Further re-factoring of nav-radio code, again no functionality changed should occur. Radio reception / GPS slaving / Glideslope handling and CDI updating are all separate functions now.
This commit is contained in:
jmt
Tim Moore
parent
e8db3a514a
commit
e2f0d1960e
2 changed files with 211 additions and 228 deletions
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@ -299,16 +299,10 @@ double FGNavRadio::adjustILSRange( double stationElev, double aircraftElev,
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void
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FGNavRadio::update(double dt)
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{
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// Do a nav station search only once a second to reduce
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// unnecessary work. (Also, make sure to do this before caching
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// any values!)
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_time_before_search_sec -= dt;
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if ( _time_before_search_sec < 0 ) {
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search();
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if (dt <= 0.0) {
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return; // paused
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}
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bool inrange = false;
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// Create "formatted" versions of the nav frequencies for
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// instrument displays.
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char tmp[16];
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@ -317,13 +311,26 @@ FGNavRadio::update(double dt)
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sprintf( tmp, "%.2f", alt_freq_node->getDoubleValue() );
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fmt_alt_freq_node->setStringValue(tmp);
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if (_navaid
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&& power_btn_node->getBoolValue()
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if (power_btn_node->getBoolValue()
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&& (bus_power_node->getDoubleValue() > 1.0)
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&& nav_serviceable_node->getBoolValue() )
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{
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inrange = updateWithPower(dt);
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if (nav_slaved_to_gps_node->getBoolValue()) {
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updateGPSSlaved();
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} else {
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updateReceiver(dt);
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}
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updateCDI(dt);
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} else {
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clearOutputs();
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}
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updateAudio();
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}
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void FGNavRadio::clearOutputs()
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{
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inrange_node->setBoolValue( false );
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cdi_deflection_node->setDoubleValue( 0.0 );
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cdi_xtrack_error_node->setDoubleValue( 0.0 );
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@ -332,32 +339,31 @@ FGNavRadio::update(double dt)
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gs_deflection_node->setDoubleValue( 0.0 );
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to_flag_node->setBoolValue( false );
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from_flag_node->setBoolValue( false );
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}
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updateAudio(inrange);
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}
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bool FGNavRadio::updateWithPower(double dt)
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void FGNavRadio::updateReceiver(double dt)
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{
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bool nav_serviceable = nav_serviceable_node->getBoolValue();
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bool cdi_serviceable = cdi_serviceable_node->getBoolValue();
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bool tofrom_serviceable = tofrom_serviceable_node->getBoolValue();
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// Do a nav station search only once a second to reduce
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// unnecessary work. (Also, make sure to do this before caching
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// any values!)
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_time_before_search_sec -= dt;
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if ( _time_before_search_sec < 0 ) {
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search();
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}
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double az1, az2, s;
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if (!_navaid) {
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_cdiDeflection = 0.0;
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_cdiCrossTrackErrorM = 0.0;
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_toFlag = _fromFlag = false;
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_gsNeedleDeflection = 0.0;
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inrange_node->setBoolValue(false);
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return;
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}
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SGGeod pos = SGGeod::fromDegFt(lon_node->getDoubleValue(),
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lat_node->getDoubleValue(),
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alt_node->getDoubleValue());
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bool inrange = false;
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if ( nav_slaved_to_gps_node->getBoolValue() ) {
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// FIXME - GPS-slaved GS support in unfinished
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has_gs_node->setBoolValue(gps_has_gs_node->getBoolValue());
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inrange = gps_to_flag_node->getBoolValue() || gps_from_flag_node->getBoolValue();
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} else {
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inrange = inrange_node->getBoolValue();
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}
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double nav_elev = _navaid->get_elev_ft();
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SGVec3d aircraft = SGVec3d::fromGeod(pos);
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double loc_dist = dist(aircraft, _navaid->cart());
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@ -365,33 +371,13 @@ bool FGNavRadio::updateWithPower(double dt)
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bool is_loc = loc_node->getBoolValue();
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double signal_quality_norm = signal_quality_norm_node->getDoubleValue();
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if (_gs) {
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// find closest distance to the gs base line
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double dist = sgdClosestPointToLineDistSquared(aircraft.data(), _gs->cart().data(),
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gs_base_vec.data());
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gs_dist_node->setDoubleValue( sqrt( dist ) );
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// cout << "gs_dist = " << gs_dist_node->getDoubleValue()
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// << endl;
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// wgs84 heading to glide slope (to determine sign of distance)
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SGGeodesy::inverse(pos, _gs->geod(), az1, az2, s);
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double r = az1 - target_radial;
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SG_NORMALIZE_RANGE(r, -180.0, 180.0);
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if (fabs(r) <= 90.0) {
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gs_dist_signed = gs_dist_node->getDoubleValue();
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} else {
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gs_dist_signed = -gs_dist_node->getDoubleValue();
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}
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} else {
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gs_dist_node->setDoubleValue( 0.0 );
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}
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double az2, s;
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//////////////////////////////////////////////////////////
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// compute forward and reverse wgs84 headings to localizer
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//////////////////////////////////////////////////////////
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double hdg;
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SGGeodesy::inverse(pos, _navaid->geod(), hdg, az2, s);
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heading_node->setDoubleValue( hdg );
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heading_node->setDoubleValue(hdg);
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double radial = az2 - twist;
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double recip = radial + 180.0;
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SG_NORMALIZE_RANGE(recip, 0.0, 360.0);
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@ -446,96 +432,139 @@ bool FGNavRadio::updateWithPower(double dt)
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signal_quality_norm, dt );
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signal_quality_norm_node->setDoubleValue( signal_quality_norm );
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if ( ! nav_slaved_to_gps_node->getBoolValue() ) {
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/* not slaved to gps */
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inrange = signal_quality_norm > 0.2;
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}
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bool inrange = signal_quality_norm > 0.2;
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inrange_node->setBoolValue( inrange );
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//////////////////////////////////////////////////////////
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// compute to/from flag status
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//////////////////////////////////////////////////////////
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if (tofrom_serviceable) {
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if (nav_slaved_to_gps_node->getBoolValue()) {
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to_flag_node->setBoolValue(gps_to_flag_node->getBoolValue());
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from_flag_node->setBoolValue(gps_from_flag_node->getBoolValue());
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} else if (inrange) {
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bool toFlag = false;
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if (inrange) {
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if (is_loc) {
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toFlag = true;
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_toFlag = true;
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} else {
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double offset = fabs(radial - target_radial);
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toFlag = (offset > 90.0 && offset < 270.0);
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}
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to_flag_node->setBoolValue(toFlag);
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from_flag_node->setBoolValue(!toFlag);
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} else { // out-of-range
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to_flag_node->setBoolValue(false);
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from_flag_node->setBoolValue(false);
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_toFlag = (offset > 90.0 && offset < 270.0);
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}
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_fromFlag = !_toFlag;
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} else {
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to_flag_node->setBoolValue(false);
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from_flag_node->setBoolValue(false);
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_toFlag = _fromFlag = false;
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}
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//////////////////////////////////////////////////////////
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// compute the deflection of the CDI needle, clamped to the range
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// of ( -10 , 10 )
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//////////////////////////////////////////////////////////
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double r = 0.0;
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bool loc_backside = false; // an in-code flag indicating that we are
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// on a localizer backcourse.
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if ( cdi_serviceable ) {
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if ( nav_slaved_to_gps_node->getBoolValue() ) {
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r = gps_cdi_deflection_node->getDoubleValue();
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// We want +- 5 dots deflection for the gps, so clamp
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// to -12.5/12.5
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SG_CLAMP_RANGE( r, -12.5, 12.5 );
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} else if ( inrange ) {
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r = radial - target_radial;
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// cout << "Target radial = " << target_radial
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// << " Actual radial = " << radial << endl;
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// CDI deflection
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double r = radial - target_radial;
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SG_NORMALIZE_RANGE(r, -180.0, 180.0);
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if ( fabs(r) > 90.0 ) {
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r = ( r<0.0 ? -r-180.0 : -r+180.0 );
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} else {
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if (is_loc) {
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loc_backside = true;
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}
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}
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r = -r; // reverse, since radial is outbound
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_cdiDeflection = r;
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if ( is_loc ) {
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// According to Robin Peel, the ILS is 4x more
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// sensitive than a vor
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r *= 4.0;
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// http://www.allstar.fiu.edu/aero/ILS.htm confirms both the 4x sensitvity
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// increase, and also the 'full-deflection is 10-degrees for a VOR' clamp
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_cdiDeflection *= 4.0;
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}
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SG_CLAMP_RANGE( r, -10.0, 10.0 );
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r *= signal_quality_norm;
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SG_CLAMP_RANGE(_cdiDeflection, -10.0, 10.0 );
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_cdiDeflection *= signal_quality_norm;
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// cross-track error (in metres)
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_cdiCrossTrackErrorM = loc_dist * sin(r * SGD_DEGREES_TO_RADIANS);
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updateGlideSlope(dt, aircraft, signal_quality_norm);
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last_loc_dist = loc_dist;
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}
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void FGNavRadio::updateGlideSlope(double dt, const SGVec3d& aircraft, double signal_quality_norm)
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{
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if (!_gs || !inrange_node->getBoolValue()) {
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gs_dist_node->setDoubleValue( 0.0 );
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return;
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}
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}
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cdi_deflection_node->setDoubleValue( r );
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// find closest distance to the gs base line
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double dist = sgdClosestPointToLineDistSquared(aircraft.data(), _gs->cart().data(),
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gs_base_vec.data());
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dist = sqrt(dist);
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gs_dist_node->setDoubleValue(dist);
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double heightAboveStationM =
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(alt_node->getDoubleValue() - _gs->elevation()) * SG_FEET_TO_METER;
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//////////////////////////////////////////////////////////
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// compute the amount of cross track distance error in meters
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// compute the amount of glide slope needle deflection
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// (.i.e. the number of degrees we are off the glide slope * 5.0
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//
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// CLO - 13 Mar 2006: The glide slope needle should peg at
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// +/-0.7 degrees off the ideal glideslope. I'm not sure why
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// we compute the factor the way we do (5*gs_error), but we
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// need to compensate for our 'odd' number in the glideslope
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// needle animation. This means that the needle should peg
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// when this values is +/-3.5.
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//////////////////////////////////////////////////////////
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double xtrack_error = 0.0;
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if ( inrange && nav_serviceable && cdi_serviceable ) {
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r = radial - target_radial;
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SG_NORMALIZE_RANGE(r, -180.0, 180.0);
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if ( fabs(r) > 90.0 ) {
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r = ( r<0.0 ? -r-180.0 : -r+180.0 );
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}
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double angle = atan2(heightAboveStationM, dist) * SGD_RADIANS_TO_DEGREES;
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double deflectionAngle = target_gs - angle;
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//SG_CLAMP_RANGE(deflectionAngle, -0.7, 0.7);
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_gsNeedleDeflection = deflectionAngle * 5.0;
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_gsNeedleDeflection *= signal_quality_norm;
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r = -r; // reverse, since radial is outbound
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//////////////////////////////////////////////////////////
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// Calculate desired rate of climb for intercepting the GS
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//////////////////////////////////////////////////////////
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double gs_diff = target_gs - angle;
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// convert desired vertical path angle into a climb rate
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double des_angle = angle - 10 * gs_diff;
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xtrack_error = loc_dist * sin(r * SGD_DEGREES_TO_RADIANS);
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// estimate horizontal speed towards ILS in meters per minute
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double elapsedDistance = last_x - dist;
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last_x = dist;
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double new_vel = ( elapsedDistance / dt );
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horiz_vel = 0.75 * horiz_vel + 0.25 * new_vel;
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gs_rate_of_climb_node
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->setDoubleValue( -sin( des_angle * SGD_DEGREES_TO_RADIANS )
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* horiz_vel * SG_METER_TO_FEET );
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}
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void FGNavRadio::updateGPSSlaved()
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{
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has_gs_node->setBoolValue(gps_has_gs_node->getBoolValue());
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_toFlag = gps_to_flag_node->getBoolValue();
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_fromFlag = gps_from_flag_node->getBoolValue();
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inrange_node->setBoolValue(_toFlag | _fromFlag);
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_cdiDeflection = gps_cdi_deflection_node->getDoubleValue();
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// clmap to some range (+/- 10 degrees) as the regular deflection
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SG_CLAMP_RANGE(_cdiDeflection, -10.0, 10.0 );
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_cdiCrossTrackErrorM = 0.0; // FIXME, supply this
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_gsNeedleDeflection = 0.0; // FIXME, supply this
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}
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void FGNavRadio::updateCDI(double dt)
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{
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bool cdi_serviceable = cdi_serviceable_node->getBoolValue();
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bool inrange = inrange_node->getBoolValue();
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if (tofrom_serviceable_node->getBoolValue()) {
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to_flag_node->setBoolValue(_toFlag);
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from_flag_node->setBoolValue(_fromFlag);
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} else {
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xtrack_error = 0.0;
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to_flag_node->setBoolValue(false);
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from_flag_node->setBoolValue(false);
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}
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cdi_xtrack_error_node->setDoubleValue( xtrack_error );
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if (!cdi_serviceable) {
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_cdiDeflection = 0.0;
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_cdiCrossTrackErrorM = 0.0;
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}
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cdi_deflection_node->setDoubleValue(_cdiDeflection);
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cdi_xtrack_error_node->setDoubleValue(_cdiCrossTrackErrorM);
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//////////////////////////////////////////////////////////
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// compute an approximate ground track heading error
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@ -556,82 +585,6 @@ bool FGNavRadio::updateWithPower(double dt)
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}
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cdi_xtrack_hdg_err_node->setDoubleValue( hdg_error );
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//////////////////////////////////////////////////////////
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// compute the time to intercept selected radial (based on
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// current and last cross track errors and dt
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//////////////////////////////////////////////////////////
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if (dt > 0) { // Are we paused?
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double t = 0.0;
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if ( inrange && cdi_serviceable ) {
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double xrate_ms = (last_xtrack_error - xtrack_error) / dt;
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if ( fabs(xrate_ms) > 0.00001 ) {
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t = xtrack_error / xrate_ms;
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} else {
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t = 9999.9;
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}
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}
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time_to_intercept->setDoubleValue( t );
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}
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//////////////////////////////////////////////////////////
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// compute the amount of glide slope needle deflection
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// (.i.e. the number of degrees we are off the glide slope * 5.0
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//
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// CLO - 13 Mar 2006: The glide slope needle should peg at
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// +/-0.7 degrees off the ideal glideslope. I'm not sure why
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// we compute the factor the way we do (5*gs_error), but we
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// need to compensate for our 'odd' number in the glideslope
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// needle animation. This means that the needle should peg
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// when this values is +/-3.5.
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//////////////////////////////////////////////////////////
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r = 0.0;
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if (_gs && gs_serviceable_node->getBoolValue() ) {
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if ( nav_slaved_to_gps_node->getBoolValue() ) {
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// FIXME what should be set here?
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} else if ( inrange ) {
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double x = gs_dist_node->getDoubleValue();
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double y = (alt_node->getDoubleValue() - nav_elev)
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* SG_FEET_TO_METER;
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// cout << "dist = " << x << " height = " << y << endl;
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double angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
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r = (target_gs - angle) * 5.0;
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r *= signal_quality_norm;
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}
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}
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gs_deflection_node->setDoubleValue( r );
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//////////////////////////////////////////////////////////
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// Calculate desired rate of climb for intercepting the GS
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//////////////////////////////////////////////////////////
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double x = gs_dist_node->getDoubleValue();
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double y = (alt_node->getDoubleValue() - nav_elev)
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* SG_FEET_TO_METER;
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double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
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double target_angle = target_gs;
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double gs_diff = target_angle - current_angle;
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// convert desired vertical path angle into a climb rate
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double des_angle = current_angle - 10 * gs_diff;
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// estimate horizontal speed towards ILS in meters per minute
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double dist = last_x - x;
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last_x = x;
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if ( dt > 0.0 ) {
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// avoid nan
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double new_vel = ( dist / dt );
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horiz_vel = 0.75 * horiz_vel + 0.25 * new_vel;
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// double horiz_vel = cur_fdm_state->get_V_ground_speed()
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// * SG_FEET_TO_METER * 60.0;
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// double horiz_vel = airspeed_node->getFloatValue()
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// * SG_FEET_TO_METER * 60.0;
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gs_rate_of_climb_node
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->setDoubleValue( -sin( des_angle * SGD_DEGREES_TO_RADIANS )
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* horiz_vel * SG_METER_TO_FEET );
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}
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//////////////////////////////////////////////////////////
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// Calculate a suggested target heading to smoothly intercept
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// a nav/ils radial.
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@ -644,34 +597,52 @@ bool FGNavRadio::updateWithPower(double dt)
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// The cdi deflection should be +/-10 for a full range of deflection
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// so multiplying this by 3 gives us +/- 30 degrees heading
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// compensation.
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double adjustment = cdi_deflection_node->getDoubleValue() * 3.0;
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double adjustment = _cdiDeflection * 3.0;
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SG_CLAMP_RANGE( adjustment, -30.0, 30.0 );
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// determine the target heading to fly to intercept the
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// tgt_radial = target radial (true) + cdi offset adjustmest -
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// xtrack heading error adjustment
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double nta_hdg;
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if ( is_loc && backcourse_node->getBoolValue() ) {
|
||||
double trtrue = target_radial_true_node->getDoubleValue();
|
||||
if ( loc_node->getBoolValue() && backcourse_node->getBoolValue() ) {
|
||||
// tuned to a localizer and backcourse mode activated
|
||||
trtrue += 180.0; // reverse the target localizer heading
|
||||
while ( trtrue > 360.0 ) { trtrue -= 360.0; }
|
||||
SG_NORMALIZE_RANGE(trtrue, 0.0, 360.0);
|
||||
nta_hdg = trtrue - adjustment - hdg_error;
|
||||
} else {
|
||||
nta_hdg = trtrue + adjustment - hdg_error;
|
||||
}
|
||||
|
||||
while ( nta_hdg < 0.0 ) { nta_hdg += 360.0; }
|
||||
while ( nta_hdg >= 360.0 ) { nta_hdg -= 360.0; }
|
||||
SG_NORMALIZE_RANGE(nta_hdg, 0.0, 360.0);
|
||||
target_auto_hdg_node->setDoubleValue( nta_hdg );
|
||||
|
||||
last_xtrack_error = xtrack_error;
|
||||
last_loc_dist = loc_dist;
|
||||
return inrange;
|
||||
//////////////////////////////////////////////////////////
|
||||
// compute the time to intercept selected radial (based on
|
||||
// current and last cross track errors and dt
|
||||
//////////////////////////////////////////////////////////
|
||||
double t = 0.0;
|
||||
if ( inrange && cdi_serviceable ) {
|
||||
double xrate_ms = (last_xtrack_error - _cdiCrossTrackErrorM) / dt;
|
||||
if ( fabs(xrate_ms) > 0.00001 ) {
|
||||
t = _cdiCrossTrackErrorM / xrate_ms;
|
||||
} else {
|
||||
t = 9999.9;
|
||||
}
|
||||
}
|
||||
time_to_intercept->setDoubleValue( t );
|
||||
|
||||
if (!gs_serviceable_node->getBoolValue() ) {
|
||||
_gsNeedleDeflection = 0.0;
|
||||
}
|
||||
gs_deflection_node->setDoubleValue(_gsNeedleDeflection);
|
||||
|
||||
last_xtrack_error = _cdiCrossTrackErrorM;
|
||||
}
|
||||
|
||||
void FGNavRadio::updateAudio(bool aInRange)
|
||||
void FGNavRadio::updateAudio()
|
||||
{
|
||||
if (!_navaid || !aInRange || !nav_serviceable_node->getBoolValue()) {
|
||||
if (!_navaid || !inrange_node->getBoolValue() || !nav_serviceable_node->getBoolValue()) {
|
||||
return;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -124,7 +124,6 @@ class FGNavRadio : public SGSubsystem
|
|||
bool has_dme;
|
||||
double target_radial;
|
||||
SGVec3d gs_base_vec;
|
||||
double gs_dist_signed;
|
||||
SGTimeStamp prev_time;
|
||||
SGTimeStamp curr_time;
|
||||
double effective_range;
|
||||
|
|
@ -141,6 +140,12 @@ class FGNavRadio : public SGSubsystem
|
|||
// internal periodic station search timer
|
||||
double _time_before_search_sec;
|
||||
|
||||
// CDI properties
|
||||
bool _toFlag, _fromFlag;
|
||||
double _cdiDeflection;
|
||||
double _cdiCrossTrackErrorM;
|
||||
double _gsNeedleDeflection;
|
||||
|
||||
bool updateWithPower(double aDt);
|
||||
|
||||
// model standard VOR/DME/TACAN service volumes as per AIM 1-1-8
|
||||
|
|
@ -151,9 +156,16 @@ class FGNavRadio : public SGSubsystem
|
|||
double adjustILSRange( double stationElev, double aircraftElev,
|
||||
double offsetDegrees, double distance );
|
||||
|
||||
void updateAudio(bool aInRange);
|
||||
void updateAudio();
|
||||
void audioNavidChanged();
|
||||
|
||||
void updateReceiver(double dt);
|
||||
void updateGlideSlope(double dt, const SGVec3d& aircraft, double signal_quality_norm);
|
||||
void updateGPSSlaved();
|
||||
void updateCDI(double dt);
|
||||
|
||||
void clearOutputs();
|
||||
|
||||
FGNavRecord* findPrimaryNavaid(const SGGeod& aPos, double aFreqMHz);
|
||||
public:
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue