AI

* Parking on parking with right heading
* Leg 6 Descent improved (teardrop like entry)
* Inner/Outer tangents in VectorMath TODO Move to SG

src/AIModel/AIAircraft.cxx

@@ -333,7 +333,9 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
     dt_count = 0;
 
     double distanceToDescent;
-    if (reachedEndOfCruise(distanceToDescent)) {
+    // Not the best solution. Double adding of legs is possible
+    if (*fp->getLastWayPoint() == fp->getNextWaypoint() &&
+        reachedEndOfCruise(distanceToDescent)) {
         if (!loadNextLeg(distanceToDescent)) {
             setDie(true);
             return;
@@ -591,7 +593,6 @@ bool FGAIAircraft::loadNextLeg(double distance) {
     FGAirport *arr = trafficRef->getArrivalAirport();
     if (!(dep && arr)) {
         setDie(true);
-
     } else {
         double cruiseAlt = trafficRef->getCruiseAlt() * 100;
 
@@ -1473,7 +1474,7 @@ bool FGAIAircraft::reachedEndOfCruise(double &distance) {
 
         distance = distanceCoveredByDescent;
         if (dist < distanceCoveredByDescent) {
-            SG_LOG(SG_AI, SG_BULK, "End Of Cruise");
+            SG_LOG(SG_AI, SG_BULK, getCallSign() << "|End Of Cruise");
             return true;
         } else {
               return false;

src/AIModel/AIFlightPlan.cxx

@@ -131,16 +131,19 @@ FGAIFlightPlan::FGAIFlightPlan(const string& filename) :
 }
 
 
-// This is a modified version of the constructor,
-// Which not only reads the waypoints from a
-// Flight plan file, but also adds the current
-// Position computed by the traffic manager, as well
-// as setting speeds and altitude computed by the
-// traffic manager.
+/**
+ * This is a modified version of the constructor,
+ * Which not only reads the waypoints from a
+ * Flight plan file, but also adds the current
+ * Position computed by the traffic manager, as well
+ * as setting speeds and altitude computed by the
+ * traffic manager.
+ */
 FGAIFlightPlan::FGAIFlightPlan(FGAIAircraft *ac,
                                const std::string& p,
                                double course,
                                time_t start,
+                               time_t remainingTime,
                                FGAirport *dep,
                                FGAirport *arr,
                                bool firstLeg,
@@ -168,7 +171,7 @@ FGAIFlightPlan::FGAIFlightPlan(FGAIAircraft *ac,
   if (parseProperties(p)) {
     isValid = true;
   } else {
-    createWaypoints(ac, course, start, dep, arr, firstLeg, radius,
+    createWaypoints(ac, course, start, remainingTime, dep, arr, firstLeg, radius,
                     alt, lat, lon, speed, fltType, acType, airline);
   }
 }
@@ -182,6 +185,7 @@ FGAIFlightPlan::~FGAIFlightPlan()
 void FGAIFlightPlan::createWaypoints(FGAIAircraft *ac,
                                      double course,
                                      time_t start,
+                                     time_t remainingTime,
                                      FGAirport *dep,
                                      FGAirport *arr,
                                      bool firstLeg,
@@ -196,25 +200,22 @@ void FGAIFlightPlan::createWaypoints(FGAIAircraft *ac,
 {
   time_t now = globals->get_time_params()->get_cur_time();
   time_t timeDiff = now-start;
-  leg = 1;
+  leg = AILeg::STARTUP_PUSHBACK;
 
   if ((timeDiff > 60) && (timeDiff < 1500))
-    leg = 2;
-  //else if ((timeDiff >= 1200) && (timeDiff < 1500)) {
-    //leg = 3;
-  //ac->setTakeOffStatus(2);
-  //}
+    leg = AILeg::TAXI;
   else if ((timeDiff >= 1500) && (timeDiff < 2000))
-    leg = 4;
-  else if (timeDiff >= 2000)
-    leg = 5;
-  /*
-   if (timeDiff >= 2000)
-   leg = 5;
-   */
+    leg = AILeg::TAKEOFF;
+  else if (timeDiff >= 2000) {
+    if (remainingTime > 2000) {
+      leg = AILeg::CRUISE;
+    } else {
+      leg = AILeg::APPROACH;
+    }
+  }
 
-    SG_LOG(SG_AI, SG_DEBUG, "Route from " << dep->getId() << " to " << arr->getId() <<
-           ". Set leg to : " << leg << " " << ac->getTrafficRef()->getCallSign());
+  SG_LOG(SG_AI, SG_DEBUG, ac->getTrafficRef()->getCallSign() << "|Route from " << dep->getId() << " to " << arr->getId() <<
+           ". Set leg to : " << leg << " " << remainingTime);
 
   wpt_iterator = waypoints.begin();
   bool dist = 0;
@@ -392,6 +393,8 @@ void FGAIFlightPlan::IncrementWaypoint(bool eraseWaypoints )
         return;
     if (wpt_iterator+1 == waypoints.end())
         return;
+    if (waypoints.size()<3)
+        return;
     FGAIWaypoint* previousWP = *(wpt_iterator -1);
     FGAIWaypoint* currentWP = *(wpt_iterator);
     FGAIWaypoint* nextWP = *(wpt_iterator + 1);

src/AIModel/AIFlightPlan.hxx

@@ -137,6 +137,7 @@ public:
                  const std::string& p,
 		 double course,
 		 time_t start,
+     time_t remainingTime,
 		 FGAirport *dep,
 		 FGAirport *arr,
 		 bool firstLeg,
@@ -276,7 +277,7 @@ private:
 
   /**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);
+  void createLine(FGAIAircraft *ac, const SGGeod& startPoint, double azimuth, double dist, 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);
@@ -300,9 +301,14 @@ private:
    */
   bool parseProperties(const std::string& filename);
 
+  /**
+   * Creates the waypoints for this Flightplan.
+   */
+
   void createWaypoints(FGAIAircraft *ac,
                        double course,
                        time_t start,
+                       time_t remainingTime,
                        FGAirport *dep,
                        FGAirport *arr,
                        bool firstLeg,

src/AIModel/AIFlightPlanCreate.cxx

@@ -69,9 +69,9 @@ bool FGAIFlightPlan::create(FGAIAircraft * ac, FGAirport * dep,
                             const string & aircraftType,
                             const string & airline, double distance)
 {
-    if( legNr <= 3 )
+    if( legNr <= AILeg::TAKEOFF )
         SG_LOG(SG_AI, SG_BULK, "Create Leg " << legNr << " " << (firstFlight?"First":"") << " Old Leg " << getLeg() << " At Airport : " << dep->getId());
-    else if( legNr<= 6 )
+    else if( legNr<= AILeg::APPROACH )
         SG_LOG(SG_AI, SG_BULK, "Create Leg " << legNr << " " << (firstFlight?"First":"") << " Old Leg " << getLeg() << " Departure Airport : " << dep->getId()  << " Arrival Airport : " << arr->getId());
     else
         SG_LOG(SG_AI, SG_BULK, "Create Leg " << legNr << " " << (firstFlight?"First":"") << " Old Leg " << getLeg() << " At Airport : " << arr->getId());
@@ -79,35 +79,35 @@ bool FGAIFlightPlan::create(FGAIAircraft * ac, FGAirport * dep,
     bool retVal = true;
     int currWpt = wpt_iterator - waypoints.begin();
     switch (legNr) {
-    case 1:
+    case AILeg::STARTUP_PUSHBACK:
         retVal = createPushBack(ac, firstFlight, dep,
                                 radius, fltType, aircraftType, airline);
         break;
-    case 2:
+    case AILeg::TAXI:
         retVal = createTakeoffTaxi(ac, firstFlight, dep, radius, fltType,
                           aircraftType, airline);
         break;
-    case 3:
+    case AILeg::TAKEOFF:
         retVal = createTakeOff(ac, firstFlight, dep, SGGeod::fromDeg(longitude, latitude), speed, fltType);
         break;
-    case 4:
+    case AILeg::CLIMB:
         retVal = createClimb(ac, firstFlight, dep, arr, speed, alt, fltType);
         break;
-    case 5:
+    case AILeg::CRUISE:
         retVal = createCruise(ac, firstFlight, dep, arr, SGGeod::fromDeg(longitude, latitude), speed,
                      alt, fltType);
         break;
-    case 6:
+    case AILeg::APPROACH:
         retVal = createDescent(ac, arr, SGGeod::fromDeg(longitude, latitude), speed, alt, fltType,
                       distance);
         break;
-    case 7:
+    case AILeg::LANDING:
         retVal = createLanding(ac, arr, fltType);
         break;
-    case 8:
+    case AILeg::PARKING_TAXI:
         retVal = createLandingTaxi(ac, arr, radius, fltType, aircraftType, airline);
         break;
-    case 9:
+    case AILeg::PARKING:
         retVal = createParking(ac, arr, radius);
         break;
     default:
@@ -202,7 +202,7 @@ int endAngle, int increment, int radius, double aElev, double aSpeed, const char
     }
 }
 
-void FGAIFlightPlan::createLine( FGAIAircraft *ac, const SGGeod& startPoint, double azimuth, double dist, double dAlt, double vDescent) {
+void FGAIFlightPlan::createLine( FGAIAircraft *ac, const SGGeod& startPoint, double azimuth, double dist, double dAlt, double vDescent, const char* pattern) {
     SGGeod dummyAz2;
     double nPoints = dist/(vDescent/2);
     char buffer[20];
@@ -211,7 +211,7 @@ void FGAIFlightPlan::createLine( FGAIAircraft *ac, const SGGeod& startPoint, dou
         double currentDist = i * (dist / nPoints);
         double currentAltitude = ac->getAltitude() - (i * (dAlt / nPoints));
         SGGeod result = SGGeodesy::direct(startPoint, azimuth, currentDist);
-        snprintf(buffer, sizeof(buffer), "descent%03d", i);
+        snprintf(buffer, sizeof(buffer), pattern, i);
         FGAIWaypoint* wpt = createInAir(ac, buffer, result, currentAltitude, vDescent);
         wpt->setCrossat(currentAltitude);
         wpt->setTrackLength((dist / nPoints));
@@ -744,9 +744,11 @@ bool FGAIFlightPlan::createClimb(FGAIAircraft * ac, bool firstFlight,
  * Generate a flight path from the last waypoint of the cruise to
  * the permission to land point
  ******************************************************************/
-bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
+bool FGAIFlightPlan::createDescent(FGAIAircraft * ac,
+                                   FGAirport * apt,
                                    const SGGeod& current,
-                                   double speed, double alt,
+                                   double speed,
+                                   double alt,
                                    const string & fltType,
                                    double requiredDistance)
 {
@@ -762,16 +764,21 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
 
     //Beginning of Descent
     const string& rwyClass = getRunwayClassFromTrafficType(fltType);
-    double heading = ac->getTrafficRef()->getCourse();
+    double heading = ac->getTrueHeadingDeg();
     apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway,
                                         heading);
     if (!apt->hasRunwayWithIdent(activeRunway))
         return false;
 
     FGRunwayRef rwy = apt->getRunwayByIdent(activeRunway);
+    if (waypoints.size()==0 && ac->getTrueHeadingDeg()==0) {
+        // we obviously have no previous state and are free to position the aircraft
+        double courseTowardsThreshold = SGGeodesy::courseDeg(current, rwy->pointOnCenterlineDisplaced(0));
+        ac->setHeading(courseTowardsThreshold);
+    }
+
     // depending on entry we differ approach (teardrop/direct/parallel)
 
-    // Create a slow descent path that ends 250 lateral to the runway.
     double initialTurnRadius = getTurnRadius(vDescent, true);
     //double finalTurnRadius = getTurnRadius(vApproach, true);
 
@@ -787,6 +794,7 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
     }
 
     SGGeod initialTarget = rwy->pointOnCenterline(-distanceOut);
+    SGGeod otherRwyEnd = rwy->pointOnCenterline(rwy->lengthM());
     SGGeod secondaryTarget =
         rwy->pointOffCenterline(-2 * distanceOut, lateralOffset);
     SGGeod secondHoldCenter =
@@ -797,50 +805,204 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
     double secondaryAzimuth = SGGeodesy::courseDeg(current, secondaryTarget);
     double initialHeadingDiff = SGMiscd::normalizePeriodic(-180, 180, azimuth-secondaryAzimuth);
     double dummyAz2;
+    double courseTowardsThreshold = SGGeodesy::courseDeg(current, rwy->pointOnCenterlineDisplaced(0));
+    double courseTowardsRwyEnd = SGGeodesy::courseDeg(current, otherRwyEnd);
+    double headingDiffToRunwayThreshold = SGMiscd::normalizePeriodic(-180, 180, ac->getTrueHeadingDeg() - courseTowardsThreshold);
+    double headingDiffToRunwayEnd = SGMiscd::normalizePeriodic(-180, 180, ac->getTrueHeadingDeg() - courseTowardsRwyEnd);
 
-    SG_LOG(SG_AI, SG_BULK, " Heading Diff " << headingDiffRunway <<
-                           " Distance " << distance <<
+    SG_LOG(SG_AI, SG_BULK, ac->getCallSign() <<
+                           "| " <<
+                           " WPs : " << waypoints.size() <<
+                           " Heading Diff (rwy) : " << headingDiffRunway <<
+                           " Distance : " << distance <<
                            " Azimuth : " << azimuth <<
-                           " Heading : " << ac->getTrueHeadingDeg() << " Lateral : " << lateralOffset);
+                           " Heading : " << ac->getTrueHeadingDeg() <<
+                           " Initial Headingdiff " << initialHeadingDiff <<
+                           " Lateral : " << lateralOffset);
+    // Erase the two bogus BOD points: Note check for conflicts with scripted AI flightPlans
+    IncrementWaypoint(false);
+    IncrementWaypoint(false);
 
-    if (fabs(headingDiffRunway)>=30) {
-        // Entering not "straight" into runway so we do a s-curve
-        int rightAngle = initialHeadingDiff<0?90:-90;
-        SGGeod firstTurnCenter = SGGeodesy::direct(current, ac->getTrueHeadingDeg() + rightAngle, initialTurnRadius);
-        int firstTurnIncrement = initialHeadingDiff<0?2:-2;
-        const double heading = VectorMath::innerTangentsAngle(firstTurnCenter, secondaryTarget, initialTurnRadius, initialTurnRadius )[0];
-        createArc(ac, firstTurnCenter, ac->_getHeading()-rightAngle, heading-rightAngle, firstTurnIncrement, initialTurnRadius, ac->getAltitude(), vDescent, "initialturn%03d");
-        double length = VectorMath::innerTangentsLength(firstTurnCenter, secondaryTarget, initialTurnRadius, initialTurnRadius );
-        createLine(ac, waypoints.back()->getPos(), heading, length, 50, vDescent);
-        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");
-            for (int t = 0; t < holdsPatterns; t++)
-            {
-                /*
-            createArc(ac, secondaryTarget, endval, endval+180, increment, initialTurnRadius,
-            currentAltitude, vDescent, "hold_1_%03d");
-            createArc(ac, secondHoldCenter, endval+180, endval, increment, initialTurnRadius,
-            currentAltitude, vDescent, "hold_2_%03d");
-            */
+    if (fabs(headingDiffRunway)>=30 && fabs(headingDiffRunway)<=150 ) {
+        if (distance < (2*initialTurnRadius)) {
+            // Too near so we pass over and enter over other side
+            SG_LOG(SG_AI, SG_BULK, ac->getCallSign() << "| Enter near S curve");
+            secondaryTarget =
+                rwy->pointOffCenterline(-2 * distanceOut, -lateralOffset);
+            secondHoldCenter =
+                rwy->pointOffCenterline(-3 * distanceOut, -lateralOffset);
+
+            // Entering not "straight" into runway so we do a s-curve
+            int rightAngle = headingDiffRunway>0?90:-90;
+            int firstTurnIncrement = headingDiffRunway>0?2:-2;
+
+            SGGeod firstTurnCenter = SGGeodesy::direct(current, ac->getTrueHeadingDeg() + rightAngle, initialTurnRadius);
+            SGGeod newCurrent = current;
+            // If we are not far enough cross over
+            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");
+            }
+            int offset = 1000;
+            while (SGGeodesy::distanceM(firstTurnCenter, secondaryTarget) < 2*initialTurnRadius) {
+                newCurrent = SGGeodesy::direct(newCurrent, ac->getTrueHeadingDeg(), offset+=100);
+                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");
+            double length = VectorMath::innerTangentsLength(firstTurnCenter, secondaryTarget, initialTurnRadius, initialTurnRadius );
+            createLine(ac, waypoints.back()->getPos(), heading, length, 50, 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");
+                for (int t = 0; t < holdsPatterns; t++)
+                {
+                    /*
+                createArc(ac, secondaryTarget, endval, endval+180, increment, initialTurnRadius,
+                currentAltitude, vDescent, "hold_1_%03d");
+                createArc(ac, secondHoldCenter, endval+180, endval, increment, initialTurnRadius,
+                currentAltitude, vDescent, "hold_2_%03d");
+                */
+                }
+            } else {
+                int startVal = SGMiscd::normalizePeriodic(0, 360, heading-rightAngle);
+                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");
             }
         } else {
-            int startVal = SGMiscd::normalizePeriodic(0, 360, heading+rightAngle);
-            int endVal = SGMiscd::normalizePeriodic(0, 360, rwy->headingDeg()+rightAngle);
-            // Turn into runway
-            createArc(ac, secondaryTarget, startVal, endVal, firstTurnIncrement*-1, initialTurnRadius,
-            waypoints.back()->getAltitude(), vDescent, "turn%03d");
+            SG_LOG(SG_AI, SG_BULK, ac->getCallSign() << "| Enter far S curve");
+            // Entering not "straight" into runway so we do a s-curve
+            int rightAngle = headingDiffRunway>0?90:-90;
+            int firstTurnIncrement = headingDiffRunway>0?2:-2;
+            SGGeod firstTurnCenter = SGGeodesy::direct(current, ac->getTrueHeadingDeg() + rightAngle, initialTurnRadius);
+            int innerTangent = headingDiffRunway<0?0:1;
+            int offset = 1000;
+            while (SGGeodesy::distanceM(firstTurnCenter, secondaryTarget)<2*initialTurnRadius) {
+               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");
+            double length = VectorMath::innerTangentsLength(firstTurnCenter, secondaryTarget, initialTurnRadius, initialTurnRadius );
+            createLine(ac, waypoints.back()->getPos(), heading, length, 50, 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");
+                for (int t = 0; t < holdsPatterns; t++)
+                {
+                    /*
+                createArc(ac, secondaryTarget, endval, endval+180, increment, initialTurnRadius,
+                currentAltitude, vDescent, "hold_1_%03d");
+                createArc(ac, secondHoldCenter, endval+180, endval, increment, initialTurnRadius,
+                currentAltitude, vDescent, "hold_2_%03d");
+                */
+                }
+            } else {
+                int startVal = SGMiscd::normalizePeriodic(0, 360, heading+rightAngle);
+                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");
+            }
+        }
+    } else if (fabs(headingDiffRunway)>=150 ) {
+        // We are entering downwind
+        if (distance < (2*initialTurnRadius)) {
+            // Too near so we pass over and enter over other side
+            SG_LOG(SG_AI, SG_BULK, ac->getCallSign() << "| Enter near downrunway");
+            secondaryTarget =
+                rwy->pointOffCenterline(-2 * distanceOut, -lateralOffset);
+            secondHoldCenter =
+                rwy->pointOffCenterline(-3 * distanceOut, -lateralOffset);
+
+            // Entering not "straight" into runway so we do a s-curve
+            int rightAngle = azimuth>0?90:-90;
+            int firstTurnIncrement = azimuth>0?2:-2;
+
+            SGGeod firstTurnCenter = SGGeodesy::direct(current, ac->getTrueHeadingDeg() + rightAngle, initialTurnRadius);
+            // 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");
+            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");
+            //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");
+            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");
+                for (int t = 0; t < holdsPatterns; t++)
+                {
+                    /*
+                createArc(ac, secondaryTarget, endval, endval+180, increment, initialTurnRadius,
+                currentAltitude, vDescent, "hold_1_%03d");
+                createArc(ac, secondHoldCenter, endval+180, endval, increment, initialTurnRadius,
+                currentAltitude, vDescent, "hold_2_%03d");
+                */
+                }
+            } else {
+                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");
+            }
+        } else {
+            SG_LOG(SG_AI, SG_BULK, ac->getCallSign() << "| Enter far S downrunway");
+            // Entering not "straight" into runway so we do a s-curve
+            int rightAngle = azimuth<0?90:-90;
+            int firstTurnIncrement = azimuth<0?2:-2;
+            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");
+            double length = VectorMath::innerTangentsLength(firstTurnCenter, secondaryTarget, initialTurnRadius, initialTurnRadius );
+            createLine(ac, waypoints.back()->getPos(), heading, length, 50, 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");
+                for (int t = 0; t < holdsPatterns; t++)
+                {
+                    /*
+                createArc(ac, secondaryTarget, endval, endval+180, increment, initialTurnRadius,
+                currentAltitude, vDescent, "hold_1_%03d");
+                createArc(ac, secondHoldCenter, endval+180, endval, increment, initialTurnRadius,
+                currentAltitude, vDescent, "hold_2_%03d");
+                */
+                }
+            } else {
+                int startVal = SGMiscd::normalizePeriodic(0, 360, heading+rightAngle);
+                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");
+            }
         }
     } else {
+        SG_LOG(SG_AI, SG_BULK, ac->getCallSign() << "| Enter far straight");
         // Entering "straight" into runway so only one turn
         int rightAngle = headingDiffRunway>0?90:-90;
         SGGeod firstTurnCenter = SGGeodesy::direct(current, ac->getTrueHeadingDeg() - rightAngle, initialTurnRadius);
         int firstTurnIncrement = headingDiffRunway>0?-2:2;
         const double heading = rwy->headingDeg();
-        createArc(ac, firstTurnCenter, ac->_getHeading()+rightAngle, heading+rightAngle, firstTurnIncrement, initialTurnRadius, ac->getAltitude(), vDescent, "initialturn_%03d");
+        createArc(ac, secondaryTarget, ac->_getHeading()+rightAngle, heading+rightAngle, firstTurnIncrement, initialTurnRadius, ac->getAltitude(), vDescent, "straight_turn_%03d");
     }
 
     // To prevent absurdly steep approaches, compute the origin from where the approach should have started
@@ -861,55 +1023,12 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
         azimuth = SGGeodesy::courseDeg(origin, initialTarget);
     }
 
-    double dAlt = 0; //  = alt - (apt->getElevation() + 2000);
-    FGTaxiNodeRef tn;
-    if (apt->groundNetwork()) {
-        tn = apt->groundNetwork()->findNearestNode(refPoint);
-    }
-
-    if (tn) {
-        dAlt = alt - ((tn->getElevationFt()) + 2000);
-    } else {
-        dAlt = alt - (apt->getElevation() + 2000);
-    }
-
-    //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;
-
-#if 0
-    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;
-#endif
-
-    double side = azimuth - rwy->headingDeg();
-    if (side < 0.0)
-        side += 360.0;
-
     // 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);
+        (initialTurnRadius + distance) / ((vDescent * SG_NM_TO_METER) / 3600.0);
     time_t now = globals->get_time_params()->get_cur_time();
 
     //if (ac->getTrafficRef()->getCallSign() == fgGetString("/ai/track-callsign")) {
@@ -940,110 +1059,6 @@ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt,
 
     additionalTimeNeeded -= holdsPatterns*240;
 
-    double distanceCovered =
-        ((vApproach * SG_NM_TO_METER) / 3600.0) * additionalTimeNeeded;
-    distanceOut += distanceCovered;
-
-    azimuth = SGGeodesy::courseDeg(origin, secondaryTarget);
-    distance = SGGeodesy::distanceM(origin, secondaryTarget);
-    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 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;
-
-
-    //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 = -2;
-        startval = floor(initialAzimuth);
-        endval = ceil(finalAzimuth);
-        if (endval > startval) {
-            endval -= 360;
-        }
-    } else {
-        increment = 2;
-        startval = ceil(initialAzimuth);
-        endval = floor(finalAzimuth);
-        if (endval < startval) {
-            endval += 360;
-        }
-    }
-
-    //cerr << "creating circle between " << startval << " and " << endval << " using " << increment << endl;
-    //FGTaxiNode * tn = apt->getDynamics()->getGroundNetwork()->findNearestNode(initialTarget);
-    double currentAltitude = 0;
-    if (tn) {
-        currentAltitude = (tn->getElevationFt()) + 2000;
-    } else {
-        currentAltitude = apt->getElevation() + 2000;
-    }
-
-
-
-
-    // The approach leg should bring the aircraft to approximately 4-6 nm out, after which the landing phase should take over.
-    //cerr << "Phase 3: Approach" << 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 = SGGeodesy::distanceM(current, initialTarget);
-        time_t eta2 =
-            tempDistance / ((vDescent * SG_NM_TO_METER) / 3600.0) + now;
-        SG_LOG(SG_ATC, SG_BULK, "Final 1 " << eta2);
-        time_t newEta2 =
-            apt->getDynamics()->getApproachController()->getRunway(rwy->name())->requestTimeSlot(eta2);
-        SG_LOG(SG_ATC, SG_BULK, "Final 1 " << eta2 << " " << newEta2);
-        arrivalTime = newEta2;
-        double newDistance2 =
-            ((vDescent * SG_NM_TO_METER) / 3600.0) * (newEta2 - now);
-
-        IncrementWaypoint(true);        // remove waypoint BOD2
-
-        while (checkTrackLength("final001") > newDistance2) {
-            SG_LOG(SG_ATC, SG_BULK, "Final 2 " << checkTrackLength("final001") );
-            IncrementWaypoint(true);
-        }
-
-        ac->resetPositionFromFlightPlan();
-    }
-
-    if (!waypoints.empty()) {
-        SG_LOG(SG_AI, SG_BULK, "Setting Node " << waypoints.back()->getName() << " to a leg end");
-        waypoints.back()->setName( (waypoints.back()->getName() + string("legend")));
-    }
-
     return true;
 }
 

src/AIModel/AIFlightPlanCreateCruise.cxx

@@ -314,12 +314,22 @@ bool FGAIFlightPlan::createCruise(FGAIAircraft *ac, bool firstFlight, FGAirport
   assert( rwy != NULL );
   // begin descent 110km out
   double distanceOut = arr->getDynamics()->getApproachController()->getRunway(rwy->name())->getApproachDistance();    //12 * SG_NM_TO_METER;
-  SGGeod beginDescentPoint     = rwy->pointOnCenterline(-2*distanceOut);
+
+  SGGeod beginDescentPoint     = rwy->pointOnCenterline(-3*distanceOut);
   SGGeod secondaryDescentPoint = rwy->pointOnCenterline(0);
 
-  wpt = createInAir(ac, "BOD", beginDescentPoint,  alt, vCruise);
-  pushBackWaypoint(wpt);
-  wpt = createInAir(ac, "BOD2", secondaryDescentPoint, alt, vCruise);
-  pushBackWaypoint(wpt);
+  double distanceToRwy = SGGeodesy::distanceM(current, secondaryDescentPoint);
+  if (distanceToRwy>4*distanceOut) {
+    FGAIWaypoint *bodWpt = createInAir(ac, "BOD", beginDescentPoint,  alt, vCruise);
+    pushBackWaypoint(bodWpt);
+    FGAIWaypoint *bod2Wpt = createInAir(ac, "BOD2", secondaryDescentPoint, alt, vCruise);
+    pushBackWaypoint(bod2Wpt);
+  } else {
+    // We are too near. The descent leg takes care of this (teardrop etc)
+    FGAIWaypoint *bodWpt = createInAir(ac, "BOD", SGGeodesy::direct(current, ac->getTrueHeadingDeg(), 10000),  alt, vCruise);
+    pushBackWaypoint(bodWpt);
+    FGAIWaypoint *bod2Wpt = createInAir(ac, "BOD2", SGGeodesy::direct(current, ac->getTrueHeadingDeg(), 15000), alt, vCruise);
+    pushBackWaypoint(bod2Wpt);
+  }
   return true;
 }

src/AIModel/VectorMath.cxx

@@ -60,3 +60,21 @@ double VectorMath::innerTangentsLength( SGGeod m1, SGGeod m2, double r1, double
 
   return SGGeodesy::distanceM(p1, p2);
 }
+
+std::array<double, 2> VectorMath::outerTangentsAngle( SGGeod m1, SGGeod m2, double r1, double r2) {
+  std::array<double, 2> ret;
+  double hypothenuse = SGGeodesy::distanceM(m1, m2);
+  double radiusDiff = abs(r1 - r2);
+  double beta = atan2( radiusDiff, hypothenuse ) * SG_RADIANS_TO_DEGREES;
+  double gamma = SGGeodesy::courseDeg(m1, m2);
+  ret[0] = SGMiscd::normalizePeriodic(0, 360, gamma - beta);
+  ret[1] = SGMiscd::normalizePeriodic(0, 360, gamma + beta);
+  return ret;
+}
+
+double VectorMath::outerTangentsLength( SGGeod m1, SGGeod m2, double r1, double r2) {
+  double hypothenuse = SGGeodesy::distanceM(m1, m2);
+  double radiusDiff = abs(r1 - r2);
+  double dist = sqrt(pow(hypothenuse,2)-pow(radiusDiff,2));
+  return dist;
+}

src/AIModel/VectorMath.hxx

@@ -27,4 +27,8 @@ class VectorMath {
   static std::array<double, 2> innerTangentsAngle( SGGeod m1, SGGeod m2, double r1, double r2);
   /**Length of inner tangent between two circles.*/
   static double innerTangentsLength( SGGeod m1, SGGeod m2, double r1, double r2);
+  /**Angles of outer tangent between two circles normalized to 0-360*/
+  static std::array<double, 2> outerTangentsAngle( SGGeod m1, SGGeod m2, double r1, double r2);
+  /**Length of outer tangent between two circles.*/
+  static double outerTangentsLength( SGGeod m1, SGGeod m2, double r1, double r2);
 };

src/Traffic/Schedule.cxx

@@ -202,10 +202,10 @@ bool FGAISchedule::init()
 bool FGAISchedule::update(time_t now, const SGVec3d& userCart)
 {
 
-  time_t totalTimeEnroute,
-         elapsedTimeEnroute,
-         //remainingTimeEnroute,
-         deptime = 0;
+  time_t totalTimeEnroute;
+  time_t elapsedTimeEnroute;
+  time_t remainingTimeEnroute;
+  time_t deptime = 0;
 
   if (!valid) {
     return true; // processing complete
@@ -255,7 +255,7 @@ bool FGAISchedule::update(time_t now, const SGVec3d& userCart)
   // This flight entry is entirely in the past, do we need to
   // push it forward in time to the next scheduled departure.
   if (flight->getArrivalTime() < now) {
-    SG_LOG (SG_AI, SG_BULK, "Traffic Manager:      Flight is in the Past");
+    SG_LOG (SG_AI, SG_BULK, "Traffic Manager:   " << flight->getCallSign() << " is in the Past");
     // Don't just update: check whether we need to load a new leg. etc.
     // This update occurs for distant aircraft, so we can update the current leg
     // and detach it from the current list of aircraft.
@@ -275,7 +275,7 @@ bool FGAISchedule::update(time_t now, const SGVec3d& userCart)
     totalTimeEnroute = flight->getArrivalTime() - flight->getDepartureTime();
     if (flight->getDepartureTime() < now) {
       elapsedTimeEnroute   = now - flight->getDepartureTime();
-      //remainingTimeEnroute = totalTimeEnroute - elapsedTimeEnroute;
+      remainingTimeEnroute = totalTimeEnroute - elapsedTimeEnroute;
       double x = elapsedTimeEnroute / (double) totalTimeEnroute;
 
     // current pos is based on great-circle course between departure/arrival,
@@ -285,21 +285,22 @@ bool FGAISchedule::update(time_t now, const SGVec3d& userCart)
       SGGeodesy::inverse(dep->geod(), arr->geod(), course, az2, distanceM);
       double coveredDistance = distanceM * x;
 
+      //FIXME very crude that doesn't harmonise with Legs
       SGGeodesy::direct(dep->geod(), course, coveredDistance, position, az2);
 
-      SG_LOG (SG_AI, SG_BULK, "Traffic Manager:      Flight is in progress, %=" << x);
+      SG_LOG (SG_AI, SG_BULK, "Traffic Manager: " << flight->getCallSign() << " is in progress " << (x*100) << "%");
       speed = ((distanceM - coveredDistance) * SG_METER_TO_NM) / 3600.0;
     } else {
     // not departed yet
-      //remainingTimeEnroute = totalTimeEnroute;
+      remainingTimeEnroute = totalTimeEnroute;
       elapsedTimeEnroute = 0;
       position = dep->geod();
-      SG_LOG (SG_AI, SG_BULK, "Traffic Manager:      Flight is pending, departure in "
+      SG_LOG (SG_AI, SG_BULK, "Traffic Manager: " << flight->getCallSign() << " is pending, departure in "
         << flight->getDepartureTime() - now << " seconds ");
     }
   } else {
     // departure / arrival coincident
-    //remainingTimeEnroute = totalTimeEnroute = 0.0;
+    remainingTimeEnroute = totalTimeEnroute = flight->getArrivalTime() - flight->getDepartureTime();
     elapsedTimeEnroute = 0;
     position = dep->geod();
   }
@@ -320,12 +321,12 @@ bool FGAISchedule::update(time_t now, const SGVec3d& userCart)
     return true; // out of visual range, for the moment.
   }
 
-  if (!createAIAircraft(flight, speed, deptime)) {
+  if (!createAIAircraft(flight, speed, deptime, remainingTimeEnroute)) {
       valid = false;
   }
 
 
-    return true; // processing complete
+  return true; // processing complete
 }
 
 bool FGAISchedule::validModelPath(const std::string& modelPath)
@@ -353,12 +354,13 @@ SGPath FGAISchedule::resolveModelPath(const std::string& modelPath)
     return SGPath();
 }
 
-bool FGAISchedule::createAIAircraft(FGScheduledFlight* flight, double speedKnots, time_t deptime)
+bool FGAISchedule::createAIAircraft(FGScheduledFlight* flight, double speedKnots, time_t deptime, time_t remainingTime)
 {
+  //FIXME The position must be set here not in update
   FGAirport* dep = flight->getDepartureAirport();
   FGAirport* arr = flight->getArrivalAirport();
   string flightPlanName = dep->getId() + "-" + arr->getId() + ".xml";
-  SG_LOG(SG_AI, SG_DEBUG, "Traffic manager: Creating AIModel from:" << flightPlanName);
+  SG_LOG(SG_AI, SG_DEBUG, flight->getCallSign() << "|Traffic manager: Creating AIModel from:" << flightPlanName);
 
   aiAircraft = new FGAIAircraft(this);
   aiAircraft->setPerformance(acType, m_class); //"jet_transport";
@@ -373,8 +375,15 @@ bool FGAISchedule::createAIAircraft(FGScheduledFlight* flight, double speedKnots
   aiAircraft->setBank(0);
 
   courseToDest = SGGeodesy::courseDeg(position, arr->geod());
-    std::unique_ptr<FGAIFlightPlan> fp(new FGAIFlightPlan(aiAircraft, flightPlanName, courseToDest, deptime,
-                                            dep, arr, true, radius,
+  std::unique_ptr<FGAIFlightPlan> fp(new FGAIFlightPlan(aiAircraft,
+                                            flightPlanName,
+                                            courseToDest,
+                                            deptime,
+                                            remainingTime,
+                                            dep,
+                                            arr,
+                                            true,
+                                            radius,
                                             flight->getCruiseAlt()*100,
                                             position.getLatitudeDeg(),
                                             position.getLongitudeDeg(),
@@ -409,7 +418,6 @@ bool FGAISchedule::createAIAircraft(FGScheduledFlight* flight, double speedKnots
   }
 }
 
-// Create an initial heading for user controlled aircraft.
 void FGAISchedule::setHeading()
 {
     courseToDest = SGGeodesy::courseDeg((*flights.begin())->getDepartureAirport()->geod(), (*flights.begin())->getArrivalAirport()->geod());

src/Traffic/Schedule.hxx

@@ -74,7 +74,7 @@ class FGAISchedule
    * Transition this schedule from distant mode to AI mode;
    * create the AIAircraft (and flight plan) and register with the AIManager
    */
-  bool createAIAircraft(FGScheduledFlight* flight, double speedKnots, time_t deptime);
+  bool createAIAircraft(FGScheduledFlight* flight, double speedKnots, time_t deptime, time_t remainingTime);
 
   // the aiAircraft associated with us
   SGSharedPtr<FGAIAircraft> aiAircraft;
@@ -130,6 +130,7 @@ class FGAISchedule
   void         setHits    (unsigned int count) { hits     = count; };
   void         setScore   ();
   double       getScore   () { return score; };
+  /**Create an initial heading for user controlled aircraft.*/
   void         setHeading ();
   void         assign         (FGScheduledFlight *ref);
   void         clearAllFlights();

test_suite/unit_tests/AI/test_VectorMath.cxx

@@ -68,3 +68,17 @@ void VectorMathTests::testInnerTangent2()
     CPPUNIT_ASSERT_DOUBLES_EQUAL( 330, angles[0], 0.1);
     CPPUNIT_ASSERT_DOUBLES_EQUAL( 30, angles[1], 0.1);
 }
+
+void VectorMathTests::testOuterTanget()
+{
+    double r1 = 10;
+    double r2 = 50;
+    // when the circles are dist appart the angle will be 45°
+    double dist = 40;
+    SGGeod m1 = SGGeod::fromDeg(9,51);
+    SGGeod m2 = SGGeodesy::direct(m1, 90, dist);
+
+    auto angles = VectorMath::outerTangentsAngle(m1, m2, r1, r2);
+    CPPUNIT_ASSERT_DOUBLES_EQUAL( 45, angles[0], 0.1);
+    CPPUNIT_ASSERT_DOUBLES_EQUAL( 135, angles[1], 0.1);
+}

test_suite/unit_tests/AI/test_VectorMath.hxx

@@ -35,6 +35,7 @@ class VectorMathTests : public CppUnit::TestFixture
     CPPUNIT_TEST_SUITE(VectorMathTests);
     CPPUNIT_TEST(testInnerTanget);
     CPPUNIT_TEST(testInnerTangent2);
+    CPPUNIT_TEST(testOuterTanget);
 
     CPPUNIT_TEST_SUITE_END();
 
@@ -49,4 +50,5 @@ public:
     // The tests.
     void testInnerTanget();
     void testInnerTangent2();
+    void testOuterTanget();
 };

test_suite/unit_tests/AI/test_traffic.cxx

@@ -156,7 +156,8 @@ void TrafficTests::testPushback()
     departureTime = departureTime + 90;
 
     std::unique_ptr<FGAIFlightPlan> fp(new FGAIFlightPlan(aiAircraft,
-                                                          flightPlanName, crs, departureTime,
+                                                          flightPlanName, crs,
+                                                          departureTime, departureTime+3000,
                                                           departureAirport, arrivalAirport, true, radius,
                                                           cruiseAltFt, // cruise alt
                                                           position.getLatitudeDeg(),
@@ -214,7 +215,8 @@ void TrafficTests::testPushbackCargo()
 
 
     std::unique_ptr<FGAIFlightPlan> fp(new FGAIFlightPlan(aiAircraft,
-                                                          flightPlanName, crs, departureTime,
+                                                          flightPlanName, crs,
+                                                          departureTime, departureTime+3000,
                                                           egph, egpf, true, radius,
                                                           cruiseAltFt, // cruise alt
                                                           position.getLatitudeDeg(),
@@ -230,6 +232,253 @@ void TrafficTests::testPushbackCargo()
     aiAircraft = flyAI(aiAircraft, "flight_cargo_EGPH_EGPF_" + std::to_string(departureTime));
 }
 
+void TrafficTests::testPushbackCargoInProgress()
+{
+    FGAirportRef egph = FGAirport::getByIdent("EGPH");
+
+    FGAirportRef egpf = FGAirport::getByIdent("EGPF");
+    fgSetString("/sim/presets/airport-id", "EGPH");
+
+    // Time to depart
+    std::string dep = getTimeString(-100);
+    // Time to arrive
+    std::string arr = getTimeString(190);
+
+
+    FGAISchedule* schedule = new FGAISchedule(
+        "B737", "KLM", "EGPH", "G-BLA", "ID", false, "B737", "KLM", "N", "cargo", 24, 8);
+    FGScheduledFlight* flight = new FGScheduledFlight("testPushbackCargo", "", "EGPH", "EGPF", 24, dep, arr, "WEEK", "HBR_BN_2");
+    schedule->assign(flight);
+
+    SGSharedPtr<FGAIAircraft> aiAircraft = new FGAIAircraft{schedule};
+
+    const SGGeod position = SGGeodesy::direct(egph->geod(), 270, 50000);
+    const double crs = SGGeodesy::courseDeg(position, egpf->geod()); // direct course
+    ParkingAssignment parking = egph->getDynamics()->getParkingByName("north-cargo208");
+
+    FGTestApi::setPositionAndStabilise(egph->getDynamics()->getParkingByName("ga206").parking()->geod());
+
+    aiAircraft->setPerformance("jet_transport", "");
+    aiAircraft->setCompany("KLM");
+    aiAircraft->setAcType("B737");
+    aiAircraft->setSpeed(0);
+    aiAircraft->setBank(0);
+    aiAircraft->setHeading(crs);
+
+    const string flightPlanName = egph->getId() + "-" + egpf->getId() + ".xml";
+
+    const int radius = 16.0;
+    const int cruiseAltFt = 32000;
+    const int cruiseSpeedKnots = 80;
+
+    time_t departureTime = globals->get_time_params()->get_cur_time();
+    departureTime = departureTime - 6000;
+
+
+    std::unique_ptr<FGAIFlightPlan> fp(new FGAIFlightPlan(aiAircraft,
+                                                          flightPlanName, crs,
+                                                          departureTime, 100,
+                                                          egph, egpf, true, radius,
+                                                          cruiseAltFt, // cruise alt
+                                                          position.getLatitudeDeg(),
+                                                          position.getLongitudeDeg(),
+                                                          cruiseSpeedKnots, "cargo",
+                                                          aiAircraft->getAcType(),
+                                                          aiAircraft->getCompany()));
+
+    CPPUNIT_ASSERT_EQUAL(fp->isValidPlan(), true);
+    aiAircraft->FGAIBase::setFlightPlan(std::move(fp));
+    globals->get_subsystem<FGAIManager>()->attach(aiAircraft);
+
+    aiAircraft = flyAI(aiAircraft, "flight_cargo_in_progress_EGPH_EGPF_" + std::to_string(departureTime));
+}
+
+void TrafficTests::testPushbackCargoInProgressDownWind()
+{
+    FGAirportRef egph = FGAirport::getByIdent("EGPH");
+
+    FGAirportRef egpf = FGAirport::getByIdent("EGPF");
+    fgSetString("/sim/presets/airport-id", "EGPH");
+
+    // Time to depart
+    std::string dep = getTimeString(-100);
+    // Time to arrive
+    std::string arr = getTimeString(190);
+
+
+    FGAISchedule* schedule = new FGAISchedule(
+        "B737", "KLM", "EGPH", "G-BLA", "ID", false, "B737", "KLM", "N", "cargo", 24, 8);
+    FGScheduledFlight* flight = new FGScheduledFlight("testPushbackCargoInProgressDownWind", "", "EGPH", "EGPF", 24, dep, arr, "WEEK", "HBR_BN_2");
+    schedule->assign(flight);
+
+    SGSharedPtr<FGAIAircraft> aiAircraft = new FGAIAircraft{schedule};
+
+    const SGGeod position = SGGeodesy::direct(egph->geod(), 0, 50000);
+    const double crs = SGGeodesy::courseDeg(position, egpf->geod()); // direct course
+    ParkingAssignment parking = egph->getDynamics()->getParkingByName("north-cargo208");
+
+    FGTestApi::setPositionAndStabilise(egph->getDynamics()->getParkingByName("ga206").parking()->geod());
+
+    aiAircraft->setPerformance("jet_transport", "");
+    aiAircraft->setCompany("KLM");
+    aiAircraft->setAcType("B737");
+    aiAircraft->setSpeed(0);
+    aiAircraft->setBank(0);
+    aiAircraft->setHeading(crs);
+
+    const string flightPlanName = egph->getId() + "-" + egpf->getId() + ".xml";
+
+    const int radius = 16.0;
+    const int cruiseAltFt = 32000;
+    const int cruiseSpeedKnots = 80;
+
+    time_t departureTime = globals->get_time_params()->get_cur_time();
+    departureTime = departureTime - 6000;
+
+
+    std::unique_ptr<FGAIFlightPlan> fp(new FGAIFlightPlan(aiAircraft,
+                                                          flightPlanName, crs,
+                                                          departureTime, 100,
+                                                          egph, egpf, true, radius,
+                                                          cruiseAltFt, // cruise alt
+                                                          position.getLatitudeDeg(),
+                                                          position.getLongitudeDeg(),
+                                                          cruiseSpeedKnots, "cargo",
+                                                          aiAircraft->getAcType(),
+                                                          aiAircraft->getCompany()));
+
+    CPPUNIT_ASSERT_EQUAL(fp->isValidPlan(), true);
+    aiAircraft->FGAIBase::setFlightPlan(std::move(fp));
+    globals->get_subsystem<FGAIManager>()->attach(aiAircraft);
+
+    aiAircraft = flyAI(aiAircraft, "flight_cargo_in_progress_downwind_EGPH_EGPF_" + std::to_string(departureTime));
+}
+
+void TrafficTests::testPushbackCargoInProgressNotBeyond()
+{
+    FGAirportRef egph = FGAirport::getByIdent("EGPH");
+
+    FGAirportRef egpf = FGAirport::getByIdent("EGPF");
+    fgSetString("/sim/presets/airport-id", "EGPH");
+
+    // Time to depart
+    std::string dep = getTimeString(-100);
+    // Time to arrive
+    std::string arr = getTimeString(190);
+
+
+    FGAISchedule* schedule = new FGAISchedule(
+        "B737", "KLM", "EGPH", "G-BLA", "ID", false, "B737", "KLM", "N", "cargo", 24, 8);
+    FGScheduledFlight* flight = new FGScheduledFlight("testPushbackCargo", "", "EGPH", "EGPF", 24, dep, arr, "WEEK", "HBR_BN_2");
+    schedule->assign(flight);
+
+    SGSharedPtr<FGAIAircraft> aiAircraft = new FGAIAircraft{schedule};
+
+    // Position west of runway
+    const SGGeod position = SGGeodesy::direct(egpf->geod(), 270, 5000);
+    const double crs = SGGeodesy::courseDeg(position, egpf->geod()); // direct course
+    ParkingAssignment parking = egph->getDynamics()->getParkingByName("north-cargo208");
+
+    FGTestApi::setPositionAndStabilise(egph->getDynamics()->getParkingByName("ga206").parking()->geod());
+
+    aiAircraft->setPerformance("jet_transport", "");
+    aiAircraft->setCompany("KLM");
+    aiAircraft->setAcType("B737");
+    aiAircraft->setSpeed(0);
+    aiAircraft->setBank(0);
+    aiAircraft->setHeading(crs);
+
+    const string flightPlanName = egph->getId() + "-" + egpf->getId() + ".xml";
+
+    const int radius = 16.0;
+    const int cruiseAltFt = 32000;
+    const int cruiseSpeedKnots = 80;
+
+    time_t departureTime = globals->get_time_params()->get_cur_time();
+    departureTime = departureTime - 6000;
+
+
+    std::unique_ptr<FGAIFlightPlan> fp(new FGAIFlightPlan(aiAircraft,
+                                                          flightPlanName, crs,
+                                                          departureTime, 100,
+                                                          egph, egpf, true, radius,
+                                                          cruiseAltFt, // cruise alt
+                                                          position.getLatitudeDeg(),
+                                                          position.getLongitudeDeg(),
+                                                          cruiseSpeedKnots, "cargo",
+                                                          aiAircraft->getAcType(),
+                                                          aiAircraft->getCompany()));
+
+    CPPUNIT_ASSERT_EQUAL(fp->isValidPlan(), true);
+    aiAircraft->FGAIBase::setFlightPlan(std::move(fp));
+    globals->get_subsystem<FGAIManager>()->attach(aiAircraft);
+
+    aiAircraft = flyAI(aiAircraft, "flight_cargo_in_progress_not_beyond_EGPH_EGPF_" + std::to_string(departureTime));
+}
+
+void TrafficTests::testPushbackCargoInProgressBeyond()
+{
+    FGAirportRef egph = FGAirport::getByIdent("EGPH");
+
+    FGAirportRef egpf = FGAirport::getByIdent("EGPF");
+    fgSetString("/sim/presets/airport-id", "EGPH");
+
+    // Time to depart
+    std::string dep = getTimeString(-100);
+    // Time to arrive
+    std::string arr = getTimeString(190);
+
+
+    FGAISchedule* schedule = new FGAISchedule(
+        "B737", "KLM", "EGPH", "G-BLA", "ID", false, "B737", "KLM", "N", "cargo", 24, 8);
+    FGScheduledFlight* flight = new FGScheduledFlight("testPushbackCargo", "", "EGPH", "EGPF", 24, dep, arr, "WEEK", "HBR_BN_2");
+    schedule->assign(flight);
+
+    SGSharedPtr<FGAIAircraft> aiAircraft = new FGAIAircraft{schedule};
+
+    // Position east of runway pointing away from runway
+    const SGGeod position = SGGeodesy::direct(egpf->geod(), 90, 5000);
+
+    const double crs = SGMiscd::normalizePeriodic(0, 360, SGGeodesy::courseDeg(position, egpf->geod()));
+    ParkingAssignment parking = egph->getDynamics()->getParkingByName("north-cargo208");
+
+    FGTestApi::setPositionAndStabilise(egph->getDynamics()->getParkingByName("ga206").parking()->geod());
+
+    aiAircraft->setPerformance("jet_transport", "");
+    aiAircraft->setCompany("KLM");
+    aiAircraft->setAcType("B737");
+    aiAircraft->setSpeed(0);
+    aiAircraft->setBank(0);
+    aiAircraft->setHeading(crs);
+
+    const string flightPlanName = egph->getId() + "-" + egpf->getId() + ".xml";
+
+    const int radius = 16.0;
+    const int cruiseAltFt = 32000;
+    const int cruiseSpeedKnots = 80;
+
+    time_t departureTime = globals->get_time_params()->get_cur_time();
+    departureTime = departureTime - 6000;
+
+
+    std::unique_ptr<FGAIFlightPlan> fp(new FGAIFlightPlan(aiAircraft,
+                                                          flightPlanName, crs,
+                                                          departureTime, 100,
+                                                          egph, egpf, true, radius,
+                                                          cruiseAltFt, // cruise alt
+                                                          position.getLatitudeDeg(),
+                                                          position.getLongitudeDeg(),
+                                                          cruiseSpeedKnots, "cargo",
+                                                          aiAircraft->getAcType(),
+                                                          aiAircraft->getCompany()));
+
+    CPPUNIT_ASSERT_EQUAL(fp->isValidPlan(), true);
+    aiAircraft->FGAIBase::setFlightPlan(std::move(fp));
+    globals->get_subsystem<FGAIManager>()->attach(aiAircraft);
+
+    aiAircraft = flyAI(aiAircraft, "flight_cargo_in_progress_beyond_EGPH_EGPF_" + std::to_string(departureTime));
+}
+
 void TrafficTests::testChangeRunway()
 {
     FGAirportRef departureAirport = FGAirport::getByIdent("EGPH");
@@ -274,7 +523,8 @@ void TrafficTests::testChangeRunway()
 
 
     std::unique_ptr<FGAIFlightPlan> fp(new FGAIFlightPlan(aiAircraft,
-                                                          flightPlanName, crs, departureTime,
+                                                          flightPlanName, crs,
+                                                          departureTime, departureTime+3000,
                                                           departureAirport, arrivalAirport, true, radius,
                                                           cruiseAltFt, // cruise alt
                                                           position.getLatitudeDeg(),
@@ -287,7 +537,7 @@ void TrafficTests::testChangeRunway()
     aiAircraft->FGAIBase::setFlightPlan(std::move(fp));
     globals->get_subsystem<FGAIManager>()->attach(aiAircraft);
 
-    aiAircraft = flyAI(aiAircraft, "flight_runway_EGPH_EGPF_" + std::to_string(departureTime));
+    aiAircraft = flyAI(aiAircraft, "flight_change_runway_EGPH_EGPF_" + std::to_string(departureTime));
 }
 
 
@@ -332,7 +582,8 @@ void TrafficTests::testPushforward()
 
 
     std::unique_ptr<FGAIFlightPlan> fp(new FGAIFlightPlan(aiAircraft,
-                                                          flightPlanName, crs, departureTime,
+                                                          flightPlanName, crs,
+                                                          departureTime, departureTime+3000,
                                                           departureAirport, arrivalAirport, true, radius,
                                                           cruiseAltFt, // cruise alt
                                                           position.getLatitudeDeg(),
@@ -389,7 +640,8 @@ void TrafficTests::testPushforwardSpeedy()
 
 
     std::unique_ptr<FGAIFlightPlan> fp(new FGAIFlightPlan(aiAircraft,
-                                                          flightPlanName, crs, departureTime,
+                                                          flightPlanName, crs,
+                                                          departureTime, departureTime+3000,
                                                           departureAirport, arrivalAirport, true, radius,
                                                           cruiseAltFt, // cruise alt
                                                           position.getLatitudeDeg(),
@@ -447,7 +699,8 @@ void TrafficTests::testPushforwardParkYBBN()
 
 
     std::unique_ptr<FGAIFlightPlan> fp(new FGAIFlightPlan(aiAircraft,
-                                                          flightPlanName, crs, departureTime,
+                                                          flightPlanName, crs,
+                                                          departureTime, departureTime+3000,
                                                           departureAirport, arrivalAirport, true, radius,
                                                           cruiseAltFt, // cruise alt
                                                           position.getLatitudeDeg(),
@@ -528,7 +781,7 @@ void TrafficTests::testPushforwardParkYBBNRepeatGa()
 
 
     std::unique_ptr<FGAIFlightPlan> fp(new FGAIFlightPlan(aiAircraft,
-                                                          flightPlanName, crs, departureTime,
+                                                          flightPlanName, crs, departureTime, departureTime+3000,
                                                           departureAirport, arrivalAirport, true, radius,
                                                           cruiseAltFt, // cruise alt
                                                           position.getLatitudeDeg(),
@@ -604,7 +857,8 @@ void TrafficTests::testPushforwardParkYBBNRepeatGaDelayed()
 
 
     std::unique_ptr<FGAIFlightPlan> fp(new FGAIFlightPlan(aiAircraft,
-                                                          flightPlanName, crs, departureTime,
+                                                          flightPlanName, crs,
+                                                          departureTime, departureTime+3000,
                                                           departureAirport, arrivalAirport, true, radius,
                                                           cruiseAltFt, // cruise alt
                                                           position.getLatitudeDeg(),
@@ -700,7 +954,8 @@ void TrafficTests::testPushforwardParkYBBNRepeatGate()
 
 
     std::unique_ptr<FGAIFlightPlan> fp(new FGAIFlightPlan(aiAircraft,
-                                                          flightPlanName, crs, departureTime,
+                                                          flightPlanName, crs,
+                                                          departureTime, departureTime+3000,
                                                           departureAirport, arrivalAirport, true, radius,
                                                           cruiseAltFt, // cruise alt
                                                           position.getLatitudeDeg(),

test_suite/unit_tests/AI/test_traffic.hxx

@@ -37,6 +37,10 @@ class TrafficTests : public CppUnit::TestFixture
     CPPUNIT_TEST_SUITE(TrafficTests);
     CPPUNIT_TEST(testPushback);
     CPPUNIT_TEST(testPushbackCargo);
+    CPPUNIT_TEST(testPushbackCargoInProgress);
+    CPPUNIT_TEST(testPushbackCargoInProgressDownWind);
+    CPPUNIT_TEST(testPushbackCargoInProgressNotBeyond);
+    CPPUNIT_TEST(testPushbackCargoInProgressBeyond);
     CPPUNIT_TEST(testChangeRunway);
     CPPUNIT_TEST(testPushforward);
     CPPUNIT_TEST(testPushforwardSpeedy);
@@ -55,6 +59,10 @@ public:
     // Pushback Tests
     void testPushback();
     void testPushbackCargo();
+    void testPushbackCargoInProgress();
+    void testPushbackCargoInProgressDownWind();
+    void testPushbackCargoInProgressNotBeyond();
+    void testPushbackCargoInProgressBeyond();
     void testChangeRunway();
     //GA Tests with forward push
     void testPushforward();