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Make AIplanes respond to TCAS RAs.

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This commit is contained in:
ThorstenB 2011-01-17 23:33:54 +01:00
parent 27a0ff5442
commit f6b9c5b908
2 changed files with 31 additions and 1 deletions
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31
src/AIModel/AIAircraft.cxx
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@ -332,6 +332,7 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
use_perf_vs = false;
tgt_vs = (curr->crossat - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
/ 6076.0 / speed*60.0);
checkTcas();
tgt_altitude_ft = curr->crossat;
} else {
use_perf_vs = true;
@ -343,6 +344,32 @@ void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
}
}
void FGAIAircraft::checkTcas(void)
{
if (props->getIntValue("tcas/threat-level",0)==3)
{
int RASense = props->getIntValue("tcas/ra-sense",0);
if ((RASense>0)&&(tgt_vs<4000))
// upward RA: climb!
tgt_vs = 4000;
else
if (RASense<0)
{
// downward RA: descend!
if (altitude_ft < 1000)
{
// too low: level off
if (tgt_vs>0)
tgt_vs = 0;
}
else
{
if (tgt_vs >- 4000)
tgt_vs = -4000;
}
}
}
}
void FGAIAircraft::initializeFlightPlan() {
}
@ -603,6 +630,7 @@ void FGAIAircraft::handleFirstWaypoint() {
tgt_vs = (curr->crossat - prev->altitude)
/ (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
/ 6076.0 / prev->speed*60.0);
checkTcas();
tgt_altitude_ft = curr->crossat;
} else {
use_perf_vs = true;
@ -1025,6 +1053,7 @@ void FGAIAircraft::updateVerticalSpeedTarget() {
}
} //else
// tgt_vs = 0.0;
checkTcas();
}
void FGAIAircraft::updatePitchAngleTarget() {
@ -1183,4 +1212,4 @@ time_t FGAIAircraft::checkForArrivalTime(string wptName) {
cerr << "Checking arrival time: ete " << ete << ". Time to go : " << secondsToGo << ". Track length = " << tracklength << endl;
}
return (ete - secondsToGo); // Positive when we're too slow...
}
}

1
src/AIModel/AIAircraft.hxx
View file

@ -94,6 +94,7 @@ public:
inline double airspeed() const { return props->getFloatValue("velocities/airspeed-kt");};
std::string atGate();
void checkTcas();
protected:
void Run(double dt);