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flightgear/src/ATC/AILocalTraffic.cxx

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// FGAILocalTraffic - AIEntity derived class with enough logic to
// fly and interact with the traffic pattern.
//
// Written by David Luff, started March 2002.
//
// Copyright (C) 2002 David C. Luff - david.luff@nottingham.ac.uk
//
// 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., 675 Mass Ave, Cambridge, MA 02139, USA.
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <Main/globals.hxx>
#include <Main/location.hxx>
#include <Scenery/scenery.hxx>
#include <simgear/math/point3d.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/misc/sg_path.hxx>
#include <string>
#include <math.h>
SG_USING_STD(string);
#include "ATCmgr.hxx"
#include "AILocalTraffic.hxx"
#include "ATCutils.hxx"
FGAILocalTraffic::FGAILocalTraffic() {
//Hardwire initialisation for now - a lot of this should be read in from config eventually
Vr = 70.0;
best_rate_of_climb_speed = 70.0;
//best_rate_of_climb;
//nominal_climb_speed;
//nominal_climb_rate;
//nominal_circuit_speed;
//min_circuit_speed;
//max_circuit_speed;
nominal_descent_rate = 500.0;
nominal_final_speed = 65.0;
//nominal_approach_speed;
//stall_speed_landing_config;
nominalTaxiSpeed = 8.0;
taxiTurnRadius = 8.0;
// Init the property nodes
wind_from_hdg = fgGetNode("/environment/wind-from-heading-deg", true);
wind_speed_knots = fgGetNode("/environment/wind-speed-kts", true);
circuitsToFly = 0;
}
FGAILocalTraffic::~FGAILocalTraffic() {
}
void FGAILocalTraffic::Init() {
// Hack alert - Hardwired path!!
string planepath = "Aircraft/c172/Models/c172-dpm.ac";
SGPath path = globals->get_fg_root();
path.append(planepath);
aip.init(planepath.c_str());
aip.setVisible(true);
globals->get_scenery()->get_scene_graph()->addKid(aip.getSceneGraph());
// is it OK to leave it like this until the first time transform is called?
// Really ought to be started in a parking space unless otherwise specified?
// Find the tower frequency - this is dependent on the ATC system being initialised before the AI system
// FIXME - ATM this is hardwired.
airportID = "KEMT";
AirportATC a;
if(globals->get_ATC_mgr()->GetAirportATCDetails((string)airportID, &a)) {
if(a.tower_freq) { // Has a tower
tower = (FGTower*)globals->get_ATC_mgr()->GetATCPointer((string)airportID, TOWER); // Maybe need some error checking here
freq = (double)tower->get_freq() / 100.0;
//cout << "***********************************AILocalTraffic freq = " << freq << '\n';
} else {
// Check CTAF, unicom etc
}
} else {
//cout << "Unable to find airport details in FGAILocalTraffic::Init()\n";
}
// Initiallise the FGAirportData structure
// This needs a complete overhaul soon - what happens if we have 2 AI planes at same airport - they don't both need a structure
// This needs to be handled by the ATC manager or similar so only one set of physical data per airport is instantiated
// ie. TODO TODO FIXME FIXME
airport.Init();
}
// Commands to do something from higher level logic
void FGAILocalTraffic::FlyCircuits(int numCircuits, bool tag) {
circuitsToFly += numCircuits - 1; // Hack (-1) because we only test and decrement circuitsToFly after landing
// thus flying one to many circuits. TODO - Need to sort this out better!
touchAndGo = tag;
//At the moment we'll assume that we are always finished previous circuits when called,
//And just teleport to the threshold to start.
//This is a hack though, we need to check where we are and taxi out if appropriate.
operatingState = IN_PATTERN;
#define DCL_KEMT true
//#define DCL_KPAO true
#ifdef DCL_KEMT
// Hardwire to KEMT for now
// Hardwired points at each end of KEMT runway
Point3D P010(-118.037483, 34.081358, 296 * SG_FEET_TO_METER);
Point3D P190(-118.032308, 34.090456, 299.395263 * SG_FEET_TO_METER);
Point3D takeoff_end;
bool d010 = true; // use this to change the hardwired runway direction
if(d010) {
rwy.threshold_pos = P010;
takeoff_end = P190;
rwy.hdg = 25.32; //from default.apt
rwy.ID = 1;
patternDirection = -1; // Left
pos.setelev(rwy.threshold_pos.elev() + (-8.5 * SG_FEET_TO_METER)); // This is a complete hack - the rendered runway takes the underlying scenery elev rather than the published runway elev so I should use height above terrain or something.
} else {
rwy.threshold_pos = P190;
takeoff_end = P010;
rwy.hdg = 205.32;
rwy.ID = 19;
patternDirection = 1; // Right
pos.setelev(rwy.threshold_pos.elev() + (-0.0 * SG_FEET_TO_METER)); // This is a complete hack - the rendered runway takes the underlying scenery elev rather than the published runway elev so I should use height above terrain or something.
}
#else
//KPAO - might be a better choice since its in the default scenery
//Hardwire it to the default (no wind) direction
Point3D threshold_end(-122.1124358, 37.45848783, 6.8 * SG_FEET_TO_METER); // These positions are from airnav.com and don't quite seem to correspond with the sim scenery
Point3D takeoff_end(-122.1176522, 37.463752, 6.7 * SG_FEET_TO_METER);
rwy.threshold_pos = threshold_end;
rwy.hdg = 315.0;
rwy.ID = ???
patternDirection = 1; // Right
pos.setelev(rwy.threshold_pos.elev() + (-0.0 * SG_FEET_TO_METER)); // This is a complete hack - the rendered runway takes the underlying scenery elev rather than the published runway elev so I should use height above terrain or something.
#endif
//rwy.threshold_pos.setlat(34.081358);
//rwy.threshold_pos.setlon(-118.037483);
//rwy.mag_hdg = 12.0;
//rwy.mag_var = 14.0;
//rwy.hdg = rwy.mag_hdg + rwy.mag_var;
//rwy.threshold_pos.setelev(296 * SG_FEET_TO_METER);
// Initial position on threshold for now
// TODO - check wind / default runway
pos.setlat(rwy.threshold_pos.lat());
pos.setlon(rwy.threshold_pos.lon());
hdg = rwy.hdg;
pitch = 0.0;
roll = 0.0;
leg = TAKEOFF_ROLL;
vel = 0.0;
slope = 0.0;
// Now set the position of the plane and then re-get the elevation!! (Didn't work - elev always returned as zero) :-(
//aip.setPosition(pos.lon(), pos.lat(), pos.elev() * SG_METER_TO_FEET);
//cout << "*********************** elev in FGAILocalTraffic = " << aip.getFGLocation()->get_cur_elev_m() << '\n';
// Set the projection for the local area
ortho.Init(rwy.threshold_pos, rwy.hdg);
rwy.end1ortho = ortho.ConvertToLocal(rwy.threshold_pos); // should come out as zero
// Hardwire to KEMT for now
rwy.end2ortho = ortho.ConvertToLocal(takeoff_end);
//cout << "*********************************************************************************\n";
//cout << "*********************************************************************************\n";
//cout << "*********************************************************************************\n";
//cout << "end1ortho = " << rwy.end1ortho << '\n';
//cout << "end2ortho = " << rwy.end2ortho << '\n'; // end2ortho.x() should be zero or thereabouts
Transform();
}
// Run the internal calculations
void FGAILocalTraffic::Update(double dt) {
//std::cout << "In FGAILocalTraffic::Update\n";
// Hardwire flying traffic pattern for now - eventually also needs to be able to taxi to and from runway and GA parking area.
switch(operatingState) {
case IN_PATTERN:
FlyTrafficPattern(dt);
Transform();
break;
case TAXIING:
Taxi(dt);
Transform();
break;
case PARKED:
// Do nothing
break;
default:
break;
}
//cout << "elev in FGAILocalTraffic = " << aip.getFGLocation()->get_cur_elev_m() << '\n';
// This should become if(the plane has moved) then Transform()
}
// Fly a traffic pattern
// FIXME - far too much of the mechanics of turning, rolling, accellerating, descending etc is in here.
// Move it out to FGAIPlane and have FlyTrafficPattern just specify what to do, not the implementation.
void FGAILocalTraffic::FlyTrafficPattern(double dt) {
// Need to differentiate between in-air (IAS governed) and on-ground (vel governed)
// Take-off is an interesting case - we are on the ground but takeoff speed is IAS governed.
bool inAir = true; // FIXME - possibly make into a class variable
static bool transmitted = false; // FIXME - this is a hack
// WIND
// Wind has two effects - a mechanical one in that IAS translates to a different vel, and the hdg != track,
// but also a piloting effect, in that the AI must be able to descend at a different rate in order to hit the threshold.
//cout << "dt = " << dt << '\n';
double dist = 0;
// ack - I can't remember how long a rate 1 turn is meant to take.
double turn_time = 60.0; // seconds - TODO - check this guess
double turn_circumference;
double turn_radius;
Point3D orthopos = ortho.ConvertToLocal(pos); // ortho position of the plane
//cout << "runway elev = " << rwy.threshold_pos.elev() << ' ' << rwy.threshold_pos.elev() * SG_METER_TO_FEET << '\n';
//cout << "elev = " << pos.elev() << ' ' << pos.elev() * SG_METER_TO_FEET << '\n';
// HACK FOR TESTING - REMOVE
//cout << "Calling ExitRunway..." << endl;
//ExitRunway(orthopos);
//return;
// END HACK
//wind
double wind_from = wind_from_hdg->getDoubleValue();
double wind_speed = wind_speed_knots->getDoubleValue();
switch(leg) {
case TAKEOFF_ROLL:
inAir = false;
track = rwy.hdg;
if(vel < 80.0) {
double dveldt = 5.0;
vel += dveldt * dt;
}
IAS = vel + (cos((hdg - wind_from) * DCL_DEGREES_TO_RADIANS) * wind_speed);
if(IAS >= 70) {
leg = CLIMBOUT;
pitch = 10.0;
IAS = best_rate_of_climb_speed;
slope = 7.0;
}
break;
case CLIMBOUT:
track = rwy.hdg;
if((pos.elev() - rwy.threshold_pos.elev()) * SG_METER_TO_FEET > 600) {
leg = TURN1;
}
break;
case TURN1:
track += (360.0 / turn_time) * dt * patternDirection;
Bank(25.0 * patternDirection);
if((track < (rwy.hdg - 89.0)) || (track > (rwy.hdg + 89.0))) {
leg = CROSSWIND;
}
break;
case CROSSWIND:
LevelWings();
track = rwy.hdg + (90.0 * patternDirection);
if((pos.elev() - rwy.threshold_pos.elev()) * SG_METER_TO_FEET > 1000) {
slope = 0.0;
pitch = 0.0;
IAS = 80.0; // FIXME - use smooth transistion to new speed
}
// turn 1000m out for now
if(fabs(orthopos.x()) > 980) {
leg = TURN2;
}
break;
case TURN2:
track += (360.0 / turn_time) * dt * patternDirection;
Bank(25.0 * patternDirection);
// just in case we didn't make height on crosswind
if((pos.elev() - rwy.threshold_pos.elev()) * SG_METER_TO_FEET > 1000) {
slope = 0.0;
pitch = 0.0;
IAS = 80.0; // FIXME - use smooth transistion to new speed
}
if((track < (rwy.hdg - 179.0)) || (track > (rwy.hdg + 179.0))) {
leg = DOWNWIND;
transmitted = false;
//roll = 0.0;
}
break;
case DOWNWIND:
LevelWings();
track = rwy.hdg - (180 * patternDirection); //should tend to bring track back into the 0->360 range
// just in case we didn't make height on crosswind
if((pos.elev() - rwy.threshold_pos.elev()) * SG_METER_TO_FEET > 1000) {
slope = 0.0;
pitch = 0.0;
IAS = 90.0; // FIXME - use smooth transistion to new speed
}
if((orthopos.y() < 0) && (!transmitted)) {
TransmitPatternPositionReport();
transmitted = true;
}
if(orthopos.y() < -480) {
slope = -4.0; // FIXME - calculate to descent at 500fpm and hit the threshold (taking wind into account as well!!)
pitch = -3.0;
IAS = 85.0;
}
if(orthopos.y() < -980) {
//roll = -20;
leg = TURN3;
transmitted = false;
IAS = 80.0;
}
break;
case TURN3:
track += (360.0 / turn_time) * dt * patternDirection;
Bank(25.0 * patternDirection);
if(fabs(rwy.hdg - track) < 91.0) {
leg = BASE;
}
break;
case BASE:
LevelWings();
if(!transmitted) {
TransmitPatternPositionReport();
transmitted = true;
}
track = rwy.hdg - (90 * patternDirection);
slope = -6.0; // FIXME - calculate to descent at 500fpm and hit the threshold
pitch = -4.0;
IAS = 70.0; // FIXME - slowdown gradually
// Try and arrange to turn nicely onto base
turn_circumference = IAS * 0.514444 * turn_time;
//Hmmm - this is an interesting one - ground vs airspeed in relation to turn radius
//We'll leave it as a hack with IAS for now but it needs revisiting.
turn_radius = turn_circumference / (2.0 * DCL_PI);
if(fabs(orthopos.x()) < (turn_radius + 50)) {
leg = TURN4;
transmitted = false;
//roll = -20;
}
break;
case TURN4:
track += (360.0 / turn_time) * dt * patternDirection;
Bank(25.0 * patternDirection);
if(fabs(track - rwy.hdg) < 0.6) {
leg = FINAL;
vel = nominal_final_speed;
}
break;
case FINAL:
LevelWings();
if(!transmitted) {
TransmitPatternPositionReport();
transmitted = true;
}
// Try and track the extended centreline
track = rwy.hdg - (0.2 * orthopos.x());
//cout << "orthopos.x() = " << orthopos.x() << " hdg = " << hdg << '\n';
if(pos.elev() <= rwy.threshold_pos.elev()) {
pos.setelev(rwy.threshold_pos.elev());// + (-8.5 * SG_FEET_TO_METER)); // This is a complete hack - the rendered runway takes the underlying scenery elev rather than the published runway elev so I should use height above terrain or something.
slope = 0.0;
pitch = 0.0;
leg = LANDING_ROLL;
}
break;
case LANDING_ROLL:
inAir = false;
track = rwy.hdg;
double dveldt = -5.0;
vel += dveldt * dt;
// FIXME - differentiate between touch and go and full stops
if(vel <= 15.0) {
//cout << "Vel <= 15.0, circuitsToFly = " << circuitsToFly << endl;
if(circuitsToFly <= 0) {
//cout << "Calling ExitRunway..." << endl;
ExitRunway(orthopos);
return;
} else {
//cout << "Taking off again..." << endl;
leg = TAKEOFF_ROLL;
--circuitsToFly;
}
}
break;
}
if(inAir) {
// FIXME - at the moment this is a bit screwy
// The velocity correction is applied based on the relative headings.
// Then the heading is changed based on the velocity.
// Which comes first, the chicken or the egg?
// Does it really matter?
// Apply wind to ground-relative velocity if in the air
vel = IAS - (cos((hdg - wind_from) * DCL_DEGREES_TO_RADIANS) * wind_speed);
//crab = f(track, wind, vel);
// The vector we need to fly is our desired vector minus the wind vector
// TODO - we probably ought to use plib's built in vector types and operations for this
// ie. There's almost *certainly* a better way to do this!
double gxx = vel * sin(track * DCL_DEGREES_TO_RADIANS); // Plane desired velocity x component wrt ground
double gyy = vel * cos(track * DCL_DEGREES_TO_RADIANS); // Plane desired velocity y component wrt ground
double wxx = wind_speed * sin((wind_from + 180.0) * DCL_DEGREES_TO_RADIANS); // Wind velocity x component
double wyy = wind_speed * cos((wind_from + 180.0) * DCL_DEGREES_TO_RADIANS); // Wind velocity y component
double axx = gxx - wxx; // Plane in-air velocity x component
double ayy = gyy - wyy; // Plane in-air velocity y component
// Now we want the angle between gxx and axx (which is the crab)
double maga = sqrt(axx*axx + ayy*ayy);
double magg = sqrt(gxx*gxx + gyy*gyy);
crab = acos((axx*gxx + ayy*gyy) / (maga * magg));
// At this point this works except we're getting the modulus of the angle
//cout << "crab = " << crab << '\n';
// Make sure both headings are in the 0->360 circle in order to get sane differences
dclBoundHeading(wind_from);
dclBoundHeading(track);
if(track > wind_from) {
if((track - wind_from) <= 180) {
crab *= -1.0;
}
} else {
if((wind_from - track) >= 180) {
crab *= -1.0;
}
}
} else { // on the ground - crab dosen't apply
crab = 0.0;
}
hdg = track + crab;
dist = vel * 0.514444 * dt;
pos = dclUpdatePosition(pos, track, slope, dist);
}
void FGAILocalTraffic::TransmitPatternPositionReport(void) {
// airport name + "traffic" + airplane callsign + pattern direction + pattern leg + rwy + ?
string trns = "";
trns += tower->get_name();
trns += " Traffic ";
// FIXME - add the callsign to the class variables
trns += "Trainer-two-five-charlie ";
if(patternDirection == 1) {
trns += "right ";
} else {
trns += "left ";
}
// We could probably get rid of this whole switch statement and just pass a string containing the leg from the FlyPattern function.
switch(leg) { // We'll assume that transmissions in turns are intended for next leg - do pilots ever call out that they are in the turn?
case TURN1:
// Fall through to CROSSWIND
case CROSSWIND: // I don't think this case will be used here but it can't hurt to leave it in
trns += "crosswind ";
break;
case TURN2:
// Fall through to DOWNWIND
case DOWNWIND:
trns += "downwind ";
break;
case TURN3:
// Fall through to BASE
case BASE:
trns += "base ";
break;
case TURN4:
// Fall through to FINAL
case FINAL: // maybe this should include long/short final if appropriate?
trns += "final ";
break;
default: // Hopefully this won't be used
trns += "pattern ";
break;
}
// FIXME - I've hardwired the runway call as well!! (We could work this out from rwy heading and mag deviation)
trns += ConvertRwyNumToSpokenString(1);
// And add the airport name again
trns += tower->get_name();
Transmit(trns);
}
void FGAILocalTraffic::ExitRunway(Point3D orthopos) {
//cout << "In ExitRunway" << endl;
//cout << "Runway ID is " << rwy.ID << endl;
node_array_type exitNodes = airport.GetExits(rwy.ID); //I suppose we ought to have some fallback for rwy with no defined exits?
//cout << "Got exits" << endl;
//cout << "Size of exits array is " << exitNodes.size() << endl;
if(exitNodes.size()) {
//Find the next exit from orthopos.y
double d;
double dist = 100000; //ie. longer than any runway in existance
double backdist = 100000;
node_array_iterator nItr = exitNodes.begin();
node* rwyExit = *(exitNodes.begin());
int gateID; //This might want to be more persistant at some point
while(nItr != exitNodes.end()) {
d = ortho.ConvertToLocal((*nItr)->pos).y() - ortho.ConvertToLocal(pos).y(); //FIXME - consider making orthopos a class variable
if(d > 0.0) {
if(d < dist) {
dist = d;
rwyExit = *nItr;
}
} else {
if(fabs(d) < backdist) {
backdist = d;
//TODO - need some logic here that if we don't get a forward exit we turn round and store the backwards one
}
}
++nItr;
}
//cout << "Calculated dist, dist = " << dist << endl;
// GetNodeList(exitNode->parking) and add to from here to exit node
gateID = airport.GetRandomGateID();
//cout << "gateID = " << gateID << endl;
in_dest = airport.GetGateNode(gateID);
//cout << "in_dest got..." << endl;
path = airport.GetPath(rwyExit, in_dest); //TODO - need to convert a and b to actual nodes!!
//cout << "path got..." << endl;
//cout << "Size of path is " << path.size() << endl;
taxiState = TD_INBOUND;
StartTaxi();
} else {
// Something must have gone wrong with the ground network file - or there is only a rwy here and no exits defined
SG_LOG(SG_GENERAL, SG_ALERT, "No exits found by FGAILocalTraffic from runway " << rwy.ID << " at " << airportID << '\n');
// What shall we do - just remove the plane from sight?
aip.setVisible(false);
operatingState = PARKED;
}
}
// Set the class variable nextTaxiNode to the next node in the path
// and update taxiPathPos, the class variable path iterator position
// TODO - maybe should return error codes to the calling function if we fail here
void FGAILocalTraffic::GetNextTaxiNode() {
//cout << "GetNextTaxiNode called " << endl;
//cout << "taxiPathPos = " << taxiPathPos << endl;
ground_network_path_iterator pathItr = path.begin() + taxiPathPos;
if(pathItr == path.end()) {
SG_LOG(SG_GENERAL, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - no more nodes in path\n");
} else {
if((*pathItr)->struct_type == NODE) {
//cout << "ITS A NODE" << endl;
//*pathItr = new node;
nextTaxiNode = (node*)*pathItr;
++taxiPathPos;
//delete pathItr;
} else {
//cout << "ITS NOT A NODE" << endl;
//The first item in found must have been an arc
//Assume for now that it was straight
pathItr++;
taxiPathPos++;
if(pathItr == path.end()) {
SG_LOG(SG_GENERAL, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - path ended with an arc\n");
} else if((*pathItr)->struct_type == NODE) {
nextTaxiNode = (node*)*pathItr;
++taxiPathPos;
} else {
//OOPS - two non-nodes in a row - that shouldn't happen ATM
SG_LOG(SG_GENERAL, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - two non-nodes in sequence\n");
}
}
}
}
// StartTaxi - set up the taxiing state - call only at the start of taxiing
void FGAILocalTraffic::StartTaxi() {
//cout << "StartTaxi called" << endl;
operatingState = TAXIING;
taxiPathPos = 0;
//Set the desired heading
//Assume we are aiming for first node on path
//Eventually we may need to consider the fact that we might start on a curved arc and
//not be able to head directly for the first node.
GetNextTaxiNode(); // sets the class variable nextTaxiNode to the next taxi node!
desiredTaxiHeading = GetHeadingFromTo(pos, nextTaxiNode->pos);
//cout << "First taxi heading is " << desiredTaxiHeading << endl;
}
void FGAILocalTraffic::Taxi(double dt) {
//cout << "Taxi called" << endl;
// Logic - if we are further away from next point than turn radius then head for it
// If we have reached turning point then get next point and turn onto that heading
// Look out for the finish!!
Point3D orthopos = ortho.ConvertToLocal(pos); // ortho position of the plane
desiredTaxiHeading = GetHeadingFromTo(pos, nextTaxiNode->pos);
// HACK ALERT! - for now we will taxi at constant speed for straights and turns
// Remember that hdg is always equal to track when taxiing so we don't have to consider them both
double dist_to_go = dclGetHorizontalSeparation(pos, nextTaxiNode->pos); // we may be able to do this more cheaply using orthopos
//cout << "dist_to_go = " << dist_to_go << endl;
if((nextTaxiNode->type == GATE) && (dist_to_go <= 0.1)) {
// park up
//taxiing = false;
//parked = true;
operatingState = PARKED;
} else if((dist_to_go > taxiTurnRadius) || (nextTaxiNode->type == GATE)) {
// if the turn radius is r, and speed is s, then in a time dt we turn through
// ((s.dt)/(PI.r)) x 180 degrees
// or alternatively (s.dt)/r radians
//cout << "hdg = " << hdg << " desired taxi heading = " << desiredTaxiHeading << '\n';
if(fabs(hdg - desiredTaxiHeading) > 0.1) {
// Which is the quickest direction to turn onto heading?
if(desiredTaxiHeading > hdg) {
if((desiredTaxiHeading - hdg) <= 180) {
// turn right
hdg += ((nominalTaxiSpeed * 0.514444 * dt) / (taxiTurnRadius * DCL_PI)) * 180.0;
// TODO - check that increments are less than the delta that we check for the right direction
// Probably need to reduce convergence speed as convergence is reached
} else {
hdg -= ((nominalTaxiSpeed * 0.514444 * dt) / (taxiTurnRadius * DCL_PI)) * 180.0;
}
} else {
if((hdg - desiredTaxiHeading) <= 180) {
// turn left
hdg -= ((nominalTaxiSpeed * 0.514444 * dt) / (taxiTurnRadius * DCL_PI)) * 180.0;
// TODO - check that increments are less than the delta that we check for the right direction
// Probably need to reduce convergence speed as convergence is reached
} else {
hdg += ((nominalTaxiSpeed * 0.514444 * dt) / (taxiTurnRadius * DCL_PI)) * 180.0;
}
}
}
double vel = nominalTaxiSpeed;
//cout << "vel = " << vel << endl;
double dist = vel * 0.514444 * dt;
//cout << "dist = " << dist << endl;
double track = hdg;
//cout << "track = " << track << endl;
double slope = 0.0;
pos = dclUpdatePosition(pos, track, slope, dist);
//cout << "Updated position...\n";
// FIXME - HACK in absense of proper ground elevation determination
// Linearly interpolate altitude when taxiing between N and S extremes of orthopos
pos.setelev((287.5 + ((299.3 - 287.5) * fabs(orthopos.y() / 1000.0))) * SG_FEET_TO_METER);
} else {
// Time to turn (we've already checked it's not the end we're heading for).
// set the target node to be the next node which will prompt automatically turning onto
// the right heading in the stuff above, with the usual provisos applied.
GetNextTaxiNode();
// For now why not just recursively call this function?
Taxi(dt);
}
}
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