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Ref T261, aircraft situation

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* null altitude
* ground functions
* CG ("member")
* supporting CAircraftSituationChange
This commit is contained in:
Klaus Basan
2018-04-27 02:40:05 +02:00
committed by Roland Winklmeier
parent 1f3e5c6abf
commit bed79237bf
6 changed files with 565 additions and 51 deletions
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171
src/blackmisc/aviation/aircraftsituation.cpp
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@@ -7,7 +7,9 @@
* contained in the LICENSE file.
*/
#include "blackmisc/simulation/aircraftmodel.h"
#include "blackmisc/aviation/aircraftsituation.h"
#include "blackmisc/aviation/aircraftsituationchange.h"
#include "blackmisc/aviation/aircraftpartslist.h"
#include "blackmisc/geo/elevationplane.h"
#include "blackmisc/pq/length.h"
@@ -16,11 +18,15 @@
#include "blackmisc/comparefunctions.h"
#include "blackmisc/variant.h"
#include "blackmisc/verify.h"
#include "blackconfig/buildconfig.h"
#include "QStringBuilder"
#include <QtGlobal>
using namespace BlackMisc::PhysicalQuantities;
using namespace BlackMisc::Geo;
using namespace BlackMisc::PhysicalQuantities;
using namespace BlackMisc::Simulation;
using namespace BlackConfig;
namespace BlackMisc
{
@@ -51,11 +57,16 @@ namespace BlackMisc
{
return QStringLiteral("ts: ") % this->getFormattedTimestampAndOffset(true) %
QStringLiteral(" | ") % m_position.toQString(i18n) %
QStringLiteral(" | bank: ") % (m_bank.toQString(i18n)) %
QStringLiteral(" | pitch: ") % (m_pitch.toQString(i18n)) %
QStringLiteral(" | heading: ") % (m_heading.toQString(i18n)) %
QStringLiteral(" | og: ") % this->getOnGroundInfo() %
QStringLiteral(" | factor: ") % QString::number(m_onGroundFactor, 'f', 2) %
QStringLiteral(" | alt: ") % this->getAltitude().valueRoundedWithUnit(CLengthUnit::ft(), 1) %
QStringLiteral(" ") % this->getCorrectedAltitude().valueRoundedWithUnit(CLengthUnit::ft(), 1) %
QStringLiteral("[cor] | og: ") % this->getOnGroundInfo() %
(m_onGroundGuessingDetails.isEmpty() ? QStringLiteral("") : QStringLiteral(" ") % m_onGroundGuessingDetails) %
QStringLiteral(" | cg: ") %
(m_cg.isNull() ? QStringLiteral("null") : m_cg.valueRoundedWithUnit(CLengthUnit::m(), 1) % QStringLiteral(" ") % m_cg.valueRoundedWithUnit(CLengthUnit::ft(), 1)) %
QStringLiteral(" | factor [0..1]: ") % QString::number(m_onGroundFactor, 'f', 2) %
QStringLiteral(" | bank: ") % m_bank.toQString(i18n) %
QStringLiteral(" | pitch: ") % m_pitch.toQString(i18n) %
QStringLiteral(" | heading: ") % m_heading.toQString(i18n) %
QStringLiteral(" | gs: ") % m_groundSpeed.valueRoundedWithUnit(CSpeedUnit::kts(), 1, true) %
QStringLiteral(" ") % m_groundSpeed.valueRoundedWithUnit(CSpeedUnit::m_s(), 1, true) %
QStringLiteral(" | elevation: ") % (m_groundElevationPlane.toQString(i18n));
@@ -244,21 +255,30 @@ namespace BlackMisc
this->getOnGroundDetails() != CAircraftSituation::NotSetGroundDetails;
}
void CAircraftSituation::setOnGround(bool onGround)
bool CAircraftSituation::setOnGround(bool onGround)
{
this->setOnGround(onGround ? OnGround : NotOnGround);
return this->setOnGround(onGround ? OnGround : NotOnGround);
}
void CAircraftSituation::setOnGround(CAircraftSituation::IsOnGround onGround)
bool CAircraftSituation::setOnGround(CAircraftSituation::IsOnGround onGround)
{
m_onGround = static_cast<int>(onGround);
if (this->getOnGround() == onGround) { return false; }
const int og = static_cast<int>(onGround);
m_onGround = og;
m_onGroundFactor = (onGround == OnGround) ? 1.0 : 0.0;
return true;
}
void CAircraftSituation::setOnGround(CAircraftSituation::IsOnGround onGround, CAircraftSituation::OnGroundDetails details)
bool CAircraftSituation::setOnGround(CAircraftSituation::IsOnGround onGround, CAircraftSituation::OnGroundDetails details)
{
this->setOnGround(onGround);
const bool set = this->setOnGround(onGround);
this->setOnGroundDetails(details);
if (details != OnGroundByGuessing)
{
m_onGroundGuessingDetails.clear();
}
return set;
}
void CAircraftSituation::setOnGroundFactor(double groundFactor)
@@ -276,40 +296,111 @@ namespace BlackMisc
bool CAircraftSituation::shouldGuessOnGround() const
{
return (!this->isOnGroundInfoAvailable());
return !this->hasInboundGroundDetails();
}
bool CAircraftSituation::guessOnGround(bool vtol, const PhysicalQuantities::CLength &cg)
bool CAircraftSituation::guessOnGround(const CAircraftSituationChange &change, const CAircraftModel &model)
{
Q_UNUSED(change);
if (!this->shouldGuessOnGround()) { return false; }
// for debugging purposed
QString *details = CBuildConfig::isLocalDeveloperDebugBuild() ? &m_onGroundGuessingDetails : nullptr;
// Non VTOL aircraft have to move to be not on ground
const bool vtol = model.isVtol();
if (!vtol && !this->isMoving())
{
this->setOnGround(OnGround, CAircraftSituation::OnGroundByGuessing);
if (details) { *details = QStringLiteral("No VTOL, not moving => on ground"); }
return true;
}
// not on ground is default
this->setOnGround(CAircraftSituation::NotOnGround, CAircraftSituation::OnGroundByGuessing);
// guess some values we use for guessing
CLength cg = m_cg.isNull() ? model.getCG() : m_cg;
CSpeed guessedLiftOffSpeed;
CSpeed sureLiftOffSpeed = CSpeed(130, CSpeedUnit::kts());
model.getAircraftIcaoCode().guessModelParameters(cg, guessedLiftOffSpeed);
if (!guessedLiftOffSpeed.isNull())
{
// does the value make any sense?
const bool validGuessedSpeed = guessedLiftOffSpeed.value(CSpeedUnit::km_h()) > 5.0;
BLACK_VERIFY_X(validGuessedSpeed, Q_FUNC_INFO, "Wrong guessed value for lift off");
if (!validGuessedSpeed) { guessedLiftOffSpeed = CSpeed(80, CSpeedUnit::kts()); } // fix
sureLiftOffSpeed = guessedLiftOffSpeed * 1.25;
}
// "extreme" values for which we are surely not on ground
if (qAbs(this->getPitch().value(CAngleUnit::deg())) > 20) { if (details) { *details = QStringLiteral("max.pitch"); }; return true; } // some tail wheel aircraft already have 11° pitch on ground
if (qAbs(this->getBank().value(CAngleUnit::deg())) > 10) { if (details) { *details = QStringLiteral("max.bank"); }; return true; }
if (this->getGroundSpeed() > sureLiftOffSpeed) { if (details) { *details = QStringLiteral("max.gs. > ") % sureLiftOffSpeed.valueRoundedWithUnit(1); }; return true; }
// use the most accurate or reliable guesses here first
// ------------------------------------------------------
// by elevation
// we can detect "on ground" but not "not on ground" because of overflow
// we can detect "on ground" (underflow, near ground), but not "not on ground" because of overflow
// we can detect on ground for underflow, but not for overflow (so we can not rely on NotOnGround)
IsOnGround og = this->isOnGroundByElevation(cg);
if (og == OnGround)
{
if (details) { *details = QStringLiteral("elevation on ground"); }
this->setOnGround(og, CAircraftSituation::OnGroundByGuessing);
return true;
}
// we guess on speed, pitch and bank by excluding situations
this->setOnGround(CAircraftSituation::NotOnGround, CAircraftSituation::OnGroundByGuessing);
if (qAbs(this->getPitch().value(CAngleUnit::deg())) > 10) { return true; }
if (qAbs(this->getBank().value(CAngleUnit::deg())) > 10) { return true; }
if (this->getGroundSpeed().value(CSpeedUnit::km_h()) > 50) { return true; }
if (!change.isNull())
{
if (!vtol && change.wasConstOnGround())
{
if (change.isRotatingUp())
{
// not OG
if (details) { *details = QStringLiteral("rotating up detected"); }
return true;
}
// here we stick to ground until we detect rotate up
this->setOnGround(CAircraftSituation::OnGround, CAircraftSituation::OnGroundByGuessing);
if (details) { *details = QStringLiteral("waiting for rotating up"); }
return true;
}
if (change.isConstAscending())
{
// not OG
if (details) { *details = QStringLiteral("const ascending"); }
return true;
}
}
// on VTOL we stop here
if (vtol) { return false; }
if (vtol)
{
// no idea
this->setOnGround(OnGroundSituationUnknown, NotSetGroundDetails);
return false;
}
// guessed speed null -> vtol
if (!guessedLiftOffSpeed.isNull())
{
// does the value make any sense?
if (this->getGroundSpeed() < guessedLiftOffSpeed)
{
this->setOnGround(OnGround, CAircraftSituation::OnGroundByGuessing);
if (details) { *details = QStringLiteral("Guessing, max.guessed gs.") + guessedLiftOffSpeed.valueRoundedWithUnit(CSpeedUnit::kts(), 1); }; return true;
}
}
// not sure, but this is a guess
this->setOnGround(CAircraftSituation::OnGround, CAircraftSituation::OnGroundByGuessing);
if (details) { *details = QStringLiteral("Fall through"); }
return true;
}
@@ -370,6 +461,11 @@ namespace BlackMisc
return this->onGroundAsString() % QLatin1Char(' ') % this->getOnDetailsAsString();
}
CAircraftSituation::IsOnGround CAircraftSituation::isOnGroundByElevation() const
{
return this->isOnGroundByElevation(m_cg);
}
CAircraftSituation::IsOnGround CAircraftSituation::isOnGroundByElevation(const CLength &cg) const
{
Q_ASSERT_X(!cg.isNegativeWithEpsilonConsidered(), Q_FUNC_INFO, "CG must not be negative");
@@ -444,12 +540,17 @@ namespace BlackMisc
return this->getAltitude() - gh;
}
CAltitude CAircraftSituation::getCorrectedAltitude(const CLength &centerOfGravity, bool enableDragToGround, AltitudeCorrection *correctetion) const
CAltitude CAircraftSituation::getCorrectedAltitude(bool enableDragToGround, CAircraftSituation::AltitudeCorrection *correction) const
{
if (correctetion) { *correctetion = UnknownCorrection; }
return this->getCorrectedAltitude(m_cg, enableDragToGround, correction);
}
CAltitude CAircraftSituation::getCorrectedAltitude(const CLength &centerOfGravity, bool enableDragToGround, AltitudeCorrection *correction) const
{
if (correction) { *correction = UnknownCorrection; }
if (!this->hasGroundElevation())
{
if (correctetion) { *correctetion = NoElevation; }
if (correction) { *correction = NoElevation; }
return this->getAltitude();
}
@@ -457,7 +558,7 @@ namespace BlackMisc
if (this->getAltitude().getReferenceDatum() == CAltitude::AboveGround)
{
BLACK_VERIFY_X(false, Q_FUNC_INFO, "Unsupported");
if (correctetion) { *correctetion = AGL; }
if (correction) { *correction = AGL; }
return this->getAltitude();
}
else
@@ -465,38 +566,44 @@ namespace BlackMisc
const CAltitude groundPlusCG = this->getGroundElevation().withOffset(centerOfGravity);
if (groundPlusCG.isNull())
{
if (correctetion) { *correctetion = NoElevation; }
if (correction) { *correction = NoElevation; }
return this->getAltitude();
}
const CLength groundDistance = this->getAltitude() - groundPlusCG;
const bool underflow = groundDistance.isNegativeWithEpsilonConsidered();
if (underflow)
{
if (correctetion) { *correctetion = Underflow; }
if (correction) { *correction = Underflow; }
return groundPlusCG;
}
const bool nearGround = groundDistance.abs() < deltaNearGround();
if (nearGround)
{
if (correctetion) { *correctetion = NoCorrection; }
if (correction) { *correction = NoCorrection; }
return groundPlusCG;
}
const bool forceDragToGround = (enableDragToGround && this->getOnGround() == OnGround) && (this->hasInboundGroundDetails() || this->getOnGroundDetails() == OnGroundByGuessing);
if (forceDragToGround)
{
if (correctetion) { *correctetion = DraggedToGround; }
if (correction) { *correction = DraggedToGround; }
return groundPlusCG;
}
if (correctetion) { *correctetion = NoCorrection; }
if (correction) { *correction = NoCorrection; }
return this->getAltitude();
}
}
CAircraftSituation::AltitudeCorrection CAircraftSituation::correctAltitude(bool enableDragToGround)
{
return this->correctAltitude(m_cg, enableDragToGround);
}
CAircraftSituation::AltitudeCorrection CAircraftSituation::correctAltitude(const CLength &centerOfGravity, bool enableDragToGround)
{
CAircraftSituation::AltitudeCorrection altCor = CAircraftSituation::UnknownCorrection;
this->setAltitude(this->getCorrectedAltitude(centerOfGravity, enableDragToGround, &altCor));
this->setCG(centerOfGravity);
return altCor;
}
@@ -509,7 +616,7 @@ namespace BlackMisc
bool CAircraftSituation::isMoving() const
{
const double gsKmh = this->getGroundSpeed().value(CSpeedUnit::km_h());
return gsKmh >= 1.0;
return gsKmh >= 2.5;
}
bool CAircraftSituation::canLikelySkipNearGroundInterpolation() const