c7d6fa2164
I've added a vertical navigation capability to the GPS module. One can input two waypoints, wp[0] and wp[1], with altitude. If the altitudes differ, then the altitude deviation from a "straigth" line from wp[0] to wp[1] is calculated. The true course and course deviation from wp[0] to wp[1] is also calculated. All this can be found in the wp subdir where one also finds the wp[0] and wp[1] subdirs. All this has to be done through the property browser. Maybe I should make a gui window for the GPS!
174 lines
5.4 KiB
C++
174 lines
5.4 KiB
C++
// gps.hxx - distance-measuring equipment.
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// Written by David Megginson, started 2003.
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//
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// This file is in the Public Domain and comes with no warranty.
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#ifndef __INSTRUMENTS_GPS_HXX
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#define __INSTRUMENTS_GPS_HXX 1
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#ifndef __cplusplus
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# error This library requires C++
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#endif
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#include <simgear/props/props.hxx>
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#include <simgear/structure/subsystem_mgr.hxx>
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/**
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* Model a GPS radio.
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*
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* Input properties:
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*
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* /position/longitude-deg
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* /position/latitude-deg
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* /position/altitude-ft
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* /environment/magnetic-variation-deg
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* /systems/electrical/outputs/gps
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* /instrumentation/gps/serviceable
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*
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* /instrumentation/gps/wp-longitude-deg
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* /instrumentation/gps/wp-latitude-deg
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* /instrumentation/gps/wp-altitude-ft
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* /instrumentation/gps/wp-ID
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* /instrumentation/gps/wp-name
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* /instrumentation/gps/desired-course-deg
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* /instrumentation/gps/get-nearest-airport
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* /instrumentation/gps/waypoint-type
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* /instrumentation/gps/tracking-bug
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*
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* Output properties:
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*
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* /instrumentation/gps/indicated-longitude-deg
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* /instrumentation/gps/indicated-latitude-deg
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* /instrumentation/gps/indicated-altitude-ft
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* /instrumentation/gps/indicated-vertical-speed-fpm
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* /instrumentation/gps/indicated-track-true-deg
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* /instrumentation/gps/indicated-track-magnetic-deg
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* /instrumentation/gps/indicated-ground-speed-kt
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*
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* /instrumentation/gps/wp-distance-nm
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* /instrumentation/gps/wp-bearing-deg
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* /instrumentation/gps/wp-bearing-mag-deg
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* /instrumentation/gps/TTW
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* /instrumentation/gps/course-deviation-deg
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* /instrumentation/gps/course-error-nm
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* /instrumentation/gps/to-flag
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* /instrumentation/gps/odometer
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* /instrumentation/gps/trip-odometer
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* /instrumentation/gps/true-bug-error-deg
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* /instrumentation/gps/magnetic-bug-error-deg
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* /instrumentation/gps/true-bearing-error-deg
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* /instrumentation/gps/magnetic-bearing-error-deg
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*/
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class GPS : public SGSubsystem
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{
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public:
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GPS ();
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virtual ~GPS ();
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virtual void init ();
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virtual void update (double delta_time_sec);
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private:
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void search (double frequency, double longitude_rad,
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double latitude_rad, double altitude_m);
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double degrange360 (double deg);
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double degrange180 (double deg);
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double degrange (double deg, double min, double max);
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SGPropertyNode_ptr _longitude_node;
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SGPropertyNode_ptr _latitude_node;
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SGPropertyNode_ptr _altitude_node;
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SGPropertyNode_ptr _magvar_node;
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SGPropertyNode_ptr _serviceable_node;
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SGPropertyNode_ptr _electrical_node;
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SGPropertyNode_ptr _wp0_longitude_node;
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SGPropertyNode_ptr _wp0_latitude_node;
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SGPropertyNode_ptr _wp0_altitude_node;
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SGPropertyNode_ptr _wp0_ID_node;
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SGPropertyNode_ptr _wp0_name_node;
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SGPropertyNode_ptr _wp0_course_node;
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SGPropertyNode_ptr _get_nearest_airport_node;
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SGPropertyNode_ptr _wp0_waypoint_type_node;
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SGPropertyNode_ptr _wp1_longitude_node;
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SGPropertyNode_ptr _wp1_latitude_node;
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SGPropertyNode_ptr _wp1_altitude_node;
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SGPropertyNode_ptr _wp1_ID_node;
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SGPropertyNode_ptr _wp1_name_node;
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SGPropertyNode_ptr _wp1_course_node;
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SGPropertyNode_ptr _wp1_waypoint_type_node;
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SGPropertyNode_ptr _tracking_bug_node;
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SGPropertyNode_ptr _raim_node;
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SGPropertyNode_ptr _indicated_longitude_node;
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SGPropertyNode_ptr _indicated_latitude_node;
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SGPropertyNode_ptr _indicated_altitude_node;
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SGPropertyNode_ptr _indicated_vertical_speed_node;
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SGPropertyNode_ptr _true_track_node;
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SGPropertyNode_ptr _magnetic_track_node;
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SGPropertyNode_ptr _speed_node;
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SGPropertyNode_ptr _wp0_distance_node;
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SGPropertyNode_ptr _wp0_ttw_node;
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SGPropertyNode_ptr _wp0_bearing_node;
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SGPropertyNode_ptr _wp0_mag_bearing_node;
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SGPropertyNode_ptr _wp0_course_deviation_node;
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SGPropertyNode_ptr _wp0_course_error_nm_node;
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SGPropertyNode_ptr _wp0_to_flag_node;
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SGPropertyNode_ptr _wp1_distance_node;
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SGPropertyNode_ptr _wp1_ttw_node;
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SGPropertyNode_ptr _wp1_bearing_node;
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SGPropertyNode_ptr _wp1_mag_bearing_node;
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SGPropertyNode_ptr _wp1_course_deviation_node;
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SGPropertyNode_ptr _wp1_course_error_nm_node;
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SGPropertyNode_ptr _wp1_to_flag_node;
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SGPropertyNode_ptr _odometer_node;
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SGPropertyNode_ptr _trip_odometer_node;
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SGPropertyNode_ptr _true_bug_error_node;
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SGPropertyNode_ptr _magnetic_bug_error_node;
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SGPropertyNode_ptr _true_wp0_bearing_error_node;
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SGPropertyNode_ptr _magnetic_wp0_bearing_error_node;
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SGPropertyNode_ptr _true_wp1_bearing_error_node;
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SGPropertyNode_ptr _magnetic_wp1_bearing_error_node;
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SGPropertyNode_ptr _leg_distance_node;
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SGPropertyNode_ptr _leg_course_node;
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SGPropertyNode_ptr _leg_magnetic_course_node;
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SGPropertyNode_ptr _alt_dist_ratio_node;
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SGPropertyNode_ptr _leg_course_deviation_node;
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SGPropertyNode_ptr _leg_course_error_nm_node;
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SGPropertyNode_ptr _leg_to_flag_node;
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SGPropertyNode_ptr _alt_deviation_node;
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bool _last_valid;
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double _last_longitude_deg;
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double _last_latitude_deg;
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double _last_altitude_m;
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double _last_speed_kts;
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double _wp0_latitude_deg;
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double _wp0_longitude_deg;
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double _wp0_altitude_m;
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double _wp1_latitude_deg;
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double _wp1_longitude_deg;
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double _wp1_altitude_m;
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string _last_wp0_ID;
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string _last_wp1_ID;
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double _alt_dist_ratio;
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double _distance_m;
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double _course_deg;
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double bias_length;
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double bias_angle;
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double azimuth_error;
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double range_error;
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double elapsed_time;
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};
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#endif // __INSTRUMENTS_GPS_HXX
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