69b2c0b697
Here's a patch which refactors the 'plain' GPS code into a slightly more manageable structure - i.e breaks the large update() method into various sub-functions. I've tested the patch with B1900d, and things seem to work as expected, but if anyone experiences GPS weirdness after this is committed, of course please report it. The motivation for this was helping me learn the code - I've planning some changes in this area, and splitting up the logic will hopefully make that task easier.
206 lines
6.1 KiB
C++
206 lines
6.1 KiB
C++
// gps.hxx - distance-measuring equipment.
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// Written by David Megginson, started 2003.
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//
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// This file is in the Public Domain and comes with no warranty.
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#ifndef __INSTRUMENTS_GPS_HXX
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#define __INSTRUMENTS_GPS_HXX 1
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#include <simgear/props/props.hxx>
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#include <simgear/structure/subsystem_mgr.hxx>
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#include <simgear/math/SGMath.hxx>
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// forward decls
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class SGRoute;
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class SGGeodProperty
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{
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public:
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SGGeodProperty()
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{
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}
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void init(SGPropertyNode* base, const char* lonStr, const char* latStr, const char* altStr = NULL);
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void init(const char* lonStr, const char* latStr, const char* altStr = NULL);
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void clear();
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void operator=(const SGGeod& geod);
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SGGeod get() const;
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private:
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SGPropertyNode_ptr _lon, _lat, _alt;
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};
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/**
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* Model a GPS radio.
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*
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* Input properties:
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*
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* /position/longitude-deg
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* /position/latitude-deg
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* /position/altitude-ft
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* /environment/magnetic-variation-deg
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* /systems/electrical/outputs/gps
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* /instrumentation/gps/serviceable
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*
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* /instrumentation/gps/wp-longitude-deg
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* /instrumentation/gps/wp-latitude-deg
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* /instrumentation/gps/wp-altitude-ft
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* /instrumentation/gps/wp-ID
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* /instrumentation/gps/wp-name
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* /instrumentation/gps/desired-course-deg
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* /instrumentation/gps/get-nearest-airport
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* /instrumentation/gps/waypoint-type
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* /instrumentation/gps/tracking-bug
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*
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* Output properties:
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*
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* /instrumentation/gps/indicated-longitude-deg
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* /instrumentation/gps/indicated-latitude-deg
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* /instrumentation/gps/indicated-altitude-ft
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* /instrumentation/gps/indicated-vertical-speed-fpm
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* /instrumentation/gps/indicated-track-true-deg
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* /instrumentation/gps/indicated-track-magnetic-deg
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* /instrumentation/gps/indicated-ground-speed-kt
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*
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* /instrumentation/gps/wp-distance-nm
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* /instrumentation/gps/wp-bearing-deg
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* /instrumentation/gps/wp-bearing-mag-deg
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* /instrumentation/gps/TTW
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* /instrumentation/gps/course-deviation-deg
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* /instrumentation/gps/course-error-nm
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* /instrumentation/gps/to-flag
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* /instrumentation/gps/odometer
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* /instrumentation/gps/trip-odometer
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* /instrumentation/gps/true-bug-error-deg
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* /instrumentation/gps/magnetic-bug-error-deg
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* /instrumentation/gps/true-bearing-error-deg
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* /instrumentation/gps/magnetic-bearing-error-deg
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*/
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class GPS : public SGSubsystem
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{
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public:
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GPS (SGPropertyNode *node);
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GPS ();
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virtual ~GPS ();
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virtual void init ();
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virtual void update (double delta_time_sec);
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private:
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typedef struct {
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double dt;
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SGGeod pos;
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SGGeod wp0_pos;
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SGGeod wp1_pos;
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bool waypoint_changed;
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double speed_kt;
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double track1_deg;
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double track2_deg;
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double magvar_deg;
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double wp0_distance;
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double wp0_course_deg;
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double wp0_bearing_deg;
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double wp1_distance;
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double wp1_course_deg;
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double wp1_bearing_deg;
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} UpdateContext;
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void search (double frequency, const SGGeod& pos);
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/**
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* reset all output properties to default / non-service values
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*/
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void clearOutput();
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void updateWithValid(UpdateContext& ctx);
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void updateNearestAirport(UpdateContext& ctx);
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void updateWaypoint0(UpdateContext& ctx);
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void updateWaypoint1(UpdateContext& ctx);
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void updateLegCourse(UpdateContext& ctx);
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void updateWaypoint0Course(UpdateContext& ctx);
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void updateWaypoint1Course(UpdateContext& ctx);
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void waypointChanged(UpdateContext& ctx);
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void updateTTWNode(UpdateContext& ctx, double distance_m, SGPropertyNode_ptr node);
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void updateTrackingBug(UpdateContext& ctx);
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SGPropertyNode_ptr _magvar_node;
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SGPropertyNode_ptr _serviceable_node;
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SGPropertyNode_ptr _electrical_node;
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SGPropertyNode_ptr _wp0_ID_node;
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SGPropertyNode_ptr _wp0_name_node;
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SGPropertyNode_ptr _wp0_course_node;
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SGPropertyNode_ptr _get_nearest_airport_node;
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SGPropertyNode_ptr _wp1_ID_node;
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SGPropertyNode_ptr _wp1_name_node;
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SGPropertyNode_ptr _wp1_course_node;
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SGPropertyNode_ptr _tracking_bug_node;
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SGPropertyNode_ptr _raim_node;
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SGPropertyNode_ptr _indicated_vertical_speed_node;
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SGPropertyNode_ptr _true_track_node;
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SGPropertyNode_ptr _magnetic_track_node;
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SGPropertyNode_ptr _speed_node;
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SGPropertyNode_ptr _wp0_distance_node;
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SGPropertyNode_ptr _wp0_ttw_node;
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SGPropertyNode_ptr _wp0_bearing_node;
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SGPropertyNode_ptr _wp0_mag_bearing_node;
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SGPropertyNode_ptr _wp0_course_deviation_node;
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SGPropertyNode_ptr _wp0_course_error_nm_node;
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SGPropertyNode_ptr _wp0_to_flag_node;
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SGPropertyNode_ptr _wp1_distance_node;
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SGPropertyNode_ptr _wp1_ttw_node;
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SGPropertyNode_ptr _wp1_bearing_node;
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SGPropertyNode_ptr _wp1_mag_bearing_node;
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SGPropertyNode_ptr _wp1_course_deviation_node;
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SGPropertyNode_ptr _wp1_course_error_nm_node;
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SGPropertyNode_ptr _wp1_to_flag_node;
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SGPropertyNode_ptr _odometer_node;
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SGPropertyNode_ptr _trip_odometer_node;
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SGPropertyNode_ptr _true_bug_error_node;
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SGPropertyNode_ptr _magnetic_bug_error_node;
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SGPropertyNode_ptr _true_wp0_bearing_error_node;
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SGPropertyNode_ptr _magnetic_wp0_bearing_error_node;
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SGPropertyNode_ptr _true_wp1_bearing_error_node;
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SGPropertyNode_ptr _magnetic_wp1_bearing_error_node;
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SGPropertyNode_ptr _leg_distance_node;
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SGPropertyNode_ptr _leg_course_node;
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SGPropertyNode_ptr _leg_magnetic_course_node;
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SGPropertyNode_ptr _alt_dist_ratio_node;
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SGPropertyNode_ptr _leg_course_deviation_node;
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SGPropertyNode_ptr _leg_course_error_nm_node;
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SGPropertyNode_ptr _leg_to_flag_node;
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SGPropertyNode_ptr _alt_deviation_node;
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bool _last_valid;
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SGGeod _last_pos;
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double _last_speed_kts;
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std::string _last_wp0_ID;
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std::string _last_wp1_ID;
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double _alt_dist_ratio;
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double _distance_m;
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double _course_deg;
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double _bias_length;
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double _bias_angle;
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double _azimuth_error;
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double _range_error;
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double _elapsed_time;
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std::string _name;
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int _num;
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SGGeodProperty _position;
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SGGeodProperty _wp0_position;
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SGGeodProperty _wp1_position;
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SGGeodProperty _indicated_pos;
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};
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#endif // __INSTRUMENTS_GPS_HXX
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