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flightgear/src/ATC/approach.cxx

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// FGApproach - a class to provide approach control at larger airports.
//
// Written by Alexander Kappes, started March 2002.
//
// Copyright (C) 2002 Alexander Kappes
//
// 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.
#include "approach.hxx"
#include "transmission.hxx"
#include "transmissionlist.hxx"
#include "ATCdisplay.hxx"
#include "ATCDialog.hxx"
#include <Airports/runways.hxx>
#include <simgear/misc/sg_path.hxx>
#ifdef FG_WEATHERCM
# include <WeatherCM/FGLocalWeatherDatabase.h>
#else
# include <Environment/environment_mgr.hxx>
# include <Environment/environment.hxx>
#endif
#include <GUI/gui.h>
//Constructor
FGApproach::FGApproach(){
comm1_node = fgGetNode("/radios/comm[0]/frequencies/selected-mhz", true);
comm2_node = fgGetNode("/radios/comm[1]/frequencies/selected-mhz", true);
num_planes = 0;
lon_node = fgGetNode("/position/longitude-deg", true);
lat_node = fgGetNode("/position/latitude-deg", true);
elev_node = fgGetNode("/position/altitude-ft", true);
hdg_node = fgGetNode("/orientation/heading-deg", true);
speed_node = fgGetNode("/velocities/airspeed-kt", true);
etime_node = fgGetNode("/sim/time/elapsed-ms", true);
first = true;
active_runway = "";
int i;
for ( i=0; i<max_planes; i++) {
planes[i].contact = 0;
planes[i].wpn = 0;
planes[i].dnwp = -999.;
planes[i].on_crs = true;
planes[i].turn_rate = 10.0;
planes[i].desc_rate = 1000.0;
planes[i].clmb_rate = 500.0;
planes[i].tlm = 0.0;
planes[i].lmc.c1 = 0;
planes[i].lmc.c2 = 0;
planes[i].lmc.c3 = -1;
planes[i].wp_change = false;
}
}
//Destructor
FGApproach::~FGApproach(){
}
void FGApproach::Init() {
display = false;
}
// ============================================================================
// the main update function
// ============================================================================
void FGApproach::Update(double dt) {
const int max_trans = 20;
FGTransmission tmissions[max_trans];
int wpn;
atc_type station = APPROACH;
TransCode code;
TransPar TPar;
int i,j;
//double course, d,
double adif, datp;
//char buf[10];
string message;
//static string atcmsg1[10];
//static string atcmsg2[10];
string mentry;
string transm;
TransPar tpars;
//static bool TransDisplayed = false;
update_plane_dat();
if ( active_runway == "" ) get_active_runway();
double comm1_freq = comm1_node->getDoubleValue();
//bool DisplayTransmissions = true;
for (i=0; i<num_planes; i++) {
if ( planes[i].ident == "Player") {
station = APPROACH;
tpars.station = name;
tpars.callsign = "Player";
tpars.airport = ident;
//cout << "ident = " << ident << " name = " << name << '\n';
int num_trans = 0;
// is the frequency of the station tuned in?
if ( freq == (int)(comm1_freq*100.0 + 0.5) ) {
current_transmissionlist->query_station( station, tmissions, max_trans, num_trans );
// loop over all transmissions for station
for ( j=0; j<=num_trans-1; j++ ) {
code = tmissions[j].get_code();
//cout << "code is " << code.c1 << " " << code.c2 << " " << code.c3 << '\n';
// select proper transmissions
if(code.c3 != 2) { // DCL - hack to prevent request crossing airspace being displayed since this isn't implemented yet.
if ( ( code.c2 == -1 && planes[i].lmc.c3 == 0 ) ||
( code.c1 == 0 && code.c2 == planes[i].lmc.c2 ) ) {
mentry = current_transmissionlist->gen_text(station, code, tpars, false);
transm = current_transmissionlist->gen_text(station, code, tpars, true);
// is the transmission already registered?
if (!current_atcdialog->trans_reg( ident, transm, APPROACH )) {
current_atcdialog->add_entry( ident, transm, mentry, APPROACH, 0 );
}
}
}
}
}
}
}
for ( i=0; i<num_planes; i++ ) {
//cout << "TPar.airport = " << TPar.airport << " TPar.station = " << TPar.station << " TPar.callsign = " << TPar.callsign << '\n';
//if ( planes[i].ident == TPar.callsign && name == TPar.airport && TPar.station == "approach" ) {
//if ( TPar.request && TPar.intention == "landing" && ident == TPar.intid) {
if(planes[i].ident == "Player" && fgGetBool("/sim/atc/opt0")) {
//cout << "Landing requested\n";
fgSetBool("/sim/atc/opt0", false);
planes[i].wpn = 0;
// ===========================
// === calculate waypoints ===
// ===========================
calc_wp( i );
update_param( i );
wpn = planes[i].wpn-1;
planes[i].aalt = planes[i].wpts[wpn-1][2];
planes[i].ahdg = planes[i].wpts[wpn][4];
// generate the message
code.c1 = 1;
code.c2 = 1;
code.c3 = 0;
adif = angle_diff_deg( planes[i].hdg, planes[i].ahdg );
tpars.station = name;
tpars.callsign = "Player";
if ( adif < 0 ) tpars.tdir = 1;
else tpars.tdir = 2;
tpars.heading = planes[i].ahdg;
if (planes[i].alt-planes[i].aalt > 100.0) tpars.VDir = 1;
else if (planes[i].alt-planes[i].aalt < -100.0) tpars.VDir = 3;
else tpars.VDir = 2;
tpars.alt = planes[i].aalt;
message = current_transmissionlist->gen_text(station, code, tpars, true );
//cout << message << '\n';
globals->get_ATC_display()->RegisterSingleMessage( message, 0 );
planes[i].lmc = code;
planes[i].tlm = etime_node->getDoubleValue();
planes[i].on_crs = true;
planes[i].contact = 1;
}
//}
//if(1) {
if ( planes[i].contact == 1 ) {
// =========================
// === update parameters ===
// =========================
update_param( i );
//cout << planes[i].brg << " " << planes[i].dist << " " << planes[i].wpts[wpn+1][0]
//<< " " << planes[i].wpts[wpn+1][1] << " " << planes[i].wpts[wpn+1][4]
//cout << wpn << " distance to current course = " << planes[i].dcc << endl;
//cout << etime_node->getDoubleValue() << endl;
// =========================
// === reached waypoint? ===
// =========================
wpn = planes[i].wpn-2;
adif = angle_diff_deg( planes[i].hdg, planes[i].wpts[wpn][4] )
* SGD_DEGREES_TO_RADIANS;
datp = 2*sin(fabs(adif)/2.0)*sin(fabs(adif)/2.0) *
planes[i].spd/3600. * planes[i].turn_rate +
planes[i].spd/3600. * 3.0;
//cout << adif/SGD_DEGREES_TO_RADIANS << " "
// << datp << " " << planes[i].dnc << " " << planes[i].dcc <<endl;
if ( fabs(planes[i].dnc) < datp ) {
//if ( fabs(planes[i].dnc) < 0.3 && planes[i].dnwp < 1.0 ) {
//cout << "Reached next waypoint!\n";
planes[i].wpn -= 1;
wpn = planes[i].wpn-1;
planes[i].ahdg = planes[i].wpts[wpn][4];
planes[i].aalt = planes[i].wpts[wpn-1][2];
planes[i].wp_change = true;
// generate the message
adif = angle_diff_deg( planes[i].hdg, planes[i].ahdg );
tpars.station = name;
tpars.callsign = "Player";
if ( adif < 0 ) tpars.tdir = 1;
else tpars.tdir = 2;
tpars.heading = planes[i].ahdg;
if ( wpn-1 != 0) {
code.c1 = 1;
code.c2 = 1;
code.c3 = 0;
if (planes[i].alt-planes[i].aalt > 100.0) tpars.VDir = 1;
else if (planes[i].alt-planes[i].aalt < -100.0) tpars.VDir = 3;
else tpars.VDir = 2;
tpars.alt = planes[i].aalt;
message = current_transmissionlist->gen_text(station, code, tpars, true );
//cout << "Approach transmitting...\n";
//cout << message << endl;
globals->get_ATC_display()->RegisterSingleMessage( message, 0 );
}
else {
code.c1 = 1;
code.c2 = 3;
code.c3 = 0;
tpars.runway = active_runway;
message = current_transmissionlist->gen_text(station, code, tpars, true);
//cout << "Approach transmitting 2 ...\n";
//cout << message << endl;
globals->get_ATC_display()->RegisterSingleMessage( message, 0 );
}
planes[i].lmc = code;
planes[i].tlm = etime_node->getDoubleValue();
planes[i].on_crs = true;
update_param( i );
}
// =========================
// === come off course ? ===
// =========================
if ( fabs(planes[i].dcc) > 1.0 &&
( !planes[i].wp_change || etime_node->getDoubleValue() - planes[i].tlm > tbm ) ) {
//cout << "Off course!\n";
if ( planes[i].on_crs ) {
if ( planes[i].dcc < 0) {
planes[i].ahdg += 30.0;
}
else {
planes[i].ahdg -= 30.0;
}
if (planes[i].ahdg > 360.0) planes[i].ahdg -= 360.0;
else if (planes[i].ahdg < 0.0) planes[i].ahdg += 360.0;
}
//cout << planes[i].on_crs << " "
// << angle_diff_deg( planes[i].hdg, planes[i].ahdg) << " "
// << etime_node->getDoubleValue() << " "
// << planes[i].tlm << endl;
// generate the message
if ( planes[i].on_crs ||
( fabs(angle_diff_deg( planes[i].hdg, planes[i].ahdg )) > 30.0 &&
etime_node->getDoubleValue() - planes[i].tlm > tbm) ) {
// generate the message
code.c1 = 1;
code.c2 = 4;
code.c3 = 0;
adif = angle_diff_deg( planes[i].hdg, planes[i].ahdg );
tpars.station = name;
tpars.callsign = "Player";
tpars.miles = fabs(planes[i].dcc);
if ( adif < 0 ) tpars.tdir = 1;
else tpars.tdir = 2;
tpars.heading = planes[i].ahdg;
message = current_transmissionlist->gen_text(station, code, tpars, true);
//cout << "Approach transmitting 3 ...\n";
//cout << message << '\n';
globals->get_ATC_display()->RegisterSingleMessage( message, 0 );
planes[i].lmc = code;
planes[i].tlm = etime_node->getDoubleValue();
}
planes[i].on_crs = false;
}
else if ( !planes[i].on_crs ) {
//cout << "Off course 2!\n";
wpn = planes[i].wpn-1;
adif = angle_diff_deg( planes[i].hdg, planes[i].wpts[wpn][4] )
* SGD_DEGREES_TO_RADIANS;
datp = 2*sin(fabs(adif)/2.0)*sin(fabs(adif)/2.0) *
planes[i].spd/3600. * planes[i].turn_rate +
planes[i].spd/3600. * 3.0;
if ( fabs(planes[i].dcc) < datp ) {
planes[i].ahdg = fabs(planes[i].wpts[wpn][4]);
// generate the message
code.c1 = 1;
code.c2 = 2;
code.c3 = 0;
tpars.station = name;
tpars.callsign = "Player";
if ( adif < 0 ) tpars.tdir = 1;
else tpars.tdir = 2;
tpars.heading = planes[i].ahdg;
message = current_transmissionlist->gen_text(station, code, tpars, true);
//cout << "Approach transmitting 4 ...\n";
//cout << message << '\n';
globals->get_ATC_display()->RegisterSingleMessage( message, 0 );
planes[i].lmc = code;
planes[i].tlm = etime_node->getDoubleValue();
planes[i].on_crs = true;
}
}
else if ( planes[i].wp_change ) {
planes[i].wp_change = false;
}
// ===================================================================
// === Less than two minutes away from touchdown? -> Contact Tower ===
// ===================================================================
if ( planes[i].wpn == 2 && planes[i].dnwp < planes[i].spd/60.*2.0 ) {
double freq = 121.95; // Hardwired - FIXME
// generate message
code.c1 = 1;
code.c2 = 5;
code.c3 = 0;
tpars.station = name;
tpars.callsign = "Player";
tpars.freq = freq;
message = current_transmissionlist->gen_text(station, code, tpars, true);
//cout << "Approach transmitting 5 ...\n";
//cout << message << '\n';
globals->get_ATC_display()->RegisterSingleMessage( message, 0 );
planes[i].lmc = code;
planes[i].tlm = etime_node->getDoubleValue();
planes[i].contact = 2;
}
}
}
}
// ============================================================================
// update course parameters
// ============================================================================
void FGApproach::update_param( const int &i ) {
double course, d;
int wpn = planes[i].wpn-1; // this is the current waypoint
planes[i].dcc = calc_psl_dist(planes[i].brg, planes[i].dist,
planes[i].wpts[wpn][0], planes[i].wpts[wpn][1],
planes[i].wpts[wpn][4]);
planes[i].dnc = calc_psl_dist(planes[i].brg, planes[i].dist,
planes[i].wpts[wpn-1][0], planes[i].wpts[wpn-1][1],
planes[i].wpts[wpn-1][4]);
calc_hd_course_dist(planes[i].brg, planes[i].dist,
planes[i].wpts[wpn-1][0], planes[i].wpts[wpn-1][1],
&course, &d);
planes[i].dnwp = d;
}
// ============================================================================
// smallest difference between two angles in degree
// difference is negative if a1 > a2 and positive if a2 > a1
// ===========================================================================
double FGApproach::angle_diff_deg( const double &a1, const double &a2) {
double a3 = a2 - a1;
if (a3 < 180.0) a3 += 360.0;
if (a3 > 180.0) a3 -= 360.0;
return a3;
}
// ============================================================================
// calculate waypoints
// ============================================================================
void FGApproach::calc_wp( const int &i ) {
int j;
double course, d, cd, a1;
int wpn = planes[i].wpn;
// waypoint 0: Threshold of active runway
calc_gc_course_dist(Point3D(lon*SGD_DEGREES_TO_RADIANS, lat*SGD_DEGREES_TO_RADIANS, 0.0),
Point3D(active_rw_lon*SGD_DEGREES_TO_RADIANS,active_rw_lat*SGD_DEGREES_TO_RADIANS, 0.0 ),
&course, &d);
double d1 = active_rw_hdg+180.0;
if ( d1 > 360.0 ) d1 -=360.0;
calc_cd_head_dist(360.0-course*SGD_RADIANS_TO_DEGREES, d/SG_NM_TO_METER,
d1, active_rw_len/SG_NM_TO_METER/2.0,
&planes[i].wpts[wpn][0], &planes[i].wpts[wpn][1]);
planes[i].wpts[wpn][2] = elev;
planes[i].wpts[wpn][4] = 0.0;
planes[i].wpts[wpn][5] = 0.0;
wpn += 1;
// ======================
// horizontal navigation
// ======================
// waypoint 1: point for turning onto final
calc_cd_head_dist(planes[i].wpts[wpn-1][0], planes[i].wpts[wpn-1][1], d1, lfl,
&planes[i].wpts[wpn][0], &planes[i].wpts[wpn][1]);
calc_hd_course_dist(planes[i].wpts[wpn][0], planes[i].wpts[wpn][1],
planes[i].wpts[wpn-1][0], planes[i].wpts[wpn-1][1],
&course, &d);
planes[i].wpts[wpn][4] = course;
planes[i].wpts[wpn][5] = d;
wpn += 1;
// calculate course and distance from plane position to waypoint 1
calc_hd_course_dist(planes[i].brg, planes[i].dist, planes[i].wpts[1][0],
planes[i].wpts[1][1], &course, &d);
// check if airport is not between plane and waypoint 1 and
// DCA to airport on course to waypoint 1 is larger than 10 miles
double zero = 0.0;
if ( fabs(angle_diff_deg( planes[i].wpts[1][0], planes[i].brg )) < 90.0 ||
calc_psl_dist( zero, zero, planes[i].brg, planes[i].dist, course ) > 10.0 ) {
// check if turning angle at waypoint 1 would be > max_ta
if ( fabs(angle_diff_deg( planes[i].wpts[1][4], course )) > max_ta ) {
cd = calc_psl_dist(planes[i].brg, planes[i].dist,
planes[i].wpts[1][0], planes[i].wpts[1][1],
planes[i].wpts[1][4]);
a1 = atan2(cd,planes[i].wpts[1][1]);
planes[i].wpts[wpn][0] = planes[i].wpts[1][0] - a1/SGD_DEGREES_TO_RADIANS;
if ( planes[i].wpts[wpn][0] < 0.0) planes[i].wpts[wpn][0] += 360.0;
if ( planes[i].wpts[wpn][0] > 360.0) planes[i].wpts[wpn][0] -= 360.0;
planes[i].wpts[wpn][1] = fabs(cd) / sin(fabs(a1));
calc_hd_course_dist(planes[i].wpts[wpn][0], planes[i].wpts[wpn][1],
planes[i].wpts[wpn-1][0], planes[i].wpts[wpn-1][1],
&course, &d);
planes[i].wpts[wpn][4] = course;
planes[i].wpts[wpn][5] = d;
wpn += 1;
calc_hd_course_dist(planes[i].brg, planes[i].dist, planes[i].wpts[wpn-1][0],
planes[i].wpts[wpn-1][1], &course, &d);
}
} else {
double leg = 10.0;
a1 = atan2(planes[i].wpts[1][1], leg );
if ( angle_diff_deg(planes[i].brg,planes[i].wpts[1][0]) < 0 )
planes[i].wpts[wpn][0] = planes[i].wpts[1][0] + a1/SGD_DEGREES_TO_RADIANS;
else planes[i].wpts[wpn][0] = planes[i].wpts[1][0] - a1/SGD_DEGREES_TO_RADIANS;
planes[i].wpts[wpn][1] = sqrt( planes[i].wpts[1][1]*planes[i].wpts[1][1] + leg*leg );
calc_hd_course_dist(planes[i].wpts[wpn][0], planes[i].wpts[wpn][1],
planes[i].wpts[wpn-1][0], planes[i].wpts[wpn-1][1],
&course, &d);
planes[i].wpts[wpn][4] = course;
planes[i].wpts[wpn][5] = d;
wpn += 1;
calc_hd_course_dist(planes[i].brg, planes[i].dist,
planes[i].wpts[wpn-1][0], planes[i].wpts[wpn-1][1],
&course, &d);
}
planes[i].wpts[wpn][0] = planes[i].brg;
planes[i].wpts[wpn][1] = planes[i].dist;
planes[i].wpts[wpn][2] = planes[i].alt;
planes[i].wpts[wpn][4] = course;
planes[i].wpts[wpn][5] = d;
wpn += 1;
planes[i].wpn = wpn;
// Now check if legs are too short or if legs can be shortend
// legs must be at least 2 flight minutes long
double mdist = planes[i].spd / 60.0 * 2.0;
for ( j=2; j<wpn-1; ++j ) {
if ( planes[i].wpts[j][1] < mdist) {
}
}
// ====================
// vertical navigation
// ====================
double alt = elev+3000.0;
planes[i].wpts[1][2] = round_alt( true, alt );
for ( j=2; j<wpn-1; ++j ) {
double dalt = planes[i].alt - planes[i].wpts[j-1][2];
if ( dalt > 0 ) {
alt = planes[i].wpts[j-1][2] +
(planes[i].wpts[j][5] / planes[i].spd) * 60.0 * planes[i].desc_rate;
planes[i].wpts[j][2] = round_alt( false, alt );
if ( planes[i].wpts[j][2] > planes[i].alt )
planes[i].wpts[j][2] = round_alt( false, planes[i].alt );
}
else {
planes[i].wpts[j][2] = planes[i].wpts[1][2];
}
}
cout << "Plane position: " << planes[i].brg << " " << planes[i].dist << endl;
for ( j=0; j<wpn; ++j ) {
cout << "Waypoint " << j << endl;
cout << "------------------" << endl;
cout << planes[i].wpts[j][0] << " " << planes[i].wpts[j][1]
<< " " << planes[i].wpts[j][2] << " " << planes[i].wpts[j][5];
cout << endl << endl;
}
}
// ============================================================================
// round altitude value to next highest/lowest 500 feet
// ============================================================================
double FGApproach::round_alt( const bool hl, double alt ) {
alt = alt/1000.0;
if ( hl ) {
if ( alt > (int)(alt)+0.5 ) alt = ((int)(alt)+1)*1000.0;
else alt = ((int)(alt)+0.5)*1000.0;
}
else {
if ( alt > (int)(alt)+0.5 ) alt = ((int)(alt)+0.5)*1000.0;
else alt = ((int)(alt))*1000.0;
}
return alt;
}
// ============================================================================
// get active runway
// ============================================================================
void FGApproach::get_active_runway() {
//cout << "Entering FGApproach::get_active_runway()\n";
#ifdef FG_WEATHERCM
sgVec3 position = { lat, lon, elev };
FGPhysicalProperty stationweather = WeatherDatabase->get(position);
#else
FGEnvironment stationweather =
((FGEnvironmentMgr *)globals->get_subsystem("environment"))
->getEnvironment(lat, lon, elev);
#endif
#ifdef FG_WEATHERCM
//Set the heading to into the wind
double wind_x = stationweather.Wind[0];
double wind_y = stationweather.Wind[1];
double speed = sqrt( wind_x*wind_x + wind_y*wind_y ) * SG_METER_TO_NM / (60.0*60.0);
double hdg;
//If no wind use 270degrees
if(speed == 0) {
hdg = 270;
} else {
// //normalize the wind to get the direction
//wind_x /= speed; wind_y /= speed;
hdg = - atan2 ( wind_x, wind_y ) * SG_RADIANS_TO_DEGREES ;
if (hdg < 0.0)
hdg += 360.0;
}
#else
double hdg = stationweather.get_wind_from_heading_deg();
#endif
FGRunway runway;
if ( globals->get_runways()->search( ident, int(hdg), &runway) ) {
active_runway = runway.rwy_no;
active_rw_hdg = runway.heading;
active_rw_lon = runway.lon;
active_rw_lat = runway.lat;
active_rw_len = runway.length;
//cout << "Active runway is: " << active_runway << " heading = "
// << active_rw_hdg
// << " lon = " << active_rw_lon
// << " lat = " << active_rw_lat <<endl;
}
else cout << "FGRunways search failed\n";
}
// ========================================================================
// update infos about plane
// ========================================================================
void FGApproach::update_plane_dat() {
//cout << "Update Approach " << ident << " " << num_planes << " registered" << endl;
// update plane positions
int i;
for (i=0; i<num_planes; i++) {
planes[i].lon = lon_node->getDoubleValue();
planes[i].lat = lat_node->getDoubleValue();
planes[i].alt = elev_node->getDoubleValue();
planes[i].hdg = hdg_node->getDoubleValue();
planes[i].spd = speed_node->getDoubleValue();
/*Point3D aircraft = sgGeodToCart( Point3D(planes[i].lon*SGD_DEGREES_TO_RADIANS,
planes[i].lat*SGD_DEGREES_TO_RADIANS,
planes[i].alt*SG_FEET_TO_METER) );*/
double course, distance;
calc_gc_course_dist(Point3D(lon*SGD_DEGREES_TO_RADIANS, lat*SGD_DEGREES_TO_RADIANS, 0.0),
Point3D(planes[i].lon*SGD_DEGREES_TO_RADIANS,planes[i].lat*SGD_DEGREES_TO_RADIANS, 0.0 ),
&course, &distance);
planes[i].dist = distance/SG_NM_TO_METER;
planes[i].brg = 360.0-course*SGD_RADIANS_TO_DEGREES;
//cout << "Plane Id: " << planes[i].ident << " Distance to " << ident
// << " is " << planes[i].dist << " miles " << "Bearing " << planes[i].brg << endl;
}
}
// =======================================================================
// Add plane to Approach list
// =======================================================================
void FGApproach::AddPlane(string pid) {
int i;
for ( i=0; i<num_planes; i++) {
if ( planes[i].ident == pid) {
//cout << "Plane already registered: " << planes[i].ident << ' ' << ident << ' ' << num_planes << endl;
return;
}
}
planes[num_planes].ident = pid;
++num_planes;
//cout << "Plane added to list: " << ident << " " << num_planes << endl;
return;
}
// ================================================================================
// closest distance between a point (h1,d1) and a straigt line (h2,d2,h3) in 2 dim.
// ================================================================================
double FGApproach::calc_psl_dist(const double &h1, const double &d1,
const double &h2, const double &d2,
const double &h3)
{
double a1 = h1 * SGD_DEGREES_TO_RADIANS;
double a2 = h2 * SGD_DEGREES_TO_RADIANS;
double a3 = h3 * SGD_DEGREES_TO_RADIANS;
double x1 = cos(a1) * d1;
double y1 = sin(a1) * d1;
double x2 = cos(a2) * d2;
double y2 = sin(a2) * d2;
double x3 = cos(a3);
double y3 = sin(a3);
// formula: dis = sqrt( (v1-v2)**2 - ((v1-v2)*v3)**2 ); vi = (xi,yi)
double val1 = (x1-x2)*(x1-x2) + (y1-y2)*(y1-y2);
double val2 = ((x1-x2)*x3 + (y1-y2)*y3) * ((x1-x2)*x3 + (y1-y2)*y3);
double dis = val1 - val2;
// now get sign for offset
//cout << x1 << " " << x2 << " " << y1 << " " << y2 << " "
// << x3 << " " << y3 << " "
// << val1 << " " << val2 << " " << dis << endl;
x3 *= sqrt(val2);
y3 *= sqrt(val2);
double da = fabs(atan2(y3,x3) - atan2(y1-y2,x1-x2));
if ( da > SGD_PI ) da -= 2*SGD_PI;
if ( fabs(da) > SGD_PI/2.) {
//if ( x3*(x1-x2) < 0.0 && y3*(y1-y2) < 0.0) {
x3 *= -1.0;
y3 *= -1.0;
}
//cout << x3 << " " << y3 << endl;
double dis1 = x1-x2-x3;
double dis2 = y1-y2-y3;
dis = sqrt(dis);
da = atan2(dis2,dis1);
if ( da < 0.0 ) da += 2*SGD_PI;
if ( da < a3 ) dis *= -1.0;
//cout << dis1 << " " << dis2 << " " << da*SGD_RADIANS_TO_DEGREES << " " << h3
// << " " << sqrt(dis1*dis1 + dis2*dis2) << " " << dis << endl;
//cout << atan2(dis2,dis1)*SGD_RADIANS_TO_DEGREES << " " << dis << endl;
return dis;
}
// ========================================================================
// Calculate new bear/dist given starting bear/dis, and offset radial,
// and distance.
// ========================================================================
void FGApproach::calc_cd_head_dist(const double &h1, const double &d1,
const double &course, const double &dist,
double *h2, double *d2)
{
double a1 = h1 * SGD_DEGREES_TO_RADIANS;
double a2 = course * SGD_DEGREES_TO_RADIANS;
double x1 = cos(a1) * d1;
double y1 = sin(a1) * d1;
double x2 = cos(a2) * dist;
double y2 = sin(a2) * dist;
*d2 = sqrt((x1+x2)*(x1+x2) + (y1+y2)*(y1+y2));
*h2 = atan2( (y1+y2), (x1+x2) ) * SGD_RADIANS_TO_DEGREES;
if ( *h2 < 0 ) *h2 = *h2+360;
}
// ========================================================================
// get heading and distance between two points; point1 ---> point2
// ========================================================================
void FGApproach::calc_hd_course_dist(const double &h1, const double &d1,
const double &h2, const double &d2,
double *course, double *dist)
{
double a1 = h1 * SGD_DEGREES_TO_RADIANS;
double a2 = h2 * SGD_DEGREES_TO_RADIANS;
double x1 = cos(a1) * d1;
double y1 = sin(a1) * d1;
double x2 = cos(a2) * d2;
double y2 = sin(a2) * d2;
*dist = sqrt( (y2-y1)*(y2-y1) + (x2-x1)*(x2-x1) );
*course = atan2( (y2-y1), (x2-x1) ) * SGD_RADIANS_TO_DEGREES;
if ( *course < 0 ) *course = *course+360;
//cout << x1 << " " << y1 << " " << x2 << " " << y2 << " " << *dist << " " << *course << endl;
}
int FGApproach::RemovePlane() {
// first check if anything has to be done
bool rmplane = false;
int i;
for (i=0; i<num_planes; i++) {
if (planes[i].dist > range*SG_NM_TO_METER) {
rmplane = true;
break;
}
}
if (!rmplane) return num_planes;
// now make a copy of the plane list
PlaneApp tmp[max_planes];
for (i=0; i<num_planes; i++) {
tmp[i] = planes[i];
}
int np = 0;
// now check which planes are still in range
for (i=0; i<num_planes; i++) {
if (tmp[i].dist <= range*SG_NM_TO_METER) {
planes[np] = tmp[i];
np += 1;
}
}
num_planes = np;
return num_planes;
}
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