// dclgps.cxx - a class to extend the operation of FG's current GPS
// code, and provide support for a KLN89-specific instrument. It
// is envisioned that eventually this file and class will be split
// up between current FG code and new KLN89-specific code and removed.
//
// Written by David Luff, started 2005.
//
// Copyright (C) 2005 - David C Luff: daveluff --AT-- ntlworld --D0T-- com
//
// 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.
//
// $Id$
#include "dclgps.hxx"
#include <simgear/sg_inlines.h>
#include <simgear/timing/sg_time.hxx>
#include <simgear/magvar/magvar.hxx>
#include <Main/fg_props.hxx>
#include <Navaids/fix.hxx>
#include <Navaids/navrecord.hxx>
#include <Airports/simple.hxx>
#include <Airports/runways.hxx>
#include <iostream>
using namespace std;
GPSWaypoint::GPSWaypoint() {
appType = GPS_APP_NONE;
}
GPSWaypoint::GPSWaypoint(const std::string& aIdent, float aLat, float aLon, GPSWpType aType) :
id(aIdent),
lat(aLat),
lon(aLon),
type(aType),
appType(GPS_APP_NONE)
{
}
GPSWaypoint::~GPSWaypoint() {}
string GPSWaypoint::GetAprId() {
if(appType == GPS_IAF) return(id + 'i');
else if(appType == GPS_FAF) return(id + 'f');
else if(appType == GPS_MAP) return(id + 'm');
else if(appType == GPS_MAHP) return(id + 'h');
else return(id);
}
static GPSWpType
GPSWpTypeFromFGPosType(FGPositioned::Type aType)
{
switch (aType) {
case FGPositioned::AIRPORT:
case FGPositioned::SEAPORT:
case FGPositioned::HELIPORT:
return GPS_WP_APT;
case FGPositioned::VOR:
return GPS_WP_VOR;
case FGPositioned::NDB:
return GPS_WP_NDB;
case FGPositioned::WAYPOINT:
return GPS_WP_USR;
case FGPositioned::FIX:
return GPS_WP_INT;
default:
return GPS_WP_USR;
}
}
GPSWaypoint* GPSWaypoint::createFromPositioned(const FGPositioned* aPos)
{
if (!aPos) {
return NULL; // happens if find returns no match
}
return new GPSWaypoint(aPos->ident(),
aPos->latitude() * SG_DEGREES_TO_RADIANS,
aPos->longitude() * SG_DEGREES_TO_RADIANS,
GPSWpTypeFromFGPosType(aPos->type())
);
}
ostream& operator << (ostream& os, GPSAppWpType type) {
switch(type) {
case(GPS_IAF): return(os << "IAF");
case(GPS_IAP): return(os << "IAP");
case(GPS_FAF): return(os << "FAF");
case(GPS_MAP): return(os << "MAP");
case(GPS_MAHP): return(os << "MAHP");
case(GPS_HDR): return(os << "HEADER");
case(GPS_FENCE): return(os << "FENCE");
case(GPS_APP_NONE): return(os << "NONE");
}
return(os << "ERROR - Unknown switch in GPSAppWpType operator << ");
}
FGIAP::FGIAP() {
}
FGIAP::~FGIAP() {
}
FGNPIAP::FGNPIAP() {
}
FGNPIAP::~FGNPIAP() {
}
ClockTime::ClockTime() {
_hr = 0;
_min = 0;
}
ClockTime::ClockTime(int hr, int min) {
while(hr < 0) { hr += 24; }
_hr = hr % 24;
while(min < 0) { min += 60; }
while(min > 60) { min -= 60; }
_min = min;
}
ClockTime::~ClockTime() {
}
// ------------------------------------------------------------------------------------- //
DCLGPS::DCLGPS(RenderArea2D* instrument) {
_instrument = instrument;
_nFields = 1;
_maxFields = 2;
// Units - lets default to US units - FG can set them to other units from config during startup if desired.
_altUnits = GPS_ALT_UNITS_FT;
_baroUnits = GPS_PRES_UNITS_IN;
_velUnits = GPS_VEL_UNITS_KT;
_distUnits = GPS_DIST_UNITS_NM;
_lon_node = fgGetNode("/instrumentation/gps/indicated-longitude-deg", true);
_lat_node = fgGetNode("/instrumentation/gps/indicated-latitude-deg", true);
_alt_node = fgGetNode("/instrumentation/gps/indicated-altitude-ft", true);
_grnd_speed_node = fgGetNode("/instrumentation/gps/indicated-ground-speed-kt", true);
_true_track_node = fgGetNode("/instrumentation/gps/indicated-track-true-deg", true);
_mag_track_node = fgGetNode("/instrumentation/gps/indicated-track-magnetic-deg", true);
// Use FG's position values at construction in case FG's gps has not run first update yet.
_lon = fgGetDouble("/position/longitude-deg") * SG_DEGREES_TO_RADIANS;
_lat = fgGetDouble("/position/latitude-deg") * SG_DEGREES_TO_RADIANS;
_alt = fgGetDouble("/position/altitude-ft");
// Note - we can depriciate _gpsLat and _gpsLon if we implement error handling in FG
// gps code and not our own.
_gpsLon = _lon;
_gpsLat = _lat;
_checkLon = _gpsLon;
_checkLat = _gpsLat;
_groundSpeed_ms = 0.0;
_groundSpeed_kts = 0.0;
_track = 0.0;
_magTrackDeg = 0.0;
// Sensible defaults. These can be overriden by derived classes if desired.
_cdiScales.clear();
_cdiScales.push_back(5.0);
_cdiScales.push_back(1.0);
_cdiScales.push_back(0.3);
_currentCdiScaleIndex = 0;
_targetCdiScaleIndex = 0;
_sourceCdiScaleIndex = 0;
_cdiScaleTransition = false;
_currentCdiScale = 5.0;
_cleanUpPage = -1;
_activeWaypoint.id.clear();
_dist2Act = 0.0;
_crosstrackDist = 0.0;
_headingBugTo = true;
_navFlagged = true;
_waypointAlert = false;
_departed = false;
_departureTimeString = "----";
_elapsedTime = 0.0;
_powerOnTime.set_hr(0);
_powerOnTime.set_min(0);
_powerOnTimerSet = false;
_alarmSet = false;
// Configuration Initialisation
// Should this be in kln89.cxx ?
_turnAnticipationEnabled = false;
_suaAlertEnabled = false;
_altAlertEnabled = false;
_time = new SGTime;
_messageStack.clear();
_dto = false;
_approachLoaded = false;
_approachArm = false;
_approachReallyArmed = false;
_approachActive = false;
_approachFP = new GPSFlightPlan;
}
DCLGPS::~DCLGPS() {
delete _time;
delete _approachFP; // Don't need to delete the waypoints inside since they point to
// the waypoints in the approach database.
// TODO - may need to delete the approach database!!
}
void DCLGPS::draw(osg::State& state) {
_instrument->draw(state);
}
void DCLGPS::init() {
// Not sure if this should be here, but OK for now.
CreateDefaultFlightPlans();
// Hack - hardwire some instrument approaches for development.
// These will shortly be replaced by a routine to read ARINC data from file instead.
FGNPIAP* iap;
GPSWaypoint* wp;
GPSFlightPlan* fp;
const GPSWaypoint* cwp;
iap = new FGNPIAP;
iap->_aptIdent = "KHAF";
iap->_ident = "R12-Y";
iap->_name = ExpandSIAPIdent(iap->_ident);
iap->_rwyStr = "12";
iap->_approachRoutes.clear();
iap->_IAP.clear();
// -------
wp = new GPSWaypoint;
wp->id = "GOBBS";
// Nasty using the find any function here, but it saves converting data from FGFix etc.
cwp = FindFirstByExactId(wp->id);
if(cwp) {
*wp = *cwp;
wp->appType = GPS_IAF;
fp = new GPSFlightPlan;
fp->waypoints.push_back(wp);
} else {
//cout << "Unable to find waypoint " << wp->id << '\n';
}
// -------
wp = new GPSWaypoint;
wp->id = "FUJCE";
cwp = FindFirstByExactId(wp->id);
if(cwp) {
*wp = *cwp;
wp->appType = GPS_IAP;
fp->waypoints.push_back(wp);
iap->_approachRoutes.push_back(fp);
iap->_IAP.push_back(wp);
} else {
//cout << "Unable to find waypoint " << wp->id << '\n';
}
// -------
wp = new GPSWaypoint;
wp->id = "JEVXY";
cwp = FindFirstByExactId(wp->id);
if(cwp) {
*wp = *cwp;
wp->appType = GPS_FAF;
iap->_IAP.push_back(wp);
} else {
//cout << "Unable to find waypoint " << wp->id << '\n';
}
// -------
wp = new GPSWaypoint;
wp->id = "RW12";
wp->appType = GPS_MAP;
if(wp->id.substr(0, 2) == "RW" && wp->appType == GPS_MAP) {
// Assume that this is a missed-approach point based on the runway number, which appears to be standard for most approaches.
const FGAirport* apt = fgFindAirportID(iap->_aptIdent);
if(apt) {
// TODO - sanity check the waypoint ID to ensure we have a double digit number
FGRunway* rwy = apt->getRunwayByIdent(wp->id.substr(2, 2));
if(rwy) {
wp->lat = rwy->begin().getLatitudeRad();
wp->lon = rwy->begin().getLongitudeRad();
}
}
} else {
cwp = FindFirstByExactId(wp->id);
if(cwp) {
*wp = *cwp;
wp->appType = GPS_MAP;
} else {
//cout << "Unable to find waypoint " << wp->id << '\n';
}
}
iap->_IAP.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "SEEMS";
cwp = FindFirstByExactId(wp->id);
if(cwp) {
*wp = *cwp;
wp->appType = GPS_MAHP;
iap->_IAP.push_back(wp);
} else {
//cout << "Unable to find waypoint " << wp->id << '\n';
}
// -------
_np_iap[iap->_aptIdent].push_back(iap);
}
void DCLGPS::bind() {
fgTie("/instrumentation/gps/waypoint-alert", this, &DCLGPS::GetWaypointAlert);
fgTie("/instrumentation/gps/leg-mode", this, &DCLGPS::GetLegMode);
fgTie("/instrumentation/gps/obs-mode", this, &DCLGPS::GetOBSMode);
fgTie("/instrumentation/gps/approach-arm", this, &DCLGPS::GetApproachArm);
fgTie("/instrumentation/gps/approach-active", this, &DCLGPS::GetApproachActive);
fgTie("/instrumentation/gps/cdi-deflection", this, &DCLGPS::GetCDIDeflection);
fgTie("/instrumentation/gps/to-flag", this, &DCLGPS::GetToFlag);
}
void DCLGPS::unbind() {
fgUntie("/instrumentation/gps/waypoint-alert");
fgUntie("/instrumentation/gps/leg-mode");
fgUntie("/instrumentation/gps/obs-mode");
fgUntie("/instrumentation/gps/approach-arm");
fgUntie("/instrumentation/gps/approach-active");
fgUntie("/instrumentation/gps/cdi-deflection");
}
void DCLGPS::update(double dt) {
//cout << "update called!\n";
_lon = _lon_node->getDoubleValue() * SG_DEGREES_TO_RADIANS;
_lat = _lat_node->getDoubleValue() * SG_DEGREES_TO_RADIANS;
_alt = _alt_node->getDoubleValue();
_groundSpeed_kts = _grnd_speed_node->getDoubleValue();
_groundSpeed_ms = _groundSpeed_kts * 0.5144444444;
_track = _true_track_node->getDoubleValue();
_magTrackDeg = _mag_track_node->getDoubleValue();
// Note - we can depriciate _gpsLat and _gpsLon if we implement error handling in FG
// gps code and not our own.
_gpsLon = _lon;
_gpsLat = _lat;
// Check for abnormal position slew
if(GetGreatCircleDistance(_gpsLat, _gpsLon, _checkLat, _checkLon) > 1.0) {
OrientateToActiveFlightPlan();
}
_checkLon = _gpsLon;
_checkLat = _gpsLat;
// TODO - check for unit power before running this.
if(!_powerOnTimerSet) {
SetPowerOnTimer();
}
// Check if an alarm timer has expired
if(_alarmSet) {
if(_alarmTime.hr() == atoi(fgGetString("/instrumentation/clock/indicated-hour"))
&& _alarmTime.min() == atoi(fgGetString("/instrumentation/clock/indicated-min"))) {
_messageStack.push_back("*Timer Expired");
_alarmSet = false;
}
}
if(!_departed) {
if(_groundSpeed_kts > 30.0) {
_departed = true;
string th = fgGetString("/instrumentation/clock/indicated-hour");
string tm = fgGetString("/instrumentation/clock/indicated-min");
if(th.size() == 1) th = "0" + th;
if(tm.size() == 1) tm = "0" + tm;
_departureTimeString = th + tm;
}
} else {
// TODO - check - is this prone to drift error over time?
// Should we difference the departure and current times?
// What about when the user resets the time of day from the menu?
_elapsedTime += dt;
}
_time->update(_gpsLon * SG_DEGREES_TO_RADIANS, _gpsLat * SG_DEGREES_TO_RADIANS, 0, 0);
// FIXME - currently all the below assumes leg mode and no DTO or OBS cancelled.
if(_activeFP->IsEmpty()) {
// Not sure if we need to reset these each update or only when fp altered
_activeWaypoint.id.clear();
_navFlagged = true;
} else if(_activeFP->waypoints.size() == 1) {
_activeWaypoint.id.clear();
} else {
_navFlagged = false;
if(_activeWaypoint.id.empty() || _fromWaypoint.id.empty()) {
//cout << "Error, in leg mode with flightplan of 2 or more waypoints, but either active or from wp is NULL!\n";
OrientateToActiveFlightPlan();
}
// Approach stuff
if(_approachLoaded) {
if(!_approachReallyArmed && !_approachActive) {
// arm if within 30nm of airport.
// TODO - let user cancel approach arm using external GPS-APR switch
bool multi;
const FGAirport* ap = FindFirstAptById(_approachID, multi, true);
if(ap != NULL) {
double d = GetGreatCircleDistance(_gpsLat, _gpsLon, ap->getLatitude() * SG_DEGREES_TO_RADIANS, ap->getLongitude() * SG_DEGREES_TO_RADIANS);
if(d <= 30) {
_approachArm = true;
_approachReallyArmed = true;
_messageStack.push_back("*Press ALT To Set Baro");
// Not sure what we do if the user has already set CDI to 0.3 nm?
_targetCdiScaleIndex = 1;
if(_currentCdiScaleIndex == 1) {
// No problem!
} else if(_currentCdiScaleIndex == 0) {
_sourceCdiScaleIndex = 0;
_cdiScaleTransition = true;
_cdiTransitionTime = 30.0;
_currentCdiScale = _cdiScales[_currentCdiScaleIndex];
}
}
}
} else {
// Check for approach active - we can only activate approach if it is really armed.
if(_activeWaypoint.appType == GPS_FAF) {
//cout << "Active waypoint is FAF, id is " << _activeWaypoint.id << '\n';
if(GetGreatCircleDistance(_gpsLat, _gpsLon, _activeWaypoint.lat, _activeWaypoint.lon) <= 2.0 && !_obsMode) {
// Assume heading is OK for now
_approachArm = false; // TODO - check - maybe arm is left on when actv comes on?
_approachReallyArmed = false;
_approachActive = true;
_targetCdiScaleIndex = 2;
if(_currentCdiScaleIndex == 2) {
// No problem!
} else if(_currentCdiScaleIndex == 1) {
_sourceCdiScaleIndex = 1;
_cdiScaleTransition = true;
_cdiTransitionTime = 30.0; // TODO - compress it if time to FAF < 30sec
_currentCdiScale = _cdiScales[_currentCdiScaleIndex];
} else {
// Abort going active?
_approachActive = false;
}
}
}
}
}
// CDI scale transition stuff
if(_cdiScaleTransition) {
if(fabs(_currentCdiScale - _cdiScales[_targetCdiScaleIndex]) < 0.001) {
_currentCdiScale = _cdiScales[_targetCdiScaleIndex];
_currentCdiScaleIndex = _targetCdiScaleIndex;
_cdiScaleTransition = false;
} else {
double scaleDiff = (_targetCdiScaleIndex > _sourceCdiScaleIndex
? _cdiScales[_sourceCdiScaleIndex] - _cdiScales[_targetCdiScaleIndex]
: _cdiScales[_targetCdiScaleIndex] - _cdiScales[_sourceCdiScaleIndex]);
//cout << "ScaleDiff = " << scaleDiff << '\n';
if(_targetCdiScaleIndex > _sourceCdiScaleIndex) {
// Scaling down eg. 5nm -> 1nm
_currentCdiScale -= (scaleDiff * dt / _cdiTransitionTime);
if(_currentCdiScale < _cdiScales[_targetCdiScaleIndex]) {
_currentCdiScale = _cdiScales[_targetCdiScaleIndex];
_currentCdiScaleIndex = _targetCdiScaleIndex;
_cdiScaleTransition = false;
}
} else {
_currentCdiScale += (scaleDiff * dt / _cdiTransitionTime);
if(_currentCdiScale > _cdiScales[_targetCdiScaleIndex]) {
_currentCdiScale = _cdiScales[_targetCdiScaleIndex];
_currentCdiScaleIndex = _targetCdiScaleIndex;
_cdiScaleTransition = false;
}
}
//cout << "_currentCdiScale = " << _currentCdiScale << '\n';
}
} else {
_currentCdiScale = _cdiScales[_currentCdiScaleIndex];
}
// Urgh - I've been setting the heading bug based on DTK,
// bug I think it should be based on heading re. active waypoint
// based on what the sim does after the final waypoint is passed.
// (DTK remains the same, but if track is held == DTK heading bug
// reverses to from once wp is passed).
/*
if(_fromWaypoint != NULL) {
// TODO - how do we handle the change of track with distance over long legs?
_dtkTrue = GetGreatCircleCourse(_fromWaypoint->lat, _fromWaypoint->lon, _activeWaypoint->lat, _activeWaypoint->lon) * SG_RADIANS_TO_DEGREES;
_dtkMag = GetMagHeadingFromTo(_fromWaypoint->lat, _fromWaypoint->lon, _activeWaypoint->lat, _activeWaypoint->lon);
// Don't change the heading bug if speed is too low otherwise it flickers to/from at rest
if(_groundSpeed_ms > 5) {
//cout << "track = " << _track << ", dtk = " << _dtkTrue << '\n';
double courseDev = _track - _dtkTrue;
//cout << "courseDev = " << courseDev << ", normalized = ";
SG_NORMALIZE_RANGE(courseDev, -180.0, 180.0);
//cout << courseDev << '\n';
_headingBugTo = (fabs(courseDev) > 90.0 ? false : true);
}
} else {
_dtkTrue = 0.0;
_dtkMag = 0.0;
// TODO - in DTO operation the position of initiation of DTO defines the "from waypoint".
}
*/
if(!_activeWaypoint.id.empty()) {
double hdgTrue = GetGreatCircleCourse(_gpsLat, _gpsLon, _activeWaypoint.lat, _activeWaypoint.lon) * SG_RADIANS_TO_DEGREES;
if(_groundSpeed_ms > 5) {
//cout << "track = " << _track << ", hdgTrue = " << hdgTrue << '\n';
double courseDev = _track - hdgTrue;
//cout << "courseDev = " << courseDev << ", normalized = ";
SG_NORMALIZE_RANGE(courseDev, -180.0, 180.0);
//cout << courseDev << '\n';
_headingBugTo = (fabs(courseDev) > 90.0 ? false : true);
}
if(!_fromWaypoint.id.empty()) {
_dtkTrue = GetGreatCircleCourse(_fromWaypoint.lat, _fromWaypoint.lon, _activeWaypoint.lat, _activeWaypoint.lon) * SG_RADIANS_TO_DEGREES;
_dtkMag = GetMagHeadingFromTo(_fromWaypoint.lat, _fromWaypoint.lon, _activeWaypoint.lat, _activeWaypoint.lon);
} else {
_dtkTrue = 0.0;
_dtkMag = 0.0;
}
}
_dist2Act = GetGreatCircleDistance(_gpsLat, _gpsLon, _activeWaypoint.lat, _activeWaypoint.lon) * SG_NM_TO_METER;
if(_groundSpeed_ms > 10.0) {
_eta = _dist2Act / _groundSpeed_ms;
if(_eta <= 36) { // TODO - this is slightly different if turn anticipation is enabled.
if(_headingBugTo) {
_waypointAlert = true; // TODO - not if the from flag is set.
}
}
if(_eta < 60) {
// Check if we should sequence to next leg.
// Perhaps this should be done on distance instead, but 60s time (about 1 - 2 nm) seems reasonable for now.
//double reverseHeading = GetGreatCircleCourse(_activeWaypoint->lat, _activeWaypoint->lon, _fromWaypoint->lat, _fromWaypoint->lon);
// Hack - let's cheat and do it on heading bug for now. TODO - that stops us 'cutting the corner'
// when we happen to approach the inside turn of a waypoint - we should probably sequence at the midpoint
// of the heading difference between legs in this instance.
int idx = GetActiveWaypointIndex();
bool finalLeg = (idx == (int)(_activeFP->waypoints.size()) - 1 ? true : false);
bool finalDto = (_dto && idx == -1); // Dto operation to a waypoint not in the flightplan - we don't sequence in this instance
if(!_headingBugTo) {
if(finalLeg) {
// Do nothing - not sure if Dto should switch off when arriving at the final waypoint of a flightplan
} else if(finalDto) {
// Do nothing
} else if(_activeWaypoint.appType == GPS_MAP) {
// Don't sequence beyond the missed approach point
//cout << "ACTIVE WAYPOINT is MAP - not sequencing!!!!!\n";
} else {
//cout << "Sequencing...\n";
_fromWaypoint = _activeWaypoint;
_activeWaypoint = *_activeFP->waypoints[idx + 1];
_dto = false;
// TODO - course alteration message format is dependent on whether we are slaved HSI/CDI indicator or not.
// For now assume we are not.
string s;
if(fgGetBool("/instrumentation/nav[0]/slaved-to-gps")) {
// TODO - avoid the hardwiring on nav[0]
s = "Adj Nav Crs to ";
} else {
string s = "GPS Course is ";
}
double d = GetMagHeadingFromTo(_fromWaypoint.lat, _fromWaypoint.lon, _activeWaypoint.lat, _activeWaypoint.lon);
while(d < 0.0) d += 360.0;
while(d >= 360.0) d -= 360.0;
char buf[4];
snprintf(buf, 4, "%03i", (int)(d + 0.5));
s += buf;
_messageStack.push_back(s);
}
_waypointAlert = false;
}
}
} else {
_eta = 0.0;
}
/*
// First attempt at a sensible cross-track correction calculation
// Uh? - I think this is implemented further down the file!
if(_fromWaypoint != NULL) {
} else {
_crosstrackDist = 0.0;
}
*/
}
}
/*
Expand a SIAP ident to the full procedure name (as shown on the approach chart).
NOTE: Some of this is inferred from data, some is from documentation.
Example expansions from ARINC 424-18 [and the airport they're taken from]:
"R10LY" <--> "RNAV (GPS) Y RWY 10 L" [KBOI]
"R10-Z" <--> "RNAV (GPS) Z RWY 10" [KHTO]
"S25" <--> "VOR or GPS RWY 25" [KHHR]
"P20" <--> "GPS RWY 20" [KDAN]
"NDB-B" <--> "NDB or GPS-B" [KDAW]
"NDBC" <--> "NDB or GPS-C" [KEMT]
"VDMA" <--> "VOR/DME or GPS-A" [KDAW]
"VDM-A" <--> "VOR/DME or GPS-A" [KEAG]
"VDMB" <--> "VOR/DME or GPS-B" [KDKX]
"VORA" <--> "VOR or GPS-A" [KEMT]
It seems that there are 2 basic types of expansions; those that include
the runway and those that don't. Of those that don't, it seems that 2
different positions within the string to encode the identifying letter
are used, i.e. with a dash and without.
*/
string DCLGPS::ExpandSIAPIdent(const string& ident) {
string name;
bool has_rwy;
switch(ident[0]) {
case 'N': name = "NDB or GPS"; has_rwy = false; break;
case 'P': name = "GPS"; has_rwy = true; break;
case 'R': name = "RNAV (GPS)"; has_rwy = true; break;
case 'S': name = "VOR or GPS"; has_rwy = true; break;
case 'V':
if(ident[1] == 'D') name = "VOR/DME or GPS";
else name = "VOR or GPS";
has_rwy = false;
break;
default: // TODO output a log message
break;
}
if(has_rwy) {
// Add the identifying letter if present
if(ident.size() == 5) {
name += ' ';
name += ident[4];
}
// Add the runway
name += " RWY ";
name += ident.substr(1, 2);
// Add a left/right/centre indication if present.
if(ident.size() > 3) {
if((ident[3] != '-') && (ident[3] != ' ')) { // Early versions of the spec allowed a blank instead of a dash so check for both
name += ' ';
name += ident[3];
}
}
} else {
// Add the identifying letter, which I *think* should always be present, but seems to be inconsistent as to whether a dash is used.
if(ident.size() == 5) {
name += '-';
name += ident[4];
} else if(ident.size() == 4) {
name += '-';
name += ident[3];
} else {
// No suffix letter
}
}
return(name);
}
GPSWaypoint* DCLGPS::GetActiveWaypoint() {
return &_activeWaypoint;
}
// Returns meters
float DCLGPS::GetDistToActiveWaypoint() {
return _dist2Act;
}
// I don't yet fully understand all the gotchas about where to source time from.
// This function sets the initial timer before the clock exports properties
// and the one below uses the clock to be consistent with the rest of the code.
// It might change soonish...
void DCLGPS::SetPowerOnTimer() {
struct tm *t = globals->get_time_params()->getGmt();
_powerOnTime.set_hr(t->tm_hour);
_powerOnTime.set_min(t->tm_min);
_powerOnTimerSet = true;
}
void DCLGPS::ResetPowerOnTimer() {
_powerOnTime.set_hr(atoi(fgGetString("/instrumentation/clock/indicated-hour")));
_powerOnTime.set_min(atoi(fgGetString("/instrumentation/clock/indicated-min")));
_powerOnTimerSet = true;
}
double DCLGPS::GetCDIDeflection() const {
double xtd = CalcCrossTrackDeviation(); //nm
return((xtd / _currentCdiScale) * 5.0 * 2.5 * -1.0);
}
void DCLGPS::DtoInitiate(const string& s) {
const GPSWaypoint* wp = FindFirstByExactId(s);
if(wp) {
// TODO - Currently we start DTO operation unconditionally, regardless of which mode we are in.
// In fact, the following rules apply:
// In LEG mode, start DTO as we currently do.
// In OBS mode, set the active waypoint to the requested waypoint, and then:
// If the KLN89 is not connected to an external HSI or CDI, set the OBS course to go direct to the waypoint.
// If the KLN89 *is* connected to an external HSI or CDI, it cannot set the course itself, and will display
// a scratchpad message with the course to set manually on the HSI/CDI.
// In both OBS cases, leave _dto false, since we don't need the virtual waypoint created.
_dto = true;
_activeWaypoint = *wp;
_fromWaypoint.lat = _gpsLat;
_fromWaypoint.lon = _gpsLon;
_fromWaypoint.type = GPS_WP_VIRT;
_fromWaypoint.id = "DTOWP";
delete wp;
} else {
_dto = false;
}
}
void DCLGPS::DtoCancel() {
if(_dto) {
// i.e. don't bother reorientating if we're just cancelling a DTO button press
// without having previously initiated DTO.
OrientateToActiveFlightPlan();
}
_dto = false;
}
void DCLGPS::ToggleOBSMode() {
_obsMode = !_obsMode;
if(_obsMode) {
if(!_activeWaypoint.id.empty()) {
_obsHeading = static_cast<int>(_dtkMag);
}
// TODO - the _fromWaypoint location will change as the OBS heading changes.
// Might need to store the OBS initiation position somewhere in case it is needed again.
SetOBSFromWaypoint();
}
}
// Set the _fromWaypoint position based on the active waypoint and OBS radial.
void DCLGPS::SetOBSFromWaypoint() {
if(!_obsMode) return;
if(_activeWaypoint.id.empty()) return;
// TODO - base the 180 deg correction on the to/from flag.
_fromWaypoint = GetPositionOnMagRadial(_activeWaypoint, 10, _obsHeading + 180.0);
_fromWaypoint.id = "OBSWP";
}
void DCLGPS::CDIFSDIncrease() {
if(_currentCdiScaleIndex == 0) {
_currentCdiScaleIndex = _cdiScales.size() - 1;
} else {
_currentCdiScaleIndex--;
}
}
void DCLGPS::CDIFSDDecrease() {
_currentCdiScaleIndex++;
if(_currentCdiScaleIndex == _cdiScales.size()) {
_currentCdiScaleIndex = 0;
}
}
void DCLGPS::DrawChar(char c, int field, int px, int py, bool bold) {
}
void DCLGPS::DrawText(const string& s, int field, int px, int py, bool bold) {
}
void DCLGPS::SetBaroUnits(int n, bool wrap) {
if(n < 1) {
_baroUnits = (GPSPressureUnits)(wrap ? 3 : 1);
} else if(n > 3) {
_baroUnits = (GPSPressureUnits)(wrap ? 1 : 3);
} else {
_baroUnits = (GPSPressureUnits)n;
}
}
void DCLGPS::CreateDefaultFlightPlans() {}
// Get the time to the active waypoint in seconds.
// Returns -1 if groundspeed < 30 kts
double DCLGPS::GetTimeToActiveWaypoint() {
if(_groundSpeed_kts < 30.0) {
return(-1.0);
} else {
return(_eta);
}
}
// Get the time to the final waypoint in seconds.
// Returns -1 if groundspeed < 30 kts
double DCLGPS::GetETE() {
if(_groundSpeed_kts < 30.0) {
return(-1.0);
} else {
// TODO - handle OBS / DTO operation appropriately
if(_activeFP->waypoints.empty()) {
return(-1.0);
} else {
return(GetTimeToWaypoint(_activeFP->waypoints[_activeFP->waypoints.size() - 1]->id));
}
}
}
// Get the time to a given waypoint (spec'd by ID) in seconds.
// returns -1 if groundspeed is less than 30kts.
// If the waypoint is an unreached part of the active flight plan the time will be via each leg.
// otherwise it will be a direct-to time.
double DCLGPS::GetTimeToWaypoint(const string& id) {
if(_groundSpeed_kts < 30.0) {
return(-1.0);
}
double eta = 0.0;
int n1 = GetActiveWaypointIndex();
int n2 = GetWaypointIndex(id);
if(n2 > n1) {
eta = _eta;
for(unsigned int i=n1+1; i<_activeFP->waypoints.size(); ++i) {
GPSWaypoint* wp1 = _activeFP->waypoints[i-1];
GPSWaypoint* wp2 = _activeFP->waypoints[i];
double distm = GetGreatCircleDistance(wp1->lat, wp1->lon, wp2->lat, wp2->lon) * SG_NM_TO_METER;
eta += (distm / _groundSpeed_ms);
}
return(eta);
} else if(id == _activeWaypoint.id) {
return(_eta);
} else {
const GPSWaypoint* wp = FindFirstByExactId(id);
if(wp == NULL) return(-1.0);
double distm = GetGreatCircleDistance(_gpsLat, _gpsLon, wp->lat, wp->lon);
delete wp;
return(distm / _groundSpeed_ms);
}
return(-1.0); // Hopefully we never get here!
}
// Returns magnetic great-circle heading
// TODO - document units.
float DCLGPS::GetHeadingToActiveWaypoint() {
if(_activeWaypoint.id.empty()) {
return(-888);
} else {
double h = GetMagHeadingFromTo(_gpsLat, _gpsLon, _activeWaypoint.lat, _activeWaypoint.lon);
while(h <= 0.0) h += 360.0;
while(h > 360.0) h -= 360.0;
return((float)h);
}
}
// Returns magnetic great-circle heading
// TODO - what units?
float DCLGPS::GetHeadingFromActiveWaypoint() {
if(_activeWaypoint.id.empty()) {
return(-888);
} else {
double h = GetMagHeadingFromTo(_activeWaypoint.lat, _activeWaypoint.lon, _gpsLat, _gpsLon);
while(h <= 0.0) h += 360.0;
while(h > 360.0) h -= 360.0;
return(h);
}
}
void DCLGPS::ClearFlightPlan(int n) {
for(unsigned int i=0; i<_flightPlans[n]->waypoints.size(); ++i) {
delete _flightPlans[n]->waypoints[i];
}
_flightPlans[n]->waypoints.clear();
}
void DCLGPS::ClearFlightPlan(GPSFlightPlan* fp) {
for(unsigned int i=0; i<fp->waypoints.size(); ++i) {
delete fp->waypoints[i];
}
fp->waypoints.clear();
}
int DCLGPS::GetActiveWaypointIndex() {
for(unsigned int i=0; i<_flightPlans[0]->waypoints.size(); ++i) {
if(_flightPlans[0]->waypoints[i]->id == _activeWaypoint.id) return((int)i);
}
return(-1);
}
int DCLGPS::GetWaypointIndex(const string& id) {
for(unsigned int i=0; i<_flightPlans[0]->waypoints.size(); ++i) {
if(_flightPlans[0]->waypoints[i]->id == id) return((int)i);
}
return(-1);
}
void DCLGPS::OrientateToFlightPlan(GPSFlightPlan* fp) {
//cout << "Orientating...\n";
//cout << "_lat = " << _lat << ", _lon = " << _lon << ", _gpsLat = " << _gpsLat << ", gpsLon = " << _gpsLon << '\n';
if(fp->IsEmpty()) {
_activeWaypoint.id.clear();
_navFlagged = true;
} else {
_navFlagged = false;
if(fp->waypoints.size() == 1) {
// TODO - may need to flag nav here if not dto or obs, or possibly handle it somewhere else.
_activeWaypoint = *fp->waypoints[0];
_fromWaypoint.id.clear();
} else {
// FIXME FIXME FIXME
_fromWaypoint = *fp->waypoints[0];
_activeWaypoint = *fp->waypoints[1];
double dmin = 1000000; // nm!!
// For now we will simply start on the leg closest to our current position.
// It's possible that more fancy algorithms may take either heading or track
// into account when setting inital leg - I'm not sure.
// This method should handle most cases perfectly OK though.
for(unsigned int i = 1; i < fp->waypoints.size(); ++i) {
//cout << "Pass " << i << ", dmin = " << dmin << ", leg is " << fp->waypoints[i-1]->id << " to " << fp->waypoints[i]->id << '\n';
// First get the cross track correction.
double d0 = fabs(CalcCrossTrackDeviation(*fp->waypoints[i-1], *fp->waypoints[i]));
// That is the shortest distance away we could be though - check for
// longer distances if we are 'off the end' of the leg.
double ht1 = GetGreatCircleCourse(fp->waypoints[i-1]->lat, fp->waypoints[i-1]->lon,
fp->waypoints[i]->lat, fp->waypoints[i]->lon)
* SG_RADIANS_TO_DEGREES;
// not simply the reverse of the above due to great circle navigation.
double ht2 = GetGreatCircleCourse(fp->waypoints[i]->lat, fp->waypoints[i]->lon,
fp->waypoints[i-1]->lat, fp->waypoints[i-1]->lon)
* SG_RADIANS_TO_DEGREES;
double hw1 = GetGreatCircleCourse(_gpsLat, _gpsLon,
fp->waypoints[i]->lat, fp->waypoints[i]->lon)
* SG_RADIANS_TO_DEGREES;
double hw2 = GetGreatCircleCourse(_gpsLat, _gpsLon,
fp->waypoints[i-1]->lat, fp->waypoints[i-1]->lon)
* SG_RADIANS_TO_DEGREES;
double h1 = ht1 - hw1;
double h2 = ht2 - hw2;
//cout << "d0, h1, h2 = " << d0 << ", " << h1 << ", " << h2 << '\n';
//cout << "Normalizing...\n";
SG_NORMALIZE_RANGE(h1, -180.0, 180.0);
SG_NORMALIZE_RANGE(h2, -180.0, 180.0);
//cout << "d0, h1, h2 = " << d0 << ", " << h1 << ", " << h2 << '\n';
if(fabs(h1) > 90.0) {
// We are past the end of the to waypoint
double d = GetGreatCircleDistance(_gpsLat, _gpsLon, fp->waypoints[i]->lat, fp->waypoints[i]->lon);
if(d > d0) d0 = d;
//cout << "h1 triggered, d0 now = " << d0 << '\n';
} else if(fabs(h2) > 90.0) {
// We are past the end (not yet at!) the from waypoint
double d = GetGreatCircleDistance(_gpsLat, _gpsLon, fp->waypoints[i-1]->lat, fp->waypoints[i-1]->lon);
if(d > d0) d0 = d;
//cout << "h2 triggered, d0 now = " << d0 << '\n';
}
if(d0 < dmin) {
//cout << "THIS LEG NOW ACTIVE!\n";
dmin = d0;
_fromWaypoint = *fp->waypoints[i-1];
_activeWaypoint = *fp->waypoints[i];
}
}
}
}
}
void DCLGPS::OrientateToActiveFlightPlan() {
OrientateToFlightPlan(_activeFP);
}
/***************************************/
// Utility function - create a flightplan from a list of waypoint ids and types
void DCLGPS::CreateFlightPlan(GPSFlightPlan* fp, vector<string> ids, vector<GPSWpType> wps) {
if(fp == NULL) fp = new GPSFlightPlan;
unsigned int i;
if(!fp->waypoints.empty()) {
for(i=0; i<fp->waypoints.size(); ++i) {
delete fp->waypoints[i];
}
fp->waypoints.clear();
}
if(ids.size() != wps.size()) {
cout << "ID and Waypoint types list size mismatch in GPS::CreateFlightPlan - no flightplan created!\n";
return;
}
for(i=0; i<ids.size(); ++i) {
bool multi;
const FGAirport* ap;
FGNavRecord* np;
GPSWaypoint* wp = new GPSWaypoint;
wp->type = wps[i];
switch(wp->type) {
case GPS_WP_APT:
ap = FindFirstAptById(ids[i], multi, true);
if(ap == NULL) {
// error
delete wp;
} else {
wp->lat = ap->getLatitude() * SG_DEGREES_TO_RADIANS;
wp->lon = ap->getLongitude() * SG_DEGREES_TO_RADIANS;
wp->id = ids[i];
fp->waypoints.push_back(wp);
}
break;
case GPS_WP_VOR:
np = FindFirstVorById(ids[i], multi, true);
if(np == NULL) {
// error
delete wp;
} else {
wp->lat = np->get_lat() * SG_DEGREES_TO_RADIANS;
wp->lon = np->get_lon() * SG_DEGREES_TO_RADIANS;
wp->id = ids[i];
fp->waypoints.push_back(wp);
}
break;
case GPS_WP_NDB:
np = FindFirstNDBById(ids[i], multi, true);
if(np == NULL) {
// error
delete wp;
} else {
wp->lat = np->get_lat() * SG_DEGREES_TO_RADIANS;
wp->lon = np->get_lon() * SG_DEGREES_TO_RADIANS;
wp->id = ids[i];
fp->waypoints.push_back(wp);
}
break;
case GPS_WP_INT:
// TODO TODO
break;
case GPS_WP_USR:
// TODO
break;
case GPS_WP_VIRT:
// TODO
break;
}
}
}
/***************************************/
class DCLGPSFilter : public FGPositioned::Filter
{
public:
virtual bool pass(const FGPositioned* aPos) const {
switch (aPos->type()) {
case FGPositioned::AIRPORT:
// how about heliports and seaports?
case FGPositioned::NDB:
case FGPositioned::VOR:
case FGPositioned::WAYPOINT:
case FGPositioned::FIX:
break;
default: return false; // reject all other types
}
return true;
}
};
GPSWaypoint* DCLGPS::FindFirstById(const string& id) const
{
DCLGPSFilter filter;
FGPositionedRef result = FGPositioned::findNextWithPartialId(NULL, id, &filter);
return GPSWaypoint::createFromPositioned(result);
}
GPSWaypoint* DCLGPS::FindFirstByExactId(const string& id) const
{
SGGeod pos(SGGeod::fromRad(_lon, _lat));
FGPositionedRef result = FGPositioned::findClosestWithIdent(id, pos);
return GPSWaypoint::createFromPositioned(result);
}
// TODO - add the ASCII / alphabetical stuff from the Atlas version
FGPositioned* DCLGPS::FindTypedFirstById(const string& id, FGPositioned::Type ty, bool &multi, bool exact)
{
multi = false;
FGPositioned::TypeFilter filter(ty);
if (exact) {
FGPositioned::List matches =
FGPositioned::findAllWithIdent(id, &filter);
FGPositioned::sortByRange(matches, SGGeod::fromRad(_lon, _lat));
multi = (matches.size() > 1);
return matches.empty() ? NULL : matches.front().ptr();
}
return FGPositioned::findNextWithPartialId(NULL, id, &filter);
}
FGNavRecord* DCLGPS::FindFirstVorById(const string& id, bool &multi, bool exact)
{
return dynamic_cast<FGNavRecord*>(FindTypedFirstById(id, FGPositioned::VOR, multi, exact));
}
FGNavRecord* DCLGPS::FindFirstNDBById(const string& id, bool &multi, bool exact)
{
return dynamic_cast<FGNavRecord*>(FindTypedFirstById(id, FGPositioned::NDB, multi, exact));
}
const FGFix* DCLGPS::FindFirstIntById(const string& id, bool &multi, bool exact)
{
return dynamic_cast<FGFix*>(FindTypedFirstById(id, FGPositioned::FIX, multi, exact));
}
const FGAirport* DCLGPS::FindFirstAptById(const string& id, bool &multi, bool exact)
{
return dynamic_cast<FGAirport*>(FindTypedFirstById(id, FGPositioned::AIRPORT, multi, exact));
}
FGNavRecord* DCLGPS::FindClosestVor(double lat_rad, double lon_rad) {
FGPositioned::TypeFilter filter(FGPositioned::VOR);
double cutoff = 1000; // nautical miles
FGPositionedRef v = FGPositioned::findClosest(SGGeod::fromRad(lon_rad, lat_rad), cutoff, &filter);
if (!v) {
return NULL;
}
return dynamic_cast<FGNavRecord*>(v.ptr());
}
//----------------------------------------------------------------------------------------------------------
// Takes lat and lon in RADIANS!!!!!!!
double DCLGPS::GetMagHeadingFromTo(double latA, double lonA, double latB, double lonB) {
double h = GetGreatCircleCourse(latA, lonA, latB, lonB);
h *= SG_RADIANS_TO_DEGREES;
// TODO - use the real altitude below instead of 0.0!
//cout << "MagVar = " << sgGetMagVar(_gpsLon, _gpsLat, 0.0, _time->getJD()) * SG_RADIANS_TO_DEGREES << '\n';
h -= sgGetMagVar(_gpsLon, _gpsLat, 0.0, _time->getJD()) * SG_RADIANS_TO_DEGREES;
while(h >= 360.0) h -= 360.0;
while(h < 0.0) h += 360.0;
return(h);
}
// ---------------- Great Circle formulae from "The Aviation Formulary" -------------
// Note that all of these assume that the world is spherical.
double Rad2Nm(double theta) {
return(((180.0*60.0)/SG_PI)*theta);
}
double Nm2Rad(double d) {
return((SG_PI/(180.0*60.0))*d);
}
/* QUOTE:
The great circle distance d between two points with coordinates {lat1,lon1} and {lat2,lon2} is given by:
d=acos(sin(lat1)*sin(lat2)+cos(lat1)*cos(lat2)*cos(lon1-lon2))
A mathematically equivalent formula, which is less subject to rounding error for short distances is:
d=2*asin(sqrt((sin((lat1-lat2)/2))^2 +
cos(lat1)*cos(lat2)*(sin((lon1-lon2)/2))^2))
*/
// Returns distance in nm, takes lat & lon in RADIANS
double DCLGPS::GetGreatCircleDistance(double lat1, double lon1, double lat2, double lon2) const {
double d = 2.0 * asin(sqrt(((sin((lat1-lat2)/2.0))*(sin((lat1-lat2)/2.0))) +
cos(lat1)*cos(lat2)*(sin((lon1-lon2)/2.0))*(sin((lon1-lon2)/2.0))));
return(Rad2Nm(d));
}
// fmod dosen't do what we want :-(
static double mod(double d1, double d2) {
return(d1 - d2*floor(d1/d2));
}
// Returns great circle course from point 1 to point 2
// Input and output in RADIANS.
double DCLGPS::GetGreatCircleCourse (double lat1, double lon1, double lat2, double lon2) const {
//double h = 0.0;
/*
// Special case the poles
if(cos(lat1) < SG_EPSILON) {
if(lat1 > 0) {
// Starting from North Pole
h = SG_PI;
} else {
// Starting from South Pole
h = 2.0 * SG_PI;
}
} else {
// Urgh - the formula below is for negative lon +ve !!!???
double d = GetGreatCircleDistance(lat1, lon1, lat2, lon2);
cout << "d = " << d;
d = Nm2Rad(d);
//cout << ", d_theta = " << d;
//cout << ", and d = " << Rad2Nm(d) << ' ';
if(sin(lon2 - lon1) < 0) {
cout << " A ";
h = acos((sin(lat2)-sin(lat1)*cos(d))/(sin(d)*cos(lat1)));
} else {
cout << " B ";
h = 2.0 * SG_PI - acos((sin(lat2)-sin(lat1)*cos(d))/(sin(d)*cos(lat1)));
}
}
cout << h * SG_RADIANS_TO_DEGREES << '\n';
*/
return( mod(atan2(sin(lon2-lon1)*cos(lat2),
cos(lat1)*sin(lat2)-sin(lat1)*cos(lat2)*cos(lon2-lon1)),
2.0*SG_PI) );
}
// Return a position on a radial from wp1 given distance d (nm) and magnetic heading h (degrees)
// Note that d should be less that 1/4 Earth diameter!
GPSWaypoint DCLGPS::GetPositionOnMagRadial(const GPSWaypoint& wp1, double d, double h) {
h += sgGetMagVar(wp1.lon, wp1.lat, 0.0, _time->getJD()) * SG_RADIANS_TO_DEGREES;
return(GetPositionOnRadial(wp1, d, h));
}
// Return a position on a radial from wp1 given distance d (nm) and TRUE heading h (degrees)
// Note that d should be less that 1/4 Earth diameter!
GPSWaypoint DCLGPS::GetPositionOnRadial(const GPSWaypoint& wp1, double d, double h) {
while(h < 0.0) h += 360.0;
while(h > 360.0) h -= 360.0;
h *= SG_DEGREES_TO_RADIANS;
d *= (SG_PI / (180.0 * 60.0));
double lat=asin(sin(wp1.lat)*cos(d)+cos(wp1.lat)*sin(d)*cos(h));
double lon;
if(cos(lat)==0) {
lon=wp1.lon; // endpoint a pole
} else {
lon=mod(wp1.lon+asin(sin(h)*sin(d)/cos(lat))+SG_PI,2*SG_PI)-SG_PI;
}
GPSWaypoint wp;
wp.lat = lat;
wp.lon = lon;
wp.type = GPS_WP_VIRT;
return(wp);
}
// Returns cross-track deviation in Nm.
double DCLGPS::CalcCrossTrackDeviation() const {
return(CalcCrossTrackDeviation(_fromWaypoint, _activeWaypoint));
}
// Returns cross-track deviation of the current position between two arbitary waypoints in nm.
double DCLGPS::CalcCrossTrackDeviation(const GPSWaypoint& wp1, const GPSWaypoint& wp2) const {
//if(wp1 == NULL || wp2 == NULL) return(0.0);
if(wp1.id.empty() || wp2.id.empty()) return(0.0);
double xtd = asin(sin(Nm2Rad(GetGreatCircleDistance(wp1.lat, wp1.lon, _gpsLat, _gpsLon)))
* sin(GetGreatCircleCourse(wp1.lat, wp1.lon, _gpsLat, _gpsLon) - GetGreatCircleCourse(wp1.lat, wp1.lon, wp2.lat, wp2.lon)));
return(Rad2Nm(xtd));
}