AI improved entry into parking (heading and postition)
This commit is contained in:
portree_kid
parent
49eeb6627c
commit
b216658ba1
1 changed files with 89 additions and 76 deletions
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@ -52,7 +52,7 @@ using std::string;
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/* FGAIFlightPlan::create()
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* dynamically create a flight plan for AI traffic, based on data provided by the
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* Traffic Manager, when reading a filed flightplan fails. (DT, 2004/07/10)
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* Traffic Manager, when reading a filed flightplan fails. (DT, 2004/07/10)
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*
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* This is the top-level function, and the only one that is publicly available.
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*
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@ -68,11 +68,11 @@ bool FGAIFlightPlan::create(FGAIAircraft * ac, FGAirport * dep,
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const string & aircraftType,
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const string & airline, double distance)
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{
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if( legNr <= 3 )
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if( legNr <= 3 )
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SG_LOG(SG_AI, SG_BULK, "Create Leg " << legNr << " " << (firstFlight?"First":"") << " Old Leg " << getLeg() << " At Airport : " << dep->getId());
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else if( legNr<= 6 )
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else if( legNr<= 6 )
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SG_LOG(SG_AI, SG_BULK, "Create Leg " << legNr << " " << (firstFlight?"First":"") << " Old Leg " << getLeg() << " Departure Airport : " << dep->getId() << " Arrival Airport : " << arr->getId());
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else
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else
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SG_LOG(SG_AI, SG_BULK, "Create Leg " << legNr << " " << (firstFlight?"First":"") << " Old Leg " << getLeg() << " At Airport : " << arr->getId());
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bool retVal = true;
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@ -107,7 +107,7 @@ bool FGAIFlightPlan::create(FGAIAircraft * ac, FGAirport * dep,
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retVal = createLandingTaxi(ac, arr, radius, fltType, aircraftType, airline);
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break;
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case 9:
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retVal = createParking(ac, arr, radius);
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retVal = createParking(ac, arr, radius);
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break;
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default:
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//exit(1);
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@ -120,7 +120,7 @@ bool FGAIFlightPlan::create(FGAIAircraft * ac, FGAirport * dep,
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//don't increment leg right away, but only once we pass the actual last waypoint that was created.
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// to do so, mark the last waypoint with a special status flag
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if (retVal) {
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waypoints.back()->setName( waypoints.back()->getName() + string("legend"));
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waypoints.back()->setName( waypoints.back()->getName() + string("legend"));
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// "It's pronounced Leg-end" (Roger Glover (Deep Purple): come Hell or High Water DvD, 1993)
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}
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return retVal;
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@ -199,7 +199,7 @@ FGAIWaypoint * FGAIFlightPlan::createInAir(FGAIAircraft * ac,
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wpt->setSpeedBrakes(0.0f );
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wpt->setOn_ground (false );
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wpt->setCrossat (aElev );
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if (aPos.getElevationFt() < 10000.0f) {
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wpt->setApproachLights();
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} else {
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@ -222,9 +222,9 @@ FGAIWaypoint * FGAIFlightPlan::clone(FGAIWaypoint * aWpt)
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wpt->setFinished ( aWpt->isFinished() );
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wpt->setOn_ground ( aWpt->getOn_ground() );
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wpt->setLandingLight (aWpt->getLandingLight() );
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wpt->setNavLight (aWpt->getNavLight() );
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wpt->setNavLight (aWpt->getNavLight() );
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wpt->setStrobeLight (aWpt->getStrobeLight() );
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wpt->setTaxiLight (aWpt->getTaxiLight() );
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wpt->setTaxiLight (aWpt->getTaxiLight() );
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wpt->setRouteIndex ( 0 );
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return wpt;
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@ -322,7 +322,7 @@ bool FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight,
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}
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// A negative gateId indicates an overflow parking, use a
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// fallback mechanism for this.
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// fallback mechanism for this.
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// Starting from gate 0 in this case is a bit of a hack
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// which requires a more proper solution later on.
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// delete taxiRoute;
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@ -347,7 +347,7 @@ bool FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight,
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} else {
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SG_LOG(SG_AI, SG_WARN, "Taxiroute could not be constructed no parking." << (apt?apt->getId():"????"));
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}
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FGTaxiRoute taxiRoute;
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if (runwayNode && node) {
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taxiRoute = gn->findShortestRoute(node, runwayNode);
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@ -375,7 +375,7 @@ bool FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight,
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for (int i = 0; i < nrWaypointsToSkip - 3; i++) {
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taxiRoute.next(skipNode, &route);
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}
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gate.release(); // free up our gate as required
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} else {
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if (taxiRoute.size() > 1) {
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@ -384,12 +384,12 @@ bool FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight,
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}
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// push each node on the taxi route as a waypoint
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//cerr << "Building taxi route" << endl;
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// Note that the line wpt->setRouteIndex was commented out by revision [afcdbd] 2012-01-01,
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// which breaks the rendering functions.
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// These can probably be generated on the fly however.
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// which breaks the rendering functions.
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// These can probably be generated on the fly however.
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while (taxiRoute.next(node, &route)) {
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char buffer[10];
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snprintf(buffer, sizeof(buffer), "%d", node->getIndex());
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@ -464,7 +464,7 @@ bool FGAIFlightPlan::createLandingTaxi(FGAIAircraft * ac,
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{
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int route;
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gate = apt->getDynamics()->getAvailableParking(radius, fltType,
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acType, airline);
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acType, airline);
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SGGeod lastWptPos = waypoints.back()->getPos();
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FGGroundNetwork *gn = apt->groundNetwork();
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@ -483,7 +483,7 @@ bool FGAIFlightPlan::createLandingTaxi(FGAIAircraft * ac,
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}
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//cerr << "Using network node " << runwayId << endl;
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// A negative gateId indicates an overflow parking, use a
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// fallback mechanism for this.
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// fallback mechanism for this.
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// Starting from gate 0 doesn't work, so don't try it
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FGTaxiRoute taxiRoute;
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if (runwayNode && gate.isValid()) {
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@ -509,7 +509,7 @@ bool FGAIFlightPlan::createLandingTaxi(FGAIAircraft * ac,
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FGAIWaypoint *wpt =
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createOnGround(ac, buffer, node->geod(), apt->getElevation(),
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ac->getPerformance()->vTaxi());
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wpt->setRouteIndex(route);
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// next WPT must be far enough
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if (!waypoints.back() || SGGeodesy::distanceM(waypoints.back()->getPos(), wpt->getPos()) > 0 ) {
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@ -546,15 +546,15 @@ static double pitchDistance(double pitchAngleDeg, double altGainM)
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}
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/*******************************************************************
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* CreateTakeOff
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* A note on units:
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* CreateTakeOff
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* A note on units:
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* - Speed -> knots -> nm/hour
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* - distance along runway =-> meters
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* - distance along runway =-> meters
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* - accel / decel -> is given as knots/hour, but this is highly questionable:
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* for a jet_transport performance class, a accel / decel rate of 5 / 2 is
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* for a jet_transport performance class, a accel / decel rate of 5 / 2 is
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* given respectively. According to performance data.cxx, a value of kts / second seems
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* more likely however.
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*
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* more likely however.
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*
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******************************************************************/
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bool FGAIFlightPlan::createTakeOff(FGAIAircraft * ac,
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bool firstFlight,
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@ -568,7 +568,7 @@ bool FGAIFlightPlan::createTakeOff(FGAIAircraft * ac,
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// climb-out angle in degrees. could move this to the perf-db but this
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// value is pretty sane
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const double INITIAL_PITCH_ANGLE = 10.0;
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double accel = ac->getPerformance()->acceleration();
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double vTaxi = ac->getPerformance()->vTaxi();
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double vRotate = ac->getPerformance()->vRotate();
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@ -578,12 +578,12 @@ bool FGAIFlightPlan::createTakeOff(FGAIAircraft * ac,
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double vTaxiMetric = vTaxi * SG_KT_TO_MPS;
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double vRotateMetric = vRotate * SG_KT_TO_MPS;
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double vTakeoffMetric = vTakeoff * SG_KT_TO_MPS;
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FGAIWaypoint *wpt;
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// Get the current active runway, based on code from David Luff
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// This should actually be unified and extended to include
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// Preferential runway use schema's
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// NOTE: DT (2009-01-18: IIRC, this is currently already the case,
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// This should actually be unified and extended to include
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// Preferential runway use schema's
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// NOTE: DT (2009-01-18: IIRC, this is currently already the case,
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// because the getActive runway function takes care of that.
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if (firstFlight) {
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const string& rwyClass = getRunwayClassFromTrafficType(fltType);
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@ -599,11 +599,11 @@ bool FGAIFlightPlan::createTakeOff(FGAIAircraft * ac,
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return false;
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}
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SG_LOG(SG_AI, SG_BULK, "Takeoff from airport " << apt->getId() << "/" << activeRunway);
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FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
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if (!rwy)
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return false;
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double airportElev = apt->getElevation();
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if (pos.isValid()) {
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@ -633,18 +633,18 @@ bool FGAIFlightPlan::createTakeOff(FGAIAircraft * ac,
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double vRef = vTakeoff + 20; // climb-out at v2 + 20kts
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// We want gear-up to take place at ~400ft AGL. However, the flightplan
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// will move onto the next leg once it gets within 2xspeed of the next waypoint.
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// will move onto the next leg once it gets within 2xspeed of the next waypoint.
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// With closely spaced waypoints on climb-out this can occur almost immediately,
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// so we put the waypoint further away.
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double gearUpDist = t + 2*vRef*SG_FEET_TO_METER + pitchDistance(INITIAL_PITCH_ANGLE, 400 * SG_FEET_TO_METER);
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SGGeod gearUpPoint = rwy->pointOnCenterlineDisplaced(gearUpDist);
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SGGeod gearUpPoint = rwy->pointOnCenterlineDisplaced(gearUpDist);
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wpt = createInAir(ac, "gear-up", gearUpPoint, airportElev + 400, vRef);
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wpt->setFlaps(0.5f);
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pushBackWaypoint(wpt);
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// limit climbout speed to 240kts below 10000'
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double vClimbBelow10000 = std::min(240.0, ac->getPerformance()->vClimb());
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// create two climb-out points. This is important becuase the first climb point will
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// be a (sometimes large) turn towards the destination, and we don't want to
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// commence that turn below 2000'
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@ -652,7 +652,7 @@ bool FGAIFlightPlan::createTakeOff(FGAIAircraft * ac,
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SGGeod climbOutPoint = rwy->pointOnCenterlineDisplaced(climbOut);
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wpt = createInAir(ac, "2000'", climbOutPoint, airportElev + 2000, vClimbBelow10000);
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pushBackWaypoint(wpt);
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climbOut = t + 2*vClimbBelow10000*SG_FEET_TO_METER + pitchDistance(INITIAL_PITCH_ANGLE, 2500 * SG_FEET_TO_METER);
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SGGeod climbOutPoint2 = rwy->pointOnCenterlineDisplaced(climbOut);
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wpt = createInAir(ac, "2500'", climbOutPoint2, airportElev + 2500, vClimbBelow10000);
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@ -671,7 +671,7 @@ bool FGAIFlightPlan::createClimb(FGAIAircraft * ac, bool firstFlight,
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const string & fltType)
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{
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double vClimb = ac->getPerformance()->vClimb();
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if (firstFlight) {
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const string& rwyClass = getRunwayClassFromTrafficType(fltType);
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double heading = ac->getTrafficRef()->getCourse();
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@ -692,10 +692,10 @@ bool FGAIFlightPlan::createClimb(FGAIAircraft * ac, bool firstFlight,
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if (!waypoints.empty()) {
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cur = waypoints.back()->getPos();
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}
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// compute course towards destination
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double course = SGGeodesy::courseDeg(cur, arrival->geod());
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SGGeod climb1 = SGGeodesy::direct(cur, course, 10 * SG_NM_TO_METER);
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FGAIWaypoint *wpt = createInAir(ac, "10000ft climb", climb1, 10000, vClimb);
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pushBackWaypoint(wpt);
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@ -710,7 +710,7 @@ bool FGAIFlightPlan::createClimb(FGAIAircraft * ac, bool firstFlight,
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/*******************************************************************
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* CreateDescent
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* Generate a flight path from the last waypoint of the cruise to
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* Generate a flight path from the last waypoint of the cruise to
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* the permission to land point
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******************************************************************/
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bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
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@ -724,7 +724,7 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
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double vDescent = ac->getPerformance()->vDescent();
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double vApproach = ac->getPerformance()->vApproach();
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//Beginning of Descent
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//Beginning of Descent
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const string& rwyClass = getRunwayClassFromTrafficType(fltType);
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double heading = ac->getTrafficRef()->getCourse();
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apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway,
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@ -773,13 +773,13 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
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if (apt->groundNetwork()) {
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tn = apt->groundNetwork()->findNearestNode(refPoint);
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}
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if (tn) {
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dAlt = alt - ((tn->getElevationFt()) + 2000);
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} else {
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dAlt = alt - (apt->getElevation() + 2000);
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}
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double nPoints = 100;
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char buffer[16];
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@ -824,7 +824,7 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
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}
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// Calculate the ETA at final, based on remaining distance, and approach speed.
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// distance should really consist of flying time to terniary target, plus circle
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// distance should really consist of flying time to terniary target, plus circle
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// but the distance to secondary target should work as a reasonable approximation
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// aditionally add the amount of distance covered by making a turn of "side"
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double turnDistance = (2 * M_PI * initialTurnRadius) * (side / 360.0);
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@ -942,7 +942,7 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
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} else {
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currentAltitude = apt->getElevation() + 2000;
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}
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// Length of
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if (holdsPatterns>0) {
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@ -962,9 +962,9 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
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}
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// The approach leg should bring the aircraft to approximately 4-6 nm out, after which the landing phase should take over.
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// The approach leg should bring the aircraft to approximately 4-6 nm out, after which the landing phase should take over.
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//cerr << "Phase 3: Approach" << endl;
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//cerr << "Done" << endl;
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// Erase the two bogus BOD points: Note check for conflicts with scripted AI flightPlans
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@ -991,7 +991,7 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
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}
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SG_LOG(SG_AI, SG_BULK, "Setting Node " << waypoints[1]->getName() << " to a leg end");
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waypoints[1]->setName( (waypoints[1]->getName() + string("legend")));
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waypoints[1]->setName( (waypoints[1]->getName() + string("legend")));
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return true;
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}
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@ -1006,12 +1006,12 @@ static double runwayGlideslopeTouchdownDistance(FGRunway* rwy)
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if (!gs) {
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return -1;
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}
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SGVec3d runwayPosCart = SGVec3d::fromGeod(rwy->pointOnCenterline(0.0));
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// compute a unit vector in ECF cartesian space, from the runway beginning to the end
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SGVec3d runwayDirectionVec = normalize(SGVec3d::fromGeod(rwy->end()) - runwayPosCart);
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SGVec3d gsTransmitterVec = gs->cart() - runwayPosCart;
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// project the gsTransmitterVec along the runwayDirctionVec to get out
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// final value (in metres)
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double dist = dot(runwayDirectionVec, gsTransmitterVec);
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@ -1022,7 +1022,7 @@ static double runwayGlideslopeTouchdownDistance(FGRunway* rwy)
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* CreateLanding (Leg 7)
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* Create a flight path from the "permision to land" point (currently
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hardcoded at 5000 meters from the threshold) to the threshold, at
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a standard glide slope angle of 3 degrees.
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a standard glide slope angle of 3 degrees.
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Position : 50.0354 8.52592 384 364 11112
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******************************************************************/
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bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt,
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@ -1032,7 +1032,7 @@ bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt,
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double vTaxi = ac->getPerformance()->vTaxi();
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double decel = ac->getPerformance()->decelerationOnGround();
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double vApproach = ac->getPerformance()->vApproach();
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double vTouchdownMetric = vTouchdown * SG_KT_TO_MPS;
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double vTaxiMetric = vTaxi * SG_KT_TO_MPS;
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double decelMetric = decel * SG_KT_TO_MPS;
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@ -1046,17 +1046,17 @@ bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt,
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FGRunway * rwy = apt->getRunwayByIdent(activeRunway);
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if (!rwy)
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return false;
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SGGeod threshold = rwy->threshold();
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double currElev = threshold.getElevationFt();
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double touchdownDistance = runwayGlideslopeTouchdownDistance(rwy);
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if (touchdownDistance < 0.0) {
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double landingLength = rwy->lengthM() - (rwy->displacedThresholdM());
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// touchdown 25% of the way along the landing area
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touchdownDistance = rwy->displacedThresholdM() + (landingLength * 0.25);
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}
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SGGeod coord;
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// find glideslope entry point, 2000' above touchdown elevation
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double glideslopeEntry = -((2000 * SG_FEET_TO_METER) / tan(3.0)) + touchdownDistance;
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@ -1066,7 +1066,7 @@ bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt,
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wpt->setFlaps(1.0f);
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wpt->setSpeedBrakes(1.0f);
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pushBackWaypoint(wpt);
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// deceleration point, 500' above touchdown elevation - slow from approach speed
|
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// to touchdown speed
|
||||
double decelPoint = -((500 * SG_FEET_TO_METER) / tan(3.0)) + touchdownDistance;
|
||||
|
|
@ -1076,7 +1076,7 @@ bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt,
|
|||
wpt->setFlaps(1.0f);
|
||||
wpt->setSpeedBrakes(1.0f);
|
||||
pushBackWaypoint(wpt);
|
||||
|
||||
|
||||
// compute elevation above the runway start, based on a 3-degree glideslope
|
||||
double heightAboveRunwayStart = touchdownDistance *
|
||||
tan(3.0 * SG_DEGREES_TO_RADIANS) * SG_METER_TO_FEET;
|
||||
|
|
@ -1086,9 +1086,9 @@ bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt,
|
|||
wpt->setFlaps(1.0f);
|
||||
wpt->setSpeedBrakes(1.0f);
|
||||
pushBackWaypoint(wpt);
|
||||
|
||||
|
||||
double rolloutDistance = accelDistance(vTouchdownMetric, vTaxiMetric, decelMetric);
|
||||
|
||||
|
||||
int nPoints = (int)(rolloutDistance/60);
|
||||
for (int i = 1; i <= nPoints; i++) {
|
||||
snprintf(buffer, sizeof(buffer), "rollout%03d", i);
|
||||
|
|
@ -1102,7 +1102,7 @@ bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt,
|
|||
wpt->setCrossat(currElev);
|
||||
pushBackWaypoint(wpt);
|
||||
}
|
||||
|
||||
|
||||
wpt->setSpeed(vTaxi);
|
||||
double mindist = (1.1 * rolloutDistance) + touchdownDistance;
|
||||
|
||||
|
|
@ -1111,7 +1111,7 @@ bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt,
|
|||
SG_LOG(SG_AI, SG_DEBUG, "No groundnet " << apt->getId() << " no landing created.");
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
coord = rwy->pointOnCenterline(mindist);
|
||||
FGTaxiNodeRef tn;
|
||||
if (gn->getVersion() > 0) {
|
||||
|
|
@ -1119,7 +1119,7 @@ bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt,
|
|||
} else {
|
||||
tn = gn->findNearestNode(coord);
|
||||
}
|
||||
|
||||
|
||||
if (tn) {
|
||||
wpt = createOnRunway(ac, buffer, tn->geod(), currElev, vTaxi);
|
||||
wpt->setFlaps(1.0f);
|
||||
|
|
@ -1148,35 +1148,48 @@ bool FGAIFlightPlan::createParking(FGAIAircraft * ac, FGAirport * apt,
|
|||
pushBackWaypoint(wpt);
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
FGParking* parking = gate.parking();
|
||||
double reverseHeading = SGMiscd::normalizePeriodic(0, 360, parking->getHeading() + 180.0);
|
||||
double az; // unused
|
||||
SGGeod pos;
|
||||
|
||||
|
||||
SGGeodesy::direct(parking->geod(), reverseHeading, 2 * parking->getRadius(),
|
||||
pos, az);
|
||||
|
||||
wpt = createOnGround(ac, "parking", pos, aptElev, vTaxiReduced/2);
|
||||
|
||||
wpt = createOnGround(ac, "parking1", pos, aptElev, vTaxiReduced/3);
|
||||
pushBackWaypoint(wpt);
|
||||
|
||||
SGGeodesy::direct(parking->geod(), reverseHeading, 1.5 * parking->getRadius(),
|
||||
SGGeodesy::direct(parking->geod(), reverseHeading, 1 * parking->getRadius(),
|
||||
pos, az);
|
||||
wpt = createOnGround(ac, "parking2", pos, aptElev, vTaxiReduced/3);
|
||||
pushBackWaypoint(wpt);
|
||||
|
||||
SGGeodesy::direct(parking->geod(), reverseHeading, parking->getRadius(),
|
||||
SGGeodesy::direct(parking->geod(), reverseHeading, 0.6 * parking->getRadius(),
|
||||
pos, az);
|
||||
wpt = createOnGround(ac, "parking3", pos, aptElev, vTaxiReduced/3);
|
||||
pushBackWaypoint(wpt);
|
||||
|
||||
char buffer[30];
|
||||
snprintf(buffer, 30, "Parking%s", parking->getName().c_str());
|
||||
|
||||
wpt = createOnGround(ac, buffer, parking->geod(), aptElev,
|
||||
2);
|
||||
SGGeodesy::direct(parking->geod(), reverseHeading, 0.3 * parking->getRadius(),
|
||||
pos, az);
|
||||
wpt = createOnGround(ac, "parking4", pos, aptElev, vTaxiReduced/3);
|
||||
pushBackWaypoint(wpt);
|
||||
SGGeodesy::direct(parking->geod(), parking->getHeading(), 1,
|
||||
|
||||
SGGeodesy::direct(parking->geod(), reverseHeading, 0.2 * parking->getRadius(),
|
||||
pos, az);
|
||||
wpt = createOnGround(ac, "parking5", pos, aptElev, vTaxiReduced/3);
|
||||
pushBackWaypoint(wpt);
|
||||
|
||||
char buffer[30];
|
||||
snprintf(buffer, sizeof(buffer), "Parking%s", parking->getName().c_str());
|
||||
|
||||
wpt = createOnGround(ac, buffer, parking->geod(), aptElev, vTaxiReduced/3);
|
||||
pushBackWaypoint(wpt);
|
||||
SGGeodesy::direct(parking->geod(), parking->getHeading(), 2,
|
||||
pos, az);
|
||||
wpt = createOnGround(ac, "Beyond-Parking", pos, aptElev, vTaxiReduced/3);
|
||||
pushBackWaypoint(wpt);
|
||||
SGGeodesy::direct(parking->geod(), parking->getHeading(), 3,
|
||||
pos, az);
|
||||
wpt = createOnGround(ac, "END-Parking", pos, aptElev, vTaxiReduced/3);
|
||||
pushBackWaypoint(wpt);
|
||||
|
|
@ -1191,7 +1204,7 @@ bool FGAIFlightPlan::createParking(FGAIAircraft * ac, FGAirport * apt,
|
|||
* preference schedule to be used at aircraft having
|
||||
* a preferential runway schedule implemented (i.e.
|
||||
* having a rwyprefs.xml file
|
||||
*
|
||||
*
|
||||
* Currently valid traffic types for gate assignment:
|
||||
* - gate (commercial gate)
|
||||
* - cargo (commercial gargo),
|
||||
|
|
|
|||
Loading…
Reference in a new issue