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flightgear/test_suite/unit_tests/Instrumentation/test_gps.cxx
James Turner b85048db2d GPS/FLightPlan test updates 
- fix reseting of the NavData each test
- improve the test-pilot’s GPS following (reduce turn range close
   to the desired course)
- test DME intercepts
2020-04-21 15:48:41 +01:00

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/*
* Copyright (C) 2019 James Turner
*
* This file is part of the program FlightGear.
*
* 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, see <http://www.gnu.org/licenses/>.
*/
#include "test_gps.hxx"
#include <memory>
#include <cstring>
#include "test_suite/FGTestApi/testGlobals.hxx"
#include "test_suite/FGTestApi/NavDataCache.hxx"
#include "test_suite/FGTestApi/TestPilot.hxx"
#include <Navaids/NavDataCache.hxx>
#include <Navaids/navrecord.hxx>
#include <Navaids/navlist.hxx>
#include <Navaids/FlightPlan.hxx>
#include <Instrumentation/gps.hxx>
#include <Instrumentation/navradio.hxx>
#include <Autopilot/route_mgr.hxx>
using namespace flightgear;
/////////////////////////////////////////////////////////////////////////////
class TestFPDelegate : public FlightPlan::Delegate
{
public:
FlightPlanRef thePlan;
int sequenceCount = 0;
void sequence() override
{
++sequenceCount;
int newIndex = thePlan->currentIndex() + 1;
if (newIndex >= thePlan->numLegs()) {
thePlan->finish();
return;
}
thePlan->setCurrentIndex(newIndex);
}
void currentWaypointChanged() override
{
}
};
/////////////////////////////////////////////////////////////////////////////
// Set up function for each test.
void GPSTests::setUp()
{
FGTestApi::setUp::initTestGlobals("gps");
FGTestApi::setUp::initNavDataCache();
setupRouteManager();
}
// Clean up after each test.
void GPSTests::tearDown()
{
FGTestApi::tearDown::shutdownTestGlobals();
}
GPS* GPSTests::setupStandardGPS(SGPropertyNode_ptr config,
const std::string name, const int index)
{
SGPropertyNode_ptr configNode(config.valid() ? config
: SGPropertyNode_ptr{new SGPropertyNode});
configNode->setStringValue("name", name);
configNode->setIntValue("number", index);
GPS* gps(new GPS(configNode));
SGPropertyNode_ptr node = globals->get_props()->getNode("instrumentation", true)->getChild(name, index, true);
node->setBoolValue("serviceable", true);
globals->get_props()->setDoubleValue("systems/electrical/outputs/gps", 6.0);
gps->bind();
gps->init();
globals->add_subsystem("gps", gps, SGSubsystemMgr::POST_FDM);
return gps;
}
void GPSTests::setupRouteManager()
{
auto rm = globals->add_new_subsystem<FGRouteMgr>();
rm->bind();
rm->init();
rm->postinit();
}
/////////////////////////////////////////////////////////////////////////////
void GPSTests::testBasic()
{
setupStandardGPS();
FGPositioned::TypeFilter f{FGPositioned::VOR};
auto bodrumVOR = fgpositioned_cast<FGNavRecord>(FGPositioned::findClosestWithIdent("BDR", SGGeod::fromDeg(27.6, 37), &f));
SGGeod p1 = SGGeodesy::direct(bodrumVOR->geod(), 45.0, 5.0 * SG_NM_TO_METER);
FGTestApi::setPositionAndStabilise(p1);
auto gpsNode = globals->get_props()->getNode("instrumentation/gps");
CPPUNIT_ASSERT_DOUBLES_EQUAL(p1.getLongitudeDeg(), gpsNode->getDoubleValue("indicated-longitude-deg"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(p1.getLatitudeDeg(), gpsNode->getDoubleValue("indicated-latitude-deg"), 0.01);
auto pilot = SGSharedPtr<FGTestApi::TestPilot>(new FGTestApi::TestPilot);
pilot->setSpeedKts(120);
pilot->setCourseTrue(225.0);
FGTestApi::runForTime(30.0);
CPPUNIT_ASSERT_DOUBLES_EQUAL(225, gpsNode->getDoubleValue("indicated-track-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(120, gpsNode->getDoubleValue("indicated-ground-speed-kt"), 1);
// 120kts =
double speedMSec = 120 * SG_KT_TO_MPS;
double components = speedMSec * (1.0 / sqrt(2.0));
CPPUNIT_ASSERT_DOUBLES_EQUAL(-components, gpsNode->getDoubleValue("ew-velocity-msec"), 0.1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(-components, gpsNode->getDoubleValue("ns-velocity-msec"), 0.1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(120 * (30.0 / 3600), gpsNode->getDoubleValue("odometer"), 0.1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(120 * (30.0 / 3600), gpsNode->getDoubleValue("trip-odometer"), 0.1);
}
void GPSTests::testOBSMode()
{
setupStandardGPS();
FGPositioned::TypeFilter f{FGPositioned::VOR};
auto bodrumVOR = fgpositioned_cast<FGNavRecord>(FGPositioned::findClosestWithIdent("BDR", SGGeod::fromDeg(27.6, 37), &f));
SGGeod p1 = SGGeodesy::direct(bodrumVOR->geod(), 45.0, 5.0 * SG_NM_TO_METER);
FGTestApi::setPositionAndStabilise(p1);
auto gpsNode = globals->get_props()->getNode("instrumentation/gps");
CPPUNIT_ASSERT_DOUBLES_EQUAL(p1.getLongitudeDeg(), gpsNode->getDoubleValue("indicated-longitude-deg"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(p1.getLatitudeDeg(), gpsNode->getDoubleValue("indicated-latitude-deg"), 0.01);
gpsNode->setDoubleValue("selected-course-deg", 225);
// query BDR from the GPS database
gpsNode->setStringValue("scratch/query", "BDR");
gpsNode->setStringValue("scratch/type", "vor");
gpsNode->setStringValue("command", "search");
CPPUNIT_ASSERT_EQUAL(true, gpsNode->getBoolValue("scratch/valid"));
CPPUNIT_ASSERT_DOUBLES_EQUAL(225.0, gpsNode->getDoubleValue("scratch/true-bearing-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(5.0, gpsNode->getDoubleValue("scratch/distance-nm"), 0.1);
// select OBS mode one it
gpsNode->setStringValue("command", "obs");
FGTestApi::setPositionAndStabilise(p1);
CPPUNIT_ASSERT_EQUAL(std::string{"obs"}, std::string{gpsNode->getStringValue("mode")});
CPPUNIT_ASSERT_DOUBLES_EQUAL(5.0, gpsNode->getDoubleValue("wp/wp[1]/distance-nm"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(225.0, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(bodrumVOR->get_lon(), gpsNode->getDoubleValue("wp/wp[1]/longitude-deg"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(bodrumVOR->get_lat(), gpsNode->getDoubleValue("wp/wp[1]/latitude-deg"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(225.0, gpsNode->getDoubleValue("desired-course-deg"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
// off axis, angular
SGGeod p2 = SGGeodesy::direct(bodrumVOR->geod(), 40.0, 4.0 * SG_NM_TO_METER);
FGTestApi::setPositionAndStabilise(p2);
CPPUNIT_ASSERT_EQUAL(std::string{"obs"}, std::string{gpsNode->getStringValue("mode")});
CPPUNIT_ASSERT_DOUBLES_EQUAL(4.0, gpsNode->getDoubleValue("wp/wp[1]/distance-nm"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(220.0, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(225.0, gpsNode->getDoubleValue("desired-course-deg"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(-5.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.1);
// off axis, perpendicular
SGGeod p3 = SGGeodesy::direct(p1, 135, 0.5 * SG_NM_TO_METER);
FGTestApi::setPositionAndStabilise(p3);
CPPUNIT_ASSERT_DOUBLES_EQUAL(225.0, gpsNode->getDoubleValue("desired-course-deg"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.5, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
}
void GPSTests::testDirectTo()
{
setupStandardGPS();
FGPositioned::TypeFilter f{FGPositioned::VOR};
auto bodrumVOR = fgpositioned_cast<FGNavRecord>(FGPositioned::findClosestWithIdent("BDR", SGGeod::fromDeg(27.6, 37), &f));
SGGeod p1 = SGGeodesy::direct(bodrumVOR->geod(), 30.0, 16.0 * SG_NM_TO_METER);
FGTestApi::setPositionAndStabilise(p1);
auto gpsNode = globals->get_props()->getNode("instrumentation/gps");
// load into the scratch
gpsNode->setStringValue("scratch/query", "BDR");
gpsNode->setStringValue("scratch/type", "vor");
gpsNode->setStringValue("command", "search");
CPPUNIT_ASSERT_EQUAL(true, gpsNode->getBoolValue("scratch/valid"));
gpsNode->setStringValue("command", "direct");
CPPUNIT_ASSERT_EQUAL(std::string{"dto"}, std::string{gpsNode->getStringValue("mode")});
CPPUNIT_ASSERT_DOUBLES_EQUAL(p1.getLongitudeDeg(), gpsNode->getDoubleValue("wp/wp[0]/longitude-deg"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(p1.getLatitudeDeg(), gpsNode->getDoubleValue("wp/wp[0]/latitude-deg"), 0.01);
CPPUNIT_ASSERT_EQUAL(std::string{"BDR"}, std::string{gpsNode->getStringValue("wp/wp[1]/ID")});
CPPUNIT_ASSERT_DOUBLES_EQUAL(16.0, gpsNode->getDoubleValue("wp/wp[1]/distance-nm"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(210, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(bodrumVOR->get_lon(), gpsNode->getDoubleValue("wp/wp[1]/longitude-deg"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(bodrumVOR->get_lat(), gpsNode->getDoubleValue("wp/wp[1]/latitude-deg"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
// move off the direct-to line, check everything works
SGGeod p2 = SGGeodesy::direct(bodrumVOR->geod(), 35.0, 12.0 * SG_NM_TO_METER);
FGTestApi::setPositionAndStabilise(p2);
CPPUNIT_ASSERT_DOUBLES_EQUAL(5, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.1);
SGGeod p3 = SGGeodesy::direct(p1, 210, 6.0 * SG_NM_TO_METER);
SGGeod xtk = SGGeodesy::direct(p3, 120, 0.8 * SG_NM_TO_METER);
FGTestApi::setPositionAndStabilise(xtk);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.8, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
SGGeod xtk2 = SGGeodesy::direct(p3, 120, -1.8 * SG_NM_TO_METER);
FGTestApi::setPositionAndStabilise(xtk2);
CPPUNIT_ASSERT_DOUBLES_EQUAL(-1.8, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
}
void GPSTests::testNavRadioSlave()
{
SGPropertyNode_ptr radioConfigNode(new SGPropertyNode);
radioConfigNode->setStringValue("name", "navtest");
radioConfigNode->setIntValue("number", 2);
std::unique_ptr<FGNavRadio> r(new FGNavRadio(radioConfigNode));
}
void GPSTests::testLegMode()
{
auto rm = globals->get_subsystem<FGRouteMgr>();
auto fp = new FlightPlan;
rm->setFlightPlan(fp);
FGTestApi::setUp::populateFPWithoutNasal(fp, "EBBR", "07L", "EGGD", "27",
"NIK COA DVR TAWNY WOD");
// takes the place of the Nasal delegates
auto testDelegate = new TestFPDelegate;
testDelegate->thePlan = fp;
CPPUNIT_ASSERT(rm->activate());
fp->addDelegate(testDelegate);
setupStandardGPS();
FGTestApi::setPositionAndStabilise(fp->departureRunway()->pointOnCenterline(0.0));
auto gpsNode = globals->get_props()->getNode("instrumentation/gps");
gpsNode->setBoolValue("config/delegate-sequencing", true);
gpsNode->setStringValue("command", "leg");
CPPUNIT_ASSERT_EQUAL(std::string{"leg"}, std::string{gpsNode->getStringValue("mode")});
CPPUNIT_ASSERT_EQUAL(std::string{"EBBR-07L"}, std::string{gpsNode->getStringValue("wp/wp[1]/ID")});
CPPUNIT_ASSERT_DOUBLES_EQUAL(65.0, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(65.0, gpsNode->getDoubleValue("desired-course-deg"), 0.5);
auto pilot = SGSharedPtr<FGTestApi::TestPilot>(new FGTestApi::TestPilot);
pilot->setSpeedKts(200);
pilot->setCourseTrue(65.0);
pilot->setTargetAltitudeFtMSL(6000);
FGTestApi::runForTime(60.0);
// check we sequenced to NIK
CPPUNIT_ASSERT_EQUAL(1, testDelegate->sequenceCount);
CPPUNIT_ASSERT_EQUAL(1, fp->currentIndex());
CPPUNIT_ASSERT_EQUAL(std::string{"EBBR-07L"}, std::string{gpsNode->getStringValue("wp/wp[0]/ID")});
CPPUNIT_ASSERT_EQUAL(std::string{"NIK"}, std::string{gpsNode->getStringValue("wp/wp[1]/ID")});
// reposition along the leg, closer to NIK
// and fly to COA
SGGeod nikPos = fp->currentLeg()->waypoint()->position();
SGGeod p2 = SGGeodesy::direct(nikPos, 90, 5 * SG_NM_TO_METER); // due east of NIK
FGTestApi::setPositionAndStabilise(p2);
CPPUNIT_ASSERT_DOUBLES_EQUAL(270, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
auto depRwy = fp->departureRunway();
CPPUNIT_ASSERT_DOUBLES_EQUAL(SGGeodesy::distanceNm(nikPos, depRwy->end()), gpsNode->getDoubleValue("wp/leg-distance-nm"), 0.1);
const double legCourse = SGGeodesy::courseDeg(depRwy->end(), nikPos);
CPPUNIT_ASSERT_DOUBLES_EQUAL(legCourse, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
const double crsToNIK = SGGeodesy::courseDeg(p2, nikPos);
CPPUNIT_ASSERT_DOUBLES_EQUAL(crsToNIK - legCourse, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
pilot->setSpeedKts(200);
pilot->setCourseTrue(270);
FGTestApi::runForTime(120.0);
CPPUNIT_ASSERT_EQUAL(2, testDelegate->sequenceCount);
CPPUNIT_ASSERT_EQUAL(2, fp->currentIndex());
CPPUNIT_ASSERT_EQUAL(std::string{"NIK"}, std::string{gpsNode->getStringValue("wp/wp[0]/ID")});
CPPUNIT_ASSERT_EQUAL(std::string{"COA"}, std::string{gpsNode->getStringValue("wp/wp[1]/ID")});
SGGeod coaPos = fp->currentLeg()->waypoint()->position();
CPPUNIT_ASSERT_DOUBLES_EQUAL(SGGeodesy::distanceNm(nikPos, coaPos), gpsNode->getDoubleValue("wp/leg-distance-nm"), 0.1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(SGGeodesy::courseDeg(nikPos, coaPos), gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
// check manual sequencing
fp->setCurrentIndex(3);
CPPUNIT_ASSERT_EQUAL(std::string{"COA"}, std::string{gpsNode->getStringValue("wp/wp[0]/ID")});
CPPUNIT_ASSERT_EQUAL(std::string{"DVR"}, std::string{gpsNode->getStringValue("wp/wp[1]/ID")});
// check course deviation / cross-track error
SGGeod doverPos = fp->currentLeg()->waypoint()->position();
double course = SGGeodesy::courseDeg(coaPos, doverPos);
double revCourse = SGGeodesy::courseDeg(doverPos, coaPos);
FGTestApi::setPositionAndStabilise(coaPos);
CPPUNIT_ASSERT_DOUBLES_EQUAL(course, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
SGGeod off1 = SGGeodesy::direct(doverPos, revCourse - 5.0, 16 * SG_NM_TO_METER);
FGTestApi::setPositionAndStabilise(off1);
double courseToDover = SGGeodesy::courseDeg(off1, doverPos);
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseToDover, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(-5.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
CPPUNIT_ASSERT_EQUAL(true, gpsNode->getBoolValue("wp/wp[1]/to-flag"));
CPPUNIT_ASSERT_EQUAL(false, gpsNode->getBoolValue("wp/wp[1]/from-flag"));
SGGeod off2 = SGGeodesy::direct(doverPos, revCourse + 8.0, 40 * SG_NM_TO_METER);
FGTestApi::setPositionAndStabilise(off2);
courseToDover = SGGeodesy::courseDeg(off2, doverPos);
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseToDover, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(8.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
CPPUNIT_ASSERT_EQUAL(true, gpsNode->getBoolValue("wp/wp[1]/to-flag"));
CPPUNIT_ASSERT_EQUAL(false, gpsNode->getBoolValue("wp/wp[1]/from-flag"));
// check cross-track error calculation
SGGeod alongTrack = SGGeodesy::direct(coaPos, course, 20 * SG_NM_TO_METER);
SGGeod offTrack = SGGeodesy::direct(alongTrack, course + 90, SG_NM_TO_METER * 0.7);
FGTestApi::setPositionAndStabilise(offTrack);
courseToDover = SGGeodesy::courseDeg(offTrack, doverPos);
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseToDover, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(-0.7, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
SGGeod offTrack2 = SGGeodesy::direct(alongTrack, courseToDover - 90, SG_NM_TO_METER * 3.4);
FGTestApi::setPositionAndStabilise(offTrack2);
CPPUNIT_ASSERT_DOUBLES_EQUAL(3.4, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
// check cross track very close to COA
SGGeod alongTrack11 = SGGeodesy::direct(coaPos, course, 0.3);
SGGeod offTrack25 = SGGeodesy::direct(alongTrack11, course + 90, SG_NM_TO_METER * -3.2);
FGTestApi::setPositionAndStabilise(offTrack25);
CPPUNIT_ASSERT_DOUBLES_EQUAL(3.2, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(course, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.1);
// check cross track very close to DVR
double distanceCOA_DVR = SGGeodesy::distanceM(coaPos, doverPos);
SGGeod alongTrack2 = SGGeodesy::direct(coaPos, course, distanceCOA_DVR - 0.3);
SGGeod offTrack3 = SGGeodesy::direct(alongTrack2, course + 90, SG_NM_TO_METER * 1.6);
FGTestApi::setPositionAndStabilise(offTrack3);
CPPUNIT_ASSERT_DOUBLES_EQUAL(-1.6, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(revCourse + 180.0, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.1);
// check cross track in the middle
SGGeod alongTrack3 = SGGeodesy::direct(coaPos, course, distanceCOA_DVR * 0.52);
SGGeod offTrack4 = SGGeodesy::direct(alongTrack3, course + 90, SG_NM_TO_METER * 15.6);
FGTestApi::setPositionAndStabilise(offTrack4);
CPPUNIT_ASSERT_DOUBLES_EQUAL(-15.6, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(261.55, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.1);
}
void GPSTests::testBuiltinRevertToOBSAtEnd()
{
//FGTestApi::setUp::logPositionToKML("gps_route_end_revert_to_obs");
auto rm = globals->get_subsystem<FGRouteMgr>();
auto fp = new FlightPlan;
rm->setFlightPlan(fp);
FGTestApi::setUp::populateFPWithoutNasal(fp, "EBBR", "07L", "EGGD", "27",
"NIK COA DVR TAWNY BDN");
// FGTestApi::writeFlightPlanToKML(fp);
// takes the place of the Nasal delegates
auto testDelegate = new TestFPDelegate;
testDelegate->thePlan = fp;
CPPUNIT_ASSERT(rm->activate());
fp->addDelegate(testDelegate);
auto gps = setupStandardGPS();
FGTestApi::setPositionAndStabilise(fp->departureRunway()->pointOnCenterline(0.0));
auto gpsNode = globals->get_props()->getNode("instrumentation/gps");
gpsNode->setStringValue("command", "leg");
// move to point 18.0 nm after BDN
auto posNearApproach = fp->pointAlongRoute(5, 18.0);
FGTestApi::setPositionAndStabilise(posNearApproach);
fp->setCurrentIndex(6);
auto pilot = SGSharedPtr<FGTestApi::TestPilot>(new FGTestApi::TestPilot);
pilot->resetAtPosition(posNearApproach);
pilot->setSpeedKts(250);
pilot->flyGPSCourse(gps);
bool ok = FGTestApi::runForTimeWithCheck(600.0, [gpsNode] () {
const std::string mode = gpsNode->getStringValue("mode");
if (mode == "obs") {
return true;
}
return false;
});
CPPUNIT_ASSERT(ok);
CPPUNIT_ASSERT_EQUAL(std::string{"obs"}, std::string{gpsNode->getStringValue("mode")});
// should have deactivated
CPPUNIT_ASSERT_EQUAL(false, fp->isActive());
}
void GPSTests::testDirectToLegOnFlightplan()
{
auto rm = globals->get_subsystem<FGRouteMgr>();
auto fp = new FlightPlan;
rm->setFlightPlan(fp);
FGTestApi::setUp::populateFPWithoutNasal(fp, "EBBR", "07L", "EGGD", "27",
"NIK COA DVR TAWNY WOD");
// takes the place of the Nasal delegates
auto testDelegate = new TestFPDelegate;
testDelegate->thePlan = fp;
CPPUNIT_ASSERT(rm->activate());
fp->addDelegate(testDelegate);
setupStandardGPS();
FGTestApi::setPositionAndStabilise(fp->departureRunway()->pointOnCenterline(0.0));
auto gpsNode = globals->get_props()->getNode("instrumentation/gps");
gpsNode->setBoolValue("config/delegate-sequencing", true);
gpsNode->setStringValue("command", "leg");
CPPUNIT_ASSERT_EQUAL(std::string{"leg"}, std::string{gpsNode->getStringValue("mode")});
CPPUNIT_ASSERT_EQUAL(std::string{"EBBR-07L"}, std::string{gpsNode->getStringValue("wp/wp[1]/ID")});
CPPUNIT_ASSERT_DOUBLES_EQUAL(65.0, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(65.0, gpsNode->getDoubleValue("desired-course-deg"), 0.5);
// initiate a direct to
SGGeod p2 = fp->departureRunway()->pointOnCenterline(5.0* SG_NM_TO_METER);
FGTestApi::setPositionAndStabilise(p2);
auto doverVOR = fp->legAtIndex(3)->waypoint()->source();
double distanceToDover = SGGeodesy::distanceNm(p2, doverVOR->geod());
double bearingToDover = SGGeodesy::courseDeg(p2, doverVOR->geod());
CPPUNIT_ASSERT_EQUAL(std::string{"DVR"}, doverVOR->ident());
gpsNode->setStringValue("scratch/ident", "DVR");
gpsNode->setDoubleValue("scratch/longitude-deg", doverVOR->geod().getLongitudeDeg());
gpsNode->setDoubleValue("scratch/latitude-deg", doverVOR->geod().getLatitudeDeg());
gpsNode->setStringValue("command", "direct");
CPPUNIT_ASSERT_EQUAL(std::string{"dto"}, std::string{gpsNode->getStringValue("mode")});
CPPUNIT_ASSERT_DOUBLES_EQUAL(p2.getLongitudeDeg(), gpsNode->getDoubleValue("wp/wp[0]/longitude-deg"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(p2.getLatitudeDeg(), gpsNode->getDoubleValue("wp/wp[0]/latitude-deg"), 0.01);
CPPUNIT_ASSERT_EQUAL(std::string{"DVR"}, std::string{gpsNode->getStringValue("wp/wp[1]/ID")});
CPPUNIT_ASSERT_DOUBLES_EQUAL(distanceToDover, gpsNode->getDoubleValue("wp/wp[1]/distance-nm"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(bearingToDover, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(doverVOR->geod().getLongitudeDeg(), gpsNode->getDoubleValue("wp/wp[1]/longitude-deg"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(doverVOR->geod().getLatitudeDeg(), gpsNode->getDoubleValue("wp/wp[1]/latitude-deg"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
}
void GPSTests::testDirectToLegOnFlightplanAndResumeBuiltin()
{
// this tests uses the legacy built-in sequencing behaviour of the GPS
// which is now handled by the Nasal delegate in some cases.
auto rm = globals->get_subsystem<FGRouteMgr>();
// FGTestApi::setUp::logPositionToKML("gps_dto_resume_leg");
auto fp = new FlightPlan;
rm->setFlightPlan(fp);
FGTestApi::setUp::populateFPWithoutNasal(fp, "EBBR", "07L", "EGGD", "27",
"NIK COA DVR TAWNY WOD");
//FGTestApi::writeFlightPlanToKML(fp);
CPPUNIT_ASSERT(rm->activate());
auto gps = setupStandardGPS();
FGTestApi::setPositionAndStabilise(fp->departureRunway()->pointOnCenterline(0.0));
auto gpsNode = globals->get_props()->getNode("instrumentation/gps");
gpsNode->setStringValue("command", "leg");
CPPUNIT_ASSERT_EQUAL(std::string{"leg"}, std::string{gpsNode->getStringValue("mode")});
CPPUNIT_ASSERT_EQUAL(std::string{"EBBR-07L"}, std::string{gpsNode->getStringValue("wp/wp[1]/ID")});
CPPUNIT_ASSERT_DOUBLES_EQUAL(65.0, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(65.0, gpsNode->getDoubleValue("desired-course-deg"), 0.5);
// initiate a direct to
SGGeod p2 = fp->departureRunway()->pointOnCenterline(5.0* SG_NM_TO_METER);
FGTestApi::setPositionAndStabilise(p2);
auto doverVOR = fp->legAtIndex(3)->waypoint()->source();
double distanceToDover = SGGeodesy::distanceNm(p2, doverVOR->geod());
double bearingToDover = SGGeodesy::courseDeg(p2, doverVOR->geod());
CPPUNIT_ASSERT_EQUAL(std::string{"DVR"}, doverVOR->ident());
gpsNode->setStringValue("scratch/ident", "DVR");
gpsNode->setDoubleValue("scratch/longitude-deg", doverVOR->geod().getLongitudeDeg());
gpsNode->setDoubleValue("scratch/latitude-deg", doverVOR->geod().getLatitudeDeg());
gpsNode->setStringValue("command", "direct");
CPPUNIT_ASSERT_EQUAL(std::string{"dto"}, std::string{gpsNode->getStringValue("mode")});
// check that upon reaching DOVER, we sequence to TAWNY and resume leg mode
// note this behaviour is from the old C++ sequencing
SGGeod posNearDover = SGGeodesy::direct(p2, bearingToDover, (distanceToDover - 8.0) * SG_NM_TO_METER);
FGTestApi::setPositionAndStabilise(posNearDover);
auto pilot = SGSharedPtr<FGTestApi::TestPilot>(new FGTestApi::TestPilot);
pilot->resetAtPosition(posNearDover);
pilot->setSpeedKts(250);
pilot->flyGPSCourse(gps);
bool ok = FGTestApi::runForTimeWithCheck(180.0, [fp] () {
if (fp->currentIndex() == 4) {
return true;
}
return false;
});
CPPUNIT_ASSERT(ok);
CPPUNIT_ASSERT_EQUAL(std::string{"leg"}, std::string{gpsNode->getStringValue("mode")});
}
void GPSTests::testLongLeg()
{
auto rm = globals->get_subsystem<FGRouteMgr>();
auto fp = new FlightPlan;
rm->setFlightPlan(fp);
FGTestApi::setUp::populateFPWithoutNasal(fp, "KLAX", "25R", "KJFK", "22R","VNY TEB");
// takes the place of the Nasal delegates
auto testDelegate = new TestFPDelegate;
testDelegate->thePlan = fp;
CPPUNIT_ASSERT(rm->activate());
fp->addDelegate(testDelegate);
setupStandardGPS();
auto gpsNode = globals->get_props()->getNode("instrumentation/gps");
gpsNode->setBoolValue("config/delegate-sequencing", true);
gpsNode->setStringValue("command", "leg");
// custom CDI deflection output
gpsNode->setDoubleValue("config/cdi-max-deflection-nm", 20.0);
auto vanNuysVOR = fp->legAtIndex(1)->waypoint()->source();
CPPUNIT_ASSERT_EQUAL(std::string{"VAN NUYS VOR-DME"}, vanNuysVOR->name());
auto teterboroVOR = fp->legAtIndex(2)->waypoint()->source();
CPPUNIT_ASSERT_EQUAL(std::string{"TETERBORO VOR-DME"}, teterboroVOR->name());
fp->setCurrentIndex(2);
// initial course at VNY
FGTestApi::setPositionAndStabilise(vanNuysVOR->geod());
const double initialCourse = SGGeodesy::courseDeg(vanNuysVOR->geod(), teterboroVOR->geod());
const double distanceM = SGGeodesy::distanceM(vanNuysVOR->geod(), teterboroVOR->geod());
CPPUNIT_ASSERT_DOUBLES_EQUAL(initialCourse, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(initialCourse, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
CPPUNIT_ASSERT_DOUBLES_EQUAL(distanceM * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/wp[1]/distance-nm"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(distanceM * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/leg-distance-nm"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("cdi-deflection"), 0.01);
// part of the way, check enroute leg course
const SGGeod onTheWay = SGGeodesy::direct(vanNuysVOR->geod(), initialCourse, distanceM * 0.7);
FGTestApi::setPositionAndStabilise(onTheWay);
const double courseNow = SGGeodesy::courseDeg(onTheWay, teterboroVOR->geod());
const double distNow = SGGeodesy::distanceM(onTheWay, teterboroVOR->geod());
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseNow, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseNow, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
CPPUNIT_ASSERT_DOUBLES_EQUAL(distNow * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/wp[1]/distance-nm"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(distanceM * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/leg-distance-nm"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("cdi-deflection"), 0.01);
// check a seriously abeam point, we got far of course
// to the right of the course, i.e desired track is to our left, so -ve
const SGGeod offTheWay = SGGeodesy::direct(onTheWay, courseNow + 90, SG_NM_TO_METER * 13.5);
FGTestApi::setPositionAndStabilise(offTheWay);
const double courseFromOff1 = SGGeodesy::courseDeg(offTheWay, teterboroVOR->geod());
const double dist2 = SGGeodesy::distanceM(offTheWay, teterboroVOR->geod());
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseFromOff1, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseNow, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(-13.5, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseFromOff1 - courseNow, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(dist2 * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/wp[1]/distance-nm"), 0.01);
const double expectedDefl1 = -13.5 / 20.0;
CPPUNIT_ASSERT_DOUBLES_EQUAL(expectedDefl1 * 10.0, gpsNode->getDoubleValue("cdi-deflection"), 0.01);
// check off the other side, close to the destination
const SGGeod onTheWay2 = SGGeodesy::direct(vanNuysVOR->geod(), initialCourse, distanceM * 0.92);
const double courseOn2 = SGGeodesy::courseDeg(onTheWay2, teterboroVOR->geod());
const SGGeod off2 = SGGeodesy::direct(onTheWay2, courseOn2 - 90, SG_NM_TO_METER * 31.2);
FGTestApi::setPositionAndStabilise(off2);
const double courseFromOff2 = SGGeodesy::courseDeg(off2, teterboroVOR->geod());
const double dist3 = SGGeodesy::distanceM(off2, teterboroVOR->geod());
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseFromOff2, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseOn2, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(31.2, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseFromOff2 - courseOn2, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(dist3 * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/wp[1]/distance-nm"), 0.01);
// should peg the CDI, +ve
CPPUNIT_ASSERT_DOUBLES_EQUAL(10.0, gpsNode->getDoubleValue("cdi-deflection"), 0.01);
}
void GPSTests::testLongLegWestbound()
{
auto rm = globals->get_subsystem<FGRouteMgr>();
auto fp = new FlightPlan;
rm->setFlightPlan(fp);
FGTestApi::setUp::populateFPWithoutNasal(fp, "ENBR", "35", "BIKF", "29","VOO GAKTU");
// takes the place of the Nasal delegates
auto testDelegate = new TestFPDelegate;
testDelegate->thePlan = fp;
CPPUNIT_ASSERT(rm->activate());
fp->addDelegate(testDelegate);
setupStandardGPS();
auto gpsNode = globals->get_props()->getNode("instrumentation/gps");
gpsNode->setBoolValue("config/delegate-sequencing", true);
gpsNode->setStringValue("command", "leg");
// custom CDI deflection output
gpsNode->setDoubleValue("config/cdi-max-deflection-nm", 25.0);
auto volloVOR = fp->legAtIndex(1)->waypoint()->source();
CPPUNIT_ASSERT_EQUAL(std::string{"VOLLO VOR-DME"}, volloVOR->name());
auto gaktu = fp->legAtIndex(2)->waypoint()->source();
CPPUNIT_ASSERT_EQUAL(std::string{"GAKTU"}, gaktu->name());
fp->setCurrentIndex(2);
// initial course at VNY
FGTestApi::setPositionAndStabilise(volloVOR->geod());
const double initialCourse = SGGeodesy::courseDeg(volloVOR->geod(), gaktu->geod());
const double distanceM = SGGeodesy::distanceM(volloVOR->geod(), gaktu->geod());
CPPUNIT_ASSERT_DOUBLES_EQUAL(initialCourse, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(initialCourse, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
CPPUNIT_ASSERT_DOUBLES_EQUAL(distanceM * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/wp[1]/distance-nm"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(distanceM * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/leg-distance-nm"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("cdi-deflection"), 0.01);
// part of the way, check enroute leg course
const SGGeod onTheWay = SGGeodesy::direct(volloVOR->geod(), initialCourse, distanceM * 0.4);
FGTestApi::setPositionAndStabilise(onTheWay);
const double courseNow = SGGeodesy::courseDeg(onTheWay, gaktu->geod());
const double distNow = SGGeodesy::distanceM(onTheWay, gaktu->geod());
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseNow, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseNow, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
CPPUNIT_ASSERT_DOUBLES_EQUAL(distNow * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/wp[1]/distance-nm"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(distanceM * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/leg-distance-nm"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("cdi-deflection"), 0.01);
// check a seriously abeam point, we got far of course
// to the right of the course, i.e desired track is to our left, so -ve
const SGGeod offTheWay = SGGeodesy::direct(onTheWay, courseNow + 90, SG_NM_TO_METER * 18.6);
FGTestApi::setPositionAndStabilise(offTheWay);
const double courseFromOff1 = SGGeodesy::courseDeg(offTheWay, gaktu->geod());
const double dist2 = SGGeodesy::distanceM(offTheWay, gaktu->geod());
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseFromOff1, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseNow, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(-18.6, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseFromOff1 - courseNow, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(dist2 * SG_METER_TO_NM, gpsNode->getDoubleValue("wp/wp[1]/distance-nm"), 0.01);
const double expectedDefl1 = -18.6 / 25.0;
CPPUNIT_ASSERT_DOUBLES_EQUAL(expectedDefl1 * 10.0, gpsNode->getDoubleValue("cdi-deflection"), 0.01);
}
void GPSTests::testOverflightSequencing()
{
// check that we sequence as we pass over the top
// FGTestApi::setUp::logPositionToKML("gps_sequence");
auto rm = globals->get_subsystem<FGRouteMgr>();
auto fp = new FlightPlan;
rm->setFlightPlan(fp);
// let's use New Zealand for some southern hemisphere confusion :)
// this route has some deliberately sharp turns to work the turn code
FGTestApi::setUp::populateFPWithoutNasal(fp, "NZCH", "02", "NZAA", "05L",
"ALADA NS WB WN MAMOD KAPTI OH");
// FGTestApi::writeFlightPlanToKML(fp);
// takes the place of the Nasal delegates
auto testDelegate = new TestFPDelegate;
testDelegate->thePlan = fp;
CPPUNIT_ASSERT(rm->activate());
fp->addDelegate(testDelegate);
auto gps = setupStandardGPS();
auto gpsNode = globals->get_props()->getNode("instrumentation/gps");
gpsNode->setBoolValue("config/delegate-sequencing", true);
gpsNode->setStringValue("command", "leg");
// very tight tolerance on the overflight. We need a little bit or the
// test-piot gets confused right on top
gpsNode->setDoubleValue("config/over-flight-distance-nm", 0.01);
// enroute to NELSON VOR
fp->setCurrentIndex(2);
SGGeod pos = fp->pointAlongRoute(2, -5.0);
FGTestApi::setPositionAndStabilise(pos);
auto pilot = SGSharedPtr<FGTestApi::TestPilot>(new FGTestApi::TestPilot);
pilot->resetAtPosition(pos);
pilot->setSpeedKts(300); // decent speed to make things tougher
pilot->flyGPSCourse(gps);
bool ok = FGTestApi::runForTimeWithCheck(180.0, [fp] () {
if (fp->currentIndex() == 3) {
return true;
}
return false;
});
CPPUNIT_ASSERT(ok);
// check we're on top of NELSON
auto nelsonVOR = fp->legAtIndex(2)->waypoint()->source();
CPPUNIT_ASSERT_EQUAL(std::string{"NELSON VOR-DME"}, nelsonVOR->name());
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, SGGeodesy::distanceNm(globals->get_aircraft_position(), nelsonVOR->geod()), 0.1);
FGTestApi::runForTime(120.0);
// check we're on course to Woodburne
auto woodbourneVOR = fp->legAtIndex(3)->waypoint()->source();
const double crsToWB = SGGeodesy::courseDeg(globals->get_aircraft_position(), woodbourneVOR->geod());
const double crsNSWB = SGGeodesy::courseDeg(nelsonVOR->geod(), woodbourneVOR->geod());
CPPUNIT_ASSERT_DOUBLES_EQUAL(crsToWB, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(crsNSWB, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
// point a bit before MAMOD
SGGeod pos2 = fp->pointAlongRoute(5, -5.0);
FGTestApi::setPositionAndStabilise(pos2);
fp->setCurrentIndex(5);
auto mamod = fp->legAtIndex(5)->waypoint()->source();
ok = FGTestApi::runForTimeWithCheck(180.0, [fp] () {
if (fp->currentIndex() == 6) {
return true;
}
return false;
});
CPPUNIT_ASSERT(ok);
// check we're on top of MAMOD
CPPUNIT_ASSERT_EQUAL(std::string{"MAMOD"}, mamod->name());
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, SGGeodesy::distanceNm(globals->get_aircraft_position(), mamod->geod()), 0.1);
FGTestApi::runForTime(180.0);
// check we're on course to KAPTI
auto kapti = fp->legAtIndex(6)->waypoint()->source();
const double crsKapti = SGGeodesy::courseDeg(globals->get_aircraft_position(), kapti->geod());
const double crsMamodKapti = SGGeodesy::courseDeg(mamod->geod(), kapti->geod());
CPPUNIT_ASSERT_DOUBLES_EQUAL(crsKapti, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(crsMamodKapti, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
}
void GPSTests::testOffcourseSequencing()
{
// ensure that if we pass through the overflight arm cone, but not
// over the waypoint direclty, we still sequence at the mid-point
// FGTestApi::setUp::logPositionToKML("gps_sequence_off");
auto rm = globals->get_subsystem<FGRouteMgr>();
auto fp = new FlightPlan;
rm->setFlightPlan(fp);
FGTestApi::setUp::populateFPWithoutNasal(fp, "NZCH", "02", "NZAA", "05L",
"ALADA NS WB WN MAMOD KAPTI OH");
// FGTestApi::writeFlightPlanToKML(fp);
// takes the place of the Nasal delegates
auto testDelegate = new TestFPDelegate;
testDelegate->thePlan = fp;
CPPUNIT_ASSERT(rm->activate());
fp->addDelegate(testDelegate);
auto gps = setupStandardGPS();
auto gpsNode = globals->get_props()->getNode("instrumentation/gps");
gpsNode->setBoolValue("config/delegate-sequencing", true);
gpsNode->setStringValue("command", "leg");
gpsNode->setDoubleValue("config/over-flight-distance-nm", 0.01);
// enroute to NELSON VOR
fp->setCurrentIndex(2);
SGGeod pos = fp->pointAlongRoute(2, -5.0);
pos = SGGeodesy::direct(pos, 180, 1.5 * SG_NM_TO_METER);
FGTestApi::setPositionAndStabilise(pos);
auto nelsonVOR = fp->legAtIndex(2)->waypoint()->source();
CPPUNIT_ASSERT_EQUAL(std::string{"NELSON VOR-DME"}, nelsonVOR->name());
auto pilot = SGSharedPtr<FGTestApi::TestPilot>(new FGTestApi::TestPilot);
pilot->resetAtPosition(pos);
pilot->setSpeedKts(300); // decent speed to make things tougher
// since we're south of the route, but will fly parallel to it, we won't
// pass over NELSON directly.
const double legCourse = gpsNode->getDoubleValue("wp/leg-true-course-deg");
pilot->turnToCourse(legCourse);
bool ok = FGTestApi::runForTimeWithCheck(180.0, [fp] () {
if (fp->currentIndex() == 3) {
return true;
}
return false;
});
CPPUNIT_ASSERT(ok);
// check we're close NELSON
const double distToNELSON = SGGeodesy::distanceNm(globals->get_aircraft_position(), nelsonVOR->geod());
CPPUNIT_ASSERT(distToNELSON < 1.0);
const double bearingToNELSON = SGGeodesy::courseDeg(globals->get_aircraft_position(), nelsonVOR->geod());
// find the inbound course from ALADA at NELSON
double finalLegTrack = SGGeodesy::courseDeg(nelsonVOR->geod(), fp->legAtIndex(1)->waypoint()->position()) + 180.0;
SG_NORMALIZE_RANGE(finalLegTrack, 0.0, 360.0);
double dev = bearingToNELSON - finalLegTrack;
SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
double absDeviation = fabs(dev);
// 90 is the overflight arm angle, i.e we sequence as soon as the waypoint is abeam us
CPPUNIT_ASSERT_DOUBLES_EQUAL(90.0, absDeviation, 1.0);
pilot->flyGPSCourse(gps);
FGTestApi::runForTime(120.0);
// check we're on course to Woodburne
auto woodbourneVOR = fp->legAtIndex(3)->waypoint()->source();
const double crsToWB = SGGeodesy::courseDeg(globals->get_aircraft_position(), woodbourneVOR->geod());
const double crsNSWB = SGGeodesy::courseDeg(nelsonVOR->geod(), woodbourneVOR->geod());
CPPUNIT_ASSERT_DOUBLES_EQUAL(crsToWB, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(crsNSWB, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
// let's go wide at MAMOD
SGGeod pos2 = fp->pointAlongRoute(5, -5.0);
pos2 = SGGeodesy::direct(pos2, 180, 0.8 * SG_NM_TO_METER);
fp->setCurrentIndex(5);
FGTestApi::setPositionAndStabilise(pos2);
// start facing the right way
pilot->setCourseTrue(gpsNode->getDoubleValue("wp/leg-true-course-deg"));
pilot->flyHeading(gpsNode->getDoubleValue("wp/leg-true-course-deg"));
auto mamod = fp->legAtIndex(5)->waypoint()->source();
ok = FGTestApi::runForTimeWithCheck(180.0, [fp] () {
if (fp->currentIndex() == 6) {
return true;
}
return false;
});
CPPUNIT_ASSERT(ok);
// check we're on top of MAMOD
CPPUNIT_ASSERT_EQUAL(std::string{"MAMOD"}, mamod->name());
const double distToMAMOD = SGGeodesy::distanceNm(globals->get_aircraft_position(), mamod->geod());
CPPUNIT_ASSERT(distToMAMOD < 1.0);
// check the angle we sequenced at
const double bearingToMAMOD = SGGeodesy::courseDeg(globals->get_aircraft_position(), mamod->geod());
// find the inbound course from WELLINGTON at MAMOD
finalLegTrack = SGGeodesy::courseDeg(mamod->geod(), fp->legAtIndex(4)->waypoint()->position()) + 180.0;
SG_NORMALIZE_RANGE(finalLegTrack, 0.0, 360.0);
dev = bearingToMAMOD - finalLegTrack;
SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
absDeviation = fabs(dev);
// 90 is the overflight arm angle, i.e we sequence as soon as the waypoint is abeam us
CPPUNIT_ASSERT_DOUBLES_EQUAL(90.0, absDeviation, 1.0);
// check we don't sequence, if we're too far off course
SGGeod pos3 = fp->pointAlongRoute(6, -5.0);
pos3 = SGGeodesy::direct(pos3, 90, 1.8 * SG_NM_TO_METER);
fp->setCurrentIndex(6);
FGTestApi::setPositionAndStabilise(pos3);
// start facing the right way
pilot->setCourseTrue(gpsNode->getDoubleValue("wp/leg-true-course-deg"));
pilot->flyHeading(gpsNode->getDoubleValue("wp/leg-true-course-deg"));
ok = FGTestApi::runForTimeWithCheck(180.0, [fp] () {
if (fp->currentIndex() != 6) {
CPPUNIT_ASSERT(false);
return true;
}
return false;
});
}
void GPSTests::testOffsetFlight()
{
// verify the XTK value during waypoint transitions, especially that we
// don't get any weird discontinuities
// FGTestApi::setUp::logPositionToKML("gps_offset_flight");
auto rm = globals->get_subsystem<FGRouteMgr>();
auto fp = new FlightPlan;
rm->setFlightPlan(fp);
FGTestApi::setUp::populateFPWithoutNasal(fp, "UHMA", "01", "PAMR", "25",
"SOMEG BE KIVAK BET");
// FGTestApi::writeFlightPlanToKML(fp);
// takes the place of the Nasal delegates
auto testDelegate = new TestFPDelegate;
testDelegate->thePlan = fp;
CPPUNIT_ASSERT(rm->activate());
fp->addDelegate(testDelegate);
auto gps = setupStandardGPS();
auto gpsNode = globals->get_props()->getNode("instrumentation/gps");
gpsNode->setBoolValue("config/delegate-sequencing", true);
gpsNode->setStringValue("command", "leg");
gpsNode->setDoubleValue("config/over-flight-distance-nm", 0.01);
// enroute to BERINGOVSKY NDB
fp->setCurrentIndex(2);
SGGeod pos = fp->pointAlongRoute(2, -10.0);
pos = SGGeodesy::direct(pos, 180, 2.0 * SG_NM_TO_METER);
FGTestApi::setPositionAndStabilise(pos);
auto pilot = SGSharedPtr<FGTestApi::TestPilot>(new FGTestApi::TestPilot);
pilot->resetAtPosition(pos);
pilot->setSpeedKts(300); // decent speed to make things tougher
// start facing the right way
pilot->setCourseTrue(gpsNode->getDoubleValue("wp/leg-true-course-deg"));
pilot->flyGPSCourseOffset(gps, 0.8);
FGTestApi::runForTime(90.0);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.8, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
bool ok = FGTestApi::runForTimeWithCheck(180.0, [fp] () {
if (fp->currentIndex() == 3) {
return true;
}
return false;
});
CPPUNIT_ASSERT(ok);
FGTestApi::runForTime(120.0);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.8, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
// fly until we cross the awkward line :)
ok = FGTestApi::runForTimeWithCheck(6000.0, [] () {
const double lon = globals->get_aircraft_position().getLongitudeDeg();
if ((lon > -178.0) && (lon < -170.0)) {
return true;
}
return false;
});
CPPUNIT_ASSERT(ok);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.8, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
// and try an inside corrner
fp->setCurrentIndex(3);
pos = fp->pointAlongRoute(3, -18.0);
pos = SGGeodesy::direct(pos, 180, 2.0 * SG_NM_TO_METER);
FGTestApi::setPositionAndStabilise(pos);
pilot->resetAtPosition(pos);
// start facing the right way
pilot->setCourseTrue(gpsNode->getDoubleValue("wp/leg-true-course-deg"));
FGTestApi::runForTime(120.0);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.8, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
ok = FGTestApi::runForTimeWithCheck(180.0, [fp] () {
if (fp->currentIndex() == 4) {
return true;
}
return false;
});
CPPUNIT_ASSERT(ok);
FGTestApi::runForTime(120.0);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.8, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
}
void GPSTests::testLegIntercept()
{
// FGTestApi::setUp::logPositionToKML("gps_intercept");
auto rm = globals->get_subsystem<FGRouteMgr>();
auto fp = new FlightPlan;
rm->setFlightPlan(fp);
FGTestApi::setUp::populateFPWithoutNasal(fp, "NZCH", "02", "NZAA", "05L",
"ALADA NS WB WN MAMOD KAPTI OH");
// FGTestApi::writeFlightPlanToKML(fp);
// takes the place of the Nasal delegates
auto testDelegate = new TestFPDelegate;
testDelegate->thePlan = fp;
CPPUNIT_ASSERT(rm->activate());
fp->addDelegate(testDelegate);
auto gps = setupStandardGPS();
auto gpsNode = globals->get_props()->getNode("instrumentation/gps");
gpsNode->setBoolValue("config/delegate-sequencing", true);
gpsNode->setStringValue("command", "leg");
// enroute to NELSON VOR
fp->setCurrentIndex(2);
// point that should intercept
SGGeod pos = fp->pointAlongRoute(1, 5.0);
pos = SGGeodesy::direct(pos, 0, 12.0 * SG_NM_TO_METER);
FGTestApi::setPositionAndStabilise(pos);
auto pilot = SGSharedPtr<FGTestApi::TestPilot>(new FGTestApi::TestPilot);
pilot->resetAtPosition(pos);
pilot->setCourseTrue(180.0); // start facing an annoying direction
pilot->setSpeedKts(300); // decent speed to make things tougher
pilot->flyGPSCourse(gps);
auto courseErrorNode = gpsNode->getNode("wp/wp[1]/course-error-nm");
bool ok = FGTestApi::runForTimeWithCheck(600.0, [courseErrorNode]() {
return fabs(courseErrorNode->getDoubleValue()) < 0.1;
});
CPPUNIT_ASSERT(ok);
CPPUNIT_ASSERT_EQUAL(2, fp->currentIndex()); // shouldn;t have sequenced
// repeat this test from right of the leg, and much further out
pos = fp->pointAlongRoute(1, -5.0);
pos = SGGeodesy::direct(pos, 240, 10.0 * SG_NM_TO_METER);
// cycle the GPS mode to re-do the intercept logic
FGTestApi::setPositionAndStabilise(pos);
gpsNode->setStringValue("command", "obs");
gpsNode->setStringValue("command", "leg");
pilot->resetAtPosition(pos);
pilot->setCourseTrue(360.0);
pilot->setSpeedKts(300);
pilot->flyGPSCourse(gps);
ok = FGTestApi::runForTimeWithCheck(600.0, [courseErrorNode]() {
return fabs(courseErrorNode->getDoubleValue()) < 0.1;
});
CPPUNIT_ASSERT(ok);
// repeat much closer to NELSON
pos = fp->pointAlongRoute(2, -10.0);
pos = SGGeodesy::direct(pos, 180, 5.0 * SG_NM_TO_METER);
// cycle the GPS mode to re-do the intercept logic
FGTestApi::setPositionAndStabilise(pos);
gpsNode->setStringValue("command", "obs");
gpsNode->setStringValue("command", "leg");
pilot->resetAtPosition(pos);
pilot->setCourseTrue(300.0); // awkward course
pilot->setSpeedKts(300);
pilot->flyGPSCourse(gps);
ok = FGTestApi::runForTimeWithCheck(600.0, [courseErrorNode]() {
return fabs(courseErrorNode->getDoubleValue()) < 0.1;
});
CPPUNIT_ASSERT(ok);
// now try a start location well outside the 45-degree envelope
pos = fp->pointAlongRoute(2, -5.0);
pos = SGGeodesy::direct(pos, 160, 18.0 * SG_NM_TO_METER);
// cycle the GPS mode to re-do the intercept logic
FGTestApi::setPositionAndStabilise(pos);
gpsNode->setStringValue("command", "obs");
gpsNode->setStringValue("command", "leg");
pilot->resetAtPosition(pos);
pilot->setCourseTrue(45.0); // awkward course
pilot->setSpeedKts(300);
pilot->flyGPSCourse(gps);
auto nelsonVORPos = fp->legAtIndex(2)->waypoint()->position();
const double crsToNS = SGGeodesy::courseDeg(globals->get_aircraft_position(), nelsonVORPos);
const double crsFromStart = SGGeodesy::courseDeg(pos, nelsonVORPos);
// we should be established on a direct to, from our start pos, let's check
CPPUNIT_ASSERT_DOUBLES_EQUAL(crsToNS, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(crsFromStart, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
// run until we sequence, which should happen as normal
ok = FGTestApi::runForTimeWithCheck(6000.0, [fp] () {
if (fp->currentIndex() == 3) {
return true;
}
return false;
});
CPPUNIT_ASSERT(ok);
// check we manage the punishing turn back onto track
FGTestApi::runForTime(180.0);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
}
void GPSTests::testTurnAnticipation()
{
}
void GPSTests::testRadialIntercept()
{
// FGTestApi::setUp::logPositionToKML("gps_radial_intercept");
auto rm = globals->get_subsystem<FGRouteMgr>();
auto fp = new FlightPlan;
rm->setFlightPlan(fp);
FGTestApi::setUp::populateFPWithoutNasal(fp, "LFKC", "36", "LIRF", "25", "BUNAX BEBEV AJO");
// set BUNAX as overflight
fp->legAtIndex(1)->waypoint()->setFlag(WPT_OVERFLIGHT);
// insert KC502 manually
fp->insertWayptAtIndex(new BasicWaypt(SGGeod::fromDeg(8.78333, 42.566), "KC502", fp), 1);
SGGeod pos = SGGeod::fromDeg(8.445556,42.216944);
auto intc = new RadialIntercept(fp, "INTC", pos, 230, 5);
fp->insertWayptAtIndex(intc, 3);
//FGTestApi::writeFlightPlanToKML(fp);
// position slightly before BUNAX
SGGeod initPos = fp->pointAlongRoute(2, -3.0);
// takes the place of the Nasal delegates
auto testDelegate = new TestFPDelegate;
testDelegate->thePlan = fp;
CPPUNIT_ASSERT(rm->activate());
fp->addDelegate(testDelegate);
auto gps = setupStandardGPS();
FGTestApi::setPositionAndStabilise(initPos);
auto gpsNode = globals->get_props()->getNode("instrumentation/gps");
gpsNode->setBoolValue("config/delegate-sequencing", true);
gpsNode->setStringValue("command", "leg");
fp->setCurrentIndex(2);
CPPUNIT_ASSERT_EQUAL(string{"BUNAX"}, string{gpsNode->getStringValue("wp/wp[1]/ID")});
CPPUNIT_ASSERT_DOUBLES_EQUAL(312, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 1.0);
auto pilot = SGSharedPtr<FGTestApi::TestPilot>(new FGTestApi::TestPilot);
pilot->resetAtPosition(initPos);
pilot->setCourseTrue(fp->legAtIndex(2)->courseDeg());
pilot->setSpeedKts(300); // decent speed to make things tougher
pilot->flyGPSCourse(gps);
bool ok = FGTestApi::runForTimeWithCheck(600.0, [fp]() {
return fp->currentIndex() == 4;
});
CPPUNIT_ASSERT(ok);
// flying to BEBEV now
CPPUNIT_ASSERT_DOUBLES_EQUAL(185, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 1.0);
FGTestApi::runForTime(30.0);
}
void GPSTests::testDMEIntercept()
{
//FGTestApi::setUp::logPositionToKML("gps_dme_intercept");
auto rm = globals->get_subsystem<FGRouteMgr>();
auto fp = new FlightPlan;
rm->setFlightPlan(fp);
// manually consturct something close to the publichsed approach transition for EGPH ILS 06
FGTestApi::setUp::populateFPWithoutNasal(fp, "EGLL", "27R", "EGPH", "06", "SHAPP TLA");
// DMEIntercept(RouteBase* aOwner, const std::string& aIdent, const SGGeod& aPos,
// double aCourseDeg, double aDistanceNm);
auto dmeArc = new DMEIntercept(fp, "TLA-11", SGGeod::fromDeg(-3.352833, 55.499145), 323.0, 11.0);
fp->insertWayptAtIndex(dmeArc, 3);
// now a normal WP
fp->insertWayptAtIndex(new BasicWaypt(SGGeod::fromDeg(-3.636708, 55.689981), "D3230", fp), 4);
auto dmeArc2 = new DMEIntercept(fp, "TLA-20", SGGeod::fromDeg(-3.352833, 55.499145), 323.0, 20.0);
fp->insertWayptAtIndex(dmeArc2, 5);
// and another normal WP
fp->insertWayptAtIndex(new BasicWaypt(SGGeod::fromDeg(-3.751056, 55.766122), "D323U", fp), 6);
// and another one
fp->insertWayptAtIndex(new BasicWaypt(SGGeod::fromDeg(-3.690845, 55.841378), "CI06", fp), 7);
// FGTestApi::writeFlightPlanToKML(fp);
// position slightly before TLA
SGGeod initPos = fp->pointAlongRoute(2, -2.0);
// takes the place of the Nasal delegates
auto testDelegate = new TestFPDelegate;
testDelegate->thePlan = fp;
CPPUNIT_ASSERT(rm->activate());
fp->addDelegate(testDelegate);
auto gps = setupStandardGPS();
FGTestApi::setPositionAndStabilise(initPos);
auto gpsNode = globals->get_props()->getNode("instrumentation/gps");
gpsNode->setBoolValue("config/delegate-sequencing", true);
gpsNode->setStringValue("command", "leg");
fp->setCurrentIndex(2);
CPPUNIT_ASSERT_EQUAL(string{"TLA"}, string{gpsNode->getStringValue("wp/wp[1]/ID")});
// CPPUNIT_ASSERT_DOUBLES_EQUAL(312, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 1.0);
auto pilot = SGSharedPtr<FGTestApi::TestPilot>(new FGTestApi::TestPilot);
pilot->resetAtPosition(initPos);
pilot->setCourseTrue(fp->legAtIndex(2)->courseDeg());
pilot->setSpeedKts(220);
pilot->flyGPSCourse(gps);
bool ok = FGTestApi::runForTimeWithCheck(1200.0, [fp]() {
return fp->currentIndex() == 8;
});
CPPUNIT_ASSERT(ok);
}
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