1031 lines
32 KiB
C++
1031 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/math/point3d.hxx>
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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 <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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SG_USING_STD(string);
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#include "AIAircraft.hxx"
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//#include <Airports/trafficcontroller.hxx>
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static string tempReg;
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//
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// accel, decel, climb_rate, descent_rate, takeoff_speed, climb_speed,
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// cruise_speed, descent_speed, land_speed
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//
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const FGAIAircraft::PERF_STRUCT FGAIAircraft::settings[] = {
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// light aircraft
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{2.0, 2.0, 450.0, 1000.0, 70.0, 80.0, 100.0, 80.0, 60.0},
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// ww2_fighter
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{4.0, 2.0, 3000.0, 1500.0, 110.0, 180.0, 250.0, 200.0, 100.0},
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// jet_transport
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{5.0, 2.0, 3000.0, 1500.0, 140.0, 300.0, 430.0, 300.0, 130.0},
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// jet_fighter
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{7.0, 3.0, 4000.0, 2000.0, 150.0, 350.0, 500.0, 350.0, 150.0},
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// tanker
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{5.0, 2.0, 3000.0, 1500.0, 140.0, 300.0, 430.0, 300.0, 130.0},
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// ufo (extreme accel/decel)
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{30.0, 30.0, 6000.0, 6000.0, 150.0, 300.0, 430.0, 300.0, 130.0}
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};
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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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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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}
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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->setStringValue("callsign", callsign.c_str());
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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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}
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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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if (acclass == "light") {
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SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
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} else if (acclass == "ww2_fighter") {
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SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
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} else if (acclass == "jet_transport") {
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SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
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} else if (acclass == "jet_fighter") {
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SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
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} else if (acclass == "tanker") {
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SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
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} else if (acclass == "ufo") {
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SetPerformance(&FGAIAircraft::settings[FGAIAircraft::UFO]);
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} else {
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SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
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}
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}
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void FGAIAircraft::SetPerformance(const PERF_STRUCT *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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if (!updateTargetValues())
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return;
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if (controller) {
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controller->update(getID(),
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pos.getLatitudeDeg(),
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pos.getLongitudeDeg(),
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hdg,
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speed,
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altitude_ft, dt);
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processATC(controller->getInstruction(getID()));
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}
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if (no_roll) {
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adjustSpeed(groundTargetSpeed);
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} else {
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adjustSpeed(tgt_speed);
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}
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updatePosition();
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updateHeading();
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updateBankAngles();
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updateAltitudes();
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updateVerticalSpeed();
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matchPitchAngle();
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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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//if (! fpExecutable(now))
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// return;
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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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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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loadNextLeg();
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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(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 ((props->getFloatValue("position/altitude-agl-ft") < 900.0)
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&& (props->getFloatValue("velocities/airspeed-kt")
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< performance->land_speed*1.25));
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}
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void FGAIAircraft::loadNextLeg() {
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int leg;
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if ((leg = fp->getLeg()) == 10) {
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trafficRef->next();
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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 (dep,
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arr,
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leg,
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cruiseAlt, //(trafficRef->getCruiseAlt() * 100), // convert from FL to feet
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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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}
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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 IA 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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else
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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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double course, distance;
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SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
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SGWayPoint view (vw->getLongitude_deg(), vw->getLatitude_deg(), 0);
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view.CourseAndDistance(current, &course, &distance);
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if (distance > visibility_meters) {
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//aip.getSGLocation()->set_cur_elev_m(aptElev);
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return;
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}
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// FIXME: make sure the pos.lat/pos.lon values are in degrees ...
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double range = 500.0;
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if (!globals->get_tile_mgr()->scenery_available(pos.getLatitudeDeg(), pos.getLongitudeDeg(), range)) {
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// Try to shedule tiles for that position.
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globals->get_tile_mgr()->update( aip.getSGLocation(), range );
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}
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// FIXME: make sure the pos.lat/pos.lon values are in degrees ...
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double alt;
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if (globals->get_scenery()->get_elevation_m(pos.getLatitudeDeg(), pos.getLongitudeDeg(), 20000.0, 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::setCallSign(const string& s) {
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callsign = s;
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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 was 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 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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//cerr << trafficRef->getCallSign() << " at runway " << fp->getRunway() << "Ready for departure "
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// << trafficRef->getFlightType() << " to " << trafficRef->getArrivalAirport()->getId() << endl;
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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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} 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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string callsign = trafficRef->getCallSign();
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if ( trafficRef->getHeavy())
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callsign += "Heavy";
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switch (leg) {
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case 3:
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//cerr << callsign << " ready to taxi to runway " << fp->getRunway() << endl;
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break;
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case 4:
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//cerr << callsign << " at runway " << fp->getRunway() << "Ready for take-off. "
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// << trafficRef->getFlightRules() << " to " << trafficRef->getArrivalAirport()->getId()
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// << "(" << trafficRef->getArrivalAirport()->getName() << ")."<< endl;
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break;
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}
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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, trafficRef->getCallSign());
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}
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}
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}
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void FGAIAircraft::processATC(FGATCInstruction instruction) {
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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;
|
|
AccelTo(instruction.getSpeed());
|
|
} else {
|
|
if (fp) AccelTo(fp->getPreviousWaypoint()->speed);
|
|
}
|
|
}
|
|
if (instruction.getChangeHeading ()) {
|
|
hdg_lock = false;
|
|
TurnTo(instruction.getHeading());
|
|
} else {
|
|
if (fp) {
|
|
hdg_lock = true;
|
|
}
|
|
}
|
|
if (instruction.getChangeAltitude()) {}
|
|
|
|
}
|
|
|
|
|
|
void FGAIAircraft::handleFirstWaypoint() {
|
|
bool eraseWaypoints; //TODO YAGNI
|
|
if (trafficRef) {
|
|
eraseWaypoints = true;
|
|
} else {
|
|
eraseWaypoints = false;
|
|
}
|
|
|
|
FGAIFlightPlan::waypoint* prev = 0; // the one behind you
|
|
FGAIFlightPlan::waypoint* curr = 0; // the one ahead
|
|
FGAIFlightPlan::waypoint* next = 0;// the next plus 1
|
|
|
|
spinCounter = 0;
|
|
tempReg = "";
|
|
|
|
//TODO fp should handle this
|
|
fp->IncrementWaypoint(eraseWaypoints);
|
|
if (!(fp->getNextWaypoint()) && trafficRef)
|
|
loadNextLeg();
|
|
|
|
prev = fp->getPreviousWaypoint(); //first waypoint
|
|
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();
|
|
//cerr << " Distance : " << dist_to_go << ": Lead distance " << lead_dist << endl;
|
|
// 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;
|
|
return dist_to_go < lead_dist;
|
|
}
|
|
|
|
|
|
bool FGAIAircraft::aiTrafficVisible() {
|
|
double userLatitude = fgGetDouble("/position/latitude-deg");
|
|
double userLongitude = fgGetDouble("/position/longitude-deg");
|
|
double course, distance;
|
|
|
|
SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
|
|
SGWayPoint user (userLongitude, userLatitude, 0);
|
|
|
|
user.CourseAndDistance(current, &course, &distance);
|
|
|
|
return ((distance * SG_METER_TO_NM) <= TRAFFICTOAIDIST);
|
|
}
|
|
|
|
|
|
/**
|
|
* 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.
|
|
if (prev->name == "park2")
|
|
dep->getDynamics()->releaseParking(fp->getGate());
|
|
|
|
// 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);
|
|
}
|
|
|
|
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) > 1.0) {
|
|
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;
|
|
fp->setLeadDistance(speed, tgt_heading, curr, next);
|
|
}
|
|
}
|
|
|
|
|
|
/**
|
|
* Update target values (heading, alt, speed) depending on flight plan or control properties
|
|
*/
|
|
bool FGAIAircraft::updateTargetValues() {
|
|
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);
|
|
if (! fp->isActive(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 (no_roll) {
|
|
Transform(); // make sure aip is initialized.
|
|
if (trafficRef) {
|
|
//cerr << trafficRef->getRegistration() << " Setting altitude to " << altitude_ft;
|
|
if (! aiTrafficVisible()) {
|
|
setDie(true);
|
|
return false;
|
|
}
|
|
getGroundElev(dt);
|
|
doGroundAltitude();
|
|
// Transform();
|
|
pos.setElevationFt(altitude_ft);
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
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" ) );
|
|
}
|
|
return true;
|
|
}
|
|
|
|
|
|
/**
|
|
* Adjust the speed (accelerate/decelerate) to tgt_speed.
|
|
*/
|
|
void FGAIAircraft::adjustSpeed(double tgt_speed) {
|
|
double speed_diff = tgt_speed - speed;
|
|
speed_diff = groundTargetSpeed - speed;
|
|
|
|
if (speed_diff > 0.0) // need to accelerate
|
|
{
|
|
speed += performance->accel * dt;
|
|
if ( speed > tgt_speed )
|
|
speed = tgt_speed;
|
|
|
|
} else if (speed_diff < 0.0) {
|
|
if (no_roll) {
|
|
// on ground (aircraft can't roll)
|
|
// deceleration performance is better due to wheel brakes.
|
|
speed -= performance->decel * dt * 3;
|
|
} else {
|
|
speed -= performance->decel * dt;
|
|
}
|
|
|
|
if ( speed < tgt_speed )
|
|
speed = tgt_speed;
|
|
|
|
}
|
|
}
|
|
|
|
|
|
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 (no_roll) {
|
|
double headingDiff = fabs(hdg-tgt_heading);
|
|
|
|
if (headingDiff > 180)
|
|
headingDiff = fabs(headingDiff - 360);
|
|
|
|
groundTargetSpeed = tgt_speed - (tgt_speed * (headingDiff/45));
|
|
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 += dt * sign(roll);
|
|
|
|
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;
|
|
} 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::updateBankAngles() {
|
|
// 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 < 30) {
|
|
tgt_roll = diff * bank_sense;
|
|
} else {
|
|
tgt_roll = 30.0 * bank_sense;
|
|
}
|
|
if ((fabs((double) spinCounter) > 1) && (diff > 30)) {
|
|
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.
|
|
}
|
|
}
|
|
|
|
// adjust bank angle, use 9 degrees per second
|
|
double bank_diff = tgt_roll - roll;
|
|
if (fabs(bank_diff) > 0.2) {
|
|
if (bank_diff > 0.0)
|
|
roll += 9.0 * dt;
|
|
|
|
if (bank_diff < 0.0)
|
|
roll -= 9.0 * dt;
|
|
//while (roll > 180) roll -= 360;
|
|
//while (roll < 180) roll += 360;
|
|
}
|
|
}
|
|
|
|
|
|
void FGAIAircraft::updateAltitudes() {
|
|
// adjust altitude (meters) based on current vertical speed (fpm)
|
|
altitude_ft += vs / 60.0 * dt;
|
|
pos.setElevationFt(altitude_ft);
|
|
|
|
// adjust target Altitude, based on ground elevation when on ground
|
|
if (no_roll) {
|
|
getGroundElev(dt);
|
|
doGroundAltitude();
|
|
} else {
|
|
// find target vertical speed if altitude lock engaged
|
|
if (alt_lock && use_perf_vs) {
|
|
if (altitude_ft < tgt_altitude_ft) {
|
|
tgt_vs = tgt_altitude_ft - altitude_ft;
|
|
if (tgt_vs > performance->climb_rate)
|
|
tgt_vs = performance->climb_rate;
|
|
} else {
|
|
tgt_vs = tgt_altitude_ft - altitude_ft;
|
|
if (tgt_vs < (-performance->descent_rate))
|
|
tgt_vs = -performance->descent_rate;
|
|
}
|
|
}
|
|
|
|
if (alt_lock && !use_perf_vs) {
|
|
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;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void FGAIAircraft::updateVerticalSpeed() {
|
|
// adjust vertical speed
|
|
double vs_diff = tgt_vs - vs;
|
|
if (fabs(vs_diff) > 10.0) {
|
|
if (vs_diff > 0.0) {
|
|
vs += (performance->climb_rate / 3.0) * dt;
|
|
|
|
if (vs > tgt_vs)
|
|
vs = tgt_vs;
|
|
} else {
|
|
vs -= (performance->descent_rate / 3.0) * dt;
|
|
|
|
if (vs < tgt_vs)
|
|
vs = tgt_vs;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void FGAIAircraft::matchPitchAngle() {
|
|
// match pitch angle to vertical speed
|
|
if (vs > 0) {
|
|
pitch = vs * 0.005;
|
|
} else {
|
|
pitch = vs * 0.002;
|
|
}
|
|
}
|