1052 lines
32 KiB
C++
1052 lines
32 KiB
C++
// // // FGAIAircraft - FGAIBase-derived class creates an AI airplane
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//
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// Written by David Culp, started October 2003.
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//
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// Copyright (C) 2003 David P. Culp - davidculp2@comcast.net
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include <simgear/route/waypoint.hxx>
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#include <Main/fg_props.hxx>
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#include <Main/globals.hxx>
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#include <Main/viewer.hxx>
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#include <Scenery/scenery.hxx>
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#include <Scenery/tilemgr.hxx>
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#include <Airports/dynamics.hxx>
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#include <string>
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#include <math.h>
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#include <time.h>
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#ifdef _MSC_VER
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# include <float.h>
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# define finite _finite
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#elif defined(__sun) || defined(sgi)
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# include <ieeefp.h>
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#endif
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using std::string;
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#include "AIAircraft.hxx"
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#include "performancedata.hxx"
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#include "performancedb.hxx"
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//#include <Airports/trafficcontroller.hxx>
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static string tempReg;
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class AI_OutOfSight{};
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class FP_Inactive{};
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FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : FGAIBase(otAircraft) {
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trafficRef = ref;
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if (trafficRef) {
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groundOffset = trafficRef->getGroundOffset();
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setCallSign(trafficRef->getCallSign());
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}
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else
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groundOffset = 0;
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fp = 0;
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controller = 0;
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prevController = 0;
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dt_count = 0;
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dt_elev_count = 0;
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use_perf_vs = true;
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no_roll = false;
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tgt_speed = 0;
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speed = 0;
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groundTargetSpeed = 0;
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// set heading and altitude locks
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hdg_lock = false;
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alt_lock = false;
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roll = 0;
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headingChangeRate = 0.0;
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holdPos = false;
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_performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB
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}
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FGAIAircraft::~FGAIAircraft() {
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//delete fp;
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if (controller)
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controller->signOff(getID());
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}
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void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) {
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if (!scFileNode)
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return;
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FGAIBase::readFromScenario(scFileNode);
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setPerformance(scFileNode->getStringValue("class", "jet_transport"));
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setFlightPlan(scFileNode->getStringValue("flightplan"),
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scFileNode->getBoolValue("repeat", false));
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setCallSign(scFileNode->getStringValue("callsign"));
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}
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void FGAIAircraft::bind() {
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FGAIBase::bind();
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props->tie("controls/gear/gear-down",
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SGRawValueMethods<FGAIAircraft,bool>(*this,
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&FGAIAircraft::_getGearDown));
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props->tie("transponder-id",
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SGRawValueMethods<FGAIAircraft,const char*>(*this,
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&FGAIAircraft::_getTransponderCode));
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}
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void FGAIAircraft::unbind() {
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FGAIBase::unbind();
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props->untie("controls/gear/gear-down");
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props->untie("transponder-id");
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}
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void FGAIAircraft::update(double dt) {
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FGAIBase::update(dt);
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Run(dt);
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Transform();
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}
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void FGAIAircraft::setPerformance(const std::string& acclass) {
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static PerformanceDB perfdb; //TODO make it a global service
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setPerformance(perfdb.getDataFor(acclass));
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}
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void FGAIAircraft::setPerformance(PerformanceData *ps) {
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_performance = ps;
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}
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void FGAIAircraft::Run(double dt) {
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FGAIAircraft::dt = dt;
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try {
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updatePrimaryTargetValues(); // target hdg, alt, speed
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}
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catch (AI_OutOfSight) {
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return;
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}
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catch (FP_Inactive) {
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//return;
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groundTargetSpeed = 0;
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}
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handleATCRequests(); // ATC also has a word to say
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updateSecondaryTargetValues(); // target roll, vertical speed, pitch
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updateActualState();
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UpdateRadar(manager);
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checkVisibility();
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}
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void FGAIAircraft::checkVisibility()
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{
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double visibility_meters = fgGetDouble("/environment/visibility-m");
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FGViewer* vw = globals->get_current_view();
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invisible = (SGGeodesy::distanceM(vw->getPosition(), pos) > visibility_meters);
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}
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void FGAIAircraft::AccelTo(double speed) {
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tgt_speed = speed;
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}
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void FGAIAircraft::PitchTo(double angle) {
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tgt_pitch = angle;
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alt_lock = false;
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}
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void FGAIAircraft::RollTo(double angle) {
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tgt_roll = angle;
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hdg_lock = false;
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}
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void FGAIAircraft::YawTo(double angle) {
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tgt_yaw = angle;
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}
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void FGAIAircraft::ClimbTo(double alt_ft ) {
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tgt_altitude_ft = alt_ft;
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alt_lock = true;
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}
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void FGAIAircraft::TurnTo(double heading) {
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tgt_heading = heading;
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hdg_lock = true;
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}
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double FGAIAircraft::sign(double x) {
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if (x == 0.0)
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return x;
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else
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return x/fabs(x);
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}
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void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat) {
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if (!flightplan.empty()) {
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FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
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fp->setRepeat(repeat);
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SetFlightPlan(fp);
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}
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}
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void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f) {
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delete fp;
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fp = f;
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}
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void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
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// the one behind you
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FGAIFlightPlan::waypoint* prev = 0;
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// the one ahead
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FGAIFlightPlan::waypoint* curr = 0;
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// the next plus 1
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FGAIFlightPlan::waypoint* next = 0;
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prev = fp->getPreviousWaypoint();
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curr = fp->getCurrentWaypoint();
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next = fp->getNextWaypoint();
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dt_count += dt;
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///////////////////////////////////////////////////////////////////////////
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// Initialize the flightplan
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//////////////////////////////////////////////////////////////////////////
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if (!prev) {
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handleFirstWaypoint();
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return;
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} // end of initialization
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if (! fpExecutable(now))
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return;
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dt_count = 0;
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if (! leadPointReached(curr)) {
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controlHeading(curr);
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controlSpeed(curr, next);
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} else {
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if (curr->finished) //end of the flight plan
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{
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if (fp->getRepeat())
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fp->restart();
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else
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setDie(true);
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return;
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}
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if (next) {
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//TODO more intelligent method in AIFlightPlan, no need to send data it already has :-)
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tgt_heading = fp->getBearing(curr, next);
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spinCounter = 0;
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}
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//TODO let the fp handle this (loading of next leg)
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fp->IncrementWaypoint((bool) trafficRef);
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if (!(fp->getNextWaypoint()) && trafficRef)
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if (!loadNextLeg()) {
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setDie(true);
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return;
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}
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prev = fp->getPreviousWaypoint();
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curr = fp->getCurrentWaypoint();
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next = fp->getNextWaypoint();
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// Now that we have incremented the waypoints, excute some traffic manager specific code
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if (trafficRef) {
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//TODO isn't this best executed right at the beginning?
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if (! aiTrafficVisible()) {
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setDie(true);
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return;
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}
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if (! handleAirportEndPoints(prev, now)) {
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setDie(true);
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return;
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}
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announcePositionToController();
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}
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if (next) {
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fp->setLeadDistance(tgt_speed, tgt_heading, curr, next);
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}
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if (!(prev->on_ground)) // only update the tgt altitude from flightplan if not on the ground
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{
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tgt_altitude_ft = prev->altitude;
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if (curr->crossat > -1000.0) {
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use_perf_vs = false;
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tgt_vs = (curr->crossat - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
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/ 6076.0 / speed*60.0);
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tgt_altitude_ft = curr->crossat;
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} else {
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use_perf_vs = true;
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}
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}
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tgt_speed = prev->speed;
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hdg_lock = alt_lock = true;
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no_roll = prev->on_ground;
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}
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}
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void FGAIAircraft::initializeFlightPlan() {
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}
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bool FGAIAircraft::_getGearDown() const {
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return _performance->gearExtensible(this);
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}
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const char * FGAIAircraft::_getTransponderCode() const {
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return transponderCode.c_str();
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}
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bool FGAIAircraft::loadNextLeg() {
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int leg;
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if ((leg = fp->getLeg()) == 10) {
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if (!trafficRef->next()) {
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return false;
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}
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setCallSign(trafficRef->getCallSign());
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leg = 1;
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fp->setLeg(leg);
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}
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FGAirport *dep = trafficRef->getDepartureAirport();
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FGAirport *arr = trafficRef->getArrivalAirport();
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if (!(dep && arr)) {
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setDie(true);
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} else {
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double cruiseAlt = trafficRef->getCruiseAlt() * 100;
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fp->create (this,
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dep,
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arr,
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leg,
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cruiseAlt,
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trafficRef->getSpeed(),
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_getLatitude(),
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_getLongitude(),
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false,
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trafficRef->getRadius(),
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trafficRef->getFlightType(),
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acType,
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company);
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//cerr << "created leg " << leg << " for " << trafficRef->getCallSign() << endl;
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}
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return true;
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}
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// Note: This code is copied from David Luff's AILocalTraffic
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// Warning - ground elev determination is CPU intensive
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// Either this function or the logic of how often it is called
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// will almost certainly change.
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void FGAIAircraft::getGroundElev(double dt) {
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dt_elev_count += dt;
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// Update minimally every three secs, but add some randomness
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// to prevent all AI objects doing this in synchrony
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if (dt_elev_count < (3.0) + (rand() % 10))
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return;
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dt_elev_count = 0;
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// Only do the proper hitlist stuff if we are within visible range of the viewer.
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if (!invisible) {
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double visibility_meters = fgGetDouble("/environment/visibility-m");
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FGViewer* vw = globals->get_current_view();
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if (SGGeodesy::distanceM(vw->getPosition(), pos) > visibility_meters) {
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return;
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}
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double range = 500.0;
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if (!globals->get_tile_mgr()->scenery_available(pos, range)) {
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// Try to shedule tiles for that position.
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globals->get_tile_mgr()->update( pos, range );
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}
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double alt;
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if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(pos, 20000), alt, 0))
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tgt_altitude_ft = alt * SG_METER_TO_FEET;
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}
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}
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void FGAIAircraft::doGroundAltitude() {
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if (fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)
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altitude_ft = (tgt_altitude_ft + groundOffset);
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else
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altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
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}
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void FGAIAircraft::announcePositionToController() {
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if (trafficRef) {
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int leg = fp->getLeg();
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// Note that leg has been incremented after creating the current leg, so we should use
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// leg numbers here that are one higher than the number that is used to create the leg
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//
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switch (leg) {
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case 2: // Startup and Push back
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if (trafficRef->getDepartureAirport()->getDynamics())
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controller = trafficRef->getDepartureAirport()->getDynamics()->getStartupController();
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break;
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case 3: // Taxiing to runway
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if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
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controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
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break;
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case 4: //Take off tower controller
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if (trafficRef->getDepartureAirport()->getDynamics()) {
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controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
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//if (trafficRef->getDepartureAirport()->getId() == "EHAM") {
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//string trns = trafficRef->getCallSign() + " at runway " + fp->getRunway() +
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// ". Ready for departure. " + trafficRef->getFlightType() + " to " +
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// trafficRef->getArrivalAirport()->getId();
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//fgSetString("/sim/messages/atc", trns.c_str());
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// if (controller == 0) {
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//cerr << "Error in assigning controller at " << trafficRef->getDepartureAirport()->getId() << endl;
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//}
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//}
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} else {
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cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
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}
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break;
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case 9: // Taxiing for parking
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if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
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controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
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break;
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default:
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controller = 0;
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break;
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}
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if ((controller != prevController) && (prevController != 0)) {
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prevController->signOff(getID());
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}
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prevController = controller;
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if (controller) {
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controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->routeIndex,
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_getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
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trafficRef->getRadius(), leg, this);
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}
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}
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}
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// Process ATC instructions and report back
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void FGAIAircraft::processATC(FGATCInstruction instruction) {
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if (instruction.getCheckForCircularWait()) {
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// This is not exactly an elegant solution,
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// but at least it gives me a chance to check
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// if circular waits are resolved.
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// For now, just take the offending aircraft
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// out of the scene
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setDie(true);
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// a more proper way should be - of course - to
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// let an offending aircraft take an evasive action
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// for instance taxi back a little bit.
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}
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//cerr << "Processing ATC instruction (not Implimented yet)" << endl;
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if (instruction.getHoldPattern ()) {}
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// Hold Position
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if (instruction.getHoldPosition ()) {
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if (!holdPos) {
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holdPos = true;
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}
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AccelTo(0.0);
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} else {
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if (holdPos) {
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//if (trafficRef)
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// cerr << trafficRef->getCallSign() << " Resuming Taxi." << endl;
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holdPos = false;
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}
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// Change speed Instruction. This can only be excecuted when there is no
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// Hold position instruction.
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if (instruction.getChangeSpeed ()) {
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// if (trafficRef)
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//cerr << trafficRef->getCallSign() << " Changing Speed " << endl;
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AccelTo(instruction.getSpeed());
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} else {
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if (fp) AccelTo(fp->getPreviousWaypoint()->speed);
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}
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}
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if (instruction.getChangeHeading ()) {
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hdg_lock = false;
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TurnTo(instruction.getHeading());
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} else {
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if (fp) {
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hdg_lock = true;
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}
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}
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if (instruction.getChangeAltitude()) {}
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}
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void FGAIAircraft::handleFirstWaypoint() {
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bool eraseWaypoints; //TODO YAGNI
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headingError = 0;
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if (trafficRef) {
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eraseWaypoints = true;
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} else {
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eraseWaypoints = false;
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}
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FGAIFlightPlan::waypoint* prev = 0; // the one behind you
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FGAIFlightPlan::waypoint* curr = 0; // the one ahead
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FGAIFlightPlan::waypoint* next = 0;// the next plus 1
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spinCounter = 0;
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tempReg = "";
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//TODO fp should handle this
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fp->IncrementWaypoint(eraseWaypoints);
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if (!(fp->getNextWaypoint()) && trafficRef)
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if (!loadNextLeg()) {
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setDie(true);
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return;
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}
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prev = fp->getPreviousWaypoint(); //first waypoint
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curr = fp->getCurrentWaypoint(); //second waypoint
|
|
next = fp->getNextWaypoint(); //third waypoint (might not exist!)
|
|
|
|
setLatitude(prev->latitude);
|
|
setLongitude(prev->longitude);
|
|
setSpeed(prev->speed);
|
|
setAltitude(prev->altitude);
|
|
|
|
if (prev->speed > 0.0)
|
|
setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
|
|
else
|
|
setHeading(fp->getBearing(curr->latitude, curr->longitude, prev));
|
|
|
|
// If next doesn't exist, as in incrementally created flightplans for
|
|
// AI/Trafficmanager created plans,
|
|
// Make sure lead distance is initialized otherwise
|
|
if (next)
|
|
fp->setLeadDistance(speed, hdg, curr, next);
|
|
|
|
if (curr->crossat > -1000.0) //use a calculated descent/climb rate
|
|
{
|
|
use_perf_vs = false;
|
|
tgt_vs = (curr->crossat - prev->altitude)
|
|
/ (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
|
|
/ 6076.0 / prev->speed*60.0);
|
|
tgt_altitude_ft = curr->crossat;
|
|
} else {
|
|
use_perf_vs = true;
|
|
tgt_altitude_ft = prev->altitude;
|
|
}
|
|
alt_lock = hdg_lock = true;
|
|
no_roll = prev->on_ground;
|
|
if (no_roll) {
|
|
Transform(); // make sure aip is initialized.
|
|
getGroundElev(60.1); // make sure it's executed first time around, so force a large dt value
|
|
doGroundAltitude();
|
|
}
|
|
// Make sure to announce the aircraft's position
|
|
announcePositionToController();
|
|
prevSpeed = 0;
|
|
}
|
|
|
|
|
|
/**
|
|
* Check Execution time (currently once every 100 ms)
|
|
* Add a bit of randomization to prevent the execution of all flight plans
|
|
* in synchrony, which can add significant periodic framerate flutter.
|
|
*
|
|
* @param now
|
|
* @return
|
|
*/
|
|
bool FGAIAircraft::fpExecutable(time_t now) {
|
|
double rand_exec_time = (rand() % 100) / 100;
|
|
return (dt_count > (0.1+rand_exec_time)) && (fp->isActive(now));
|
|
}
|
|
|
|
|
|
/**
|
|
* Check to see if we've reached the lead point for our next turn
|
|
*
|
|
* @param curr
|
|
* @return
|
|
*/
|
|
bool FGAIAircraft::leadPointReached(FGAIFlightPlan::waypoint* curr) {
|
|
double dist_to_go = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
|
|
|
|
//cerr << "2" << endl;
|
|
double lead_dist = fp->getLeadDistance();
|
|
// experimental: Use fabs, because speed can be negative (I hope) during push_back.
|
|
|
|
if (lead_dist < fabs(2*speed)) {
|
|
//don't skip over the waypoint
|
|
lead_dist = fabs(2*speed);
|
|
//cerr << "Extending lead distance to " << lead_dist << endl;
|
|
}
|
|
|
|
//prev_dist_to_go = dist_to_go;
|
|
//if (dist_to_go < lead_dist)
|
|
// cerr << trafficRef->getCallSign() << " Distance : "
|
|
// << dist_to_go << ": Lead distance "
|
|
// << lead_dist << " " << curr->name
|
|
// << " Ground target speed " << groundTargetSpeed << endl;
|
|
|
|
return dist_to_go < lead_dist;
|
|
}
|
|
|
|
|
|
bool FGAIAircraft::aiTrafficVisible() {
|
|
SGGeod userPos(SGGeod::fromDeg(fgGetDouble("/position/longitude-deg"),
|
|
fgGetDouble("/position/latitude-deg")));
|
|
|
|
return (SGGeodesy::distanceNm(userPos, pos) <= TRAFFICTOAIDISTTODIE);
|
|
}
|
|
|
|
|
|
/**
|
|
* Handle release of parking gate, once were taxiing. Also ensure service time at the gate
|
|
* in the case of an arrival.
|
|
*
|
|
* @param prev
|
|
* @return
|
|
*/
|
|
|
|
//TODO the trafficRef is the right place for the method
|
|
bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t now) {
|
|
// prepare routing from one airport to another
|
|
FGAirport * dep = trafficRef->getDepartureAirport();
|
|
FGAirport * arr = trafficRef->getArrivalAirport();
|
|
|
|
if (!( dep && arr))
|
|
return false;
|
|
|
|
// This waypoint marks the fact that the aircraft has passed the initial taxi
|
|
// departure waypoint, so it can release the parking.
|
|
//cerr << trafficRef->getCallSign() << " has passed waypoint " << prev->name << " at speed " << speed << endl;
|
|
if (prev->name == "PushBackPoint") {
|
|
dep->getDynamics()->releaseParking(fp->getGate());
|
|
time_t holdUntil = now + 120;
|
|
fp->setTime(holdUntil);
|
|
//cerr << _getCallsign() << "Holding at pushback point" << endl;
|
|
}
|
|
|
|
// This is the last taxi waypoint, and marks the the end of the flight plan
|
|
// so, the schedule should update and wait for the next departure time.
|
|
if (prev->name == "END") {
|
|
time_t nextDeparture = trafficRef->getDepartureTime();
|
|
// make sure to wait at least 20 minutes at parking to prevent "nervous" taxi behavior
|
|
if (nextDeparture < (now+1200)) {
|
|
nextDeparture = now + 1200;
|
|
}
|
|
fp->setTime(nextDeparture); // should be "next departure"
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
/**
|
|
* Check difference between target bearing and current heading and correct if necessary.
|
|
*
|
|
* @param curr
|
|
*/
|
|
void FGAIAircraft::controlHeading(FGAIFlightPlan::waypoint* curr) {
|
|
double calc_bearing = fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
|
|
//cerr << "Bearing = " << calc_bearing << endl;
|
|
if (speed < 0) {
|
|
calc_bearing +=180;
|
|
if (calc_bearing > 360)
|
|
calc_bearing -= 360;
|
|
}
|
|
|
|
if (finite(calc_bearing)) {
|
|
double hdg_error = calc_bearing - tgt_heading;
|
|
if (fabs(hdg_error) > 0.01) {
|
|
TurnTo( calc_bearing );
|
|
}
|
|
|
|
} else {
|
|
cerr << "calc_bearing is not a finite number : "
|
|
<< "Speed " << speed
|
|
<< "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
|
|
<< "waypoint " << curr->latitude << ", " << curr->longitude << endl;
|
|
cerr << "waypoint name " << curr->name;
|
|
exit(1); // FIXME
|
|
}
|
|
}
|
|
|
|
|
|
/**
|
|
* Update the lead distance calculation if speed has changed sufficiently
|
|
* to prevent spinning (hopefully);
|
|
*
|
|
* @param curr
|
|
* @param next
|
|
*/
|
|
void FGAIAircraft::controlSpeed(FGAIFlightPlan::waypoint* curr, FGAIFlightPlan::waypoint* next) {
|
|
double speed_diff = speed - prevSpeed;
|
|
|
|
if (fabs(speed_diff) > 10) {
|
|
prevSpeed = speed;
|
|
if (next) {
|
|
fp->setLeadDistance(speed, tgt_heading, curr, next);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
/**
|
|
* Update target values (heading, alt, speed) depending on flight plan or control properties
|
|
*/
|
|
void FGAIAircraft::updatePrimaryTargetValues() {
|
|
if (fp) // AI object has a flightplan
|
|
{
|
|
//TODO make this a function of AIBase
|
|
time_t now = time(NULL) + fgGetLong("/sim/time/warp");
|
|
//cerr << "UpateTArgetValues() " << endl;
|
|
ProcessFlightPlan(dt, now);
|
|
|
|
// Do execute Ground elev for inactive aircraft, so they
|
|
// Are repositioned to the correct ground altitude when the user flies within visibility range.
|
|
// In addition, check whether we are out of user range, so this aircraft
|
|
// can be deleted.
|
|
if (onGround()) {
|
|
Transform(); // make sure aip is initialized.
|
|
getGroundElev(dt);
|
|
doGroundAltitude();
|
|
// Transform();
|
|
pos.setElevationFt(altitude_ft);
|
|
}
|
|
if (trafficRef) {
|
|
//cerr << trafficRef->getRegistration() << " Setting altitude to " << altitude_ft;
|
|
if (! aiTrafficVisible()) {
|
|
setDie(true);
|
|
//cerr << trafficRef->getRegistration() << " is set to die " << endl;
|
|
throw AI_OutOfSight();
|
|
}
|
|
}
|
|
timeElapsed = now - fp->getStartTime();
|
|
if (! fp->isActive(now)) {
|
|
throw FP_Inactive();
|
|
}
|
|
} else {
|
|
// no flight plan, update target heading, speed, and altitude
|
|
// from control properties. These default to the initial
|
|
// settings in the config file, but can be changed "on the
|
|
// fly".
|
|
string lat_mode = props->getStringValue("controls/flight/lateral-mode");
|
|
if ( lat_mode == "roll" ) {
|
|
double angle
|
|
= props->getDoubleValue("controls/flight/target-roll" );
|
|
RollTo( angle );
|
|
} else {
|
|
double angle
|
|
= props->getDoubleValue("controls/flight/target-hdg" );
|
|
TurnTo( angle );
|
|
}
|
|
|
|
string lon_mode
|
|
= props->getStringValue("controls/flight/longitude-mode");
|
|
if ( lon_mode == "alt" ) {
|
|
double alt = props->getDoubleValue("controls/flight/target-alt" );
|
|
ClimbTo( alt );
|
|
} else {
|
|
double angle
|
|
= props->getDoubleValue("controls/flight/target-pitch" );
|
|
PitchTo( angle );
|
|
}
|
|
|
|
AccelTo( props->getDoubleValue("controls/flight/target-spd" ) );
|
|
}
|
|
}
|
|
|
|
void FGAIAircraft::updatePosition() {
|
|
// convert speed to degrees per second
|
|
double speed_north_deg_sec = cos( hdg * SGD_DEGREES_TO_RADIANS )
|
|
* speed * 1.686 / ft_per_deg_lat;
|
|
double speed_east_deg_sec = sin( hdg * SGD_DEGREES_TO_RADIANS )
|
|
* speed * 1.686 / ft_per_deg_lon;
|
|
|
|
// set new position
|
|
pos.setLatitudeDeg( pos.getLatitudeDeg() + speed_north_deg_sec * dt);
|
|
pos.setLongitudeDeg( pos.getLongitudeDeg() + speed_east_deg_sec * dt);
|
|
}
|
|
|
|
|
|
void FGAIAircraft::updateHeading() {
|
|
// adjust heading based on current bank angle
|
|
if (roll == 0.0)
|
|
roll = 0.01;
|
|
|
|
if (roll != 0.0) {
|
|
// double turnConstant;
|
|
//if (no_roll)
|
|
// turnConstant = 0.0088362;
|
|
//else
|
|
// turnConstant = 0.088362;
|
|
// If on ground, calculate heading change directly
|
|
if (onGround()) {
|
|
double headingDiff = fabs(hdg-tgt_heading);
|
|
double bank_sense = 0.0;
|
|
/*
|
|
double diff = fabs(hdg - tgt_heading);
|
|
if (diff > 180)
|
|
diff = fabs(diff - 360);
|
|
|
|
double sum = hdg + diff;
|
|
if (sum > 360.0)
|
|
sum -= 360.0;
|
|
if (fabs(sum - tgt_heading) < 1.0) {
|
|
bank_sense = 1.0; // right turn
|
|
} else {
|
|
bank_sense = -1.0; // left turn
|
|
}*/
|
|
if (headingDiff > 180)
|
|
headingDiff = fabs(headingDiff - 360);
|
|
double sum = hdg + headingDiff;
|
|
if (sum > 360.0)
|
|
sum -= 360.0;
|
|
if (fabs(sum - tgt_heading) > 0.0001) {
|
|
bank_sense = -1.0;
|
|
} else {
|
|
bank_sense = 1.0;
|
|
}
|
|
//if (trafficRef)
|
|
//cerr << trafficRef->getCallSign() << " Heading "
|
|
// << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << endl;
|
|
//if (headingDiff > 60) {
|
|
groundTargetSpeed = tgt_speed; // * cos(headingDiff * SG_DEGREES_TO_RADIANS);
|
|
//groundTargetSpeed = tgt_speed - tgt_speed * (headingDiff/180);
|
|
//} else {
|
|
// groundTargetSpeed = tgt_speed;
|
|
//}
|
|
if (sign(groundTargetSpeed) != sign(tgt_speed))
|
|
groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
|
|
|
|
if (headingDiff > 30.0) {
|
|
// invert if pushed backward
|
|
headingChangeRate += 10.0 * dt * sign(roll);
|
|
|
|
// Clamp the maximum steering rate to 30 degrees per second,
|
|
// But only do this when the heading error is decreasing.
|
|
if ((headingDiff < headingError)) {
|
|
if (headingChangeRate > 30)
|
|
headingChangeRate = 30;
|
|
else if (headingChangeRate < -30)
|
|
headingChangeRate = -30;
|
|
}
|
|
} else {
|
|
if (fabs(headingChangeRate) > headingDiff)
|
|
headingChangeRate = headingDiff*sign(roll);
|
|
else
|
|
headingChangeRate += dt * sign(roll);
|
|
}
|
|
|
|
hdg += headingChangeRate * dt * (fabs(speed) / 15);
|
|
headingError = headingDiff;
|
|
} else {
|
|
if (fabs(speed) > 1.0) {
|
|
turn_radius_ft = 0.088362 * speed * speed
|
|
/ tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
|
|
} else {
|
|
// Check if turn_radius_ft == 0; this might lead to a division by 0.
|
|
turn_radius_ft = 1.0;
|
|
}
|
|
double turn_circum_ft = SGD_2PI * turn_radius_ft;
|
|
double dist_covered_ft = speed * 1.686 * dt;
|
|
double alpha = dist_covered_ft / turn_circum_ft * 360.0;
|
|
hdg += alpha * sign(roll);
|
|
}
|
|
while ( hdg > 360.0 ) {
|
|
hdg -= 360.0;
|
|
spinCounter++;
|
|
}
|
|
while ( hdg < 0.0) {
|
|
hdg += 360.0;
|
|
spinCounter--;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void FGAIAircraft::updateBankAngleTarget() {
|
|
// adjust target bank angle if heading lock engaged
|
|
if (hdg_lock) {
|
|
double bank_sense = 0.0;
|
|
double diff = fabs(hdg - tgt_heading);
|
|
if (diff > 180)
|
|
diff = fabs(diff - 360);
|
|
|
|
double sum = hdg + diff;
|
|
if (sum > 360.0)
|
|
sum -= 360.0;
|
|
if (fabs(sum - tgt_heading) < 1.0) {
|
|
bank_sense = 1.0; // right turn
|
|
} else {
|
|
bank_sense = -1.0; // left turn
|
|
}
|
|
if (diff < _performance->maximumBankAngle()) {
|
|
tgt_roll = diff * bank_sense;
|
|
} else {
|
|
tgt_roll = _performance->maximumBankAngle() * bank_sense;
|
|
}
|
|
if ((fabs((double) spinCounter) > 1) && (diff > _performance->maximumBankAngle())) {
|
|
tgt_speed *= 0.999; // Ugly hack: If aircraft get stuck, they will continually spin around.
|
|
// The only way to resolve this is to make them slow down.
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void FGAIAircraft::updateVerticalSpeedTarget() {
|
|
// adjust target Altitude, based on ground elevation when on ground
|
|
if (onGround()) {
|
|
getGroundElev(dt);
|
|
doGroundAltitude();
|
|
} else if (alt_lock) {
|
|
// find target vertical speed
|
|
if (use_perf_vs) {
|
|
if (altitude_ft < tgt_altitude_ft) {
|
|
tgt_vs = tgt_altitude_ft - altitude_ft;
|
|
if (tgt_vs > _performance->climbRate())
|
|
tgt_vs = _performance->climbRate();
|
|
} else {
|
|
tgt_vs = tgt_altitude_ft - altitude_ft;
|
|
if (tgt_vs < (-_performance->descentRate()))
|
|
tgt_vs = -_performance->descentRate();
|
|
}
|
|
} else {
|
|
double max_vs = 4*(tgt_altitude_ft - altitude_ft);
|
|
double min_vs = 100;
|
|
if (tgt_altitude_ft < altitude_ft)
|
|
min_vs = -100.0;
|
|
if ((fabs(tgt_altitude_ft - altitude_ft) < 1500.0)
|
|
&& (fabs(max_vs) < fabs(tgt_vs)))
|
|
tgt_vs = max_vs;
|
|
|
|
if (fabs(tgt_vs) < fabs(min_vs))
|
|
tgt_vs = min_vs;
|
|
}
|
|
} //else
|
|
// tgt_vs = 0.0;
|
|
}
|
|
|
|
void FGAIAircraft::updatePitchAngleTarget() {
|
|
// if on ground and above vRotate -> initial rotation
|
|
if (onGround() && (speed > _performance->vRotate()))
|
|
tgt_pitch = 8.0; // some rough B737 value
|
|
|
|
//TODO pitch angle on approach and landing
|
|
|
|
// match pitch angle to vertical speed
|
|
else if (tgt_vs > 0) {
|
|
tgt_pitch = tgt_vs * 0.005;
|
|
} else {
|
|
tgt_pitch = tgt_vs * 0.002;
|
|
}
|
|
}
|
|
|
|
string FGAIAircraft::atGate() {
|
|
string tmp("");
|
|
if (fp->getLeg() < 3) {
|
|
if (trafficRef) {
|
|
if (fp->getGate() > 0) {
|
|
FGParking *park =
|
|
trafficRef->getDepartureAirport()->getDynamics()->getParking(fp->getGate());
|
|
tmp = park->getName();
|
|
}
|
|
}
|
|
}
|
|
return tmp;
|
|
}
|
|
|
|
void FGAIAircraft::handleATCRequests() {
|
|
//TODO implement NullController for having no ATC to save the conditionals
|
|
if (controller) {
|
|
controller->update(getID(),
|
|
pos.getLatitudeDeg(),
|
|
pos.getLongitudeDeg(),
|
|
hdg,
|
|
speed,
|
|
altitude_ft, dt);
|
|
processATC(controller->getInstruction(getID()));
|
|
}
|
|
}
|
|
|
|
void FGAIAircraft::updateActualState() {
|
|
//update current state
|
|
//TODO have a single tgt_speed and check speed limit on ground on setting tgt_speed
|
|
updatePosition();
|
|
|
|
if (onGround())
|
|
speed = _performance->actualSpeed(this, groundTargetSpeed, dt);
|
|
else
|
|
speed = _performance->actualSpeed(this, tgt_speed, dt);
|
|
|
|
updateHeading();
|
|
roll = _performance->actualBankAngle(this, tgt_roll, dt);
|
|
|
|
// adjust altitude (meters) based on current vertical speed (fpm)
|
|
altitude_ft += vs / 60.0 * dt;
|
|
pos.setElevationFt(altitude_ft);
|
|
|
|
vs = _performance->actualVerticalSpeed(this, tgt_vs, dt);
|
|
pitch = _performance->actualPitch(this, tgt_pitch, dt);
|
|
}
|
|
|
|
void FGAIAircraft::updateSecondaryTargetValues() {
|
|
// derived target state values
|
|
updateBankAngleTarget();
|
|
updateVerticalSpeedTarget();
|
|
updatePitchAngleTarget();
|
|
|
|
//TODO calculate wind correction angle (tgt_yaw)
|
|
}
|