Ref T778, some smaller style fixes/improvements

for the "underground" airplanes as reported by AK

This does NOT fix the issue, but minor shortcomings
found during the investigation

* style
* checks for "developer" env.

src/blackcore/airspacemonitor.cpp

@@ -1391,15 +1391,21 @@ namespace BlackCore
             // and avoids unnecessary elevation fetching for low flying smaller GA aircraft
             const CAircraftIcaoCode icao = this->getAircraftInRangeModelForCallsign(callsign).getAircraftIcaoCode();
             if (!icao.hasDesignator()) { break; } // what is that?
-            if (!icao.isVtol())
+            if (icao.isVtol())
             {
-                // Not for VTOLs
+                // VTOLs over 60kts likely not on ground
+                // it could be that a low flying helicopter near ground
+                if (situation.getGroundSpeed().value(CSpeedUnit::kts()) > 60) { break; }
+            }
+            else
+            {
+                // NO VTOL
                 CLength cg(nullptr);
                 CSpeed rotateSpeed(nullptr);
                 icao.guessModelParameters(cg, rotateSpeed);
                 if (!rotateSpeed.isNull())
                 {
-                    rotateSpeed *= 1.2; // some margin
+                    rotateSpeed *= 1.25; // some margin
                     if (situation.getGroundSpeed() > rotateSpeed) { break; }
                 }
             }
@@ -1414,6 +1420,7 @@ namespace BlackCore
             }
 
             // we NEED elevation
+            // actually distance of 200k/h 100ms is just 6.1 meters
             const CLength dpt = correctedSituation.getDistancePerTime(100, CElevationPlane::singlePointRadius());
             const CAircraftSituationList situationsBeforeStoring   = this->remoteAircraftSituations(callsign);
             const CAircraftSituation situationWithElvBeforeStoring = situationsBeforeStoring.findClosestElevationWithinRange(correctedSituation, dpt);
@@ -1435,7 +1442,7 @@ namespace BlackCore
             }
 
             // we have a new situation, so we try to get the elevation
-            // so far we have requested it, but we set it upfront either by
+            // we will requested it, but we set it upfront either by
             //
             // a) average value from other planes in the vicinity (cache, not moving) or
             // b) by extrapolating
@@ -1450,11 +1457,12 @@ namespace BlackCore
                 bool fromNonMoving = false;
                 bool triedExtrapolation  = false;
                 bool couldNotExtrapolate = false;
+                int fromWhere = -1; // debugging
 
-                CElevationPlane averagePlane = this->averageElevationOfOnGroundAircraft(situation, CElevationPlane::majorAirportRadius(), 2, 3);
+                CElevationPlane averagePlane = this->averageElevationOfOnGroundAircraft(situation, CElevationPlane::minorAirportRadius(), 2, 3);
                 if (averagePlane.isNull())
                 {
-                    averagePlane = this->averageElevationOfNonMovingAircraft(situation, CElevationPlane::majorAirportRadius(), 2, 3);
+                    averagePlane = this->averageElevationOfNonMovingAircraft(situation, CElevationPlane::minorAirportRadius(), 2, 3);
                     fromNonMoving = true;
                 }
 
@@ -1464,6 +1472,7 @@ namespace BlackCore
                     correctedSituation.setGroundElevation(averagePlane, CAircraftSituation::Average);
                     if (fromNonMoving) { m_foundInNonMovingAircraft++; }
                     else { m_foundInElevationsOnGnd++; }
+                    fromWhere = 10;
                 }
                 else
                 {
@@ -1473,6 +1482,7 @@ namespace BlackCore
                         const bool extrapolated = correctedSituation.extrapolateElevation(situationsBeforeStoring[0], situationsBeforeStoring[1], changesBeforeStoring);
                         triedExtrapolation  = true;
                         couldNotExtrapolate = !extrapolated;
+                        fromWhere = 20;
                     }
                 }
 
@@ -1484,11 +1494,19 @@ namespace BlackCore
                         // experimental, could become ASSERT
                         BLACK_VERIFY_X(needToRequestElevation, Q_FUNC_INFO, "Request should already be set");
                     }
-                    needToRequestElevation = true; // should be the true already
+                    needToRequestElevation = true; // should be "true" already
 
                     Q_UNUSED(triedExtrapolation)
                     Q_UNUSED(couldNotExtrapolate)
                 }
+                else
+                {
+                    // sanity check on the situation
+                    if (CBuildConfig::isLocalDeveloperDebugBuild())
+                    {
+                        BLACK_VERIFY_X(!correctedSituation.getGroundElevation().isZeroEpsilonConsidered(), Q_FUNC_INFO, "Suspicious elevation");
+                    }
+                }
             } // gnd. elevation
         }
         while (false);  // do we need elevation, find on

src/blackcore/simulator.cpp

@@ -369,7 +369,7 @@ namespace BlackCore
         bool updatedForOnGroundPosition = false;
         const int updated = CRemoteAircraftAware::updateAircraftGroundElevation(callsign, plane, CAircraftSituation::FromProvider, &updatedForOnGroundPosition);
 
-        // update in simulator
+        // update in simulator and cache
         const bool likelyOnGroundElevation = updated > 0 && updatedForOnGroundPosition;
         ISimulationEnvironmentProvider::rememberGroundElevation(callsign, likelyOnGroundElevation, plane); // in simulator
 
@@ -1220,16 +1220,24 @@ namespace BlackCore
                 CAltitude elevation = situation.getGroundElevation();
                 if (elevation.isNull())
                 {
+                    // calculate elevation
                     const CLength cg = ownAircraft.getModel().getCG();
                     elevation = (cg.isNull() || situation.getAltitude().isNull()) ? CAltitude::null() : (situation.getAltitude().withOffset(cg * -1.0));
                 }
 
+                // own ground elevations
                 if (elevation.hasMeanSeaLevelValue())
                 {
-                    const CCallsign cs = situation.hasCallsign() ? situation.getCallsign() : ownAircraft.getCallsign();
+                    const CCallsign cs    = situation.hasCallsign() ? situation.getCallsign() : ownAircraft.getCallsign();
-                    const CLength radius = settings.getRecordedGndRadius().isNull() ? CElevationPlane::singlePointRadius() : settings.getRecordedGndRadius();
+                    const CLength radius  = settings.getRecordedGndRadius().isNull() ? CElevationPlane::singlePointRadius() : settings.getRecordedGndRadius();
                     const CElevationPlane ep(situation, radius);
                     const bool remembered = this->rememberGroundElevation(cs, situation.isOnGround(), ep, radius);
+
+                    if (CBuildConfig::isLocalDeveloperDebugBuild())
+                    {
+                        const bool invalid = situation.isOnGround() && elevation.isZeroEpsilonConsidered();
+                        BLACK_AUDIT_X(!invalid, Q_FUNC_INFO, "On ground in water");
+                    }
                     Q_UNUSED(remembered) // false means it was already in that cache, or something else is wrong
                 }
             }

src/blackmisc/aviation/aircraftsituation.cpp

@@ -302,7 +302,12 @@ namespace BlackMisc
             if (situationToBeUpdated.hasGroundElevation()) { return false; }
 
             // if acceptable transfer
-            if (oldSituation.transferGroundElevationFromMe(situationToBeUpdated)) { return true; }
+            if (oldSituation.transferGroundElevationFromMe(situationToBeUpdated))
+            {
+                // change or keep type is the question
+                // situationToBeUpdated.setGroundElevationInfo(Extrapolated);
+                return true;
+            }
             if (oldSituation.isNull() || olderSituation.isNull()) { return false; }
 
             if (oldChange.isNull()) { return false; }
@@ -575,7 +580,7 @@ namespace BlackMisc
 
             CLength cg = m_cg.isNull() ? model.getCG() : m_cg;
             CSpeed guessedRotateSpeed = CSpeed::null();
-            CSpeed sureRotateSpeed = CSpeed(130, CSpeedUnit::kts());
+            CSpeed sureRotateSpeed    = CSpeed(130, CSpeedUnit::kts());
             model.getAircraftIcaoCode().guessModelParameters(cg, guessedRotateSpeed);
             if (!guessedRotateSpeed.isNull())
             {

src/blackmisc/aviation/aircraftsituationlist.cpp

@@ -68,8 +68,9 @@ namespace BlackMisc
             const CElevationPlane &elevationPlane, CAircraftSituation::GndElevationInfo info, const CAircraftModel &model,
             CAircraftSituationChange *changeOut, bool *setForOnGroundPosition)
         {
+            if (setForOnGroundPosition)  { *setForOnGroundPosition = false; } // set a default
             if (elevationPlane.isNull()) { return 0; }
-            if (this->isEmpty()) { return 0; }
+            if (this->isEmpty())         { return 0; }
 
             // the change has the timestamps of the latest situation
             Q_ASSERT_X(m_tsAdjustedSortHint == CAircraftSituationList::AdjustedTimestampLatestFirst || this->isSortedAdjustedLatestFirstWithoutNullPositions(), Q_FUNC_INFO, "Need sorted situations without NULL positions");

src/blackmisc/geo/coordinategeodeticlist.cpp

@@ -29,7 +29,7 @@ namespace BlackMisc
 
         CElevationPlane CCoordinateGeodeticList::averageGeodeticHeight(const CCoordinateGeodetic &reference, const CLength &range, const CLength &maxDeviation, int minValues, int sufficentValues) const
         {
-            if (this->size() < minValues) { return CElevationPlane::null(); } // no change to succeed
+            if (this->size() < minValues) { return CElevationPlane::null(); } // no chance to succeed
 
             QList<double> valuesInFt;
             const CCoordinateGeodeticList sorted = this->findWithGeodeticMSLHeight().findWithinRange(reference, range).sortedByEuclideanDistanceSquared(reference);

src/blackmisc/simulation/interpolationlogger.cpp

@@ -426,9 +426,9 @@ namespace BlackMisc
                 if (!situationNew.hasGroundElevation()) { continue; }
                 newPosTs = situationNew.getMSecsSinceEpoch();
                 kml += CKmlUtils::asPlacemark(
-                           QStringLiteral("%1: %2 %3 %4 alt.cor: %5").arg(n++).arg(
+                           QStringLiteral("%1: %2 %3 info: %4 alt.cor: %5").arg(n++).arg(
                                situationNew.getFormattedUtcTimestampHmsz(),
-                               situationNew.getGroundElevationPlane().getAltitude().toQString(true),
+                               situationNew.getGroundElevationAndInfo(),
                                log.elevationInfo, log.altCorrection),
                            situationNew.getGroundElevationPlane().toQString(true),
                            situationNew.getGroundElevationPlane(), s) % u"\n";

src/blackmisc/simulation/interpolator.cpp

@@ -145,6 +145,16 @@ namespace BlackMisc
                 BLACK_VERIFY_X(details, Q_FUNC_INFO, "Once gnd.from parts -> always gnd. from parts");
             }
 
+            if (CBuildConfig::isLocalDeveloperDebugBuild())
+            {
+                for (const CAircraftSituation &s : situations)
+                {
+                    if (!s.hasGroundElevation()) { continue; }
+                    BLACK_VERIFY_X(!s.getGroundElevation().isZeroEpsilonConsidered(), Q_FUNC_INFO, "Suspicous 0 gnd. value");
+                }
+            }
+
+
             // result
             return sorted && details;
         }

src/blackmisc/simulation/interpolatorspline.cpp

@@ -98,7 +98,7 @@ namespace BlackMisc
 
                 if (CBuildConfig::isLocalDeveloperDebugBuild())
                 {
-                    BLACK_VERIFY_X(t >= 0, Q_FUNC_INFO, "Expect t >= 0");
+                    BLACK_VERIFY_X(t >= 0,   Q_FUNC_INFO, "Expect t >= 0");
                     BLACK_VERIFY_X(t <= 1.0, Q_FUNC_INFO, "Expect t <= 1");
                 }
                 return y;
@@ -225,9 +225,9 @@ namespace BlackMisc
                 const double a0 = m_s[0].getCorrectedAltitude(cg).value(altUnit); // oldest
                 const double a1 = m_s[1].getCorrectedAltitude(cg).value(altUnit);
                 const double a2 = m_s[2].getCorrectedAltitude(cg).value(altUnit); // latest
-                pa.a = {{ a0, a1, a2 }};
+                pa.a    = {{ a0, a1, a2 }};
-                pa.gnd = {{ m_s[0].getOnGroundFactor(), m_s[1].getOnGroundFactor(), m_s[2].getOnGroundFactor() }};
+                pa.gnd  = {{ m_s[0].getOnGroundFactor(), m_s[1].getOnGroundFactor(), m_s[2].getOnGroundFactor() }};
-                pa.da = getDerivatives(pa.t, pa.a);
+                pa.da   = getDerivatives(pa.t, pa.a);
                 pa.dgnd = getDerivatives(pa.t, pa.gnd);
 
                 m_prevSampleAdjustedTime = m_s[1].getAdjustedMSecsSinceEpoch();
@@ -257,7 +257,7 @@ namespace BlackMisc
             if (CBuildConfig::isLocalDeveloperDebugBuild())
             {
                 BLACK_VERIFY_X(dt1 >= 0, Q_FUNC_INFO, "Expect postive dt1");
-                BLACK_VERIFY_X(dt2 > 0, Q_FUNC_INFO, "Expect postive dt2");
+                BLACK_VERIFY_X(dt2 >  0, Q_FUNC_INFO, "Expect postive dt2");
                 BLACK_VERIFY_X(isAcceptableTimeFraction(timeFraction), Q_FUNC_INFO, "Expect fraction 0-1");
             }
             timeFraction = clampValidTimeFraction(timeFraction);
@@ -334,7 +334,7 @@ namespace BlackMisc
             {
                 Q_ASSERT_X(t1 < t2, Q_FUNC_INFO, "Expect sorted times, latest first"); // that means a bug in our code init the values
                 BLACK_VERIFY_X(m_currentTimeMsSinceEpoc >= t1, Q_FUNC_INFO, "invalid timestamp t1");
-                BLACK_VERIFY_X(m_currentTimeMsSinceEpoc < t2, Q_FUNC_INFO, "invalid timestamp t2"); // t1==t2 results in div/0
+                BLACK_VERIFY_X(m_currentTimeMsSinceEpoc <  t2, Q_FUNC_INFO, "invalid timestamp t2"); // t1==t2 results in div/0
             }
             if (!valid) { return CAircraftSituation::null(); }
 

src/blackmisc/simulation/simulationenvironmentprovider.cpp

@@ -9,9 +9,12 @@
 #include "simulationenvironmentprovider.h"
 #include "blackmisc/aviation/aircraftsituationchange.h"
 
-#include "verify.h"
+#include "blackmisc/verify.h"
+#include "blackconfig/buildconfig.h"
+
 #include <QStringBuilder>
 
+using namespace BlackConfig;
 using namespace BlackMisc::Aviation;
 using namespace BlackMisc::Geo;
 using namespace BlackMisc::PhysicalQuantities;
@@ -50,6 +53,12 @@ namespace BlackMisc
                 {
                     if (m_elvCoordinatesGnd.size() > m_maxElevationsGnd) { m_elvCoordinatesGnd.pop_back(); }
                     m_elvCoordinatesGnd.push_front(elevationCoordinate);
+
+                    if (CBuildConfig::isLocalDeveloperDebugBuild())
+                    {
+                        BLACK_VERIFY_X(!elevationCoordinate.geodeticHeight().isNull(), Q_FUNC_INFO, "NULL value");
+                        BLACK_VERIFY_X(!elevationCoordinate.geodeticHeight().isZeroEpsilonConsidered(), Q_FUNC_INFO, "Suspicous 0 value");
+                    }
                 }
                 else
                 {