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AI Better approach descent

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This commit is contained in:
portree_kid 2022-11-12 21:18:16 +01:00
parent d8f212ed3b
commit 9b4bd6fdcb
3 changed files with 50 additions and 33 deletions
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6
src/AIModel/AIFlightPlan.cxx
View file

@ -472,12 +472,18 @@ void FGAIFlightPlan::setLeadDistance(double speed,
//lead_distance_ft = turn_radius * sin(leadInAngle * SG_DEGREES_TO_RADIANS);
if ((int)leadInAngle==0) {
double lead_distance_m = fabs(2*speed) * SG_FEET_TO_METER;
setLeadDistance(lead_distance_m * SG_METER_TO_FEET);
} else {
double lead_distance_m = turn_radius_m * tan((leadInAngle * SG_DEGREES_TO_RADIANS)/2);
lead_distance_ft = lead_distance_m * SG_METER_TO_FEET;
SG_LOG(SG_AI, SG_BULK, "Setting Leaddistance " << (lead_distance_ft*SG_FEET_TO_METER) << " Turnradius " << turn_radius_m << " Speed " << speed_mps << " Half turn Angle " << (leadInAngle)/2);
if (lead_distance_ft > 1000) {
SG_LOG(SG_AI, SG_BULK, "Excessive leaddistance possible direction change " << lead_distance_ft << " leadInAngle " << leadInAngle << " inbound " << inbound << " outbound " << outbound);
}
}
/*
if ((lead_distance_ft > (3*turn_radius)) && (current->on_ground == false)) {
SG_LOG(SG_AI, SG_ALERT, "Warning: Lead-in distance is large. Inbound = " << inbound

5
src/AIModel/AIFlightPlan.hxx
View file

@ -276,8 +276,9 @@ private:
void pushBackWaypoint(FGAIWaypoint *wpt);
/**Create an arc flightplan around a center from startAngle to endAngle.*/
void createArc(FGAIAircraft *ac, const SGGeod& center, int startAngle, int endAngle, int increment, int radius, double aElev, double aSpeed, const char* pattern);
void createLine(FGAIAircraft *ac, const SGGeod& startPoint, double azimuth, double dist, double dAlt, double vDescent, const char* pattern);
void createArc(FGAIAircraft *ac, const SGGeod& center, int startAngle, int endAngle, int increment, int radius, double aElev, double altDiff, double aSpeed, const char* pattern);
/**Create a line flightplan from start with dist and altitude diff*/
void createLine(FGAIAircraft *ac, const SGGeod& startPoint, double azimuth, double dist, double aElev, double dAlt, double vDescent, const char* pattern);
bool createLandingTaxi(FGAIAircraft *, FGAirport *apt, double radius, const std::string& fltType, const std::string& acType, const std::string& airline);
void createDefaultLandingTaxi(FGAIAircraft *, FGAirport* aAirport);
void createDefaultTakeoffTaxi(FGAIAircraft *, FGAirport* aAirport, FGRunway* aRunway);

62
src/AIModel/AIFlightPlanCreate.cxx
View file

@ -175,7 +175,7 @@ FGAIWaypoint * FGAIFlightPlan::createOnRunway(FGAIAircraft * ac,
}
void FGAIFlightPlan::createArc(FGAIAircraft *ac, const SGGeod& center, int startAngle,
int endAngle, int increment, int radius, double aElev, double aSpeed, const char* pattern) {
int endAngle, int increment, int radius, double aElev, double altDiff, double aSpeed, const char* pattern) {
double trackSegmentLength = (2 * M_PI * radius) / 360.0;
double dummyAz2;
char buffer[20];
@ -186,6 +186,10 @@ int endAngle, int increment, int radius, double aElev, double aSpeed, const char
endAngle += 360;
}
int nPoints = fabs(fabs(endAngle - startAngle)/increment);
double currentAltitude = aElev;
double altDecrement = altDiff / nPoints;
for (int i = startAngle; !(endAngle <= i && i < endAngle + fabs(increment)); i += increment) {
if(fabs(i)>720) {
SG_LOG(SG_AI, SG_WARN, "FGAIFlightPlan::createArc runaway " << startAngle << " " << endAngle << " " << increment);
@ -195,21 +199,23 @@ int endAngle, int increment, int radius, double aElev, double aSpeed, const char
SGGeodesy::direct(center, i,
radius, result, dummyAz2);
snprintf(buffer, sizeof(buffer), pattern, i);
FGAIWaypoint *wpt = createInAir(ac, buffer, result, aElev, aSpeed);
wpt->setCrossat(aElev);
currentAltitude -= altDecrement;
FGAIWaypoint *wpt = createInAir(ac, buffer, result, currentAltitude, aSpeed);
wpt->setCrossat(currentAltitude);
wpt->setTrackLength(trackSegmentLength);
pushBackWaypoint(wpt);
}
}
void FGAIFlightPlan::createLine( FGAIAircraft *ac, const SGGeod& startPoint, double azimuth, double dist, double dAlt, double vDescent, const char* pattern) {
void FGAIFlightPlan::createLine( FGAIAircraft *ac, const SGGeod& startPoint, double azimuth, double dist, double aElev, double dAlt, double vDescent, const char* pattern) {
SGGeod dummyAz2;
double nPoints = dist/(vDescent/2);
double nPoints = dist/(vDescent*2);
char buffer[20];
double distIncrement = (dist / nPoints);
for (int i = 1; i < nPoints; i++) {
double currentDist = i * (dist / nPoints);
double currentAltitude = ac->getAltitude() - (i * (dAlt / nPoints));
double currentDist = i * distIncrement;
double currentAltitude = aElev - (i * (dAlt / nPoints));
SGGeod result = SGGeodesy::direct(startPoint, azimuth, currentDist);
snprintf(buffer, sizeof(buffer), pattern, i);
FGAIWaypoint* wpt = createInAir(ac, buffer, result, currentAltitude, vDescent);
@ -777,6 +783,10 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac,
ac->setHeading(courseTowardsThreshold);
}
SGGeod threshold = rwy->threshold();
double currElev = threshold.getElevationFt();
double altDiff = alt - currElev - 2000;
// depending on entry we differ approach (teardrop/direct/parallel)
double initialTurnRadius = getTurnRadius(vDescent, true);
@ -842,7 +852,7 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac,
if (abs(headingDiffToRunwayThreshold)<90) {
newCurrent = SGGeodesy::direct(current, ac->getTrueHeadingDeg(), distance + 1000);
firstTurnCenter = SGGeodesy::direct(newCurrent, ac->getTrueHeadingDeg() + rightAngle, initialTurnRadius);
createLine(ac, current, ac->getTrueHeadingDeg(), distance + 1000, 50, vDescent, "move%03d");
createLine(ac, current, ac->getTrueHeadingDeg(), distance + 1000, waypoints.size()>0?waypoints.back()->getAltitude():alt, 0, vDescent, "move%03d");
}
int offset = 1000;
while (SGGeodesy::distanceM(firstTurnCenter, secondaryTarget) < 2*initialTurnRadius) {
@ -850,15 +860,15 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac,
firstTurnCenter = SGGeodesy::direct(newCurrent, ac->getTrueHeadingDeg() + rightAngle, initialTurnRadius);
}
const double heading = VectorMath::outerTangentsAngle(firstTurnCenter, secondaryTarget, initialTurnRadius, initialTurnRadius )[0];
createArc(ac, firstTurnCenter, ac->_getHeading()-rightAngle, heading-rightAngle, firstTurnIncrement, initialTurnRadius, ac->getAltitude(), vDescent, "near-initialturn%03d");
createArc(ac, firstTurnCenter, ac->_getHeading()-rightAngle, heading-rightAngle, firstTurnIncrement, initialTurnRadius, waypoints.size()>0?waypoints.back()->getAltitude():alt, altDiff/4, vDescent, "near-initialturn%03d");
double length = VectorMath::innerTangentsLength(firstTurnCenter, secondaryTarget, initialTurnRadius, initialTurnRadius );
createLine(ac, waypoints.back()->getPos(), heading, length, 50, vDescent, "descent%03d");
createLine(ac, waypoints.back()->getPos(), heading, length, waypoints.size()>0?waypoints.back()->getAltitude():alt, altDiff/2, vDescent, "descent%03d");
int holdsPatterns = 0;
// Length of
if (holdsPatterns>0) {
// Turn into hold
createArc(ac, secondaryTarget, heading+rightAngle, rwy->headingDeg()+rightAngle, firstTurnIncrement*-1, initialTurnRadius,
waypoints.back()->getAltitude(), vDescent, "turnintohold%03d");
waypoints.size()>0?waypoints.back()->getAltitude():alt, altDiff/3, vDescent, "turnintohold%03d");
for (int t = 0; t < holdsPatterns; t++)
{
/*
@ -873,7 +883,7 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac,
int endVal = SGMiscd::normalizePeriodic(0, 360, rwy->headingDeg()-rightAngle);
// Turn into runway
createArc(ac, secondaryTarget, startVal ,endVal , firstTurnIncrement, initialTurnRadius,
waypoints.back()->getAltitude(), vDescent, "turn%03d");
waypoints.size()>0?waypoints.back()->getAltitude():alt, altDiff/4, vDescent, "turn%03d");
}
} else {
SG_LOG(SG_AI, SG_BULK, ac->getCallSign() << "| Enter far S curve");
@ -887,15 +897,15 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac,
secondaryTarget = rwy->pointOffCenterline(-2 * distanceOut + (offset+=1000), lateralOffset);
}
const double heading = VectorMath::innerTangentsAngle(firstTurnCenter, secondaryTarget, initialTurnRadius, initialTurnRadius )[innerTangent];
createArc(ac, firstTurnCenter, ac->_getHeading()-rightAngle, heading-rightAngle, firstTurnIncrement, initialTurnRadius, ac->getAltitude(), vDescent, "far-initialturn%03d");
createArc(ac, firstTurnCenter, ac->_getHeading()-rightAngle, heading-rightAngle, firstTurnIncrement, initialTurnRadius, waypoints.size()>0?waypoints.back()->getAltitude():alt, altDiff/8, vDescent, "far-initialturn%03d");
double length = VectorMath::innerTangentsLength(firstTurnCenter, secondaryTarget, initialTurnRadius, initialTurnRadius );
createLine(ac, waypoints.back()->getPos(), heading, length, 50, vDescent, "descent%03d");
createLine(ac, waypoints.back()->getPos(), heading, length, waypoints.size()>0?waypoints.back()->getAltitude():alt, altDiff*0.75, vDescent, "descent%03d");
int holdsPatterns = 0;
// Length of
if (holdsPatterns>0) {
// Turn into hold
createArc(ac, secondaryTarget, heading+rightAngle, rwy->headingDeg()+rightAngle, firstTurnIncrement*-1, initialTurnRadius,
waypoints.back()->getAltitude(), vDescent, "turnintohold%03d");
waypoints.size()>0?waypoints.back()->getAltitude():alt, altDiff/3, vDescent, "turnintohold%03d");
for (int t = 0; t < holdsPatterns; t++)
{
/*
@ -910,7 +920,7 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac,
int endVal = SGMiscd::normalizePeriodic(0, 360, rwy->headingDeg()+rightAngle);
// Turn into runway
createArc(ac, secondaryTarget, startVal, endVal, firstTurnIncrement*-1, initialTurnRadius,
waypoints.back()->getAltitude(), vDescent, "s-turn%03d");
waypoints.size()>0?waypoints.back()->getAltitude():alt, altDiff/8, vDescent, "s-turn%03d");
}
}
} else if (fabs(headingDiffRunway)>=150 ) {
@ -931,21 +941,21 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac,
// rwy->headingDeg()-rightAngle
int endVal = SGMiscd::normalizePeriodic(0, 360, rwy->headingDeg()-180);
SGGeod secondTurnCenter = SGGeodesy::direct(firstTurnCenter, endVal, 2*initialTurnRadius);
createArc(ac, firstTurnCenter, ac->_getHeading()-rightAngle, endVal, firstTurnIncrement, initialTurnRadius, ac->getAltitude(), vDescent, "d-near-initialturn%03d");
createArc(ac, firstTurnCenter, ac->_getHeading()-rightAngle, endVal, firstTurnIncrement, initialTurnRadius, waypoints.size()>0?waypoints.back()->getAltitude():alt, altDiff/4, vDescent, "d-near-initialturn%03d");
endVal = SGMiscd::normalizePeriodic(0, 360, rwy->headingDeg());
// int endVal2 = SGMiscd::normalizePeriodic(0, 360, rwy->headingDeg()-rightAngle);
const double endVal2 = VectorMath::outerTangentsAngle(secondTurnCenter, secondaryTarget, initialTurnRadius, initialTurnRadius )[0];
createArc(ac, secondTurnCenter, endVal, endVal2+rightAngle, -firstTurnIncrement, initialTurnRadius, ac->getAltitude(), vDescent, "secondturn%03d");
createArc(ac, secondTurnCenter, endVal, endVal2+rightAngle, -firstTurnIncrement, initialTurnRadius, waypoints.size()>0?waypoints.back()->getAltitude():alt, altDiff/4, vDescent, "secondturn%03d");
//outer
double length = VectorMath::outerTangentsLength(secondTurnCenter, secondaryTarget, initialTurnRadius, initialTurnRadius );
int reverseRwyHeading = SGMiscd::normalizePeriodic(0, 360, rwy->headingDeg() - 180);
createLine(ac, waypoints.back()->getPos(), endVal2, length, 50, vDescent, "descent%03d");
createLine(ac, waypoints.back()->getPos(), endVal2, length, waypoints.size()>0?waypoints.back()->getAltitude():alt, altDiff/4, vDescent, "descent%03d");
int holdsPatterns = 0;
// Length of
if (holdsPatterns>0) {
// Turn into hold
createArc(ac, secondaryTarget, heading+rightAngle, rwy->headingDeg()+rightAngle, firstTurnIncrement*-1, initialTurnRadius,
waypoints.back()->getAltitude(), vDescent, "turnintohold%03d");
waypoints.size()>0?waypoints.back()->getAltitude():alt, altDiff/3, vDescent, "turnintohold%03d");
for (int t = 0; t < holdsPatterns; t++)
{
/*
@ -959,7 +969,7 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac,
int endVal = SGMiscd::normalizePeriodic(0, 360, rwy->headingDeg()+rightAngle);
// Turn into runway
createArc(ac, secondaryTarget, endVal2+rightAngle, endVal, -firstTurnIncrement, initialTurnRadius,
waypoints.back()->getAltitude(), vDescent, "turn%03d");
waypoints.size()>0?waypoints.back()->getAltitude():alt, altDiff/4, vDescent, "turn%03d");
}
} else {
SG_LOG(SG_AI, SG_BULK, ac->getCallSign() << "| Enter far S downrunway");
@ -969,15 +979,15 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac,
int innerTangent = headingDiffRunway<0?0:1;
SGGeod firstTurnCenter = SGGeodesy::direct(current, ac->getTrueHeadingDeg() + rightAngle, initialTurnRadius);
const double heading = VectorMath::innerTangentsAngle(firstTurnCenter, secondaryTarget, initialTurnRadius, initialTurnRadius )[innerTangent];
createArc(ac, firstTurnCenter, ac->_getHeading()-rightAngle, heading-rightAngle, firstTurnIncrement, initialTurnRadius, ac->getAltitude(), vDescent, "d-far-initialturn%03d");
createArc(ac, firstTurnCenter, ac->_getHeading()-rightAngle, heading-rightAngle, firstTurnIncrement, initialTurnRadius, waypoints.size()>0?waypoints.back()->getAltitude():alt, altDiff/3, vDescent, "d-far-initialturn%03d");
double length = VectorMath::innerTangentsLength(firstTurnCenter, secondaryTarget, initialTurnRadius, initialTurnRadius );
createLine(ac, waypoints.back()->getPos(), heading, length, 50, vDescent, "descent%03d");
createLine(ac, waypoints.back()->getPos(), heading, length, waypoints.size()>0?waypoints.back()->getAltitude():alt, altDiff/3, vDescent, "descent%03d");
int holdsPatterns = 0;
// Length of
if (holdsPatterns>0) {
// Turn into hold
createArc(ac, secondaryTarget, heading+rightAngle, rwy->headingDeg()+rightAngle, firstTurnIncrement*-1, initialTurnRadius,
waypoints.back()->getAltitude(), vDescent, "turnintohold%03d");
waypoints.size()>0?waypoints.back()->getAltitude():alt, altDiff/3, vDescent, "turnintohold%03d");
for (int t = 0; t < holdsPatterns; t++)
{
/*
@ -992,7 +1002,7 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac,
int endVal = SGMiscd::normalizePeriodic(0, 360, rwy->headingDeg()+rightAngle);
// Turn into runway
createArc(ac, secondaryTarget, startVal, endVal, -firstTurnIncrement, initialTurnRadius,
waypoints.back()->getAltitude(), vDescent, "d-s-turn%03d");
waypoints.size()>0?waypoints.back()->getAltitude():alt, altDiff/3, vDescent, "d-s-turn%03d");
}
}
} else {
@ -1002,7 +1012,7 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac,
SGGeod firstTurnCenter = SGGeodesy::direct(current, ac->getTrueHeadingDeg() - rightAngle, initialTurnRadius);
int firstTurnIncrement = headingDiffRunway>0?-2:2;
const double heading = rwy->headingDeg();
createArc(ac, secondaryTarget, ac->_getHeading()+rightAngle, heading+rightAngle, firstTurnIncrement, initialTurnRadius, ac->getAltitude(), vDescent, "straight_turn_%03d");
createArc(ac, secondaryTarget, ac->_getHeading()+rightAngle, heading+rightAngle, firstTurnIncrement, initialTurnRadius, ac->getAltitude(), altDiff/3, vDescent, "straight_turn_%03d");
}
// To prevent absurdly steep approaches, compute the origin from where the approach should have started