// navradio.cxx -- class to manage a nav radio instance
//
// Written by Curtis Olson, started April 2000.
//
// Copyright (C) 2000 - 2002 Curtis L. Olson - http://www.flightgear.org/~curt
//
// 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.
//
// $Id$
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <iostream>
#include <string>
#include <sstream>
#include <simgear/compiler.h>
#include <simgear/sg_inlines.h>
#include <simgear/math/sg_random.h>
#include <simgear/math/vector.hxx>
#include <Aircraft/aircraft.hxx>
#include <Navaids/navlist.hxx>
#include "navradio.hxx"
#include <string>
SG_USING_STD(string);
// Constructor
FGNavRadio::FGNavRadio(SGPropertyNode *node) :
lon_node(fgGetNode("/position/longitude-deg", true)),
lat_node(fgGetNode("/position/latitude-deg", true)),
alt_node(fgGetNode("/position/altitude-ft", true)),
is_valid_node(NULL),
power_btn_node(NULL),
freq_node(NULL),
alt_freq_node(NULL),
fmt_freq_node(NULL),
fmt_alt_freq_node(NULL),
sel_radial_node(NULL),
vol_btn_node(NULL),
ident_btn_node(NULL),
audio_btn_node(NULL),
nav_serviceable_node(NULL),
cdi_serviceable_node(NULL),
gs_serviceable_node(NULL),
tofrom_serviceable_node(NULL),
heading_node(NULL),
radial_node(NULL),
recip_radial_node(NULL),
target_radial_true_node(NULL),
target_auto_hdg_node(NULL),
time_to_intercept(NULL),
to_flag_node(NULL),
from_flag_node(NULL),
inrange_node(NULL),
cdi_deflection_node(NULL),
cdi_xtrack_error_node(NULL),
cdi_xtrack_hdg_err_node(NULL),
has_gs_node(NULL),
loc_node(NULL),
loc_dist_node(NULL),
gs_deflection_node(NULL),
gs_rate_of_climb_node(NULL),
gs_dist_node(NULL),
nav_id_node(NULL),
id_c1_node(NULL),
id_c2_node(NULL),
id_c3_node(NULL),
id_c4_node(NULL),
nav_slaved_to_gps_node(NULL),
gps_cdi_deflection_node(NULL),
gps_to_flag_node(NULL),
gps_from_flag_node(NULL),
last_nav_id(""),
last_nav_vor(false),
play_count(0),
last_time(0),
radial(0.0),
target_radial(0.0),
horiz_vel(0.0),
last_x(0.0),
last_loc_dist(0.0),
last_xtrack_error(0.0),
name("nav"),
num(0),
_time_before_search_sec(-1.0)
{
SGPath path( globals->get_fg_root() );
SGPath term = path;
term.append( "Navaids/range.term" );
SGPath low = path;
low.append( "Navaids/range.low" );
SGPath high = path;
high.append( "Navaids/range.high" );
term_tbl = new SGInterpTable( term.str() );
low_tbl = new SGInterpTable( low.str() );
high_tbl = new SGInterpTable( high.str() );
int i;
for ( i = 0; i < node->nChildren(); ++i ) {
SGPropertyNode *child = node->getChild(i);
string cname = child->getName();
string cval = child->getStringValue();
if ( cname == "name" ) {
name = cval;
} else if ( cname == "number" ) {
num = child->getIntValue();
} else {
SG_LOG( SG_INSTR, SG_WARN,
"Error in nav radio config logic" );
if ( name.length() ) {
SG_LOG( SG_INSTR, SG_WARN, "Section = " << name );
}
}
}
}
// Destructor
FGNavRadio::~FGNavRadio()
{
delete term_tbl;
delete low_tbl;
delete high_tbl;
}
void
FGNavRadio::init ()
{
morse.init();
string branch;
branch = "/instrumentation/" + name;
SGPropertyNode *node = fgGetNode(branch.c_str(), num, true );
bus_power_node =
fgGetNode(("/systems/electrical/outputs/" + name).c_str(), true);
// inputs
is_valid_node = node->getChild("data-is-valid", 0, true);
power_btn_node = node->getChild("power-btn", 0, true);
power_btn_node->setBoolValue( true );
vol_btn_node = node->getChild("volume", 0, true);
ident_btn_node = node->getChild("ident", 0, true);
ident_btn_node->setBoolValue( true );
audio_btn_node = node->getChild("audio-btn", 0, true);
audio_btn_node->setBoolValue( true );
nav_serviceable_node = node->getChild("serviceable", 0, true);
cdi_serviceable_node = (node->getChild("cdi", 0, true))
->getChild("serviceable", 0, true);
gs_serviceable_node = (node->getChild("gs", 0, true))
->getChild("serviceable");
tofrom_serviceable_node = (node->getChild("to-from", 0, true))
->getChild("serviceable", 0, true);
// frequencies
SGPropertyNode *subnode = node->getChild("frequencies", 0, true);
freq_node = subnode->getChild("selected-mhz", 0, true);
alt_freq_node = subnode->getChild("standby-mhz", 0, true);
fmt_freq_node = subnode->getChild("selected-mhz-fmt", 0, true);
fmt_alt_freq_node = subnode->getChild("standby-mhz-fmt", 0, true);
// radials
subnode = node->getChild("radials", 0, true);
sel_radial_node = subnode->getChild("selected-deg", 0, true);
radial_node = subnode->getChild("actual-deg", 0, true);
recip_radial_node = subnode->getChild("reciprocal-radial-deg", 0, true);
target_radial_true_node = subnode->getChild("target-radial-deg", 0, true);
target_auto_hdg_node = subnode->getChild("target-auto-hdg-deg", 0, true);
// outputs
heading_node = node->getChild("heading-deg", 0, true);
time_to_intercept = node->getChild("time-to-intercept-sec", 0, true);
to_flag_node = node->getChild("to-flag", 0, true);
from_flag_node = node->getChild("from-flag", 0, true);
inrange_node = node->getChild("in-range", 0, true);
cdi_deflection_node = node->getChild("heading-needle-deflection", 0, true);
cdi_xtrack_error_node = node->getChild("crosstrack-error-m", 0, true);
cdi_xtrack_hdg_err_node
= node->getChild("crosstrack-heading-error-deg", 0, true);
has_gs_node = node->getChild("has-gs", 0, true);
loc_node = node->getChild("nav-loc", 0, true);
loc_dist_node = node->getChild("nav-distance", 0, true);
gs_deflection_node = node->getChild("gs-needle-deflection", 0, true);
gs_rate_of_climb_node = node->getChild("gs-rate-of-climb", 0, true);
gs_dist_node = node->getChild("gs-distance", 0, true);
nav_id_node = node->getChild("nav-id", 0, true);
id_c1_node = node->getChild("nav-id_asc1", 0, true);
id_c2_node = node->getChild("nav-id_asc2", 0, true);
id_c3_node = node->getChild("nav-id_asc3", 0, true);
id_c4_node = node->getChild("nav-id_asc4", 0, true);
// gps slaving support
nav_slaved_to_gps_node = node->getChild("slaved-to-gps", 0, true);
gps_cdi_deflection_node = fgGetNode("/instrumentation/gps/cdi-deflection", true);
gps_to_flag_node = fgGetNode("/instrumentation/gps/to-flag", true);
gps_from_flag_node = fgGetNode("/instrumentation/gps/from-flag", true);
std::ostringstream temp;
temp << name << "nav-ident" << num;
nav_fx_name = temp.str();
temp << name << "dme-ident" << num;
dme_fx_name = temp.str();
}
void
FGNavRadio::bind ()
{
std::ostringstream temp;
string branch;
temp << num;
branch = "/instrumentation/" + name + "[" + temp.str() + "]";
}
void
FGNavRadio::unbind ()
{
std::ostringstream temp;
string branch;
temp << num;
branch = "/instrumentation/" + name + "[" + temp.str() + "]";
}
// model standard VOR/DME/TACAN service volumes as per AIM 1-1-8
double FGNavRadio::adjustNavRange( double stationElev, double aircraftElev,
double nominalRange )
{
// extend out actual usable range to be 1.3x the published safe range
const double usability_factor = 1.3;
// assumptions we model the standard service volume, plus
// ... rather than specifying a cylinder, we model a cone that
// contains the cylinder. Then we put an upside down cone on top
// to model diminishing returns at too-high altitudes.
// altitude difference
double alt = ( aircraftElev * SG_METER_TO_FEET - stationElev );
// cout << "aircraft elev = " << aircraftElev * SG_METER_TO_FEET
// << " station elev = " << stationElev << endl;
if ( nominalRange < 25.0 + SG_EPSILON ) {
// Standard Terminal Service Volume
return term_tbl->interpolate( alt ) * usability_factor;
} else if ( nominalRange < 50.0 + SG_EPSILON ) {
// Standard Low Altitude Service Volume
// table is based on range of 40, scale to actual range
return low_tbl->interpolate( alt ) * nominalRange / 40.0
* usability_factor;
} else {
// Standard High Altitude Service Volume
// table is based on range of 130, scale to actual range
return high_tbl->interpolate( alt ) * nominalRange / 130.0
* usability_factor;
}
}
// model standard ILS service volumes as per AIM 1-1-9
double FGNavRadio::adjustILSRange( double stationElev, double aircraftElev,
double offsetDegrees, double distance )
{
// assumptions we model the standard service volume, plus
// altitude difference
// double alt = ( aircraftElev * SG_METER_TO_FEET - stationElev );
// double offset = fabs( offsetDegrees );
// if ( offset < 10 ) {
// return FG_ILS_DEFAULT_RANGE;
// } else if ( offset < 35 ) {
// return 10 + (35 - offset) * (FG_ILS_DEFAULT_RANGE - 10) / 25;
// } else if ( offset < 45 ) {
// return (45 - offset);
// } else if ( offset > 170 ) {
// return FG_ILS_DEFAULT_RANGE;
// } else if ( offset > 145 ) {
// return 10 + (offset - 145) * (FG_ILS_DEFAULT_RANGE - 10) / 25;
// } else if ( offset > 135 ) {
// return (offset - 135);
// } else {
// return 0;
// }
return FG_LOC_DEFAULT_RANGE;
}
//////////////////////////////////////////////////////////////////////////
// Update the various nav values based on position and valid tuned in navs
//////////////////////////////////////////////////////////////////////////
void
FGNavRadio::update(double dt)
{
// Do a nav station search only once a second to reduce
// unnecessary work. (Also, make sure to do this before caching
// any values!)
_time_before_search_sec -= dt;
if ( _time_before_search_sec < 0 ) {
search();
}
// cache a few strategic values locally for speed
double lon = lon_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
double lat = lat_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
double elev = alt_node->getDoubleValue() * SG_FEET_TO_METER;
bool power_btn = power_btn_node->getBoolValue();
bool nav_serviceable = nav_serviceable_node->getBoolValue();
bool cdi_serviceable = cdi_serviceable_node->getBoolValue();
bool tofrom_serviceable = tofrom_serviceable_node->getBoolValue();
bool inrange = inrange_node->getBoolValue();
bool has_gs = has_gs_node->getBoolValue();
bool is_loc = loc_node->getBoolValue();
double loc_dist = loc_dist_node->getDoubleValue();
Point3D aircraft = sgGeodToCart( Point3D( lon, lat, elev ) );
Point3D station;
double az1, az2, s;
// Create "formatted" versions of the nav frequencies for
// instrument displays.
char tmp[16];
sprintf( tmp, "%.2f", freq_node->getDoubleValue() );
fmt_freq_node->setStringValue(tmp);
sprintf( tmp, "%.2f", alt_freq_node->getDoubleValue() );
fmt_alt_freq_node->setStringValue(tmp);
// cout << "is_valid = " << is_valid
// << " power_btn = " << power_btn
// << " bus_power = " << bus_power_node->getDoubleValue()
// << " nav_serviceable = " << nav_serviceable
// << endl;
if ( is_valid && power_btn && (bus_power_node->getDoubleValue() > 1.0)
&& nav_serviceable )
{
station = Point3D( nav_x, nav_y, nav_z );
loc_dist = aircraft.distance3D( station );
loc_dist_node->setDoubleValue( loc_dist );
// cout << "station = " << station << " dist = " << loc_dist << endl;
if ( has_gs ) {
// find closest distance to the gs base line
sgdVec3 p;
sgdSetVec3( p, aircraft.x(), aircraft.y(), aircraft.z() );
sgdVec3 p0;
sgdSetVec3( p0, gs_x, gs_y, gs_z );
double dist = sgdClosestPointToLineDistSquared( p, p0,
gs_base_vec );
gs_dist_node->setDoubleValue( sqrt( dist ) );
// cout << "gs_dist = " << gs_dist_node->getDoubleValue()
// << endl;
Point3D tmp( gs_x, gs_y, gs_z );
// cout << " (" << aircraft.distance3D( tmp ) << ")" << endl;
// wgs84 heading to glide slope (to determine sign of distance)
geo_inverse_wgs_84( elev,
lat * SGD_RADIANS_TO_DEGREES,
lon * SGD_RADIANS_TO_DEGREES,
gs_lat, gs_lon,
&az1, &az2, &s );
double r = az1 - target_radial;
while ( r > 180.0 ) { r -= 360.0;}
while ( r < -180.0 ) { r += 360.0;}
if ( r >= -90.0 && r <= 90.0 ) {
gs_dist_signed = gs_dist_node->getDoubleValue();
} else {
gs_dist_signed = -gs_dist_node->getDoubleValue();
}
/* cout << "Target Radial = " << target_radial
<< " Bearing = " << az1
<< " dist (signed) = " << gs_dist_signed
<< endl; */
} else {
gs_dist_node->setDoubleValue( 0.0 );
}
//////////////////////////////////////////////////////////
// compute forward and reverse wgs84 headings to localizer
//////////////////////////////////////////////////////////
double hdg;
geo_inverse_wgs_84( elev,
lat * SGD_RADIANS_TO_DEGREES,
lon * SGD_RADIANS_TO_DEGREES,
loc_lat, loc_lon,
&hdg, &az2, &s );
// cout << "az1 = " << az1 << " magvar = " << nav_magvar << endl;
heading_node->setDoubleValue( hdg );
radial = az2 - twist;
double recip = radial + 180.0;
if ( recip >= 360.0 ) { recip -= 360.0; }
radial_node->setDoubleValue( radial );
recip_radial_node->setDoubleValue( recip );
// cout << " heading = " << heading_node->getDoubleValue()
// << " dist = " << nav_dist << endl;
//////////////////////////////////////////////////////////
// compute the target/selected radial in "true" heading
//////////////////////////////////////////////////////////
double trtrue = 0.0;
if ( is_loc ) {
// ILS localizers radials are already "true" in our
// database
trtrue = target_radial;
} else {
// VOR radials need to have that vor's offset added in
trtrue = target_radial + twist;
}
while ( trtrue < 0.0 ) { trtrue += 360.0; }
while ( trtrue > 360.0 ) { trtrue -= 360.0; }
target_radial_true_node->setDoubleValue( trtrue );
//////////////////////////////////////////////////////////
// adjust reception range for altitude
//////////////////////////////////////////////////////////
if ( is_loc ) {
double offset = radial - target_radial;
while ( offset < -180.0 ) { offset += 360.0; }
while ( offset > 180.0 ) { offset -= 360.0; }
// cout << "ils offset = " << offset << endl;
effective_range
= adjustILSRange( nav_elev, elev, offset,
loc_dist * SG_METER_TO_NM );
} else {
effective_range = adjustNavRange( nav_elev, elev, range );
}
// cout << "nav range = " << effective_range
// << " (" << range << ")" << endl;
if ( loc_dist < effective_range * SG_NM_TO_METER ) {
inrange = true;
} else if ( loc_dist < 2 * effective_range * SG_NM_TO_METER ) {
inrange = sg_random() < ( 2 * effective_range * SG_NM_TO_METER
- loc_dist )
/ (effective_range * SG_NM_TO_METER);
} else {
inrange = false;
}
inrange_node->setBoolValue( inrange );
if ( !is_loc ) {
target_radial = sel_radial_node->getDoubleValue();
}
//////////////////////////////////////////////////////////
// compute to/from flag status
//////////////////////////////////////////////////////////
double value = false;
double offset = fabs(radial - target_radial);
if ( tofrom_serviceable ) {
if ( nav_slaved_to_gps_node->getBoolValue() ) {
value = gps_to_flag_node->getBoolValue();
} else if ( inrange ) {
if ( is_loc ) {
value = true;
} else {
value = !(offset <= 90.0 || offset >= 270.0);
}
}
} else {
value = false;
}
to_flag_node->setBoolValue( value );
value = false;
if ( tofrom_serviceable ) {
if ( nav_slaved_to_gps_node->getBoolValue() ) {
value = gps_from_flag_node->getBoolValue();
} else if ( inrange ) {
if ( is_loc ) {
value = false;
} else {
value = !(offset > 90.0 && offset < 270.0);
}
}
} else {
value = false;
}
from_flag_node->setBoolValue( value );
//////////////////////////////////////////////////////////
// compute the deflection of the CDI needle, clamped to the range
// of ( -10 , 10 )
//////////////////////////////////////////////////////////
double r = 0.0;
if ( cdi_serviceable ) {
if ( nav_slaved_to_gps_node->getBoolValue() ) {
r = gps_cdi_deflection_node->getDoubleValue();
// We want +- 5 dots deflection for the gps, so clamp
// to -12.5/12.5
if ( r < -12.5 ) { r = -12.5; }
if ( r > 12.5 ) { r = 12.5; }
} else if ( inrange ) {
r = radial - target_radial;
// cout << "Target radial = " << target_radial
// << " Actual radial = " << radial << endl;
while ( r > 180.0 ) { r -= 360.0;}
while ( r < -180.0 ) { r += 360.0;}
if ( fabs(r) > 90.0 ) {
r = ( r<0.0 ? -r-180.0 : -r+180.0 );
}
// According to Robin Peel, the ILS is 4x more
// sensitive than a vor
r = -r; // reverse, since radial is outbound
if ( is_loc ) { r *= 4.0; }
if ( r < -10.0 ) { r = -10.0; }
if ( r > 10.0 ) { r = 10.0; }
}
}
cdi_deflection_node->setDoubleValue( r );
//////////////////////////////////////////////////////////
// compute the amount of cross track distance error in meters
//////////////////////////////////////////////////////////
double xtrack_error = 0.0;
if ( inrange && nav_serviceable && cdi_serviceable ) {
r = radial - target_radial;
// cout << "Target radial = " << target_radial
// << " Actual radial = " << radial
// << " r = " << r << endl;
while ( r > 180.0 ) { r -= 360.0;}
while ( r < -180.0 ) { r += 360.0;}
if ( fabs(r) > 90.0 ) {
r = ( r<0.0 ? -r-180.0 : -r+180.0 );
}
r = -r; // reverse, since radial is outbound
xtrack_error = loc_dist * sin(r * SGD_DEGREES_TO_RADIANS);
} else {
xtrack_error = 0.0;
}
cdi_xtrack_error_node->setDoubleValue( xtrack_error );
//////////////////////////////////////////////////////////
// compute an approximate ground track heading error
//////////////////////////////////////////////////////////
double hdg_error = 0.0;
if ( inrange && cdi_serviceable ) {
double ddist = last_loc_dist - loc_dist;
double dxtrack = last_xtrack_error - xtrack_error;
double a = atan2( dxtrack, ddist ) * SGD_RADIANS_TO_DEGREES;
if ( from_flag_node->getBoolValue() ) {
a = 180.0 - a;
if ( a > 180.0 ) { a -= 360.0; }
if ( a < -180.0 ) { a += 360.0; }
}
SGPropertyNode *true_hdg
= fgGetNode("/orientation/heading-deg", true);
// cout << "true heading = " << true_hdg->getDoubleValue()
// << " selrad = " << sel_radial_node->getDoubleValue()
// << " artr = " << a
// << endl;
double est_hdg = trtrue + a;
if ( est_hdg < 0.0 ) { est_hdg += 360.0; }
if ( est_hdg >= 360.0 ) { est_hdg -= 360.0; }
hdg_error = est_hdg - true_hdg->getDoubleValue();
}
cdi_xtrack_hdg_err_node->setDoubleValue( hdg_error );
//////////////////////////////////////////////////////////
// compute the time to intercept selected radial (based on
// current and last cross track errors and dt
//////////////////////////////////////////////////////////
double t = 0.0;
if ( inrange && cdi_serviceable ) {
double xrate_ms = (last_xtrack_error - xtrack_error) / dt;
if ( fabs(xrate_ms) > 0.00001 ) {
t = xtrack_error / xrate_ms;
} else {
t = 9999.9;
}
}
time_to_intercept->setDoubleValue( t );
//////////////////////////////////////////////////////////
// compute the amount of glide slope needle deflection
// (.i.e. the number of degrees we are off the glide slope * 5.0
//
// CLO - 13 Mar 2006: The glide slope needle should peg at
// +/-0.7 degrees off the ideal glideslope. I'm not sure why
// we compute the factor the way we do (5*gs_error), but we
// need to compensate for our 'odd' number in the glideslope
// needle animation. This means that the needle should peg
// when this values is +/-3.5.
//////////////////////////////////////////////////////////
r = 0.0;
if ( has_gs && gs_serviceable_node->getBoolValue() ) {
if ( nav_slaved_to_gps_node->getBoolValue() ) {
// FIXME/FINISHME, what should be set here?
} else if ( inrange ) {
double x = gs_dist_node->getDoubleValue();
double y = (fgGetDouble("/position/altitude-ft") - nav_elev)
* SG_FEET_TO_METER;
// cout << "dist = " << x << " height = " << y << endl;
double angle = asin( y / x ) * SGD_RADIANS_TO_DEGREES;
r = (target_gs - angle) * 5.0;
}
}
gs_deflection_node->setDoubleValue( r );
//////////////////////////////////////////////////////////
// Calculate desired rate of climb for intercepting the GS
//////////////////////////////////////////////////////////
double x = gs_dist_node->getDoubleValue();
double y = (alt_node->getDoubleValue() - nav_elev)
* SG_FEET_TO_METER;
double current_angle = atan2( y, x ) * SGD_RADIANS_TO_DEGREES;
double target_angle = target_gs;
double gs_diff = target_angle - current_angle;
// convert desired vertical path angle into a climb rate
double des_angle = current_angle - 10 * gs_diff;
// estimate horizontal speed towards ILS in meters per minute
double dist = last_x - x;
last_x = x;
if ( dt > 0.0 ) {
// avoid nan
double new_vel = ( dist / dt );
horiz_vel = 0.75 * horiz_vel + 0.25 * new_vel;
// double horiz_vel = cur_fdm_state->get_V_ground_speed()
// * SG_FEET_TO_METER * 60.0;
// double horiz_vel = airspeed_node->getFloatValue()
// * SG_FEET_TO_METER * 60.0;
gs_rate_of_climb_node
->setDoubleValue( -sin( des_angle * SGD_DEGREES_TO_RADIANS )
* horiz_vel * SG_METER_TO_FEET );
}
//////////////////////////////////////////////////////////
// Calculate a suggested target heading to smoothly intercept
// a nav/ils radial.
//////////////////////////////////////////////////////////
// FIXME: this smells odd, there must be a better (or more
// linear) solution
//
// determine the heading adjustment needed.
// over 8km scale by 3.0
// (3 is chosen because max deflection is 10
// and 30 is clamped angle to radial)
// under 8km scale by 10.0
// because the overstated error helps drive it to the radial in a
// moderate cross wind.
double adjustment = 0.0;
if ( loc_dist > 8000 ) {
adjustment = cdi_deflection_node->getDoubleValue() * 3.0;
} else {
adjustment = cdi_deflection_node->getDoubleValue() * 10.0;
}
SG_CLAMP_RANGE( adjustment, -30.0, 30.0 );
// determine the target heading to fly to intercept the
// tgt_radial = target radial (true) + cdi offset adjustmest -
// xtrack heading error adjustment
double nta_hdg = trtrue + adjustment - hdg_error;
while ( nta_hdg < 0.0 ) { nta_hdg += 360.0; }
while ( nta_hdg > 360.0 ) { nta_hdg -= 360.0; }
target_auto_hdg_node->setDoubleValue( nta_hdg );
last_xtrack_error = xtrack_error;
} else {
inrange_node->setBoolValue( false );
cdi_deflection_node->setDoubleValue( 0.0 );
cdi_xtrack_error_node->setDoubleValue( 0.0 );
cdi_xtrack_hdg_err_node->setDoubleValue( 0.0 );
time_to_intercept->setDoubleValue( 0.0 );
gs_deflection_node->setDoubleValue( 0.0 );
to_flag_node->setBoolValue( false );
from_flag_node->setBoolValue( false );
// cout << "not picking up vor. :-(" << endl;
}
// audio effects
if ( is_valid && inrange && nav_serviceable ) {
// play station ident via audio system if on + ident,
// otherwise turn it off
if ( power_btn
&& (bus_power_node->getDoubleValue() > 1.0)
&& ident_btn_node->getBoolValue()
&& audio_btn_node->getBoolValue() )
{
SGSoundSample *sound;
sound = globals->get_soundmgr()->find( nav_fx_name );
double vol = vol_btn_node->getDoubleValue();
if ( vol < 0.0 ) { vol = 0.0; }
if ( vol > 1.0 ) { vol = 1.0; }
if ( sound != NULL ) {
sound->set_volume( vol );
} else {
SG_LOG( SG_COCKPIT, SG_ALERT,
"Can't find nav-vor-ident sound" );
}
sound = globals->get_soundmgr()->find( dme_fx_name );
if ( sound != NULL ) {
sound->set_volume( vol );
} else {
SG_LOG( SG_COCKPIT, SG_ALERT,
"Can't find nav-dme-ident sound" );
}
// cout << "last_time = " << last_time << " ";
// cout << "cur_time = "
// << globals->get_time_params()->get_cur_time();
if ( last_time <
globals->get_time_params()->get_cur_time() - 30 ) {
last_time = globals->get_time_params()->get_cur_time();
play_count = 0;
}
// cout << " play_count = " << play_count << endl;
// cout << "playing = "
// << globals->get_soundmgr()->is_playing(nav_fx_name)
// << endl;
if ( play_count < 4 ) {
// play VOR ident
if ( !globals->get_soundmgr()->is_playing(nav_fx_name) ) {
globals->get_soundmgr()->play_once( nav_fx_name );
++play_count;
}
} else if ( play_count < 5 && has_dme ) {
// play DME ident
if ( !globals->get_soundmgr()->is_playing(nav_fx_name) &&
!globals->get_soundmgr()->is_playing(dme_fx_name) ) {
globals->get_soundmgr()->play_once( dme_fx_name );
++play_count;
}
}
} else {
globals->get_soundmgr()->stop( nav_fx_name );
globals->get_soundmgr()->stop( dme_fx_name );
}
}
last_loc_dist = loc_dist;
}
// Update current nav/adf radio stations based on current postition
void FGNavRadio::search()
{
// reset search time
_time_before_search_sec = 1.0;
// cache values locally for speed
double lon = lon_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
double lat = lat_node->getDoubleValue() * SGD_DEGREES_TO_RADIANS;
double elev = alt_node->getDoubleValue() * SG_FEET_TO_METER;
FGNavRecord *nav = NULL;
FGNavRecord *loc = NULL;
FGNavRecord *dme = NULL;
FGNavRecord *gs = NULL;
////////////////////////////////////////////////////////////////////////
// Nav.
////////////////////////////////////////////////////////////////////////
double freq = freq_node->getDoubleValue();
nav = globals->get_navlist()->findByFreq(freq, lon, lat, elev);
dme = globals->get_dmelist()->findByFreq(freq, lon, lat, elev);
if ( nav == NULL ) {
loc = globals->get_loclist()->findByFreq(freq, lon, lat, elev);
gs = globals->get_gslist()->findByFreq(freq, lon, lat, elev);
}
string nav_id = "";
if ( loc != NULL ) {
nav_id = loc->get_ident();
nav_id_node->setStringValue( nav_id.c_str() );
// cout << "localizer = " << nav_id_node->getStringValue() << endl;
is_valid = true;
if ( last_nav_id != nav_id || last_nav_vor ) {
trans_ident = loc->get_trans_ident();
target_radial = loc->get_multiuse();
while ( target_radial < 0.0 ) { target_radial += 360.0; }
while ( target_radial > 360.0 ) { target_radial -= 360.0; }
loc_lon = loc->get_lon();
loc_lat = loc->get_lat();
nav_x = loc->get_x();
nav_y = loc->get_y();
nav_z = loc->get_z();
last_nav_id = nav_id;
last_nav_vor = false;
loc_node->setBoolValue( true );
has_dme = (dme != NULL);
if ( gs != NULL ) {
has_gs_node->setBoolValue( true );
gs_lon = gs->get_lon();
gs_lat = gs->get_lat();
nav_elev = gs->get_elev_ft();
int tmp = (int)(gs->get_multiuse() / 1000.0);
target_gs = (double)tmp / 100.0;
gs_x = gs->get_x();
gs_y = gs->get_y();
gs_z = gs->get_z();
// derive GS baseline (perpendicular to the runay
// along the ground)
double tlon, tlat, taz;
geo_direct_wgs_84 ( 0.0, gs_lat, gs_lon,
target_radial + 90,
100.0, &tlat, &tlon, &taz );
// cout << "target_radial = " << target_radial << endl;
// cout << "nav_loc = " << loc_node->getBoolValue() << endl;
// cout << gs_lon << "," << gs_lat << " "
// << tlon << "," << tlat << " (" << nav_elev << ")"
// << endl;
Point3D p1 = sgGeodToCart( Point3D(tlon*SGD_DEGREES_TO_RADIANS,
tlat*SGD_DEGREES_TO_RADIANS,
nav_elev*SG_FEET_TO_METER)
);
// cout << gs_x << "," << gs_y << "," << gs_z
// << endl;
// cout << p1 << endl;
sgdSetVec3( gs_base_vec,
p1.x()-gs_x, p1.y()-gs_y, p1.z()-gs_z );
// cout << gs_base_vec[0] << "," << gs_base_vec[1] << ","
// << gs_base_vec[2] << endl;
} else {
has_gs_node->setBoolValue( false );
nav_elev = loc->get_elev_ft();
}
twist = 0;
range = FG_LOC_DEFAULT_RANGE;
effective_range = range;
if ( globals->get_soundmgr()->exists( nav_fx_name ) ) {
globals->get_soundmgr()->remove( nav_fx_name );
}
SGSoundSample *sound;
sound = morse.make_ident( trans_ident, LO_FREQUENCY );
sound->set_volume( 0.3 );
globals->get_soundmgr()->add( sound, nav_fx_name );
if ( globals->get_soundmgr()->exists( dme_fx_name ) ) {
globals->get_soundmgr()->remove( dme_fx_name );
}
sound = morse.make_ident( trans_ident, HI_FREQUENCY );
sound->set_volume( 0.3 );
globals->get_soundmgr()->add( sound, dme_fx_name );
int offset = (int)(sg_random() * 30.0);
play_count = offset / 4;
last_time = globals->get_time_params()->get_cur_time() -
offset;
// cout << "offset = " << offset << " play_count = "
// << play_count
// << " last_time = " << last_time
// << " current time = "
// << globals->get_time_params()->get_cur_time() << endl;
// cout << "Found an loc station in range" << endl;
// cout << " id = " << loc->get_locident() << endl;
}
} else if ( nav != NULL ) {
nav_id = nav->get_ident();
nav_id_node->setStringValue( nav_id.c_str() );
// cout << "nav = " << nav_id << endl;
is_valid = true;
if ( last_nav_id != nav_id || !last_nav_vor ) {
last_nav_id = nav_id;
last_nav_vor = true;
trans_ident = nav->get_trans_ident();
loc_node->setBoolValue( false );
has_dme = (dme != NULL);
has_gs_node->setBoolValue( false );
loc_lon = nav->get_lon();
loc_lat = nav->get_lat();
nav_elev = nav->get_elev_ft();
twist = nav->get_multiuse();
range = nav->get_range();
effective_range = adjustNavRange(nav_elev, elev, range);
target_gs = 0.0;
target_radial = sel_radial_node->getDoubleValue();
nav_x = nav->get_x();
nav_y = nav->get_y();
nav_z = nav->get_z();
if ( globals->get_soundmgr()->exists( nav_fx_name ) ) {
globals->get_soundmgr()->remove( nav_fx_name );
}
try {
SGSoundSample *sound;
sound = morse.make_ident( trans_ident, LO_FREQUENCY );
sound->set_volume( 0.3 );
if ( globals->get_soundmgr()->add( sound, nav_fx_name ) ) {
// cout << "Added nav-vor-ident sound" << endl;
} else {
SG_LOG(SG_COCKPIT, SG_WARN, "Failed to add v1-vor-ident sound");
}
if ( globals->get_soundmgr()->exists( dme_fx_name ) ) {
globals->get_soundmgr()->remove( dme_fx_name );
}
sound = morse.make_ident( trans_ident, HI_FREQUENCY );
sound->set_volume( 0.3 );
globals->get_soundmgr()->add( sound, dme_fx_name );
int offset = (int)(sg_random() * 30.0);
play_count = offset / 4;
last_time = globals->get_time_params()->get_cur_time() - offset;
// cout << "offset = " << offset << " play_count = "
// << play_count << " last_time = "
// << last_time << " current time = "
// << globals->get_time_params()->get_cur_time() << endl;
// cout << "Found a vor station in range" << endl;
// cout << " id = " << nav->get_ident() << endl;
} catch ( sg_io_exception &e ) {
SG_LOG(SG_GENERAL, SG_ALERT, e.getFormattedMessage());
}
}
} else {
is_valid = false;
nav_id_node->setStringValue( "" );
target_radial = 0;
trans_ident = "";
last_nav_id = "";
if ( ! globals->get_soundmgr()->remove( nav_fx_name ) ) {
SG_LOG(SG_COCKPIT, SG_WARN, "Failed to remove nav-vor-ident sound");
}
globals->get_soundmgr()->remove( dme_fx_name );
// cout << "not picking up vor1. :-(" << endl;
}
is_valid_node->setBoolValue( is_valid );
char tmpid[5];
strncpy( tmpid, nav_id.c_str(), 5 );
id_c1_node->setIntValue( (int)tmpid[0] );
id_c2_node->setIntValue( (int)tmpid[1] );
id_c3_node->setIntValue( (int)tmpid[2] );
id_c4_node->setIntValue( (int)tmpid[3] );
}