/****************************************************************************** * AIFlightPlanCreate.cxx * Written by Durk Talsma, started May, 2004. * * This program is free software; you can redistribute it and/or * modify it under the terms of the GNU General Public License as * published by the Free Software Foundation; either version 2 of the * License, or (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. * **************************************************************************/ #ifdef HAVE_CONFIG_H # include #endif #include "AIFlightPlan.hxx" #include #include #include #include #include #include #include "AIAircraft.hxx" #include "performancedata.hxx" #include #include /* FGAIFlightPlan::create() * dynamically create a flight plan for AI traffic, based on data provided by the * Traffic Manager, when reading a filed flightplan failes. (DT, 2004/07/10) * * This is the top-level function, and the only one that is publicly available. * */ // Check lat/lon values during initialization; bool FGAIFlightPlan::create(FGAIAircraft * ac, FGAirport * dep, FGAirport * arr, int legNr, double alt, double speed, double latitude, double longitude, bool firstFlight, double radius, const string & fltType, const string & aircraftType, const string & airline, double distance) { bool retVal = true; int currWpt = wpt_iterator - waypoints.begin(); switch (legNr) { case 1: retVal = createPushBack(ac, firstFlight, dep, latitude, longitude, radius, fltType, aircraftType, airline); break; case 2: retVal = createTakeoffTaxi(ac, firstFlight, dep, radius, fltType, aircraftType, airline); break; case 3: retVal = createTakeOff(ac, firstFlight, dep, speed, fltType); break; case 4: retVal = createClimb(ac, firstFlight, dep, speed, alt, fltType); break; case 5: retVal = createCruise(ac, firstFlight, dep, arr, latitude, longitude, speed, alt, fltType); break; case 6: retVal = createDescent(ac, arr, latitude, longitude, speed, alt, fltType, distance); break; case 7: retVal = createLanding(ac, arr, fltType); break; case 8: retVal = createLandingTaxi(ac, arr, radius, fltType, aircraftType, airline); break; case 9: retVal = createParking(ac, arr, radius); break; default: //exit(1); SG_LOG(SG_INPUT, SG_ALERT, "AIFlightPlan::create() attempting to create unknown leg" " this is probably an internal program error"); } wpt_iterator = waypoints.begin() + currWpt; leg++; return retVal; } FGAIFlightPlan::waypoint * FGAIFlightPlan::createOnGround(FGAIAircraft * ac, const std::string & aName, const SGGeod & aPos, double aElev, double aSpeed) { waypoint *wpt = new waypoint; wpt->name = aName; wpt->longitude = aPos.getLongitudeDeg(); wpt->latitude = aPos.getLatitudeDeg(); wpt->altitude = aElev; wpt->speed = aSpeed; wpt->crossat = -10000.1; wpt->gear_down = true; wpt->flaps_down = true; wpt->finished = false; wpt->on_ground = true; wpt->routeIndex = 0; return wpt; } FGAIFlightPlan::waypoint * FGAIFlightPlan::createInAir(FGAIAircraft * ac, const std::string & aName, const SGGeod & aPos, double aElev, double aSpeed) { waypoint *wpt = new waypoint; wpt->name = aName; wpt->longitude = aPos.getLongitudeDeg(); wpt->latitude = aPos.getLatitudeDeg(); wpt->altitude = aElev; wpt->speed = aSpeed; wpt->crossat = -10000.1; wpt->gear_down = false; wpt->flaps_down = false; wpt->finished = false; wpt->on_ground = false; wpt->routeIndex = 0; return wpt; } FGAIFlightPlan::waypoint * FGAIFlightPlan::cloneWithPos(FGAIAircraft * ac, waypoint * aWpt, const std::string & aName, const SGGeod & aPos) { waypoint *wpt = new waypoint; wpt->name = aName; wpt->longitude = aPos.getLongitudeDeg(); wpt->latitude = aPos.getLatitudeDeg(); wpt->altitude = aWpt->altitude; wpt->speed = aWpt->speed; wpt->crossat = aWpt->crossat; wpt->gear_down = aWpt->gear_down; wpt->flaps_down = aWpt->flaps_down; wpt->finished = aWpt->finished; wpt->on_ground = aWpt->on_ground; wpt->routeIndex = 0; return wpt; } FGAIFlightPlan::waypoint * FGAIFlightPlan::clone(waypoint * aWpt) { waypoint *wpt = new waypoint; wpt->name = aWpt->name; wpt->longitude = aWpt->longitude; wpt->latitude = aWpt->latitude; wpt->altitude = aWpt->altitude; wpt->speed = aWpt->speed; wpt->crossat = aWpt->crossat; wpt->gear_down = aWpt->gear_down; wpt->flaps_down = aWpt->flaps_down; wpt->finished = aWpt->finished; wpt->on_ground = aWpt->on_ground; wpt->routeIndex = 0; return wpt; } void FGAIFlightPlan::createDefaultTakeoffTaxi(FGAIAircraft * ac, FGAirport * aAirport, FGRunway * aRunway) { SGGeod runwayTakeoff = aRunway->pointOnCenterline(5.0); double airportElev = aAirport->getElevation(); waypoint *wpt; wpt = createOnGround(ac, "Airport Center", aAirport->geod(), airportElev, ac->getPerformance()->vTaxi()); waypoints.push_back(wpt); wpt = createOnGround(ac, "Runway Takeoff", runwayTakeoff, airportElev, ac->getPerformance()->vTaxi()); waypoints.push_back(wpt); } bool FGAIFlightPlan::createTakeoffTaxi(FGAIAircraft * ac, bool firstFlight, FGAirport * apt, double radius, const string & fltType, const string & acType, const string & airline) { double heading, lat, lon; // If this function is called during initialization, // make sure we obtain a valid gate ID first // and place the model at the location of the gate. if (firstFlight) { if (!(apt->getDynamics()->getAvailableParking(&lat, &lon, &heading, &gateId, radius, fltType, acType, airline))) { SG_LOG(SG_INPUT, SG_WARN, "Could not find parking for a " << acType << " of flight type " << fltType << " of airline " << airline << " at airport " << apt->getId()); } } string rwyClass = getRunwayClassFromTrafficType(fltType); // Only set this if it hasn't been set by ATC already. if (activeRunway.empty()) { //cerr << "Getting runway for " << ac->getTrafficRef()->getCallSign() << " at " << apt->getId() << endl; double depHeading = ac->getTrafficRef()->getCourse(); apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway, depHeading); } rwy = apt->getRunwayByIdent(activeRunway); SGGeod runwayTakeoff = rwy->pointOnCenterline(5.0); FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork(); if (!gn->exists()) { createDefaultTakeoffTaxi(ac, apt, rwy); return true; } intVec ids; int runwayId = gn->findNearestNode(runwayTakeoff); // A negative gateId indicates an overflow parking, use a // fallback mechanism for this. // Starting from gate 0 in this case is a bit of a hack // which requires a more proper solution later on. delete taxiRoute; taxiRoute = new FGTaxiRoute; // Determine which node to start from. int node = 0; // Find out which node to start from FGParking *park = apt->getDynamics()->getParking(gateId); if (park) { node = park->getPushBackPoint(); } if (node == -1) { node = gateId; } // HAndle case where parking doens't have a node if ((node == 0) && park) { if (firstFlight) { node = gateId; } else { node = lastNodeVisited; } } *taxiRoute = gn->findShortestRoute(node, runwayId); intVecIterator i; if (taxiRoute->empty()) { createDefaultTakeoffTaxi(ac, apt, rwy); return true; } taxiRoute->first(); //bool isPushBackPoint = false; if (firstFlight) { // If this is called during initialization, randomly // skip a number of waypoints to get a more realistic // taxi situation. int nrWaypointsToSkip = rand() % taxiRoute->size(); // but make sure we always keep two active waypoints // to prevent a segmentation fault for (int i = 0; i < nrWaypointsToSkip - 3; i++) { taxiRoute->next(&node); } apt->getDynamics()->releaseParking(gateId); } else { if (taxiRoute->size() > 1) { taxiRoute->next(&node); // chop off the first waypoint, because that is already the last of the pushback route } } // push each node on the taxi route as a waypoint int route; while (taxiRoute->next(&node, &route)) { char buffer[10]; snprintf(buffer, 10, "%d", node); FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node); waypoint *wpt = createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(), ac->getPerformance()->vTaxi()); wpt->routeIndex = route; waypoints.push_back(wpt); } return true; } void FGAIFlightPlan::createDefaultLandingTaxi(FGAIAircraft * ac, FGAirport * aAirport) { SGGeod lastWptPos = SGGeod::fromDeg(waypoints.back()->longitude, waypoints.back()->latitude); double airportElev = aAirport->getElevation(); waypoint *wpt; wpt = createOnGround(ac, "Runway Exit", lastWptPos, airportElev, ac->getPerformance()->vTaxi()); waypoints.push_back(wpt); wpt = createOnGround(ac, "Airport Center", aAirport->geod(), airportElev, ac->getPerformance()->vTaxi()); waypoints.push_back(wpt); double heading, lat, lon; aAirport->getDynamics()->getParking(gateId, &lat, &lon, &heading); wpt = createOnGround(ac, "END", SGGeod::fromDeg(lon, lat), airportElev, ac->getPerformance()->vTaxi()); waypoints.push_back(wpt); } bool FGAIFlightPlan::createLandingTaxi(FGAIAircraft * ac, FGAirport * apt, double radius, const string & fltType, const string & acType, const string & airline) { double heading, lat, lon; apt->getDynamics()->getAvailableParking(&lat, &lon, &heading, &gateId, radius, fltType, acType, airline); SGGeod lastWptPos = SGGeod::fromDeg(waypoints.back()->longitude, waypoints.back()->latitude); FGGroundNetwork *gn = apt->getDynamics()->getGroundNetwork(); // Find a route from runway end to parking/gate. if (!gn->exists()) { createDefaultLandingTaxi(ac, apt); return true; } intVec ids; int runwayId = gn->findNearestNode(lastWptPos); // A negative gateId indicates an overflow parking, use a // fallback mechanism for this. // Starting from gate 0 is a bit of a hack... //FGTaxiRoute route; delete taxiRoute; taxiRoute = new FGTaxiRoute; if (gateId >= 0) *taxiRoute = gn->findShortestRoute(runwayId, gateId); else *taxiRoute = gn->findShortestRoute(runwayId, 0); intVecIterator i; if (taxiRoute->empty()) { createDefaultLandingTaxi(ac, apt); return true; } int node; taxiRoute->first(); int size = taxiRoute->size(); // Omit the last two waypoints, as // those are created by createParking() int route; for (int i = 0; i < size - 2; i++) { taxiRoute->next(&node, &route); char buffer[10]; snprintf(buffer, 10, "%d", node); FGTaxiNode *tn = gn->findNode(node); waypoint *wpt = createOnGround(ac, buffer, tn->getGeod(), apt->getElevation(), ac->getPerformance()->vTaxi()); wpt->routeIndex = route; waypoints.push_back(wpt); } return true; } /******************************************************************* * CreateTakeOff * A note on units: * - Speed -> knots -> nm/hour * - distance along runway =-> meters * - accel / decel -> is given as knots/hour, but this is highly questionable: * for a jet_transport performance class, a accel / decel rate of 5 / 2 is * given respectively. According to performance data.cxx, a value of kts / second seems * more likely however. * ******************************************************************/ bool FGAIFlightPlan::createTakeOff(FGAIAircraft * ac, bool firstFlight, FGAirport * apt, double speed, const string & fltType) { double accel = ac->getPerformance()->acceleration(); double vTaxi = ac->getPerformance()->vTaxi(); double vRotate = ac->getPerformance()->vRotate(); double vTakeoff = ac->getPerformance()->vTakeoff(); //double vClimb = ac->getPerformance()->vClimb(); double accelMetric = (accel * SG_NM_TO_METER) / 3600; double vTaxiMetric = (vTaxi * SG_NM_TO_METER) / 3600; double vRotateMetric = (vRotate * SG_NM_TO_METER) / 3600; double vTakeoffMetric = (vTakeoff * SG_NM_TO_METER) / 3600; //double vClimbMetric = (vClimb * SG_NM_TO_METER) / 3600; // Acceleration = dV / dT // Acceleration X dT = dV // dT = dT / Acceleration //d = (Vf^2 - Vo^2) / (2*a) //double accelTime = (vRotate - vTaxi) / accel; //cerr << "Using " << accelTime << " as total acceleration time" << endl; double accelDistance = (vRotateMetric * vRotateMetric - vTaxiMetric * vTaxiMetric) / (2 * accelMetric); //cerr << "Using " << accelDistance << " " << accelMetric << " " << vRotateMetric << endl; waypoint *wpt; // Get the current active runway, based on code from David Luff // This should actually be unified and extended to include // Preferential runway use schema's // NOTE: DT (2009-01-18: IIRC, this is currently already the case, // because the getActive runway function takes care of that. if (firstFlight) { string rwyClass = getRunwayClassFromTrafficType(fltType); double heading = ac->getTrafficRef()->getCourse(); apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway, heading); } rwy = apt->getRunwayByIdent(activeRunway); double airportElev = apt->getElevation(); // Acceleration point, 105 meters into the runway, SGGeod accelPoint = rwy->pointOnCenterline(105.0); wpt = createOnGround(ac, "accel", accelPoint, airportElev, vRotate); waypoints.push_back(wpt); accelDistance = (vTakeoffMetric * vTakeoffMetric - vTaxiMetric * vTaxiMetric) / (2 * accelMetric); //cerr << "Using " << accelDistance << " " << accelMetric << " " << vTakeoffMetric << endl; accelPoint = rwy->pointOnCenterline(105.0 + accelDistance); wpt = createOnGround(ac, "rotate", accelPoint, airportElev, vTakeoff); waypoints.push_back(wpt); accelDistance = ((vTakeoffMetric * 1.1) * (vTakeoffMetric * 1.1) - vTaxiMetric * vTaxiMetric) / (2 * accelMetric); //cerr << "Using " << accelDistance << " " << accelMetric << " " << vTakeoffMetric << endl; accelPoint = rwy->pointOnCenterline(105.0 + accelDistance); wpt = createOnGround(ac, "rotate", accelPoint, airportElev + 1000, vTakeoff * 1.1); wpt->on_ground = false; waypoints.push_back(wpt); wpt = cloneWithPos(ac, wpt, "3000 ft", rwy->end()); wpt->altitude = airportElev + 3000; waypoints.push_back(wpt); // Finally, add two more waypoints, so that aircraft will remain under // Tower control until they have reached the 3000 ft climb point SGGeod pt = rwy->pointOnCenterline(5000 + rwy->lengthM() * 0.5); wpt = cloneWithPos(ac, wpt, "5000 ft", pt); wpt->altitude = airportElev + 5000; waypoints.push_back(wpt); return true; } /******************************************************************* * CreateClimb * initialize the Aircraft at the parking location ******************************************************************/ bool FGAIFlightPlan::createClimb(FGAIAircraft * ac, bool firstFlight, FGAirport * apt, double speed, double alt, const string & fltType) { waypoint *wpt; // bool planLoaded = false; string fPLName; double vClimb = ac->getPerformance()->vClimb(); if (firstFlight) { string rwyClass = getRunwayClassFromTrafficType(fltType); double heading = ac->getTrafficRef()->getCourse(); apt->getDynamics()->getActiveRunway(rwyClass, 1, activeRunway, heading); rwy = apt->getRunwayByIdent(activeRunway); } if (sid) { for (wpt_vector_iterator i = sid->getFirstWayPoint(); i != sid->getLastWayPoint(); i++) { waypoints.push_back(clone(*(i))); //cerr << " Cloning waypoint " << endl; } } else { SGGeod climb1 = rwy->pointOnCenterline(10 * SG_NM_TO_METER); wpt = createInAir(ac, "10000ft climb", climb1, vClimb, 10000); wpt->gear_down = true; wpt->flaps_down = true; waypoints.push_back(wpt); SGGeod climb2 = rwy->pointOnCenterline(20 * SG_NM_TO_METER); wpt = cloneWithPos(ac, wpt, "18000ft climb", climb2); wpt->altitude = 18000; waypoints.push_back(wpt); } return true; } /******************************************************************* * CreateDescent * Generate a flight path from the last waypoint of the cruise to * the permission to land point ******************************************************************/ bool FGAIFlightPlan::createDescent(FGAIAircraft * ac, FGAirport * apt, double latitude, double longitude, double speed, double alt, const string & fltType, double requiredDistance) { bool reposition = false; waypoint *wpt; double vDescent = ac->getPerformance()->vDescent(); double vApproach = ac->getPerformance()->vApproach(); //Beginning of Descent string rwyClass = getRunwayClassFromTrafficType(fltType); double heading = ac->getTrafficRef()->getCourse(); apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway, heading); rwy = apt->getRunwayByIdent(activeRunway); // Create a slow descent path that ends 250 lateral to the runway. double initialTurnRadius = getTurnRadius(vDescent, true); //double finalTurnRadius = getTurnRadius(vApproach, true); // get length of the downwind leg for the intended runway double distanceOut = apt->getDynamics()->getApproachController()->getRunway(rwy->name())->getApproachDistance(); //12 * SG_NM_TO_METER; //time_t previousArrivalTime= apt->getDynamics()->getApproachController()->getRunway(rwy->name())->getEstApproachTime(); SGGeod current = SGGeod::fromDegM(longitude, latitude, 0); SGGeod initialTarget = rwy->pointOnCenterline(-distanceOut); SGGeod refPoint = rwy->pointOnCenterline(0); double distance = SGGeodesy::distanceM(current, initialTarget); double azimuth = SGGeodesy::courseDeg(current, initialTarget); double dummyAz2; // To prevent absurdly steep approaches, compute the origin from where the approach should have started SGGeod origin; if (ac->getTrafficRef()->getCallSign() == fgGetString("/ai/track-callsign")) { //cerr << "Reposition information: Actual distance " << distance << ". required distance " << requiredDistance << endl; //exit(1); } if (distance < requiredDistance * 0.8) { reposition = true; SGGeodesy::direct(initialTarget, azimuth, -requiredDistance, origin, dummyAz2); distance = SGGeodesy::distanceM(current, initialTarget); azimuth = SGGeodesy::courseDeg(current, initialTarget); } else { origin = current; } double dAlt = alt - (apt->getElevation() + 2000); double nPoints = 100; char buffer[16]; // The descent path contains the following phases: // 1) a linear glide path from the initial position to // 2) a semi circle turn to final // 3) approach //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; 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; double side = azimuth - rwy->headingDeg(); double lateralOffset = initialTurnRadius; if (side < 0) side += 360; if (side < 180) { lateralOffset *= -1; } // 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); time_t now = time(NULL) + fgGetLong("/sim/time/warp"); //if (ac->getTrafficRef()->getCallSign() == fgGetString("/ai/track-callsign")) { // cerr << " Arrival time estimation: turn angle " << side << ". Turn distance " << turnDistance << ". Linear distance " << distance << ". Time to go " << remaining << endl; // //exit(1); //} time_t eta = now + remaining; //choose a distance to the runway such that it will take at least 60 seconds more // time to get there than the previous aircraft. // Don't bother when aircraft need to be repositioned, because that marks the initialization phased... time_t newEta; if (reposition == false) { newEta = apt->getDynamics()->getApproachController()->getRunway(rwy-> name ())-> requestTimeSlot(eta); } else { newEta = eta; } //if ((eta < (previousArrivalTime+60)) && (reposition == false)) { arrivalTime = newEta; time_t additionalTimeNeeded = newEta - eta; double distanceCovered = ((vApproach * SG_NM_TO_METER) / 3600.0) * additionalTimeNeeded; distanceOut += distanceCovered; //apt->getDynamics()->getApproachController()->getRunway(rwy->name())->setEstApproachTime(eta+additionalTimeNeeded); //cerr << "Adding additional distance: " << distanceCovered << " to allow " << additionalTimeNeeded << " seconds of flying time" << endl << endl; //} else { //apt->getDynamics()->getApproachController()->getRunway(rwy->name())->setEstApproachTime(eta); //} //cerr << "Timing information : Previous eta: " << previousArrivalTime << ". Current ETA : " << eta << endl; SGGeod secondaryTarget = rwy->pointOffCenterline(-distanceOut, lateralOffset); initialTarget = rwy->pointOnCenterline(-distanceOut); distance = SGGeodesy::distanceM(origin, secondaryTarget); azimuth = SGGeodesy::courseDeg(origin, secondaryTarget); lat = secondaryTarget.getLatitudeDeg(); lon = secondaryTarget.getLongitudeDeg(); //cerr << "Secondary Target point (" << lat << ", " << lon << ")." << endl; //cerr << "Distance : " << distance << endl; //cerr << "Azimuth : " << azimuth << endl; ratio = initialTurnRadius / distance; if (ratio > 1.0) ratio = 1.0; if (ratio < -1.0) ratio = -1.0; newHeading = asin(ratio) * SG_RADIANS_TO_DEGREES; 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; for (int i = 1; i < nPoints; i++) { SGGeod result; double currentDist = i * (newDistance / nPoints); double currentAltitude = alt - (i * (dAlt / nPoints)); SGGeodesy::direct(origin, azimuth, currentDist, result, dummyAz2); snprintf(buffer, 16, "descent%03d", i); wpt = createInAir(ac, buffer, result, currentAltitude, vDescent); wpt->crossat = currentAltitude; wpt->trackLength = (newDistance / nPoints); waypoints.push_back(wpt); //cerr << "Track Length : " << wpt->trackLength; //cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << 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 = -1; startval = floor(initialAzimuth); endval = ceil(finalAzimuth); if (endval > startval) { endval -= 360; } } else { increment = 1; startval = ceil(initialAzimuth); endval = floor(finalAzimuth); if (endval < startval) { endval += 360; } } //cerr << "creating circle between " << startval << " and " << endval << " using " << increment << endl; double trackLength = (2 * M_PI * initialTurnRadius) / 360.0; for (int i = startval; i != endval; i += increment) { SGGeod result; double currentAltitude = apt->getElevation() + 2000; SGGeodesy::direct(secondaryTarget, i, initialTurnRadius, result, dummyAz2); snprintf(buffer, 16, "turn%03d", i); wpt = createInAir(ac, buffer, result, currentAltitude, vDescent); wpt->crossat = currentAltitude; wpt->trackLength = trackLength; //cerr << "Track Length : " << wpt->trackLength; waypoints.push_back(wpt); //cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << endl; } // The approach leg should bring the aircraft to approximately 4-6 out, after which the landing phase should take over. //cerr << "Phase 3: Approach" << endl; distanceOut -= distanceCovered; for (int i = 1; i < nPoints; i++) { SGGeod result; double currentDist = i * (distanceOut / nPoints); double currentAltitude = apt->getElevation() + 2000 - (i * 2000 / nPoints); snprintf(buffer, 16, "final%03d", i); result = rwy->pointOnCenterline((-distanceOut) + currentDist); wpt = createInAir(ac, buffer, result, currentAltitude, vApproach); wpt->crossat = currentAltitude; wpt->trackLength = (distanceOut / nPoints); // account for the extra distance due to an extended downwind leg if (i == 1) { wpt->trackLength += distanceCovered; } //cerr << "Track Length : " << wpt->trackLength; waypoints.push_back(wpt); //cerr << " Position : " << result.getLatitudeDeg() << " " << result.getLongitudeDeg() << " " << currentAltitude << 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; //double minDistance = HUGE_VAL; string wptName; tempDistance = SGGeodesy::distanceM(current, initialTarget); time_t eta = tempDistance / ((vDescent * SG_NM_TO_METER) / 3600.0) + now; time_t newEta = apt->getDynamics()->getApproachController()->getRunway(rwy-> name ())-> requestTimeSlot(eta); arrivalTime = newEta; double newDistance = ((vDescent * SG_NM_TO_METER) / 3600.0) * (newEta - now); //cerr << "Repositioning information : eta" << eta << ". New ETA " << newEta << ". Diff = " << (newEta - eta) << ". Distance = " << tempDistance << ". New distance = " << newDistance << endl; IncrementWaypoint(true); // remove waypoint BOD2 while (checkTrackLength("final001") > newDistance) { IncrementWaypoint(true); } //cerr << "Repositioning to waypoint " << (*waypoints.begin())->name << endl; ac->resetPositionFromFlightPlan(); } return true; } /******************************************************************* * CreateLanding * Create a flight path from the "permision to land" point (currently hardcoded at 5000 meters from the threshold) to the threshold, at a standard glide slope angle of 3 degrees. ******************************************************************/ bool FGAIFlightPlan::createLanding(FGAIAircraft * ac, FGAirport * apt, const string & fltType) { double vTouchdown = ac->getPerformance()->vTouchdown(); //double vTaxi = ac->getPerformance()->vTaxi(); //string rwyClass = getRunwayClassFromTrafficType(fltType); //double heading = ac->getTrafficRef()->getCourse(); //apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway, heading); //rwy = apt->getRunwayByIdent(activeRunway); waypoint *wpt; double aptElev = apt->getElevation(); SGGeod coord; char buffer[12]; for (int i = 1; i < 10; i++) { snprintf(buffer, 12, "wpt%d", i); coord = rwy->pointOnCenterline(rwy->lengthM() * (i / 10.0)); wpt = createOnGround(ac, buffer, coord, aptElev, (vTouchdown / i)); wpt->crossat = apt->getElevation(); waypoints.push_back(wpt); } /* //Runway Threshold wpt = createOnGround(ac, "Threshold", rwy->threshold(), aptElev, vTouchdown); wpt->crossat = apt->getElevation(); waypoints.push_back(wpt); // Roll-out wpt = createOnGround(ac, "Center", rwy->geod(), aptElev, vTaxi*2); waypoints.push_back(wpt); SGGeod rollOut = rwy->pointOnCenterline(rwy->lengthM() * 0.9); wpt = createOnGround(ac, "Roll Out", rollOut, aptElev, vTaxi); wpt->crossat = apt->getElevation(); waypoints.push_back(wpt); */ return true; } /******************************************************************* * CreateParking * initialize the Aircraft at the parking location ******************************************************************/ bool FGAIFlightPlan::createParking(FGAIAircraft * ac, FGAirport * apt, double radius) { waypoint *wpt; double aptElev = apt->getElevation(); double lat = 0.0, lat2 = 0.0; double lon = 0.0, lon2 = 0.0; double az2 = 0.0; double heading = 0.0; double vTaxi = ac->getPerformance()->vTaxi(); double vTaxiReduced = vTaxi * (2.0 / 3.0); apt->getDynamics()->getParking(gateId, &lat, &lon, &heading); heading += 180.0; if (heading > 360) heading -= 360; geo_direct_wgs_84(0, lat, lon, heading, 2.2 * radius, &lat2, &lon2, &az2); wpt = createOnGround(ac, "taxiStart", SGGeod::fromDeg(lon2, lat2), aptElev, vTaxiReduced); waypoints.push_back(wpt); geo_direct_wgs_84(0, lat, lon, heading, 0.1 * radius, &lat2, &lon2, &az2); wpt = createOnGround(ac, "taxiStart2", SGGeod::fromDeg(lon2, lat2), aptElev, vTaxiReduced); waypoints.push_back(wpt); wpt = createOnGround(ac, "END", SGGeod::fromDeg(lon, lat), aptElev, vTaxiReduced); waypoints.push_back(wpt); return true; } /** * * @param fltType a string describing the type of * traffic, normally used for gate assignments * @return a converted string that gives the runway * preference schedule to be used at aircraft having * a preferential runway schedule implemented (i.e. * having a rwyprefs.xml file * * Currently valid traffic types for gate assignment: * - gate (commercial gate) * - cargo (commercial gargo), * - ga (general aviation) , * - ul (ultralight), * - mil-fighter (military - fighter), * - mil-transport (military - transport) * * Valid runway classes: * - com (commercial traffic: jetliners, passenger and cargo) * - gen (general aviation) * - ul (ultralight: I can imagine that these may share a runway with ga on some airports) * - mil (all military traffic) */ string FGAIFlightPlan::getRunwayClassFromTrafficType(string fltType) { if ((fltType == "gate") || (fltType == "cargo")) { return string("com"); } if (fltType == "ga") { return string("gen"); } if (fltType == "ul") { return string("ul"); } if ((fltType == "mil-fighter") || (fltType == "mil-transport")) { return string("mil"); } return string("com"); } double FGAIFlightPlan::getTurnRadius(double speed, bool inAir) { double turn_radius; if (inAir == false) { turn_radius = ((360 / 30) * fabs(speed)) / (2 * M_PI); } else { turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank } return turn_radius; }