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flightgear/src/AIModel/AIFlightPlanCreate.cxx
durk 3c738b5cee Bugfix in the ai initialization randomization procedure. Randomly 
removing waypoints could cause the AIFlightPlan to run out of waypoints.
This patch prevents that by retaining at least two waypoints.
2006-03-26 21:40:35 +00:00

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/******************************************************************************
* AIFlightPlanCreate.cxx
* Written by Durk Talsma, started May, 2004.
*
* 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, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
**************************************************************************/
#include "AIFlightPlan.hxx"
#include <simgear/math/sg_geodesy.hxx>
#include <Airports/runways.hxx>
#include <Environment/environment_mgr.hxx>
#include <Environment/environment.hxx>
/* FGAIFlightPlan::create()
* dynamically create a flight plan for AI traffic, based on data provided by the
* Traffic Manager, when reading a filed flightplan failes. (DT, 2004/07/10)
*
* This is the top-level function, and the only one that is publicly available.
*
*/
// Check lat/lon values during initialization;
void FGAIFlightPlan::create(FGAirport *dep, FGAirport *arr, int legNr,
double alt, double speed, double latitude,
double longitude, bool firstFlight,double radius,
const string& fltType, const string& aircraftType,
const string& airline)
{
int currWpt = wpt_iterator - waypoints.begin();
switch(legNr)
{
case 1:
createPushBack(firstFlight,dep, latitude, longitude,
radius, fltType, aircraftType, airline);
break;
case 2:
createTaxi(firstFlight, 1, dep, latitude, longitude,
radius, fltType, aircraftType, airline);
break;
case 3:
createTakeOff(firstFlight, dep, speed);
break;
case 4:
createClimb(firstFlight, dep, speed, alt);
break;
case 5:
createCruise(firstFlight, dep,arr, latitude, longitude, speed, alt);
break;
case 6:
createDecent(arr);
break;
case 7:
createLanding(arr);
break;
case 8:
createTaxi(false, 2, arr, latitude, longitude, radius,
fltType, aircraftType, airline);
break;
case 9:
createParking(arr, radius);
break;
default:
//exit(1);
SG_LOG(SG_INPUT, SG_ALERT, "AIFlightPlan::create() attempting to create unknown leg"
" this is probably an internal program error");
}
wpt_iterator = waypoints.begin()+currWpt;
leg++;
}
/*******************************************************************
* createPushBack
* initialize the Aircraft at the parking location
******************************************************************/
void FGAIFlightPlan::createPushBack(bool firstFlight, FGAirport *dep,
double latitude,
double longitude,
double radius,
const string& fltType,
const string& aircraftType,
const string& airline)
{
double heading;
double lat;
double lon;
double lat2;
double lon2;
double az2;
//int currWpt = wpt_iterator - waypoints.begin();
// Erase all existing waypoints.
//resetWaypoints();
// We only need to get a valid parking if this is the first leg.
// Otherwise use the current aircraft position.
if (firstFlight)
{
if (!(dep->getDynamics()->getAvailableParking(&lat, &lon,
&heading, &gateId,
radius, fltType,
aircraftType, airline)))
{
SG_LOG(SG_INPUT, SG_WARN, "Could not find parking for a " <<
aircraftType <<
" of flight type " << fltType <<
" of airline " << airline <<
" at airport " << dep->getId());
}
}
else
{
dep->getDynamics()->getParking(gateId, &lat, &lon, &heading);
}
heading += 180.0;
if (heading > 360)
heading -= 360;
waypoint *wpt = new waypoint;
wpt->name = "park";
wpt->latitude = lat;
wpt->longitude = lon;
wpt->altitude = dep->getElevation();
wpt->speed = -10;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
// Add park twice, because it uses park once for initialization and once
// to trigger the departure ATC message
geo_direct_wgs_84 ( 0, lat, lon, heading,
10,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "park2";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = dep->getElevation();
wpt->speed = -10;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
geo_direct_wgs_84 ( 0, lat, lon, heading,
2.2*radius,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "taxiStart";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = dep->getElevation();
wpt->speed = 10;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
}
/*******************************************************************
* createCreate Taxi.
* initialize the Aircraft at the parking location
******************************************************************/
void FGAIFlightPlan::createTaxi(bool firstFlight, int direction,
FGAirport *apt, double latitude, double longitude,
double radius, const string& fltType,
const string& acType, const string& airline)
{
double wind_speed;
double wind_heading;
double heading;
double lat, lon, az;
double lat2, lon2, az2;
waypoint *wpt;
if (direction == 1)
{
// If this function is called during initialization,
// make sure we obtain a valid gate ID first
// and place the model at the location of the gate.
if (firstFlight)
{
if (!(apt->getDynamics()->getAvailableParking(&lat, &lon,
&heading, &gateId,
radius, fltType,
acType, airline)))
{
SG_LOG(SG_INPUT, SG_WARN, "Could not find parking for a " <<
acType <<
" of flight type " << fltType <<
" of airline " << airline <<
" at airport " << apt->getId());
}
//waypoint *wpt = new waypoint;
//wpt->name = "park";
//wpt->latitude = lat;
//wpt->longitude = lon;
//wpt->altitude = apt->getElevation();
//wpt->speed = -10;
//wpt->crossat = -10000;
//wpt->gear_down = true;
//wpt->flaps_down= true;
//wpt->finished = false;
//wpt->on_ground = true;
//waypoints.push_back(wpt);
}
// "NOTE: this is currently fixed to "com" for commercial traffic
// Should be changed to be used dynamically to allow "gen" and "mil"
// as well
apt->getDynamics()->getActiveRunway("com", 1, activeRunway);
if (!(globals->get_runways()->search(apt->getId(),
activeRunway,
&rwy)))
{
SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
activeRunway <<
" at airport " << apt->getId());
exit(1);
}
// Determine the beginning of he runway
heading = rwy._heading;
double azimuth = heading + 180.0;
while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
rwy._length * SG_FEET_TO_METER * 0.5 - 5.0,
&lat2, &lon2, &az2 );
if (apt->getDynamics()->getGroundNetwork()->exists())
{
intVec ids;
int runwayId = apt->getDynamics()->getGroundNetwork()->findNearestNode(lat2,
lon2);
// A negative gateId indicates an overflow parking, use a
// fallback mechanism for this.
// Starting from gate 0 in this case is a bit of a hack
// which requires a more proper solution later on.
FGTaxiRoute route;
if (gateId >= 0)
route = apt->getDynamics()->getGroundNetwork()->findShortestRoute(gateId,
runwayId);
else
route = apt->getDynamics()->getGroundNetwork()->findShortestRoute(0, runwayId);
intVecIterator i;
if (route.empty()) {
//Add the runway startpoint;
wpt = new waypoint;
wpt->name = "Airport Center";
wpt->latitude = latitude;
wpt->longitude = longitude;
wpt->altitude = apt->getElevation();
wpt->speed = 15;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
//Add the runway startpoint;
wpt = new waypoint;
wpt->name = "Runway Takeoff";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation();
wpt->speed = 15;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
} else {
int node;
route.first();
bool isPushBackPoint = false;
if (firstFlight) {
// If this is called during initialization, randomly
// skip a number of waypoints to get a more realistic
// taxi situation.
isPushBackPoint = true;
int nrWaypoints = route.size();
int nrWaypointsToSkip = rand() % nrWaypoints;
// but make sure we always keep two active waypoints
// to prevent a segmentation fault
for (int i = 0; i < nrWaypointsToSkip-2; i++) {
isPushBackPoint = false;
route.next(&node);
}
}
else {
//chop off the first two waypoints, because
// those have already been created
// by create pushback
int size = route.size();
if (size > 2) {
route.next(&node);
route.next(&node);
}
}
while(route.next(&node))
{
FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
//ids.pop_back();
wpt = new waypoint;
wpt->name = "taxiway"; // fixme: should be the name of the taxiway
wpt->latitude = tn->getLatitude();
wpt->longitude = tn->getLongitude();
// Elevation is currently disregarded when on_ground is true
// because the AIModel obtains a periodic ground elevation estimate.
wpt->altitude = apt->getElevation();
if (isPushBackPoint) {
wpt->speed = -10;
isPushBackPoint = false;
}
else {
wpt->speed = 15;
}
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
}
cerr << endl;
}
}
else
{
// This is the fallback mechanism, in case no ground network is available
//Add the runway startpoint;
wpt = new waypoint;
wpt->name = "Airport Center";
wpt->latitude = apt->getLatitude();
wpt->longitude = apt->getLongitude();
wpt->altitude = apt->getElevation();
wpt->speed = 15;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
//Add the runway startpoint;
wpt = new waypoint;
wpt->name = "Runway Takeoff";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation();
wpt->speed = 15;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
}
}
else // Landing taxi
{
apt->getDynamics()->getAvailableParking(&lat, &lon, &heading,
&gateId, radius, fltType,
acType, airline);
double lat3 = (*(waypoints.end()-1))->latitude;
double lon3 = (*(waypoints.end()-1))->longitude;
//cerr << (*(waypoints.end()-1))->name << endl;
// Find a route from runway end to parking/gate.
if (apt->getDynamics()->getGroundNetwork()->exists())
{
intVec ids;
int runwayId = apt->getDynamics()->getGroundNetwork()->findNearestNode(lat3,
lon3);
// A negative gateId indicates an overflow parking, use a
// fallback mechanism for this.
// Starting from gate 0 is a bit of a hack...
FGTaxiRoute route;
if (gateId >= 0)
route = apt->getDynamics()->getGroundNetwork()->findShortestRoute(runwayId,
gateId);
else
route = apt->getDynamics()->getGroundNetwork()->findShortestRoute(runwayId, 0);
intVecIterator i;
// No route found: go from gate directly to runway
if (route.empty()) {
//Add the runway startpoint;
wpt = new waypoint;
wpt->name = "Airport Center";
wpt->latitude = latitude;
wpt->longitude = longitude;
wpt->altitude = apt->getElevation();
wpt->speed = 15;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
//Add the runway startpoint;
wpt = new waypoint;
wpt->name = "Runway Takeoff";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation();
wpt->speed = 15;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
} else {
int node;
route.first();
int size = route.size();
// Omit the last two waypoints, as
// those are created by createParking()
for (int i = 0; i < size-2; i++)
{
route.next(&node);
FGTaxiNode *tn = apt->getDynamics()->getGroundNetwork()->findNode(node);
wpt = new waypoint;
wpt->name = "taxiway"; // fixme: should be the name of the taxiway
wpt->latitude = tn->getLatitude();
wpt->longitude = tn->getLongitude();
wpt->altitude = apt->getElevation();
wpt->speed = 15;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
}
}
}
else
{
// Use a fallback mechanism in case no ground network is available
// obtain the location of the gate entrance point
heading += 180.0;
if (heading > 360)
heading -= 360;
geo_direct_wgs_84 ( 0, lat, lon, heading,
100,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "Airport Center";
wpt->latitude = apt->getLatitude();
wpt->longitude = apt->getLongitude();
wpt->altitude = apt->getElevation();
wpt->speed = 15;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
wpt = new waypoint;
wpt->name = "Begin Parking"; //apt->getId(); //wpt_node->getStringValue("name", "END");
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation();
wpt->speed = 15;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
//waypoint* wpt;
//double lat;
//double lon;
//double heading;
apt->getDynamics()->getParking(gateId, &lat, &lon, &heading);
heading += 180.0;
if (heading > 360)
heading -= 360;
wpt = new waypoint;
wpt->name = "END"; //wpt_node->getStringValue("name", "END");
wpt->latitude = lat;
wpt->longitude = lon;
wpt->altitude = 19;
wpt->speed = 15;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
}
}
}
/*******************************************************************
* CreateTakeOff
* initialize the Aircraft at the parking location
******************************************************************/
void FGAIFlightPlan::createTakeOff(bool firstFlight, FGAirport *apt, double speed)
{
double wind_speed;
double wind_heading;
double heading;
double lat, lon, az;
double lat2, lon2, az2;
waypoint *wpt;
// Get the current active runway, based on code from David Luff
// This should actually be unified and extended to include
// Preferential runway use schema's
if (firstFlight)
{
//string name;
// "NOTE: this is currently fixed to "com" for commercial traffic
// Should be changed to be used dynamically to allow "gen" and "mil"
// as well
apt->getDynamics()->getActiveRunway("com", 1, activeRunway);
if (!(globals->get_runways()->search(apt->getId(),
activeRunway,
&rwy)))
{
SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
activeRunway <<
" at airport " << apt->getId());
exit(1);
}
}
heading = rwy._heading;
double azimuth = heading + 180.0;
while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
rwy._length * SG_FEET_TO_METER * 0.5 - 105.0,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "accel";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation();
wpt->speed = speed;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
lat = lat2;
lon = lon2;
az = az2;
//Next: the Start of Climb
geo_direct_wgs_84 ( 0, lat, lon, heading,
2560 * SG_FEET_TO_METER,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "SOC";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation()+3000;
wpt->speed = speed;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = false;
waypoints.push_back(wpt);
}
/*******************************************************************
* CreateClimb
* initialize the Aircraft at the parking location
******************************************************************/
void FGAIFlightPlan::createClimb(bool firstFlight, FGAirport *apt, double speed, double alt)
{
double wind_speed;
double wind_heading;
double heading;
//FGRunway rwy;
double lat, lon, az;
double lat2, lon2, az2;
//int direction;
waypoint *wpt;
if (firstFlight)
{
//string name;
// "NOTE: this is currently fixed to "com" for commercial traffic
// Should be changed to be used dynamically to allow "gen" and "mil"
// as well
apt->getDynamics()->getActiveRunway("com", 1, activeRunway);
if (!(globals->get_runways()->search(apt->getId(),
activeRunway,
&rwy)))
{
SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
activeRunway <<
" at airport " << apt->getId());
exit(1);
}
}
heading = rwy._heading;
double azimuth = heading + 180.0;
while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
10*SG_NM_TO_METER,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "10000ft climb";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = 10000;
wpt->speed = speed;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = false;
waypoints.push_back(wpt);
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
20*SG_NM_TO_METER,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "18000ft climb";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = 18000;
wpt->speed = speed;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = false;
waypoints.push_back(wpt);
}
/*******************************************************************
* CreateCruise
* initialize the Aircraft at the parking location
******************************************************************/
void FGAIFlightPlan::createCruise(bool firstFlight, FGAirport *dep,
FGAirport *arr, double latitude,
double longitude, double speed,
double alt)
{
double wind_speed;
double wind_heading;
double heading;
double lat, lon, az;
double lat2, lon2, az2;
double azimuth;
waypoint *wpt;
wpt = new waypoint;
wpt->name = "Cruise"; //wpt_node->getStringValue("name", "END");
wpt->latitude = latitude;
wpt->longitude = longitude;
wpt->altitude = alt;
wpt->speed = speed;
wpt->crossat = -10000;
wpt->gear_down = false;
wpt->flaps_down= false;
wpt->finished = false;
wpt->on_ground = false;
waypoints.push_back(wpt);
// should be changed dynamically to allow "gen" and "mil"
arr->getDynamics()->getActiveRunway("com", 2, activeRunway);
if (!(globals->get_runways()->search(arr->getId(),
activeRunway,
&rwy)))
{
SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
activeRunway <<
" at airport " << arr->getId());
exit(1);
}
heading = rwy._heading;
azimuth = heading + 180.0;
while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
110000,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "BOD";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = alt;
wpt->speed = speed;
wpt->crossat = alt;
wpt->gear_down = false;
wpt->flaps_down= false;
wpt->finished = false;
wpt->on_ground = false;
waypoints.push_back(wpt);
}
/*******************************************************************
* CreateDecent
* initialize the Aircraft at the parking location
******************************************************************/
void FGAIFlightPlan::createDecent(FGAirport *apt)
{
// Ten thousand ft. Slowing down to 240 kts
double wind_speed;
double wind_heading;
double heading;
//FGRunway rwy;
double lat, lon, az;
double lat2, lon2, az2;
double azimuth;
//int direction;
waypoint *wpt;
//Beginning of Decent
//string name;
// allow "mil" and "gen" as well
apt->getDynamics()->getActiveRunway("com", 2, activeRunway);
if (!(globals->get_runways()->search(apt->getId(),
activeRunway,
&rwy)))
{
SG_LOG(SG_INPUT, SG_ALERT, "Failed to find runway " <<
activeRunway <<
" at airport " << apt->getId());
exit(1);
}
heading = rwy._heading;
azimuth = heading + 180.0;
while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
100000,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "Dec 10000ft"; //wpt_node->getStringValue("name", "END");
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation();
wpt->speed = 240;
wpt->crossat = 10000;
wpt->gear_down = false;
wpt->flaps_down= false;
wpt->finished = false;
wpt->on_ground = false;
waypoints.push_back(wpt);
// Three thousand ft. Slowing down to 160 kts
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
8*SG_NM_TO_METER,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "DEC 3000ft"; //wpt_node->getStringValue("name", "END");
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation();
wpt->speed = 160;
wpt->crossat = 3000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = false;
waypoints.push_back(wpt);
}
/*******************************************************************
* CreateLanding
* initialize the Aircraft at the parking location
******************************************************************/
void FGAIFlightPlan::createLanding(FGAirport *apt)
{
// Ten thousand ft. Slowing down to 150 kts
double wind_speed;
double wind_heading;
double heading;
//FGRunway rwy;
double lat, lon, az;
double lat2, lon2, az2;
double azimuth;
//int direction;
waypoint *wpt;
heading = rwy._heading;
azimuth = heading + 180.0;
while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
//Runway Threshold
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
rwy._length*0.45 * SG_FEET_TO_METER,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "Threshold"; //wpt_node->getStringValue("name", "END");
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation();
wpt->speed = 150;
wpt->crossat = apt->getElevation();
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
//Full stop at the runway centerpoint
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, azimuth,
rwy._length*0.45,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "Center"; //wpt_node->getStringValue("name", "END");
wpt->latitude = rwy._lat;
wpt->longitude = rwy._lon;
wpt->altitude = apt->getElevation();
wpt->speed = 30;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
geo_direct_wgs_84 ( 0, rwy._lat, rwy._lon, heading,
rwy._length*0.45 * SG_FEET_TO_METER,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "Threshold"; //wpt_node->getStringValue("name", "END");
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation();
wpt->speed = 15;
wpt->crossat = apt->getElevation();
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
}
/*******************************************************************
* CreateParking
* initialize the Aircraft at the parking location
******************************************************************/
void FGAIFlightPlan::createParking(FGAirport *apt, double radius)
{
waypoint* wpt;
double lat, lat2;
double lon, lon2;
double az2;
double heading;
apt->getDynamics()->getParking(gateId, &lat, &lon, &heading);
heading += 180.0;
if (heading > 360)
heading -= 360;
geo_direct_wgs_84 ( 0, lat, lon, heading,
2.2*radius,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "taxiStart";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation();
wpt->speed = 10;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
geo_direct_wgs_84 ( 0, lat, lon, heading,
0.1 *radius,
&lat2, &lon2, &az2 );
wpt = new waypoint;
wpt->name = "taxiStart";
wpt->latitude = lat2;
wpt->longitude = lon2;
wpt->altitude = apt->getElevation();
wpt->speed = 10;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
wpt = new waypoint;
wpt->name = "END"; //wpt_node->getStringValue("name", "END");
wpt->latitude = lat;
wpt->longitude = lon;
wpt->altitude = apt->getElevation();
wpt->speed = 15;
wpt->crossat = -10000;
wpt->gear_down = true;
wpt->flaps_down= true;
wpt->finished = false;
wpt->on_ground = true;
waypoints.push_back(wpt);
}
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