lon, double heading,
     setDt(getDt() + dt);
 
     int state = i->getState();
-    time_t startTime = i->getAircraft()->getTrafficRef()->getDepartureTime();
+    time_t startTime =
+        i->getAircraft()->getTrafficRef()->getDepartureTime();
     time_t now = time(NULL) + fgGetLong("/sim/time/warp");
     //cerr << i->getAircraft()->getTrafficRef()->getCallSign() 
     //     << " is scheduled to depart in " << startTime-now << " seconds. Available = " << available
@@ -910,7 +1044,8 @@ void FGStartupController::update(int id, double lat, double lon, double heading,
     }
     if ((state == 3) && available) {
         if (now > startTime + 100) {
-            transmit(&(*i), MSG_ACKNOWLEDGE_ENGINE_START, ATC_AIR_TO_GROUND);
+            transmit(&(*i), MSG_ACKNOWLEDGE_ENGINE_START,
+                     ATC_AIR_TO_GROUND);
             i->updateState();
             lastTransmission = now;
             available = false;
@@ -920,7 +1055,8 @@ void FGStartupController::update(int id, double lat, double lon, double heading,
     //  on a different frequency, compared to ground control
     if ((state == 4) && available) {
         if (now > startTime + 130) {
-            transmit(&(*i), MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY, ATC_AIR_TO_GROUND);
+            transmit(&(*i), MSG_ACKNOWLEDGE_SWITCH_GROUND_FREQUENCY,
+                     ATC_AIR_TO_GROUND);
             i->updateState();
             i->nextFrequency();
             lastTransmission = now;
@@ -937,19 +1073,20 @@ void FGStartupController::update(int id, double lat, double lon, double heading,
     }
     if ((state == 6) && available) {
         if (now > startTime + 150) {
-            transmit(&(*i), MSG_ACKNOWLEDGE_INITIATE_CONTACT, ATC_GROUND_TO_AIR);
+            transmit(&(*i), MSG_ACKNOWLEDGE_INITIATE_CONTACT,
+                     ATC_GROUND_TO_AIR);
             i->updateState();
             lastTransmission = now;
             available = false;
         }
     }
 
-
     // TODO: Switch to APRON control and request pushback Clearance.
     // Get Push back clearance
     if ((state == 7) && available) {
         if (now > startTime + 180) {
-            transmit(&(*i), MSG_REQUEST_PUSHBACK_CLEARANCE, ATC_AIR_TO_GROUND);
+            transmit(&(*i), MSG_REQUEST_PUSHBACK_CLEARANCE,
+                     ATC_AIR_TO_GROUND);
             i->updateState();
             lastTransmission = now;
             available = false;
@@ -959,10 +1096,12 @@ void FGStartupController::update(int id, double lat, double lon, double heading,
         if (now > startTime + 200) {
             if (i->pushBackAllowed()) {
                 i->allowRepeatedTransmissions();
-                 transmit(&(*i), MSG_PERMIT_PUSHBACK_CLEARANCE, ATC_GROUND_TO_AIR);
+                transmit(&(*i), MSG_PERMIT_PUSHBACK_CLEARANCE,
+                         ATC_GROUND_TO_AIR);
                 i->updateState();
             } else {
-                 transmit(&(*i), MSG_HOLD_PUSHBACK_CLEARANCE, ATC_GROUND_TO_AIR);
+                transmit(&(*i), MSG_HOLD_PUSHBACK_CLEARANCE,
+                         ATC_GROUND_TO_AIR);
                 i->suppressRepeatedTransmissions();
             }
             lastTransmission = now;
@@ -973,3 +1112,194 @@ void FGStartupController::update(int id, double lat, double lon, double heading,
         i->setHoldPosition(false);
     }
 }
+
+
+/***************************************************************************
+ * class FGApproachController
+ *
+ **************************************************************************/
+FGApproachController::FGApproachController():
+FGATCController()
+{
+}
+
+// 
+void FGApproachController::announcePosition(int id,
+                                            FGAIFlightPlan * intendedRoute,
+                                            int currentPosition,
+                                            double lat, double lon,
+                                            double heading, double speed,
+                                            double alt, double radius,
+                                            int leg, FGAIAircraft * ref)
+{
+    TrafficVectorIterator i = activeTraffic.begin();
+    // Search whether the current id alread has an entry
+    // This might be faster using a map instead of a vector, but let's start by taking a safe route
+    if (activeTraffic.size()) {
+        //while ((i->getId() != id) && i != activeTraffic.end()) {
+        while (i != activeTraffic.end()) {
+            if (i->getId() == id) {
+                break;
+            }
+            i++;
+        }
+    }
+    // Add a new TrafficRecord if no one exsists for this aircraft.
+    if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
+        FGTrafficRecord rec;
+        rec.setId(id);
+
+        rec.setPositionAndHeading(lat, lon, heading, speed, alt);
+        rec.setRunway(intendedRoute->getRunway());
+        rec.setLeg(leg);
+        //rec.setCallSign(callsign);
+        rec.setAircraft(ref);
+        activeTraffic.push_back(rec);
+    } else {
+        i->setPositionAndHeading(lat, lon, heading, speed, alt);
+    }
+}
+
+void FGApproachController::update(int id, double lat, double lon,
+                                  double heading, double speed, double alt,
+                                  double dt)
+{
+    TrafficVectorIterator i = activeTraffic.begin();
+    // Search search if the current id has an entry
+    // This might be faster using a map instead of a vector, but let's start by taking a safe route
+    TrafficVectorIterator current, closest;
+    if (activeTraffic.size()) {
+        //while ((i->getId() != id) && i != activeTraffic.end()) {
+        while (i != activeTraffic.end()) {
+            if (i->getId() == id) {
+                break;
+            }
+            i++;
+        }
+    }
+//    // update position of the current aircraft
+    if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
+        SG_LOG(SG_GENERAL, SG_ALERT,
+               "AI error: updating aircraft without traffic record");
+    } else {
+        i->setPositionAndHeading(lat, lon, heading, speed, alt);
+        current = i;
+        //cerr << "ApproachController: checking for speed" << endl;
+        time_t time_diff =
+            current->getAircraft()->
+            checkForArrivalTime(string("final001"));
+        if (time_diff > 15) {
+            current->setSpeedAdjustment(current->getAircraft()->
+                                        getPerformance()->vDescent() *
+                                        1.35);
+        } else if (time_diff > 5) {
+            current->setSpeedAdjustment(current->getAircraft()->
+                                        getPerformance()->vDescent() *
+                                        1.2);
+        } else if (time_diff < -15) {
+            current->setSpeedAdjustment(current->getAircraft()->
+                                        getPerformance()->vDescent() *
+                                        0.65);
+        } else if (time_diff < -5) {
+            current->setSpeedAdjustment(current->getAircraft()->
+                                        getPerformance()->vDescent() *
+                                        0.8);
+        } else {
+            current->clearSpeedAdjustment();
+        }
+        //current->setSpeedAdjustment(current->getAircraft()->getPerformance()->vDescent() + time_diff);
+    }
+    setDt(getDt() + dt);
+}
+
+void FGApproachController::signOff(int id)
+{
+    TrafficVectorIterator i = activeTraffic.begin();
+    // Search search if the current id alread has an entry
+    // This might be faster using a map instead of a vector, but let's start by taking a safe route
+    if (activeTraffic.size()) {
+        //while ((i->getId() != id) && i != activeTraffic.end()) {
+        while (i != activeTraffic.end()) {
+            if (i->getId() == id) {
+                break;
+            }
+            i++;
+        }
+    }
+    if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
+        SG_LOG(SG_GENERAL, SG_ALERT,
+               "AI error: Aircraft without traffic record is signing off from approach");
+    } else {
+        i = activeTraffic.erase(i);
+    }
+}
+
+
+
+
+bool FGApproachController::hasInstruction(int id)
+{
+    TrafficVectorIterator i = activeTraffic.begin();
+    // Search search if the current id has an entry
+    // This might be faster using a map instead of a vector, but let's start by taking a safe route
+    if (activeTraffic.size()) {
+        //while ((i->getId() != id) && i != activeTraffic.end()) {
+        while (i != activeTraffic.end()) {
+            if (i->getId() == id) {
+                break;
+            }
+            i++;
+        }
+    }
+    if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
+        SG_LOG(SG_GENERAL, SG_ALERT,
+               "AI error: checking ATC instruction for aircraft without traffic record");
+    } else {
+        return i->hasInstruction();
+    }
+    return false;
+}
+
+
+FGATCInstruction FGApproachController::getInstruction(int id)
+{
+    TrafficVectorIterator i = activeTraffic.begin();
+    // Search search if the current id has an entry
+    // This might be faster using a map instead of a vector, but let's start by taking a safe route
+    if (activeTraffic.size()) {
+        //while ((i->getId() != id) && i != activeTraffic.end()) {
+        while (i != activeTraffic.end()) {
+            if (i->getId() == id) {
+                break;
+            }
+            i++;
+        }
+    }
+    if (i == activeTraffic.end() || (activeTraffic.size() == 0)) {
+        SG_LOG(SG_GENERAL, SG_ALERT,
+               "AI error: requesting ATC instruction for aircraft without traffic record");
+    } else {
+        return i->getInstruction();
+    }
+    return FGATCInstruction();
+}
+
+
+ActiveRunway *FGApproachController::getRunway(string name)
+{
+    ActiveRunwayVecIterator rwy = activeRunways.begin();
+    if (activeRunways.size()) {
+        while (rwy != activeRunways.end()) {
+            if (rwy->getRunwayName() == name) {
+                break;
+            }
+            rwy++;
+        }
+    }
+    if (rwy == activeRunways.end()) {
+        ActiveRunway aRwy(name, 0);
+        activeRunways.push_back(aRwy);
+        rwy = activeRunways.end() - 1;
+    }
+    return &(*rwy);
+}

src/ATC/trafficcontrol.hxx

@@ -28,6 +28,8 @@
 
 
 #include <simgear/compiler.h>
+// There is probably a better include than sg_geodesy to get the SG_NM_TO_METER...
+#include <simgear/math/sg_geodesy.hxx>
 #include <simgear/debug/logstream.hxx>
 
 
@@ -185,6 +187,9 @@ public:
 typedef vector<FGTrafficRecord> TrafficVector;
 typedef vector<FGTrafficRecord>::iterator TrafficVectorIterator;
 
+typedef vector<time_t> TimeVector;
+typedef vector<time_t>::iterator TimeVectorIterator;
+
 
 /***********************************************************************
  * Active runway, a utility class to keep track of which aircraft has
@@ -195,11 +200,18 @@ class ActiveRunway
 private:
   string rwy;
   int currentlyCleared;
+  double distanceToFinal;
+  TimeVector estimatedArrivalTimes;
 public:
-  ActiveRunway(string r, int cc) { rwy = r; currentlyCleared = cc; };
+  ActiveRunway(string r, int cc) { rwy = r; currentlyCleared = cc; distanceToFinal = 6.0 * SG_NM_TO_METER; };
   
   string getRunwayName() { return rwy; };
   int    getCleared   () { return currentlyCleared; };
+  double getApproachDistance() { return distanceToFinal; };
+  //time_t getEstApproachTime() { return estimatedArrival; };
+
+  //void setEstApproachTime(time_t time) { estimatedArrival = time; };
+  time_t requestTimeSlot(time_t eta);
 };
 
 typedef vector<ActiveRunway> ActiveRunwayVec;
@@ -207,7 +219,7 @@ typedef vector<ActiveRunway>::iterator ActiveRunwayVecIterator;
 
 /**
  * class FGATCController
- * NOTE: this class serves as an abstraction layer for all sorts of ATC controller. 
+ * NOTE: this class serves as an abstraction layer for all sorts of ATC controllers. 
  *************************************************************************************/
 class FGATCController
 {
@@ -317,4 +329,33 @@ public:
 
 }; 
 
+/******************************************************************************
+ * class FGTowerControl
+ *****************************************************************************/
+class FGApproachController : public FGATCController
+{
+private:
+  TrafficVector activeTraffic;
+  ActiveRunwayVec activeRunways;
+  
+public:
+  FGApproachController();
+  virtual ~FGApproachController() {};
+  virtual void announcePosition(int id, FGAIFlightPlan *intendedRoute, int currentRoute,
+				double lat, double lon,
+				double hdg, double spd, double alt, double radius, int leg,
+				FGAIAircraft *aircraft);
+  virtual void             signOff(int id);
+  virtual void             update(int id, double lat, double lon, 
+				  double heading, double speed, double alt, double dt);
+  virtual bool             hasInstruction(int id);
+  virtual FGATCInstruction getInstruction(int id);
+
+  ActiveRunway* getRunway(string name);
+
+  bool hasActiveTraffic() { return activeTraffic.size() != 0; };
+  TrafficVector &getActiveTraffic() { return activeTraffic; };
+};
+
+
 #endif // _TRAFFIC_CONTROL_HXX

src/Airports/dynamics.cxx

@@ -325,17 +325,21 @@ bool FGAirportDynamics::innerGetActiveRunway(const string & trafficType,
         takeoff.clear();
         lastUpdate = dayStart;
         prevTrafficType = trafficType;
-
+        /*
         FGEnvironment
             stationweather =
             ((FGEnvironmentMgr *) globals->get_subsystem("environment"))
             ->getEnvironment(getLatitude(), getLongitude(),
                              getElevation());
-
-        windSpeed = stationweather.get_wind_speed_kt();
-        windHeading = stationweather.get_wind_from_heading_deg();
+        */
+        windSpeed   = fgGetInt("/environment/metar/base-wind-speed-kt"); //stationweather.get_wind_speed_kt();
+        windHeading = fgGetInt("/environment/metar/base-wind-dir-deg");
+        //stationweather.get_wind_from_heading_deg();
         string scheduleName;
-        //cerr << "finding active Runway for" << _ap->getId() << endl;
+        //cerr << "finding active Runway for : " << _ap->getId() << endl;
+        //cerr << "Wind Heading              : " << windHeading << endl;
+        //cerr << "Wind Speed                : " << windSpeed << endl;
+
         //cerr << "Nr of seconds since day start << " << dayStart << endl;
 
         ScheduleTime *currSched;
@@ -347,7 +351,7 @@ bool FGAirportDynamics::innerGetActiveRunway(const string & trafficType,
         scheduleName = currSched->getName(dayStart);
         maxTail = currSched->getTailWind();
         maxCross = currSched->getCrossWind();
-        //cerr << "SChedule anme = " << scheduleName << endl;
+        //cerr << "Current Schedule =        : " << scheduleName << endl;
         if (scheduleName.empty())
             return false;
         //cerr << "C"<< endl;
@@ -371,6 +375,13 @@ bool FGAirportDynamics::innerGetActiveRunway(const string & trafficType,
             currentlyActive = &ulActive;
         }
 
+        //cerr << "Durrently active selection for " << trafficType << ": ";
+        for (stringVecIterator it = currentlyActive->begin();
+             it != currentlyActive->end(); it++) {
+             //cerr << (*it) << " ";
+         }
+         //cerr << endl;
+
         currRunwayGroup->setActive(_ap,
                                    windSpeed,
                                    windHeading,

src/Airports/dynamics.hxx

@@ -52,6 +52,7 @@ private:
   FGStartupController  startupController;
   FGGroundNetwork      groundNetwork;
   FGTowerController    towerController;
+  FGApproachController approachController;
 
   time_t lastUpdate;
   string prevTrafficType;
@@ -115,6 +116,7 @@ public:
   FGStartupController    *getStartupController()    { return &startupController; };
   FGGroundNetwork        *getGroundNetwork()        { return &groundNetwork; };
   FGTowerController      *getTowerController()      { return &towerController; };
+  FGApproachController   *getApproachController()   { return &approachController; };
 
   const string& getAtisInformation() { return atisInformation; };
   int getGroundFrequency(unsigned leg); //{ return freqGround.size() ? freqGround[0] : 0; };

src/Airports/groundnetwork.cxx

@@ -553,19 +553,21 @@ void FGGroundNetwork::update(int id, double lat, double lon,
     current->clearResolveCircularWait();
     current->setWaitsForId(0);
     checkSpeedAdjustment(id, lat, lon, heading, speed, alt);
+    bool needsTaxiClearance = current->getAircraft()->getTaxiClearanceRequest();
+    if (!needsTaxiClearance) {
         checkHoldPosition(id, lat, lon, heading, speed, alt);
         if (checkForCircularWaits(id)) {
             i->setResolveCircularWait();
         }
-    bool needsTaxiClearance = current->getAircraft()->getTaxiClearanceRequest();
+    } else {
+        current->setHoldPosition(true);
         int state = current->getState();
         time_t now = time(NULL) + fgGetLong("/sim/time/warp");
         if ((now - lastTransmission) > 15) {
             available = true;
         }
-    if (needsTaxiClearance && available) {
+        if ((state < 3) && available) {
              transmit(&(*current), MSG_REQUEST_TAXI_CLEARANCE, ATC_AIR_TO_GROUND);
-         current->getAircraft()->setTaxiClearanceRequest(false);
              current->setState(3);
              lastTransmission = now;
              available = false;
@@ -578,10 +580,19 @@ void FGGroundNetwork::update(int id, double lat, double lon,
         }
         if ((state == 4) && available) {
             transmit(&(*current), MSG_ACKNOWLEDGE_TAXI_CLEARANCE, ATC_AIR_TO_GROUND);
-         current->setState(0);
+            current->setState(5);
             lastTransmission = now;
             available = false;
         }
+        if ((state == 5) && available) {
+            current->setState(0);
+            current->getAircraft()->setTaxiClearanceRequest(false);
+            current->setHoldPosition(true);
+            available = false;
+        }
+
+    }
+
 }
 
 /**

src/Airports/runwaybase.cxx

@@ -73,6 +73,27 @@ SGGeod FGRunwayBase::pointOnCenterline(double aOffset) const
   return result;
 }
 
+
+
+SGGeod FGRunwayBase::pointOffCenterline(double aOffset, double lateralOffset) const
+{
+  SGGeod result;
+  SGGeod temp;
+  double dummyAz2;
+  double halfLengthMetres = lengthM() * 0.5;
+
+  SGGeodesy::direct(mPosition, _heading, 
+    aOffset - halfLengthMetres,
+    temp, dummyAz2);
+
+  SGGeodesy::direct(temp, (_heading+90.0), 
+    lateralOffset,
+    result, dummyAz2);
+
+  return result;
+}
+
+
 bool FGRunwayBase::isHardSurface() const
 {
   return ((_surface_code == 1) || (_surface_code == 2));

src/Airports/runwaybase.hxx

@@ -52,6 +52,7 @@ public:
    * opposited direction. 0.0 corresponds to the (non-displaced) threshold
    */
   SGGeod pointOnCenterline(double aOffset) const;
+  SGGeod pointOffCenterline(double aOffset, double lateralOffset) const;
   
   double lengthFt() const
   { return _length; }

src/Airports/runwayprefs.cxx

@@ -57,7 +57,8 @@ ScheduleTime::ScheduleTime(const ScheduleTime &other)
     for (i = other.end.begin(); i != other.end.end(); i++)
         end.push_back(*i);
     stringVecConstIterator k;
-   for (k = other.scheduleNames.begin(); k != other.scheduleNames.end(); k++)
+    for (k = other.scheduleNames.begin(); k != other.scheduleNames.end();
+         k++)
         scheduleNames.push_back(*k);
 
     //timeVec   end;
@@ -77,7 +78,8 @@ ScheduleTime & ScheduleTime::operator= (const ScheduleTime &other)
     for (i = other.end.begin(); i != other.end.end(); i++)
         end.push_back(*i);
     stringVecConstIterator k;
-   for (k = other.scheduleNames.begin(); k != other.scheduleNames.end(); k++)
+    for (k = other.scheduleNames.begin(); k != other.scheduleNames.end();
+         k++)
         scheduleNames.push_back(*k);
 
     //timeVec   end;
@@ -86,21 +88,18 @@ ScheduleTime & ScheduleTime::operator= (const ScheduleTime &other)
     crssWind = other.tailWind;
     return *this;
 }
+
 string ScheduleTime::getName(time_t dayStart)
 {
-  if ((start.size() != end.size()) || (start.size() != scheduleNames.size()))
-    {
+    if ((start.size() != end.size())
+        || (start.size() != scheduleNames.size())) {
         SG_LOG(SG_GENERAL, SG_INFO, "Unable to parse schedule times");
         exit(1);
-    }
-  else
-    {
+    } else {
         int nrItems = start.size();
         //cerr << "Nr of items to process: " << nrItems << endl;
-      if (nrItems > 0)
-  	{
-  	  for (unsigned int i = 0; i < start.size(); i++)
-  	    {
+        if (nrItems > 0) {
+            for (unsigned int i = 0; i < start.size(); i++) {
                 //cerr << i << endl;
                 if ((dayStart >= start[i]) && (dayStart <= end[i]))
                     return scheduleNames[i];
@@ -111,6 +110,7 @@ string ScheduleTime::getName(time_t dayStart)
     }
     return string("");
 }
+
 /******************************************************************************
  * RunwayList
  *****************************************************************************/
@@ -119,18 +119,22 @@ RunwayList::RunwayList(const RunwayList &other)
 {
     type = other.type;
     stringVecConstIterator i;
-  for (i = other.preferredRunways.begin(); i != other.preferredRunways.end(); i++)
+    for (i = other.preferredRunways.begin();
+         i != other.preferredRunways.end(); i++)
         preferredRunways.push_back(*i);
 }
+
 RunwayList & RunwayList::operator=(const RunwayList & other)
 {
     type = other.type;
     preferredRunways.clear();
     stringVecConstIterator i;
-  for (i = other.preferredRunways.begin(); i != other.preferredRunways.end(); i++)
+    for (i = other.preferredRunways.begin();
+         i != other.preferredRunways.end(); i++)
         preferredRunways.push_back(*i);
     return *this;
 }
+
 void RunwayList::set(const string & tp, const string & lst)
 {
     //weekday          = atoi(timeCopy.substr(0,1).c_str());
@@ -139,8 +143,7 @@ void RunwayList::set(const string &tp, const string &lst)
     type = tp;
     string rwys = lst;
     string rwy;
-  while (rwys.find(",") != string::npos)
-    {
+    while (rwys.find(",") != string::npos) {
         rwy = rwys.substr(0, rwys.find(",", 0));
         //cerr << "adding runway [" << rwy << "] to the list " << endl;
         preferredRunways.push_back(rwy);
@@ -158,6 +161,7 @@ void RunwayList::clear()
     type = "";
     preferredRunways.clear();
 }
+
 /****************************************************************************
  *
  ***************************************************************************/
@@ -172,6 +176,7 @@ RunwayGroup::RunwayGroup(const RunwayGroup &other)
     choice[1] = other.choice[1];
     nrActive = other.nrActive;
 }
+
 RunwayGroup & RunwayGroup::operator=(const RunwayGroup & other)
 {
     rwyList.clear();
@@ -189,8 +194,7 @@ void RunwayGroup::setActive(const FGAirport* airport,
                             double windSpeed,
                             double windHeading,
                             double maxTail,
-			    double maxCross,
-			    stringVec *currentlyActive)
+                            double maxCross, stringVec * currentlyActive)
 {
 
     FGRunway *rwy;
@@ -205,16 +209,14 @@ void RunwayGroup::setActive(const FGAirport* airport,
     //stringVec names;
     int bestMatch = 0, bestChoice = 0;
 
-  if (activeRwys > 0)
-    {  
+    if (activeRwys > 0) {
         // Now downward iterate across all the possible preferences
         // starting by the least preferred choice working toward the most preferred choice
 
         nrOfPreferences = rwyList[0].getRwyList()->size();
         bool validSelection = true;
         bool foundValidSelection = false;
-      for (int i = nrOfPreferences-1; i >= 0; i--)
-	{
+        for (int i = nrOfPreferences - 1; i >= 0; i--) {
             int match = 0;
 
 
@@ -224,11 +226,13 @@ void RunwayGroup::setActive(const FGAirport* airport,
             // don't want to randomly swap runway preferences, unless there is a need to. 
             //
             validSelection = true;
-	  for (int j = 0; j < activeRwys; j++)
-    {
+            
+            for (int j = 0; j < activeRwys; j++) {
                 string ident(rwyList[j].getRwyList(i));
                 if (!airport->hasRunwayWithIdent(ident)) {
-        SG_LOG(SG_GENERAL, SG_WARN, "no such runway:" << ident << " at " << airport->ident());
+                    SG_LOG(SG_GENERAL, SG_WARN,
+                           "no such runway:" << ident << " at " <<
+                           airport->ident());
                     continue;
                 }
 
@@ -236,47 +240,45 @@ void RunwayGroup::setActive(const FGAirport* airport,
 
                 //cerr << "Succes" << endl;
                 hdgDiff = fabs(windHeading - rwy->headingDeg());
-		  //cerr << "Wind Heading: " << windHeading << "Runway Heading: " <<rwy._heading << endl;
-		  //cerr << "Wind Speed  : " << windSpeed << endl;
+                name    = rwy->name();
+
+
                 if (hdgDiff > 180)
                     hdgDiff = 360 - hdgDiff;
                 //cerr << "Heading diff: " << hdgDiff << endl;
                 hdgDiff *= ((2 * M_PI) / 360.0);        // convert to radians
                 crossWind = windSpeed * sin(hdgDiff);
                 tailWind = -windSpeed * cos(hdgDiff);
+                //cerr << "Runway : " << rwy->name() << ": " << rwy->headingDeg() << endl;
                 //cerr << ". Tailwind : " << tailWind;
                 //cerr << ". Crosswnd : " << crossWind;
-		  if ((tailWind > maxTail) || (crossWind > maxCross))
-		    {
+                if ((tailWind > maxTail) || (crossWind > maxCross)) {
                     //cerr << ". [Invalid] " << endl;
                     validSelection = false;
-		   }
-		  else 
-		    {
+                } else {
                     //cerr << ". [Valid] ";
                 }
                 //cerr << endl;
-    } // of active runways iteration
-      
-	  if (validSelection) 
-	    {
-	      //cerr << "Valid selection  : " << i << endl;;
-	      foundValidSelection = true;
                 for (stringVecIterator it = currentlyActive->begin();
-		   it != currentlyActive->end(); it++)
-		{
-		  if ((*it) == name)
+                     it != currentlyActive->end(); it++) {
+                    //cerr << "Checking : \"" << (*it) << "\". vs \"" << name << "\"" << endl;
+                    if ((*it) == name) {
                         match++;
                     }
+                }
+            }                   // of active runways iteration
+
+            if (validSelection) {
+                //cerr << "Valid selection  : " << i << endl;;
+                foundValidSelection = true;
                 if (match >= bestMatch) {
                     bestMatch = match;
                     bestChoice = i;
                 }
             }
-	  //cerr << "Preference " << i << " bestMatch " << bestMatch << " choice " << bestChoice << endl;
+            //cerr << "Preference " << i << "Match " << match << " bestMatch " << bestMatch << " choice " << bestChoice << " valid selection " << validSelection << endl;
         }
-      if (foundValidSelection)
-	{
+        if (foundValidSelection) {
             //cerr << "Valid runay selection : " << bestChoice << endl;
             nrActive = activeRwys;
             active = bestChoice;
@@ -286,8 +288,7 @@ void RunwayGroup::setActive(const FGAirport* airport,
         // but select only one landing and one takeoff runway. 
         choice[0] = 0;
         choice[1] = 0;
-      for (int i = activeRwys-1;  i; i--)
-	{
+        for (int i = activeRwys - 1; i; i--) {
             if (rwyList[i].getType() == string("landing"))
                 choice[0] = i;
             if (rwyList[i].getType() == string("takeoff"))
@@ -295,11 +296,9 @@ void RunwayGroup::setActive(const FGAirport* airport,
         }
         //cerr << "Choosing " << choice[0] << " for landing and " << choice[1] << "for takeoff" << endl;
         nrOfPreferences = rwyList[0].getRwyList()->size();
-      for (int i = 0; i < nrOfPreferences; i++)
-	{
+        for (int i = 0; i < nrOfPreferences; i++) {
             bool validSelection = true;
-	  for (int j = 0; j < 2; j++)
-	    {
+            for (int j = 0; j < 2; j++) {
                 name = rwyList[choice[j]].getRwyList(i);
                 rwy = airport->getRunwayByIdent(name);
 
@@ -315,8 +314,7 @@ void RunwayGroup::setActive(const FGAirport* airport,
 
 
             }
-	  if (validSelection)
-	    {
+            if (validSelection) {
                 //cerr << "Valid runay selection : " << i << endl;
                 active = i;
                 nrActive = 2;
@@ -330,21 +328,18 @@ void RunwayGroup::setActive(const FGAirport* airport,
 
 void RunwayGroup::getActive(int i, string & name, string & type)
 {
-  if (i == -1)
-    {
+    if (i == -1) {
         return;
     }
-  if (nrActive == (int)rwyList.size())
-    {
+    if (nrActive == (int) rwyList.size()) {
         name = rwyList[i].getRwyList(active);
         type = rwyList[i].getType();
-    }
-  else
-    { 
+    } else {
         name = rwyList[choice[i]].getRwyList(active);
         type = rwyList[choice[i]].getType();
     }
 }
+
 /*****************************************************************************
  * FGRunway preference
  ****************************************************************************/
@@ -368,7 +363,8 @@ FGRunwayPreference::FGRunwayPreference(const FGRunwayPreference &other)
         preferences.push_back(*i);
 }
 
-FGRunwayPreference & FGRunwayPreference::operator= (const FGRunwayPreference &other)
+FGRunwayPreference & FGRunwayPreference::operator=(const FGRunwayPreference
+                                                   & other)
 {
     initialized = other.initialized;
 
@@ -410,6 +406,7 @@ RunwayGroup *FGRunwayPreference::getGroup(const string &groupName)
         return 0;
 }
 
- string FGRunwayPreference::getId() { 
+string FGRunwayPreference::getId()
+{
     return _ap->getId();
 };

src/Traffic/Schedule.cxx

@@ -289,7 +289,6 @@ bool FGAISchedule::update(time_t now, const SGVec3d& userCart)
   if (distanceToUser >= TRAFFICTOAIDISTTOSTART) {
     return true; // out of visual range, for the moment.
   }
-  
   return createAIAircraft(flight, speed, deptime);
 }
 

src/Traffic/TrafficMgr.cxx

@@ -137,7 +137,9 @@ void FGTrafficManager::init()
 
 void FGTrafficManager::update(double /*dt*/)
 {
-
+  if (fgGetBool("/environment/metar/valid") == false) {
+       return;
+  }
   time_t now = time(NULL) + fgGetLong("/sim/time/warp");
   if (scheduledAircraft.size() == 0) {
     return;