GPS: tests for long great-circle legs
Check that everything behaves as expected with legs spanning very large distances.
This commit is contained in:
James Turner
parent
2434c037c8
commit
fdb2120b68
2 changed files with 170 additions and 381 deletions
|
|
@ -479,388 +479,173 @@ void GPSTests::testDirectToLegOnFlightplan()
|
|||
|
||||
}
|
||||
|
||||
void GPSTests::testLongLeg()
|
||||
{
|
||||
auto rm = globals->get_subsystem<FGRouteMgr>();
|
||||
auto fp = new FlightPlan;
|
||||
rm->setFlightPlan(fp);
|
||||
FGTestApi::setUp::populateFPWithoutNasal(fp, "KLAX", "25R", "KJFK", "22R","VNY TEB");
|
||||
|
||||
// takes the place of the Nasal delegates
|
||||
auto testDelegate = new TestFPDelegate;
|
||||
testDelegate->thePlan = fp;
|
||||
|
||||
CPPUNIT_ASSERT(rm->activate());
|
||||
|
||||
fp->addDelegate(testDelegate);
|
||||
auto gps = setupStandardGPS();
|
||||
auto gpsNode = globals->get_props()->getNode("instrumentation/gps");
|
||||
gpsNode->setStringValue("command", "leg");
|
||||
|
||||
// custom CDI deflection output
|
||||
gpsNode->setDoubleValue("config/cdi-max-deflection-nm", 20.0);
|
||||
|
||||
auto vanNuysVOR = fp->legAtIndex(1)->waypoint()->source();
|
||||
CPPUNIT_ASSERT_EQUAL(std::string{"VAN NUYS VOR-DME"}, vanNuysVOR->name());
|
||||
|
||||
auto teterboroVOR = fp->legAtIndex(2)->waypoint()->source();
|
||||
CPPUNIT_ASSERT_EQUAL(std::string{"TETERBORO VOR-DME"}, teterboroVOR->name());
|
||||
|
||||
|
||||
fp->setCurrentIndex(2);
|
||||
// initial course at VNY
|
||||
setPositionAndStabilise(gps, vanNuysVOR->geod());
|
||||
|
||||
const double initialCourse = SGGeodesy::courseDeg(vanNuysVOR->geod(), teterboroVOR->geod());
|
||||
const double distanceM = SGGeodesy::distanceM(vanNuysVOR->geod(), teterboroVOR->geod());
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(initialCourse, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(initialCourse, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(distanceM * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/wp[1]/distance-nm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(distanceM * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/leg-distance-nm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("cdi-deflection"), 0.01);
|
||||
|
||||
// part of the way, check enroute leg course
|
||||
const SGGeod onTheWay = SGGeodesy::direct(vanNuysVOR->geod(), initialCourse, distanceM * 0.7);
|
||||
setPositionAndStabilise(gps, onTheWay);
|
||||
|
||||
const double courseNow = SGGeodesy::courseDeg(onTheWay, teterboroVOR->geod());
|
||||
const double distNow = SGGeodesy::distanceM(onTheWay, teterboroVOR->geod());
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseNow, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseNow, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(distNow * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/wp[1]/distance-nm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(distanceM * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/leg-distance-nm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("cdi-deflection"), 0.01);
|
||||
|
||||
// check a seriously abeam point, we got far of course
|
||||
// to the right of the course, i.e desired track is to our left, so -ve
|
||||
const SGGeod offTheWay = SGGeodesy::direct(onTheWay, courseNow + 90, SG_NM_TO_METER * 13.5);
|
||||
setPositionAndStabilise(gps, offTheWay);
|
||||
const double courseFromOff1 = SGGeodesy::courseDeg(offTheWay, teterboroVOR->geod());
|
||||
const double dist2 = SGGeodesy::distanceM(offTheWay, teterboroVOR->geod());
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseFromOff1, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseNow, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(-13.5, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseFromOff1 - courseNow, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(dist2 * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/wp[1]/distance-nm"), 0.01);
|
||||
|
||||
const double expectedDefl1 = -13.5 / 20.0;
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(expectedDefl1 * 10.0, gpsNode->getDoubleValue("cdi-deflection"), 0.01);
|
||||
|
||||
// check off the other side, close to the destination
|
||||
const SGGeod onTheWay2 = SGGeodesy::direct(vanNuysVOR->geod(), initialCourse, distanceM * 0.92);
|
||||
const double courseOn2 = SGGeodesy::courseDeg(onTheWay2, teterboroVOR->geod());
|
||||
const SGGeod off2 = SGGeodesy::direct(onTheWay2, courseOn2 - 90, SG_NM_TO_METER * 31.2);
|
||||
setPositionAndStabilise(gps, off2);
|
||||
const double courseFromOff2 = SGGeodesy::courseDeg(off2, teterboroVOR->geod());
|
||||
const double dist3 = SGGeodesy::distanceM(off2, teterboroVOR->geod());
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseFromOff2, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseOn2, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(31.2, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseFromOff2 - courseOn2, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(dist3 * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/wp[1]/distance-nm"), 0.01);
|
||||
|
||||
// should peg the CDI, +ve
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(10.0, gpsNode->getDoubleValue("cdi-deflection"), 0.01);
|
||||
}
|
||||
|
||||
void GPSTests::testLongLegWestbound()
|
||||
{
|
||||
auto rm = globals->get_subsystem<FGRouteMgr>();
|
||||
auto fp = new FlightPlan;
|
||||
rm->setFlightPlan(fp);
|
||||
FGTestApi::setUp::populateFPWithoutNasal(fp, "ENBR", "35", "BIKF", "29","VOO GAKTU");
|
||||
|
||||
// takes the place of the Nasal delegates
|
||||
auto testDelegate = new TestFPDelegate;
|
||||
testDelegate->thePlan = fp;
|
||||
|
||||
CPPUNIT_ASSERT(rm->activate());
|
||||
|
||||
fp->addDelegate(testDelegate);
|
||||
auto gps = setupStandardGPS();
|
||||
|
||||
auto gpsNode = globals->get_props()->getNode("instrumentation/gps");
|
||||
gpsNode->setStringValue("command", "leg");
|
||||
// custom CDI deflection output
|
||||
gpsNode->setDoubleValue("config/cdi-max-deflection-nm", 25.0);
|
||||
|
||||
auto volloVOR = fp->legAtIndex(1)->waypoint()->source();
|
||||
CPPUNIT_ASSERT_EQUAL(std::string{"VOLLO VOR-DME"}, volloVOR->name());
|
||||
|
||||
auto gaktu = fp->legAtIndex(2)->waypoint()->source();
|
||||
CPPUNIT_ASSERT_EQUAL(std::string{"GAKTU"}, gaktu->name());
|
||||
|
||||
fp->setCurrentIndex(2);
|
||||
// initial course at VNY
|
||||
setPositionAndStabilise(gps, volloVOR->geod());
|
||||
|
||||
const double initialCourse = SGGeodesy::courseDeg(volloVOR->geod(), gaktu->geod());
|
||||
const double distanceM = SGGeodesy::distanceM(volloVOR->geod(), gaktu->geod());
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(initialCourse, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(initialCourse, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(distanceM * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/wp[1]/distance-nm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(distanceM * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/leg-distance-nm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("cdi-deflection"), 0.01);
|
||||
|
||||
// part of the way, check enroute leg course
|
||||
const SGGeod onTheWay = SGGeodesy::direct(volloVOR->geod(), initialCourse, distanceM * 0.4);
|
||||
setPositionAndStabilise(gps, onTheWay);
|
||||
|
||||
const double courseNow = SGGeodesy::courseDeg(onTheWay, gaktu->geod());
|
||||
const double distNow = SGGeodesy::distanceM(onTheWay, gaktu->geod());
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseNow, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseNow, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(distNow * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/wp[1]/distance-nm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(distanceM * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/leg-distance-nm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("cdi-deflection"), 0.01);
|
||||
|
||||
// check a seriously abeam point, we got far of course
|
||||
// to the right of the course, i.e desired track is to our left, so -ve
|
||||
const SGGeod offTheWay = SGGeodesy::direct(onTheWay, courseNow + 90, SG_NM_TO_METER * 18.6);
|
||||
setPositionAndStabilise(gps, offTheWay);
|
||||
const double courseFromOff1 = SGGeodesy::courseDeg(offTheWay, gaktu->geod());
|
||||
const double dist2 = SGGeodesy::distanceM(offTheWay, gaktu->geod());
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseFromOff1, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseNow, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(-18.6, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseFromOff1 - courseNow, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(dist2 * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/wp[1]/distance-nm"), 0.01);
|
||||
|
||||
const double expectedDefl1 = -18.6 / 25.0;
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(expectedDefl1 * 10.0, gpsNode->getDoubleValue("cdi-deflection"), 0.01);
|
||||
}
|
||||
|
||||
void GPSTests::testTurnAnticipation()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
#if 0
|
||||
SGPropertyNode_ptr configNode(new SGPropertyNode);
|
||||
configNode->setStringValue("name", "navtest");
|
||||
configNode->setIntValue("number", 2);
|
||||
std::unique_ptr<FGNavRadio> r(new FGNavRadio(configNode));
|
||||
|
||||
r->bind();
|
||||
r->init();
|
||||
|
||||
SGPropertyNode_ptr node = globals->get_props()->getNode("instrumentation/navtest[2]");
|
||||
node->setBoolValue("serviceable", true);
|
||||
// needed for the radio to power up
|
||||
globals->get_props()->setDoubleValue("systems/electrical/outputs/navtest", 6.0);
|
||||
node->setDoubleValue("frequencies/selected-mhz", 113.8);
|
||||
|
||||
SGGeod pos = SGGeod::fromDegFt(-3.352780, 55.499199, 20000);
|
||||
setPositionAndStabilise(r.get(), pos);
|
||||
|
||||
CPPUNIT_ASSERT(!strcmp("TLA", node->getStringValue("nav-id")));
|
||||
CPPUNIT_ASSERT_EQUAL(true, node->getBoolValue("in-range"));
|
||||
}
|
||||
|
||||
void NavRadioTests::testCDIDeflection()
|
||||
{
|
||||
SGPropertyNode_ptr configNode(new SGPropertyNode);
|
||||
configNode->setStringValue("name", "navtest");
|
||||
configNode->setIntValue("number", 2);
|
||||
std::unique_ptr<FGNavRadio> r(new FGNavRadio(configNode));
|
||||
|
||||
r->bind();
|
||||
r->init();
|
||||
|
||||
SGPropertyNode_ptr node = globals->get_props()->getNode("instrumentation/navtest[2]");
|
||||
node->setBoolValue("serviceable", true);
|
||||
// needed for the radio to power up
|
||||
globals->get_props()->setDoubleValue("systems/electrical/outputs/navtest", 6.0);
|
||||
node->setDoubleValue("frequencies/selected-mhz", 113.55);
|
||||
|
||||
node->setDoubleValue("radials/selected-deg", 25);
|
||||
|
||||
FGPositioned::TypeFilter f{FGPositioned::VOR};
|
||||
FGNavRecordRef nav = fgpositioned_cast<FGNavRecord>(FGPositioned::findClosestWithIdent("MCT", SGGeod::fromDeg(-2.26, 53.3), &f));
|
||||
|
||||
// twist of MCT is 5.0, so we use a bearing of 20 here, not 25
|
||||
SGGeod posOnRadial = SGGeodesy::direct(nav->geod(), 20.0, 10 * SG_NM_TO_METER);
|
||||
posOnRadial.setElevationFt(10000);
|
||||
setPositionAndStabilise(r.get(), posOnRadial);
|
||||
|
||||
CPPUNIT_ASSERT(!strcmp("MCT", node->getStringValue("nav-id")));
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, node->getDoubleValue("heading-needle-deflection"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, node->getDoubleValue("heading-needle-deflection-norm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(1.0, node->getDoubleValue("signal-quality-norm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, node->getDoubleValue("crosstrack-error-m"), 0.01);
|
||||
CPPUNIT_ASSERT(node->getBoolValue("from-flag"));
|
||||
CPPUNIT_ASSERT(!node->getBoolValue("to-flag"));
|
||||
|
||||
|
||||
// move off course
|
||||
SGGeod posOffRadial = SGGeodesy::direct(nav->geod(), 15.0, 20 * SG_NM_TO_METER); // 5 degress off
|
||||
posOffRadial.setElevationFt(12000);
|
||||
setPositionAndStabilise(r.get(), posOffRadial);
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(5.0, node->getDoubleValue("heading-needle-deflection"), 0.1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.5, node->getDoubleValue("heading-needle-deflection-norm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(1.0, node->getDoubleValue("signal-quality-norm"), 0.01);
|
||||
|
||||
double xtkE = sin(5.0 * SG_DEGREES_TO_RADIANS) * 20 * SG_NM_TO_METER;
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(xtkE, node->getDoubleValue("crosstrack-error-m"), 50.0);
|
||||
CPPUNIT_ASSERT(node->getBoolValue("from-flag"));
|
||||
CPPUNIT_ASSERT(!node->getBoolValue("to-flag"));
|
||||
|
||||
posOffRadial = SGGeodesy::direct(nav->geod(), 28.0, 30 * SG_NM_TO_METER); // 8 degress off
|
||||
posOffRadial.setElevationFt(16000);
|
||||
setPositionAndStabilise(r.get(), posOffRadial);
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(1.0, node->getDoubleValue("signal-quality-norm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(-8.0, node->getDoubleValue("heading-needle-deflection"), 0.1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(-0.8, node->getDoubleValue("heading-needle-deflection-norm"), 0.01);
|
||||
|
||||
xtkE = sin(-8.0 * SG_DEGREES_TO_RADIANS) * 30 * SG_NM_TO_METER;
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(xtkE, node->getDoubleValue("crosstrack-error-m"), 50.0);
|
||||
|
||||
// move more than ten degrees off course
|
||||
posOffRadial = SGGeodesy::direct(nav->geod(), 33.0, 40 * SG_NM_TO_METER); // 13 degress off
|
||||
posOffRadial.setElevationFt(16000);
|
||||
setPositionAndStabilise(r.get(), posOffRadial);
|
||||
|
||||
// pegged to full deflection
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(1.0, node->getDoubleValue("signal-quality-norm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(-10.0, node->getDoubleValue("heading-needle-deflection"), 0.1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(-1.0, node->getDoubleValue("heading-needle-deflection-norm"), 0.01);
|
||||
|
||||
// cross track error is computed based on true deflection, not clamped
|
||||
xtkE = sin(-13.0 * SG_DEGREES_TO_RADIANS) * 40 * SG_NM_TO_METER;
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(xtkE, node->getDoubleValue("crosstrack-error-m"), 50.0);
|
||||
CPPUNIT_ASSERT(node->getBoolValue("from-flag"));
|
||||
CPPUNIT_ASSERT(!node->getBoolValue("to-flag"));
|
||||
|
||||
// try on the TO side of the station
|
||||
// let's use Perth VOR, but the Australian one to check southern
|
||||
// hemisphere operation
|
||||
node->setDoubleValue("frequencies/selected-mhz", 113.7);
|
||||
node->setDoubleValue("radials/selected-deg", 42.0); // twist is -2.0
|
||||
CPPUNIT_ASSERT(!strcmp("113.70", node->getStringValue("frequencies/selected-mhz-fmt")));
|
||||
|
||||
auto perthVOR = fgpositioned_cast<FGNavRecord>(
|
||||
FGPositioned::findClosestWithIdent("PH", SGGeod::fromDeg(115.95, -31.9), &f));
|
||||
|
||||
SGGeod p = SGGeodesy::direct(perthVOR->geod(), 220.0, 20 * SG_NM_TO_METER); // on the reciprocal radial
|
||||
p.setElevationFt(12000);
|
||||
setPositionAndStabilise(r.get(), p);
|
||||
|
||||
CPPUNIT_ASSERT(!strcmp("PH", node->getStringValue("nav-id")));
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(1.0, node->getDoubleValue("signal-quality-norm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(40.0, node->getDoubleValue("heading-deg"), 0.5);
|
||||
|
||||
// actual radial has twist subtracted
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(222.0, node->getDoubleValue("radials/actual-deg"), 0.01);
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, node->getDoubleValue("heading-needle-deflection"), 0.1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, node->getDoubleValue("heading-needle-deflection-norm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, node->getDoubleValue("crosstrack-error-m"), 50.0);
|
||||
CPPUNIT_ASSERT(!node->getBoolValue("from-flag"));
|
||||
CPPUNIT_ASSERT(node->getBoolValue("to-flag"));
|
||||
|
||||
// off course on the TO side
|
||||
p = SGGeodesy::direct(perthVOR->geod(), 227.0, 100 * SG_NM_TO_METER);
|
||||
p.setElevationFt(18000);
|
||||
setPositionAndStabilise(r.get(), p);
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(1.0, node->getDoubleValue("signal-quality-norm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(47.0, node->getDoubleValue("heading-deg"), 1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(229.0, node->getDoubleValue("radials/actual-deg"), 0.01);
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(7.0, node->getDoubleValue("heading-needle-deflection"), 0.1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.7, node->getDoubleValue("heading-needle-deflection-norm"), 0.01);
|
||||
|
||||
xtkE = sin(7.0 * SG_DEGREES_TO_RADIANS) * 100 * SG_NM_TO_METER;
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(xtkE, node->getDoubleValue("crosstrack-error-m"), 50.0);
|
||||
CPPUNIT_ASSERT(!node->getBoolValue("from-flag"));
|
||||
CPPUNIT_ASSERT(node->getBoolValue("to-flag"));
|
||||
}
|
||||
|
||||
void NavRadioTests::testILSBasic()
|
||||
{
|
||||
// radio setup
|
||||
SGPropertyNode_ptr configNode(new SGPropertyNode);
|
||||
configNode->setStringValue("name", "navtest");
|
||||
configNode->setIntValue("number", 2);
|
||||
std::unique_ptr<FGNavRadio> r(new FGNavRadio(configNode));
|
||||
r->bind();
|
||||
r->init();
|
||||
|
||||
SGPropertyNode_ptr node = globals->get_props()->getNode("instrumentation/navtest[2]");
|
||||
node->setBoolValue("serviceable", true);
|
||||
globals->get_props()->setDoubleValue("systems/electrical/outputs/navtest", 6.0);
|
||||
|
||||
// test basic ILS: KSFO 28L
|
||||
FGPositioned::TypeFilter f{{FGPositioned::VOR, FGPositioned::ILS, FGPositioned::LOC}};
|
||||
FGNavRecordRef ils = fgpositioned_cast<FGNavRecord>(
|
||||
FGPositioned::findClosestWithIdent("ISFO", SGGeod::fromDeg(-112, 37.6), &f));
|
||||
CPPUNIT_ASSERT(ils->type() == FGPositioned::ILS);
|
||||
|
||||
node->setDoubleValue("frequencies/selected-mhz", 109.55);
|
||||
// node->setDoubleValue("radials/selected-deg", 42.0); // twist is -2.0
|
||||
CPPUNIT_ASSERT(!strcmp("109.55", node->getStringValue("frequencies/selected-mhz-fmt")));
|
||||
|
||||
// note we need full precision here, due to ILS sensitivity
|
||||
SGGeod p = SGGeodesy::direct(ils->geod(), 117.932, 10 * SG_NM_TO_METER);
|
||||
p.setElevationFt(2500);
|
||||
setPositionAndStabilise(r.get(), p);
|
||||
|
||||
CPPUNIT_ASSERT(!strcmp("ISFO", node->getStringValue("nav-id")));
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(297.9, node->getDoubleValue("radials/target-radial-deg"), 0.1);
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(1.0, node->getDoubleValue("signal-quality-norm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(297.9, node->getDoubleValue("heading-deg"), 1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(117.932, node->getDoubleValue("radials/actual-deg"), 0.1);
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, node->getDoubleValue("heading-needle-deflection"), 0.1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, node->getDoubleValue("heading-needle-deflection-norm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, node->getDoubleValue("crosstrack-error-m"), 10.0);
|
||||
CPPUNIT_ASSERT(!node->getBoolValue("from-flag"));
|
||||
CPPUNIT_ASSERT(node->getBoolValue("to-flag"));
|
||||
|
||||
// 1 degree offset
|
||||
p = SGGeodesy::direct(ils->geod(), 116.932, 6 * SG_NM_TO_METER);
|
||||
p.setElevationFt(1500);
|
||||
setPositionAndStabilise(r.get(), p);
|
||||
|
||||
const double locWidth = ils->localizerWidth();
|
||||
const double deflectionScale = 20.0 / locWidth; // 20 degrees is full VOR swing (-10 to +10 degrees)
|
||||
|
||||
CPPUNIT_ASSERT(!strcmp("ISFO", node->getStringValue("nav-id")));
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(297.9, node->getDoubleValue("radials/target-radial-deg"), 0.1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(1.0, node->getDoubleValue("signal-quality-norm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(296.9, node->getDoubleValue("heading-deg"), 1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(116.932, node->getDoubleValue("radials/actual-deg"), 0.1);
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(-1.0 * deflectionScale, node->getDoubleValue("heading-needle-deflection"), 0.1);
|
||||
|
||||
double xtkE = sin(-1.0 * SG_DEGREES_TO_RADIANS) * 6.0 * SG_NM_TO_METER;
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(xtkE, node->getDoubleValue("crosstrack-error-m"), 1.0);
|
||||
CPPUNIT_ASSERT(!node->getBoolValue("from-flag"));
|
||||
CPPUNIT_ASSERT(node->getBoolValue("to-flag"));
|
||||
|
||||
|
||||
// test pegged (4 degrees off course)
|
||||
p = SGGeodesy::direct(ils->geod(), 121.932, 3 * SG_NM_TO_METER);
|
||||
p.setElevationFt(600);
|
||||
setPositionAndStabilise(r.get(), p);
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(1.0, node->getDoubleValue("signal-quality-norm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(301.9, node->getDoubleValue("heading-deg"), 1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(121.932, node->getDoubleValue("radials/actual-deg"), 0.1);
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(10.0, node->getDoubleValue("heading-needle-deflection"), 0.1);
|
||||
|
||||
xtkE = sin(4.0 * SG_DEGREES_TO_RADIANS) * 3.0 * SG_NM_TO_METER;
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(xtkE, node->getDoubleValue("crosstrack-error-m"), 1.0);
|
||||
CPPUNIT_ASSERT(!node->getBoolValue("from-flag"));
|
||||
CPPUNIT_ASSERT(node->getBoolValue("to-flag"));
|
||||
|
||||
|
||||
// also check ILS back course
|
||||
// 1 degree offset on the BC
|
||||
p = SGGeodesy::direct(ils->geod(), 298.932, 4 * SG_NM_TO_METER);
|
||||
p.setElevationFt(1500);
|
||||
setPositionAndStabilise(r.get(), p);
|
||||
|
||||
CPPUNIT_ASSERT(!strcmp("ISFO", node->getStringValue("nav-id")));
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(297.9, node->getDoubleValue("radials/target-radial-deg"), 0.1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(1.0, node->getDoubleValue("signal-quality-norm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(118.9, node->getDoubleValue("heading-deg"), 1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(298.932, node->getDoubleValue("radials/actual-deg"), 0.1);
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(-1.0 * deflectionScale, node->getDoubleValue("heading-needle-deflection"), 0.1);
|
||||
|
||||
xtkE = sin(-1.0 * SG_DEGREES_TO_RADIANS) * 4.0 * SG_NM_TO_METER;
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(xtkE, node->getDoubleValue("crosstrack-error-m"), 1.0);
|
||||
|
||||
// these don't change for an ILS
|
||||
CPPUNIT_ASSERT(!node->getBoolValue("from-flag"));
|
||||
CPPUNIT_ASSERT(node->getBoolValue("to-flag"));
|
||||
}
|
||||
|
||||
|
||||
|
||||
void NavRadioTests::testGS()
|
||||
{
|
||||
// radio setup
|
||||
SGPropertyNode_ptr configNode(new SGPropertyNode);
|
||||
configNode->setStringValue("name", "navtest");
|
||||
configNode->setIntValue("number", 2);
|
||||
std::unique_ptr<FGNavRadio> r(new FGNavRadio(configNode));
|
||||
r->bind();
|
||||
r->init();
|
||||
|
||||
SGPropertyNode_ptr node = globals->get_props()->getNode("instrumentation/navtest[2]");
|
||||
node->setBoolValue("serviceable", true);
|
||||
globals->get_props()->setDoubleValue("systems/electrical/outputs/navtest", 6.0);
|
||||
|
||||
// EDDT 28R
|
||||
FGPositioned::TypeFilter f{FGPositioned::GS};
|
||||
FGNavRecordRef gs = fgpositioned_cast<FGNavRecord>(
|
||||
FGPositioned::findClosestWithIdent("ITLW", SGGeod::fromDeg(13, 52), &f));
|
||||
CPPUNIT_ASSERT(gs->type() == FGPositioned::GS);
|
||||
node->setDoubleValue("frequencies/selected-mhz", 110.10);
|
||||
CPPUNIT_ASSERT(!strcmp("110.10", node->getStringValue("frequencies/selected-mhz-fmt")));
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(gs->glideSlopeAngleDeg(), 3.0, 0.001);
|
||||
double gsAngleRad = gs->glideSlopeAngleDeg() * SG_DEGREES_TO_RADIANS;
|
||||
|
||||
/////////////
|
||||
// derive the GS geometry in cartesian vectors, to match what
|
||||
// navradio.cxx does
|
||||
SGGeod aboveGS = gs->geod();
|
||||
aboveGS.setElevationM(gs->geod().getElevationM() + 100.0);
|
||||
SGVec3d gsVerticalAxis = SGVec3d::fromGeod(aboveGS) - gs->cart();
|
||||
// intentionally different approach to what navradio uses
|
||||
|
||||
gsVerticalAxis *= 0.01; // make it per meter, since we used 100m above
|
||||
|
||||
// dervice the baseline
|
||||
SGQuatd baseLineRot = SGQuatd::fromLonLat(gs->geod()) * SGQuatd::fromHeadAttBankDeg(80.828, 0, 0);
|
||||
SGVec3d gsAltAxis = baseLineRot.backTransform(SGVec3d(1.0, 0.0, 0.0));
|
||||
|
||||
const SGVec3d gsCart = gs->cart();
|
||||
|
||||
//////////////////
|
||||
|
||||
SGVec3d radioPos = gsCart;
|
||||
radioPos += (gsVerticalAxis * tan(gsAngleRad) * 8 * SG_NM_TO_METER);
|
||||
radioPos += (gsAltAxis * 8 * SG_NM_TO_METER);
|
||||
|
||||
setPositionAndStabilise(r.get(), SGGeod::fromCart(radioPos));
|
||||
|
||||
CPPUNIT_ASSERT(!strcmp("ITLW", node->getStringValue("nav-id")));
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(1.0, node->getDoubleValue("signal-quality-norm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(3.0, node->getDoubleValue("gs-direct-deg"), 0.1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, node->getDoubleValue("gs-needle-deflection"), 0.1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, node->getDoubleValue("gs-needle-deflection-norm"), 0.01);
|
||||
CPPUNIT_ASSERT(node->getBoolValue("gs-in-range"));
|
||||
|
||||
// 0.5 degree offset above
|
||||
gsAngleRad = (gs->glideSlopeAngleDeg() + 0.5) * SG_DEGREES_TO_RADIANS;
|
||||
radioPos = gsCart;
|
||||
radioPos += (gsVerticalAxis * tan(gsAngleRad) * 4 * SG_NM_TO_METER);
|
||||
radioPos += (gsAltAxis * 4 * SG_NM_TO_METER);
|
||||
|
||||
setPositionAndStabilise(r.get(), SGGeod::fromCart(radioPos));
|
||||
|
||||
CPPUNIT_ASSERT(!strcmp("ITLW", node->getStringValue("nav-id")));
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(1.0, node->getDoubleValue("signal-quality-norm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(3.5, node->getDoubleValue("gs-direct-deg"), 0.1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(-2.5, node->getDoubleValue("gs-needle-deflection"), 0.1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(-0.714, node->getDoubleValue("gs-needle-deflection-norm"), 0.01);
|
||||
CPPUNIT_ASSERT(node->getBoolValue("gs-in-range"));
|
||||
|
||||
// 1 degree below (danger!)
|
||||
gsAngleRad = (gs->glideSlopeAngleDeg() - 1.0) * SG_DEGREES_TO_RADIANS;
|
||||
radioPos = gsCart;
|
||||
radioPos += (gsVerticalAxis * tan(gsAngleRad) * 2 * SG_NM_TO_METER);
|
||||
radioPos += (gsAltAxis * 2 * SG_NM_TO_METER);
|
||||
|
||||
setPositionAndStabilise(r.get(), SGGeod::fromCart(radioPos));
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(1.0, node->getDoubleValue("signal-quality-norm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(2.0, node->getDoubleValue("gs-direct-deg"), 0.1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(3.5, node->getDoubleValue("gs-needle-deflection"), 0.1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(1.0, node->getDoubleValue("gs-needle-deflection-norm"), 0.01);
|
||||
CPPUNIT_ASSERT(node->getBoolValue("gs-in-range"));
|
||||
|
||||
// false course above, reversed
|
||||
gsAngleRad = (gs->glideSlopeAngleDeg() + 3.0) * SG_DEGREES_TO_RADIANS;
|
||||
radioPos = gsCart;
|
||||
radioPos += (gsVerticalAxis * tan(gsAngleRad) * 5 * SG_NM_TO_METER);
|
||||
radioPos += (gsAltAxis * 5 * SG_NM_TO_METER);
|
||||
|
||||
setPositionAndStabilise(r.get(), SGGeod::fromCart(radioPos));
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(1.0, node->getDoubleValue("signal-quality-norm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(6.0, node->getDoubleValue("gs-direct-deg"), 0.1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, node->getDoubleValue("gs-needle-deflection"), 0.1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, node->getDoubleValue("gs-needle-deflection-norm"), 0.01);
|
||||
CPPUNIT_ASSERT(node->getBoolValue("gs-in-range"));
|
||||
|
||||
// false course above, reversed, 0.35 offset below
|
||||
gsAngleRad = (gs->glideSlopeAngleDeg() + 2.65) * SG_DEGREES_TO_RADIANS;
|
||||
radioPos = gsCart;
|
||||
radioPos += (gsVerticalAxis * tan(gsAngleRad) * 3 * SG_NM_TO_METER);
|
||||
radioPos += (gsAltAxis * 3 * SG_NM_TO_METER);
|
||||
|
||||
setPositionAndStabilise(r.get(), SGGeod::fromCart(radioPos));
|
||||
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(1.0, node->getDoubleValue("signal-quality-norm"), 0.01);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(5.65, node->getDoubleValue("gs-direct-deg"), 0.1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(-1.75, node->getDoubleValue("gs-needle-deflection"), 0.1);
|
||||
CPPUNIT_ASSERT_DOUBLES_EQUAL(-0.5, node->getDoubleValue("gs-needle-deflection-norm"), 0.01);
|
||||
CPPUNIT_ASSERT(node->getBoolValue("gs-in-range"));
|
||||
}
|
||||
|
||||
void NavRadioTests::testILSFalseCourse()
|
||||
{
|
||||
|
||||
// also GS false lobes
|
||||
}
|
||||
|
||||
void NavRadioTests::testILSPaired()
|
||||
{
|
||||
// EGPH and countless more
|
||||
}
|
||||
|
||||
void NavRadioTests::testILSAdjacentPaired()
|
||||
{
|
||||
// eg KJFK
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
|
|
|
|||
|
|
@ -44,6 +44,8 @@ class GPSTests : public CppUnit::TestFixture
|
|||
CPPUNIT_TEST(testDirectTo);
|
||||
CPPUNIT_TEST(testLegMode);
|
||||
CPPUNIT_TEST(testDirectToLegOnFlightplan);
|
||||
CPPUNIT_TEST(testLongLeg);
|
||||
CPPUNIT_TEST(testLongLegWestbound);
|
||||
|
||||
CPPUNIT_TEST_SUITE_END();
|
||||
|
||||
|
|
@ -68,6 +70,8 @@ public:
|
|||
void testDirectTo();
|
||||
void testLegMode();
|
||||
void testDirectToLegOnFlightplan();
|
||||
void testLongLeg();
|
||||
void testLongLegWestbound();
|
||||
};
|
||||
|
||||
#endif // _FG_GPS_UNIT_TESTS_HXX
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue